CN104029745B - A kind of leg wheel hybrid hydraulic pedipulator - Google Patents
A kind of leg wheel hybrid hydraulic pedipulator Download PDFInfo
- Publication number
- CN104029745B CN104029745B CN201410215251.1A CN201410215251A CN104029745B CN 104029745 B CN104029745 B CN 104029745B CN 201410215251 A CN201410215251 A CN 201410215251A CN 104029745 B CN104029745 B CN 104029745B
- Authority
- CN
- China
- Prior art keywords
- thigh
- shank
- actuating cylinder
- hydraulic actuating
- bar
- 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.)
- Expired - Fee Related
Links
Abstract
The invention discloses a kind of leg wheel hybrid hydraulic pedipulator.Comprise thigh hydraulic actuating cylinder, the thigh bar plate of shank hydraulic actuating cylinder and opposing parallel installation, shank bar plate, main body connecting panel and thigh hydraulic actuating cylinder connecting panel, between the square fixed block of main body of main body connecting panel and thigh hydraulic actuating cylinder connecting panel, be provided with body cylindrical joint pin; Two pieces of main body connecting panels are hinged with two blocks of thigh bar plates respectively, and two blocks of thigh bar plates are hinged with two blocks of shank bar plates respectively, are fixed with parallel shank end bar between two blocks of shank bar plates through the square fixed block of shank; Thigh hydraulic actuating cylinder two ends to be hinged on respectively between two pieces of thigh bar plate tops and bottom two pieces of thigh hydraulic actuating cylinder connecting panels between; On the side arm plate extended with two blocks of thigh bar plates between shank hydraulic actuating cylinder two ends are hinged in the middle part of two blocks of shank bar plates respectively; Type structure of the present invention is simple and clear, and two groups of hydraulic actuating cylinders control conveniently, and the wheel that knee joint place installs can ensure the rapidity that two kinds of modes of advancing switch, and can be used for four-footed or six biped robots.
Description
Technical field
Type of the present invention relate to a kind of hydraulic machinery leg, especially relates to a kind of leg wheel hybrid hydraulic pedipulator.
Background technology
Wheeled robot obtains good development in recent years, and Ge great robot manufacturer of the world has all issued oneself service formula wheeled robot, and the control technology of advancing of wheeled robot is fairly perfect.But the comparatively obvious poor quality that wheeled robot exists is that its walking space is only limitted to flat road surface, cannot complete the tasks such as mountain region walking, leaping over obstacles.
Because sufficient formula robot of advancing can overcome the conditions such as rugged hill path and walks, be subject to the favor of many robot research personnel.The video of " towser " robot on network of the U.S. just causes very large repercussion once announcement, and the advantage that can overcome uneven surface condition that quadruped robot brings more and more is subject to the attention of each side.
Pedipulator is divided into motor to drive and hydrostatic drive usually.Hydrostatic drive can produce larger power than electric apparatus under same volume, and the running and comparing of hydraulic efficiency gear is steady, installation weight is light, inertia is little, reaction is fast, therefore be easy to realize quick startup, braking and commutate frequently, and these advantages hydraulicdriven are very applicable is applied to pedipulator.
But although sufficient formula pedipulator has the various advantages that can overcome complex road surface condition, control comparatively complicated, energy resource consumption is also comparatively large, if still adopt sufficient formula progression in flat road surface, can cause unnecessary energy resource consumption.Meanwhile, sufficient formula progression in the smooth ground speed of travel and efficiency all not as good as common wheeled robot.But wheeled robot cannot be walked again under the complex road surface environment such as rugged hill path.This just makes researchist start to find the meeting point of two kinds of modes of advancing, and overcomes respective inferior position, plays the advantage of mode of advancing separately.
Summary of the invention
For playing the advantage of wheeled and sufficient formula progression simultaneously, and overcome respective inferior position, make robot can efficient walking fast in flat road surface again, can walk by penetrate under complicated ground condition again, the present invention proposes a kind of leg wheel hybrid hydraulic pedipulator, there is leg and take turns two kinds of modes of advancing, can advance between mode at two kinds and switch fast, overcome the defect of carrying out separately sufficient formula or wheeled robot existence of advancing.
The technical solution used in the present invention is:
The present invention includes thigh hydraulic actuating cylinder, the thigh bar plate of shank hydraulic actuating cylinder and opposing parallel installation, shank bar plate, main body connecting panel and thigh hydraulic actuating cylinder connecting panel, between two pieces of main body connecting panel tops, the square fixed block of main body is housed, between two thigh hydraulic actuating cylinder connecting panel tops, the square fixed block of main body is housed, between the square fixed block of main body of main body connecting panel and the square fixed block of main body of thigh hydraulic actuating cylinder connecting panel, is connected with body cylindrical joint pin;
Hinged by the top of bearing connection bracket and two blocks of thigh bar plates respectively bottom two pieces of main body connecting panels, hinged by one end of bearing connection bracket and two blocks of shank bar plates respectively bottom two blocks of thigh bar plates, the square fixed block of shank is fixed with between the other end of two blocks of shank bar plates, the square fixed block of shank is fixed with shank end bar, shank end bar is parallel with two blocks of shank bar plates;
The rod end of thigh hydraulic actuating cylinder is hinged between two pieces of thigh bar plate tops by hydraulic cylinder piston rod articulated stand, between the cylinder body end of thigh hydraulic actuating cylinder is hinged on bottom two thigh hydraulic actuating cylinder connecting panels by hydraulic cylinder body articulated stand;
The two pieces of thigh bar plate top opposite sides be hinged with thigh hydraulic cylinder piston rod end respectively extend and are provided with side arm plate, between the rod end of shank hydraulic actuating cylinder is hinged in the middle part of two blocks of shank bar plates by hydraulic cylinder piston rod articulated stand, the cylinder body end of shank hydraulic actuating cylinder is hinged on the side arm plate that two blocks of thigh bar plates extend by hydraulic cylinder body articulated stand.
Be hinged with motor bracket between two blocks of described shank bar plates and two bearing connection brackets of two pieces of thigh bar plate hinged places, motor bracket is equipped with electrical motor, and wheel is connected with the output shaft of electrical motor.
Described shank end bar is metal, and shank end bar end is semicircle spheroid, and the outer layer covers of semicircle spheroid has one deck for the rubber layer of increasing friction force, make this pedipulator adopt sufficient formula advance mode time and the friction force on ground increase.
Described bearing connection bracket is stepped shaft structure, and the ladder periphery of stepped shaft is provided with bearing.
Described thigh hydraulic actuating cylinder and shank hydraulic actuating cylinder adopt rod-pulling type hydraulic actuating cylinder.
The beneficial effect of type of the present invention is:
Type structure of the present invention is simple and clear, control is convenient, the motion of two-freedom has been controlled by two groups of hydraulic actuating cylinders, and thigh and shank put on suitable position switch to wheeled mode of advancing, the rapidity that two kinds of modes of advancing switch can be ensured, can be used for four-footed or six biped robots.
To the design of wheeled mode of advancing, wheel is arranged on knee joint position, quick switching can be realized, and in wheeled traveling process, provide damping by thigh hydraulic actuating cylinder.Meanwhile, avoid wheel in sufficient formula traveling process and contact with the direct of ground, reduce the vibrations to wheel and electrical motor, thus extend the service life of motor and wheel.
Accompanying drawing explanation
Fig. 1 is three-dimensional model diagram of the present invention.
Fig. 2 is sufficient formula state of kinematic motion one of the present invention.
Fig. 3 is sufficient formula state of kinematic motion two of the present invention.
Fig. 4 is sufficient formula state of kinematic motion three of the present invention.
Fig. 5 is sufficient formula state of kinematic motion four of the present invention.
Fig. 6 is wheel type movement state of the present invention.
Fig. 7 is that wheel assembling detail of the present invention is shown.
In figure: 1. thigh hydraulic actuating cylinder, 2. shank hydraulic actuating cylinder, 3. thigh bar plate, 4. shank bar plate, 5. electrical motor, 6. wheel, 7. bearing connection bracket, 8. hydraulic cylinder body articulated stand, 9. hydraulic cylinder piston rod articulated stand, 10. main body connecting panel, 11. thigh hydraulic actuating cylinder connecting panels, 12. body cylindrical joint pins, the square fixed block of 13. main body, the square fixed block of 14. shank, 15. shank end bars, 16. motor brackets.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, type of the present invention is described in further detail.
As shown in Figure 1, the present invention includes thigh hydraulic actuating cylinder 1, the thigh bar plate 3 of shank hydraulic actuating cylinder 2 and opposing parallel installation, shank bar plate 4, main body connecting panel 10 and thigh hydraulic actuating cylinder connecting panel 11, by screw, the square fixed block 13 of main body is housed between two pieces of main body connecting panel 10 tops, by screw, the square fixed block 13 of main body is housed between two thigh hydraulic actuating cylinder connecting panel 11 tops, between the square fixed block of main body 13 of main body connecting panel 10 and the square fixed block 13 of main body of thigh hydraulic actuating cylinder connecting panel 11, is connected with body cylindrical joint pin 12.
As shown in Figure 1, hinged by the top of bearing connection bracket 7 and two blocks of thigh bar plates 3 respectively bottom two pieces of main body connecting panels 10, hinged by one end of bearing connection bracket 7 and two blocks of shank bar plates 4 respectively bottom two blocks of thigh bar plates 3, the square fixed block 14 of shank is fixed with by screw between the other end of two blocks of shank bar plates 4, the square fixed block 14 of shank is fixed with shank end bar 15, and shank end bar 15 is parallel with two blocks of shank bar plates 4.
As shown in Figure 1, the rod end of thigh hydraulic actuating cylinder 1 is hinged between two pieces of thigh bar plate 3 tops by hydraulic cylinder piston rod articulated stand 9, between the cylinder body end of thigh hydraulic actuating cylinder 1 is hinged on bottom two thigh hydraulic actuating cylinder connecting panels 11 by hydraulic cylinder body articulated stand 8.
As shown in Figure 1, the two pieces of thigh bar plate 3 top opposite sides be hinged with thigh hydraulic actuating cylinder 1 rod end respectively extend and are provided with side arm plate, between the rod end of shank hydraulic actuating cylinder 2 is hinged in the middle part of two blocks of shank bar plates 4 by hydraulic cylinder piston rod articulated stand 9, the cylinder body end of shank hydraulic actuating cylinder 2 is hinged on the side arm plate that two blocks of thigh bar plates 3 extend by hydraulic cylinder body articulated stand 8.
As shown in Figure 1, Figure 7 shows, two blocks of described shank bar plates 4 and two pieces of thigh bar plate 3 hinged places are the knee joint of this pedipulator, motor bracket 16 is hinged with between two blocks of shank bar plates 4 and two bearing connection brackets 7 of two pieces of thigh bar plate 3 hinged places, motor bracket 16 is equipped with electrical motor 5, wheel 6 is connected with the output shaft of electrical motor 5.
As shown in Figure 1, described shank end bar 15 is metal, and shank end bar 15 end is semicircle spheroid, and the outer layer covers of semicircle spheroid has one deck for the rubber layer of increasing friction force, make this pedipulator adopt sufficient formula advance mode time and the friction force on ground increase.
Described bearing connection bracket 7 is stepped shaft structure, and the ladder periphery of stepped shaft is provided with bearing.
Bearing connection bracket 7 is fixed by screw and one connected body, and the stepped portion of stretching out installs bearing, then fixes with another connected body, then can realize hinged connection mode.Bearing connection bracket 7 such as between two pieces of main body connecting panels 10 and two blocks of thigh bar plates 3, the main body connecting panel 10 of every side and thigh bar plate 3 respectively by bearing carrier ring on two ladder axial planes of bearing connection bracket 7.
Described thigh hydraulic actuating cylinder 1 adopts rod-pulling type hydraulic actuating cylinder with shank hydraulic actuating cylinder.
Cylinder body and the piston-rod end of thigh hydraulic actuating cylinder 1, shank hydraulic actuating cylinder 2 are all equipped with bearing, and are connected with hydraulic cylinder body articulated stand 8 and hydraulic cylinder piston rod articulated stand 9 respectively by bearing, realize hinged.
The edge parcel rubber coating of wheel 6, with improve wheeled advance in mode with the friction force on ground.
Wheel 6 is connected by coupler with the output shaft of electrical motor 5.
Body cylindrical joint pin 12 of the present invention is connected with robot body, because it has certain length, when installing with robot body, has adjustable mobile space, is conducive to searching out the suitable installation site of mutually assembling with robot body.
As Fig. 2, Fig. 3, Fig. 4, Figure 5 shows that type leg of the present invention takes turns the sufficient formula progression of hybrid hydraulic pedipulator, by carrying out gait planning, the position in above-mentioned figure can be obtained.Pedipulator can meet the requirement of sufficient formula mode of motion.
Be illustrated in figure 6 the planar effect picture of wheeled mode of advancing.By the contraction of hydraulic control cylinder, thigh bar 3 plate and shank bar plate 4 are swung to suitable angle, wheel 6 kiss the earth can be made, under the driving of electrical motor 5, complete wheeled mode of advancing.
As shown in Figure 7, for the details of wheel assembling shows result.The wheel 6 at knee joint place is connected with the output shaft of electrical motor 5, motor bracket 16 fixed motor 5, and is connected by screw with the bearing connection bracket 7 at knee joint place.
Specific embodiment of the invention working process is as follows:
Under foot formula state of kinematic motion, by thigh hydraulic actuating cylinder 1 and and shank hydraulic actuating cylinder 2 control the motion of thigh bar plate 3 and shank bar plate 4, building and rational gait planning by hydraulic efficiency pressure system, sufficient formula can be completed and to advance mode.
Under wheel type movement state, by thigh hydraulic actuating cylinder 1 with shank hydraulic actuating cylinder 2, thigh bar plate 3 and shank bar plate 4 are adjusted to the position shown in Fig. 6, make wheel 6 and earth surface, by the driving of electrical motor 5, wheeled mode of advancing can be completed.Meanwhile, thigh hydraulic actuating cylinder 1, under wheeled mode state of advancing, can provide damping.
Thus, pedipulator entirety of the present invention adopts two-freedom Bionic Design, can realize sufficient formula and wheeled two kinds of modes of advancing.Its basic structure is made up of hinged thigh and shank, and hinged with robot body's part.Controlled the sufficient formula motion of pedipulator by two groups of hydraulic actuating cylinders, one of them hydraulic actuating cylinder connects robot body and thigh, and another hydraulic actuating cylinder connects thigh and shank.
The present invention there is also mounted by the wheel of direct motor drive at pedipulator knee joint place, when robot ambulation is in flat road surface, wheeled mode of advancing can be switched to, so that conserve energy to greatest extent when enabling robot run in flat road surface, improve speed of advance and the operating efficiency of robot.
Above-mentioned detailed description of the invention is used for explaining and type of the present invention is described, instead of limits type of the present invention, and in the spirit of type of the present invention and the protection domain of claim, any amendment make type of the present invention and change, all fall into the protection domain of type of the present invention.
Claims (5)
1. a leg wheel hybrid hydraulic pedipulator, comprise thigh hydraulic actuating cylinder (1), the thigh bar plate (3) of shank hydraulic actuating cylinder (2) and opposing parallel installation, shank bar plate (4), main body connecting panel (10) and thigh hydraulic actuating cylinder connecting panel (11), it is characterized in that: between two pieces of main body connecting panel (10) tops, the square fixed block of main body (13) is housed, between two thigh hydraulic actuating cylinder connecting panel (11) tops, the square fixed block of main body (13) is housed, body cylindrical joint pin (12) is connected with between the square fixed block of main body (13) of main body connecting panel (10) and the square fixed block of main body (13) of thigh hydraulic actuating cylinder connecting panel (11),
Two pieces of main body connecting panel (10) bottoms are hinged with the top of two pieces of thigh bar plates (3) by bearing connection bracket (7) respectively, two pieces of thigh bar plate (3) bottoms are hinged with one end of two pieces of shank bar plates (4) by bearing connection bracket (7) respectively, the square fixed block of shank (14) is fixed with between the other end of two pieces of shank bar plates (4), the square fixed block of shank (14) is fixed with shank end bar (15), shank end bar (15) is parallel with two pieces of shank bar plates (4);
The rod end of thigh hydraulic actuating cylinder (1) is hinged between two pieces of thigh bar plate (3) tops by hydraulic cylinder piston rod articulated stand (9), and the cylinder body end of thigh hydraulic actuating cylinder (1) is hinged between two thigh hydraulic actuating cylinder connecting panel (11) bottoms by hydraulic cylinder body articulated stand (8);
Two pieces of thigh bar plate (3) the top opposite sides be hinged with thigh hydraulic actuating cylinder (1) rod end respectively extend and are provided with side arm plate, the rod end of shank hydraulic actuating cylinder (2) is hinged between two pieces of shank bar plates (4) middle parts by hydraulic cylinder piston rod articulated stand (9), and the cylinder body end of shank hydraulic actuating cylinder (2) is hinged on the side arm plate that two pieces of thigh bar plates (3) extend by hydraulic cylinder body articulated stand (8).
2. a kind of leg wheel hybrid hydraulic pedipulator according to claim 1, it is characterized in that: between two pieces of described shank bar plates (4) and two bearing connection brackets (7) of two pieces of thigh bar plate (3) hinged places, be hinged with motor bracket (16), motor bracket (16) is equipped with electrical motor (5), wheel (6) is connected with the output shaft of electrical motor (5).
3. a kind of leg wheel hybrid hydraulic pedipulator according to claim 1, it is characterized in that: described shank end bar (15) is metal, shank end bar (15) end is semicircle spheroid, the outer layer covers of semicircle spheroid has one deck for the rubber layer of increasing friction force, make this pedipulator adopt sufficient formula advance mode time and the friction force on ground increase.
4. a kind of leg wheel hybrid hydraulic pedipulator according to claim 1, is characterized in that: described bearing connection bracket (7) is stepped shaft structure, and the ladder periphery of stepped shaft is provided with bearing.
5. a kind of leg wheel hybrid hydraulic pedipulator according to claim 1, is characterized in that: described thigh hydraulic actuating cylinder (1) and shank hydraulic actuating cylinder adopt rod-pulling type hydraulic actuating cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410215251.1A CN104029745B (en) | 2014-05-21 | 2014-05-21 | A kind of leg wheel hybrid hydraulic pedipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410215251.1A CN104029745B (en) | 2014-05-21 | 2014-05-21 | A kind of leg wheel hybrid hydraulic pedipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104029745A CN104029745A (en) | 2014-09-10 |
| CN104029745B true CN104029745B (en) | 2016-01-06 |
Family
ID=51460801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410215251.1A Expired - Fee Related CN104029745B (en) | 2014-05-21 | 2014-05-21 | A kind of leg wheel hybrid hydraulic pedipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104029745B (en) |
Families Citing this family (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443104B (en) * | 2014-12-10 | 2017-01-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
| CN105752187A (en) * | 2014-12-14 | 2016-07-13 | 哈尔滨市三和佳美科技发展有限公司 | Robot lower limb |
| CN104608837B (en) * | 2015-01-16 | 2017-04-26 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN107672690A (en) * | 2016-04-05 | 2018-02-09 | 赵德朝 | A kind of Hexapod Robot and foot control method and gait control method |
| CN105830985A (en) * | 2016-05-22 | 2016-08-10 | 刘轩 | Automatic cleaning crab-like robot of fish tank |
| CN106364584A (en) * | 2016-09-22 | 2017-02-01 | 上海理工大学 | Spider detection bionic robot |
| CN106627827A (en) * | 2016-11-22 | 2017-05-10 | 姜涵宇 | Multi-terrain conveying vehicle |
| CN106965871B (en) * | 2017-05-04 | 2023-04-21 | 吉林大学 | Large-bearing foot type robot leg structure |
| CN106976494B (en) * | 2017-05-15 | 2023-03-03 | 山东大学 | Four-footed robot mechanism with variable topological structure |
| CN107323561A (en) * | 2017-06-28 | 2017-11-07 | 北京航空航天大学 | A kind of wheel leg type Zai Hou field rescues robot |
| CN107323564B (en) * | 2017-07-04 | 2019-03-29 | 西北工业大学 | The leg mechanism of hydraulic-driven hopping robot |
| CN108340985A (en) * | 2018-04-07 | 2018-07-31 | 吉林大学 | A kind of flexible wheel foot switching mobile platform |
| CN108583716A (en) * | 2018-06-06 | 2018-09-28 | 昆明理工大学 | A kind of locomotive moving device |
| CN110254550A (en) * | 2019-06-25 | 2019-09-20 | 福州大学 | It is a kind of to take turns walking combined quadruped robot and its working method |
| CN110304167A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Wheel leg composite construction and the compound four-leg bionic robot of wheel leg |
| CN110861728A (en) * | 2019-11-20 | 2020-03-06 | 燕山大学 | Wheel leg type automatic guiding trolley |
| CN111301548A (en) * | 2020-03-27 | 2020-06-19 | 之江实验室 | Reconfigurable foot type robot with biped/four-wheel/four-foot motion modes |
| CN111516773A (en) * | 2020-04-02 | 2020-08-11 | 之江实验室 | Reconfigurable biped robot with multiple motion modes |
| CN111452882B (en) * | 2020-04-10 | 2021-10-19 | 山东大学 | Quadruped robot |
| CN111731405B (en) * | 2020-07-10 | 2023-12-01 | 腾讯科技（深圳）有限公司 | robot |
| CN111942491B (en) * | 2020-07-30 | 2022-06-28 | 上海交通大学 | Parallel connection mechanism wheel foot mobile robot based on UP and UPS |
| CN112550513B (en) * | 2020-12-09 | 2023-07-25 | 北京理工大学重庆创新中心 | Wheel leg robot and driving method thereof |
| CN112550511B (en) * | 2020-12-09 | 2023-07-25 | 北京理工大学重庆创新中心 | Wheel leg robot and driving method thereof |
| CN113120110B (en) * | 2021-04-12 | 2022-07-19 | 华侨大学 | Wheel-foot robot |
| CN113443040A (en) * | 2021-05-18 | 2021-09-28 | 山河智能装备股份有限公司 | Wheel-leg combined type traveling system, maneuvering platform and traveling method thereof |
| CN113635990A (en) * | 2021-09-03 | 2021-11-12 | 中国人民解放军国防科技大学 | Wheel-walking type moving device and control method thereof |
| CN113635991A (en) * | 2021-09-03 | 2021-11-12 | 中国人民解放军国防科技大学 | Bionic wheel-step moving device |
| CN114291179B (en) * | 2022-01-06 | 2022-10-18 | 江苏镌极特种设备有限公司 | Multi-foot wall-climbing robot |
| CN114472376B (en) * | 2022-04-07 | 2022-09-09 | 启迪未来(天津)国际企业管理合伙企业(有限合伙) | Pipeline cleaning device and pipeline cleaning system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4489755B2 (en) * | 2003-01-14 | 2010-06-23 | ディズニー エンタープライゼス インコーポレイテッド | Motion control method for figurines with legs |
| CN102328703B (en) * | 2011-07-14 | 2012-12-26 | 浙江大学 | Six-bar bouncing combined-type wheel-leg mobile robot |
| RO128986B1 (en) * | 2012-04-10 | 2017-01-30 | Universitatea Tehnică ''gheorghe Asachi'' Din Iaşi | Mobile microrobot with hybrid locomotion |
| CN102874339B (en) * | 2012-09-27 | 2015-01-14 | 浙江大学 | Hopping robot mechanism |
| CN103395456B (en) * | 2013-08-15 | 2016-07-06 | 上海交通大学 | Complicated landform movable robot with wheel legs |
-
2014
- 2014-05-21 CN CN201410215251.1A patent/CN104029745B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104029745A (en) | 2014-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104029745B (en) | A kind of leg wheel hybrid hydraulic pedipulator | |
| CN103112515B (en) | Wheel leg combined type robot | |
| CN104386157B (en) | Quadruped robot with flexible joints | |
| CN104369790B (en) | A kind of biped robot's walking mechanism | |
| CN103395457B (en) | A kind of polypody mobile device based on hybrid drive | |
| CN103395456B (en) | Complicated landform movable robot with wheel legs | |
| CN202728394U (en) | Spider robot | |
| CN104627265A (en) | Biped robot lower limb mechanism driven hydraulically | |
| CN104309717B (en) | There is the change body modularization four feet walking robot of energy-storage function | |
| CN101391417B (en) | Both feet humanoid robot based on passive movement mode | |
| CN203006872U (en) | Self-walking scissor fork type lifting platform | |
| CN102556200B (en) | Four-feet walker | |
| CN211076125U (en) | Position and force control hydraulic biped robot lower limb mechanism | |
| CN103273985A (en) | Quadruped stair climbing robot mechanism | |
| CN111846008A (en) | Biped robot with variable-rigidity ankle joint | |
| CN104386158A (en) | Series elastic actuator-based quadruped robot | |
| CN102092429B (en) | Two-leg walking mechanism | |
| CN107140053B (en) | Wheel-leg type mobile robot based on spherical parallel mechanism | |
| CN109987168B (en) | Three-degree-of-freedom robot leg system based on synchronous belt transmission | |
| CN102211628A (en) | Double-leg walker | |
| CN105014686A (en) | Robot arm driven by swing cylinders | |
| CN103010327A (en) | Single-motor driven climbing jumping robot | |
| CN104527829A (en) | Combined ladder climbing robot | |
| CN104354784A (en) | Bipedal robot capable of quickly walking | |
| CN203511204U (en) | Novel amphibious walking mechanism |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160106 Termination date: 20200521 |