CN109808787A - Jump mobile mechanism, robot and asteroid detection robot - Google Patents
Jump mobile mechanism, robot and asteroid detection robot Download PDFInfo
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- CN109808787A CN109808787A CN201711175939.1A CN201711175939A CN109808787A CN 109808787 A CN109808787 A CN 109808787A CN 201711175939 A CN201711175939 A CN 201711175939A CN 109808787 A CN109808787 A CN 109808787A
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- elastic spokes
- telescopic rod
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- 230000007246 mechanism Effects 0.000 title claims abstract description 76
- 238000001514 detection method Methods 0.000 title claims abstract description 12
- 230000009191 jumping Effects 0.000 abstract description 6
- 238000009825 accumulation Methods 0.000 abstract description 5
- 238000006243 chemical reaction Methods 0.000 abstract description 4
- 238000005096 rolling process Methods 0.000 abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 241000592274 Polypodium vulgare Species 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000005486 microgravity Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
This disclosure relates to a kind of jump mobile mechanism, robot and asteroid detection robot, the jump mobile mechanism includes telescopic rod, driving device, multiple elastic spokes, the multiple elastic spokes are evenly arranged around the telescopic rod, the both ends of each elastic spokes are connected to the both ends of the telescopic rod, so that the jump mobile mechanism is formed as cage type chondritic, the driving device is for driving the telescopic rod flexible, so that deformation occurs for the multiple elastic spokes.Driving device drives telescopic rod to shrink, so that multiple elastic spokes are compressed, jump mobile mechanism carries out accumulation of energy.When elastic spokes stretching, extension releases energy, under the reaction of ground, jump mobile mechanism obtains the energy of jump, so that jump movement can be realized.In addition, the cage type chondritic that elastic spokes are formed is conducive to mobile mechanism's realization rolling movement of jumping.Elastic spokes are by the also absorbable external impact energy of deformation, to play effective protection to the internal components of jump mobile mechanism.
Description
Technical field
This disclosure relates to asteroid detection robot field, and in particular, to a kind of robot jump mobile mechanism, and
Asteroid detection robot with the jump mobile mechanism.
Background technique
The mobile robot developed at present mainly uses the move modes such as wheeled, crawler type and polypody.But this three
Kind mode has certain limitation in fields such as asteroid detection.
In-wheel driving is although easily controllable, largely effective in gentle landform, can cross over most of barriers.But it takes turns
The robot of formula driving is difficult to be greater than the barrier of its radius, such as precipitous rock across size.
Compared to wheeled robot, there is stronger promotion in polypody robot in obstacle crossing ability, but more at present
The gait control of biped robot is sufficiently complex.The design of each leg includes usually multiple freedom of motion, is needed different
Controller is realized robot and is driven, therefore also increases the consumption of energy.Although wheeled robot can cross over most of obstacles,
But it is helpless to be higher than the long barrier of its twice of leg to those.
Crawler belt humanoid robot is commonly used in rugged ground surface environment, and the ability of crossing over blockage depends primarily on crawler belt and ground
Friction between face just cannot achieve and cross if slope is excessively precipitous.Especially on the faint small nova of gravity, frictional force because
Become very little for gravity, is not appropriate for being driven using crawler belt.
In fact, in nature, we are it is seen that numerous biological in such a way that jump is mobile.Jump move mode
Biology can be made to cross the barrier that scale is itself several times, and because asteroid gravity is faint, consume less energy
Amount can realize that big height is jumped at a distance.Although the mechanisms such as NASA have developed a variety of bouncing mechanisms in asteroid detection field
Robot, but structure is all complex.
Summary of the invention
The purpose of the disclosure is that the microgravity environment for being directed to asteroid or Other Engineering detection environment provide a kind of structure letter
Single hopping mechanism.The hopping mechanism is while providing layup and roll capability, moreover it is possible to provide when robot landing
Buffering provides support protection for robot interior device.
To achieve the goals above, present disclose provides a kind of jump mobile mechanisms, robot, including telescopic rod, driving dress
It sets, multiple elastic spokes, the multiple elastic spokes are evenly arranged around the telescopic rod, the both ends difference of each elastic spokes
The both ends of the telescopic rod are connected to, so that the jump mobile mechanism is formed as cage type chondritic, the driving device is used
In driving the telescopic rod flexible, so that deformation occurs for the multiple elastic spokes.
Optionally, the telescopic rod includes the mobile jib being mutually socketed and secondary bar, and the mobile jib is formed as hollow structure, described
The both ends of elastic spokes are connected to the upper end of the mobile jib and the lower end of the secondary bar, and the driving device is for driving institute
Secondary bar is stated to slide axially relative to the mobile jib.
Optionally, the driving device includes motor and the gear that is mounted on the output shaft of the motor, the motor
It is fixed on the mobile jib, the secondary bar is formed as the rack structure engaged with the gear, gear described in the motor driven
Rotation is to drive the secondary bar to move axially relative to the mobile jib.
Optionally, the lower end of the mobile jib is formed with limit seam allowance, and the upper end of the secondary bar is formed with defining flange, described
Limit seam allowance is matched with the defining flange, is deviate from limiting the secondary bar from the mobile jib.
Optionally, the both ends of the telescopic rod are respectively arranged with spoke fixator.
Optionally, multiple pilot holes are provided on the side wall of the spoke fixator, multiple pilot holes are along the spoke
The circumferential direction of fixator is uniformly distributed.
Optionally, the jump mobile mechanism further includes the momenttum wheel positioned at the jump mobile mechanism center.
Optionally, the momenttum wheel is fixed on the mobile jib.
Optionally, the quantity of the elastic spokes is greater than or equal to eight.
Through the above technical solutions, driving device driving telescopic rod is flexible, so that deformation occurs for multiple elastic spokes, elasticity
When spoke is compressed, jump mobile mechanism carries out accumulation of energy.When elastic spokes stretching, extension releases energy, under the reaction of ground, jump
The energy that the mobile mechanism's acquisition that jumps is jumped, so that jump movement can be realized.In addition, the cage type chondritic that elastic spokes are formed has
It is realized conducive to jump mobile mechanism and rolls movement.Elastic spokes are by the also absorbable external impact energy of deformation, thus to jump
The internal components of mobile mechanism play effective protection.
According to another aspect of the present disclosure, a kind of asteroid detection robot is provided, the robot includes above-mentioned machine
Device people jump mobile mechanism.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of schematic front view of the jump mobile mechanism, robot of embodiment of the disclosure；
Fig. 2 is a kind of schematic cross-sectional view of the jump mobile mechanism, robot of embodiment of the disclosure；
Fig. 3 is a kind of stereoscopic schematic diagram of the jump mobile mechanism, robot of embodiment of the disclosure；
Fig. 4 is the section view decomposition diagram of telescopic rod in a kind of jump mobile mechanism, robot of embodiment of the disclosure；
Fig. 5 is that a kind of jump mobile mechanism, robot of embodiment of the disclosure is in the schematic diagram of compressive state, wherein
Driving device and momenttum wheel is not shown；
Fig. 6 is the structural schematic diagram of the members of the jump mobile mechanism, robot of the disclosure, wherein shows momentum
Wheel；
Fig. 7 is the enlarged drawing of part B in Fig. 6.
Description of symbols
1 telescopic rod, 11 mobile jib
12 secondary bars 13 limit seam allowance
14 defining flange, 2 elastic spokes
3 motor, 31 output shaft
4 gear, 5 spoke fixator
51 pilot hole, 6 momenttum wheel
61 pedestal, 62 rotating wheel
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
In the description of the disclosure, it is to be understood that the instruction such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the disclosure and simplification retouch
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation and specific orientation constructs and behaviour
Make, therefore should not be understood as the limitation to the disclosure.
As shown in Figures 1 to 7, present disclose provides a kind of jump mobile mechanisms, robot, including telescopic rod 1, driving dress
It sets, multiple elastic spokes 2, multiple elastic spokes 2 are evenly arranged around telescopic rod 1, and the both ends of each elastic spokes 2 are separately connected
In the both ends of telescopic rod 1, so that the jump mobile mechanism is formed as cage type chondritic, driving device is for driving telescopic rod 1
It is flexible, so that deformation occurs for multiple elastic spokes 2.
Through the above technical solutions, telescopic rod 1 is compressed under the action of driving device, so that being connected to 1 liang of telescopic rod
Multiple elastic spokes 2 at end are compressed, and realize accumulation of energy；When driving device releases the effect to telescopic rod 1, compressed elasticity spoke
2 Quick extension of item, releases energy.Elastic spokes 2 jump mobile mechanism to one elastic force of ground application, together in stretching process
When, ground can give one reaction force.In this way, jump mobile mechanism can realize jump movement under the action of reaction force.
In addition, on the one hand cage type chondritic makes the deformation quantity of each elastic spokes 2 consistent with deformation direction, be conducive to
Improve the jump stability of jump mobile mechanism；On the other hand, cage type chondritic is realized to roll and be moved convenient for jump mobile mechanism
It is dynamic.
In the disclosure, telescopic rod 1 can have any structure appropriate and shape.In one embodiment, such as Fig. 2
Shown, telescopic rod 1 includes that the mobile jib 11 being mutually socketed and secondary bar 12, mobile jib 11 are formed as hollow structure, and secondary bar 12 can be in master
It is slided in bar 11.The both ends of elastic spokes 2 are connected to the upper end of mobile jib 11 and the lower end of secondary bar 12.In this way, driving device
Secondary bar 12 can be driven to be retracted into mobile jib 11, so that elastic spokes 2 are compressed, realize accumulation of energy；When elastic spokes 2 stretch
It waits, secondary bar 12 can be driven to stretch out from mobile jib 11, release energy to realize that the jump of the jump mobile mechanism is mobile.The telescopic rod
1 structure is simple, and feasibility is high.
In the disclosure, driving device can have any structure appropriate.In one embodiment, as shown in Fig. 2,
Driving device includes motor 3 and the gear 4 that is mounted on the output shaft 31 of motor 3, and motor 3 is fixed on mobile jib 11, and secondary
Bar 12 is formed as the rack structure engaged with gear 4.In this way, motor 3 is rotated forward to drive 4 turns of gear when motor 3 is powered
Dynamic, so that secondary bar 12 be driven to move axially relative to mobile jib 11, so that secondary bar 12 is retracted into mobile jib 11, elastic spokes 2 are pressed
Contracting；When motor 3 powers off, elastic spokes 2 stretch under own resilient effect, drive secondary bar 12 to stretch out from mobile jib 11, motor 3
It is inverted in the case where driving gear 4 drives.Due to directly forming rack structure in secondary bar 12, driving device is simplified, avoids being arranged
Other drive mechanisms and increase jump mobile mechanism weight, thus be conducive to promoted jump mobile mechanism skip capability.
In the disclosure, the open and close of motor 3 can be controlled by the control system for mobile mechanism of jumping.For example, jumping
When jump mobile mechanism jumps to aerial highest point, control system can give 3 one open signals of motor, and motor 3 rotates, and driving is stretched
Contracting bar 1 is shunk, so that elastic spokes 2 are compressed, starts accumulation of energy；When landing, control system can give motor 3 one closing letters
Number, motor 3 stops working, at this point, elastic spokes 2, which are stretched to jump mobile mechanism, provides jump energy, realizes jump movement.
It, in the disclosure, can be in telescopic rod in order to avoid secondary bar 12 is slipped from mobile jib 11 under the drive of elastic spokes 2
Position limiting structure is set on 1.In the disclosure, position limiting structure can have any structure appropriate and shape.In a kind of embodiment party
In formula, as shown in figure 4, the lower end of mobile jib 11 can be formed with limit seam allowance 13, the upper end shape of secondary bar 12 can at there is defining flange 14,
Limit seam allowance 13 is matched with defining flange 14, is deviate from limiting secondary bar 12 from mobile jib 11.The position limiting structure is not only simple but also energy
Effectively prevent secondary bar 12 from slipping from mobile jib 11.
In the disclosure, for the ease of elastic spokes 2 are fixed on the upper of telescopic rod 1, as shown in Fig. 1 to 2, in telescopic rod
1 both ends are respectively arranged with spoke fixator 5, elastic spokes 2 to be fixed to the upper end of mobile jib 11 and the lower end of secondary bar 12.
Wherein, spoke fixator 5 and telescopic rod 1 can there are many connection types, for example, be threadedly engaged connection, screw is fixedly connected.?
In a kind of embodiment, as shown in Fig. 2, the upper end that interference fit type is directly socketed in mobile jib 11 can be used in spoke fixator 5
With the lower end of secondary bar 12, the connection type is simple and reliable.
In the disclosure, spoke fixator 5 can have any structure appropriate and shape.In one embodiment,
As shown in Figure 1, two spoke fixators 5 are formed as cylindrical body, cylindrical structure is convenient for being equally spaced in its circumferential direction
Pilot hole 51 installs elastic spokes 2.
As shown in fig. 6, being provided with multiple pilot holes 51 on the side wall of spoke fixator 5, multiple pilot holes 51 are solid along spoke
The circumferential direction for determining device 5 is uniformly distributed.In the disclosure, elastic spokes 2 and spoke fixator 5 can there are many connection types, for example, can
The end of elastic spokes 2 to be inserted into pilot hole 51, sealant then is perfused into pilot hole 51, by elastic spokes 2
End and spoke fixator 5 it is cemented together.For another example the end of elastic spokes 2 and pilot hole 51 can be interference fitted,
So that the end of elastic spokes 2 is fixed together with spoke fixator 5.
In the disclosure, as shown in Figure 1 to Figure 3, jump mobile mechanism further includes positioned at the dynamic of jump mobile mechanism center
Amount wheel 6, the rolling to realize jump mobile mechanism are mobile.Here, momenttum wheel 6 can be using aroused in interest in any suitable type
Amount wheel, the disclosure are without limitation.The structure and working principle of center momenttum wheel be it is well known to those of ordinary skill in the art,
Here it just no longer illustrates.Specifically, in one embodiment, as shown in Figure 6 and Figure 7, it is normal to be formed as this field for momenttum wheel 6
A kind of momentum wheel construction, the momenttum wheel 6 include pedestal 61 and three rotating wheels 62.
Wherein, rectangular chamber is formed on pedestal 61, three rotating wheels 62 can be filled by bearing assembly and support shaft rotation
It fits on three side walls of rectangular chamber.The pivot center of three rotating wheels 62 is mutually perpendicular to and each rotating wheel 62 is connected with drive
Dynamic motor (not shown), driving motor can drive rotating wheel 62 to rotate relative to pedestal 61.Pedestal 61 can pass through fastener
It is fixedly mounted in jump mobile mechanism.
In this way, the components such as pedestal 61, telescopic rod 1, elastic spokes 2 just form a stator module, when driving motor drives
Rotating wheel 62 rotates, and when reaching certain revolving speed, and the stator module can be driven to reversely rotate.In other words, when rotating wheel 62 rotates
When, jump mobile mechanism will be rotated with the direction opposite with 62 rotation direction of rotating wheel.In addition, in the present embodiment,
By the orthogonal rotating wheel 62 of three pivot centers cooperation, it can be achieved that jump mobile mechanism along any direction rotation.
Again because in the disclosure, jump mobile mechanism is formed as the cage structure of a shape almost spherical, so jump can be realized
Rolling of the mobile mechanism along any direction.
In the disclosure, as shown in Figure 1 to Figure 3, momenttum wheel 6 can be fixed on mobile jib 11, and can be located at jump
The center of mobile mechanism.In this way, momenttum wheel 6 is mounted on because mobile jib 11 is in relatively-stationary state always
Mobile jib 11 is conducive to improve momenttum wheel 6 and the stability of mobile mechanism during the motion of jumping above.
In addition, the center of jump mobile mechanism is arranged in momenttum wheel 6, the movement appearance of adjustment jump mobile mechanism is also helped
State, for example, momenttum wheel 6 can be to its aerial operation posture and take-off at mobile mechanism of jumping in aerial or preparation take-off
Posture is adjusted in time, to guarantee jump mobile mechanism by the track movement of setting.
In the disclosure, the quantity of elastic spokes 2 can be as more as possible, because its number is more, circumferential along telescopic rod 1
In the case where being uniformly distributed, be spaced between every elastic spokes 2 it is just smaller, the cage type chondritic formed in this way just closer to
Spherical surface, so as to make the rolling of jump mobile mechanism mobile more smooth smooth.
In addition, elastic spokes 2 are while providing skip capability and roll capability for jump mobile mechanism, moreover it is possible to be mentioned to it
For buffering protection function, especially when jumping mobile mechanism's rebound landing, elastic spokes 2 generate deformation and can absorb impact energy,
To which the internal components (such as momenttum wheel 6) to jump mobile mechanism play effective protection.
But save the cost consideration is gone out, the number of elastic spokes 2 can not be excessive；In addition, the number of elastic spokes 2
Excessively, requirement is improved to the driving force for the motor 3 for driving it to shrink, increases unnecessary energy consumption, so elastic spokes 2
Number can not be excessive.Specifically, the quantity of elastic spokes 2 can be greater than or equal to eight.In one embodiment, such as
Shown in Fig. 3, it is provided with eight elastic spokes 2.
According to another aspect of the present disclosure, a kind of asteroid detection robot is provided, which includes above-mentioned machine
People's jump mobile mechanism.Jump move mode can usually make moving body easily cross over the barrier that scale is itself several times,
Especially on the faint asteroid of gravity.So mobile robot leaping over obstacles will be effectively improved using jump mobile mechanism
Ability, action detection is carried out on asteroid for it, convenience is provided.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
- The mobile mechanism 1. a kind of robot jumps, which is characterized in that including telescopic rod (1), driving device, multiple elastic spokes (2), the multiple elastic spokes (2) are evenly arranged around the telescopic rod (1), and the both ends of each elastic spokes (2) connect respectively The both ends of the telescopic rod (1) are connected to, so that the jump mobile mechanism is formed as cage type chondritic, the driving device is used In driving the telescopic rod (1) flexible, so that deformation occurs for the multiple elastic spokes (2).
- The mobile mechanism 2. robot according to claim 1 jumps, which is characterized in that the telescopic rod (1) includes mutual The mobile jib (11) and secondary bar (12) of socket, the mobile jib (11) are formed as hollow structure, the both ends difference of the elastic spokes (2) It is connected to the upper end of the mobile jib (11) and the lower end of the secondary bar (12), the driving device is for driving the secondary bar (12) It slides axially relative to the mobile jib (11).
- The mobile mechanism 3. robot according to claim 2 jumps, which is characterized in that the driving device includes motor (3) and the gear (4) that is mounted on the output shaft (31) of the motor (3), the motor (3) are fixed on the mobile jib (11) On, the secondary bar (12) is formed as the rack structure engaged with the gear (4), and the motor (3) drives the gear (4) to turn It moves to drive the secondary bar (12) to move axially relative to the mobile jib (11).
- The mobile mechanism 4. robot according to claim 2 jumps, which is characterized in that the lower end of the mobile jib (11) is formed Have limit seam allowance (13), the upper end of the secondary bar (12) is formed with defining flange (14), the limit seam allowance (13) and the limit Position flange (14) matches, to limit the secondary bar (12) abjection from the mobile jib (11).
- The mobile mechanism 5. robot according to claim 1 jumps, which is characterized in that the both ends of the telescopic rod (1) point It is not provided with spoke fixator (5).
- The mobile mechanism 6. robot according to claim 5 jumps, which is characterized in that the side of the spoke fixator (5) The pilot hole (51) that multiple ends for the elastic spokes (2) are inserted into is provided on wall, multiple pilot holes (51) are along institute The circumferential direction for stating spoke fixator (5) is uniformly distributed.
- The mobile mechanism 7. robot according to claim 2 jumps, which is characterized in that the jump mobile mechanism further includes Momenttum wheel (6) positioned at the jump mobile mechanism center.
- The mobile mechanism 8. robot according to claim 7 jumps, which is characterized in that the momenttum wheel (6) is fixed on institute It states on mobile jib (11).
- The mobile mechanism 9. robot according to claim 1 jumps, which is characterized in that the quantity of the elastic spokes (2) More than or equal to eight.
- 10. a kind of asteroid detection robot, which is characterized in that jumped including robot of any of claims 1-9 Jump mobile mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711175939.1A CN109808787B (en) | 2017-11-22 | 2017-11-22 | Robot jumping moving mechanism and asteroid detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711175939.1A CN109808787B (en) | 2017-11-22 | 2017-11-22 | Robot jumping moving mechanism and asteroid detection robot |
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| Publication Number | Publication Date |
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| CN109808787A true CN109808787A (en) | 2019-05-28 |
| CN109808787B CN109808787B (en) | 2020-10-02 |
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| CN201711175939.1A Expired - Fee Related CN109808787B (en) | 2017-11-22 | 2017-11-22 | Robot jumping moving mechanism and asteroid detection robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111003075A (en) * | 2019-12-16 | 2020-04-14 | 湖北第二师范学院 | High-elasticity-jump composite multi-foot robot |
| CN111114829A (en) * | 2019-10-31 | 2020-05-08 | 山东科技大学 | Jumping lunar mobile robot and motion mode thereof |
| CN112208793A (en) * | 2020-09-29 | 2021-01-12 | 北京理工大学 | Intelligent jumping method for controlling momentum-driven robot |
| CN112607059A (en) * | 2020-12-04 | 2021-04-06 | 清华大学 | Form-variable rigidity-variable asteroid hopping robot |
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| CN101616255A (en) * | 2009-07-23 | 2009-12-30 | 战强 | Throwable scout ball |
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| CN203528626U (en) * | 2013-11-04 | 2014-04-09 | 沈阳工业大学 | Bouncing type spherical robot |
| CN103895727A (en) * | 2014-04-16 | 2014-07-02 | 北京理工大学 | Piston driving type jumping robot |
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| CN201070488Y (en) * | 2007-06-22 | 2008-06-11 | 梁恒云 | Elastic ball |
| CN101616255A (en) * | 2009-07-23 | 2009-12-30 | 战强 | Throwable scout ball |
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| CN111114829A (en) * | 2019-10-31 | 2020-05-08 | 山东科技大学 | Jumping lunar mobile robot and motion mode thereof |
| CN111003075A (en) * | 2019-12-16 | 2020-04-14 | 湖北第二师范学院 | High-elasticity-jump composite multi-foot robot |
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| CN112607059A (en) * | 2020-12-04 | 2021-04-06 | 清华大学 | Form-variable rigidity-variable asteroid hopping robot |
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| CN109808787B (en) | 2020-10-02 |
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Granted publication date: 20201002 |