CN113443040A - Wheel-leg combined type traveling system, maneuvering platform and traveling method thereof - Google Patents
Wheel-leg combined type traveling system, maneuvering platform and traveling method thereof Download PDFInfo
- Publication number
- CN113443040A CN113443040A CN202110540139.5A CN202110540139A CN113443040A CN 113443040 A CN113443040 A CN 113443040A CN 202110540139 A CN202110540139 A CN 202110540139A CN 113443040 A CN113443040 A CN 113443040A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- driving
- leg
- wheel
- hinged
- 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.)
- Pending
Links
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)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a wheel-leg combined type driving system, a maneuvering platform and a walking method of the maneuvering platform, wherein the driving system comprises a bionic joint leg mechanism formed by connecting a thigh swing arm and a shank swing arm through a hinge shaft, a tire driving unit, a hinge seat and a plurality of connecting rods; a connecting rod mechanism is formed among the thigh swing arm, the hinging seat and the connecting rods; a first driving device is arranged between the thigh swing arm and the hinge base; and a second driving device is arranged between the thigh swing arm and the shank swing arm and drives the shank swing arm to retract or extend so as to switch to a wheeling mode or a walking mode. The driving system can implement wheel-type quick maneuvering depending on road environment, and can walk and climb in a leg-type structure without depending on the road.
Description
Technical Field
The invention relates to a wheel-leg combined type running system, a maneuvering platform and a running method thereof, belonging to the field of special vehicles.
Background
Land mobile (vehicle) platforms are the main means for carrying people and goods, and the basic types of driving systems of the mobile platforms are as follows: wheeled, tracked, and walking. The wheel type traveling system has the advantages of high wheel type maneuverability, high energy utilization efficiency, suitability for paving road surfaces, good crawler type trafficability, poor high-speed maneuverability, best trafficability of the walking type traveling system, capability of realizing discontinuous traveling and crossing, low speed and low energy efficiency.
The existing driving system of the land mobile equipment platform develops towards a bimodal trend, and a wheel-track combination or wheel-step combination mode appears to adapt to wider complex terrain environments, wherein the wheel-step combination type double driving system has wheel-type driving efficiency in a wheel-type mode and high trafficability in the walking mode. However, the mobility of the existing wheel step combined platform is poor, the platform is not suitable for high-speed running on paved road surfaces, and the application scene of the platform is not really expanded, such as a walking excavator, and the running system of the platform is only aimed at the non-road environment of mountainous regions.
The main existing problems of the existing mobile equipment platform are as follows:
1) most of the systems are single-driving systems, and wheel steps are rarely combined with the double-driving systems;
2) the combination of the wheel-step dual-driving system realizes high trafficability on unstructured ground (such as natural mountainous region), such as trenches and vertical walls, and trafficability under soft ground, such as snow, mud and the like with low adhesive force;
3) the existing wheel step double-driving system platform is not enough in bearing capacity or large in overall dimension, and is not suitable for road driving.
Disclosure of Invention
The invention aims to provide a wheel-leg combined type driving system, a maneuvering platform and a walking method thereof.
In order to achieve the purpose, the invention adopts the technical scheme that:
a wheel-leg composite type driving system comprises a bionic joint leg mechanism formed by connecting a thigh swing arm and a shank swing arm through a hinge shaft, a tire driving unit arranged on the hinge shaft, a hinge seat and a plurality of connecting rods;
a connecting rod mechanism is formed among the thigh swing arm, the hinging seat and the connecting rods;
a first driving device for driving the thigh swing arm to swing in a walking mode is arranged between the thigh swing arm and the hinge seat;
and a second driving device for driving the shank swing arm to swing is arranged between the thigh swing arm and the shank swing arm, the second driving device drives the shank swing arm to be in a wheeling mode when the shank swing arm is retracted and lifted to a position basically overlapped with the thigh swing arm, and the second driving device drives the shank swing arm to be in a walking mode when the shank swing arm is swung to be in contact with the ground.
Therefore, the double-driving system can not only realize wheel type quick maneuvering depending on road environment, but also walk and climb in a leg type structure without depending on the road, thereby greatly widening the application field and the use scene of the mobile equipment platform and being an effective way for solving the problem of material conveying and rescue guarantee in vast frontier and mountainous regions.
According to the embodiment of the invention, the invention can be further optimized, and the following is the technical scheme formed after optimization:
in one preferred embodiment, the link mechanism is a four-bar link mechanism formed by the thigh swing arm, the hinge base, the first link and the second link; the upper end of the hinged seat is hinged with one end of a first connecting rod, the lower end of the hinged seat is hinged with one end of a thigh swing arm, the other end of the first connecting rod is connected with the upper end of a second connecting rod, and the other end of the thigh swing arm is hinged with the lower end of the second connecting rod and one end of a shank swing arm; one end of the first driving device is hinged to the upper end of the hinging seat, and the other end of the first driving device is hinged to the thigh swing arm; one end of the second driving device is hinged to the position of the thigh swing arm close to the hinge seat, and the other end of the second driving device is hinged to the position of the shank swing arm close to the swing center.
The four-bar mechanism is the preferable structure mode, and has the advantages of reducing the structure weight of the lower leg and having good motion stability.
In another preferred embodiment, the link mechanism is composed of the thigh swing arm, a hinge base, the first driving device; the upper end of the hinged seat is hinged with one end of a first driving device, the lower end of the hinged seat is hinged with one end of a thigh swing arm, the other end of the first driving device is directly jointed on a first driving device mounting seat, and the first driving device mounting seat is fixed on the thigh swing arm; one end of the second driving device is hinged to the position of the thigh swing arm close to the hinge seat, and the other end of the second driving device is hinged to the position of the shank swing arm close to the swing center.
The link mechanism in the form of the non-four-bar link mechanism is simpler in structure, but the stability is poorer than that of the four-bar link mechanism.
Preferably, the first driving device is a thigh swing arm driving oil cylinder, and the second driving device is a shank swing arm driving oil cylinder or a motor driving device.
In order to better maintain the stability of the composite wheel-leg driving system, the free end of the lower leg swing arm is provided with a supporting foot disc. The leg plate is beneficial to improving the ground gripping performance.
Based on the same invention concept, the invention also provides a motor-driven platform, which comprises a vehicle body and a chassis; a plurality of composite wheel leg running systems are arranged on two sides of a frame of the chassis, and swing oil cylinders are arranged between the composite wheel leg running systems and the frame of the chassis.
Therefore, the movable platform can realize the distributed driving of all wheels during the wheel driving. Meanwhile, the driving oil cylinder also plays a role of a suspension during wheel driving, and different posture adjustment of wheels and the whole vehicle can be realized.
The invention realizes high bearing capacity and transverse stability by arranging the swing oil cylinder.
In one preferred embodiment, 3 composite wheel leg running systems are respectively arranged on two sides of the frame. The vehicle body arrangement can facilitate the operation and driving of a driver, and can also be controlled by remote control or even autonomously driven.
As a specific arrangement form, the composite wheel leg driving system on the vehicle head side and the composite wheel leg driving system on the vehicle tail side are symmetrically arranged.
As another specific arrangement, the composite wheel leg driving system on the vehicle head side and the composite wheel leg driving system on the vehicle tail side have the same structure.
Based on the same inventive concept, the invention also provides a walking method of the maneuvering platform, which comprises the following steps:
in a wheel-driving mode, under the action of the second driving device, the lower leg swing arm is retracted, and the tire driving unit is in contact with the ground and driven by the hub motor to travel;
in the walking mode, under the action of the second driving device, the lower leg swing arm is unfolded and contacts with the ground, the tire driving unit is separated from the ground, and the first driving device drives the lower leg swing arm to swing back and forth to walk.
The key technology of the invention is as follows:
1. the invention relates to a running system with wheel legs combined into a whole.
2. The invention can realize the distributed driving of all wheels when in wheel driving.
3. The driving oil cylinder also plays a role of a suspension during wheel driving, and different postures of wheels and the whole vehicle can be adjusted.
4. The leg structure of the invention realizes high bearing capacity and transverse stability by joint bionic leg-foot configuration and horizontal side swinging.
5. The joint bionic leg-foot configuration thigh part reduces the vertical vibration of the vehicle body during walking by the parallel four-bar linkage.
Compared with the prior art, the invention has the beneficial effects that: compared with the existing single-driving system equipment platform, the double-driving system platform can greatly expand the application range of the equipment, the two driving systems are organically integrated, the driving system with the combined wheel legs has multiple degrees of freedom, the terrain adaptability is strong, and the capability of conveying and rescuing guarantee of goods and materials in mountain plateau environment areas is greatly improved.
Drawings
FIG. 1 is an isometric schematic of a walking mode of one embodiment of the present invention;
FIG. 2 is a right side view of FIG. 1;
FIG. 3 is a schematic illustration of the transition from the walking mode to the wheeling mode of FIG. 2;
FIG. 4 is an isometric schematic of a wheeling mode of one embodiment of the present invention;
FIG. 5 is a right side view of FIG. 4;
FIG. 6 is a top view of FIG. 4
FIG. 7 is a schematic diagram of a wheeling mode of another embodiment of the present invention;
FIG. 8 is a schematic diagram of a composite wheel leg travel system of the present invention;
FIG. 9 is a left side view of FIG. 8;
FIG. 10 is a schematic illustration of the transition from the walking mode to the wheeling mode of FIG. 8;
fig. 11 is a schematic diagram of another composite wheel leg driving system of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.
As shown in fig. 1-6, the maneuvering platform with the wheel-leg composite traveling system of the embodiment mainly comprises a vehicle body 1, a chassis 2, a composite wheel-leg traveling system 3 and a swing cylinder 4. On the frame base of the chassis 2, two side surfaces are respectively provided with 3 composite wheel leg running systems 3. Other numbers of composite wheel leg driving systems 3, such as 4 or 5 on each side, may be installed according to actual needs.
As shown in fig. 8-10, the folding rear running system of the lower leg swing arm 3-8 of the composite wheel-leg running system 3 is in a wheel-driving mode, the upper leg swing arm 3-2 and the hinge base 3-1 of the composite wheel-leg running system 3, the first connecting rod 3-5 and the second connecting rod 3-7 form a four-bar linkage, and the tire driving unit 3-6 is driven by a wheel hub motor (electric motor). The composite wheel leg driving system 3 is equal to a single longitudinal arm suspension structure, and can realize quick motor driving of the motor-driven platform under most road conditions. When the maneuvering platform is on the large obstacle ground or the low adhesion force condition, the shank swing arm 3-8 of the composite wheel leg traveling system 3 is supported, so that a bionic joint leg mechanism consisting of the shank swing arm 3-2 and the shank swing arm 3-8 is formed, the composite wheel leg traveling system 3 is in a walking mode, discontinuous walking can be achieved, and the maneuvering platform can overcome the limit obstacle or the ground.
The running system of the mobile platform can also select the form of each unit according to terrain conditions, for example, the running system of the front axle is in a wheel-walking mode, and the running system of the rear axle is in a walking mode, so that the mobile platform can be supported to overcome the terrain with large gradient.
Fig. 8-10 are structural composition diagrams of the wheel leg composite driving system, and the composite wheel leg driving system 3 can be swung out in parallel with the ground laterally by the hinge base 3-1 arranged on the chassis frame under the action of the swing oil cylinder 4, so as to achieve the transverse stability of the turning walking or maneuvering platform. The thigh swing arm driving oil cylinder 3-3 plays a role in damping the vibration of the suspension in a wheel walking mode, and the thigh swing arm 3-2 is driven in a walking mode. The first connecting rod 3-5 and the second connecting rod 3-7, the hinging seat 3-1 and the thigh swing arm 3-2 form a parallel four-connecting-rod mechanism, so that the vertical vibration of the platform body in a walking mode can be reduced.
Specifically, the upper end of the hinged seat 3-1 is hinged with one end of a first connecting rod 3-5, the lower end of the hinged seat 3-1 is hinged with one end of a thigh swing arm 3-2, the other end of the first connecting rod 3-5 is hinged with the upper end of a second connecting rod 3-7, and the other end of the thigh swing arm 3-2 is hinged with the lower end of the second connecting rod 3-7 and one end of a shank swing arm 3-8; one end of the thigh swing arm driving oil cylinder 3-3 is hinged to the upper end of the hinge base 3-1, and the other end of the thigh swing arm driving oil cylinder 3-3 is hinged to the thigh swing arm 3-2; one end of the shank swinging arm driving oil cylinder 3-4 is hinged to the position, close to the hinge base 3-1, of the thigh swinging arm 3-2, and the other end of the shank swinging arm driving oil cylinder 3-4 is hinged to the position, close to the swinging center, of the shank swinging arm 3-8.
The tire driving unit 3-6 is mounted on the thigh swing arm 3-2 of the composite wheel leg driving mechanism 3, and the tire is driven by a hub motor (electric motor) alone. Under the wheel-walking mode, under the action of the shank swing arm driving oil cylinder 3-4, the shank swing arm 3-8 retracts and lifts to be basically overlapped with the thigh swing arm 3-2; in the walking mode, the lower leg swing arms 3-8 can extend to support the motorized platform, so as to realize the stability of the vehicle body crossing higher obstacles or supporting the platform in extreme terrain. The contact part of the leg plate 3-9 and the ground when walking.
In a wheel-walking mode, under the action of the lower leg swing arm driving oil cylinder 3-4, the lower leg swing arm 3-8 is retracted, and the tire driving unit 3-6 is in contact with the ground and is driven by the hub motor to walk; in a walking mode, under the action of the lower leg swing arm driving oil cylinder 3-4, the lower leg swing arm 3-8 is unfolded and is in contact with the ground, the tire driving unit 3-6 is separated from the ground, and the upper leg swing arm driving oil cylinder 3-3 drives the lower leg swing arm 3-8 to swing back and forth to walk.
It should be noted that the lower leg swing arm drive cylinder 3-4 may be replaced by a motor drive, and the same effect can be achieved. Meanwhile, as shown in fig. 5 and 7, the legs can be arranged in various ways in the arrangement direction of the whole vehicle, but the arrangement method belongs to the conventional replacement of the scheme.
As shown in fig. 11, the link mechanism is a non-four-bar link mechanism, and mainly comprises the thigh swing arm 3-2, the hinge base 3-1, and the first driving device. Specifically, the upper end of the hinged seat 3-1 is hinged to one end of a first driving device, the lower end of the hinged seat 3-1 is hinged to one end of a thigh swing arm 3-2, the other end of the first driving device is directly jointed to a first driving device mounting seat, and the first driving device mounting seat is fixed on the thigh swing arm 3-2; one end of the second driving device is hinged at the position of the thigh swing arm 3-2 close to the hinged seat 3-1, and the other end of the second driving device is hinged at the position of the shank swing arm 3-8 close to the swing center.
The above-described embodiments are set forth so that this disclosure will be thorough and complete, and will not be limited by any theory presented in the preceding claims, which may suggest themselves to those skilled in the art after reading this disclosure and all equivalents thereof that fall within the scope of the invention as defined in the claims appended hereto.
Claims (10)
1. A wheel-leg composite type driving system is characterized by comprising a bionic joint leg mechanism formed by connecting a thigh swing arm (3-2) and a shank swing arm (3-8) through a hinge shaft, a tire driving unit (3-6) arranged on the hinge shaft, a hinge seat (3-1) and a plurality of connecting rods;
a connecting rod mechanism is formed among the thigh swing arm (3-2), the hinging seat (3-1) and the connecting rods;
a first driving device for driving the thigh swing arm (3-2) to swing in a walking mode is arranged between the thigh swing arm (3-2) and the hinge base (3-1);
a second driving device for driving the shank swing arm (3-8) to swing is arranged between the thigh swing arm (3-2) and the shank swing arm (3-8), the second driving device drives the shank swing arm (3-8) to retract and lift to a position basically overlapped with the thigh swing arm (3-2) and is in a wheel walking mode, and the second driving device drives the shank swing arm (3-8) to swing to be in a walking mode when contacting with the ground.
2. A wheel-leg composite driving system according to claim 1, wherein said link mechanism is a four-link mechanism consisting of said thigh oscillating arm (3-2), said articulated seat (3-1), said first link (3-5) and said second link (3-7);
the upper end of the hinged seat (3-1) is hinged with one end of a first connecting rod (3-5), the lower end of the hinged seat (3-1) is hinged with one end of a thigh swing arm (3-2), the other end of the first connecting rod (3-5) is connected with the upper end of a second connecting rod (3-7), and the other end of the thigh swing arm (3-2) is hinged with the lower end of the second connecting rod (3-7) and one end of a shank swing arm (3-8) at the same time;
one end of the first driving device is hinged at the upper end of the hinge seat (3-1), and the other end of the first driving device is hinged on the thigh swing arm (3-2); one end of the second driving device is hinged to the position of the thigh swing arm (3-2) close to the hinge seat (3-1), and the other end of the second driving device is hinged to the position of the shank swing arm (3-8) close to the swing center.
3. A wheel and leg composite driving system according to claim 1 or 2, wherein said link mechanism is a link mechanism composed of said thigh oscillating arm (3-2), said hinge base (3-1), said first driving means;
the upper end of the hinged seat (3-1) is hinged with one end of a first driving device, the lower end of the hinged seat (3-1) is hinged with one end of a thigh swing arm (3-2), the other end of the first driving device is directly jointed on a first driving device mounting seat, and the first driving device mounting seat is fixed on the thigh swing arm (3-2);
one end of the second driving device is hinged to the position of the thigh swing arm (3-2) close to the hinge seat (3-1), and the other end of the second driving device is hinged to the position of the shank swing arm (3-8) close to the swing center.
4. A wheel and leg composite driving system according to any of claims 1-3, characterized in that said first driving means is a thigh swing arm driving cylinder (3-3) and said second driving means is a calf swing arm driving cylinder (3-4) or a motor driving means.
5. A wheel and leg composite driving system according to any of claims 1-3, characterized in that the free end of the lower leg oscillating arm (3-8) is provided with a foot plate (3-9).
6. A motor-driven platform comprises a vehicle body (1) and a chassis (2); characterized in that a plurality of composite wheel leg running systems (3) according to any one of claims 1 to 5 are arranged on both sides of the frame of the chassis (2), and a swing oil cylinder (4) is arranged between the composite wheel leg running systems (3) and the frame of the chassis (2).
7. The mobile platform according to claim 6, characterized in that 3 composite wheel-leg driving systems (3) are mounted on each side of the frame.
8. The motorized platform of claim 6 or 7, wherein the composite wheel leg driving system on the vehicle head side is arranged symmetrically to the composite wheel leg driving system on the vehicle tail side.
9. The mobile platform of claim 6 or 7, wherein the composite wheel leg driving system on the vehicle head side is identical in structure to the composite wheel leg driving system on the vehicle tail side.
10. A method of walking a motorized platform as set forth in any one of claims 6-9, comprising the steps of:
in a wheel-driving mode, under the action of the second driving device, the lower leg swing arm (3-8) is retracted, and the tire driving unit (3-6) is in contact with the ground and driven by the hub motor to travel;
in the walking mode, under the action of the second driving device, the lower leg swing arms (3-8) are unfolded and are in contact with the ground, the tire driving units (3-6) are separated from the ground, and the first driving device drives the lower leg swing arms (3-8) to swing back and forth to walk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110540139.5A CN113443040A (en) | 2021-05-18 | 2021-05-18 | Wheel-leg combined type traveling system, maneuvering platform and traveling method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110540139.5A CN113443040A (en) | 2021-05-18 | 2021-05-18 | Wheel-leg combined type traveling system, maneuvering platform and traveling method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113443040A true CN113443040A (en) | 2021-09-28 |
Family
ID=77810071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110540139.5A Pending CN113443040A (en) | 2021-05-18 | 2021-05-18 | Wheel-leg combined type traveling system, maneuvering platform and traveling method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113443040A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802522A (en) * | 2022-04-24 | 2022-07-29 | 吉林大学 | Modularized attachable leg-foot type walking device and control method |
| CN116141897A (en) * | 2023-04-10 | 2023-05-23 | 北京航天发射技术研究所 | A liftable and laterally swingable vehicle wheel leg mechanism |
| CN116198619A (en) * | 2023-03-24 | 2023-06-02 | 中国民航大学 | Three-mode walking chassis applicable to various terrain conditions |
| CN116279888A (en) * | 2023-02-01 | 2023-06-23 | 国家电网有限公司 | A hexapod bionic mobile device and robot |
| CN119636905A (en) * | 2024-11-29 | 2025-03-18 | 北京航天发射技术研究所 | A wheel-foot composite chassis with waist steering and control method thereof |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285390A (en) * | 2011-06-03 | 2011-12-21 | 哈尔滨工程大学 | Elastically driven walking leg in hybrid connection for walking robot |
| CN102616297A (en) * | 2012-04-11 | 2012-08-01 | 中国人民解放军国防科学技术大学 | Wheel leg compound motion platform |
| CN104029745A (en) * | 2014-05-21 | 2014-09-10 | 浙江大学 | Leg and wheel hybrid type hydraulic mechanical leg |
| CN104443104A (en) * | 2014-12-10 | 2015-03-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
| CN109572854A (en) * | 2019-01-21 | 2019-04-05 | 青岛理工大学 | Wheel-leg combined robot and method suitable for state monitoring and fault diagnosis |
| WO2019162144A1 (en) * | 2018-02-21 | 2019-08-29 | Benubot-Projektkooperation Gbr | Mobile robot and method for performing a running/walking movement |
| CN110962955A (en) * | 2019-11-19 | 2020-04-07 | 北京空间飞行器总体设计部 | Few-driving-wheel leg type composite robot for planet detection |
| CN111391934A (en) * | 2020-04-07 | 2020-07-10 | 上海宇航系统工程研究所 | Wheel-leg composite robot moving device and wheel-leg composite robot |
| CN111846000A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel-legged robot leg structure and mobile robot |
| CN212373553U (en) * | 2020-05-28 | 2021-01-19 | 上海新纪元机器人有限公司 | Foot type and wheel type switchable machine foot structure |
| CN112389562A (en) * | 2020-11-23 | 2021-02-23 | 武汉理工大学 | Middle leg and foot mechanism and wheel-foot type robot thereof |
-
2021
- 2021-05-18 CN CN202110540139.5A patent/CN113443040A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285390A (en) * | 2011-06-03 | 2011-12-21 | 哈尔滨工程大学 | Elastically driven walking leg in hybrid connection for walking robot |
| CN102616297A (en) * | 2012-04-11 | 2012-08-01 | 中国人民解放军国防科学技术大学 | Wheel leg compound motion platform |
| CN104029745A (en) * | 2014-05-21 | 2014-09-10 | 浙江大学 | Leg and wheel hybrid type hydraulic mechanical leg |
| CN104443104A (en) * | 2014-12-10 | 2015-03-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
| WO2019162144A1 (en) * | 2018-02-21 | 2019-08-29 | Benubot-Projektkooperation Gbr | Mobile robot and method for performing a running/walking movement |
| CN109572854A (en) * | 2019-01-21 | 2019-04-05 | 青岛理工大学 | Wheel-leg combined robot and method suitable for state monitoring and fault diagnosis |
| CN110962955A (en) * | 2019-11-19 | 2020-04-07 | 北京空间飞行器总体设计部 | Few-driving-wheel leg type composite robot for planet detection |
| CN111391934A (en) * | 2020-04-07 | 2020-07-10 | 上海宇航系统工程研究所 | Wheel-leg composite robot moving device and wheel-leg composite robot |
| CN212373553U (en) * | 2020-05-28 | 2021-01-19 | 上海新纪元机器人有限公司 | Foot type and wheel type switchable machine foot structure |
| CN111846000A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel-legged robot leg structure and mobile robot |
| CN112389562A (en) * | 2020-11-23 | 2021-02-23 | 武汉理工大学 | Middle leg and foot mechanism and wheel-foot type robot thereof |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802522A (en) * | 2022-04-24 | 2022-07-29 | 吉林大学 | Modularized attachable leg-foot type walking device and control method |
| CN114802522B (en) * | 2022-04-24 | 2023-02-10 | 吉林大学 | Modular and attachable legged walking device and control method |
| CN116279888A (en) * | 2023-02-01 | 2023-06-23 | 国家电网有限公司 | A hexapod bionic mobile device and robot |
| CN116198619A (en) * | 2023-03-24 | 2023-06-02 | 中国民航大学 | Three-mode walking chassis applicable to various terrain conditions |
| CN116141897A (en) * | 2023-04-10 | 2023-05-23 | 北京航天发射技术研究所 | A liftable and laterally swingable vehicle wheel leg mechanism |
| CN119636905A (en) * | 2024-11-29 | 2025-03-18 | 北京航天发射技术研究所 | A wheel-foot composite chassis with waist steering and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113443040A (en) | Wheel-leg combined type traveling system, maneuvering platform and traveling method thereof | |
| CN102963455B (en) | Pull rod type suspended robot wheel leg walking mechanism | |
| CN109911055A (en) | Unmanned barrier-exceeding vehicle | |
| CN102862615A (en) | Wheel-crawler-variable chassis | |
| CN102616297A (en) | Wheel leg compound motion platform | |
| CN102745259A (en) | Swing arm type double-wheel-track composite special engineering vehicle chassis | |
| JPH09501630A (en) | System to be applied to universal ground vehicles with traction means attached to articulated arms | |
| CN215948323U (en) | Wheel belt mixed walking device for excavator | |
| KR20230104004A (en) | Walkable vehicle and method of operating the same | |
| CN112298397A (en) | A wheel-walking robot foot-end mechanism suitable for all-terrain road conditions | |
| CN206654104U (en) | It is a kind of to take turns the mobile chassis for carrying out switching | |
| CN111409866B (en) | Wheel-track combined type lunar vehicle with high trafficability | |
| CN109334793B (en) | Wheel-track alternating all-terrain vehicle | |
| CN103029539A (en) | Novel driven self-adaptive six-wheeled all-terrain mobile robot | |
| CN210083396U (en) | Unmanned obstacle crossing vehicle | |
| CN114670940B (en) | Stand-up-dump deformable crawler robot chassis | |
| CN114248854B (en) | Multi-mode walking device | |
| CN115092282A (en) | Bionic walking leg mechanism and special vehicle | |
| CN114394168B (en) | Wheel-track composite moving platform | |
| CN202279172U (en) | Articulated barrier-free crawler device | |
| CN214607776U (en) | Wheel step bimodal mobile platform | |
| CN209650407U (en) | A kind of wheel undercarriage walking mechanism | |
| JP3181733U (en) | Wheelchair equipment for crawler carts | |
| CN115027592A (en) | Walking leg mechanism and wheel-step bimodal maneuvering platform | |
| CN202743352U (en) | Swing-arm type dual-wheel-track composite special construction vehicle chassis |
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 | ||
| CB02 | Change of applicant information |
Address after: 410100 phase I of Shanhe industrial city, Xingsha industrial base, east of Changjie North Road and north of liangtang East Road, Changsha Economic and Technological Development Zone, Hunan Province Applicant after: SHANHE INTELLIGENT SPECIAL EQUIPMENT CO.,LTD. Applicant after: Sunward Intelligent Equipment Co.,Ltd. Address before: 410100 No. 1335, liangtang East Road, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Applicant before: Sunward Intelligent Equipment Co.,Ltd. Applicant before: SHANHE INTELLIGENT SPECIAL EQUIPMENT CO.,LTD. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210928 |
|
| RJ01 | Rejection of invention patent application after publication |