CN107554637A - A kind of six sufficient barrier-surpassing robots - Google Patents
A kind of six sufficient barrier-surpassing robots Download PDFInfo
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- CN107554637A CN107554637A CN201710885091.5A CN201710885091A CN107554637A CN 107554637 A CN107554637 A CN 107554637A CN 201710885091 A CN201710885091 A CN 201710885091A CN 107554637 A CN107554637 A CN 107554637A
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Abstract
The invention discloses a kind of six sufficient barrier-surpassing robots, including fuselage, front-wheel leg mechanism, take turns leg mechanism and trailing wheel leg mechanism in middle part, front-wheel leg mechanism and trailing wheel leg mechanism are by driving wheel and driving wheel height adaptive structure composition, the middle part wheel leg mechanism is made up of revolver leg mechanism and right wheel leg mechanism, revolver leg mechanism includes left front leg, left back leg, height adjustment motor and fixing axle, rotatably it is arranged at the top of left front leg and left back leg in fixing axle, one in two legs of revolver leg mechanism is provided with adjustment gear, another setting height(from bottom) regulation motor, the output shaft of the oscillating rod of height adjustment motor second is provided with the driving tooth with adjustment gear engaged transmission, fixing axle installs fuselage side by U-shaped board, the bottom of left front leg and left back leg is mounted on driving wheel；The right wheel leg mechanism and revolver leg mechanism structure is just the same is symmetrical arranged.The present apparatus breaks through topographic constraints, improves the terrain trafficability and adaptive capacity to environment of travel mechanism.
Description
Technical field
The present invention relates to mobile robot field, is related to a kind of robot applied to complicated landform, and in particular to a kind of
Six sufficient barrier-surpassing robots.
Background technology
With exploration of the mankind to natural environment, the development of space exploration, humanity rescue and military needs, mobile machine
The application of people is increasingly extensive.Especially many harsh severe working environments and task, it is desirable to which mobile robot has good
Landform adaptability and obstacle climbing ability, to pass through extreme environment and complex road surface.
As terrain environment becomes complicated and possesses multiple characteristics, traditional wheeled and crawler-type mobile mechanism is flatly
Preferable travelling performance is shown in shape, but is difficult in adapt to rugged complicated landform.Compared to wheeled and crawler-type mobile
Mechanism, Tui Shi travel mechanisms have stronger flexibility and landform adaptability, but its translational speed is slow and energy efficiency is low.
In order to improve the landform adaptability of travel mechanism and mobility, composite moving mechanism turn into ground moving mechanism one is important
Research tendency.Three kinds of independent ground moving mechanisms adapt to from complex degree of structure, control complexity, mobile efficiency, environment
Property and obstacle climbing ability in terms of have respective strengths and weaknesses.However, as terrain environment becomes complicated unknown and possesses multiple characteristics,
The ground moving mechanism of simple function feature would become hard to meet mission requirements.
The content of the invention
The invention aims to solve the problems, such as the ground run adaptability difference of mobile robot, propose to carry and stretch
The single-degree-of-freedom six-bar mechanism of contracting bar improves the obstacle climbing ability of vertical obstacle as foreleg, and the leg mechanism of both sides passes through gear
It is coupled, can plays a part of reducing and raise robot chassis, while wheel is in the ability with fast running,
The radius of deformation lifting wheel can be caused to play preferably by intricately by rotating mechanism of the rotating disk in chute
The ability in face, while the abrasion on wheel when walking and ground can be reduced.
Another object of the present invention is to break through topographic constraints, the terrain trafficability and environment that improve travel mechanism adapt to
Ability, propose a kind of advantage of compound a variety of travel mechanisms in six sufficient barrier-surpassing robots of one.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of six sufficient barrier-surpassing robots, it is characterised in that：Fuselage bottom is sequentially arranged at including fuselage and after the past
Front-wheel leg mechanism, middle part wheel leg mechanism and trailing wheel leg mechanism, the front-wheel leg mechanism and trailing wheel leg mechanism are by driving wheel and driving
Height adaptive structure composition is taken turns, leg mechanism is taken turns by the revolver leg mechanism and right wheel leg at left and right sides of fuselage in the middle part
Mechanism forms, and the revolver leg mechanism includes left front leg, left back leg, height adjustment motor and fixing axle, left front leg and left back
Rotatably it is arranged at the top of leg in fixing axle, one of them of two legs of revolver leg mechanism is provided with the tune being fixedly linked
Gear is saved, setting height(from bottom) regulation motor on another leg, the output shaft of height adjustment motor, which is provided with, engages biography with adjustment gear
Dynamic driving tooth, the fixing axle install fuselage side by U-shaped board, and the bottom of left front leg and left back leg is mounted on driving
Wheel；The right wheel leg mechanism and revolver leg mechanism structure is just the same is symmetrical arranged.
As an improvement, the driving wheel is wheel footpath variable drive wheel, it include wheel disc, star-like bar, wheel shaft, reducing motor,
Arc is enough and motor composition, and the wheel disc is fixedly mounted on axle outer end as the wheel main body that lands, and the arc is sufficient
It is made up of big segmental arc and small segmental arc, upper big segmental arc and small segmental arc intersection are hingedly mounted on wheel disc edge to arc enough, on wheel disc
Provided with multiple arcs foot, the end to end composition of big segmental arc of multiple arcs foot is circular, and small segmental arc then bends inwards in annulus
Interior, small segmental arc is provided with the same arc elongated slot of radian, is rotatably arranged in the middle part of the star-like bar on wheel shaft, star-like
Bar is provided with pole with arc foot quantity Matching, and each pole end is equipped with one and can slided in corresponding arc elongated slot
Small round bar, star-like bar are provided with the reducing adjustment gear being fixedly linked, and the reducing motor is fixedly mounted on wheel disc, reducing electricity
The output shaft of machine is provided with the drive gear with reducing adjustment gear engaged transmission, and described wheel shaft the inner is arranged on phase by bearing
On the leg answered, the output shaft of motor is connected with wheel shaft, and the body of motor is also mounted on corresponding leg.
As an improvement, the driving wheel height adaptive structure of the front-wheel leg mechanism is multi-link structure, it includes first
Oscillating rod, the second oscillating rod, arc thigh, shank and expansion link, first oscillating rod and the second oscillating rod right-hand member are be hinged
On fuselage at different height, the first oscillating rod left end is connected with the big midleg of arc by joint shaft, arc thigh bottom with
It is hinged and connected in the middle part of second oscillating rod, be hinged arc thigh top at the top of the shank, shank bottom installation driving wheel, in shank
Portion is hinged and connected with expansion link one end, and the expansion link other end inserts the second oscillating rod left end, and expansion link and the second oscillating rod form
Retractable structure.
As an improvement, the driving wheel height adaptive structure of the trailing wheel leg mechanism is spring link structure, after it includes
Leg, auxiliary rod and spring, described auxiliary rod one end are hinged with fuselage, and the other end be hinged at the top of back leg, drive by the installation of back leg bottom
Driving wheel, the both ends of the spring are hinged and connected in the middle part of auxiliary rod and in the middle part of back leg.
As an improvement, the revolver leg mechanism, right wheel leg mechanism, the leg of front-wheel leg mechanism and trailing wheel leg mechanism are doubly-linked
Leg made of bar.
As an improvement, the arc of the driving wheel has 3 to 8 enough, the pole of corresponding star-like bar also has 3-8.
As an improvement, the six sufficient barrier-surpassing robot also includes sensor control unit, the sensor control unit includes
Sensor, CAN, USB data interface, controller, encoder and PC.
Present invention has the advantages that：
The fuselage smooth running of robot of the present invention, it is simple in construction, topographic constraints are broken through, the landform for improving travel mechanism is led to
The property crossed and adaptive capacity to environment, adapt to a variety of landform.
1. the front leg mechanism with expansion link have can in passively lifting thigh height lifting shank simultaneously
Highly play a part of secondary lifting front leg mechanism, enhance the obstacle climbing ability of foreleg.
2. the middle part wheel leg mechanism in fixing axle, can both ensure that front and rear two leg of middle part wheel leg is made by gear coupling
For unitary rotation passive adaptation ground, distance plays adjustment body nodal point height between two legs of increase can be also rotated by adjustment gear
Degree increases ability of the mechanism by ground such as inclined-plane, cave, trenches.
3. the rear leg mechanism with spring can be played under mechanism difference posture certainly by adjusting the flexible of spring
The dynamic ability for adapting to ground supports ground.
Form Zu Shi mechanisms by taking turns foot conversion in fast running 4. the wheel portion of the structure changes can play and play increasing
Big wheel portion radius enhancing is to the uneven handling capacity for waiting complicated ground.
Brief description of the drawings
Fig. 1 is overall structure diagram of the embodiment of the present invention.
Fig. 2 is entirety side view of the embodiment of the present invention.
Fig. 3 is overall top view of the embodiment of the present invention.
Fig. 4 is driving wheel structure schematic diagram.
My left front leg structural representations of Fig. 5.
Fig. 6 is driving wheel and front-wheel leg mechanism scheme of installation.
1- front-wheel leg mechanisms, 2- left front legs, 3- right front legs, the left back legs of 4-, 5- right rear legs, 6- trailing wheel leg mechanisms, 7- fuselages,
8- fixing axles, 9- adjustment gears, 10-U templates, the oscillating rods of 11- first, the oscillating rods of 12- second, 13- arc thighs, 14- shanks,
15- expansion links, 16- wheel discs, the star-like bars of 17-, 18- wheel shafts, 19- motors, 20- arcs foot, 21- arc elongated slots, 22- roundlets
Bar, 23- reducing adjustment gears, 24- reducing motors, 25- back legs, 26- auxiliary rods, 27- springs, 28- driving wheels.
Embodiment
The present invention is illustrated below in conjunction with the accompanying drawings.
As shown in Figures 1 to 6, six sufficient obstacle detourings of a kind of leg of six-bar mechanism with high obstacle performance and varistructure
Robot, including fuselage 7 and the past are sequentially arranged at the front-wheel leg mechanism 1 of the bottom of fuselage 7, middle part wheel leg mechanism and trailing wheel afterwards
Leg mechanism 6, the front-wheel leg mechanism 1 and trailing wheel leg mechanism 6 are described by driving wheel 28 and driving wheel height adaptive structure composition
Middle part is taken turns leg mechanism and is made up of the revolver leg mechanism installed in the left and right sides of fuselage 7 and right wheel leg mechanism, the right wheel leg mechanism
With revolver leg mechanism structure is just the same is symmetricly set on the both sides of fuselage 7, illustrate structure by taking revolver leg mechanism as an example below：Institute
Stating revolver leg mechanism includes left front leg 2, left back leg 4, height adjustment motor and fixing axle 8, left front leg 2 and the top of left back leg 4
Rotatably it is hingedly mounted in fixing axle 8, left front leg 2 is provided with the adjustment gear 9 being fixedly linked, and is installed on left back leg 4
Height adjustment motor, the output shaft of height adjustment motor are provided with the driving tooth with the engaged transmission of adjustment gear 9, the fixing axle
8 install fuselage 7 side by U-shaped board 10, and the bottom of left front leg 2 and left back leg 4 is mounted on driving wheel 28, wherein left front leg 2
Position installation can also be exchanged with each other with the height adjustment motor on left back leg 4 and adjustment gear 9.
As shown in figure 4, the driving wheel 28 is wheel footpath variable drive wheel, it include wheel disc 16, star-like bar 17, wheel shaft 18,
Reducing motor 24, arc foot 20 and motor 19 form, and the wheel disc 16 is fixedly mounted on wheel as the wheel main body that lands
The outer end of axle 18, the arc foot 20 are made up of big segmental arc and small segmental arc, and big segmental arc and small segmental arc intersection are hinged on arc foot 20
Installed in the edge of wheel disc 16, wheel disc 16 is provided with multiple arcs foot 20, end to end group of the big segmental arc of multiple arcs foot 20
Into annular shape, small segmental arc then bends inwards in annulus, and small segmental arc is provided with the same arc elongated slot 21 of radian, the star
The middle part of type bar 17 is rotatably arranged on wheel shaft 18, and star-like bar 17 is provided with the pole with arc 20 quantity Matchings of foot, each
Pole end is equipped with a small round bar 22 that can be slided in corresponding arc elongated slot 21, and star-like bar 17 is provided with what is be fixedly linked
Reducing adjustment gear 23, the reducing motor 24 are fixedly mounted on wheel disc 16, and the output shaft of reducing motor 24 is provided with and change
The drive gear of the engaged transmission of footpath adjustment gear 23, the wheel shaft 18 is inner to be arranged on corresponding leg by bearing, driving electricity
The output shaft of machine 19 is connected with wheel shaft 18, and the body of motor 19 is also mounted on corresponding leg, such as：Front-wheel leg mechanism 1
The body of motor 19 of driving wheel 28 be fixedly mounted on the bottom of shank 14.
The reducing principle of driving wheel 28：When needing to increase the diameter of wheel disc 16 or become to take turns sufficient by wheel disc 16, reducing motor 24
Connect, reducing motor 24 drives star-like bar 17 to rotate by meshed transmission gear, and star-like bar 17 rotates relative to wheel disc 16 so that
The small round bar 22 of the pole end of star-like bar 17 is slided in arc elongated slot 21, because arc foot 20 is different by two parts radian
Bow composition, the circumference arc of arc elongated slot 21 and wheel disc 16 is not parallel, thus arc foot 20 understand relative to it in wheel disc
Pin joint on 16 rotates, then big segmental arc will shrink or flex outward, and when big segmental arc is shunk, just be taken turns with wheel disc 16
Exterior feature is used as wheel rotation profile, when big segmental arc flexes outward, just using the big segmental arc after stretching, extension as wheel rotation profile or
As the fulcrum of foot, so as to realize reducing function.
As shown in Fig. 2 the driving wheel height adaptive structure of the front-wheel leg mechanism 1 is multi-link structure, it includes
One oscillating rod 11, the second oscillating rod 12, arc thigh 13, shank 14 and expansion link 15, first oscillating rod 11 and second are put
The right-hand member of lever 12 is hinged on fuselage 7 at different height, and the left end of the first oscillating rod 11 passes through joint with the middle part of arc thigh 13
Axle is connected, and the bottom of arc thigh 13 is hinged and connected with the middle part of the second oscillating rod 12, the be hinged arc thigh 13 in the top of shank 14
Top, the bottom of shank 14 installation driving wheel 28, the middle part of shank 14 are hinged and connected with the one end of expansion link 15, and the other end of expansion link 15 is inserted
Enter the left end of the second oscillating rod 12, the oscillating rod 12 of expansion link 15 and second composition retractable structure.
As shown in Fig. 2 the driving wheel height adaptive structure of the trailing wheel leg mechanism 6 is the bar linkage structure of spring 27, it is wrapped
Back leg 25, auxiliary rod 26 and spring 27 are included, described one end of auxiliary rod 26 is be hinged with fuselage 7, and the other end and the top of back leg 25 are be hinged,
Driving wheel 28 is installed in the bottom of back leg 25, and the both ends of spring 27 are hinged and connected respectively at the middle part of auxiliary rod 26 and the middle part of back leg 25.
The revolver leg mechanism, right wheel leg mechanism, the leg of front-wheel leg mechanism 1 and trailing wheel leg mechanism 6 are that double link is made
Leg.
The arc foot 20 of the driving wheel 28 has 3 to 8, and the pole of corresponding star-like bar 17 also has 3-8.
The composite mobile robot also includes sensor control unit, and the sensor control unit includes sensor, CAN
Bus, USB data interface, controller, encoder and PC.
The walking manner of composite mobile robot
The level land straight ahead of 1.1 composite mobile robots：There is independent drive on described every leg of composite mobile robot
Driving wheel 28, on level land during straight ahead, every leg contacts with ground simultaneously, and the motor 19 of every leg drives the rotating forward of wheel portion
The advance and retrogressing of composite mobile robot can be achieved with reversion.
The steering of 1.2 composite mobile robots：When the composite mobile robot turns to clockwise, front-wheel leg mechanism 1
Two driving wheels 28 of driving wheel 28 and revolver leg mechanism rotate forward, the driving wheel 28 of trailing wheel leg mechanism 6 and the two of right wheel leg mechanism
The steering clockwise of composite mobile robot can be achieved in the individual reversion of driving wheel 28, turns to counterclockwise on the contrary.
Advance on 1.3 composite mobile robot forward direction inclined-planes：The composite mobile robot adjusts posture, and forward direction is in face of oblique
Slope, now the driving wheel 28 of front-wheel leg mechanism 1 advance, adapt to ramp angles automatically, the driving wheel 28 of middle part wheel leg mechanism rotates forward
Climb up inclined-plane therewith, the driving wheel 28 of trailing wheel leg mechanism 6 adapts to ground automatically under the telescopic action of spring 27, when after wheel leg machine
The driving wheel 28 of structure 6 climbs up inclined-plane, and then composite mobile robot all climbs up slope.
Advance on the lateral inclined-plane of 1.4 composite mobile robots：The composite mobile robot is when lateral face is to inclined-plane, front-wheel
The driving wheel 28 of leg mechanism 1, which rotates forward, to advance, because high right side is relatively low on the left of inclined-plane, the now higher right side of the leftward position of fuselage 7
Side is relatively low, and the height adjustment motor driving of revolver leg mechanism makes left front leg 2 and left back leg 4 rotate and separate in front-rear direction, increase
The distance between two left front legs 2 and left back leg 4, the height in the left side of fuselage 7 is reduced, keep fuselage 7 steadily to advance：Otherwise inclined-plane is left
The low right side in side is high, then distance regulation increase between the right front leg 3 and right rear leg 5 of right wheel leg mechanism, keeps fuselage 7 steadily to walk.
1.5 composite mobile robots cross over vertical obstacle：The driving wheel 28 of the composite mobile robot front-wheel leg mechanism 1
Obstacle contact position is moved to, now the driving wheel 28 of front-wheel leg mechanism 1, which rotates, drives foreleg to cross over to obstacle peak, works as advance
To middle part take turns leg mechanism left front leg 2 or right front leg 3 driving wheel 28 contact obstacle, under the driving of respective drive motor 19 under
Across when contacting obstacle to obstacle peak, the left back leg 4 of middle part wheel leg mechanism or the driving wheel 28 of right rear leg 5, driven in rear side
The motor 19 that drives forwards of driving wheel 28 is rotated by lower cross over to peak, driving of the trailing wheel leg mechanism 6 in its driving wheel 28
Under cross over therewith to obstacle peak, so far composite mobile robot is completed to cross over vertical obstacle.
1.6 composite mobile robot passes through relatively low cave：The revolver leg of wheel leg mechanism in the middle part of the composite mobile robot
Mechanism and right wheel leg mechanism can adjust reduction height respectively, so as to reduce by 7 overall center of gravity of fuselage to that can pass through cave, in front-wheel
Composite mobile robot is driven to complete to pass through cave process under the driving of the driving wheel 28 of leg mechanism 1.
1.7 composite mobile robots wait complex environment walking uneven：The composite mobile robot is intricately
Under being driven when face is walked by the reducing motor 24 built in driving wheel 28, drive arc foot 20 to rotate, make arc foot 20 to surrounding
Trail, increase the diameter of wheel disc 16 or wheel disc 16 is become into wheel foot, be converted into sufficient formula walking by wheeled, mechanism can be increased over the ground
The adaptability in face.
Claims (7)
- A kind of 1. six sufficient barrier-surpassing robots, it is characterised in that：Before fuselage bottom being sequentially arranged at including fuselage and after the past Leg mechanism, middle part wheel leg mechanism and trailing wheel leg mechanism are taken turns, the front-wheel leg mechanism and trailing wheel leg mechanism are by driving wheel and driving wheel Leg mechanism is taken turns by the revolver leg mechanism at left and right sides of fuselage and right wheel leg machine in height adaptive structure composition, the middle part Structure forms, and the revolver leg mechanism includes left front leg, left back leg, height adjustment motor and fixing axle, left front leg and left back leg Top is rotatably arranged in fixing axle, and one of them of two legs of revolver leg mechanism is provided with the regulation being fixedly linked Gear, setting height(from bottom) regulation motor on another leg, the output shaft of height adjustment motor is provided with and adjustment gear engaged transmission Driving tooth, the fixing axle installs fuselage side by U-shaped board, and the bottom of left front leg and left back leg is mounted on driving wheel； The right wheel leg mechanism and revolver leg mechanism structure is just the same is symmetrical arranged.
- 2. six sufficient barrier-surpassing robots of one kind as claimed in claim 1, it is characterised in that：The driving wheel is wheel footpath variable drive Wheel, it includes, and wheel disc, star-like bar, wheel shaft, reducing motor, arc are enough and motor composition, the wheel disc as wheel Ground main body is fixedly mounted on axle outer end, and the arc is made up of big segmental arc and small segmental arc enough, the upper big segmental arc of arc foot and small arc Section intersection is hingedly mounted on wheel disc edge, and wheel disc is provided with multiple arcs foot, the big segmental arc head and the tail phase of multiple arcs foot It is circular to connect composition, small segmental arc then bends inwards in annulus, and small segmental arc is provided with the same arc elongated slot of radian, described Rotatably it is arranged in the middle part of star-like bar on wheel shaft, star-like bar is provided with the pole with arc foot quantity Matching, each pole end End is equipped with a small round bar that can be slided in corresponding arc elongated slot, and star-like bar is provided with the reducing regulation tooth being fixedly linked Wheel, the reducing motor are fixedly mounted on wheel disc, and the output shaft of reducing motor is provided with and reducing adjustment gear engaged transmission Drive gear, described wheel shaft the inner by bearing be arranged on corresponding leg on, the output shaft of motor is connected with wheel shaft, drive The body of dynamic motor is also mounted on corresponding leg.
- 3. six sufficient barrier-surpassing robots of one kind as claimed in claim 2, it is characterised in that：The driving wheel of the front-wheel leg mechanism is high Degree adaptive structure is multi-link structure, and it includes the first oscillating rod, the second oscillating rod, arc thigh, shank and expansion link, institute State the first oscillating rod and the second oscillating rod right-hand member is hinged on fuselage at different height, the first oscillating rod left end and arc thigh Middle part is connected by joint shaft, and arc thigh bottom in the middle part of the second oscillating rod with being hinged and connected, be hinged arc at the top of the shank At the top of thigh, shank bottom installation driving wheel, mid calf is hinged and connected with expansion link one end, expansion link other end insertion second Oscillating rod left end, expansion link and the second oscillating rod composition retractable structure.
- 4. six sufficient barrier-surpassing robots of one kind as claimed in claim 3, it is characterised in that：The driving wheel of the trailing wheel leg mechanism is high Degree adaptive structure is spring link structure, and it includes back leg, auxiliary rod and spring, and described auxiliary rod one end is hinged with fuselage, The other end is be hinged at the top of back leg, and back leg bottom installation driving wheel, the both ends of the spring is in the middle part of auxiliary rod and in back leg Portion is hinged and connected.
- 5. six sufficient barrier-surpassing robots of one kind as claimed in claim 4, it is characterised in that：The revolver leg mechanism, right wheel leg machine The leg of structure, front-wheel leg mechanism and trailing wheel leg mechanism is leg made of double link.
- 6. the six sufficient barrier-surpassing robot of one kind as described in claim 2 to 5 any one, it is characterised in that：The driving wheel Arc has 3 to 8 enough, and the pole of corresponding star-like bar also has 3-8.
- 7. six sufficient barrier-surpassing robots of one kind as claimed in claim 1, it is characterised in that：Also include sensor control unit, institute Stating sensor control unit includes sensor, CAN, USB data interface, controller, encoder and PC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710885091.5A CN107554637B (en) | 2017-09-26 | 2017-09-26 | Six-foot obstacle crossing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710885091.5A CN107554637B (en) | 2017-09-26 | 2017-09-26 | Six-foot obstacle crossing robot |
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| Publication Number | Publication Date |
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| CN107554637A true CN107554637A (en) | 2018-01-09 |
| CN107554637B CN107554637B (en) | 2020-02-11 |
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| CN109305242A (en) * | 2018-10-26 | 2019-02-05 | 辽宁工程技术大学 | A kind of two-wheeled biped robot |
| CN109578748A (en) * | 2018-11-02 | 2019-04-05 | 常州大学 | A kind of climbing robot suitable for walking inside circular pipe |
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| CN110217307A (en) * | 2019-06-19 | 2019-09-10 | 嘉兴学院 | A kind of adaptation complicated landform multifunctional barrier-crossing device |
| CN110371212A (en) * | 2019-07-31 | 2019-10-25 | 武汉科技大学 | Barrier-surpassing robot and its obstacle-detouring method |
| CN110816704A (en) * | 2019-11-14 | 2020-02-21 | 徐州普瑞赛思物联网科技有限公司 | Intelligent robot for mine gas detection |
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| CN108762248A (en) * | 2018-04-26 | 2018-11-06 | 北京深数科技有限公司 | Mobile robot and its air navigation aid |
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| CN109774816A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | It is a kind of to collect fixed, pivot stud function wheel leg type hexapod robot |
| CN109774816B (en) * | 2019-03-10 | 2024-04-02 | 浙江工业大学 | Wheel leg type six-foot robot integrating fixed and in-situ steering functions |
| CN110217307A (en) * | 2019-06-19 | 2019-09-10 | 嘉兴学院 | A kind of adaptation complicated landform multifunctional barrier-crossing device |
| CN110371212A (en) * | 2019-07-31 | 2019-10-25 | 武汉科技大学 | Barrier-surpassing robot and its obstacle-detouring method |
| CN110816704A (en) * | 2019-11-14 | 2020-02-21 | 徐州普瑞赛思物联网科技有限公司 | Intelligent robot for mine gas detection |
| CN111776106A (en) * | 2020-08-12 | 2020-10-16 | 腾讯科技（深圳）有限公司 | Mechanical leg and wheel type mobile equipment |
| CN111776106B (en) * | 2020-08-12 | 2024-02-23 | 腾讯科技（深圳）有限公司 | Mechanical leg and wheeled mobile device |
| CN112389562A (en) * | 2020-11-23 | 2021-02-23 | 武汉理工大学 | Middle leg and foot mechanism and wheel-foot type robot thereof |
| CN112519914A (en) * | 2020-12-08 | 2021-03-19 | 河海大学常州校区 | Wheel-leg robot for field detection |
| CN113619702B (en) * | 2021-08-03 | 2023-01-17 | 武汉科技大学 | Two-section wheel foot type pipeline climbing robot |
| CN113619702A (en) * | 2021-08-03 | 2021-11-09 | 武汉科技大学 | Two-section wheel foot type pipeline climbing robot |
| CN114348135A (en) * | 2021-12-23 | 2022-04-15 | 燕山大学 | Six-foot wheel-leg-track hybrid mobile robot |
| CN114348135B (en) * | 2021-12-23 | 2023-02-28 | 燕山大学 | Six-foot wheel-leg-track hybrid mobile robot |
| CN114275071A (en) * | 2021-12-24 | 2022-04-05 | 北方工业大学 | Novel deformable wheel-leg robot |
| CN114932962A (en) * | 2022-07-01 | 2022-08-23 | 江苏海洋大学 | Mechanical bionic leg applied to quadruped robot |
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