CN111846000A - Wheel leg robot leg structure and mobile robot - Google Patents
Wheel leg robot leg structure and mobile robot Download PDFInfo
- Publication number
- CN111846000A CN111846000A CN202010751681.0A CN202010751681A CN111846000A CN 111846000 A CN111846000 A CN 111846000A CN 202010751681 A CN202010751681 A CN 202010751681A CN 111846000 A CN111846000 A CN 111846000A
- Authority
- CN
- China
- Prior art keywords
- shank
- leg
- thigh
- connecting rod
- wheel
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides a leg structure of a wheel-leg robot, which comprises wheels, a shank connecting rod, a buffer energy storage spring, a thigh connecting rod, a shank driving motor, a thigh driving motor and a first shank transmission connecting rod, wherein the thigh driving motor and the shank driving motor can independently rotate and respectively drive the thigh connecting rod and the first shank transmission connecting rod to rotate; when the wheels impact and touch the ground, the included angle between the shank connecting rod and the thigh connecting rod is reduced, and the buffer energy storage spring can reduce the impact load transmitted to the thigh driving motor and the shank driving motor. The parallel connection type energy storage buffer spring is adopted, so that the impact on the motor when the foot end is contacted with the ground is reduced, the energy can be stored, the peak torque of the driving motor is effectively reduced, the number of the motors required by the leg configuration is small, a large working space is provided, and the parallel connection type energy storage buffer spring can be suitable for walking in a complex terrain environment; the invention has the advantages of light weight and small moment of inertia.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a leg structure of a wheel-leg robot and a mobile robot, and particularly relates to the leg structure of the wheel-leg robot and the mobile robot with a parallel link.
Background
The conventional robot moving mechanism comprises a wheel type, a leg type, a crawler type, a composite type mechanism and the like, the wheel type and crawler type robots are difficult to meet the requirements on terrain adaptability such as obstacle crossing, slope climbing and ditch crossing, the leg type robot adopts a discrete support form and has the characteristic of strong obstacle crossing capability, but the leg type robot is low in moving speed on the flat ground and weak in maneuvering capability, and the wheel leg composite type robot has good maneuvering capability and terrain self-adaption capability at the same time, so that the robot is more suitable for executing operation tasks in complex terrains. Therefore, the research on the leg structure of the wheel-leg composite robot has important practical significance.
Through search, patent document CN102616296B discloses a six-wheel foot type serial-parallel hybrid robot, which includes: the device comprises a carrying platform, a battery, a control system, a camera and 3 wheel-foot combined type moving branched chains with 6 degrees of freedom. Wherein: the wheel-foot combined type motion branched chain comprises a yaw joint, an upper pitching joint, a thigh, a middle pitching joint, an upper transverse rolling joint, a shank, a lower pitching joint, a lower transverse rolling joint, a driving wheel and the like. This robot can realize the conversion of wheeled motion mode of wheel-foot robot and legged motion mode, but six degrees of freedom in its wheel-foot combination formula motion branch are mutually coupled, increase very big degree of difficulty for the control of motor, and its structure bearing capacity is not strong, every motor can bear great moment of torsion when the robot load, the mechanism is complicated, robot stability is not enough, this robot arranges driving motor in joint department in addition, lead to shank quality and inertia to increase, motor load is great when shank structure rapid movement.
Through search, patent document 103395456B discloses a wheel-leg type mobile robot with complex terrain, which includes a platform and six wheel-leg systems uniformly arranged on the edge of the platform, wherein: each wheel leg system has the same structure and comprises: steering mechanism, tilting mechanism, swing hoist mechanism, rotary mechanism and wheel. The robot can also realize the conversion between a wheel type movement mode and a leg type movement mode, the bearing capacity of the robot is improved to some extent, but the wheel leg structure of the robot needs six motors, the number of the motors is large, and the torque of the motors at partial joints needs to be large. The leg structure needs to occupy larger space, the available space of the leg is limited, and the requirement of high obstacle crossing capability under complex terrains is difficult to meet. The robot is not provided with a passive buffering and damping system, and wheels can directly act on the motor under the impact load of the ground, so that the peak torque of the needed motor is larger, and the energy consumption is higher.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a leg structure of a wheel-leg robot and a mobile robot, which have a compact structural form and a large working space, can improve the high-performance obstacle crossing capability and the buffering and damping capability of the wheel-leg robot under a complex terrain, and have fewer motors and smaller peak torque of the motors.
The leg structure of the wheel-leg robot comprises wheels, a shank connecting rod, a buffer energy storage spring, a thigh connecting rod, a shank driving motor, a thigh driving motor and a first shank transmission connecting rod, wherein the shank connecting rod is connected with the thigh connecting rod; the thigh driving motor and the shank driving motor can independently rotate and respectively drive the thigh connecting rod and the first shank transmission connecting rod to rotate;
when the wheels impact and touch the ground, the included angle between the shank connecting rod and the thigh connecting rod is reduced, and the buffer energy storage spring can reduce the impact load transmitted to the thigh driving motor and the shank driving motor.
Preferably, the knee joint further comprises a first knee joint, a second knee joint and a second lower leg transmission connecting rod, the lower leg connecting rod is provided with a first knee joint and a second knee joint, the first knee joint is connected with one end of the thigh connecting rod, and the second knee joint is connected with one end of the second lower leg transmission connecting rod; the buffer energy storage spring is used as a parallel elastic link, and the other end of the buffer energy storage spring is connected to the second shank transmission connecting rod.
Preferably, the bicycle further comprises a wheel driving motor, the wheel is arranged on an output shaft of the wheel driving motor, and the wheel driving motor is connected with one end of the lower leg connecting rod.
Preferably, the other end of the thigh link is fixedly connected with an output shaft of the thigh driving motor, and one end of the first shank transmission link is fixedly connected with an output shaft of the shank driving motor.
Preferably, the device further comprises a lower leg transmission connecting piece, and the other end of the second lower leg transmission connecting rod is fixedly connected with the first lower leg transmission connecting rod through the lower leg transmission connecting piece.
Preferably, the leg-free robot further comprises a leg-root support, wherein the leg-root support is a U-shaped support, and the thigh driving motor and the shank driving motor are fixedly connected with two sides of the leg-root support; a through hole is formed in the center of a side plate of the leg root support, and motor output shafts of the thigh driving motor and the shank driving motor can penetrate through the through hole; the bottom of the leg root support is fixedly connected with an output shaft of the single-leg steering motor.
Preferably, the thigh connecting rod and the shank connecting rod are provided with lightening holes on the premise of ensuring the structural strength so as to lighten the mass and the moment of inertia of the leg structure.
Preferably, the tire surface of the wheel is provided with a plurality of wheel spines, and the tire is made of rubber, so that the grip of the tire can be improved, and the wheel slip rate can be reduced; the wheel bisecting plane perpendicular to the wheel rotation axis is the same plane as the leg bisecting plane passing through the leg root vertical rotation axis.
Preferably, the thigh link, the calf link, the first calf drive link and the second calf drive link form a parallelogram structure.
According to the present inventors, there is provided a mobile robot including the above-described wheel-legged robot leg structure.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention effectively reduces the peak torque of the driving motor compared with a series spring by adding the buffer energy storage spring in the leg structure, and can reduce the impact force generated when the end part of one leg is grounded and reduce the impact load born by the motor.
2. The invention adopts fewer driving motors, has larger working space and can be suitable for walking in complex terrain environment.
3. According to the invention, the weight reducing holes are arranged on the thigh connecting rod and the shank connecting rod, so that the mass and the rotational inertia of the leg structure can be reduced to a greater extent, and the maneuvering performance of the wheel-leg robot is improved.
4. When the invention is applied to a mobile robot, the first degree of freedom of the root of the leg is rotation around a vertical axis, so that the wheel steering is realized, and the wheel type motion of the mobile robot can be steered with a smaller turning radius.
5. The invention can meet the requirement of large working space by adopting a multi-connecting-rod mechanism form.
6. The invention can accurately control the movement of the foot end of a single leg at any position in a plane working space by using the servo motor as the power input of the leg structure.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic side view of a leg structure of the present invention;
figure 2 is an isometric view of a leg structure of the present invention.
In the figure:
a wheel 1; a second shank transmission link 6; a leg root support 11;
a wheel drive motor 2; a buffer energy storage spring 7; a first lower leg drive link 12;
a shank link 3; a thigh link 8; the shank drive link 13.
A second knee joint 4; a shank drive motor 9;
a first knee joint 5; a thigh drive motor 10;
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in figure 1, the invention provides a leg structure of a wheel-leg robot, which comprises wheels 1, a wheel driving motor 2, a shank link 3, a second knee joint 4, a first knee joint 5, a second shank transmission link 6, a buffer energy storage spring 7, a thigh link 8, a shank driving motor 9, a thigh driving motor 10, a leg root support 11, a first shank transmission link 12 and a shank transmission link 13.
One end of a shank connecting rod 3 is connected with a wheel driving motor 2, a wheel 1 is mounted on an output shaft of the wheel driving motor 2, and the other end of the shank connecting rod 3 is hinged with one end of a thigh connecting rod 8 and one end of a second shank transmission connecting rod 6 through a first knee connecting piece 5 and a second knee connecting piece 4 respectively, so that relative rotation motion can be realized;
further, the other end of the thigh link 8 is fixedly connected with an output shaft of a thigh drive motor 10; the other end of the second shank transmission connecting rod 6 is hinged with the first shank transmission connecting rod 12 through a shank transmission connecting piece 13, so that relative rotation motion can be realized;
more specifically, the other end of the first shank transmission link 12 is fixedly connected with an output shaft of the shank driving motor 9, the thigh driving motor 10 and the shank driving motor 9 are fixedly connected with both sides of the leg support 11, and one end of the buffer energy storage spring 7 is connected with the thigh link 8 and the second shank link 6 for hinging.
The invention also provides a mobile robot, which comprises the leg structure of the wheel-leg robot.
As shown in fig. 2, the thigh link 8, the shank link 3, the first shank transfer link 12 and the second shank transfer link 6 form a parallelogram structure in which: the distance between the hinges at the two ends of the thigh connecting rod 8 is 250mm, the length of the shank connecting rod 3 is 250mm, the distance between the hinges at the two ends of the first shank transmission connecting rod 12 is 80mm, the distance between the hinges at the two ends of the second shank transmission connecting rod 6 is 250mm, and the central distance between the first knee hinge 5 and the second knee hinge 4 is 80 mm; the radius of the wheel 1 is 70 mm; the free length of the buffer energy storage spring 7 is 100 mm.
According to the inventionPreferred embodiment(s) of the inventionFor further explanation.
In the basic embodiment, the wheel pricks are arranged on the surface of the tire of the wheel (1), and the tire is made of rubber, so that the grip of the tire can be improved, and the wheel slip rate can be reduced.
In the basic embodiment, on the premise of ensuring the structural strength, the thigh link 10 and the shank link 9 are provided with lightening holes to lighten the mass and the moment of inertia of the leg structure
On the basis of the basic embodiment, the leg root support 11 is a U-shaped support, a through hole is formed in the center of a side plate of the leg root support 11, motor output shafts of the thigh driving motor 10 and the shank driving motor 9 can penetrate through the through hole, and the bottom of the leg root support 11 is fixedly connected with an output shaft of the single-leg steering motor.
According to the inventionVariation exampleFor further explanation.
In the above-described basic embodiment, the second knee joint 4, the knee joint 5, and the lower leg transmission joint 13 may be hinged, may be coupled by a shaft key and a set screw, or may be coupled together by a bearing and a shaft.
The working principle is as follows:
when the robot moves in a legged mode, thigh driving motors 10 and shank driving motors 9 on six legs rotate independently to drive a thigh connecting rod 8 and a first shank transmission connecting rod 12 to rotate respectively, so that the included angle between the thigh connecting rod 8 and a leg root support 11 and the spatial configuration of a thigh four-bar mechanism are changed, the included angle between a shank connecting rod 3 and the thigh connecting rod 8 is changed accordingly, the position of the mechanical leg and the foot can be changed, and the position of the mechanical leg and the foot can be changed according to a preset gait track by controlling the rotating angles of the thigh driving motors 10 and the shank driving motors 9.
When the robot moves in a wheel type linear motion mode, the thigh driving motor 10 and the shank driving motor 9 on the legs are locked, the position of the foot end of the mechanical leg is kept unchanged, and the robot can move in a wheel type mode according to a preset path track by controlling the rotating speed of the wheel driving motor 2;
when the robot encounters uneven ground in the moving process, the contact force information of wheels and the ground can be obtained through enough force sensors, and the length of a leg structure is adjusted by controlling a thigh driving motor 10 and a leg driving motor 9 to realize the self-adaptive function of the robot to the ground;
when the wheels 1 of the robot impact the ground, the included angle between the shank connecting rod 3 and the thigh connecting rod 8 is reduced, the space configuration of the thigh four-bar mechanism is changed, the buffer energy storage spring 7 is stretched to absorb a part of energy, the impact load transmitted to the thigh driving motor 10 and the shank driving motor 9 is reduced, the peak torque of the motors during working can be reduced, and when the foot end of the robot is lifted and leaves the ground, the buffer energy storage spring 7 releases the part of energy, so that the mechanical leg configuration is restored to the original state.
Compared with the prior art, the leg mechanism has the advantages that the buffering energy storage spring in the leg mechanism is added, and the peak torque of the driving motor is effectively reduced compared with a series spring; the leg structure adopted by the invention needs less driving motors, has larger working space and can be suitable for walking in a complex terrain environment; the mass and the rotational inertia of the leg part can be reduced to a greater extent by optimizing the structure, and the maneuvering performance of the robot is improved; when the invention is applied to a mobile robot, the first degree of freedom of the root of the leg is to rotate around a vertical shaft, so that the wheel steering is realized, and the robot can steer with a smaller turning radius when in wheel type motion.
The parallel buffer energy storage spring is added in the leg mechanism, so that the impact on the motor when the foot end is in contact with the ground is reduced, and the energy can be stored.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A leg structure of a wheel-legged robot, comprising: a wheel (1), a shank connecting rod (3), a buffer energy storage spring (7), a thigh connecting rod (8), a shank driving motor (9), a thigh driving motor (10) and a first shank transmission connecting rod (12),
the shank connecting rod (3) is connected with the thigh connecting rod (8), the shank driving motor (9) and the thigh driving motor (10) are arranged on two sides of the thigh connecting rod (8), and one end of the buffer energy storage spring (7) is connected to the thigh connecting rod (8);
the thigh driving motor (10) and the shank driving motor (9) can independently rotate and respectively drive the thigh connecting rod (8) and the first shank transmission connecting rod (12) to rotate;
when the wheel (1) is impacted to the ground, the included angle between the shank connecting rod (3) and the thigh connecting rod (8) is reduced, and the buffer energy storage spring (7) can reduce the impact load transmitted to the thigh driving motor (10) and the shank driving motor (9).
2. The wheeled leg robotic leg structure of claim 1, further comprising a first knee link (5), a second knee link (4), and a second calf transmission link (6),
the lower leg connecting rod (3) is provided with a first knee connecting piece (5) and a second knee connecting piece (4), the first knee connecting piece (5) is connected with one end of a thigh connecting rod (8), and the second knee connecting piece (4) is connected with one end of a second lower leg transmission connecting rod (6);
the buffering energy storage spring (7) is used as a parallel elastic link, and the other end of the buffering energy storage spring is connected to the second shank transmission connecting rod (6).
3. The leg structure of a wheel-legged robot according to claim 1, further comprising a wheel driving motor (2), the wheel (1) being mounted on an output shaft of the wheel driving motor (2), the wheel driving motor (2) being connected to one end of a shank link (3).
4. The leg structure of the wheel-leg robot according to claim 1, wherein the other end of the thigh link (8) is fastened to the output shaft of the thigh drive motor (10), and one end of the first shank transmission link (12) is fastened to the output shaft of the shank drive motor (9).
5. The leg structure of the wheel-legged robot according to claim 2, further comprising a lower leg transmission link (13), and the other end of the second lower leg transmission link (6) is fastened to the first lower leg transmission link (12) by the lower leg transmission link (13).
6. The leg structure of the wheel-leg robot according to claim 1, further comprising a leg root support (11), wherein the leg root support (11) is a U-shaped support, and the thigh driving motor (10) and the shank driving motor (9) are fixedly connected with two sides of the leg root support (11);
a through hole is formed in the center of a side plate of the leg root support (11), and motor output shafts of the thigh driving motor (10) and the shank driving motor (9) can penetrate through the through hole.
7. The wheel-legged robot leg structure according to claim 1, characterized in that the thigh link (8) and the shank link (3) are provided with lightening holes.
8. The wheel-leg robotic leg structure of claim 1, wherein the tire surface of the wheel (1) has a plurality of wheel pricks.
9. The leg structure of a wheel-legged robot according to claim 1, characterized in that the thigh link (8), the shank link (3), the first shank transmission link (12) and the second shank transmission link (6) constitute a parallelogram structure.
10. A mobile robot comprising the wheel-legged robot leg structure of any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010751681.0A CN111846000A (en) | 2020-07-30 | 2020-07-30 | Wheel leg robot leg structure and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010751681.0A CN111846000A (en) | 2020-07-30 | 2020-07-30 | Wheel leg robot leg structure and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111846000A true CN111846000A (en) | 2020-10-30 |
Family
ID=72946234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010751681.0A Pending CN111846000A (en) | 2020-07-30 | 2020-07-30 | Wheel leg robot leg structure and mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111846000A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278106A (en) * | 2020-11-10 | 2021-01-29 | 北京理工大学 | Wheel-foot composite walking mechanism |
| CN112319647A (en) * | 2020-11-06 | 2021-02-05 | 华南理工大学广州学院 | Multi-rod quadruped robot |
| CN112810720A (en) * | 2021-01-08 | 2021-05-18 | 清华大学 | Wheel-foot type quadruped robot based on crank rocker |
| CN112977666A (en) * | 2021-03-04 | 2021-06-18 | 南方科技大学 | Biped robot |
| CN113120109A (en) * | 2021-04-12 | 2021-07-16 | 北京理工大学 | Auxiliary support structure of wheel-foot composite humanoid robot and control method thereof |
| CN113306644A (en) * | 2021-07-01 | 2021-08-27 | 北京理工大学 | Wheel leg mechanism and wheel leg type vehicle using same |
| CN113443040A (en) * | 2021-05-18 | 2021-09-28 | 山河智能装备股份有限公司 | Wheel-leg combined type traveling system, maneuvering platform and traveling method thereof |
| CN113635345A (en) * | 2021-08-18 | 2021-11-12 | 青岛新一代人工智能技术研究院 | Mechanical arm and robot |
| CN113665701A (en) * | 2021-08-18 | 2021-11-19 | 青岛新一代人工智能技术研究院 | Leg structure and mechanical device |
| CN113696992A (en) * | 2021-08-18 | 2021-11-26 | 道子(北京)科技有限责任公司 | Quadruped robot |
| CN114291181A (en) * | 2021-12-27 | 2022-04-08 | 北京理工大学前沿技术研究院 | Wheel-leg type robot leg device and wheel-leg type robot |
| CN114684291A (en) * | 2020-12-31 | 2022-07-01 | 美的集团(上海)有限公司 | Wheel leg type chassis and robot |
| CN114834559A (en) * | 2022-04-22 | 2022-08-02 | 北京理工大学 | Efficient mobile robot for material distribution |
| CN114852207A (en) * | 2022-04-26 | 2022-08-05 | 中国北方车辆研究所 | Shaft-driven three-degree-of-freedom wheel foot walking mechanism |
| CN114987643A (en) * | 2022-06-21 | 2022-09-02 | 上海工程技术大学 | Bionic robot capable of realizing wheel-leg two-state switching and height-width change |
| WO2022199385A1 (en) * | 2021-03-26 | 2022-09-29 | 东莞市本末科技有限公司 | Wheel-legged structure and robot using same |
| CN115123419A (en) * | 2022-07-29 | 2022-09-30 | 广东亿嘉和科技有限公司 | Leg of wheeled foot robot with force balance and hollow routing and working method |
| CN115284805A (en) * | 2022-08-25 | 2022-11-04 | 哈尔滨工业大学 | Air-ground amphibious robot with fixed wings |
| WO2023045135A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Robot |
| WO2023045132A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Dual-drive connecting rod structure for robot |
| WO2023201982A1 (en) * | 2022-04-19 | 2023-10-26 | 东莞市本末科技有限公司 | Tendon-driven leg structure and robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149871A (en) * | 2014-07-17 | 2014-11-19 | 华中科技大学 | Bionic quadruped robot with energy storage effect |
| CN104548608A (en) * | 2015-01-21 | 2015-04-29 | 北京工业大学 | Bionic kangaroo robot |
| CN104890759A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Four-footed robot |
| CN205311732U (en) * | 2016-01-22 | 2016-06-15 | 南京农业大学 | Four -footed robot that vision was tracked |
| CN108327812A (en) * | 2018-03-23 | 2018-07-27 | 重庆大学 | A kind of more walking manner leg-wheel robots |
| CN111439319A (en) * | 2020-04-30 | 2020-07-24 | 东莞市本末禾叶科技有限公司 | Deformable leg structure and robot |
-
2020
- 2020-07-30 CN CN202010751681.0A patent/CN111846000A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149871A (en) * | 2014-07-17 | 2014-11-19 | 华中科技大学 | Bionic quadruped robot with energy storage effect |
| CN104548608A (en) * | 2015-01-21 | 2015-04-29 | 北京工业大学 | Bionic kangaroo robot |
| CN104890759A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Four-footed robot |
| CN205311732U (en) * | 2016-01-22 | 2016-06-15 | 南京农业大学 | Four -footed robot that vision was tracked |
| CN108327812A (en) * | 2018-03-23 | 2018-07-27 | 重庆大学 | A kind of more walking manner leg-wheel robots |
| CN111439319A (en) * | 2020-04-30 | 2020-07-24 | 东莞市本末禾叶科技有限公司 | Deformable leg structure and robot |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319647A (en) * | 2020-11-06 | 2021-02-05 | 华南理工大学广州学院 | Multi-rod quadruped robot |
| CN112319647B (en) * | 2020-11-06 | 2023-10-03 | 华南理工大学广州学院 | Multi-rod four-foot robot |
| CN112278106A (en) * | 2020-11-10 | 2021-01-29 | 北京理工大学 | Wheel-foot composite walking mechanism |
| CN112278106B (en) * | 2020-11-10 | 2022-05-10 | 北京理工大学 | Wheel-foot composite walking mechanism |
| CN114684291A (en) * | 2020-12-31 | 2022-07-01 | 美的集团(上海)有限公司 | Wheel leg type chassis and robot |
| CN112810720A (en) * | 2021-01-08 | 2021-05-18 | 清华大学 | Wheel-foot type quadruped robot based on crank rocker |
| CN112810720B (en) * | 2021-01-08 | 2021-11-09 | 清华大学 | Wheel-foot type quadruped robot based on crank rocker |
| CN112977666A (en) * | 2021-03-04 | 2021-06-18 | 南方科技大学 | Biped robot |
| WO2022199385A1 (en) * | 2021-03-26 | 2022-09-29 | 东莞市本末科技有限公司 | Wheel-legged structure and robot using same |
| CN113120109B (en) * | 2021-04-12 | 2022-04-08 | 北京理工大学 | Auxiliary support structure of wheel-foot composite humanoid robot and control method thereof |
| CN113120109A (en) * | 2021-04-12 | 2021-07-16 | 北京理工大学 | Auxiliary support structure of wheel-foot composite humanoid robot and control method thereof |
| CN113443040A (en) * | 2021-05-18 | 2021-09-28 | 山河智能装备股份有限公司 | Wheel-leg combined type traveling system, maneuvering platform and traveling method thereof |
| CN113306644A (en) * | 2021-07-01 | 2021-08-27 | 北京理工大学 | Wheel leg mechanism and wheel leg type vehicle using same |
| CN113635345A (en) * | 2021-08-18 | 2021-11-12 | 青岛新一代人工智能技术研究院 | Mechanical arm and robot |
| CN113696992A (en) * | 2021-08-18 | 2021-11-26 | 道子(北京)科技有限责任公司 | Quadruped robot |
| CN113665701A (en) * | 2021-08-18 | 2021-11-19 | 青岛新一代人工智能技术研究院 | Leg structure and mechanical device |
| WO2023045135A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Robot |
| WO2023045132A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Dual-drive connecting rod structure for robot |
| CN114291181A (en) * | 2021-12-27 | 2022-04-08 | 北京理工大学前沿技术研究院 | Wheel-leg type robot leg device and wheel-leg type robot |
| WO2023201982A1 (en) * | 2022-04-19 | 2023-10-26 | 东莞市本末科技有限公司 | Tendon-driven leg structure and robot |
| CN114834559A (en) * | 2022-04-22 | 2022-08-02 | 北京理工大学 | Efficient mobile robot for material distribution |
| CN114852207A (en) * | 2022-04-26 | 2022-08-05 | 中国北方车辆研究所 | Shaft-driven three-degree-of-freedom wheel foot walking mechanism |
| CN114987643A (en) * | 2022-06-21 | 2022-09-02 | 上海工程技术大学 | Bionic robot capable of realizing wheel-leg two-state switching and height-width change |
| CN114987643B (en) * | 2022-06-21 | 2023-08-08 | 上海工程技术大学 | Bionic robot capable of realizing two-state switching of wheel legs and height, width and width change |
| CN115123419A (en) * | 2022-07-29 | 2022-09-30 | 广东亿嘉和科技有限公司 | Leg of wheeled foot robot with force balance and hollow routing and working method |
| CN115284805A (en) * | 2022-08-25 | 2022-11-04 | 哈尔滨工业大学 | Air-ground amphibious robot with fixed wings |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111846000A (en) | Wheel leg robot leg structure and mobile robot | |
| CN107140052B (en) | A kind of wheel leg type hexapod robot with suspension | |
| US6964309B2 (en) | Vehicle with compliant drive train | |
| Morrey et al. | Highly mobile and robust small quadruped robots | |
| CN108454718B (en) | Crawler-type passive self-adaptive robot | |
| US8030873B2 (en) | Walk and roll robot | |
| CN214875226U (en) | Moving device of robot and robot | |
| CN111846002A (en) | Wheel-leg composite mobile robot | |
| CN111976859B (en) | UPS-based parallel-connection wheel-foot mobile robot | |
| CN110936346A (en) | Foldable four-wheel leg type obstacle crossing robot | |
| CN107891918B (en) | Wheel-track combined mobile robot | |
| CN110682976B (en) | Multi-degree-of-freedom mechanical wheel leg structure of wheel leg combined type mobile robot | |
| CN113443042B (en) | Wheel-foot combined type biped robot | |
| CN110481670B (en) | Wheel-leg mixed type hexapod robot | |
| CN112623059B (en) | Wheel-leg mechanism of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set | |
| CN115285250A (en) | Six-wheel leg composite moving action robot with leg and arm multiplexing function | |
| CN113173216A (en) | Moving device of robot and robot | |
| CN111846001B (en) | Wheel-leg variable-structure robot | |
| CN111113363A (en) | Arm moving platform suitable for complicated road conditions | |
| CN211491511U (en) | Foldable four-wheel leg type obstacle crossing robot | |
| CN210555241U (en) | Wheel-foot type walking mechanism of magnetic adsorption wall-climbing robot | |
| CN113147948B (en) | Foot mechanism of walking polar region scientific investigation robot | |
| KR20220064285A (en) | Stiffness variable wheel and moving device including the same | |
| CN114506400B (en) | Bionic foot type robot based on centralized driving four-degree-of-freedom leg structure | |
| CN113443040A (en) | Wheel-leg combined type traveling system, maneuvering platform and traveling method thereof |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201030 |