CN102107685B - Six-foot robot with eccentric wheel legs - Google Patents
Six-foot robot with eccentric wheel legs Download PDFInfo
- Publication number
- CN102107685B CN102107685B CN201110005710A CN201110005710A CN102107685B CN 102107685 B CN102107685 B CN 102107685B CN 201110005710 A CN201110005710 A CN 201110005710A CN 201110005710 A CN201110005710 A CN 201110005710A CN 102107685 B CN102107685 B CN 102107685B
- Authority
- CN
- China
- Prior art keywords
- eccentric wheel
- leg
- circuit
- motor
- robot
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention provides a six-foot robot with eccentric wheel legs, which uses eccentric wheel structures as legs, wherein a machine body structure is symmetrically designed and is flat, long and narrow. The robot comprises a machine body frame, eccentric wheels, a motor, a power source, a photoelectric encoder, a control circuit and a remote controller. The robot can overcome power consumption and severe oscillation of a conventional leg structure, and ensure the function integrity of moving forwards and backwards as well as steering leftwards and rightwards. The robot is strong in ground surface adaptability; the relatively wide eccentric wheel legs are suitable for even rigid ground surface, and are also capable of walking on the ground surfaces such as lawn, sandy beach, broken stone and the like; and the robot is strong in barrier detouring capability and is capable of easily detouring a barrier that is slightly lower than the machine body.
Description
Technical field
The invention belongs to the mobile robot field, be specifically related to the traveling gear of multi-foot robot, particularly six sufficient mobile robots.
Background technology
Multi-foot robot is the important branch in mobile robot field; Traveling gear and the gait of the bionical Hexapoda insect of six biped robots wherein; With its powerful landform comformability, redundancy structure and the gait planning method that reaches its maturity, become the primary study object in mobile robot field.Developed countries such as U.S.A, day, moral just begin the research and development of large scale investment six biped robots from the eighties of last century the eighties.So far, six biped robots have been successfully applied to a plurality of fields such as celestial body detecting, land mine are explosive, habitata, fire-fighting rescue.Along with further developing of material science, control theory and embedded technology, the research of six biped robots also has very wide prospect with application.
Existing six biped robots can be divided into single driving and individual drive from drive configuration.Adopt the robot institute of single drive mode dynamic, drive the action of six legs through the drive mechanism of complicacy simultaneously only from a motor.The advantage of this mode is that fuselage is light, and control circuit is simple, and cost is low; Shortcoming is that mechanism is complicated, and step is single, and poor controllability has weakened this powerful advantage of six biped robot landform comformabilitys greatly.Every the leg of robot that adopts the individual drive mode is by at least one motor independent drive, by the harmonious completion gait action of each leg of controller control.The advantage of this mode is that controllability is high, and is flexible good, guaranteed the landform comformability and the redundancy of robot; Shortcoming is that cost is high, and control circuit is complicated, and fuselage is heavy.But along with the appearance of new material, small size, high-performance motor and the high-capacity battery of high density occur, and airframe structure also can adopt materials such as the lighter alloy of quality, resin, and heavy this shortcoming of fuselage improves.
Summary of the invention
The objective of the invention is to provide the six sufficient mobile robots that a kind of mechanism is succinct, face of land comformability is good, obstacle climbing ability is strong.
Eccentric wheel leg six biped robots that the present invention proposes are made up of hand-held remote controller and robot body; Said robot body comprises fuselage ring, walking leg, motor, power supply, photoelectric encoder and control circuit.
Said motor, power supply and control circuit are fixedly mounted in the fuselage ring.Adopt the eccentric wheel structure form, be installed on the output shaft of motor, and the symmetrical left and right sides that is positioned at fuselage ring, forming three groups, the corresponding eccentric wheel of motor adopts the individual drive mode.
Said fuselage ring the same side eccentric wheel that is positioned at is staggeredly arranged about the position between the adjacent eccentric wheel, can avoid mutual interference like this, reduces the volume of robot.Saidly eccentricly take turns widely, can increase the contact surface with the flexible face of land, improve face of land comformability in the 10mm-15mm scope.Said fuselage ring integral body is flat sleeve configuration, makes it more stable.
Said power supply is connected with motor through power lead, and control circuit is connected with motor through control line.Corresponding each eccentric wheel of photoelectric encoder respectively is provided with one, its signal output wire joint control circuit.Control circuit and hand-held remote controller carry out communication through infrared signal.
Said control circuit is made up of MCU and peripheral circuit, driving circuit, infrared communication acceptor circuit.Said photoelectric encoder is totally 6 covers, and structure is all the same, all code-disc, infrared receiving/transmission pipe and amplification change-over circuit is made up of.
Said remote controller is hand-held by the operating personal of these eccentric wheel leg six biped robots, and each function key and directionkeys are all around arranged above, and through infrared signal and the communication of robot own.
The present invention has following characteristics:
1, adopt the walking leg structure of eccentric wheel type, can cushion traditional leg structure and directly jump to the power consumption vibration that maximum load is brought by zero load, also can guarantee simultaneously robot advance, retreat, about turn to functional completeness.
2, the fuselage agent structure is flat sleeve configuration, and the airframe structure symmetry rollover takes place also can walk good stability.
3, eccentric wheel is positioned at about the employing of the same side and is in staggered distribution, and has guaranteed can not bump between each leg, and robot ambulation adopts bionical triangle gait; The robot fuselage ring adopts symmetrical structure and is flat long and narrow build,
4, robot adopts the individual drive mode, but the step pitch of dynamic adjustments robot and speed.
5, adopting the eccentric wheel leg of broad, increase and contact to earth area to adapt to the flexibility face of land and the rubble class face of land, not only be fit to the smooth hard face of land, can both walk in the faces of land such as meadow, sandy beach, rubble.
6, increase the distance between the adjacent eccentric wheel leg of the homonymy axle center through being flat long and narrow body frame design,, thereby improve the speed of travel and obstacle climbing ability so that larger sized eccentric wheel leg is installed.
7, modular design, physical construction and each circuit module independent design adopt standard interface, convenient expansion and replacement.
8, each leg of robot adopts the individual drive mode, and controllability is good, dynamically adjusts the step pitch and the speed of robot in the time of can moving.
9, motor output shaft directly links to each other with leg, has simplified transmission device, has improved reliability.
Description of drawings
Fig. 1 is the integral structure figure of eccentric wheel leg six biped robots;
Fig. 2 is robot fuselage base arrangement figure;
Fig. 3 is a robot leg structure explosive view;
Fig. 4 is the robot circuit block diagram;
Fig. 5 is the robot control flow chart.
The specific embodiment
Referring to Fig. 1, Fig. 2 and Fig. 3, eccentric wheel leg six biped robots that the present invention proposes comprise fuselage ring, eccentric wheel 15, motor 9, power supply 19, photoelectric encoder 21, control circuit and remote controller 28.Eccentric wheel 15 is installed on the fuselage ring both sides for the walking leg; Motor, power supply 19, control circuit all are installed on fuselage ring inside; Remote controller 28 separates with robot body and is hand-held by robot manipulation person.
Wherein: the structure of said fuselage ring optimum is following: it is made up of top board 2, base plate 1 and 6 connecting panels 10, and integral body is flat sleeve configuration, and so both expendable weight had good stability again.Top board 2 is the same with the structure of base plate 1, is oblong, and both sides are uniform-distribution with 6 grooves 11, the installation site of respectively corresponding 6 eccentric wheel 15.Two grooves 11 in the middle of wherein being positioned at outwards protrudes, and this projection 12 is wider than the width of eccentric wheel 15, so that stagger about the position between adjacent other two eccentric wheel 15 before and after the same side, do not bump.On each groove 11 inwall 2 tapped bore 13 are arranged all so that connect connecting panel 10.6 connecting panels 10 are connected top board 2 and are fixed up through embedding groove 11 with base plate 1, make the fuselage ring journey rectangular-shaped.All there is 1 macropore at each connecting panel 10 center, and 2 minor thread holes are arranged near the macropore, and these 3 holes are used for fixing motor 9 and photoelectric encoder 21.
Said eccentric wheel 3 has 6, and structure is all the same, is evenly distributed on the fuselage ring both sides, and is corresponding with the position of 6 grooves 11.The axle center of eccentric wheel 15 is positioned near the inside circumference, a through hole is arranged so that link to each other with 9 in motor on the axle center.Eccentric wheel 15 has the width of 10mm-15mm to adapt to flexibility ground.Hollow out with expendable weight in eccentric wheel 15 circles.
Said motor 9 has 6, has drop-gear box, and structure is all the same, is evenly distributed on 6 connecting panel 10 inboards of fuselage ring.The axle of motor 9 passes the macropore at corresponding connecting panel 10 centers and pierces into the hole on the axle center of corresponding eccentric wheel 15, links to each other with eccentric wheel 15.Motor 9 is fixed on the fuselage ring through two 2 minor thread holes of connecting panel 10 centers.Gap between motor 9 and top board 2, the base plate 1 is with foam-filled, so that motor 9 is fixed and buffering vibrations.
Referring to Fig. 3, said photoelectric encoder 21 totally 6 covers, and structure is all the same, all by code-disc 17, infrared receiving/transmission to managing 16 and amplify change-over circuit 26 and form.6 code-discs 17 are separately fixed on 6 eccentric wheel 15 inboards, rotate with eccentric wheel 15.All there is a hole at every code-disc 17 centers, and concentric on size with the hole on the eccentric wheel 15, motor shaft 14 also can pass this hole.6 infrared receiving/transmissions are separately fixed on the outside of 6 connecting panels 10 managing 16, and are relative with code-disc 17 positions separately.Infrared receiving/transmission connects and amplifies change-over circuit 26 managing 16 signal wire (SW), amplifies change-over circuit 26 and converts the infrared signal that receives the output of to standard TTL electric signal.
Referring to Fig. 4, said control circuit is made up of MCU and peripheral circuit 18, driving circuit 20, infrared communication acceptor circuit 22.Said power supply 19 is made up of power supply adaptor 23, electric wire and mu balanced circuit 24.Power supply adaptor 23 exchanges 220V and converts the output of 12V direct current into.Mu balanced circuit 24 part output 12V direct currents supply drive motor 9, and part output 5V supplies control circuit to use.
Said remote controller 28 is hand-held by the operating personal of these eccentric wheel leg six biped robots, and each function key and directionkeys are all around arranged above, and through infrared signal and the communication of robot own.
Said MCU and peripheral circuit 18 are connected with the amplification change-over circuit 26 of photoelectric encoder 21, the signal of photoelectric encoder 21 are discerned and are counted, to detect each eccentric wheel 15 state of living in; MCU and peripheral circuit 18 are connected with infrared communication acceptor circuit 22 again; Infrared communication acceptor circuit 22 communicates with hand-held remote controller 28; The signal that receives is sent to MCU and peripheral circuit 18 after carrying out filtering, modulation, decoding; Said MCU and peripheral circuit 18 connects driving circuits 20, and the signal of 18 pairs of infrared communication acceptor circuits of MCU and peripheral circuit, 22 inputs instructs identification, and execution and this instruct cooresponding control program; Each road control signal is exported to driving circuit 20, go to control motor 9 work by driving circuit 20.
Eccentric wheel leg six biped robots according to the invention have 6 kinds of manner of execution: reset, advance, retreat, flicker to, flicker to stop.6 each and every one eccentric wheel 15 of robot will be divided into two groups, and the front foot 3 in left side, metapedes 5 are divided into one group with the mesopodium 7 on the right, and the front foot 8 on the right, metapedes 6 are divided into one group with the mesopodium 4 on the left side.All there is one group of robot body that lands and support any time in the walking process, and another group is then stepped out forward.
The every row of robot all legs that make a move all can turn over a week.This cycle is divided into two stages to be controlled: leg built on stilts aloft revolving process is called the idle running stage, and the rotating speed of leg around its axle center is ω in this stage
0, i.e. motor 9 speeds without load.The leg kiss the earth drive machines person walks stage is called the driving stage, and the rotating speed of leg around its axle center is ω, ω and ω in this stage
0Satisfy relation:
Turning over angle is θ.
The driving stage is divided into general state, touchdown point state and liftoff point state again, the touchdown point state be leg just kiss the earth be about to get into the state of driving during the stage, the liftoff point state is that leg is about to built on stilts and gets into the state of idle running during the stage.Two groups of eccentric two stages hocket each other, final drive machines person walks.
Wherein θ is directly proportional with step pitch, speed, is inversely proportional to obstacle climbing ability.The scope of θ is [π/6,5 π/6], the speed of travel and obstacle climbing ability that the size of adjustment θ angle promptly can control robot.
The robot back that brings into operation automatically gets into reset operation, and whether reset operation will be tested each functional component in proper working order, and will be positioned over ground-surface robot arbitrarily and support, and each parts is in the readiness wait control signal.
After receiving progress signal, control circuit operation advancing algorithm routine, robot is walked forward, up to receiving other control signal.The algorithm routine that advances is following:
Initial condition: the front foot 3 in left side, metapedes 5 are in its touchdown point state with the mesopodium 7 on the right, and the front foot 8 on the right, metapedes 6 are in its liftoff point state with the mesopodium 4 on the left side.
The first step is provided with direction and speed: the front foot 3 on the left of being provided with, the motor of metapedes 5 clockwise rotate with the speed of ω, and mesopodium 7 motors on the right rotate counterclockwise with the speed of ω.Front foot 8 on the right of being provided with simultaneously, the motor of metapedes 6 are with ω
0Speed rotate counterclockwise, the motor of the mesopodium 4 on the left side is with ω
0Speed clockwise rotate.
In second step, the detection position: whether the front foot 3, the metapedes 5 that detect the left side arrive its liftoff point state with the motor of the mesopodium 7 on the right, if arrive then stop cooresponding motor immediately.Whether the front foot 8, the metapedes 6 that detect the right simultaneously arrive its touchdown point state with the motor of the mesopodium 4 on the left side, if arrive then stop cooresponding motor immediately.
In the 3rd step, direction and speed are set: the front foot 3 on the left of being provided with, the motor of metapedes 5 are with ω
0Speed clockwise rotate, the motor of the mesopodium 7 on the right is with ω
0Speed rotate counterclockwise, the motor that front foot 8, the metapedes 6 on the right are set simultaneously rotates counterclockwise with the speed of ω, the motor of the mesopodium 4 on the left side clockwise rotates with the speed of ω.
In the 4th step, the detection position: whether the front foot 3, the metapedes 5 that detect the left side arrive its touchdown point state with the motor of the mesopodium 7 on the right, if arrive then stop cooresponding motor immediately.Whether the front foot 8, the metapedes 6 that detect the right simultaneously arrive its liftoff point state with the motor of the mesopodium 4 on the left side, if arrive then stop cooresponding motor immediately.
The 5th step judged whether to receive new control signal, if, then stop to carry out the algorithm that advances, otherwise, turn back to the first step.
After receiving backing signal, control circuit operation backward algorithm program, robot is regression backward, up to receiving other control signal.The backward algorithm program is similar with the algorithm routine that advances, and different places is that each motor is opposite with the hand of rotation that advances in the algorithm.
After receiving left direction signal, control circuit operation left steering algorithm routine, the robot flicker to, up to receiving other control signal, the left steering algorithm routine is following:
Initial condition: the front foot 3 in left side, metapedes 5 are in its touchdown point state with the mesopodium 7 on the right, and the front foot 8 on the right, metapedes 6 are in its liftoff point state with the mesopodium 4 on the left side.
The first step is provided with direction and speed: the motor of the mesopodium 7 on the front foot 3 on the left of being provided with, metapedes 5 and the right clockwise rotates with the speed of ω.The motor of the mesopodium 4 on the front foot 8 on the right of being provided with simultaneously, metapedes 6 and the left side clockwise rotates with the speed of ω 0.
In second step, the detection position: whether the front foot 3, the metapedes 5 that detect the left side arrive its liftoff point state with the motor of the mesopodium 7 on the right, if arrive then stop cooresponding motor immediately.Whether the front foot 8, the metapedes 6 that detect the right simultaneously arrive its touchdown point state with the motor of the mesopodium 4 on the left side, if arrive then stop cooresponding motor immediately.
In the 3rd step, direction and speed are set: the motor of the mesopodium 7 on the front foot 3 on the left of being provided with, metapedes 5 and the right clockwise rotates with the speed of ω 0.The motor of the mesopodium 4 on the front foot 8 on the right of being provided with simultaneously, metapedes 6 and the left side clockwise rotates with the speed of ω.
In the 4th step, the detection position: whether the front foot 3, the metapedes 5 that detect the left side arrive its touchdown point state with the motor of the mesopodium 7 on the right, if arrive then stop cooresponding motor immediately.Whether the front foot 8, the metapedes 6 that detect the right simultaneously arrive its liftoff point state with the motor of the mesopodium 4 on the left side, if arrive then stop cooresponding motor immediately.
The 5th step judged whether to receive new control signal, if, then stop to carry out the left steering algorithm, otherwise, turn back to the first step.
After receiving the right steering signal, control circuit operation right steering algorithm routine, the robot flicker to, up to receiving other control signal.The right steering algorithm routine is similar with the left steering algorithm routine, and different places is that the hand of rotation in each motor and the left steering algorithm is opposite.
After receiving danger signal, control circuit operation shutdown procedure: cancel the drive control signal that each road connects with driving circuit (20), cut off motor drive power supply.
Claims (6)
1. eccentric wheel leg six biped robots, it is made up of hand-held remote controller (28) and robot body; It is characterized in that: said robot body comprises fuselage ring, walking leg, motor (9), power supply (19), photoelectric encoder (21) and control circuit;
Said motor (9), power supply (19) and control circuit are fixedly mounted in the fuselage ring; Said walking leg has six, adopts eccentric wheel (3) version, be installed on the output shaft of motor (9), and the symmetrical left and right sides that is positioned at fuselage ring, forming three groups, the corresponding eccentric wheel (15) of a motor (9) adopts the individual drive mode;
Said power supply (19) is connected with motor (9) through power lead, and control circuit is connected with motor (9) through control line;
Corresponding each eccentric wheel of said photoelectric encoder (21) (15) respectively is provided with one, its signal output wire joint control circuit;
Said control circuit and hand-held remote controller (28) carry out communication through infrared signal;
Said six eccentric wheel (15) also can be divided into two groups; An eccentric wheel of the forward and backward eccentric wheel in left side and the centre on right side is divided into first group; An eccentric wheel of the forward and backward eccentric wheel on right side and the centre on right side is divided into second group; Through any time in the control circuit control walking process all have said first group with second group in one group of eccentric wheel (15) land and support robot body, another is organized eccentric wheel (15) and then steps out forward.
2. eccentric wheel leg six biped robots according to claim 1 is characterized in that: be positioned at fuselage ring the same side eccentric wheel (15), be staggeredly arranged about the position between the adjacent eccentric wheel (15).
3. eccentric wheel leg six biped robots according to claim 1 is characterized in that: the wheel of said eccentric wheel (15) is wide at 10mm-15mm.
4. eccentric wheel leg six biped robots according to claim 1 is characterized in that: said photoelectric encoder (21) is made up of pipe (16) and amplification change-over circuit (26) code-disc (17), infrared receiving/transmission; Said code-disc (17) is separately fixed at the inboard of eccentric wheel (15); Rotate with eccentric wheel (3); Infrared receiving/transmission is separately fixed on the fuselage ring pipe (16); Relative with code-disc (17) position separately, infrared receiving/transmission connects amplification change-over circuit (26) to the signal wire (SW) of pipe (16), amplifies change-over circuit (26) and converts the infrared signal that receives the output of to standard TTL electric signal.
5. eccentric wheel leg six biped robots according to claim 1 is characterized in that: said control circuit comprises MCU and peripheral circuit (18), driving circuit (20), infrared communication acceptor circuit (22); Said MCU and peripheral circuit (18) are connected with the amplification change-over circuit (26) of photoelectric encoder (21), the signal of photoelectric encoder (21) are discerned and are counted, to detect each eccentric wheel (15) state of living in; MCU and peripheral circuit (18) are connected with infrared communication acceptor circuit (22) again; Infrared communication acceptor circuit (22) communicates with hand-held remote controller (28); The signal that receives is sent to MCU and peripheral circuit (18) after carrying out filtering, modulation, decoding; Said MCU and peripheral circuit (18) connect driving circuit (20), and MCU and peripheral circuit (18) instruct identification to the signal of infrared communication acceptor circuit (22) input, and execution and this instruct cooresponding control program; Each road control signal is exported to driving circuit (20), go to control motor (9) work by driving circuit (20).
6. eccentric wheel leg six biped robots according to claim 1 is characterized in that: said eccentric wheel leg six biped robots have six kinds of manner of execution: reset, advance, retreat, flicker to, flicker to stop; The every row of robot all legs that make a move all can turn over a week, and this cycle is divided into two stages controls: leg built on stilts aloft revolving process is called the idle running stage, and the rotating speed of leg around its axle center is ω in this stage
0, i.e. slip speed of the motor; The leg kiss the earth drive machines person walks stage is called the driving stage, and the rotating speed of leg around its axle center is ω, ω and ω in this stage
0Satisfy relation:
Turning over angle is θ, and the scope of θ is [π/6,5 π/6];
The driving stage is divided into general state, touchdown point state and liftoff point state again; The touchdown point state be leg just kiss the earth be about to get into the state of driving during the stage; The liftoff point state is that leg is about to the state of built on stilts entering idle running during the stage; Said first group with second group in eccentric two stages hocket final drive machines person walks each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110005710A CN102107685B (en) | 2011-01-12 | 2011-01-12 | Six-foot robot with eccentric wheel legs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110005710A CN102107685B (en) | 2011-01-12 | 2011-01-12 | Six-foot robot with eccentric wheel legs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102107685A CN102107685A (en) | 2011-06-29 |
| CN102107685B true CN102107685B (en) | 2012-09-26 |
Family
ID=44171998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110005710A Expired - Fee Related CN102107685B (en) | 2011-01-12 | 2011-01-12 | Six-foot robot with eccentric wheel legs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102107685B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490803B (en) * | 2011-12-02 | 2014-11-05 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
| CN102582711B (en) * | 2012-03-20 | 2014-07-30 | 西南大学 | Body and linkage mechanism alternately-switched obstacle-surmounting traveling system |
| CN102602470B (en) * | 2012-03-21 | 2016-09-14 | 西南大学 | A kind of obstacle crossing walking system of link gear and link gear alternately switching |
| CN102935787B (en) * | 2012-10-15 | 2015-03-04 | 西南大学 | Multi-vane wheel obstacle crossing mechanism |
| CN103303384B (en) * | 2013-06-21 | 2015-07-29 | 中国科学院深圳先进技术研究院 | flexible surface climbing robot |
| CN103465787B (en) * | 2013-09-25 | 2016-05-18 | 西南大学 | Essential safe type robot movement platform |
| CN104908836A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Six-legged laser robot |
| CN104149873B (en) * | 2014-08-14 | 2016-03-16 | 中煤科工集团重庆研究院有限公司 | Portable mining intrinsic safety rescue and detection robot |
| CN104118489A (en) * | 2014-08-14 | 2014-10-29 | 中煤科工集团重庆研究院有限公司 | Mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination |
| CN104477826B (en) * | 2014-10-30 | 2017-11-10 | 中建二局第二建筑工程有限公司 | Remote controlled moving workbench |
| CN104670355A (en) * | 2015-03-20 | 2015-06-03 | 西南大学 | Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot |
| CN104773221A (en) * | 2015-04-03 | 2015-07-15 | 西南大学 | Two-dimensional linkage obstacle-crossing walking mechanism |
| CN106080829A (en) * | 2016-06-25 | 2016-11-09 | 李玉婷 | A kind of Hexapod Robot |
| CN107097870B (en) * | 2017-03-29 | 2019-04-30 | 西南大学 | A kind of asymmetry triped gait walking mobile robot |
| CN111839921B (en) * | 2020-08-04 | 2021-09-03 | 哈尔滨工业大学 | Offset planet wheel module |
| CN114654443B (en) * | 2022-05-24 | 2022-08-12 | 浙大城市学院 | Eccentric semi-spherical wheel type self-adaptive robot |
| CN115071852A (en) * | 2022-05-27 | 2022-09-20 | 王�琦 | Connecting rod wheel compound motion mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2825410Y (en) * | 2005-09-13 | 2006-10-11 | 北京航空航天大学 | Structure-variable leg-wheeled type robot |
| CN2892621Y (en) * | 2005-11-17 | 2007-04-25 | 上海市格致中学 | Six-feet robot |
| CN101402379A (en) * | 2008-10-29 | 2009-04-08 | 北京航空航天大学 | Self-determination gas escape type wall climbing robot vibration adsorption foot section |
| CN101439735A (en) * | 2008-12-22 | 2009-05-27 | 北京航空航天大学 | Adsorption mechanism using square wave vibration |
| KR20100113349A (en) * | 2009-04-13 | 2010-10-21 | 이정수 | Personal car six-wheel ground |
-
2011
- 2011-01-12 CN CN201110005710A patent/CN102107685B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2825410Y (en) * | 2005-09-13 | 2006-10-11 | 北京航空航天大学 | Structure-variable leg-wheeled type robot |
| CN2892621Y (en) * | 2005-11-17 | 2007-04-25 | 上海市格致中学 | Six-feet robot |
| CN101402379A (en) * | 2008-10-29 | 2009-04-08 | 北京航空航天大学 | Self-determination gas escape type wall climbing robot vibration adsorption foot section |
| CN101439735A (en) * | 2008-12-22 | 2009-05-27 | 北京航空航天大学 | Adsorption mechanism using square wave vibration |
| KR20100113349A (en) * | 2009-04-13 | 2010-10-21 | 이정수 | Personal car six-wheel ground |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102107685A (en) | 2011-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102107685B (en) | Six-foot robot with eccentric wheel legs | |
| CN102180205B (en) | Robot with wheel legs | |
| CN105564148B (en) | A kind of deformation type wheel carries out leg composite machine people | |
| CN108556938B (en) | All-terrain robot | |
| CN107323563B (en) | More full landform robot cars of wheel leg | |
| CN104875798B (en) | Transformer station's wheel carries out compound switchable type mobile robot | |
| CN110217299A (en) | Multifunctional universal humanoid robot chassis | |
| CN101856554A (en) | Golf bag vehicle | |
| CN109436125A (en) | A kind of quadruped robot of ten two degrees of freedom | |
| CN107985443B (en) | Wheeled multi-ground adaptive vehicle and obstacle crossing method thereof | |
| CN105923067A (en) | Small wheel-foot combined type hexapod robot | |
| CN104691611B (en) | Diagonal differential steering four-wheel wagon and control method | |
| CN104670355A (en) | Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot | |
| CN112278106B (en) | Wheel-foot composite walking mechanism | |
| CN107140045A (en) | Spoke rotational deformation formula wheel carries out leg and is combined running gear | |
| CN106995017A (en) | A kind of robot motion mechanism with double feet walking with wheel type mobile translation function | |
| CN108556939B (en) | All-terrain mobile detection robot | |
| CN204548268U (en) | A kind of two eccentric Variable Eccentricity obstacle detouring assembly and wheel biped robot | |
| CN105539628A (en) | Wheeled leg type cockroach-shaped bio-robot | |
| CN107215398A (en) | The full free degree obstacle detouring crawler body of plane | |
| CN203498728U (en) | Wheeled multifunctional operation robot | |
| CN201566714U (en) | Caterpillar obstacle-surmounting mechanism | |
| CN107310648A (en) | A kind of achievable wheel, the fighter toy for carrying out replacement | |
| CN102114876A (en) | Wheel-tracked obstacle crossing mechanism | |
| CN103287517A (en) | Deformation track type small-sized mobile system |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120926 Termination date: 20220112 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |