CN103303385B - The quadrangle rolling robot that step-length is variable - Google Patents
The quadrangle rolling robot that step-length is variable Download PDFInfo
- Publication number
- CN103303385B CN103303385B CN201310276594.4A CN201310276594A CN103303385B CN 103303385 B CN103303385 B CN 103303385B CN 201310276594 A CN201310276594 A CN 201310276594A CN 103303385 B CN103303385 B CN 103303385B
- Authority
- CN
- China
- Prior art keywords
- bar group
- stomidium
- corner component
- component
- corner
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The quadrangle rolling robot that step-length is variable, comprises first to fourth bar group (A, B, C, D), eight protections spherical shell (15) and connects their a roll drive motor (12) and seven counterweights (13).The profile of robot is a parallelogram, and first to fourth bar group is respectively as the four edges of parallelogram.Wherein, the first bar group (A) and the 3rd bar group (C) comprise active scissor unit (a), driven scissor unit (b), four corner components separately and are connected their attaching parts; Second bar group (B) and the 4th bar group (D) comprise two driven scissors unit (b), four corner components and are connected their attaching parts.Roll drive motor (12), by changing the interior angle angle of parallelogram, realizes the rolling function of robot; Variable step drive motor (11) initiatively on scissor unit (a) controls the distance changes of parallelogram, realizes variable step function.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to the quadrangle rolling robot that a kind of step-length is variable.
Background technology
The application of planar linkage mechanism is very extensive, and its advantage is the requirement that can realize multi-motion rule and path of motion, and structure is simple, reliable operation, load-carrying capacity are strong.In planar linkage, the four-bar linkage be made up of four rod members is the most common.Four-bar linkage is not only widely used, and is the basis of composition multi-bar linkage.Chinese patent CN 2789106Y proposes a kind of single-power rolling four-bar mechanism, this mechanism relies on the control of a drive motor, realize rolling by the distortion of parallelogram and the motional inertia of mechanism self to advance, structure is simple, there is certain locomitivity, but the length of side of this mechanism progressive step personal attendant parallelogram and fixing, mode of motion is single.Chinese patent CN 102058982B proposes a kind of single-power rolling polygonal mechanism, and this mechanism carries out drived control by a motor, realizes the change of " snowflake " profile, thus the center-of-gravity position of changing mechanism, realize tumbling motion.
Summary of the invention
The technical problem to be solved in the present invention: general rolling mechanism step-length of advancing in motion process does not change, poor to the adaptive capacity of ground environment and surrounding space environment.
Technical scheme of the present invention: the variable quadrangle rolling robot of step-length comprises first to fourth bar group, eight protection spherical shells and a roll drive motor and seven counterweights.The profile of robot is a parallelogram, and four bar groups are respectively as the four edges of parallelogram.Wherein, the first bar group and the 3rd bar group comprise active scissor unit, driven scissor unit, four corner components separately and are connected their four major axis and two minor axises; Second bar group and the 4th bar group comprise two driven scissor unit, four corner components and are connected their four major axis and two minor axises.
Variable step drive motor is fixed by screw and motor cabinet connecting rod, and the interstitial hole of motor cabinet connecting rod and motor shaft connecting rod is passed in its rotating shaft, and jackscrew is fixed by the rotating shaft of top wire hole to motor of motor shaft connecting rod, constitutes initiatively scissor unit.
The interstitial hole of the first follower link is connected by major axis with the interstitial hole of the second follower link, and carries out axial restraint with jump ring, constitutes driven scissor unit.
The thick stomidium of the motor cabinet connecting rod initiatively in scissor unit is connected by major axis with a stomidium of the first follower link in driven scissor unit, and carry out axial restraint with jump ring, the thin stomidium of motor cabinet connecting rod is connected by minor axis with the arc stomidium of first the second corner component, and carry out axial restraint with jump ring, another stomidium of first follower link is connected by major axis with the arc stomidium of first the first corner component, and carry out axial restraint with jump ring, initiatively in scissor unit, a stomidium of motor shaft connecting rod is connected by major axis with the thick stomidium of the second follower link in driven scissor unit, and carry out axial restraint with jump ring, another stomidium of motor shaft connecting rod is connected by major axis with the arc stomidium of second the first corner component, and carry out axial restraint with jump ring, the thin stomidium of the second follower link is connected by minor axis with the arc stomidium of second the second corner component, and carry out axial restraint with jump ring, constitute the first bar group.The structure of the 3rd bar group and connection mode are identical with the first bar group.
One stomidium of the first follower link in the first driven scissor unit is connected by major axis with the thick stomidium of the second follower link in the second driven scissor unit, and carry out axial restraint with jump ring, another stomidium of first follower link is connected by major axis with the arc stomidium of first method of three turning angles component, and carry out axial restraint with jump ring, the thin stomidium of the second follower link is connected by minor axis with the arc stomidium of first the 4th corner component, and carries out axial restraint with jump ring; The thick stomidium of the second follower link in the first driven scissor unit is connected by major axis with a stomidium of the first follower link in the second driven scissor unit, and carry out axial restraint with jump ring, the thin stomidium of the second follower link is connected by minor axis with the arc stomidium of second the 4th corner component, and carry out axial restraint with jump ring, first follower link is connected by major axis with the arc stomidium of second method of three turning angles component, and carry out axial restraint with jump ring, constitute the second bar group.The structure of the 4th bar group and connection mode are identical with the second bar group.
First to fourth bar group, a roll drive motor and seven counterweights form parallelogram, wherein, the first bar group and the 3rd bar group) to arrange as the opposite side of parallelogram, the second bar group and the 4th bar group are arranged as the opposite side of parallelogram.
First bar group and the second bar group link together by roll drive motor and the first counterweight; Second bar group and the 3rd bar group link together by the second counterweight and the 3rd counterweight; 3rd bar group and the 4th bar group link together by the 4th counterweight and the 5th counterweight; 4th bar group and the first bar group link together by the 6th counterweight and the 7th counterweight.
There are two turnings at the quadrangle assembled each summit place, all needs to install protection spherical shell, and the spherical shell mounting means at this quadrangle four summits place is identical.The mounting means at one of them summit place: the thread end of first guide rod is fixed in the neutral threaded hole of the 4th corner component, screw is fixed on the tapped bore of protection spherical shell through the screw hole on the second corner component; The thread end of second guide rod is fixed in the neutral threaded hole of the first corner component, and screw is fixed on the tapped bore of protection spherical shell through the screw hole of method of three turning angles component.
Beneficial effect of the present invention: the quadrangle rolling robot that step-length of the present invention is variable, the distance changes of parallelogram is controlled by two variable step drive motor, realize robot variable step function, by the change of a roll drive electric machine control parallelogram interior angle angle, realize the rolling function of robot, and make robot have certain obstacle climbing ability.This mechanism structure is simple, with low cost, is easy to manufacture and Project Realization.For students in middle and primary schools provide the understanding to geometrical body and travel mechanism, can be used for making toy, teaching aid, also can be used for making military.
Accompanying drawing explanation
The overall graphics of the quadrangle rolling robot that Fig. 1 step-length is variable
The overall graphics of the quadrangle rolling robot of Fig. 2 not with protecting the step-length of spherical shell variable
The overall graphics of Fig. 3 first bar group (A) and the 3rd bar group (C)
The overall graphics of Fig. 4 second bar group (B) and the 4th bar group (D)
The overall graphics of Fig. 5 active scissor unit (a)
The overall graphics of driven scissor unit (b) of Fig. 6
Fig. 7 protects the erection plan of spherical shell
The graphics of Fig. 8 first follower link
The graphics of Fig. 9 second follower link
The graphics of Figure 10 motor shaft connecting rod
The graphics of Figure 11 motor cabinet connecting rod
The graphics of Figure 12 first corner component
The graphics of Figure 13 second corner component
The graphics of Figure 14 method of three turning angles component
The graphics of Figure 15 the 4th corner component
The graphics of Figure 16 spherical shell
The graphics of Figure 17 guide rod
Figure 18 a, Figure 18 b, Figure 18 c are the step change exploded drawings of the variable quadrangle rolling robot of step-length:
Figure 18 a minimum edge long status
Figure 18 b intermediate length state
Figure 18 c maximal side state
Figure 19 a, Figure 19 b, Figure 19 c, Figure 19 d are the variable quadrangle rolling robot craspedodrome gait exploded drawings of step-length:
The initial pose of Figure 19 a craspedodrome gait
The centre-of gravity shift action of Figure 19 b craspedodrome gait
The tumbling action of Figure 19 c craspedodrome gait
The pose recovery action of Figure 19 d craspedodrome gait
In figure: the first follower link 1, motor shaft connecting rod 2, second follower link 3, motor cabinet connecting rod 4, major axis 5, minor axis 6, first corner component 7, method of three turning angles component 8, second corner component 9, the 4th corner component 10, variable step drive motor 11, roll drive motor 12, counterweight 13, guide rod 14, protection spherical shell 15, screw 16, initiatively scissor unit a, driven scissor unit b, the first bar group A, the second bar group B, the 3rd bar group C, the 4th bar group D.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further details.
The variable quadrangle rolling robot of step-length as shown in Figure 1, comprise first to fourth bar group (A, B, C, D), eight protections spherical shell (15) and a roll drive motor (12) and seven counterweights (13), wherein, the first bar group (A) and the 3rd bar group (C) comprise active scissor unit (a), driven scissor unit (b), four corner components separately and are connected their four major axis and two minor axises; Second bar group (B) and the 4th bar group (D) comprise two driven scissors unit (b), four corner components and are connected their four major axis and two minor axises.
Embodiments of the present invention:
As Fig. 5, variable step drive motor (11) is fixed by screw and motor cabinet connecting rod (4), its rotating shaft is through the interstitial hole of motor cabinet connecting rod (4) with motor shaft connecting rod (2), jackscrew is fixed by the rotating shaft of top wire hole to motor of motor shaft connecting rod (2), forms initiatively scissor unit (a).
As Fig. 6, the interstitial hole of the first follower link (1) is connected by major axis (5) with the interstitial hole of the second follower link (3), and carries out axial restraint with jump ring, forms driven scissor unit (b).
As Fig. 3, the thick stomidium of motor cabinet connecting rod (4) initiatively in scissor unit (a) is connected by major axis (5) with a stomidium of the first follower link (1) in driven scissor unit (b), and carry out axial restraint with jump ring, the thin stomidium of motor cabinet connecting rod (4) is connected by minor axis (6) with the arc stomidium of first the second corner component (9), and carry out axial restraint with jump ring, another stomidium of first follower link (1) is connected by major axis (5) with the arc stomidium of first the first corner component (7), and carry out axial restraint with jump ring, initiatively in scissor unit (a), a stomidium of motor shaft connecting rod (2) is connected by major axis (5) with the thick stomidium of the second follower link (3) in driven scissor unit (b), and carry out axial restraint with jump ring, another stomidium of motor shaft connecting rod (2) is connected by major axis (5) with the arc stomidium of second the first corner component (7), and carry out axial restraint with jump ring, the thin stomidium of the second follower link (3) is connected by minor axis (6) with the arc stomidium of second the second corner component (9), and carry out axial restraint with jump ring, form the first bar group (A).
The structure of the 3rd bar group (C) and connection mode are identical with the first bar group (A).
As Fig. 4, one stomidium of the first follower link (1) in the first driven scissor unit (b) is connected by major axis (5) with the thick stomidium of the second follower link (3) in the second driven scissor unit (b), and carry out axial restraint with jump ring, another stomidium of first follower link (1) is connected by major axis (5) with the arc stomidium of first method of three turning angles component (8), and carry out axial restraint with jump ring, the thin stomidium of the second follower link (3) is connected by minor axis (6) with the arc stomidium of first the 4th corner component (10), and carry out axial restraint with jump ring, the thick stomidium of the second follower link (3) in the first driven scissor unit (b) is connected by major axis (5) with a stomidium of the first follower link (1) in the second driven scissor unit (b), and carry out axial restraint with jump ring, the thin stomidium of the second follower link (3) is connected by minor axis (6) with the arc stomidium of second the 4th corner component (10), and carry out axial restraint with jump ring, first follower link (1) is connected by major axis (5) with the arc stomidium of second method of three turning angles component (8), and carry out axial restraint with jump ring, form the second bar group (B).
The structure of the 4th bar group (D) and connection mode are identical with the second bar group (B);
As Fig. 2, first bar group (A), the second bar group (B), the 3rd bar group (C), the 4th bar group (D), a roll drive motor (12) and seven counterweights (13) form parallelogram, wherein, first bar group (A) and the 3rd bar group (C) are arranged as the opposite side of parallelogram, and the second bar group (B) and the 4th bar group (D) are arranged as the opposite side of parallelogram.
Roll drive motor (12) is fixed by screw with second the second corner component (9) in the first bar group (A), the rotating shaft of roll drive motor (12) is through the square end hole of second the 4th corner component (10) in the square end hole of second the second corner component (9) in the first bar group (A) and the second bar group (B), jackscrew is fixed by the rotating shaft of top wire hole to motor of the 4th corner component (10)
First counterweight (13) is fixed by first the first corner component (7) in screw and the first bar group (A), its axle is through the square end hole of first method of three turning angles component (8) in the square end hole of first the first corner component (7) in the first bar group (A) and the second bar group (B)
Second counterweight (13) is fixed by second the first corner component (7) in screw and the 3rd bar group (C), its axle is through the square end hole of second method of three turning angles component (8) in the square end hole of second the first corner component (7) in the 3rd bar group (C) and the second bar group (B)
3rd counterweight (13) is fixed by first the second corner component (9) in screw and the 3rd bar group (C), its axle is through the square end hole of first the 4th corner component (10) in the square end hole of first the second corner component (9) in the 3rd bar group (C) and the second bar group (B)
4th counterweight (13) is fixed by second the second corner component (9) in screw and the 3rd bar group (C), its axle is through the square end hole of second the 4th corner component (10) in the square end hole of second the second corner component (9) in the 3rd bar group (C) and the 4th bar group (D)
5th counterweight (13) is fixed by first the first corner component (7) in screw and the 3rd bar group (C), its axle is through the square end hole of first method of three turning angles component (8) in the square end hole of first the first corner component (7) in the 3rd bar group (C) and the 4th bar group (D)
6th counterweight (13) is fixed by second the first corner component (7) in screw and the first bar group (A), its axle is through the square end hole of second method of three turning angles component (8) in the square end hole of second the first corner component (7) in the first bar group (A) and the 4th bar group (D)
7th counterweight (13) is fixed by first the second corner component (9) in screw and the first bar group (A), and its axle is through the square end hole of first the 4th corner component (10) in the square end hole of first the second corner component (9) in the first bar group (A) and the 4th bar group (D).
As Fig. 1, the similar parallelogram of quadrangle rolling robot profile that step-length is variable, each summit needs installation two to protect spherical shell, and the mounting means at each summit place is identical.One of them summit place, the thread end of first guide rod (14) is fixed in the neutral threaded hole of the 4th corner component (10), and screw (16) is fixed on the tapped bore of protection spherical shell (15) through the screw hole on the second corner component (9); The thread end of second guide rod (14) is fixed in the neutral threaded hole of the first corner component (7), and screw (16) is fixed on the tapped bore of protection spherical shell (15) through the screw hole of method of three turning angles component (8).
Arc stomidium on the first described corner component (7), the second corner component (9), method of three turning angles component (8) and the 4th corner component (10) and the axis in square end hole orthogonal.
Concrete using method:
The variable quadrangle rolling robot of step-length can realize variable step function.The variable quadrangle rolling robot of step-length is in the minimum edge long status shown in accompanying drawing 18a, now, drive the variable step drive motor in the first bar group and the 3rd bar group, the limit of quadrangle is extended, arrive the intermediate length state as shown in accompanying drawing 18b, continue to control variable step drive motor, make the limit of quadrangle be elongated to the longest, arrive the maximal side state as shown in accompanying drawing 18c.So just achieve the step change process of the quadrangle rolling robot of variable step, Figure 18 a, Figure 18 b, Figure 18 c are the step change exploded drawingss of the variable quadrangle rolling robot of step-length.
The variable quadrangle rolling robot of step-length can realize craspedodrome gait.First the quadrangle rolling robot that step-length is variable is in the initial pose of the craspedodrome gait as shown in accompanying drawing 19a, with the limit of direct of travel end parallelogram for bearing surface, by controlling roll drive motor, change the angle change of parallelogram interior angle, realize the craspedodrome gait centre-of gravity shift action as shown in accompanying drawing 19b, due to the effect of inertia, the variable quadrangle rolling robot of step-length rolls, another side now as the parallelogram supported lands, realize the craspedodrome gait tumbling action as shown in accompanying drawing 19c, again control the motion of roll drive motor, change the angle of parallelogram interior angle, the state realizing the craspedodrome gait appearance as shown in accompanying drawing 19d recovers action, the variable quadrangle rolling robot of step-length returns to incipient state.So just achieve the craspedodrome gait that of robot is complete, the variable quadrangle rolling robot of step-length repeatedly completes this process and just can realize advancing forward of robot.Figure 19 a, Figure 19 b, Figure 19 c, Figure 19 d are the exploded drawingss of the variable quadrangle rolling robot craspedodrome gait of step-length.
Claims (3)
1. the quadrangle rolling robot that step-length is variable, it is characterized in that: the variable quadrangle rolling robot of step-length comprises first to fourth bar group (A, B, C, D), eight protections spherical shell (15) and a roll drive motor (12) and seven counterweights (13), wherein, the first bar group (A) and the 3rd bar group (C) comprise active scissor unit (a), driven scissor unit (b), four corner components separately and are connected their four major axis and two minor axises; Second bar group (B) and the 4th bar group (D) comprise two driven scissors unit (b), four corner components and are connected their four major axis and two minor axises;
In described active scissor unit (a), variable step drive motor (11) is fixed by screw and motor cabinet connecting rod (4), its rotating shaft is through the interstitial hole of motor cabinet connecting rod (4) with motor shaft connecting rod (2), and jackscrew is fixed by the rotating shaft of top wire hole to motor of motor shaft connecting rod (2);
In described driven scissor unit (b), the interstitial hole of the first follower link (1) is connected by major axis (5) with the interstitial hole of the second follower link (3), and carries out axial restraint with jump ring;
In the first described bar group (A), the thick stomidium of motor cabinet connecting rod (4) initiatively in scissor unit (a) is connected by major axis (5) with a stomidium of the first follower link (1) in driven scissor unit (b), and carry out axial restraint with jump ring, the thin stomidium of motor cabinet connecting rod (4) is connected by minor axis (6) with the arc stomidium of first the second corner component (9), and carry out axial restraint with jump ring, another stomidium of first follower link (1) is connected by major axis (5) with the arc stomidium of first the first corner component (7), and carry out axial restraint with jump ring, initiatively in scissor unit (a), a stomidium of motor shaft connecting rod (2) is connected by major axis (5) with the thick stomidium of the second follower link (3) in driven scissor unit (b), and carry out axial restraint with jump ring, another stomidium of motor shaft connecting rod (2) is connected by major axis (5) with the arc stomidium of second the first corner component (7), and carry out axial restraint with jump ring, the thin stomidium of the second follower link (3) is connected by minor axis (6) with the arc stomidium of second the second corner component (9), and carry out axial restraint with jump ring,
The structure of the 3rd bar group (C) and connection mode are identical with the first bar group (A);
In the second described bar group (B), one stomidium of the first follower link (1) in the first driven scissor unit (b) is connected by major axis (5) with the thick stomidium of the second follower link (3) in the second driven scissor unit (b), and carry out axial restraint with jump ring, another stomidium of first follower link (1) is connected by major axis (5) with the arc stomidium of first method of three turning angles component (8), and carry out axial restraint with jump ring, the thin stomidium of the second follower link (3) is connected by minor axis (6) with the arc stomidium of first the 4th corner component (10), and carry out axial restraint with jump ring, the thick stomidium of the second follower link (3) in the first driven scissor unit (b) is connected by major axis (5) with a stomidium of the first follower link (1) in the second driven scissor unit (b), and carry out axial restraint with jump ring, the thin stomidium of the second follower link (3) is connected by minor axis (6) with the arc stomidium of second the 4th corner component (10), and carry out axial restraint with jump ring, first follower link (1) is connected by major axis (5) with the arc stomidium of second method of three turning angles component (8), and carries out axial restraint with jump ring,
The structure of the 4th bar group (D) and connection mode are identical with the second bar group (B);
First bar group (A), the second bar group (B), the 3rd bar group (C), the 4th bar group (D), a roll drive motor (12) and seven counterweights (13) form parallelogram, wherein, first bar group (A) and the 3rd bar group (C) are arranged as the opposite side of parallelogram, and the second bar group (B) and the 4th bar group (D) are arranged as the opposite side of parallelogram;
Roll drive motor (12) is fixed by screw with second the second corner component (9) in the first bar group (A), the rotating shaft of roll drive motor (12) is through the square end hole of second the 4th corner component (10) in the square end hole of second the second corner component (9) in the first bar group (A) and the second bar group (B), jackscrew is fixed by the rotating shaft of top wire hole to motor of the 4th corner component (10)
First counterweight (13) is fixed by first the first corner component (7) in screw and the first bar group (A), its axle is through the square end hole of first method of three turning angles component (8) in the square end hole of first the first corner component (7) in the first bar group (A) and the second bar group (B)
Second counterweight (13) is fixed by second the first corner component (7) in screw and the 3rd bar group (C), its axle is through the square end hole of second method of three turning angles component (8) in the square end hole of second the first corner component (7) in the 3rd bar group (C) and the second bar group (B)
3rd counterweight (13) is fixed by first the second corner component (9) in screw and the 3rd bar group (C), its axle is through the square end hole of first the 4th corner component (10) in the square end hole of first the second corner component (9) in the 3rd bar group (C) and the second bar group (B)
4th counterweight (13) is fixed by second the second corner component (9) in screw and the 3rd bar group (C), its axle is through the square end hole of second the 4th corner component (10) in the square end hole of second the second corner component (9) in the 3rd bar group (C) and the 4th bar group (D)
5th counterweight (13) is fixed by first the first corner component (7) in screw and the 3rd bar group (C), its axle is through the square end hole of first method of three turning angles component (8) in the square end hole of first the first corner component (7) in the 3rd bar group (C) and the 4th bar group (D)
6th counterweight (13) is fixed by second the first corner component (7) in screw and the first bar group (A), its axle is through the square end hole of second method of three turning angles component (8) in the square end hole of second the first corner component (7) in the first bar group (A) and the 4th bar group (D)
7th counterweight (13) is fixed by first the second corner component (9) in screw and the first bar group (A), and its axle is through the square end hole of first the 4th corner component (10) in the square end hole of first the second corner component (9) in the first bar group (A) and the 4th bar group (D).
2. the quadrangle rolling robot that step-length as claimed in claim 1 is variable, it is characterized in that: the similar parallelogram of quadrangle rolling robot profile that step-length is variable, two protection spherical shells are installed on each summit of parallelogram, and the mounting means at each summit place is similar, one of them summit place, the thread end of first guide rod (14) is fixed in the neutral threaded hole of the 4th corner component (10), and screw (16) is fixed on the tapped bore of protection spherical shell (15) through the screw hole on the second corner component (9); The thread end of second guide rod (14) is fixed in the neutral threaded hole of the first corner component (7), and screw (16) is fixed on the tapped bore of protection spherical shell (15) through the screw hole of method of three turning angles component (8).
3. the quadrangle rolling robot that step-length as claimed in claim 1 is variable, is characterized in that: the arc stomidium on the first corner component (7), the second corner component (9), method of three turning angles component (8) and the 4th corner component (10) and the axis in square end hole orthogonal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310276594.4A CN103303385B (en) | 2013-07-03 | 2013-07-03 | The quadrangle rolling robot that step-length is variable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310276594.4A CN103303385B (en) | 2013-07-03 | 2013-07-03 | The quadrangle rolling robot that step-length is variable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103303385A CN103303385A (en) | 2013-09-18 |
| CN103303385B true CN103303385B (en) | 2015-08-05 |
Family
ID=49129205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310276594.4A Active CN103303385B (en) | 2013-07-03 | 2013-07-03 | The quadrangle rolling robot that step-length is variable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103303385B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215370B (en) * | 2017-05-23 | 2019-04-12 | 新昌县羽林街道正名轴承厂 | A kind of handling device with ladder function for smart home |
| FR3126905B1 (en) | 2021-09-15 | 2023-11-10 | Nimble One | New mobile robotic system architecture |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5161631A (en) * | 1989-11-27 | 1992-11-10 | Uragami Fukashi | Suction device capable of moving along a surface |
| GB2292355A (en) * | 1994-08-06 | 1996-02-21 | Thomas Leith Taig | A machine for moving over vertical and horizontal surfaces |
| CN2789106Y (en) * | 2005-04-08 | 2006-06-21 | 北京交通大学 | Single-power rolling four-bar mechanism |
| CN101462561A (en) * | 2009-01-13 | 2009-06-24 | 北京交通大学 | Rolling triangular robot |
| CN102615649A (en) * | 2012-04-11 | 2012-08-01 | 北京交通大学 | Rolling double four-parallelogram robot |
-
2013
- 2013-07-03 CN CN201310276594.4A patent/CN103303385B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5161631A (en) * | 1989-11-27 | 1992-11-10 | Uragami Fukashi | Suction device capable of moving along a surface |
| GB2292355A (en) * | 1994-08-06 | 1996-02-21 | Thomas Leith Taig | A machine for moving over vertical and horizontal surfaces |
| CN2789106Y (en) * | 2005-04-08 | 2006-06-21 | 北京交通大学 | Single-power rolling four-bar mechanism |
| CN101462561A (en) * | 2009-01-13 | 2009-06-24 | 北京交通大学 | Rolling triangular robot |
| CN102615649A (en) * | 2012-04-11 | 2012-08-01 | 北京交通大学 | Rolling double four-parallelogram robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103303385A (en) | 2013-09-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102514645B (en) | Spherical rolling robot | |
| CN102615649B (en) | Rolling double four-parallelogram robot | |
| CN102632936B (en) | Rollingly-marching robot with two wheel-like hexagonal mechanisms | |
| CN103129735B (en) | Three sections of twofold wings | |
| CN102058982B (en) | Single-power rolling polygonal mechanism | |
| CN107472389B (en) | Bouncing robot capable of actively adjusting posture before landing | |
| CN103381602B (en) | A kind of full decoupled two move one turn of three-freedom degree spatial parallel structure | |
| CN103029120A (en) | Folding static load balance adjusting parallel platform | |
| CN103737578A (en) | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom | |
| CN102490179A (en) | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom | |
| CN101915292B (en) | Single-power rolling spherical four-rod mechanism | |
| CN103737209A (en) | Welding robot with symmetrical mechanisms | |
| CN103722552A (en) | Controllable multi-degree-of-freedom manipulator | |
| CN103522279A (en) | Full symmetric space three-rotational-freedom parallel mechanism | |
| CN103707290A (en) | Welding robot with a plurality of closed-ring subchains | |
| CN104669964A (en) | Water-land-air triphibious unmanned investigation device | |
| CN102672707B (en) | Differential seven-connecting-rod robot traveling in rolling way | |
| CN102490186B (en) | Four-degree-of-freedom parallel manipulator | |
| CN103303385B (en) | The quadrangle rolling robot that step-length is variable | |
| CN105314109B (en) | A kind of wing drive mechanism of flapping wing aircraft | |
| CN103286771A (en) | Spatial three-rotational-freedom parallel connecting mechanism | |
| CN103738426A (en) | Dual-mode sixteen-rod rolling mechanism | |
| CN109531558B (en) | Single-power mobile five-rod robot | |
| CN102615644A (en) | Novel posture adjustment mechanism capable of achieving three-rotation one-translation degree of freedom | |
| CN103144097A (en) | Asymmetric parallel robot mechanism with two rotations and one movement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |