CN105365514B - 一种用于两轮腿移动机器人的悬架机构 - Google Patents
一种用于两轮腿移动机器人的悬架机构 Download PDFInfo
- Publication number
- CN105365514B CN105365514B CN201510780218.8A CN201510780218A CN105365514B CN 105365514 B CN105365514 B CN 105365514B CN 201510780218 A CN201510780218 A CN 201510780218A CN 105365514 B CN105365514 B CN 105365514B
- Authority
- CN
- China
- Prior art keywords
- auxiliary wheel
- ratchet
- leg
- auxiliary
- spring
- 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.)
- Active
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 22
- 239000006096 absorbing agent Substances 0.000 claims abstract description 19
- 238000013016 damping Methods 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 5
- 241000239290 Araneae Species 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- -1 left torsion spring Substances 0.000 abstract 1
- 230000006978 adaptation Effects 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/0078—Castors in general; Anti-clogging castors characterised by details of the wheel braking mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/30—Increase in
- B60B2900/331—Safety or security
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/37—Vehicles having steerable wheels mounted on a vertically moving column
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Axle Suspensions And Sidecars For Cycles (AREA)
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510780218.8A CN105365514B (zh) | 2015-11-12 | 2015-11-12 | 一种用于两轮腿移动机器人的悬架机构 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510780218.8A CN105365514B (zh) | 2015-11-12 | 2015-11-12 | 一种用于两轮腿移动机器人的悬架机构 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105365514A CN105365514A (zh) | 2016-03-02 |
CN105365514B true CN105365514B (zh) | 2017-07-04 |
Family
ID=55368354
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510780218.8A Active CN105365514B (zh) | 2015-11-12 | 2015-11-12 | 一种用于两轮腿移动机器人的悬架机构 |
Country Status (1)
Country | Link |
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CN (1) | CN105365514B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107140052B (zh) * | 2017-04-24 | 2019-04-26 | 北京航空航天大学 | 一种具有悬挂系统的轮腿式六足机器人 |
CN110051167A (zh) * | 2018-12-19 | 2019-07-26 | 罗和国 | 具有伸缩支撑轮杆的腰车 |
CN110077184B (zh) * | 2019-05-20 | 2024-02-27 | 河北工业大学 | 一种麦克纳姆轮全向移动机器人独立悬架结构 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0220734A2 (de) * | 1985-10-30 | 1987-05-06 | Sanitätshaus Heinrich Oesterreich Gmbh | Bremse für Laufräder von Rollstühlen |
CN2923388Y (zh) * | 2006-06-26 | 2007-07-18 | 杨金辉 | 万向轮锁定装置 |
CN201195478Y (zh) * | 2008-05-04 | 2009-02-18 | 李广明 | 椅用自动刹车轮 |
CN102616296A (zh) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | 一种六轮足式串并混联机器人 |
CN103802908A (zh) * | 2014-02-19 | 2014-05-21 | 北京航空航天大学 | 一种模块化仿羊足机械足装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4512200B2 (ja) * | 2007-03-15 | 2010-07-28 | 株式会社日立製作所 | ロボット |
JP2009113135A (ja) * | 2007-11-05 | 2009-05-28 | Hitachi Ltd | 2足型移動機構 |
US7789408B2 (en) * | 2008-01-03 | 2010-09-07 | Deere & Company | Suspension arrangement for rear castered wheels on a work machine |
JP2011045973A (ja) * | 2009-08-28 | 2011-03-10 | Hitachi Ltd | ロボット |
JP2015070981A (ja) * | 2013-10-04 | 2015-04-16 | 日本精工株式会社 | 障害物回避先導ロボット |
-
2015
- 2015-11-12 CN CN201510780218.8A patent/CN105365514B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0220734A2 (de) * | 1985-10-30 | 1987-05-06 | Sanitätshaus Heinrich Oesterreich Gmbh | Bremse für Laufräder von Rollstühlen |
CN2923388Y (zh) * | 2006-06-26 | 2007-07-18 | 杨金辉 | 万向轮锁定装置 |
CN201195478Y (zh) * | 2008-05-04 | 2009-02-18 | 李广明 | 椅用自动刹车轮 |
CN102616296A (zh) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | 一种六轮足式串并混联机器人 |
CN103802908A (zh) * | 2014-02-19 | 2014-05-21 | 北京航空航天大学 | 一种模块化仿羊足机械足装置 |
Also Published As
Publication number | Publication date |
---|---|
CN105365514A (zh) | 2016-03-02 |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20180720 Address after: 245399 No. 9 Huiyuan Road, Huayang town eco industrial park, Jixi, Xuancheng, Anhui Patentee after: HUANGSHAN ZHONGYOU CHAIN MANUFACTURE Co.,Ltd. OF ANHUI Address before: 243032 Ma'anshan City, Anhui Province, the East District of the new town of Ma Xiang Road Patentee before: Anhui University of Technology |
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EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20160302 Assignee: Jixi Huangshan Industrial Co.,Ltd. Assignor: HUANGSHAN ZHONGYOU CHAIN MANUFACTURE Co.,Ltd. OF ANHUI Contract record no.: X2024980004538 Denomination of invention: A suspension mechanism for two wheeled legged mobile robots Granted publication date: 20170704 License type: Common License Record date: 20240424 |