CN114132406B - Turnover type wheel-leg robot - Google Patents
Turnover type wheel-leg robot Download PDFInfo
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- CN114132406B CN114132406B CN202111522715.XA CN202111522715A CN114132406B CN 114132406 B CN114132406 B CN 114132406B CN 202111522715 A CN202111522715 A CN 202111522715A CN 114132406 B CN114132406 B CN 114132406B
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- 230000007306 turnover Effects 0.000 title claims abstract description 9
- 210000000689 upper leg Anatomy 0.000 claims abstract description 53
- 210000004394 hip joint Anatomy 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 210000002414 leg Anatomy 0.000 claims description 21
- 210000000629 knee joint Anatomy 0.000 claims description 18
- 210000003127 knee Anatomy 0.000 claims description 13
- 244000309466 calf Species 0.000 claims 2
- 238000001514 detection method Methods 0.000 abstract description 13
- 230000036544 posture Effects 0.000 abstract description 13
- 238000005096 rolling process Methods 0.000 abstract description 4
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 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
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Abstract
The invention discloses a turnover type wheel-leg robot, which comprises a robot body, wherein two sides of the robot body are respectively and movably connected with wheel-leg mechanisms used for balanced movement of the robot body, each group of wheel-leg mechanisms comprises a sun wheel, the sun wheel is hinged with a hip joint component used for obstacle crossing, a thigh component is hinged below the hip joint component, a shank component is hinged below the thigh component, and one side, away from the thigh component, of the shank component is rotatably connected with a trundle used for advancing; the robot keeps balance by adjusting the mass center of the quadruped robot, ensures the balance of the robot not to turn over by adjusting the positions of the landing feet, and prevents the robot from turning over; the device is suitable for the detection platform with certain requirements on forward rolling or backward leaning postures.
Description
Technical Field
The invention relates to the technical field of robots and automatic control, in particular to a turnover type wheel-leg robot.
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. The wheel-leg combined type mobile robot adopts a high-efficiency wheel-leg combined type walking mechanism, and can travel in various motion modes under different road conditions and terrain environments. When the terrain is leveled, the terrain is mainly moved forward by the wheel type mechanism, and the moving efficiency is higher. The wheel-leg composite structure is adopted for the complex rugged terrain, the adaptability of the robot to the terrain is greatly improved, the cross-country performance is strong, and the robot can pass extreme terrain conditions such as vertical obstacles, trenches and the like. Therefore, the research on the leg structure of the wheel-leg composite robot has important practical significance;
the existing robot has the disadvantages in the aspect of obstacle crossing, the detection platform moves along with the robot in the detection process under the real working condition, but the robot inclines along with the obstacle crossing of the robot, and deviation is generated on the detection accuracy.
Disclosure of Invention
The invention aims to solve the problems in the prior art, so that a body platform of the robot does not deviate and incline when the robot crosses an obstacle, the body and a detection surface can be always kept parallel, and the robot keeps the balance of the whole body of the robot and does not incline through the posture change of four feet on two sides.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a turnover type wheel-leg robot which comprises a robot body, wherein wheel-leg mechanisms used for balanced movement of the robot body are respectively and movably connected to two sides of the robot body, each wheel-leg mechanism comprises a sun wheel, the sun wheels are hinged to hip joint components used for obstacle crossing, thigh components are hinged to the lower portions of the hip joint components, shank components are hinged to the lower portions of the thigh components, and one side, far away from the thigh components, of each shank component is rotatably connected with a trundle used for advancing.
Preferably, the two end portions of the machine body are fixedly connected with a sun wheel shaft, one end of the sun wheel shaft is fixedly connected with the side wall of the machine body, and the other end of the sun wheel shaft penetrates through the side wall of the machine body and is fixedly connected with the middle portion of the sun wheel.
Preferably, two sets of hip joint assemblies are hinged to each set of sun gear shaft, and one sides of the two sets of hip joint assemblies are rotatably arranged around the sun gear shaft.
Preferably, each hip joint assembly comprises a planet carrier, a planet wheel is rotatably connected inside one end of the planet carrier, and the other end of the planet carrier is hinged to the sun wheel shaft; the planet wheel is meshed with the sun wheel; a hip joint steering engine is fixedly arranged outside one side of the planet carrier, which is close to the planet wheel, the hip joint steering engine is coupled with a planet wheel shaft, the planet wheel shaft penetrates through the side wall of the planet carrier and is coupled with the planet wheel shaft;
preferably, the thigh assembly comprises a thigh support, a planet wheel driving wheel is arranged in the middle of the inner side of the thigh support, a planet wheel driving wheel shaft is coupled to the middle of the planet wheel, two ends of the planet wheel driving wheel shaft are rotatably connected with the thigh support, a driving wheel steering gear is fixedly arranged on one side of the outer portion of the thigh support, and the driving wheel steering gear is coupled to the planet wheel driving wheel shaft; the planet wheel driving wheel is meshed with the planet wheel; a knee joint steering engine is fixedly arranged on the side wall below the inner side of the thigh support, and is rotatably connected with a shank component; and one side of the thigh support, which is far away from the lower leg assembly, is rotatably connected with a knee wheel, and the diameter of the knee wheel is larger than the width of the lower leg support.
Preferably, the shank component comprises a shank bracket which is of a single-plate structure, one end of the shank bracket is in shaft connection with the knee joint steering engine, the other end of the shank bracket is rotatably connected with a caster, a caster steering engine is fixedly arranged on one side of the shank bracket, which is far away from the caster, and the caster steering engine penetrates through the shank bracket and is in shaft connection with the caster.
Preferably, the two sets of wheel leg mechanisms are symmetrical about the center of the middle of the machine body.
An epicyclic wheel-leg robot according to claim, wherein: a steering engine bracket is fixedly arranged on one side, close to the hip joint steering engine, of the planet carrier, the hip joint steering engine is detachably connected with the steering engine bracket, and the hip joint steering engine penetrates through the side wall of the steering engine bracket and is in shaft connection with the planet wheel shaft.
Preferably, the diameter of the sun wheel is larger than the diameter of the planet wheel.
Preferably, the middle parts of the two sides of the machine body are hinged with machine body pull covers, and through holes are formed in the machine body pull covers.
The invention discloses the following technical effects:
(1) according to the robot, when the robot crosses an obstacle, the body platform does not deviate and incline, the body can be always kept parallel to the detection surface, and the robot keeps the body of the whole robot balanced and does not incline through the posture change of four feet on two sides;
(2) the robot keeps balance by adjusting the mass center of the quadruped robot so as to prevent the robot from rolling over, and the main technical method is that the position of a caster of the robot is adjusted, when the posture of the robot changes, the balance of the robot is ensured by adjusting the position of the caster so that the robot does not roll over;
(3) on the premise of maintaining the balance of the robot, the whole machine body is not inclined through the change of the posture, only translation is carried out to ensure the parallelism of the detection platform and the detection surface, and the robot is suitable for the detection platform with certain requirements on the forward rolling or backward tilting posture.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the robot of the present invention;
FIG. 2 is a schematic structural view of a planetary gear mechanism of the present invention;
FIG. 3 is a schematic diagram of a leg movement structure of the robot of the present invention;
FIG. 4 is a schematic structural view of a wheel leg mechanism of the present invention;
wherein: 1. a caster wheel; 2. a thigh support; 3. a shank support; 4. a steering engine bracket; 5. a hip joint steering engine; 6. a planet carrier; 7. a planet wheel driving wheel axle; 8. the machine body is pulled to cover; 9. a body; 10. a planet wheel; 11. a sun gear; 12. a planetary wheel shaft; 13. a planet wheel drive wheel; 14. a caster steering engine; 15. a knee wheel; 16. a driving wheel steering engine; 17. a sun gear shaft; 18. a thigh link; 19. knee joint steering wheel.
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 order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Referring to fig. 1-4, the invention provides a turnover type wheel-leg robot, which comprises a robot body 9, wherein wheel-leg mechanisms for balanced movement of the robot body 9 are respectively movably connected to two sides of the robot body 9, two groups of wheel-leg mechanisms are symmetrical about the center of the middle of the robot body 9, each group of wheel-leg mechanisms comprises a sun wheel 11, the sun wheels 11 are hinged with hip joint components for obstacle crossing, thigh components are hinged below the hip joint components, shank components are hinged below the thigh components, and one side, away from the thigh components, of the shank components is rotatably connected with a caster 1 for advancing. According to the robot, when the robot crosses an obstacle, the platform of the machine body 9 does not deviate and incline, the machine body 9 can be always kept parallel to a detection surface, and the robot keeps the machine body 9 of the whole robot balanced and does not incline through the posture change of four feet on two sides; the robot is kept balanced by adjusting the mass center of the quadruped robot, so that the robot is prevented from side turning, and the main technical method is that the positions of the grounding feet of the robot are adjusted, when the posture of the robot changes, the positions of the grounding feet (trundles) are adjusted to ensure that the balance of the robot does not cause side turning; on the premise of maintaining the balance of the robot, the whole machine body 9 is not inclined through the change of the posture, only translation is carried out to ensure the parallelism of the detection platform and the detection surface, and the robot is suitable for the detection platform with certain requirements on forward rolling or backward tilting postures.
The robot consists of two groups of sun wheel mechanisms, two leg assemblies and a middle machine body 9, wherein the two groups of sun wheel mechanisms are respectively connected with the machine body 9 through a sun wheel shaft 17 in the middle of a sun wheel 11, the sun wheel shaft 17 cannot rotate, so the sun wheel 11 cannot rotate, only a planet wheel 10 can rotate around the sun wheel 11 and drive a planet carrier 6 under the action of a planet wheel driving wheel 13 so as to drive two legs to rotate around the sun wheel 11, the hip joint assembly is positioned in a way that a thigh support 2 is driven to rotate by a hip joint steering engine 5, the hip joint steering engine 5 is arranged on the planet carrier 6 by a steering engine bracket 4, when the hip joint steering engine 5 rotates, the thigh support 2 can be driven to rotate, a planet wheel driving wheel 13 is arranged in the middle of the thigh support 2, the planet wheel driving wheel 13 is arranged on the thigh support 2 through a planet wheel driving wheel shaft 7, the driving wheel steering engine 16 arranged on the thigh support 2 drives the planet wheel driving wheel 13 to rotate, so that the planet wheel 10 is driven to rotate; a knee wheel 15 is arranged at the tail end of the thigh support 2, and when the robot bends knees to advance, the knee wheel 15 can follow up as a driven wheel and plays a supporting role; knee joint department installs a knee joint steering wheel 19, and knee joint steering wheel 19's end is connecting shank support 3, and shank support 3 is rotated by knee joint steering wheel 19 drive, and is equipped with a truckle 1 at shank support 3 end, and truckle 1 is driven by the truckle steering wheel 14 of installing the opposite side and provides the power that gos forward for whole robot. Secondly because sun gear 11 is not rotatory, so when planet wheel drive wheel 13 drives planet wheel 10 and rotates, can take place the planet carrier 6 with the company and rotate, thereby realize the turnover of whole shank mechanism, can vacate huge space for the obstacle crossing of robot, so the obstacle crossing height will become higher, when realizing high obstacle crossing, can also keep organism 9 not to take place the slope, keep the parallel and level with the ground all the time, because sun gear axle 17 keeps motionless, only planet wheel 10 rotates around sun gear 11, and always there is a truckle 1 to support at the bottom, only need adjust the position of one side sun gear barycenter and the position of truckle 1 that lands, can make one side sun gear 11 keep balance, thereby make the robot keep balance.
The two end parts of the machine body 9 are fixedly connected with a sun wheel shaft 17, one end of the sun wheel shaft 17 is fixedly connected with the side wall of the machine body 9, and the other end of the sun wheel shaft 17 penetrates through the side wall of the machine body 9 and is fixedly connected with the middle part of the sun wheel 11; two sets of hip joint components are hinged on each set of sun gear shaft 17, and one side of each set of hip joint components is rotatably arranged around the sun gear shaft 17.
Each group of hip joint components comprises a planet carrier 6, a planet wheel 10 is rotatably connected inside one end of the planet carrier 6, and the other end of the planet carrier 6 is hinged with a sun wheel shaft 17; the planet wheel 10 is meshed with the sun wheel 11, and the diameter of the sun wheel 11 is larger than that of the planet wheel 10, so that the planet carrier 6 can swing greatly, and the obstacle crossing capability of the robot is improved; a hip joint steering gear 5 is fixedly arranged outside one side of the planet carrier 6 close to the planet gear 10, the hip joint steering gear 5 is coupled with a planet gear shaft 12, the planet gear shaft 12 penetrates through the side wall of the planet carrier 6 and is arranged, and the planet gear shaft 12 is coupled with the planet gear 10; the working principle of the hip joint part of the robot is as follows: the steering engine bracket 4 is fixed on the planet carrier 6, and when the hip joint steering engine 5 is driven, the thigh can be driven to rotate, and the posture of the robot can be adjusted through the rotation of the hip joint, so that the robot can better cross obstacles.
The thigh assembly comprises a thigh support 2, a planet wheel driving wheel 13 is arranged in the middle of the inner side of the thigh support 2, a planet wheel driving wheel shaft 7 is coupled to the middle of a planet wheel 10 in a shaft mode, two ends of the planet wheel driving wheel shaft 7 are rotatably connected with the thigh support 2, a driving wheel steering gear 16 is fixedly arranged on one side of the outer portion of the thigh support 2, and the driving wheel steering gear 16 is coupled with the planet wheel driving wheel shaft 7 in a shaft mode; the planet wheel driving wheel 13 is meshed with the planet wheel 10; a knee joint steering gear 19 is fixedly arranged on the side wall below the inner side of the thigh support 2, the knee joint steering gear 19 is rotatably connected with a shank 3 assembly, a thigh connecting rod 18 is arranged below the knee joint steering gear 19, and two ends of the thigh connecting rod 18 are respectively fixedly connected with the inner part of the thigh support; thigh support 2 is kept away from shank subassembly one side and is rotated and be connected with knee wheel 15, and the diameter of knee wheel 15 is greater than the width of shank support 3, robot knee joint theory of operation: the knee joint steering engine 19 is fixed on the thigh support 2, so the shank support 3 can be driven to rotate through rotation, the knee bending angle can be changed, the posture of the leg of the robot can be adjusted in the operation process, the knee wheel 15 can provide follow-up and support when the knee is bent to land, and the robot can run more smoothly. A steering engine bracket 4 is fixedly arranged on one side, close to the hip joint steering engine 5, of the planet carrier 6, the hip joint steering engine 5 is detachably connected with the steering engine bracket 4, and the hip joint steering engine 5 penetrates through the side wall of the steering engine bracket 4 and is in shaft connection with a planet wheel shaft 12; according to the driving principle of the planet carrier 6, a driving wheel steering engine 16 arranged on the thigh support 2 drives the planet wheel driving wheel 13 to rotate, so that the planet wheel 10 is driven to rotate.
The shank component comprises a shank support 3, the shank support 3 is of a single-plate structure, one end of the shank support 3 is in shaft connection with a knee joint steering engine 19, the other end of the shank support 3 is rotatably connected with a caster 1, one side, far away from the caster 1, of the shank support 3 is fixedly provided with a caster steering engine 14, and the caster steering engine 14 penetrates through the shank support 3 and is in shaft connection with the caster 1.
The middle parts of the two sides of the machine body 9 are hinged with machine body pull covers 8, and through holes are formed in the machine body pull covers 8.
The working process is as follows: when the robot needs to move back and forth, the caster steering engine 14 can drive the caster 1 to rotate and drive the whole robot to move forward; when the robot needs to cross an obstacle before moving to the obstacle, the posture of the robot changes, and the robot needs to be driven by a wheel-leg mechanism of the robot. One of the two hip joint assemblies on the same side moves firstly, a group of planet wheels 10 are driven by a hip joint steering engine 5 to adjust around the circumference of a sun wheel 11, when the hip joint assembly reaches a proper obstacle crossing height, then, a thigh assembly is adjusted, firstly, a driving wheel steering engine 16 arranged on a thigh support 2 drives to drive a planet wheel driving wheel 13 to rotate, so that the planet wheel driving wheel 13 rotates upwards along the planet wheels 10, the thigh assembly swings, the robot is convenient to cross the obstacle, then, the shank assembly is adjusted, and firstly, a knee joint steering engine 19 drives a shank support 3 to adjust, so that the shank assembly reaches the proper height; when a set of hip joint assembly, thigh assembly and shank assembly in the wheel-leg mechanism on one side are all positioned behind the proper obstacle-crossing position (and during the adjustment of the assemblies), a set of wheel-leg mechanism and a leg assembly support consisting of a set of hip joint assembly, thigh assembly and shank assembly on the opposite side are always arranged on the machine body 9, so that the stability of the machine body 9 when the robot crosses the obstacle is effectively ensured; after one group of leg components are adjusted, the four groups of caster steering engines 14 are started simultaneously, so that the robot moves forwards or backwards, the adjusted leg components can firstly cross the obstacle or firstly and firmly lap the obstacle, and then other groups of leg components of the machine body 9 are adjusted, and finally the robot stably crosses the obstacle;
in the above steps, the order of the first movement of the four leg assemblies may be selected according to the actual obstacle situation, and in the single leg assembly, the movement order of the hip joint assembly, the thigh assembly and the lower leg assembly may be arbitrarily moved according to the actual situation, and is not limited to the above steps.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (7)
1. The utility model provides a turnover formula wheel leg robot which characterized in that: the robot comprises a machine body (9), wherein wheel leg mechanisms for balanced movement of the machine body (9) are respectively and movably connected to two sides of the machine body (9), each wheel leg mechanism comprises a sun wheel (11), the sun wheels (11) are hinged with hip joint components for obstacle crossing, thigh components are hinged below the hip joint components, calf components are hinged below the thigh components, and casters (1) for advancing are rotatably connected to one side of the calf components, which is far away from the thigh components; two end parts of the machine body (9) are fixedly connected with a sun wheel shaft (17), one end of the sun wheel shaft (17) is fixedly connected with the side wall of the machine body (9), and the other end of the sun wheel shaft (17) penetrates through the side wall of the machine body (9) and is fixedly connected with the middle part of the sun wheel (11); two sets of hip joint components are hinged on each set of sun wheel shaft (17), and one sides of the two sets of hip joint components are rotatably arranged around the sun wheel shaft (17); each hip joint component comprises a planet carrier (6), a planet wheel (10) is rotatably connected inside one end of each planet carrier (6), and the other end of each planet carrier (6) is hinged with the sun wheel shaft (17); the planet wheel (10) is meshed with the sun wheel (11); a hip joint steering gear (5) is fixedly arranged outside one side, close to the planet gear (10), of the planet carrier (6), the hip joint steering gear (5) is connected with a planet gear shaft (12) in a shaft mode, the planet gear shaft (12) penetrates through the side wall of the planet carrier (6) to be arranged, and the planet gear shaft (12) is connected with the planet gear (10) in a shaft mode; the thigh assembly comprises a thigh support (2), a planet wheel driving wheel (13) is arranged in the middle of the inner side of the thigh support (2), a planet wheel driving wheel shaft (7) is coupled to the middle of the planet wheel (10) in a shaft mode, two ends of the planet wheel driving wheel shaft (7) are rotatably connected with the thigh support (2), a driving wheel steering engine (16) is fixedly arranged on one side of the outer portion of the thigh support (2), and the driving wheel steering engine (16) is coupled with the planet wheel driving wheel shaft (7) in a shaft mode; the planet wheel drive wheel (13) is meshed with the planet wheel (10).
2. An epicyclic wheel-legged robot according to claim 1, wherein: the lower leg assembly comprises a lower leg support (3), a knee joint steering engine (19) is fixedly arranged on the side wall below the inner side of the thigh support (2), and the knee joint steering engine (19) is rotatably connected with the lower leg assembly; the thigh support (2) is far away from one side of the lower leg assembly and is rotatably connected with a knee wheel (15), and the diameter of the knee wheel (15) is larger than the width of the lower leg support (3).
3. An epicyclic wheel-legged robot according to claim 2, wherein: the knee joint leg support is characterized in that the lower leg support (3) is of a single-plate structure, one end of the lower leg support (3) is in shaft connection with the knee joint steering gear (19), the other end of the lower leg support (3) is rotatably connected with a caster (1), one side, far away from the caster (1), of the lower leg support (3) is fixedly provided with a caster steering gear (14), and the caster steering gear (14) penetrates through the lower leg support (3) and is in shaft connection with the caster (1).
4. An epicyclic wheel-legged robot according to claim 1, wherein: the two groups of wheel leg mechanisms are symmetrical about the center of the middle part of the machine body (9).
5. An epicyclic wheel-legged robot according to claim 1, wherein: a steering engine bracket (4) is fixedly arranged on one side, close to the hip joint steering engine (5), of the planet carrier (6), the hip joint steering engine (5) is detachably connected with the steering engine bracket (4), and the hip joint steering engine (5) penetrates through the side wall of the steering engine bracket (4) and is in shaft connection with the planet wheel shaft (12).
6. An epicyclic wheel-legged robot according to claim 1, wherein: the diameter of the sun wheel (11) is larger than that of the planet wheel (10).
7. An epicyclic wheel-legged robot according to claim 1, wherein: the middle parts of two sides of the machine body (9) are hinged with machine body pull covers (8), and through holes are formed in the machine body pull covers (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111522715.XA CN114132406B (en) | 2021-12-13 | 2021-12-13 | Turnover type wheel-leg robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111522715.XA CN114132406B (en) | 2021-12-13 | 2021-12-13 | Turnover type wheel-leg robot |
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| Publication Number | Publication Date |
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| CN114132406A CN114132406A (en) | 2022-03-04 |
| CN114132406B true CN114132406B (en) | 2022-05-24 |
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| CN202111522715.XA Expired - Fee Related CN114132406B (en) | 2021-12-13 | 2021-12-13 | Turnover type wheel-leg robot |
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| CN115180045A (en) * | 2022-05-23 | 2022-10-14 | 湖北第二师范学院 | Four-footed mechanical structure of concatenation formula |
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| JPH10194169A (en) * | 1997-01-16 | 1998-07-28 | Tech Res & Dev Inst Of Japan Def Agency | Attitude control mechanism of 4-crawler type vehicle |
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| CN206579733U (en) * | 2017-03-10 | 2017-10-24 | 杭州宇树科技有限公司 | A kind of leg power system architecture of electric drive quadruped robot |
| CN211869540U (en) * | 2020-03-16 | 2020-11-06 | 杭州云深处科技有限公司 | Leg mechanism of leg-foot type robot and leg-foot type robot |
| CN211869538U (en) * | 2020-04-13 | 2020-11-06 | 深圳市爱因派科技有限公司 | Wheel-leg composite structure and four-foot bionic robot |
| CN212313719U (en) * | 2020-04-21 | 2021-01-08 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Biped wheel leg robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3870257B2 (en) * | 2002-05-02 | 2007-01-17 | 独立行政法人 宇宙航空研究開発機構 | Robot with offset rotary joint |
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2021
- 2021-12-13 CN CN202111522715.XA patent/CN114132406B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10194169A (en) * | 1997-01-16 | 1998-07-28 | Tech Res & Dev Inst Of Japan Def Agency | Attitude control mechanism of 4-crawler type vehicle |
| CN203111341U (en) * | 2013-03-19 | 2013-08-07 | 浙江大学 | Hopping robot with wheeled function |
| CN206579733U (en) * | 2017-03-10 | 2017-10-24 | 杭州宇树科技有限公司 | A kind of leg power system architecture of electric drive quadruped robot |
| CN211869540U (en) * | 2020-03-16 | 2020-11-06 | 杭州云深处科技有限公司 | Leg mechanism of leg-foot type robot and leg-foot type robot |
| CN211869538U (en) * | 2020-04-13 | 2020-11-06 | 深圳市爱因派科技有限公司 | Wheel-leg composite structure and four-foot bionic robot |
| CN212313719U (en) * | 2020-04-21 | 2021-01-08 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Biped wheel leg robot |
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| CN114132406A (en) | 2022-03-04 |
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