CN104210571B - A kind of wheeled lower limb running gear with independent ambulation and cross-country function - Google Patents
A kind of wheeled lower limb running gear with independent ambulation and cross-country function Download PDFInfo
- Publication number
- CN104210571B CN104210571B CN201410457834.5A CN201410457834A CN104210571B CN 104210571 B CN104210571 B CN 104210571B CN 201410457834 A CN201410457834 A CN 201410457834A CN 104210571 B CN104210571 B CN 104210571B
- Authority
- CN
- China
- Prior art keywords
- lower limb
- assembly
- sole
- dynamic control
- control assembly
- 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
Landscapes
- Toys (AREA)
- Manipulator (AREA)
Abstract
A kind of wheeled lower limb running gear with independent ambulation and cross-country function, it include that the dynamic Control assembly exported for travelling control and power, uniform ring be wound on that several lower limb root assemblies of dynamic Control assembly periphery are connected with lower limb root assembly axle for supporting the sole assembly of walking and being connected between dynamic Control assembly and sole assembly the course changing control mechanism for controlling turning.Described wheeled lower limb running gear also includes providing the air bag of buoyancy and air pump by paddling for wheeled lower limb running gear of being connected on dynamic Control assembly of swivel bearing, and the buoyancy after described airbag aeration makes dynamic Control assembly float on more than liquid level.Present invention greatly enhances the cross-country power of walking mechanism, reduce again the complexity of mechanism simultaneously.The present invention i.e. can be used alone, it is possible to as the walking unit of a motion platform.The fields such as the present invention has transmission efficiency height, operates steadily and fast advantage, can be used for the disaster relief, exploration, military.
Description
Technical field
The present invention relates to a kind of running gear, particularly relate to a kind of wheeled lower limb walking dress with independent ambulation and cross-country function
Put.
Background technology
In recent years, along with the development of intellectually and automatically technical merit, it is possible to replace the mankind to be engaged in various high-risk operation
Robot kind gets more and more, and they both can accept mankind commander, can run again the program of layout in advance, it is also possible to
According to the principle guiding principle action formulated with artificial intelligence technology.Its task assists or replaces to be completed by the mankind traditionally
Work, such as manufacturing industry, building industry, or the work of danger.
Along with making rapid progress of technology, the scope of robot application is more and more extensive, although the software and hardware technology of robot is the most
The most all achieved with the biggest progress, but the machine-walking structure of robot but remain maximum technical barrier it
One, attract research and the innovation of various countries scientific research personnel.
At present, the walking mechanism of robot separately designs as required as wheeled, crawler type or the stepping of the walking of simulation biology
Mechanism, the most wheeled the most ripe with crawler type walking mechanism, it has the advantages such as transmission efficiency is high, speed is fast, but
Be difficult in adapt to landform complicated and changeable, especially combating a natural disaster, the field such as exploration, there is the biggest application limitation.
The stepping mechanism of simulation biology walking is the product that the walking manners such as reptile carry out mechanization design, such as, in
Single-power leg mechanism four feet walking robot disclosed in state's patent No. ZL201410211307.6；Chinese Patent Application No.
201320271178.0 the walking mechanism of disclosed walking robot.Although this kind of stepping mechanism can adapt to the ground of complexity
Shape, but its transmission efficiency is the lowest, robot ambulation speed is relatively slow, controls difficulty big, and itself structure is the most more
Complicated.
In order to improve transmission efficiency and the speed of travel of bionic walking mechanical, people are also in relation with running on wheels and the spy of bionic leg
Point carries out biomimetic six-wheeled leg disclosed in substantial amounts of innovation, such as Chinese patent ZL201310108663.0 to walking mechanism and entirely drives
A kind of disclosed in dynamic walking mechanism and United States Patent (USP) US7249640 have the most mobile and motor-driven machine of height of jump performance
People；Above-mentioned technology is respectively provided with the feature of wheeled lower limb；They total being structurally characterized in that, by a rotating shaft be connected to rotating shaft
On several bionic legs constitute a walking unit, then constituted whole walking mechanism by several such walking unit,
It realizes moving along the rotation of rotating shaft by bionic leg, realizes whole row by coordinating to control the rotating speed of each walking unit
Walk the mobile turning of mechanism.Therefore the walking mechanism structure of combinations thereof formula is complex, and Servo Control difficulty is big, and it is imitated
Raw lower limb is strip, and little with contact area of ground, walking stability is poor；And single wheeled lower limb cannot realize turning,
Can not realize individually walking.
Current walking mechanism is the most wheeled, crawler type or bionical stepping or wheeled leg mechanism are required to several walkings
Could realize walking, turning smoothly etc. after unit combination to move, more walking unit can make robot architecture more undoubtedly
Adding complexity, also imply that higher fault rate and maintenance difficulties, this pole is unfavorable for application and the development of robotics.
Summary of the invention
It is an object of the invention to provide a kind of wheeled lower limb with independent ambulation and cross-country function being mainly used in robot ambulation
Running gear, it has, and landform adaptability is good, the high and fireballing advantage of simple in construction, transmission efficiency.
The present invention is achieved like this, and a kind of wheeled lower limb running gear with independent ambulation and cross-country function, its feature exists
In, it includes being wound on dynamic Control assembly periphery for travelling control and the dynamic Control assembly of power output, uniform ring
What several lower limb root assemblies were connected with lower limb root assembly axle is used for supporting the sole assembly of walking and is connected to dynamic Control total
Become between sole assembly for controlling the course changing control mechanism turned.
Described wheeled lower limb running gear also includes being filled for the walking of wheeled lower limb by what swivel bearing was connected on dynamic Control assembly
Putting paddles provides air bag and the air pump of buoyancy, and the buoyancy after described airbag aeration makes dynamic Control assembly float on more than liquid level.
The periphery of described dynamic Control assembly is uniformly placed with several protruding fixture blocks, and groove is passed through in one end of described lower limb root assembly
Card is embedded on protruding fixture block, and is fixed by catch and screw.
Described sole assembly includes the first sole blade and the second sole blade, described first sole blade and the second sole blade
One end be connected by rotating swivel bearing one end of deviating from dynamic Control assembly with lower limb root assembly, the first sole blade and the
The other end of two sole blades is can be with the arcuate structure of ground laminating, described first sole blade and the second sole blade
The one side contacting laminating with ground is to have the rubbing surface of roughness.
Described course changing control mechanism includes two pull bars and the slide block being slidably connected on dynamic Control assembly, said two pull bar
One end be all connected on slide block by ball-joint, the other end respectively with the first sole blade and the second sole blade against lower limb
One end of root assembly is connected.
Described dynamic Control assembly is cylinder body structure, and described dynamic Control assembly includes position single chip circuit in the inner
Plate, servomotor, battery and speed reducing gear pair, described servomotor passes through reducing gear under the control of single chip microcomputer circuit board
Wheel set drives the outer wall of dynamic Control assembly to rotate, and dynamic Control assembly outer wall drives lower limb root assembly and sole assembly to rotate row
Walk.
Preferably: described speed reducing gear pair includes the first speed reducing gear pair and the second speed reducing gear pair, wherein, with servo electricity
The first speed reducing gear pair that machine output shaft is connected be gear ratio be the decelerator of 3-5 times, the second speed reducing gear pair includes and the
One speed reducing gear pair meshed gears and the annular tooth being positioned on dynamic Control assembly inwall engaged with this gear, described
The gear ratio of two speed reducing gear pairs is 5 to 8 times.
Preferably: described lower limb root assembly is tieed up by aluminium alloy or carbon pricker and made, and described lower limb root assembly is the most uniformly placed with some
Individual lightening hole.
Preferably: on the arcuate structure of described first sole blade and the second sole blade, be the most uniformly placed with several losss of weight
Hole, and the first sole blade and the second sole blade all use synthetic elastic material to make.
Preferably: the number of sole assembly is even number, respectively 4,6 or 12.
The invention have the benefit that the design that the present invention is innovated in the configuration aspects of lower limb, thus drastically increase
The cross-country power of walking mechanism, reduces again the complexity of mechanism simultaneously.The present invention i.e. can be used alone, it is possible to combination is made
It it is the walking unit of a motion platform.Transmission efficiency of the present invention is high, operate steadily and fast advantage, and possesses pole
The fields such as strong cross-country power, can explore in the disaster relief, military.
Accompanying drawing explanation
Fig. 1 is the isometric view of present configuration.
Fig. 2 is the front view of present configuration.
Fig. 3 is the side view of present configuration.
Fig. 4 be dynamic Control assembly of the present invention internal structure schematic diagram.
Fig. 5 is structure graph during straight line moving of the present invention.
Fig. 6 be the present invention turn walking time structure graph.
Fig. 7 is the center of rotation position consecutive variations schematic diagram under turn condition of the present invention.
Fig. 8 is present invention structural front view when paddling.
Fig. 9 is present invention structural side view when paddling.
In the drawings, 1, lightening hole 2, lower limb root assembly 3, sole assembly 4, dynamic Control assembly 5, protruding fixture block 6,
Course changing control mechanism 7, rotate swivel bearing 8, single chip microcomputer circuit board 9, servomotor 10, battery 11, subtract
Speed gear pair 12, air bag 13, air pump 14, swivel bearing.
Detailed description of the invention
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described further.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the present invention is achieved like this, and it includes for travelling control and moves
The dynamic Control assembly 4 of power output, uniform ring are wound on several lower limb root assembly 2 and lower limb roots of dynamic Control assembly 4 periphery
Assembly 2 axle connect for support walking sole assembly 3 and be connected to dynamic Control assembly 4 and sole assembly 3 it
Between for control turn course changing control mechanism 6.Wherein, the number of sole assembly 3 is even number, preferably 4,
6 or 12 sole assemblies 3, along with increasing of sole assembly 3, the stationarity of this mechanism kinematic is the best.
Described wheeled lower limb running gear also include by swivel bearing 14 be connected on dynamic Control assembly 4 for wheeled lower limb row
Walking apparatus is paddled provides air bag 12 and the air pump 13 of buoyancy, the buoyancy after the inflation of described air bag 12 to make dynamic Control assembly 4
Float on more than liquid level.Due to the interconnection function of swivel bearing 14, after air bag 12 is inflated, air bag 12 and air pump 13 are not
Rotate together with main body.Air bag 12 profile can be any to ensure that mechanism is in the stable streamlined of water exercise；Air bag
The shape and size of 12 are to ensure that main body is held out the water surface is as the criterion.
The periphery of described dynamic Control assembly 4 is uniformly placed with several protruding fixture blocks 5, and these protruding fixture blocks 5 are along power control
Assembly 4 outer surface processed is installed every 30 degree of angles, and one end of described lower limb root assembly 2 is embedded in protruding fixture block 5 by groove card
On, and fixed by catch and screw, owing to lower limb root assembly 2 and dynamic Control assembly 4 are dismountable connections, this profit
Lower limb root assembly 2 is increased or decreased according to landform in running gear；So that running gear obtains optimal transmission efficiency and row
Walk speed.
Described sole assembly 3 includes the first sole blade 31 and the second sole blade 32, described first sole blade 31 He
One end of second sole blade 32 deviates from one end phase of dynamic Control assembly 4 by rotating swivel bearing 7 and lower limb root assembly 2
Even, the first sole blade 31 and the second sole blade 32 can have the independently rotated space of 30 degree around rotation swivel bearing 7；
The other end of the first sole blade 31 and the second sole blade 32 is can be with the arcuate structure of ground laminating, and it is one
Thin curved surface, and this curved surface has certain elasticity, can play good damping effect when walking, and can be used in dress
Put striking when paddling.Described first sole blade (31) contacts, with the second sole blade (32), fitted with ground
Face is the rubbing surface with roughness, frictional force over the ground during to increase walking.
Described course changing control mechanism 6 includes two pull bars 61 and the slide block 62 being slidably connected on dynamic Control assembly 4, institute
The one end stating two pull bars 61 is all connected on slide block 62 by ball-joint, the other end respectively with the first sole blade 31
It is connected against one end of lower limb root assembly 2 with the second sole blade 32.Utilize horizontally slipping of slide block 62 so that two are drawn
Bar 61 stretches, two pull bars 61 control the first sole blade 31 and the second sole blade 32 along rotating swivel bearing 7
Rotational angle, the first sole blade 31 of non-parallel state and the second sole blade 32 will produce turning when walking
The moment needed；Specific works principle is as follows:
As it is shown in figure 5, a. is when the centre position of slide block 62 chute in dynamic Control assembly 4, the first sole blade 31
Identical with the corner of the second sole blade 32 opposite leg root assembly 2, blade earth point is to the radius of turn of assembly center of rotation
It is identical, so this wheeled lower limb is in craspedodrome transition；
As shown in Figure 6, b. is when slide block 62 slides to the left, and left side sole blade is promoted forward direction to rotate, should
Blade earth point reduces, as shown in Figure 7 to the radius of turn of assembly center of rotation；Meanwhile, sole blade in right side is pulled
Rotating in the reverse direction, the radius of turn of this blade earth point to assembly center of rotation increases.Radius of turn due to right side
More than left side, in the case of angular velocity is identical, the linear velocity in the tangent to periphery direction in left side is less, so that walking
The direction of motion of mechanism offsets the most to the left.In like manner, when slide block 62 slides to the right, right side sole blade promoted to
Direction of advance rotates, and left side sole blade is pulled and rotates in the reverse direction, and the radius of turn in left side is more than right side, this row
Walk mechanism to turn to the right.
Described dynamic Control assembly 4 is cylinder body structure, and described dynamic Control assembly 4 includes that position monolithic in the inner is dynamo-electric
Road plate 8, servomotor 9, battery 10 and speed reducing gear pair 11, described servomotor 9 is in the control of single chip microcomputer circuit board 8
Driving the outer wall of dynamic Control assembly 4 to rotate by speed reducing gear pair 11 under system, dynamic Control assembly 4 outer wall drives lower limb root
Assembly 2 and sole assembly 3 rotate walking.
For realizing big retarding in limited space than transmission, have employed double reduction design.The most described speed reducing gear pair 11
Including the first speed reducing gear pair 111 and the second speed reducing gear pair 112, wherein, be connected with servo motor output shaft 9
One speed reducing gear pair 111 be gear ratio be the decelerator of 3-5 times, the second speed reducing gear pair 112 includes and the first reducing gear
Wheel set meshed gears and the annular tooth being positioned on dynamic Control assembly 4 inwall engaged with this gear, described second slows down
The gear ratio of gear pair is 5 to 8 times.
Described lower limb root assembly 2 is made up of light-weight high-strength materials such as aluminium alloy or carbon pricker dimensions, on the premise of not affecting intensity,
The most uniformly being placed with several lightening holes 1 on lower limb root assembly 2, this can reduce the weight of heel part further, more may be used
To reduce air drag during heel high speed rotating, to improve the high speed performance of wheeled lower limb.
Several lightening holes the most uniformly it are placed with on the arcuate structure of described first sole blade 31 and the second sole blade 32
1；First sole blade 31 and the second sole blade 32 all use synthetic elastic material to make.
The operation principle of the present invention is such.
The present invention can carry out independent walking, and its control is as follows: the electricity that control based on single chip microcomputer circuit board 8 and battery provide
Can, it is controlled according to different landform.User needs the road surface of walking to install the lower limb of Rational number according to running gear
Root assembly 2 and sole assembly 3, when needing to carry out cross-country on complicated road surface, can install four lower limb root assemblies 2, with
Increase the ability of leaping over obstacles, as shown in Figure 1；When in flat road surface, the lower limb root assembly 2 of up to 12 can be installed,
To improve high-speed smooth；Single chip microcomputer circuit board 8 controls the rotating speed of servomotor 9, and servomotor 9 drives reduction gearing
Secondary 11 rotate, thus are driven dynamic Control assembly 4 outer wall to rotate by speed reducing gear pair 11, are connected to dynamic Control assembly
The lower limb root assembly 2 of 4 outer walls drives sole assembly 3 to rotate along dynamic Control assembly 4 axle together；By single chip microcomputer circuit board 8
Turning to of whole device is controlled by rotating swivel bearing 7.When running gear needs to paddle, single chip microcomputer circuit board 8 is controlled
Air pump 13 processed is inflated to air bag 12；Under device after water, air bag 12 provide buoyancy, struck advance by sole assembly 3；
As shown in Figure 8 and Figure 9.
The present invention can be constituted a travelling platform that can bear a heavy burden with combination application by several present invention combination, can not only
Enough adapt to various complicated landform, it is also possible to transport goods and materials for deathtrap, be especially suitable for the occasions such as rescue and relief work, exploration；
The process of its operation principle such as its independent ambulation, it is also possible to central controller is set so that it is with the single-chip microcomputer of multiple present invention
Circuit board 8 is connected, by coordination linkage control, it is achieved more complicated operation controls.
Owing to possessing complete power and control system in each wheeled lower limb unit, impart each wheeled lower limb unit and possess solely
The ability of vertical walking, its modularized design can meet the combination walking needs simultaneously using multiple wheeled lower limb, each lower limb unit
Independent completely control can be realized.One aspect of the present invention possess quick, the transmission of running on wheels efficiently, safeguard cheap
Advantage, on the other hand also has the bionic walking mechanism adaptable advantage of landform.
The present invention has prominent creativeness and technological merit compared with existing walking mechanism；Specific as follows:
1, stability is high.This walking mechanism is one wider rectangular with the contact surface on ground, than general machine
Tool lower limb and big more than 5 times of the contact surface on ground.This distinctive contact surface makes the stability of mechanism greatly improve.Thus one
Individual wheeled lower limb unit can individually be walked, and this greatly simplify the design of mechanism, is particularly well-suited to small-sized walking robot
Exploitation.
2, good cross-country ability.This novel lower limb is in addition to possessing the advantage that the common obstacle climbing ability of pedipulator is strong, because it uses elasticity
Material manufactures, so itself i.e. possessing the function of the impact of hitch buffering uneven ground, so can be without adding buffer
Structure.
3, steering is simple.Each sole assembly is made up of two panels blade, by regulating this two panels blade and heel assembly
Angle, can realize turning to.This is the most innovative part in the design of this wheeled lower limb.This design prevents complexity
Steering gear.
4, possess and floating cross ability.Air bag and inflator pump can be carried additionally in the both sides of dynamic Control assembly 4.When after airbag aeration,
Can bubble through the water column, because each sole possesses the profile of paddle naturally, this mechanism can advance in water.
Claims (8)
1. having a wheeled lower limb running gear for independent ambulation and cross-country function, it includes for travelling control and power defeated
The dynamic Control assembly (4) that goes out, uniform ring be wound on dynamic Control assembly (4) periphery several lower limbs root assembly (2) and
Lower limb root assembly (2) axle connect for support walking sole assembly (3) and be connected to dynamic Control assembly (4) and
For controlling the course changing control mechanism (6) turned between sole assembly (3)；Described sole assembly (3) includes the first foot
Palm blade (31) and the second sole blade (32)；
It is characterized in that, described course changing control mechanism (6) includes two pull bars (61) and to be slidably connected at dynamic Control total
Becoming the slide block (62) on (4), one end of said two pull bar (61) is all connected on slide block (62) by ball-joint,
The other end is connected against one end of lower limb root assembly (2) with the first sole blade (31) and the second sole blade (32) respectively.
There is the wheeled lower limb running gear of independent ambulation and cross-country function the most as claimed in claim 1, it is characterised in that institute
State wheeled lower limb running gear also include by swivel bearing (14) be connected on dynamic Control assembly (4) for wheeled lower limb row
Walking apparatus is paddled provides air bag (12) and the air pump (13) of buoyancy, the buoyancy after described air bag (12) inflation to make power control
Assembly processed (4) floats on more than liquid level.
There is the wheeled lower limb running gear of independent ambulation and cross-country function the most as claimed in claim 1 or 2, it is characterised in that
The periphery of described dynamic Control assembly (4) is uniformly placed with several protruding fixture blocks (5), described lower limb root assembly (2)
One end is embedded on protruding fixture block (5) by groove card, and is fixed by catch and screw.
There is the wheeled lower limb running gear of independent ambulation and cross-country function the most as claimed in claim 1 or 2, it is characterised in that
One end of described first sole blade (31) and the second sole blade (32) is by rotating swivel bearing (7) and lower limb root group
Part (2) deviates from one end of dynamic Control assembly (4) and is connected, the first sole blade (31) and the second sole blade (32)
The other end be can with ground laminating arcuate structure, described first sole blade (31) and the second sole blade (32)
The one side contacting laminating with ground is to have the rubbing surface of roughness.
There is the wheeled lower limb running gear of independent ambulation and cross-country function the most as claimed in claim 1 or 2, it is characterised in that
Described dynamic Control assembly (4) is cylinder body structure, and described dynamic Control assembly (4) includes position monolithic in the inner
Mounted circuit board (8), servomotor (9), battery (10) and speed reducing gear pair (11), described servomotor (9) exists
The outer wall of dynamic Control assembly (4) is driven to rotate by speed reducing gear pair (11) under the control of single chip microcomputer circuit board (8),
Dynamic Control assembly (4) outer wall drives lower limb root assembly (2) and sole assembly (3) to rotate walking.
There is the wheeled lower limb running gear of independent ambulation and cross-country function the most as claimed in claim 5, it is characterised in that institute
State speed reducing gear pair (11) and include the first speed reducing gear pair (111) and the second speed reducing gear pair (112), wherein, and watch
Take motor output shaft (9) be connected the first speed reducing gear pair (111) be gear ratio be the decelerator of 3-5 times, second subtracts
Speed gear pair (112) include with the first speed reducing gear pair meshed gears and engage with this gear be positioned at dynamic Control assembly
(4) annular tooth on inwall, the gear ratio of described second speed reducing gear pair is 5 to 8 times.
There is the wheeled lower limb running gear of independent ambulation and cross-country function the most as claimed in claim 1, it is characterised in that institute
State lower limb root assembly (2) to be made up of aluminium alloy or carbon pricker dimension, described lower limb root assembly (2) is the most uniformly placed with several and subtracts
Repeated hole (1) is to alleviate weight and to reduce air drag when rotating.
There is the wheeled lower limb running gear of independent ambulation and cross-country function the most as claimed in claim 4, it is characterised in that institute
State and be the most uniformly placed with several lightening holes on the arcuate structure of the first sole blade (31) and the second sole blade (32)
, and the first sole blade (31) and the second sole blade (32) all use synthetic elastic material to make (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410457834.5A CN104210571B (en) | 2014-09-10 | 2014-09-10 | A kind of wheeled lower limb running gear with independent ambulation and cross-country function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410457834.5A CN104210571B (en) | 2014-09-10 | 2014-09-10 | A kind of wheeled lower limb running gear with independent ambulation and cross-country function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104210571A CN104210571A (en) | 2014-12-17 |
| CN104210571B true CN104210571B (en) | 2016-10-12 |
Family
ID=52092586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410457834.5A Expired - Fee Related CN104210571B (en) | 2014-09-10 | 2014-09-10 | A kind of wheeled lower limb running gear with independent ambulation and cross-country function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104210571B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108516029A (en) * | 2018-04-02 | 2018-09-11 | 上海交通大学 | Autonomous rolling soft robot based on dielectric elastomer |
| CN109878592B (en) * | 2019-04-15 | 2020-12-15 | 北京建筑大学 | Wheel-leg composite walking device |
| CN111232084B (en) * | 2020-03-02 | 2021-08-31 | 广东博智林机器人有限公司 | Multi-foot walking robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| CN200992242Y (en) * | 2006-12-31 | 2007-12-19 | 中国北车集团唐山机车车辆厂 | Multipurpose investigation vehicle |
| KR101254112B1 (en) * | 2011-04-13 | 2013-04-12 | 한국과학기술원 | Reconnaissance Robot Inspired by Pill Bugs |
| KR20140058774A (en) * | 2012-11-06 | 2014-05-15 | 한국과학기술원 | Wheel-leg robot with flexible shaft |
| CN103171645B (en) * | 2013-04-19 | 2015-06-10 | 吉林大学 | Hexapod robot capable of travelling in rolling manner |
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN103407511B (en) * | 2013-07-08 | 2016-05-18 | 北京林业大学 | The small-sized wheel-leg combined type in forest zone moves barrier getting over mechanism |
-
2014
- 2014-09-10 CN CN201410457834.5A patent/CN104210571B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104210571A (en) | 2014-12-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105383586B (en) | Crawler leg composite movable robot | |
| CN201140734Y (en) | Mobile robot with combined step-wheel-footstep | |
| CN104773042B (en) | Amphibious robot with transformable structure | |
| CN102267509B (en) | Symmetric bionic hexapoda walking device | |
| CN107116980A (en) | Amphibious robot and amphibious reconnaissance system | |
| CN104210571B (en) | A kind of wheeled lower limb running gear with independent ambulation and cross-country function | |
| CN207045490U (en) | A kind of spherical Bian Bao robots | |
| CN207089614U (en) | Underwater robot and amphibious robot | |
| CN102180249B (en) | Intelligent biomimetic robotic dolphin | |
| CN101157372A (en) | A step wheel combined mobile robot | |
| CN202098477U (en) | Symmetrical bionic six-feet walking device | |
| CN109436125A (en) | A kind of quadruped robot of ten two degrees of freedom | |
| CN101492072A (en) | Mobile robot and obstacle crossing method thereof | |
| CN207088875U (en) | Lu Hang robots and amphibious robot | |
| CN105539036A (en) | Amphibious robot capable of moving on flat ground with wheels and surmounting obstacles with legs and working method of amphibious robot | |
| CN206171595U (en) | But climbing device that wheel -track switches | |
| CN107140045A (en) | Spoke rotational deformation formula wheel carries out leg and is combined running gear | |
| CN202449181U (en) | Powered water-crossing shoe | |
| CN109263746A (en) | Leg mechanism and its bio-robot based on double-crank compound linkages | |
| CN207088876U (en) | Amphibious robot and amphibious Reconnaissance system | |
| CN108970077A (en) | A kind of volleyball training robot | |
| CN205220850U (en) | Multi -functional robot that hinders more | |
| CN207060207U (en) | Legged type robot leg mechanism | |
| CN202944542U (en) | Aquatic semi-closed transparent drum rolling riding device | |
| CN105727505B (en) | A kind of desk-top fitness equipment of stair |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161012 Termination date: 20190910 |