CN113212083A - Wheeled mobile robot with wheels and feet capable of being folded and unfolded - Google Patents
Wheeled mobile robot with wheels and feet capable of being folded and unfolded Download PDFInfo
- Publication number
- CN113212083A CN113212083A CN202110506373.6A CN202110506373A CN113212083A CN 113212083 A CN113212083 A CN 113212083A CN 202110506373 A CN202110506373 A CN 202110506373A CN 113212083 A CN113212083 A CN 113212083A
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- China
- Prior art keywords
- base
- rod
- fixedly connected
- steering
- driving
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
- B60F3/0038—Flotation, updrift or stability devices
-
- 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
Abstract
The invention discloses a wheeled mobile robot with wheels and feet capable of being folded and unfolded, wherein a base of a supporting assembly is connected with a shell, a first air cylinder is arranged in the shell, a mounting plate and the first air cylinder are connected and positioned in a containing groove, a support is arranged on one side of the base, a driving motor of the driving assembly is arranged on the mounting plate, a first rotating shaft is rotatably connected with the driving motor, two driving wheels are positioned on two sides of the first rotating shaft, a first gear is connected with the first rotating shaft, a toothed bar is rotatably connected with the support, a track is rotatably connected with the toothed bar, an air cushion of a water traveling assembly is connected with the base, a lifting rod is connected with the base through a second air cylinder, and a driver is arranged on the base. The driving wheel is adopted to advance on the flat ground to achieve a faster moving speed, the driving wheel can be retracted when an obstacle is met, the first gear drives the track to move, the track floats in water through the air cushion, the track moves through the driver, and the passing rate and the moving speed can be improved.
Description
Technical Field
The invention relates to the field of mobile robots, in particular to a wheel-type mobile robot with wheels and feet capable of being folded and unfolded.
Background
The mobile robot is a robot that performs a specific work, such as a cleaning robot or a monitoring robot, and the mobile robot has a function of autonomously performing a predetermined work, such as cleaning a floor surface or monitoring an environment, depending on the type of work to be performed.
Most of the existing mobile robots move through moving wheels, so that the moving terrain is limited and the moving efficiency is low.
Disclosure of Invention
The invention aims to provide a wheel-type mobile robot with wheels and feet capable of being folded and unfolded, and aims to solve the problems that the existing robot is limited in moving terrain and low in moving efficiency.
In order to achieve the above purpose, the present invention provides a wheeled mobile robot with foldable wheels, which comprises a support assembly, a driving assembly, a steering assembly and a water traveling assembly, wherein the support assembly comprises a base, a housing, a first cylinder, a mounting plate, a control plate and a bracket, the base is provided with a receiving groove, the housing is fixedly connected with the base and is located at one side of the base far away from the receiving groove, the first cylinder is fixedly connected with the base and is located in the receiving groove, the mounting plate is fixedly connected with a telescopic rod of the first cylinder and is located in the receiving groove, the control plate is fixedly connected with the housing and is located in the housing, the bracket is fixedly connected with the base and is located at one side of the base, the driving assembly comprises a driving motor, a first rotating shaft, two driving wheels, a first gear, Rack bar and track, driving motor with mounting panel fixed connection to be located one side of mounting panel, first pivot with driving motor rotates to be connected, and is located one side of mounting panel, two the drive wheel with first pivot fixed connection, and be located the both sides of first pivot, first gear with first pivot fixed connection, and be located one side of first pivot, the rack bar with the support rotates to be connected, and passes the support, the track with the rack bar rotates to be connected, and is located one side of base, turn to the subassembly with the base rotates to be connected, and be located one side of base, the subassembly of traveling on water includes air cushion, lifter, second cylinder, air pump and driver, the air cushion with base fixed connection, and be located one side of base, the second cylinder with shell fixed connection, and the air pump is communicated with the second air cylinder and is positioned in the shell, the lifting rod is connected with the base in a sliding manner, penetrates through the base and is fixedly connected with a telescopic rod of the second air cylinder, and the driver is connected with the lifting rod in a rotating manner and is positioned on one side of the lifting rod, which is far away from the shell.
Wherein, turn to the subassembly still including turning to motor, slide bar, steering column and directive wheel, turn to the motor with base fixed connection, and be located accomodate the inslot, the slide bar with the output fixed connection who turns to the motor, and be located one side of steering column, the steering column with slide bar sliding connection, and be located one side of slide bar, the directive wheel with the steering column rotates to be connected, and is located one side of steering column.
The steering assembly further comprises a connecting rod, and the connecting rod is rotatably connected with the steering rod and fixedly connected with the mounting plate.
The mounting plate further comprises a plate body, a driving frame and a damping rod, the driving frame is fixedly connected with the plate body and located on one side of the plate body, and the damping rod is connected with the driving frame in a sliding mode and rotationally connected with the first rotating shaft.
The mounting plate further comprises a damping spring, and the damping spring is fixedly connected with the damping rod and is located between the damping rod and the driving frame.
The driving assembly further comprises a rotating speed sensor, and the rotating speed sensor is fixedly connected with the mounting plate and is positioned on one side of the driving wheel.
The water running assembly further comprises a waterproof cover, and the waterproof cover is fixedly connected with the base and located on one side, close to the movable wheel, of the base.
The invention relates to a wheel-type mobile robot with foldable wheels and feet, which comprises a shell, a first air cylinder, a mounting plate, a control plate and a driving motor, wherein the shell is fixedly connected with a base, the shell is used for placing elements used by other robots, the first air cylinder is fixedly connected with the base, the mounting plate is fixedly connected with an expansion rod of the first air cylinder, the mounting plate can be driven by the first air cylinder to move up and down, the control plate is fixedly connected with the shell, the control plate mainly comprises a single chip microcomputer and mainly executes control actions, a bracket is fixedly connected with the base, the driving motor is fixedly connected with the mounting plate, the first rotating shaft is rotatably connected with the driving motor, the driving motor can drive the first rotating shaft to rotate, two driving wheels are fixedly connected with the first rotating shaft, and the first rotating shaft can drive the driving wheels to rotate so as to enable the robot to move, the first gear is fixedly connected with the first rotating shaft so as to rotate along with the first rotating shaft, the rack bar is rotatably connected with the bracket, the track is rotatably connected with the rack bar, the first air cylinder can drive the mounting plate to move upwards so that the first gear can be meshed with the rack bar, the track can be driven to rotate and can be changed into a track which can pass through an obstacle, the steering assembly is rotatably connected with the base, the robot can be steered through the steering assembly, the air cushion is fixedly connected with the base, the robot can float on the water surface through the air cushion, the second air cylinder is fixedly connected with the shell, the air pump is communicated with the second air cylinder, the lifting rod is slidably connected with the base and is fixedly connected with a telescopic rod of the second air cylinder, and the lifting rod can be driven to move up and down through the second air cylinder, the driver with the lifter rotates to be connected, makes the driver can with the ratch contact to conveniently carry out the transmission and drive the robot and advance in aqueous, make and can adopt the drive wheel to advance on the level land, in order to reach faster moving speed, when meetting the obstacle, can withdraw the drive wheel, make first gear drive the track removes, can pass through again in aqueous the air cushion floats, and passes through the driver removes, makes and to improve the throughput and moving speed, solves the problem that current robot removes the limited and removal efficiency of topography and hangs down.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a side view of a wheeled mobile robot with a wheel and a foot capable of being folded and unfolded according to the present invention;
fig. 2 is a bottom structure view of a wheeled mobile robot with a wheel and a foot capable of being folded and unfolded according to the present invention;
fig. 3 is a top structural view of a wheeled mobile robot with a wheel and feet being foldable and unfoldable according to the present invention;
fig. 4 is a schematic cross-sectional view of a wheeled mobile robot with a foldable wheel and foot according to the present invention.
1-supporting component, 2-driving component, 3-steering component, 4-water running component, 11-base, 12-shell, 13-first air cylinder, 14-mounting plate, 15-control plate, 16-bracket, 21-driving motor, 22-first rotating shaft, 23-two driving wheels, 24-first gear, 25-toothed bar, 26-crawler belt, 27-rotating speed sensor, 31-steering motor, 32-sliding bar, 33-steering bar, 34-steering wheel, 35-connecting bar, 41-air cushion, 42-lifting bar, 43-second air cylinder, 44-air pump, 45-driver, 46-waterproof cover, 47-alarm lamp, 111-containing groove, 141-plate body, 142-driving frame, 143-shock-absorbing rod, 144-shock-absorbing spring, 451-meshing gear, 452-propeller.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 4, the present invention provides a wheeled mobile robot with foldable wheel and foot, comprising:
supporting component 1, drive assembly 2, turn to subassembly 3 and the subassembly 4 that traveles on water, supporting component 1 includes base 11, shell 12, first cylinder 13, mounting panel 14, control panel 15 and support 16, base 11 has and accomodates groove 111, shell 12 with base 11 fixed connection, and be located base 11 keeps away from accomodate one side of groove 111, first cylinder 13 with base 11 fixed connection, and be located accomodate the inslot 111, mounting panel 14 with the telescopic link fixed connection of first cylinder 13, and be located accomodate the inslot 111, control panel 15 with shell 12 fixed connection, and be located in shell 12, support 16 with base 11 fixed connection, and be located one side of base 11, drive assembly 2 includes driving motor 21, first pivot 22, two drive wheels 23, First gear 24, ratch 25 and track 26, driving motor 21 with mounting panel 14 fixed connection, and be located one side of mounting panel 14, first pivot 22 with driving motor 21 rotates to be connected, and is located one side of mounting panel 14, two drive wheel 23 with first pivot 22 fixed connection, and be located the both sides of first pivot 22, first gear 24 with first pivot 22 fixed connection, and be located one side of first pivot 22, ratch 25 with support 16 rotates to be connected, and passes support 16, track 26 with ratch 25 rotates to be connected, and is located one side of base 11, turn to subassembly 3 with base 11 rotates to be connected, and is located one side of base 11, subassembly 4 traveles on water includes air cushion 41, lifter 42, second cylinder 43, Air pump 44 and driver 45, air cushion 41 with base 11 fixed connection, and be located one side of base 11, second cylinder 43 with shell 12 fixed connection, and be located in shell 12, air pump 44 with second cylinder 43 intercommunication, and be located in shell 12, lifter 42 with base 11 sliding connection, and pass base 11, and with the telescopic link fixed connection of second cylinder 43, driver 45 with lifter 42 rotates to be connected, and is located lifter 42 keeps away from one side of shell 12.
In this embodiment, the supporting assembly 1 includes a base 11, a housing 12, a first cylinder 13, a mounting plate 14, a control plate 15 and a bracket 16, the base 11 has a receiving slot 111, the housing 12 is fixedly connected to the base 11 and located on a side of the base 11 away from the receiving slot 111, the housing 12 is used for placing other elements used by the robot, the first cylinder 13 is fixedly connected to the base 11 and located in the receiving slot 111, the mounting plate 14 is fixedly connected to an expansion rod of the first cylinder 13 and located in the receiving slot 111, the mounting plate 14 can be driven by the first cylinder 13 to move up and down, the control plate 15 is fixedly connected to the housing 12 and located in the housing 12, the control plate 15 is mainly composed of a single chip microcomputer and mainly performs control actions, and the bracket 16 is fixedly connected to the base 11, and is located on one side of the base 11, the driving assembly 2 includes a driving motor 21, a first rotating shaft 22, two driving wheels 23, a first gear 24, a rack 25 and a track 26, the driving motor 21 is fixedly connected to the mounting plate 14 and is located on one side of the mounting plate 14, the first rotating shaft 22 is rotatably connected to the driving motor 21 and is located on one side of the mounting plate 14, the first rotating shaft 22 can be driven to rotate by the driving motor 21, the two driving wheels 23 are fixedly connected to the first rotating shaft 22 and are located on two sides of the first rotating shaft 22, the first rotating shaft 22 can drive the driving wheels 23 to rotate so as to enable the robot to move, the first gear 24 is fixedly connected to the first rotating shaft 22 and is located on one side of the first rotating shaft 22 so as to rotate along with the first rotating shaft 22, the rack 25 is rotatably connected to the bracket 16 and penetrates the bracket 16, the track 26 is rotatably connected to the rack 25 and is located at one side of the base 11, the first cylinder 13 can drive the mounting plate 14 to move up, so that the first gear 24 can be engaged with the rack 25, thereby driving the track 26 to rotate, and the track 26 can pass through an obstacle, the steering assembly 3 is rotatably connected to the base 11 and is located at one side of the base 11, the robot can be steered by the steering assembly 3, the water traveling assembly 4 further comprises an air cushion 41, a lifting rod 42, a second cylinder 43, an air pump 44 and a driver 45, the air cushion 41 is fixedly connected to the base 11 and is located at one side of the base 11, the robot can float on the water surface by the air cushion 41, the second cylinder 43 is fixedly connected to the housing 12, and is located in the housing 12, the air pump 44 is communicated with the second air cylinder 43 and is located in the housing 12, the lifting rod 42 is slidably connected with the base 11, passes through the base 11, and is fixedly connected with an expansion rod of the second air cylinder 43, the lifting rod 42 can be driven by the second air cylinder 43 to move up and down, the driver 45 is rotatably connected with the lifting rod 42 and is located at one side of the lifting rod 42 away from the housing 12, so that the driver 45 can be in contact with the toothed bar 25, transmission is facilitated, the robot is driven to advance in water, the driving wheel 23 can be adopted to advance on flat ground, so as to achieve faster moving speed, when an obstacle is encountered, the driving wheel 23 can be retracted, so that the first gear 24 drives the caterpillar 26 to move, and the robot can float in water through the air cushion 41, and the movement is performed by the driver 45, so that the passing rate and the moving speed can be improved, and the problems of limited moving terrain and low moving efficiency of the existing robot are solved.
Further, turn to subassembly 3 still includes to turn to motor 31, slide bar 32, steering column 33 and directive wheel 34, turn to motor 31 with base 11 fixed connection, and be located accomodate the inslot 111, slide bar 32 with the output fixed connection who turns to motor 31, and be located turn to one side of motor 31, steering column 33 with slide bar 32 sliding connection, and be located one side of slide bar 32, directive wheel 34 with steering column 33 rotates to be connected, and is located one side of steering column 33.
In the present embodiment, the steering motor 31 may drive the sliding rod 32 to rotate, the steering rod 33 may rotate along with the sliding rod 32, and the steering wheel 34 is disposed on the steering rod 33 so as to rotate to adjust the advancing direction. In addition, the steering rod 33 can slide relative to the sliding rod 32, so that the crawler belt 26 can be recovered to operate normally.
Further, the steering assembly 3 further includes a connecting rod 35, and the connecting rod 35 is rotatably connected to the steering rod 33 and is fixedly connected to the mounting plate 14.
In this embodiment, the connecting rod 35 is disposed at one side of the steering rod 33, so that the mounting plate 14 can move to drive the connecting rod 35 to move together, thereby driving the steering rod 33 to move up and down.
Further, the mounting plate 14 further includes a plate 141, a driving frame 142 and a damping rod 143, the driving frame 142 is fixedly connected to the plate 141 and is located at one side of the plate 141, and the damping rod 143 is slidably connected to the driving frame 142 and is rotatably connected to the first rotating shaft 22.
In this embodiment, the driving frame 142 is disposed on the plate 141 for mounting the shock-absorbing rod 143, and the shock-absorbing rod 143 is connected to the first rotating shaft 22, so that the shock-absorbing rod 143 slides on the driving frame 142 to absorb the shock.
Further, the mounting plate 14 further includes a damping spring 144, and the damping spring 144 is fixedly connected to the damping rod 143 and is located between the damping rod 143 and the driving frame 142.
In this embodiment, the damping spring 144 is disposed between the damping rod 143 and the driving frame 142, and can further reduce vibration generated during movement, so that more stable operation can be achieved.
Further, the driving assembly 2 further comprises a rotation speed sensor 27, and the rotation speed sensor 27 is fixedly connected with the mounting plate 14 and is located at one side of the driving wheel 23.
In the present embodiment, the rotation speed sensor 27 is a photoelectric sensor, and can detect the rotation speed of the driving wheel 23, and the rotation speed is very fast when the vehicle slips, so that the slipping and the normal running can be distinguished, and the degree of automation can be improved.
Further, the water running assembly 4 further comprises a waterproof cover 46, and the waterproof cover 46 is fixedly connected with the base 11 and is positioned on one side of the base 11 close to the moving wheel.
In this embodiment, the waterproof cover 46 can protect the driving mechanism of the moving wheel from water entering and affecting the normal operation.
Further, the driver 45 includes a meshing gear 451 and a screw 452, the meshing gear 451 is rotatably connected to the lifting rod 42 and is located at one side of the lifting rod 42, and the screw 452 is fixedly connected to the meshing gear 451 and is located at one side of the meshing gear 451.
In this embodiment, the meshing gear 451 meshes with the first gear 24, so that the meshing gear 451 can be driven by the first gear 24 to rotate, the propeller 452 can be further driven to rotate, water can be pushed, and the robot can advance on the water.
Further, the water running assembly 4 further comprises an alarm lamp 47, and the alarm lamp 47 is fixedly connected with the housing 12 and electrically connected with the control board 15.
In this embodiment, the alarm lamp 47 may alarm the current abnormal state of the mobile robot, so that the operator can more conveniently deal with the abnormal state in time.
The working principle and the using process of the invention are as follows: referring to fig. 1 and 2, after the robot is installed, the driving wheel can be used to move forward on the flat ground to achieve a faster moving speed, and when an obstacle is encountered, the driving wheel can be retracted, so that the first gear drives the track to move, the track can float in the water through the air cushion 41, and the track can move through the driver 45, so that the passing rate and the moving speed can be increased, and the problems of limited moving terrain and low moving efficiency of the existing robot are solved.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A wheel-type mobile robot with wheels and feet capable of being folded and unfolded, which is characterized in that,
including supporting component, drive assembly, turn to subassembly and the subassembly that traveles on water, supporting component includes base, shell, first cylinder, mounting panel, control panel and support, the base has the groove of accomodating, the shell with base fixed connection to be located the base is kept away from one side of the groove of accomodating, first cylinder with base fixed connection, and be located accomodate the inslot, the mounting panel with the telescopic link fixed connection of first cylinder, and be located accomodate the inslot, the control panel with shell fixed connection, and be located in the shell, the support with base fixed connection, and be located one side of base, drive assembly includes driving motor, first pivot, two drive wheels, first gear, ratch and track, driving motor with mounting panel fixed connection, and be located one side of mounting panel, the first rotating shaft is connected with the driving motor in a rotating manner and is positioned on one side of the mounting plate, the two driving wheels are fixedly connected with the first rotating shaft and are positioned on two sides of the first rotating shaft, the first gear is fixedly connected with the first rotating shaft and is positioned on one side of the first rotating shaft, the rack bar is rotatably connected with the bracket and penetrates through the bracket, the track is rotatably connected with the rack bar and is positioned on one side of the base, the steering assembly is rotatably connected with the base and is positioned on one side of the base, the water traveling assembly comprises an air cushion, a lifting rod, a second air cylinder, an air pump and a driver, the air cushion is fixedly connected with the base and is positioned on one side of the base, the second air cylinder is fixedly connected with the shell and is positioned in the shell, and the air pump is communicated with the second air cylinder, and the lifting rod is connected with the base in a sliding manner, penetrates through the base and is fixedly connected with the telescopic rod of the second cylinder, and the driver is connected with the lifting rod in a rotating manner and is positioned on one side of the lifting rod, which is far away from the shell.
2. The wheeled mobile robot of claim 1, wherein,
the steering assembly further comprises a steering motor, a sliding rod, a steering rod and a steering wheel, the steering motor is fixedly connected with the base and is located in the accommodating groove, the sliding rod is fixedly connected with the output end of the steering motor and is located on one side of the steering motor, the steering rod is slidably connected with the sliding rod and is located on one side of the sliding rod, and the steering wheel is rotatably connected with the steering rod and is located on one side of the steering rod.
3. The wheeled mobile robot with foldable wheel and foot according to claim 2,
the steering assembly further comprises a connecting rod, and the connecting rod is rotatably connected with the steering rod and fixedly connected with the mounting plate.
4. The wheeled mobile robot of claim 1, wherein,
the mounting plate further comprises a plate body, a driving frame and a damping rod, the driving frame is fixedly connected with the plate body and is located on one side of the plate body, and the damping rod is connected with the driving frame in a sliding mode and is rotatably connected with the first rotating shaft.
5. The wheeled mobile robot with foldable wheel and foot according to claim 4,
the mounting panel still includes damping spring, damping spring with shock-absorbing rod fixed connection, and be located the shock-absorbing rod with between the driving rack.
6. The wheeled mobile robot of claim 1, wherein,
the driving assembly further comprises a rotating speed sensor, and the rotating speed sensor is fixedly connected with the mounting plate and is positioned on one side of the driving wheel.
7. The wheeled mobile robot with foldable wheel and foot according to claim 6,
the water running assembly further comprises a waterproof cover, and the waterproof cover is fixedly connected with the base and is positioned on one side, close to the movable wheel, of the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110506373.6A CN113212083A (en) | 2021-05-10 | 2021-05-10 | Wheeled mobile robot with wheels and feet capable of being folded and unfolded |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110506373.6A CN113212083A (en) | 2021-05-10 | 2021-05-10 | Wheeled mobile robot with wheels and feet capable of being folded and unfolded |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113212083A true CN113212083A (en) | 2021-08-06 |
Family
ID=77094148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110506373.6A Withdrawn CN113212083A (en) | 2021-05-10 | 2021-05-10 | Wheeled mobile robot with wheels and feet capable of being folded and unfolded |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113212083A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475112A (en) * | 2022-03-15 | 2022-05-13 | 沈阳建筑大学 | Robot capable of adapting to all-terrain walking |
-
2021
- 2021-05-10 CN CN202110506373.6A patent/CN113212083A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475112A (en) * | 2022-03-15 | 2022-05-13 | 沈阳建筑大学 | Robot capable of adapting to all-terrain walking |
| CN114475112B (en) * | 2022-03-15 | 2023-06-23 | 沈阳建筑大学 | Robot capable of adapting to all-terrain walking |
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Application publication date: 20210806 |