CN105774394A - Mobile robot with deformation wheels - Google Patents
Mobile robot with deformation wheels Download PDFInfo
- Publication number
- CN105774394A CN105774394A CN201610216807.8A CN201610216807A CN105774394A CN 105774394 A CN105774394 A CN 105774394A CN 201610216807 A CN201610216807 A CN 201610216807A CN 105774394 A CN105774394 A CN 105774394A
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- China
- Prior art keywords
- wheel
- deformation
- arc
- mobile apparatus
- sheet
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
-
- 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
- B60B2900/50—Improvement of
- B60B2900/551—Handling of obstacles or difficult terrains
Abstract
The invention discloses a mobile robot with deformation wheels.The mobile robot comprises a vehicle and the deformation wheels.The deformation wheels are used for bearing the vehicle when the vehicle moves; each deformation wheel comprises a plurality of arc-shaped wheel sheets, and the arc-shaped wheel sheets of each deformation wheel can be matched with one another to form a circular wheel and can synchronously swing in a plane where the circular wheel is located, so that the outer ends of the arc-shaped wheel sheets can be in contact with the ground, and the mobile robot can travel.The mobile robot has the advantages that the road surface passing capacity of the mobile robot can be greatly improved; the deformation wheels keep circular when the mobile robot moves on ordinary road surfaces, and accordingly the mobile robot can stably run at high speeds.
Description
Technical field
The present invention relates to walking robot field, specifically a kind of mobile apparatus people with deformation wheel.
Background technology
Present stage, all kinds of vehicles with different performance or robot have extensively applied in the fields such as urban transportation, agricultural, military affairs, Aero-Space.But, wheel machine now, owing to adopting common round wheel construction in a large number, it is impossible to according to practical situation change structure parameter, there is road pavement and require the defects such as high, obstacle climbing ability is not enough, earth-grasping force is not strong.
For solving problem above, need a kind of mobile apparatus people with deformation wheel, deformation wheel can be passed through to drive certain mechanism to drive Wheel deflection, thus being greatly improved the road surface handling capacity of robot, simultaneously, when prevailing roadway moves, deformation wheel can be held circular at, and allows the robot at a high speed, hugs the road.
Summary of the invention
In view of this, it is an object of the invention to overcome defect of the prior art, offer a kind of can adapt to different terrain and have the mobile apparatus people with deformation wheel of stronger obstacle climbing ability, its deformation wheel can be passed through to drive certain mechanism to drive Wheel deflection, thus being greatly improved the road surface handling capacity of robot, meanwhile, when prevailing roadway moves, deformation wheel can be held circular at, and allows the robot at a high speed, hugs the road.
The mobile apparatus people with deformation wheel of the present invention, including car body and the deformation wheel that moves for bearing body；Described deformation wheel includes multiple arc wheel sheet complementing each other to form circular wheel, and each described arc wheel sheet the plane inter-sync swing at circular wheel place can make arc wheel sheet outer end realize walking with earth surface；
Further, connected by planar linkage mechanism between described arc wheel sheet and driven each arc wheel sheet synchronous hunting to realize deformation by described planar linkage mechanism；
Further, described planar linkage mechanism includes many fork arms and connecting rod；Described many fork arms are two, and respectively fork arm more than first and fork arm more than second；Described fork arm more than first is by being respectively formed a lanar four rod mechanism between connecting rod and each arc wheel sheet；Described fork arm more than second is articulated with described connecting rod for driving the action simultaneously of multiple lanar four rod mechanism to make described arc wheel sheet synchronous hunting realize deformation；
Further, described connecting rod is the twice that quantity is arc wheel sheet of V shape pole and this V shape pole；Described V shape pole head and the tail successively are hinged forms annular bar chain；One end of described arc wheel sheet and midpoint are coaxially articulated with the hinged end of annular bar chain, and the prong numbers of described fork arm more than first and fork arm more than second is identical with the quantity of arc wheel sheet and the staggered midpoint being articulated with V shape pole；
Further, described deformation wheel also includes the cylindrical cam that is coaxially disposed with described many fork arms；Described cylindrical cam coordinate with described many fork arms in the way of the circumferencial direction transmission that slides axially and pass through cylindrical cam vertically reciprocatingly slide driving two described in many fork arms relatively rotate make deformation wheel realize deformation；
Further, the arc wheel sheet of described deformation wheel is three, and described many fork arms are three fork arms；The angle of described V shape pole is 120 °；
Further, described deformation wheel is two and is parallel to each other and is respectively in described car body both sides, is provided with leading screw and nut mechanism and drives described cylindrical cam to be axially moveable by this leading screw and nut mechanism between the cylindrical cam of two deformation wheel；
Further, described leading screw and nut mechanism includes screw mandrel and the external gear nut coordinated with screw mandrel, described screw mandrel and external gear nut are in transmission connection in two cylindrical cams respectively through a drive rod；Described drive rod is combined with driving gear in the way of the circumferencial direction transmission that slides axially；
Further, being provided with ball between inner headed face and the cylindrical cam of described many fork arms, described ball is matched with the chute of cylindrical cam simultaneously and is arranged at the groove of many fork arms inner headed face.
Further, it is fixed with tailstock on rear side of described car body and is rotationally connected with the auxiliary wheel of described tailstock end；Described auxiliary wheel is centered at described in two between deformation wheel vertically.
The invention has the beneficial effects as follows: the mobile apparatus people with deformation wheel of the present invention, its road wheel is deformation wheel, this deformation wheel includes multiple arc wheel sheet complementing each other to form circular wheel, when robot walks at normal paved road, deformation wheel will be held round wheel and carry out scrolling realization high speed, moves smoothly, when robot runs into the obstacle that circular wheel cannot be passed through, end that deformation wheel can make arc wheel sheet protrude by each arc wheel sheet synchronous hunting certain angle and earth surface, that improves vehicle passes through performance.After vehicle is by obstacle, deformation wheel is retracted to Round Wheel state, and the deformation wheel of the present invention can ensure that it has stronger obstacle climbing ability when smooth-riding surface translational speed and stationarity.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is the structural representation before the deformation wheel deformation of the present invention；
Fig. 2 is the structural representation after the deformation wheel deformation of the present invention；
Fig. 3 is the deformation process schematic diagram of the deformation wheel of the present invention；
Fig. 4 is the structural representation of the drive mandrel of the present invention.
Detailed description of the invention
Fig. 1 is the structural representation of the present invention.As it can be seen, the mobile apparatus people with deformation wheel 2 of the present embodiment, including car body 1 and the deformation wheel 2 that moves for bearing body 1；Described deformation wheel 2 includes multiple arc wheel sheet 8 complementing each other to form circular wheel, and each described arc wheel sheet 8 the plane inter-sync swing at circular wheel place can make arc wheel sheet 8 outer end realize walking with earth surface；When robot walks at normal paved road, deformation wheel 2 will be held round wheel and carry out scrolling realization high speed, moves smoothly, when robot runs into the obstacle that circular wheel cannot be passed through, end that deformation wheel 2 can make arc wheel sheet 8 protrude by each arc wheel sheet 8 synchronous hunting certain angle and earth surface, that improves vehicle passes through performance.When vehicle is retracted to Round Wheel state by deformation wheel 2 after obstacle, the deformation wheel 2 of the present invention can ensure that it has stronger obstacle climbing ability when smooth-riding surface translational speed and stationarity.
In the present embodiment, connected by planar linkage mechanism between described arc wheel sheet 8 and driven each arc wheel sheet 8 synchronous hunting to realize deformation by described planar linkage mechanism, planar linkage mechanism can adopt in prior art that all can make each arc wheel turn an angle simultaneously and keep the multi-connecting-rod mechanism of this angle, planar linkage architecture is simple, and it is easily controllable, the structure of robot ambulation system can be simplified, in the present embodiment, after arc wheel sheet 8 deformation, the end face with earth surface is arc and forms cutting edge structure, deformation wheel 2 is when not deployed, the curved end of arc wheel sheet 8 can increase the contact area between arc wheel sheet 8, reduce contact stress, after deformation wheel 2 is launched, utilize end and the earth surface of arc wheel sheet 8 cutting edge structure, can effectively increase its earth-grasping force, it is effectively improved its obstacle climbing ability.
In the present embodiment, described planar linkage mechanism includes many fork arms and connecting rod；Described many fork arms are two, and respectively fork arm more than first 5 and fork arm 6 more than second；Described fork arm more than first 5 is by being respectively formed a lanar four rod mechanism between connecting rod and each arc wheel sheet 8；Described fork arm more than second 6 is articulated with described connecting rod for driving the action simultaneously of multiple lanar four rod mechanism to make described arc wheel sheet 8 synchronous hunting realize deformation, the prong numbers of many fork arms is consistent with arc wheel sheet 8 quantity, each lanar four rod mechanism shares fork arm more than first 5 as fixing bar, thus simplifying the connecting rod quantity of planar linkage mechanism, multiple bifurcateds of fork arm more than second 6 are hingedly connected to the connecting rod of multiple quadric chain, when deformation wheel 2 needs to deform, only fork arm more than second 6 need to be driven to relatively rotate relative to fork arm more than first 5, the action simultaneously of all lanar four rod mechanisms can be driven, and the action of each plane double leval jib can drive an arc wheel sheet 8 to swing, finally realize the action simultaneously of all arc wheel sheets 8 and complete the deformation of deformation wheel 2.
In the present embodiment, described connecting rod is the twice that quantity is arc wheel sheet 8 of V shape pole and this V shape pole；Described V shape pole head and the tail successively are hinged forms annular bar chain；One end of described arc wheel sheet 8 and midpoint are coaxially articulated with the adjacent hinged end of annular bar chain, and described fork arm more than first 5 is identical with the quantity of arc wheel sheet 8 with the prong numbers of fork arm more than second 6 and the staggered midpoint being articulated with V shape pole；The twice that hinged end quantity is arc wheel sheet 8 of annular bar chain, and each two hinged end on annular bar chain is all coaxially articulated with one end and the midpoint of arc wheel sheet 8, the midpoint of the V-arrangement connecting rod 7 that the bifurcated outer end of fork arm more than first 5 should be articulated with between adjacent arc wheel sheet 8, and the midpoint of the V-arrangement connecting rod 7 that the bifurcated outer end of fork arm more than second 6 should be articulated with between curved rod end points and midpoint, in the present embodiment, fork arm more than first 5 and fork arm more than second 6 points are listed in deformation wheel 2 both sides；Being articulated with the V-arrangement connecting rod 7 between adjacent arc wheel sheet 8 and fork arm more than first 5 is positioned at the same side, remaining V-arrangement connecting rod 7 and fork arm more than second 6 are positioned at the same side；Fork arm more than first 5 and fork arm more than second 6 are equipped with central through hole, a rotating shaft can be coordinated in central through hole to make fork arm more than two realize coaxial rotation, arc wheel sheet 8 in the present embodiment is crescent, arc wheel sheet 8 has two opposed triangle through hole, thus reducing the deadweight of arc wheel sheet 8, meanwhile, after making the extrados stress of arc wheel sheet 8 easily deformable.
In the present embodiment, described deformation wheel 2 also includes the cylindrical cam 9 being coaxially disposed with described many fork arms；Described cylindrical cam 9 coordinate with described many fork arms in the way of the circumferencial direction transmission that slides axially and pass through cylindrical cam 9 vertically reciprocatingly slide driving two described in many fork arms relatively rotate make deformation wheel 2 realize deformation, owing to cylindrical cam 9 coordinates with described many fork arms in the way of the circumferencial direction transmission that slides axially, therefore when cylindrical cam 9 is rotated about axis, the synchronous axial system of fork arm more than two can be driven to make whole deformation wheel 2 synchronous axial system realize the movement of robot, and when cylindrical cam 9 reciprocatingly slides vertically, cylindrical cam 9 cylindrical should be provided with two different chutes of molded line, two chutes coordinate with fork arm more than two respectively, when cylindrical cam 9 is axially moveable, fork arm more than two will relatively rotate, deformation wheel 2 is made to realize deformation.
In the present embodiment, the arc wheel sheet 8 of described deformation wheel 2 is three, and described many fork arms are three fork arms；The angle of described V shape pole is 120 °, and the central angle of the arc section of arc wheel sheet 8 is also 120 °, and three arc wheel sheets 8 can make under the premise that deformation wheel 2 has obstacle climbing ability, farthest simplifies the quantity of arc wheel sheet 8.
In the present embodiment, described deformation wheel 2 is two and is parallel to each other and is respectively in described car body 1 both sides, it is provided with leading screw and nut mechanism between the cylindrical cam 9 of two deformation wheel 2 and drives described cylindrical cam 9 to be axially moveable by this leading screw and nut mechanism, leading screw and nut mechanism has auto-lock function, after driven two cylindrical cams 9 to move axially relatively to make deformation wheel 2 deformation by leading screw and nut mechanism, two cylindrical cams 9 ensure that its relative position vertically, the attitude after making the maintenance that deformation wheel 2 can be stable deform.
In the present embodiment, described leading screw and nut mechanism includes screw mandrel 13 and the external gear nut 14 coordinated with screw mandrel 13, described screw mandrel 13 and external gear nut 14 are in transmission connection in two cylindrical cams 9 respectively through a drive rod 11；Described drive rod 11 is combined with driving gear 10 in the way of the circumferencial direction transmission that slides axially；nullDeformation motor and drive motor can be set in robot car body 1，Deformation motor output shaft is engaged with external gear nut 14 by gear，When deformation wheel 2 needs to deform，Available deformation motor drives external gear nut 14 rotation to make wheel complete deformation，When robot needs mobile，Drive motor can be provided with two and respectively through driving gear 10 to engage on gear and two drive rods 11，The power of two drive motor outputs is transferred to two cylindrical cams 9 respectively through two drive rods 11，Two deformation wheel 2 are made to rotate the movement realizing robot，In the present embodiment，Two drive rods 11 are hollow loop bar，For making two drive rods 11 keep coaxial，An available mandrel 15 is coordinated with the centre bore of two drive rods 11 by screw mandrel 13 simultaneously，Borehole jack bar is provided with spacing ring 12，This spacing ring 12 acts against screw mandrel 13 or external gear nut 14 end face，On the other hand，The drive rod 11 of the present embodiment has the bar segment of polygonal cross-section，Realize transmission by this bar segment with the polygon centre bore driving gear 10 to coordinate.
In the present embodiment, it is provided with ball between inner headed face and the cylindrical cam 9 of described many fork arms, described ball is matched with the chute of cylindrical cam 9 simultaneously and is arranged at the groove of many fork arms inner headed face, cylindrical cam 9 is provided with two chutes, one of them chute is and the straight-line groove of cylindrical cam 9 plane, another chute is curved groove, straight-line groove is coordinated by ball and fork arm more than first 5, curved groove is coordinated with curved groove by another ball, when cylindrical cam 9 is axially moveable, fork arm more than first 5 geo-stationary and fork arm more than second 6 rotates relative to fork arm more than first 5, realize deformation wheel 2 to deform.
In the present embodiment, it is fixed with tailstock 3 on rear side of described car body 1 and is rotationally connected with the auxiliary wheel 4 of described tailstock 3 end；Described auxiliary wheel 4 is centered at described in two between deformation wheel 2 vertically, tailstock 3 and auxiliary wheel 4 can avoid car body 1 to rotate around deformation wheel 2 axis in being moved through car, tailstock 3 extends along obliquely downward on rear side of robot, therefore, tailstock 3 is when running into obstacle, tailstock 3 can be swung up avoiding in advance hindered, it addition, the diameter of auxiliary wheel 4 should be less than the external diameter of deformation wheel 2.
What finally illustrate is, above example is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail with reference to preferred embodiment, it will be understood by those within the art that, technical scheme can be modified or equivalent replacement, without deviating from objective and the scope of technical solution of the present invention, it all should be encompassed in the middle of scope of the presently claimed invention.
Claims (10)
1. a mobile apparatus people with deformation wheel, it is characterised in that: include car body and the deformation wheel moved for bearing body；Described deformation wheel includes multiple arc wheel sheet complementing each other to form circular wheel, and each described arc wheel sheet the plane inter-sync swing at circular wheel place can make arc wheel sheet outer end realize walking with earth surface.
2. the mobile apparatus people with deformation wheel according to claim 1, it is characterised in that: connected by planar linkage mechanism between described arc wheel sheet and driven each arc wheel sheet synchronous hunting to realize deformation by described planar linkage mechanism.
3. the mobile apparatus people with deformation wheel according to claim 2, it is characterised in that: described planar linkage mechanism includes many fork arms and connecting rod；Described many fork arms are two, and respectively fork arm more than first and fork arm more than second；Described fork arm more than first is by being respectively formed a lanar four rod mechanism between connecting rod and each arc wheel sheet；Described fork arm more than second is articulated with described connecting rod for driving the action simultaneously of multiple lanar four rod mechanism to make described arc wheel sheet synchronous hunting realize deformation.
4. the mobile apparatus people with deformation wheel according to claim 3, it is characterised in that: described connecting rod is the twice that quantity is arc wheel sheet of V shape pole and this V shape pole；Described V shape pole head and the tail successively are hinged forms annular bar chain；One end of described arc wheel sheet and midpoint are coaxially articulated with the hinged end of annular bar chain, and the prong numbers of described fork arm more than first and fork arm more than second is identical with the quantity of arc wheel sheet and the staggered midpoint being articulated with V shape pole.
5. the mobile apparatus people with deformation wheel according to claim 1, it is characterised in that: described deformation wheel also includes the cylindrical cam being coaxially disposed with described many fork arms；Described cylindrical cam coordinate with described many fork arms in the way of the circumferencial direction transmission that slides axially and pass through cylindrical cam vertically reciprocatingly slide driving two described in many fork arms relatively rotate make deformation wheel realize deformation.
6. the mobile apparatus people with deformation wheel according to claim 4, it is characterised in that: the arc wheel sheet of described deformation wheel is three, and described many fork arms are three fork arms；The angle of described V shape pole is 120 °.
7. the mobile apparatus people with deformation wheel according to claim 5, it is characterized in that: described deformation wheel is two and is parallel to each other and is respectively in described car body both sides, be provided with leading screw and nut mechanism between the cylindrical cam of two deformation wheel and drive described cylindrical cam to be axially moveable by this leading screw and nut mechanism.
8. the mobile apparatus people with deformation wheel according to claim 7, it is characterized in that: described leading screw and nut mechanism includes screw mandrel and the external gear nut coordinated with screw mandrel, described screw mandrel and external gear nut are in transmission connection in two cylindrical cams respectively through a drive rod；Described drive rod is combined with driving gear in the way of the circumferencial direction transmission that slides axially.
9. the mobile apparatus people with deformation wheel according to claim 7, it is characterised in that: being provided with ball between inner headed face and the cylindrical cam of described many fork arms, described ball is matched with the chute of cylindrical cam simultaneously and is arranged at the groove of many fork arms inner headed face.
10. the mobile apparatus people with deformation wheel according to claim 1, it is characterised in that: it is fixed with tailstock on rear side of described car body and is rotationally connected with the auxiliary wheel of described tailstock end；Described auxiliary wheel is centered at described in two between deformation wheel vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610216807.8A CN105774394B (en) | 2016-04-08 | 2016-04-08 | Mobile robot with deformation wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610216807.8A CN105774394B (en) | 2016-04-08 | 2016-04-08 | Mobile robot with deformation wheel |
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| CN105774394A true CN105774394A (en) | 2016-07-20 |
| CN105774394B CN105774394B (en) | 2018-10-09 |
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| CN201610216807.8A Active CN105774394B (en) | 2016-04-08 | 2016-04-08 | Mobile robot with deformation wheel |
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Cited By (11)
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| CN106926639A (en) * | 2017-04-27 | 2017-07-07 | 深圳市矩阵动力科技开发有限公司 | A kind of omni-directional wheel and omni-directional wheel mechanism |
| CN108327459A (en) * | 2018-03-28 | 2018-07-27 | 华南理工大学 | It is a kind of can self-locking deformation wheel mechanism |
| CN108403318A (en) * | 2018-03-29 | 2018-08-17 | 西安理工大学 | A kind of deformed wheel of climbing stairs |
| CN109572840A (en) * | 2018-09-27 | 2019-04-05 | 江汉大学 | A kind of mobile robot and its control method |
| CN109774810A (en) * | 2019-01-21 | 2019-05-21 | 浙江理工大学 | A kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam |
| CN110170979A (en) * | 2019-05-30 | 2019-08-27 | 南方科技大学 | A kind of wheeled robot suitable for carrying out physics interaction under unstructured moving grids |
| CN110228540A (en) * | 2019-05-17 | 2019-09-13 | 西安理工大学 | A kind of crawler type triangle based on profile modified gear/circular deformation wheel mechanism |
| CN111532353A (en) * | 2020-05-08 | 2020-08-14 | 重庆大学 | Novel transformable robot |
| CN112606625A (en) * | 2020-11-09 | 2021-04-06 | 北京交通大学 | Deformation wheel based on four-bar mechanism |
| CN113978180A (en) * | 2021-09-28 | 2022-01-28 | 中科创源(天津)科技有限公司 | Deformation wheel and walking machine adopting same |
| CN114245773A (en) * | 2019-07-04 | 2022-03-25 | 博罗波公司 | Deformable wheel for crossing all types of terrain and autonomous robot equipped with at least one wheel |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926639B (en) * | 2017-04-27 | 2023-09-08 | 深圳市矩阵动力科技开发有限公司 | Omnidirectional wheel and omnidirectional wheel mechanism |
| CN106926639A (en) * | 2017-04-27 | 2017-07-07 | 深圳市矩阵动力科技开发有限公司 | A kind of omni-directional wheel and omni-directional wheel mechanism |
| CN108327459A (en) * | 2018-03-28 | 2018-07-27 | 华南理工大学 | It is a kind of can self-locking deformation wheel mechanism |
| CN108327459B (en) * | 2018-03-28 | 2023-10-31 | 华南理工大学 | Deformation wheel mechanism capable of self-locking |
| CN108403318A (en) * | 2018-03-29 | 2018-08-17 | 西安理工大学 | A kind of deformed wheel of climbing stairs |
| CN109572840A (en) * | 2018-09-27 | 2019-04-05 | 江汉大学 | A kind of mobile robot and its control method |
| CN109774810A (en) * | 2019-01-21 | 2019-05-21 | 浙江理工大学 | A kind of wheel leg converting means based on Electromagnetic Control Yu space inverse cam |
| CN109774810B (en) * | 2019-01-21 | 2023-09-29 | 浙江理工大学 | Wheel leg conversion device based on electromagnetic control and space reverse cam |
| CN110228540A (en) * | 2019-05-17 | 2019-09-13 | 西安理工大学 | A kind of crawler type triangle based on profile modified gear/circular deformation wheel mechanism |
| CN110170979A (en) * | 2019-05-30 | 2019-08-27 | 南方科技大学 | A kind of wheeled robot suitable for carrying out physics interaction under unstructured moving grids |
| CN114245773A (en) * | 2019-07-04 | 2022-03-25 | 博罗波公司 | Deformable wheel for crossing all types of terrain and autonomous robot equipped with at least one wheel |
| CN111532353A (en) * | 2020-05-08 | 2020-08-14 | 重庆大学 | Novel transformable robot |
| CN112606625A (en) * | 2020-11-09 | 2021-04-06 | 北京交通大学 | Deformation wheel based on four-bar mechanism |
| CN112606625B (en) * | 2020-11-09 | 2022-03-01 | 北京交通大学 | Deformation wheel based on four-bar mechanism |
| CN113978180A (en) * | 2021-09-28 | 2022-01-28 | 中科创源(天津)科技有限公司 | Deformation wheel and walking machine adopting same |
| CN113978180B (en) * | 2021-09-28 | 2024-04-16 | 中科创源(天津)科技有限公司 | Deformation wheel and walking machine adopting same |
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