CN100347043C - Nine freedom six feet all direction walking detection car - Google Patents
Nine freedom six feet all direction walking detection car Download PDFInfo
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- CN100347043C CN100347043C CNB2005100772652A CN200510077265A CN100347043C CN 100347043 C CN100347043 C CN 100347043C CN B2005100772652 A CNB2005100772652 A CN B2005100772652A CN 200510077265 A CN200510077265 A CN 200510077265A CN 100347043 C CN100347043 C CN 100347043C
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Abstract
The present invention discloses an all direction walking detection car with nine freedom degrees and six feet, which is composed of a mechanism assembly, a driving disk assembly, a vertical driving assembly, a horizontal driving assembly, a leg assembly, a steering motor, a first horizontal driving motor, a second horizontal driving motor, and six vertical driving motors, wherein the motors are respectively arranged on an assembly structure which executes the functions, and the mechanism assembly, the driving disk assembly, the vertical driving assembly, the horizontal driving assembly and the leg assembly are organically combined into the all direction walking detection car with nine freedom degrees and six feet with integral structure through respectively arranged components. The detection car adopts a stick translation method of an equivalent effect transformation method of a three-dimensional zooming mechanism, the structural style of the zooming mechanism is changed by the translation of thighs and two force sticks in the leg assembly so as to maintain the motion relation of the original mechanism unchanged, the vertical movement and the horizontal movement of the leg assembly are separated, and the independent vertical driving motor controls vertical movement leading points of each leg.
Description
Technical field
The present invention relates to a kind of lunar rover vehicle physical construction, specifically, be meant a kind of nine freedom six feet all direction walking detection car that is used for scientific exploration.
Background technology
Leg formula mobile system is an increasingly automated mechanism, and in order to carry out the complicated action of coordinating, whole osseous system needs multiple degree of freedom; In order to carry out artificial walking, just need varistructured system complicated and changeable.Therefore, bionical walking vehicle also must be a system complicated and changeable.
Theory and practice proves: on rugged road surface, leg formula moving vehicle is better than wheeled or tracklaying vehicle, compare with wheeled or tracklaying vehicle, leg formula mobile system has an enormous advantage, and this comprises bigger manoevreability, the stationarity on rugged road surface, the ability that leaping over obstacles is arranged and less environmental damage etc.Leg formula mobile system serves many purposes, the robot of particularly interspace exploitation, habitata, pit mining and belligerent and rescue etc.
Summary of the invention
The purpose of this invention is to provide a kind of nine freedom six feet all direction walking detection car, described probe vehicles is bionical walking vehicle, it adopts the equivalent transformation method of three-dimensional scaling device---rod member translation method, it is constant that translation by thigh in the leg assembly and two power bars changes the movement relation of leg assembly, and the vertical motion of leg assembly separates with horizontal motion, and the vertical motion pilot point of every leg is by independently vertically drive motor control.
A kind of nine freedom six feet all direction walking detection car of the present invention, by mechanism's component, the driving disk component, vertical driving assembly, horizontal driving assembly and leg assembly and steer motor, the first horizontal drive motor, the second horizontal drive motor, six vertical drive motor are formed, described a plurality of motor is installed in respectively on the component structure of institute's functionating, mechanism's component, the driving disk component, vertical driving assembly, horizontal driving assembly and leg assembly pass through separately, and the design-calculated structure organically combines the all-in-one-piece nine freedom six feet all direction walking detection car.
The advantage of probe vehicles of the present invention: the control of (1) divertical motion adapts to ground-surface motion with leg and can separate fully; (2) turning velocity is fast, handles simply the reliability height; (3) do not fall pin any angle of can once turning, improved the alerting ability and the manoevreability of walking vehicle omnibearing movable greatly; (4) two motor-driven steering hardwarees, shift control algorithm is simple, and the help that can less or even not rely on computing machine turns to, and helps the real-time control that walking vehicle turns to; Article (5) six, the vertical motion of leg separates with horizontal motion, and control separately, can better adapt to ground, keeps the stable of vehicle body.Also can be by to the adjustment of attitude, prevent that vehicle from turning on one's side; (6) six feet all direction walking detection car has stable structure, and can carry out the attitude adjustment, therefore possesses bigger load-carrying capacity; When (7) probe vehicles was carried out scientific exploration, six foots landed simultaneously, and the vehicle body held stationary, for instrument work provides a workplatform stably.
Description of drawings
Fig. 1 is probe vehicles integral structure figure of the present invention.
Fig. 2 is mechanism's component assembly drowing.
Fig. 3 is the A-A view of Fig. 2.
Fig. 4 is a horizontal drive mechanism component assembly drowing.
Fig. 5 is the leg assembly constructional drawing.
Fig. 5 A is the base assembly drowing of leg assembly.
Fig. 6 is the vertical driving assembly assembly drowing.
Fig. 7 is a driving disk component assembly drowing.
Among the figure: 1. mechanism's component 101. flanges 102. top board bearing seats
103. disk 104. weldering plates 105. upright guide rail framves 106. base plates
107. liner plate 108. battery compartments 109. battery compartment bearing seats 110. mechanism's component bearings
111. battery compartment covers 112. hangers, 113. vertical motor fixing plates
2. driving disk component 201. triangle driving disies 202. round guides
203. slide rail 204. leg assembly hangers 205. hanger seats
206. slide track seat 207. bearing shells
3. vertical driving assembly 301. leg nuts 302. trapezoidal screws 303. trapezoidal screw nuts
304. slide rail 305. leading screw positioning plates 306. guide rails 307. cog belt
308. belt wheel 309. connecting panels 310. leading screw bearings
4. horizontal driving assembly 401. battery compartment motor framves 402. battery compartment motor fixing plates
403. fixed muffle 405. bearings 406. steer motor 407. steer motor plunging joints
408. the first horizontal drive motor, 409. first motor cabinets, 410. pins
411. second sliding panel, 412. second round guide dishes
413. the second leading screw connecting panel, 414. second ball-screws
415. second horizontal positioning plate 417. middle bearing brackets 418. plunging joints
419. the second horizontal drive motor, 420. second ball-screw nuts, 421. keys
422. first ball-screw, 423. first ball-screw nuts
424. the first horizontal positioning plate 425. first ball-screws 426. first round guide dishes
427. plunging joint 428. keys 429. pins 430. first sliding panels
431. second motor cabinet
5. leg assembly 501. hips 502. thighs 503. shanks 504. two power bars
506. thigh bearing seat 507. upper end holes 508. interstitial holes
509. 511. times stomidiums of hanger hole 510. interstitial holes, 512. pedals, 513. pedal covers
514. back-up ring 515. sensor mounting yoke 516. leg ankle axles
517. leg ankle bulb 518. leg ankle bulb circles 519. sensor frame
The specific embodiment
See also shown in Figure 1ly, nine freedom six feet all direction walking detection car of the present invention is made of mechanism's component 1, two driving disk components 2, vertical driving assembly 3, horizontal driving assembly 4, leg assembly 5 and steer motor 406, the first horizontal drive motor 419, the second horizontal drive motor 408, six vertical drive motor.9 used motors of nine freedom six feet all direction walking detection car are permanent magnet D.C. torque motor, and mechanism's component 1, driving disk component 2, vertical driving assembly 3, horizontal driving assembly 4 and leg assembly 5 adopt titanium alloy to be processed to form desired structure.Described mechanism component 1, driving disk component 2, vertical driving assembly 3, horizontal driving assembly 4 and leg assembly 5 five parts will be carried out detailed decomposition explanation to this five part respectively below through organically fitting together.
Mechanism's component 1 (seeing also Fig. 2 and shown in Figure 3)
The battery compartment of mechanism's component 1 lid 111 is installed on the battery compartment 108 by screw, upright guide rail frame 105 is installed on the base plate 106 by screw, weldering plate 104 is welded on the upright guide rail frame 105, disk 103 is installed on the flange 111 by bolt, top board bearing seat 102 is installed on the flange 101, the two ends of mechanism's component bearing 110 are installed in respectively in battery compartment bearing seat 109 and the top board bearing seat 102, two ends of upright guide rail frame 105 are welded with hanger 112, vertically motor fixing plate 113 is welded on the sidewall of upright guide rail frame 105, and six vertical drive motor are installed in respectively on the vertical motor fixing plate 113.Six round guides (round guide 202 that refers to indication in the driving disk component 2) on two driving disk components 2 insert respectively in 12 hangers 112.
Driving disk component 2 (seeing also shown in Figure 7)
The hanger seat 205 of driving disk component 2 is installed in the arm end, angle of triangle driving disk 201 by screw, and leg assembly hanger 204 is installed on the hanger seat 205; Round guide 202 and slide rail 203 are installed in 206 li of slide track seats, and bearing shell 207 is installed in 206 li of slide track seats, and round guide 202 is installed on the angle arm of triangle driving disk 201 by six-sided head articulation bolt and spring washer.
The required driving disk of nine freedom six feet all direction walking detection car of the present invention is that two identical driving disk components of structure 2 constitute.Each driving disk component 2 is provided with three angle arms, is respectively equipped with hanger seat 205, round guide 202, slide rail 203, slide track seat 206 and bearing shell 207 on each angle arm.
Vertical driving assembly 3 (seeing also shown in Figure 6)
The cog belt 307 of vertical driving assembly 3 is installed on the vertical drive motor, belt wheel 308 is installed on the trapezoidal screw 302 by connecting panel 309 and Cross Recess Head Screw, guide rail 306 is installed on the upright guide rail frame 105 by nut, bolt and flat gasket, slide rail 304 is connected with leg nut 301 with flat gasket by nut, bolt, trapezoidal screw nut 303 is installed on the leg nut 301, leading screw positioning plate 305 is installed on the guide rail 306 by Cross Recess Head Screw, and leading screw bearing 310 is installed in 302 li of trapezoidal screws.Leg nut 301 slides on guide rail 306.
The required vertical driving of nine freedom six feet all direction walking detection car of the present invention is that six identical vertical driving assemblies of structure 3 constitute, and the structure design of each vertical driving assembly 3 is identical.
Horizontal driving assembly 4 (seeing also shown in Figure 4)
The bearing 405 of horizontal driving assembly 4 is installed on the battery compartment motor frame 401, steer motor plunging joint 407 is contained in 405 li on bearing, steer motor 406 drives steer motor plunging joint 407, steer motor plunging joint 407 connects with middle bearing bracket 417, the second horizontal drive motor 419 is installed on second motor cabinet 431 by screw, second ball-screw 414 is connected with the plunging joint 418 of the second horizontal drive motor 419 by key 421 with the second horizontal drive motor 419, the plunging joint 418 and second motor cabinet 431 are installed in 417 li of middle bearing brackets, first ball-screw nut 423 packs into 414 li of second ball-screws, second ball-screw nut 420 passes through bolt, nut, spring washer is installed on the second ball-screw connecting panel 413, the second ball-screw connecting panel 413 is installed on the second round guide dish 412 by screw, the second horizontal positioning plate 415 is installed on second motor cabinet 431 by screw, the position of limiting second ball-screw 411.Second sliding panel, 411 usefulness pins 429 are fixed on the middle bearing bracket 417, and triangle driving disk 201 is installed in the groove of the second round guide dish 412.The first horizontal drive motor 408 is installed on first motor cabinet 409 by screw, first ball-screw 422 is connected with the plunging joint 427 of the first horizontal drive motor 408 by key 428 with the first horizontal drive motor 408, the plunging joint 427 and first motor cabinet 409 are installed in 417 li of middle bearing brackets, first ball-screw nut 423 packs into 422 li of first ball-screws, first ball-screw nut 423 passes through bolt, nut, spring washer is installed on the first ball-screw connecting panel 425, the first ball-screw connecting panel 425 is installed on the first round guide dish 426 by screw, the first horizontal positioning plate 424 is installed on first motor cabinet 409 by screw, the position of limiting first ball-screw 422.First sliding panel, 430 usefulness pins 410 are fixed on the middle bearing bracket 417, and triangle driving disk 201 is installed in the groove of the first round guide dish 426.
Leg assembly 5 (seeing also shown in Fig. 5 and Fig. 5 A)
The thigh bearing seat 506 of leg assembly 5 is fixed on the thigh 502 by screw and spring washer, leg nut 301 is installed in the thigh bearing seat 506 by hexagonal self lock nut and spring washer, hip 501 is provided with hanger hole 509, interstitial hole 510 and hole, bottom 511, shank 503 is provided with upper end hole 507 and interstitial hole 508, one end of two power bars 504 is installed on the hole, bottom 511 of hip 501, the other end of two power bars 504 is installed on the interstitial hole 508 of shank 503, promptly by six a hinge articulation bolt two power bars 504 is installed between hip 501 and the shank 503.One end of thigh 502 is installed on the interstitial hole 510 of hip 501, and the other end of thigh 502 is installed on the upper end hole 507 of shank 503, promptly by bolt thigh 502 is installed between hip 501 and the shank 503.Pedal 512 is installed in the pedal cover 513, pedal cover 513 is installed on the sensor mounting yoke 515 by bolt, sensor 520 is installed on the sensor frame 519, sensor frame 519 is installed on the sensor mounting yoke 515 by bolt, ankle bulb 517 is installed on the ankle bulb circle 518, is installed on the leg ankle axle 516 by back-up ring 514, and ankle axle 516 is installed in 517 li of ankle bulbs, shank 503 is installed on the ankle axle 516, and locks with jam nut.Leg assembly 5 is connected with leg assembly hanger 204 on the driving disk component 2 by the hanger hole 509 on the hip 501, being connected between realization leg assembly 5 and the driving disk component 2.
Six legs of nine freedom six feet all direction walking detection car of the present invention are made up of six identical leg assemblies 5 of structure, and per three legs use a horizontal drive motor to drive.
In the present invention, the design feature of nine freedom six feet all direction walking detection car is:
(A) equivalent transformation method---the rod member translation method of the three-dimensional scaling device of employing, the version that translation by scaling device (leg assembly 5) king-rod (thigh and two power bars) changes scaling device keeps former motion of mechanism relation constant, to help the raising of structure design, appearance design and installation capability.
The vertical motion of leg assembly 5 is made up of six identical leg assemblies 5 of structure with six legs of water nine freedom six feet all direction walking detection car, and per three legs use a horizontal drive motor to drive.Flat moved apart, the vertical motion pilot point of every leg is by independently vertically drive motor control.Motor-driven trapezoidal screw 302 rotates, and is installed in trapezoidal screw nut 303 up-and-down movements of 301 li on leg nut, drives 301 motions of leg nut, and leg nut 301 is connected on the center cross of leg assembly 5, produces the vertical motion of leg assembly 5.Article six, the independent control of vertically lifting motion of leg can adapt to various being uneven and landform.
Article six, per three of the pilot point of the horizontal motion of leg is one group, and concerted action links to each other with two triangle driving disies 201 respectively.Hip 501 is connected on the leg assembly hanger 204 of triangle driving disk 201 by hanger hole 509.Leg nut 301 is installed on the center cross by hexagonal self lock nut and spring washer, produces the motion that walking vehicle is vertically lifted leg.Motor-driven round guide dish is with respect to triangle drive plate 201 rotation, and motor is by driving the ball-screw rotation, and the horizontal motion of ball-screw nut produces and drives the consistent straight-line motion of round guide dish and triangle driving disk 201.The motion that realization turns at any angle and advances.
(B) driving disk in the driving disk component 2 201 is the triangle dish, control the horizontal pilot point of three legs respectively, triangle driving disk 201 is installed in the circular groove of the first round guide dish 426 and 412 formation of the second round guide dish, and promptly triangle driving disk 201 can relative first round guide dish 426 and 412 slips of the second round guide dish.The first horizontal drive motor 408 and the second horizontal drive motor 419 are installed in 417 li of middle bearing brackets by motor cabinet separately, under two horizontal drive motor driven ball screws conditions, the ball-screw nut that is connected with ball-screw is installed on the round guide dish 426,412 by the ball-screw connecting panel.The first horizontal drive motor 408 and 419 rotations of the second horizontal drive motor, the horizontal motion of generation leg.
(C) base plate 106 in mechanism's component 1 is supported by liner plate 107, is welded on the battery compartment 108, for the installation of upright guide rail frame 105 provides support.The motor frame is fixed on the base plate 106 by bolt.Be convenient to the installation of steer motor 406.Have six circumferential notches on the base plate 106, when drive plate moves, prevent that leg assembly 5 and base plate 106 from bumping.
According to the theory of soil mechanics, can explain that the motion of leg has higher manoevreability than wheeled or tracklaying vehicle.In that irregular ground is up when sailing, the stationarity of leg formula also helps the transportation of body weight.Probe vehicles of the present invention has tangible advantage when travelling in irregular ground and mellow soil with respect to wheeled and tracklaying vehicle.
(1) power consumption is low
American scholar training gram (M.G.Bekker) is by realizing, tested ground at the thick soft soil horizon of 33cm, advancing required power for tracklaying vehicle is 7.45kw/t (10hp/t), for wheeled car is 11.2kw (15hp/t), but for legged walking mechanism, the theory that then only needs 5.22kw/t (7hp/t) soil mechanics, the motion of having explained leg has higher manoevreability than wheeled or continuously tracked vehicle, both wheel or crawler belt depression went in the soft earth to produce rut, in walking, need continuous climbing, and leg only forms discrete footprint, when pin backward during slippage, impacting soil can increase tractive force.
(2) bigger obstacle climbing ability
Can easily stride across the vertical obstacle of 18cm～25cm, and the basic held stationary of vehicle body.
(3) bigger alerting ability and manoevreability
Can under the nonslipping situation of pin and ground, realize arbitrarily angledly turning to continuously.
(4) turn to control very simple
The steering hardware of two motor-driven uniquenesses can use mechanically operated control method to realize multiple steering mode fully, has simplified the control process that turns to of probe vehicles greatly, has reduced the quantity of steer motor, has reduced the weight of probe vehicles.
(5) high attitude adjustment capability
Article six, the vertical motion of leg all separates, and control can better adapt to ground separately, keeps the stable of vehicle body.Also can be by to the adjustment of appearance, prevent that probe vehicles from turning on one's side.
(6) bigger load-carrying capacity
Six feet all direction walking detection car has stable structure, and can carry out the attitude adjustment, therefore possesses bigger load-carrying capacity.
(7) provide stable workplatform for capacity weight
When probe vehicles was carried out scientific exploration, six foots landed simultaneously, and the vehicle body held stationary, for instrument work provides a workplatform stably.
Claims (5)
1, a kind of nine freedom six feet all direction walking detection car, it is characterized in that: by mechanism's component (1), driving disk component (2), vertical driving assembly (3), horizontal driving assembly (4) and leg assembly (5) and steer motor (406), the first horizontal drive motor (419), the second horizontal drive motor (408) and six vertical drive motor constitute
The battery compartment lid (111) of described mechanism component (1) is installed on the battery compartment (108) by screw, upright guide rail frame (105) is installed on the base plate (106) by screw, weldering plate (104) is welded on the upright guide rail frame (105), disk (103) is installed on the flange (111) by bolt, top board bearing seat (102) is installed on the flange (101), the two ends of mechanism's component bearing (110) are installed in respectively in battery compartment bearing seat (109) and the top board bearing seat (102), two ends of upright guide rail frame (105) are welded with hanger (112), vertically motor fixing plate (113) is welded on the sidewall of upright guide rail frame (105), vertically drive motor is fixed on the vertical motor fixing plate (113), and three round guides on the driving disk component (2) insert respectively in the hanger (112);
The hanger seat (205) of described driving disk component (2) is installed in the arm end, angle of drive plate (201) by screw, leg assembly hanger (204) is installed on the hanger seat (205), round guide (202) and slide rail (203) are installed in slide track seat (206) lining, bearing shell (207) is installed in slide track seat (206) lining, and round guide (202) is installed on the angle arm of triangle driving disk (201) by six-sided head articulation bolt and spring washer;
The cog belt (307) of described vertical driving assembly (3) is installed on the vertical drive motor, belt wheel (308) is installed on the trapezoidal screw (302) by connecting panel (309) and Cross Recess Head Screw, guide rail (306) passes through nut, bolt and flat gasket are installed on the upright guide rail frame (105), slide rail (304) passes through nut, bolt is connected with leg nut (301) with flat gasket, trapezoidal screw nut (303) is installed on the leg nut (301), leading screw positioning plate (305) is installed on the guide rail (306) by Cross Recess Head Screw, leading screw bearing (310) is installed in trapezoidal screw (302) lining, and leg nut (301) is gone up at guide rail (306) and slided;
The bearing (405) of described horizontal driving assembly (4) is installed on the battery compartment motor frame (401), steer motor plunging joint (407) is contained in bearing (405) lining, steer motor (406) drives steer motor plunging joint (407), steer motor plunging joint (407) connects with middle bearing bracket (417), the second horizontal drive motor (419) is installed on second motor cabinet (431) by screw, second ball-screw (414) is connected by the plunging joint (418) of key (421) with the second horizontal drive motor (419) with the second horizontal drive motor (419), plunging joint (418) and second motor cabinet (431) are installed in middle bearing bracket (417) lining, first ball-screw nut (423) packs into second ball-screw (414) lining, second ball-screw nut (420) passes through bolt, nut and spring washer are installed on the second ball-screw connecting panel (413), the second ball-screw connecting panel (413) is installed on the second round guide dish (412) by screw, the second horizontal positioning plate (415) is installed on second motor cabinet (431) by screw, limit the position of second ball-screw (411), second sliding panel (411) is fixed on the middle bearing bracket (417) with pin (429), triangle driving disk (201) is installed in the groove of the second round guide dish (412), the first horizontal drive motor (408) is installed on first motor cabinet (409) by screw, first ball-screw (422) is connected by the plunging joint (427) of key (428) with the first horizontal drive motor (408) with the first horizontal drive motor (408), plunging joint (427) and first motor cabinet (409) are installed in middle bearing bracket (417) lining, first ball-screw nut (423) packs into first ball-screw (422) lining, first ball-screw nut (423) passes through bolt, nut and spring washer are installed on the first ball-screw connecting panel (425), the first ball-screw connecting panel (425) is installed on the first round guide dish (426) by screw, the first horizontal positioning plate (424) is installed on first motor cabinet (409) by screw, limit the position of first ball-screw (422), first sliding panel (430) is fixed on the middle bearing bracket (417) with pin (410), and triangle driving disk (201) is installed in the groove of the first round guide dish (426);
The thigh bearing seat (506) of described leg assembly (5) is fixed on the thigh (502) by screw and spring washer, leg nut (301) is installed in the thigh bearing seat (506) by hexagonal self lock nut and spring washer, hip (501) is provided with hanger hole (509), interstitial hole (510) and hole, bottom (511), shank (503) is provided with upper end hole (507) and interstitial hole (508), one end of two power bars (504) is installed on the hole, bottom (511) of hip (501), and the other end of two power bars (504) is installed on the interstitial hole (508) of shank (503); One end of thigh (502) is installed on the interstitial hole (510) of hip (501), and the other end of thigh (502) is installed on the upper end hole (507) of shank (503); Pedal (512) is installed in the pedal cover (513), pedal cover (513) is installed on the sensor mounting yoke (515) by bolt, sensor (520) is installed on the sensor frame (519), sensor frame (519) is installed on the sensor mounting yoke (515) by bolt, ankle bulb (517) is installed on the ankle bulb circle (518), be installed on the leg ankle axle (516) by back-up ring (514), ankle axle (516) is installed in ankle bulb (517) lining, shank (503) is installed on the ankle axle (516), and locks with jam nut.
2, nine freedom six feet all direction walking detection car according to claim 1 is characterized in that: thigh (502) on the leg assembly (5) and two power bars (504) adopt the movement relation of rod member translation method leg assembly (5).
3, nine freedom six feet all direction walking detection car according to claim 1 is characterized in that: the vertical motion of leg assembly (5) separates with horizontal motion, and the vertical motion pilot point of every leg is by independently vertically drive motor control.
4, nine freedom six feet all direction walking detection car according to claim 1 is characterized in that: mechanism's component (1), driving disk component (2), vertical driving assembly (3), horizontal driving assembly (4) and leg assembly (5) adopt titanium alloy processing.
5, nine freedom six feet all direction walking detection car according to claim 1 is characterized in that: steer motor (406), the first horizontal drive motor (419), the second horizontal drive motor (408) and six vertical drive motor are permanent magnet D.C. torque motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100772652A CN100347043C (en) | 2005-06-20 | 2005-06-20 | Nine freedom six feet all direction walking detection car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100772652A CN100347043C (en) | 2005-06-20 | 2005-06-20 | Nine freedom six feet all direction walking detection car |
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| Publication Number | Publication Date |
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| CN1686760A CN1686760A (en) | 2005-10-26 |
| CN100347043C true CN100347043C (en) | 2007-11-07 |
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| CNB2005100772652A Expired - Fee Related CN100347043C (en) | 2005-06-20 | 2005-06-20 | Nine freedom six feet all direction walking detection car |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102438906A (en) * | 2009-03-17 | 2012-05-02 | 阿斯特里姆有限公司 | Landing device for a space probe, and landing method for a probe provided with such a device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106640985B (en) * | 2016-11-24 | 2019-02-22 | 上海交通大学 | A kind of eight sufficient thrust bearing pedestals of hydraulic-driven |
| CN110613940A (en) * | 2018-06-20 | 2019-12-27 | 雍万聪 | Bionic robot toy |
| CN108945520B (en) * | 2018-07-10 | 2021-01-29 | 上海交通大学 | Leg type landing patrol robot |
| CN110963089B (en) * | 2019-10-31 | 2021-10-01 | 北京空间飞行器总体设计部 | Electromagnetic damping buffering foldable attaching leg for small celestial body detection |
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| CN1317397A (en) * | 2001-06-07 | 2001-10-17 | 上海交通大学 | Turning-over movable robot with wheel legs |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1317397A (en) * | 2001-06-07 | 2001-10-17 | 上海交通大学 | Turning-over movable robot with wheel legs |
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| Title |
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| 管道形轮腿式月球探测机器人的运动学建模 刘方湖.东南大学学报(自然科学版)，第33卷第6期 2003 * |
| 转臂式八轮移动月球机器人设计与分析 王文超.传动技术 2003 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102438906A (en) * | 2009-03-17 | 2012-05-02 | 阿斯特里姆有限公司 | Landing device for a space probe, and landing method for a probe provided with such a device |
| CN102438906B (en) * | 2009-03-17 | 2015-01-21 | 阿斯特里姆有限公司 | Landing device for a space probe, and landing method for a probe provided with such a device |
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| Publication number | Publication date |
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| CN1686760A (en) | 2005-10-26 |
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