CN113927624A - Extendable quadruped robot based on rollable thin-walled tube - Google Patents
Extendable quadruped robot based on rollable thin-walled tube Download PDFInfo
- Publication number
- CN113927624A CN113927624A CN202111211446.5A CN202111211446A CN113927624A CN 113927624 A CN113927624 A CN 113927624A CN 202111211446 A CN202111211446 A CN 202111211446A CN 113927624 A CN113927624 A CN 113927624A
- Authority
- CN
- China
- Prior art keywords
- walled tube
- thin
- rollable
- driver
- rollable thin
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses an extensible quadruped robot based on a rollable thin-walled tube, and particularly relates to the technical field of bionic robots. The device comprises a body assembly and a supporting leg assembly, wherein the body assembly comprises a front rack and a first side plate, the front rack and the first side plate are both provided with two first drivers, the front rack is provided with a first rollable thin-walled tube, and the first rollable thin-walled tube is provided with a second driver; the landing leg subassembly includes connecting rod and second curb plate, and the connecting rod is established on first driver, and the connecting rod is equipped with first bevel gear, and first bevel gear meshing has second bevel gear, and second bevel gear rigid coupling has first cylindrical gear, and the meshing has second cylindrical gear on the first cylindrical gear, is equipped with the third driver on the support frame, is equipped with the third cylindrical gear on the third driver, and the cladding has the second to roll up the thin-walled pipe on the fourth driver, and the second can roll up the thin-walled pipe and be equipped with the foot end. The technical scheme of the invention solves the problems of large size and mass of the existing space extensible machine, and can be used for rescue and exploration operation in various fields.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to an extensible quadruped robot based on a rollable thin-walled tube.
Background
The quadruped robot can walk in various rugged complex ground environments, has strong mobility, and has good application prospects in the fields of rescue and relief work, military reconnaissance, planet detection and the like. In order to make the robot have the ability to climb over higher obstacles, cross wider gaps and adapt to larger ground fall, the sizes of the body and the legs of the robot are generally required to be increased, and the large-size robot body causes the mobility flexibility of the robot in the environments such as caves, slits, forests and the like to be reduced and even the robot cannot walk in the environments. The space extensible robot can well solve the problem, however, the extension mechanism of the robot is mainly realized by a multi-connecting-rod folding mechanism, an expansion cylinder and the like at present, and the problems of large volume and mass, small extension-contraction ratio and the like exist.
Disclosure of Invention
The invention aims to provide an extensible quadruped robot based on a rollable thin-walled tube, and solves the problems of large volume and mass of an existing extensible robot in space.
In order to achieve the purpose, the technical scheme of the invention is as follows: an extensible quadruped robot based on a rollable thin-walled tube comprises a body component and four supporting leg components, wherein the body component comprises a front frame and two first side plates, two first drivers are symmetrically arranged in the front frame, a first rollable thin-walled tube is arranged on the outer side wall of the front frame, the free end of the first rollable thin-walled tube is connected with a second driver arranged between the two first side plates, and the two first side plates are also symmetrically provided with first drivers positioned on one side of the second driver; each support leg assembly comprises a connecting rod and two second side plates, one end of each of the four connecting rods is respectively sleeved on different first driver output shafts, the other end of each connecting rod is provided with a first support shaft, a first bevel gear penetrates through the first support shaft, a second support shaft is further rotatably connected to the first support shaft, two ends of the second support shaft penetrate between the two second side plates, second bevel gears symmetrically arranged on two sides of the first bevel gear are rotatably connected to the second rotating shaft, each second bevel gear is meshed with the first bevel gear, two first cylindrical gears outside the second bevel gears are further rotatably connected to the second support shaft, each first cylindrical gear is fixedly connected with an adjacent second cylindrical gear, third support shafts are symmetrically arranged on the two second side plates, and a second cylindrical gear meshed with the first cylindrical gears is arranged on each third support shaft, the support frame and a fourth driver located on one side of the support frame are further arranged between the two second side plates, the support frame is provided with two third drivers arranged in the front and back, each third driver is provided with a third cylindrical gear meshed with the corresponding second cylindrical gear, the fourth driver is wrapped with a second rollable thin-walled tube, and the free end of the second rollable thin-walled tube is provided with a foot end.
Furthermore, a first guide frame is arranged on the first rollable thin-walled tube in a penetrating mode and is located at the uncompressed position of the first rollable thin-walled tube, and the first guide frame is arranged between the two first side plates; and a second guide frame which is positioned at the uncompressed part of the second rollable thin-walled tube is arranged on the second rollable thin-walled tube in a penetrating way, and the second guide frame is arranged between the two second side plates.
Through the arrangement, the first guide frame and the second guide frame can be used for respectively providing corresponding guide supports for the extension and the contraction of the first rollable thin-walled tube and the second rollable thin-walled tube, and the stability and the certainty of the scheme in the unfolding process are favorably maintained.
Furthermore, a first bull's eye roller which abuts against the first rollable thin-walled tube is arranged on the first guide frame, and a second bull's eye roller which abuts against the second rollable thin-walled tube is arranged on the second guide frame.
Through the arrangement, the friction resistance between the rollable thin-walled tube and the guide frame in the extending and retracting processes is favorably reduced.
Furthermore, first rollers located at the position where the first rollable thin-walled tube is completely compressed are symmetrically arranged on the upper side and the lower side of the first rollable thin-walled tube, each first roller is arranged between the two first side plates, second rollers located at the position where the second rollable thin-walled tube is completely compressed are symmetrically arranged on the upper side and the lower side of the second rollable thin-walled tube, and each second roller is arranged between the two second side plates.
Through the arrangement, the first rollable thin-walled tube and the second rollable thin-walled tube can be extruded by the first roller and the second roller respectively, so that the first rollable thin-walled tube and the second rollable thin-walled tube can be conveniently rolled and attached to the second driver and the third driver.
Compared with the prior art, the beneficial effect of this scheme:
1. the thin-walled tube capable of being rolled is applied to a body assembly and a leg assembly of the quadruped robot by utilizing the characteristics that the thin-walled tube capable of being rolled is large in rigidity in an uncompressed state, small in size in a flattened state, large in flexibility and easy to wind, so that the body assembly and the leg assembly of the quadruped robot have compact structures and large stretching capacity.
2. The scheme takes the differential gear system as the joint of the landing leg assembly, so that the landing leg assembly obtains the motion capability of two degrees of freedom, and the flexibility of the landing leg assembly is increased.
3. The compact overall structure of this scheme, body and landing leg that can extend and nimble landing leg make this four-footed robot can cross large-scale barrier simultaneously and pass through complicated geographical environment such as slit, miniature cave, have very strong environmental suitability.
Drawings
FIG. 1 is an isometric view of the present embodiment, unstretched;
FIG. 2 is a top view of the present embodiment when not extended;
FIG. 3 is an isometric view of the leg assembly (not including the link) of the present embodiment;
FIG. 4 is a front view of the leg assembly (not including the link) of the present embodiment;
figure 5 is an isometric view of the present embodiment when extended.
Detailed Description
The present invention will be described in further detail below by way of specific embodiments:
reference numerals in the drawings of the specification include: the body component 1, the leg component 2, the front frame 101, the first driver 102, the first rollable thin-walled tube 103, the first guide frame 104, the first bull's eye roller 105, the first side plate 106, the first roller 107, the second driver 108, the connecting rod 3, the first bevel gear 401, the first support shaft 402, the second support shaft 403, the second bevel gear 404, the first cylindrical gear 405, the second cylindrical gear 406, the third cylindrical gear 407, the third support shaft 408, the third driver 409, the support frame 410, the second side plate 411, the fourth driver 412, the second roller 413, the second guide frame 414, the second bull's eye roller 415, the second rollable thin-walled tube 416 and the foot end 417.
Example 1
As shown in figures 1 to 5: an extensible quadruped robot based on a rollable thin-walled tube comprises a body component 1 and four leg components 2, wherein the body component 1 comprises a front frame 101 and two first side plates 106, the cross section of the front frame 101 is in a shape like a Chinese character 'ji', two first drivers 102 with output shafts penetrating through the front frame 101 are symmetrically arranged in the front frame 101, and each first driver 102 is connected with the front frame 101 through a bolt. The right side of the front frame 101 is provided with a sealing plate, the sealing plate is fixedly connected with a first rollable thin-walled tube 103, the right end of the first rollable thin-walled tube 103 is connected with a second driver 108 arranged between two first side plates 106, the two first side plates 106 are further symmetrically provided with first drivers 102 positioned on the right side of the second driver 108, the two first drivers 102 are all connected onto the corresponding first side plates 106 through bolts, and the output shafts of the first drivers 102 penetrate through the first side plates 106. The first rollable thin-walled tube 103 is further provided with a first guide frame 104 which is arranged at the uncompressed position of the first rollable thin-walled tube 103 in a penetrating manner, and the first guide frame 104 is connected to the two first side plates 106 through bolts; 12 first bull's eye rollers 105 which are abutted against the first rollable thin-walled tube 103 are circumferentially and equidistantly distributed on the first guide frame 104. The upper side and the lower side of the first rollable thin-walled tube 103 are symmetrically provided with first rollers 107 positioned at the position where the first rollable thin-walled tube 103 is completely compressed, each first roller 107 is rotatably connected between the two first side plates 106,
every landing leg subassembly 2 all includes connecting rod 3 and two second curb plates 411, and the one end of four connecting rods 3 is established respectively and is established on the first driver 102 output shaft of difference and be located body subassembly 1 outside, and the other end of connecting rod 3 rotates and is connected with first supporting axle 402, has worn to penetrate first bevel gear 401 on the first supporting axle 402. The first support shaft 402 is further rotatably connected with a second support shaft 403, and nuts located outside the two second side plates 411 are connected to the left end and the right end of the second support shaft 403 in a threaded manner. Second bevel gears 404 symmetrically arranged at the left and right sides of the first bevel gear 401 are rotatably connected to the second rotating shaft, and each second bevel gear 404 is engaged with the first bevel gear 401. The second support shaft 403 is further rotatably connected with first cylindrical gears 405 symmetrically arranged between the second bevel gears 404 and the second side plate 411, and a sleeve covering the second support shaft 403 is communicated between each first cylindrical gear 405 and the adjacent second bevel gear 404. The two second side plates 411 are symmetrically provided with third support shafts 408, each third support shaft 408 is provided with a nut located outside the second side plate 411, each third support shaft 408 is provided with a second cylindrical gear 406 engaged with the corresponding first cylindrical gear 405, a support frame 410 and a fourth driver 412 located on the lower side of the support frame 410 are further connected between the two second side plates 411 through bolts, the support frame 410 is connected with two third drivers 409 arranged in front and at the back through bolts, an output shaft of each third driver 409 is provided with a third cylindrical gear 407 engaged with the corresponding second cylindrical gear 406, the fourth driver 412 is coated with a second rollable thin-wall pipe 416, the free end of the second rollable thin-wall pipe 416 is provided with a foot end, the foot end is hemispherical in shape and made of rubber. A second guide frame 414 positioned at the uncompressed position of the second rollable thin-walled tube 416 is arranged on the second rollable thin-walled tube 416 in a penetrating manner, and the second guide frame 414 is connected to the two second side plates 411 through bolts. And 12 second eyelet rollers 415 which are abutted against the second rollable thin-walled tube 416 are circumferentially and equidistantly distributed on the second guide frame 414. The upper side and the lower side of the second rollable thin-walled tube 416 are symmetrically provided with second rollers 413 positioned at the completely compressed part of the second rollable thin-walled tube 416, and each second roller 413 is rotatably connected between the two second side plates 411.
The first rollable thin-walled tube 103 and the second rollable thin-walled tube 416 are both made of carbon fiber materials and can be restored to a hollow cylindrical structure under self resilience force, the first rollable thin-walled tube 103 and the second rollable thin-walled tube 416 are flat after being compressed, the bending resistance difference can be wound, and the bending resistance moment in an uncompressed state is significantly larger than that in a compressed state.
In this embodiment, the first driver 102 and the third driver 409 adopt servo motors, the second driver 108 and the fourth driver 412 adopt hub motors, and the first driver 102, the second driver 108, the third driver 409 and the fourth driver 412 can be electrically connected to an existing single chip microcomputer, so that intelligent control of the single chip microcomputer can be realized.
The working principle of the scheme is as follows:
the walking process of the scheme is as follows: the four first drivers 102 drive the four connecting rods 3 to rotate relative to the body component 1, the two third drivers 409 drive the two third cylindrical gears 407 to rotate, and the first cylindrical gear 405 is driven to rotate through the second cylindrical gear 406 after the third cylindrical gears 407 rotate, so that the second cylindrical gear 404 is driven to rotate by the first cylindrical gear 405 and the sleeve. The left and right second bevel gears 404 drive the first bevel gear 401 to move, and after the first bevel gear 401 moves, the foot end can correspondingly move relative to the connecting rod 3.
When the two second bevel gears 404 have the same rotating speed and opposite rotating directions, the first bevel gear 401 rotates around the axis of the first support shaft 402, when the rotating speed and the rotating direction of the two left and right bevel gears are the same, the first bevel gear rotates around the axis of the second support shaft 403, otherwise, the motion of the first bevel gear 401 is the comprehensive motion of the rotating motion around the axis of the first support shaft 402 and the rotating motion around the axis of the second support shaft 403; the foot end can move in three-dimensional space by means of the leg assembly 2; the coordinated movement of the four leg components 2 drives the corresponding foot ends to generate thrust with the ground, so that the robot realizes integral forward and backward movement.
The extension process of this scheme: the second driver 108 rotates to push the compressed first rollable thin-walled tube 103 wound on the surface of the first rollable thin-walled tube to move towards the first roller 107, and after the first rollable thin-walled tube 103 of the part passes through the first roller 107, the first rollable thin-walled tube 103 gradually returns to a hollow cylindrical structure under the self resilience force, so that the uncompressed first rollable thin-walled tube 103 extends, the front frame 101 is driven to be far away from the first side plate 106, and the four-legged robot body extends. The third driver 409 rotates to push the compressed second rollable thin-walled tube 416 wound around the surface of the third driver to move towards the second roller 413, and after the second rollable thin-walled tube 416 of the part passes through the second roller 413, the second rollable thin-walled tube 416 of the part gradually returns to the hollow cylindrical structure under the self resilience force, so that the uncompressed second rollable thin-walled tube 416 extends, the foot end is driven to be far away from the second side plate 411, and the leg assembly 2 extends.
The foregoing are merely examples of the present invention and common general knowledge of known specific structures and/or features of the schemes has not been described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (4)
1. An extensible quadruped robot based on a rollable thin-walled tube, which is characterized in that: the foldable support leg assembly comprises a body assembly and four support leg assemblies, wherein the body assembly comprises a front frame and two first side plates, two first drivers are symmetrically arranged in the front frame, a first foldable thin-walled tube is arranged on the outer side wall of the front frame, the free end of the first foldable thin-walled tube is connected with a second driver arranged between the two first side plates, and the two first side plates are also symmetrically provided with first drivers positioned on one side of the second driver; each support leg assembly comprises a connecting rod and two second side plates, one end of each of the four connecting rods is respectively sleeved on different first driver output shafts, the other end of each connecting rod is provided with a first support shaft, a first bevel gear penetrates through the first support shaft, a second support shaft is further rotatably connected to the first support shaft, two ends of the second support shaft penetrate between the two second side plates, second bevel gears symmetrically arranged on two sides of the first bevel gear are rotatably connected to the second rotating shaft, each second bevel gear is meshed with the first bevel gear, two first cylindrical gears outside the second bevel gears are further rotatably connected to the second support shaft, each first cylindrical gear is fixedly connected with an adjacent second cylindrical gear, third support shafts are symmetrically arranged on the two second side plates, and a second cylindrical gear meshed with the first cylindrical gears is arranged on each third support shaft, the support frame and a fourth driver located on one side of the support frame are further arranged between the two second side plates, the support frame is provided with two third drivers arranged in the front and back, each third driver is provided with a third cylindrical gear meshed with the corresponding second cylindrical gear, the fourth driver is wrapped with a second rollable thin-walled tube, and the free end of the second rollable thin-walled tube is provided with a foot end.
2. An extendable quadruped robot based on a rollable thin walled tube according to claim 1, wherein: a first guide frame is arranged on the first rollable thin-walled tube in a penetrating manner and is positioned at the uncompressed position of the first rollable thin-walled tube, and the first guide frame is arranged between the two first side plates; and a second guide frame which is positioned at the uncompressed part of the second rollable thin-walled tube is arranged on the second rollable thin-walled tube in a penetrating way, and the second guide frame is arranged between the two second side plates.
3. An extendable quadruped robot based on a rollable thin walled tube according to claim 2, wherein: the first guide frame is provided with a first eyelet roller which is abutted against the first rollable thin-walled tube, and the second guide frame is provided with a second eyelet roller which is abutted against the second rollable thin-walled tube.
4. An extendable quadruped robot based on a rollable thin walled tube according to claim 1, wherein: the upper side and the lower side of the first rollable thin-walled tube are symmetrically provided with first rollers located at the position where the first rollable thin-walled tube is completely compressed, each first roller is arranged between the two first side plates, the upper side and the lower side of the second rollable thin-walled tube are symmetrically provided with second rollers located at the position where the second rollable thin-walled tube is completely compressed, and each second roller is arranged between the two second side plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111211446.5A CN113927624B (en) | 2021-10-18 | 2021-10-18 | Extendable quadruped robot based on rollable thin-walled tube |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111211446.5A CN113927624B (en) | 2021-10-18 | 2021-10-18 | Extendable quadruped robot based on rollable thin-walled tube |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113927624A true CN113927624A (en) | 2022-01-14 |
| CN113927624B CN113927624B (en) | 2023-04-07 |
Family
ID=79280034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111211446.5A Active CN113927624B (en) | 2021-10-18 | 2021-10-18 | Extendable quadruped robot based on rollable thin-walled tube |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113927624B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
| CN206335598U (en) * | 2016-12-29 | 2017-07-18 | 天津瀚旺数据系统集成有限公司 | Robot rotary luffing articulation mechanism |
| CN108638046A (en) * | 2018-05-18 | 2018-10-12 | 燕山大学 | A kind of software variation rigidity robot changing principle based on isometric(al) |
| US10100968B1 (en) * | 2017-06-12 | 2018-10-16 | Irobot Corporation | Mast systems for autonomous mobile robots |
| CN109434825A (en) * | 2018-11-20 | 2019-03-08 | 东莞理工学院 | It may pass through the soft robot that gap is detected in a kind of earthquake relief |
| WO2019218615A1 (en) * | 2018-05-18 | 2019-11-21 | 清华大学 | Autonomous-propelling-type soft robot main body |
| CN111003074A (en) * | 2019-11-07 | 2020-04-14 | 清华大学 | Parallel wheel-foot type robot leg structure and mobile robot |
| CN210537521U (en) * | 2019-09-04 | 2020-05-19 | 南京林业大学 | Self-propelled fruit picking robot for complex landform area |
| CN111360869A (en) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | Parallel driving joint for super-dynamic bionic robot and robot |
-
2021
- 2021-10-18 CN CN202111211446.5A patent/CN113927624B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
| CN206335598U (en) * | 2016-12-29 | 2017-07-18 | 天津瀚旺数据系统集成有限公司 | Robot rotary luffing articulation mechanism |
| US10100968B1 (en) * | 2017-06-12 | 2018-10-16 | Irobot Corporation | Mast systems for autonomous mobile robots |
| CN108638046A (en) * | 2018-05-18 | 2018-10-12 | 燕山大学 | A kind of software variation rigidity robot changing principle based on isometric(al) |
| WO2019218615A1 (en) * | 2018-05-18 | 2019-11-21 | 清华大学 | Autonomous-propelling-type soft robot main body |
| CN109434825A (en) * | 2018-11-20 | 2019-03-08 | 东莞理工学院 | It may pass through the soft robot that gap is detected in a kind of earthquake relief |
| CN210537521U (en) * | 2019-09-04 | 2020-05-19 | 南京林业大学 | Self-propelled fruit picking robot for complex landform area |
| CN111003074A (en) * | 2019-11-07 | 2020-04-14 | 清华大学 | Parallel wheel-foot type robot leg structure and mobile robot |
| CN111360869A (en) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | Parallel driving joint for super-dynamic bionic robot and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113927624B (en) | 2023-04-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103753528B (en) | There is the light-duty motion arm of collapsible six degree of freedom of joints axes orthogonality relation | |
| CN113334364B (en) | Movable robot based on paper folding structure and snake-like robot | |
| CN101850797B (en) | Modularized multiped walking robot capable of realizing functional shift between hands and feet | |
| CN102642578B (en) | Wheel-legged detector for planet surface detection | |
| CN203752148U (en) | Foldable light manipulator with joint axes in orthogonal relations and six degrees of freedom | |
| CN1644328A (en) | Small crawler leg composite movable robot mechanism | |
| CN107128375B (en) | Mobile chassis for wheel-track switching | |
| CN113894822B (en) | Eight-foot robot with bionic rigid-flexible coupling legs and control method | |
| CN114475831B (en) | Foot-type multi-mode bionic robot | |
| CN108674513B (en) | Variable-configuration wheel leg moving action robot | |
| Boxerbaum et al. | The latest generation Whegs™ robot features a passive-compliant body joint | |
| WO2014192029A2 (en) | Reconfigurable mechanism for a variable diameter wheel | |
| CN109808787B (en) | Robot jumping moving mechanism and asteroid detection robot | |
| CN113927624B (en) | Extendable quadruped robot based on rollable thin-walled tube | |
| CN112405551A (en) | Rescue robot with variable-diameter wheels | |
| CN212332809U (en) | Long-stroke telescopic wheel type foot of multi-foot wheel type robot and multi-foot wheel type robot | |
| CN101417675B (en) | Microminiature wheeling-walking combined wall climbing robot mechanism | |
| CN210566982U (en) | Multi-joint omnidirectional movement pipeline robot | |
| KR102660503B1 (en) | Shape shifting wheel assembly | |
| SE535386C2 (en) | Telescoping cylinder assembly and vehicles comprising a plurality of such telescoping cylinder assemblies | |
| CN107902004B (en) | Two-wheeled self-balancing deformable robot | |
| CN207773294U (en) | Two-wheeled self-balancing transformable robot | |
| CN114620160B (en) | Electric quadruped robot based on multistage electric cylinder parallel leg-foot structure | |
| CN102476664A (en) | Wheel foot type wall climbing robot mechanism | |
| CN213862465U (en) | Quadruped robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |