CN114735102B8 - 可分体多模态轮腿四足机器人 - Google Patents

可分体多模态轮腿四足机器人 Download PDF

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CN114735102B8
CN114735102B8 CN202210399047.4A CN202210399047A CN114735102B8 CN 114735102 B8 CN114735102 B8 CN 114735102B8 CN 202210399047 A CN202210399047 A CN 202210399047A CN 114735102 B8 CN114735102 B8 CN 114735102B8
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split body
module
split
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leg
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CN114735102A (zh
CN114735102B (zh
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张金柱
曹建冬
李淼
武海军
王蕊
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Taiyuan University of Technology
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Taiyuan University of Technology
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/48—Traction couplings; Hitches; Draw-gear; Towing devices characterised by the mounting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/48—Traction couplings; Hitches; Draw-gear; Towing devices characterised by the mounting
    • B60D1/483—Traction couplings; Hitches; Draw-gear; Towing devices characterised by the mounting adapted for being mounted to the side of a vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/48—Traction couplings; Hitches; Draw-gear; Towing devices characterised by the mounting
    • B60D1/485—Traction couplings; Hitches; Draw-gear; Towing devices characterised by the mounting mounted by means of transversal members attached to the frame of a vehicle
    • 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
    • B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D2001/001—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

本发明属于机器人技术领域，具体涉及一种可分体多模态轮腿四足机器人，由一号分离体和二号分离体组成，所述一号分离体和二号分离体均可实现单独作业，所述一号分离体和二号分离体均包括躯体框架模块、支腿模块、平行四杆模块、控制板、电池和轮毂平移模块，所述一号分离体还包括前轮转向模块和图像采集模块，所述二号分离体还包括后轮驱动模块，所述一号分离体和二号分离体通过左右两侧的锁紧与释放模块实现分离与组合。本发明可进行分离，从而同时进行多个地点的勘探，极大提高了工作效率，并且在受到外部打击后，完整一侧的躯体在分离的同时，向远程发送受损状况和位置信息给操作员，之后继续执行系统设定任务。
CN202210399047.4A 2022-04-15 2022-04-15 可分体多模态轮腿四足机器人 Active CN114735102B8 (zh)

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CN117162859B (zh) * 2023-11-02 2024-01-02 太原理工大学 一种挂轨巡检机器人的自动充换电装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103373407A (zh) * 2013-06-24 2013-10-30 河南科技大学 轮腿机器人及轮腿的智能切换方法
CN204932836U (zh) * 2015-07-29 2016-01-06 燕山大学 轮足可变胞玩具机器人
CN108820166A (zh) * 2018-05-07 2018-11-16 吉林大学 一种可重构铰接式水下机器人
CN209972617U (zh) * 2019-04-29 2020-01-21 佛山科学技术学院 一种智能避障的四足爬行机器人结构
CN113247138A (zh) * 2021-06-15 2021-08-13 太原理工大学 多运动模态轮腿分离式四足机器人
CN214689840U (zh) * 2021-06-01 2021-11-12 赵世浡 一种四足机器人蓄力支撑装置
WO2022071668A1 (ko) * 2020-09-29 2022-04-07 엘지전자 주식회사 로봇 및 그 제어방법

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Publication number Priority date Publication date Assignee Title
CN207722053U (zh) * 2017-03-28 2018-08-14 海南职业技术学院 具有步态控制电路的外骨骼助力装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103373407A (zh) * 2013-06-24 2013-10-30 河南科技大学 轮腿机器人及轮腿的智能切换方法
CN204932836U (zh) * 2015-07-29 2016-01-06 燕山大学 轮足可变胞玩具机器人
CN108820166A (zh) * 2018-05-07 2018-11-16 吉林大学 一种可重构铰接式水下机器人
CN209972617U (zh) * 2019-04-29 2020-01-21 佛山科学技术学院 一种智能避障的四足爬行机器人结构
WO2022071668A1 (ko) * 2020-09-29 2022-04-07 엘지전자 주식회사 로봇 및 그 제어방법
CN214689840U (zh) * 2021-06-01 2021-11-12 赵世浡 一种四足机器人蓄力支撑装置
CN113247138A (zh) * 2021-06-15 2021-08-13 太原理工大学 多运动模态轮腿分离式四足机器人

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CN114735102B (zh) 2023-02-21

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Inventor after: Zhang Jinzhu

Inventor after: Cao Jiandong

Inventor after: Li Miao

Inventor after: Wu Haijun

Inventor after: Wang Rui

Inventor before: Zhang Jinzhu

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Correction item: Inventor

Correct: Zhang Jinzhu|Cao Jiandong|Li Miao|Armed Navy|Wang Rui

False: Zhang Jinzhu|Wang Rui|Cao Jiandong|Armed Navy|Li Miao

Volume: 39

Correction item: Inventor

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False: Zhang Jinzhu|Wang Rui|Cao Jiandong|Armed Navy|Li Miao

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