CN203681688U - Stairway climbing mechanism - Google Patents

Stairway climbing mechanism Download PDF

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Publication number
CN203681688U
CN203681688U CN201320774517.7U CN201320774517U CN203681688U CN 203681688 U CN203681688 U CN 203681688U CN 201320774517 U CN201320774517 U CN 201320774517U CN 203681688 U CN203681688 U CN 203681688U
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CN
China
Prior art keywords
flange
main shaft
control unit
source control
climbing
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.)
Expired - Fee Related
Application number
CN201320774517.7U
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Chinese (zh)
Inventor
丛田
杨蔚青
张作敏
潘志勇
王新华
朱坚民
施小明
钱炜
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by University of Shanghai for Science and Technology filed Critical University of Shanghai for Science and Technology
Priority to CN201320774517.7U priority Critical patent/CN203681688U/en
Application granted granted Critical
Publication of CN203681688U publication Critical patent/CN203681688U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model disclose a stairway climbing mechanism, which comprises one or more groups of deformed roller parts which can roll in the heading direction, a main shaft used for connecting and supporting the deformed roller parts, and one or more groups of driving connecting parts, wherein the driving connecting parts are positioned on the main shaft and are used for driving the deformed roller parts to deform in a matching manner; the main shaft comprises a force source control unit; the force source control unit is connected with the deformed roller parts through the driving connecting parts so as to drive the deformed roller parts to switch between a roller shape and a fan blade shape. The stairway climbing mechanism, provided by the utility model, can utilize manpower to drive the wire winding rod of the force source control unit to rotate, so as to transmit the power to pull and release double strands of steel wires to control a flange plate to slide back and forth on the main shaft; when sliding towards the force source control unit, the deformed roller parts connected with the flange plate fold into the roller shape to roll on the ground; when sliding away from the force source control unit, the deformed roller parts connected with the flange plate unfold to the fan shape to climb the stairway; the shape of the deformed roller parts can be changed to complete special work, and the arc of an arc-shaped rod can effectively weaken concussion generated during stairway climbing; the stairway climbing mechanism can climb four steps of stairway for rotation by one circle; the stairway climbing mechanism has the advantages of simple operation, small size, convenient mounting and dismounting, stable climbing, high climbing efficiency, and the like.

Description

Stairs climbing device
Technical field
The utility model relates to a kind of stairs climbing device, is specifically related to a kind of stairs climbing device of convertible roller shape.
Background technology
Existing stairs climbing device is mainly divided into two kinds of wheels formula and crawler types.Wherein wheels formula stair-climbing device can be divided into two wheels formulas, three wheels formulas and four-wheel group formula by the number that uses steamboat in wheels.Single-wheel group formula structural stability is poor, needs someone to assist the stable of guarantee center of gravity in Pa building process; Though and two-wheel group formula can realize self-determination climbing stairs, because it is bulky and lay particular stress on, affected its range of use.Crawler type weight is large, motion underaction, cause huge pressure at stair edge while climbing building, and stair are had to certain damage; And level land is used suffered resistance larger, and it is inconvenient to turn; Expensive these problems have limited its promoting the use of in daily life.
Summary of the invention
The purpose of this utility model is to provide a kind of stairs climbing device of convertible roller shape.
Technical problem to be solved in the utility model realizes by the following technical solutions:
A kind of stairs climbing device, has such feature, comprising: at least one group of distortion roller portion of rolling along working direction, drive at least one group of the distortion of distortion roller portion to drive connecting portion for connecting the main shaft of supporting deformation roller portion and being positioned at coupling on main shaft, main shaft comprises power source control unit, power source control unit is changed between lobate at roller shape and fan via driving connecting portion and distortion roller portion to be connected to drive to be out of shape roller portion, distortion roller portion comprises the multiple four-bar linkages that are provided with the wheel hub of multiple projections and radially arrange along wheel hub outward flange, two straight-bars that four-bar linkage comprises rotary connection and along the circular arc bar of ground surface, and connect adjacent two projections, circular arc bar comprises circular arc and is located at the arc bar of circular arc inner side, one end of circular arc is connected with a projection wherein, the other end of circular arc is connected via two straight-bar projections adjacent with another root, arc bar is connected in the junction of described two straight-bars, drive connecting portion to be connected to respectively between multiple four-bar linkages and power source control unit, comprise universal-joint, connecting rod, be set in flange and attaching parts on main shaft, one end of universal-joint is connected to the junction of two straight-bars, the other end of universal-joint is connected with flange via connecting rod, attaching parts is connected with one end of described main shaft via described flange, and the other end of attaching parts connects described power source control unit.
Further, in stairs climbing device of the present utility model, can also there is such feature: the wire winding pole that power source control unit comprises gear pair, be connected with gear countershaft and elastic element in a state of nature, wherein, thereby the two ends of wire winding pole be connected to furl with attaching parts respectively attaching parts drive flange on main shaft, move towards power source control unit direction, elastic element between flange and the shaft shoulder of main shaft oppositely to drive flange to move on main shaft.
Further, in stairs climbing device of the present utility model, can also there is such feature: main shaft also comprises the first spindle hole and close the second spindle hole that is out of shape roller portion inner side between flange and the shaft shoulder of main shaft, attaching parts is bifilar steel wire, comprising: the first bifilar steel wire and the second bifilar steel wire; Flange is inserted in main shaft, comprise the first flange hole, the second flange hole, three-flange hole and the 4th flange hole, the first bifilar steel wire connects one end of described wire winding pole, via after the first spindle hole respectively through the first flange hole, the second flange hole and be fixed on a side of flange, the second bifilar steel wire connects the other end of described wire winding pole, cross after main shaft through by the second spindle hole oppositely respectively through three-flange hole and the 4th flange hole and be fixed on flange opposite side.
Further, in stairs climbing device of the present utility model, can also there is such feature: power source control unit also comprises the limit shaft for locking wire winding pole.
Further, in stairs climbing device of the present utility model, can also there is such feature: distortion roller portion is four four-bar linkages, and two adjacent projections are four groups.
Further, in stairs climbing device of the present utility model, can also there is such feature: projection is rivet.
Further, in stairs climbing device of the present utility model, can also there is such feature: the junction of two straight-bars is two tops that straight-bar is connected.
Further, in stairs climbing device of the present utility model, can also there is such feature: arc bar is arranged on the inner side point midway of circular arc.
Further, in stairs climbing device of the present utility model, can also there is such feature: the top of arc bar is connected with the junction of two straight-bars.
Further, in stairs climbing device of the present utility model, can also have such feature: a side of circular arc is provided with circular hole, circular hole axle connects trundle.
Utility model effect and effect
According to the stairs climbing device of this novel related convertible roller shape, because by the wire winding pole rotation of manpower drive force source control unit, can transferring power pull and the bifilar steel wire of playback, thereby flange is slidably reciprocated on main shaft, when present dynasty's power source control unit direction is slided, the distortion roller portion profile being connected with flange is drawn in as roller shape, and now four circular arc bars are deformed into roller edge, can be along the ground surface of advancing.When present dynasty's power source control unit reversing sense slides, it is lobate that the distortion roller portion profile being connected with flange expands into fan, and now multiple circular arc bars launch along the rivet direction phase surrounding that connects wheel hub, can speeling stairway.So, the utility model can pass through a kind of stairs climbing device, profile based on distortion roller portion changes the particular job demand that both can complete, and the concussion of the circular arc of circular arc bar can effectively reduce stair climbing time, every rotation one is enclosed, can climb level Four ladder, make it have simple to operate, volume is small and exquisite, mounting or dismounting are convenient, climbing is stable, climbing efficiency advantages of higher.
Accompanying drawing explanation
Fig. 1 is the structural representation of stairs climbing device in embodiment of the present utility model;
Fig. 2 is that in embodiment of the present utility model, to be out of shape roller portion be fan-shaped lobate structural representation;
Fig. 3 is the arrangement plan in hole on the circular arc of circular arc bar in embodiment of the present utility model;
Fig. 4 is the structural representation that in embodiment of the present utility model, in stairs climbing device, bifilar steel wire connection drives;
Fig. 5 is the arrangement plan in hole on flange in embodiment of the present utility model;
Fig. 6 is the arrangement plan of the Locking Device of power source control unit in embodiment of the present utility model; And
Fig. 7 is out of shape the structural representation that roller portion is roller shape in embodiment of the present utility model.
The specific embodiment
For technological means, creation characteristic that the utility model is realized, reach object and effect is easy to understand, below in conjunction with specific embodiment and diagram, further set forth the present invention.
Fig. 1 is the structural representation of stairs climbing device in embodiment of the present utility model.
As shown in Figure 1, in the present embodiment, a kind of stairs climbing device 100, comprising: two groups of distortion roller portions 1, main shaft 2 and two groups of driving connecting portions 3.
Two groups of distortion roller portions 1 are positioned at main shaft two ends, drive connecting portion 3 to be connected between main shaft 2 and two groups of distortion roller portions 1, this main shaft 2 comprises power source control unit 4, guide and drive connecting portion 3 to make gathering and relaxed state by power source control unit 4, thereby making to be out of shape roller portion 1, power conduction is out of shape the roller shape rolling in the fan-shaped lobate or level land that concrete shape is stair climbing.
Distortion roller portion 1, rolls along working direction, is positioned at holding axle two ends and being supported by main shaft 2 of main shaft 2, forms stable car wheel structure.
Fig. 2 is that in embodiment of the present utility model, to be out of shape roller portion be fan-shaped lobate structural representation.
As shown in Figure 1-2, in the present embodiment, distortion roller portion 1 comprises: wheel hub 5 and four four-bar linkages, four four-bar linkages are arranged on along the outward flange footpath of wheel hub 5 upwards.
The outward flange footpath of wheel hub 5 is upwards evenly provided with four groups of adjacent projections 7 between two, and this projection 7 is rivet in the present embodiment.
Four-bar linkage, comprising: two straight-bars 6 of rotary connection, along the circular arc bar 8 of ground surface.
Two straight-bars 6, circular arc bar 8 connect and coordinate on wheel hubs 5 two adjacent rivets, the four unique link works of track of taking exercises together, make to be out of shape roller portion 1 and make and opening and or closed action.
Fig. 3 is the arrangement plan in hole on the circular arc of circular arc bar in embodiment of the present utility model.
As shown in Figure 3, circular arc bar 8 comprises circular arc, be located at the arc bar of circular arc inner side and be located at the circular hole 26 in the arc side of circular arc, one end of circular arc is connected with one of them rivet, the other end of circular arc is connected via two straight-bar 6 rivets adjacent with another, and arc bar is connected in the junction of two straight-bars 6.In the present embodiment, the junction of two straight-bars is two tops that straight-bar is connected, and arc bar is arranged on the inner side point midway of described circular arc.The small sheave that circular hole 26 connects for axle is set, makes circular arc bar 8 under the state opening completely, reducing in circular arc friction, also can power-assisted to front slide, for certain transitional function has been played in the motion of level land and stair.
Fig. 4 is the structural representation that in embodiment of the present utility model, in stairs climbing device, bifilar steel wire connection drives.
As shown in Figure 4, drive connecting portion, be connected between four-bar linkage and power source control unit 4, comprising: universal-joint 9, connecting rod 10, flange 11 and attaching parts 12.
One end of universal-joint 9 is connected to the junction of two straight-bars 6 in four-bar linkage, and the other end of universal-joint 9 is connected with flange 11 via connecting rod 10.
Attaching parts 12 is connected with one end of main shaft 2 via flange 11, and the other end of attaching parts 12 connects power source control unit 4.
Fig. 5 is the arrangement plan in hole on flange in embodiment of the present utility model.
As shown in Figure 5, flange 11 is set on main shaft 2, comprises symmetrical the first flange hole 22, the second flange hole 23 and three-flange hole 24, the 4th flange hole 25 of difference being evenly distributed on flange 11.
In the present embodiment, attaching parts 12 is two strands of bifilar steel wires, comprises the first bifilar steel wire and the second bifilar steel wire.
Main shaft 2 also comprises the first spindle hole 13 and close the second spindle hole 14 that is out of shape roller portion inner side between flange and the shaft shoulder of main shaft.
The first bifilar steel wire connects one end of wire winding pole, via main shaft inside, passes respectively the first flange hole 22, the second flange hole 23 from the first spindle hole 13 passes, and is fixed on a side of flange.
The second bifilar steel wire connects the other end of described wire winding pole, cross behind main shaft 2 inside through by described the second spindle hole 14 oppositely respectively through three-flange hole 24 and the 4th flange hole 25 and be fixed on flange opposite side.
Main shaft 2, for the cylinder axis body of hollow, for bifilar steel wire cable tray, and be respectively provided with one at main shaft 2 two ends and hold axle, for connecting and supporting two groups and be out of shape roller portions 1, and be out of shape by the distortion roller portion 1 that power source control unit 4 is controlled whole stairs climbing device 100, the concrete shape that makes to be out of shape roller portion 1 roller shape and fan lobate between conversion.
Power source control unit 4 comprises: gear pair 15, wire winding pole 16, limit shaft 17 and elastic element 18.
In the present embodiment, main shaft 2 central vertical directions are provided with dead slot, and gear pair 15 is located at a side of dead slot, and wire winding pole 16 is located in dead slot, and wire winding pole 16 can be rotated in dead slot, and gear pair 15 is connected with wire winding pole 16 axles.
Fig. 6 is the arrangement plan of the Locking Device of power source control unit in embodiment of the present utility model.
As shown in Figure 6, gear pair 15 comprises big gear wheel 19 and miniature gears 20, and in the present embodiment, the ratio of big gear wheel 19 and miniature gears 20 is 3:1.
Wire winding pole 16 is coaxially connected with big gear wheel 19, makes wire winding pole 16 and big gear wheel 19 coaxial rotatings.
In big gear wheel 19, fluted disc face edge is provided with spacing hole 21, and limit shaft 17 is located in spacing hole 21, for locking wire winding pole 16, thereby guarantees distortion roller portion 1 dimensionally stable.
Elastic element 18 in a state of nature, is Compress Spring in the present embodiment between flange 11 and the shaft shoulder of main shaft 2.
Fig. 7 is out of shape the structural representation that roller portion is roller shape in embodiment of the present utility model.
As shown in Fig. 4, Fig. 7, the two ends of wire winding pole 16 are connected with bifilar steel wire respectively, when clickwise wire winding pole 16 is to furl bifilar steel wire, thereby drive described flange 11 to move towards power source control unit 4 directions on main shaft 2, cause the circular arc bar 8 of distortion roller portion 1 to draw in as roller shape, now Compress Spring is compressive state, and distortion roller portion 1 can roll on the ground.
As shown in Figure 2, Figure 4 shows, when left-hand revolution wire winding pole 16, now Compress Spring is converted to virgin state by compressive state, with the bifilar steel wire of playback, thereby drive described flange 11 to move towards power source control unit 4 directions on main shaft 2, causing the circular arc bar 8 of distortion roller portion 1, to be stretched to fan lobate, and distortion roller portion 1 can speeling stairway.
Detail process below in conjunction with the stairs climbing device 100 shown in the utility model describes.
As shown in Fig. 1-7, a kind of stairs climbing device 100, comprise: two groups of distortion roller portions 1, main shaft 2 and two groups of groups drive connecting portion 3, distortion roller portion 11 drives connecting portion 3 to be connected with main shaft 2 via at least one group, this main shaft 2 comprises power source control unit 4, guide and drive connecting portion 3 to make gathering and relaxed state by power source control unit 4, be out of shape thereby power conduction makes to be out of shape roller portion 1.
In the time of level walking, by the wire winding pole 16 of manpower drive force source control unit 4, 16 bar clickwises make to wind the line, thereby pulling force is conducted to bifilar steel wire, one end of bifilar steel wire will drive flange 11 to move towards power source control unit 4 directions on main shaft 2, now the Compress Spring between flange 11 and the shaft shoulder of main shaft 2 is converted to compressive state by virgin state, finally make the connecting rod 10 of mounting flange 11 successively, universal-joint 9 drives four radially unique path of motions of four-bar linkage to draw in towards wheel hub 5 centers, now the other end of bifilar steel wire is wrapped on wire winding pole 16, in the time that wire winding pole 16 rotates to limit shaft 17 place, limit shaft 17 can block wire winding pole 16 and continue rotation fixing locking, now being out of shape roller portion 1 draws in as roller shape.
In the time that level walking extremely needs the stairs port of climbing, now need to launch distortion roller portion 1, by the wire winding pole 16 of manpower drive force source control unit 4, make wire winding pole 16 left-hand revolutions, now the Compress Spring between flange 11 and the shaft shoulder of main shaft 2 can be flicked by compressive state, final Compress Spring is got back to initial virgin state, flange 11 moves towards the reversing sense of power source control unit 4 on main shaft 2, in the time that wire winding pole 16 rotates to limit shaft 17 place, limit shaft 17 can block wire winding pole 16 and continue rotation fixing locking, distortion roller portion 1 open for stable shaped fan lobate, the power back of the body that four circular arc bars 8 of four-bar linkage are speeling stairway, one of them circular arc bar 8 of four-bar linkage is supported on the round floor of stair, another circular arc bar 8 builts of four-bar linkage are at a upper step, pass through Manual-pushing, make to be out of shape roller portion 1 climbs on step.
The effect of embodiment and effect
According to the stairs climbing device of this novel related convertible roller shape, because by the wire winding pole rotation of manpower drive force source control unit, can transferring power pull and the bifilar steel wire of playback, thereby flange is slidably reciprocated on main shaft, when present dynasty's power source control unit direction is slided, the distortion roller portion profile being connected with flange is drawn in as roller shape, and now four circular arc bars are deformed into roller edge, can be along the ground surface of advancing.When present dynasty's power source control unit reversing sense slides, it is lobate that the distortion roller portion profile being connected with flange expands into fan, and now multiple circular arc bars launch along the rivet direction phase surrounding that connects wheel hub, can speeling stairway.So, the utility model can pass through a kind of stairs climbing device, profile based on distortion roller portion changes the particular job demand that both can complete, and the concussion of the circular arc of circular arc bar can effectively reduce stair climbing time, every rotation one is enclosed, can climb level Four ladder, make it have simple to operate, volume is small and exquisite, mounting or dismounting are convenient, climbing is stable, climbing efficiency advantages of higher.
Certainly, the related dependency structure of the present embodiment is not merely defined in structure in the present embodiment.
In addition, in an embodiment, because be provided with circular hole in a side of circular arc, circular hole axle connects trundle, so can make variable wheel under the state opening completely, both can reduce wheel rim friction, again can be to front slide, for certain transitional function has been played in the motion of level land and stair.
In addition, in an embodiment, because the ratio of the big gear wheel of gear pair and miniature gears is 3:1, so more can be laborsaving while operation.
In addition, in an embodiment, because distortion roller portion is set to four four-bar linkages, two adjacent rivets are four groups, so it is more stable to be out of shape roller portion when stair climbing.

Claims (10)

1. ?a kind of stairs climbing device, is characterized in that, comprising:
At least one group of distortion roller portion of rolling along working direction;
For connecting the main shaft of the described distortion roller of support portion; And
Be positioned at least one group of driving connecting portion of the described distortion roller of coupling driving portion distortion on main shaft,
Wherein, described main shaft comprises power source control unit, and described power source control unit is connected to drive described distortion roller portion to change between lobate at roller shape and fan via described driving connecting portion and described distortion roller portion,
Described distortion roller portion comprises the multiple four-bar linkages that are provided with the wheel hub of multiple projections and radially arrange along described wheel hub outward flange,
Two straight-bars that described four-bar linkage comprises rotary connection and along the circular arc bar of ground surface, and connect adjacent two projections of described wheel hub,
Described circular arc bar comprises circular arc and is located at the arc bar of circular arc inner side, one end of described circular arc is connected with a described projection wherein, the other end of described circular arc is connected via two straight-bar described projections adjacent with another root, and described arc bar is connected in the junction of described two straight-bars;
Described driving connecting portion is connected to respectively between multiple described four-bar linkages and described power source control unit, comprise universal-joint, connecting rod, be set in flange and attaching parts on main shaft, one end of described universal-joint is connected to the junction of described two straight-bars, the other end of described universal-joint is connected with described flange via described connecting rod
Described attaching parts is connected with one end of described main shaft via described flange, and the other end of described attaching parts connects described power source control unit.
2. stairs climbing device according to claim 1, is characterized in that:
Wherein, the wire winding pole that described power source control unit comprises gear pair, be connected with described gear countershaft and elastic element in a state of nature, wherein, thereby the two ends of described wire winding pole are connected to furl described attaching parts with described attaching parts respectively drives described flange to move towards power source control unit direction on main shaft, described elastic element between described flange and the shaft shoulder of described main shaft oppositely to drive described flange to move on main shaft.
3. stairs climbing device according to claim 2, is characterized in that:
Wherein, described main shaft also comprises the first spindle hole between flange and the shaft shoulder of described main shaft and the second spindle hole near described distortion roller portion inner side,
Described attaching parts is bifilar steel wire, comprising: the first bifilar steel wire and the second bifilar steel wire,
Described flange is inserted in main shaft, comprises the first flange hole, the second flange hole, three-flange hole and the 4th flange hole,
Described the first bifilar steel wire connects one end of described wire winding pole, via after described the first spindle hole respectively through the first flange hole, the second flange hole and be fixed on a side of flange, described the second bifilar steel wire connects the other end of described wire winding pole, cross after main shaft through by described the second spindle hole oppositely respectively through three-flange hole and the 4th flange hole and be fixed on flange opposite side.
4. stairs climbing device according to claim 2, is characterized in that:
Wherein, described power source control unit also comprises the limit shaft for wire winding pole described in locking.
5. stairs climbing device according to claim 1, is characterized in that:
Wherein, described distortion roller portion is four four-bar linkages, and described two adjacent projections are four groups.
6. stairs climbing device according to claim 1, is characterized in that:
Wherein, described projection is rivet.
7. stairs climbing device according to claim 1, is characterized in that:
Wherein, the junction of described two straight-bars is two tops that straight-bar is connected.
8. stairs climbing device according to claim 1, is characterized in that:
Wherein, described arc bar is arranged on the inner side point midway of described circular arc.
9. stairs climbing device according to claim 1, is characterized in that:
Wherein, the top of described arc bar is connected with the junction of described two straight-bars.
10. stairs climbing device according to claim 1, is characterized in that:
Wherein, a side of described circular arc is provided with circular hole, and described circular hole axle connects trundle.
CN201320774517.7U 2013-11-28 2013-11-28 Stairway climbing mechanism Expired - Fee Related CN203681688U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320774517.7U CN203681688U (en) 2013-11-28 2013-11-28 Stairway climbing mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320774517.7U CN203681688U (en) 2013-11-28 2013-11-28 Stairway climbing mechanism

Publications (1)

Publication Number Publication Date
CN203681688U true CN203681688U (en) 2014-07-02

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104443101A (en) * 2014-11-19 2015-03-25 兰州理工大学 Deforming wheel mechanism for stair climbing robot
CN104477265A (en) * 2014-11-21 2015-04-01 江苏天绘智能科技有限公司 Wheel-type stair climbing vehicle
CN105150763A (en) * 2015-09-22 2015-12-16 北京理工大学 Multi-angle wheel for ground robot
CN105857429A (en) * 2016-04-20 2016-08-17 中北大学 Stair climbing robot with planetary gear train
CN107953326A (en) * 2017-11-22 2018-04-24 苏州大学 A kind of ball shape robot elasticity deployed configuration based on rope driving

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104443101A (en) * 2014-11-19 2015-03-25 兰州理工大学 Deforming wheel mechanism for stair climbing robot
CN104477265A (en) * 2014-11-21 2015-04-01 江苏天绘智能科技有限公司 Wheel-type stair climbing vehicle
CN105150763A (en) * 2015-09-22 2015-12-16 北京理工大学 Multi-angle wheel for ground robot
CN105150763B (en) * 2015-09-22 2017-10-24 北京理工大学 A kind of many horn rings for ground robot
CN105857429A (en) * 2016-04-20 2016-08-17 中北大学 Stair climbing robot with planetary gear train
CN107953326A (en) * 2017-11-22 2018-04-24 苏州大学 A kind of ball shape robot elasticity deployed configuration based on rope driving
CN107953326B (en) * 2017-11-22 2020-11-17 苏州大学 Spherical robot elasticity expandes structure based on rope drive

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Granted publication date: 20140702

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