CN102211627B - Four-leg robot mechanism based on bionic design - Google Patents

Four-leg robot mechanism based on bionic design Download PDF

Info

Publication number
CN102211627B
CN102211627B CN201110106481A CN201110106481A CN102211627B CN 102211627 B CN102211627 B CN 102211627B CN 201110106481 A CN201110106481 A CN 201110106481A CN 201110106481 A CN201110106481 A CN 201110106481A CN 102211627 B CN102211627 B CN 102211627B
Authority
CN
China
Prior art keywords
bevel gear
motor
robot
cylinder
knee
Prior art date
Application number
CN201110106481A
Other languages
Chinese (zh)
Other versions
CN102211627A (en
Inventor
严华
朱秋国
熊蓉
褚健
Original Assignee
浙江大学
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 浙江大学 filed Critical 浙江大学
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

Links

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 type bio-robot has wide application and development prospect at aspects such as scientific research, demonstration teaching and intelligence development amusements.

That Chinese patent 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, and tiller room is a cascaded structure, and 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.

Chinese patent 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.

Chinese patent 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 deficiency of 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; The preceding flange that rotates rotates flange formation revolute pair with the back; Rotate before first motor is fixed on the flange, 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 second motor, the first commutating tooth wheels, the first drive fixing frame, first sun finishing bevel gear cuter, bevel planet gear, planet stent, second sun finishing bevel gear cuter, the second drive fixing frame, 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, and the first drive fixing frame and the second drive fixing frame are fixed on the health header board, support 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 through the swelling cover, and the 4th motor is fixed in the thigh bar through 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, and both connect through 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.

The present invention compared with prior art has the integral structure compact, 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; The first drive fixing frame 15; First sun finishing bevel gear cuter 16; Bevel planet gear 17; Planet stent 18; Second sun finishing bevel gear cuter 19; The second drive fixing frame 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.

Like 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; The preceding flange 5 that rotates rotates flange 6 formation revolute pairs with the back; Rotate before first motor 7 is fixed on the flange 5, 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 second motor 13, the first commutating tooth wheels 14, the first drive fixing frame 15, first sun finishing bevel gear cuter 16, bevel planet gear 17, planet stent 18, second sun finishing bevel gear cuter 19, the second drive fixing frame 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 pairs with planet stent 18, and the first drive fixing frame 15 and the second drive fixing frame 20 are fixed on the health header board 3, support first sun finishing bevel gear cuter 16 and second sun finishing bevel gear cuter 19 and the 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 through swelling cover 23 with bevel planet gear 17 output shafts, and the 4th motor 25 is fixed in the thigh bar 24 through 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, and both connect through 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 following: 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 through flexible handle 8 very easily, and first sun finishing bevel gear cuter 16, second sun finishing bevel gear cuter 19 and the bevel planet gear 17 of hip 9 are formed the bevel type differential gears 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, and the revolution of bevel planet gear 17 and rotation realize the motion of flexion/extension, two degree of freedom of interior receipts/abduction, compact conformation; Driving torque increases, and has improved the robustness in robot motion's process.Thigh bar 24 is fixing through swelling cover 23 with bevel planet gear 17 output shafts, adopts this mode to make things convenient for the Assembly &Disassembly to the robot shank, fixing the 4th motor 25 in the thigh bar 24; Reasonable distribution shank center of gravity; The balance control that more helps robot through the rotation of the 4th motor 25 output shafts, arrives bevel gear shaft 29 with transmission of power; Left leg plate 30 is fixed on bevel gear shaft 29 two ends with right leg plate 31, has so just realized the relative motion of huckle 10 and calf 12.Large cylinder 32 hollows, roundlet tube 34 are enclosed within the large cylinder 32, and both connect through 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; Receive when impacting in the vola; Roundlet tube 34 relatively moves through 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 before first motor (7) is fixed on the flange (5), 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) comprises second motor (13), the first commutating tooth wheels (14), the first drive fixing frame (15), first sun finishing bevel gear cuter (16), bevel planet gear (17), planet stent (18), second sun finishing bevel gear cuter (19), the second drive fixing frame (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), and the first drive fixing frame (15) and the second drive fixing frame (20) are fixed on the health header board (3), support 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 through swelling cover (23) with bevel planet gear (17) output shaft, and the 4th motor (25) is fixed in the thigh bar (24) through 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 bevel gear shaft (29); Gear casing (28) is fixed on the thigh bar (24), simultaneously cone of support gear wheel shaft (29); 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), and both connect through 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 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 CN102211627A (en) 2011-10-12
CN102211627B true CN102211627B (en) 2012-10-17

Family

ID=44743207

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201110106481A 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)

Families Citing this family (32)

* 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
CN102689660B (en) * 2012-01-13 2013-12-18 河南科技大学 Robot balance device and wheel-leg robot using same
CN102582714B (en) * 2012-01-31 2013-08-07 山东大学 Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot
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
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
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
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
CN103979034B (en) * 2014-05-19 2016-04-06 北京交通大学 Single-power leg mechanism four feet walking robot
CN104149872B (en) * 2014-09-01 2016-05-11 安徽理工大学 A kind of complex road surface transfer robot based on parallel institution
CN104309717B (en) * 2014-10-30 2016-05-11 郑州轻工业学院 There is the change body modularization four feet walking robot of energy-storage function
CN105892558B (en) * 2015-01-26 2018-08-17 郝成武 A kind of robot toes bearing capacity balance mechanism
CN104875813B (en) * 2015-05-26 2018-04-06 上海大学 A kind of electric drive small-sized bionic quadruped 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
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
CN106005090B (en) * 2016-07-08 2018-01-23 燕山大学 A kind of flexible four leg walking robots of double swing-bar
CN107457802B (en) * 2017-09-13 2020-10-09 北京理工大学 Humanoid robot tumble protection device
CN108394485B (en) * 2018-02-11 2019-12-06 嘉兴学院 Multifunctional multi-foot bionic 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
CN109941370B (en) * 2019-01-04 2020-07-24 上海海事大学 Four-legged walking robot based on three-axis linkage control structure
CN110154012B (en) * 2019-05-24 2020-08-04 东北大学 Four-footed bionic robot and control method thereof
CN111003074A (en) * 2019-11-07 2020-04-14 清华大学 Parallel wheel-foot type robot leg structure and mobile robot

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

Also Published As

Publication number Publication date
CN102211627A (en) 2011-10-12

Similar Documents

Publication Publication Date Title
CN103610568B (en) Human-simulated external skeleton robot assisting lower limbs
CN103330635B (en) Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying
CN104873360B (en) A kind of upper limb healing exoskeleton robot driving based on lasso trick
CN101810533B (en) Walking aid exoskeleton rehabilitation robot
CN102113949B (en) Exoskeleton-wearable rehabilitation robot
CN103610524B (en) A kind of Portable energy storage ectoskeleton power-assisting robot
CN103029130B (en) Humanoid robot
CN103481964B (en) A kind of Six-foot walking robot with obstacle climbing ability
CN201168163Y (en) Rehabilitation robot for anklebone
CN104228993B (en) A kind of biped robot of quick walking
CN102579227B (en) Hand and wrist exoskeleton rehabilitation training device
CN102274107B (en) Fixed exoskeleton rehabilitation training manipulator
CN204450526U (en) The ectoskeleton servomechanism that a kind of pneumatic muscles drives
CN103735386A (en) Wearable lower limb exoskeleton rehabilitation robot
CN102285390B (en) Elastically driven walking leg in hybrid connection for walking robot
CN104401419A (en) Novel biped humanoid robot system based on pneumatic artificial muscles
CN103006416B (en) Mechanical lower-limb rehabilitation robot walker device
CN103519974B (en) Rehabilitation walking aid
CN105726263A (en) Wearable hand exoskeleton rehabilitation training robot
CN104552276A (en) Pneumatic-muscle-driven exoskeleton assisting mechanism
CN102309393A (en) Exoskeleton type upper limb rehabilitation robot
CN103538644B (en) A kind of robot with rolling movement and sufficient formula walking function
CN106420257A (en) Upper limb rehabilitation exoskeleton robot based on serial elastic drivers and method
CN106240669B (en) Robot walking device
CN105943308A (en) Hand exoskeleton device for rehabilitation training

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
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