CN104787145B - Wheel switching mechanism for mobile robot - Google Patents
Wheel switching mechanism for mobile robot Download PDFInfo
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- CN104787145B CN104787145B CN201510187779.7A CN201510187779A CN104787145B CN 104787145 B CN104787145 B CN 104787145B CN 201510187779 A CN201510187779 A CN 201510187779A CN 104787145 B CN104787145 B CN 104787145B
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- wheel
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- central shaft
- mobile robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention discloses a wheel foot switching mechanism for a mobile robot, and relates to the wheel foot switching mechanism. The problems that the obstacle avoidance ability of an existing wheeled robot is poor and an existing foot type robot walks slowly are solved. one end of a central shaft is fixedly connected and is locked axially through a first limiting block, the other end of the central shaft is provided with a shoulder, a spring sleeves the central shaft and is arranged between a first bearing and the shoulder, a center blind hole is formed in the other end of the central shaft, and a first key groove is formed in the interior of the center blind hole; a half-ring groove is formed in a fixed half wheel in the peripheral direction of the fixed half wheel, a moving half wheel is connected with the fixed half wheel in a rotating mode relative to the central shaft, when a wheeled type state is switched, a complete wheel is formed by the fixed half wheel and the moving half wheel, when a foot type state is switched, the moving half wheel rotates and is arranged in the half-ring groove of the fixed half wheel, and a single scroll is installed on the central shaft. The invention belongs to the field of the mobile robot.
Description
Technical field
The present invention relates to a kind of sufficient shifter of wheel is and in particular to a kind of wheel foot shifter for mobile robot,
Robot can switch between wheel-sufficient both of which.
Background technology
Current disaster relief work mainly, based on artificial search and rescue, significantly limit level and the efficiency of rescue, makes many
Victim misses golden hour, loses precious life.Because rescue spot is mostly by heavy damages such as fire, bomb, water, because
This live ground environment is extremely complex, existing smooth road surface, also has rugged road；There are jungle, meadow, Ye You building
Ladder, barrier etc..These situations require robot especially strong to the adaptability of environment, should can planar movement, can go up again
Go downstairs, climb obstacle.Legged type robot single at present or single wheeled robot are unable to reach robot and environment are fitted
Should be able to the especially strong requirement of power.Traditional wheeled robot has higher movement velocity, and controls simple, but its avoidance
The exercise performance of ability and non-smooth-riding surface is bad；Compared with wheeled robot, legged type robot is to the adaptability of environment very
By force, the track of its motion is the isolated strong point, rather than continuous point, and therefore legged type robot is wanted to walking pavement behavior
Ask very low, it can be planned in corresponding gait, completed robot obstacle-avoiding, climbing and stair activity with combining road situation
Action.But legged type robot movement velocity is relatively low, and work efficiency is not high, on this point, legged type robot is again wheeled than only
Robot.Above analysis list wheeled robot and legged type robot pluses and minuses it is intended that by wheeled robot and
The advantage of legged type robot all collects together in a robot, is efficiently completed search and rescue task.Here it is the sufficient change type of wheel moves
Robot.
The sufficient change type mobile robot of wheel combines sufficient formula and the advantage of wheeled robot, has stronger landform and adapts to energy
Power and stability.The leg mechanism of robot of present invention design is not that a kind of existing wheel has sufficient mixed structure again, but makes
With a kind of single structure that can be switched at any time according to road conditions.In evenness of road surface, this leg structure is realized with the state taken turns
Locomotive function.And when running into complex road surface, this structure can change version by the driving of each motor, it is switched to sufficient
State, to realize the function of obstacle detouring movement.
To sum up, there is avoidance ability and existing slow the asking of the legged type robot speed of travel in existing wheeled robot
Topic.
Content of the invention
The present invention is to solve existing wheeled robot to there is avoidance ability and existing legged type robot walking speed
Spend slow problem, and then provide a kind of Lun Zu mechanism for mobile robot.
The present invention is to solve above-mentioned technical problem to adopt the technical scheme that:
The wheel foot shifter for mobile robot of the present invention includes taking turns foot conversion body, elevating mechanism, whirler
Structure and switching mechanism；
Wheel foot is changed body and is included fixed semi-wheel, active semi-wheel, wall scroll width, central shaft, the first limited block and spring, center
Axle is arranged on the center of fixed semi-wheel by clutch shaft bearing, and one end of central shaft is fixedly connected and by the first limited block axial direction
Locking, the other end of central shaft is provided with shoulder, and spring is sleeved on central shaft and is located between described clutch shaft bearing and shoulder, in
The other end of heart axle is machined with central blind hole, is machined with the first keyway in central blind hole；Add along its circumferencial direction in fixed semi-wheel
Work has half ring groove, and active semi-wheel is connected with respect to central axis with fixed semi-wheel, change wheeled state when, fixed semi-wheel and
Active semi-wheel constitutes complete wheel, and during the sufficient formula state of conversion, active semi-wheel rotates to half ring groove of fixed semi-wheel, wall scroll
Width is installed on center shaft；
Switching mechanism include telescopic shaft, axle sleeve, guide rail, motor cabinet, slide block, steering wheel, crank connecting link, the first motor,
Base plate and fixed mount, the side of base plate is packed on the lower surface of fixed mount, and guide rails assembling on the upper surface of base plate, pacify by slide block
It is contained on guide rail, motor cabinet is packed on the upper surface of slide block, the first motor is packed on motor cabinet, steering wheel passes through crank
Connecting rod is connected with motor cabinet, and one end of telescopic shaft is affixed with the outfan of the first motor, and axle sleeve is sleeved on telescopic shaft, stretches
The other end of contracting axle is machined with the second keyway, and the second keyway of telescopic shaft is provided with connecting key；
Elevating mechanism includes lifting set, fall way, tooth bar, gear, gear baffle, and fall way is fixedly connected on fixed semi-wheel
Side wall on, tooth bar is arranged in fall way along the length direction of fall way, lifting set be sleeved on fall way, switching mechanism pacify
It is contained in lifting to put, the other end of telescopic shaft passes through lifting set, and on telescopic shaft, rack and pinion engages each other gear set,
Two key-grooves, the connecting key on telescopic shaft and one of gear key-groove are along the circumferential direction machined with bore
Match, when the sufficient transition status of wheel, the connecting key on telescopic shaft is matched with the first keyway on central shaft；
Rotating mechanism includes Timing Belt, the second motor, the first synchronous pulley, the second synchronous pulley, the first Timing Belt
Wheel is sleeved on axle sleeve, and the second synchronous pulley is sleeved on the output shaft of the second motor, and the first synchronous pulley passes through synchronous
Band is connected with the second synchronous pulley, and base plate is arranged on the defeated of the first motor and the second motor by two second bearings
On shaft.
The present invention is had the advantages that compared with existing mobile robot
The sufficient change type mobile-robot system of wheel of the present invention combines the advantage of sufficient formula and wheeled robot it is achieved that passing
Steerage formula and the combination of legged type robot；There is stronger landform adaptability and stability, the sufficient change type mobile robot of wheel
Include the sufficient shifter of wheel, this be a kind of can be according to the leg structure of road conditions switching state at any time；
In evenness of road surface, this leg structure changes version, conversion by a series of driving of motors and steering wheel
To wheeled state, realize wheel type mobile function.Its translational speed improves 3～5 times compared with traditional quadruped robot, and motor drives
Kinetic moment minimizing more than 90%, lower power consumption more than 50%, control system is also simplified to a great extent；
When running into complex road surface, this structure can change version by a series of driving of motors and steering wheel, cuts
Change to sufficient state, realize the function of obstacle detouring movement.Compared with traditional wheeled robot, the sufficient change type mobile robot of wheel exists
The speed of travel on roughness pavement and wheeled robot improve by about one time；On the road surface that some have barrier, wheeled machine
Device people even can not complete to test, and take turns foot conversion mobile robot and can smoothly walk very much.Mix with traditional foot wheel
Robot (wheel is arranged on foot) compares, on process and assemble cost, because number of motors reduces, compact conformation, and its processing dress
Join cost savings more than 30%；Due to traditional, molding quadruped robot control program can be adopted in control mode,
Cost and the time of research are largely saved；This half unique wheeled leg structure can realize multiple gaits,
During stair climbing, stair can be hooked, creep speed improves more than 50%.
Brief description
Fig. 1 is the axonometric chart of the sufficient wheeled state of shifter of the wheel for mobile robot of the present invention, and Fig. 2 is concrete reality
Apply and in mode one, take turns the axonometric chart that foot changes body a, Fig. 3 is that the wheel foot shifter for mobile robot of the present invention is wheeled
The main sectional view of state, Fig. 4 is the vertical view cutaway drawing of Fig. 3, and Fig. 5 is the wheel foot shifter for mobile robot of the present invention
The axonometric chart of sufficient formula state.
Specific embodiment
Specific embodiment one: as shown in Fig. 1～5, the wheel foot shifter for mobile robot of present embodiment
Change body a, elevating mechanism b, rotating mechanism c and switching mechanism d including wheel foot；
Wheel foot is changed body a and is included fixed semi-wheel 1, active semi-wheel 2, wall scroll 3, central shaft 4, the first limited block 5 and bullet
Spring 7, central shaft 4 is arranged on the center of fixed semi-wheel 1 by clutch shaft bearing, and one end of central shaft 4 is fixedly connected and by the
One limited block 5 axial locking, the other end of central shaft 4 is provided with shoulder 4-1, and spring 7 is sleeved on central shaft 4 and is located at described the
Between one bearing and shoulder 4-1, the other end of central shaft 4 is machined with central blind hole 4-2, is machined with first in central blind hole 4-2
Keyway；It is machined with half ring groove 1-1 along its circumferencial direction, active semi-wheel 2 and fixed semi-wheel 1 are with respect to center in fixed semi-wheel 1
Axle 4 rotates and connects, and when changing wheeled state, fixed semi-wheel 1 and active semi-wheel 2 constitute complete wheel, during the sufficient formula state of conversion,
Active semi-wheel 2 rotates to half ring groove 1-1 of fixed semi-wheel 1, and wall scroll 3 is arranged on central shaft 4；
Switching mechanism d includes telescopic shaft 11, axle sleeve 12, guide rail 13, motor cabinet 14, slide block 15, steering wheel 16, crank connecting link
17th, the first motor 18, base plate 19 and fixed mount 20, the side of base plate 19 is packed on the lower surface of fixed mount 20, guide rail
On 13 upper surfaces being arranged on base plate 19, slide block 15 is arranged on guide rail 13, and motor cabinet 14 is packed on the upper surface of slide block 15,
First motor 18 is packed on motor cabinet 14, and steering wheel 16 is connected with motor cabinet 14 by crank connecting link 17, telescopic shaft 11
One end is affixed with the outfan of the first motor 18, and axle sleeve 12 is sleeved on telescopic shaft 11, the other end processing of telescopic shaft 11
There is the second keyway, the second keyway of telescopic shaft 11 is provided with connecting key；
Elevating mechanism b includes lifting set 21, fall way 22, tooth bar 23, gear 24, gear baffle 25, and fall way 22 is fixing
It is connected on the side wall of fixed semi-wheel 1, tooth bar 23 is arranged in fall way 22 along the length direction of fall way 22,21 sets of lifting set
It is contained on fall way 22, switching mechanism is arranged on lifting set 21, the other end of telescopic shaft passes through lifting set 21, and gear 24 is set with
On telescopic shaft 11, tooth bar 23 is engaged each other with gear 24, and gear 24 endoporus is along the circumferential direction machined with two key-grooves,
Connecting key on telescopic shaft 11 is matched with one of gear 24 key-groove, when the sufficient transition status of wheel, on telescopic shaft 11
Connecting key match with the first keyway on central shaft 4；
Rotating mechanism c includes Timing Belt, the second motor 31, the first synchronous pulley 32, the second synchronous pulley 33, and first
Synchronous pulley 32 is sleeved on axle sleeve 12, and the second synchronous pulley 33 is sleeved on the output shaft of the second motor 31, and first is same
Step belt wheel 32 is connected with the second synchronous pulley 33 by Timing Belt, and base plate 19 is arranged on the first driving electricity by two second bearings
On the output shaft of machine 18 and the second motor 31.
Specific embodiment two: as shown in Fig. 2 two fixing vertically hung scrolls are provided with fixed semi-wheel 1 described in present embodiment
1-3, two fixing vertically hung scroll 1-3 are at right angles arranged.It is arranged such, so that the rigidity of fixed semi-wheel 1 is guaranteed, in radial force
In the case of serious deformation will not occur, fixing vertically hung scroll 1-3 and fixed semi-wheel 1 are designed to two parts and also reduce processing
Difficulty and cost.Other compositions and annexation are identical with specific embodiment one.
Specific embodiment three: as shown in Fig. 2 present embodiment wheel changes body a enough also includes catch 6 and movable vertically hung scroll
8, described catch 6 is arranged on the inwall of active semi-wheel 2, and the junction of two fixing vertically hung scroll 1-3 is machined with notch 1-2, conversion
During wheeled state, wall scroll 3 by notch 1-2 spacing in horizontal level, the upper end of wall scroll 3 is contacted with catch 6, movable vertically hung scroll
8 are vertically arranged in the lower half that wheel foot changes body a, and one end of movable vertically hung scroll 8 is fixedly connected with central shaft 4, movable vertically hung scroll 8
The other end is fixedly connected with one end of active semi-wheel 2.It is so designed that it is easy to see that wall scroll 3 is servo-actuated spoke, when wheel foot is changed
Can rotate with active semi-wheel 2, play the effect improving mechanism's rigidity during body movement, have wall scroll 3, permissible
Reduce the thickness of active semi-wheel 2, mitigate the weight that wheel foot changes body a.Movable vertically hung scroll 8 plays the effect strengthening rigidity.Other
Composition and annexation are identical with specific embodiment two.
Specific embodiment four: as shown in Fig. 1,3,4 or 5, present embodiment the first motor 18 is servo stepping electricity
Machine.It is so designed that, DC servo motor rotating speed is high, coordinate corresponding reductor can provide high torque；In addition DC servo
Motor can achieve closed loop control, can achieve higher rotation precision.Other compositions and annexation and specific embodiment one, two
Or three is identical.
Specific embodiment five: as shown in Fig. 1,3,4 or 5, present embodiment the second motor 31 is servo stepping electricity
Machine.It is so designed that, DC servo motor rotating speed is high, coordinate corresponding reductor can provide high torque；In addition DC servo
Motor can achieve closed loop control, can achieve higher rotation precision.Other compositions and annexation and specific embodiment four phase
With.
Specific embodiment six: as shown in Figure 4 and Figure 5, present embodiment elevating mechanism b also includes four spacer pins 27,
Four spacer pins 27 are symmetrical arranged on two side walls of set 21 with regard to lifting, and fall way 22 is symmetrily processed with two along its length
Individual bar hole 21-1, each bar hole 21-1 are carried out spacing by two spacer pins 27.It is so designed that, alignment pin plays spacing
Effect, prevents lifting set and fall way from departing from when performing relative motion.Other compositions and annexation and specific embodiment party
Formula one, two, three or five are identical.
Specific embodiment seven: as shown in figure 4, present embodiment elevating mechanism b also includes the second limited block 28 and two
Gear catch 29, gear 24 is located between two gear catch 29, and gear 24 is fixedly mounted with two gear catch 29 and is integrated, gear
24 outer rim forms annular groove with two gear catch 29, and described annular groove is matched with the second limited block 28.So set
Meter, prevents gear from departing from tooth bar in motion.In addition telescopic shaft axially movable when, gear both sides are respectively with tooth bar and limited block
Guiding, the symmetrical stress of gear, will not deflection, will not countershaft generation larger frictional force and block.Other compositions and annexation with
Specific embodiment six is identical.
Operation principle:
Four wheel foot shifters are arranged on vehicle body frame thus forming the sufficient change type mobile robot of wheel.Wheeled shifting
Dynamic speed is fast, controls simple, and in ground grading, robot is moved with the state taken turns.Wheeled state, by the first motor 18
Axis is directed at the center of circle of Lun Zu mechanism, drives the second motor 31 to rotate, the second motor 31 drives the second synchronous pulley
33 rotations, the second synchronous pulley 33 is rotated through Timing Belt and drives the first synchronous pulley 32 to rotate, thus driven wheel foot integrated machine
Structure rotates, that is, the rotation achieving wheel；
Photographic head and gyroscope using robot detect whether ground is smooth, when ground out-of-flatness, switches to sufficient formula
State, the sufficient transformation process of wheel is as follows:
Conversion starts, and drives steering wheel 16 dextrorotation to turn 90 degrees, and drives crank connecting link 17 to rotate, crank connecting link 17 rotational band
Movable slider 15 is to away from steering wheel 16 1 Slideslip, thus drive motor seat 14, the first motor 18, telescopic shaft 11 are simultaneously to remote
From steering wheel 16 1 side shifting, the connecting key on telescopic shaft 11 departs from one of described gear 24 key-groove, inserts central shaft 4
The first keyway, telescopic shaft 11 withstand central shaft 4 move a segment distance, central shaft 4 drive the first limited block 5 depart from fixed semi-wheel
1, now active semi-wheel 2 and fixed semi-wheel 1 unlock, active semi-wheel 2 can telescopic shaft 11 drive under rotate；
Drive the first motor 18 rotate counterclockwise 180 degree, telescopic shaft 11 rotarily drives central shaft 4, active semi-wheel 2 is revolved
Enter in half ring groove 1-1 of fixed semi-wheel 1, then drive 90 degree of steering wheel 16 rotate counterclockwise, crank connecting link 17 carries movable slider 15
To the lateral movement near steering wheel 16, thus driving the first motor 18, telescopic shaft 11 synchronous to the side near steering wheel 16
Motion, thus telescopic shaft 11 is departed from the first keyway of central shaft 4, the connecting key on telescopic shaft 11 is remaining with gear 24 again
A key-groove match, the first limited block 5 resets in embedded fixed semi-wheel 1 in the presence of spring 7, thus by activity
Half wheel 2 and fixed semi-wheel 1 are connected；
Drive the first motor 18 to rotate, make telescopic shaft 11 carry moving gear 24 to rotate, gear 24 rotates and drives lifting set
21st, the first motor 18 is along fall way 22 length direction elevating movement, thus changing the first motor 18 axial location
Highly, under the auxiliary of visual system, according to the out-of-flatness state on ground, by adjusting the first motor 18 and the second driving
The kinematic parameter of motor 31, the sufficient change type mobile robot of wheel can as quadruped on out-of-flatness ground steady row
Walk.
Claims (7)
1. a kind of wheel foot shifter for mobile robot it is characterised in that: the sufficient shifter of described wheel includes wheel foot and turns
Change body (a), elevating mechanism (b), rotating mechanism (c) and switching mechanism (d)；
Wheel foot is changed body (a) and is included fixed semi-wheel (1), active semi-wheel (2), wall scroll width (3), central shaft (4), the first limited block
(5) and spring (7), central shaft (4) is arranged on the center of fixed semi-wheel (1) by clutch shaft bearing, and one end of central shaft (4) is solid
Determine to connect and pass through the first limited block (5) axial locking, the other end of central shaft (4) is provided with shoulder (4-1), and spring (7) is set with
Upper and be located between described clutch shaft bearing and shoulder (4-1) in central shaft (4), it is blind that the other end of central shaft (4) is machined with center
Hole (4-2), is machined with the first keyway in central blind hole (4-2)；Fixed semi-wheel is machined with half ring groove along its circumferencial direction on (1)
(1-1), active semi-wheel (2) is rotated with respect to central shaft (4) with fixed semi-wheel (1) and is connected, when changing wheeled state, fixed semi-wheel
(1) and active semi-wheel (2) constitutes complete wheel, during the sufficient formula state of conversion, active semi-wheel (2) rotates to fixed semi-wheel (1)
In half ring groove (1-1), wall scroll width (3) is arranged on central shaft (4)；
Switching mechanism (d) include telescopic shaft (11), axle sleeve (12), guide rail (13), motor cabinet (14), slide block (15), steering wheel (16),
Crank connecting link (17), the first motor (18), base plate (19) and fixed mount (20), the side of base plate (19) is packed in fixed mount
(20) on lower surface, guide rail (13) is arranged on the upper surface of base plate (19), and slide block (15) is arranged on guide rail (13), motor
Seat (14) is packed on the upper surface of slide block (15), and the first motor (18) is packed on motor cabinet (14), and steering wheel (16) leads to
Cross crank connecting link (17) to be connected with motor cabinet (14), one end of telescopic shaft (11) is solid with the outfan of the first motor (18)
Connect, axle sleeve (12) is sleeved on telescopic shaft (11), the other end of telescopic shaft (11) is machined with the second keyway, the of telescopic shaft (11)
It is provided with connecting key on two keyways；
Elevating mechanism (b) includes lifting set (21), fall way (22), tooth bar (23), gear (24), gear baffle (25), lifting
Pipe (22) is fixedly connected on the side wall of fixed semi-wheel (1), and tooth bar (23) is arranged on lifting along the length direction of fall way (22)
Pipe (22) in, lifting set (21) be sleeved on fall way (22), switching mechanism be arranged on lifting set (21) on, telescopic shaft another
End is sleeved on telescopic shaft (11) through lifting set (21), gear (24), and tooth bar (23) is engaged each other with gear (24), gear
(24) two key-grooves, one of the connecting key on telescopic shaft (11) and gear (24) are along the circumferential direction machined with endoporus
Key-groove matches, the first keyway phase when the sufficient transition status of wheel, on the connecting key on telescopic shaft (11) and central shaft (4)
Cooperation；
Rotating mechanism (c) includes Timing Belt, the second motor (31), the first synchronous pulley (32), the second synchronous pulley (33),
First synchronous pulley (32) is sleeved on axle sleeve (12), and the second synchronous pulley (33) is sleeved on the output of the second motor (31)
On axle, the first synchronous pulley (32) is connected with the second synchronous pulley (33) by Timing Belt, and base plate (19) passes through two the second axles
Hold and be arranged on the first motor (18) and the output shaft of the second motor (31).
2. according to claim 1 for mobile robot wheel foot shifter it is characterised in that: described fixed semi-wheel
(1) it is provided with two fixing vertically hung scrolls (1-3) on, two fixing vertically hung scrolls (1-3) are at right angles arranged.
3. according to claim 2 for mobile robot wheel foot shifter it is characterised in that: wheel foot change body
A () also includes catch (6) and movable vertically hung scroll (8), described catch (6) is arranged on the inwall of active semi-wheel (2), two fixed strips
The junction of width (1-3) is machined with notch (1-2), when changing wheeled state, wall scroll width (3) by notch (1-2) spacing in level
Position, the upper end of wall scroll width (3) is contacted with catch (6), and movable vertically hung scroll (8) is vertically arranged in wheel foot and changes under body (a)
Half portion, one end of movable vertically hung scroll (8) is fixedly connected with central shaft (4), the other end of movable vertically hung scroll (8) and active semi-wheel (2)
One end is fixedly connected.
4. according to claim 1,2 or 3 for mobile robot wheel foot shifter it is characterised in that: first drive
Galvanic electricity machine (18) is servo step motor.
5. according to claim 4 for mobile robot wheel foot shifter it is characterised in that: the second motor
(31) it is servo step motor.
6. according to claim 1,2,3 or 5 for mobile robot wheel foot shifter it is characterised in that: lifting
Mechanism (b) also includes four spacer pins (27), and four spacer pins (27) cover with regard to lifting and are symmetrical arranged on two side walls of (21),
Two bar holes (21-1) are symmetrily processed with fall way (22), each bar hole (21-1) is spacing by two along its length
Pin (27) carries out spacing.
7. according to claim 6 for mobile robot wheel foot shifter it is characterised in that: elevating mechanism (b)
Also include the second limited block (28) and two gear catch (29), gear (24) is located between two gear catch (29), gear
(24) it is fixedly mounted with two gear catch (29) and is integrated, it is recessed that the outer rim of gear (24) and two gear catch (29) form annular
Groove, described annular groove is matched with the second limited block (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510187779.7A CN104787145B (en) | 2015-04-20 | 2015-04-20 | Wheel switching mechanism for mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510187779.7A CN104787145B (en) | 2015-04-20 | 2015-04-20 | Wheel switching mechanism for mobile robot |
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| Publication Number | Publication Date |
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| CN104787145A CN104787145A (en) | 2015-07-22 |
| CN104787145B true CN104787145B (en) | 2017-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510187779.7A Active CN104787145B (en) | 2015-04-20 | 2015-04-20 | Wheel switching mechanism for mobile robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206749955U (en) * | 2017-01-18 | 2017-12-15 | 深圳市大疆创新科技有限公司 | Chassis vehicle |
| CN107902008B (en) * | 2017-10-25 | 2020-02-18 | 天津大学 | Mobile robot with reversible body |
| CN107816240B (en) * | 2017-12-13 | 2023-12-08 | 岭南师范学院 | Avoidance-free parking device |
| CN110116768B (en) * | 2019-04-30 | 2020-09-04 | 厦门大学 | Four-footed robot realizing gait control by front-back traction and up-down rolling |
| CN112849293B (en) * | 2021-02-09 | 2022-04-22 | 合肥工业大学 | Cell-changeable wheel-foot type quadruped robot |
| CN113443041B (en) * | 2021-07-29 | 2022-05-17 | 山东大学 | Composite leg and foot mechanism and 3-UPS parallel wheel and foot composite bouncing robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60148780A (en) * | 1984-01-13 | 1985-08-06 | Ishikawajima Harima Heavy Ind Co Ltd | Moving equipment |
| CN102616296A (en) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN202608931U (en) * | 2012-04-13 | 2012-12-19 | 毕明宇 | Separable wheel leg composite type robot |
| CN104085458A (en) * | 2014-07-03 | 2014-10-08 | 电子科技大学 | Leg-wheel type quadruped robot |
-
2015
- 2015-04-20 CN CN201510187779.7A patent/CN104787145B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60148780A (en) * | 1984-01-13 | 1985-08-06 | Ishikawajima Harima Heavy Ind Co Ltd | Moving equipment |
| CN102616296A (en) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN202608931U (en) * | 2012-04-13 | 2012-12-19 | 毕明宇 | Separable wheel leg composite type robot |
| CN104085458A (en) * | 2014-07-03 | 2014-10-08 | 电子科技大学 | Leg-wheel type quadruped robot |
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| CN104787145A (en) | 2015-07-22 |
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