CN114475839A - Autonomous wheel and claw reconfigurable obstacle crossing robot - Google Patents

Autonomous wheel and claw reconfigurable obstacle crossing robot Download PDF

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Publication number
CN114475839A
CN114475839A CN202111678420.1A CN202111678420A CN114475839A CN 114475839 A CN114475839 A CN 114475839A CN 202111678420 A CN202111678420 A CN 202111678420A CN 114475839 A CN114475839 A CN 114475839A
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China
Prior art keywords
wheel
claw
carbon fiber
autonomous
hub
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Granted
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CN202111678420.1A
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Chinese (zh)
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CN114475839B (en
Inventor
刘永
白冰
朱健声
宋梅利
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Publication of CN114475839A publication Critical patent/CN114475839A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle

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

Abstract

The invention provides an autonomous wheel-claw reconfigurable obstacle crossing robot which comprises a robot body, an autonomous reconfigurable wheel-claw wheel and an electronic device, wherein the autonomous reconfigurable wheel-claw wheel and the electronic device are arranged on the robot body and are used for giving control signals and controlling the robot to move. The invention can deform from wheel to claw and from claw to wheel without extra driving.

Description

Autonomous wheel and claw reconfigurable obstacle crossing robot
Technical Field
The invention belongs to the technology of obstacle-surmounting robots, and particularly relates to an autonomous wheel-claw reconfigurable obstacle-surmounting robot.
Background
Compared with a common round wheel, the claw-shaped wheel has stronger obstacle crossing capability, and most of the conventional wheel claw reconfigurable mechanisms are driven by a deformation mechanism and the wheel respectively, so that a wheel shafting structure is complex. In addition, most obstacle-surmounting robots in claw modes at the present stage are incomplete arcs, and can generate large impact and vibration in the advancing process, so that the connection of all components and the strength of key parts are greatly influenced.
Disclosure of Invention
The invention provides an autonomous wheel and claw reconfigurable obstacle crossing robot.
The technical solution for realizing the invention is as follows: an autonomous wheel-claw reconfigurable obstacle crossing robot comprises a robot body, an autonomous reconfigurable wheel-claw wheel and an electronic device, wherein the autonomous reconfigurable wheel-claw wheel and the electronic device are arranged on the robot body and are used for giving control signals and controlling the robot to move, the autonomous reconfigurable wheel-claw wheel comprises a motor, a wheel shaft, a crank, an extension spring, an outer wheel hub, an inner wheel hub, claws, a motor and a flat spiral spring, an output shaft of the motor is connected with one end of the wheel shaft, the outer wheel hub and the inner wheel hub are both arranged on the wheel shaft, the claws are arranged between the outer wheel hub and the inner wheel hub, the crank is fixed on the wheel shaft, two ends of the extension spring are respectively connected with the crank and the claws, one end of the flat spiral spring is fixed on the wheel shaft, the other end of the flat spiral spring is fixed on the outer wheel hub, and when the driving torque of the motor is smaller than the pre-tightening torque of the flat spiral spring and larger than the friction torque given to the wheel by the ground, the crank does not move relative to the outer hub and the inner hub, and the autonomous reconfigurable wheel claw wheel advances in a wheel mode; when the driving torque of the motor is larger than the pre-tightening torque of the plane volute spiral spring and larger than the friction torque of the ground, the crank moves relative to the outer hub and the inner hub, the crank drives the extension spring to rotate, the extension spring drives the claws to rotate, and the autonomous reconfigurable wheel claw wheel advances in a claw mode.
Preferably, the machine body comprises a machine body carbon fiber plate, a wheel part supporting carbon tube, a thick carbon fiber tube, a wheel part supporting plate, a carbon fiber tube clamp and a thin carbon fiber tube clamp. The carbon fiber plate of the engine body is two-layer, the pipe clamp is arranged between the two layers, the thick carbon fiber pipe of the pipe clamp is fixed on the carbon fiber plate of the engine body through the pipe clamp, the carbon fiber pipe clamp is arranged on the thick carbon fiber pipe, the wheel part supporting plate is fixed with the thick carbon fiber pipe through the carbon fiber pipe clamp, the thin carbon fiber pipe clamp is arranged on the wheel part supporting plate, and the thin carbon fiber pipe is fixed on the wheel part supporting plate through the thin carbon fiber pipe clamp. The autonomous reconfigurable wheel-claw wheel is arranged on the machine body through a thin carbon fiber tube, and the motor is arranged on the thin carbon fiber tube through a motor base.
Preferably, the axle is provided with a bearing and placed in a bearing seat, and the bearing seat is arranged on the fine carbon fiber tube.
Preferably, the crank end is provided with a groove, and one end of the extension spring is disposed in the groove of the crank end.
Preferably, the outer side wheel hub and the inner side wheel hub are provided with grooves, and the claws are arranged in the grooves.
Preferably, the planar spiral spring is disposed within a spiral spring housing disposed on the outer hub.
Preferably, the outer side wheel hub and the inner side wheel hub are both provided with an on-wheel bearing seat, and the on-wheel bearing seats are connected with the wheel shaft through bearings.
Preferably, the wheel shaft and the crank are circumferentially positioned through a flat key, and a sleeve is arranged between the wheel shaft and a bearing in the wheel bearing seat for axial positioning.
Compared with the prior art, the invention has the remarkable advantages that: 1. compared with the common circular wheel structure, the wheel has more excellent obstacle crossing capability. 2. The invention can deform from wheel to claw and from claw to wheel without extra driving. 3. The invention has simple and compact structure.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
FIG. 1 is a schematic composition diagram of an autonomous reconfigurable wheel-claw obstacle crossing robot.
Fig. 2(a) and (b) are wheel mode working schematic diagrams of the self-operated reconfigurable wheel claw wheel, and (c) is a sectional view of the self-operated reconfigurable wheel claw wheel.
Fig. 3(a) is a claw mode working schematic diagram of the self-contained reconfigurable wheel claw wheel, and (b) is a working schematic diagram that the claw of the self-contained reconfigurable wheel claw wheel is pressed back.
FIG. 4 is a schematic diagram of an obstacle crossing process of the autonomous reconfigurable wheel-claw obstacle crossing robot.
Detailed Description
An autonomous wheel-claw reconfigurable obstacle crossing robot adopts a wheel mode when a flat road surface advances, autonomously switches to a claw mode to advance when an obstacle exists, and realizes switching between the wheel mode and the claw mode through an autonomous wheel-claw reconfigurable wheel.
As shown in fig. 1, the autonomous wheel-claw reconfigurable obstacle crossing robot comprises a body 1, an autonomous reconfigurable wheel-claw wheel 2 arranged on the body 1, and an electronic device 3, wherein the electronic device 3 is used for giving control signals and controlling the robot to move.
The autonomous reconfigurable wheel claw wheel 2 includes a motor 21, a wheel axle 12, a crank 15, an extension spring 16, an outer hub 17, an inner hub 18, claws 20, a motor 21, and a flat spiral spring 22. An output shaft of the motor 21 is connected with one end of the wheel shaft 12, the outer side wheel hub 17 and the inner side wheel hub 18 are both arranged on the wheel shaft 12, the claw 20 is arranged between the outer side wheel hub 17 and the inner side wheel hub 18, the crank 15 is fixed on the wheel shaft 12, two ends of the extension spring 16 are respectively connected with the crank 15 and the claw 20, one end of the flat spiral spring 22 is fixed on the wheel shaft, and the other end of the flat spiral spring is fixed on the outer side wheel hub 17.
When the motor 21 works, the output shaft of the motor drives the wheel shaft 12 to rotate, and the wheel shaft 12 drives the crank 15 to rotate. When the driving torque of the motor 21 is smaller than the pre-tightening torque of the flat spiral spring 22 and larger than the friction torque given to the wheel by the ground, the crank 15, the outer hub 17 and the inner hub 18 do not move relatively, and the reconfigurable wheel claw wheel moves in a wheel mode; when the driving torque of the motor 21 is larger than the pre-tightening torque of the flat spiral spring 22 and larger than the friction torque of the ground, the crank 15, the outer hub 17 and the inner hub 18 move relatively, the crank 15 drives the extension spring 16 to rotate, the extension spring 16 drives the claw 20 to rotate, and the reconfigurable wheel claw wheel moves in a claw mode.
In a further embodiment, the machine body 1 comprises a machine body carbon fiber plate 4, a wheel portion support carbon tube 5, a thick carbon fiber tube 6, a wheel portion support plate 7, a carbon fiber tube clamp 8 and a thin carbon fiber tube clamp 9. The carbon fiber plate 4 of the machine body is two-layer in total, a pipe clamp is arranged between the two layers, the thick carbon fiber pipe 6 of the pipe clamp is fixed on the carbon fiber plate 4 of the machine body through the pipe clamp, a carbon fiber pipe clamp 8 is arranged on the thick carbon fiber pipe 6, the wheel part supporting plate 7 is fixed with the thick carbon fiber pipe 6 through the carbon fiber pipe clamp 8, a thin carbon fiber pipe clamp 9 is arranged on the wheel part supporting plate 7, and a thin carbon fiber pipe 10 is fixed on the wheel part supporting plate 7 through the thin carbon fiber pipe clamp 9. The autonomous reconfigurable wheel-claw wheel 2 is arranged on the machine body 1 through a thin carbon fiber tube 10, and the motor 21 is arranged on the thin carbon fiber tube 10 through a motor base 12.
Specifically, the axle 12 is provided with a bearing and is placed in a bearing seat 13. The bearing seat 13 is arranged on the fine carbon fiber tube 10.
Specifically, the end of the crank 15 is provided with a groove, and one end of the extension spring 16 is arranged in the groove at the end of the crank 15.
Specifically, the outer side hub 17 and the inner side hub 18 are provided with grooves, and the claws 20 are arranged in the grooves and are connected through rivets.
Specifically, the flat scroll spring 22 is disposed within the scroll spring case 19, and the scroll spring case 19 is disposed on the outer hub 17.
Specifically, the outer hub 17 and the inner hub 18 are both provided with the wheel upper bearing seat 14, and the wheel upper bearing seat 14 is connected with the wheel shaft 19 through a bearing.
Specifically, the axle 12 and the crank 15 are circumferentially positioned by a flat key, and are axially positioned by a sleeve arranged between the axle and a bearing in the wheel bearing seat 14.
The motor 21 is used for power output and drives the wheel shaft 12 to rotate through a set screw. The rotation of the axle 12 causes the crank 15 to rotate. There is no relative movement between the axle 12 and the crank 15. When the driving torque of the motor 21 is smaller than the pre-tightening torque of the flat spiral spring 22 at the end of the wheel shaft 12 and larger than the friction torque, the crank 15 and the whole body formed by the wheel upper bearing seat 14, the outer hub 17, the inner hub 18 and the spiral spring box 19 do not move relatively due to the action of the pre-tightening torque, and when the wheel shaft 12 rotates, the crank 15, the wheel upper bearing seat 14, the outer hub 17, the inner hub 18 and the spiral spring box 19 are driven to rotate together, so that the distance between the tail end of the claw 20 and the tail end of the crank 15 is kept unchanged, and the wheel claw wheel 2 can be reconstructed to move in a wheel mode. When the driving torque of the motor 21 is larger than the pre-tightening torque of the flat spiral spring 22 at the tail end of the wheel shaft 12 and larger than the friction torque, the flat spiral spring 22 contracts, the crank 15 and the whole body formed by the wheel upper bearing seat 14, the outer hub 17, the inner hub 18 and the spiral spring box 19 move relatively, the crank 15 moves to a preset limiting surface to drive the whole body to move, the crank 15 drives the extension spring 16 to move relative to the whole body to drive the claw 20 to move, and the reconfigurable wheel claw wheel moves in a claw mode.
The machine body 1 mainly plays a role in supporting electronic devices and connecting the autonomous reconfigurable wheel claw wheel 2.
Electronic devices 3 such as a battery, an electric speed regulator and a main control chip are placed on the machine body 1, and the electronic devices (3) provide motion control commands.
The movement mechanism of the autonomous reconfigurable wheel-claw wheel 2 is further explained with reference to fig. 2 and 3.
The output shaft of the motor 21 is fixedly connected with the wheel shaft 12 through thread connection, and no relative movement exists between the output shaft and the wheel shaft. The crank 15 and the wheel shaft 12 are axially fixed through a flat key, and no relative movement exists between the crank and the wheel shaft. The wheel upper bearing seat 14, the volute spiral spring box 19, the outer hub 17 and the inner hub 18 are connected into a whole through threads, and a bearing is arranged in the wheel upper bearing seat 14, so that the relative rotation of the wheel shaft 12 and the wheel upper bearing seat 14 can be ensured, and further the autonomous reconfigurable claw wheel 2 can be reconfigured in a wheel mode-claw mode. In order to ensure that the autonomous wheel-claw reconfigurable obstacle crossing robot moves stably when moving in a claw mode, a connecting rod transposition extension spring 16 of a reconfiguration mechanism is used, when a claw 20 contacts the ground, the claw 20 is pressed back into an outer hub 17 and an inner hub 18, and the extension spring 16 is extended, as shown in fig. 3.
With reference to fig. 4, the obstacle crossing process of the autonomous wheel and claw reconfigurable obstacle crossing robot is further described.
The motor 21 is power output, and a motor output shaft is fixedly connected with the motor base 11 through threaded connection. The motion and force output by the motor are transmitted to the wheel shaft 12 through the set screw, so that the wheel shaft 12 rotates; the axle 12 transmits motion and force to the crank 15 through the flat key. One end of the flat spiral spring is fixed to the wheel shaft 12 and the other end is fixed to the spiral spring case 19. When the pre-tightening torque of the flat spiral spring is larger than the output torque of the motor 21, and the torque of the motor 21 is larger than or equal to the friction torque generated by the outer hub 17, the inner hub 18 and the ground, the crank 15, the outer hub 17 and the inner hub 18 are kept relatively static, and the autonomous wheel claw reconfigurable obstacle crossing robot travels in a wheel mode; when the front side of the robot with the reconfigurable wheel claw crossing obstacle abuts against the obstacle, the positive pressure on the outer side hub 17 and the inner side hub 18 is increased, the generated friction torque is increased, so that the output torque of the motor 21 is increased, the pre-tightening torque of the flat spiral spring is smaller than the output torque of the motor 21, the output torque of the motor 21 is larger than or equal to the friction torque generated by the outer side hub 17 and the inner side hub 18, the crank 15 moves relative to the outer side hub 17 and the inner side hub 18, the claw 20 rotates around the rivet to open and hook the obstacle, and as shown in fig. 4a, the robot crosses the obstacle. When the front wheel passes an obstacle, the friction torque between the outer hub 17 and the inner hub 18 on the front wheel side and the ground is reduced, and the autonomous reconfigurable wheel-claw wheel 2 on the front wheel side is returned to the wheel mode. When the robot continues to move to the rear wheel side, the autonomous reconfigurable wheel-claw wheel 2 collides with the obstacle, the autonomous reconfigurable wheel-claw wheel 2 is reconfigured into a claw mode, and the obstacle is crossed as shown in fig. 4 b.

Claims (8)

1. An autonomous wheel-claw reconfigurable obstacle crossing robot is characterized by comprising a machine body (1), an autonomous reconfigurable wheel-claw wheel (2) and an electronic device (3), wherein the autonomous reconfigurable wheel-claw wheel (2) is arranged on the machine body (1), the electronic device (3) is used for giving control signals and controlling the robot to move, the autonomous reconfigurable wheel-claw wheel (2) comprises a motor (21), a wheel shaft (12), a crank (15), a tension spring (16), an outer side wheel hub (17), an inner side wheel hub (18), claws (20), a motor (21) and a flat spiral spring (22), an output shaft of the motor (21) is connected with one end of the wheel shaft (12), the outer side wheel hub (17) and the inner side wheel hub (18) are arranged on the wheel shaft (12), the claws (20) are arranged between the outer side wheel hub (17) and the inner side wheel hub (18), and the crank (15) is fixed on the wheel shaft (12), two ends of an extension spring (16) are respectively connected with a crank (15) and a claw (20), one end of a plane volute spring (22) is fixed on a wheel shaft, the other end of the plane volute spring is fixed on an outer side wheel hub (17), when the driving torque of a motor (21) is smaller than the pre-tightening torque of the plane volute spring (22) and larger than the friction torque of the ground to the wheel, the crank (15), the outer side wheel hub (17) and the inner side wheel hub (18) do not move relatively, and the autonomous reconfigurable wheel claw wheel (2) moves in a wheel mode; when the driving torque of the motor (21) is larger than the pre-tightening torque of the plane volute spiral spring (22) and larger than the friction torque of the ground, the crank (15), the outer hub (17) and the inner hub (18) move relatively, the crank (15) drives the extension spring (16) to rotate, the extension spring (16) drives the claw (20) to rotate, and the autonomous reconfigurable wheel claw wheel (2) advances in a claw mode.
2. The autonomous wheel and claw reconfigurable obstacle crossing robot according to claim 1, wherein the body (1) comprises a body carbon fiber plate (4), a wheel portion supporting carbon tube (5), a thick carbon fiber tube (6), a wheel portion supporting plate (7), a carbon fiber tube clamp (8) and a thin carbon fiber tube clamp (9). The carbon fiber plate is characterized in that the carbon fiber plate (4) of the machine body is two-layer in total, pipe clamps are arranged between the two layers, a thick carbon fiber pipe (6) of each pipe clamp is fixed on the carbon fiber plate (4) of the machine body through the pipe clamps, a carbon fiber pipe clamp (8) is arranged on each thick carbon fiber pipe (6), the wheel portion supporting plate (7) is fixed with the thick carbon fiber pipe (6) through the carbon fiber pipe clamp (8), a thin carbon fiber pipe clamp (9) is arranged on the wheel portion supporting plate (7), and a thin carbon fiber pipe (10) is fixed on the wheel portion supporting plate (7) through the thin carbon fiber pipe clamp (9). The autonomous reconfigurable wheel claw wheel (2) is arranged on the machine body (1) through a thin carbon fiber tube (10), and the motor (21) is arranged on the thin carbon fiber tube (10) through a motor base (12).
3. The autonomous wheel and claw reconfigurable obstacle crossing robot according to claim 2, characterized in that a bearing is arranged on the wheel shaft (12) and placed in a bearing seat (13), and the bearing seat (13) is arranged on the thin carbon fiber tube (10).
4. The autonomous wheel and claw reconfigurable obstacle crossing robot according to claim 1, characterized in that a groove is provided at a distal end of the crank (15), and one end of the extension spring (16) is disposed in the groove at the distal end of the crank (15).
5. The autonomous wheel and claw reconfigurable obstacle crossing robot according to claim 1, wherein grooves are formed in the outer side wheel hub (17) and the inner side wheel hub (18), and the claws (20) are arranged in the grooves.
6. The autonomous wheel and claw reconfigurable obstacle crossing robot of claim 1, characterized in that the flat spiral spring (22) is disposed within a spiral spring case (19), the spiral spring case (19) being disposed on the outboard hub (17).
7. The autonomous wheel-claw reconfigurable obstacle-surmounting robot according to claim 1, characterized in that the outer hub (17) and the inner hub (18) are provided with on-wheel bearing seats (14), and the on-wheel bearing seats (14) are connected with the wheel shaft (19) through bearings.
8. The autonomous wheel and claw reconfigurable obstacle crossing robot according to claim 1, characterized in that the wheel axle (12) and the crank (15) are circumferentially positioned by a flat key and axially positioned by a sleeve arranged between the wheel and a bearing in the wheel bearing seat (14).
CN202111678420.1A 2021-12-31 2021-12-31 Autonomous wheel-claw reconfigurable obstacle surmounting robot Active CN114475839B (en)

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CN202111678420.1A CN114475839B (en) 2021-12-31 2021-12-31 Autonomous wheel-claw reconfigurable obstacle surmounting robot

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Application Number Priority Date Filing Date Title
CN202111678420.1A CN114475839B (en) 2021-12-31 2021-12-31 Autonomous wheel-claw reconfigurable obstacle surmounting robot

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CN114475839B CN114475839B (en) 2024-05-07

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0658402A1 (en) * 1993-12-14 1995-06-21 Commissariat A L'energie Atomique A robotic vehicle provided with a device for surmounting obstacles
JP2010234870A (en) * 2009-03-30 2010-10-21 Fukuoka Prefecture Wheel and traveling device
CN204124171U (en) * 2014-10-11 2015-01-28 陕西科技大学 Haul goods dolly in a kind of portable building of climbing
CN105539006A (en) * 2015-12-14 2016-05-04 北京工业大学 Obstacle crossing wheel with wheel and jaw switching function
WO2016078619A1 (en) * 2014-11-21 2016-05-26 江苏天绘智能科技有限公司 Wheel for ascending stairs, wheeled vehicle for ascending stairs and electric bicycle capable of ascending and descending stairs
CN105620188A (en) * 2016-03-29 2016-06-01 邹立新 Cross-country vehicle wheel
CN109533069A (en) * 2018-12-14 2019-03-29 中国科学院深圳先进技术研究院 The permanent wheeled barrier-surpassing robot of torque
CN109794920A (en) * 2019-02-27 2019-05-24 燕山大学 A kind of bionical restructural rescue robot
CN110843413A (en) * 2019-11-26 2020-02-28 哈尔滨工业大学 Obstacle-crossing wheel applied to field severe environment
CN111845194A (en) * 2020-08-04 2020-10-30 腾讯科技（深圳）有限公司 Wheel of wheeled mobile equipment and wheeled mobile equipment

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0658402A1 (en) * 1993-12-14 1995-06-21 Commissariat A L'energie Atomique A robotic vehicle provided with a device for surmounting obstacles
JP2010234870A (en) * 2009-03-30 2010-10-21 Fukuoka Prefecture Wheel and traveling device
CN204124171U (en) * 2014-10-11 2015-01-28 陕西科技大学 Haul goods dolly in a kind of portable building of climbing
WO2016078619A1 (en) * 2014-11-21 2016-05-26 江苏天绘智能科技有限公司 Wheel for ascending stairs, wheeled vehicle for ascending stairs and electric bicycle capable of ascending and descending stairs
CN105539006A (en) * 2015-12-14 2016-05-04 北京工业大学 Obstacle crossing wheel with wheel and jaw switching function
CN105620188A (en) * 2016-03-29 2016-06-01 邹立新 Cross-country vehicle wheel
CN109533069A (en) * 2018-12-14 2019-03-29 中国科学院深圳先进技术研究院 The permanent wheeled barrier-surpassing robot of torque
CN109794920A (en) * 2019-02-27 2019-05-24 燕山大学 A kind of bionical restructural rescue robot
CN110843413A (en) * 2019-11-26 2020-02-28 哈尔滨工业大学 Obstacle-crossing wheel applied to field severe environment
CN111845194A (en) * 2020-08-04 2020-10-30 腾讯科技（深圳）有限公司 Wheel of wheeled mobile equipment and wheeled mobile equipment

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