CN107223104B - Multi-foot robot - Google Patents
Multi-foot robot Download PDFInfo
- Publication number
- CN107223104B CN107223104B CN201680004359.3A CN201680004359A CN107223104B CN 107223104 B CN107223104 B CN 107223104B CN 201680004359 A CN201680004359 A CN 201680004359A CN 107223104 B CN107223104 B CN 107223104B
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- China
- Prior art keywords
- foot robot
- joint
- fuselage
- arm
- transmission component
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
A kind of multi-foot robot (100), including fuselage (10) and the pedipulator (50) being movably disposed on the fuselage (10).The pedipulator (50) includes the slave arm (545) and the first transmission component (543) with the fuselage (10) movable connection, and first transmission component (543) can drive relatively described fuselage (10) movement of the slave arm (545)；Wherein, first transmission component (543) includes engaging backing stop structure, the engaging backing stop structure is for giving the slave arm (545) enough support forces, and first transmission component (543) is made to be able to maintain that current drive state in the case where being cut off power, so that the pedipulator (50) be made to be able to maintain current operating status.
Description
Technical field
The present invention relates to robot field more particularly to a kind of multi-foot robots.
Background technique
With the development of science and technology, in modern society, the application of multi-foot robot such as crawler robot, bio-robot
It is more and more extensive.The joint of the pedipulator of current multi-foot robot is usually directly driven by steering engine, and the polypody machine is made
Device people can be realized the function of walking, climbing.However, when the power of the multi-foot robot is cut off, for example, when described more
After biped robot power-off, the steering engine loses energy source, since steering engine does not have self-locking function, makes the machine of the multi-foot robot
The joint of tool leg loses support force, causes the multi-foot robot just weak and limp on ground when power is cut off.Therefore, above-mentioned more
Biped robot is larger using limitation.
Summary of the invention
In view of the above situation, it is necessary to a kind of multi-foot robot is provided, even if the multi-foot robot is when power is cut off
It still is able to the operating status before keeping power to be cut off.
The embodiment of the present invention provides a kind of multi-foot robot, including fuselage and the machine being movably disposed on the fuselage
Tool leg.The pedipulator includes the slave arm and the first transmission component with the movable connection of the fuselage, first transmission
Component can drive the relatively described fuselage movement of the slave arm.Wherein, first transmission component includes engaging backing stop structure,
The engaging backing stop structure is used in first transmission component when being cut off power, the first transmission component described in locking, with
First transmission component is set to be able to maintain that current drive state, so that the pedipulator be made to be able to maintain current operation shape
State.
The embodiment of the present invention also provides a kind of multi-foot robot, including fuselage and multiple pedipulators.Multiple machinery
Leg is connect with the fuselage, is used to provide the described the mobile power of fuselage.Each pedipulator includes: the first joint, with institute
Fuselage is stated to be rotatably connected；Second joint is rotatably connected with first joint；And third joint, it is closed with described second
Section is rotatably connected.Wherein, when first joint is rotated relative to the fuselage, to adjust the level side in the third joint
To position；The second joint relatively first articulation when, to adjust the position of the vertical direction in the third joint
It sets；When the third joint is rotated relative to the second joint, to adjust the angle when third joint is landed.
In above-mentioned multi-foot robot, since first transmission component has engaging backing stop structure, the engaging retaining
Structure makes first transmission component energy in the case where being cut off power for giving the slave arm enough support forces
Current drive state is enough maintained, so that the pedipulator be made to be able to maintain current operating status, avoids the polypody machine
The device people situation weak and limp because being cut off power.
Detailed description of the invention
Fig. 1 is the assembling stereogram of multi-foot robot provided in an embodiment of the present invention.
Fig. 2 is the side schematic view of multi-foot robot shown in FIG. 1.
Fig. 3 is the assembling stereogram of the pedipulator of multi-foot robot shown in FIG. 1.
Fig. 4 is the stereoscopic schematic diagram at another visual angle of pedipulator shown in Fig. 3.
Fig. 5 is the stereoscopic schematic diagram at the another visual angle of pedipulator shown in Fig. 3.
Fig. 6 is the side schematic view of pedipulator shown in Fig. 3.
Main element symbol description
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " it include one or more phases
Any and all combinations of the listed item of pass.
The embodiment of the present invention provides a kind of multi-foot robot, is equipped with one or more pedipulators.Described in wherein at least one
Pedipulator includes slave arm and the first transmission component.First transmission component can drive the relatively described machine of the slave arm
Body movement.
Wherein, first transmission component includes engaging backing stop structure, and the engaging backing stop structure is used for described first
Transmission component is when being cut off power, the first transmission component described in locking, so that first transmission component is able to maintain that currently
Drive state, so that the pedipulator be made to be able to maintain current operating status.
In wherein some embodiments, the engaging backing stop structure can be electronic self-locking structure.When power is off, the electricity
Dynamic self-locking structure is in self-locking state.When being powered, the electronic self-locking mechanism releases self-locking.
For example, first transmission component may include electric expansion cylinder and retaining component, the engaging retaining knot
Structure is the snap-in structure of the electric expansion cylinder and the retaining component.When the electric expansion cylinder is powered, the electricity
The telescopic rod of dynamic telescopic cylinder is in contraction state, and telescopic rod is detached from corresponding retaining component at this time；It electronic is stretched when described
Contracting cylinder power off when, the telescopic rod under self gravitation effect auto-extending and be in original state, and with it is corresponding
The engaging of retaining component.Specifically, retaining component can be spur rack or engaging tooth socket etc..
Alternatively, it includes electromagnet component, irony engaging part and retaining component that engaging backing stop structure, which can be,.Work as electromagnetism
Iron component attracts the irony engaging part, separates irony engaging part with the retaining component when being powered；Electromagnet portion
When power is off, the irony engaging part fastens under self gravity with the retaining component part.Specifically, retaining component can
Think spur rack or engaging tooth socket etc..
In wherein some implementations, the engaging backing stop structure can be mechanical self-latching structure, for example, intermeshing spiral shell
Line.
The embodiment of the present invention also provides a kind of multi-foot robot, is equipped with one or more pedipulators.Wherein at least one institute
Stating pedipulator includes one or more joints.The locality of the adjustable pedipulator in joint, for example, the joint
Angle the etc. when position of adjustable horizontal direction, the position of vertical direction, landing.
In wherein some embodiments, the pedipulator may include multiple joints.For example, the pedipulator includes
First joint, second joint and third joint.Wherein, the first joint is rotatably connected with the fuselage.Second joint, with
First joint is rotatably connected.Third joint is rotatably connected with the second joint.
Wherein, when first joint is rotated relative to the fuselage, to adjust the horizontal direction in the third joint
Position.The second joint relatively first articulation when, to adjust the position of the vertical direction in the third joint.Institute
When stating third joint and being rotated relative to the second joint, to adjust the angle when third joint is landed, for example, relative to
The tilt angle on ground.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Please refer to Fig. 1 to Fig. 2, Fig. 1 and Fig. 2 shows the multi-foot robots that one embodiment of the present invention provides
100, the multi-foot robot 100 can be crawler robot, bio-robot etc., can apply in sports robot neck
Domain, service robot field, medical instruments field etc..In the present embodiment, the multi-foot robot 100 includes fuselage 10
And it is set to mechanism loading 30 and pedipulator 50 on the fuselage 10.The mechanism loading 30 is for realizing the polypody machine
The additional function of device people 100.The pedipulator 50 be used to provide for the multi-foot robot 100 support, walking, climbing it is dynamic
Power.
In the present embodiment, the fuselage 10 substantially massive base is used to carry the mechanism loading 30, is used in combination
In the electronic component for accommodating the multi-foot robot 100, such as controller, sensor.
The mechanism loading 30 is arranged on the fuselage 10, and can the relatively described fuselage 10 move, or it is relatively described
Fuselage 10 is fixed.In the present embodiment, the multi-foot robot 100 is remote-controlled robot, is equipped with wireless transport module, is used for
Receive telecommand；The mechanism loading 30 is gun turret, can emit the laser beam etc. of BB bullet or collimation.It is appreciated that
In other implementations, the type of the mechanism loading 30 can be set according to the actual needs of the multi-foot robot 100
It sets, for example, the mechanism loading 30 can be human-computer interaction device when the multi-foot robot 100 is service humanoid robot；
When the multi-foot robot 100 is Medical Robot, the mechanism loading 30 can be mechanical arm or sensing device etc.
Deng.Certainly, in some embodiments, the mechanism loading 30 also can be omitted, and directly be realized by the fuselage 10
The additional function of the multi-foot robot 100.
The pedipulator 50 is movably connected on the fuselage 10, and is located at the fuselage 10 and deviates from the load machine
The side of structure 30.The pedipulator 50 is used to support the fuselage 10, and drives 30 row of the fuselage 10 and the mechanism loading
It walks, climb, or execute other tasks.In the present embodiment, the quantity of the pedipulator 50 is eight, described in eight
It is two groups that pedipulator 50, which is divided to, and the opposite sides portion of the fuselage 10 is arranged in symmetry shape for pedipulator 50 described in two groups, to institute
It states fuselage 10 and symmetrical support force is provided, so that the whole gravitational equilibrium of the multi-foot robot 100 and running smoothly.It can manage
Solution, in other implementations, the pedipulator 50 or other quantity, for example, the pedipulator 50 can be one
A, two, three, four, five ... etc..
Referring to Fig. 3, the pedipulator 50 includes the first joint 52, second joint 54 and third joint 56, described the
One joint 52, the second joint 54 and the third joint 56 are sequentially connected.Specifically, first joint 52 can turn
It is connected to the fuselage 10 dynamicly, the second joint 54 is rotatably connected at first joint 52, the third joint
56 are rotatably connected at the second joint 54.
When first joint 52 is rotated relative to the fuselage 10, the third joint 56 can be adjusted in the horizontal direction
On position, to adjust the position of the pedipulator 50 in the horizontal direction.Therefore, by controlling 52 phase of the first joint
For the angle of the fuselage 10 rotation, the mobile step-length of the pedipulator 50 and direction can be controlled.
In the present embodiment, the shaft that first joint 52 is rotated relative to the fuselage 10, is basically parallel to institute
The vertical central axis setting of fuselage 10 is stated, first joint 52 is less than or equal to relative to the angle that the fuselage 10 rotates
180 degree.
It is appreciated that in other implementations, the shaft that first joint 52 is rotated relative to the fuselage 10
Setting angle and set-up mode, can be arranged according to the actual needs of the multi-foot robot 100, for example, described
One joint 52 can be arranged relative to the shaft that the fuselage 10 rotates relative to the vertical inclined of the fuselage 10.Class
As, the angular range that first joint 52 is rotated relative to the fuselage 10 can also be according to the multi-foot robot 100
Actual needs and be arranged, for example, first joint 52 can be less than or equal to relative to the angle that the fuselage 10 rotates
150 degree, be less than or equal to 100 degree, less than or equal to 90 etc..
When the second joint 54 is rotated relative to first joint 52, the third joint 56 can be adjusted in vertical side
To position, to adjust the pedipulator 50 in the position of vertical direction.Therefore, opposite by controlling the second joint 54
In the angle of first joint 52 rotation, the height that the pedipulator 50 is climbed/lifted can be controlled.
In the present embodiment, the shaft that the second joint 54 is rotated relative to first joint 52, it is substantially vertical
It is arranged in the vertical central axis of the fuselage 10.Specifically in the illustrated embodiment, the second joint 54 is relative to described
The shaft of first joint 52 rotation, the shaft setting rotated basically perpendicular to first joint 52 relative to the fuselage 10.Institute
It states the angle that second joint 54 is rotated relative to first joint 52 and is less than or equal to 100 degree.
It is appreciated that in other implementations, the second joint 54 is rotated relative to first joint 52
The setting angle and set-up mode of shaft can be arranged according to the actual needs of the multi-foot robot 100.For example, institute
Stating the shaft that second joint 54 is rotated relative to first joint 52 can incline relative to the vertical central axis of the fuselage 10
Tiltedly setting；Alternatively, the shaft that the second joint 54 is rotated relative to first joint 52, can close relative to described first
Axes of rotation skew setting of the section 52 relative to the fuselage 10 rotation.Similarly, the second joint 54 is relative to first joint
The angular range of 52 rotations, can also be arranged according to the actual needs of the multi-foot robot 100, for example, described second closes
Section 54 relative to first joint 52 rotation angle can be less than or equal to 180 degree, less than or equal to 150 degree, be less than or
Equal to 90 etc..
When the third joint 56 is rotated relative to the second joint 54, when can adjust the third joint 56 landing
Angle, thus adjust the pedipulator 50 land when angle.Therefore, by controlling the third joint 56 relative to described
The angle that second joint 54 rotates, can control the angle that the pedipulator 50 is climbed/lifted.
In the present embodiment, the shaft that the third joint 56 is rotated relative to the second joint 54, it is substantially parallel
In the shaft that the second joint 54 is rotated relative to first joint 52, the third joint 56 is closed relative to described second
The angle of 54 rotation of section is less than or equal to 100 degree.
It is appreciated that in other implementations, the third joint 56 is rotated relative to the second joint 54
The setting angle and set-up mode of shaft can be arranged according to the actual needs of the multi-foot robot 100.For example, institute
The shaft that third joint 56 is rotated relative to the second joint 54 is stated, can be inclined relative to the vertical central axis of the fuselage 10
Tiltedly setting；Alternatively, the shaft that the third joint 56 is rotated relative to the second joint 54, can close relative to described second
Axes of rotation skew setting of the section 54 relative to the fuselage 10 rotation.Similarly, the third joint 56 is relative to the second joint
The angular range of 54 rotations, can also be arranged according to the actual needs of the multi-foot robot 100, for example, the third is closed
Section 56 relative to the second joint 54 rotation angle can be less than or equal to 180 degree, less than or equal to 150 degree, be less than or
Equal to 90 etc..
Please refer to Fig. 3 to Fig. 6, specifically in the embodiments illustrated in the figures, first joint 52 includes actively driving
Moving part 521 and master arm 523.The active drive part 521 is set on the fuselage 10.The master arm 523 and the master
Dynamic actuator 521 is connected.
In the present embodiment, the active drive part 521 is rotary drive, is used to drive the master arm 523
Rotation, to drive the pedipulator 50 is whole to rotate relative to the fuselage 10.Switching is provided on the active drive part 521
Portion (does not mark) in figure, and the active drive part 521 is installed on the fuselage 10 by the switching part.Specifically, described
Active drive part 521 is rotating electric machine comprising stator (not marking in figure) and rotor (not marking in figure).The stator is fixed
In on the fuselage 10, the rotor is rotatably connected with the stator.The master arm 523 is connected on the rotor, institute
It states rotor and is able to drive the master arm 523 and rotated relative to the fuselage 10, to make the relatively described machine in first joint 52
Body 10 rotates.
The master arm 523 is for installing the second joint 54.The active drive part 521 drives the master arm
523 rotation when, the axis that the master arm 523 is rotated relative to the fuselage 10, be basically parallel to the fuselage 10 it is vertical in
Mandrel setting.When the multi-foot robot 100 runs on approximate horizontal workplace, the rotation axis of the master arm 523
Line is arranged substantially in the vertical direction.
The second joint 54 is movably disposed on the master arm 523.Specifically in the illustrated embodiment, institute
Stating second joint 54 includes driven actuator 541, the first transmission component 543 and slave arm 545.The driven actuator 541
It is arranged on the master arm 523.First transmission component 543 is connected to the driven actuator 541.The slave arm
545 are connected to first transmission component 543.
In the present embodiment, the driven actuator 541 is rotary drive, specifically, the driven actuator 541
For rotating electric machine.The driven actuator 541 is arranged on the master arm 523, and the relatively described master arm 523 is fixed.Institute
Driven actuator 541 is stated for driving first transmission component 543 to move, to drive the relatively described master of the slave arm 545
Swing arm 523 rotates, so that the second joint 54 be made to rotate relative to first joint 52.
In the present embodiment, first transmission component 543 is screw mechanism.Specifically, first transmission component
543 include screw rod 5431 and the nut 5433 being sheathed on the screw rod 5431.The screw rod 5431 passes through universal joint 5435
It is connected to the drive shaft of the driven actuator 541, the nut 5433 is meshed with the screw rod 5431.The driven driving
Part 541 can drive the screw rod 5431 to rotate, to drive the nut 5433 mobile.The nut 5433 and the screw rod
Engaging structure between 5431 constitutes the engaging backing stop structure of first transmission component 543.When the driven actuator 541
When being cut off power, for example, the engaging backing stop structure can prevent the first transmission group when the driven actuator 541 powers off
Part 543 continues to be driven, that is, after the screw thread of nut 5433 is engaged with the screw thread of screw rod 5431, is difficult to the nut 5433 automatically
It is mobile relative to the screw rod 5431, so that first transmission component 543 still is able to keep the support to the slave arm 545
Power, so as to avoid the second joint 54 situation weak and limp because being cut off power.
The slave arm 545 is rotatablely arranged on the master arm 523, and is rotatably connected with the nut 5433
It connects.Specifically, the slave arm 545 is articulated on the master arm 523 by pivot 5451, and the slave arm 545 is by turning
Axis 5453 is rotatably coupled with the nut 5433.When the driven actuator 541 drives the screw rod 5431 to rotate, institute
Stating nut 5433 can move along the screw rod 5431, to drive the slave arm 545 523 turns of master arm relatively described
It is dynamic, make the second joint 54 is whole to rotate relative to first joint 52.The driven actuator 541 is passed by described first
When dynamic component 543 drives the slave arm 545 to rotate, the axis that the slave arm 545 is rotated relative to the master arm 523, greatly
Cause the axis rotated perpendicular to the master arm 523 relative to the fuselage 10.When the multi-foot robot 100 runs on substantially water
When flat workplace, the pivot center of the slave arm 545 is arranged generally in a horizontal direction.
The third joint 56 is movably disposed on the slave arm 545.In the present embodiment, the third is closed
The structure of section 56 is roughly the same with the structure of the second joint 54.Specifically in the illustrated embodiment, the third joint
56 include executing actuator 561, the second transmission component 563 and executing arm 565, and the execution actuator 561 is arranged described
On slave arm 545, second transmission component 563 is connected to the execution actuator 561, and the execution arm 565 is connected to institute
State the second transmission component 563.
In the present embodiment, the execution actuator 561 is rotary drive, specifically, the execution actuator 561
For rotating electric machine.The execution actuator 561 is arranged on the slave arm 545, and the relatively described slave arm 545 is fixed.Institute
State and execute actuator 561 for driving second transmission component 563 to move, with drive the executions arm 565 relatively described in from
Swing arm 545 rotates, so that the third joint 56 be made to rotate relative to the second joint 54.
In the present embodiment, second transmission component 563 is screw mechanism.Specifically, second transmission component
563 include screw rod 5631 and the nut 5633 being sheathed on the screw rod 5631.The screw rod 5631 passes through universal joint 5635
It is connected to the drive shaft for executing actuator 561, the nut 5633 is meshed with the screw rod 5631.It is described to execute driving
Part 561 can drive the screw rod 5631 to rotate, to drive the nut 5633 mobile.The nut 5633 and the screw rod
Engaging structure between 5631 constitutes the engaging backing stop structure of second transmission component 563.When the execution actuator 561
When being cut off power, for example, the engaging backing stop structure can prevent the second transmission group when the execution actuator 561 powers off
Part 563 continues to be driven, that is, after the screw thread of nut 5633 is engaged with the screw thread of screw rod 5631, is difficult to the nut 5633 automatically
It is mobile relative to the screw rod 5631, so that second transmission component 563 still is able to keep to the support for executing arm 565
Power, so as to avoid the third joint 56 situation weak and limp because being cut off power.
The execution arm 565 is rotatablely arranged on the slave arm 545, and is rotatably connected with the nut 5633
It connects.Specifically, the execution arm 565 is articulated on the slave arm 545 by pivot 5651, and the execution arm 565 is by turning
Axis 5653 is rotatably coupled with the nut 5633.When the execution actuator 561 drives the screw rod 5631 to rotate, institute
Stating nut 5633 can move along the screw rod 5631, to drive the execution arm 565 545 turns of slave arm relatively described
It is dynamic, make the third joint 56 is whole to rotate relative to the second joint 54.The execution actuator 561 is passed by described second
When dynamic component 563 drives the execution arm 565 to rotate, the axis for executing arm 565 and being rotated relative to the slave arm 545, greatly
Cause is parallel to the axis that the slave arm 545 rotates the master arm 523.When the multi-foot robot 100 is run on substantially
When the workplace of level, the pivot center for executing arm 565 is arranged generally in a horizontal direction.
Further, the multi-foot robot 100 further includes the stabilizer blade 58 being set on the third joint 56, the branch
Foot 58 is used as support of the pedipulator 50 of the multi-foot robot 100 when landing.The stabilizer blade 58 include dampening assembly 581 with
And feeler 583, the dampening assembly 581 are set on the execution arm 565, the feeler 583 is held in the dampening assembly
On 581, the feeler 583 and the dampening assembly 581 are used to the multi-foot robot 100 being supported in field of employment, and
Damping is carried out to walking, the climbing of the multi-foot robot 100.
Specifically in the illustrated embodiment, the dampening assembly 581 includes fixing piece 5811, installing part 5813, elasticity
Part 5815 and movable part 5817.The fixing piece 5811 is fixed on the execution arm 565, and the installing part 5813 is set to
On the fixing piece 5811, the elastic component 5815 is movably disposed on the installing part 5813.The movable part 5817
It is movably held on the elastic component 5815, and for abutting the feeler 583, makes the dampening assembly 581 described
It is formed between third joint 56 and the feeler 583 and flexibly supports effect, to realize the multi-foot robot 100 when walking
Damping.
Specifically, in the present embodiment, the fixing piece 5811 is two, and two fixing pieces 5811 are to each other
Every setting on the execution arm 565.The installing part 5813 is substantially in the shape of a rod, setting two fixing pieces 5811 it
Between, and the both ends of the installing part 5813 are connected on two fixing pieces 5811.The movable part 5817 is movable
Ground is sheathed on the installing part 5813, and the movable part 5817 is for installing the feeler 583.The elastic component 5815 can live
It is arranged on the installing part 5813 dynamicly, and is held between the fixing piece 5811 and the movable part 5817.In this reality
It applies in mode, the elastic component 5815 is two groups, and elastic component 5815 described in two groups is separately positioned on the two of the movable part 5817
Side, and the both ends of elastic component 5815 described in every group are supported respectively on the fixing piece 5811 and the movable part 5817, thus
Realize the bidirectional damping of the pedipulator 50.
The feeler 583 is connected on the movable part 5817, is used to the multi-foot robot 100 being supported in use
Place.It is provided with sensor (not shown) on the feeler 583, whether the sensor is for sensing the feeler 583
It lands.The sensor can be pressure sensor, range sensor, visual sensor etc..
First joint 52 of above-mentioned multi-foot robot 100, pedipulator 50 is used as active joint, 54 conduct of second joint
Driven joint, third joint 56 drive the execution joint by the driven joint as joint, the active joint is executed
Movement, to realize the functions such as standing, walking, the climbing of the multi-foot robot 100.Due to the first of the second joint 54
Transmission component 543 has above-mentioned engaging backing stop structure, and the engaging backing stop structure is enough for giving the slave arm 545
Support force, and first transmission component 543 is made to be able to maintain that current drive state in the case where being cut off power, thus
So that the pedipulator is able to maintain current operating status, it is weak and limp because being cut off power to avoid the multi-foot robot 100
The case where.Similarly, since second transmission component 563 in the third joint 56 has above-mentioned engaging backing stop structure, make institute
It states the second transmission component 563 and is able to maintain that current drive state in the case where being cut off power, avoid the polypody machine
The situation weak and limp because being cut off power of device people 100.
It is understood that above-mentioned multi-foot robot 100, can only have above-mentioned second joint 54 or third joint 56
Any of, with functions such as standing, walking, the climbings of realizing the multi-foot robot 100；Even, the multi-foot robot
100 pedipulator 50, it is convenient to omit first joint 52, and the second joint 54 is directly installed in the fuselage 10
On, and give the pedipulator 50 enough support forces by the first transmission component 543 of the second joint 54, make the machine
Tool leg 50 is able to maintain that current drive state in the case where being cut off power.
It is understood that first transmission component 543 can be the transmission mechanism in addition to screw mechanism, and make institute
Stating the first transmission component 543 has engaging backing stop structure, to make first transmission component 543 the case where being cut off power
Under be able to maintain that current drive state.
For example, first transmission component 543 can be worm gear mechanism.Specifically, first transmission component
543 may include worm screw and the worm gear that is meshed with the worm screw.The worm screw is connected to the driving of the driven actuator 541
Axis, the slave arm 545 are set on the worm gear.The driven actuator 541 can drive the worm screw to rotate, to drive
The worm gear rotation, so that the slave arm 545 be driven to rotate.The engaging backing stop structure is the worm gear and the worm screw
Engaging structure, as a result, when the driven actuator 541 is cut off power, the engaging backing stop structure can prevent the snail
Wheel is rotated relative to the worm screw, and first transmission component 543 still is able to keep the support force to the slave arm 545, thus
Avoid the second joint 54 situation weak and limp because being cut off power.
Alternatively, first transmission component 543 can be linear motor.Specifically, first transmission component 543 can
To include guide rail and sliding block compatible with the guide rail, at this point, the driven actuator 541 can be omitted.On the guide rail
It is provided with switching part, the guide rail is installed on the fuselage 10 by the switching part.The guide rail is rotatably connected at
The master arm 523, the sliding block are slidably disposed on the guide rail.The slave arm 545 and 523 phase of master arm
While pivot joint, it is rotatably connected on the sliding block.When the relatively described guide rail sliding of the sliding block of the linear motor
When, the sliding block is able to drive the relatively described master arm 523 of the slave arm 545 and moves.Wherein, the guide rail can pass through ten thousand
Xiang Jie, flexural pivot or pivot etc. are rotatably connected on the master arm 523.The engaging backing stop structure is the straight-line electric
Self-locking structure inside machine, as a result, when the driven actuator 541 is cut off power, the engaging backing stop structure can be prevented
Only the sliding block is mobile relative to the guide rail, and first transmission component 543 still is able to keep the support to the slave arm 545
Power, so as to avoid the second joint 54 situation weak and limp because being cut off power.
For another example, first transmission component 543 can be the combination of electric expansion cylinder and retaining component.It is specific and
Speech, first transmission component 543 may include electric expansion cylinder and retaining component, at this point, the driven actuator 541 can
To omit.The electric expansion cylinder includes cylinder body and the telescopic rod that is slidably matched with the cylinder body, and the telescopic rod can be with
The retaining component fastens or mutually separates.The cylinder body is rotatably connected at the master arm 523, the slave arm 545
While being articulated with the master arm 523, it is rotatably connected on the telescopic rod.When the telescopic rod is relative to described
When cylinder body slides, the telescopic rod is able to drive the relatively described master arm 523 of the slave arm 545 and moves.Wherein, the cylinder body
It can be rotatably connected at by universal joint, flexural pivot or pivot etc. on the master arm 523.The engaging backing stop structure is
The snap-in structure of the electric expansion cylinder and the retaining component.Specifically, described when the electric expansion cylinder is powered
Telescopic rod is in contraction state, and telescopic rod is mutually separated with corresponding retaining component at this time；When the electric expansion cylinder powers off
When, the telescopic rod under self gravitation effect auto-extending and be in original state, and with corresponding retaining component phase
Engaging.Specifically, the retaining component can be spur rack or engaging tooth socket etc..
For another example, first transmission component 543 can be the combination of electronic rotation cylinder and retaining component.It is specific and
Speech, first transmission component 543 may include electronic rotation cylinder and retaining component, at this point, the driven actuator 541 can
To omit.The electronic rotation cylinder includes cylinder body, the swingle being rotatably assorted with the cylinder body and is set to Soviet Union's Sohu's cylinder
Return unit between body and the swingle, the swingle can fasten with the retaining component or mutually separate.The cylinder
Body is fixedly connected to the master arm 523, and the slave arm 545 is connected on the swingle.When the swingle is opposite
When cylinder body rotation, the swingle is able to drive the relatively described master arm 523 of the slave arm 545 and moves.The card
Close the snap-in structure that backing stop structure is the electronic rotation cylinder and the retaining component.Specifically, when the electronic rotation gas
When cylinder is powered, the swingle is mutually separated with corresponding retaining component；When electronic rotation cylinder power-off, the rotation
Bar replys under return unit effect and is in original state, and fastens with corresponding retaining component.Specifically, institute
Stating return unit can be elastic component, and the retaining component can be spur rack or engaging tooth socket etc..
Similarly, the second transmission component 563 or the transmission mechanism in addition to screw mechanism are stated, for example, being worm gear
Worm mechanism, linear motor, telescopic cylinder, rotary cylinder etc. make second transmission component 563 have corresponding engaging retaining
Structure, so that second transmission component 563 be made to be able to maintain that current drive state in the case where being cut off power.
Embodiment of above is only used to illustrate the technical scheme of the present invention and not to limit it, although referring to the above preferable embodiment party
Formula describes the invention in detail, those skilled in the art should understand that, it can be to technical solution of the present invention
It modifies or equivalent replacement should not all be detached from the spirit and scope of technical solution of the present invention.Those skilled in the art can also be at this
Other variations etc. are done in spirit and are used in design of the invention, without departing from technical effect of the invention.These
The variation that spirit is done according to the present invention, all should be comprising within scope of the present invention.
Claims (76)
1. a kind of multi-foot robot, including fuselage and the pedipulator that can be movably arranged as on the fuselage, it is characterised in that:
The pedipulator includes the slave arm and the first transmission component with the movable connection of the fuselage, the first transmission component energy
Enough drive the relatively described fuselage movement of the slave arm；Wherein, first transmission component includes engaging backing stop structure, the card
It closes backing stop structure to be used in first transmission component when being cut off power, the first transmission component described in locking, so that described
First transmission component is able to maintain that current drive state, so that the pedipulator be made to be able to maintain current operating status；
Wherein, the pedipulator further includes the driven actuator for being connected to the fuselage, and first transmission component is connected to institute
It states on driven actuator, the driven actuator can drive first transmission component to drive the slave arm movement；
First transmission component is screw mechanism, and the driven actuator is rotating electric machine；And
First transmission component includes screw rod and the nut that is meshed with the screw rod, and the screw rod is connected to the electric rotating
The drive shaft of machine, the slave arm are rotatably connected at the fuselage, and are rotatably connected on the nut, the card
Close the engaging structure that backing stop structure is the screw rod and the nut.
2. multi-foot robot as described in claim 1, it is characterised in that: the screw rod is connected to the rotation by universal joint
The drive shaft of motor.
3. multi-foot robot as described in claim 1, it is characterised in that: the nut can be turned by shaft with the slave arm
Dynamic connection.
4. multi-foot robot as described in claim 1, it is characterised in that: first transmission component is worm gear mechanism,
The driven actuator is rotating electric machine.
5. multi-foot robot as claimed in claim 4, it is characterised in that: first transmission component include worm screw and with it is described
The worm gear that worm screw is meshed, the worm screw are connected to the drive shaft of the rotating electric machine, and the slave arm is connected to the worm gear
On, the engaging backing stop structure is the engaging structure of the worm gear and the worm screw.
6. multi-foot robot as described in claim 1, it is characterised in that: the pedipulator further includes master arm, the active
Arm is rotatably connected at the fuselage, and the driven actuator is set on the master arm, and the slave arm is rotationally
It is connected on the master arm, to be connected with the fuselage.
7. multi-foot robot as claimed in claim 6, it is characterised in that: the pedipulator further includes being fixed on the fuselage
Active drive part, the master arm is connected to the active drive part, and the active drive part can drive the master arm
It is rotated relative to the fuselage, to drive the pedipulator is whole to rotate relative to the fuselage.
8. multi-foot robot as claimed in claim 7, it is characterised in that: the active drive part is rotary drive, described
Rotary drive can drive the pedipulator is whole to rotate relative to the fuselage by the master arm, to change the machinery
Leg position in the horizontal direction.
9. multi-foot robot as claimed in claim 8, it is characterised in that: the active drive part is by controlling the pedipulator
Relative to the angle of fuselage rotation, the mobile step-length of the pedipulator is controlled.
10. multi-foot robot as claimed in claim 8, it is characterised in that: the active drive part drives the pedipulator to turn
Dynamic shaft is basically parallel to the vertical central axis setting of the fuselage.
11. multi-foot robot as claimed in claim 8, it is characterised in that: the pedipulator is relative to the angle that the fuselage rotates
Degree is less than or equal to 180 degree.
12. multi-foot robot as claimed in claim 7, it is characterised in that: the driven actuator can pass through described first
Transmission component drives the slave arm to rotate relative to the master arm, to change the pedipulator in the position of vertical direction.
13. multi-foot robot as claimed in claim 12, it is characterised in that: the driven actuator is described driven by controlling
The angle that arm is rotated relative to the master arm controls the height of the pedipulator climbing.
14. multi-foot robot as claimed in claim 12, it is characterised in that: the driven actuator drives the slave arm phase
To the shaft of master arm rotation, the vertical central axis setting basically perpendicular to the fuselage.
15. multi-foot robot as claimed in claim 12, it is characterised in that: the slave arm is rotated relative to the master arm
Rotational angle is less than or equal to 100 degree.
16. multi-foot robot as described in claim 1, it is characterised in that: the multi-foot robot further includes executing joint, institute
It states and executes joint setting on the slave arm, the slave arm is able to drive the execution joint motions.
17. multi-foot robot as claimed in claim 16, it is characterised in that: further include the execution being set on the slave arm
Actuator and the execution arm being connected on the execution actuator, the execution actuator is for driving the execution arm opposite
The slave arm rotation.
18. multi-foot robot as claimed in claim 17, it is characterised in that: the execution actuator is by driving the execution
Arm is rotated relative to the slave arm, can adjust angle of the pedipulator when landing.
19. multi-foot robot as claimed in claim 18, it is characterised in that: the execution actuator is by controlling the execution
The angle that arm is rotated relative to the slave arm controls the angle of the pedipulator climbing.
20. multi-foot robot as claimed in claim 18, it is characterised in that: described to execute what arm was rotated relative to the slave arm
Shaft, the vertical central axis setting basically perpendicular to the fuselage.
21. multi-foot robot as claimed in claim 18, it is characterised in that: described to execute what arm was rotated relative to the slave arm
Angle is less than or equal to 100 degree.
22. multi-foot robot as claimed in claim 17, it is characterised in that: further include the second transmission component, held by described
Row actuator can drive second transmission component that the execution arm is driven to move relative to the slave arm, and described second passes
Dynamic component includes engaging backing stop structure, so that the slave arm is when being cut off power, the execution joint is able to maintain currently
Operating status.
23. multi-foot robot as claimed in claim 22, it is characterised in that: second transmission component is screw mechanism, institute
Stating and executing actuator is rotating electric machine.
24. multi-foot robot as claimed in claim 23, it is characterised in that: second transmission component include screw rod and with institute
The nut that screw rod is meshed is stated, the screw rod is connected to the drive shaft of the rotating electric machine, and the execution arm is rotatably coupled
It in the slave arm, and is rotatably connected on the nut, the engaging backing stop structure of second transmission component is
The engaging structure of the screw rod and the nut.
25. multi-foot robot as claimed in claim 24, it is characterised in that: the screw rod is connected to the rotation by universal joint
The drive shaft of rotating motor.
26. multi-foot robot as claimed in claim 24, it is characterised in that: the nut can by shaft and the execution arm
Rotation connection.
27. multi-foot robot as claimed in claim 22, it is characterised in that: second transmission component is worm and gear machine
Structure, the execution actuator are rotating electric machine.
28. multi-foot robot as claimed in claim 27, it is characterised in that: second transmission component include worm screw and with institute
The worm gear that worm screw is meshed is stated, the worm screw is connected to the drive shaft of the rotating electric machine, and the execution arm is connected to the snail
On wheel, the engaging backing stop structure of second transmission component is the engaging structure of the worm gear and the worm screw.
29. multi-foot robot as claimed in claim 16, it is characterised in that: the pedipulator further includes being set to the execution
Dampening assembly on joint, the dampening assembly are used to carry out damping to the multi-foot robot.
30. multi-foot robot as claimed in claim 29, it is characterised in that: the pedipulator further includes being connected to the damping
Feeler on component, the feeler are used to the multi-foot robot being supported in field of employment.
31. multi-foot robot as claimed in claim 30, it is characterised in that: the dampening assembly includes being connected to the execution
Installing part on joint and the elastic component being set on the installing part, the feeler are held on the elastic component.
32. multi-foot robot as claimed in claim 31, it is characterised in that: the dampening assembly further includes being set to described hold
Fixing piece on row joint, the installing part are fixedly connected with the fixing piece, the elastic component be held in the fixing piece with
Between the feeler.
33. multi-foot robot as claimed in claim 32, it is characterised in that: the dampening assembly further includes movably being arranged
Movable part on the installing part, one end of the elastic component are held on the fixing piece, and the other end is held in the work
On moving part, the feeler is connected on the movable part.
34. multi-foot robot as claimed in claim 33, it is characterised in that: the fixing piece and the elastic component are two
Group, fixing piece described in two groups are intervally installed on the execution joint, the installing part be set to two groups described in fixing piece
Between, elastic component described in two groups is separately positioned on the two sides of the movable part, to realize the bidirectional damping of the multi-foot robot.
35. multi-foot robot as claimed in claim 30, it is characterised in that: be provided with sensor, the biography on the feeler
Sensor is for sensing whether the feeler lands.
36. multi-foot robot as claimed in claim 35, it is characterised in that: the sensor be it is following it is several in any
Kind: pressure sensor, range sensor, visual sensor.
37. multi-foot robot as described in claim 1, it is characterised in that: first transmission component is linear motor, described
Linear motor includes that guide rail and sliding block compatible with the guide rail, the guide rail are rotatably connected on the fuselage, institute
It states slave arm and is rotatably connected at the fuselage, and be rotatably connected on the sliding block.
38. multi-foot robot as claimed in claim 37, it is characterised in that: the guide rail passes through universal joint, flexural pivot or pivot
Axis connection is on the fuselage.
39. multi-foot robot as described in claim 1, it is characterised in that: the multi-foot robot further includes movably setting
The mechanism loading being placed on the fuselage, the mechanism loading for realizing the multi-foot robot additional function.
40. multi-foot robot as claimed in claim 39, it is characterised in that: the mechanism loading is gun turret.
41. a kind of multi-foot robot characterized by comprising
Fuselage；And
Multiple pedipulators are connect with the fuselage, are used to provide the described the mobile power of fuselage；Each pedipulator includes:
First joint is rotatably connected with the fuselage；
Second joint is rotatably connected with first joint；And
Third joint is rotatably connected with the second joint；
Wherein, when first joint is rotated relative to the fuselage, to adjust the position of the horizontal direction in the third joint；
The second joint relatively first articulation when, to adjust the position of the vertical direction in the third joint；Described
When three joints are rotated relative to the second joint, to adjust the angle when third joint is landed；
Wherein, the second joint includes the driven actuator being set on first joint and is connected to the driven drive
The slave arm of moving part, the driven actuator can drive relatively described first articulation of the slave arm, and the third is closed
Section is connected on the slave arm；
The second joint further includes the first transmission component, first transmission component be connected to the driven actuator with it is described
Between slave arm, and for driving the slave arm to rotate, first transmission component includes engaging backing stop structure；
First transmission component is screw mechanism, and the driven actuator is rotating electric machine；And
First transmission component includes screw rod and the nut that is meshed with the screw rod, and the screw rod is connected to the electric rotating
The drive shaft of machine, the slave arm are rotatably connected at the fuselage, and are rotatably connected on the nut, the card
Close the engaging structure that backing stop structure is the screw rod and the nut.
42. multi-foot robot as claimed in claim 41, it is characterised in that: by first joint relative to the fuselage
The angle of rotation, the mobile step-length of the corresponding pedipulator of control.
43. multi-foot robot as claimed in claim 42, it is characterised in that: first joint is rotated relative to the fuselage
Shaft, be basically parallel to the fuselage vertical central axis setting.
44. multi-foot robot as claimed in claim 42, it is characterised in that: first joint is rotated relative to the fuselage
Angle be less than or equal to 180 degree.
45. multi-foot robot as claimed in claim 42, it is characterised in that: first joint includes being set to the fuselage
On active drive part and be connected to the master arm of the active drive part, the active drive part can drive the active
Arm is rotated relative to the fuselage, and the second joint is arranged on the master arm.
46. multi-foot robot as claimed in claim 45, it is characterised in that: the active drive part is rotary drive.
47. multi-foot robot as claimed in claim 41, it is characterised in that: by the second joint relative to described first
The angle of articulation, the height of the corresponding pedipulator climbing of control.
48. multi-foot robot as claimed in claim 47, it is characterised in that: the second joint is relative to first joint
The shaft of rotation, the vertical central axis setting basically perpendicular to the fuselage.
49. multi-foot robot as claimed in claim 47, it is characterised in that: the second joint is relative to first joint
The angle of rotation is less than or equal to 100 degree.
50. multi-foot robot as claimed in claim 41, it is characterised in that: the engaging backing stop structure for give it is described from
The enough support forces of swing arm, and first transmission component is made to be able to maintain that current transmission shape in the case where being cut off power
State, so that the second joint be made to be able to maintain current operating status.
51. multi-foot robot as claimed in claim 41, it is characterised in that: the screw rod is connected to the rotation by universal joint
The drive shaft of rotating motor.
52. multi-foot robot as claimed in claim 41, it is characterised in that: the nut can by shaft and the slave arm
Rotation connection.
53. multi-foot robot as claimed in claim 50, it is characterised in that: first transmission component is worm and gear machine
Structure, the driven actuator are rotating electric machine.
54. multi-foot robot as claimed in claim 53, it is characterised in that: first transmission component include worm screw and with institute
The worm gear that worm screw is meshed is stated, the worm screw is connected to the drive shaft of the rotating electric machine, and the slave arm is connected to the snail
On wheel, the engaging backing stop structure is the engaging structure of the worm gear and the worm screw.
55. multi-foot robot as claimed in claim 41, it is characterised in that: by the third joint relative to described second
The angle of articulation, the angle of the corresponding pedipulator climbing of control.
56. multi-foot robot as claimed in claim 55, it is characterised in that: the third joint is relative to the second joint
The shaft of rotation is basically parallel to shaft of the second joint relative to first articulation.
57. multi-foot robot as claimed in claim 55, it is characterised in that: the third joint is relative to the second joint
The angle of rotation is less than or equal to 100 degree.
58. multi-foot robot as claimed in claim 55, it is characterised in that: the third joint includes being set to described second
Execution actuator on joint and it is connected to the execution arm for executing actuator, described in the executions actuator can drive
Arm is executed to rotate relative to the second joint.
59. multi-foot robot as claimed in claim 58, it is characterised in that: the third joint further includes the second transmission group
Part, second transmission component are connected between the execution actuator and the execution arm, and for driving the execution arm
Rotation.
60. multi-foot robot as claimed in claim 59, it is characterised in that: second transmission component includes engaging retaining knot
Structure, the engaging backing stop structure are cutting first transmission component for giving the execution arm enough support forces
Current drive state is able to maintain that in the case where disconnected power, so that the third joint be made to be able to maintain current operation shape
State.
61. multi-foot robot as claimed in claim 60, it is characterised in that: second transmission component is screw mechanism, institute
Stating and executing actuator is rotating electric machine.
62. multi-foot robot as claimed in claim 61, it is characterised in that: second transmission component include screw rod and with institute
The nut that screw rod is meshed is stated, the screw rod is connected to the drive shaft of the rotating electric machine, and the execution arm is rotatably coupled
It in the fuselage, and is rotatably connected on the nut, the engaging backing stop structure is the screw rod and the nut
Engaging structure.
63. multi-foot robot as claimed in claim 62, it is characterised in that: the screw rod is connected to the rotation by universal joint
The drive shaft of rotating motor.
64. multi-foot robot as claimed in claim 62, it is characterised in that: the nut can by shaft and the execution arm
Rotation connection.
65. multi-foot robot as claimed in claim 60, it is characterised in that: second transmission component is worm and gear machine
Structure, the execution actuator are rotating electric machine.
66. the multi-foot robot as described in claim 65, it is characterised in that: second transmission component include worm screw and with institute
The worm gear that worm screw is meshed is stated, the worm screw is connected to the drive shaft of the rotating electric machine, and the execution arm is connected to the snail
On wheel, the engaging backing stop structure is the engaging structure of the worm gear and the worm screw.
67. multi-foot robot as claimed in claim 41, it is characterised in that: the pedipulator further includes being set to the third
Dampening assembly on joint, the dampening assembly are used to carry out damping to the multi-foot robot.
68. the multi-foot robot as described in claim 67, it is characterised in that: the pedipulator further includes being connected to the damping
Feeler on component, the feeler are used to the multi-foot robot being supported in field of employment.
69. multi-foot robot as recited in claim 68, it is characterised in that: the dampening assembly includes being connected to the third
Installing part on joint and the elastic component being set on the installing part, the feeler are held on the elastic component.
70. the multi-foot robot as described in claim 69, it is characterised in that: the dampening assembly further includes being set to described
Fixing piece on three joints, the installing part are fixedly connected with the fixing piece, the elastic component be held in the fixing piece with
Between the feeler.
71. the multi-foot robot as described in claim 70, it is characterised in that: the dampening assembly further includes movably being arranged
Movable part on the installing part, one end of the elastic component are held on the fixing piece, and the other end is held in the work
On moving part, the feeler is connected on the movable part.
72. the multi-foot robot as described in claim 71, it is characterised in that: the fixing piece and the elastic component are two
Group, fixing piece described in two groups are intervally installed on the third joint, the installing part be set to two groups described in fixing piece
Between, elastic component described in two groups is separately positioned on the two sides of the movable part, to realize the bidirectional damping of the multi-foot robot.
73. multi-foot robot as recited in claim 68, it is characterised in that: be provided with sensor, the biography on the feeler
Sensor is for sensing whether the feeler lands.
74. the multi-foot robot as described in claim 73, it is characterised in that: the sensor be it is following it is several in any
Kind: pressure sensor, range sensor, visual sensor.
75. multi-foot robot as claimed in claim 41, it is characterised in that: the multi-foot robot further includes movably setting
The mechanism loading being placed on the fuselage, the mechanism loading for realizing the multi-foot robot additional function.
76. the multi-foot robot as described in claim 75, it is characterised in that: the mechanism loading is gun turret.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/086884 WO2017219315A1 (en) | 2016-06-23 | 2016-06-23 | Multi-legged robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107223104A CN107223104A (en) | 2017-09-29 |
| CN107223104B true CN107223104B (en) | 2019-02-12 |
Family
ID=59927666
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004359.3A Expired - Fee Related CN107223104B (en) | 2016-06-23 | 2016-06-23 | Multi-foot robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107223104B (en) |
| WO (1) | WO2017219315A1 (en) |
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| CN108890626A (en) * | 2018-08-01 | 2018-11-27 | 上海大学 | A kind of machine leg of the semi-automatic regulation of support stiffness |
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| CN109771228A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | A kind of four-footed assisted walk healing robot with balancing device |
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| CN112373596B (en) * | 2020-11-12 | 2024-04-19 | 腾讯科技（深圳）有限公司 | Bionic mechanical foot device and bionic machinery |
| 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 |
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| CN201120913Y (en) * | 2007-11-09 | 2008-09-24 | 沈阳工业大学 | Four-foot creeping robot |
| CN102351018A (en) * | 2011-08-11 | 2012-02-15 | 西北工业大学 | Leg joint for quadruped robot |
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN202320579U (en) * | 2011-11-21 | 2012-07-11 | 上海市第二中学 | Wheel leg type mixed moving base |
| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
| CN104002889A (en) * | 2014-06-10 | 2014-08-27 | 北京航空航天大学 | Multifunctional leg-wheel-combined mobile robot |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017219315A1 (en) | 2017-12-28 |
| CN107223104A (en) | 2017-09-29 |
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