(EN) The invention relates to a multi-body cooperative omnidirectional mobile intelligent robot system which comprises at least three omnidirectional mobile intelligent robots. Each omnidirectional mobileintelligent robot comprises a vehicle body module and the like. Omni-directional wheel set modules are installed on the left side and the right side of the vehicle body module, so that the vehicle body module moves in an omni-directional manner, and rotation in the front-back direction, the transverse direction, the oblique direction and the zero turning radius can be achieved. A wheel holding mechanism module is hinged to the middle of the vehicle body module and embraces and lifts an aircraft wheel; an energy module is mounted in the middle of the vehicle body module for supplying power; thewheel holding mechanism module adopts a three-point suspension type lifting structure and has degree of freedom release, so that the intelligent robot does not generate large additional force to theshipboard aircraft in the aircraft transfer process; the vehicle body module is provided with a hydraulic power vehicle body door, so that structural strength and rigidity are improved. Omnidirectional movement of the shipboard aircraft is achieved, the system is suitable for operation in narrow places, the transfer efficiency and the storage density of the shipboard aircraft are remarkably improved, and the blank of multi-vehicle cooperative transfer in the field of aircraft tractors is filled.
(ZH) 本发明涉及一种多体协同全向移动智能机器人系统，包含至少三台全向移动智能机器人；全向移动智能机器人包括车体模块等；全向轮组模块安装在车体模块的左右两侧，供车体模块全向移动，能够实现前后方向、横向、斜向、零回转半径转动；抱轮机构模块铰接在车体模块中间，对机轮进行抱紧和起升；能源模块安装在车体模块中部，用于供电；抱轮机构模块采用三点悬挂式起升结构，具有自由度释放，使智能机器人在转运飞机过程中不对舰载机产生较大附加力；车体模块设有液压动力车体门，增加结构强度和刚度。本发明实现舰载机全向移动，适用于狭窄地方作业，显著提高舰载机的转运效率和贮存密度，填补飞机牵引车领域的多车协同转运空白。
