144results about How to "Turn in place" patented technology

The invention discloses a spherical robot with an in-situ rotation function carried with a control moment gyro. The robot is mainly composed of a homogeneous spherical shell, an advance driving mechanism, a steering mechanism, a control moment gyro mechanism, a heavy pendulum and the like. The steering mechanism is composed of two steering motors, a steering gear mechanism, a toothed belt wheel mechanism and the like. In-situ steering of the sphere is achieved through the cooperation of output torques of the two motors. Meanwhile, the robot is carried with the control moment gyro mechanism, and the control moment gyro mechanism is mainly composed of a flywheel, a flywheel rotation motor, a flywheel fixing frame, a frame rotation steering engine, the toothed belt wheel mechanism and the like; extra precession moment is provided through the precession effect of a gyro rotor which rotates at a high speed, so that the operation speed of the robot is higher, and the climbing and obstacle crossing capacity is improved. The spherical robot can steer in-situ and is high in operation speed, the movement rapidity and flexibility of the spherical robot are greatly improved, and the spherical robot has great application prospects.

The invention discloses an underwater working robot which is characterized by mainly comprising a vehicle body module, a manipulator module or / and an underwater camera module, a functional component module and a control module, wherein the modules are completely isolated mechanically and electrically; the vehicle body module mainly comprises a six-wheel and six-drive sealing vehicle body, a vehicle body direct current servo motor, a vehicle body motor driver, a vehicle body underwater ultrasonic sensor, a vehicle body temperature pressure sensor, an underwater lighting lamp, a vehicle body waterproof plug, a vehicle body inflating valve and a vehicle body anti-radiation lead plate; the manipulator module mainly comprises a base, a waist part, a large arm, a small arm and a tail end executer; the base, the waist part, the large arm and the small arm are connected with one another through hollow joints; air is filled into a manipulator, and wires are arranged in the manipulator; the underwater camera module mainly comprises an underwater camera, an underwater camera lighting lamp and a bidimensional tripod; the functional component module mainly comprises a storage box, an underwater dust remover and an underwater cutter; and the control module mainly comprises a main control console and a hand-control box.

The invention belongs to the field of electromechanical technique, and relates to a spherical moving robot, and in particular relates to a fluid driving spherical robot which comprises a spherical shell, an annular seal container, axial flow devices, an inner driving rotating mechanism and a main shaft. The fluid driving spherical robot is characterized in that the spherical shell consists of two hemispherical shells including a left hemispherical shell and a right hemispherical shell; the annular seal container is positioned in the spherical surface; the outer annular surface of the container is concentric with the spherical surface of the spherical shell; the container is filled with fluid; the volume of the fluid is half of the volume of the container; two axial flow devices are symmetrically installed in the annular seal container; the axial flow devices drive a liquid to flow in the annular seal container, thus the mass center of the spherical robot is changed, thus the spherical robot can move forwards and backwards; the inner driving rotating mechanism positioned in the spherical shell mainly comprises an inner driving bracket, a motor, a motor support, a flywheel shaft, a flywheel, an electricity supply power supply and a controller; the main shaft is fixedly connected with the inner driving bracket through the motor support; the fly wheel is installed on the inner driving bracket through a bearing; the motor shaft is connected with the fly wheel through a coupling; and the motor drives the lower part of the motor to rotate together with the flywheel shaft vertical to the main shaft and the fly wheel, and the spherical robot takes a turn under the driving of the fluid on the basis of an angular momentum conservation principle.

The invention discloses a rocking arm rhombus four wheels moon vehicle shift system, including a rotary rhombus frame and a front, a rear ,a left and a right wheels with an independent drive system mounted on the frame, the front and the rear wheels are independently fixed on the frame via a front hanger system and a rear hanger system, and the left and the right wheels are independently fixed on the frame via a left hanger system and a right hanger system. The front hanger system and the rear hanger system all consists of a connection mechanism and a steering mechanism. The invent uses a novel type of four wheels three axial rhombus chassis with the advantages of compact structure, high lightness degree, low energy consumption ,big load capacity, good cross country characteristics, convenient posture adjustment, strong land suitability , smooth vehicle body posture and high reliability.

The invention discloses an eccentric wheel capable of intelligently adjusting eccentricity. The eccentric wheel comprises a shaft, a wheel hub, a wheel rim and a tire, wherein the wheel hub is provided with a driving gear I, a motor I, a supporting wheel, an inclination angle sensor, a deviation adjusting tank and a deviation adjusting device; the deviation adjusting device comprises two supports, a screw rod which is arranged between the supports, a guide rail, a screw rod nut, a driven gear which is coaxially and fixedly connected with the screw rod, a driving gear II, a motor II and a fixed frame thereof; the screw rod nut is fixedly connected with the shaft through a flange, and the inner side of the wheel rim is provided with an internal gear. The structure of the eccentric wheel also comprises a shaft driving device, a road condition detection device and a processor, wherein the output terminal of the processor is connected with the motor I, the motor II and the shaft driving device. The eccentric wheel can detect road conditions and automatically adjust the distance between the shaft and the wheel center according to the road conditions so as to enable the traveling process to be smoother, not only can reduce the vibration degree on roads with greater fluctuation, but also solves the difficulty that common wheels are not easy to climb steps, and can be applied on various vehicles.

The invention relates to an electric automobile chassis system with a four-wheel independent steering function and a steer-by-wire mechanism of the electric automobile chassis system. The steer-by-wire mechanism comprises two steering pull rods, a steering power unit and two transmission units, the steering pull rods are arranged horizontally, the end, close to a wheel, of each steering pull rod is hinged to a steering knuckle of a suspension wheel assembly, and when the plane where wheels are located is perpendicular to the steering pull rods, the two steering pull rods are symmetrical about the vertical radial direction of the wheels; the steering power unit is electrically connected with an electronic control unit of an electric automobile and provided with two levels of power output ends which are the same in speed ratio and opposite in power output direction; the power output ends of the two transmission units are connected with the two levels of power output ends of the steering power unit respectively, and the power output end of each transmission unit is connected with one end, away from the corresponding wheel, of the corresponding steering pull rod to drive the steering pull rod to move back and forth to drive the corresponding wheel to swing. According to the electric automobile chassis system with the four-wheel independent steering function and the steer-by-wire mechanism of the electric automobile chassis system, steering stability of the wheels is good, and the electric automobile chassis system is safe, reliable and good in maneuverability in narrow space.

The invention relates to the field of logistic haulage equipment, in particular to an omni-directional differential drive wheel device and an AGV using the omni-directional differential drive wheel device. The device comprises a fixing seat, a drive device, a differential mechanism, wheels and a steering device. The differential mechanism is installed on the fixing seat, and the two output ends of the differential mechanism are connected with the wheels through an axle. The drive device is connected with the differential mechanism so as to supply power. The steering device is installed on the fixing seat, meanwhile, the steering device is connected with the AGV, and therefore omni-directional motion of the AGV is achieved. The omni-directional differential drive wheel device has the beneficial effects of being simple in structure, low in cost and low in control difficulty. The AGV comprises the above omni-directional differential drive wheel device and has the omni-directional motion function, and production or storage efficiency can be improved.

The invention relates to a pivot steering AGV self-walking carrier vehicle, comprising a vehicle body, and is characterized in that the vehicle body comprises a chassis and a frame, wherein a control box is arranged at the inner side of the frame above the chassis, the front end and the rear end of the chassis are provided with two universal wheels respectively, a driving wheel box is arranged below the middle part of the chassis, two coaxial driving wheels are arranged at the two sides of the driving wheel box respectively, and the two driving wheels are connected with respective independent driving mechanisms. The pivot steering AGV self-walking carrier vehicle is simple and compact in structure, the two independently driven driving wheels are arranged between driven wheels at the front end and the rear end of the vehicle body and are enabled to rotate in reverse at the same rotating speed, so that pivot steering of the carrier vehicle is realized, the vehicle body is fast steered, and the occupied space is reduced, therefore operation of steering, pick-up and unloading of the AGV self-walking carrier vehicle in a narrow channel is realized.

The invention relates to the field of automation mechanical devices, in particular to an automatic material taking machine for storage. The automatic material taking machine is achieved through the following technical schemes that the automatic material taking machine for storage comprises a travelling device and further comprises a storage device connected with the travelling device, a goods taking device capable of stretching out and drawing back, and a material box transferring assembly used for transferring goods obtained through the goods taking device to the storage device; the storage device comprises at least two layers of storage frames located on the different height positions, and each storage frame comprises a storage transferring device; and the material box transferring assembly is connected with the goods taking device and can rise and fall in the vertical direction. The invention aims to provide the automatic material taking machine for storage, the material taking machine comprises a goods storing device, the goods can be automatically taken and stored, the number of the goods taken through single-time travelling of the material taking machine is increased, and thematerial taking and sorting efficiency is improved.

An all-terrain inspection robot relates to a robot, the robot includes a robot detection device (1), a pan / tilt (2), a triangular drive train (3), a wireless antenna (4), and a robot body (5); The device (1) includes a protective sealing cover (6), a temperature sensor (7), a laser ranging (8), an indicator light (9), a high-definition visible light camera (10), a sound probe (11), an infrared probe (12), The flashlight (13); the cloud platform includes a worm gear reducer (14), a detection device butt joint flange (15), an acceleration gear set (16), a rotating motor (17), and an elevation motor (18); There are crawlers, and the triangular driving wheel train is connected to the motor; the wireless antenna is provided with receiving and transmitting signal devices; the robot of the present invention can be widely used in complex terrain power inspections, space detection, explosion rescue and other occasions.

Disclosed is a road surface self-adapting rhombus lunar rover moving system, which comprises a rotational lunar rover frame, a front wheel, a rear wheel, a left wheel and a right wheel, wherein the front wheel, the rear wheel, the left wheel and the right wheel are installed on the lunar rover frame and are in rhombus arrangement. The front wheel and the rear wheel are respectively fixed on the lunar rover frame via a front suspension system and a rear suspension system, the left wheel and the right wheel are respectively fixed on the lunar rover frame via a left suspension system and a right suspension system, the lunar rover frame comprises a front lunar rover frame and a rear lunar rover frame, the left suspension system is fixed on a left hinge joint shaft, the right suspension system is fixed on a right hinge joint shaft, the left hinge joint shaft is fixedly connected with the rear lunar rover frame via a connecting base, a motor is fixedly installed at the end of the left hinge joint shaft, the output shaft of the motor is fixedly connected with the right hinge joint shaft, a hinge joint bearing base is fixed on the front lunar rover frame, the left hinge joint shaft and the right hinge joint shaft are in hinge joint with the front lunar rover frame via the hinge joint bearing base with bearings. The lunar rover moving system utilizes a novel structure of a rhombus chassis with four wheels and three shafts, which is compact in structure, high in light weight degree, convenient in posture adjusting, fine in off-road performance, strong in terrain adaptive capacity and high in reliability.

The invention discloses an autonomous navigation robot which comprises a motion module, a control module, a gyroscope and a laser sensor, wherein the motion module comprises four universal wheels, two steering wheels and a motor; the steering wheels are connected with an output shaft of the motor; the control module comprises a data storage unit, a data processing unit, an information receiving unit and a signal output unit; the motor is connected with the signal output unit; and the gyroscope and the laser sensor are connected with the information receiving unit. The invention further discloses an autonomous navigation method of the robot. The method comprises the following steps: pre-storing a map, performing route planning, avoiding an obstacle and the like. According to the autonomous navigation robot and the method disclosed by the invention, the types of obstacles can be identified, and the obstacles can be autonomously avoided; and the time or distance priority rule can be set according to needs, and real optimization of a target route is realized.

The invention relates to a differential steering mechanism of a tracked vehicle, in particular to a double-power-flow power differential steering mechanism for a tracked vehicle. A symmetric bevel gear differential mechanism, a first planet row and a second planet row are arranged in a steering mechanism shell (10); a left end output shaft (6), a right end output shaft (18), two half axle gears ofthe symmetric bevel gear differential mechanism, a sun wheel axle of the first planet row and a sun wheel axle of the second planet row are positioned on the same axis; a first gear (1) on a shaft ofa driving motor (2) is fixed on a main speed reducer driven gear (8) on a differential mechanism shell (11) in an engagement transmission manner; the left end output shaft (6) is connected with the first half axle gear (5); the right end output shaft (18) is connected with the second half axle gear (20) and a second sun wheel (17) of the second planet row; and a second gear (25) on an output shaft of a steering motor (24) is in engagement transmission with a large cylindrical gear (12). A mechanical structure is simplified, and the use performance of the machinery is improved. The differential steering mechanism can steer in situ around the center of the differential steering mechanism, meets different steering requirements, has a function of averagely distributing torque, and has functions of a differential lock.

The invention provides a halbach birotor self-sliding wide range speed regulation permanent magnet hub motor for an electric vehicle. The halbach birotor self-sliding wide range speed regulation permanent magnetism hub motor for an electric vehicle includes barrel-shaped inner and outer rotors, a rotatable stator with inner and outer double layer armature windings, two end caps with special structures, an automatic sliding structure fully utilizing mutual coordination of permanent magnet attractive force and a freewheel clutch, and a double reinforcing structure utilizing an electromagnetic clutch. Besides, the hub motor also utilizes a design of a wireless transmission position sensor signal, a sectional type speed regulation design, Halbach array permanent magnet setting, and a novel heat radiation design, and then becomes a unique motor after being integrated with the other patent: self-sliding motor intelligent cruise and PWM and SVPWM control conversion.

A small-sized combined type air vehicle adopting a layout combining a disk swing with variable wings and an airbag comprises an empennage portion, a variable wing portion, a disk swing portion and a support portion, wherein the empennage portion is fixed on a base of the support portion through a crossbeam limiting hole on a crossbeam bottom seat of the variable wing portion, the variable wing portion is positioned on the upper portion of the disk swing portion and penetrates through a crossbeam hexagonal limiting hole on the crossbeam bottom seat through a longitudinal through bolt so that the crossbeam bottom seat is matched with the upper surface and the outer side of an inner shell of the disk swing portion, and the variable wing portion is fixedly connected with the disk swing portion. The disk swing portion is positioned on the upper portion of the support portion, and six longitudinal through bolts of the disk swing portion penetrate through six equant limiting holes of the base so that the disk swing portion is connected with the support portion. By adopting the disk swing technology and the variable wing technology, the medium-sized air vehicle is all-weather and capable of realizing vertical takeoff, horizontal flight and rapid floating on the sea surface. The small-sized combined type air vehicle is applicable to sea rescue, low-altitude and high-altitude cruising and proceeding on complicated terrains and can meet needs of various tasks.

The invention discloses an independent drive steering system of a six-wheel rocker arm unmanned lunar rover, which mainly comprises a steering mechanism, a driving mechanism and wheels. A walking system of a middle wheel does not comprise a steering system. The steering mechanism comprises an upper steering motor sleeve, a lower steering motor sleeve, a steering motor, a steering planetary gear accelerator, a bidirectional thrust ball bearing sleeve and a sealing ring. The driving mechanism comprises left and right motor sleeves, a driving motor, a driving planetary gear accelerator, an angular contact ball bearing and a clamping ring. The wheels are matched with the wheel baffle rings. The design process comprises the following steps of 1, designing parameters of a driving system motor and a planetary gear accelerator reducer, 2, designing parameters of a steering system motor and the planetary gear accelerator reducer, 3, determining the size and assembly relationship of the motor sleeve, 4, designing the structure of the wheel, 5, realizing structural design of a steering system, 6, conducting structural design of a driving system and wheels, and 7, conducting system sealing design.

A lateral displacement and pivot steering system of an automobile relates to the field of automobile design manufacture and is characterized in that a set of support and driving system composed of hydraulic telescopic cylinders, bearing trundles, pressure bearings, two-way hydraulic motors and a hydraulic telescopic arms is installed on a bearing support of an automobile chassis by utilizing the hydraulic transmission principle. A bearing trundle direction adjusting plate is fixed on a telescopic rod of the hydraulic telescopic cylinder, and two ends of resetting springs are respectively connected with the adjusting plate and the bearing trundle to form a direction adjusting system. The lateral displacement and pivot steering system changes the direction of an oil path and oil flow through different actions of an electromagnetic valve and is capable of enabling the automobile to achieve 90-degree lateral displacement and pivot steering of any angle within 360 degrees.

The invention provides an intelligent omnidirectional AGV car and a control method thereof. The AGV car comprises a drive device, ultrasonic sensor units (2), a motion indicating lamp unit (5), a navigation sensor unit (7), a master control unit (8) and a carriage (9); The carriage (9) is a cabinet of a certain height; a chassis of the carriage (9) is a cube with four corners removed; the drive device comprises an omnidirectional wheel unit (1), a motor drive unit (3) and a motor unit (4); the drive device is installed on a chassis of the carriage (9); the master control unit (8) is installedinside the carriage (9); there are four ultrasonic sensor units (2). By designing the structure of the AGV car, the invention realizes the AGV car to rotate in a narrow space and even in place, and realizes the movement of the AGV car in the specified direction by giving different x, y, [theta].

The invention relates to the field of logistics transport equipment, in particular to an omni-directional driving wheel device and an AGV (automatic guided vehicle). The omni-directional driving wheel device comprises a fixing seat, a driving device, a transmission actuator, a wheel and a steering device. The wheel comprises a driving wheel and a driven wheel, and the driving wheel and the driven wheel are rotationally connected with the fixing seat; the driving device is in transmission connection with an axle of the driving wheel by the transmission actuator, so that the driving wheel can be driven to rotate; the steering device is mounted on the fixing seat and is connected with the AGV, so that the AGV can omni-directionally move. The AGV comprises the omni-directional driving wheel device. The omni-directional driving wheel device and the AGV have the advantages that the omni-directional driving wheel device is simple in structure and low in cost and control difficulty; the AGV has omni-directional moving functions, and accordingly the production or storage efficiency can be improved.

The invention relates to a steering mechanism, which comprises a steering control handle, a crank shaft, a connecting rod, a linkage rod and a restraining mechanism, wherein the steering control handle is coaxially connected with a main shaft of the crank shaft, and drives the crank shaft to rotate, one end of the connecting rod is arranged on the rod journal of the crank shaft in a sleeving manner, and the other end of the connecting rod is hinged to the linkage rod, two steering wheels are connected with the two ends of the linkage rod respectively, and the restraining mechanism is arranged on the connecting rod and / or the linkage rod so as to enable the turning directions of the steering wheels at the two ends of the linkage rod to be consistent. The invention further provides an omnidirectional traveling chassis and a trolley. Through utilizing the steering mechanism and the omnidirectional traveling chassis, the omnidirectional and limitless rotation of the steering wheels of the trolley can be realized, and the problem of deformation of a parallelogram structure is solved.

A universal entertaining bicycle built for three comprises a frame in parallel connection structure design, which includes an adult type frame and a children type frame and is connected with an annular handle bar, a rotatable seat, a locking chuck, a fixing disc and a front fork, wherein the rotatable seat is connected with the frame via a bearing and a bearing seat, the locking chuck is connected with the front fork via a hexagonal socket head cap screw bolt, the connection fixing disc is connected with the frame via a hexagon bolt, the front fork is connected with a pedal support, an adjusting bar steel and a tire, and the pedal support is formed by connection of a pedal connection square tube and a pedal connection bar steel via a hexagon bolt, and connected with a pedal via a central shaft and the crank. The inventive bicycle has a parallel connection structure design and a stable bicycle body, can allow three people to simultaneously provide power input and direction control and allow effective face-to-face communication, and has the advantages of a wide visual range and high entertaining effects.

The invention discloses an active swing arm type variable diamond four-wheel lunar rover moving system. The system comprises a diamond like vehicle frame, a front wheel, a rear wheel, a left wheel and a right wheel with an independent driving system positioned on the vehicle frame. The front wheel and the rear wheel are fixedly positioned on the vehicle frame via a front suspension system and a rear suspension system. The left wheel and the right wheel are fixedly positioned on the vehicle frame via the left suspension system and the right suspension system. The front suspension system and the rear suspension system comprise a swing arm type power mechanism and a steering mechanism. The front wheel and the rear wheel change direction in linkage. The left suspension system and the right suspension system comprise a swing arm type power mechanism. Adopting the structure of the four-wheel three-axis diamond chassis and the active swing arm, the invention initially plays the high-efficient mobility of wheel type driving mode and the crawling ability of foot type moving system, and the invention relates to the active swing arm type variable diamond four-wheel lunar rover moving system with simple and compact structure, low cost, being suitable for operation under various severs environments, wide application, good stability, high reliability and strong flexibility of steering.

The invention relates to the technical field of intelligent life electric appliances, especially to an intelligent cleaning robot. The intelligent cleaning robot comprises a robot body, a supporting plate is fixedly connected with the inner side of the shell, a dust collection mechanism is arranged on the supporting plate, and a driving mechanism for controlling the robot to move is arranged on the outer side of the dust collection mechanism; a cleaning mechanism for treating stubborn oil stains is arranged on the inner side of the dust collection mechanism; according to the invention, the dust collection mechanism is arranged, an annular connecting pipe is utilized, dust in the advancing direction can still be absorbed after the device is steered, the dust collection capability of the intelligent cleaning robot is effectively enhanced, the steering mechanism is arranged, and pivot steering of the robot can be realized, so that the robot is more flexible; and the cleaning mechanism isconnected with the rotating rod, the direction of the cleaning mechanism can be changed along with steering of the intelligent cleaning robot, so that the cleaning mechanism can stably operate each time, the cleaning mechanism is arranged, water is sprayed while cleaning is conducted, the cleaned ground is dried, and the cleaning effect is effectively improved.

The invention discloses a master-slave control system of a four-wheel independent driven steering robot, and aims at solving the technical problem that most of moving robots in the prior art are two-wheel driven steering robots which are inconvenient to steer, can only deal with easier routing inspection missions and are incompetent to effectively deal with the routing inspection missions when facing the complicated detection environment of an electric power system. According to the system, by the cooperation of an upper computer and a lower computer, the expected rotation rate and expected linear acceleration of four hub motors of the robot and the expected angle, expected angular speed and the expected angular acceleration of four steering servos are obtained according to the planning decomposition of expected routing inspection routes and transmitted to corresponding slave controllers of the hub motors and slave controllers of the steering servos, and finally corresponding control of the hub motors and the steering servos are executed by the slave controllers of the hub motors and the slave controllers of the steering servos respectively to achieve the four-wheel independent driven steering of the robot.

The invention discloses an unmanned obstacle crossing vehicle. The unmanned obstacle crossing vehicle comprises a vehicle frame and vehicle wheels mounted on the vehicle frame through suspensions; thesuspension comprises a front suspension and a rear suspension which are respectively located in the front and back of the vehicle frame and are in swinging connection relative to the vehicle frame, as well as a middle suspension located at the bottom of the middle of the vehicle frame and fixed relative to the angle of the vehicle frame; the front suspension and the rear suspension are in hingedconnection with the vehicle frame respectively through a front fork frame and a rear fork frame; and a swinging driving part is separately arranged between the front fork frame and the vehicle frame as well as between the rear fork frame and the vehicle frame. The unmanned obstacle crossing vehicle disclosed by the invention has the beneficial effects that the ground clearance of the vehicle frameand the axle distance between front and rear vehicle axles can be adjusted so as to be adapted to different obstacle crossing topographies, so that the passing ability of the unmanned obstacle crossing vehicle and the passing stationarity in the complex topographies is improved; the transmission efficiency is high, and good maneuverable capability and flexibility is realized.

A rotary piston unit for IC engine, water turbine, steam turbine, water pump, air compressor, etc is composed of disk-shaped piston holder on mainshaft, multiple plate pistons running directionally around mainshaft in planetary mode, and two semi-cylinders on two end faces of planetary piston to form a piston space with alternative big and small cross-sections. The left part and right part of each plate piston sequentially and periodically come in said piston space to form piston effect, realizing the conversion between fluid energy and mechanical energy.

The invention provides veering equipment, a traveling system and car, and relates to the technical field of electrical new power. The steering equipment comprises a steering machine and a gear frame. The output shaft of the steering machine is connected with the gear frame, and is used for driving the gear frame to rotate. The gear frame is used for connecting with wheels, and drives the wheel to deflect when the gear frame is rotating. The problems that the traditional steering machine has a plurality of parts, the structure is complex, and the workload of the technical questions is heavy in the prior art are solved. The steering machine drives the gear frame to rotate and drive the wheel to deflect, veer is achieved by using the driving way of the steering machine, the operation is easy, the weight of the steering machine is reduced greatly, and loads can be increased.

The invention discloses an active and passive combined rock arm type diamond lunar rover moving system, which comprises a chassis which can rotate as well as a front wheel, a rear wheel, a left wheel and a right wheel which are arranged on the chassis in a diamond manner, wherein the front wheel and the rear wheel are respectively fixed on the chassis through a front suspension system and a rear suspension system; the left and the right wheels are respectively fixed on the chassis through a left suspension system and a right suspension system; the front suspension system and the rear suspension system respectively consist of a connecting mechanism and a swing arm motor; the chassis comprises a front chassis provided with the front wheel and the rear chassis provided with the rear wheel; an end of the rear chassis is provided with a shaft; the rear chassis is hinged with the front chassis through the shaft; the left suspension system and the right suspension system respectively consist of a connecting mechanism and a swing arm motor which are arranged on the left and the right ends of the front chassis; an output shaft is fixedly connected with the left suspension or the right suspension. By adopting the four-wheel triaxial diamond chassis, the active and passive combined rock arm type diamond lunar rover moving system has the advantages of compact structure, high lightweight, good cross-country performance, strong topography adapting ability, steady bodywork attitude and high reliability.

The invention relates to the technical field of photographing trolleys, in particular to a photographing trolley capable of sliding steering. The photographing trolley capable of sliding steering comprises a central trolley body, a front trolley body, a rear trolley body and driving mechanisms; the front trolley body and the rear trolley body are symmetrically arranged on the two sides of the central trolley body; transverse adjustment devices are symmetrically inserted into the front trolley body and the rear trolley body in a sliding manner; a suspension assembly is fixed at one end, far away from a transverse locking device, of each transverse adjustment device; a driving mechanism is fixed to each suspension assembly; longitudinal adjustment devices are fixed to a trolley body mountingplate; and a lifting holder is fixed to the central trolley body. According to the photographing trolley capable of sliding steering, the sliding steering is realized very well through the adjustablewheel distance and axle distance and the adjustable tire rotating speed and rotating direction so that the photographing trolley can steer in narrow space; the steering radius is small and the maneuverability is high; and moreover, a chassis supporting area can be increased by increasing the wheel distance and the axle distance, so that the stability of the photographing trolley is improved.

The invention discloses a comprehensive moving robot. The comprehensive moving robot comprises driving mechanisms and a mechanical frame; multiple sets of driving mechanisms are provided; each set comprises a motor, and a speed reducer connected with the motor; universal wheels are connected to the speed reducers; the motors of the driving mechanisms are connected with controllers through leads; the mechanical frame comprises a circular chassis at the bottom; multiple through holes are formed in the chassis; the edge of the chassis is connected with an annular baffle plate; a retainer ring isconnected above the annular baffle plate; the multiple sets of driving mechanisms are connected through multiple driving baffle plates; the driving baffle plates are clamped with the retainer ring; battery fixing frames are connected to the vertical middles of the driving baffle plates; batteries are arranged on the inner sides of the battery fixing frames; the controllers are connected above thebatteries through battery brackets; cameras are arranged on the side surfaces of the controllers; and grabbing mechanisms are arranged on the driving baffle plates opposite to the controllers. The comprehensive moving robot determines the optimal cooperating mode, robot moving speed range and cooperating distance range.