CN110861728A - Wheel leg type automatic guiding trolley - Google Patents
Wheel leg type automatic guiding trolley Download PDFInfo
- Publication number
- CN110861728A CN110861728A CN201911140644.XA CN201911140644A CN110861728A CN 110861728 A CN110861728 A CN 110861728A CN 201911140644 A CN201911140644 A CN 201911140644A CN 110861728 A CN110861728 A CN 110861728A
- Authority
- CN
- China
- Prior art keywords
- connecting hole
- hole
- connection
- wheel
- hinged
- 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.)
- Pending
Links
Images
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
Abstract
The invention provides a wheel-leg type automatic guide trolley which comprises a trolley body and wheel-leg devices, wherein the wheel-leg devices are arranged at the lower end of the outer part of the trolley body. The wheel-leg device comprises a hip, a thigh, a shank, a hub motor and a servo electric cylinder, a second connecting hole of the hip is hinged with a first connecting hole of the vehicle body, a fourth connecting hole of the thigh is hinged with a third connecting hole of the hip, a sixth connecting hole of the shank is hinged with a fifth connecting hole of the thigh, and the hub motor is hinged with a seventh connecting hole of the shank. The tail end connecting hole of the first servo electric cylinder is hinged to the eighth connecting hole, the connecting hole of the push rod end is hinged to the ninth connecting hole, the tail end connecting hole of the second servo electric cylinder is hinged to the tenth connecting hole, the connecting hole of the push rod end is hinged to the eleventh connecting hole, the tail end connecting hole of the third servo electric cylinder is hinged to the twelfth connecting hole, and the connecting hole of the push rod end is hinged to the thirteenth connecting hole. By controlling the four wheel leg devices, the invention has more flexible movement, stronger ground adaptability and more adaptability to more scenes.
Description
Technical Field
The invention relates to the field of automatic guide trolleys, in particular to a wheel-leg type automatic guide trolley.
Background
With the continuous improvement of the automation degree of the manufacturing industry, the automatic guide trolley is more and more concerned. The automatic guide trolley has the advantages of high transportation efficiency, quick action, reliable work, high automation degree and the like. The automatic guided vehicle can be accurate put various article neatly, can prevent the material damage in the transportation, need almost not artificial intervention moreover, can reduce the loss because of artifical error causes, and its transport route can change according to the change of production procedure and nimble, and the automatic guided vehicle can work in some personnel's inadaptation or place that has the potential safety hazard simultaneously to reduce personnel's damage.
However, the existing automatic guide trolley has high requirements on the working environment, needs to work on a flat ground, is not suitable for having a seam on the ground, can only select to avoid obstacles when a large obstacle exists on the current access road, can consume more time, sometimes the obstacle can cause the automatic guide trolley to be incapable of continuously moving forward, finally causes blockage, can seriously affect the transportation efficiency, and can cause huge loss in serious cases. The existing automatic guide trolley is weak in climbing capability, can only be used for slopes with small gradients, cannot work when the gradients are large, and is poor in ground adaptability.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the wheel-leg type automatic guide trolley, which is more flexible in movement through the combination of multiple movement modes, has stronger adaptability to the ground and wider application scene, saves time and improves the working efficiency of transportation.
The invention provides a wheel-leg type automatic guide trolley which comprises a trolley body and wheel-leg devices, wherein the wheel-leg devices are arranged at the lower end of the outer part of the trolley body in a front elbow and back knee mode. The lower surface of the vehicle body is distributed with a first connecting hole and an eighth connecting hole, the wheel-leg device comprises a hip, a thigh, a shank, a hub motor, a first servo electric cylinder, a second servo electric cylinder and a third servo electric cylinder, a second connecting hole, a third connecting hole, a ninth connecting hole and a tenth connecting hole are arranged on the hip, a fourth connecting hole, a fifth connecting hole, an eleventh connecting hole and a twelfth connecting hole are arranged on the thigh, a sixth connecting hole, a seventh connecting hole and a thirteenth connecting hole are arranged on the shank, the second connecting hole of the hip is hinged with the first connecting hole of the vehicle body, the fourth connecting hole of the thigh is hinged with the third connecting hole of the hip, the sixth connecting hole of the shank is hinged with the fifth connecting hole of the thigh, and the output shaft of the hub motor is hinged with the seventh connecting hole of the shank; a connecting hole at the tail end of the first servo electric cylinder is hinged with an eighth connecting hole of the vehicle body, a connecting hole at the push rod end of the first servo electric cylinder is hinged with a ninth connecting hole of the hip, a connecting hole at the tail end of the second servo electric cylinder is hinged with a tenth connecting hole of the hip, a connecting hole at the push rod end of the second servo electric cylinder is hinged with an eleventh connecting hole of the thigh, a connecting hole at the tail end of the third servo electric cylinder is hinged with a twelfth connecting hole of the thigh, a connecting hole at the push rod end of the third servo electric cylinder is hinged with a thirteenth connecting hole of the shank, three motion modes of wheel type rotation, leg type walking and wheel leg mixed motion can be realized by controlling the wheel leg device, when an obstacle or climbing occurs, the wheel leg devices can move in a coordinated manner, so that the upper end surface of the outer part of the vehicle body is always parallel to the horizontal plane.
Preferably, the first connecting holes are distributed on the periphery of the lower end surface of the outer portion of the vehicle body, the eighth connecting holes are distributed on the inner side of the lower end surface of the outer portion of the vehicle body, and the distance between the first connecting holes and the side surface of the vehicle body is smaller than the distance between the eighth connecting holes and the side surface of the vehicle body.
Preferably, the second connecting holes are located at two ends of the hip upper surface, the maximum distance between the second connecting holes is equal to the length of the hip upper surface, the third connecting hole is located at one end face of the hip, the maximum distance between the third connecting holes is equal to the width of the hip, the ninth connecting hole is located at one side face of the hip, and the tenth connecting hole is a through hole on two side faces of the hip.
Preferably, the fourth connecting hole and the eleventh connecting hole are respectively located on an upper surface of the thigh, a distance between the fourth connecting hole and a lower surface of the thigh is greater than a distance between the eleventh connecting hole and the lower surface of the thigh, the fifth connecting hole is located on one end surface of the thigh, a maximum distance between the fifth connecting holes is equal to a width of the thigh, and the twelfth connecting hole is a through hole on both side surfaces of the thigh.
Preferably, the sixth connecting hole and the thirteenth connecting hole are respectively located on the upper surface of the lower leg, the distance between the sixth connecting hole and the bottom of the lower leg is greater than the distance between the thirteenth connecting hole and the lower surface of the lower leg, and the seventh connecting hole is a through hole on two side surfaces of the lower leg.
It is preferable that the first connection hole, the second connection hole, the third connection hole, the fifth connection hole, the seventh connection hole, the eighth connection hole, the ninth connection hole, the tenth connection hole, the eleventh connection hole, the twelfth connection hole, and the thirteenth connection hole exist in pairs.
Preferably, a maximum distance between the first connection hole holes is equal to a minimum distance between the second connection hole holes, a minimum distance between the third connection hole holes is equal to a hole depth of the fourth connection hole, and a minimum distance between the fifth connection hole holes is equal to a hole depth of the sixth connection hole.
Preferably, the number of the hip, the thigh, the shank and the hub motor is equal to four, and the number of the first servo electric cylinder, the number of the second servo electric cylinder and the number of the third servo electric cylinder are equal to four.
Compared with the prior art, the invention has the following advantages:
the invention has simple structure, the used parts are all common mechanical parts, the disassembly, the assembly and the maintenance are convenient, the manufacturing cost is low, the operation is easy, and the invention can be suitable for more application occasions; according to the invention, three motion modes of wheel type rotation, leg type walking and wheel leg mixed motion can be realized by controlling the four wheel leg devices, the motion is more flexible, and the ground adaptability is stronger; when an obstacle is encountered, the invention has two options of obstacle avoidance and obstacle crossing, and when climbing a slope, the four wheel leg devices move coordinately, so that the upper end surface of the outer part of the vehicle body is always parallel to the horizontal plane, and materials can be more stably arranged on the upper end surface of the outer part of the vehicle body in the conveying process.
Drawings
FIG. 1 is a schematic view of the rotation of the wheel-legged automatic guided vehicle of the present invention;
FIG. 2 is a schematic view of the walking motion of the wheel-legged automatic guided vehicle of the present invention;
FIG. 3 is a schematic view of the hybrid climbing of the wheel-legged automatic guided vehicle of the present invention;
FIG. 4 is a schematic structural diagram of the wheel-legged automatic guided vehicle body of the present invention;
FIG. 5 is a schematic structural view of a wheel leg device of the wheel leg type automatic guide trolley of the invention;
FIG. 6 is a schematic view of the hip structure of the wheel-legged automatic guided vehicle of the present invention;
FIG. 7 is a schematic view of the thigh structure of the wheel-legged automatic guided vehicle of the present invention; and
FIG. 8 is a schematic view of the structure of the lower leg of the wheel-leg type automatic guiding trolley of the invention.
The main reference numbers:
the electric power steering device comprises a vehicle body 1, a first connecting hole 101, an eighth connecting hole 102, a wheel-leg device 2, a hip 201, a second connecting hole 2011, a third connecting hole 2012, a ninth connecting hole 2013, a tenth connecting hole 2014, a thigh 202, a fourth connecting hole 2021, a fifth connecting hole 2022, an eleventh connecting hole 2023, a twelfth connecting hole 2024, a shank 203, a sixth connecting hole 2031, a seventh connecting hole 2032, a thirteenth connecting hole 2033, a hub motor 204, a first servo electric cylinder 205, a second servo electric cylinder 206 and a third servo electric cylinder 207.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
A wheel-leg type automatic guide trolley is shown in figure 1 and comprises a trolley body 1 and wheel-leg devices 2, wherein an energy system, a control system and an environment sensing system are mainly installed in the trolley body 1, and materials are arranged on the upper end face of the outer portion of the trolley body 1.
The wheel leg device 2 is arranged at the lower end of the outer part of the vehicle body 1, and the installation mode is a front elbow and back knee type. As shown in fig. 4, a first coupling hole 101 and an eighth coupling hole 102 are distributed on the lower surface of the vehicle body 1. As shown in fig. 5, the wheel-leg device 2 includes a hip 201, an upper leg 202, a lower leg 203, a hub motor 204, a first servo electric cylinder 205, a second servo electric cylinder 206, and a third servo electric cylinder 207. As shown in fig. 6, a second connecting hole 2011, a third connecting hole 2012, a ninth connecting hole 2013 and a tenth connecting hole 2014 are provided on the hip 201. As shown in fig. 7, the upper leg 202 is provided with a fourth connection hole 2021, a fifth connection hole 2022, an eleventh connection hole 2023, and a twelfth connection hole 2024. As shown in fig. 8, the shank 203 is provided with a sixth connecting hole 2031, a seventh connecting hole 2032 and a thirteenth connecting hole 2033.
As shown in fig. 2, the second connection hole 2011 of the hip 201 is hinged to the first connection hole 101 of the vehicle body 1, the fourth connection hole 2021 of the thigh 202 is hinged to the third connection hole 2012 of the hip 201, the sixth connection hole 2031 of the calf 203 is hinged to the fifth connection hole 2022 of the thigh 202, and the output shaft of the in-wheel motor 204 is hinged to the seventh connection hole 2032 of the calf 203.
The rear end connecting hole of the first servo electric cylinder 205 is hinged with the eighth connecting hole 102 of the vehicle body 1, the connecting hole of the push rod end of the first servo electric cylinder 205 is hinged with the ninth connecting hole 2013 of the hip 201, the rear end connecting hole of the second servo electric cylinder 206 is hinged with the tenth connecting hole 2014 of the hip 201, the connecting hole of the push rod end of the second servo electric cylinder 206 is hinged with the eleventh connecting hole 2023 of the thigh 202, the rear end connecting hole of the third servo electric cylinder 207 is hinged with the twelfth connecting hole 2024 of the thigh 202, and the connecting hole of the push rod end of the third servo electric cylinder 207 is hinged with the thirteenth connecting hole 2033 of the shank 203.
As shown in fig. 4, the first connecting hole 101 is distributed on the periphery of the outer lower end surface of the vehicle body 1, the eighth connecting hole 102 is distributed on the inner side of the outer lower end surface of the vehicle body 1, and the distance between the first connecting hole 101 and the side surface of the vehicle body 1 is smaller than the distance between the eighth connecting hole 102 and the side surface of the vehicle body 1.
As shown in fig. 6, the second connecting holes 2011 are located at two ends of the upper surface of the hip 201, the maximum distance between the second connecting holes 2011 is equal to the length of the upper surface of the hip 201, the third connecting hole 2012 is located at one end surface of the hip 201, the maximum distance between the third connecting holes 2012 is equal to the width of the hip 201, the ninth connecting hole 2013 is located at one side surface of the hip 201, and the tenth connecting hole 2014 is a through hole on two side surfaces of the hip 201.
As shown in fig. 7, the fourth connection hole 2021 and the eleventh connection hole 2023 are respectively located on the upper surface of the thigh 202, a distance between the fourth connection hole 2021 and the lower surface of the thigh 202 is greater than a distance between the eleventh connection hole 2023 and the lower surface of the thigh 202, the fifth connection hole 2022 is located on one end surface of the thigh 202, a maximum distance between the holes of the fifth connection hole 2022 is equal to the width of the thigh 202, and the twelfth connection hole 2024 is a through hole on both side surfaces of the thigh 202.
As shown in fig. 8, the sixth connecting hole 2031 and the thirteenth connecting hole 2033 are respectively located on the upper surface of the shank 203, the distance between the sixth connecting hole 2031 and the bottom of the shank 203 is greater than the distance between the thirteenth connecting hole 2033 and the lower surface of the shank 203, and the seventh connecting hole 2032 is a through hole on both sides of the shank 203.
As shown in fig. 4 to 8, the first coupling hole 101, the second coupling hole 2011, the third coupling hole 2012, the fifth coupling hole 2022, the seventh coupling hole 2032, the eighth coupling hole 102, the ninth coupling hole 2013, the tenth coupling hole 2014, the eleventh coupling hole 2023, the twelfth coupling hole 2024, and the thirteenth coupling hole 2033 exist in pairs.
The maximum distance between the holes of the first connection holes 101 is equal to the minimum distance between the holes of the second connection holes 2011, the minimum distance between the holes of the third connection holes 2012 is equal to the hole depth of the fourth connection hole 2021, and the minimum distance between the holes of the fifth connection hole 2022 is equal to the hole depth of the sixth connection hole 2031.
The hip 201, the thigh 202, the shank 203 and the hub motor 204 are equal in number and are all four, and the first servo electric cylinder 205, the second servo electric cylinder 206 and the third servo electric cylinder 207 are equal in number and are all four.
The following describes a wheel-legged automated guided vehicle according to the present invention with reference to the following embodiments:
as shown in fig. 1, 2 and 3, the left side in the drawing is defined as the rear side of the wheel-legged automatic guided vehicle, the right side is defined as the front side of the wheel-legged automatic guided vehicle, the inner side is defined as the left side of the wheel-legged automatic guided vehicle, and the outer side is defined as the right side of the wheel-legged automatic guided vehicle. The wheel-leg type automatic guide trolley has three motion modes, namely wheel type rotation, leg type walking and wheel-leg mixed motion, and the specific motion process is as follows:
wheel type rotary motion mode: the motion state is shown in fig. 1, the first servo electric cylinder 205, the second servo electric cylinder 206 and the third servo electric cylinder 207 of the four wheel leg devices 2 are all locked, and the automatic guided vehicle is driven to move by controlling the hub motors 204 of the four wheel leg devices 2.
Leg walking motion mode: the motion state is shown in fig. 2, the hub motors 204 of the four wheel-leg devices 2 are all in the braking state, and the hub motors and the lower legs 203 can be seen as a whole. In the process of advancing, when the wheel-leg type automatic guided vehicle is not subjected to external impact force, the first servo electric cylinders 205 of the four wheel-leg devices 2 are all locked.
During traveling, firstly, the second servo electric cylinder 206 and the third servo electric cylinder 207 of the left rear leg move simultaneously to drive the leg to move forwards, so that leg stepping movement of the leg is completed, and the second servo electric cylinder 206 and the third servo electric cylinder 207 of the remaining three legs move simultaneously to support the vehicle body 1 to move forwards; then, the second servo electric cylinder 206 and the third servo electric cylinder 207 of the left front leg move simultaneously to drive the leg to move forward, so as to complete the leg stepping motion of the leg, and the second servo electric cylinder 206 and the third servo electric cylinder 207 of the remaining three legs move simultaneously to support the vehicle body 1 to move forward; then, the second servo electric cylinder 206 and the third servo electric cylinder 207 of the right rear leg move simultaneously to drive the leg to move forward, so that the leg stepping motion of the leg is completed, and the second servo electric cylinder 206 and the third servo electric cylinder 207 of the remaining three legs move simultaneously to support the vehicle body 1 to move forward; finally, the second servo electric cylinder 206 and the third servo electric cylinder 207 of the right front leg move simultaneously to drive the leg to move forward, so that the leg stepping motion of the leg is completed, and the second servo electric cylinder 206 and the third servo electric cylinder 207 of the remaining three legs move simultaneously to support the vehicle body 1 to move forward.
Therefore, the leg-stepping movement of four legs is completed, and the walking movement of the wheel-leg type automatic guide trolley is further realized. When the wheel-legged automatic guided vehicle is toppled due to external impact, for example, the wheel-legged automatic guided vehicle is toppled to the left side, and at this time, the first servo electric cylinders 205 of the left rear leg and the right front leg move simultaneously to drive the legs of the left rear leg and the right front leg to move to the left side, so as to support the wheel-legged automatic guided vehicle and prevent the vehicle from toppling.
Wheel-leg hybrid motion mode: the moving state is shown in fig. 3, four wheels are always in contact with the ground, the hub motors 204 of the four wheel leg devices 2 provide forward power, the first servo electric cylinders 205 of the four wheel leg devices 2 are all locked, when the hub motors 204 of the left front leg and the right front leg of the wheel leg type automatic guide trolley just contact with a slope, the second servo electric cylinders 206 and the third servo electric cylinders 207 of the four wheel leg devices 2 move simultaneously to drive the legs to do stretching movement, but the stretching amplitudes of the left rear leg and the right rear leg are larger than those of the left front leg and the right front leg, so that the upper end face of the outer portion of the trolley body 1 is always parallel to the horizontal plane, and materials can be more stably placed on the upper end face of the outer portion of the trolley body 1 in the conveying process.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (7)
1. A wheel-legged automatic guided vehicle comprising a vehicle body and a wheel-legged device mounted at a lower end outside the vehicle body in a forward-backward knee manner, characterized by comprising:
the wheel-leg device comprises a hip, a thigh, a shank, a hub motor, a first servo electric cylinder, a second servo electric cylinder and a third servo electric cylinder, wherein a second connecting hole, a third connecting hole, a ninth connecting hole and a tenth connecting hole are formed in the hip, the thigh is provided with a fourth connecting hole, a fifth connecting hole, an eleventh connecting hole and a twelfth connecting hole, the shank is provided with a sixth connecting hole, a seventh connecting hole and a thirteenth connecting hole, the second connecting hole of the hip is hinged with the first connecting hole of the vehicle body, the fourth connecting hole of the thigh is hinged with the third connecting hole of the hip, the sixth connecting hole of the shank is hinged with the fifth connecting hole of the thigh, and an output shaft of the hub motor is hinged with the seventh connecting hole of the shank; and
a connecting hole at the tail end of the first servo electric cylinder is hinged with an eighth connecting hole of the vehicle body, a connecting hole at the push rod end of the first servo electric cylinder is hinged with a ninth connecting hole of the hip, a connecting hole at the tail end of the second servo electric cylinder is hinged with a tenth connecting hole of the hip, a connecting hole at the push rod end of the second servo electric cylinder is hinged with an eleventh connecting hole of the thigh, a connecting hole at the tail end of the third servo electric cylinder is hinged with a twelfth connecting hole of the thigh, a connecting hole at the push rod end of the third servo electric cylinder is hinged with a thirteenth connecting hole of the shank, three motion modes of wheel type rotation, leg type walking and wheel leg mixed motion can be realized by controlling the wheel leg device, when an obstacle or climbing occurs, the wheel leg devices can move in a coordinated manner, so that the upper end surface of the outer part of the vehicle body is always parallel to the horizontal plane.
2. The automatic wheel-legged guide trolley according to claim 1, wherein the first connection holes are distributed on the periphery of the lower end surface of the outer portion of the trolley body, the eighth connection holes are distributed on the inner side of the lower end surface of the outer portion of the trolley body, and the distance between the first connection holes and the side surface of the trolley body is smaller than the distance between the eighth connection holes and the side surface of the trolley body.
3. The wheel-legged self-guiding cart according to claim 1, wherein the second connection holes are located at both ends of the hip upper surface, the maximum distance between the second connection holes is equal to the length of the hip upper surface, the third connection hole is located at one end face of the hip, the maximum distance between the third connection holes is equal to the width of the hip, the ninth connection hole is located at one side face of the hip, and the tenth connection hole is a through hole on both side faces of the hip.
4. The automatic wheel-legged guide trolley according to claim 1, wherein the fourth connection hole and the eleventh connection hole are respectively located on the upper surface of the thigh, the distance between the fourth connection hole and the lower surface of the thigh is greater than the distance between the eleventh connection hole and the lower surface of the thigh, the fifth connection hole is located on one end surface of the thigh, the maximum distance between the fifth connection hole holes is equal to the width of the thigh, and the twelfth connection hole is a through hole on both side surfaces of the thigh.
5. The automatic wheel-legged guide trolley according to claim 1, wherein the sixth connection hole and the thirteenth connection hole are respectively located on the upper surface of the lower leg, the distance between the sixth connection hole and the bottom of the lower leg is greater than the distance between the thirteenth connection hole and the lower surface of the lower leg, and the seventh connection hole is a through hole on both sides of the lower leg.
6. The wheel-legged automatic guide cart according to claim 2, 3, 4, or 5, characterized in that the first connection hole, the second connection hole, the third connection hole, the fifth connection hole, the seventh connection hole, the eighth connection hole, the ninth connection hole, the tenth connection hole, the eleventh connection hole, the twelfth connection hole, and the thirteenth connection hole exist in pairs.
7. The automatic wheel-legged guide cart according to claim 6, wherein the maximum distance between the first connection holes is equal to the minimum distance between the second connection holes, the minimum distance between the third connection holes is equal to the hole depth of the fourth connection holes, and the minimum distance between the fifth connection holes is equal to the hole depth of the sixth connection holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911140644.XA CN110861728A (en) | 2019-11-20 | 2019-11-20 | Wheel leg type automatic guiding trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911140644.XA CN110861728A (en) | 2019-11-20 | 2019-11-20 | Wheel leg type automatic guiding trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110861728A true CN110861728A (en) | 2020-03-06 |
Family
ID=69655000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911140644.XA Pending CN110861728A (en) | 2019-11-20 | 2019-11-20 | Wheel leg type automatic guiding trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110861728A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2223784A1 (en) * | 2006-01-12 | 2010-09-01 | Toyota Jidosha Kabushiki Kaisha | Legged robot |
| CN104029745A (en) * | 2014-05-21 | 2014-09-10 | 浙江大学 | Leg and wheel hybrid type hydraulic mechanical leg |
| CN106627827A (en) * | 2016-11-22 | 2017-05-10 | 姜涵宇 | Multi-terrain conveying vehicle |
| CN109501880A (en) * | 2018-12-18 | 2019-03-22 | 罗厚博 | Single wheel two leg walking robot |
| CN109747727A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of modularization robot shipping platform of electric cylinder driving |
-
2019
- 2019-11-20 CN CN201911140644.XA patent/CN110861728A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2223784A1 (en) * | 2006-01-12 | 2010-09-01 | Toyota Jidosha Kabushiki Kaisha | Legged robot |
| CN104029745A (en) * | 2014-05-21 | 2014-09-10 | 浙江大学 | Leg and wheel hybrid type hydraulic mechanical leg |
| CN106627827A (en) * | 2016-11-22 | 2017-05-10 | 姜涵宇 | Multi-terrain conveying vehicle |
| CN109747727A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of modularization robot shipping platform of electric cylinder driving |
| CN109501880A (en) * | 2018-12-18 | 2019-03-22 | 罗厚博 | Single wheel two leg walking robot |
Non-Patent Citations (1)
| Title |
|---|
| 罗庆生等: "四足机器人的关节配置方式", 《仿生四足机器人技术》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109625123B (en) | Spliced type carrying vehicle, carrying system and carrying method | |
| CN108996436B (en) | Fork formula quadriversal shuttle of low energy consumption | |
| CN206813139U (en) | A kind of wheel leg transform robot | |
| CN101947776B (en) | Wheel type barrier-crossing wall-climbing robot | |
| CN110861728A (en) | Wheel leg type automatic guiding trolley | |
| CN114348135B (en) | Six-foot wheel-leg-track hybrid mobile robot | |
| CN208432902U (en) | A kind of dual-drive dual-control transport vehicle based on AGV technology | |
| CN113247561A (en) | Heavy EMS (energy management system) for automatic metallurgical industry | |
| CN203510204U (en) | Omni-directional intelligent mobile assembly robot | |
| CN106184457B (en) | A kind of hybrid walking mechanism of wheel leg and method | |
| CN209281249U (en) | A kind of AGV trolley and system with barrier obstacle avoidance apparatus | |
| CN101239620A (en) | Assembly line conveying vehicle | |
| CN102877856A (en) | Double-power-driven system for concrete wet-spray platform vehicle and concrete wet-spray platform vehicle | |
| CN107150732A (en) | A kind of new wheel leg type obstacle detouring platform | |
| CN205499116U (en) | Two -way unmanned conveying vehicle | |
| CN213861857U (en) | Automatically controlled running gear of crawler tractor | |
| CN112849293B (en) | Cell-changeable wheel-foot type quadruped robot | |
| CN107600864A (en) | A kind of AGV dollies with transmission picking belt | |
| CN105508802A (en) | Wheel type pipeline detection robot asynchronous origin displacement steering mechanism | |
| JP7261085B2 (en) | transport vehicle, articulated vehicle | |
| CN110103212B (en) | modularization polytropic robot based on dolly | |
| CN112811108A (en) | Heavy-load right-angle rail-replacing RGV trolley device and rail replacing operation thereof | |
| CN203158234U (en) | Electric walking mechanism of aircraft maintenance dock | |
| CN103171774B (en) | A kind of aircraft maintenance depressed place electric walking mechanism | |
| CN206012330U (en) | Can be along the AGV dollies of any angular orientation walking |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200306 |
|
| RJ01 | Rejection of invention patent application after publication |