CN107117221A - A kind of step-by-step movement robot capable of climbing trees with metamorphic function - Google Patents
A kind of step-by-step movement robot capable of climbing trees with metamorphic function Download PDFInfo
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- CN107117221A CN107117221A CN201710182466.1A CN201710182466A CN107117221A CN 107117221 A CN107117221 A CN 107117221A CN 201710182466 A CN201710182466 A CN 201710182466A CN 107117221 A CN107117221 A CN 107117221A
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- pedipulator
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- hydraulic cylinder
- driving hydraulic
- sliding sleeve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
A kind of step-by-step movement robot capable of climbing trees with metamorphic function, including pedipulator system and frame bar assembly, the pedipulator system includes the first pedipulator system, the second pedipulator system, the 3rd pedipulator system and the 4th pedipulator system, and the first pedipulator system includes drive rocker, driven rocking bar, connecting rod, pedipulator motor, link, sliding sleeve, sliding sleeve driving hydraulic cylinder, pedipulator driving hydraulic cylinder, pedipulator, fixed claw, rolling bearing and arc-shaped limit chute.When pedipulator motor is operated alone, it just can realize that complexity is climbed tree and embrace tree motion, driving is simple；Pedipulator and trunk have angle of inclination, just can be realized using the reaction force of driving force locked, climb tree safe and reliable；During robot climbs tree, the free degree is changed, thus it is possible to vary hold angle tightly, realize robot flexible adaptation different-diameter trees；Animal bodies construction is simulated, makes robot capable of climbing trees flexible adaptation different shape trees.
Description
Technical field
The present invention relates to Robot Design field, particularly a kind of step-by-step movement robot capable of climbing trees with metamorphic function.
Background technology
With the continuous improvement of robot technology level, the application of bio-robot is gradually extensive, wherein bionical machine of climbing tree
Applying for device people is also increasing in terms of trees training, disease control, pest control, picking fruit, field detection monitoring,
Existing robot capable of climbing trees mainly has imitative snakelike winding robot, up and down telescopic robot, convertible robot etc., there is driving
Element is numerous, and movement velocity is slow, and load capacity is small, and the problems such as to different-diameter trees poor universality, it is impossible to realize very well
Climb tree and task.
Chinese patent ZL2012103468033 discloses a kind of four-footed climbing robot, and the robot utilizes self-weight self-locking,
And each holding arm installs three motors, driving is more complicated, and overall movement speed is also relatively slow, does not have applicability；It is Chinese special
Sharp CN 105963931A disclose a kind of novel automatic and climbed tree equipment, and the patent utilization hydraulic cylinder, which shrinks crawler belt and realized, creeps,
Realized and held tightly using arc-shaped rod, in actual job, be only applicable to uiform section straight elevator trees, trees thickness can not be complete when changing
Into holding, using limiting to very much.Other disclosed patents about robot capable of climbing trees are substantially similar with above-mentioned two classes patent.
At present, it there are no driving simple, climb tree reliable and secure, different-diameter, the stepping of different shape trees are adapted to again
Formula robot capable of climbing trees.
The content of the invention
It is an object of the invention to provide a kind of step-by-step movement robot capable of climbing trees with metamorphic function, it can overcome existing climb tree
The deficiency of robot, when pedipulator motor is operated alone, just can realize that complexity is climbed tree and embrace tree motion, driving is simple；Machinery
Leg and trunk have angle of inclination, just can be realized using the reaction force of driving force locked, climb tree safe and reliable；Robot is climbed
During tree, the free degree is changed, thus it is possible to vary hold angle tightly, realize the change of robot flexible adaptation tree diameters；Simulation is dynamic
Thing body make-up, makes robot capable of climbing trees flexible adaptation different shape trees.
The present invention reaches above-mentioned purpose by the following technical programs：A kind of step-by-step movement tree-climbing machine with metamorphic function
People, including pedipulator system and frame bar assembly, concrete structure and annexation are：
The pedipulator system includes the first pedipulator system, the second pedipulator system, the 3rd pedipulator system and the 4th
Pedipulator system, the first pedipulator system includes drive rocker, driven rocking bar, connecting rod, pedipulator motor, connection
Frame, sliding sleeve, sliding sleeve driving hydraulic cylinder, pedipulator driving hydraulic cylinder, pedipulator, fixed claw, arc-shaped limit chute and rolling bearing,
Described drive rocker one end is connected with connecting rod, and the other end is fixedly connected with pedipulator motor, pedipulator motor and
One bar is connected, and drives drive rocker to be rotated relative to the first bar, and driven rocking bar one end is connected with connecting rod, and the other end and the first bar connect
Connect, link is both connected with connecting rod, and is connected with sliding sleeve by cylindrical pair, be also connected with pedipulator driving hydraulic cylinder, the cunning
Set be connected with sliding sleeve driving hydraulic cylinder, the pedipulator driving hydraulic cylinder is connected with pedipulator, the sliding sleeve driving hydraulic cylinder and
First bar is connected, and the fixed claw is fixedly connected with link, and rolling bearing, rolling bearing are mounted with below the driven rocking bar
Moved in arc-shaped limit chute, arc-shaped limit chute is fixed on below the first bar, the second pedipulator system, the 3rd pedipulator system
System and the 4th pedipulator system are identical with the first pedipulator system architecture and annexation；
The frame bar assembly include the first bar, the second bar, the 3rd bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar and
8th bar, the first bar is hinged with the second bar by the first Hooke, and the second bar is connected with the 3rd bar by second hinge, the 3rd bar
It is connected with the 4th bar by the motor of side link first, the 4th bar is connected with the 5th bar by third hinge, the 5th bar and
Six bars are hinged by the second Hooke, and the 6th bar and the 7th bar are by the 4th hinge connection, and the 7th bar and the 8th bar pass through frame linking
The motor of bar second is connected, and the 8th bar is connected with the first bar by first axle, side link the first driving hydraulic cylinder one end and
First bar is connected, and the other end is hinged with the second bar by the 3rd Hooke, side link the second driving hydraulic cylinder one end and the 6th bar
Connection, the other end is hinged with the 5th bar by the 4th Hooke, and the driving hydraulic cylinder one end of side link the 3rd is connected with the first bar, separately
One end is connected with the 8th bar, and the driving hydraulic cylinder one end of side link the 4th is connected with the 6th bar, and the other end is connected with the 7th bar, frame linking
The driving hydraulic cylinder one end of bar the 5th is connected with the 5th bar, and the other end is connected with the 4th bar, the driving hydraulic cylinder one end of side link the 6th
It is connected with the second bar, the other end is connected with the 3rd bar.
The arc-shaped limit chute circular arc corresponding angle is 100-105 °, and the pedipulator is with link setting angle
45-50°。
The present invention's has the prominent advantages that：
1. step-by-step movement robot capable of climbing trees is during climbing tree, pedipulator can realize two-freedom and turn of single-degree-of-freedom
Become, belong to variable freedom and become born of the same parents' structure, with multi-functional phase change, multiple topology change, multiple degrees of freedom variation characteristic, make
Pedipulator completes the action of complexity during climbing tree.During climbing tree, require different according to gait, single-degree-of-freedom can when working
Motion is waited to realize that relative trunk is held tightly or loosened upwards upwards, when two frees degree work, pedipulator can be made in machine
Keep holding tightly when people moves upwards, and holding angle can be changed, adapt to different-diameter trees.
2. step-by-step movement robot capable of climbing trees, driving is simple, when motor is operated alone, and just can flexibly imitate animal and climb tree action,
Pedipulator can realize relative trunk by holding tightly to loosening upwards, then to the upward compound action for holding trunk tightly, be driven while relying on
The reaction force of power realizes that pedipulator is locked on trunk, climbs tree safe and reliable.
3. two Hooke's hinges and its drive device in frame bar assembly, when actually climbing tree, more preferably simulate animal bodies
Structure, realizes multi-faceted steering, avoidance, changes center of gravity, adapt to trees of different shapes.
Brief description of the drawings
Fig. 1 is the structural representation of step-by-step movement robot capable of climbing trees of the present invention.
Fig. 2 is view when drive rocker of the present invention is vertical with the first bar.
Fig. 3 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved upwards.
Fig. 4 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved downward.
Fig. 5 is the schematic diagram of end movement track when pedipulator of the present invention is climbed tree upwards.
Fig. 6 for the step-by-step movement robot capable of climbing trees of the present invention with metamorphic function the first step climb tree gait illustrate
Figure.
Fig. 7 for the step-by-step movement robot capable of climbing trees of the present invention with metamorphic function second step climb tree gait illustrate
Figure.
Fig. 8 is link schematic diagram of the present invention.
Fig. 9 is arc-shaped limit chute schematic diagram of the present invention.
The representative implication of each mark in accompanying drawing：
1：First axle；2：8th bar；3：The motor of side link second；4：7th bar；5：4th hinge；6：6th
Bar；7：Second Hooke's hinge；8：5th bar；9：Third hinge；10：4th bar；11：The motor of side link first；12：3rd
Bar；13：Second hinge；14：Second bar；15：First Hooke's hinge；16：First bar；17：Pedipulator；18：Arc-shaped limit chute；
19：Rolling bearing；20：Fixed claw；21：The driving hydraulic cylinder of side link first；22：3rd Hooke's hinge；23：Side link second drives
Hydraulic cylinder；24：4th Hooke's hinge；25：The driving hydraulic cylinder of side link the 3rd；26：The driving hydraulic cylinder of side link the 4th；27：Frame linking
The driving hydraulic cylinder of bar the 5th；28：The driving hydraulic cylinder of side link the 6th；29：Pedipulator driving hydraulic cylinder；30：Pedipulator driving electricity
Machine；31：Drive rocker；32：Connecting rod；33：Link；34：Sliding sleeve；35：Driven rocking bar；36：Sliding sleeve driving hydraulic cylinder；37：Tree
Wood.
Embodiment
Below in conjunction with the accompanying drawings and technical scheme is clearly and completely described embodiment, it is clear that embodiment
Only a part of embodiment of the invention, rather than whole embodiments.Based on embodiments of the invention, those skilled in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Compares figure 1, Fig. 2, Fig. 8 and Fig. 9, the step-by-step movement robot capable of climbing trees of the present invention with metamorphic function, including
Pedipulator system and frame bar assembly, concrete structure and annexation are：
The pedipulator system includes the first pedipulator system, the second pedipulator system, the 3rd pedipulator system and the 4th
Pedipulator system, the first pedipulator system includes drive rocker 31, driven rocking bar 35, connecting rod 32, pedipulator motor
30th, link 33, sliding sleeve 34, sliding sleeve driving hydraulic cylinder 36, pedipulator driving hydraulic cylinder 29, pedipulator 17, fixed claw 20, rolling
Bearing 19 and arc-shaped limit chute 18, one end of drive rocker 31 are connected with connecting rod 32 by revolute pair, and the other end drives with pedipulator
Dynamic motor 30 is fixedly connected, and pedipulator motor 30 is connected with the first bar 16 by revolute pair, and drives the phase of drive rocker 31
First bar 16 is rotated, driven one end of rocking bar 35 is connected with connecting rod 32, the other end is connected with the first bar 16, link 33 is both with connecting
Bar 32 is connected, and is connected with sliding sleeve 34 by cylindrical pair, is also connected with pedipulator driving hydraulic cylinder 29, the sliding sleeve 34 and sliding sleeve
Driving hydraulic cylinder 36 is connected, and the pedipulator driving hydraulic cylinder 29 is connected with pedipulator 17, the sliding sleeve driving hydraulic cylinder 36 with
First bar 16 is connected, and the fixed claw 20 is fixedly connected with link 33, and the driven lower section of rocking bar 35 is mounted with rolling bearing
19, rolling bearing 19 is moved in arc-shaped limit chute 18, and arc-shaped limit chute 18 is fixed on the lower section of the first bar 16, the second machinery
Leg system, the 3rd pedipulator system, the 4th pedipulator system are identical with the first pedipulator system architecture and annexation；
The frame bar assembly includes the first bar 16, the second bar 14, the 3rd bar 12, the 4th bar 10, the 5th bar 8, the 6th bar
6th, the 7th bar 4 and the 8th bar 2, the first bar 16 are connected with the second bar 14 by the first Hooke's hinge 15, the second bar 14 and the 3rd bar 12
Connected by second hinge 13, the 3rd bar 12 is connected with the 4th bar 10 by the first motor of side link 11, the 4th bar 10 with
5th bar 8 is connected by third hinge 9, and the 5th bar 8 is connected with the 6th bar 6 by the second Hooke's hinge 7, the 6th bar 6 and the 7th bar 4
Connected by the 4th hinge 5, the 7th bar 4 is connected with the 8th bar 2 by the second motor of side link 3, the 8th bar 2 and the first bar
16 are connected by first axle 1, and the one end of the first driving hydraulic cylinder of side link 21 is connected with the first bar 16, the other end and the second bar 14
Connected by the 3rd Hooke's hinge 22, the one end of the second driving hydraulic cylinder of side link 23 is connected with the 6th bar 6, the other end and the 5th bar 8
Connected by the 4th Hooke's hinge 24, the one end of the 3rd driving hydraulic cylinder of side link 25 is connected with the first bar 16, the other end and the 8th bar 2
Connection, one end of the 4th driving hydraulic cylinder of side link 26 is connected with the 6th bar 6, and the other end is connected with the 7th bar 4, and side link the 5th drives
The one end of hydrodynamic cylinder pressure 27 is connected with the 5th bar 8, and the other end is connected with the 4th bar 10, the one end of the 6th driving hydraulic cylinder of side link 28 with
Second bar 14 is connected, and the other end is connected with the 3rd bar 12.
The circular arc corresponding angle of arc-shaped limit chute 18 is 100-105 °, the pedipulator 17 and the established angle of link 33
Spend for 45-50 °.
Operation principle and process：
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, when drive rocker 31 is vertical with connecting rod 32, sliding sleeve 34 slides into link 33
It is middle；The independent role effect of pedipulator motor 30, as state is changed into state shown in Fig. 3 as shown in Figure 2, it is possible to achieve machine
Relative first bar 16 of tool leg 17 holds the motion of trunk tightly simultaneously upwards, and such as action effect, state is changed into shown in Fig. 2 as shown in Figure 4
State, it is possible to achieve relative first bar 16 of pedipulator 17 loosens the motion of trunk simultaneously upwards, i.e. action effect is changed into by Fig. 4
When Fig. 2 is changed into state shown in Fig. 3 again, pedipulator 17 does upward relaxing exercise relative to the first bar 16, by holding and done again upwards
Hold motion tightly, action effect on the contrary is changed into Fig. 2 and is changed into state shown in Fig. 4 again as shown in Figure 3, realizes pedipulator 17 relative
In the first bar 16 by holding state to loosening downwards again to the motion held tightly downwards, be also pedipulator 17 drive robot capable of climbing trees to
The process of upper motion, and sliding sleeve driving hydraulic cylinder 36 participates in being changed into Fig. 2 as shown in Figure 3 and is changed into process shown in Fig. 4 again, protects
Card robot when moving upwards, and pedipulator 17 is always maintained at the holding to trunk, and the driving process of sliding sleeve driving hydraulic cylinder 36 is,
When state is changed into state shown in Fig. 2 as shown in Figure 3, sliding sleeve driving hydraulic cylinder 36 is gradually stretched out, and state shown in Fig. 2 up to
Range, when state is changed into state shown in Fig. 4 as shown in Figure 2, sliding sleeve driving hydraulic cylinder 36 gradually bounces back, and in Fig. 4 institutes
Reset condition is reduced to when showing state, pedipulator motor 30 cooperates with sliding sleeve driving hydraulic cylinder 36 during this, it is real
The automatic conversion of existing one degree of freedom and two frees degree, realizes robot during upward motion, pedipulator 17 is always
Keep holding tightly.
Compares figure 5, when pedipulator is moved upwards, can realize to climb tree under the independent role of pedipulator motor 30 and embrace
Tight range of motion, imitates animal and climbs tree process leg action, i.e. pedipulator 17 by holding trunk, to gradually loosening upwards,
θ in the process gradually held tightly upwards, Fig. 5 is arrived again1、θ2The size of value reflects the holding degree of pedipulator 17 and trees 37.
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, pedipulator 17 constitute a pin with fixed claw 20 and climb instrument, and incline with trunk
Oblique certain angle, therefore the driving force of pedipulator motor 30 can not only realize that pedipulator 17 is climbed tree while holding trunk tightly upwards
Motion, moreover it is possible to realize that pedipulator 17, to the locked of trunk, meets reliable and stable requirement of climbing tree, at the same pedipulator 17 with machinery
Leg driving hydraulic cylinder 29 is connected, and the collapsing length of pedipulator driving hydraulic cylinder 29 can be adjusted automatically according to trunk diameter, is realized
Generally it is applicable function.
Compares figure 6, Fig. 7 and Fig. 8, pedipulator 17 are identical with the pedipulator action in the 3rd pedipulator system, and with
Pedipulator in two pedipulator systems is on the contrary, pedipulator in pedipulator and the 4th pedipulator system in the second pedipulator system
Action is identical, therefore during climbing tree, the first step, as shown in fig. 6, the pedipulator in the pedipulator system of pedipulator 17 and the 3rd
Moved upwards with respect to body, and the pedipulator in the pedipulator and the 4th pedipulator system in the second pedipulator system is with respect to body
Move downward, i.e. the pedipulator in pedipulator and the 4th pedipulator system in the second pedipulator system, drive robot body
Motion upwards, second step is identical with the first step, the machinery in pedipulator and the 4th pedipulator system in the second pedipulator system
Leg is moved upwards with respect to body, and the pedipulator in the pedipulator system of pedipulator 17 and the 3rd is moved downward with respect to body, i.e., mechanical
Pedipulator in the pedipulator system of leg 17 and the 3rd drives robot body to move upwards, and the two steps are just realized successively
Robot capable of climbing trees is quickly climbed tree.
When robot capable of climbing trees needs the remains stationary on trunk, to complete when such as training, monitoring, insect pest preventing and controlling work,
Driven rocking bar 35 connects rolling bearing 19, and to move to upper extreme position in arc-shaped limit chute 18 locked, is only driven by sliding sleeve
Hydraulic cylinder 36 drives, and realizes the complete holding to trunk, the second pedipulator system, the 3rd pedipulator system and the 4th pedipulator system
Pedipulator in system is identical with the state of pedipulator 17, and now robot capable of climbing trees is just firmly held tightly on trunk.
The driving hydraulic cylinder 25 of side link the 3rd and the driving hydraulic cylinder 26 of side link the 4th are driven, or drives side link simultaneously
5th driving hydraulic cylinder 27 and the driving hydraulic cylinder 28 of side link the 6th, it is possible to achieve left and right turn, while driving side link first
Driving hydraulic cylinder 21 and the second driving hydraulic cylinder of side link 23 can be realized and bent over upwards, while driving side link first to drive electricity
Machine 11 and the second motor of side link 3 can realize that the change of center of gravity, the various operating modes of flexible adaptation are realized in left and right doubling.
Claims (3)
1. a kind of step-by-step movement robot capable of climbing trees with metamorphic function, including pedipulator system and frame bar assembly, its feature exist
In concrete structure and annexation are：
The pedipulator system includes the first pedipulator system, the second pedipulator system, the 3rd pedipulator system and the 4th machinery
Leg system, the first pedipulator system includes drive rocker, driven rocking bar, connecting rod, pedipulator motor, link, cunning
Set, sliding sleeve driving hydraulic cylinder, pedipulator driving hydraulic cylinder, pedipulator, fixed claw, arc-shaped limit chute and rolling bearing, it is described
Drive rocker one end is connected with connecting rod, and the other end is fixedly connected with pedipulator motor, and driven rocking bar is connected with connecting rod, connection
Frame is both connected with connecting rod, and is connected with sliding sleeve by cylindrical pair, is also fixedly connected with pedipulator driving hydraulic cylinder, the sliding sleeve with
Sliding sleeve driving hydraulic cylinder is connected through a screw thread, and the pedipulator driving hydraulic cylinder is connected through a screw thread with pedipulator, the fixation
Pawl is fixedly connected with link, and the rolling bearing is arranged on below driven rocking bar, and rolling bearing is transported in arc-shaped limit chute
It is dynamic, the second pedipulator system, the 3rd pedipulator system and the 4th pedipulator system and the first pedipulator system architecture and it is connected pass
It is identical.
2. the step-by-step movement robot capable of climbing trees according to claim 1 with metamorphic function, it is characterised in that the arc limit
Position chute circular arc corresponding angle is 100-105 °.
3. the step-by-step movement robot capable of climbing trees according to claim 1 with metamorphic function, it is characterised in that the pedipulator
It it is 45-50 ° with link setting angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182466.1A CN107117221A (en) | 2017-03-24 | 2017-03-24 | A kind of step-by-step movement robot capable of climbing trees with metamorphic function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182466.1A CN107117221A (en) | 2017-03-24 | 2017-03-24 | A kind of step-by-step movement robot capable of climbing trees with metamorphic function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107117221A true CN107117221A (en) | 2017-09-01 |
Family
ID=59718087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710182466.1A Pending CN107117221A (en) | 2017-03-24 | 2017-03-24 | A kind of step-by-step movement robot capable of climbing trees with metamorphic function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107117221A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911229A (en) * | 2021-11-04 | 2022-01-11 | 安徽理工大学 | Hexapod robot suitable for different working environments can become cell |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5301459A (en) * | 1991-06-02 | 1994-04-12 | Toptech Ltd. | Tree climbing device |
| CN101537616A (en) * | 2009-04-29 | 2009-09-23 | 江南大学 | Pole-climbing robot with multiple postures |
| CN201736227U (en) * | 2010-04-16 | 2011-02-09 | 洛阳理工学院 | Creeping rope-climbing and pole-climbing robot |
| CN102490804A (en) * | 2011-11-15 | 2012-06-13 | 西华大学 | Robot capable of getting over obstacles and climbing poles |
| CN102745276A (en) * | 2011-04-22 | 2012-10-24 | 长春理工大学 | Walking type climbing pole robot |
| CN102815348A (en) * | 2012-09-18 | 2012-12-12 | 西北工业大学 | Four-feet climbing robot |
| CN105818882A (en) * | 2016-05-30 | 2016-08-03 | 天津大学 | Four-foot bionic robot with planar four-bar metamorphic mechanism used on waist |
-
2017
- 2017-03-24 CN CN201710182466.1A patent/CN107117221A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5301459A (en) * | 1991-06-02 | 1994-04-12 | Toptech Ltd. | Tree climbing device |
| CN101537616A (en) * | 2009-04-29 | 2009-09-23 | 江南大学 | Pole-climbing robot with multiple postures |
| CN201736227U (en) * | 2010-04-16 | 2011-02-09 | 洛阳理工学院 | Creeping rope-climbing and pole-climbing robot |
| CN102745276A (en) * | 2011-04-22 | 2012-10-24 | 长春理工大学 | Walking type climbing pole robot |
| CN102490804A (en) * | 2011-11-15 | 2012-06-13 | 西华大学 | Robot capable of getting over obstacles and climbing poles |
| CN102815348A (en) * | 2012-09-18 | 2012-12-12 | 西北工业大学 | Four-feet climbing robot |
| CN105818882A (en) * | 2016-05-30 | 2016-08-03 | 天津大学 | Four-foot bionic robot with planar four-bar metamorphic mechanism used on waist |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911229A (en) * | 2021-11-04 | 2022-01-11 | 安徽理工大学 | Hexapod robot suitable for different working environments can become cell |
| CN113911229B (en) * | 2021-11-04 | 2023-02-28 | 安徽理工大学 | Hexapod robot suitable for different working environments can become cell |
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Application publication date: 20170901 |