CN110588826B - Wheel leg type robot capable of overturning - Google Patents
Wheel leg type robot capable of overturning Download PDFInfo
- Publication number
- CN110588826B CN110588826B CN201911007099.7A CN201911007099A CN110588826B CN 110588826 B CN110588826 B CN 110588826B CN 201911007099 A CN201911007099 A CN 201911007099A CN 110588826 B CN110588826 B CN 110588826B
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- wheel
- robot
- front wheel
- arm
- connecting piece
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- 238000007789 sealing Methods 0.000 claims abstract description 16
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 230000001681 protective effect Effects 0.000 claims description 9
- 239000000428 dust Substances 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 2
- 230000002441 reversible effect Effects 0.000 claims 5
- 230000007306 turnover Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a turnover wheel leg type robot which comprises a robot body, wherein a front cover is arranged on the front side of the robot body, a front wheel assembly is arranged on the surface of a sealing plate, a motor is arranged on the inner wall of a side cover, an output shaft is connected to the outer side of the motor, a wheel leg assembly is arranged on the outer side of the output shaft, the front wheel assembly comprises a front wheel straight arm, a front wheel side arm, a first bolt, a second bolt, a U-shaped wheel arm connecting piece and a universal wheel, and the wheel leg assembly comprises a coupler, an arc single foot, a T-shaped connecting piece, gear teeth and screws. The invention combines the wheel leg component with the arc foot structure with the fixed front wheel component, not only has the flexibility of the wheel type robot, but also has the high obstacle crossing performance of the leg type robot, and the front and the back of the robot can be exchanged at any time by adopting the structure with complete symmetry up and down, thereby avoiding the trouble of turning over the vehicle caused by very complex terrain and greatly improving the adaptability of the robot to different environments.
Description
Technical Field
The invention relates to the technical robot field, in particular to a turnover wheel leg type robot.
Background
At present, most common robots are wheeled, legged and crawler-type. Because the special structures of the two wheels are symmetrical, the upper and lower structures of the robot are consistent, and the robot can cause the trouble of turning over on the very complex terrain. In the prior art, the wheel type robot and the leg type robot cannot be combined, and the adaptability of the robot to different environments is relatively poor. Therefore, it is important to design a wheeled-legged robot having both flexibility of the wheeled robot and high obstacle crossing performance of the legged robot.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention provides the turnover wheel-leg type robot, which effectively solves the problems that the wheel-leg type robot and the leg type robot cannot be combined, the adaptability of the robot to different environments is relatively poor, and the robot can cause rollover trouble on very complex terrains.
In order to achieve the above purpose, the present invention provides the following technical solutions: the robot comprises a robot body, wherein a front cover is arranged on the front side of the robot body, a rear cover is arranged on the rear side of the robot body, sealing plates are arranged on the opposite sides of the front cover and the rear cover, a front wheel assembly is arranged on the surface of each sealing plate, a switch is arranged on the outer side of each rear cover, a USB charging interface is arranged on one side of each switch, a storage battery placing box is arranged in each storage battery placing box, a storage battery is arranged in each storage battery placing box, a protective shell is sleeved on the outer side of each storage battery, side covers are arranged on two sides of the robot body, a motor is arranged on the inner wall of each side cover, an output shaft is connected to the outer side of each motor, a wheel leg assembly is arranged on the outer side of each output shaft, the output ends of the storage batteries are electrically connected with the input ends of the switches, and the output ends of the switches are electrically connected with the input ends of the motors;
The front wheel assembly comprises a front wheel straight arm, a front wheel side arm, a first bolt, a second bolt, a U-shaped wheel arm connecting piece and a universal wheel, the front wheel straight arm is arranged at the center of the sealing plate, the front wheel side arm is arranged at both sides of the sealing plate, the U-shaped wheel arm connecting piece is arranged at the tail end of the front wheel straight arm, and the universal wheel is arranged in the middle of the U-shaped wheel arm connecting piece;
The wheel leg assembly comprises a shaft coupling, an arc single foot, a T-shaped connecting piece, gear teeth and screws, the outer part of an output shaft is sleeved with the shaft coupling, the arc single foot is installed on the outer ring of the shaft coupling, the arc single foot is fixedly connected with the shaft coupling through the T-shaped connecting piece, the gear teeth are arranged on the surface of the arc single foot, the front wheel straight arm and the front wheel side arm are connected with a sealing plate through first bolts, the front wheel straight arm and the front wheel side arm are connected through second bolts, the protection shell is movably connected with a storage battery placing box through a hinge, and fixing plates are arranged on the same sides of the protection shell and the storage battery placing box and are fixedly connected through third bolts.
According to the technical scheme, the T-shaped connecting piece is connected with the arc single feet through the screws, the number of the wheel leg assemblies is two, one wheel leg assembly corresponds to four arc single feet, and one arc single foot corresponds to four screws.
According to the technical scheme, the inside of USB interface that charges is filled with the dust plug, and the dust plug is a component of rubber material.
According to the technical scheme, the joint of the output shaft and the coupler is sleeved with the bearing.
According to the technical scheme, the junction of motor and side cap is provided with the shock attenuation board, and the thickness of shock attenuation board is 2cm.
According to the technical scheme, the front wheel straight arm and the two front wheel side arms are in an isosceles triangle shape.
The invention combines the wheel leg component with the arc foot structure with the fixed front wheel component, has the flexibility of the wheel type robot and the high obstacle crossing performance of the leg type robot, adopts the structure with complete symmetry up and down, so that the front side and the back side of the robot can be exchanged at any time, that is, the robot can realize the unconscious turning, the robot avoids the trouble of turning on the robot caused by very complex terrains, and greatly improves the adaptability of the robot to different environments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a schematic view of the motor mounting structure of the present invention.
Fig. 4 is a side view of the present invention.
Fig. 5 is a schematic view of the mounting structure of the protective case of the present invention.
Reference numerals in the drawings: 1. a robot body; 2. a front wheel assembly; 21. front wheel straight arm; 22. a front wheel side arm; 23. a first bolt; 24. a second bolt; 25. a U-shaped wheel arm connector; 26. a universal wheel; 3. a front cover; 4. a rear cover; 5. a switch; 6. a USB charging interface; 7. a storage battery placing box; 8. a protective shell; 9. a storage battery; 10. a fixing plate; 11. a third bolt; 12. a side cover; 13. a motor; 14. an output shaft; 15. a wheel leg assembly; 151. a coupling; 152. arc single foot; 153. a T-shaped connecting piece; 154. gear teeth; 155. a screw; 16. a sealing plate; 17. and a shock absorbing plate.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to FIGS. 1-5.
The first embodiment is shown in fig. 1,2, 3, 4 and 5, the invention comprises a robot body 1, a front cover 3 is arranged on the front side of the robot body 1, a front cover 3 is arranged on the rear side of the robot, sealing plates 16 are arranged on the opposite sides of the front cover 3 and the rear cover 4, a front wheel assembly 2 is arranged on the surface of the sealing plates 16, a switch 5 is arranged on the outer side of the rear cover 4, a USB charging interface 6 is arranged on one side of the switch 5, a storage battery placing box 7 is arranged in the robot body 1, a storage battery 9 is arranged in the storage battery placing box 7, a protective shell 8 is sleeved outside the storage battery 9, side covers 12 are arranged on two sides of the robot body 1, a motor 13 is arranged on the inner wall of the side covers 12, an output shaft 14 is connected on the outer side of the motor 13, a wheel leg assembly 15 is arranged on the outer side of the output shaft 14, the output end of the storage battery 9 is electrically connected with the input end of the switch 5, and the output end of the switch 5 is electrically connected with the input end of the motor 13;
The front wheel assembly 2 comprises a front wheel straight arm 21, a front wheel side arm 22, a first bolt 23, a second bolt 24, a U-shaped wheel arm connecting piece 25 and a universal wheel 26, wherein the front wheel straight arm 21 is arranged in the center of the sealing plate 16, the front wheel side arm 22 is arranged on both sides of the sealing plate 16, the U-shaped wheel arm connecting piece 25 is arranged at the tail end of the front wheel straight arm 21, and the universal wheel 26 is arranged in the middle of the U-shaped wheel arm connecting piece 25;
The wheel leg assembly 15 comprises a coupling 151, an arc single foot 152, a T-shaped connecting piece 153, gear teeth 154 and screws 155, the coupling 151 is sleeved outside the output shaft 14, the arc single foot 152 is installed on the outer ring of the coupling 151, the arc single foot 152 is fixedly connected with the coupling 151 through the T-shaped connecting piece 153, the gear teeth 154 are arranged on the surface of the arc single foot 152, firstly, the storage battery 9 is placed in the storage battery placing box 7, then the protective shell 8 is covered, the storage battery 9 is fixed by a third bolt 11 penetrating through the fixing plate 10, the storage battery 9 is prevented from jolting and loosening when the robot operates, then the side cover 12, the front cover 3 and the front cover 3 form a closed shell, a circuit driving unit and a sensor of the robot are separated from the outside, the waterproof and dustproof effects can be achieved, secondly, a front wheel straight arm 21 and two front wheel side arms 22 in the front wheel assembly 2 of the robot are in isosceles triangle shapes, the triangle three-arm fixing mode is adopted, the triangle and symmetrical mechanism greatly strengthen the rigidity and strength of the front arm, the universal wheel 26 is connected with the front arm through the U-shaped wheel arm connecting piece 25, the structure is simple, the installation is convenient, the universal wheel 26 is stuck on the ground at any time, the stability of the robot is increased, the wheel leg assemblies 15 are arranged at two ends of the side cover 12, one wheel leg assembly 15 is correspondingly provided with four arc single feet 152, one arc single foot 152 is correspondingly provided with four screws 155, the arc single foot 152 is fixedly connected with the coupler 151 through the T-shaped connecting piece 153, the T-shaped connecting piece 153 is connected with the arc single foot 152 through the screws 155, the installation and the disassembly of the arc single foot 152 are convenient, the stability of the wheel leg assembly 15 is ensured, the switch 5 is further opened, the storage battery 9 supplies power, the sensor transmits information of the sensor to the circuit driving unit of the robot, the circuit driving unit controls the motor 13 to operate, the motor 13 drives the output shaft 14 to rotate, the output shaft 14 is connected with the coupling 151 of the wheel leg assembly 15, and then the whole wheel leg assembly 15 is driven to rotate together, so that the wheel leg assembly 15 has high obstacle crossing performance and certain jumping capability, the wheel leg assembly 15 with an arc foot type structure is combined with the fixed front wheel assembly 2 by the robot, the flexibility of the wheel type robot is realized, the high obstacle crossing performance of the leg type robot is realized, the up-down complete symmetrical structure is adopted, the front side and the back side of the robot can be exchanged at any time, that is, the robot can realize the no-view turning, the trouble of turning the vehicle caused by the robot on the very complex terrain is avoided, and the adaptability of the robot to different environments is greatly improved.
In the second embodiment, as shown in fig. 1 and 2, the front wheel straight arm 21 and the front wheel side arm 22 are connected with the sealing plate 16 through the first bolt 23, and the front wheel straight arm 21 and the front wheel side arm 22 are connected through the second bolt 24, so that the front wheel straight arm 21 and the front wheel side arm 22 are convenient to mount and dismount, and the connection is firm.
On the basis of the first embodiment, as shown in fig. 3 and 5, the protection shell 8 is movably connected with the storage battery placing box 7 through a hinge, fixing plates 10 are respectively arranged on the same sides of the protection shell 8 and the storage battery placing box 7, the fixing plates 10 are fixedly connected through third bolts 11, the storage battery 9 is further protected through the protection shell 8, when the storage battery 9 needs to be replaced, the third bolts 11 are taken out from the fixing plates 10, and the fixing plates 10 on the protection shell 8 are pinched to be turned upwards.
In the fourth embodiment, based on the first embodiment, as shown in fig. 1 and fig. 4, the T-shaped connecting piece 153 is connected with the arc single-foot 152 by the screws 155, the number of the wheel leg assemblies 15 is two, one wheel leg assembly 15 is correspondingly provided with four arc single-feet 152, and one arc single-foot 152 is correspondingly provided with four screws 155, so that the installation and the disassembly of the arc single-feet 152 are convenient, and the stability of the wheel leg assembly 15 is ensured.
In the fifth embodiment, on the basis of the first embodiment, a dust plug is filled in the USB charging interface 6, and the dust plug is a rubber member, so that dust is prevented from entering the USB charging interface 6 when the USB charging interface is not in use, and charging is prevented from being influenced.
In the sixth embodiment, on the basis of the first embodiment, the connection part between the output shaft 14 and the coupling 151 is sleeved with a bearing, so that the friction coefficient of the coupling 151 in the moving process can be reduced, and the rotation precision of the coupling is ensured.
In the seventh embodiment, as shown in fig. 3, on the basis of the first embodiment, a damping plate 17 is disposed at the connection position between the motor 13 and the side cover 12, the thickness of the damping plate 17 is 2cm, and the damping plate 17 can reduce vibration generated by the operation of the motor 13, so as to avoid affecting the action of the robot.
In the eighth embodiment, as shown in fig. 1 and 2, the front wheel straight arm 21 and the two front wheel side arms 22 are isosceles triangle-shaped, and the triangle and symmetry mechanism greatly reinforces the rigidity and strength of the front arm.
The motor 13 in this embodiment adopts a 3508 motor.
Working principle: when the invention is used, firstly, the storage battery 9 is placed in the storage battery placing box 7, then the protective shell 8 is covered, the storage battery 9 is fixed by using the third bolt 11 penetrating through the fixing plate 10, the storage battery 9 is prevented from jolting and loosening when the robot operates, then the side cover 12, the front cover 3 and the front cover 3 form a closed shell, the circuit driving unit and the sensor of the robot are separated from the outside, the waterproof and dustproof effects can be achieved, secondly, the front wheel straight arm 21 and the two front wheel side arms 22 in the front wheel assembly 2 of the robot are in isosceles triangle shapes, the triangle and symmetrical mechanism greatly strengthen the rigidity and the strength of the front arms by adopting a triangle three-arm fixing mode, the universal wheel 26 is connected with the front arms by the U-shaped wheel arm connecting piece 25, the structure is simple and convenient to install, the universal wheel 26 is attached to the ground at any time, the stability of the robot is increased, and the two ends of the side cover 12 are provided with the wheel leg assembly 15, one wheel leg assembly 15 is correspondingly provided with four arc single feet 152, one arc single foot 152 is correspondingly provided with four screws 155, the arc single foot 152 is fixedly connected with a coupler 151 through a T-shaped connecting piece 153, the T-shaped connecting piece 153 is connected with the arc single foot 152 through the screws 155, the installation and the disassembly of the arc single foot 152 are convenient, the stability of the wheel leg assembly 15 is ensured, the switch 5 is further opened, the storage battery 9 is powered, the sensor transmits information thereof to a circuit driving unit of the robot, the circuit driving unit controls a motor 13 to operate, the motor 13 drives an output shaft 14 to rotate, the output shaft 14 is connected with the coupler 151 of the wheel leg assembly 15, the whole wheel leg assembly 15 is driven to rotate together, the wheel leg assembly 15 has high skip performance and certain jumping capability, the robot combines the wheel leg assembly 15 with a fixed front wheel assembly 2 in an arc foot structure, the robot has the flexibility of a wheeled robot and the high obstacle crossing performance of a legged robot, adopts a structure with complete symmetry up and down, so that the front and back sides of the robot can be exchanged at any time, that is, the robot can realize the blind turning, the robot avoids the trouble of turning on the robot caused by very complex terrains, and the adaptability of the robot to different environments is improved to a great extent.
Compared with the prior art, the invention has the following advantages: the robot combines the wheel leg assembly 15 with the arc foot type structure with the fixed front wheel assembly 2, has the flexibility of the wheel type robot and has the high obstacle crossing performance of the leg type robot, the front and the back of the robot can be exchanged at any time by adopting the structure with complete symmetry up and down, that is to say, the robot can roll over at any time, the robot avoids the trouble of roll over caused by the robot on very complex terrains, and the adaptability of the robot to different environments is improved to a great extent.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a wheel leg formula robot that can overturn, includes robot automobile body (1), its characterized in that: the front side of the robot car body (1) is provided with a front cover (3), the rear side of the robot is provided with a rear cover (4), opposite sides of the front cover (3) and the rear cover (4) are respectively provided with a sealing plate (16), the surface of each sealing plate (16) is provided with a front wheel assembly (2), the outer side of each rear cover (4) is provided with a switch (5), one side of each switch (5) is provided with a USB charging interface (6), the inside of the robot car body (1) is provided with a storage battery placing box (7), the inside of the storage battery placing box (7) is provided with a storage battery (9), the outside of the storage battery (9) is sleeved with a protective shell (8), two sides of the robot car body (1) are provided with side covers (12), the inner wall of each side cover (12) is provided with a motor (13), the outer side of each motor (13) is connected with an output shaft (14), the outer part of each output shaft (14) is provided with a wheel leg assembly (15), the output end of each storage battery (9) is electrically connected with the input end of each switch (5);
The front wheel assembly (2) comprises a front wheel straight arm (21), a front wheel side arm (22), a first bolt (23), a second bolt (24), a U-shaped wheel arm connecting piece (25) and a universal wheel (26), wherein the front wheel straight arm (21) is installed at the center of the sealing plate (16), the front wheel side arm (22) is installed at both sides of the sealing plate (16), the U-shaped wheel arm connecting piece (25) is arranged at the tail end of the front wheel straight arm (21), and the universal wheel (26) is installed in the middle of the U-shaped wheel arm connecting piece (25);
The wheel leg assembly (15) comprises a shaft coupling (151), arc monopod (152), T-shaped connecting piece (153), gear teeth (154) and screws (155), the outside of output shaft (14) is sleeved with shaft coupling (151), arc monopod (152) are installed in the outer lane of shaft coupling (151), arc monopod (152) and shaft coupling (151) are fixedly connected through T-shaped connecting piece (153), the surface of arc monopod (152) is provided with gear teeth (154), front wheel straight arm (21) and front wheel side arm (22) are all connected through first bolt (23) with closing plate (16), be connected through second bolt (24) between front wheel straight arm (21) and front wheel side arm (22), protective housing (8) and battery place box (7) through hinge swing joint, the homonymy of protective housing (8) and battery place box (7) all is provided with fixed plate (10), through third bolt (11) fixed connection between fixed plate (10).
2. A reversible wheel-legged robot according to claim 1, wherein: the T-shaped connecting piece (153) is connected with the arc single feet (152) through screws (155), the number of the wheel leg assemblies (15) is two, one wheel leg assembly (15) corresponds to four arc single feet (152), and one arc single foot (152) corresponds to four screws (155).
3. A reversible wheel-legged robot according to claim 1, wherein: the inside of USB interface (6) that charges is filled with the dust plug, and the dust plug is a component of rubber material.
4. A reversible wheel-legged robot according to claim 1, wherein: and a bearing is sleeved at the joint of the output shaft (14) and the coupler (151).
5.A reversible wheel-legged robot according to claim 1, wherein: a damping plate (17) is arranged at the joint of the motor (13) and the side cover (12), and the thickness of the damping plate (17) is 2cm.
6. A reversible wheel-legged robot according to claim 1, wherein: the front wheel straight arm (21) and the two front wheel side arms (22) are in isosceles triangle shapes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911007099.7A CN110588826B (en) | 2019-10-22 | 2019-10-22 | Wheel leg type robot capable of overturning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911007099.7A CN110588826B (en) | 2019-10-22 | 2019-10-22 | Wheel leg type robot capable of overturning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110588826A CN110588826A (en) | 2019-12-20 |
| CN110588826B true CN110588826B (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911007099.7A Active CN110588826B (en) | 2019-10-22 | 2019-10-22 | Wheel leg type robot capable of overturning |
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| CN (1) | CN110588826B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112297731B (en) * | 2020-10-26 | 2021-12-21 | 南京航空航天大学 | Self-adaptive wheel leg, robot with self-adaptive wheel leg and motion method of robot |
| CN113001593A (en) * | 2021-02-03 | 2021-06-22 | 章余 | A protection architecture for scouting machine people |
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| CN107200075A (en) * | 2017-06-07 | 2017-09-26 | 宋天钰 | A kind of change wheel footpath movement barrier-surpassing robot of separable wheel rim |
| CN107264665A (en) * | 2017-06-07 | 2017-10-20 | 宋天钰 | A kind of conversion movable robot with wheel legs of passive adaptation Service Environment |
| CN206825402U (en) * | 2017-04-20 | 2018-01-02 | 山东农业大学 | A kind of leg-wheel robot suitable for rugged topography |
| CN109774816A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | It is a kind of to collect fixed, pivot stud function wheel leg type hexapod robot |
| CN210707684U (en) * | 2019-10-22 | 2020-06-09 | 东北林业大学 | Turnover wheel-leg type robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| KR101386011B1 (en) * | 2012-12-07 | 2014-04-16 | 서울대학교산학협력단 | Passive transformable wheel and robot having the wheel |
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2019
- 2019-10-22 CN CN201911007099.7A patent/CN110588826B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206825402U (en) * | 2017-04-20 | 2018-01-02 | 山东农业大学 | A kind of leg-wheel robot suitable for rugged topography |
| CN107200075A (en) * | 2017-06-07 | 2017-09-26 | 宋天钰 | A kind of change wheel footpath movement barrier-surpassing robot of separable wheel rim |
| CN107264665A (en) * | 2017-06-07 | 2017-10-20 | 宋天钰 | A kind of conversion movable robot with wheel legs of passive adaptation Service Environment |
| CN109774816A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | It is a kind of to collect fixed, pivot stud function wheel leg type hexapod robot |
| CN210707684U (en) * | 2019-10-22 | 2020-06-09 | 东北林业大学 | Turnover wheel-leg type robot |
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