CN107933734A - Based on the big climbable gradient robot foot for drilling through the soft landform of driving change - Google Patents
Based on the big climbable gradient robot foot for drilling through the soft landform of driving change Download PDFInfo
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- CN107933734A CN107933734A CN201711140557.5A CN201711140557A CN107933734A CN 107933734 A CN107933734 A CN 107933734A CN 201711140557 A CN201711140557 A CN 201711140557A CN 107933734 A CN107933734 A CN 107933734A
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- foot
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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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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
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Abstract
Based on the big climbable gradient robot foot for drilling through the soft landform of driving change, it is related to a kind of robot foot.The present invention solves the problems, such as that existing big climbable gradient robot foot exists and is difficult to ensure that the slope of heavy grade is climbed up by robot.Bevel pinion is fixed with the output shaft of motor, one end of stop sleeve is fixedly mounted with the other end of stop sleeve on the supporting plate and setting is connected with gear-box, transmission main shaft is installed in stop sleeve by two spring bearings, one end of transmission main shaft is located in gear-box, bevel gear wheel is fixed with one end described in transmission main shaft, bevel gear wheel and bevel pinion intermeshing and the orthogonal setting of axis, are fixed with the other end of transmission main shaft and drill through cutterhead；The cross axle joint sleeve is mounted in the middle part of stop sleeve, and two support sleeves are symmetrically packed in the both sides of cross axis joint, and connects bearing both sides correspond to and are sleeved on two support sleeves；Fixed rotating shaft lower end and the upper end of connects bearing fix as one.The present invention is used for legged type robot.
Description
Technical field
The present invention relates to a kind of robot ambulation foot, and in particular to a kind of based on big the climbing for drilling through the soft landform of driving change
Gradient robot foot.
Background technology
The adhesion property of robot foot is most important for the climbing and obstacle climbing ability for ensureing legged type robot, increases machine
The conventional approach of people's foot adhesive ability is usually to increase or optimize the vola subsidiary body of robot foot, i.e., by increasing vola
Frictional force or soil improve the passive earth pressure of vola attachment mechanism the adhesion property of robot foot, but actual mountainous region
The angle of gradient in environment is walked experience often beyond 30~40 degree according to the legged type robot that draws of experiment, robot foot
The power that tangential propulsive force needed under this heavy grade landform has exceeded the cohesive force on ground and internal friction angle produces, it is simple logical
The method for crossing optimization and design increase vola subsidiary body has been difficult to ensure that the slope of heavy grade is climbed up by robot.Therefore, originally
Invention, for the soft landform of heavy grade, devises a kind of machine that can actively change local landform according to Principle of Mechanical Designing
People's foot, by destroying the local soil of excavator predetermined attachment position enough, is then occupied by robot foot and is dug in slope surface
The position gone, this reduces the actual angle that robot foot stablizes attachment metapedes bottom and level ground, and then reduces machine
Device people stablizes enough adheres to required tangential forces, just as able of going upstairs of going upstairs, relies primarily on holding power and ensures machine
People's foot stablizes attachment.
To sum up, existing big climbable gradient robot foot is difficult to ensure that the slope of heavy grade is climbed up by robot.
The content of the invention
The present invention exists for the existing big climbable gradient robot foot of solution is difficult to ensure that the slope of heavy grade is climbed up by robot
The problem of, and then provide a kind of based on the big climbable gradient robot foot for drilling through the soft landform of driving change.
The present invention adopts the technical scheme that to solve above-mentioned technical problem：
The present invention's includes motor 12 based on the big climbable gradient robot foot for drilling through the soft landform of driving change, drills through knife
Disk 1, foot plate 18, vola foot pad 19, support plate 21, gear-box 14, transmission mechanism, cross-garnet butt mechanism, rotary positioning mechanism
With several slip-proofing devices 20；It is characterized in that：Vola foot pad 19 is packed in foot plate 18 by several slip-proofing devices 20
On lower face, the length direction of support plate 21 and gear-box 14 along foot plate 18 is packed on the upper surface of foot plate 18, described
Transmission mechanism includes bevel pinion 15, bevel gear wheel 16, transmission main shaft 3, axle sleeve 13 and stop sleeve 4, and the motor 12 is perpendicular
It is straight to be installed on the upper surface of gear-box 14, bevel pinion is fixed with the output shaft of motor 12, one end of stop sleeve 4 is consolidated
The other end of stop sleeve 4 connects setting with gear-box 14 in support plate 21, and transmission main shaft 3 passes through two spring bearings 2
In stop sleeve 4, one end of transmission main shaft 3 is located in gear-box 14, is fixed with one end described in transmission main shaft 3 big
Bevel gear 16, bevel gear wheel 16 and bevel pinion 15 are intermeshed and the orthogonal setting of axis, on the other end of transmission main shaft 3
It is fixed with and drills through cutterhead 1；
The cross-garnet butt mechanism includes cross axis joint 10,5, two support sleeves 22 of connects bearing and two locating rings
11, the cross axis joint 10 is sleeved on the middle part of stop sleeve 4, and the cross axis joint 10 is adjusted by two locating rings 11
Positioning, two support sleeves 22 are symmetrically packed in the both sides of cross axis joint 10, and 5 both sides of connects bearing correspond to and are sleeved on two branch
Support on axle sleeve 22, connects bearing 5 can rotate by a certain angle before and after cross axis joint 10；
The rotary positioning mechanism includes fixed rotating shaft 7, swivel bearing 6, connecting flange set 8 and six-dimension force sensor 9, Gu
Determine that shaft 7 is vertically arranged and 7 lower end of fixed rotating shaft and the upper end of connects bearing 5 fix as one, connecting flange set 8 passes through rotation
Bearing 6 is set with fixed rotating shaft 7, and six-dimension force sensor 9 is packed on the upper surface of connecting flange set 8, on six-dimension force sensor 9
The threaded hole being connected with robot leg is left in end face, and 7 upper end of fixed rotating shaft is assembled to one with robot leg power output shaft
Rise.
Further, one end described in stop sleeve 4 is in Flange-shaped Parts, and one end described in stop sleeve 4 is fixedly mounted with by screw
In support plate 21, the other end described in stop sleeve 4 is installed in 14 front end circular hole of gear-box.
Further, bevel gear wheel 16 is packed on one end described in transmission main shaft 3 by screw and gasket.
Further, the center for drilling through cutterhead 1 is machined with dowel hole, drills through cutterhead 1 and is assemblied in transmission main shaft 3 by flat key
On the other end, the other end described in transmission main shaft 3 is fixed by screw and gasket.
Further, vola foot pad 19 is made of soft deformable rubber material, and the bottom face of vola foot pad 19 is machined with
Anti-skid design.
Further, it is metal knife material overall processing or inserted shape cutterhead to drill through cutterhead 1.
Further, slip-proofing device 20 is anti-skid stud, anti-skidding cone or antiskid plate.
Further, the lower part of fixed rotating shaft 7 is machined with keyway, and the lower end of fixed rotating shaft 7 passes through flat key and connects bearing 5
Upper end assembling, the lower end of fixed rotating shaft 7 is fixed in connects bearing 5 by screw and gasket.
Further, the big climbable gradient robot foot further includes protection cap 17, and protection cap 17 is installed on gear-box 14.
The present invention has the advantages that compared with prior art：
First, it is of the invention to be installed based on the big climbable gradient robot foot for drilling through driving and changing soft landform in sufficient Front-end Design
Cutterhead is drilled through, is acted on by the rotation driving for drilling through cutterhead, can effectively destroy the soil of the soft slope surface of heavy grade, change office
Portion's landform, reduces the actual grade angle of foot attachment position, and ensure robot foot stablizes attachment；
2nd, it is of the invention based on the big climbable gradient robot foot design and installation at the same time ten for drilling through driving and changing soft landform
Word linkage and rotary positioning mechanism, it is ensured that robot foot section has three freedom of movement, meets big climbable gradient machine
High-adaptability and multiple degrees of freedom activity of the device people foot to complicated landform environment；
3rd, it is of the invention based on drill through driving change soft landform big climbable gradient robot foot design and installation it is soft can
The vola foot pad of deformation, adapts to random road roughness using self-deformation, increases vola contact area, improve sufficient end buffer capacity
Power, for different ground environments, vola foot pad, which can design, processes different bottom surface decorative patterns, while equipped different anti-skidding dress
Put, improve the grabs ground ability and adhesion property of robot foot.
Brief description of the drawings
Fig. 1 is the front view based on the big climbable gradient robot foot for drilling through the soft landform of driving change of the present invention；
Fig. 2 is the main sectional view based on the big climbable gradient robot foot for drilling through the soft landform of driving change of the present invention；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the left view of Fig. 1；
Fig. 5 is the A-A sectional views of Fig. 1.
Embodiment
Embodiment one：As shown in Fig. 1~5, present embodiment changes the big of soft landform based on drilling through driving
Climbable gradient robot foot, the big climbable gradient robot foot include motor 12, drill through cutterhead 1, foot plate 18, vola foot pad
19th, support plate 21, gear-box 14, transmission mechanism, cross-garnet butt mechanism, rotary positioning mechanism and several slip-proofing devices 20；Foot
Base pad 19 is packed on the lower face of foot plate 18 by several slip-proofing devices 20, and support plate 21 and gear-box 14 are along vola
The length direction of plate 18 is packed on the upper surface of foot plate 18, the transmission mechanism include bevel pinion 15, bevel gear wheel 16,
Transmission main shaft 3, axle sleeve 13 and stop sleeve 4, the motor 12 are vertically installed on the upper surface of gear-box 14, motor 12
Output shaft on be fixed with bevel pinion, one end of stop sleeve 4 is packed in the other end and tooth of stop sleeve 4 in support plate 21
The connection of roller box 14 is set, and transmission main shaft 3 is installed in stop sleeve 4 by two spring bearings 2, one end position of transmission main shaft 3
In in gear-box 14, being fixed with bevel gear wheel 16 on one end described in transmission main shaft 3, bevel gear wheel 16 and bevel pinion 15 are mutual
Engagement and the orthogonal setting of axis, are fixed with the other end of transmission main shaft 3 and drill through cutterhead 1；
The cross-garnet butt mechanism includes cross axis joint 10,5, two support sleeves 22 of connects bearing and two locating rings
11, the cross axis joint 10 is sleeved on the middle part of stop sleeve 4, and the cross axis joint 10 is adjusted by two locating rings 11
Positioning, two support sleeves 22 are symmetrically packed in the both sides of cross axis joint 10, and 5 both sides of connects bearing correspond to and are sleeved on two branch
Support on axle sleeve 22, connects bearing 5 can rotate by a certain angle before and after cross axis joint 10；
The rotary positioning mechanism includes fixed rotating shaft 7, swivel bearing 6, connecting flange set 8 and six-dimension force sensor 9, Gu
Determine that shaft 7 is vertically arranged and 7 lower end of fixed rotating shaft and the upper end of connects bearing 5 fix as one, connecting flange set 8 passes through rotation
Bearing 6 is set with fixed rotating shaft 7, and six-dimension force sensor 9 is packed on the upper surface of connecting flange set 8, on six-dimension force sensor 9
The threaded hole being connected with robot leg is left in end face, and 7 upper end of fixed rotating shaft is assembled to one with robot leg power output shaft
Rise.
Embodiment two：As depicted in figs. 1 and 2, one end described in present embodiment stop sleeve 4 is in Flange-shaped Parts,
One end described in stop sleeve 4 is packed in support plate 21 by screw, and the other end described in stop sleeve 4 is installed on gear-box
In 14 front end circular holes.It is so designed that, the both ends of stop sleeve 4 can be fixed.Other compositions and connection relation and specific implementation
Mode one is identical.
Embodiment three：As shown in Fig. 2, present embodiment bevel gear wheel 16 is packed in transmission by screw and gasket
On one end described in main shaft 3.It is so designed that, bevel gear wheel 16 can be fixed on to the shaft end of one end described in transmission main shaft 3.It is other
Composition and connection relation are the same as one or two specific embodiments.
Embodiment four：As shown in Figures 2 and 3, present embodiment drills through the center of cutterhead 1 and is machined with dowel hole,
Drill through cutterhead 1 to be assemblied on the other end described in transmission main shaft 3 by flat key, the other end described in transmission main shaft 3 passes through screw
Fixed with gasket.It is so designed that, can will drills through cutterhead 1 and be fixed on the shaft end of the other end described in transmission main shaft 3.It is other composition and
Connection relation is identical with embodiment three.
Embodiment five：As depicted in figs. 1 and 2, present embodiment vola foot pad 19 is by soft deformable rubber material
Material is made, and the bottom face of vola foot pad 19 is machined with anti-skid design.It is so designed that, when robot foot walking environment is ice and snow road
When, the anti-skidding cone for the suitable ice and snow road that can change the outfit in vola, increases grabs ground ability, when robot foot walking environment is soft sand
During ground, it can make to be screwed some antiskid plates in vola, increase the frictional force in vola, when robot foot walking environment is watt
When gravel sandstone or soft soil, by installing anti-skid stud in vola, landform adaptability and the attachment of robot foot can be strengthened
Ability.Other compositions and connection relation are identical with embodiment one, two or four.
Embodiment six：As shown in Figures 1 to 3, it is metal knife material overall processing that present embodiment, which drills through cutterhead 1,
Or inserted shape cutterhead.It is so designed that, can also reaches purpose of design by installing replaceable blade on cutterhead, drill through cutterhead 1
It can be turned round around the axis of transmission main shaft 3, robot foot relies primarily on the rotation excavation for drilling through cutterhead 1 in the course of work of climbing
Destruction Soil Slope is spent, changes local landform, reduces the local gradient.Other compositions and connection relation and embodiment
Five is identical.
Embodiment seven：As depicted in figs. 1 and 2, present embodiment slip-proofing device 20 is anti-skid stud, anti-skidding cone or anti-
Slide plate.It is so designed that, when robot foot walking environment is ice and snow road, can change the outfit the anti-skidding of suitable ice and snow road in vola
Cone, increases grabs ground ability, when robot foot walking environment is soft sand ground, can make to be screwed some in vola anti-skidding
Plate, increases the frictional force in vola, anti-by being installed in vola when robot foot walking environment is rubble sandstone or soft soil
Sliding nail, can strengthen the landform adaptability and adhesive ability of robot foot.Other compositions and connection relation and specific embodiment party
Formula one, two, four or six are identical.
Embodiment eight：As shown in Figure 1 and Figure 5, the lower part of present embodiment fixed rotating shaft 7 is machined with keyway, Gu
The lower end for determining shaft 7 is assembled by the upper end of flat key and connects bearing 5, and the lower end of fixed rotating shaft 7 is fixed by screw and gasket
In connects bearing 5.It is so designed that, fixed rotating shaft 7 can be fixed in connects bearing 5.It is other composition and connection relation with
Embodiment seven is identical.
Embodiment nine：As depicted in figs. 1 and 2, big climbable gradient robot foot further includes guarantor described in present embodiment
Protecting cover 17, protection cap 17 are installed on gear-box 14.It is so designed that, gear-box easy to disassemble and the work for playing protection gear-box
With.Other compositions and connection relation are identical with embodiment one, two, four, six or eight.
The above description of this invention is illustrative and not restrictive, and those skilled in the art understands, will in right
It can be carried out many modifications, change or equivalent by asking within the spirit and scope of restriction, but they fall within wound of the present invention
In the protection domain made.
Operation principle：
Six-dimension force sensor 9 is installed on connecting flange set 8 by screw, by six-dimension force sensor 9 horizontally and vertically
The startup and stopping of the force signal control motor 12 in direction, robot is in actual walking process, if fruit landform is common flat
Face or the gradient are less than 15 degree of gentle slope, then robot is in normal walking mode, and motor 12 does not work, and rotation is fixed at this time
Position mechanism, which is in, is freely rotated state, and whole robot foot can be rotated around fixed rotating shaft 7, ensures robot foot in complicated scabland
High flexibility in shape, controls robot using the angle of gradient in climbing face as variable, based on experience value, when the gradient of slope surface is relatively super
When crossing 20~30 degree, then the walking manner of robot is switched to climbing pattern, while rotary positioning mechanism is converted to actively
Control model, provides power, driving fixed rotating shaft 7 drives foot to rotate, and control ensures robot foot front end by robot leg
Drill through cutterhead 1 drill through that direction is consistent with leg forward swing direction, and then horizontally and vertically direction is adopted according to six-dimension force sensor 9
The force signal collected is driven control to motor 12, when robot foot is in swing phase, six-dimension force sensor 9 is vertical
Zero point is set to the force signal that horizontal direction is gathered, motor 12 does not rotate at this time, in robot foot to during whereabouts,
When robot foot touches slope surface, the force signal of 9 vertical direction of six-dimension force sensor is changed into non-zero and progressivelyes reach to set in advance
During the threshold value got well, robot foot stops falling, and being simultaneously emitted by control signal makes motor 12 start to work, what motor 12 exported
Power passes to by bevel pinion 15, bevel gear wheel 16 and transmission main shaft 3 and drills through cutterhead 1, drills through cutterhead 1 with certain speed
Rotation, while by controlling robot leg robot foot is moved forward with certain speed, robot foot can be in slope surface
Drill through the region for excavating one piece of grade elimination, robot foot during forward swing is bored and dug, 9 horizontal direction of six-dimension force sensor
Force signal can constantly increase, and when the enough robot foot attachments of the regional area size that robot foot is dug out, set in advance at this time
The force signal of 9 horizontal direction of six-dimension force sensor is max-thresholds, reaches and sends order after the threshold value and stop motor 12
Work, robot foot can occupy the space cut out at this time, stablize in the regional area for the grade elimination actively excavated
Attachment, is converted to support phase, motor 12 is always maintained at stop state, Zhi Daozai when robot foot is in support phase by swing phase
Secondary horizontally and vertically direction force signal returns the order circulation before just repeating after zero point when being in swing phase, for polypody machine
People, as long as setting walking step state, control robot foot is alternately worked by the way of the local landform of above-described destruction, just
Climb up the slope of heavy grade with making legged type robot monolithic stability, when the work of robot foot is with a varied topography, in soil if
Having hard impurity to cause to drill through, cutterhead 1 is stuck, and robot foot reach resistance increases rapidly, at this time 9 water of six-dimension force sensor
Square reach threshold value in advance to force signal, can send order makes motor 12 be stopped, then is controlled by robot leg
Robot foot is adjusted to suitable attachment position, so far, is constituted based on the big climbable gradient machine for drilling through the soft landform of driving change
The basic functional principle of device people foot.
Claims (9)
1. a kind of included based on the big climbable gradient robot foot for drilling through the soft landform of driving change, the big climbable gradient robot foot
Motor (12), drill through cutterhead (1), foot plate (18), vola foot pad (19), support plate (21), gear-box (14), driver
Structure, cross-garnet butt mechanism, rotary positioning mechanism and several slip-proofing devices (20)；It is characterized in that：Vola foot pad (19) passes through
Several slip-proofing devices (20) are packed on the lower face of foot plate (18), and support plate (21) and gear-box (14) are along foot plate
(18) length direction is packed on the upper surface of foot plate (18), and the transmission mechanism includes bevel pinion (15), auger tooth
Wheel (16), transmission main shaft (3), axle sleeve (13) and stop sleeve (4), the motor (12) are vertically installed at gear-box (14)
On upper surface, bevel pinion is fixed with the output shaft of motor (12), one end of stop sleeve (4) is packed in support plate (21)
The other end of upper stop sleeve (4) connects setting with gear-box (14), and transmission main shaft (3) is installed by two spring bearings (2)
In stop sleeve (4), one end of transmission main shaft (3) is located in gear-box (14), is fixedly mounted with one end described in transmission main shaft (3)
There are bevel gear wheel (16), bevel gear wheel (16) and bevel pinion (15) intermeshing and the orthogonal setting of axis, transmission main shaft
(3) it is fixed with the other end and drills through cutterhead (1)；
The cross-garnet butt mechanism includes cross axis joint (10), connects bearing (5), two support sleeves (22) and two positioning
Ring (11), the cross axis joint (10) are sleeved on the middle part of stop sleeve (4), and the cross axis joint (10) is fixed by two
Position ring (11) adjusts positioning, the symmetrical both sides for being packed in cross axis joint (10) of two support sleeves (22), connects bearing (5) two
Side corresponds to and is sleeved on two support sleeves (22), and connects bearing (5) can be around the front and rear certain angle of rotation of cross axis joint (10)
Degree；
The rotary positioning mechanism includes fixed rotating shaft (7), swivel bearing (6), connecting flange set (8) and six-dimension force sensor
(9), fixed rotating shaft (7) is vertically arranged and fixed rotating shaft (7) lower end and the upper end of connects bearing (5) fix as one, connection method
Orchid set (8) is set with fixed rotating shaft (7) by swivel bearing (6), and six-dimension force sensor (9) is packed in connecting flange set (8)
On upper surface, the threaded hole being connected with robot leg is left in six-dimension force sensor (9) upper surface, fixed rotating shaft (7) upper end with
Robot leg power output shaft is assembled together.
2. according to claim 1 existed based on the big climbable gradient robot foot for drilling through the soft landform of driving change, its feature
In：One end described in stop sleeve (4) is in Flange-shaped Parts, and one end described in stop sleeve (4) is packed in support plate by screw
(21) on, the other end described in stop sleeve (4) is installed in the circular hole of gear-box (14) front end.
It is 3. according to claim 1 or 2 based on the big climbable gradient robot foot for drilling through the soft landform of driving change, its feature
It is：Bevel gear wheel (16) is packed on one end described in transmission main shaft (3) by screw and gasket.
4. according to claim 3 existed based on the big climbable gradient robot foot for drilling through the soft landform of driving change, its feature
In：The center for drilling through cutterhead (1) is machined with dowel hole, drill through cutterhead (1) be assemblied in by flat key it is another described in transmission main shaft (3)
On one end, the other end described in transmission main shaft (3) is fixed by screw and gasket.
5. according to claim 1,2 or 4 based on the big climbable gradient robot foot for drilling through driving and changing soft landform, it is special
Sign is：Vola foot pad (19) is made of soft deformable rubber material, and the bottom face of vola foot pad (19) is machined with anti-skidding flower
Line.
6. according to claim 5 existed based on the big climbable gradient robot foot for drilling through the soft landform of driving change, its feature
In：It is metal knife material overall processing or inserted shape cutterhead to drill through cutterhead (1).
7. according to claim 1,2,4 or 6 based on the big climbable gradient robot foot for drilling through driving and changing soft landform, its
It is characterized in that：Slip-proofing device (20) is anti-skid stud, anti-skidding cone or antiskid plate.
8. according to claim 7 existed based on the big climbable gradient robot foot for drilling through the soft landform of driving change, its feature
In：The lower part of fixed rotating shaft (7) is machined with keyway, and the lower end of fixed rotating shaft (7) is filled by the upper end of flat key and connects bearing (5)
Match somebody with somebody, the lower end of fixed rotating shaft (7) is fixed in connects bearing (5) by screw and gasket.
9. according to claim 1,2,4,6 or 8 based on the big climbable gradient robot foot for drilling through driving and changing soft landform,
It is characterized in that：The big climbable gradient robot foot further includes protection cap (17), and protection cap (17) is installed on gear-box (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711140557.5A CN107933734B (en) | 2017-11-16 | 2017-11-16 | Large-climbing-gradient robot foot capable of changing soft terrain based on drilling and tunneling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711140557.5A CN107933734B (en) | 2017-11-16 | 2017-11-16 | Large-climbing-gradient robot foot capable of changing soft terrain based on drilling and tunneling |
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| Publication Number | Publication Date |
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| CN107933734A true CN107933734A (en) | 2018-04-20 |
| CN107933734B CN107933734B (en) | 2020-04-17 |
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| CN201711140557.5A Active CN107933734B (en) | 2017-11-16 | 2017-11-16 | Large-climbing-gradient robot foot capable of changing soft terrain based on drilling and tunneling |
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