CN102632936A - Rollingly-marching robot with two wheel-like hexagonal mechanisms - Google Patents
Rollingly-marching robot with two wheel-like hexagonal mechanisms Download PDFInfo
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- CN102632936A CN102632936A CN2012101270969A CN201210127096A CN102632936A CN 102632936 A CN102632936 A CN 102632936A CN 2012101270969 A CN2012101270969 A CN 2012101270969A CN 201210127096 A CN201210127096 A CN 201210127096A CN 102632936 A CN102632936 A CN 102632936A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 238000005096 rolling process Methods 0.000 claims abstract description 29
- 230000001360 synchronised effect Effects 0.000 claims description 46
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 claims description 14
- 230000008859 change Effects 0.000 abstract description 2
- 230000005021 gait Effects 0.000 description 36
- 230000009471 action Effects 0.000 description 24
- 230000005484 gravity Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
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- 230000009194 climbing Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The invention relates to a rollingly-marching robot with two wheel-like hexagonal mechanisms, comprising a connecting bar, the two independent wheel-like hexagonal mechanisms and connections, wherein each wheel-like hexagonal mechanism comprises three parallelograms consisting of nine connecting rods: two adjacent parallelogram share one side, the three parallelograms share one vertex and any adjacent sides are connected by using a revolute pair; two parallelograms are respectively formed by rods (1), (6), (7) and (9) and rods (2), (3), (7) and (8) and shapes of the parallelograms are respectively controlled by motors (14) and (15); and a servo parallelogram is formed by rods (4), (5), (8) and (9) and a counterweight (16) is of the same weight as the motors to ensure that the structure is symmetrical. The change of interior angles of the parallelograms is controlled to ensure that the mechanisms are deformed and rolled and the cornering of the robot is realized through the different rolling speed of the two parallel wheel-like hexagonal mechanisms.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to the two types of wheel hexagon robots that a kind of rolling is advanced.
Background technology
The application of planar linkage mechanism very extensively, its advantage is to realize the requirement of the multiple characteristics of motion and path of motion, and simple in structure, reliable operation, load-carrying capacity are strong.In planar linkage, the most common by the four-bar linkage that four rod members are formed.Four-bar linkage not only is widely used, and is the basis of forming multi-bar linkage.Chinese patent CN 2789106Y has proposed a kind of single action power rolling four-bar mechanism; This mechanism relies on the control of a drive motor, and the distortion through self parallelogram and the motional inertia of mechanism self realize that rolling advances, and be simple in structure; Has the certain movement ability; But this mechanism can only realize the walking on the straight line, can not realize divertical motion, and relies on the distortion of parallelogram to be not enough to realize rolling movement merely; Acceleration capability dependence to drive motor is stronger, and motor properties is had relatively high expectations.
Summary of the invention
The technical matters that the present invention will solve: the wheel of wheeled robot general appearance in rolling process does not change, and is poor to the adaptive capacity of ground environment and surrounding space environment.
Technical scheme of the present invention: two types of wheel hexagons of a kind of rolling robot comprises two single type wheel hexagon robot and intermediate connecting rod; Wherein single type of wheel hexagon robot profile is hexagon, by three groups of isometric connecting rods promptly the revolute pair that is parallel to each other through axis of three motor synchronous connecting rods, three motor cabinet connecting rods, three public connecting rods be connected to form three parallelogram.Each parallelogram all comprises a motor synchronous connecting rod, a motor cabinet connecting rod and two public connecting rods; The shared limit of adjacent parallelogram is public connecting rod.
Regard a tetragonal summit on the first attaching parts motor form as; It also is the whole hexagonal summit of mechanism; The first attaching parts motor is fixed on the motor cabinet connecting rod; The axis hole of the rotating shaft of motor through motor axis hole and motor synchronous connecting rod links with the form of revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram, and jackscrew carries out circumferential fixing through the top wire hole of motor synchronous connecting rod to the rotating shaft of motor.
The second attaching parts minor axis is regarded the public vertex of two adjacent quadrangular as in form; It also is the whole hexagonal summit of mechanism; The axis hole of the axis hole of the second attaching parts axostylus axostyle through the motor cabinet connecting rod, motor synchronous connecting rod links with the form of the axis hole of public connecting rod with revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram.
The 3rd attaching parts and the first attaching parts structure and type of attachment are identical.
The 4th attaching parts, the 6th attaching parts and the second attaching parts structure and type of attachment are identical.
The 5th attaching parts counterweight is regarded a tetragonal summit as in form; It also is the whole hexagonal summit of mechanism; The 5th attaching parts counterweight is fixed on the motor cabinet connecting rod; The axis hole of the axle of counterweight through motor axis hole and motor synchronous connecting rod links with the form of revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram.
The 7th attaching parts differential shaft is regarded four tetragonal public vertex as in form; The 9th attaching parts differential shaft passes through the form link of the axis hole of three public connecting rods with revolute pair; Two parallel class wheel hexagon robots link together through the 7th attaching parts differential shaft, and the axis normal of this revolute pair is in the plane of parallelogram.
The revolute pair that minor axis constituted is the circular movement of various ways, like rotating shaft, motor or steering wheel; The form of drive motor is various, like motor or steering wheel; The revolute pair that differential shaft constitutes is the circular movement of various ways, and directly axostylus axostyle connection or coupler connect indirectly; Counterweight is replaceable to be drive motor, uses as redundant drive.
Beneficial effect of the present invention: two types of wheel hexagon robots that roll and advance of the present invention; Respectively two class wheel hexagon mechanisms are driven and control the tumbling motion of realizing mechanism through two or more motors; Two types of wheel hexagon robots both can be realized the function of keeping straight on; Also can realize turning function, and have certain obstacle climbing ability.This mechanism structure is simple, and is with low cost, is easy to make and Project Realization.For students in middle and primary schools provide the understanding to geometrical body and travel mechanism, can be used for making toy, teaching aid, also can be used for making military sniffing robot.
Description of drawings
The whole graphics of the two types of wheel hexagon robots that Fig. 1 rolling is advanced
The whole graphics of the single type of wheel hexagon robot that Fig. 2 rolling is advanced
The whole birds-eye view of the two types of wheel hexagon robots that Fig. 3 rolling is advanced
The erection plan of Fig. 4 motor
Fig. 5 A, Fig. 5 B, Fig. 5 C, Fig. 5 D, Fig. 5 E, Fig. 5 F, Fig. 5 G are the exploded drawingss of single type of wheel hexagon robot craspedodrome gait:
The initial pose of Fig. 5 A craspedodrome gait
The centre-of gravity shift action for the first time of Fig. 5 B craspedodrome gait
The action of rolling for the first time of Fig. 5 C craspedodrome gait
Fig. 5 D craspedodrome gait centre-of gravity shift process action
The centre-of gravity shift action for the second time of Fig. 5 E craspedodrome gait
The action of rolling for the second time of Fig. 5 F craspedodrome gait
The action of Fig. 5 G craspedodrome gait pose recovery
Fig. 6 A, Fig. 6 B, Fig. 6 C, Fig. 6 D, Fig. 6 E, Fig. 6 F, Fig. 6 G are the exploded drawingss of two types of wheel hexagon robot turning gaits:
The initial pose of Fig. 6 A turning gait
The centre-of gravity shift action for the first time of Fig. 6 B turning gait
The action of rolling for the first time of Fig. 6 C turning gait
Fig. 6 D turning gait centre-of gravity shift process action
The centre-of gravity shift action for the second time of Fig. 6 E turning gait
The action of rolling for the second time of Fig. 6 F craspedodrome gait
The action of Fig. 6 G craspedodrome gait pose recovery
Among the figure: motor synchronous connecting rod 1, motor cabinet connecting rod 2, motor synchronous connecting rod 3, motor cabinet connecting rod 4, motor synchronous connecting rod 5, motor cabinet connecting rod 6, public connecting rod 7, public connecting rod 8, public connecting rod 9, minor axis 10, minor axis 11, minor axis 12, differential shaft 13, motor 14, motor 15, counterweight 16.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is explained further details.
The two types of wheel hexagon robots that rolling is advanced are as shown in Figure 1, and being walked abreast through a differential shaft (13) by two class wheel hexagon robots links together, like each type of Fig. 2 wheel hexagon robot from form by three each and every one quadrangles in form.
Embodiment of the present invention:
Like Fig. 2; First quadrangle is made up of motor synchronous connecting rod (1), motor cabinet connecting rod (6), public connecting rod (7) and public connecting rod (9); Motor synchronous connecting rod (1) and motor cabinet connecting rod (6) constitute revolute pair as summit of parallelogram; Motor cabinet connecting rod (6) and public connecting rod (7) constitute revolute pair as summit of parallelogram; Public connecting rod (7) and public connecting rod (9) constitute revolute pair as summit of parallelogram, and motor synchronous connecting rod (1) and public connecting rod (9) constitute revolute pair as summit of parallelogram; Second quadrangle is made up of motor synchronous connecting rod (3), motor cabinet connecting rod (2), public connecting rod (7) and public connecting rod (8); Motor synchronous connecting rod (3) and motor cabinet connecting rod (2) constitute revolute pair as summit of parallelogram; Motor cabinet connecting rod (2) and public connecting rod (7) constitute revolute pair as summit of parallelogram; Public connecting rod (7) and public connecting rod (8) constitute revolute pair as summit of parallelogram, and motor synchronous connecting rod (3) and public connecting rod (8) constitute revolute pair as summit of parallelogram; The 3rd quadrangle is made up of motor synchronous connecting rod (5), motor cabinet connecting rod (4), public connecting rod (8) and public connecting rod (9); Motor synchronous connecting rod (5) and motor cabinet connecting rod (4) constitute revolute pair as summit of parallelogram; Motor cabinet connecting rod (4) and public connecting rod (8) constitute revolute pair as summit of parallelogram; Public connecting rod (8) and public connecting rod (9) constitute revolute pair as summit of parallelogram, and motor synchronous connecting rod (5) and public connecting rod (9) constitute revolute pair as summit of parallelogram;
The first attaching parts motor (14) is regarded a tetragonal summit as in form; It also is the whole hexagonal summit of mechanism; The first attaching parts motor (14) is fixed on the motor cabinet connecting rod (6); The axis hole of the rotating shaft of motor through motor axis hole and motor synchronous connecting rod (1) links with the form of revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram, and jackscrew carries out circumferential fixing through the top wire hole of motor synchronous connecting rod (1) to the rotating shaft of motor;
The second attaching parts minor axis (10) is regarded the public vertex of two adjacent quadrangular as in form; It also is the whole hexagonal summit of mechanism; The axis hole of the axis hole of the second attaching parts axostylus axostyle (10) through motor cabinet connecting rod (2), motor synchronous connecting rod (1) links with the form of the axis hole of public connecting rod (7) with revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram;
The 3rd attaching parts motor (15) is regarded a tetragonal summit as in form; It also is the whole hexagonal summit of mechanism; The 3rd attaching parts motor (15) is fixed on the motor cabinet connecting rod (3); The axis hole of the rotating shaft of motor through motor axis hole and motor synchronous connecting rod (2) links with the form of revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram, and jackscrew carries out circumferential fixing through the top wire hole of motor synchronous connecting rod (2) to the rotating shaft of motor;
The 4th attaching parts minor axis (11) is regarded the public vertex of two adjacent quadrangular as in form; It also is the whole hexagonal summit of mechanism; The axis hole of the axis hole of the 4th attaching parts axostylus axostyle (11) through motor cabinet connecting rod (4), motor synchronous connecting rod (3) links with the form of the axis hole of public connecting rod (8) with revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram;
The 5th attaching parts counterweight (16) is regarded a tetragonal summit as in form; It also is the whole hexagonal summit of mechanism; The 5th attaching parts counterweight (16) is fixed on the motor cabinet connecting rod (4); The axis hole of the axle of counterweight through motor axis hole and motor synchronous connecting rod (5) links with the form of revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram;
The 6th attaching parts minor axis (12) is regarded the public vertex of two adjacent quadrangular as in form; It also is the whole hexagonal summit of mechanism; The axis hole of the axis hole of the 6th attaching parts axostylus axostyle (12) through motor cabinet connecting rod (6), motor synchronous connecting rod (5) links with the form of the axis hole of public connecting rod (9) with revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram;
The 7th attaching parts differential shaft (13) is regarded four tetragonal public vertex as in form; The axis hole of the 9th attaching parts differential shaft (13) through public connecting rod (7,8,9) is with the form link of revolute pair; Two parallel class wheel hexagon robots link together through the 7th attaching parts differential shaft (13), and the axis normal of this revolute pair is in the plane of parallelogram.
The installation of motor is shown in accompanying drawing 4, and the installation end face of motor (14) is installed end face with the motor cabinet of motor cabinet connecting rod (6) and is connected through screw, and the axle of motor is connected through jackscrew with motor synchronous connecting rod (1); The connection mode of motor (15) is identical with motor (14).
Concrete method of application:
The two types of wheel hexagon robots that rolling is advanced can be realized the gait of keeping straight on.The two types of wheel hexagon robots advancing of at first rolling are in the initial pose of the craspedodrome gait shown in accompanying drawing 5A, and a tetragonal limit contacts with ground; When will keep straight on, holding the tetragonal limit of row level with both hands with direct of travel is bearing surface, coordinates the summit angle of three parallelogram, realizes the craspedodrome gait centre-of gravity shift action for the first time shown in accompanying drawing 5B; When on the ground projection over balance position of the center of gravity of two types of wheel hexagon robots, realize the action of rolling for the first time of craspedodrome gait shown in Fig. 5 C; After the another side as the parallelogram that supports lands, coordinate the summit angle of three parallelogram, realize the craspedodrome gait centre-of gravity shift process action shown in accompanying drawing 5D, the centre-of gravity shift action for the second time of the craspedodrome gait shown in accompanying drawing 5E; When on the ground projection over balance position of the center of gravity of two types of wheel hexagon robots, realize the action of rolling for the second time of craspedodrome gait shown in Fig. 5 F; After landing as one side of another parallelogram that supports, coordinate the summit angle of three parallelogram, realize the craspedodrome gait pose recovery action shown in accompanying drawing 5G.So just realized a complete craspedodrome gait of robot, Fig. 5 A, Fig. 5 B, Fig. 5 C, Fig. 5 D, Fig. 5 E, Fig. 5 F, Fig. 5 G are the exploded drawingss of single type of wheel hexagon robot craspedodrome gait.
The two types of wheel hexagon robots that rolling is advanced also can be realized the gait of turning.The two types of wheel hexagon robots advancing of at first rolling are in the initial pose of the turning gait shown in accompanying drawing 6A, and two parallel connection type wheel hexagon robot tetragonal limits separately contact with ground; When will turn; With one independently a type wheel hexagon machine artificially support; Coordinate another independently summit angle of three parallelogram of type wheel hexagon robot; The centre-of gravity shift action for the first time of the turning gait of realization shown in Fig. 6 B, and the action of rolling for the first time of the turning gait shown in Fig. 6 C; When two parallel class wheel hexagon robots are all stablized with after ground contacts; The summit angle of three parallelogram of the class wheel hexagon robot that the coordination realization is rolled; The turning gait centre-of gravity shift process action of realization shown in Fig. 6 D, action that the turning gait centre-of gravity shift second time shown in Fig. 6 E is moved and the turning gait shown in Fig. 6 F is rolled for the second time; When two parallel class wheel hexagon robots are all stablized with after ground contacts; The summit angle of three parallelogram of the class wheel hexagon robot that the coordination realization is rolled; The turning gait pose recovery action of realization shown in Fig. 6 G; There has been certain angle the position of the two types of wheel hexagon robots that the rolling of this moment is advanced and original position, circulate several times, and robot has just been realized the gait of significantly turning.Fig. 6 A, Fig. 6 B, Fig. 6 C, Fig. 6 D, Fig. 6 E, Fig. 6 F, Fig. 6 G are the exploded drawingss of two types of wheel hexagon robot turning gaits.
Claims (5)
1. a rolling two types of wheel hexagon robots of advancing; It is characterized in that: the two Siping City row quadrangle robot of advancing that rolls comprises two single type wheel hexagon robot and intermediate connecting rod (21); Wherein single type of wheel hexagon robot by three groups of isometric connecting rods promptly the revolute pair that is parallel to each other through axis of three motor synchronous connecting rods (1,3,5), three motor cabinet connecting rods (2,4,6), three public connecting rods (7,8,9) be connected to form three parallelogram; Each parallelogram all comprises a motor synchronous connecting rod, a motor cabinet connecting rod and two public connecting rods; The shared limit of adjacent parallelogram is public connecting rod; Wherein motor synchronous connecting rod (1), motor cabinet connecting rod (6), public connecting rod (7) and public connecting rod (9) constitute a parallelogram; Motor synchronous connecting rod (1) and motor cabinet connecting rod (6) constitute revolute pair as summit of parallelogram; Motor cabinet connecting rod (6) and public connecting rod (9) constitute revolute pair as summit of parallelogram; Public connecting rod (7) and public connecting rod (9) constitute revolute pair as summit of parallelogram, and motor synchronous connecting rod (1) and public connecting rod (9) constitute revolute pair as summit of parallelogram; Motor synchronous connecting rod (3), motor cabinet connecting rod (2), public connecting rod (7) and public connecting rod (8) constitute a parallelogram; Motor synchronous connecting rod (3) and motor cabinet connecting rod (2) constitute revolute pair as summit of parallelogram; Motor cabinet connecting rod (2) and public connecting rod (7) constitute revolute pair as summit of parallelogram; Public connecting rod (7) and public connecting rod (8) constitute revolute pair as summit of parallelogram, and motor synchronous connecting rod (3) and public connecting rod (8) constitute revolute pair as summit of parallelogram; Motor synchronous connecting rod (5), motor cabinet connecting rod (4), public connecting rod (8) and public connecting rod (9) constitute a parallelogram; Motor synchronous connecting rod (5) and motor cabinet connecting rod (4) constitute revolute pair as summit of parallelogram; Motor cabinet connecting rod (4) and public connecting rod (8) constitute revolute pair as summit of parallelogram; Public connecting rod (8) and public connecting rod (9) constitute revolute pair as summit of parallelogram, and motor synchronous connecting rod (5) and public connecting rod (9) constitute revolute pair as summit of parallelogram;
The first attaching parts motor (14) is regarded a tetragonal summit as in form; It also is the whole hexagonal summit of mechanism; The first attaching parts motor (14) is fixed on the motor cabinet connecting rod (6); The axis hole of the rotating shaft of motor through motor axis hole and motor synchronous connecting rod (1) links with the form of revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram, and jackscrew carries out circumferential fixing through the top wire hole of motor synchronous connecting rod (1) to the rotating shaft of motor;
The second attaching parts minor axis (10) is regarded the public vertex of two adjacent quadrangular as in form; It also is the whole hexagonal summit of mechanism; The axis hole of the axis hole of the second attaching parts axostylus axostyle (10) through motor cabinet connecting rod (2), motor synchronous connecting rod (1) links with the form of the axis hole of public connecting rod (7) with revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram;
The 3rd attaching parts motor (15) is regarded a tetragonal summit as in form; It also is the whole hexagonal summit of mechanism; The 3rd attaching parts motor (15) is fixed on the motor cabinet connecting rod (3); The axis hole of the rotating shaft of motor through motor axis hole and motor synchronous connecting rod (2) links with the form of revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram, and jackscrew carries out circumferential fixing through the top wire hole of motor synchronous connecting rod (2) to the rotating shaft of motor;
The 4th attaching parts minor axis (11) is regarded the public vertex of two adjacent quadrangular as in form; It also is the whole hexagonal summit of mechanism; The axis hole of the axis hole of the 4th attaching parts axostylus axostyle (11) through motor cabinet connecting rod (4), motor synchronous connecting rod (3) links with the form of the axis hole of public connecting rod (8) with revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram;
The 5th attaching parts counterweight (16) is regarded a tetragonal summit as in form; It also is the whole hexagonal summit of mechanism; The 5th attaching parts counterweight (16) is fixed on the motor cabinet connecting rod (4); The axis hole of the axle of counterweight through motor axis hole and motor synchronous connecting rod (5) links with the form of revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram;
The 6th attaching parts minor axis (12) is regarded the public vertex of two adjacent quadrangular as in form; It also is the whole hexagonal summit of mechanism; The axis hole of the axis hole of the 6th attaching parts axostylus axostyle (12) through motor cabinet connecting rod (6), motor synchronous connecting rod (5) links with the form of the axis hole of public connecting rod (9) with revolute pair, and the axis normal of this revolute pair is in the plane of parallelogram;
The 7th attaching parts differential shaft (13) is regarded four tetragonal public vertex as in form; The axis hole of the 9th attaching parts differential shaft (13) through public connecting rod (7,8,9) is with the form link of revolute pair; Two parallel class wheel hexagon robots link together through the 7th attaching parts differential shaft (13), and the axis normal of this revolute pair is in the plane of parallelogram.
2. the two types of wheel hexagon robots that rolling as claimed in claim 1 is advanced, it is characterized in that: the revolute pair that minor axis (10,11,12) is constituted is the circular movement of various ways, like rotating shaft, motor or steering wheel.
3. the two types of wheel hexagon robots that rolling as claimed in claim 1 is advanced, it is characterized in that: the revolute pair that differential shaft (13) constitutes is the circular movement of various ways, directly axostylus axostyle connection or coupler connect indirectly.
4. the two types of wheel hexagon robots that rolling as claimed in claim 1 is advanced, it is characterized in that: the form of drive motor (14,15) is various, like motor or steering wheel.
5. the two types of wheel hexagon robots that rolling as claimed in claim 1 is advanced, it is characterized in that: counterweight (16) is replaceable for drive motor, uses as redundant drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210127096 CN102632936B (en) | 2012-04-26 | 2012-04-26 | Rollingly-marching robot with two wheel-like hexagonal mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210127096 CN102632936B (en) | 2012-04-26 | 2012-04-26 | Rollingly-marching robot with two wheel-like hexagonal mechanisms |
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| Publication Number | Publication Date |
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| CN102632936A true CN102632936A (en) | 2012-08-15 |
| CN102632936B CN102632936B (en) | 2013-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201210127096 Expired - Fee Related CN102632936B (en) | 2012-04-26 | 2012-04-26 | Rollingly-marching robot with two wheel-like hexagonal mechanisms |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407515A (en) * | 2013-07-23 | 2013-11-27 | 北京交通大学 | Dual-mode travel mechanism |
| CN103738426A (en) * | 2013-10-21 | 2014-04-23 | 北京交通大学 | Dual-mode sixteen-rod rolling mechanism |
| CN107933732A (en) * | 2017-12-12 | 2018-04-20 | 燕山大学 | Rolling robot based on parallel institution |
| CN109262580A (en) * | 2018-09-30 | 2019-01-25 | 荆门它山之石电子科技有限公司 | A kind of wheeled robot |
| CN110091933A (en) * | 2019-03-27 | 2019-08-06 | 北京交通大学 | The wheeled rolling reconnaissance robot of one type |
| CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
| CN111438675A (en) * | 2019-07-23 | 2020-07-24 | 北京航空航天大学 | Robot |
| CN112927596A (en) * | 2021-02-24 | 2021-06-08 | 北京交通大学 | Single-power steerable mobile robot |
| CN113443038A (en) * | 2021-07-13 | 2021-09-28 | 北京交通大学 | Center-driven hexagonal robot |
| CN107933732B (en) * | 2017-12-12 | 2024-07-09 | 燕山大学 | Rolling robot based on parallel mechanism |
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| JPS61278475A (en) * | 1985-06-03 | 1986-12-09 | Hitachi Ltd | Pipe mobile robot |
| CN1189716A (en) * | 1997-01-28 | 1998-08-05 | 徐国跃 | Strong magnetic motor |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407515B (en) * | 2013-07-23 | 2015-11-18 | 北京交通大学 | A kind of Dual-mode travel mechanism |
| CN103407515A (en) * | 2013-07-23 | 2013-11-27 | 北京交通大学 | Dual-mode travel mechanism |
| CN103738426A (en) * | 2013-10-21 | 2014-04-23 | 北京交通大学 | Dual-mode sixteen-rod rolling mechanism |
| CN107933732B (en) * | 2017-12-12 | 2024-07-09 | 燕山大学 | Rolling robot based on parallel mechanism |
| CN107933732A (en) * | 2017-12-12 | 2018-04-20 | 燕山大学 | Rolling robot based on parallel institution |
| CN109262580A (en) * | 2018-09-30 | 2019-01-25 | 荆门它山之石电子科技有限公司 | A kind of wheeled robot |
| CN110091933A (en) * | 2019-03-27 | 2019-08-06 | 北京交通大学 | The wheeled rolling reconnaissance robot of one type |
| CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
| CN111438675A (en) * | 2019-07-23 | 2020-07-24 | 北京航空航天大学 | Robot |
| CN112927596A (en) * | 2021-02-24 | 2021-06-08 | 北京交通大学 | Single-power steerable mobile robot |
| CN112927596B (en) * | 2021-02-24 | 2021-12-17 | 北京交通大学 | Single-power steerable mobile robot |
| CN113443038A (en) * | 2021-07-13 | 2021-09-28 | 北京交通大学 | Center-driven hexagonal robot |
| CN113443038B (en) * | 2021-07-13 | 2022-07-12 | 北京交通大学 | Center-driven hexagonal robot |
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