CN112298397A - 一种适用于全地形路况的轮步式机器人足端机构 - Google Patents
一种适用于全地形路况的轮步式机器人足端机构 Download PDFInfo
- Publication number
- CN112298397A CN112298397A CN202011208005.5A CN202011208005A CN112298397A CN 112298397 A CN112298397 A CN 112298397A CN 202011208005 A CN202011208005 A CN 202011208005A CN 112298397 A CN112298397 A CN 112298397A
- Authority
- CN
- China
- Prior art keywords
- foot
- wheel
- claw
- pin shaft
- road conditions
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 56
- 210000000078 claw Anatomy 0.000 claims abstract description 112
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 230000035939 shock Effects 0.000 claims description 36
- 239000006096 absorbing agent Substances 0.000 claims description 35
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000011435 rock Substances 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
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011208005.5A CN112298397B (zh) | 2020-11-03 | 2020-11-03 | 一种适用于全地形路况的轮步式机器人足端机构 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011208005.5A CN112298397B (zh) | 2020-11-03 | 2020-11-03 | 一种适用于全地形路况的轮步式机器人足端机构 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112298397A true CN112298397A (zh) | 2021-02-02 |
CN112298397B CN112298397B (zh) | 2022-06-10 |
Family
ID=74332452
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011208005.5A Active CN112298397B (zh) | 2020-11-03 | 2020-11-03 | 一种适用于全地形路况的轮步式机器人足端机构 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112298397B (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113306646A (zh) * | 2021-05-28 | 2021-08-27 | 武汉理工大学 | 一种可变换行走方式的多足机器人架构 |
CN113335414A (zh) * | 2021-05-28 | 2021-09-03 | 武汉理工大学 | 一种基于猫爪仿生式足端装置 |
CN113581316A (zh) * | 2021-07-26 | 2021-11-02 | 北京航空航天大学 | 一种轮足快速切换的紧凑型被动足 |
CN114919675A (zh) * | 2022-06-09 | 2022-08-19 | 北京理工大学 | 一种轮足转换机构及其控制方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2026227C1 (ru) * | 1991-02-04 | 1995-01-09 | Станислав Вячеславович Груздев | Мобильный робот |
ES2086907T3 (es) * | 1992-11-05 | 1996-07-01 | Commissariat Energie Atomique | Pie de robot marchador. |
US20020088083A1 (en) * | 1998-03-06 | 2002-07-11 | Shigeo Takizawa | Caster for robot |
CN108820066A (zh) * | 2018-06-28 | 2018-11-16 | 吉林大学 | 一种可调节被动稳定机械足 |
CN109018060A (zh) * | 2018-07-14 | 2018-12-18 | 东莞市史雷帝三维数控科技有限公司 | 一种多功能全地形仿生机器人的行走装置 |
-
2020
- 2020-11-03 CN CN202011208005.5A patent/CN112298397B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2026227C1 (ru) * | 1991-02-04 | 1995-01-09 | Станислав Вячеславович Груздев | Мобильный робот |
ES2086907T3 (es) * | 1992-11-05 | 1996-07-01 | Commissariat Energie Atomique | Pie de robot marchador. |
US20020088083A1 (en) * | 1998-03-06 | 2002-07-11 | Shigeo Takizawa | Caster for robot |
CN108820066A (zh) * | 2018-06-28 | 2018-11-16 | 吉林大学 | 一种可调节被动稳定机械足 |
CN109018060A (zh) * | 2018-07-14 | 2018-12-18 | 东莞市史雷帝三维数控科技有限公司 | 一种多功能全地形仿生机器人的行走装置 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113306646A (zh) * | 2021-05-28 | 2021-08-27 | 武汉理工大学 | 一种可变换行走方式的多足机器人架构 |
CN113335414A (zh) * | 2021-05-28 | 2021-09-03 | 武汉理工大学 | 一种基于猫爪仿生式足端装置 |
CN113335414B (zh) * | 2021-05-28 | 2022-05-06 | 武汉理工大学 | 一种基于猫爪仿生式足端装置 |
CN113306646B (zh) * | 2021-05-28 | 2022-06-10 | 武汉理工大学 | 一种可变换行走方式的多足机器人架构 |
CN113581316A (zh) * | 2021-07-26 | 2021-11-02 | 北京航空航天大学 | 一种轮足快速切换的紧凑型被动足 |
CN114919675A (zh) * | 2022-06-09 | 2022-08-19 | 北京理工大学 | 一种轮足转换机构及其控制方法 |
CN114919675B (zh) * | 2022-06-09 | 2023-03-31 | 北京理工大学 | 一种轮足转换机构及其控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN112298397B (zh) | 2022-06-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN112298397B (zh) | 一种适用于全地形路况的轮步式机器人足端机构 | |
CN109911055B (zh) | 无人越障车 | |
CN105151153A (zh) | 一种轮腿复合式六足机器人移动平台 | |
CN112519913B (zh) | 一种全地形自适应轮步式机器人 | |
CN214875226U (zh) | 机器人的移动装置及机器人 | |
CN110217299A (zh) | 多功能通用型机器人底盘 | |
CN104527835B (zh) | 一种轮腿模式可切换机器人 | |
CN106553712A (zh) | 一种可变形履带行走装置 | |
CN109533056B (zh) | 履带式爬楼梯机器人 | |
CN112373594A (zh) | 一种轮腿混合驱动式矿用变胞机器人 | |
CN109334793B (zh) | 一种轮履交替式全地形车 | |
CN113173216A (zh) | 机器人的移动装置及机器人 | |
CN112208660A (zh) | 一种用于山地作业的轮履组合式底盘 | |
CN107472385B (zh) | 一种可快速转换形态的轮履复合式机器人 | |
CN110615048B (zh) | 一种基于泥泞地域快速移动的越野机器人 | |
CN210083396U (zh) | 一种无人越障车 | |
CN209757305U (zh) | 履带式爬楼梯机器人 | |
CN212828739U (zh) | 一种轮履复合小车 | |
CN203331766U (zh) | 轮式移动机器人车轮支撑机构 | |
CN113120138A (zh) | 一种具有增力爬坡功能的节能型山地电动车 | |
CN208085848U (zh) | 一种四足轮式机器人 | |
CN116552668A (zh) | 一种多姿态切换的变体式移动机器人 | |
CN109436127B (zh) | 一种适应复杂地形的移动机器人底盘 | |
CN210680967U (zh) | 一种越障机器人平台副履带传动装置 | |
CN113443040A (zh) | 一种轮腿复合式行驶***、机动平台及其行走方法 |
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 | ||
TR01 | Transfer of patent right |
Effective date of registration: 20231211 Address after: 401135 No. 618 Liangjiang Avenue, Longxing Town, Yubei District, Chongqing Patentee after: Chongqing Research Institute of Wuhan University of Technology Address before: 430070 Hubei Province, Wuhan city Hongshan District Luoshi Road No. 122 Patentee before: WUHAN University OF TECHNOLOGY |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240510 Address after: No. 19 Zhuoyue Road, Longxing Town, Yubei District, Chongqing, 404100 (cluster registration) Patentee after: Chongqing Wurong Technology Co.,Ltd. Country or region after: China Address before: 401135 No. 618 Liangjiang Avenue, Longxing Town, Yubei District, Chongqing Patentee before: Chongqing Research Institute of Wuhan University of Technology Country or region before: China |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240710 Address after: Room 216, 2nd Floor, No. 81 Jihuayuan East Road, Longxing Town, Liangjiang New Area, Yubei District, Chongqing, 401135 (Cluster Registration) Patentee after: Guozhiyan Automotive Technology (Chongqing) Co.,Ltd. Country or region after: China Address before: No. 19 Zhuoyue Road, Longxing Town, Yubei District, Chongqing, 404100 (cluster registration) Patentee before: Chongqing Wurong Technology Co.,Ltd. Country or region before: China |