CN102211627A - Four-leg robot mechanism based on bionic design - Google Patents

Four-leg robot mechanism based on bionic design Download PDF

Info

Publication number
CN102211627A
CN102211627A CN 201110106481 CN201110106481A CN102211627A CN 102211627 A CN102211627 A CN 102211627A CN 201110106481 CN201110106481 CN 201110106481 CN 201110106481 A CN201110106481 A CN 201110106481A CN 102211627 A CN102211627 A CN 102211627A
Authority
CN
China
Prior art keywords
bevel gear
motor
knee
robot
sun
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN 201110106481
Other languages
Chinese (zh)
Other versions
CN102211627B (en
Inventor
严华
朱秋国
熊蓉
褚健
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University ZJU
Original Assignee
Zhejiang University ZJU
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 Zhejiang University ZJU filed Critical Zhejiang University ZJU
Priority to CN201110106481A priority Critical patent/CN102211627B/en
Publication of CN102211627A publication Critical patent/CN102211627A/en
Application granted granted Critical
Publication of CN102211627B publication Critical patent/CN102211627B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Rehabilitation Tools (AREA)

Abstract

The invention relates to a four-leg robot mechanism based on a bionic design. The four-leg robot mechanism consists of a body frame and four legs. The body frame consists of a front plate and a rear plate, two sides of the body frame are provided with flexible handles, and the robot mechanism is convenient to convey; each leg comprises a hip, a huckle, a knee and a crural part; the hip realizes two freedom degrees by adopting a differential bevel gear; the hip and the huckle are connected by an expansion sleeve to realize fast and convenient assembly and disassembly; the bevel gear drive motion is adopted by the knee; the crural part comprises a large cylinder, a small cylinder, a conical spring and a force sensor; and the large cylinder and the small cylinder are connected through the conical spring, so that the external impact force generated in the walking process of the robot can be buffered, the force sensor on a sole can acquire ground acting force, and the external environment can be conveniently sensed in real time and the robot can be subjected to balanced control conveniently. Through the bionic design idea, a spinal cord and a flexible foot mechanism of the robot are stimulated and designed, the flexibility of the robot movement is improved, the impact of the ground to the robot is reduced, and the robot mechanism has a compact structure and is convenient to install.

Description

A kind of four robot leg mechanisms based on Bionic Design
Technical field
The invention belongs to the robot field, relate to a kind of four robot leg mechanisms based on Bionic Design.
Background technology
Along with the intensification of the mankind to realm of nature understanding, increasing intelligent bionic apparatus is developed.The intelligent bionic robot as research object, with the motion of physical construction imitated biological tissue, and then is explored its movement mechanism with the biology of occurring in nature.Development of miniaturized, lighting and adaptable bionical four robot legs are significant to the development that promotes robotics, and this class bio-robot has wide application and development prospect at aspects such as scientific research, demonstration teaching and intelligence development amusements.
That China Patent No. CN 101927793 A disclose is a kind of the variable-structure quadruped robot structure of upright motion change " crawl with ", this quadruped robot organism and four limbs that are fixed in the above, every limbs adopt three steering wheel controls, tiller room is a cascaded structure, it is many that this structure connects rod member, complex structure is not suitable for small-sized, the light bio-robot of requirement.Body is an integral body in this structure simultaneously, has limited the alerting ability of motion.
China Patent No. CN 101811525 A disclose a kind of " the hydraulic-driven quadruped robot travel mechanism with barycenter setting device ", four legs of layout below trunk of this robot mechanism, all adopt hydraulic-driven, every leg has and has redundant degree of freedom, has increased the complexity of mechanism controls.Hydraulic-driven has improved the volume and weight of sleeve mechanism in addition, is inconvenient to carry transportation and dismounting.
China Patent No. CN 101791994 A disclose " a kind of traveling gear of cam driving control type quadruped robot ", rear leg assemblies and the universal coupling assembling that is connected preceding rear leg assemblies before mechanism is divided into.Wherein the universal-joint coupling assembling only provides a passive mode of motion, can not be unfavorable for motion of mechanism and balance control to artificial to its control.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of structure compact more, install and carry convenient, more help improving robot motion's alerting ability, better absorb foot impacts power, have the four robot leg mechanisms based on Bionic Design of perception external environment condition effect.
Four robot leg mechanisms based on Bionic Design comprise body frame and four shanks; Article four, shank is fixed on the body frame; Article four, shank comprises hip, huckle, knee and calf; Hip connects huckle, and huckle connects knee, and knee connects calf; Body frame comprises that plate behind health header board, the health, preceding rotation flange, back rotate flange, first motor and flexible handle; The preceding flange that rotates is fixed on the health header board, the back is rotated flange and is fixed on behind the health on the plate, preceding flange and the back rotation flange formation revolute pair of rotating, rotate on the flange before first motor is fixed on, first motor output shaft is connected to the back and rotates flange, and the two ends of flexible handle are separately fixed at behind health header board and the health on the plate; Hip comprises that second motor, the first commutating tooth wheels, first drive fixed mount, first sun finishing bevel gear cuter, bevel planet gear, planet stent, second sun finishing bevel gear cuter, second driving fixed mount, the second commutating tooth wheels and the 3rd motor; Second motor output shaft connects the wheel for inputting of the first commutating tooth wheels, the 3rd motor output shaft connects the wheel for inputting of the second commutating tooth wheels, the output wheel of the first commutating tooth wheels connects first sun finishing bevel gear cuter, the output wheel of the second commutating tooth wheels connects second sun finishing bevel gear cuter, first sun finishing bevel gear cuter, second sun finishing bevel gear cuter and bevel planet gear and planet stent constitute rotary motion pair, the first driving fixed mount and second drives fixed mount and is fixed on the health header board, supports first sun finishing bevel gear cuter and second sun finishing bevel gear cuter and the bevel planet gear simultaneously; Huckle comprises swelling cover, thigh bar, the 4th motor and motor cabinet, and thigh bar and bevel planet gear output shaft are fixing by the swelling cover, and the 4th motor is fixed in the thigh bar by motor cabinet; Knee comprises knee joint bevel gear set, gear casing and bevel gear shaft; The input finishing bevel gear cuter of knee joint bevel gear set is installed on the 4th motor output shaft, is meshing with each other with the output finishing bevel gear cuter of knee joint bevel gear set on the knee axis, gear casing is fixed on the thigh bar, supports knee axis simultaneously; Calf comprises left leg plate, right leg plate, large cylinder, cone-shaped spring, little cylinder and force gauge; The left leg plate is connected the bevel gear shaft two ends in the knee with the right leg plate, and it is fixing with the large cylinder upper end, large cylinder lower end hollow, little cylinder one end is enclosed within the large cylinder, both connect by cone-shaped spring, pin is inserted in the groove that large cylinder and little cylinder cooperatively interact, and the roundlet tube other end is equipped with force gauge.
It is simply compact that the present invention compared with prior art has integral structure, the characteristics of easy installation and removal, and the body joints of adding makes robot be fit to the high-speed motion occasion more, and the shock absorber of shank and force gauge are guaranteed the motion control reliability easily.
Description of drawings
Fig. 1 is the whole pictorial diagram of four robot leg mechanisms;
Fig. 2 is four robot leg body frame pictorial diagram;
Fig. 3 is four robot leg list leg pictorial diagram;
Fig. 4 is four robot leg hip assembly drowings;
Fig. 5 is four robot leg huckles, knee and calf assembly drowing;
Among the figure: body frame 1, shank 2, health header board 3, plate 4 behind the health, the preceding flange 5 that rotates, flange 6 is rotated in the back, first motor 7, flexible bandage 8, hip 9, huckle 10, knee 11, calf 12, second motor 13, the first commutating tooth wheels 14, first drives fixed mount 15, first sun finishing bevel gear cuter 16, bevel planet gear 17, planet stent 18, second sun finishing bevel gear cuter 19, second drives fixed mount 20, the second commutating tooth wheels 21, the 3rd motor 22, swelling cover 23, thigh bar 24, the 4th motor 25, motor cabinet 26, knee joint bevel gear set 27, gear casing 28, bevel gear shaft 29, left leg plate 30, right leg plate 31, large cylinder 32, cone-shaped spring 33, roundlet tube 34, force gauge 35.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
As Fig. 1,2,3, shown in 4,5, comprise body frame 1 and four shanks 2 based on four robot leg mechanisms of Bionic Design; Article four, shank 2 is fixed on the body frame 1; Article four, shank 2 comprises hip 9, huckle 10, knee 11 and calf 12; Hip 9 connects huckle 10, and huckle 10 connects knee 11, and knee 11 connects calf 12; Body frame 1 comprises that plate 4 behind health header board 3, the health, preceding rotation flange 5, back rotate flange 6, first motor 7 and flexible handle 8; The preceding flange 5 that rotates is fixed on the health header board 3, the back is rotated flange 6 and is fixed on behind the health on the plate 4, preceding flange 5 and the back rotation flange 6 formation revolute pairs of rotating, rotate on the flange 5 before first motor 7 is fixed on, first motor, 7 output shafts are connected to the back and rotate flange 6, and the two ends of flexible handle 8 are separately fixed at behind health header board 3 and the health on the plate 4; Hip 9 comprises that second motor 13, the first commutating tooth wheels 14, first drive fixed mount 15, first sun finishing bevel gear cuter 16, bevel planet gear 17, planet stent 18, second sun finishing bevel gear cuter 19, second driving fixed mount 20, the second commutating tooth wheels 21 and the 3rd motor 22; Second motor, 13 output shafts connect the wheel for inputting of the first commutating tooth wheels 14, the 3rd motor 22 output shafts connect the wheel for inputting of the second commutating tooth wheels 21, the output wheel of the first commutating tooth wheels 14 connects first sun finishing bevel gear cuter 16, the output wheel of the second commutating tooth wheels 21 connects second sun finishing bevel gear cuter 19, first sun finishing bevel gear cuter 16, second sun finishing bevel gear cuter 19 and bevel planet gear 17 constitute rotary motion pair with planet stent 18, the first driving fixed mount 15 and second drives fixed mount 20 and is fixed on the health header board 3, supports first sun finishing bevel gear cuter 16 and second sun finishing bevel gear cuter 19 and bevel planet gear 17 simultaneously; Huckle 10 comprises swelling cover 23, thigh bar 24, the 4th motor 25 and motor cabinet 26, and thigh bar 24 is fixing by swelling cover 23 with bevel planet gear 17 output shafts, and the 4th motor 25 is fixed in the thigh bar 24 by motor cabinet 26; Knee 11 comprises knee joint bevel gear set 27, gear casing 28 and bevel gear shaft 29; The input finishing bevel gear cuter of knee joint bevel gear set 27 is installed on the 4th motor 25 output shafts, is meshing with each other with the output finishing bevel gear cuter of knee joint bevel gear set 27 on the knee axis 29, gear casing 28 is fixed on the thigh bar 24, supports knee axis 29 simultaneously; Calf 12 comprises left leg plate 30, right leg plate 31, large cylinder 32, cone-shaped spring 33, roundlet tube 34 and force gauge 35; Left leg plate 30 is connected bevel gear shaft 29 two ends in the knee 11 with right leg plate 31, and fix with large cylinder 32 upper ends, large cylinder 32 lower end hollows, roundlet tube 34 1 ends are enclosed within the large cylinder 32, both connect by cone-shaped spring 33, pin is inserted in the groove that large cylinder 32 and roundlet tube 34 cooperatively interact, and roundlet tube 34 other ends are equipped with force gauge 35.
Working process of the present invention is as follows: the output shaft of first motor 7 on the body frame 1 drives the back and rotates flange 6 rotations, can realize the relative motion of plate 4 behind health header board 3 and the health, strengthened the alerting ability of robot in the high-speed motion occasion, the carrying of robot can realize very easily by flexible handle 8, first sun finishing bevel gear cuter 16 of hip 9, second sun finishing bevel gear cuter 19 and bevel planet gear 17 are formed the bevel type differential gear combination, second motor 13 and the 3rd motor 22 drive first sun finishing bevel gear cuter 16 and second sun finishing bevel gear cuter 19 respectively, both Motion Transmission are to bevel planet gear 17, the revolution of bevel planet gear 17 and rotation realize flexion/extension, the motion of interior two degree of freedom of receipts/abduction, compact conformation, driving torque increases, and has improved the robustness in robot motion's process.Thigh bar 24 is fixing by swelling cover 23 with bevel planet gear 17 output shafts, adopt this mode to make things convenient for Assembly ﹠Disassembly to the robot shank, fix the 4th motor 25 in the thigh bar 24, reasonable distribution shank center of gravity, the balance control that more helps robot by the rotation of the 4th motor 25 output shafts, arrives bevel gear shaft 29 with transmission of power, left leg plate 30 and right leg plate 31 are fixed on bevel gear shaft 29 two ends, have so just realized the relative motion of huckle 10 and calf 12.Large cylinder 32 hollows, roundlet tube 34 is enclosed within the large cylinder 32, both connect by cone-shaped spring 33, pin is inserted in the groove that large cylinder 32 and roundlet tube 34 cooperatively interact, and can prevent that roundlet tube 34 from coming off from large cylinder 32, and roundlet tube 34 other ends are equipped with force gauge 35, when the vola is subjected to impacting, roundlet tube 34 relatively moves by producing between compression cone-shaped spring 33 and the large cylinder 32, has slowed down the influence of impulse force to body movement, to adapt to rugged ground.Simultaneously, the force gauge 35 in vola is used to gather ground-surface application force, is convenient to the real-time perception external environment condition and robot is carried out balance control.

Claims (1)

1. four robot leg mechanisms based on Bionic Design is characterized in that comprising body frame (1) and four shanks (2); Article four, shank (2) is fixed on the body frame (1); Article four, shank (2) comprises hip (9), huckle (10), knee (11) and calf (12); Hip (9) connects huckle (10), and huckle (10) connects knee (11), and knee (11) connects calf (12); Body frame (1) comprises that plate (4) behind health header board (3), the health, preceding rotation flange (5), back rotate flange (6), first motor (7) and flexible handle (8); The preceding flange (5) that rotates is fixed on the health header board (3), the back is rotated flange (6) and is fixed on behind the health on the plate (4), preceding flange (5) and back rotation flange (6) the formation revolute pair of rotating, rotate on the flange (5) before first motor (7) is fixed on, first motor (7) output shaft is connected to the back and rotates flange (6), and the two ends of flexible handle (8) are separately fixed at behind health header board (3) and the health on the plate (4); Hip (9) comprise second motor (13), the first commutating tooth wheels (14), first drive fixed mount (15), first sun finishing bevel gear cuter (16), bevel planet gear (17), planet stent (18), second sun finishing bevel gear cuter (19), second drive fixed mount (20), the second commutating tooth wheels (21) ' and the 3rd motor (22); Second motor (13) output shaft connects the wheel for inputting of the first commutating tooth wheels (14), the 3rd motor (22) output shaft connects the wheel for inputting of the second commutating tooth wheels (21), the output wheel of the first commutating tooth wheels (14) connects first sun finishing bevel gear cuter (16), the output wheel of the second commutating tooth wheels (21) connects second sun finishing bevel gear cuter (19), first sun finishing bevel gear cuter (16), second sun finishing bevel gear cuter (19) and bevel planet gear (17) constitute rotary motion pair with planet stent (18), the first driving fixed mount (15) and second drives fixed mount (20) and is fixed on the health header board (3), supports first sun finishing bevel gear cuter (16) and second sun finishing bevel gear cuter (19) and bevel planet gear (17) simultaneously; Huckle (10) comprises swelling cover (23), thigh bar (24), the 4th motor (25) and motor cabinet (26), thigh bar (24) is fixing by swelling cover (23) with bevel planet gear (17) output shaft, and the 4th motor (25) is fixed in the thigh bar (24) by motor cabinet (26); Knee (11) comprises knee joint bevel gear set (27), gear casing (28) and bevel gear shaft (29); The input finishing bevel gear cuter of knee joint bevel gear set (27) is installed on the 4th motor (25) output shaft, be meshing with each other with the output finishing bevel gear cuter of knee joint bevel gear set (27) on the knee axis (29), gear casing (28) is fixed on the thigh bar (24), supports knee axis (29) simultaneously; Calf (12) comprises left leg plate (30), right leg plate (31), large cylinder (32), cone-shaped spring (33), little cylinder (34) and force gauge (35); Left leg plate (30) is connected bevel gear shaft (29) two ends in the knee (11) with right leg plate (31), and it is fixing with large cylinder (32) upper end, large cylinder (32) lower end hollow, little cylinder (34) one ends are enclosed within the large cylinder (32), both connect by cone-shaped spring (33), pin is inserted in the groove that large cylinder (32) and little cylinder (34) cooperatively interact, and little cylinder (34) other end is equipped with force gauge (35).
CN201110106481A 2011-04-27 2011-04-27 Four-leg robot mechanism based on bionic design Expired - Fee Related CN102211627B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201110106481A CN102211627B (en) 2011-04-27 2011-04-27 Four-leg robot mechanism based on bionic design

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201110106481A CN102211627B (en) 2011-04-27 2011-04-27 Four-leg robot mechanism based on bionic design

Publications (2)

Publication Number Publication Date
CN102211627A true CN102211627A (en) 2011-10-12
CN102211627B CN102211627B (en) 2012-10-17

Family

ID=44743207

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201110106481A Expired - Fee Related CN102211627B (en) 2011-04-27 2011-04-27 Four-leg robot mechanism based on bionic design

Country Status (1)

Country Link
CN (1) CN102211627B (en)

Cited By (50)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102390457A (en) * 2011-12-30 2012-03-28 上海大学 Leg mechanism for four-legged robots
CN102582714A (en) * 2012-01-31 2012-07-18 山东大学 Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot
CN102689660A (en) * 2012-01-13 2012-09-26 河南科技大学 Robot balance device and wheel-leg robot using same
CN102700644A (en) * 2012-06-08 2012-10-03 上海交通大学 Wheel and foot combined all-terrain robot running device
CN102830716A (en) * 2012-08-22 2012-12-19 中科宇博(北京)文化有限公司 Mechanical joint and neck and tail structures of bionic mechanical dinosaur
CN103204194A (en) * 2013-04-09 2013-07-17 北京交通大学 Four-foot crawling robot simulating infants
CN103264734A (en) * 2013-04-22 2013-08-28 浙江大学 Sole ground touch sensing mechanism of legged robot
CN103318289A (en) * 2013-07-04 2013-09-25 北京理工大学 Modular hydraulic-drive four-leg robot with variable leg shape structures
CN103407513A (en) * 2013-05-13 2013-11-27 清华大学 Flat ground power type biped robot walking method adopting spring coupling
CN103481963A (en) * 2013-09-13 2014-01-01 北京航空航天大学 Two-stage buffer foot device applicable to obstacle crossing robot
CN103600786A (en) * 2013-10-30 2014-02-26 李天豪 Intelligent doraemon
CN103661658A (en) * 2012-09-10 2014-03-26 中国科学院沈阳自动化研究所 Inspection robot mechanism for series compensation device
CN103802909A (en) * 2014-02-25 2014-05-21 中国人民解放军军事交通学院 Leg linkage mechanism of quadruped robot
CN103979034A (en) * 2014-05-19 2014-08-13 北京交通大学 Four-leg walking robot with single power leg mechanism
CN104149872A (en) * 2014-09-01 2014-11-19 安徽理工大学 Complex road surface transfer robot based on parallel mechanisms
CN104309717A (en) * 2014-10-30 2015-01-28 郑州轻工业学院 Body-variable and modular four-foot walking robot with energy storage function
CN104875813A (en) * 2015-05-26 2015-09-02 上海大学 Electrically-driven small bionic four-leg 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
CN105892558A (en) * 2015-01-26 2016-08-24 郝成武 Robot toe bearing capacity balance mechanism
CN105947012A (en) * 2016-05-10 2016-09-21 南京航空航天大学 Differential gear driving robot leg mechanism and control method
CN106005090A (en) * 2016-07-08 2016-10-12 燕山大学 Double-oscillating bar flexible four-leg walking robot
CN106672104A (en) * 2015-11-10 2017-05-17 中国人民解放军军械工程学院 Terrain self-adapted flat and multi-foot waking system based on phase difference
CN107010137A (en) * 2017-04-18 2017-08-04 江苏信息职业技术学院 A kind of lightweight quadruped robot
CN107097213A (en) * 2017-05-19 2017-08-29 沃奇(北京)智能科技有限公司 Robot lower limb
CN107457802A (en) * 2017-09-13 2017-12-12 北京理工大学 A kind of anthropomorphic robot falls down protection device
RU2642020C2 (en) * 2016-06-24 2018-01-23 Павел Михайлович Близнец Pacing device
CN108394485A (en) * 2018-02-11 2018-08-14 嘉兴学院 A kind of multi-functional polypody bio-robot system based on pneumatic system
CN108748183A (en) * 2018-06-13 2018-11-06 芜湖捷创科技信息咨询有限公司 A kind of foot formula walking robot
CN109018063A (en) * 2018-08-15 2018-12-18 重庆大学 A kind of four-footed emulated robot
CN109018064A (en) * 2018-08-24 2018-12-18 北京理工大学 Leg foot type bionic machine mouse
CN109501883A (en) * 2018-12-30 2019-03-22 北华航天工业学院 Pedipulator structure and legged type robot
CN109857131A (en) * 2019-03-11 2019-06-07 山东职业学院 A kind of two foot-four-footed posture changing control method of legged type robot
CN109874506A (en) * 2019-04-08 2019-06-14 济南大学 A kind of modularized bionic quadruped robot for spraying or picking
CN109941370A (en) * 2019-01-04 2019-06-28 上海海事大学 A kind of four feet walking robot based on three-shaft linkage control structure
CN110091935A (en) * 2019-04-26 2019-08-06 南京航空航天大学 Three Degree Of Freedom leg joint and method based on differential gear train
CN110154012A (en) * 2019-05-24 2019-08-23 东北大学 A kind of four-leg bionic robot and its control method
CN110641573A (en) * 2019-10-29 2020-01-03 北京航空航天大学 Closed-chain single-degree-of-freedom five-rod leg mechanism
CN111003074A (en) * 2019-11-07 2020-04-14 清华大学 Parallel wheel-foot type robot leg structure and mobile robot
CN112937232A (en) * 2021-03-03 2021-06-11 常州龙源智能机器人科技有限公司 Robot
CN113071577A (en) * 2021-04-30 2021-07-06 郑州宇通重工有限公司 Robot sole force flexible control method and multi-foot robot platform
CN113081667A (en) * 2021-03-25 2021-07-09 北京航空航天大学 Twelve-degree-of-freedom gait simulation device
CN113215938A (en) * 2021-07-08 2021-08-06 深圳市勘察研究院有限公司 Mechanized slurry paving robot
CN113371095A (en) * 2021-06-18 2021-09-10 哈尔滨工业大学(深圳) Leg structure with joints rotating at any angle and multi-legged robot
WO2021189675A1 (en) * 2020-03-24 2021-09-30 北京理工大学 Parallel-drive joint used for super-dynamic bionic robot, and robot
CN113518652A (en) * 2018-09-26 2021-10-19 幽灵机器人公司 Leg and foot type robot
CN113525550A (en) * 2021-08-26 2021-10-22 清华大学 Robot leg and quadruped robot based on differential structure
CN113618750A (en) * 2021-08-06 2021-11-09 上海大学 Humanoid robot with high dynamic four-foot motion mode and two-arm working mode
CN114571497A (en) * 2022-03-14 2022-06-03 上海大学 Leg-arm robot pivot type explosive motion joint based on double-motor power cooperation
CN114987645A (en) * 2022-04-26 2022-09-02 中国北方车辆研究所 Shaft-driven three-degree-of-freedom bionic leg
WO2023284359A1 (en) * 2021-07-15 2023-01-19 Oppo广东移动通信有限公司 Robot, leg assembly, and drive mechanism

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5929585A (en) * 1996-11-19 1999-07-27 Sony Corporation Robot system and its control method
EP1110679A1 (en) * 1999-03-10 2001-06-27 Mitsubishi Heavy Industries, Ltd. Working robot
WO2002011956A1 (en) * 2000-08-04 2002-02-14 Robottec Co., Ltd. Multiple-legged walking apparatus
CN2928631Y (en) * 2006-07-27 2007-08-01 浙江大学 Wave foot walking robot
CN101269678A (en) * 2008-05-16 2008-09-24 武汉理工大学 Wheeled robot with traveling system
CN101422907A (en) * 2008-12-16 2009-05-06 吉林大学 Under-actuated bipod walking robot hip-joint mechanism
CN101580083A (en) * 2009-06-04 2009-11-18 浙江大学 Knee joint mechanism of humanoid robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5929585A (en) * 1996-11-19 1999-07-27 Sony Corporation Robot system and its control method
EP1110679A1 (en) * 1999-03-10 2001-06-27 Mitsubishi Heavy Industries, Ltd. Working robot
WO2002011956A1 (en) * 2000-08-04 2002-02-14 Robottec Co., Ltd. Multiple-legged walking apparatus
CN2928631Y (en) * 2006-07-27 2007-08-01 浙江大学 Wave foot walking robot
CN101269678A (en) * 2008-05-16 2008-09-24 武汉理工大学 Wheeled robot with traveling system
CN101422907A (en) * 2008-12-16 2009-05-06 吉林大学 Under-actuated bipod walking robot hip-joint mechanism
CN101580083A (en) * 2009-06-04 2009-11-18 浙江大学 Knee joint mechanism of humanoid robot

Cited By (66)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102390457B (en) * 2011-12-30 2013-06-05 上海大学 Leg mechanism for four-legged robots
CN102390457A (en) * 2011-12-30 2012-03-28 上海大学 Leg mechanism for four-legged robots
CN102689660A (en) * 2012-01-13 2012-09-26 河南科技大学 Robot balance device and wheel-leg robot using same
CN102582714A (en) * 2012-01-31 2012-07-18 山东大学 Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot
CN102582714B (en) * 2012-01-31 2013-08-07 山东大学 Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot
CN102700644A (en) * 2012-06-08 2012-10-03 上海交通大学 Wheel and foot combined all-terrain robot running device
CN102700644B (en) * 2012-06-08 2014-10-15 上海交通大学 Wheel and foot combined all-terrain robot running device
CN102830716A (en) * 2012-08-22 2012-12-19 中科宇博(北京)文化有限公司 Mechanical joint and neck and tail structures of bionic mechanical dinosaur
CN103661658B (en) * 2012-09-10 2015-12-30 中国科学院沈阳自动化研究所 A kind of string mends device inspection robot mechanism
CN103661658A (en) * 2012-09-10 2014-03-26 中国科学院沈阳自动化研究所 Inspection robot mechanism for series compensation device
CN103204194A (en) * 2013-04-09 2013-07-17 北京交通大学 Four-foot crawling robot simulating infants
CN103204194B (en) * 2013-04-09 2015-09-23 北京交通大学 Imitative baby's Four-feet creeping robot
CN103264734B (en) * 2013-04-22 2015-06-17 浙江大学 Sole ground touch sensing mechanism of legged robot
CN103264734A (en) * 2013-04-22 2013-08-28 浙江大学 Sole ground touch sensing mechanism of legged robot
CN103407513A (en) * 2013-05-13 2013-11-27 清华大学 Flat ground power type biped robot walking method adopting spring coupling
CN103407513B (en) * 2013-05-13 2015-08-19 清华大学 Adopt the level land walking method for dynamic biped robot of spring coupling
CN103318289A (en) * 2013-07-04 2013-09-25 北京理工大学 Modular hydraulic-drive four-leg robot with variable leg shape structures
CN103481963A (en) * 2013-09-13 2014-01-01 北京航空航天大学 Two-stage buffer foot device applicable to obstacle crossing robot
CN103481963B (en) * 2013-09-13 2016-06-01 北京航空航天大学 A kind of foot device with two-stage buffering being applicable to barrier-surpassing robot
CN103600786A (en) * 2013-10-30 2014-02-26 李天豪 Intelligent doraemon
CN103802909A (en) * 2014-02-25 2014-05-21 中国人民解放军军事交通学院 Leg linkage mechanism of quadruped robot
CN103979034A (en) * 2014-05-19 2014-08-13 北京交通大学 Four-leg walking robot with single power leg mechanism
CN104149872A (en) * 2014-09-01 2014-11-19 安徽理工大学 Complex road surface transfer robot based on parallel mechanisms
CN104309717A (en) * 2014-10-30 2015-01-28 郑州轻工业学院 Body-variable and modular four-foot walking robot with energy storage function
CN105892558A (en) * 2015-01-26 2016-08-24 郝成武 Robot toe bearing capacity balance mechanism
CN105892558B (en) * 2015-01-26 2018-08-17 郝成武 A kind of robot toes bearing capacity balance mechanism
CN104875813A (en) * 2015-05-26 2015-09-02 上海大学 Electrically-driven small bionic four-leg 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
CN106672104A (en) * 2015-11-10 2017-05-17 中国人民解放军军械工程学院 Terrain self-adapted flat and multi-foot waking system based on phase difference
CN106672104B (en) * 2015-11-10 2018-11-06 中国人民解放军军械工程学院 A kind of flat polypody pedestrian system of terrain self-adaptive based on phase difference
CN105947012A (en) * 2016-05-10 2016-09-21 南京航空航天大学 Differential gear driving robot leg mechanism and control method
RU2642020C2 (en) * 2016-06-24 2018-01-23 Павел Михайлович Близнец Pacing device
CN106005090A (en) * 2016-07-08 2016-10-12 燕山大学 Double-oscillating bar flexible four-leg walking robot
CN106005090B (en) * 2016-07-08 2018-01-23 燕山大学 A kind of flexible four leg walking robots of double swing-bar
CN107010137A (en) * 2017-04-18 2017-08-04 江苏信息职业技术学院 A kind of lightweight quadruped robot
CN107010137B (en) * 2017-04-18 2023-04-28 江苏信息职业技术学院 Lightweight quadruped robot
CN107097213A (en) * 2017-05-19 2017-08-29 沃奇(北京)智能科技有限公司 Robot lower limb
CN107457802A (en) * 2017-09-13 2017-12-12 北京理工大学 A kind of anthropomorphic robot falls down protection device
CN108394485A (en) * 2018-02-11 2018-08-14 嘉兴学院 A kind of multi-functional polypody bio-robot system based on pneumatic system
CN108748183A (en) * 2018-06-13 2018-11-06 芜湖捷创科技信息咨询有限公司 A kind of foot formula walking robot
CN109018063A (en) * 2018-08-15 2018-12-18 重庆大学 A kind of four-footed emulated robot
CN109018064A (en) * 2018-08-24 2018-12-18 北京理工大学 Leg foot type bionic machine mouse
CN113518652A (en) * 2018-09-26 2021-10-19 幽灵机器人公司 Leg and foot type robot
CN109501883A (en) * 2018-12-30 2019-03-22 北华航天工业学院 Pedipulator structure and legged type robot
CN109941370A (en) * 2019-01-04 2019-06-28 上海海事大学 A kind of four feet walking robot based on three-shaft linkage control structure
CN109857131A (en) * 2019-03-11 2019-06-07 山东职业学院 A kind of two foot-four-footed posture changing control method of legged type robot
CN109874506A (en) * 2019-04-08 2019-06-14 济南大学 A kind of modularized bionic quadruped robot for spraying or picking
CN110091935A (en) * 2019-04-26 2019-08-06 南京航空航天大学 Three Degree Of Freedom leg joint and method based on differential gear train
CN110091935B (en) * 2019-04-26 2023-05-12 南京航空航天大学 Three-degree-of-freedom leg joint based on differential gear train and method
CN110154012B (en) * 2019-05-24 2020-08-04 东北大学 Four-footed bionic robot and control method thereof
CN110154012A (en) * 2019-05-24 2019-08-23 东北大学 A kind of four-leg bionic robot and its control method
CN110641573A (en) * 2019-10-29 2020-01-03 北京航空航天大学 Closed-chain single-degree-of-freedom five-rod leg mechanism
CN111003074A (en) * 2019-11-07 2020-04-14 清华大学 Parallel wheel-foot type robot leg structure and mobile robot
WO2021189675A1 (en) * 2020-03-24 2021-09-30 北京理工大学 Parallel-drive joint used for super-dynamic bionic robot, and robot
CN112937232A (en) * 2021-03-03 2021-06-11 常州龙源智能机器人科技有限公司 Robot
CN113081667A (en) * 2021-03-25 2021-07-09 北京航空航天大学 Twelve-degree-of-freedom gait simulation device
CN113071577A (en) * 2021-04-30 2021-07-06 郑州宇通重工有限公司 Robot sole force flexible control method and multi-foot robot platform
CN113371095A (en) * 2021-06-18 2021-09-10 哈尔滨工业大学(深圳) Leg structure with joints rotating at any angle and multi-legged robot
CN113215938A (en) * 2021-07-08 2021-08-06 深圳市勘察研究院有限公司 Mechanized slurry paving robot
WO2023284359A1 (en) * 2021-07-15 2023-01-19 Oppo广东移动通信有限公司 Robot, leg assembly, and drive mechanism
CN113618750A (en) * 2021-08-06 2021-11-09 上海大学 Humanoid robot with high dynamic four-foot motion mode and two-arm working mode
CN113618750B (en) * 2021-08-06 2024-02-27 上海大学 Humanoid robot with high dynamic quadruped motion mode and double-arm working mode
CN113525550A (en) * 2021-08-26 2021-10-22 清华大学 Robot leg and quadruped robot based on differential structure
CN114571497A (en) * 2022-03-14 2022-06-03 上海大学 Leg-arm robot pivot type explosive motion joint based on double-motor power cooperation
CN114571497B (en) * 2022-03-14 2024-02-20 上海大学 Leg arm robot pivot type explosive movement joint based on double-motor power cooperation
CN114987645A (en) * 2022-04-26 2022-09-02 中国北方车辆研究所 Shaft-driven three-degree-of-freedom bionic leg

Also Published As

Publication number Publication date
CN102211627B (en) 2012-10-17

Similar Documents

Publication Publication Date Title
CN102211627B (en) Four-leg robot mechanism based on bionic design
CN108743243B (en) Wrist rehabilitation device
CN101121424B (en) Double-foot robot lower limb mechanism with multiple freedom degree
CN104842345B (en) Human-simulated mechanical arm based on hybrid driving of various artificial muscles
CN102343950B (en) Pliant four-footed robot with flexible waist and elastic legs
CN103099691B (en) Two-degree-of-freedom exoskeleton ankle joint mechanism
CN105711672B (en) A kind of walking climbing robot based on articular couple handwheel
CN108451747B (en) Wearable elbow joint skeleton rehabilitation training device
CN109986579B (en) Multi-mode motion primate-imitating robot
CN104887456B (en) A kind of wearing type upper limb recovery training device of Pneumatic artificial muscle driving
CN103610524A (en) Portable energy-storage type external skeleton assisting robot
CN108773426A (en) Single power source carries the bionical quadruped robot of elastic leg
CN104340291A (en) Wheel leg type dual-purpose robot
CN112141236B (en) Take shock-absorbing function's sufficient formula robot shank system of wheel
CN103083157B (en) Five-freedom-degree series-parallel lower limb rehabilitation robot
CN102849140A (en) Multi-moving-mode bionic moving robot
CN102991601A (en) Two-degree-of-freedom humanoid ankle joint
CN104287942A (en) Wearable elbow joint rehabilitation robot device
CN108622228B (en) Quadruped robot with flexible waist
CN107042502B (en) Closed chain link-type drive lacking lower limb exoskeleton mechanism
CN208515722U (en) A kind of quadruped robot with parallel flexible waist structure
CN114408046A (en) Wheeled biped robot
CN203060235U (en) Five-DOF series-parallel lower-limbs rehabilitation robot
CN210634666U (en) Multi-degree-of-freedom light single-leg mechanism
CN214352437U (en) Multi-degree-of-freedom hip joint mechanism of lower limb exoskeleton robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20111012

Assignee: ZHEJIANG GUOZI ROBOT TECHNOLOGY Co.,Ltd.

Assignor: Zhejiang University

Contract record no.: 2013330000081

Denomination of invention: Four-leg robot mechanism based on bionic design

Granted publication date: 20121017

License type: Exclusive License

Record date: 20130422

LICC Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20121017

CF01 Termination of patent right due to non-payment of annual fee