CN102068819B - Single-power four-foot walking mechanism - Google Patents

Single-power four-foot walking mechanism Download PDF

Info

Publication number
CN102068819B
CN102068819B CN2010105883987A CN201010588398A CN102068819B CN 102068819 B CN102068819 B CN 102068819B CN 2010105883987 A CN2010105883987 A CN 2010105883987A CN 201010588398 A CN201010588398 A CN 201010588398A CN 102068819 B CN102068819 B CN 102068819B
Authority
CN
China
Prior art keywords
bars
leg
resell
ship
another market
Prior art date
Application number
CN2010105883987A
Other languages
Chinese (zh)
Other versions
CN102068819A (en
Inventor
田耀斌
姚燕安
Original Assignee
北京交通大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京交通大学 filed Critical 北京交通大学
Priority to CN2010105883987A priority Critical patent/CN102068819B/en
Publication of CN102068819A publication Critical patent/CN102068819A/en
Application granted granted Critical
Publication of CN102068819B publication Critical patent/CN102068819B/en

Links

Abstract

The invention discloses a single-power four-foot walking mechanism which comprises a left side leg (L1), a right side leg (L2), a body (L3) and a towing carriage (L4), wherein a clamping slot in a left crank (15) of the left side leg (L1) is matched with a left side leg drive shaft (6) and axially fixed through top threads; a clamping slot in a right crank (41) of the left side leg (L2) is matched with a right side leg drive shaft (13) and axially fixed through top threads; a bracket (65) on the towing carriage (L4) is connected with a body second connecting piece (11) of the body (L3) through a towing carriage connecting pin (64), thereby completing the assembly of the mechanism; and a motor (8) drives a first rotating shaft (4) and a second rotating shaft (13) through a synchronous belt(7), thereby driving the legs to move, and further realizing the movement. Leg rods at each side are arranged in two layers, thereby simplifying the leg mechanism and facilitating the assembly and machining. The single-power four-foot walking mechanism can be used for making toys and teaching aids, and designing walking robots.

Description

Single action power four feet walk mechanism

Technical field

The present invention relates to a kind of single action power four feet walk mechanism, relate to a kind of bionical walking robot especially, realize that quadruped moves in ground walking.The present invention can be applicable to toy, teaching aid and walking robot and designs and produces.

Background technology

Walking robot have motion flexibly, advantage that the ground adaptive capacity is strong, so more and more receive researchist's concern.Conventional walking robot shank degree of freedom is more, structure and control more complicated.The single degree of freedom walking mechanism utilizes a series of connecting rod mechanism, and the motion of four foots is coupled, and through the characteristics of motion of four foots of an electric machine control, realizes walking.Public affairs CN2370926Y discloses a kind of mechanical horse, and every horse leg is made up of a plane eight-linkage mechanism; Four groups of shared cranks of plane eight-linkage mechanism also have certain phase difference; This patent has realized the walking movement of four-footed, but mechanism's rod member number is more, and assembling is complicated.

Summary of the invention

Technical matters to be solved by this invention is that the rod member number of the walking movement mechanism of existing four-footed is more, the assembling challenge.A kind of single action power four feet walk mechanism is provided.

The present invention solves the technical scheme of its technical matters:

Single action power four feet walk mechanism comprises left side leg, right side leg, body, trailer.

The A stomidium of hole and the left side leg pipe link at middle part is through one shipping and reselling on another market and link together in the left side on three bars of a left side.

The B stomidium of hole and the left side leg pipe link at middle part is through two shipping and reselling on another market and link together in the left side on six bars of a left side.

The draw-in groove of left side crank cooperates with the left side leg transmission shaft, through the jackscrew axial restraint.

The C stomidium of the hole at middle part and right side leg pipe link is through one shipping and reselling on another market and link together in the right side on right three bars.

The D stomidium of the hole at middle part and right side leg pipe link is through two shipping and reselling on another market and link together in the right side on right six bars.

The draw-in groove of right crank cooperates with the right side leg transmission shaft, through the jackscrew axial restraint.

Carriage on the trailer is connected on body second attaching parts of body through the trailer connecting pin.

Through above-mentioned connection, accomplish the assembling of mechanism, motor drives first rotating shaft and second rotating shaft through synchronous band, and then drives leg exercise, realizes mobile.

The structure of and arranged on left and right sides leg and measure-alike comprises two foots, and structure is about the crank symmetry at center.After the installation then the whole degree of freedom of mechanism be one.

Trailer is connected on the matrix through shipping and reselling on another market, and is used for stablizing entire mechanism, prevents in motion process, to turn on one's side.

Beneficial effect of the present invention is a mechanism with single degree of freedom after every side leg is connected on the body, and rod member divides two-layer layout, has simplified shank mechanism, and is easy to assembly, is easy to processing, can be used for toy and makes, teaching aids making and walking robot design.

Description of drawings

Fig. 1 single action power four feet walk integral structure figure of mechanism.

Fig. 2 body constructional drawing.

Fig. 3 left and right sides leg transmission shaft scheme drawing.

Fig. 4 body graphics.

Fig. 5 left side leg constructional drawing.

Fig. 6 the first from left foot connects scheme drawing.

Fig. 7 right side leg figure.

Fig. 8 trailer configuration figure.

The specific embodiment

In conjunction with accompanying drawing the present invention is described further.

Single action power four feet walk mechanism, as shown in Figure 1, comprise left side leg L1, right side leg L2, body L3, trailer L4.

The A stomidium of hole and the left side leg pipe link 2 at middle part is through one shipping and reselling on another market and 37 link together in the left side on three bars 20 of a left side.

The B stomidium of hole and the left side leg pipe link 2 at middle part is through two shipping and reselling on another market and 38 link together in the left side on six bars 30 of a left side.

The draw-in groove of left side crank 15 cooperates with left side leg transmission shaft 6, through the jackscrew axial restraint.

The C stomidium of the hole at middle part and right side leg pipe link 12 is through one shipping and reselling on another market and 39 link together in the right side on right three bars 45.

The D stomidium of the hole at middle part and right side leg pipe link 12 is through two shipping and reselling on another market and 40 link together in the right side on right six bars 56.

The draw-in groove of right crank 41 cooperates with right side leg transmission shaft 13, through the jackscrew axial restraint.

Carriage 65 on the trailer L4 is connected on body second attaching parts 11 of body L3 through trailer connecting pin 64.

Through above-mentioned connection, accomplish the assembling of mechanism, motor 8 is through being with 7 to drive first rotating shaft 4 and second rotating shafts 13 synchronously, and then drives leg exercise, realizes mobile.

Described body L3; Like Fig. 2, shown in 4, comprise body first attaching parts 1, left side leg pipe link 2, coupler 3, synchronous pulley 4, body first antifriction-bearing box 5, left side leg transmission shaft 6, be with 7 synchronously, motor 8, motor cabinet 9, motor synchronous belt wheel 10, body second attaching parts 11, right side leg pipe link 12, right side leg transmission shaft 13, body second antifriction-bearing box 14.

Central mounting body first antifriction-bearing box 5 of left side leg pipe link 2 has four about centrosymmetric counterbore on the left side leg pipe link 2, be connected with tapped bore on body second attaching parts 11 through screw and body second attaching parts 1.

Left side leg transmission shaft 6 cooperates with body first antifriction-bearing box 5, and is as shown in Figure 3, has two tapped bore on the left side leg transmission shaft 6, passes through fixedly synchronous pulley 4 of jackscrew from the near tapped bore of the shaft shoulder, and another one is connected with coupler 3.

Motor 8 is fixed on the motor cabinet 9, and on body second attaching parts 11, motor shaft is fixing through jackscrew and motor synchronous belt wheel 10 through screw retention for motor cabinet 9.

Be with 7 to be installed on synchronous pulley 4 and the motor synchronous belt wheel 10 synchronously.

Right side leg pipe link 12 central mounting bodies second antifriction-bearing box 14 has four about centrosymmetric counterbore on the right side leg pipe link 12, be connected with tapped bore on body second attaching parts 11 through screw and body first attaching parts 1.

Right side leg transmission shaft 13 cooperates with body second antifriction-bearing box 14, and right side leg transmission shaft 13 and left side leg transmission shaft 6 structures and measure-alike are connected with coupler 3 away from an end of the shaft shoulder.

Motor 8 drives right side leg transmission shaft 13 and rotates synchronously with left side leg transmission shaft 6.

Described left side leg L1, as shown in Figure 5, comprising: left crank 15, the first from left bar 16, the second from left bar 18, left three bars 20, left four bars 23, left five bars 27, left six bars 30, left seven bars 31, left eight bars 34.The first from left ships and resell on another market 17, the second from left is shipped and resell on another market 19, ship and resell on another market in a left side three 21, ship and resell on another market in a left side four 22, ship and resell on another market in a left side five 24, ship and resell on another market in a left side six 26, ship and resell on another market in a left side seven 28, ship and resell on another market in a left side eight 29, ship and resell on another market in a left side nine 32, ship and resell on another market in a left side ten 33, Zuo Shiyi ships and resell on another market 35.The first from left foot 25, the second from left foot 36.

Have three not equidistance mounting holes on the first from left bar 16, the mounting hole on the end of band groove through a left side six ship and resell on another market 26 be connected left crank 15 the upper strata.Not with the termination mounting hole of an end of groove through the second from left ship and resell on another market 19 be connected left three bars 20 the upper strata.The another one mounting hole of the first from left bar 16 through the first from left ship and resell on another market 17 be connected the second from left bar 18 the upper strata.

A left side has three not mounting holes of equidistance on four bars 23, the mounting hole of its end of side that pitch of holes is less through a left side three ship and resell on another market 21 be connected the hole of left three bars 20 terminations the upper strata.The mounting hole at four bars 23 middle parts, a left side through a left side four ship and resell on another market 22 be connected the hole of the second from left bar 18 terminations the upper strata.Another mounting hole of a left side four bars 23 is shipped and resell on another market through a left side five and 24 25 is connected enough with the first from left, and is as shown in Figure 6.

A left side five bars 27 and the first from left bar 16 structures and measure-alike, the mounting hole on the end of band groove through a left side six ship and resell on another market 26 be connected left crank 15 the upper strata.Not with the termination mounting hole of an end of groove through a left side eight ship and resell on another market 29 be connected left six bars 30 the upper strata.The another one mounting hole through a left side seven ship and resell on another market 28 be connected left seven bars 31 the upper strata.

A left side eight bars 34 and left four bars, 23 structures and measure-alike, the mounting hole of its end of side that pitch of holes is less through a left side nine ship and resell on another market 32 be connected the hole of left six bars 30 terminations the upper strata.The mounting hole at eight bars 34 middle parts, a left side through a left side ten ship and resell on another market 33 be connected left seven bars 31 terminations the hole the upper strata.Another mounting hole of a left side eight bars 34 is shipped and resell on another market through a left side 11 and 35 36 is connected enough with the second from left.

The first from left bar 17 and a left side 5 27 structures and measure-alike.

The second from left bar 18 and a left side 7 31 structures and measure-alike.

A left side three bars 20 and a left side 6 30 structures and measure-alike.

A left side four bars 23 and a left side 8 34 structures and measure-alike.

The first from left foot 25 and the second from left 36 structures and measure-alike.

Left side crank 15 and the second from left bar 18, left three bars 20, left six bars 30, left seven bars 31 are at ground floor.The first from left bar 17, left five bars (27), left four bars (23), (34 at the second layer for left eight bars.

Described right side leg L2, as shown in Figure 7, comprising: right crank 41, a right bar 42, right two bars 43, right three bars 45, right four bars 49, right five bars 52, right six bars 56, right seven bars 57, right eight bars 59.

Right one ships and resell on another market 44, right two ships and resell on another market and 46, right three ships and resell on another market and 47, right four ship and resell on another market and 48, right five ship and resell on another market and 50, right six ship and resell on another market and 53, right seven ship and resell on another market and 55, right eight ship and resell on another market and 58, right nine ship and resell on another market and 60, right ten ship and resell on another market and 61, right 11 ship and resell on another market 63.A right foot 51, right two sufficient 62.

Have three not equidistance mounting holes on the right bar 42, the mounting hole on the end of trough of belt through the 11 ship and resell on another market 63 be connected right crank 41 lower floor.Not the termination mounting hole of an end of trough of belt through right two ship and resell on another market 46 be connected right three bars 45 lower floor.The another one mounting hole of a right bar 42 through right one ship and resell on another market 44 be connected right two bars 43 lower floor.

Have three not mounting holes of equidistance on right four bars 49, the mounting hole of its end of side that pitch of holes is less through right three ship and resell on another market 47 be connected the hole of right three bars 45 terminations lower floor.The mounting hole at right four bars 49 middle parts through right four ship and resell on another market 48 be connected the hole of right two bars 43 terminations lower floor.Another mounting hole of right four bars 49 is shipped and resell on another market through right five and 50 51 is connected enough with right one.

Right five bars 52 and a right bar 42 structures and measure-alike, the mounting hole on the end of trough of belt through right six ship and resell on another market 63 be connected right crank 41 lower floor.Not the termination mounting hole of an end of trough of belt through right seven ship and resell on another market 55 be connected right six bars 56 lower floor, the another one mounting hole through right seven ship and resell on another market 53 be connected right seven bars 57 lower floor.

Right eight bars 59 and right four bars, 49 structures and measure-alike, the mounting hole of its end of side that pitch of holes is less through right eight ship and resell on another market 58 be connected the hole of right six bars 56 terminations lower floor.The mounting hole at right eight bars 59 middle parts through right nine ship and resell on another market 60 be connected right seven bars 57 terminations the hole lower floor.Another mounting hole of right eight bars 59 is shipped and resell on another market through right ten and 61 62 is connected enough with right two.

The structure of described left side leg L1 and right side leg L2, measure-alike.

Described trailer L4 is as shown in Figure 8, comprises carriage 65, vehicle frame 66, first wheel 67, second wheel 68.

One end of carriage 65 has two fixed orifices, and fixing through screw and vehicle frame 66, the other end has through hole, is connected with body L3 through trailer connecting pin 64.

Claims (3)

1. single action power four feet walk mechanism is characterized in that:
Single action power four feet walk mechanism comprises left side leg (L1), right side leg (L2), body (L3), trailer (L4);
Described body (L3) comprises body first attaching parts (1), left side leg pipe link (2), coupler (3), synchronous pulley (4), body first antifriction-bearing box (5), left side leg transmission shaft (6), synchronous band (7), motor (8), motor cabinet (9), motor synchronous belt wheel (10), body second attaching parts (11), right side leg pipe link (12), right side leg transmission shaft (13), body second antifriction-bearing box (14);
Central mounting body first antifriction-bearing box (5) of left side leg pipe link (2) has four about centrosymmetric counterbore on the left side leg pipe link (2), is connected with tapped bore on body second attaching parts (11) through screw and body second attaching parts (1);
Left side leg transmission shaft (6) cooperates with body first antifriction-bearing box (5), has two tapped bore on the left side leg transmission shaft (6), passes through fixedly synchronous pulley (4) of jackscrew from the near tapped bore of the shaft shoulder, and another one is connected with coupler (3);
Motor (8) is fixed on the motor cabinet (9), and on body second attaching parts (11), motor shaft is fixing through jackscrew and motor synchronous belt wheel (10) through screw retention for motor cabinet (9);
Band (7) is installed on synchronous pulley (4) and the motor synchronous belt wheel (10) synchronously;
Right side leg pipe link (12) central mounting body second antifriction-bearing box (14) has four about centrosymmetric counterbore on the right side leg pipe link (12), is connected with tapped bore on body second attaching parts (11) through screw and body first attaching parts (1);
Right side leg transmission shaft (13) cooperates with body second antifriction-bearing box (14), and right side leg transmission shaft (13) and left side leg transmission shaft (6) structure and measure-alike are connected away from an end and the coupler (3) of the shaft shoulder;
Motor (8) drives right side leg transmission shaft (13) and left side leg transmission shaft (6) rotation synchronously;
Described left side leg (L1) comprising: left crank (15), the first from left bar (16), the second from left bar (18), left three bars (20), left four bars (23), left five bars (27), left six bars (30), left seven bars (31), left eight bars (34); The first from left is shipped and resell on another market (17), the second from left is shipped and resell on another market (19), ship and resell on another market (21) in a left side three, ship and resell on another market (22) in a left side four, ship and resell on another market (24) in a left side five, ship and resell on another market (26) in a left side six, ship and resell on another market (28) in a left side seven, ship and resell on another market (29) in a left side eight, ship and resell on another market (32) in a left side nine, ship and resell on another market (33) in a left side ten, Zuo Shiyi ships and resell on another market (35); The first from left foot (25), the second from left foot (36);
Have three not equidistance mounting holes on the first from left bar (16), the mounting hole on the end of band groove through a left side six ship and resell on another market (26) be connected the upper strata of left crank (15); Not with the termination mounting hole of an end of groove through the second from left ship and resell on another market (19) be connected the upper strata of left three bars (20); The another one mounting hole of the first from left bar (16) through the first from left ship and resell on another market (17) be connected the upper strata of the second from left bar (18);
Have three not mounting holes of equidistance on the left side four bars (23), the mounting hole of its end of side that pitch of holes is less through a left side three ship and resell on another market (21) be connected the upper strata in the hole of left three bars (20) termination; The mounting hole at a left side four bars (23) middle part through a left side four ship and resell on another market (22) be connected the upper strata in the hole of the second from left bar (18) termination; Another mounting hole of a left side four bars (23) through a left side five ship and resell on another market (24) and the first from left enough (25) be connected;
A left side five bars (27) and the first from left bar (16) structure and measure-alike, the mounting hole on the end of band groove through a left side six ship and resell on another market (26) be connected the upper strata of left crank (15); Not with the termination mounting hole of an end of groove through a left side eight ship and resell on another market (29) be connected the upper strata of left six bars (30); The another one mounting hole through a left side seven ship and resell on another market (28) be connected the upper strata of left seven bars (31);
A left side eight bars (34) and left four bars (23) structure and measure-alike, the mounting hole of its end of side that pitch of holes is less through a left side nine ship and resell on another market (32) be connected the upper strata in the hole of left six bars (30) termination; A left side eight bars (34) middle part mounting hole through a left side ten ship and resell on another market (33) be connected left seven bars (31) termination the hole the upper strata; Another mounting hole of a left side eight bars (34) through a left side 11 ship and resell on another market (35) and the second from left enough (36) be connected;
The structure of described left side leg (L1) and right side leg (L2), measure-alike;
A left side three bars (20) of left side leg (L1) go up the middle part hole and body (L3) left side leg pipe link (2) the A stomidium through in the left side one ship and resell on another market (37) be connected the outside of left side leg pipe link (2);
A left side six bars (30) of left side leg (L1) go up the middle part hole and body (L3) left side leg pipe link (2) the B stomidium through in the left side two ship and resell on another market (38) be connected the outside of left side leg pipe link (2);
The draw-in groove of the left crank (15) at left side leg (L1) middle part cooperates with left side leg transmission shaft (6), circumferentially is fixed on the outside of left side leg pipe link (2) through jackscrew;
The right side three bars (45) of right side leg (L2) go up the middle part hole and body (L3) right side leg pipe link (12) the C stomidium through in the right side one ship and resell on another market (39) be connected the outside of right side leg pipe link (12);
The right side six bars (56) of right side leg (L2) go up the middle part hole and body (L3) right side leg pipe link (12) the D stomidium through in the right side two ship and resell on another market (40) be connected the outside of right side leg pipe link (12);
The draw-in groove of the right crank (41) at right side leg (L2) middle part cooperates with right side leg transmission shaft (13), circumferentially is fixed on the outside of right side leg pipe link (12) through jackscrew;
Carriage (65) on the trailer (L4) is connected on body second attaching parts (11) of body (L3) through trailer connecting pin (64);
Through above-mentioned connection, accomplish the assembling of mechanism, motor (8) drives left side leg transmission shaft (6) and right side leg transmission shaft (13) through being with (7) synchronously, and then drives leg exercise, realizes moving.
2. single action power four feet walk according to claim 1 mechanism is characterized in that: left side leg (L1) is symmetrical mechanism;
The first from left bar (16) and left five bars (27) structure and measure-alike;
The second from left bar (18) and left seven bars (31) structure and measure-alike;
A left side three bars (20) and left six bars (30) structure and measure-alike;
A left side four bars (23) and left eight bars (34) structure and measure-alike;
The first from left foot (25) and the second from left foot (36) structure and measure-alike;
Left side crank (15) and the second from left bar (18), left three bars (20), left six bars (30), left seven bars (31) are at ground floor; The first from left bar (16), left five bars (27), left four bars (23), left eight bars (34) are at the second layer.
3. single action power four feet walk according to claim 1 mechanism is characterized in that:
Described trailer (L4) comprises carriage (65), vehicle frame (66), first wheel (67), second wheel 68);
One end of carriage (65) has two fixed orifices, and fixing through screw and vehicle frame (66), the other end has through hole, is connected with body (L3) through trailer connecting pin (64).
CN2010105883987A 2010-12-14 2010-12-14 Single-power four-foot walking mechanism CN102068819B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010105883987A CN102068819B (en) 2010-12-14 2010-12-14 Single-power four-foot walking mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010105883987A CN102068819B (en) 2010-12-14 2010-12-14 Single-power four-foot walking mechanism

Publications (2)

Publication Number Publication Date
CN102068819A CN102068819A (en) 2011-05-25
CN102068819B true CN102068819B (en) 2012-08-08

Family

ID=44027699

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2010105883987A CN102068819B (en) 2010-12-14 2010-12-14 Single-power four-foot walking mechanism

Country Status (1)

Country Link
CN (1) CN102068819B (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102295029B (en) * 2011-06-13 2012-11-07 北京航空航天大学 Adaptive wheel-leg combined obstacle detouring mechanism
CN103148314B (en) * 2013-03-06 2014-11-26 北京隆科兴非开挖工程有限公司 Pipeline walking robot
CN103407506B (en) * 2013-07-05 2016-01-13 北京交通大学 Folding multi-face body rolling mechanism
CN103818492B (en) * 2014-03-11 2016-04-06 北京交通大学 A kind of wheel leg compound carrying robot
CN104398262B (en) * 2014-08-08 2016-08-10 北京交通大学 A kind of dissection type lower limb dress measurement apparatus and follow-up control method
CN104477270B (en) * 2014-08-08 2017-02-22 北京交通大学 Single-power-moved six-rod robot
CN106143670B (en) * 2015-04-27 2018-08-21 佛山市禾才科技服务有限公司 A kind of vehicles with eight-linkage mechanism
CN108158483A (en) * 2016-01-30 2018-06-15 李沁心 A kind of cleaning equipment of glass curtain wall
CN105818879B (en) * 2016-03-29 2018-05-04 北京交通大学 A kind of positive and negative double step gait legged type robot
CN107751536B (en) * 2017-09-13 2020-08-04 江苏建筑职业技术学院 Executor for cutting steel wire into ice cream in two-way mode according to two-key-point track
CN109183881A (en) * 2018-08-14 2019-01-11 彭渤 Hydraulic engineering channel cleanout auxiliary device for moving peculiar to vessel based on bionics principle

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN87207890U (en) * 1987-05-09 1988-05-25 向耀清 Toy walking mechanism capable of imitating quadruped
CN2094373U (en) * 1991-05-08 1992-01-29 阮士权 Electric four leg walking animal cart-pulling toy
CN1730340A (en) * 2005-08-23 2006-02-08 王少玉 Bionic walking mechanical carrier, recreational vehicle and making and using method thereof
CN201015712Y (en) * 2007-02-01 2008-02-06 甘贤俊 Bionic mechanical quadruped
CN101602382A (en) * 2009-05-13 2009-12-16 上海工程技术大学 A kind of single-drive four feet walking robot

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6866557B2 (en) * 2002-07-02 2005-03-15 Mitch Randall Apparatus and method for producing ambulatory motion

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN87207890U (en) * 1987-05-09 1988-05-25 向耀清 Toy walking mechanism capable of imitating quadruped
CN2094373U (en) * 1991-05-08 1992-01-29 阮士权 Electric four leg walking animal cart-pulling toy
CN1730340A (en) * 2005-08-23 2006-02-08 王少玉 Bionic walking mechanical carrier, recreational vehicle and making and using method thereof
CN201015712Y (en) * 2007-02-01 2008-02-06 甘贤俊 Bionic mechanical quadruped
CN101602382A (en) * 2009-05-13 2009-12-16 上海工程技术大学 A kind of single-drive four feet walking robot

Also Published As

Publication number Publication date
CN102068819A (en) 2011-05-25

Similar Documents

Publication Publication Date Title
CN107776703B (en) Four-foot bionic walking robot
TWI508831B (en) A joint device for a parallel robot
CN1041606C (en) A walking robot
KR20150016362A (en) Lower limb structure for legged robot, and legged robot
CN2774717Y (en) Snaik shape robot of multiple freedom flexible joints
CN103979034B (en) Single-power leg mechanism four feet walking robot
CN104554510B (en) Bionic robot dog with flexible structure
CN103321265B (en) Arched tunnel excavating machine
CN107531286B (en) Motor vehicle with axle stand
CN104443105A (en) Low-energy-loss six-foot robot
CN101549715B (en) Rocker type four-wheel robot
CN102941573B (en) Rope-driving multi-joint robot
CN102642576B (en) Single-chain-type modularized self-reconfiguration robot with rolling and crawling gaits
CN201591981U (en) Magnetic combined educational toy blocks
CN202358215U (en) Mechanical leg mechanism and four-legged walker
RU2013154755A (en) Without rail attraction vehicle for driving dark ride, system and method
CN101716764A (en) Five-DOF (degree of freedom) redundance driving hybrid mechanism suitable for vibration reduction
CN103612681B (en) A kind of Form of Bionics Mechanical Legs
CN103625572A (en) Quadruped robot leg with elastic four-rod mechanism
CN103407507B (en) A kind of single-power is creeped six-bar mechanism
CN102381378B (en) Reconfigurable modular robot
CN102990676A (en) Snakelike mechanical arm
CN203332261U (en) Multi-foot moving device based on hybrid driving mechanism
CN103527737B (en) A kind of parallel electromechanical actuator
CN102351018B (en) Leg joint for quadruped robot

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model