CN111591363B - High-integration wheel leg composite mechanism and carrying platform - Google Patents

High-integration wheel leg composite mechanism and carrying platform Download PDF

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Publication number
CN111591363B
CN111591363B CN202010458752.8A CN202010458752A CN111591363B CN 111591363 B CN111591363 B CN 111591363B CN 202010458752 A CN202010458752 A CN 202010458752A CN 111591363 B CN111591363 B CN 111591363B
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China
Prior art keywords
wheel
brake disc
arm
leg
shaft
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CN111591363A (en
Inventor
张雷
刘博龙
徐小军
徐海军
邹腾安
张湘
潘迪博
唐源江
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National University of Defense Technology
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National University of Defense Technology
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Priority to CN202010458752.8A priority Critical patent/CN111591363B/en
Publication of CN111591363A publication Critical patent/CN111591363A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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 specially adapted for moving on inclined or vertical surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/028Vehicles 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 discloses a high-integration wheel-leg composite mechanism which comprises wheels, a shank arm, a wheel-leg composite driving motor, a power switching device and a mutual exclusion type locking device, wherein the power switching device is used for transmitting the power of the wheel-leg composite driving motor to the wheels or the shank arm respectively, the mutual exclusion type locking device is used for locking the wheels or the shank arm respectively, an output shaft of the wheel-leg composite driving motor is connected with an input shaft of the power switching device, a first output shaft of the power switching device is connected with the wheel shaft, the top end of the shank arm is sleeved on a second output shaft of the power switching device, the wheel shaft, the first output shaft of the power switching device and the second output shaft of the power switching device are arranged coaxially, and the mutual exclusion type locking device is positioned between the wheels and the shank arm and is fixedly connected with the wheel shaft. The invention can realize the rapid switching between the wheel type and the leg type, has compact and simple structure, easy realization and stable movement, and is beneficial to manufacture and popularization.

Description

High-integration wheel leg composite mechanism and carrying platform
Technical Field
The invention relates to the field of ground unmanned platforms, in particular to a high-integration wheel-leg composite mechanism and a carrying platform.
Background
With the development of intelligent science, unmanned mobile platforms become more and more important to people, and the research and development of various unmanned vehicles become a new trend in the scientific research field.
The walking mechanism of the existing ground moving platform comprises a wheel type, a crawler type, a leg type and a composite form of the wheels, the crawler type, the leg type and the like. Wheel type and crawler type are common, the wheel type and crawler type bionic robot is applied to armored vehicles and transport vehicles, leg type walking mechanisms are mostly used for bionic robots, and the bionic robot has excellent obstacle crossing capability in principle, but is not applied in a large scale at present due to complex structure and control. The wheel-leg composite structure has the defects of complex structure and poor motion stability.
Disclosure of Invention
The invention aims to provide a high-integration wheel leg composite mechanism and a carrying platform, which are simple and compact in structure, stable and reliable in motion.
In order to solve the problem, the technical scheme adopted by the invention is as follows:
a high-integration wheel-leg composite mechanism comprises wheels, a shank arm, a wheel-leg composite driving motor, a power transmission device and a mutual exclusion locking device, wherein the power transmission device is used for transmitting the power of the wheel-leg composite driving motor to the wheels or the shank arm respectively, the mutual exclusion locking device is used for locking the wheels or the shank arm respectively, an output shaft of the wheel-leg composite driving motor is connected with an input shaft of the power transmission device, a first output shaft of the power transmission device is connected with the wheels, the top end of the shank arm is sleeved on a second output shaft of the power transmission device, the wheels, the first output shaft of the power transmission device and the second output shaft of the power transmission device are arranged coaxially, and the mutual exclusion locking device is located between the wheels and the shank arm and fixedly connected with the wheels and the shank arm respectively.
Further, the power transmission device is a planetary reducer, an output shaft of the wheel leg composite driving motor is connected with an input shaft of the planetary reducer, a planet carrier output shaft on the planetary reducer is used as a first output shaft to be connected with a wheel shaft, a large gear ring of the planetary reducer is used as a second output shaft, and the top end of the shank arm is sleeved on and fixedly connected with the large gear ring of the planetary reducer.
The mutually-exclusive locking device further comprises a wheel brake disc, a lower leg arm brake disc and a locking component, wherein the wheel brake disc, the lower leg arm brake disc and the wheel shaft are coaxially arranged, the wheel brake disc is sleeved on the wheel shaft and fixedly connected with the wheel shaft, the lower leg arm brake disc is sleeved on the large gear ring and fixedly connected with the large gear ring, the locking component stretches across the outer edge ends of the wheel brake disc and the lower leg arm brake disc, when the locking component locks the wheel brake disc, the brake disc of the lower leg arm is unlocked, and when the locking component rotates to lock the lower leg arm brake disc, the wheel brake disc is unlocked.
Furthermore, the locking part comprises a servo motor, a worm shaft and a worm wheel meshed with the worm shaft, the servo motor drives the worm shaft, the worm shaft rotates to drive the worm wheel to rotate, locking columns with notches are arranged at two ends of a worm wheel shaft of the worm wheel respectively, the notches of the two locking columns are complementary in direction, the worm wheel shaft stretches across a wheel brake disc and a calf arm brake disc, a plurality of locking ports clamped with the locking columns are formed in the wheel brake disc and the calf arm brake disc, when the brake disc is unlocked, gaps are reserved between the notches of the locking columns and the outer edge of the brake disc to enable the brake disc to rotate and pass through, and when the brake disc is locked, the non-notch sides of the locking columns are clamped in the locking ports of the brake disc.
Further, a wheel brake disc position sensor is arranged on the outer edge close to the wheel brake disc.
Further, the wheel brake disc position sensor is a photoelectric sensor.
Further, a lower leg arm brake disc position sensor is arranged close to the lower leg arm brake disc.
Furthermore, the position sensor of the brake disc of the lower leg arm is an encoder, a gear is fixedly connected to the large gear ring, and the gear is meshed with a pinion coaxial with the encoder and then transmits the position information of the brake disc of the lower leg arm to the encoder.
Furthermore, the device also comprises a thigh arm suspension and a thigh arm driving device, wherein one end of the thigh arm suspension is connected with the thigh arm driving device, and the other end of the thigh arm suspension is sleeved on the wheel shaft.
The invention also provides a high-integration wheel leg composite carrying platform which adopts the high-integration wheel leg composite mechanism.
Compared with the prior art, the invention has the following beneficial effects:
according to the highly-integrated wheel-leg composite mechanism, the wheels or the shank arms can be driven by using one set of power driving device through the power transmission device, so that the wheel-leg composite mechanism is compact in structure, only the wheels or the shank arms work at the same time through the mutually-exclusive locking device, and therefore when the wheels on a pavement are in a working state, the shank arms are folded, the rotation of the wheels is not influenced, and a carrying platform can rapidly advance; when the road is extremely off-road, the wheel type movement is converted into leg type walking, and the leg type walking is used for crossing steps and realizing running, jumping and other actions. The invention can realize the rapid switching between the wheel type and the leg type, has compact and simple structure, easy realization and stable movement, and is beneficial to manufacture and popularization.
Drawings
FIG. 1 is a schematic perspective view of a wheel-leg combination mechanism according to an embodiment;
FIG. 2 is a schematic diagram of a wheel-leg compound mechanism in an embodiment;
FIG. 3 is a schematic diagram of a power multiplexing mechanism of the wheel-leg compound mechanism provided in the embodiment;
FIG. 4 is a schematic diagram of an embodiment of a mutual-exclusion type locking device;
FIG. 5 is a schematic view of an exemplary locking feature;
FIG. 6 is a schematic view of a wheeled walking pattern;
FIG. 7 is a schematic view of a leg-type upstairs mode;
FIG. 8 is a schematic view of a leg jump mode;
FIG. 9 is a schematic view of wheeled and legged walking positions of the carrying platform of the embodiment;
Detailed Description
Fig. 1 to 9 show a specific embodiment of a highly integrated wheel-leg composite mechanism according to the present invention, as shown in fig. 1, 2 and 3, the highly integrated wheel-leg composite mechanism includes a wheel, a lower leg arm, a wheel-leg composite driving motor, a power transmission device for transmitting power of the wheel-leg composite driving motor to the wheel or the lower leg arm, and a mutual exclusion type locking device for locking the wheel or the lower leg arm, respectively, an output shaft of the wheel-leg composite driving motor is connected with an input shaft of the power transmission device, a first output shaft of the power transmission device is connected with the wheel shaft, a top end of the lower leg arm is sleeved on a second output shaft of the power transmission device, the wheel shaft, the first output shaft of the power transmission device, and the second output shaft are coaxially disposed, and the mutual exclusion type locking device is located between the wheel and the lower leg arm and is fixedly connected with the wheel shaft and the lower leg arm. In the embodiment, the wheels or the shank arms can be driven by using one set of power driving device through using the power transmission device, so that the structure of the wheel-leg composite mechanism is compact, only the wheels or the shank arms work at the same time through using the mutual exclusion type locking device, and therefore, when the working state of the wheels on the pavement is realized, the rotation of the wheels is not influenced by the folding of the shank arms, and the carrying platform can rapidly advance; when the road is extremely off-road, the wheel type movement is converted into leg type walking, and the leg type walking is used for crossing steps and realizing running, jumping and other actions. The invention can realize the rapid switching between the wheel type and the leg type, has compact and simple structure and easy realization,
in this embodiment, as shown in fig. 2 and 3, the power transmission device is a planetary reducer, an output shaft of the wheel leg composite drive motor is connected to an input shaft of the planetary reducer, a planet carrier output shaft of the planetary reducer is connected to a wheel shaft as a first output shaft, a large gear ring of the planetary reducer is used as a second output shaft, and a top end of a lower leg arm is sleeved on the large gear ring of the planetary reducer and is fixedly connected to the large gear ring. In the embodiment, the planetary reducer is used as a power transmission device, the output shaft of the wheel leg composite driving motor is input to the sun gear of the planetary reducer, and after the speed reduction is performed, the output shaft of the conventional planetary reducer is used as a first output shaft to be connected with a wheel shaft to provide power for the wheel shaft. The transmission of the power of the output shaft of the wheel leg composite driving motor to the large gear ring and the planet carrier is realized by respectively braking the planet carrier and the large gear ring, so that the transfer transmission of the power is realized. And only one set of power driving device is used for driving the wheels or the shank arms, and the shank arms are directly sleeved on the large gear ring, so that the wheel-leg composite mechanism is compact and simple in structure, and the purpose of high integration is achieved.
In this embodiment, as shown in fig. 4 and 5, the mutually exclusive locking device includes a wheel brake disk, a lower leg arm brake disk, and a locking component, where the wheel brake disk and the lower leg arm brake disk are coaxially disposed with the wheel axle, the wheel brake disk is sleeved on the wheel axle and fixedly connected with the wheel axle, the lower leg arm brake disk is sleeved on the large gear ring and fixedly connected with the large gear ring, the locking component spans outer edge ends of the wheel brake disk and the lower leg arm brake disk, when the locking component locks the wheel brake disk, the lower leg arm brake disk is unlocked, and when the locking component rotates to lock the lower leg arm brake disk, the wheel brake disk is unlocked. When the wheel brake disc is locked, the wheel shaft is fixedly connected with the wheel brake disc, so that the wheel shaft and the planet carrier output shaft for driving the wheel shaft stop rotating, the wheel leg composite driving motor drives the large gear ring to rotate, the shank arm sleeved on the large gear ring is driven to rotate, and the motion of the shank arm is realized. When the calf arm brake disc is locked, the calf arm fixedly connected with the calf arm brake disc is locked, and then the large gear ring fixedly connected with the calf arm is braked, so that the wheel-leg composite driving motor drives the planet wheel to move, the planet carrier output shaft drives the wheel shaft to rotate, and the wheel rotates. In the embodiment, the outer edge ends of the wheel brake disc and the lower leg arm brake disc cross a rotatable locking component, when the locking component rotates, one brake disc locks the other brake disc, and then locking is released, so that mutually-exclusive locking is realized. Thereby enabling the wheeled and legged states to be switched freely.
In this embodiment, as shown in fig. 1 and 5, the locking component includes a servo motor, a worm shaft, and a worm wheel engaged with the worm shaft, the servo motor drives the worm shaft, the worm shaft rotates to drive the worm wheel to rotate, locking posts with notches are respectively disposed at two ends of a worm wheel shaft of the worm wheel, the notches of the two locking posts are complementary, the worm wheel shaft spans over a wheel brake disc and a lower leg arm brake disc, a plurality of locking ports engaged with the locking posts are disposed on the wheel brake disc and the lower leg arm brake disc, when the brake disc is unlocked, a gap is left between the notch of the locking post and an outer edge of the brake disc to allow the brake disc to rotate, and when the brake disc is locked, a non-notch side of the locking post is engaged with the locking port of the brake disc. In the embodiment, when the notch of one locking column is aligned with one brake disc, the non-notch side of the other locking column is clamped with the locking notch of the other brake disc to lock the brake disc, after the worm wheel rotates 180 degrees, the non-notch side on the locking column is changed into the notch side, the locked brake disc is unlocked, and meanwhile, the original unlocked brake disc is clamped at the locking notch by the rotation of the locking column, and the notch side is changed into the non-notch side, so that the original unlocked brake disc is locked.
In this embodiment, as shown in fig. 4, a wheel brake disc position sensor is disposed on the outer edge close to the wheel brake disc. The position sensor detects the position of the upper locking notch of the wheel brake disc, and the locking part provides position information of the upper locking notch of the brake disc, so that locking is accurately performed. A calf brake disc position sensor is arranged near the calf arm brake disc. The position sensor of the brake disc of the lower leg arm transmits the position information of the brake disc of the lower leg arm to the position sensor of the brake disc of the lower leg arm through a gear fixedly connected on the large gear ring. The position sensor of the brake disc of the shank arm detects the position information of the brake disc of the shank arm, the locking part provides the position information of the locking hole on the brake disc, and therefore locking is accurately achieved. In this embodiment, the position sensor of the wheel brake disc uses the photoelectric sensor to detect the locking notch on the brake disc, and the encoder used by the position sensor of the lower leg arm brake disc, the signal on the encoder is transmitted to the encoder after being meshed and decelerated by the gear fixedly connected to the large gear ring and the pinion coaxial with the encoder, of course, the same position sensor can be used for the wheel brake disc and the lower leg arm brake disc, and the purpose of this embodiment is mainly to realize the high integration of the wheel-leg composite mechanism in a limited space.
In this embodiment, as shown in fig. 1, the leg arm device further includes a leg arm suspension and a leg arm driving motor, wherein one end of the leg arm suspension is connected to the leg arm driving device, and the other end of the leg arm suspension is sleeved on the wheel axle. As shown in fig. 6, 7 and 8, when the vehicle runs on a flat road surface in a wheel-type manner, the thigh arm suspension is suspended on the vehicle frame, and under the action of the thigh arm driving motor, the thigh arm suspension can drive the wheel shaft to drive the wheels to swing along with the fluctuation of the road surface; when the walking vehicle runs on an extremely cross-country road surface, a leg type walking mode is adopted, the thigh arm suspension driving motor drives the thigh arm suspension to swing, the wheel shaft swings as a shaft joint under the action of the swing of the thigh arm suspension, and the shank arm drives the shank arm to rotate under the action of the wheel-leg composite driving motor. The wheel type movement is converted into leg type walking, and is used for crossing steps and realizing running, jumping and other actions.
The invention also provides a high-integration wheel-leg composite carrying platform, as shown in fig. 9, a plurality of high-integration wheel-leg composite mechanisms are adopted, the high-integration wheel-leg composite mechanisms are connected with a frame through a plurality of thigh arm suspensions, and the thigh arm suspensions drive thigh arms to move under the action of the thigh arm driving devices, so that wheel-to-leg movement is realized.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims (10)

1. The utility model provides a high integrated wheel leg composite mechanism, includes wheel, shank arm, wheel leg composite drive motor, its characterized in that: the wheel leg composite driving motor is characterized by further comprising a power transmission device and an exclusive locking device, the power transmission device is used for transmitting power of the wheel leg composite driving motor to the wheel or the shank arm respectively, the exclusive locking device is used for locking the wheel or the shank arm respectively, an output shaft of the wheel leg composite driving motor is connected with an input shaft of the power transmission device, a first output shaft of the power transmission device is connected with the wheel shaft, the top end of the shank arm is sleeved on a second output shaft of the power transmission device, the wheel shaft, the first output shaft of the power transmission device and the second output shaft of the power transmission device are arranged coaxially, and the exclusive locking device is located between the wheel and the shank arm and fixedly connected with the wheel shaft and the shank arm.
2. A highly integrated wheel and leg combination according to claim 1, wherein: the power transmission device is a planetary reducer, an output shaft of the wheel leg composite driving motor is connected with an input shaft of the planetary reducer, a planet carrier output shaft on the planetary reducer is used as a first output shaft to be connected with a wheel shaft, a large gear ring of the planetary reducer is used as a second output shaft, and the top end of the shank arm is sleeved on and fixedly connected with the large gear ring of the planetary reducer.
3. A highly integrated wheel and leg combination according to claim 2, wherein: the mutually exclusive locking device comprises a wheel brake disc, a lower leg arm brake disc and a locking component, wherein the wheel brake disc, the lower leg arm brake disc and a wheel shaft are coaxially arranged, the wheel brake disc is sleeved on the wheel shaft and fixedly connected with the wheel shaft, the lower leg arm brake disc is sleeved on a large gear ring and fixedly connected with a lower leg arm, the locking component stretches across the outer edge ends of the wheel brake disc and the lower leg arm brake disc, when the locking component locks the wheel brake disc, the brake disc of the lower leg arm is unlocked, and when the locking component rotates to lock the lower leg arm brake disc, the wheel brake disc is locked and unlocked.
4. A highly integrated wheel and leg combination according to claim 3, wherein: the locking component comprises a servo motor, a worm shaft and a worm wheel meshed with the worm shaft, the servo motor drives the worm shaft, the worm shaft rotates to drive the worm wheel to rotate, locking columns with notches are arranged at two ends of a worm wheel shaft of the worm wheel respectively, the notches of the two locking columns are complementary in direction, the worm wheel shaft stretches across a wheel brake disc and a calf arm brake disc, a plurality of locking ports clamped with the locking columns are formed in the wheel brake disc and the calf arm brake disc, when the brake disc is unlocked, gaps are reserved between the notches of the locking columns and the outer edge of the brake disc to enable the brake disc to rotate and pass through, and when the brake disc is locked, the non-notch side of the locking columns is clamped in the locking ports of the brake disc.
5. A highly integrated wheel and leg combination according to claim 4, wherein: and a wheel brake disc position sensor is arranged on the outer edge close to the wheel brake disc.
6. A highly integrated wheel and leg combination according to claim 5, wherein: the wheel brake disc position sensor is a photoelectric sensor.
7. A highly integrated wheel and leg combination according to claim 4, wherein: a calf arm brake disc position sensor is arranged at a position close to the calf arm brake disc.
8. A highly integrated wheel and leg combination according to claim 7, wherein: the position sensor of the brake disc of the lower leg arm is an encoder, a gear is fixedly connected to the large gear ring, and the gear is meshed with a pinion coaxial with the encoder and then transmits the position information of the brake disc of the lower leg arm to the encoder.
9. A highly integrated wheel and leg combination according to claim 1, wherein: the thigh arm suspension is connected with the power driving device at one end, and the wheel shaft is sleeved with the other end of the thigh arm suspension.
10. The utility model provides a compound delivery platform of high integrated wheel leg which characterized in that: use of a highly integrated wheel-leg composite mechanism as claimed in any one of claims 1 to 9.
CN202010458752.8A 2020-05-27 2020-05-27 High-integration wheel leg composite mechanism and carrying platform Active CN111591363B (en)

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CN112550509B (en) * 2020-11-12 2021-12-03 武汉理工大学 Foot joint structure of wheeled walking vehicle steering drive axle
CN112373594A (en) * 2020-11-18 2021-02-19 中国矿业大学 Wheel-leg hybrid drive type mining metamorphic robot
CN112429112A (en) * 2020-11-30 2021-03-02 武汉理工大学 Wheel-foot power switching device based on wheel-walking robot
CN113306536B (en) * 2021-07-01 2022-05-13 北京理工大学 Braking system for wheel-leg vehicle
CN113460184B (en) * 2021-07-01 2022-06-07 北京理工大学 Separation joint mechanism capable of being used for wheel-leg type vehicle suspension
CN113734307B (en) * 2021-08-04 2022-06-21 中国人民解放军国防科技大学 Power component for walking robot and walking posture adjustable robot
CN113371083B (en) * 2021-08-04 2022-05-17 中国人民解放军国防科技大学 Wheel-track leg composite driving system and walking device

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