CN104973161B - 一种足式机器人的腿部结构 - Google Patents
一种足式机器人的腿部结构 Download PDFInfo
- Publication number
- CN104973161B CN104973161B CN201510404058.7A CN201510404058A CN104973161B CN 104973161 B CN104973161 B CN 104973161B CN 201510404058 A CN201510404058 A CN 201510404058A CN 104973161 B CN104973161 B CN 104973161B
- Authority
- CN
- China
- Prior art keywords
- bearing
- bow
- special
- leg structure
- ball
- 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.)
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- 230000001360 synchronised effect Effects 0.000 claims description 9
- 210000002683 foot Anatomy 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 5
- 210000002414 leg Anatomy 0.000 description 27
- 230000033001 locomotion Effects 0.000 description 8
- 238000005265 energy consumption Methods 0.000 description 6
- 241000238631 Hexapoda Species 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510404058.7A CN104973161B (zh) | 2015-07-10 | 2015-07-10 | 一种足式机器人的腿部结构 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510404058.7A CN104973161B (zh) | 2015-07-10 | 2015-07-10 | 一种足式机器人的腿部结构 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104973161A CN104973161A (zh) | 2015-10-14 |
CN104973161B true CN104973161B (zh) | 2017-05-10 |
Family
ID=54270250
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510404058.7A Active CN104973161B (zh) | 2015-07-10 | 2015-07-10 | 一种足式机器人的腿部结构 |
Country Status (1)
Country | Link |
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CN (1) | CN104973161B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105857434B (zh) * | 2016-04-27 | 2018-04-03 | 浙江腾荣环保科技有限公司 | 一种四足行走机器人 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2892621Y (zh) * | 2005-11-17 | 2007-04-25 | 上海市格致中学 | 六脚机器人 |
JP4797775B2 (ja) * | 2006-04-24 | 2011-10-19 | 株式会社日立製作所 | 2足型移動機構 |
CN100436237C (zh) * | 2006-07-10 | 2008-11-26 | 东北大学 | 一种拟人双足机器人人工腿 |
JP5468973B2 (ja) * | 2010-04-22 | 2014-04-09 | 本田技研工業株式会社 | 脚式移動ロボット |
JP5539040B2 (ja) * | 2010-06-04 | 2014-07-02 | 本田技研工業株式会社 | 脚式移動ロボット |
CN104015833B (zh) * | 2014-06-23 | 2016-03-02 | 哈尔滨工业大学 | 轮式、足式和轮足复合式行走为一体的机器人步行腿机构 |
CN204801921U (zh) * | 2015-07-10 | 2015-11-25 | 陕西九立机器人制造有限公司 | 一种足式机器人的腿部结构 |
-
2015
- 2015-07-10 CN CN201510404058.7A patent/CN104973161B/zh active Active
Also Published As
Publication number | Publication date |
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CN104973161A (zh) | 2015-10-14 |
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GR01 | Patent grant | ||
GR01 | Patent grant | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Leg structure of leg robot Effective date of registration: 20181116 Granted publication date: 20170510 Pledgee: Changan bank Limited by Share Ltd. Baoji Park Road military and civilian integration branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: 2018610000187 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20191121 Granted publication date: 20170510 Pledgee: Changan bank Limited by Share Ltd. Baoji Park Road military and civilian integration branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: 2018610000187 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Leg structure of leg robot Effective date of registration: 20191122 Granted publication date: 20170510 Pledgee: Bank of Chang'an Co.,Ltd. Baoji Park Road sub branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: Y2019610000048 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20201125 Granted publication date: 20170510 Pledgee: Bank of Chang'an Co.,Ltd. Baoji Park Road sub branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: Y2019610000048 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Leg structure of a foot robot Effective date of registration: 20201126 Granted publication date: 20170510 Pledgee: Bank of Chang'an Co.,Ltd. Baoji Park Road sub branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: Y2020980008529 |
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Address after: Room 1205, building 1, Internet Industrial Park, Weibin District, No.1, South Binhe Road, Weibin District, Baoji City, Shaanxi Province Patentee after: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Address before: 712100 No.6, East Ring Road, Yangling Demonstration Area, Xianyang City, Shaanxi Province Patentee before: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. |
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Date of cancellation: 20211129 Granted publication date: 20170510 Pledgee: Bank of Chang'an Co.,Ltd. Baoji Park Road sub branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: Y2020980008529 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Leg structure of foot robot Effective date of registration: 20211201 Granted publication date: 20170510 Pledgee: Bank of Chang'an Co.,Ltd. Baoji Park Road sub branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: Y2021980013758 |
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Date of cancellation: 20221128 Granted publication date: 20170510 Pledgee: Bank of Chang'an Co.,Ltd. Baoji Park Road sub branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: Y2021980013758 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Leg structure of a foot robot Effective date of registration: 20221130 Granted publication date: 20170510 Pledgee: Bank of Chang'an Co.,Ltd. Baoji Park Road sub branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: Y2022980024214 |
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Date of cancellation: 20231124 Granted publication date: 20170510 Pledgee: Bank of Chang'an Co.,Ltd. Baoji Park Road sub branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: Y2022980024214 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: The leg structure of a legged robot Effective date of registration: 20231127 Granted publication date: 20170510 Pledgee: Bank of Chang'an Co.,Ltd. Baoji Park Road sub branch Pledgor: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Registration number: Y2023980067672 |
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