80results about How to "Achieve omnidirectional movement" patented technology

A permanent magnetic adsorption wheel-type wall-climbing robot belongs to the field of minitype robot technology and comprises three groups of permanent magnetic adsorption wall-climbing units with the same structures and a steering unit, wherein the permanent magnetic adsorption wall-climbing units are vertically arranged on the steering unit respectively; and the three groups of the permanent magnetic adsorption wall-climbing units are in parallel. The robot has extremely great advantages when moving in narrow pipelines, can rotate horizontally, vertically or around the pipeline, and can carry out shifting operation between pipelines of different structures. In the steering unit of the robot, a set of reducing gears is designed to realize the omnidirectional movement (without radius of gyration) of the minitype wall-climb robot, thus leading the robot to have extremely high flexibility.

An omni-directional mobile carrying trolley comprises a framework, a travelling module and a carrying module. The travelling module comprises four Mecanum omni-directional wheels and a control module. Each Mecanum omni-directional wheel is provided with a direct-current motor used for driving the wheel. Each direct-current motor regulates the rotating speed according to a control instruction sent by the control module. The carrying module comprises horizontal object stages arranged on the upper surface of the framework, a ball screw drive motor and a push rod motor. The object stages are divided into the first object stage and the second object stage along the central axis. A slide rail is formed between the first object stage and the second object stage. A ball screw is embedded in the slide rail. A main electric push rod perpendicular to the object stages is arranged on a slide nut of the ball screw. The main electric push rod is driven by the push rod motor. A carrying fork is arranged at the top of a movable rod. The omni-directional mobile carrying trolley is simple in structure, small in size and capable of moving in all directions; and when cargos are carried, the cargos and the carrying fork are moved above the trolley, and no excessive space is occupied.

The invention discloses a pickup truck type vehicle-mounted unmanned aerial vehicle intelligent take-off and landing and autonomous endurance system and belongs to the technical field of unmanned aerial vehicle design. The system comprises three parts of a lifting platform device, an unmanned aerial vehicle automatic charging device and algorithms of the landing algorithm and the omnidirectional positioning algorithm, wherein the landing algorithm and the omnidirectional positioning algorithm are based on the visual sense and Mecanum wheels. The four Mecanum wheels are installed at the bottomof an undercarriage of an unmanned aerial vehicle, and the purpose of omnidirectional movement of the unmanned aerial vehicle on a platform can be achieved through cooperation with a visual camera ofthe unmanned aerial vehicle and an omnidirectional movement algorithm based on the Mecanum wheels. Through a mechanical transmission principle, the lifting platform is designed to be of a space connecting rod lifting structure with sliding rails, and the structure can achieve conversion between rotating motion on the plane and rectilinear motion perpendicular to the plane. Only driven by gear motors, a lower rotating face rotates at a certain angle, the unmanned aerial vehicle landing platform can be correspondingly lifted up or lowered, rotation of the rotating face is then locked through thegear motors, and therefore it can be guaranteed that the height obtained after adjustment is unchangeable.

The invention discloses a Mecanum wheel universal projectile robot. The Mecanum wheel universal projectile robot comprises a Mecanum wheel moving platform, a holder and a launching mechanism; the holder is fixed at the top of the Mecanum wheel moving platform; and the launching mechanism is fixed on the holder. The holder includes a Yaw shaft rotating frame, a Yaw shaft motor, a Pitch shaft motor and a pitching frame; the Yaw shaft motor is fixed at the top of the Mecanum wheel moving platform; an output shaft of the Yaw shaft motor is fixedly connected with the bottom surface of the Yaw shaft rotating frame through a connecting piece; the top of the Yaw shaft rotating frame is rotationally connected with the pitching frame to form a launching mechanism fixed frame; the launching mechanism is fixed in the launching mechanism fixed frame; and the Pitch shaft motor is fixed on the Yaw shaft rotating frame, and an output shaft thereof is fixedly connected with the pitching frame. The Mecanum wheel universal projectile robot can perform universal movement, and can emit bullets; and the carried holder can rotate around horizontal and vertical axles to adjust aiming of the launching mechanism.

The invention provides an omni-directional mobile wall-climbing robot for a ship. The omni-directional mobile wall-climbing robot for the ship comprises a frame, wheels, wheel motors, a two-axis electric control holder and a front arm assisting mechanism and is characterized in that permanent magnets generating adsorption magnetic forces to a steel plate on the ship are arranged in the positions,around the frame, at the bottom of the frame; ducted propellers for counteracting the gravity of the wall-climbing robot are fixed on the two-axis electric control holder; propeller motors used for driving the ducted propellers to rotate are fixed on the two-axis electric control holder; the front arm assisting mechanism is arranged at the front end of the frame through a connecting shaft; and caterpillar tracks are arranged on the two sides of the front arm assisting mechanism. According to the omni-directional mobile wall-climbing robot for the ship, under the action of the adsorption magnetic forces between the permanent magnets and the steel plate of the ship, the counteracting of the ducted propellers to the gravity and the fitting of the front arm assisting mechanism to the next wallsurface or obstacle, the omni-directional movement, obstacle crossing and climbing wall surface switching of the wall-climbing robot can be realized, the detection, cabin sweeping or welding operation of any wall surface of the ship are realized, the labor finishing cost is reduced, and the beneficial effect is obvious.

The invention discloses an omnidirectional mobile device for an electric wheelchair, comprising a driving chassis, a swing mechanism and a supporting chassis, wherein a driving gear is installed on the supporting chassis, and the supporting chassis plays a role in supporting; a direction locking caster is arranged on the driving chassis, and the swing mechanism is used for connecting the supporting chassis and the driving chassis and causing the driving chassis to move axially along the swing mechanism. The omnidirectional mobile device for the electric wheelchair implements three modes of linear motion, curvilinear motion and side moving motion through cooperation of the direction locking caster and the driving gear. And the omnidirectional mobile device for the electric wheelchair has the following advantages: the omnidirectional mobile device can implement omnidirectional flexible movement, and has a function of implementing omnidirectional motion without turning radius; the omnidirectional mobile device is high in load capacity, non-slipping, high in controllability, quiet, high in reliability and low in production cost.

The invention discloses a shooting robot. The shooting robot comprises a chassis, and hanging modules are mounted at the front and back parts of the chassis; a cradle head is mounted on the chassis; the cradle head comprises a cradle head base; the cradle head base is connected with a cradle head bracket; a launcher is mounted on the cradle head bracket; the launcher can rotate on the cradle head bracket; the launcher is connected with a bullet moving module; the hanging modules drive the chassis to move; the hanging modules comprise wheels; the wheels are connected with chassis motors; the chassis motors drive the wheels to rotate; the chassis motors are movably connected with vibration absorber fixators through shock absorbers; the vibration absorber fixators are fixedly connected with the chassis; and the chassis motors are movably connected with the chassis. The shooting robot has the beneficial effects of being capable of moving in all directions and being convenient to control, high in moving speed, high in reliability and high in practicability.

The invention discloses an omni-directional multifunctional wheelchair bed, and belongs to a wheelchair bed; the multifunctional wheelchair bed comprises a base framework, a chair back framework, a seat cushion framework, a wheelchair plate framework, a pedal framework and a lithium battery; the lower end of the chair back framework is hinged with the base framework, and the back end of the seat cushion framework is hinged with the base framework; the seat cushion framework is hinged with a shank plate framework, and the shank plate framework is hinged with the pedal framework; the front part of the seat cushion framework is further hinged with a pedal link rod, and the pedal link rod is hinged with the pedal framework; a first electric push rod is hinged between the chair back framework and the base framework, a second electric push rod is hinged between the seat cushion framework and the base framework, and a third electric push rod is hinged between the shank framework and the seat cushion framework; the lithium battery is installed in the base framework, and the lower part of the base framework is provided with four symmetrical mecanum wheel structures; both sides of the base framework are symmetrically provided with electric lifting handrail structures with adjustable height. The omni-directional multifunctional wheelchair bed can realize the conversion of the wheelchair and the bed, and the handrail height can be adjusted and moved in all directions.

The invention discloses a double-layered automatic guided vehicle (AGV), a driving method thereof and a robot handling system. The double-layered AGV comprises a platform bearing body on one layer and a platform pushing body on the other layer. The platform bearing body comprises a platform supporting body and multiple driving-free omnidirectional wheels, wherein the multiple driving-free omnidirectional wheels are mounted below the platform supporting body. The platform pushing body comprises an AGV body and multiple Mecanum wheels, wherein the multiple Mecanum wheels are mounted below the AGV body. The push connection mode is adopted between the platform pushing body and the platform bearing body. The platform pushing body pushes the platform bearing body through a platform pushing mechanism, so that track operation of the AGV is achieved. According to the double-layered AGV, the AGV body is divided into a coupled body composed of the upper layer and the lower layer; the push layer bears the light-weight-class gravity, and the bearing layer bears the heavy-weight-class gravity; the driving-free omnidirectional wheels are pushed by the Mecanum wheels to move, wherein the driving-free omnidirectional wheels bear the heavy-weight-class gravity, and the Mecanum wheels bear the light-weight-class gravity; thus, the mode that cargo is raised to be moved can be changed into the mode that the cargo is pushed to be moved, and sliding friction is changed into rolling friction; and therefore, energy consumption of a motor is saved, and motor cost is lowered.

The invention discloses a variable-rigidity omnidirectional motion soft driver based on a line interference technology. The variable-rigidity omnidirectional motion soft driver based on the line interference technology comprises a corrugated expansion pipe, a hose, nylon filaments, a first air pipe, a second air pipe and a torsion limiting line; the hose is coaxially sleeved with the corrugated expansion pipe, and a first cavity is formed between the hose and the corrugated expansion pipe; the interior of the hose is equally divided into a plurality of second cavities in the axial direction; the nylon filaments are coaxially filled in the second cavities; the first air pipe communicates with the first cavity; the second air pipe communicates with the second cavities; and the torsion limiting line is detachably connected to the outer wall of the corrugated expansion pipe. According to the variable-rigidity omnidirectional motion soft driver based on the line interference technology, theexpansion and contraction movement of the corrugated expansion pipe is realized by inflating or exhausting air in the first cavity, the torsion movement is realized by the torsion limiting line, thebending direction and the rigidity of the corrugated expansion pipe are controlled by matching of the hose and the nylon filaments, the designed soft driver has various movement modes and adjustable rigidity, and the functions of grabbing, clamping and the like of objects can be well realized.

The invention relates to a full-automatic omni-directional unmanned forklift which comprises a forklift chassis, a battery bin and a support, wherein two groups of Mecanum wheels are mounted at the bottom of the forklift chassis; the battery bin is mounted at the upper part of the forklift chassis, and the support is mounted on the front of the forklift chassis; a navigation device and a 3D vision device are mounted at the upper part of the support, and a portal frame device and a stabilizing device are mounted on the front of the support; the navigation device is used for guiding the walking of the forklift, and the 3D vision device is used for positioning during goods forking; the stabilizing device is positioned in the middle of the portal frame device and used for controlling the goods to be stable, and the tail end of the stabilizing device is fixed in the forklift chassis. Under the effect of the Mecanum wheels, the full-automatic omni-directional unmanned forklift can realize three-degree-of-freedom omni-directional movement on a plane, has a zero turning radius and lateral translation ability, can freely walk in a narrow space, and can effectively omni-directionally move in the narrow space. The forklift can flexibly run at a desired speed and in the desired direction and can complete path planning without other human intervention.

The invention discloses an omnidirectional intelligent three-dimensional carrying control system. The control system comprises an MCU processor, a radio frequency identification unit, a magnetic navigation inductor, a velocity and angle detection unit, a tracking control unit and a station magnetic stripe, wherein the radio frequency identification unit reads information, controls the magnetic navigation inductor to be started up and detects the position of the station magnetic stripe; the magnetic navigation inductor is installed at the bottom of an AGV (automatic guided vehicle), a magneticguide rail is laid on a travel track of the AGV, and the magnetic navigation inductor is used for detecting and identifying the magnetic guide rail; the station magnetic stripe intersects with the magnetic guide rail and is used for realizing turning control of the AGV; the velocity and angle detection unit is used for detecting the deflection angle and velocity of the AGV; the MCU processor is connected with a steering assembly to achieve a control function on the AGV, wherein the steering assembly controls a steering wheel of the AGV to realize turning and linear motion; and the tracking control unit calculates a signal required to be output by the steering wheel in the next step according to the tracking state of the magnetic guide rail. The system can realize 360-degree omnidirectionalmotion and is large in load capacity.

The invention discloses a curved surface movable adsorption processing robot and an adsorption working method thereof, and belongs to the technical field of industrial robots. The robot comprises an omni-directional moving module, a position adjusting module, a flexible adsorption module, a chassis rack and a processing actuator, the flexible adsorption module comprises three smooth adsorption cavities, and is connected to the chassis rack through the position adjusting module so that the positions of the flexible adsorption cavities and the adsorbed surfaces can be adjusted, and the adsorption capacity is provided for the robot; and the omni-directional moving module and the processing actuator are fixedly connected to the chassis rack, and omni-directional moving capability and the processing capability are provided for the robot. According to the curved surface movable adsorption processing robot and the adsorption working method thereof, the robot can be adsorbed on the surface ofa free-form curved surface of a large-scale complex component, so that the active adsorption, autonomous motion and machining operation of the robot are realized, the size is small, the load is large,the curved surface application range is wide, the structure is simple, and manufacturing is easy.

The invention discloses a movement control method of an omni-directional heavy-load mobile robot. The mobile robot comprises a control system, at least two steering wheels and at least two turning wheels, wherein the control system is electrically connected with the steering wheels and the turning wheels, the control system controls the steering wheels to rotate and turn, and meanwhile, the turning wheels are controlled to turn so as to achieve the control over the movement of the mobile robot. By applying the control method, the steering wheels are used for replacing universal wheels, so thatthe omni-directional movement of the heavy-load mobile robot is achieved; by adopting the formula, the running speed and the turning angle of each steering wheel can be obtained through calculation,and meanwhile, the turning angles of the turning wheels are also obtained through calculation, so that translation in any direction or self-rotation by taking the movement center of the mobile robot as the center or rotation by taking any point as the center is realized; and compared with a traditional control method of the mobile robot, the movement control method enables the mobile robot to be more flexible and is suitable for narrow space, and the use efficiency of the mobile robot is improved.

The invention relates to a tripod robot which belongs to the field of mechanical control. Three rocker brackets are fixedly arranged on a body uniformly at a horizontal interval of 120 degrees. Rockers are fixedly arranged on the rocker brackets through rocker rotary shafts and rotate around the rocker rotary shafts. Legs are fixedly arranged on the rockers and are free from relative movement with the rockers. An One aluminum alloy spherical connector is connected to the each rockers through a small sleeve. An The other aluminum alloy spherical connector is connected to a each crankshaft through a large sleeve. The aluminum alloy spherical connectors connected to the rockers is are connected with the aluminum alloy spherical connectors connected to the crankshafts through an aluminum alloy spherical connector connecting rods. The crankshafts is are connected with an output shafts of a motors. A cCoders is are connected with a control ends of the motors. A pPower supply supplies and a control circuits are connected with a power inputs of the motors to supply power to the motors. The tripod robot provided by the invention is stable in operation, has a practical application value, and lays a foundation for subsequent researches.

The invention discloses an automatic abutting and control system for a bed and chair integrated robot, which comprises a bed and chair conversion mechanism, a bed body structure and a control system. The bed and chair conversion mechanism can be moved into or moved out of a bed body; the bed and chair conversion mechanism comprises an integrated frame, a parallel mechanism, a linkage mechanism and an omnibearing chassis; the integrated frame also comprises a seat frame, a curved leg frame, a back plate frame, a leg plate frame and a foot plate frame; the relative motion among the frames is implemented by the linkage mechanism formed by a plurality of electric push rods so as to implement the bed and chair conversion function; the bottom of the seat frame is connected with the omnibearing chassis by the parallel mechanism; the left-and-right lateral overturning and the back-and-forth inclination, lifting and descending of the integral frame can be simultaneously implemented by the parallel mechanism; and the omnibearing movement of the bed and chair conversion mechanism is implemented by the omnibearing chassis. According to the invention, the full-automatic conversion, separation and combination between a bed and a chair can be implemented by the control system; the automatic abutting and control system has the more perfect bed and chair conversion function and a turn-over function; the safety and the comfort are greatly promoted; and the automatic abutting and control system has simple structure.

The invention belongs to the technical field of intelligent traffic dispersion, and particularly relates to a highway bridge reversible lane conversion device and method. The device comprises a plurality of moving isolation piers and an isolation belt. The multiple moving isolation piers are connected through the isolation belt. Each moving isolation pier comprises a moving mechanism, an elevatingmechanism and a shell, wherein the moving mechanism comprises a compartment, four mecanum wheels and a motor, the elevating mechanism is fixedly arranged above a compartment cover, connected with themoving mechanism and the shell and used for changing the distance between the moving mechanism and the shell, the shell is arranged on the peripheries of the moving mechanism and the elevating mechanism and provided with a warning lamp for warning vehicle drivers on a highway bridge, and the isolation belt is connected to the side face of the shell. The invention provides the highway bridge reversible lane conversion device and method. The characteristics of the highway bridge are utilized, the mecanum wheels are adopted as moving wheels, isolation pier and isolation belt all-direction movingis achieved, lanes are converted, control is flexible, reversible lane conversion in the fixed time period can be achieved, and meanwhile sudden events can be treated.

The invention discloses a multifunctional nursing robot. The robot comprises a bed-chair mechanism, a lifting mechanism, a travel mechanism and a bottom frame, a base is arranged at the bottom of thebed-chair mechanism, the top of the lifting mechanism is connected with the base, the bottom of the lifting mechanism is connected with the bottom frame, the travel mechanism is connected with the bottom frame, the travel mechanism is used for driving the robot to move, and the lifting mechanism is used for changing the height of the bed-chair mechanism; better experience is brought to a user, anddiversified nursing requirements are met; four Mecanum wheels are driven by an independent servo motor in the travel module, so that omnidirectional movement of the nursing robot is realized, and meanwhile, by matching with a Macpherson suspension, stable travel of the nursing robot in the travel process can be ensured, by means of a defecation mechanism, a user can defecate only by sitting on the wheelchair and slightly getting up to remove clothes obstacles by himself, and the necessity and the possible workload of nursing personnel are reduced.

The invention relates to a six-DOF (six degrees of freedom) parallel posture adjustment platform for horizontal butted assembly of a large heavy-load part. The six-DOF parallel posture adjustment platform comprises a frame unit and multiple three-driving leg units, wherein the frame unit comprises a frame, an anti-collision bar, a leg unit interface, a laser range finder, an inclinometer, a storage battery pack, a controller and a driver, each three-driving leg unit comprises a lifting module, a turning module and a moving module, the multiple three-driving leg units are symmetrically arrangedon the first side and the second side of the bottom surface of the frame, the frame unit moves along the X axis, the Y axis and the Z axis and rotates around the X axis, the Y axis and the Z axis through coordination control for the multiple three-driving leg units, and accordingly, omnidirectional movement and six-DOF posture adjustment of the frame unit can be realized. The six-DOF parallel posture adjustment platform for horizontal butted assembly of the large heavy-load part can adapt to various grounds and meet the demand of fully-automatic posture adjustment, no virtual leg is producedin a posture adjustment process, and the six-DOF parallel posture adjustment platform has the advantages of being high in load capacity and capable of crossing obstacles and moving in all directions.

The invention discloses an omni-directional moving wheel device based on an electromagnetic field. The device comprises driving electrode points 1, a driving shell 2, buffering modules 3, driven electrode points 4, a spherical wheel 5 and a vehicle body 6. The omni-directional moving wheel device based on the electromagnetic field is simple in structure; the driving electrode points and the driven electrode points can be coupled to drive the spherical wheel, so that mechanical-friction-free quick omni-directional moving based on the electromagnetic field can be realized.

The invention discloses a navigation vehicle and a navigation method, aiming at solving the problem that the prior automatic navigation vehicle generally adopts two-wheel differential speed or Mecanumwheel drive, adopts magnetic strips or lasers to cooperate with bent sheet metal parts for navigation and positioning, and the positioning accuracy is poor. The utility model comprises a frame unit,a driving unit, a power unit and a control system, wherein the driving unit and the power unit are respectively connected with the frame unit. In the invention, the structure design of the upper frameand the auxiliary support frame is adopted, which is favorable for reducing the manufacturing difficulty and the production cost of the vehicle body. Based on the split design, the manufacture of thenavigation vehicle is simpler. And the upper frame can be used as the upper support part to provide better load-carrying capacity. At the same time, based on the design of the driving unit, the navigation vehicle of the invention has the ability of omni-directional movement, and has better obstacle-crossing and pit-crossing ability. In addition, based on the improvement of the positioning unit, the positioning accuracy of the present invention is improved to+ / - 5 mm, and the present invention has high application value.

Disclosed is a storage automatic cable unwinding frame. The storage automatic cable unwinding frame comprises a door-shaped fixing frame and a lifting device. The door-shaped fixing frame comprises vertical beams and a transverse beam. The transverse beam is connected to the top ends of the vertical beams. A horizontal supporting rod is connected with the bottom of the lifting device. Axial sliding grooves are formed in the inner sides of the vertical beams, and the two ends of the horizontal supporting rod are inserted into the sliding grooves in a connected mode. A connecting shaft which is used for fixing a cable reel is connected with the bottom of the horizontal supporting rod, a movable plug pin which is used for blocking the bottom surface of the cable reel is arranged at the lower end of the connecting shaft, and a plurality of fixing holes which are matched with the movable plug pin are formed in the connecting shaft in the axial direction. The storage automatic cable unwinding frame is simple in structure and convenient and fast to use, can achieve rapid and automatic cable unwinding of cables on the cable reel, saves the cable unwinding cost, and increases the cable unwinding speed. The storage automatic cable unwinding frame is reasonable in design and high in practicability, and has the high popularization and application value.

The invention discloses a bed-chair integration robot based on an omnidirectional mobile chassis, belonging to the field of health care instruments. The bed-chair integration robot comprises a bed-chair conversion mechanism and a bed body, wherein the bed-chair conversion mechanism can move out or move in the bed body, and the bed-chair conversion mechanism comprises an integrated frame, a parallel mechanism, a linkage mechanism and an omnidirectional chassis mechanism. The integrated frame also comprises a chair frame, a leg bending frame, a back plate frame, a leg plate frame and a foot plate frame, wherein the relative movement among the frames is realized through the linkage mechanism composed of a plurality of electric pushing rods, and a bed-chair conversion function is realized; and the bottom of the chair frame is connected with the omnidirectional chassis mechanism through the parallel mechanism, so that the left and right rollover, the front and back inclination and the lifting and drop of the whole frame can be realized at the same time through the parallel mechanism. The omnidirectional chassis mechanism realizes the omnidirectional movement of the bed-chair conversion mechanism. According to the bed-chair integration robot, the conversion and separation combination among a bed and a chair can be realized. The bed-chair integration robot has a perfect bed-chair conversion function and a turning function, the safety and the comfort are greatly increased, and the structure is simple.

The invention discloses an AGV and a method for replacing a battery of a transfer robot. The AGV comprises a frame and four Mecanum wheel sets installed on the frame, two symmetrical battery push-pulldevices are arranged on the frame, a groove is formed in the position, between the two battery push-pull devices, of the frame, two rows of roller ways are arranged in the groove, each battery push-pull device comprises a first motor and a sliding rail module which are connected with each other and fixed on the frame, an adapter piece is fixed on a sliding block of the sliding rail module, an electric push rod is fixed on the adapter piece, and the electric push rods of the two battery push-pull devices are correspondingly positioned on the upper sides of the two rows of roller ways. The AGVis simple in structure, convenient to control, good in adaptability, high in safety and high in practicability. The method has the advantages of simple process, high automation degree, safety and reliability.

The invention discloses a circular-butterfly-shaped underwater glider, and relates to the field of underwater gliders. The underwater glider comprises a non-airtight circular-butterfly-shaped shell with the hydrodynamic performance, a spherical pressure-resistant shell with the certain pressure resistance and a connecting bracket of the pressure-resistant shell and the circular-butterfly-shaped shell. A mass center adjusting device and a buoyancy adjusting device which are required by gliding motion of the circular-butterfly-shaped underwater glider are carried in the spherical pressure-resistant shell. On the basis of the symmetrical structure of the glider main body, the same hydrodynamic performance is achieved in all directions during underwater gliding, the gravity center of the glider is changed by changing the position of the heavy block through the mass center adjusting device, the buoyancy of the glider is adjusted through the buoyancy adjusting device, upward floating and sinking of the glider are achieved, and gliding motion of the glider is achieved through linkage of the two adjusting systems. The underwater glider can achieve omnidirectional movement underwater, is small in underwater turning radius, has high loading and expanding capacity, and can meet different underwater tasks.

The invention provides a guiding vehicle. The guiding vehicle comprises a wheel system, a first transmission mechanism and a second transmission mechanism. The wheel system comprises a first wheel setand a second wheel set. The first transmission mechanism comprises a steering motor, a first gear and a second gear, and the steering motor drives the first gear and the second gear to rotate in opposite directions; the second transmission mechanism is mechanically connected between the first transmission mechanism and the wheel system, the first gear drives the first wheel set to rotate throughthe second transmission mechanism, and the second gear drives the second wheel set to rotate through the second transmission mechanism. The steering motor drives the first gear and the second gear torotate in the opposite directions and drives the first wheel set and the second wheel set to rotate correspondingly, omnidirectional movement of the guiding vehicle is achieved, and the guiding vehicle is high in obstacle crossing and climbing capacity and high in adaptability to a construction site.

The invention discloses an intelligent omni-directional moving robot comprising a circular top layer plate, a circular middle layer plate, a circular bottom layer plate, an upper side peripheral plate, a lower side peripheral plate, a controller, a wireless communication module, a power module, a storage battery, a motor driving module, a laser sensor, ultrasonic sensors, PSD sensors, an operatingpanel, a camera, three driving motors and three omni-directional wheels. The intelligent omni-directional moving robot utilizes all the sensors to collect external signals, the functions of omni-directional moving, autonomous obstacle avoidance, speech control and the like of the robot are achieved through mutual coordination of the controller, and thus the intelligent omni-directional moving robot is high in stability and good in reliability, can adapt to the various environments, runs in an autonomous obstacle avoidance mode, can be subjected to speech control, and can be widely applied toan intelligent logistics system.

The invention discloses a multi-crawler type omnidirectional mobile platform, which comprises four double-crawler sub-mobile platforms and a top structure. Each sub-mobile platform includes a sub-platform support structure and two symmetrical track structures, each track structure includes a track, a track drive wheel and three track support wheels; each drive wheel is fixed on the sub-platform support structure It is driven by a deceleration motor with a speed measuring encoder; the support wheel is connected to the support structure of the sub-platform through a fixed shaft. The top structure contains the battery, controller and four angle measuring potentiometers. The top structure is fixed on the four sub-mobile platforms by four angular contact bearings. The rotation angle of the sub-mobile platform relative to the top structure can be measured by an angle measuring potentiometer. The controller realizes the omnidirectional movement of the overall structure by controlling the movement of each sub-mobile platform. This platform is suitable for sports that require equipment in an omnidirectional mobile environment. It has the characteristics of large load, smooth movement and high reliability.

The invention discloses a modularized flexible crawling robot capable of moving in all directions. The robot comprises five foot modules, four stretchable modules, four connecting modules A and a connecting module B; side plates of the connecting modules A are perpendicularly installed at the upper surface of a base plate and do not intervene with a large hole in the base plate; two parallel sideplates of the connecting module B are symmetrically installed at the two sides of the base plate, and the other two parallel side plates are installed between the other two side plates and are perpendicular to the other two side plates; one ends of the four stretchable modules are connected to the four side plates of the connecting module B, the other ends of the four stretchable modules are all connected to the connecting modules A, and the connecting module B and the base plates of the connecting modules A are each connected with one foot module. The robot can move forwards, backwards, leftwards and rightwards on the ground and can perform in-situ rotational movement on the ground, the motion flexibility and external impact resistance are greatly improved compared with a traditional crawling robot, and the wide application prospect is achieved.