CN103640639B - A kind of drive lacking walking robot - Google Patents
A kind of drive lacking walking robot Download PDFInfo
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- CN103640639B CN103640639B CN201310587543.3A CN201310587543A CN103640639B CN 103640639 B CN103640639 B CN 103640639B CN 201310587543 A CN201310587543 A CN 201310587543A CN 103640639 B CN103640639 B CN 103640639B
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Abstract
The invention discloses a kind of drive lacking walking robot, it comprises main body (1), walking unit and being installed in main body (1) for driving the driver train of walking unit, it is characterized in that: described driver train comprises the first imput shaft (2.1) and is placed on described first imput shaft (2.1) the second imput shaft (3.1) outward, described walking unit comprises the first driving lever (2.2), first follower lever (2.3), second driving lever (3.2), second follower lever (3.3), all be rotationally connected by the adapter shaft (4) with auto-lock function between described first driving lever (2.2) and the first follower lever (2.3) and between the second driving lever (3.2) and the second follower lever (3.3).Adopt structure of the present invention, the bipod that can realize simulating people leapfrogs, and the while that the structure of active unit being relatively simple, driver element is also less, and cost is lower.
Description
Technical field
The present invention relates to a kind of robotics, be specially a kind of drive lacking walking robot.
Background technology
Along with the progress of science and technology, robot, as the most advanced and sophisticated product of machinery manufacturing industry, is not only widely used in the industrial production, also has the domestic robot of more and more kind to come into daily life simultaneously.And in existing walking robot technical field, being mainly divided into two classes by walking manner, a class: the robot of roller type, by the driving of wheel, realizes this robot parallel motion in certain plane.But this type of robot is only applicable to comparatively smooth ground, its locomitivity of rugged or that the gradient is larger ground is restricted, more or in the stepped occasion of some tools is substantially difficult to realize horizontal motion.Another kind of, be the robot of polypody, have the multi-foot robot of natural imitation circle spider, also have and imitate the mankind and realize the biped robot that both legs leapfrog.
The such as patent No. is the walking robot of CN93120403.8B, be made up of the walking unit that all around multiple cylinder drives, the flexible of drive link is driven to realize displacement by cylinder, but in order to reach the balance in walking process, its walking unit is necessarily multiple, and each walking unit must be provided with driver element separately, therefore its physical construction is comparatively complicated.
The such as patent No. is the biped robot of CN01819041.3B, the both legs of simulating human, pin and joint, realize both legs alternately walking, same, although the walking unit of this robot is less, its each turning joint that realize walking must need to be provided with bindiny mechanism, transmission device and driver element, same, its physical construction is comparatively complicated, and cost is higher.
Summary of the invention
The technical problem to be solved in the present invention is, provides a kind of physical construction comparatively simple and the drive lacking walking robot that manufacturing cost is lower.
Technical solution of the present invention is, there is provided a kind of drive lacking walking robot with following structure: it comprises main body, walking unit and being installed in main body for driving the driver train of walking unit, it is characterized in that: described driver train comprises the first imput shaft be connected with the first motor and the second imput shaft be placed on outside described first imput shaft, described second imput shaft is connected with the second motor, described walking unit comprises the first driving lever be fixedly connected with the first imput shaft and the second driving lever be fixedly connected with the second imput shaft, the free end of described first driving lever is provided with the first follower lever, the free end of described second driving lever is provided with the second follower lever, all be rotationally connected by the adapter shaft with auto-lock function between described first driving lever and the first follower lever and between the second driving lever and the second follower lever.
As a modification of the present invention, the described adapter shaft with auto-lock function refers to, one end of described each adapter shaft is fixedly connected with the free end of the second driving lever with each self-corresponding first driving lever respectively, the upper end of described first follower lever and the second follower lever is equipped with the strip shape through hole that described first follower lever and the second follower lever are slided up and down relative to respective adapter shaft, is provided with the stop gear rotated relative to respective adapter shaft for limiting the first follower lever and the second follower lever between described strip shape through hole and adapter shaft.When in the process that the first driving lever and the second driving lever drive respective follower lever to realize alternately to front walking, when the first driving lever and the first follower lever are as strut member time, be subject to Action of Gravity Field, fixed installation is glided with the strip shape through hole of adapter shaft on the first driving lever free end along the first follower lever, make the first driving lever and the first follower lever along the circle of adapter shaft axis direction to spacing by stop gear, namely the first driving lever is fixedly connected with for supportive body with the first follower lever, and after being fixedly connected with the second driving lever equally after the second follower lever lands, first driving lever is walked forward and is lifted, same due to Action of Gravity Field, stop gear between described adapter shaft and strip shape through hole is thrown off, to make between adapter shaft and the first follower lever normal-running fit in strip shape through hole, the respective adapter shaft of two driving levers alternately fixing and disengagement thus, thus drive main body to advance.
Further, described stop gear refers to, described adapter shaft is circumferentially with some teeth near one end of follower lever, and the lower end of described strip shape through hole is provided with the tooth be meshed with the tooth on described adapter shaft.In being taken in as strut member on the road surface of different height, driving lever and adapter shaft and follower lever and being fastenedly connected of adapter shaft might not be at same position, that therefore selects tooth and tooth engages as stop gear, the engagement of multiple angle can be realized, therefore all can be fastenedly connected when driving lever is different with follower lever angle, convenient walking in different road conditions.
Improve as another kind of the present invention, described stop gear refers to, magnet stopper is equipped with between described first follower lever and corresponding adapter shaft and between the second follower lever and corresponding adapter shaft, the bottom of described each follower lever is equipped with inductor, and described inductor is electrically connected with magnet stopper.When the inductor of follower lever bottom touches ground, send electric signal to magnet stopper, follower lever and adapter shaft is locked by magnet stopper, realize being fastenedly connected of driving lever and follower lever thus, use, when this driving lever lifts as strut member, follower lever is liftoff, inductor sends a signal to magnet stopper equally, unclamps adapter shaft thus, realizes the mutual rotation of driving lever and follower lever.
Preferred as one, described first driving lever and the second driving lever are all made up of a pair bar.The swaying style that two first driving levers in left and right can prevent in motion process is set respectively.Make each driving lever more stable in the process leapfroged.
Meanwhile, described a pair first driving levers are installed on the both sides of described first imput shaft respectively, and described a pair second driving levers are located between described a pair first driving levers along the axis direction of the first imput shaft.A pair described first driving levers and all symmetrical distribution of the second driving lever are that in walking process, center of gravity is more stable.
Further, one end of described first imput shaft and the second imput shaft is installed on the both sides of main body respectively, and is provided with rolling bearing between described first imput shaft and the second imput shaft.Each one end, left and right of first imput shaft and the second imput shaft is arranged on the both sides of main body, and the two relative one end is rotationally connected mutually respectively by rolling bearing.
Preferred as one, in described second imput shaft, the position corresponding with the first driving lever is provided with and makes described first driving lever through the second imput shaft and the swinging chute that can carry out swing.When the second driving axle housing is outside the first imput shaft, when sheltering from the first driving lever and the connection of the first imput shaft on right side, described second imput shaft can be arranged a swinging chute, make the first driving lever be convenient to install, also do not hinder the second imput shaft to be connected with the bearing on the right side of main body simultaneously.
Improve as another kind of the present invention, the two ends of described first imput shaft are rotationally connected with the both sides of main body respectively, described second driving axle housing outside described first imput shaft, and is provided with some rolling bearings for making this second imput shaft circumference rotate between this first imput shaft and second imput shaft.When the two ends of the first imput shaft are separately fixed at main body both sides, weight can be made like this to bear by the first imput shaft, can make stressedly more to balance, and compare and connect to come load-bearing by bearing, the load-bearing of single axle is larger, also more stable.
Improve as last one of the present invention, being provided with some stay bearing plates for supporting each imput shaft in described main body, between described each imput shaft and stay bearing plate, being equipped with rolling bearing.When described each imput shaft length is long cause its intensity to decline time, can arrange some stay bearing plates in the middle of the main body, described stay bearing plate and each imput shaft are rotationally connected by bearing, and the radial force situation of change imput shaft, makes system more stable.
Adopt above structure, the present invention compared with prior art has the following advantages: the bipod that can realize simulating people leapfrogs, therefore comparatively multi-foot robot, active unit is less, and structure is relatively simple, the rotary part of driving lever and follower lever is made up of physical construction simultaneously, therefore without the need to all installing driver element at each rotary part, the therefore comparatively full biped robot driven, the structure of active unit is also relatively simple, driver element is also less simultaneously, and cost is lower.
Accompanying drawing explanation
Fig. 1 is the structural representation of drive lacking walking robot.
Fig. 2 be drive lacking walking robot partly cut open schematic diagram.
Fig. 3 is the another kind of structure partly cuing open schematic diagram of drive lacking walking robot.
Fig. 4 is the structural representation of the removal main body of drive lacking walking robot.
Fig. 5 is the lateral plan of " Fig. 4 ".
Fig. 6 is the enlarged diagram of " A " in Fig. 5.
Fig. 7 is the another kind of structure of the enlarged diagram of " A " in Fig. 5.
Fig. 8 is another structure of the enlarged diagram of " A " in Fig. 5.
Shown in figure: 1, main body, 1.1, stay bearing plate, the 2.1, first imput shaft, 2.2, the first driving lever, the 2.3, first follower lever, the 3.1, second imput shaft, 3.1.1, swinging chute, the 3.2, second driving lever, the 3.3, second follower lever, 4, adapter shaft, 4.1, stop gear, 5, strip shape through hole, 6, magnet stopper, 7.1, the first motor, the 7.2, second motor.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
As depicted in figs. 1 and 2, a kind of drive lacking walking robot of the present invention, comprise main body 1, walking unit and being installed in main body 1 for driving the driver train of described walking unit, described driver train comprises the first imput shaft 2.1 be connected with the first motor 7.1 and the second imput shaft 3.1 be placed on outside described first imput shaft 2.1, described second imput shaft 3.1 is connected with the second motor 7.2, one end of this second imput shaft 3.1 is hollow shaft, its hollow shaft one end is placed on outside described first imput shaft 2.1, and be provided with rolling bearing in described two imput shaft, make can relatively rotate therebetween, certainly, composition graphs 3 is visible, the second described imput shaft 3.1 can also be completely through hollow shaft.Described each imput shaft and be rotationally connected by bearing between main body 1, certain described each imput shaft is all with respective motor, described first motor 7.1 and the second motor 7.2 all fixedly mount with in main body 1, be connected with imput shaft by arm revolving gear, this is conventional drive technology, just do not elaborate at this, also only with block representation motor 9 and transmission gear in figure, certainly consider for the balance of machine, the setting position of described motor can be various, it can optional position in main body 1, namely preferably ensures the gravity balance of entirety of the present invention.Described walking unit comprises the first driving lever 2.2 and the second driving lever 3.2 be fixedly connected with the second imput shaft 3.1 with the first imput shaft 2.1 respectively, namely the first described driving lever 2.2 and the second driving lever 3.2 are respectively as two legs of walking robot of the present invention, namely the foreleg leapfroged and back leg, and the lower end of leg is provided with the pin of walking, i.e. the first follower lever 2.3 and the second follower lever 3.3, connected by articulation between leg and step, the adapter shaft namely in the present invention.Above-mentioned being fixedly connected with as shown is driving lever one end and is provided with mounting hole; be placed in corresponding imput shaft; and be fixedly connected with; certainly it can by arranging tapped bore in imput shaft; each driving lever is connected by screw threads for fastening with between imput shaft, similar with the axle of these routine on fixing technology is installed should in the protection domain of design concept of the present invention.Again further, be equipped with the first corresponding follower lever 2.3 and the second follower lever 3.3 at the free end of described each driving lever, be rotationally connected by the adapter shaft 4 with auto-lock function between described each driving lever and follower lever.The free end of each driving lever of above-mentioned indication refers to driving lever one end away from imput shaft, and the two is rotatably connected by an adapter shaft by the upper end of described free end and follower lever, first driving lever 2.2 and the first follower lever 2.3 can be rotated around described adapter shaft 4, second driving lever 3.2 and the second follower lever 3.3 also can rotate around corresponding adapter shaft 4, the mutual rotation of this driving lever and follower lever similar with chain connection after rotation formula.And described adapter shaft 4 is also with auto-lock function, described auto-lock function refers to this adapter shaft 4 and driving lever and is equipped with securing device between adapter shaft 4 and follower lever, fastening when making driving lever and follower lever turn to certain angle.The securing device realizing this auto-lock function can be that physical construction realizes also using signal control electromagnetic actuation brake disc, brakes.
Passing through between each driving lever of above-mentioned indication and follower lever to be rotationally connected with the adapter shaft 4 of auto-lock function is in this wise: with the first imput shaft 2.1, it is example that first driving lever 2.2 and the first follower lever 2.3 form active unit, the free end of described first driving lever 2.2 is fixedly connected with one end of corresponding adapter shaft 4, the upper end of described first follower lever 2.3 and the second follower lever 3.3 is equipped with the strip shape through hole 5 that described first follower lever 2.3 and the second follower lever 3.3 are slided up and down relative to respective adapter shaft 4, the stop gear 4.1 rotated relative to respective adapter shaft 4 for limiting the first follower lever 2.3 and the second follower lever 3.3 is equipped with between described each strip shape through hole 5 and adapter shaft 4.Described stop gear can be that the lower surface being positioned at described strip shape through hole 5 forms an arcwall face, described arcwall face is provided with some teeth, the arc surface of described adapter shaft 4 near one end of the first follower lever 2.3 is provided with the tooth matched with described tooth, described two teeth can be made to engage each other when adapter shaft 4 slips down to the position, lower surface of described strip shape through hole 5, thus the circumference in the axial direction of restriction adapter shaft 4 is rotated.The situation of the state of kinematic motion of the stop gear 4.1 of above-mentioned indication is such: when the bottom of the first follower lever 2.3 touches ground, first driving lever 2.2 presses down, thus drive adapter shaft 4 to move down along the strip shape through hole 5 on the first follower lever 2.3, tooth thus on described adapter shaft 4 is meshed with the tooth on rectangular through hole, the rotation of restriction adapter shaft 4, therefore, the first driving lever 2.2 and the first follower lever 2.3 cannot rotate, and namely be fastened together.Similarly, when the direction that the first driving lever 2.2 is contrary towards ground is lifted, described first driving lever 2.2 drives on adapter shaft 4 and moves, thus the tooth on adapter shaft 4 and the tooth on strip shape through hole 5 are thrown off, and the first driving lever 2.2 and the first follower lever 2.3 can be rotated.Certainly, described stop gear 4.1 can be tooth and the engaging of tooth, also can be cooperation that is protruding and groove, more or one end of adapter shaft 4 be oval, the lower surface of described strip shape through hole 5 is the oval-shaped groove coordinated with described ellipse, as can be seen here, it can be any non-circular shape that the restriction of adapter shaft 4 circumference is rotated.In addition, move axially along self to prevent adapter shaft 4,2 annular banking stops can be set respectively at the two ends of described adapter shaft 4, described banking stop makes adapter shaft 4 along own axis or move up and down in strip shape through hole 5, can only limit its longitudinal travel and the rotation relative to strip shape through hole 5.More or, described strip shape through hole 5 non through hole, can be T slot, one end that described adapter shaft 4 is corresponding with described T slot be provided with T-shaped slide block, and described adapter shaft 4 can be slided up and down along T slot.Same on the basis of above-mentioned preferred version, make changing and make described adapter shaft 4 two ends and be all rotationally connected by a stop gear between the first driving lever 2.2 and the first follower lever 2.3, corresponding first driving lever 2.2 is also provided with same strip shape through hole 5, the upper end of the strip shape through hole on described first driving lever 2.2 is provided with the stop gear coordinated with described adapter shaft 4, make adapter shaft 4 can driving lever and corresponding follower lever therebetween together with slide up and down, and during as supporting leg, this adapter shaft 4 is spacing with the upper surface of the strip shape through hole of driving lever, the lower surface of the strip shape through hole simultaneously on its other end and follower lever is spacing, and described adapter shaft two ends are equipped with annular gasket, described annular gasket makes adapter shaft 4 can only carry out self circumference rotation and the strip shape through hole 5 along driving lever and follower lever slides.
In addition, above-mentioned stop gear 4.1 can also be in this wise, magnet stopper 6 is equipped with between described first follower lever 2.3 and corresponding adapter shaft 4 and between the second follower lever 3.3 and corresponding adapter shaft 4, the bottom of described each follower lever is equipped with inductor, and described inductor 7 is electrically connected with magnet stopper 6.Described magnet stopper 6 is conventional prior art, just do not illustrate at this, its main principle of work is, by electric signal control electromagnet dead electricity, thus electromagnetic actuation is thrown off, drives projection to move thus to carry out spacing, certainly the elements such as the spring of reset must be provided with in it, or thrown off by the adhesive of electromagnet, drive the friction disc tensioning be placed on adapter shaft, thus brake.
Certainly in order to make the present invention move ahead by actv., prevent left-right rollover, as preferably, two bars that described first driving lever 2.2 is distributed by left and right form, and described second driving lever 3.2 is between the first driving lever 2.2 of two, left and right.More or, the second described driving lever 3.2 also can be 2 bars composition of left and right distribution, is uniformly distributed about described whole driving lever and follower lever.As shown in Figure 4, when described first driving lever 2.2 and the second driving lever 3.2 are two, left and right, are provided with in the position of the correspondence of described second imput shaft 3.1 and make described first driving lever 2.2 through the second imput shaft 3.1 and the swinging chute 3.1.1 that can carry out swing.
Further, when main body transverse width of the present invention is larger, make the axial length of described imput shaft longer, only one end is relied on to be fixed on the intensity that main body effectively cannot ensure imput shaft, therefore some stay bearing plates 1.1 for supporting each imput shaft can be set at main body midway location, between described each imput shaft and stay bearing plate 1.1, be equipped with rolling bearing.
Be not difficult to find out from diagram, the first described follower lever 2.3 and the second follower lever 3.3 are the pole of the little triangle tabular in large upper end, a lower end, the original intention designed thus refers to make the standing balance in walking process of the present invention, certainly described follower lever can be the parts used as pin of various shape, more or by being formed by fixedly connecting by some poles.
Principle of work of the present invention is such:, the present invention at standing state is, first follower lever and the second follower lever are staggered front to back to stand to be convenient to for stable, state as shown in Figure 4, when needs are walked, driven by motor first imput shaft of described first imput shaft is rotated, first imput shaft drives the first driving lever to rotate, thus drive the first follower lever to drag forward, the first follower lever is made to depart from ground, and due to Action of Gravity Field, the latching device of the first driving lever and the first follower lever is thrown off, the first follower lever is made to rely on own wt vertical, when stepping out certain distance, motor reversal, the first follower lever is made to be depressed into ground, make thus the first driving lever and the first follower lever fastening, in order to supportive body, then change the second imput shaft to rotate, its principle is identical, thus realize robot of the present invention and alternately move ahead.
In the walking robot field of the industry, the situation that driver element is equal to, or greater than active unit quantity is referred to as full drive machines people, as its name suggests, each turning joint of full drive machines people drives by driver train, because its active unit is all by driving mechanisms control, therefore be easier to realize walking, existing walking robot is also many at full driving field category, and it is relative, the drive lacking field that driver element is less than active unit quantity is then developed comparatively slow, and the present invention has made great contribution just on drive lacking walking robot field.
The foregoing is only preferred embodiment of the present invention, not for limiting the scope of the invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a drive lacking walking robot, comprise main body (1), walking unit and being installed in main body (1) for driving the driver train of walking unit, it is characterized in that: described driver train comprises the first imput shaft (2.1) of being connected with the first motor (7.1) and is placed on described first imput shaft (2.1) the second imput shaft (3.1) outward, described second imput shaft (3.1) is connected with the second motor (7.2), described walking unit comprises the first driving lever (2.2) be fixedly connected with the first imput shaft (2.1) and the second driving lever (3.2) be fixedly connected with the second imput shaft (3.1), the free end of described first driving lever (2.2) is provided with the first follower lever (2.3), the free end of described second driving lever (3.2) is provided with the second follower lever (3.3), all be rotationally connected by the adapter shaft (4) with auto-lock function between described first driving lever (2.2) and the first follower lever (2.3) and between the second driving lever (3.2) and the second follower lever (3.3).
2. a kind of drive lacking walking robot according to claim 1, it is characterized in that: the described adapter shaft with auto-lock function (4) refers to, one end of described each adapter shaft (4) is fixedly connected with the free end of the second driving lever (3.2) with each self-corresponding first driving lever (2.2) respectively, the upper end of described first follower lever (2.3) and the second follower lever (3.3) is equipped with the strip shape through hole (5) that described first follower lever (2.3) and the second follower lever (3.3) are slided up and down relative to respective adapter shaft (4), the stop gear (4.1) rotated relative to respective adapter shaft (4) for limiting the first follower lever (2.3) and the second follower lever (3.3) is equipped with between described each strip shape through hole (5) and adapter shaft (4).
3. a kind of drive lacking walking robot according to claim 2, it is characterized in that: described stop gear (4.1) refers to, described adapter shaft (4) is circumferentially with some teeth near one end of follower lever, and the lower end of described strip shape through hole (5) is provided with the tooth matched with the tooth on described adapter shaft (4).
4. a kind of drive lacking walking robot according to claim 2, it is characterized in that: described stop gear (4.1) refers to, described first follower lever (2.3) is equipped with magnet stopper (6) with between corresponding adapter shaft (4) and between the second follower lever (3.3) with corresponding adapter shaft (4), the bottom of described each follower lever is equipped with inductor, and described inductor is electrically connected with magnet stopper (6).
5. a kind of drive lacking walking robot according to claim 1, is characterized in that: described first driving lever (2.2) and the second driving lever (3.2) are all made up of a pair bar.
6. a kind of drive lacking walking robot according to claim 5, it is characterized in that: described a pair first driving levers (2.2) are installed on the both sides of described first imput shaft (2.1) respectively, described a pair second driving levers (3.2) are located between described a pair first driving levers (2.2) along the axis direction of the first imput shaft (2.1).
7. a kind of drive lacking walking robot according to claim 6, it is characterized in that: one end of described first imput shaft (2.1) and the second imput shaft (3.1) is installed on the both sides of main body (1) respectively, and is provided with rolling bearing between described first imput shaft (2.1) and the second imput shaft (3.1).
8. a kind of drive lacking walking robot according to claim 7, is characterized in that: the upper position corresponding with the first driving lever (2.2) of described second imput shaft (3.1) is provided with and makes described first driving lever (2.2) through the second imput shaft (3.1) and the swinging chute (3.1.1) that can carry out swing.
9. a kind of drive lacking walking robot according to claim 6, it is characterized in that: the two ends of described first imput shaft (2.1) are rotationally connected with the both sides of main body (1) respectively, described second imput shaft (3.1) is placed on described first imput shaft (2.1) outward, and is provided with some rolling bearings for making this second imput shaft (3.1) circumference rotate between this first imput shaft (2.1) and second imput shaft (3.1).
10. a kind of drive lacking walking robot according to claim 1, is characterized in that: being provided with some stay bearing plates (1.1) for supporting each imput shaft in described main body (1), being equipped with rolling bearing between described each imput shaft and stay bearing plate (1.1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310587543.3A CN103640639B (en) | 2013-11-20 | 2013-11-20 | A kind of drive lacking walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310587543.3A CN103640639B (en) | 2013-11-20 | 2013-11-20 | A kind of drive lacking walking robot |
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| CN103640639A CN103640639A (en) | 2014-03-19 |
| CN103640639B true CN103640639B (en) | 2015-12-02 |
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| CN201310587543.3A Expired - Fee Related CN103640639B (en) | 2013-11-20 | 2013-11-20 | A kind of drive lacking walking robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104158121B (en) * | 2014-08-27 | 2017-03-15 | 哈工大机器人集团（哈尔滨）资产经营管理有限公司 | A kind of high-voltage line crusing robot device |
| CN105438312A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Automatic walking robot |
| CN106428166A (en) * | 2016-08-18 | 2017-02-22 | 上海交通大学 | Electric stair climber with function of alternating step |
| CN109808790A (en) * | 2019-02-15 | 2019-05-28 | 东北大学秦皇岛分校 | A kind of Novel power system driving legged type robot for electricity |
| CN113276981B (en) * | 2020-02-19 | 2022-06-17 | 广东博智林机器人有限公司 | Crawling vehicle and steel bar binding robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1081026A2 (en) * | 1999-08-30 | 2001-03-07 | Honda Giken Kogyo Kabushiki Kaisha | Legged walking robot with landing / shock absorbing means to protect its knees |
| CN1297805A (en) * | 1999-11-24 | 2001-06-06 | 索尼公司 | Movable robot with legs and its controlling and operating method |
| CN101428657A (en) * | 2008-12-16 | 2009-05-13 | 吉林大学 | Propel mechanism of underactuated biped walk robot |
| CN102029610A (en) * | 2009-04-30 | 2011-04-27 | 通用汽车环球科技运作公司 | Torque control of underactuated tendon-driven robotic fingers |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001157972A (en) * | 1999-11-30 | 2001-06-12 | Sony Corp | Leg type moving robot |
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2013
- 2013-11-20 CN CN201310587543.3A patent/CN103640639B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1081026A2 (en) * | 1999-08-30 | 2001-03-07 | Honda Giken Kogyo Kabushiki Kaisha | Legged walking robot with landing / shock absorbing means to protect its knees |
| CN1297805A (en) * | 1999-11-24 | 2001-06-06 | 索尼公司 | Movable robot with legs and its controlling and operating method |
| CN101428657A (en) * | 2008-12-16 | 2009-05-13 | 吉林大学 | Propel mechanism of underactuated biped walk robot |
| CN102029610A (en) * | 2009-04-30 | 2011-04-27 | 通用汽车环球科技运作公司 | Torque control of underactuated tendon-driven robotic fingers |
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| CN103640639A (en) | 2014-03-19 |
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