CN111806592B - Compound motion mode mobile robot with autonomic reset function - Google Patents
Compound motion mode mobile robot with autonomic reset function Download PDFInfo
- Publication number
- CN111806592B CN111806592B CN202010677332.9A CN202010677332A CN111806592B CN 111806592 B CN111806592 B CN 111806592B CN 202010677332 A CN202010677332 A CN 202010677332A CN 111806592 B CN111806592 B CN 111806592B
- Authority
- CN
- China
- Prior art keywords
- foot
- reset
- bouncing
- robot
- wing
- 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
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 26
- 150000001875 compounds Chemical class 0.000 title claims description 10
- 230000002567 autonomic effect Effects 0.000 title description 2
- 230000009193 crawling Effects 0.000 claims abstract description 72
- 230000009191 jumping Effects 0.000 claims abstract description 10
- 230000005484 gravity Effects 0.000 claims abstract description 8
- 230000009467 reduction Effects 0.000 claims description 36
- 230000005540 biological transmission Effects 0.000 claims description 24
- 230000007246 mechanism Effects 0.000 claims description 21
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 239000000203 mixture Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 abstract description 11
- 239000002131 composite material Substances 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 abstract description 2
- 239000002360 explosive Substances 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 210000002683 foot Anatomy 0.000 description 116
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000452 mid-foot Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
A composite motion mode mobile robot with an autonomous reset function relates to the technical field of robots. The crawling foot is driven to move forwards by a crawling motor; the robot jumping system comprises a jumping system, wherein the robot jumps by quickly releasing energy stored by a torsion spring; the robot reset system comprises a reset system, and is used for opening the reset wings after the robot overturns, and the robot completes reset by moving the gravity center position of the robot. The invention has the beneficial effects that: the robot can easily traverse various complex terrains, has wide range of motion and strong trafficability, and has great advantages in the aspect of avoiding danger due to the sudden and explosive properties of the bouncing motion. The flexibility of the movement of the robot can be applied to military reconnaissance, the difference of the gravity acceleration among the planet is facilitated, and the robot can exert stronger bouncing capability during extraterrestrial exploration. Has wide application prospect in archaeological detection, anti-terrorism action and ruin search and rescue.
Description
Technical Field
The invention relates to the technical field of robots.
Background
With the rapid development of the robot technology, the types of various robots are various and are classified according to the moving mode, and the classification mainly comprises the following steps: wheel type, foot type, crawler type, bounce type. Among them, the wheel-type probe robot is the most widely studied one, has a simple control, and is generally applied to a mobile robot. However, when the obstacle-crossing capability is faced with a large obstacle or a ravine, the obstacle-crossing capability is very low, and the range of motion is limited by the topography of the terrain. The foot type robot has flexible movement, can easily cross over the obstacle with smaller volume, but has complex structure, complex control and low stability and energy utilization rate. The structural characteristics of the crawler-type robot determine that the crawler-type robot has good trafficability on a soft road surface and has good self-resetting capability, but the crawler-type robot has low moving speed and large power consumption. The bouncing robot has extremely strong obstacle-crossing capability, can cross obstacles which exceed the size of the robot by multiple times, has small landing area and discrete landing foot points, can adapt to complicated landforms, but has the defects of particularly obvious bouncing robot, poor motion accuracy and high motion control difficulty. Research on the hopping robot has received increasing attention.
Disclosure of Invention
The invention provides a composite motion mode mobile robot with an autonomous reset function by combining various advantages and disadvantages of various moving modes, wherein the moving modes are bouncing and crawling, and crawling foot combines the characteristics of the wheeled and foot robots, so that the composite motion mode mobile robot has the characteristics of simple structure and flexible motion of the foot robot. The bounce foot endows the robot with strong obstacle-crossing capability, thereby not only ensuring the running speed of a flat road surface, but also ensuring the trafficability of a complex terrain, and greatly improving the adaptability of the robot in a non-structural environment and the working performance.
The technical scheme of the invention is as follows:
a composite motion mode mobile robot with an autonomous reset function comprises a crawling system, a crawling foot and a control system, wherein the crawling system drives the crawling foot to move forwards through a crawling motor; the robot jumping system is used for quickly releasing energy stored by a torsion spring, and the robot jumps due to the counterforce generated by the ground on the bottom of a jumping foot; the robot reset system comprises a reset system, and is used for opening the reset wings after the robot overturns, and the robot completes reset by moving the gravity center position of the robot.
Furthermore, the crawling system comprises a crawling foot system which is oppositely arranged on the left and right, the right crawling foot system comprises a front mechanism, a right crawling foot middle mechanism and a right crawling foot rear mechanism, the right crawling foot front mechanism is connected with a right crawling foot driving motor and provides power, and each part is transmitted with power through a synchronous belt I; the left foot system has the same composition as the right foot system.
Furthermore, the right foot-crawling front mechanism part comprises a right foot-crawling motor, a support, a front transmission gear, a right front foot reduction gear, a motor reduction gear, a right front shaft and a right front foot, wherein the right front foot is connected with the right front foot reduction gear and the front transmission gear through the right front shaft, and the end part of the right front shaft is connected with the support through a bearing I so as to ensure that the right front shaft drives the right front foot to rotate smoothly.
Furthermore, the right crawling foot motor is connected with a motor reduction gear, and the right crawling foot motor is also fixed on the support and enables the motor reduction gear to be meshed with the right front foot reduction gear.
Furthermore, the bouncing system comprises a bouncing foot rack, wherein one end of the bouncing foot rack is provided with a bouncing foot intermediate rod, a torsion spring is arranged between the bouncing foot intermediate rod and the bouncing foot rack, and the other end of the bouncing foot rack is provided with a bouncing foot motor gear which is connected together through a bouncing foot intermediate shaft.
Furthermore, the middle rod of the bouncing foot extends from the middle part to two ends at a certain angle to form a connecting arm, the connecting arm at one end of the middle rod is connected with the bouncing foot sole arranged on the middle part through a bearing II, the bouncing foot sole is of a flat plate structure, the connecting arm of the middle rod of the bouncing foot is connected to one side of a flat plate of the bouncing foot sole, the other side of the middle rod of the bouncing foot is connected with the bouncing foot rocker through a shaft, and the far end of the bouncing foot rocker is provided with a bouncing foot rocker shaft.
Furthermore, a cam rod is arranged at the end part of the connecting arm at the other end of the middle rod of the bouncing foot, a cam is arranged opposite to the cam rod, a cam transmission shaft is arranged on the cam, one end of the cam transmission shaft is connected with a cam transmission gear, the cam transmission gear is connected with a motor gear of the bouncing foot through a synchronous belt II, and the motor gear of the bouncing foot is driven by a motor to rotate.
Furthermore, the reset system is composed of a left reset wing system and a right reset wing system, the left reset wing system comprises a left reset wing and a left reset wing shaft connected with the left reset wing, a conical gear is arranged at the end part of the other end of the left reset wing shaft, a reset wing reduction gear is arranged in the middle of the shaft, the reset wing reduction gear is meshed with a motor reduction gear, and rotates under the driving of a reset motor, and the right reset wing system and the left reset wing system have the same composition.
Furthermore, the two reset wing shafts are arranged at a certain included angle, so that bevel gears of the left and right reset wing systems are meshed, and the left and right reset wings are driven to open and retract by the output power of the reset motor.
The invention has the technical effects that: the robot can easily pass through building stairs, broken stones, even complex terrains such as forests, deserts and the like, has wide range of motion and strong trafficability, and has great advantages in the aspect of avoiding danger due to the sudden nature of bouncing motion and the explosive robot. Due to the flexibility of the motion of the robot, the robot can be applied to military reconnaissance, the difference of the gravity acceleration among the stars is facilitated, and the robot can play a stronger bouncing capability during extraterrestrial exploration. In addition, the method can also be applied to the aspects of archaeological detection, anti-terrorist action, ruin search and rescue and the like, and has wide application prospect.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is an assembly view of the crawling system of FIG. 1 of the present invention.
Fig. 3 is an exploded view of the mechanism in front of the right crawling foot of fig. 2.
Fig. 4 is an assembly view of the bounce system of fig. 1 in accordance with the present invention.
Fig. 5 is an exploded view of the mechanism of the bouncing system of fig. 4 according to the present invention.
Fig. 6 is an assembly view of the reset system of fig. 1 in accordance with the present invention.
Fig. 7 is an exploded view of the reset system of fig. 6 in accordance with the present invention.
In the figure: 1. a crawling system; 2. a bounce system; 3. resetting the system;
1-1, a right crawling foot driving motor; 1-2 right crawling foot front mechanism; 1-3, a right crawling midfoot mechanism; 1-4, a right crawling foot rear mechanism; 1-5, a synchronous belt I; 1-6, a robot lower plate;
1-2-1, right crawling foot motor; 1-2-2, a bracket; 1-2-3 and a bearing I; 1-2-4, a gasket; 1-2-5, a front transmission gear; 1-2-6, right front foot reduction gear; 1-2-7, a motor reduction gear; 1-2-8, right front axle; 1-2-9, right front foot;
2-1, bouncing foot motor gear; 2-2, a synchronous belt II; 2-3, cam drive gear; 2-4, a cam transmission shaft; 2-5, positioning pin I; 2-6, a cam; 2-7, cam lever; 2-8, a bounce foot middle rod; 2-9, bouncing foot rack; 2-10, bounce foot intermediate shaft; 2-11, a torsion spring; 2-12 and a bearing II; 2-13, positioning pin II; 2-14, bounce sole axis; 2-15, bouncing the sole; 2-16, bounce foot rocker; 2-17, a bouncing foot rocker shaft;
3-1, a bevel gear; 3-2, resetting the wing frame; 3-3, left reduction wing shaft; 3-4, a reduction gear of the reset wing; 3-5, bearing III; 3-6, a left reset wing; 3-7, and a positioning screw.
Detailed Description
As shown in fig. 1, a structure of the robot is shown for this purpose. The motion of the robot can be divided into three modes: firstly, in a crawling mode, the two wings and the bouncing feet of the robot are retracted and locked, and crawling feet on two sides are driven by a crawling motor to crawl and advance; a bounce mode, wherein when the robot encounters a terrain incapable of passing through crawling, the robot automatically switches into the bounce mode, enters a jump starting point after a landing point and the jump starting point are calculated, and crosses an obstacle through bouncing; and in the reset mode, when the robot finishes one jump action, the robot can overturn, at the moment, the two wings of the robot are opened, and the robot autonomously finishes the reset action by moving the gravity center position of the robot.
The crawling system comprises crawling foot systems which are oppositely arranged on the left and right, the attached figures 2 and 3 mainly show structures of the right crawling foot systems, as can be seen from the attached figure 2, the right crawling foot system of the robot comprises three parts, namely a front mechanism 1-2, a right crawling foot middle mechanism 1-3 and a right crawling foot rear mechanism 1-4, wherein the right crawling foot front mechanism 1-2 is connected with a right crawling foot driving motor 1-1 to provide power, and each part is transmitted with the power by a synchronous belt I1-5. FIG. 3 shows the components of the front mechanism of the right crawling foot, which comprises a right crawling foot motor 1-2-1, a bracket 1-2-2, a front transmission gear 1-2-5, a right front foot reduction gear 1-2-6, a motor reduction gear 1-2-7, a right front shaft 1-2-8 and a right front foot 1-2-9, wherein, after the right front foot 1-2-9 is connected with the right front foot reduction gear 1-2-6 and the front transmission gear 1-2-5 through the right front shaft 1-2-8, the end part of the right front shaft 1-2-8 is connected with the bracket 1-2-2 through a bearing I1-2-3, so as to ensure that the right front shaft 1-2-8 drives the right front foot 1-2-9 to rotate smoothly. Gaskets 1-2-4 are arranged among the bracket 1-2-2, the front transmission gear 1-2-5, the right front foot reduction gear 1-2-6 and the right front foot 1-2-9. The right crawling foot motor 1-2-1 is connected with a motor reduction gear 1-2-7, the right crawling foot motor 1-2-1 is also fixed on the support 1-2-2, and the motor reduction gear 1-2-7 is meshed with the right front foot reduction gear 1-2-6.
When the robot is in a crawling mode, the right crawling foot motor 1-2-1 in the front part works, power is generated by the right crawling foot motor 1-2-1 and is sequentially transmitted to the right motor reduction gear 1-2-7 and the right front foot reduction gear 1-2-6, then one part of the power is transmitted to the tail end of the right front foot 1-2-9 through the right front shaft 1-2-8, the other part of the power is transmitted to the middle crawling foot through the front transmission gear 1-2-5 and the synchronous belt I1-5, the structure of the middle crawling foot is the same as that of the front crawling foot, the middle crawling foot transmits the power to the rear crawling foot through the synchronous belt, each crawling foot can guarantee synchronous operation under the action of the synchronous belt, meanwhile, the relative pose of the crawling foot is adjusted, and the 3 feet of the system land is always landed in the crawling process, thereby guaranteeing the stability of system crawling.
The crawling foot is arranged oppositely from left to right, and the structural arrangement and the action principle of the part of the left crawling foot are the same as the composition and the principle of the part of the front part mechanism of the right crawling foot.
Referring to the attached drawings 4 and 5, the bouncing system of the robot comprises a bouncing foot rack 2-9, one end of the bouncing foot rack 2-9 is provided with a bouncing foot middle rod 2-8, a torsion spring 2-11 is arranged between the bouncing foot middle rod 2-8 and the bouncing foot rack 2-9, and the other end of the bouncing foot rack 2-9 is provided with a bouncing foot motor gear 2-1 which is connected together through a bouncing foot middle shaft 2-10. The middle rod 2-8 of the bouncing foot extends from the middle part to two ends at a certain angle to form a connecting arm, the connecting arm at one end of the middle rod is connected with a bouncing sole 2-15 through a bearing II 2-12, the bouncing sole 2-15 is of a flat plate structure, the connecting arm of the middle rod 2-8 of the bouncing foot is connected to one side of a flat plate of the bouncing sole 2-15, the other side of the flat plate is connected with a bouncing foot rocker 2-16 through a shaft, and the far end of the bouncing foot rocker 2-16 is provided with a bouncing foot rocker shaft 2-17. The end part of the connecting arm at the other end of the bouncing foot intermediate rod 2-8 is provided with a cam rod 2-7, a cam 2-6 is arranged opposite to the cam rod 2-7, a cam transmission shaft 2-4 is arranged on the cam 2-6, one end of the cam transmission shaft 2-4 is connected with a cam transmission gear 2-3, the cam transmission gear 2-3 is connected with a bouncing foot motor gear 2-1 through a synchronous belt II 2-2, and the bouncing foot motor gear 2-1 rotates under the driving of a motor.
When the robot climbs to a terrain which can not pass through, the robot is automatically switched to a bounce mode, the optimum bounce starting point and the optimum bounce falling point are automatically calculated by the surrounding environment parameters, then the robot climbs to the bounce starting point, at the moment, a driving motor of the bounce foot starts to work, the driving force of the bounce foot is generated by the driving motor, is transmitted to a cam transmission shaft 2-4 through a motor gear 2-1 of the bounce foot, a synchronous belt II 2-2 and a cam transmission gear 2-3, drives a cam 2-6 to rotate, the cam 2-6 extrudes a cam rod 2-7 meshed with the cam, a torsion spring 2-11 is compressed through a middle rod 2-8 of the bounce foot to store energy, when the cam 2-6 runs to a preset angle, the cam 2-6 is separated from the rod 2-7, the energy of the torsion spring 2-11 is released, and the soles 2-15 of the bounce foot rapidly move downwards, the robot jumps by the reaction force generated by the ground to the bouncing sole.
Fig. 6 is an assembly drawing of the robot reset system of the present invention, the reset system is composed of a left reset wing system and a right reset wing system, fig. 7 shows the composition of the left reset wing system of the robot reset system of the present invention, as can be seen from fig. 7, the left reset wing system comprises a left reset wing 3-6 and a left reset wing shaft 3-3 connected with the left reset wing 3-6, a conical gear 3-1 is arranged at the end part of the other end of the left reset wing shaft 3-3, a reset wing reduction gear 3-4 is arranged in the middle of the shaft, and the reset wing reduction gear 3-4 is engaged with a motor reduction gear and rotates under the driving of a reset motor. The right reset wing system and the left reset wing system have the same composition, and the two reset wing shafts are arranged at a certain included angle, so that the bevel gears 3-1 of the left reset wing system and the right reset wing system are meshed with each other, and the left reset wing system and the right reset wing system are driven to open and retract by the output power of the reset motor.
After the robot finishes jumping action, the robot may overturn after falling to the ground, and when the sensor detects that the robot is in an overturning state for a long time, the reset wing system is started. During the reset action, the reset motor generates power, the output power is decelerated and transmitted to the left reset wing shaft 3-3 of the robot through the motor reduction gear and the reset wing reduction gear 3-4, the power is transmitted to the right reset wing shaft through the bevel gear 3-1, the reset wing shaft is assembled with the reset wings, and the rotation of the reset wing shaft is converted into the opening and the closing of the reset wings under the action of the positioning screws. When the reset wings are opened, the gravity center position of the robot is changed, the robot returns to the normal position under the action of gravity, and then the robot repeats the previous crawling or jumping action.
Claims (8)
1. A compound motion mode mobile robot with an autonomous reset function is characterized in that: the crawling foot is driven to move forwards by a crawling motor;
the robot jumping system comprises a jumping system, wherein the jumping system is quickly released after energy is stored by a torsion spring, and the robot jumps due to the counterforce generated by the ground on the bottom of a jumping foot;
the robot reset system comprises a reset system, a reset wing and a reset control system, wherein the reset wing is used for opening the reset wing after the robot overturns, and the robot completes reset by moving the gravity center position of the robot;
the reset system consists of a left reset wing system and a right reset wing system, the left reset wing system comprises a left reset wing (3-6) and a left reset wing shaft (3-3) connected with the left reset wing, a conical gear (3-1) is arranged at the end part of the other end of the left reset wing shaft (3-3), a reset wing reduction gear (3-4) is arranged in the middle of the left reset wing shaft (3-3), the reset wing reduction gear (3-4) is meshed with a motor reduction gear arranged and rotates under the driving of a reset motor, and the right reset wing system and the left reset wing system have the same composition.
2. The compound motion mode mobile robot having an autonomous reset function according to claim 1, wherein: the crawling system comprises crawling foot systems which are oppositely arranged on the left side and the right side, the right crawling foot system comprises a right crawling foot front mechanism (1-2), a right crawling foot middle mechanism (1-3) and a right crawling foot rear mechanism (1-4), the right crawling foot front mechanism (1-2) is connected with a right crawling foot driving motor (1-1) and provides power, and each part is transmitted with power through a synchronous belt I (1-5); the left foot system has the same composition as the right foot system.
3. The compound motion mode mobile robot having an autonomous reset function according to claim 2, wherein: the right crawling foot front mechanism part comprises a right crawling foot motor (1-2-1), a bracket (1-2-2), a front transmission gear (1-2-5), a right front foot reduction gear (1-2-6), a motor reduction gear (1-2-7), a right front shaft (1-2-8) and a right front foot (1-2-9), wherein the right front foot (1-2-9) is connected with the right front foot reduction gear (1-2-6) and the front transmission gear (1-2-5) through the right front shaft (1-2-8), and the end part of the right front shaft (1-2-8) is connected with the bracket (1-2-2) through the bearing I (1-2-3) so as to ensure that the right front shaft (1-2-8) drives the right front foot (1-2-9) to rotate smoothly.
4. The compound motion mode mobile robot having an autonomous reset function according to claim 2, wherein: the right crawling foot motor (1-2-1) is connected with the motor reduction gear (1-2-7), the right crawling foot motor (1-2-1) is also fixed on the support (1-2-2), and the motor reduction gear (1-2-7) is meshed with the right front foot reduction gear (1-2-6).
5. The compound motion mode mobile robot having an autonomous reset function according to claim 1, wherein: the bouncing system comprises a bouncing foot rack (2-9), one end of the bouncing foot rack (2-9) is provided with a bouncing foot middle rod (2-8), a torsion spring (2-11) is arranged between the bouncing foot middle rod (2-8) and the bouncing foot rack (2-9), the other end of the bouncing foot rack (2-9) is provided with a bouncing foot motor gear (2-1), and the bouncing foot middle rod (2-8) and the bouncing foot rack (2-9) are connected together through a bouncing foot middle shaft (2-10).
6. The compound motion mode mobile robot having an autonomous reset function according to claim 5, wherein: the bouncing foot middle rod (2-8) extends from the middle part to two ends at a certain angle to form a connecting arm, the connecting arm at one end of the bouncing foot middle rod is connected with a bouncing sole (2-15) through a bearing II (2-12), the bouncing sole (2-15) is of a flat plate structure, the connecting arm of the bouncing foot middle rod (2-8) is connected to one side of the flat plate of the bouncing sole (2-15), the other side of the bouncing foot middle rod is connected with a bouncing foot rocker (2-16) through a shaft, and the far end of the bouncing foot rocker (2-16) is provided with a bouncing foot rocker shaft (2-17).
7. The compound motion mode mobile robot having an autonomous reset function according to claim 6, wherein: the end part of a connecting arm at the other end of the bouncing foot intermediate rod (2-8) is provided with a cam rod (2-7), a cam (2-6) is arranged opposite to the cam rod (2-7), a cam transmission shaft (2-4) is arranged on the cam (2-6), one end of the cam transmission shaft (2-4) is connected with a cam transmission gear (2-3), the cam transmission gear (2-3) is connected with a bouncing foot motor gear (2-1) through a synchronous belt II (2-2), and the bouncing foot motor gear (2-1) rotates under the driving of a motor.
8. The compound motion mode mobile robot having an autonomous reset function according to claim 1, wherein: the two reset wing shafts are arranged at a certain included angle, so that conical gears (3-1) of the left and right reset wing systems are meshed, and the left and right reset wings are driven to open and retract by the output power of the reset motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010677332.9A CN111806592B (en) | 2020-07-14 | 2020-07-14 | Compound motion mode mobile robot with autonomic reset function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010677332.9A CN111806592B (en) | 2020-07-14 | 2020-07-14 | Compound motion mode mobile robot with autonomic reset function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111806592A CN111806592A (en) | 2020-10-23 |
| CN111806592B true CN111806592B (en) | 2022-05-17 |
Family
ID=72866351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010677332.9A Expired - Fee Related CN111806592B (en) | 2020-07-14 | 2020-07-14 | Compound motion mode mobile robot with autonomic reset function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111806592B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3956414B2 (en) * | 1996-11-19 | 2007-08-08 | ソニー株式会社 | Robot apparatus and control method of robot apparatus |
| CN100429112C (en) * | 2006-12-21 | 2008-10-29 | 浙江大学 | Wheel, leg, bounce mechanism combined mobile robot |
| KR20120071330A (en) * | 2010-12-22 | 2012-07-02 | 삼성중공업 주식회사 | Underwater moving apparatus and moving method thereof |
| CN103182188B (en) * | 2011-12-30 | 2016-10-19 | 创首公司 | The climbing robot of vibratory drive |
| CN107933733B (en) * | 2018-01-03 | 2023-09-01 | 河南科技大学 | Turtle-return-imitating swing-shank coupling overturning robot |
| CN109533077B (en) * | 2018-12-13 | 2020-04-07 | 燕山大学 | Robot simulating jumping and walking of bombyx |
-
2020
- 2020-07-14 CN CN202010677332.9A patent/CN111806592B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN111806592A (en) | 2020-10-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106275113B (en) | The joint crawler belt mobile platform mutually compound with wheel and the fire-fighting robot with it | |
| CN108163080B (en) | Electrically driven quadruped robot capable of adapting to high load capacity of complex rugged terrain | |
| CN201760877U (en) | Deformable robot travelling mechanism suitable for all landforms | |
| EP2858730A1 (en) | Propulsion system for a vehicle or a toy vehicle | |
| CN106965864B (en) | Wheel-track composite self-adaptive robot moving platform based on planet wheel | |
| WO2021135148A1 (en) | Multi-motion mode wheel-track-leg composite robot | |
| CN106335562B (en) | It is a kind of to take turns the Stair climbing device for carrying out switching | |
| CN102642578A (en) | Wheel-legged detector for planet surface detection | |
| CN110293543A (en) | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint | |
| CN109398009A (en) | Land sky caterpillar mobile robot | |
| CN109436125A (en) | A kind of quadruped robot of ten two degrees of freedom | |
| CN113443042B (en) | Wheel-foot combined type biped robot | |
| CN104709369A (en) | Planetary differential obstacle-crossing type tracked robot | |
| CN112373594A (en) | Wheel-leg hybrid drive type mining metamorphic robot | |
| CN114475831B (en) | Foot-type multi-mode bionic robot | |
| CN111806592B (en) | Compound motion mode mobile robot with autonomic reset function | |
| CN204548268U (en) | A kind of two eccentric Variable Eccentricity obstacle detouring assembly and wheel biped robot | |
| CN111114829A (en) | Jumping lunar mobile robot and motion mode thereof | |
| CN102295029A (en) | Adaptive wheel-leg combined obstacle detouring mechanism | |
| CN113650699A (en) | Bionic cockroach special robot in unstructured environment | |
| CN211308772U (en) | Self-adaptive under-actuated tracked robot | |
| CN110282036B (en) | Combined search and rescue robot | |
| CN107336574A (en) | A kind of liftable robot of changeable wheelbase | |
| CN206569163U (en) | A kind of barrier getting over mechanism of empennage connecting rod Time-sharing control | |
| CN204488996U (en) | Planetary differential obstacle crossing type caterpillar robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220517 |