CN107839782B - Six-foot detection robot - Google Patents
Six-foot detection robot Download PDFInfo
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- CN107839782B CN107839782B CN201711107188.XA CN201711107188A CN107839782B CN 107839782 B CN107839782 B CN 107839782B CN 201711107188 A CN201711107188 A CN 201711107188A CN 107839782 B CN107839782 B CN 107839782B
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention relates to the field of robots, in particular to a six-foot detection robot, which comprises a body, wherein one side of the body is connected with a right front leg, a right middle leg and a right rear leg, and the other side of the body is connected with a left rear leg, a left middle leg and a left front leg; the front end of the body is connected with an operation arm, and the operation arm is connected with a paw; the body is eight-edge-shaped, and advances in an irregular environment in a hexapod matching mode are realized, so that the body has high environmental adaptability; the running devices are all hinged, so that the running device is sensitive in work and has high flexibility; the traditional manual detection can be replaced, so that labor consumption and damage are reduced; compared with the traditional crawler or joint robots, the robot can span obstacles which are difficult to span and is provided with various operating tools, so that flexible field operation is realized.
Description
Technical Field
The invention relates to the field of robots, in particular to a six-foot detection robot.
Background
The mobile robot in the unstructured environment mainly uses field detection and disaster relief, has high environmental adaptability and flexibility, needs to move rapidly and has obstacle crossing capability when in motion, such as walking on uneven ground, moving up and down steps, climbing up and down slopes and crossing obstacles, and can carry various operation tools, so that the mobile robot can work in special environments instead of people, the mobile robot needs to have the capability of using tools, and the mobile robot needs to have corresponding interfaces on a mobile robot platform, and can carry various combat function modules including detection, harmful substance monitoring, explosion prevention, explosion and other functions; the robot has the advantages that the robot can be provided with multiple degrees of freedom operators to realize necessary operation, meanwhile, in order to ensure normal operation of tools, such as a camera for investigation, the stability and the stability of the body are required to be kept in the moving process of the robot, so that the mobile robot has the capability of replacing human beings to complete specific tasks in complex natural environments.
However, the mobile robot is involved in the work of replacing people, and the non-structural characteristic of the natural environment is encountered first, so how to realize the stable and rapid walking of the mobile robot in the non-structural natural environment is an important subject faced by the research of the mobile robot, and the structural design of the robot suitable for the operation of the non-structural environment and the gait planning of the operation of the structure are the most basic requirements of the mobile robot for realizing the stable walking.
Disclosure of Invention
In order to solve the problems, the invention provides a six-foot detection robot.
The six-foot detection robot comprises a body, wherein one side of the body is connected with a right front leg, a right middle leg and a right rear leg, and the other side of the body is connected with a left rear leg, a left middle leg and a left front leg; the front end of the body is connected with an operation arm, and the operation arm is connected with a paw; the upper end of the body is connected with a detector for sensing, and the body is in an eight-edge shape.
The walking device comprises a leg support connected with a body, a leg driving mechanism I and a leg driving mechanism II connected with the leg support, and feet matched with the leg driving mechanism I and the leg driving mechanism II.
The leg support comprises a leg support, a leg support connecting frame connected with the leg support, a hip joint swing motor connecting piece arranged in the leg support connecting frame, a hip joint swing motor support connected with the hip joint swing motor connecting piece, and a hip joint swing motor connected with the hip joint swing motor support, wherein a rotating shaft connected with the hip joint swing motor support is arranged on the leg support connecting frame.
The foot comprises a ball hinge ball head matched with the leg support, a foot connecting frame matched with the ball hinge ball head, a foot driving steering engine matched with the foot connecting frame and a foot connected with the foot driving steering engine, wherein a foot motor shaft connecting piece used for being connected with the foot driving steering engine is arranged on the foot connecting frame.
The leg driving mechanism I comprises a driving mechanism I hinged connection frame connected with a leg support, a driving mechanism I nut pair connected with the driving mechanism I hinged connection frame, and a screw rod I internally provided with the driving mechanism I nut pair, wherein a coupler II and a coupler I are matched with the screw rod I, a screw rod I driving motor is connected with the screw rod I, two end parts of the screw rod I are in interference fit with a bearing I and a bearing II, and a swinging mechanism I is connected with the screw rod I driving motor.
The upper end of the bearing I is provided with a matched bearing I upper support, and the lower end of the bearing I is provided with a matched bearing I lower support; the upper end of the bearing II is matched with a bearing II upper support, the lower end of the bearing II is matched with a bearing II lower support which is matched with the bearing II upper support, and a bearing II end cover is arranged on the bearing II.
The swing mechanism I comprises a drive mechanism I bracket connected with a screw rod I drive motor, a drive mechanism I swing bracket connected with the drive mechanism I bracket, a drive mechanism I swing motor shaft connecting piece arranged on the drive mechanism I swing bracket, a drive mechanism I swing motor connected with the drive mechanism I swing motor shaft connecting piece, and a drive mechanism I swing motor mounting bracket connected with the drive mechanism I swing motor, wherein a drive mechanism I swing rotating shaft matched with the drive mechanism I swing bracket is arranged on the drive mechanism I swing motor mounting bracket.
Leg portion actuating mechanism II include actuating mechanism II articulated link, with actuating mechanism II articulated link complex actuating mechanism II nut pair, built-in actuating mechanism II nut pair's lead screw II, lead screw II on the cooperation have shaft coupling III and shaft coupling IV, lead screw II on be connected with actuating mechanism II driving motor, lead screw II's both ends all interference fit have bearing III and bearing IV, actuating mechanism II driving motor on be connected with swing mechanism II.
The upper end of the bearing III is provided with a matched bearing III upper support, and the lower end of the bearing III is provided with a matched bearing III lower support; the upper end of the bearing IV is matched with a bearing IV upper support, the lower end of the bearing IV is matched with a bearing IV lower support which is matched with the bearing IV upper support, and a bearing IV end cover is arranged on the bearing IV.
The swing mechanism II comprises a drive mechanism II bracket connected with a drive mechanism II drive motor, a drive mechanism II swing bracket connected with the drive mechanism II bracket, a drive mechanism II swing motor shaft connecting piece arranged on the drive mechanism II swing bracket, a drive mechanism II swing motor connected with the drive mechanism II swing motor shaft connecting piece, and a drive mechanism II swing motor mounting bracket connected with the drive mechanism II swing motor, wherein the drive mechanism II swing motor mounting bracket is provided with a drive mechanism II swing rotating shaft matched with the drive mechanism II swing bracket.
The beneficial effects of the invention are as follows: the invention adopts a hexapod matching mode to realize advancing in an irregular environment, and has high environmental adaptability; the running devices are all hinged, so that the running device is sensitive in work and has high flexibility; the traditional manual detection can be replaced, so that labor consumption and damage are reduced; compared with the traditional crawler or joint robots, the robot can span obstacles which are difficult to span and is provided with various operating tools, so that flexible field operation is realized.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of a three-dimensional structure of a walking device according to the present invention;
FIG. 3 is a schematic perspective view of a leg rest and foot of the present invention;
FIG. 4 is a schematic illustration of a leg rest and foot perspective of the present invention;
fig. 5 is a schematic perspective view of a driving mechanism I according to the present invention;
fig. 6 is a schematic diagram of a driving mechanism I according to a second embodiment of the present invention;
fig. 7 is a schematic diagram of a perspective structure of a driving mechanism II according to the present invention;
fig. 8 is a schematic diagram II of a driving mechanism II of the present invention;
FIG. 9 is a schematic perspective view of a torso according to the present invention;
FIG. 10 is a schematic perspective view of a leg support according to the present invention;
FIG. 11 is a schematic perspective view of a driving mechanism I bracket of the present invention;
FIG. 12 is a schematic perspective view of a connector according to the present invention;
FIG. 13 is a schematic perspective view of a ball joint bracket attachment of the present invention;
FIG. 14 is a schematic perspective view of a swing motor mounting bracket of the present invention;
FIG. 15 is a schematic perspective view of a swing bracket of a driving mechanism according to the present invention;
FIG. 16 is a schematic perspective view of a swing bracket according to the present invention;
FIG. 17 is a schematic view of a foot section in perspective view according to the present invention;
fig. 18 is a schematic perspective view of a foot link according to the present invention.
Description of the embodiments
The present invention will be further described in the following to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the present invention easy to understand.
As shown in fig. 1 to 18, a hexapod robot comprises a body 10, wherein a right front leg 1, a right middle leg 2 and a right rear leg 3 are connected to one side of the body 10, and a left rear leg 6, a left middle leg 7 and a left front leg 8 are connected to the other side of the body 10; the front end of the body 10 is connected with an operation arm 4, and the operation arm 4 is connected with a paw 5; the upper end of the body 10 is connected with a detector 9 for sensing, and the body 10 is in an eight-edge shape.
The right front leg 1, the right middle leg 2, the right rear leg 3, the left rear leg 6, the left middle leg 7 and the left front leg 8 are all the same walking devices, and each walking device comprises a leg support 11 connected with a body 10, a leg driving mechanism I12 and a leg driving mechanism II14 connected with the leg support 11, and a foot 13 matched with the leg driving mechanism I12 and the leg driving mechanism II 14.
The leg support 11 comprises a leg support 21, a leg support connecting frame 23 connected with the leg support 21, a hip joint swing motor connecting piece 26 arranged in the leg support connecting frame 23, a hip joint swing motor support 28 connected with the hip joint swing motor connecting piece 26, and a hip joint swing motor 29 connected with the hip joint swing motor support 28, wherein a rotating shaft 30 connected with the hip joint swing motor support 28 is arranged on the leg support connecting frame 23.
The foot 13 comprises a ball hinge ball head 20 matched with a leg support 21, a foot connecting frame 18 matched with the ball hinge ball head 20, a foot driving steering engine 16 matched with the foot connecting frame 18 and a foot 15 connected with the foot driving steering engine 16, wherein a foot motor shaft connecting piece 33 used for being connected with the foot driving steering engine 16 is arranged on the foot connecting frame 18.
The ball joint ball 20 is provided with a ball joint bracket.
The foot driving steering engine 16 is connected with the foot 15 through a foot driving steering engine fixing bolt 17.
The ball joint ball head 20 is connected with the foot connecting frame 18 through the foot connecting frame connecting bolt 19.
The leg support 21 is connected with the leg support connecting frame 23 through a leg support connecting frame fixing bolt 22.
The leg support connecting frame 23 is connected with the hip joint swing motor connecting piece 26 through the hip joint swing motor connecting piece fastening bolt 24 and the hip joint swing motor connecting piece fixing bolt 25.
The hip joint swing motor connecting piece 26 is connected with the hip joint swing motor bracket 28 through the hip joint swing motor fixing bolt 28.
The foot motor shaft connecting piece 33 is connected with the foot connecting frame 18 through the foot motor connecting piece fastening bolt 31 and the foot motor connecting piece fixing bolt 32.
The leg driving mechanism I12 comprises a driving mechanism I hinged connecting frame 34 connected with the leg support 21, a driving mechanism I nut pair 39 connected with the driving mechanism I hinged connecting frame 34, and a screw rod I40 internally provided with the driving mechanism I nut pair 39, wherein a coupler II46 and a coupler I44 are matched on the screw rod I40, a screw rod I driving motor 48 is connected on the screw rod I40, a bearing I35 and a bearing II43 are respectively in interference fit with two end parts of the screw rod I40, and a swinging mechanism I is connected on the screw rod I driving motor 48.
The coupling II46 and the coupling I44 are connected through the coupling I and the coupling II connecting bolt 45.
The driving mechanism I hinged connecting frame 34 is connected with the driving mechanism I nut pair 39 through the driving mechanism I hinged connecting frame connecting bolt 38.
The upper end of the bearing I35 is provided with a matched bearing I upper support 63, and the lower end of the bearing I35 is provided with a matched bearing I lower support 61; the upper end of the bearing II43 is matched with a bearing II upper support 62, the lower end of the bearing II43 is matched with a bearing II lower support 58 which is matched with the bearing II upper support, and the bearing II43 is provided with a bearing II end cover 59.
The bearing I35 is connected with the bearing I lower support 61 through a bearing I lower support fixing bolt 36 and a bearing I upper support fixing bolt 37.
The bearing II43 and the bearing II end cover 59 are connected through a bearing II end cover fixing bolt 41.
The bearing II upper support 62 is connected with the bearing II lower support 58 through the bearing II upper and lower support connecting bolts 42.
The swing mechanism I comprises a drive mechanism I bracket 60 connected with a screw rod I drive motor 48, a drive mechanism I swing bracket 57 connected with the drive mechanism I bracket 60, a drive mechanism I swing motor shaft connecting piece 50 arranged on the drive mechanism I swing bracket 57, a drive mechanism I swing motor 53 connected with the drive mechanism I swing motor shaft connecting piece 50, and a drive mechanism I swing motor mounting bracket 54 connected with the drive mechanism I swing motor 53, wherein the drive mechanism I swing motor mounting bracket 54 is provided with a drive mechanism I swing rotating shaft 55 matched with the drive mechanism I swing bracket 57.
The screw rod I driving motor 48 is connected with the driving mechanism I bracket 60 through a screw rod I driving motor fixing bolt 47.
The driving mechanism I is hinged with the connecting frame 34, the driving mechanism I nut pair 39, the screw rod I40, the coupler II46, the coupler I44, the screw rod I driving motor 48, the bearing I35, the bearing II43 and the screw rod I driving motor 48 are all arranged on the driving mechanism I bracket 60.
The driving mechanism I swing motor shaft connecting piece 50 and the driving mechanism I swing bracket 57 are connected through the driving mechanism I swing motor shaft connecting piece fastening bolt 49.
The driving mechanism I swing motor shaft connecting piece 50 and the driving mechanism I swing motor 53 are connected through the driving mechanism I swing motor shaft connecting piece fixing bolt 51 and the driving mechanism I swing motor fixing bolt 52.
The driving mechanism I bracket 60 and the driving mechanism I bracket 60 are connected through a driving mechanism I swing bracket fixing bolt 56.
Leg portion actuating mechanism II14 including driving actuating mechanism I swing frame 57 between through actuating mechanism II articulated connection frame 64, with actuating mechanism II articulated connection frame 64 complex actuating mechanism II nut pair 66, built-in actuating mechanism II nut pair 66's lead screw II67, lead screw II67 on cooperate with shaft coupling III85 and shaft coupling IV84, lead screw II67 on be connected with actuating mechanism II driving motor 83, the both ends portion of lead screw II67 all interference fit have bearing III88 and bearing IV86, actuating mechanism II driving motor 83 on be connected with swing mechanism II.
The coupler III85 and the coupler IV84 are connected through a coupler III and a coupler IV connecting bolt 72.
The driving mechanism II hinged connecting frame 64 is connected with the driving mechanism II nut pair 66 through a driving mechanism II hinged connecting frame connecting bolt 65.
The upper end of the bearing III88 is provided with a matched bearing III upper support 93, and the lower end of the bearing III88 is provided with a matched bearing III lower support 90; the upper end of the bearing IV86 is matched with a bearing IV upper support 92, the lower end of the bearing IV86 is matched with a bearing IV lower support 71 which is matched with the bearing IV upper support, and the bearing IV86 is provided with a bearing IV end cover 69.
The bearing IV86 is connected with the bearing IV end cover 69 through a bearing IV end cover fixing bolt 68.
The bearing IV86 and the bearing IV lower support 71 are connected through the bearing IV upper and lower support connecting bolts 70.
The swing mechanism II comprises a drive mechanism II bracket 87 connected with a drive mechanism II drive motor 83, a drive mechanism II swing bracket 74 connected with the drive mechanism II bracket 87, a drive mechanism II swing motor shaft connecting piece 76 arranged on the drive mechanism II swing bracket 74, a drive mechanism II swing motor 79 connected with the drive mechanism II swing motor shaft connecting piece 76, and a drive mechanism II swing motor mounting bracket 80 connected with the drive mechanism II swing motor 79, wherein the drive mechanism II swing motor mounting bracket 80 is provided with a drive mechanism II swing rotating shaft 81 matched with the drive mechanism II swing bracket 74.
The driving mechanism I swinging bracket 57 and the driving mechanism II swinging bracket 74 are the same swinging bracket.
The driving mechanism I swinging bracket 57 and the driving mechanism II swinging bracket 74 are the same driving mechanism swinging brackets.
The driving mechanism I swing motor mounting bracket 54 and the driving mechanism II swing motor mounting bracket 80 are the same swing motor mounting brackets.
The driving mechanism II swing motor shaft connector 76, the hip joint swing motor connector 26, the foot motor shaft connector 33 and the driving mechanism I swing motor shaft connector 50 are all the same connectors.
The driving mechanism II driving motor 83 is connected with the driving mechanism II bracket 87 through a driving mechanism II driving motor fixing bolt 73.
The driving mechanism II swing bracket 74 is connected with the driving mechanism II swing motor shaft connecting piece 76 through a driving mechanism II swing motor shaft connecting piece fastening bolt 75.
The driving mechanism II swing motor shaft connecting piece 76 is connected with the driving mechanism II swing motor 79 through the driving mechanism II swing motor shaft connecting piece fixing bolt 77 and the driving mechanism II swing motor fixing bolt 78.
The driving mechanism II swinging bracket 74 and the driving mechanism II bracket 87 are connected through a driving mechanism II swinging bracket fixing bolt 82.
The bearing III88 and the bearing III lower support 90 are connected through a bearing III upper support fixing bolt 89.
The bearing III lower support 90 is connected with the driving mechanism II bracket 87 through a bearing III lower support fixing bolt 91.
The application method of the invention comprises the following steps: the first step: the foot end driving motor 16 is started to drive the foot 15 to lift;
and a second step of: the driving mechanism I12 stretches out, the driving mechanism II14 retracts, and meanwhile, the driving mechanism I swing motor 53, the driving mechanism II swing motor 79 and the leg support swing motor 29 swing forwards to realize swing phase movement;
and a third step of: the foot end driving motor 16 moves to drive the foot 15 to fall to contact with the ground;
fourth step: the driving mechanism I12 is retracted, the driving mechanism II14 is extended, and meanwhile, the driving mechanism I swing motor 53, the driving mechanism II swing motor 79 and the leg support swing motor 29 are swung back to realize supporting phase movement, and one step is completed, so that the body 10 is driven to advance.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A six-foot detection robot is characterized in that: the novel bicycle comprises a body (10), wherein one side of the body (10) is connected with a right front leg (1), a right middle leg (2) and a right rear leg (3), and the other side of the body (10) is connected with a left rear leg (6), a left middle leg (7) and a left front leg (8); the front end of the body (10) is connected with an operation arm (4), and the operation arm (4) is connected with a paw (5); the upper end of the body (10) is connected with a detector (9) for sensing, and the body (10) is in an eight-edge shape;
the walking device comprises a leg support (11) connected with a body (10), a leg driving mechanism I (12) and a leg driving mechanism II (14) connected with the leg support (11), and a foot (13) matched with the leg driving mechanism I (12) and the leg driving mechanism II (14);
the leg driving mechanism I (12) comprises a driving mechanism I hinged connecting frame (34) connected with a leg support (21), a driving mechanism I nut pair (39) connected with the driving mechanism I hinged connecting frame (34) and a screw rod I (40) internally arranged in the driving mechanism I nut pair (39), a coupler II (46) and a coupler I (44) are matched on the screw rod I (40), a screw rod I driving motor (48) is connected on the screw rod I (40), a bearing I (35) and a bearing II (43) are in interference fit at two ends of the screw rod I (40), and a swinging mechanism I is connected on the screw rod I driving motor (48); the swing mechanism I comprises a drive mechanism I bracket (60) connected with a screw rod I drive motor (48), a drive mechanism I swing bracket (57) connected with the drive mechanism I bracket (60), a drive mechanism I swing motor shaft connecting piece (50) arranged on the drive mechanism I swing bracket (57), a drive mechanism I swing motor (53) connected with the drive mechanism I swing motor shaft connecting piece (50), and a drive mechanism I swing motor mounting bracket (54) connected with the drive mechanism I swing motor (53), wherein a drive mechanism I swing rotating shaft (55) matched with the drive mechanism I swing bracket (57) is arranged on the drive mechanism I swing motor mounting bracket (54); the leg driving mechanism II (14) comprises a driving mechanism II hinged connecting frame (64), a driving mechanism II nut pair (66) matched with the driving mechanism II hinged connecting frame (64) and a lead screw II (67) arranged in the driving mechanism II nut pair (66), a coupler III (85) and a coupler IV (84) are matched on the lead screw II (67), a driving mechanism II driving motor (83) is connected on the lead screw II (67), a bearing III (88) and a bearing IV (86) are in interference fit with two end parts of the lead screw II (67), and a swinging mechanism II is connected on the driving mechanism II driving motor (83); the swing mechanism II comprises a drive mechanism II bracket (87) connected with a drive mechanism II drive motor (83), a drive mechanism II swing bracket (74) connected with the drive mechanism II bracket (87), a drive mechanism II swing motor shaft connecting piece (76) arranged on the drive mechanism II swing bracket (74), a drive mechanism II swing motor (79) connected with the drive mechanism II swing motor shaft connecting piece (76), a drive mechanism II swing motor mounting bracket (80) connected with the drive mechanism II swing motor (79), wherein a drive mechanism II swing rotating shaft (81) matched with the drive mechanism II swing bracket (74) is arranged on the drive mechanism II swing motor mounting bracket (80).
2. A hexapod exploration robot according to claim 1, wherein: the leg support (11) comprises a leg support (21), a leg support connecting frame (23) connected with the leg support (21), a hip joint swing motor connecting piece (26) arranged in the leg support connecting frame (23), a hip joint swing motor support (28) connected with the hip joint swing motor connecting piece (26), and a hip joint swing motor (29) connected with the hip joint swing motor support (28), wherein a rotating shaft (30) connected with the hip joint swing motor support (28) is arranged on the leg support connecting frame (23).
3. A hexapod exploration robot according to claim 1, wherein: the foot (13) comprises a ball hinge ball head (20) matched with a leg support (21), a foot connecting frame (18) matched with the ball hinge ball head (20), a foot driving steering engine (16) matched with the foot connecting frame (18), and a foot (15) connected with the foot driving steering engine (16), wherein a foot motor shaft connecting piece (33) used for being connected with the foot driving steering engine (16) is arranged on the foot connecting frame (18).
4. A hexapod exploration robot according to claim 1, wherein: the upper end of the bearing I (35) is provided with a matched bearing I upper support (63), and the lower end of the bearing I (35) is provided with a matched bearing I lower support (61); the upper end of the bearing II (43) is matched with a bearing II upper support (62), the lower end of the bearing II (43) is matched with a bearing II lower support (58) which is matched with the bearing II, and a bearing II end cover (59) is arranged on the bearing II (43).
5. A hexapod exploration robot according to claim 1, wherein: the upper end of the bearing III (88) is provided with a matched bearing III upper support (93), and the lower end of the bearing III (88) is provided with a matched bearing III lower support (90); the upper end of bearing IV (86) cooperate with bearing IV upper bracket (92), the lower extreme of bearing IV (86) cooperate with and be provided with bearing IV lower bracket (71) of complex, bearing IV (86) on be provided with bearing IV end cover (69).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711107188.XA CN107839782B (en) | 2017-11-10 | 2017-11-10 | Six-foot detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711107188.XA CN107839782B (en) | 2017-11-10 | 2017-11-10 | Six-foot detection robot |
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| CN107839782A CN107839782A (en) | 2018-03-27 |
| CN107839782B true CN107839782B (en) | 2023-05-12 |
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| CN201711107188.XA Active CN107839782B (en) | 2017-11-10 | 2017-11-10 | Six-foot detection robot |
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| JP2006326739A (en) * | 2005-05-25 | 2006-12-07 | Chiba Inst Of Technology | Leg wheel separation type robot |
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| CN103287523A (en) * | 2013-05-06 | 2013-09-11 | 中国科学技术大学 | Composite transformation mobile robot combining elastic foot and wheel type motion mechanism |
| CN104443104A (en) * | 2014-12-10 | 2015-03-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI412467B (en) * | 2011-04-11 | 2013-10-21 | Univ Nat Kaohsiung Applied Sci | Hexapod robot device |
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| CN1946521A (en) * | 2004-07-30 | 2007-04-11 | 提姆查克股份有限公司 | Multi-point ground contact type foot part support mechanism, bipedal walking robot having the support mechanism, and control structure for the robot |
| JP2006326739A (en) * | 2005-05-25 | 2006-12-07 | Chiba Inst Of Technology | Leg wheel separation type robot |
| CN103287523A (en) * | 2013-05-06 | 2013-09-11 | 中国科学技术大学 | Composite transformation mobile robot combining elastic foot and wheel type motion mechanism |
| CN104443104A (en) * | 2014-12-10 | 2015-03-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
| CN105292298A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨工业大学 | Three-section machine body type hexapod robot with transportation function and operation function fused |
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| CN107839782A (en) | 2018-03-27 |
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