CN101269678B - Wheeled robot with traveling system - Google Patents
Wheeled robot with traveling system Download PDFInfo
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- CN101269678B CN101269678B CN2008100477265A CN200810047726A CN101269678B CN 101269678 B CN101269678 B CN 101269678B CN 2008100477265 A CN2008100477265 A CN 2008100477265A CN 200810047726 A CN200810047726 A CN 200810047726A CN 101269678 B CN101269678 B CN 101269678B
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Abstract
The invention relates to a wheel type robot with a walking system, and the walking system is formed by combing foot type walking devices with a driving device and is connected with a fixing frame (7); each foot type walking device is composed of a follower gear (1), a leg type supporter and a hanging mechanism (15) provided with wheels (16). One connection point of the leg type supporter is hinged with an eccentric point of the follower gear (1), and the other connection point of the leg type supporter is hinged with the connection point of the hanging mechanism; the number of the foot type walking devices is at least two, and the hanging devices (15) of at least two foot type walking devices are provided with electric motors (19) for driving wheels (16) to rotate; the driving device is provided with a main electric motor and a main drive shaft (6) which is provided with a main drive gear (4) engaged with the follower gear (1). The wheel type robot with the walking system has the characteristics of high motion velocity, simple control and flexible turning, and has the function of foot walking, so that the robot has more adaptive capacity to the ground.
Description
Technical field
The present invention relates to robot, particularly relate to a kind of wheeled robot with running gear.
Background technology
The mobile robot divides by move mode: wheeled mobile robot, walking (sufficient formula) mobile robot, snake-shaped robot, caterpillar mobile robot, climbing robot etc.Divide by hierarchy of control structure: function formula (horizontal) structure robot, behavior formula (high low type) structure robot and hybrid robot.Divide by function and purposes: medical robot, military robot, disabled aiding robot, clean robot etc.Divide by working space: land mobile robot, under-water robot, unmanned aerial vehicle and space robot etc.
Wheeled mobile robot can be divided into joint wheeled mobile robot, planet gear type mobile robot, common wheeled mobile robot according to the characteristics of robot moving mechanism.And according to wheel number, wheeled mobile robot has single-wheel, four-wheel, five to take turns, six take turns and eight structure such as take turns again.
As everyone knows, caterpillar mobile robot gains great popularity with its powerful landform comformability, but when turning, and the wearing and tearing of crawler belt, crawler belt die sinking difficulty are big etc. all becomes the bottleneck of its application.Wheeled mobile robot has overcome these shortcomings of crawler-mounted, satisfying under the adaptive prerequisite of certain landform, can give full play to the mobile robot and move flexibly, control advantages such as simple, but it can not show a candle to caterpillar type robot to the comformability of landform, in general, wheeled mobile robot is directly proportional with the quantity of wheel to the comformability size of landform, but along with the increase of taking turns quantum count, has brought shortcomings such as robot is bulky, Heavy Weight again.How to make the quantity of wheel that the landform comformability that can satisfy operating needs is arranged more less and simultaneously, this is significant to reaching the robot design.
It mainly is wheeled or leg formula structure that mobile robot now studies, and leg formula structure has the strong characteristics of cross country power, but complex structure and running velocity are slow; Though and traditional wheeled construction running velocity is fast, off-road capability is not too strong.By designing various wheel chassis, present wheeled robot has been different from traditional wheeled construction, the partial function that also has the leg formula, cross country power strengthens greatly, therefore can adapt to various complex-terrains better, nowadays people's emphasis of studying the robot architecture is transferred on the wheel leg built up structure.Take turns leg convolution mobile robot research now and be mainly used in celestial body roaming car field, as moon roaming car, Mars Rover etc.
Oneself is historical for many years through having for countries in the world exploitations wheel leg type robot system, particularly the U.S. oneself haves ripe experience in this respect.The movable robot with wheel legs of abroad being admitted in the industry now mainly is Mars/moon roaming car, and what have is studying, and what have is own through successfully using.
(1) Lunokhod of former Soviet Union moon craft
Lunokhod is first moon craft in history, and body construction is divided into two parts, and top is instrument compartment, and various instruments are housed, and the lower part is the chassis of walking automatically, and 8 wheels are housed.Car moves according to surface instruction, and two speed thresholds are arranged, and can climb up the slope of 30 degree, crosses high obstacle of 40cm and the wide gully of 60cm, has the constructional feature of wheel leg type in a sense.
(2) the Sojourner mars exploration car of U.S. JPL
Sojourner is miniature autonomous robot's vehicle, and can carry out remote control from ground in the face of it, and this robot adopts six to take turns rocking arm suspension type structure, the drive wheel that 6 independent suspensions are promptly arranged, transmitting ratio is 2000: 1, thereby can travel in the landform of various complexity, particularly soft sand ground.Four of this robot horn rings have individual drive and control ability in addition.This robot is six movable robot with wheel legs truly.
(3) Moda of U.S. C-MU university (tramp) autonomous mobile robot
The Nomda robot of U.S. CMU university development, it has passed through to be similar to the test in the Chilean Aunar Karma desert of the moon and martian surface environment in 1997,220 kilometers of test strokes, wherein existing Autonomous Control has the outer artificial distant operation of several a thousand lis again.This robot adopts four wheel mechanism, and four-wheel has individual drive and guide function, and traveling mechanism is made up of deformable chassis, homogenizing hitch and self-contained the wheel.The deformable chassis can make robot can change the area coverage of mechanism according to mode of operation.Smoothly robot body is with respect to the motion of wheel for the homogenizing hitch, and this structure can guarantee that four-wheel can both land simultaneously under various topographic features.
(4) U.S.'s mars exploration car MsRor (ramber)
U.S. mars exploration car MsRor has installed state-of-the-art up to now instrument on this robot, have state-of-the-art manoevreability simultaneously, and its six wheel leg types structure is state-of-the-art at present, has powerful obstacle climbing ability, original place 360 " turning ability and retractility.Except its advanced maneuvering performance, the instrument that various advanced persons such as comprising Paneam (three-dimensional camera), Mini-TES (infrared spectroscopy instrument), microscope, Mossbauer (spectroscope, be used for measuring rock composition), APXS (ALPHA ray) system, RAT (RoekAbrasionTool) system have been installed on the pathfinder comes acquisition environment, observation and analyzes rock and soil.
Current China has dropped into great concern to surveying the exploitation space, and the wheel leg type structure is most popular now planetary detection bassinet structure, though also have no small gap with external level, the strength but country also steps up its investment in this respect, some institution of higher learning have carried out the research of relevant wheel leg type robot aspect in succession with scientific research institution now, have also obtained certain achievement.Doing a large amount of work as Tsing-Hua University aspect planetary surface environment and the sniffing robot Geometric Modeling, and relevant motor-driven technology has been carried out deep discussion.Meanwhile, the research group of University of Science and Technology for National Defence is a source with the Sojuonrer that we have just mentioned, and has developed the KDR1-experimental model, and its autonomous navigation and path planning technology are studied.Chinese University of Science and Technology and Harbin Institute of Technology are all carrying out a series of research aspect the wheel leg type planet mobile robot in addition, and have obtained preliminary achievement.
The Liu Fanghu of Shanghai Communications University, the old equality of building have proposed a kind of 5 and have taken turns Lunar Robot, and studied its obstacle performance, statical stability and adhesion value from structure.Three-wheel all can individual drive and turn to back two-wheeled flower wheel before this car.Front-wheel has its luffing of individual motor-driven.
But Shanghai University has developed the wheeled omni-directional moving mechanism of a kind of obstacle detouring-set of wheels mechanism, this mechanism guarantees under the prerequisite that attitude remains unchanged, move or arbitrarily angled along wall any direction straight line, can cross over the obstacle that is present in the robot operating path simultaneously in original place rotation.Its obstaclies performance of team such as the Zhang Haihong of Shanghai University, Gong Zhenbang have been done the kinematics analysis of simple Analysis on Mechanism and omni-directional moving mechanism.
The Cheng Gang of Chinese University of Science and Technology, Zhu Changan etc. have proposed a kind of composite structure and have moved barrier-surpassing robot, and this robot has been carried out the kinematics modeling and simulation.This robot is wheeled, leg joint formula, three kinds of structures of crawler type to be combined design, and it adopts back-wheel drive, and each wheel is driven by a DC servo motor respectively, equally realizes turning to function by differential with crawler vehicle.The fork that there is a parallelogram car front portion is connected by the front wheel spindle of key and car body, car body the place ahead has two DC servo motor to control the motion of both sides parallelogram fork respectively, and when running into the sudden change obstacle, fork presses down, produce the action on support ground, thereby realize obstacle detouring.
Summary of the invention
Technical matters to be solved by this invention is: a kind of wheeled robot with running gear is provided, this robot can pass through wheel movement, realize the rotation of any radius, and make it can realize the gait walking by an additional motor, simultaneously can keep vehicle body steady in the process of walking, strengthen it ground-surface adaptive capacity.
The present invention solves the technical scheme that its technical matters adopts: comprise fixed mount and the sufficient formula running gear and the actuating device that link to each other with this fixed mount, sufficient formula running gear and the actuating device formation running gear that combines.Wherein, foot formula running gear: form by driven gear, leg cribbing and wheel-mounted hitch, a point of connection of leg cribbing and an eccentric point of driven gear are hinged, and another point of connection of leg cribbing and the point of connection of hitch are hinged; This foot formula running gear has two at least, and the motor of drive wheels running is housed on the hitch of two sufficient formula running gears at least.Leg cribbing: form by last spider, following tripod, big connecting rod, small rod, be hinged between them; An angle point of last spider is hinged by an eccentric point of big connecting rod and driven gear, an angle point of following spider is hinged by the same eccentric point of big connecting rod and driven gear, two other angle point of last spider is hinged by small rod with two angle points of following tripod, and another angle point and the hitch of following tripod are hinged.Actuating device: the imput shaft that is provided with main motor and is attached thereto, imput shaft is equipped with driving gear, and this gear is meshed with driven gear.
The present invention compared with prior art has following major advantage:
1. all sufficient formula running gears are only by a motor-driven, disposablely finish whole walking action, and it is adjusted to need not additional control system.
2. sufficient formula running gear is made up of a whole set of mechanism, and integral structure is a statically determimate structure, and all rod members are two power bars, only are subjected to responsive to axial force, can bring into play the load-carrying capacity of each parts to greatest extent.
3. six sufficient formula running gears are in motion process, can guarantee all the time to have at least or not three wheels on same straight line land, and can guarantee single-piece stability in the motion process preferably.And suspension gear has cushioning effect, can face the traffic blows effect with reducing.
4. the highest of sufficient formula running gear falls to putting above wheel diameter enough, can directly cross for the step obstacle of certain altitude, also can well adapt to for some comparatively complicated road surfaces.
5. wheel driver and sufficient formula running gear are separate, can equally with general wheeled robot carry out control operation under the situation preferably at condition of road surface, when running into certain obstacle, can carry out obstacle detouring by sufficient formula running gear, when special requirement is arranged, can also realize sufficient formula and wheeled coordination co-operation, finish special action.
In a word, the present invention combines sufficient formula traveling gear and wheeled driver train, make robot have not only that general wheeled robot speed is fast, maneuverability is good, the control characteristic of simple, can also realize the function of six wheel gait walkings, improve robot greatly ground-surface adaptive capacity.
Description of drawings
Fig. 1 is the integrally-built scheme drawing of the present invention.
Fig. 2 is the birds-eye view of Fig. 1.
Fig. 3 is the set of wheels structural scheme of mechanism of midway location among Fig. 1.
Fig. 4 is the set of wheels structural scheme of mechanism of outer fix among Fig. 1.
Fig. 5 is an interior parapodum formula structural scheme of mechanism among Fig. 1.
Fig. 6 is Fig. 1 China and foreign countries parapodum formula structural scheme of mechanism.
Fig. 7 is the overall appearance scheme drawing.
Among the figure: 1. driven gear; 2. carrier gear; 3. driven shaft; 4. driving gear; 5. bevel gear system; 6. imput shaft; 7. fixed mount; 8. outer parapodum formula mechanism; 9. interior parapodum formula mechanism; 10. big connecting rod; 11. spider on the inboard; 12. bearing pin; 13. small rod; 14. inboard tripod down; 15. hitch; 16. wheel; 17. spider on the outside; 18. tripod under the outside; 19. motor; 20. shell.
The specific embodiment
The wheeled robot of band running gear provided by the invention both can be realized wheeled driving, can realize the gait walking again.Its structure is as depicted in figs. 1 and 2: comprise fixed mount 7 and the sufficient formula running gear and the actuating device that link to each other with this fixed mount, sufficient formula running gear and the actuating device formation running gear that combines.Wherein:
Foot formula running gear: form by driven gear 1, leg cribbing and hitch 15 that wheel 16 is housed, a point of connection of leg cribbing and an eccentric point of driven gear 1 are hinged, and another point of connection of leg cribbing and the point of connection of hitch 15 are hinged; This foot formula running gear has two at least, and the motor 19 of drive wheels 16 runnings is housed on the hitch 15 of two sufficient formula running gears at least.
Actuating device: the imput shaft 6 that is provided with main motor and is attached thereto, imput shaft 6 is equipped with driving gear 4, and this driving gear is meshed with driven gear 1.Actuating device also is provided with two driven shafts 3, and they are driven by bevel gear system 5 by imput shaft 6.On the every driven shaft 3 transmission gear is housed, the effect of transmission gear is with driving gear 4, and this transmission gear is meshed with driven gear 1 by carrier gear 2.
Described leg cribbing can be made up of last spider, following tripod, big connecting rod 10 and small rod 13, be hinged between them, wherein: an angle point going up spider is hinged by the eccentric point of big connecting rod 10 with driven gear 1, an angle point of following spider is hinged by the same eccentric point of big connecting rod 10 with driven gear 1, two other angle point of last spider is hinged by small rod 13 with two angle points of following tripod, and another angle point and the hitch 15 of following tripod are hinged.
The whole running gear of the present invention is arranged in a shell 20 inside, and shell shape as shown in Figure 7.Upper surface of outer cover is a horseshoe clamp face, can carry or build various instrument and equipment platforms.
The wheeled robot of band running gear provided by the invention, its sufficient formula running gear can have four, or six.
Six sufficient formula running gears, wherein four in the outside, and two are placed in the middle; Two sufficient formula running gears in the middle of being positioned at, the position of their wheel are positioned at the prominent preceding (see figure 2) of wheel of four sufficient formula running gears in the outside.The wheel of six sufficient formula running gears can property performance period gait be walked, and wheel can freely turn to.
Below in conjunction with embodiment the wheeled robot with six sufficient formula running gears is described, but do not limit the present invention.
Six sufficient formula running gears are bar linkage structure, are hinged between each connecting rod.Imput shaft drives two driven shafts by bevel gear system, make three driving gears move simultaneously, again by each gear transmission, thereby a hinge that makes each bar linkage structure is around separately center of gyration rotation, thereby drive six sufficient formula running gears and do periodic motion, because the motion characteristics of each connecting rod can make six wheels do the periodicity gait motion of coordination.In motion process, can guarantee to have at least three wheels to land all the time, so the stability during wheeled robot gait walking movement of the present invention better.
Integral structure of the present invention as shown in Figure 1 and Figure 2, model is of a size of substantially: 1200mm * 800mm * 600mm, wheel diameter are 200mm, can top bar highly to be 250mm.Integral structure comprises the set of wheels of fixed mount 7, outer fix, set of wheels, imput shaft 6, driven shaft 3, bevel gear system 5, motor 19 and a plurality of bonded assembly bearing pin 12 and shell 20 of being used for of midway location.Wherein the set of wheels of two outer fixs lays respectively at the both sides of the set of wheels of a midway location.The gear transmission chain of entire mechanism as shown in Figure 2.Imput shaft 6 drives driving gear 4 rotations of the set of wheels of midway location, simultaneously by bevel gear system 5, drives driven shaft 3 contrarotations of both sides, thereby drives driving gear 4 rotations of the set of wheels of two outer fixs, so that drive the entire mechanism motion.
The set of wheels of midway location: as shown in Figure 3, mainly comprise the interior parapodum formula mechanism 9 of driving gear 4 and two cover symmetric arrangement.As shown in Figure 5, interior parapodum formula mechanism 9 comprises on a driven gear 1, four big connecting rods 10, four small rods 13, the inboard spider 14, a cover hitch 15 and a wheel 16 under spider 11, the inboard.Wherein two big connecting rods connect an eccentric point and the inboard angle point going up spider on the driven gear, and connection mode is bearing pin and connects, and can realize relatively rotating around point of connection each other.Other two big connecting rods connect an eccentric point and the inboard angle point of spider down on the above-mentioned driven gear.Under the initial condition, the eccentric point of driven gear is positioned under the gear center.Four small rods connect inboard spider and inboard two other angle point of spider down gone up in twos respectively, and connection mode is bearing pin and connects.Hitch is installed in the inboard bottom of spider down, can do relative rotary motion around its center-point, realizes freely turning to of each wheel.Hitch and wheel adopt classical triangle type of attachment, and good stability has cushioning effect simultaneously, and in the time of can being used for reducing the gait walking movement, ground is in the face of the traffic blows effect.Driving gear is by imput shaft, and a driven gear and an inboard angle point going up spider all are fixed on the fixed mount by bearing pin, and separately the attachment point of can having mercy on is done the rotation of single degree of freedom.As can be seen from Figure 3, when driving gear when its permanent center rotates, two driven gears are respectively around separately permanent center rotation, thus an end points that drives big connecting rod is also respectively around the rotation of the center of two driven gears.Because an inboard angle point going up spider is fixed on the vehicle frame, under the drive of big connecting rod and the gearing of small rod, inboard spider down will be done periodic crank motion, and hitch and wheel also will be done periodic motion thereupon.
The set of wheels of outer fix: as shown in Figure 4, mainly comprise the outer parapodum formula mechanism 8 of driving gear 4, two carrier gears 2 and two cover symmetric arrangement.As shown in Figure 6, outer parapodum formula mechanism comprises on a driven gear 1, four big connecting rods 10, four small rods 13, the outside spider 18, a cover hitch 15 and a wheel 16 under spider 17, the outside.Its connection mode is consistent with interior parapodum formula mechanism.Under the initial condition, the eccentric point of driven gear is positioned at directly over the gear center.As can be seen from Figure 6, when driving gear when its permanent center rotates, by the gearing of two carrier gears, two driven gears are respectively around separately permanent center rotation, its principle of work is identical with the set of wheels of midway location, and final hitch and wheel will be done periodic motion.
The layout of wheel 16 of the present invention as shown in Figure 2, the wheel of midway location than the wheel in two outsides prominent before.On four wheels of outer fix drive motor is housed.Six wheels all can rotate freely.Wheeled robot of the present invention can be realized the translation with any direction of turning to of any radius.Hitch can adopt prior art, and it comprises shock absorption device and steering hardware (containing steer motor), has been widely used in various vehicles now and above the robot.
Brief description the present invention has the working process of the wheeled robot (abbreviation wheeled robot) of six sufficient formula running gears.
The gait walking process: under the initial condition, six wheels are positioned at same horizontal surface, and when the imput shaft cw turned over 1/4 cycle, the driving gear of the set of wheels of midway location also cw turned over 1/4 cycle.By the gearing of bevel gear system, two driven shaft conter clockwises turn over 1/4 cycle, and the driving gear conter clockwise of the set of wheels of two outer fixs turns over 1/4 cycle.By the gear mechanism figure of Fig. 2 as can be seen, by gear transmission, when the imput shaft cw turned over 1/4 cycle, six equal conter clockwises of ring gear turned over 1/4 cycle.According to the principle of above-mentioned sufficient formula mechanism as can be known, the left side two outboard wheels and the right one inboard wheel will lift certain height this moment, other three wheels are with respect to the fixed mount level segment distance (wheel is fixing with brake in the gait walking process, can not rotate) that moves to right.Suppose that wheel and ground do not have slide relative, then fixed mount is with respect to the ground segment distance that moves to left.In like manner as can be known, when the imput shaft cw turns over 1/2 cycle, three wheels that lift (left side two outboard wheels and the right one inboard wheel) land, and other three wheels continue with respect to the fixed mount level segment distance that moves to right, and fixed mount is with respect to the ground segment distance that continues to move to left.This moment six wheels be positioned at again on the same horizontal surface, but the position of outboard wheels than inboard wheel prominent before.When the imput shaft cw turns over 3/4 cycle, opposite during with preceding 1/4 cycle, the left side two outboard wheels and the right one inboard wheel are with respect to the fixed mount level segment distance that moves to right, and other three wheels will lift certain height, and fixed mount is with respect to the ground segment distance that moves to left.When the imput shaft cw turns over one-period, three wheels that lift (the right two outboard wheels and the left side one inboard wheel) land, other three wheels continue with respect to the fixed mount level segment distance that moves to right, and fixed mount is with respect to the ground segment distance that continues to move to left.This moment, six wheels were for the second time in the same plane, and the position of wheel is identical with initial position.So far, this wheeled robot has been finished the gait walking of one-period.
In above-mentioned gait walking process as can be seen, this wheeled robot is remaining three wheel ground connection at any time, and three wheels of connected to chassis remain triangularity distribution (preceding 1/2 cycle is the right two outboard wheels and the left side one inboard wheel, and 1/2 cycle of back is the left side two outboard wheels and the right one inboard wheel).Therefore, all can guarantee robot single-piece stationarity in any time of walking.Even the speed of travel is slack-off, this wheeled robot can not topple yet.If run into the obstacle of the certain altitude obstacle clearing capability of car body (but be lower than) in the process of walking, because robot integral body can remain three points of contact, therefore, this wheeled robot can stride across obstacle by pulsation-free, perhaps climbs up obstacle (as step).
Claims (3)
1. the wheeled robot with running gear comprises fixed mount (7) and the sufficient formula running gear and the actuating device that link to each other with this fixed mount, sufficient formula running gear and the actuating device formation running gear that combines, wherein:
Foot formula running gear: form by driven gear (1), leg cribbing and hitch (15) that wheel (16) are housed, a point of connection of leg cribbing and an eccentric point of driven gear (1) are hinged, and the point of connection of another point of connection of leg cribbing and hitch (15) is hinged; This foot formula running gear has two at least, and the motor (19) of drive wheels (16) running is housed on the hitch of two sufficient formula running gears (15) at least;
Actuating device: the imput shaft (6) that is provided with main motor and is attached thereto, imput shaft (6) is equipped with driving gear (4), and this gear is meshed with driven gear (1);
It is characterized in that:
The leg cribbing is formed (13) by last spider, following tripod, big connecting rod (10), small rod, be hinged between them, wherein: an angle point going up spider is hinged by the eccentric point of big connecting rod (10) with driven gear (1), an angle point of following spider is hinged by the same eccentric point of big connecting rod (10) with driven gear (1), two other angle point of last spider is hinged by small rod (13) with two angle points of following tripod, and another angle point of following tripod and hitch (15) are hinged.
2. wheeled robot according to claim 1 is characterized in that: sufficient formula running gear has four.
3. wheeled robot according to claim 1 is characterized in that: sufficient formula running gear has six, and wherein four in the outside, and two placed in the middle; Before the wheel of four sufficient formula running gears outside two sufficient formula running gears in the middle of being positioned at, the position of their wheel are positioned at is prominent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2008100477265A CN101269678B (en) | 2008-05-16 | 2008-05-16 | Wheeled robot with traveling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100477265A CN101269678B (en) | 2008-05-16 | 2008-05-16 | Wheeled robot with traveling system |
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| CN101269678A CN101269678A (en) | 2008-09-24 |
| CN101269678B true CN101269678B (en) | 2010-07-07 |
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| CN2008100477265A Expired - Fee Related CN101269678B (en) | 2008-05-16 | 2008-05-16 | Wheeled robot with traveling system |
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| CN102211627B (en) * | 2011-04-27 | 2012-10-17 | 浙江大学 | Four-leg robot mechanism based on bionic design |
| CN102390462B (en) * | 2011-09-17 | 2013-03-13 | 广州大学 | Robot traveling device with liftable frame |
| CN102700644B (en) * | 2012-06-08 | 2014-10-15 | 上海交通大学 | Wheel and foot combined all-terrain robot running device |
| CN103661669A (en) * | 2012-09-26 | 2014-03-26 | 中国人民解放军第二炮兵工程大学 | Wheel-legged robot chassis suspension device |
| CN103244790B (en) * | 2013-04-28 | 2014-12-10 | 江苏科技大学 | Drive travelling mechanism of peristaltic micro pipeline robot |
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| CN108357583A (en) * | 2018-04-24 | 2018-08-03 | 深圳市娅安科技有限公司 | A kind of robot walking device |
| CN108674514A (en) * | 2018-05-23 | 2018-10-19 | 深圳市睿科智联科技有限公司 | Take turns robot leg |
| CN111376263B (en) * | 2018-12-29 | 2022-08-02 | 沈阳新松机器人自动化股份有限公司 | Human-computer cooperation system of compound robot and cross coupling force control method thereof |
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| CN111778848A (en) * | 2020-06-20 | 2020-10-16 | 中交第二公路勘察设计研究院有限公司 | Multidirectional adjustable striding type U rib inner walking device based on radar |
| CN112144454B (en) * | 2020-09-24 | 2021-12-17 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Mechanical system based on automatic mobile robot of picking up of garden rubbish |
| CN112319648B (en) * | 2020-11-09 | 2021-06-04 | 武汉理工大学 | Leg mechanism of foot type robot with switchable degrees of freedom |
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| CN112727201B (en) * | 2021-01-30 | 2022-05-27 | 武汉智象机器人有限公司 | Intermediate double-wheel drive holding type vehicle carrier and using method |
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2008
- 2008-05-16 CN CN2008100477265A patent/CN101269678B/en not_active Expired - Fee Related
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