CN113479271A - Obstacle crossing robot with size-adjustable body - Google Patents
Obstacle crossing robot with size-adjustable body Download PDFInfo
- Publication number
- CN113479271A CN113479271A CN202110649743.1A CN202110649743A CN113479271A CN 113479271 A CN113479271 A CN 113479271A CN 202110649743 A CN202110649743 A CN 202110649743A CN 113479271 A CN113479271 A CN 113479271A
- Authority
- CN
- China
- Prior art keywords
- double
- obstacle crossing
- aligning
- telescopic rod
- robot
- 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)
Abstract
The invention discloses an obstacle crossing robot with adjustable body size, which is characterized in that a double-wheel structure is connected through a double-aligning-ball connecting structure of a head structure, when an obstacle is encountered, the double-wheel structure rotates around an aligning ball bearing due to resistance caused by the obstacle, the horizontal height of wheels is continuously adjusted according to terrain, the obstacle crossing robot is promoted to complete obstacle crossing action, and obstacle crossing work in expected terrain is realized. In addition, the length of the electric push rod is adjusted to adapt to rugged terrains and wide and narrow spaces of different degrees, and therefore obstacle crossing work is facilitated. The invention has the characteristics of strong adaptive adjustment capability, good flexibility and high efficiency, and meanwhile, the vehicle body has simple structure, easy maintenance, controllable cost and high popularity.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to an obstacle crossing robot with adjustable body size.
Background
With the rapid development of science and technology, the exploration of unknown regions becomes an important subject of current scientific and technological research. The obstacle crossing robot works in an unknown regional environment, most obstacle crossing robots need to overcome complex unstructured terrains, and the obstacle crossing robots need to have high maneuverability, quick response capability and sensing capability to special environments.
Most of the existing obstacle-surmounting robots cannot change the size of the body, and thus cannot perform normal work in a narrow environment.
Therefore, the obstacle-surmounting robot has the advantages of capability of simultaneously providing obstacle surmounting, telescopic machine body frame, strong adaptability, high efficiency and good flexibility, and is very significant.
Disclosure of Invention
Aiming at the defects of the existing robot, the invention provides the obstacle crossing robot with the adjustable body size, which has the capability of advancing in unstructured terrain and can stretch out and draw back a vehicle body frame according to the change of the environment, so that the expected operation capability is realized, the vehicle body structure is simple, the later maintenance is convenient, the cost is controllable, the popularity is high, and the obstacle crossing robot is suitable for complex terrains such as military reconnaissance, celestial sphere detection, disaster relief and exploration and the like.
In order to solve the above technical problem, the present invention provides an obstacle crossing robot with an adjustable body size, comprising:
the bicycle head structure comprises a double-aligning-ball connecting structure and two groups of double-wheel structures symmetrically arranged on two sides of the double-aligning-ball connecting structure; the double-aligning ball connecting structure is formed by connecting a middle universal driving shaft and the outer rings of a left aligning ball bearing and a right aligning ball bearing; the double-wheel structure comprises two telescopic rods and wheels which are respectively arranged at the bottoms of the telescopic rods, the two telescopic rods are connected to form an included angle a, and the double-wheel structure is connected with the inner ring of the self-aligning ball bearing;
the car tail structure comprises a three-way connecting pipe, a telescopic rod and wheels, wherein interfaces on two sides of the three-way connecting pipe are sequentially connected with the telescopic rod and the wheels, and a third interface is connected with the car body connecting structure;
the automobile body street connection structure comprises a telescopic rod, one end of the telescopic rod is connected with a three-way connecting pipe interface of the automobile tail structure, and the other end of the telescopic rod is connected with a middle linkage bearing of the double-centering-ball connecting structure.
In an alternative embodiment, the angle a of the double-wheel structure ranges from 45 ° to 120 °, and preferably the angle a of the double-wheel structure is 90 °.
In an optional implementation manner, a telescopic rod is installed between the double-aligning-ball connecting structure and the double-wheel structure, one end of the telescopic rod is connected with the inner ring of the aligning ball bearing, and the other end of the telescopic rod is connected with the double-wheel structure; preferably, the telescopic rod is connected with the double-wheel structure through a three-way connecting pipe.
In an optional implementation mode, two sides of a three-way connecting pipe of a tail structure of a station are provided with transverse telescopic rods, and the other ends of the transverse telescopic rods are connected with longitudinal telescopic rods; preferably, the transverse telescopic rod and the longitudinal telescopic rod of the vehicle tail structure are connected through a two-way connecting pipe.
In an optional implementation mode, the vehicle head structure further comprises a limiting device, wherein the limiting device is used for preventing the vehicle head structure from rollover accidents caused by the fact that two wheels in the same group are located on one side of the vertical central axis of the self-aligning ball bearing; preferably, the limiting device is T-shaped, the longitudinal part of the limiting device is connected to the position under the double-aligning-ball connecting structure, the transverse part of the limiting device extends towards two sides and penetrates through an included angle a of the double-wheel structure, the length of the transverse part of the limiting device is adjustable, and the length of the transverse part of the limiting device is larger than the distance between the two groups of double-wheel structures.
In an alternative embodiment, the limiting device is an optoelectronic proximity sensor mounted on the intermediate linkage bearing.
In an optional implementation mode, a second self-aligning ball bearing is further installed between the vehicle body connecting structure and the double-aligning ball connecting structure, the vehicle body connecting structure is connected with an inner ring of the second self-aligning ball bearing, and the double-aligning ball connecting structure is connected with an outer ring of the second self-aligning ball bearing through an intermediate linkage shaft.
In an alternative embodiment, the dc motor is mounted in a wheel and is in signal communication with a remote control system.
In an optional implementation mode, the telescopic rod is an electric push rod, and the size of the robot is adjusted by stretching.
According to the technical scheme, when the robot meets an obstacle, the resistance caused by the obstacle enables the double-wheel structure to rotate around the self-aligning ball bearing, the horizontal heights of the wheels are continuously adjusted according to the terrain, the two wheels are enabled to be at different horizontal heights, the front wheels firstly cross the obstacle and land, the stability of the robot is kept, advancing power is provided, and the obstacle crossing robot is enabled to complete obstacle crossing action.
The longitudinal telescopic rod can adjust the height of the obstacle crossing robot, and the transverse telescopic rod can adjust the length and the width of the obstacle crossing robot so as to adapt to the requirements of obstacles with different sizes and environments with different widths.
In addition, the limiting device of the vehicle head structure is used for preventing two wheels of the double-wheel structure from being positioned on one side of the vertical central axis of the self-aligning ball bearing, so that the overturning accident that the double wheels face the sky is caused, and the safe operation of the robot is ensured.
The second self-aligning ball bearing is arranged between the head structure and the body connecting structure, so that the relative height of the head structure on the vertical surface of the obstacle crossing robot in the advancing direction can be adjusted around the body connecting structure by the two groups of double-wheel structures, the obstacle crossing robot can adapt to more complex and rugged ground, and the obstacle crossing robot can more stably run.
In summary, compared with the prior art, the invention has the beneficial effects that:
the invention has the characteristics of strong adaptive adjustment capability, good flexibility and high efficiency, and meanwhile, the vehicle body has simple structure, easy maintenance, controllable cost and high popularity.
Drawings
FIG. 1 is a schematic view of the overall structure of an obstacle-surmounting robot;
FIG. 2 is a schematic view of a vehicle head structure;
FIG. 3 is an exploded view of a dual centering ball attachment structure;
FIG. 4 is a schematic view of a vehicle tail structure;
FIG. 5 is a schematic diagram showing two sets of dual-wheel structures presenting different movement trajectories;
fig. 6 is a schematic view of the freely rotating tail structure.
In the figure: 1. a headstock structure; 10. a double-aligning ball connection structure; 101. a self-aligning ball bearing; 102. a middle linkage bearing; 103. a second self-aligning ball bearing; 11. a double-wheel structure; 12. a limiting device; 2. a vehicle tail structure; 3. a vehicle body street connection structure; 4. a DC motor; 5. a telescopic rod; 6. a wheel; 7. a three-way connecting pipe; 8. a three-way connecting pipe; 9. two-way connecting pipe.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present application, it should be noted that the terms "communicate" and "connect" are to be interpreted broadly, unless expressly stated or limited otherwise, and may include, for example, a fixed connection, a connection through an intervening medium, a communication between two elements, or an interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The first embodiment is as follows:
referring to fig. 1 to 6, an obstacle surmounting robot with adjustable body size includes:
the bicycle head structure comprises a bicycle head structure 1, wherein the bicycle head structure 1 comprises a double-aligning-ball connecting structure 10 and two groups of double-wheel structures 11; the double-aligning ball connecting structure 10 is formed by fixedly connecting an intermediate linkage shaft 102 and outer rings of a left aligning ball bearing 101 and a right aligning ball bearing 101; the double-wheel structure 11 is formed by connecting the top ends of two telescopic rods 5 of which the bottoms are provided with wheels 6, the two telescopic rods 5 form an included angle a with a downward opening, and the double-wheel structure 11 is connected with the inner ring of the self-aligning ball bearing 101.
The vehicle tail structure 2 comprises a three-way connecting pipe 8, longitudinal telescopic rods 5 symmetrically and fixedly arranged at interfaces on two sides of the three-way connecting pipe 8 and wheels 6 arranged at the bottom ends of the telescopic rods 5; and a third interface of the three-way connecting pipe 8 is connected with the vehicle body street connecting structure 3.
The vehicle body street connecting structure 3 is characterized in that the vehicle body street connecting structure 3 is composed of a telescopic rod, one end of the telescopic rod is connected with a three-way connecting pipe of the vehicle tail structure, and the other end of the telescopic rod is connected with a middle linkage bearing of the double-centering-ball connecting structure.
The working principle of the robot is shown in fig. 5 and 6, resistance caused by obstacles enables the double-wheel structure 11 to rotate around the self-aligning ball bearing 101, the horizontal height of the wheels 6 of the vehicle head structure 1 is continuously adjusted according to the terrain, the two wheels are positioned at different horizontal heights, the front wheels of the double-wheel structure 11 rise and then firstly cross the obstacles, the horizontal height of the front wheels of the double-wheel structure 11 is reduced and landed under the action of the self-aligning ball bearing 101 after crossing, the robot is kept stable and provides advancing power, and meanwhile, the horizontal height of the rear wheels of the double-wheel structure 11 rises, so that the obstacle crossing robot is enabled to complete the obstacle crossing action of the first step; the vehicle body connecting structure 3 is connected with the middle linkage bearing 102 and can freely rotate relative to the vehicle head structure 1 in the longitudinal direction; the vehicle tail structure 2 is connected with the vehicle body street connecting structure 3, so that the relative horizontal height of the vehicle head structure 1 can be flexibly adjusted when different obstacles are met, and all obstacle crossing actions are completed.
In the preferred embodiment of the present invention, the included angle a of the dual wheel structure 11 preferably ranges from 45 ° to 120 °, and more preferably is 90 °. Specifically, the value of the included angle a is 45-120 degrees, obstacle crossing can be achieved, the difference is that the obstacle crossing capability and stability are different, when the included angle is between 45 degrees and 90 degrees and the self-aligning ball bearing 101 is at the same horizontal height, the larger the included angle is, the larger the horizontal height difference which can be achieved by the front and rear wheels of the double-wheel structure 11 is, and the stronger the obstacle crossing height capability is; when crossing an obstacle at the same height, the front wheel of the double-wheel structure 11 with a large included angle will cross the obstacle and land before the front wheel of the double-wheel structure 11 with a small included angle. When the front wheels of the double-wheel structure 11 always cross the obstacle and land in the process of crossing the obstacle, the tail structure of the vehicle continuously approaches the obstacle, so that the gravity center is unstable and the vehicle can tip over at 360 degrees; when the included angle is between 90 ° and 120 ° and the self-aligning ball bearings 101 are at the same horizontal height, the larger the included angle, the higher the double-wheel structure 11 can straddle a higher obstacle, but the more the front wheel thereof can straddle the obstacle, the more the situation that the front wheel can not land, the tail structure of the vehicle is continuously close to the obstacle, and the unstable gravity center can cause the tipping of 360 °. Therefore, the preferred included angle of the double-wheel structure 11 is 90 °, so that the robot damage event can be greatly avoided.
In the preferred embodiment of the invention, a transverse telescopic rod 5 is respectively arranged between the double-aligning-ball connecting structure 10 and the two groups of double-wheel structures 11, one end of the telescopic rod 5 is connected with the inner ring of the aligning ball bearing, and the other end of the telescopic rod 5 is connected with the double-wheel structures, so that the width of the obstacle crossing robot is adjusted to adapt to the width of the passing environment; the telescopic rod 5 is communicated with the double-wheel structure 11 through a three-way connecting pipe.
In the preferred embodiment of the present invention, the two lateral sides of the T-shaped three-way connection tube 8 of the car tail structure 2 are respectively provided with an expansion link 5, the lateral expansion link 5 is communicated with the longitudinal expansion link 5 through a two-way connection tube 9, and the two-way connection tube 9 can be a right-angle two-way connection tube or an obtuse-angle two-way connection tube. When the vehicle tail structure 2 is a structure with a narrow upper part and a wide lower part, the stability of the vehicle tail structure is better, which depends on the size of the included angle of the two-way connecting pipe 9. The tailstock structure 2 has the other function of keeping the stability of the vehicle body frame, and simultaneously provides a support function for the obstacle crossing process of the robot, particularly in upward terrain, the tailstock structure 2 is lifted to be more beneficial to keeping the stability of the integral gravity center of the robot, so that the stability of obstacle crossing operation is ensured; when the robot marchs by the eminence to low, can transfer the robot direction earlier to rear of a vehicle structure 2 is as the locomotive, extends fore-and-aft telescopic link 5 simultaneously, for whole robot provides the support, keeps the focus steady, prevents that the robot from seriously overturning and damaging.
In the embodiment of the invention, the telescopic rod 5 can be stretched and contracted so as to change the size of the vehicle body frame, and the size of the vehicle body influences the obstacle crossing capability of the robot and the capability of adapting to different environments. The longitudinal telescopic rod adjusts the height of the obstacle crossing robot to adapt to obstacles with different sizes; the transverse telescopic rod adjusts the length and the width of the obstacle crossing robot to adapt to the width of a passing environment and the span of an obstacle, so that the obstacle crossing robot can achieve the obstacle crossing function in various environments.
In the preferred embodiment of the present invention, the vehicle head structure 1 further includes a limiting device 12, the limiting device 12 is T-shaped, a longitudinal portion of the limiting device 12 is connected to the position right below the dual-aligning-ball connecting structure 10, and a transverse portion of the limiting device extends to both sides and passes through the included angle a of the dual-wheel structure. Specifically, stop device 12 restricts self-aligning ball bearing 101's free rotation through blockking to telescopic link 5 of double round structure 11 when obstacle crossing robot carries out obstacle crossing operation, avoids two wheels of same group to be located one side of the perpendicular axis of self-aligning ball bearing 101 together, and self-aligning ball bearing 101 is crossed and is changeed, lets two wheels face sky, takes place locomotive structure 1 and turns over the accident.
In a preferred embodiment of the present invention, a second self-aligning ball bearing 103 is further installed between the vehicle body connecting structure 3 and the double-aligning ball connecting structure 10, the vehicle body connecting structure 3 is connected with an inner ring of the second self-aligning ball bearing 103, and the double-aligning ball connecting structure 10 is fixedly connected with an outer ring of the second self-aligning ball bearing 103 through an intermediate linkage shaft 102. When the robot moves forward in a complex environment, if the left and right heights of the forward channel are different, different obstacles on the ground can cause different resistances to the left and right two-wheel structures 11, so that the two self-aligning ball bearings 101 rotate differently, and the two-wheel structures 11 of the obstacle-surmounting robot head present different movement tracks under the action of the double-self-aligning ball connecting structure 10, so that wheels can flexibly cross over in compliance with obstacles, and expected obstacle-surmounting actions are realized; meanwhile, under the action of the second self-aligning ball bearing 103 between the vehicle body connecting structure 3 and the double-self-aligning ball connecting structure 10, the two groups of double-wheel structures 11 rotate freely by taking the vehicle body connecting structure 3 as an axis, so that the relative height of the two groups of double-wheel structures 11 is adjusted to adapt to a rugged road surface, and the obstacle crossing robot can operate more stably.
In the preferred embodiment of the invention, the power system of the obstacle-surmounting robot is formed by installing six direct current motors 4 in six wheels 6 respectively, and is in signal connection with a remote control system, the remote control system controls the speed of the robot and the steering of the wheels by controlling the electric energy output of the direct current motors, so that the function of advancing and retreating the robot is realized, and the direction is controlled by controlling the difference of the rotating speeds of the wheels.
In the preferred embodiment of the present invention, the telescopic rod 5 is an electric push rod powered by the dc motor 4 to achieve the extension and retraction of the vehicle frame.
Other examples are as follows:
the overall shape of the obstacle-surmounting robot is the same width from top to bottom or the upper part is narrow and the lower part is wide, the shape of the upper part is narrow and the lower part is wide, the robot is favorable for better stabilizing the center of gravity in the moving process, and the obstacle-surmounting robot can be adjusted according to actual needs.
The limiting device 12 of the headstock structure 1 is a photoelectric proximity sensor which is arranged on the middle linkage shaft 102 and is not shown in the figure, in the obstacle crossing process, the distance difference between the telescopic rod 5 and the limiting device 12 changes along with the rotation of the centering ball bearing, the distance of the telescopic rod 5 on the left side and the distance of the telescopic rod 5 on the right side of the front wheel are detected by the photoelectric proximity sensor, the adjustment and control of the rotation degree of the telescopic rod 5 are realized, and the structure overturning accident caused by excessive rotation of the headstock or the tailstock in the obstacle crossing process is prevented;
the photoelectric proximity sensor mainly comprises a light source and a photosensitive element, and when an object to be detected approaches, the property of an optical path between the light source and the photosensitive element changes, so that the input light flux of the photosensitive element changes, and the output signal changes.
Therefore, when the limiting device 12 and the front wheel telescopic rod 5 reach a certain distance limit value, the output signal of the detection circuit changes to enable the telescopic rod 5 to reset and return to a flat ground state, namely, the situation of no obstacle-crossing rotation action exists, further, the obstacle-crossing environment is judged again, the obstacle-crossing operation is carried out in a new direction, and the detection and adjustment are continuously carried out in the obstacle-crossing process, so that the vehicle body overturning damage without ground support caused by the over-rotation of the front wheel and the rear wheel can be avoided.
The remote control system is not shown in the figure, and the remote control system with the communication connection of the motion assembly and the power assembly can be installed in the robot, so that the robot can perform self judgment and manual operation in operation, and the advantages of humanization and strong adaptability are achieved. The specific control system is not limited thereto, and may be modified appropriately according to the user's needs when implementing the present invention.
The above embodiment is an illustration of a preferred example, but not limited thereto, and the present invention can be modified appropriately according to the user's needs.
The embodiments of the invention have been disclosed above, but their use is not limited to that shown in the description and the embodiments, which applies to any field of art that corresponds to the function desired. The present invention is not to be limited by the specific embodiments disclosed herein, and other embodiments that fall within the scope of the claims of the present application are intended to be within the scope of the present invention.
Claims (13)
1. An obstacle crossing robot capable of adjusting body size, comprising:
the bicycle head structure comprises a double-aligning-ball connecting structure and a double-wheel structure symmetrically arranged on two sides of the double-aligning-ball connecting structure; the double-aligning ball connecting structure is formed by connecting a middle universal driving shaft and the outer rings of a left aligning ball bearing and a right aligning ball bearing; the double-wheel structure comprises two telescopic rods and wheels which are respectively arranged at the bottoms of the telescopic rods, the two telescopic rods are connected to form an included angle a, and the double-wheel structure is connected with the inner ring of the self-aligning ball bearing;
the car tail structure comprises a three-way connecting pipe, a telescopic rod and wheels, wherein interfaces on two sides of the three-way connecting pipe are sequentially connected with the telescopic rod and the wheels, and a third interface is connected with a car body connecting structure;
the automobile body street connection structure comprises a telescopic rod, one end of the telescopic rod is connected with a three-way connecting pipe interface of the automobile tail structure, and the other end of the telescopic rod is connected with a middle linkage bearing of the double-centering-ball connecting structure.
2. The adjustable size obstacle crossing robot of claim 1, wherein: the included angle a of the double-wheel structure is an acute angle or an obtuse angle, and the angle range is 45-120 degrees.
3. The adjustable size obstacle crossing robot of claim 2, wherein: the included angle a of the double-wheel structure is 90 degrees.
4. The adjustable size obstacle crossing robot of claim 1, wherein: and a telescopic rod is arranged between the double-aligning-ball connecting structure and the double-wheel structure, one end of the telescopic rod is connected with the inner ring of the aligning ball bearing, and the other end of the telescopic rod is connected with the double-wheel structure.
5. The adjustable size obstacle crossing robot of claim 4, wherein: the telescopic rod is connected with the double-wheel structure through a three-way connecting pipe.
6. The adjustable size obstacle crossing robot of claim 1, wherein: and the two sides of the three-way connecting pipe of the vehicle tail structure are also provided with transverse telescopic rods, and the other ends of the transverse telescopic rods are connected with the longitudinal telescopic rods.
7. The adjustable size obstacle crossing robot of claim 6, wherein: the transverse telescopic rod and the longitudinal telescopic rod of the vehicle tail structure are connected through a two-way connecting pipe.
8. The adjustable size obstacle crossing robot of claim 1, wherein: the vehicle head structure further comprises a limiting device for preventing the same two wheels in the same group from being positioned on one side of the self-aligning ball bearing vertical central axis, and the vehicle head structure is in a rollover accident.
9. The adjustable size obstacle crossing robot of claim 8, wherein: the limiting device is T-shaped, the longitudinal part of the limiting device is connected right below the double-aligning-ball connecting structure, and the transverse part of the limiting device extends towards two sides and penetrates through an included angle a of the double-wheel structure.
10. The adjustable size obstacle crossing robot of claim 8, wherein: the limiting device is a photoelectric proximity sensor arranged on the middle linkage bearing.
11. The adjustable size obstacle crossing robot of claim 1, wherein: the double-aligning-ball connecting structure is characterized in that a second aligning ball bearing is further installed between the automobile body connecting structure and the double-aligning-ball connecting structure, the automobile body connecting structure is connected with an inner ring of the second aligning ball bearing, and the double-aligning-ball connecting structure is fixedly connected with an outer ring of the second aligning ball bearing through a middle universal driving shaft.
12. The adjustable size obstacle crossing robot of claim 1, wherein: the direct current motor is arranged in the wheel and is in signal connection with the remote control system.
13. The obstacle crossing robot with adjustable body size of any one of claims 1 to 12, wherein: the telescopic link is electric putter, realizes the adjustment of robot size through flexible.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110649743.1A CN113479271A (en) | 2021-06-10 | 2021-06-10 | Obstacle crossing robot with size-adjustable body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110649743.1A CN113479271A (en) | 2021-06-10 | 2021-06-10 | Obstacle crossing robot with size-adjustable body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113479271A true CN113479271A (en) | 2021-10-08 |
Family
ID=77934635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110649743.1A Pending CN113479271A (en) | 2021-06-10 | 2021-06-10 | Obstacle crossing robot with size-adjustable body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113479271A (en) |
-
2021
- 2021-06-10 CN CN202110649743.1A patent/CN113479271A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10625796B2 (en) | Auto-leveling drive axle device for wheeled tractor, and leveling method | |
| US8746388B2 (en) | Vehicle having variable track | |
| CN113247138B (en) | Multi-motion mode wheel-leg separated quadruped robot | |
| ES2864401T3 (en) | Suspension system of a vehicle | |
| JP2011524836A5 (en) | ||
| CN110936346A (en) | Foldable four-wheel leg type obstacle crossing robot | |
| WO2018133191A1 (en) | Chassis vehicle | |
| CN109227544A (en) | A kind of six sufficient trolley full ground anthropomorphic robot of c-type leg | |
| US20180326853A1 (en) | Solar tracking electric vehicle | |
| US11945527B2 (en) | Planetary wheel type obstacle crossing robot | |
| CN110654194A (en) | Six-wheel independently-steering liftable mobile platform | |
| CN209382135U (en) | One kind six takes turns adaptive cross-country trolley | |
| CN113479271A (en) | Obstacle crossing robot with size-adjustable body | |
| CN107009816A (en) | Center applied to robot variable wheel and center adjusting method | |
| CN211491511U (en) | Foldable four-wheel leg type obstacle crossing robot | |
| CN109941375B (en) | All-round self-balancing mobile robot based on infrared sensor | |
| CN217456165U (en) | Obstacle crossing robot with size-adjustable body | |
| CN208291362U (en) | A kind of wheel shoe full landform exploring robot of convolution | |
| CN210083396U (en) | Unmanned obstacle crossing vehicle | |
| CN107933731B (en) | Coaxial all-terrain wheel-leg mobile robot | |
| CN109606497B (en) | Wheel leg type all-terrain vehicle | |
| CN115071857B (en) | Four-wheel leg type all-terrain agricultural robot | |
| CN109968312B (en) | Base mechanism, steering control method thereof and robot moving platform | |
| CN214874100U (en) | Support system | |
| CN220430343U (en) | Intelligent trolley with more stable video function |
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 |