CN109606498A - A kind of robot deformation leg with the sufficient ability to transform of wheel - Google Patents
A kind of robot deformation leg with the sufficient ability to transform of wheel Download PDFInfo
- Publication number
- CN109606498A CN109606498A CN201910089321.6A CN201910089321A CN109606498A CN 109606498 A CN109606498 A CN 109606498A CN 201910089321 A CN201910089321 A CN 201910089321A CN 109606498 A CN109606498 A CN 109606498A
- Authority
- CN
- China
- Prior art keywords
- ring
- knee joint
- semi
- drive shaft
- joint drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000002414 leg Anatomy 0.000 claims abstract description 41
- 210000000689 upper leg Anatomy 0.000 claims abstract description 39
- 210000000629 knee joint Anatomy 0.000 claims description 75
- 210000004394 hip joint Anatomy 0.000 claims description 46
- 210000001699 lower leg Anatomy 0.000 claims description 28
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 210000001624 hip Anatomy 0.000 claims description 3
- 210000003127 knee Anatomy 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 abstract description 7
- 241000238631 Hexapoda Species 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000005265 energy consumption Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- B62D57/028—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 having wheels and mechanical legs
-
- 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
Abstract
The present invention relates to a kind of with the robot deformation leg for taking turns sufficient ability to transform, including thigh semi-ring and shank semi-ring, is annulus when thigh semi-ring and shank semi-ring close up, can be used as wheel, realizes wheel type mobile；When certain angle is presented in shank semi-ring and thigh semi-ring, large and small leg can be used as, realize sufficient formula walking.The advantages of two kinds of configurations can convert at any time, can both have both two kinds of wheel, foot mobile forms, while not increasing the weight of leg structure and the complexity of control yet, the present invention can be used for two foots, four-footed or hexapod robot.
Description
Technical field
It is the present invention relates to robot field, in particular to a kind of with the robot deformation leg for taking turns sufficient ability to transform.
Background technique
Wheel type mobile mode has many advantages, such as that energy consumption is relatively low, movement speed is fast, and sufficient formula move mode is due to using
Large and small leg structure has the advantages such as obstacle climbing ability is strong, therefore has many model machines to be combined together the two, it would be desirable to take into account two
The advantages of person.
As shown in Figure 1, CN109018058A (document 1) discloses a kind of sufficient integral type robot leg structure of wheel, this leg
Structure includes the sideway mechanism of robot, thigh, shank and sufficient end；Whole leg has three groups to use the structure of servo valve control identical
Hydraulic cylinder, moving forward and backward for the sideway of leg, thigh and shank may be implemented, robot foot end is wheeled construction, wheel
Direction can arbitrarily adjust, there is individual power source at sufficient end, and using stepper drive all-in-one machine, driving is integrated in one with control
It rises；In flat section traveling, it can be used alone sufficient end motor driving wheel rotation, keep movement quicker, save energy
Source；In ups and downs section movement, hydraulic device can be used to drive, robot is helped to realize obstacle detouring.
As shown in Fig. 2, the beta version model machine of the extreme maneuver vehicle Elevate of Hyundai motor corporation, equally uses
Wheel arrangement in the end of shank, which is scheme used by current most wheel legged type robots.
As shown in figure 3, CN208007139U (document 2) discloses a kind of flexible wheel foot switching mobile platform, wheel
It is arranged at knee joint, when knee joint and vertical axes angle are smaller, robot when knee joint and is erected using sufficient formula walking manner
When d-axis angle is larger, shank is lifted, and wheel and ground face contact, robot use wheel type mobile mode.
It is the sufficient formula leg structure of most common and simplest wheel that wheel, which is arranged in sufficient end, but the disadvantage is that: (1) wheel needs
Independent driver will lead to the increase of leg architecture quality, and the number of drives of robot entirety increased, and control also can be more
Add complexity；(2) the sufficient end of robot is wheel, and will lead to robot can not add simple manipulator by sufficient end to realize machine
The operational capacity of device people；(3) when wheel locking exception, it will lead to the robot in walking and skid or fall down.
Wheel is arranged in knee joint, and there is also some shortcomings: (1) causing leg architecture quality to increase, robot is using foot
It can increasing energy consumption when formula move mode；(2) when robot uses wheel type mobile mode, shank need to keep certain pose, need
Additional pose holding mechanism is wanted, causes leg structure more complex, reliability can also reduce.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, provide a kind of with the robot change for taking turns sufficient ability to transform
Shape leg, without wheel, leg and wheel integration do not increase the weight and complexity of leg.
The technical scheme is that a kind of with the robot deformation leg for taking turns sufficient ability to transform, including thigh semi-ring and
It is annulus when shank semi-ring, thigh semi-ring and shank semi-ring close up, can be used as wheel, realizes wheel type mobile；Shank semi-ring and big
When certain angle is presented in leg semi-ring, large and small leg can be used as, realize sufficient formula walking.
Further, the centre of the thigh semi-ring is provided with thigh cross bar, and the thigh cross bar passes through connector and hip
Joint drive axis is fixedly connected, and the hip joint drive shaft drives the rotation of thigh semi-ring, and one end of the shank semi-ring passes through knee
Joint shaft and one end of thigh semi-ring are hinged, and the knee joint shaft and knee joint drive axis connection, the knee joint driving
Axis drives the knee joint shaft rotation, and then drives the shank semi-ring rotation.
Further, the free end of the shank semi-ring is equipped with lug boss, and the free end of the thigh semi-ring is equipped with recess
Portion, when thigh semi-ring and shank semi-ring close up, the lug boss is inserted into the recessed portion, forms annulus.
Further, the knee joint drive shaft is connect with the knee joint shaft by belt, the belt with it is described
It is equipped between knee joint drive shaft and also is provided with belt wheel between belt wheel, the belt and the knee joint shaft.
Further, further include knee joint driving motor and hip joint driving motor, the knee joint driving motor it is defeated
Shaft is connected with the knee joint drive shaft, and the output shaft of the hip joint driving motor is connected with the hip joint drive shaft,
The knee joint drive shaft and hip joint drive shaft coaxial line setting.
Further, the output shaft of the hip joint driving motor passes through worm gear mechanism and the hip joint drive shaft
It is connected, the turbine that hip joint driving motor is driven is hollow type, and turbine is coaxially set with knee joint driving motor；It can be with
Be: hip joint driving motor is hollow type, is coaxially set with knee joint driving motor.
Further, the hip joint drive shaft is hollow cylinder shape, and the knee joint drive shaft setting is closed in the hip
The inside of drive shaft is saved, hip joint drive shaft, by belt wheel drive belt, the knee joint drive shaft and the hip are stretched out in one end
Bearing is provided between joint drive axis.
Further, reinforcing rod, knee joint driving are connected between the knee joint drive shaft and the knee joint shaft
One end that axis stretches out hip joint drive shaft is articulated to thigh cross bar, reinforcing rod and knee joint drive shaft, knee joint shaft with
And thigh cross bar forms closing frame.
It is wheel when closing up the invention has the following advantages: thigh and shank are both designed as semi-ring, when opening is
Large and small leg, does not use wheel, and transformation freely, does not increase the weight of leg structure and the complexity of control, this feature can make yet
The present invention is for two foots, four-footed or hexapod robot.When the inside of the hip joint drive shaft is arranged in knee joint drive shaft,
Hip joint and knee joint drive shaft are coaxial, and structure overall volume is smaller.
Detailed description of the invention
Fig. 1 is the wheel legged type robot schematic diagram one of the prior art.
Fig. 2 is the wheel legged type robot schematic diagram two of the prior art.
Fig. 3 is the wheel legged type robot schematic diagram two of the prior art.
Fig. 4 is deformation leg foot formula walking structure status diagram of the invention.
Fig. 5 is deformation leg running on wheels configuration state schematic diagram of the invention.
Fig. 6 is drive system schematic diagram of the invention.
Fig. 7 is quadruped robot running on wheels schematic diagram.
Fig. 8 is quadruped robot foot formula walking schematic diagram.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It is a kind of with the robot deformation leg for taking turns sufficient ability to transform, including thigh semi-ring 1 and shank half referring to attached drawing 1-8
It is annulus when ring 2, thigh semi-ring 1 and shank semi-ring 2 close up, can be used as wheel, realizes wheel type mobile；Shank semi-ring 2 and thigh
When certain angle is presented in semi-ring 1, large and small leg can be used as, realize sufficient formula walking.
The centre of thigh semi-ring 1 is provided with thigh cross bar 3, and thigh cross bar 3 is solid by connector 4 and hip joint drive shaft 5
Fixed connection, hip joint drive shaft 5 drive thigh semi-ring 1 to rotate, and one end of shank semi-ring 2 passes through knee joint shaft 6 and thigh half
One end of ring 1 is hinged, and knee joint shaft 6 is connect with knee joint drive shaft 7, and knee joint drive shaft 7 drives knee joint shaft 6 to revolve
Turn, and then shank semi-ring 2 is driven to rotate.
The free end of shank semi-ring 2 is equipped with lug boss 8, and the free end of thigh semi-ring 1 is equipped with recessed portion 9, when thigh semi-ring 1
When closing up with shank semi-ring 2, lug boss 8 is inserted into recessed portion 9, forms annulus.
Knee joint drive shaft 7 is connect with knee joint shaft 6 by belt 10, is set between belt 10 and knee joint drive shaft 7
It is equipped between belt wheel, belt 10 and knee joint shaft 6 and is also equipped with belt wheel 11.
It further include knee joint driving motor 12 and hip joint driving motor 13, the output shaft and knee of knee joint driving motor 12
Joint drive axis 7 is connected, and the output shaft of hip joint driving motor 13 passes through worm gear mechanism 16 and 5 phase of hip joint drive shaft
Even, knee joint drive shaft 7 and hip joint drive shaft 5 are coaxially set, and hip joint driving motor 13 is mounted on worm gear mechanism
On 16, worm gear mechanism 16 and knee joint driving motor 12 are mounted on fixed device 14, and deformation leg passes through fixed device 14
Fixed on other components, which can also be integrally formed with other components.Thigh semi-ring 1 drives in hip joint
It can be rotated under the driving of dynamic motor 13, shank semi-ring 2 can be swung under the driving of knee joint driving motor 12.
Hip joint driving motor 13 can be ordinary motor, as shown in figure 4, driving hip joint by turbine and worm mechanism 16
Drive shaft 5 rotates, and the turbine that hip joint driving motor 13 is driven is hollow type, turbine and 12 coaxial line of knee joint driving motor
Setting；Hip joint driving motor 13 is coaxially set it is also an option that hollow type motor with knee joint driving motor 12, with into one
Step reduces integrally-built volume.
In order to further decrease integrally-built volume, hip joint drive shaft 5 is hollow cylinder shape, knee joint drive shaft 7
The inside of hip joint drive shaft 5 is set, and hip joint drive shaft 5 is stretched out in one end, passes through belt wheel drive belt 10, knee joint driving
Bearing is provided between axis 7 and hip joint drive shaft 5, bearing is preferably two.
In order to further strengthen the rigidity of knee joint drive shaft 7 and knee joint shaft 6, knee joint drive shaft 7 and knee joint
Reinforcing rod 15 is connected between shaft 6, one end that knee joint drive shaft 7 stretches out hip joint drive shaft 5 is articulated to greatly
Leg cross bar 3, reinforcing rod 15 and knee joint drive shaft 7, knee joint shaft 6 and thigh cross bar 3 form closing frame, enhance knee pass
Save the coupling stiffness of drive shaft 7 and knee joint shaft 6.
As shown in figure 4, connector 4 intermediate can slot, to accommodate belt wheel, and belt 10 and reinforcing rod 15 are passed through.On
Embodiment is stated as the preferable embodiment of the present invention, but embodiment of the present invention are not limited by the above embodiments, other
It is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications, should be equivalent
Substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of with the robot deformation leg for taking turns sufficient ability to transform, it is characterised in that: including thigh semi-ring (1) and shank semi-ring
(2), it is annulus when thigh semi-ring (1) and shank semi-ring (2) close up, can be used as wheel, realizes wheel type mobile；Shank semi-ring (2)
When certain angle is presented with thigh semi-ring (1), large and small leg can be used as, realize sufficient formula walking.
2. according to claim 1 a kind of with the robot deformation leg for taking turns sufficient ability to transform, it is characterised in that: described big
The centre of leg semi-ring (1) is provided with thigh cross bar (3), and the thigh cross bar (3) passes through connector (4) and hip joint drive shaft
(5) it is fixedly connected, the hip joint drive shaft (5) drives thigh semi-ring (1) rotation, and one end of the shank semi-ring (2) passes through
Knee joint shaft (6) and one end of thigh semi-ring (1) are hinged, and the knee joint shaft (6) connect with knee joint drive shaft (7),
The knee joint drive shaft (7) drives knee joint shaft (6) rotation, and then drives shank semi-ring (2) rotation.
3. according to claim 1 or 2 a kind of with the robot deformation leg for taking turns sufficient ability to transform, it is characterised in that: institute
The free end for stating shank semi-ring (2) is equipped with lug boss (8), and the free end of the thigh semi-ring (1) is equipped with recessed portion (9), when big
When leg semi-ring and shank semi-ring close up, the lug boss (8) is inserted into the recessed portion (9), forms annulus.
4. according to claim 2 a kind of with the robot deformation leg for taking turns sufficient ability to transform, it is characterised in that: the knee
Joint drive axis (7) is connect with the knee joint shaft (6) by belt (10), and the belt (10) and the knee joint drive
It is equipped between axis (7) and also is provided with belt wheel between belt wheel, the belt (10) and the knee joint shaft (6).
5. according to claim 2 a kind of with the robot deformation leg for taking turns sufficient ability to transform, it is characterised in that: further include
Knee joint driving motor (12) and hip joint driving motor (13), the output shaft and the knee of the knee joint driving motor (12)
Joint drive axis (7) is connected, and the output shaft of the hip joint driving motor (13) is connected with the hip joint drive shaft (5), institute
It states knee joint drive shaft (7) and the hip joint drive shaft (5) is coaxially set.
6. according to claim 5 a kind of with the robot deformation leg for taking turns sufficient ability to transform, it is characterised in that: the hip
The output shaft of joint drive motor (13) is connected by worm gear mechanism (16) with the hip joint drive shaft (5), hip joint
The turbine that driving motor (13) is driven is hollow type, and turbine is coaxially set with knee joint driving motor (12).
7. according to claim 5 a kind of with the robot deformation leg for taking turns sufficient ability to transform, it is characterised in that: hip joint
Driving motor (13) is hollow type, is coaxially set with knee joint driving motor (12).
8. a kind of with the robot deformation leg for taking turns sufficient ability to transform according to claim 5 or 6 or 7, it is characterised in that:
The hip joint drive shaft (5) is hollow cylinder shape, and the knee joint drive shaft (7) is arranged in the hip joint drive shaft (5)
Inside, hip joint drive shaft (5) are stretched out in one end, by belt wheel drive belt (10), the knee joint drive shaft (7) and described
Hip joint drive shaft is provided with bearing between (5).
9. according to claim 8 a kind of with the robot deformation leg for taking turns sufficient ability to transform, it is characterised in that: knee joint
It is connected between drive shaft (7) and knee joint shaft (6) reinforcing rod (15), knee joint drive shaft (7) is stretched out hip joint and driven
One end of moving axis (5) is articulated to thigh cross bar (3), reinforcing rod (15) and knee joint drive shaft (7), knee joint shaft (6)
And thigh cross bar (3) forms closing frame.
10. a kind of robot, which is characterized in that include robot deformation leg described in one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910089321.6A CN109606498B (en) | 2019-01-30 | 2019-01-30 | Robot deformation leg with wheel foot transformation capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910089321.6A CN109606498B (en) | 2019-01-30 | 2019-01-30 | Robot deformation leg with wheel foot transformation capability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109606498A true CN109606498A (en) | 2019-04-12 |
| CN109606498B CN109606498B (en) | 2024-03-19 |
Family
ID=66021460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910089321.6A Active CN109606498B (en) | 2019-01-30 | 2019-01-30 | Robot deformation leg with wheel foot transformation capability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109606498B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111391935A (en) * | 2020-03-19 | 2020-07-10 | 上海工程技术大学 | Self-deformation reconfigurable multi-terrain robot |
| CN111976855A (en) * | 2020-07-10 | 2020-11-24 | 北京交通大学 | Single-drive six-rod mechanism deformable wheel obstacle crossing robot |
| CN114275072A (en) * | 2022-01-19 | 2022-04-05 | 西湖机器人科技(杭州)有限公司 | Device capable of realizing switching of two states of wheel foot of robot |
| CN115123418A (en) * | 2022-06-30 | 2022-09-30 | 杭州云深处科技有限公司 | Wheel leg replacing mechanism and replacing method for quadruped robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070186713A1 (en) * | 2006-02-12 | 2007-08-16 | Michael Trzecieski | Transforming Limb |
| US20110100733A1 (en) * | 2009-10-29 | 2011-05-05 | National Taiwan University | Mobile platform |
| CN102717847A (en) * | 2012-06-28 | 2012-10-10 | 中国科学院自动化研究所 | Leg-foot mechanism with low rotational inertia configuration for four-footed robot |
| CN203381702U (en) * | 2013-07-17 | 2014-01-08 | 电子科技大学 | One-legged jumping robot |
| SK562012A3 (en) * | 2012-08-02 | 2014-02-04 | Technická Univerzita V Košiciach | Reconfigurable wheel of mobile platform for walking leg |
| CN104085458A (en) * | 2014-07-03 | 2014-10-08 | 电子科技大学 | Leg-wheel type quadruped robot |
| CN104773226A (en) * | 2015-04-20 | 2015-07-15 | 哈尔滨工业大学 | Wheel-foot conversion type mobile robot system |
| CN106004281A (en) * | 2016-05-24 | 2016-10-12 | 西北工业大学 | Amphibious robot with multiple movement modes |
| CN209535272U (en) * | 2019-01-30 | 2019-10-25 | 清华大学 | A kind of robot deformation leg with the sufficient ability to transform of wheel |
-
2019
- 2019-01-30 CN CN201910089321.6A patent/CN109606498B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070186713A1 (en) * | 2006-02-12 | 2007-08-16 | Michael Trzecieski | Transforming Limb |
| US20110100733A1 (en) * | 2009-10-29 | 2011-05-05 | National Taiwan University | Mobile platform |
| CN102717847A (en) * | 2012-06-28 | 2012-10-10 | 中国科学院自动化研究所 | Leg-foot mechanism with low rotational inertia configuration for four-footed robot |
| SK562012A3 (en) * | 2012-08-02 | 2014-02-04 | Technická Univerzita V Košiciach | Reconfigurable wheel of mobile platform for walking leg |
| CN203381702U (en) * | 2013-07-17 | 2014-01-08 | 电子科技大学 | One-legged jumping robot |
| CN104085458A (en) * | 2014-07-03 | 2014-10-08 | 电子科技大学 | Leg-wheel type quadruped robot |
| CN104773226A (en) * | 2015-04-20 | 2015-07-15 | 哈尔滨工业大学 | Wheel-foot conversion type mobile robot system |
| CN106004281A (en) * | 2016-05-24 | 2016-10-12 | 西北工业大学 | Amphibious robot with multiple movement modes |
| CN209535272U (en) * | 2019-01-30 | 2019-10-25 | 清华大学 | A kind of robot deformation leg with the sufficient ability to transform of wheel |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111391935A (en) * | 2020-03-19 | 2020-07-10 | 上海工程技术大学 | Self-deformation reconfigurable multi-terrain robot |
| CN111976855A (en) * | 2020-07-10 | 2020-11-24 | 北京交通大学 | Single-drive six-rod mechanism deformable wheel obstacle crossing robot |
| CN111976855B (en) * | 2020-07-10 | 2022-08-26 | 北京交通大学 | Single-drive six-rod mechanism deformable wheel obstacle crossing robot |
| CN114275072A (en) * | 2022-01-19 | 2022-04-05 | 西湖机器人科技(杭州)有限公司 | Device capable of realizing switching of two states of wheel foot of robot |
| CN115123418A (en) * | 2022-06-30 | 2022-09-30 | 杭州云深处科技有限公司 | Wheel leg replacing mechanism and replacing method for quadruped robot |
| CN115123418B (en) * | 2022-06-30 | 2024-01-16 | 杭州云深处科技有限公司 | Wheel leg replacement mechanism and replacement method for quadruped robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109606498B (en) | 2024-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109606498A (en) | A kind of robot deformation leg with the sufficient ability to transform of wheel | |
| CN108556957B (en) | Foldable leg mechanism for changeable cell unmanned ground moving system | |
| CN106585761B (en) | A kind of planar linkage formula four feet walking robot of imitative equine gait | |
| CN206914469U (en) | With multivariant climbing robot | |
| CN100384598C (en) | Foot mechanism with toe freedom for two-foot walking robot | |
| CN107458495A (en) | Leg travel mechanism and quadruped robot | |
| CN209535272U (en) | A kind of robot deformation leg with the sufficient ability to transform of wheel | |
| CN101972191B (en) | Self-control wheel-track automatic-switching stair-climbing machine | |
| CN105109572A (en) | Single-leg structure for wheel-legged type robot in leg-arm mixing operation | |
| CN101007550A (en) | Bionic leg-driving and transmission device for multiple joint robot | |
| CN101380978A (en) | Shrimp-shaped six-wheel mobile robot | |
| CN104647343A (en) | Micro-miniature overturning stair-climbing robot | |
| WO2021135148A1 (en) | Multi-motion mode wheel-track-leg composite robot | |
| CN207311653U (en) | The sufficient Bionic crab robot of one kind eight | |
| CN209454890U (en) | A kind of wheeled creeping-type free switching hexapod robot | |
| CN110406613A (en) | A kind of light-duty single leg mechanism of multiple degrees of freedom | |
| CN201899626U (en) | Self-control type automatic wheel-crawler switching stair climbing machine | |
| CN109178133B (en) | Variable topology operation dual-mode walking mechanism | |
| CN207627534U (en) | Shifting is ridden | |
| JP2023512370A (en) | variable robot | |
| CN112429114A (en) | Leg mechanism and quadruped robot | |
| CN110789632A (en) | Four-foot wheeled robot | |
| CN214189857U (en) | Wheel-foot hybrid robot | |
| CN115781639A (en) | Lightweight human body power assisting device based on single-drive actuator | |
| CN214189855U (en) | Wheel-foot hybrid robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |