CN104986237B - Zooming rolling mechanism - Google Patents
Zooming rolling mechanism Download PDFInfo
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- CN104986237B CN104986237B CN201510308639.0A CN201510308639A CN104986237B CN 104986237 B CN104986237 B CN 104986237B CN 201510308639 A CN201510308639 A CN 201510308639A CN 104986237 B CN104986237 B CN 104986237B
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- quarter butt
- fixed
- shape pole
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Abstract
A zooming rolling mechanism comprises first, second third rod sets (A,B and C), first, second, third, fourth, fifth and sixth movable short rods (1,2,3,4,5 and 6), first, second and third driving motors (m1,m2 and m3) and connecting shafts for connecting all the components. The first rod set (A) comprises two three-layer outer side V-shaped rods (A1 and A3), a three-layer inner side fixed short rod (A2) and two short sleeves (A4 and A5). The second rod set (B) comprises two three-layer outer side V-shaped rods (B1 and B3), a three-layer inner side fixed short rod (B2) and two short sleeves (B4 and B5). The third rod set comprises two four-layer outer-side fixed short rods (C1 and C4), two four-layer inner side fixed V-shaped rods (C2 and C3), two short sleeves (C5 and C7) and a long sleeve (C6). The zooming deformation and rolling function of the zooming rolling mechanism is achieved through redundant drive among the first, second and third driving motors (m1, m2 and m3).
Description
Technical field
The present invention relates to a kind of rolling mechanism, and in particular to a kind of moving machine for realizing rolling function by scaling deformation
Structure.
Background technology
Polyhedral rolling mechanism is capable of achieving its quick movement on the ground, and can well adapt to ground environment.
Chinese patent CN102058982B proposes a kind of single-power rolling polygonal mechanism, and the mechanism is driven by a motor
Control, realizes the change of " snowflake " profile, so as to the position of centre of gravity of changing mechanism, realizes tumbling motion.Chinese patent CN
102672707A proposes a kind of differential seven-link assembly robot for rolling and advancing, and the mechanism relies on the control of two motors,
Deformation is realized by changing two parallelogram interior angle angles of seven-link assembly robot, so as to realize tumbling motion.General multiaspect
Build rolling mechanism adopts the alternate type of drive of motor shaft forward and reverse so that control is complicated, and has one to motor itself
Setting loss does harm to.
The content of the invention
The technical problem to be solved in the present invention：Rolling robot general appearance in rolling process does not change, over the ground
Face adaptive capacity to environment is poor, and the polyhedral rolling mechanism based on scaling device is due to can do in motor process
Relate to, therefore adopt shuttle Motor drive so that motor shaft impact becomes big and controls complexity.
Technical scheme：A kind of scaling rolling mechanism includes three bar groups, six movable quarter butts, three driving electricity
Machine and connect their connecting shaft.
First and second bar groups fix quarter butt and two including two three layers of outside V shape poles, three layers of inner side respectively
They are fixedly connected by short sleeve by connecting shaft and nut；3rd bar group include the fixed quarter butts in two four layers of outsides, two
The fixed V shape pole in individual four layers of inner side, two short sleeves and a long sleeve, by connecting shaft and nut by their companies of being fixed
Connect.
One or three layer of bar group and four layers of bar group are linked together by the first movable quarter butt with the 6th movable quarter butt；Second is movable
One or three layer of bar group and the two or three layer of bar group are linked together by quarter butt and the 3rd movable quarter butt；4th movable quarter butt and the 5th is lived
Two or three layer of bar group and four layers of bar group are linked together by dynamic quarter butt；First movable quarter butt and the second movable quarter butt are pressed from both sides into 60 degree
Angle；3rd movable quarter butt and the 4th movable quarter butt are into 60 degree of angles.
Beneficial effects of the present invention：A kind of scaling rolling mechanism of the present invention, is driven by three motor redundants, real
The scaling and rolling function of existing mechanism, and Shi Gai mechanisms have certain obstacle climbing ability.The mechanism structure is simple, with low cost,
Easily fabricated and Project Realization, provides one to geometrical body and the understanding of travel mechanism for middle and primary schools, can be used to make religion
Learn teaching aid.
Description of the drawings
A kind of overall graphics of scaling rolling mechanism of Fig. 1
The overall graphics of Fig. 2 the first bar groups
The overall graphics of Fig. 3 the second bar groups
The overall graphics of the 3rd bar groups of Fig. 4
Fig. 5 (a), (b), (c), (d), (e), (f), (g), (h) are a kind of scaling rolling mechanism gait exploded view：
In figure：First bar group is A, and the second bar group is B, and the 3rd bar group is C, the first to the 6th movable quarter butt is 1,2,3,4,
5th, 6, the first to the 5th short sleeve be A4, A5, B4, B5, C5, C7, long sleeve C6, first to fourth 3 layers outside V shape pole A1,
A3, B1, B3, first to the 2nd 3 layer of inner side are fixed, and first
V shape pole C2, C3 are fixed to the two or four layer of inner side.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further details.
As shown in Figure 1, a kind of scaling rolling mechanism includes the first to the 3rd bar group A, B, C, and the first to the 6th activity is short
Bar 1,2,3,4,5,6, first to the 3rd motor m1, m2, m3 and connects their connecting shaft.
Embodiments of the present invention：
As shown in Figure 2, the first bar group A includes first to the 2nd 3 layer of outside V shape pole A1, A3, and the one or three layer of inner side is solid
Determine quarter butt A2, the first to the second short sleeve A4, A5 and connect their connecting shaft, the one or three layer of outside V shape pole A1 and first
The fixed quarter butt A2 in three layers of inner side are connected by the first short sleeve A4, by axis hole deep gouge on the inside of V shape pole A1 on the outside of the one or three layer, the
The fixed quarter butt A2 both sides axis hole deep gouges in one or three layers of inner side carry out circumferentially fixed with the first short sleeve A4 both sides end face boss, make first
Quarter butt A2 angles at the end are fixed into 30 degree of angles, the two or three layer of outside V-arrangement with the one or three layer of inner side in three layers of outside V shape pole A1 ends
The bar A3 and fixed quarter butt A2 in the one or three layer of inner side by sleeve connection, by axis hole deep gouge on the inside of the two or three layer of outside V shape pole A3,
The fixed quarter butt A2 both sides axis hole deep gouges in one or three layer of inner side carry out circumferentially fixed with the second short sleeve A5 both sides end face boss, make the
One or three layers of outside V shape pole A1 ends with the two or three layer of outside V shape pole A3 ends into 60 degree angles, V shape pole A1 on the outside of the one or three layer,
First short sleeve A4, the one or three layer of inner side are fixed quarter butt A2, the second short sleeve A5, the two or three layer of outside V shape pole A3 and pass through major axis
Carry out axial restraint.
As shown in Figure 3, the second bar group B includes the 3rd to the 4th 3 layer of outside V shape pole B1, B3, and the two or three layer of inner side is solid
Determine quarter butt B2, the 3rd to the 4th short sleeve B4, B5 and connect their connecting shaft, the structure and connected mode of the second bar group B
It is identical with the first bar group A.
As shown in Figure 4, the 3rd bar group C includes first to the 2nd 4 layer of outside fixed quarter butt C1, C4, and first to the 2nd 4
Layer inner side fixed V shape pole C2, C3, the 5th to the 6th short sleeve C5, C7, long sleeve C6 and connect their connecting shaft, and first
Four layers of outside are fixed quarter butt C1 and are connected by the 5th short sleeve C5 with fixed V shape pole C2 on the inside of the one or four layer, by the one or four layer
On the inside of the fixed quarter butt C1 in outside, V shape pole C2 both sides axis hole deep gouges and the 5th short sleeve C5 are fixed in axis hole deep gouge, the one or four layer of inner side
Both sides end face boss carries out circumferentially fixed, makes the fixed quarter butt C1 ends in the one or four layer of outside with the fixed V shape pole in the one or four layer of inner side
C2 ends are fixed V shape pole C3 and pass through long sleeve C6 into 30 degree of angles, the one or the four layer of fixed V shape pole C2 in inner side and the two or four layer of inner side
Connection, fixes V shape pole C2 both sides axis hole deep gouge, the two or four layer of inner side by the one or four layer of inner side and fixes V shape pole C3 both sides axis hole
Deep gouge carries out circumferentially fixed with long sleeve C6 both sides end face boss, makes the fixed V shape pole C2 ends in the one or four layer of inner side and the two or four
On the inside of layer, quarter butt is fixed into 60 degree of angles, the two or the four layer of fixed V shape pole C3 in inner side and the two or four layer of outside in fixed V shape pole C3 ends
C4 is connected by the 6th short sleeve C7, fixes V shape pole C3 both sides axis hole deep gouge, the two or four layer of outside admittedly by the two or four layer of inner side
Determining axis hole deep gouge on the inside of quarter butt C4, the 6th short sleeve C7 both sides end face boss carries out circumferentially fixed, makes the fixed V in the two or four layer of inner side
Shape bar C3 ends and the fixed quarter butt C4 ends in the two or four layer of outside into 30 degree angles, the one or four layer of outside fix quarter butt C1, the 5th
V shape pole C3, the 6th short sleeve are fixed in short sleeve C5, the one or four layer of inner side fixation V shape pole C2, long sleeve C6, the two or four layer of inner side
C7, the two or four layer of outside fixation quarter butt C4 carry out axial restraint by major axis.
First the 1, second movable quarter butt 2 of activity quarter butt and the one or three layer of inner side are fixed quarter butt A2 and are carried out axially admittedly by short axle
Fixed, the regular hexagon hole of first movable 1 one end of quarter butt is coordinated with short axle, carries out circumferentially fixed, the first movable quarter butt 1 by jackscrew
The other end and the one or four layer of inner side V shape pole C2 carry out axial restraint by short axle, second movable 2 one end regular hexagon hole of quarter butt with
Short axle coordinates, and is carried out circumferentially fixed by jackscrew, makes the first movable quarter butt 1 with second 60 degree of angles of movable 2 one-tenth of quarter butt, the first drive
Galvanic electricity machine m1 is fixed by screw with the three or three layer of outside V shape pole B1, and the motor shaft of the first motor m1 is movable through second
The axis hole of 2 other end of quarter butt and the axis hole of the three or three layer of outside V shape pole B1 one end, by jackscrew and the three or three layer of outside V shape pole
B1 carries out circumferentially fixed.
The 3, the 4th movable quarter butt 4 of 3rd activity quarter butt and the two or three layer of inner side are fixed quarter butt B2 and are carried out axially admittedly by short axle
Fixed, the regular hexagon hole of the 3rd movable 3 one end of quarter butt is coordinated with short axle, carries out circumferentially fixed, the 3rd movable quarter butt 3 by jackscrew
The other end and the two or three layer of outside V shape pole A3 carry out axial restraint by short axle, the 4th movable 4 one end regular hexagon hole of quarter butt with
Short axle coordinates, and is carried out circumferentially fixed by jackscrew, makes the 3rd movable quarter butt 3 with the 4th 60 degree of angles of movable 4 one-tenth of quarter butt, the second drive
Galvanic electricity machine m2 is fixed V shape pole C3 with the two or four layer of inner side and is fixed by screw, and the motor shaft of the second motor m2 passes through the 4th
The axis hole of 4 other end of movable quarter butt and the axis hole of the two or four layer of inner side fixation V shape pole C3 one end, by jackscrew and the two or four layer
Side fixation V shape pole C3 carries out circumferentially fixed.
One end of 5th movable quarter butt 5 carries out axial restraint with the four or three layer of outside V shape pole B3 by short axle, and the 5th is movable
The other end of quarter butt 5 and the two or four layer of outside are fixed quarter butt C4 and carry out axial restraint by short axle.
One end of 6th movable quarter butt 6 quarter butt C1 fixed with the one or four layer of outside carries out axial restraint by short axle, and the 3rd
Motor m3 is fixed by screw with the one or three layer of outside V shape pole A1, and the motor shaft of the 3rd motor m3 is lived through the 6th
The axis hole of 6 other end of dynamic quarter butt and the axis hole of the one or three layer of outside V shape pole A1 one end, by jackscrew and the one or three layer of outside V-arrangement
Bar A1 carries out circumferentially fixed.
First to fourth 3 layers of outside V shape pole A1, A3, B1, B3 and first to the 2nd 4 layer of inner side V shape pole C2, C3 length
It is equal, and the angle at rod member turning is equal, the centre distance between the first to the 6th 1,2,3,4,5,6 holes of movable quarter butt, the
One to the 4th 3 layer of outside V shape pole A1, A3, B1, B3, the respective shorter part axis hole of first to the 2nd 4 layer of inner side V shape pole C2, C3
It is equal with the distance between each bar turnover central point, during first to the 2nd 3 layer of inner side is fixed between two axis hole of quarter butt A2, B2
Centre distance between heart distance, fixed two axis hole of quarter butt C1, C4 in first to the 2nd 4 layer of outside and first to fourth 3 layers
Outside V shape pole A1, A3, B1, B3, first to the 2nd 4 layer of inner side V shape pole C2, C3 is each in longer portion axis hole and the turnover of each bar
The distance between heart point is equal.
First to the 6th movable quarter butt 1,2,3,4,5,6, first to the 2nd 3 layer of inner side fixed quarter butt A2, B2, first to
Four or three layer of outside V shape pole A1, A3, B1, B3, first to the 2nd 4 layer of inner side V shape pole C2, C3 and first to the 2nd 4 layer it is outer
It is equal that quarter butt C1, C4 thickness is fixed in side.
Thickness of the length of first to the 6th short sleeve A4, A5, B4, B5, C5, C7 more than four times of first movable quarter butt 1, it is long
Thickness of the length of sleeve C 6 more than nine times of first movable quarter butt 1.
All bars not in the same plane, are parallel to each other between each bar place plane.
Specific using method：
A kind of scaling rolling mechanism is capable of achieving scaling deformation and rolling function.A kind of scaling rolling mechanism is in accompanying drawing 5a institutes
The maximum deployed condition shown, now motor m1, m2, m3 synchronously rotate clockwise, reach intermediateness as shown in Figure 5 b,
Motor m1, m2, m3 continue synchronous rolling clockwise, through the intermediateness as shown in Fig. 5 c and Fig. 5 d, reach such as Fig. 5 e institutes
Show minimum deployed condition, motor m1, m2, m3 continue synchronous rolling clockwise, the shape in the middle of as shown in Fig. 5 f and Fig. 5 g
State, reaches maximum deployed condition as shown in figure 5h.The scaling deformation of a cycle is completed so, while spy of the mechanism due to rod member
Different shape is carried forward movement with the change of centroid position.Motor m1, m2, m3 are redundant drive, rotate counterclockwise mechanism
Then move backward.
Claims (2)
- It is 1. a kind of to scale rolling mechanism, it is characterised in that：A kind of scaling rolling mechanism include the first to the 3rd bar group (A, B, C), First to the 6th movable quarter butt (1,2,3,4,5,6), the first to the 3rd motor (m1, m2, m3) and connect their company Spindle；Wherein, the first bar group (A) fixes quarter butt comprising first to the 2nd 3 layer of outside V shape pole (A1, A3), the one or three layer of inner side (A2), the first to the second short sleeve (A4, A5) and connect their connecting shaft, the one or three layer of outside V shape pole (A1) and first Three layers of inner side are fixed quarter butt (A2) and are connected by the first short sleeve (A4), by axis hole on the inside of the one or three layer of outside V shape pole (A1) Deep gouge, the one or three layer of inner side fixation quarter butt (A2) both sides axis hole deep gouge and the first short sleeve (A4) both sides end face boss carry out circumference It is fixed, make the one or three layer of outside V shape pole (A1) end fix quarter butt (A2) angle at the end into 30 degree of angles with the one or three layer of inner side, Two or three layer of outside V shape pole (A3) fixes quarter butt (A2) by sleeve connection with the one or three layer of inner side, by the two or three layer of outside V On the inside of shape bar (A3), quarter butt (A2) both sides axis hole deep gouge and the second short sleeve (A5) both sides are fixed in axis hole deep gouge, the one or three layer of inner side End face boss carry out it is circumferentially fixed, make the one or three layer outside V shape pole (A1) end with the two or three layer outside V shape pole (A3) end into 60 degree of angles, it is the one or three layer of outside V shape pole (A1), the first short sleeve (A4), the one or three layer of inner side fixed quarter butt (A2), second short Sleeve (A5), the two or three layer of outside V shape pole (A3) carry out axial restraint by major axis；Second bar group (B) comprising the 3rd to the 4th 3 layer of outside V shape pole (B1, B3), the two or three layer of inner side fixed quarter butt (B2), the Three to the 4th short sleeves (B4, B5) and connect their connecting shaft, structure and connected mode and first bar of the second bar group (B) Group (A) is identical；3rd bar group (C) is fixed quarter butt (C1, C4), first to the 2nd 4 layer of inner side comprising first to the 2nd 4 layer of outside and fixes V Shape bar (C2, C3), the 5th to the 6th short sleeve (C5, C7), long sleeve (C6) and connect their connecting shaft, the one or four layer outer Side is fixed quarter butt (C1) and is connected by the 5th short sleeve (C5) with fixed V shape pole (C2) on the inside of the one or four layer, by the one or four layer On the inside of the fixed quarter butt (C1) in outside, V shape pole (C2) both sides axis hole deep gouge and the 5th short set are fixed in axis hole deep gouge, the one or four layer of inner side Cylinder (C5) both sides end face boss carries out circumferentially fixed, makes fixed quarter butt (C1) end in the one or four layer of outside solid with the one or four layer of inner side Determine V shape pole (C2) end V shape pole is fixed into 30 degree of angles, the one or the four layer of fixed V shape pole (C2) in inner side and the two or four layer of inner side (C3) connected by long sleeve (C6), V shape pole (C2) both sides axis hole deep gouge, the two or four layer of inner side are fixed by the one or four layer of inner side Fixed V shape pole (C3) both sides axis hole deep gouge carries out circumferentially fixed with long sleeve (C6) both sides end face boss, makes the one or four layer of inner side V shape pole (C3) end is fixed into 60 degree of angles with the two or four layer of inner side in fixed V shape pole (C2) end, fixed V on the inside of the two or four layer Shape bar (C3) is fixed quarter butt (C4) with the two or four layer of outside and is connected by the 6th short sleeve (C7), fixed by the two or four layer of inner side Axis hole deep gouge, the 6th short sleeve (C7) both sides on the inside of quarter butt (C4) are fixed in V shape pole (C3) both sides axis hole deep gouge, the two or four layer of outside End face boss carries out circumferentially fixed, makes fixed V shape pole (C3) end in the two or four layer of inner side with the fixed quarter butt in the two or four layer of outside (C4) end is into 30 degree of angles, the fixed quarter butt (C1) in the one or four layer of outside, the 5th short sleeve (C5), the fixed V in the one or four layer of inner side Shape bar (C2), long sleeve (C6), the two or four layer of inner side fixation V shape pole (C3), the 6th short sleeve (C7), the two or four layer of outside are fixed Quarter butt (C4) carries out axial restraint by major axis；First movable quarter butt (1), the second movable quarter butt (2) and the one or three layer of inner side are fixed quarter butt (A2) and carry out axial direction by short axle Fixed, the regular hexagon hole of first movable quarter butt (1) one end is coordinated with short axle, is carried out circumferentially fixed by jackscrew, and first is movable Quarter butt (1) other end and the one or four layer of inner side V shape pole (C2) carry out axial restraint, second movable quarter butt (2) one end by short axle Regular hexagon hole and short axle coordinate, and are carried out circumferentially fixed by jackscrew, make the first movable quarter butt (1) with the second movable quarter butt (2) Into 60 degree of angles, the first motor (m1) is fixed by screw with the three or three layer of outside V shape pole (B1), the first motor (m1) axis hole of axis hole and three three layer outside V shape pole (B1) one end of the motor shaft through second movable quarter butt (2) other end, Carried out by jackscrew and the three or three layer of outside V shape pole (B1) circumferentially fixed；3rd movable quarter butt (3), the 4th movable quarter butt (4) and the two or three layer of inner side are fixed quarter butt (B2) and carry out axial direction by short axle Fixed, the regular hexagon hole of the 3rd movable quarter butt (3) one end is coordinated with short axle, is carried out circumferentially fixed by jackscrew, and the 3rd is movable Quarter butt (3) other end and the two or three layer of outside V shape pole (A3) carry out axial restraint, the 4th movable quarter butt (4) one end by short axle Regular hexagon hole and short axle coordinate, and are carried out circumferentially fixed by jackscrew, make the 3rd movable quarter butt (3) with the 4th movable quarter butt (4) Into 60 degree of angles, the second motor (m2) is fixed V shape pole (C3) with the two or four layer of inner side and is fixed by screw, and second drives electricity The motor shaft of machine (m2) passes through the axis hole of the 4th movable quarter butt (4) other end and the two or four layer of inner side to fix V shape pole (C3) one end Axis hole, carried out by jackscrew and the two or four layer of inner side fixed V shape pole (C3) circumferentially fixed；One end of 5th movable quarter butt (5) carries out axial restraint with the four or three layer of outside V shape pole (B3) by short axle, and the 5th is movable The other end of quarter butt (5) and the two or four layer of outside are fixed quarter butt (C4) and carry out axial restraint by short axle；One end of 6th movable quarter butt (6) and the fixed quarter butt (C1) in the one or four layer of outside carry out axial restraint by short axle, and the 3rd Motor (m3) is fixed by screw with the one or three layer of outside V shape pole (A1), and the motor shaft of the 3rd motor (m3) is passed through The axis hole of the 6th movable quarter butt (6) other end and the axis hole of the one or three layer of outside V shape pole (A1) one end, by jackscrew and the one or three Layer outside V shape pole (A1) carries out circumferentially fixed.
- 2. one kind as claimed in claim 1 scales rolling mechanism, it is characterised in that：First to fourth 3 layers of outside V shape pole (A1, A3, B1, B3), first to the 2nd 4 layer of inner side V shape pole (C2, C3) equal length, and the angle at rod member turning is equal, the Centre distance between one to the 6th movable quarter butt (1,2,3,4,5,6) holes and first to fourth 3 layers of outside V shape pole (A1, A3, B1, B3), first to the 2nd 4 layer of inner side V shape pole (C2, C3) be each between shorter part axis hole and each bar turnover central point Distance it is equal, the centre distance between fixed quarter butt (A2, B2) two axis hole in first to the 2nd 3 layer of inner side, first to the 2nd 4 Centre distance between fixed quarter butt (C1, C4) two axis hole in layer outside and first to fourth 3 layers of outside V shape pole (A1, A3, B1, B3), first to the 2nd 4 layer of inner side V shape pole (C2, C3) each between longer portion axis hole and each bar turnover central point away from From equal；First to the 6th movable quarter butt (1,2,3,4,5,6), the fixed quarter butt (A2, B2) in first to the 2nd 3 layer of inner side, first to Four or three layer of outside V shape pole (A1, A3, B1, B3), first to the 2nd 4 layer of inner side V shape pole (C2, C3) and first to the 2nd 4 Fixed quarter butt (the C1, C4) thickness in layer outside is equal；Thickness of the length of the first to the 6th short sleeve (A4, A5, B4, B5, C5, C7) more than four times of first movable quarter butt (1), it is long Thickness of the length of sleeve (C6) more than nine times of first movable quarter butt (1)；All bars not in the same plane, are parallel to each other between each bar place plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510308639.0A CN104986237B (en) | 2015-06-08 | 2015-06-08 | Zooming rolling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510308639.0A CN104986237B (en) | 2015-06-08 | 2015-06-08 | Zooming rolling mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104986237A CN104986237A (en) | 2015-10-21 |
| CN104986237B true CN104986237B (en) | 2017-03-22 |
Family
ID=54298173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510308639.0A Expired - Fee Related CN104986237B (en) | 2015-06-08 | 2015-06-08 | Zooming rolling mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104986237B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077625B (en) * | 2019-03-27 | 2020-11-10 | 北京交通大学 | Tetrahedron capable of local zooming |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2292298A (en) * | 1939-03-24 | 1942-08-04 | Singer Otto | Locomotion device for vehicles |
| FR2686564A1 (en) * | 1992-01-23 | 1993-07-30 | Chareire Jean Louis | Publicity vehicle which moves itself along in the absence of wheels |
| CN102009708A (en) * | 2010-11-25 | 2011-04-13 | 北京交通大学 | Scaling roll mechanism |
| CN103465988A (en) * | 2013-09-16 | 2013-12-25 | 北京交通大学 | Multi-motion-mode mobile robot |
| CN103469893A (en) * | 2013-09-24 | 2013-12-25 | 北京交通大学 | Folding cube |
-
2015
- 2015-06-08 CN CN201510308639.0A patent/CN104986237B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2292298A (en) * | 1939-03-24 | 1942-08-04 | Singer Otto | Locomotion device for vehicles |
| FR2686564A1 (en) * | 1992-01-23 | 1993-07-30 | Chareire Jean Louis | Publicity vehicle which moves itself along in the absence of wheels |
| CN102009708A (en) * | 2010-11-25 | 2011-04-13 | 北京交通大学 | Scaling roll mechanism |
| CN103465988A (en) * | 2013-09-16 | 2013-12-25 | 北京交通大学 | Multi-motion-mode mobile robot |
| CN103469893A (en) * | 2013-09-24 | 2013-12-25 | 北京交通大学 | Folding cube |
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| Publication number | Publication date |
|---|---|
| CN104986237A (en) | 2015-10-21 |
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