CN205574096U - Sufficient formula robot system that switches of wheel - Google Patents
Sufficient formula robot system that switches of wheel Download PDFInfo
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- CN205574096U CN205574096U CN201620416966.8U CN201620416966U CN205574096U CN 205574096 U CN205574096 U CN 205574096U CN 201620416966 U CN201620416966 U CN 201620416966U CN 205574096 U CN205574096 U CN 205574096U
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Abstract
The utility model provides a sufficient formula robot system that switches of wheel, set up six sufficient walking mechanism and four -wheel moving mechanism simultaneously on the robot master, survey the environment barrier through lower photoelectric sensor, undetected when the barrier, controller control four -wheel moving mechanism remove, wheeled walking is walked on can being applicable to the plane road surface, instantly, photoelectric sensor detects the barrier then the controller is given to the real time transport obstacle signal, the controller is controlled the machine people and is moved to switch over from four -wheel moving mechanism and be six sufficient walking mechanism and carry out sufficient business concern operating a porters' service and walk in response to the obstacle signal, sufficient foot is comparatively nimble, walk in the obstacle highway section more easily, in sufficient foot the walking process, thereby sufficient foot supports ground makes robot master lifting drive the lifting of four walking wheels, thereby prevent the friction on walking wheel and ground, it is more nimble also to make sufficient foot walk the position.
Description
Technical field
This utility model relates to robot field, particularly to be a kind of wheel foot suitching type robot system.
Background technology
Along with the development of technology, robot is applied to the various aspects of productive life.There is locomotive function
Robot is widely used in the material handling in automated production workshop, space exploration, ocean development, clothes
Business, medical treatment and nursing, building, agriculture and forestry, special trade (core, pollution environment etc.), military affairs etc..
Allow robot move up the simplest most straightforward approach and load onto wheel to him exactly, both ratcheting mechanism.This
Plant wheel type " foot " can stably move at a high speed, simple in construction, easy to operate, but the requirement of road pavement ratio
Higher, it is only applicable to smooth ground moving.When running into the situation that road surface is uneven, even have high-low staggered-floor
Time, then robot cannot pass through, and existing mode typically can use robot to take a devious route, to circumvent obstacle
Section, but it is easy to so that robot deviation predetermined trajectory walking, goes wrong, and still cannot solve
The problem of walking in the road conditions of high-low staggered-floor.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of wheel foot suitching type robot system, it is possible to
According to whether there is Environment Obstacles thing and walk in foot business concern operating a porters' service and switch between the two with running on wheels, overcome obstacle road conditions
The problem of lower difficulty in walking.
For solving the problems referred to above, the utility model proposes a kind of wheel foot suitching type robot system, including: machine
Device people's master, six-legged walking machine structure, four-wheel travel mechanism, photoelectric sensor, controller；At described machine
Analyzing rod vertically upward it is provided with on people's master；Described six-legged walking machine structure includes six three joint foot feet,
Described six foot three joint foot foot uniform intervals are around the position, edge being arranged on described robot master；Described four
Wheel travel mechanism include four road wheels, described four road wheels be separately positioned on described robot master in
On centrosymmetric four positions；Described photoelectric sensor includes lower photoelectric sensor, described lower photoelectric sensing
Device is arranged on the certain altitude of analyzing rod, the phase in order to detection Environment Obstacles thing in robot moving process
Answer dyspoiesis signal real-time Transmission to described controller；Described controller is not receiving described lower photoelectricity
Control described six-legged walking machine structure during the obstacle signal of sensor to lift and control described four-wheel travel mechanism and move
Dynamic, described controller controls described six-legged walking machine when receiving the obstacle signal of described lower photoelectric sensor
Structure declines to support ground and controls the walking of described six-legged walking machine structure.
According to an embodiment of the present utility model, described photoelectric sensor also includes in order to move in robot
During detect Environment Obstacles thing and corresponding dyspoiesis signal real-time Transmission to the glazing of described controller
Electric transducer, described upper photoelectric sensor is arranged on the position higher than described lower photoelectric sensor of described analyzing rod
Put；Control described four-wheel travel mechanism during the obstacle signal of described controller photoelectric sensor on receiving to stop
The most mobile or described six-legged walking machine structure stops walking.
According to an embodiment of the present utility model, described analyzing rod has scale, described lower photoelectric sensing
Device and upper photoelectric sensor slidable connection and can be locked on described analyzing rod on described analyzing rod.
According to an embodiment of the present utility model, described robot master includes upper and lower company separated by a distance
The top plate being connected together and lower plywood, described top plate and lower plywood are all in regular hexagon；Described four-wheel moves
Four road wheels of motivation structure are arranged on the lower section of described lower plywood, six SAN GUAN of described six-legged walking machine structure
Joint foot foot is separately positioned on the centre position of top plate each edge；Described controller controls described six-legged walking machine
During structure walking, three alternate three joint foot feet are one group of foot foot, two groups of foot feet are controlled the most alternately to be lifted,
Stretch out, put down.
According to an embodiment of the present utility model, the central authorities at the lower plywood of described robot master also set up
Having the supporting part that can stretch up and down, described supporting part includes the plectane for contacting with ground and can stretch up and down
Pole, one end of described pole connects described plectane, and the other end connects described lower plywood, and described pole is stretched
Time long can lifting robot master thus four-wheel travel mechanism is lifted away from ground.
According to an embodiment of the present utility model, also include in order to driving under the control of described controller
DC servo motor, described DC servo motor includes 18 in order to each pass driving six three joint foot feet
Digital rudder controller is saved in the pass of joint, and 4 in order to drive the road wheel digital rudder controller of four road wheels；Described
Controller is single-chip microcomputer, and described single-chip microcomputer has at least 4 railway digital rudder control interfaces, the first digital rudder controller
Controlling interface to be taken by 4 road wheel digital rudder controllers, the second digital rudder controller controls interface by two front foots
Pass is saved digital rudder controller and is taken, and the 3rd digital rudder controller control interface is saved digital rudder controller by the pass of two mesopodiums and accounted for
With, the 4th digital rudder controller control interface is saved digital rudder controller by the pass of two metapedes and is taken.
According to an embodiment of the present utility model, take same digital rudder controller control interface digital rudder controller it
Between be serially connected by connection, each digital rudder controller use half-duplex asynchronous serial bus communication mode, and
Each digital rudder controller is assigned different steering wheel marks.
After using technique scheme, this utility model has the advantages that compared to existing technology at machine
Six-legged walking machine structure and four-wheel travel mechanism are set on device people's master simultaneously, detect ring by lower photoelectric sensor
Border barrier, when being not detected by barrier, controller controls four-wheel travel mechanism and moves, running on wheels
Go for plane road surface up walk, photoelectric sensor detects barrier then real-time Transmission obstacle instantly
Signal is to controller, and controller controls robot from four-wheel travel mechanism mobile handoff in response to obstacle signal
Carrying out foot business concern operating a porters' service for six-legged walking machine structure to walk, foot foot is the most flexible, it is easier to walk in obstacle section,
In foot foot walking process, foot foot support ground makes robot master lifting thus drives four road wheels to lift
Rise, thus prevent the friction of road wheel and ground, also make foot foot walk the most flexible.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the wheel foot suitching type robot system of this utility model embodiment；
Fig. 2 is the structural representation of the Lun Zu suitching type robot of this utility model embodiment；
Fig. 3 is the schematic flow sheet of the control method of the Lun Zu suitching type robot of this utility model embodiment.
Detailed description of the invention
Understandable for enabling above-mentioned purpose of the present utility model, feature and advantage to become apparent from, below in conjunction with attached
Detailed description of the invention of the present utility model is described in detail by figure.
Elaborate a lot of detail in the following description so that fully understanding this utility model.But this
Utility model can be implemented to be much different from alternate manner described here, and those skilled in the art are permissible
Doing similar popularization in the case of this utility model intension, therefore this utility model is not by described below
The restriction being embodied as.
Referring to Fig. 1, the wheel foot suitching type robot system of the present embodiment, including: robot master, six foots
Walking mechanism 2, four-wheel travel mechanism 3, photoelectric sensor, controller 5.Six-legged walking machine structure 2, four-wheel
Travel mechanism 3, photoelectric sensor and controller equal 5 is arranged on robot master, six-legged walking machine structure 2
Walking and four-wheel travel mechanism 3 movement can band mobile robot master so that whole machine People's Bank of China
Walk or mobile.Robot master is additionally provided with analyzing rod vertically upward.
Referring to Fig. 2, six-legged walking machine structure 2 includes six three joint foot feet, between six foot three joint foot feet are uniform
Every around the position, edge being arranged on robot master.Three joint foot business concern operating a porters' service are moved more flexible, uniform intervals around
It is arranged on robot master periphery, the stability of robot ambulation can be strengthened, prevent machine in walking process
There is centre-of gravity shift in people.
Four-wheel moving machine 3 includes four road wheels, four road wheels be separately positioned on robot master in
On four positions that the heart is symmetrical, four road wheels can be driving wheel, strengthens the walking stability of robot,
It is not easy stuck, it is simple to the control of moving direction, is also not easy to be absorbed in hole.It is also preferred that the left four road wheels
In distribution before and after two-by-two, walking stability and turn to reliability higher, but without limitation, four road wheels
Such as can also be arranged side by side.Front and back relative, fore-and-aft direction with reference to according to can be before robot
Enter direction.
Photoelectric sensor includes that lower photoelectric sensor 41, lower photoelectric sensor 41 are arranged on the certain of analyzing rod
On height, such that it is able to whether the anterior position detecting this height exists Environment Obstacles thing, lower photoelectric sensor
41 detections are the Environment Obstacles thing in front, the probe courts of lower photoelectric sensor 41 during robot advances
Forwards.Lower photoelectric sensor 41 detects Environment Obstacles thing in robot moving process, is detecting ring
Corresponding dyspoiesis signal during the barrier of border, and in real time obstacle signal is transferred to controller 5.Controller 5
When not receiving the obstacle signal of lower photoelectric sensor 41, control six-legged walking machine structure 2 and lift and control
Four-wheel travel mechanism 3 processed moves, and when receiving the obstacle signal of lower photoelectric sensor 41, controls six
Foot walking machine structure 2 declines to support ground and control six-legged walking machine structure 2 to walk.
In one embodiment, photoelectric sensor can also include photoelectric sensor 42, upper photoelectric sensing
Device 42 is arranged on the position higher than lower photoelectric sensor 41 of analyzing rod, thus at upper photoelectric sensor 42
When detecting barrier, lower photoelectric sensor 41 can detect barrier the most accordingly.Lower photoelectric sensor 41
Can be such as infrared sensor with upper photoelectric sensor 42.In robot moving process, upper photoelectric transfer
Sensor 42 and lower photoelectric sensor 41 detect Environment Obstacles thing simultaneously, when both are concurrently detected Environment Obstacles
All corresponding dyspoiesis signal during thing, and obstacle signal real-time Transmission is being connect to controller 5, controller 5
When receiving the obstacle signal of photoelectric sensor 42, control four-wheel travel mechanism 3 and stop mobile or six foot steps
Row mechanism 2 stop walking, due to upper photoelectric sensor 42 position than lower photoelectric sensor 41 position more
Height, when upper photoelectric sensor 42 also is able to detect barrier, illustrates the excessive height of barrier, machine
Device people cannot walk cross in the past by foot business concern operating a porters' service, thus controller 5 first controls to stop the advance of robot, and
After can control four-wheel travel mechanism 3 and be moved rearwards by, retreat and turn, with cut-through section.
It is also preferred that the left have scale on analyzing rod, lower photoelectric sensor 41 and upper photoelectric sensor 42 are slidably
It is connected on analyzing rod and can be locked on analyzing rod, such that it is able to adjust the barrier that robot can cross over
Hinder the height of thing, to be adapted to the robot of different scales, and according to lower photoelectric sensor 41 and upper photoelectricity
The obstacle signal that sensor 42 generates can know the general height scope of barrier.
Referring to Fig. 2, in one embodiment, robot master can include the top plate 11 linked together
Separated by a distance with lower plywood 12, top plate 11 and lower plywood about 12, top plate 11 and lower plywood
12 all in regular hexagon.Four road wheels of four-wheel travel mechanism 3 are arranged on the lower section of lower plywood 12, and six
Six three joint foot feet of foot walking machine structure 2 are separately positioned on the centre position of top plate 11 each edge,
During running on wheels, six three joint foot feet are controlled is raised out ground, owing to six three joint foot feet are arranged on
On top plate 11, and four road wheels are arranged on below lower plywood 12, there is a certain distance between the two,
Such that it is able to reduce the distance of six foot three joint foot foot liftings, and then reduce the overall energy consumption of robot.Control
Device 5 controls six-legged walking machine structure 2 when walking, three SAN GUAN of alternate on top plate 11 (non-adjacent)
Joint foot foot is one group of foot foot, and two groups of foot feet are controlled the most alternately to be lifted, stretch out, put down.In the process of walking,
Non-conterminous tripodia can be made to land all the time, more to the strong point on ground, improve the stability of movement, no
It is easily caused robot overturning.
In one embodiment, the central authorities at the lower plywood 12 of robot master are additionally provided with and can stretch up and down
Supporting part (not shown), supporting part includes the plectane for contacting with ground and can stretch up and down
Pole, one end of pole connects plectane, and the other end connects lower plywood 12, can lifting machine during pole elongation
Device people's master thus four-wheel travel mechanism 3 is lifted away from ground.When robot stops work, robot is without carrying out
Walking, and if road wheel is permanently connected to ground, permanent after easily cause the damage of road wheel, because of
And when robot need not walking, supported by supporting part so that four road wheels leave ground,
Six sufficient feet lift in an initial condition, thus leave ground equally when need not walking, can extend machine
The service life of the walking mechanism of device people.Supporting part is arranged on the central authorities of lower plywood 12, and (yes in lower floor
Extend below plate), it is ensured that the stability of support.
With continued reference to Fig. 1, wheel foot suitching type robot system also includes DC servo motor 6.DC servo
Electricity, 6 are driven under the control of controller 5.DC servo motor 6 can include that number is saved in 18 passes
Word steering wheel and 4 road wheel digital rudder controllers.Each road wheel arranges a road wheel digital rudder controller and drives
Walking, each joint of six sufficient feet 2 arranges a pass and saves digital rudder controller and carry out drive actions.
Digital rudder controller such as can use model to be CDS5516 digital rudder controller.Digital rudder controller uses half-duplex
Asynchronous serial bus communication mode.It is equipped with signaling interface on each digital rudder controller.Signaling interface and controller
Digital interface be connected, to receive control signal.And can be simply by connection string between these motors
Connect in succession, as long as distributing different identification number interfaces to corresponding numeral rudder to when controlling different digital steering wheel
Machine controls accordingly, thus controls the gait of robot motion, speed and direction.
Controller 5 is single-chip microcomputer, and single-chip microcomputer has at least 4 railway digital rudder control interfaces, the first numeral rudder
Machine controls interface and is taken by 4 road wheel digital rudder controllers, and the second digital rudder controller controls interface by two front foots
Pass save digital rudder controller and take, the 3rd digital rudder controller controls interface and is saved digital rudder controller by the pass of two mesopodiums
Taking, the 4th digital rudder controller control interface is saved digital rudder controller by the pass of two metapedes and is taken.In other words, will
It is connected by connection between 4 road wheel digital rudder controllers, concatenates last road wheel numeral rudder
Machine is connected to the first digital rudder controller of controller and controls interface, to receive control signal；The joint of two front foots
It is connected by connection with between digital rudder controller, concatenates a last pass and save digital rudder controller and be connected to control
Second digital rudder controller of device controls interface, to receive control signal；The pass of two mesopodiums save digital rudder controller it
Between by connection be connected, concatenate a last pass save digital rudder controller be connected to controller the 3rd numeral
Rudder control interface, to receive control signal；The pass of two metapedes is saved and is passed through connection between digital rudder controller
Be connected, concatenate a last pass save digital rudder controller be connected to controller the 4th digital rudder controller control connect
Mouthful, to receive control signal.Each digital rudder controller has different labellings number, and each digital rudder controller is according to control
Labelling number that signal processed carries and receive the control signal as self.
It is also preferred that the left every sufficient foot of six sufficient feet to land position 21 L-shaped, the L-type of every sufficient foot falls
The ground transverse part at position 21 is connected with the joint of its front end, and the L-type of every sufficient foot lands the vertical part at position 21
Partly or entirely bending towards transverse part, vertical part is used for floor-type support, and the L-type of every sufficient foot lands position 21
Side, right angle is provided towards robot master.It is to say, L-type lands the vertical part at position 21 towards machine
Device people's master bends, six sufficient feet land position 21 in the trend mutually drawn close, support during ground more steady
Gu.
Referring to Fig. 3, this utility model also provides for a kind of wheel as described in any one in previous embodiment foot and cuts
Change the control method of formula robot system, comprise the following steps:
S1: under original state, controller controls four-wheel travel mechanism and moves, it is achieved the wheeled row of robot
Walk；
S2: in robot moving process, lower photoelectric sensor detection Environment Obstacles thing, if detecting ring
Border barrier, then corresponding dyspoiesis signal real-time Transmission give described controller；
S3: controller controls in response to described obstacle signal to switch to foot business concern operating a porters' service to walk, and controls described four-wheel
Travel mechanism stops mobile, described six-legged walking machine structure walking, so that Environment Obstacles thing is crossed over by robot；
S4: controller controls again to switch back into four-wheel travel mechanism after robot across obstacle and moves.
Below in conjunction with Fig. 1-3, the control method taking turns foot suitching type robot system of the present utility model is entered one
Step describes in detail.
In step sl, robot starts, and original state is running on wheels, and controller 5 controls four-wheel and moves
Motivation structure 3 moves, and now six three joint foot feet of six-legged walking machine structure 2 are raised out ground, wheeled row
Walk to be applicable to robot in smooth ground walking.
Then, in step s 2, during robot running on wheels, lower photoelectric sensor 41 is continuous
The Environment Obstacles thing in detection walking front, if detecting Environment Obstacles thing, corresponding dyspoiesis signal, and will
Obstacle signal is transferred to controller 5 in real time.
Optionally, when arranging lower photoelectric sensor 41 and upper photoelectric sensor 42 on robot master,
In step s 2, in robot moving process, lower photoelectric sensor 41 and upper photoelectric sensor 42 are same
Time detection Environment Obstacles thing, if lower photoelectric sensor 41 and/or upper photoelectric sensor 42 detect environment barrier
Hinder thing, then the most corresponding dyspoiesis signal real-time Transmission are to controller 5.
Then, in step s3, when only arranging lower photoelectric sensor 41, then controller on robot master
5 obstacle signals receiving lower photoelectric sensor 41, just control four-wheel travel mechanism 3 and stop mobile, control
Six-legged walking machine structure 2 processed is walked, so that walking manner to switch to foot business concern operating a porters' service walk, thus across obstacle.
When arranging lower photoelectric sensor 41 and upper photoelectric sensor 42 on robot master, then in step
In S3, if controller 5 only receives the obstacle signal of lower photoelectric sensor 41, then control to switch to sufficient foot
Walking, if controller 5 is simultaneously received the obstacle of both lower photoelectric sensor 41 and upper photoelectric sensor 42
Signal, then control four-wheel travel mechanism 3 and retreat, turn, to avoid Environment Obstacles thing, prevent barrier mistake
High and occur that robot foot business concern operating a porters' service is walked to be difficult to the situation crossed over.
Then, in step s 4, if robot switches to foot business concern operating a porters' service to walk and after across obstacle, control
Device 5 controls again to switch back into four-wheel travel mechanism 3 and moves.Can be at lower plywood 12 lower surface of robot
Arranging range sensor, range sensor senses its distance to ground, and on obstacle section, distance is less,
And after leaping over obstacles section, distance becomes big and keeps constant, the most just can control to switch back into four-wheel and move
Mechanism 3 moves, to reduce the power consumption of robot system.
In one embodiment, in an initial condition, six three joint foot feet of six-legged walking machine structure 2 are lifted away from
Ground.When switching to foot business concern operating a porters' service to walk, controller 5 controls six three foot foot supporting descending ground, joint, machine
Three three joint foot feet alternate on device people's master are one group of foot foot, and controller 5 then controls two groups of foot feet and depends on
Secondary alternately lift, stretch out, put down.
May refer to about the control method other guide taking turns foot suitching type robot system of the present utility model
The aforementioned description content taking turns foot suitching type robot system of this utility model, something in common, do not repeat them here.
Although this utility model is open as above with preferred embodiment, but it is not for limiting claim,
Any those skilled in the art, without departing from spirit and scope of the present utility model, can make possible
Variation and amendment, protection domain the most of the present utility model should be defined with this utility model claim
Scope is as the criterion.
Claims (7)
1. a wheel foot suitching type robot system, it is characterised in that including: robot master, six foot steps
Row mechanism, four-wheel travel mechanism, photoelectric sensor, controller；Described robot master is provided with vertical
Straight analyzing rod upwards；Described six-legged walking machine structure includes six three joint foot feet, described six foot three joint foots
Foot uniform intervals is around the position, edge being arranged on described robot master；Described four-wheel travel mechanism includes four
Individual road wheel, described four road wheels are separately positioned on be centrosymmetric four portions of described robot master
On position；Described photoelectric sensor includes that lower photoelectric sensor, described lower photoelectric sensor are arranged on analyzing rod
On certain altitude, in order to detection Environment Obstacles thing in robot moving process, corresponding dyspoiesis signal is also
Real-time Transmission gives described controller；Described controller is not receiving the obstacle signal of described lower photoelectric sensor
Time control described six-legged walking machine structure and lift and control described four-wheel travel mechanism and move, described controller exists
Control described six-legged walking machine structure when receiving the obstacle signal of described lower photoelectric sensor to decline to support ground
Face also controls the walking of described six-legged walking machine structure.
2. wheel foot suitching type robot system as claimed in claim 1, it is characterised in that described photoelectric transfer
Sensor also includes that corresponding dyspoiesis signal is also in order to detection Environment Obstacles thing in robot moving process
Real-time Transmission gives the upper photoelectric sensor of described controller, and described upper photoelectric sensor is arranged on described analyzing rod
The position higher than described lower photoelectric sensor；The obstacle letter of described controller photoelectric sensor on receiving
Number time control described four-wheel travel mechanism and stop mobile or described six-legged walking machine structure and stop walking.
3. wheel foot suitching type robot system as claimed in claim 2, it is characterised in that described analyzing rod
On have scale, described lower photoelectric sensor and upper photoelectric sensor slidable connection on described analyzing rod,
And can be locked on described analyzing rod.
4. wheel foot suitching type robot system as claimed in claim 1, it is characterised in that described robot
Master includes the top plate linked together the most separated by a distance and lower plywood, described top plate and lower floor
Plate is all in regular hexagon；Four road wheels of described four-wheel travel mechanism are arranged on the lower section of described lower plywood,
Six three joint foot feet of described six-legged walking machine structure are separately positioned on the centre position of top plate each edge；Institute
When stating controller control described six-legged walking machine structure walking, three alternate three joint foot feet are one group of foot foot,
Two groups of foot feet are controlled the most alternately to be lifted, stretch out, put down.
5. wheel foot suitching type robot system as claimed in claim 4, it is characterised in that at described machine
The central authorities of the lower plywood of people's master are additionally provided with the supporting part that can stretch up and down, described supporting part include for
The plectane of ground contact and the pole that can stretch up and down, the described plectane of one end connection of described pole, the other end
Connect described lower plywood, during the elongation of described pole can lifting robot master thus four-wheel travel mechanism is lifted
Overhead.
6. wheel foot suitching type robot system as claimed in claim 1, it is characterised in that also include in order to
The DC servo motor driven under the control of described controller, described DC servo motor includes 18 use
To drive the pass in each joint of six three joint foot feet to save digital rudder controller, and 4 in order to drive four walkings
The road wheel digital rudder controller of wheel；Described controller is single-chip microcomputer, and described single-chip microcomputer has at least 4 railway digitals
Rudder control interface, the first digital rudder controller controls interface and is taken by 4 road wheel digital rudder controllers, the second number
Word rudder control interface is saved digital rudder controller by the pass of two front foots and is taken, the 3rd digital rudder controller control interface by
The pass of two mesopodiums is saved digital rudder controller and is taken, and the 4th digital rudder controller controls interface and saved by the pass of two metapedes
Digital rudder controller takies.
7. wheel foot suitching type robot system as claimed in claim 6, it is characterised in that take same number
Being serially connected by connection between the digital rudder controller of word rudder control interface, each digital rudder controller uses half pair
Work asynchronous serial bus communication mode, and each digital rudder controller is assigned different steering wheel mark.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620416966.8U CN205574096U (en) | 2016-05-10 | 2016-05-10 | Sufficient formula robot system that switches of wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620416966.8U CN205574096U (en) | 2016-05-10 | 2016-05-10 | Sufficient formula robot system that switches of wheel |
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| Publication Number | Publication Date |
|---|---|
| CN205574096U true CN205574096U (en) | 2016-09-14 |
Family
ID=56857144
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620416966.8U Expired - Fee Related CN205574096U (en) | 2016-05-10 | 2016-05-10 | Sufficient formula robot system that switches of wheel |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752186A (en) * | 2016-05-10 | 2016-07-13 | 苏州工业职业技术学院 | Wheel-foot switching type robot system and control method thereof |
| CN108258614A (en) * | 2017-12-31 | 2018-07-06 | 江苏密斯欧智能科技有限公司 | A kind of suspension type crusing robot control method |
| CN110282045A (en) * | 2019-05-30 | 2019-09-27 | 温州大学 | Uneven section and/or avoidance robot and control method can be passed through |
| CN112519912A (en) * | 2020-11-27 | 2021-03-19 | 桂林航天工业学院 | Running gear of joint robot |
| CN113635721A (en) * | 2021-08-19 | 2021-11-12 | 西安戴森电子技术有限公司 | Air-land amphibious biped wheel multi-mode walking flying bionic robot |
-
2016
- 2016-05-10 CN CN201620416966.8U patent/CN205574096U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752186A (en) * | 2016-05-10 | 2016-07-13 | 苏州工业职业技术学院 | Wheel-foot switching type robot system and control method thereof |
| CN108258614A (en) * | 2017-12-31 | 2018-07-06 | 江苏密斯欧智能科技有限公司 | A kind of suspension type crusing robot control method |
| CN108258614B (en) * | 2017-12-31 | 2020-06-16 | 江苏密斯欧智能科技有限公司 | Control method of suspension type inspection robot |
| CN110282045A (en) * | 2019-05-30 | 2019-09-27 | 温州大学 | Uneven section and/or avoidance robot and control method can be passed through |
| CN112519912A (en) * | 2020-11-27 | 2021-03-19 | 桂林航天工业学院 | Running gear of joint robot |
| CN113635721A (en) * | 2021-08-19 | 2021-11-12 | 西安戴森电子技术有限公司 | Air-land amphibious biped wheel multi-mode walking flying bionic robot |
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