CN106915204B - A kind of pneumatic software traveling wheel of deformable non-circular rolling - Google Patents
A kind of pneumatic software traveling wheel of deformable non-circular rolling Download PDFInfo
- Publication number
- CN106915204B CN106915204B CN201710058294.7A CN201710058294A CN106915204B CN 106915204 B CN106915204 B CN 106915204B CN 201710058294 A CN201710058294 A CN 201710058294A CN 106915204 B CN106915204 B CN 106915204B
- Authority
- CN
- China
- Prior art keywords
- traveling wheel
- elastomer layer
- fluid driver
- outer ring
- fluid
- 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
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
-
- 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
- B60B19/06—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group with compartments for fluid, packing or loading material; Buoyant wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Tires In General (AREA)
- Manipulator (AREA)
Abstract
A kind of pneumatic software traveling wheel of deformable non-circular rolling, including outer ring, inner ring, outer support bar, inner bracing piece, fluid driver, tracheae and air pump.The outer cross section contour line of outer ring is n-shaped, it is connected between air pump and inner ring by several inner bracing pieces, it is connected between outer ring and inner ring by several outer support bars, fluid driver there are two being set side by side on each installation stationary plane, each fluid driver one end is fixedly connected with installation stationary plane, forms fixing end；Each fluid driver includes the strain limitation bottom and elastomer layer being mutually permanently connected, and strain limitation bottom can be in contact with installation stationary plane, and elastomer layer can be in contact with road surface, and the elasticity of elastomer layer is greater than the elasticity of strain limitation bottom；A tracheae is provided in each elastomer layer.The present invention can overcome existing traveling wheel to have the shortcomings that passability difference and cruising characteristic are poor under complex environment, to improve adaptability and good stationarity of the wheel in complicated landform.
Description
Technical field
The present invention relates to a kind of walking mechanism of robot, the pneumatic software of especially a kind of deformable non-circular rolling is walked
Wheel.
Background technique
With being constantly progressive for Science Explorations, robot needs are run under more complicated environment, such as celestial body detecting machine
People, military machine people and other field work mobile robots.Field terrain environment may be rugged and rough, have rock or
Depression, the advance system of complicated landform test robot.
Current robot running gear is generally made of rigid material, is set using circular scrolling, such as Wuhan University's research
The full landform traveling wheel (Patent No. 201520214064.1) of meter, this traveling wheel centre are the mechanical wheel equipped with central axis,
Outside is fixedly connected with several flexible serrated metal pieces.By changing position of the connecting rod in cam in mechanical wheel
It sets, sheet metal can be made, which to generate deformation, can be realized design requirement to adapt to the complicated landform under the non-structure environments such as sand ground.
However, there are still following deficiencies for above-mentioned robot running gear：
1. damping capaicty is poor, stationarity is poor：When walking on rough ground, can because run road surface it is rugged due to generate compared with
Big vibration is shaken.When the robot load with the walking mechanism has precision equipment, due to significant shock above-mentioned or rolling
It is dynamic, the measurement accuracy of interior instrument can be produced bigger effect, it is serious, it is also possible to its internal unit to be damaged.
2. climbing property is poor：When the contact surface gradient excessive (more than 20%) of wheel and rugged ground or barrier, can go out
The frictional force of existing wheel and contact surface is too small, and then occurs to skid and cause passability poor, or even situations such as can not walk.
3. environmental suitability is poor：Low for circumstances not known adaptability, due to using rigid material, wheel form is fixed,
Wheel shape and wheel footpath cannot be changed arbitrarily to adapt to environment, can not also passed through lower than complex spaces such as the grotto of its height and obstacles.
4. if not using flexible apparatus such as tires outside wheel, external rigid material may be to the sky that it passes through
Between cause certain destroy that can cause certain destruction to ecology.Meanwhile the barrier that rubble on rough ground etc. is firm
Certain damage can be caused, its service life is caused to substantially reduce to the outer rigid material of walking mechanism.
5. general walking mechanism can give wheel to install external shockproof mechanism, but structure is complicated for external shockproof mechanism, manufacture at
This is higher, repairs after damage relatively complicated.
Therefore, in order to solve the above problem, need for the complicated landforms such as rough ground to mobile system high dynamic characteristic and
The demand of strong environmental suitability proposes a kind of deformable non-circular pneumatic software walking of rolling for adapting to the complex environments such as rugged topography
Wheel, to overcome existing traveling wheel, there are passability differences and cruising characteristic difference disadvantage under complex environment, to improve wheel multiple
Adaptability and good stationarity in miscellaneous landform.
Summary of the invention
In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a kind of deformable non-circular rollings
The pneumatic software traveling wheel of dynamic pneumatic software traveling wheel, the deformable non-circular rolling can overcome existing traveling wheel in complex environment
It is lower to have the shortcomings that passability difference and cruising characteristic are poor, to improve adaptability of the wheel in complicated landform and good steady
Property.
In order to solve the above technical problems, the technical solution adopted by the present invention is that：
A kind of pneumatic software traveling wheel of deformable non-circular rolling, including outer ring, inner ring, outer support bar, inner bracing piece, stream
Body driver, tracheae and air pump.
The outer cross section contour line of outer ring has the installation stationary plane of N number of equal length for the outside of n-shaped namely outer ring
With N number of interface point, wherein N >=3.
Outer ring, inner ring and air pump successively arranged concentric from outside to inside；Pass through several inner bracing pieces between air pump and inner ring
Be connected, be connected between outer ring and inner ring by several outer support bars, the quantity of outer support bar and inner bracing piece with peace
The quantity for filling stationary plane is equal；Outer support bar and inner bracing piece are hollow structure, and are interconnected.
It is set side by side on each installation stationary plane there are two fluid driver, two fluid drivers are respectively clockwise
Fluid driver and fluid driver counterclockwise；One end of each fluid driver and one end of corresponding installation stationary plane are directly solid
Fixed connection, forms fixing end；The fixing end of fluid driver clockwise and the fixing end of fluid driver counterclockwise, which are located at, to be corresponded to
The different ends of stationary plane are installed.
Each fluid driver includes the strain limitation bottom and elastomer layer being mutually permanently connected, strain limitation bottom
It can be in contact with installation stationary plane, elastomer layer can be in contact with road surface, and the elasticity of elastomer layer is greater than strain limitation bottom
Elasticity.
A tracheae is provided in each elastomer layer, tracheae is pierced by from the elastomer layer for being located at fixed end side, then successively
On outer ring after the hollow cavity of corresponding interface point, the hollow cavity of outer support bar, inner ring and inner bracing piece, it is connected with air pump
It connects.
Outer ring is made by elastic material and is formed, and the elasticity of outer ring is less than the elasticity of elastomer layer.
The length of every outer support bar can stretch, and be provided with linear extendible driving device on every outer support bar.
Linear extendible driving device is telescope motor or telescopic cylinder.
The other end of each fluid fixator is connected with the other end of corresponding installation stationary plane by elastic component, and bullet is formed
Property contact jaw.
Elastic component is spring or rubber band.
Several cavitys are provided in elastomer layer, each cavity is connected with the tracheae protruded into elastomer layer.
Several top layer grooves are provided on the outer top surface of each fluid driver.
The side of each fluid driver is provided with several lateral grooves.
The present invention with the above structure, it has the advantages that：
1. the present invention uses soft material, compared to traditional body material, it is big and bulky not only to overcome traditional rigid body wheel
Disadvantage, while showing in terms of environmental suitability more excellent, it can be transported under the working environments such as such as rough ground or soft surface
Row.The present invention have sufficient environmental suitability, can in such a way that itself soft material deforms with barrier or surrounding enviroment
It is compatible, in a limited space in can flexible motion, to preferably adapt to environment.
2. pneumatic software traveling wheel appearance be it is approximate circle, traveling mode be roll, compared to it is some wriggling or creep
Traveling mode, in rough ground walking, smaller with the contact area on road surface, frictional force is also relatively small, and the resistance of traveling is opposite
It is smaller, it is more energy saving.
3. pneumatic software traveling wheel is driven by multiple fluid drivers, make to take turns by the bending of fluid driver
Son movement, a fluid driver can be such that wheel transport forward (or backward) to move a step, rolling walking step by step, and control is smart
Degree is more accurate compared to general circular scrolling；While the fortune of the top layer groove, lateral grooves and non-circular rolling on fluid driver
Flowing mode, can be bigger than circular scrolling to the pressure of rough ground, and frictional force is also opposite to be increased, and can reduce slipping phenomenon
A possibility that.
4. obstacle climbing ability is good, since itself is made of soft material, when walking in rugged topography, and external soft material
It can play the role of bumper and absorbing shock, when needs are across the narrow sky lower than traveling wheel or the robot with traveling wheel car body
Between when, environment can be adapted to by the deformation of the flexible and outer ring of outer support bar, without redesigning and manufacture.
5. carrying out shock-absorbing by external soft material, structure is simple, rather than conventional rigid wheel relies on external damping, structure
Simply, independence is stronger.
6. design is simple, working principle straightforward can accomplish low in raw material price, manufacture craft in practical applications
It is simple easily to realize.
7. only can be achieved with the driving to traveling wheel, driving method easy clean by fluid driver, it is easy to accomplish, it is right
Environment not will cause any pollution, energy conservation and environmental protection.
Detailed description of the invention
Fig. 1 shows a kind of structural schematic diagram of the pneumatic software traveling wheel of deformable non-circular rolling of the invention.
Fig. 2 shows a kind of side view of the pneumatic software traveling wheel of deformable non-circular rolling of the invention.
Fig. 3 shows the cross section view of fluid driver of the present invention.
Fig. 4 shows the construction diagrams of fluid driver clockwise and fluid driver counterclockwise.
What Fig. 5 showed tracheae in fluid driver moves towards figure.
Fig. 6 shows motion state diagram when pneumatic software traveling wheel normal walking.
Fig. 7 shows that pneumatic software traveling wheel of the invention encounters the schematic diagram deformed when barrier.
Fig. 8 shows schematic diagram when pneumatic software traveling wheel local deformation of the invention.
Fig. 9 shows schematic diagram when software traveling wheel of the invention pneumatic is just contacted with grotto etc..
Figure 10 shows the schematic diagram pneumatically software traveling wheel height of the invention passes through grotto after reducing when.
Figure 11 shows mechanics two dimensional analysis figure when rigid wheel climbing in the prior art.
Figure 12 shows mechanics two dimensional analysis when the pneumatic software traveling wheel climbing of deformable non-circular rolling in the present invention
Figure.
Figure 13 shows the material structure figure of fluid driver of the present invention.
Wherein have：
1. fluid driver；2. outer ring；3. telescope motor；4. outer support bar；5. inner ring；6. tracheae；7. inner bracing piece；8.
Air pump；9. battery；10. elastomer layer；11. lateral grooves；12. strain limitation bottom；13. top layer groove；17. air cavity；18. suitable
Hour hands fluid driver；19. fluid driver counterclockwise.
Specific embodiment
Xia Mianjiehefutuhejuti compare Jia Shishifangshiduibenfamingzuojinyibuxiangxishuoming.
As depicted in figs. 1 and 2, a kind of pneumatic software traveling wheel of deformable non-circular rolling, including it is outer ring 2, inner ring 5, outer
Support rod 4, inner bracing piece 7, fluid driver 1, tracheae 6 and air pump 8.
The outer cross section contour line of outer ring has the installation stationary plane of N number of equal length for the outside of n-shaped namely outer ring
With N number of interface point, wherein N >=3.
Preferably the be positive outside of eight deformations namely outer ring of the outer cross section contour line of outer ring has the installations of eight equal lengths
Stationary plane and eight interface points.
The setting of above-mentioned n-shaped, so that fluid driver is easily installed, and rolling frequency is consistent, and control precision is high.
As an alternative, the outer cross section contour line of outer ring may be regular pentagon or regular hexagon etc., of the invention
Within protection scope.
Successively arranged concentric, air pump are arranged at center of circle position from outside to inside for outer ring 2, inner ring 5 and air pump 8, and inner ring is set with one heart
It sets in the periphery of air pump, outer ring is arranged concentrically on the periphery of inner ring.
It is connected between air pump and inner ring by several inner bracing pieces 7, by being propped up outside several between outer ring and inner ring
Strut 4 is connected, and the quantity of outer support bar and inner bracing piece is equal with the installation quantity of stationary plane, it is preferably to be 8.
As shown in figure 8,8 outer support bars are respectively 4a, 4b, 4c, 4d, 4e, 4f, 4g and 4h.
Inner ring, outer support bar and inner bracing piece are made by rigid material.To which branch can be played to equipment such as air pump and batteries
Support effect prevents from generating damage to equipment because of walking son deformation.
It is evenly equipped with N number of through-hole, preferably eight in inner ring, facilitates being fixedly connected for outer support bar and inner bracing piece.Outer branch
Strut and inner bracing piece are hollow structure, and are interconnected after the correspondence through-hole for passing through inner ring.
Tracheae and control route are connected in support frame.Air pump and battery in inner ring are fixed together
The length of every outer support bar is preferably able to stretch, and linear extendible drive is preferably provided on every outer support bar
Dynamic device.The telescopic of corresponding outer support bar is driven by linear extendible driving device.Further, each linear extendible driving dress
Set both preferably telescope motor 3 or telescopic cylinder etc..
Further, outer ring is preferably made by elastic material and is formed, and the elasticity of outer ring is preferably smaller than the elasticity of fluid driver.
Fluid driver 1 there are two being set side by side on each installation stationary plane, two fluid drivers are respectively up time
Needle fluid driver 18 and fluid driver counterclockwise 19.
One end of each fluid driver is preferably directly fixed using modes such as bondings with one end of corresponding installation stationary plane
Connection forms fixing end.Fixing end can prevent fluid driver and the drift of fluid driver interior tracheae etc..
The other end of each fluid fixator is preferably connected by elastic component with the other end of corresponding installation stationary plane, shape
At elastic connecting contravention.Elastic component is preferably spring or rubber band.Elastic component can assist the fast quick-recovery of fluid fixator to original position,
The position matched with installation stationary plane.
As shown in figure 4, the fixing end of fluid driver and the fixing end of fluid driver counterclockwise are located at correspondence clockwise
The different ends of stationary plane are installed.
As shown in figure 13, each fluid driver includes the strain limitation bottom 12 and elastomer layer being mutually permanently connected
10, strain limitation bottom can be in contact with installation stationary plane, and elastomer layer can be in contact with road surface, and the elasticity of elastomer layer is greater than
The elasticity of strain limitation bottom and outer ring.
As shown in figure 3, being provided with a tracheae 6 in each elastomer layer, tracheae fixes the elastomer layer of end side from being located at
It is pierced by, then after sequentially passing through the hollow cavity of corresponding interface point on outer ring, the hollow cavity of outer support bar, inner ring and inner bracing piece,
It is connected with air pump.
Further, be preferably provided with several cavitys in elastomer layer, each cavity with the gas that protrudes into elastomer layer
Pipe is connected.
Further, several top layer grooves 13 are preferably provided on the outer top surface of each fluid driver.
Further, the side of each fluid driver is preferably provided with several lateral grooves 11.Cavity 17 is preferably put
It sets in lateral grooves.
The setting of above-mentioned top layer groove 13 and lateral grooves 11, can make elastomer layer be easier deformation.
One fluid driver can control the wheel to move in one direction, then two drivers are reversed as shown in Figure 4
It is bolted together, wheel can be made to rotate towards both direction.
All above-mentioned fluid drivers clockwise are enclosed wheel rim clockwise, by air pump to fluid driver clockwise
Alternating inflation, realize the rolling clockwise of pneumatic software traveling wheel.
All above-mentioned fluid drivers counterclockwise are enclosed wheel rim counterclockwise, by air pump to fluid driver counterclockwise
Alternating inflation, be able to achieve roll counter-clockwise or the braking of pneumatic software traveling wheel.
When needing wheel to turn right, inflated to the bottoms stream driver in wheel rim clockwise, expandable cavity, expandable cavity
Elastomer layer, which occurs to squeeze, afterwards generates larger deformation (bending), and strain limitation bottom generates smaller deformation (bending), elastomer layer
Fluid driver is set to generate bending, traveling wheel as shown in Figure 6 with the strain difference of strain limitation bottom clockwise to the right
Rotation, side land, and cavity restPoses after deflating, and fluid driver restores to the original state in the case where cavity squeezes, complete
At right turn movements.
Similarly, when needing, then to the cavity inflation in the bottoms stream driver in wheel rim counterclockwise.
When needing to slow down, then plugging can be realized by working while two circulation drivers, by controller root
The size of brake force is obtained according to current rotating speed, changes the inflation for controlling the fluid driver internal cavity contrary with current kinetic
It measures with the size of speed and controls the size of brake force.
When needing to accelerate, then controller accelerates the speed inflated to corresponding fluids driver internal cavity.
When needing the grotto space by being lower than wheel height, as shown in Figure 7 to 10, telescope motor 3 drives outer branch
Strut 4 does radial expansion movement, and outer support bar is shunk.
As shown in figure 8, outer support bar 4a, 4b, 4c are non-shortening state, guarantee lower half portion is a semicircle, is not influenced
Wheel walking；And top half can produce large deformation under the coordinative role of outer support rod 4d, 4e, 4f, 4g and 4h.
Meanwhile outer ring can generate biggish deformation to adapt to the flexible namely outer ring of outer support bar and be pulled inward；Wheel
Shape is to change namely wheel is integrally in contraction state；Wheel footpath reduces, and traveling wheel height reduces.Meanwhile the drive at top
Device is moved due to unaerated, therefore its rigidity is smaller, after external force extruding, produces deformation as shown in Figure 10, final wheel is light
Pass through narrow grotto space.
And when advancing on sand ground or soft terrain, the pressure of wheel road pavement isDue to using soft
Body material, quality is lighter than rigid material, therefore gravity G is smaller, while external fluid driver is after compression, generate deformation with
The contact area s of contact surface is bigger, therefore pressure is smaller, can be smaller to the soft terrains bring Dish deformation such as sand ground, more conducively
Walking.
When integrally carrying out force analysis to it, as shown in figure 11, climbed using rigid wheel in the prior art, institute
The gradient in climbing face is α, since it is only by gravity G, the effect of frictional force f and holding power N, therefore the plane mechanical equation of rigid wheel
For：
Vertical direction:
Frictional force：F=μ N=μ cosa
Horizontal direction：FIt closes=Gsina-f=Gsina- μ Gcosa=G (sina- μ cosa)
It is found that it only could be in the stable operation in slope surface, slope surface in the case where frictional force f is sufficiently large by above-mentioned equation
The gradient it is bigger, slope surface reduces the holding power of wheel, and frictional force also accordingly reduces, and the horizontal component Gsina of gravity is also corresponding
A possibility that increase, then wheel glides to the right, will increase.
As shown in figure 12, the present invention is due to the support of the fluid driver to bend after more deformations, therefore it rubs
Wiping power is：F=μ (G+N2) cosa, the resultant force of horizontal direction is then：FIt closes=Gsina- μ (G+N2)cosa.Frictional force is bright at this time
It is aobvious to increase, it can be moved under the bigger angle of gradient.
If coefficient of friction is set as 0.2, if the support force N of the fluid driver to bend after deformation2=0.1G passes through
Measuring and calculating, the angle of gradient that traditional rigid wheel to multipotency is climbed is the slope surface of 11.3 ° (gradient 20%), and the present invention can then climb
The angle of gradient is the slope surface of 12.4 ° (gradient 22%), and applicability is broader.
The preferred embodiment of the present invention has been described above in detail, still, during present invention is not limited to the embodiments described above
Detail a variety of equivalents can be carried out to technical solution of the present invention within the scope of the technical concept of the present invention, this
A little equivalents all belong to the scope of protection of the present invention.
Claims (9)
1. a kind of pneumatic software traveling wheel of deformable non-circular rolling, it is characterised in that：Including outer ring, inner ring, outer support bar, interior
Support rod, fluid driver, tracheae and air pump；
The outer cross section contour line of outer ring has the installation stationary plane and N of N number of equal length for the outside of n-shaped namely outer ring
A interface point, wherein N >=3；
Outer ring, inner ring and air pump successively arranged concentric from outside to inside；It is connected between air pump and inner ring by several inner bracing pieces
It connects, is connected between outer ring and inner ring by several outer support bars, the quantity of outer support bar and inner bracing piece is solid with installation
The quantity for determining face is equal；Outer support bar and inner bracing piece are hollow structure, and are interconnected；
Fluid driver there are two being set side by side on each installation stationary plane, two fluid drivers are respectively fluid clockwise
Driver and fluid driver counterclockwise；One end directly company of fixation of one end of each fluid driver and corresponding installation stationary plane
It connects, forms fixing end；The fixing end of fluid driver clockwise and the fixing end of fluid driver counterclockwise are located at corresponding installation
The different ends of stationary plane；
Each fluid driver includes the strain limitation bottom and elastomer layer being mutually permanently connected, and strain limitation bottom can be with
Installation stationary plane is in contact, and elastomer layer can be in contact with road surface, and the elasticity of elastomer layer is greater than the elasticity of strain limitation bottom；
A tracheae is provided in each elastomer layer, tracheae is pierced by from the elastomer layer for being located at fixed end side, then is sequentially passed through
After corresponding interface point on outer ring, the hollow cavity of outer support bar, the hollow cavity of inner ring and inner bracing piece, it is connected with air pump.
2. the pneumatic software traveling wheel of deformable non-circular rolling according to claim 1, it is characterised in that：Outer ring is by elasticity
Material makes to be formed, and the elasticity of outer ring is less than the elasticity of elastomer layer.
3. the pneumatic software traveling wheel of deformable non-circular rolling according to claim 2, it is characterised in that：Every outer support
The length of bar can stretch, and be provided with linear extendible driving device on every outer support bar.
4. the pneumatic software traveling wheel of deformable non-circular rolling according to claim 3, it is characterised in that：Linear extendible drives
Dynamic device is telescope motor or telescopic cylinder.
5. the pneumatic software traveling wheel of deformable non-circular rolling according to claim 1, it is characterised in that：Each fluid drives
The other end of dynamic device is connected with the other end of corresponding installation stationary plane by elastic component, and elastic connecting contravention is formed.
6. the pneumatic software traveling wheel of deformable non-circular rolling according to claim 5, it is characterised in that：Elastic component is bullet
Spring or rubber band.
7. the pneumatic software traveling wheel of deformable non-circular rolling according to claim 1, it is characterised in that：In elastomer layer
Several cavitys are provided with, each cavity is connected with the tracheae protruded into elastomer layer.
8. the pneumatic software traveling wheel of deformable non-circular rolling according to claim 1, it is characterised in that：Each fluid drives
Several top layer grooves are provided on the outer top surface of dynamic device.
9. the pneumatic software traveling wheel of deformable non-circular rolling according to claim 1, it is characterised in that：Each fluid drives
The side of dynamic device is provided with several lateral grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710058294.7A CN106915204B (en) | 2017-01-23 | 2017-01-23 | A kind of pneumatic software traveling wheel of deformable non-circular rolling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710058294.7A CN106915204B (en) | 2017-01-23 | 2017-01-23 | A kind of pneumatic software traveling wheel of deformable non-circular rolling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106915204A CN106915204A (en) | 2017-07-04 |
| CN106915204B true CN106915204B (en) | 2018-11-27 |
Family
ID=59453443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710058294.7A Active CN106915204B (en) | 2017-01-23 | 2017-01-23 | A kind of pneumatic software traveling wheel of deformable non-circular rolling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106915204B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338958B (en) * | 2020-10-20 | 2021-09-14 | 哈尔滨工业大学 | Modular flexible torsion joint based on air bag inflation and deflation actuation |
| CN112247975B (en) * | 2020-10-30 | 2022-03-29 | 华中科技大学 | Wheel-shaped mobile robot based on 4D printing |
| CN113401248B (en) * | 2021-06-29 | 2022-04-12 | 中国建筑第八工程局有限公司 | Large-scale pipeline transport means in narrow and small space in utility tunnel |
| CN115303377B (en) * | 2022-09-20 | 2023-11-03 | 哈尔滨理工大学 | Variable-diameter soft rolling robot and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0023460A1 (en) * | 1979-07-25 | 1981-02-04 | Le Feron de Longcamp, Guy | Deformable wheel to be used especially as a vehicle wheel or in a gearing |
| CN1107424A (en) * | 1994-01-28 | 1995-08-30 | 松下电器产业株式会社 | Variable outer diameter wheel and vihicle providing it |
| CN201362133Y (en) * | 2009-03-16 | 2009-12-16 | 刘建伟 | Vehicle wheel with continuously-variable diameter |
| CN201472055U (en) * | 2009-04-17 | 2010-05-19 | 艾散江·托乎提 | Deformable tyre |
| CN103448831A (en) * | 2013-09-16 | 2013-12-18 | 北京交通大学 | Obstacle-crossing carrying robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007145044A (en) * | 2005-11-24 | 2007-06-14 | Daiwarashi Co Ltd | Caster |
-
2017
- 2017-01-23 CN CN201710058294.7A patent/CN106915204B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0023460A1 (en) * | 1979-07-25 | 1981-02-04 | Le Feron de Longcamp, Guy | Deformable wheel to be used especially as a vehicle wheel or in a gearing |
| CN1107424A (en) * | 1994-01-28 | 1995-08-30 | 松下电器产业株式会社 | Variable outer diameter wheel and vihicle providing it |
| CN201362133Y (en) * | 2009-03-16 | 2009-12-16 | 刘建伟 | Vehicle wheel with continuously-variable diameter |
| CN201472055U (en) * | 2009-04-17 | 2010-05-19 | 艾散江·托乎提 | Deformable tyre |
| CN103448831A (en) * | 2013-09-16 | 2013-12-18 | 北京交通大学 | Obstacle-crossing carrying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106915204A (en) | 2017-07-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106915204B (en) | A kind of pneumatic software traveling wheel of deformable non-circular rolling | |
| CN2774717Y (en) | Snaik shape robot of multiple freedom flexible joints | |
| CN103402793B (en) | tire inflation system | |
| CN102530121B (en) | Leg of multi-legged walking robot | |
| CN211388803U (en) | Power pipeline inspection robot | |
| CN103434344B (en) | Inflatable buffer three-flap inner support body device | |
| KR101322995B1 (en) | Wheel structure | |
| CN111306424A (en) | Three-dimensional laser scanner for building ancient building model | |
| CN104210570A (en) | Elastic caterpillar band capable of realizing telescopic deformation | |
| CN206416774U (en) | The pneumatic software wheel rolled using fluid driver | |
| CN109357104B (en) | Pipeline detection robot | |
| CN103568698A (en) | Multi-category geographical environment traveling pedal wheel | |
| US10766300B2 (en) | Expandable and retractable wheel assembly | |
| CN101954834B (en) | Combined spring variable-diameter wheel carrier for variable-diameter wheel | |
| CN111216490B (en) | Wheel structure and vehicle with adjustable width and rigidity | |
| CN109469790B (en) | Telescopic drive nondestructive test equipment | |
| CN115303377B (en) | Variable-diameter soft rolling robot and control method thereof | |
| CN112325051B (en) | Pipeline robot | |
| Spiegel et al. | A Shape-Changing Wheeling and Jumping Robot Using Tensegrity Wheels and Bistable Mechanism | |
| CN110696014A (en) | Power pipeline inspection robot | |
| CN210912658U (en) | Stability-increasing crawler belt for mountain land machine-mounted equipment | |
| CN104442247B (en) | A kind of crawler type amphibious running gear beformable body filled type draws plate | |
| CN203567454U (en) | Multi-class geographical environment walking pedal wheel | |
| CN218228503U (en) | Deformable wheel of robot | |
| CN210026900U (en) | Shock-absorbing tyre with spring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |