CN105966482B - Multi link hopping mechanism - Google Patents
Multi link hopping mechanism Download PDFInfo
- Publication number
- CN105966482B CN105966482B CN201610407401.8A CN201610407401A CN105966482B CN 105966482 B CN105966482 B CN 105966482B CN 201610407401 A CN201610407401 A CN 201610407401A CN 105966482 B CN105966482 B CN 105966482B
- Authority
- CN
- China
- Prior art keywords
- accumulation
- energy
- gear
- elastic element
- connecting rod
- 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.)
- Active
Links
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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of multi link hopping mechanism, including rack, multi-connecting-rod mechanism, elastic element, accumulation of energy component and trigger device；The accumulation of energy component is used to stretch the elastic element in a manner of non-return, the non-return effect that the trigger device can release accumulation of energy component springs back elastic element, the screen resilience of the elastic element jumps for driving multi-connecting-rod mechanism that short time set occurs and using connecting rod in deformation and the reaction force on ground multi-connecting-rod mechanism being promoted to move up realization, the hopping mechanism of the present invention is simple in structure, it can walk under smooth relief and jump to greatly improve robot in the case where running into the rough complex terrain such as barrier, irrigation canals and ditches and pass through performance.
Description
Technical field
The present invention relates to hopping mechanism fields, are specifically a kind of multi link hopping mechanism.
Background technology
With the expansion of robot application scope, robot is in practical application, many times require it to possess spring dress
It puts to take a leap over an obstacle or irrigation canals and ditches, in archaeology detection, space exploration, military surveillance and counterterrorist activity etc., some are special
Environment, it is desirable that robot must have stronger landform to adapt to and autokinetic movement ability.Robot of the prior art mainly has
Two kinds of motion modes, one kind drive for wheeled or binder type, this is the type of drive of most of mobile robots, small to various each
The remote-control toy machine carriage of sample or the machine carriage of autonomous operation, greatly to outer in the unmanned battlebus on battlefield or space exploration
Star catalogue surface detector etc.；Another kind be it is bionical creep or manner of walking, such as snake-shaped robot, Doraemon, robot dog and each
The machine insect of kind various kinds, these mechanisms are generally certain specific application and design.At least there are following for the above-mentioned prior art
Shortcoming：Wheeled and caterpillar type robot can only work under smooth relief, once its uneven movement of physical features will be subject to very greatly
Limitation；The ability of walking or climbing robot throwing over barrier is slightly strong, but its degree of freedom is more, and substantial amounts of joint driver to control
System is complicated, and movement is slow, and also is difficult to smoothly cross when barrier is more than own dimensions.
Therefore, to solve problem above, it is necessary to supply one kind simple in structure, it can walk and meet under smooth relief
It jumps to greatly improve jump machine of the robot by performance under to the rough complex terrain such as barrier, irrigation canals and ditches
Structure.
The content of the invention
In view of this, the purpose of the present invention is overcoming in the prior art the defects of, provide it is a kind of simple in structure, can be flat
It walks under smooth physical features, and can jump to greatly improve in the case where running into the rough complex terrain such as barrier, irrigation canals and ditches
The hopping mechanism that robot passes through performance.
The multi link hopping mechanism of the present invention, including rack, multi-connecting-rod mechanism, elastic element, accumulation of energy component and triggering dress
It puts；For the accumulation of energy component for being stretched the elastic element in a manner of non-return, the trigger device can release accumulation of energy component
Non-return effect spring back elastic element, the screen resilience of the elastic element becomes for multi-connecting-rod mechanism to be driven to occur moment
Shape simultaneously promotes multi-connecting-rod mechanism to move up realization jump using connecting rod in deformation and the reaction force on ground；
Further, two adjacent links in the multi-connecting-rod mechanism with two connecting rods by fixing and intermeshing one respectively
It cooperates to accumulation of energy gear；The accumulation of energy component includes driving the accumulation of energy gear rotation that two adjacent links is made to open simultaneously
By accumulation of energy driving device that the elastic element stretches and for making the gear pair along making the direction that elastic element stretches single
To the non-return mechanism of rotation；
Further, the elastic element is the spring being connected in the multi-connecting-rod mechanism between two connecting rods, and described
The link position of spring and connecting rod is longitudinally adjustable along connecting rod；
Further, the non-return mechanism include outer ratchet co-axially fixed with the accumulation of energy gear and with the outer ratchet
The outer pawl of non-return effect is realized in cooperation, and the trigger device links to control outer pawl and outer ratchet with the outer pawl
It engages with separating；
Further, the spring one end is connected to a connecting rod in multi-connecting-rod mechanism, and the spring other end is by along connecting rod
Longitudinally disposed feed screw nut pair is connected and adjustable along the connecting rod lengthwise position with another connecting rod；
Further, the trigger device includes the freewheel clutch rotated by accumulation of energy driving device driving and by institute
Freewheel clutch is stated to drive to make outer pawl is separated with outer ratchet to separate pin；The freewheel clutch is in accumulation of energy driving device
Surmount in the rotation direction that elastic element is stretched；
Further, the accumulation of energy driving device includes accumulation of energy motor and is driven by accumulation of energy motor and respectively transferred power
To accumulation of energy gear and the duplicate gear of freewheel clutch, and the sub- gear that the duplicate gear is engaged with accumulation of energy gear is sector
Wheel；
Further, the freewheel clutch is included as the handle ratchet wheel of freewheel clutch outer ring, as in freewheel clutch
The central turnplate of circle and be arranged at the central turnplate for handle ratchet wheel cooperation interior pawl；The handle ratchet wheel is coaxially fixed
The intermediate gear engaged with the duplicate gear is useful for, the separation pin is fixed on the central turnplate；
Further, the trigger device is further included by least one limit of the connecting rod control opening and closing in the multi-connecting-rod mechanism
Bit switch will control accumulation of energy motor reversal to make outer pawl and outer ratchet when the connecting rod is moved to setting position by limit switch
Separation；
Further, the multi-connecting-rod mechanism further includes pedestal, and the bottom of the pedestal is provided with to drive multi link machine
The driving wheel of structure translation.
The beneficial effects of the invention are as follows：The multi link hopping mechanism of the present invention, elastic element are connected in multi-connecting-rod mechanism
Two connecting rods between, accumulation of energy component is by driving the relative rotation of two connecting rods that elastic element is made to stretch to lay in completion jump action
Required elastic potential energy, meanwhile, accumulation of energy component has non-return mechanism, and passes through the non-return mechanism and elastic element is avoided to stretch
It is sprung back in journey, when being deformed into setting form under driving of the multi-connecting-rod mechanism in accumulation of energy component, trigger device can release storage
Non-return effect in energy component, the elastic potential energy abrupt release for saving elastic element are made using screen resilience in multi-connecting-rod mechanism
Two hinged ends be located remotely from each other, it is hinged in face of this using ground since one of hinged end can be supported in ground by pedestal
The reaction force at end can promote entire multi-connecting-rod mechanism to move upwards realization jump.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the explosive view of the present invention；
Fig. 3 is the structure diagram of the accumulation of energy component of the present invention.
Fig. 4 is the partial enlarged view at A in Fig. 3.
Specific embodiment
Fig. 1 is the structural diagram of the present invention, as shown in the figure, the multi link hopping mechanism of the present embodiment, including rack 1,
Multi-connecting-rod mechanism, elastic element, accumulation of energy component and trigger device；The accumulation of energy component is used for the elasticity in a manner of non-return
Element stretches, and the non-return effect that the trigger device can release accumulation of energy component springs back elastic element, the elastic element
Screen resilience for driving multi-connecting-rod mechanism that short time set occurs and is promoted using connecting rod and the reaction force on ground in deformation more
Linkage moves up realization jump；Elastic element is connected between two connecting rods in multi-connecting-rod mechanism, and accumulation of energy component leads to
Two connecting rods of overdriving relative rotation makes elastic element stretch to lay in the elastic potential energy completed needed for jump action, meanwhile, accumulation of energy
Component has non-return mechanism, and passes through the non-return mechanism and elastic element is avoided to be sprung back in drawing process, when multi link machine
When structure is deformed into setting form under the driving of accumulation of energy component, trigger device can release the non-return effect in accumulation of energy component, make bullet
Property element savings elastic potential energy abrupt release, be located remotely from each other two hinged ends in multi-connecting-rod mechanism using screen resilience, by
Can ground be supported in by pedestal in one of hinged end, can be promoted using reaction force of the ground in face of the hinged end entire more
Linkage moves upwards realization jump.
In the present embodiment, two adjacent links in the multi-connecting-rod mechanism are by fixing and being intermeshed with two connecting rods respectively
A pair of of accumulation of energy gear 6 cooperate；Two accumulation of energy gears 6 are individually fixed in the end of a pair of of adjacent links, in the present embodiment
Multi-connecting-rod mechanism is planar six-bar linkage, and the planar six-bar linkage is by first gear bar 13, second gear bar 20, the 3rd tooth
Wheel 18 and the 4th rack 15 of bar is formed, wherein, first gear bar 13 and gear intermeshing (tooth on second gear bar 20
Wheel set is the two accumulation of energy gears 6), the gear intermeshing on the 3rd rack 18 and the 4th rack 15, two pairs of gears
Pair forms remaining two connecting rods of planar six-bar linkage；The plane where gear face and planar linkage mechanism on rack
It is mutually parallel, the accumulation of energy component includes driving the accumulation of energy gear 6 rotation that two adjacent links is made to open and by the bullet
Property the accumulation of energy driving device that stretches of element and for making the gear pair along the direction one-directional rotation for stretching elastic element
Non-return mechanism, elastic element may connect in multi-connecting-rod mechanism between any two connecting rod, accumulation of energy driving device driving accumulation of energy tooth
When wheel 6 rotates, the angle that each connecting rod is formed in multi-connecting-rod mechanism will be made to change, so as to which elastic element be stretched.
In the present embodiment, the elastic element is the spring being connected in the multi-connecting-rod mechanism between two connecting rods, and
The link position of the spring and connecting rod is longitudinally adjustable along connecting rod, in the present embodiment, is fixed with separate on the connecting rod of accumulation of energy gear 6
One end of accumulation of energy gear 6 is connected by a straight pin 14 with spring one end, and the spring other end is with can be along the side of connecting rod longitudinal sliding motion
The connecting rod that formula is fixed with accumulation of energy gear 6 with another is connected, which can set straight line reciprocating drive mechanism (such as a cylinder, electricity
Dynamic cylinder etc.) it is slided for one end of driving spring on the connecting rod, when this hopping mechanism is when receiving jump energy storage instruction, utilize
Linear reciprocation driving mechanism adjusts the link position of spring and connecting rod, which is adjusted to opening multi-connecting-rod mechanism
In the process, be conducive to reduce the position of spring elongation amount and lock the position, accumulation of energy driving device is started to work at this time, will connect more
Linkage is opened, and after the completion of opening, is being adjusted the link position of spring and connecting rod to making bullet using linear reciprocation driving mechanism
Spring amount of tension reaches maximum, so as to complete the whole process of energy storage, can effectively reduce in multi link in this way
Mechanism opens required driving moment in thermal energy storage process.
In the present embodiment, the non-return mechanism include outer ratchet 4 co-axially fixed with the accumulation of energy gear 6 and with it is described
Non-return outer pawl 5 is realized in the cooperation of outer ratchet 4, the trigger device and the outer pawl 5 link to control outer pawl 5 with it is outer
The engagement of ratchet 4 is with separating；In the present embodiment, (motor, hydraulic motor etc. can be used, and all can export rotation to accumulation of energy driving device
The device of rotatory force) the accumulation of energy gear 6 on first gear bar 13 is driven to rotate, outer ratchet 4 is coaxially fixed on second gear bar 20
On accumulation of energy gear 6 on, make accumulation of energy gear 6 that can only be rotated around the direction for stretching elastic element, avoid elasticity during accumulation of energy
Element is sprung back, and after the completion of accumulation of energy, trigger device can drive outer pawl 5 to separate to release to accumulation of energy tooth with outer ratchet 4
The non-return effect of wheel 6 pulls first gear bar 13 and second gear bar 20 relatively close using the screen resilience of elastic element, this
When, ground will promote entire six bar mechanism to rebound in face of the reaction force of the 3rd rack 18 and the 4th rack 15.
In the present embodiment, the spring one end is connected to a connecting rod in multi-connecting-rod mechanism, and the spring other end passes through edge
17 nut 16 of the longitudinally disposed screw of connecting rod is secondary to be connected and adjustable along the connecting rod lengthwise position with another connecting rod；In the present embodiment,
A screw 17 is vertically arranged on second gear bar 20, which can be coordinated on screw 17 by a motor-driven rotation
Have the nut 16 being connected with spring one end, when receive jump energy storage instruction when, motor by drive screw 17 rotation make nut 16 to
Upper movement locks when reaching second gear 20 top of bar, and energy storage motor is started to work at this time, opens six bar mechanism, opens
After finishing, motor reversal makes nut 16 be moved down into 20 minimum point of second gear bar, completes the whole process of energy storage.
In the present embodiment, the trigger device include by the accumulation of energy driving device driving rotate freewheel clutch and
It is driven to make outer pawl 5 is separated with outer ratchet 4 to separate pin 9 by the freewheel clutch；The freewheel clutch is in accumulation of energy
Surmount in the rotation direction that driving device stretches elastic element；Freewheel clutch shell herein using it is existing all surmount from
Close structure, when accumulation of energy driving device driving accumulation of energy gear 6 rotates, and multi-connecting-rod mechanism opening is made to stretch elastic element, surmount from
Clutch, which is in, surmounts state, and separation pin 9 will not be acted with accumulation of energy driving device, and outer pawl 5 with outer ratchet 4 is in and engages shape always
State, when accumulation of energy finishes, accumulation of energy driving device reversion, freewheel clutch combines, and accumulation of energy driving device will drive separation pin 9 to act,
And using pin 9 is separated the second pawl is driven to be separated with outer ratchet 4, at this point, first gear bar 13 and second gear bar 20 will be in bullets
It is close to each other under the pulling force effect of spring, and complete jump action, therefore, this jump device only by control power set just
Reversion can be achieved with hopping mechanism energy storage and exergonic switching.
In the present embodiment, the accumulation of energy driving device includes accumulation of energy motor and is driven by accumulation of energy motor and respectively by power
It is transferred to the duplicate gear 8 of accumulation of energy gear 6 and freewheel clutch, and the sub- gear that the duplicate gear 8 is engaged with accumulation of energy gear 6
For sector gear 21；During energy storage, accumulation of energy motor drives an input gear 7 to rotate counterclockwise, and input gear 7 drives double
Connection gear 8 rotates clockwise, whenever the accumulation of energy gear 6 on the sector gear 21 and first gear bar 13 in duplicate gear 8 engages
When, first gear bar 13 opens certain angle with respect to second gear bar 20, meanwhile, another sub- gear of duplicate gear 8 will drive
Freewheel clutch outer ring (i.e. handle ratchet wheel 11) rotates counterclockwise, but not freewheel clutch inner ring (pawl in i.e.) is driven to rotate,
When energy storage is completed, when accumulation of energy motor reversal drive output gear rotates clockwise, input gear 7 drives 8 inverse time of duplicate gear
Pin rotates, while freewheel clutch outer ring is driven to rotate clockwise, and freewheel clutch Internal and external cycle engages at this time, will drive separation pin
9 rotate around freewheel clutch axis, and integrally formed with a hook structure on outer pawl 5, separation pin 9 is turned to be coordinated with the hook
And it stirs outer pawl 5 and realization energy storage abrupt release is separated with outer ratchet 4.
In the present embodiment, the freewheel clutch include as freewheel clutch outer ring handle ratchet wheel 11, as surmount from
The central turnplate 10 of clutch inner ring and be arranged at the central turnplate 10 for handle ratchet wheel 11 coordinate interior pawl 22；It is described
Handle ratchet wheel 11 is coaxially fixed with intermediate gear 12 for engage with the duplicate gear 8, it is described separate pin 9 be fixed on it is described in
Heart turntable 10.
In the present embodiment, the trigger device is further included by least one of the connecting rod control opening and closing in the multi-connecting-rod mechanism
A limit switch, when the connecting rod is moved to setting position will by limit switch control accumulation of energy motor reversal make outer pawl 5 with
Outer ratchet 4 separates；In the present embodiment, set in rack 1 there are two limit switch, during accumulation of energy, first gear bar 13 is transported
It moves and is contacted with the first limit switch 3, be rotated further accumulation of energy gear 6 makes second gear bar 20 move to the second limit of contact afterwards
Bit switch 2 can determine whether that energy storage is completed at this time, and accumulation of energy motor will stop operating.
In the present embodiment, the multi-connecting-rod mechanism further includes pedestal, and the bottom of the pedestal is provided with to drive connect more
The driving wheel 19 of linkage translation, the 3rd rack 18 and the 4th rack 15 in the present embodiment are articulated with the pedestal simultaneously,
Driving motor can be installed for driving wheel 19 to be driven to rotate in pedestal, it, can when this hopping mechanism is needed along ground transferring position
Using driving wheel 19 entire hopping mechanism is driven to realize translation.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail in good embodiment, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified or replaced equivalently, and without departing from the objective and scope of technical solution of the present invention, should all be covered at this
Among the right of invention.
Claims (7)
1. a kind of multi link hopping mechanism, it is characterised in that：Including rack, multi-connecting-rod mechanism, elastic element, accumulation of energy component and touch
Transmitting apparatus；For the accumulation of energy component for being stretched the elastic element in a manner of non-return, the trigger device can release accumulation of energy
The non-return effect of component springs back elastic element, and the screen resilience of the elastic element is used to drive multi-connecting-rod mechanism that wink occurs
Between deformation and using connecting rod in deformation and the reaction force on ground multi-connecting-rod mechanism is promoted to move up realization jump；It is described to connect more
Two adjacent links in linkage are a pair of by being fixed respectively with two connecting rods and intermeshing a pair of of accumulation of energy gear cooperates
The accumulation of energy gear forms a gear pair；The accumulation of energy component includes the accumulation of energy gear rotation is driven to make two adjacent companies
Bar opens and by accumulation of energy driving device that the elastic element stretches and for making the gear pair along stretching elastic element
Direction one-directional rotation non-return mechanism；The non-return mechanism include outer ratchet co-axially fixed with the accumulation of energy gear and with
Non-return outer pawl is realized in the outer ratchet cooperation, the trigger device and the outer pawl link to control outer pawl with it is outer
The engagement of ratchet is with separating；The trigger device include by the accumulation of energy driving device driving rotate freewheel clutch and by
The freewheel clutch drives to make outer pawl is separated with outer ratchet to separate pin；The freewheel clutch drives in accumulation of energy and fills
It puts and surmounts in the rotation direction for stretching elastic element.
2. multi link hopping mechanism according to claim 1, it is characterised in that：The elastic element is described more to be connected to
Spring in linkage between two connecting rods, and the link position of the spring and connecting rod is longitudinally adjustable along connecting rod.
3. multi link hopping mechanism according to claim 2, it is characterised in that：The spring one end is connected to multi link machine
A connecting rod in structure, the spring other end along the longitudinally disposed feed screw nut pair of another connecting rod with another connecting rod by being connected simultaneously
It is adjustable along another connecting rod lengthwise position.
4. multi link hopping mechanism according to claim 1, it is characterised in that：The accumulation of energy driving device includes accumulation of energy electricity
It machine and is driven by accumulation of energy motor and power is transferred to the duplicate gear of accumulation of energy gear and freewheel clutch respectively, and it is described double
The sub- gear that connection gear is engaged with accumulation of energy gear is sector gear.
5. multi link hopping mechanism according to claim 4, it is characterised in that：The freewheel clutch includes being used as and surmount
The handle ratchet wheel of clutch outer, as freewheel clutch inner ring central turnplate and be arranged at the central turnplate for it is interior
The interior pawl of ratchet cooperation；The handle ratchet wheel is coaxially fixed with the intermediate gear for being engaged with the duplicate gear, described point
The central turnplate is fixed on from pin.
6. multi link hopping mechanism according to claim 1, it is characterised in that：The trigger device is further included by described more
At least one limit switch of connecting rod control opening and closing in linkage, will pass through /V when the connecting rod is moved to setting position
Switch control accumulation of energy motor reversal makes outer pawl be separated with outer ratchet.
7. multi link hopping mechanism according to claim 1, it is characterised in that：The multi-connecting-rod mechanism further includes pedestal,
The bottom of the pedestal is provided with the driving wheel that multi-connecting-rod mechanism is driven to translate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610407401.8A CN105966482B (en) | 2016-06-12 | 2016-06-12 | Multi link hopping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610407401.8A CN105966482B (en) | 2016-06-12 | 2016-06-12 | Multi link hopping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105966482A CN105966482A (en) | 2016-09-28 |
| CN105966482B true CN105966482B (en) | 2018-05-22 |
Family
ID=57011677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610407401.8A Active CN105966482B (en) | 2016-06-12 | 2016-06-12 | Multi link hopping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105966482B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828641A (en) * | 2017-01-12 | 2017-06-13 | 西南科技大学 | A kind of deformable avoidance robot moving platform |
| CN106965867B (en) * | 2017-05-02 | 2019-06-14 | 南开大学 | A kind of driver leading passive accumulation of energy and combining |
| CN107539054A (en) * | 2017-09-02 | 2018-01-05 | 佛山市龙远科技有限公司 | A kind of fly able Climbing Robot |
| CN108189922B (en) * | 2018-01-05 | 2019-11-29 | 重庆大学 | Single-degree-of-freedom accumulation of energy discharges integrated bionic hopping mechanism |
| CN113002244A (en) * | 2021-03-16 | 2021-06-22 | 重庆大学 | Deep space exploration bouncing robot |
| CN113788081B (en) * | 2021-08-23 | 2022-12-16 | 同济大学 | Multi-terrain driving unmanned vehicle based on vehicle body deformation driving |
| CN113635848B (en) * | 2021-09-02 | 2023-04-14 | 湖南行必达网联科技有限公司 | Electric control anti-static floor mopping device, control method thereof and vehicle |
| CN114572323A (en) * | 2022-03-28 | 2022-06-03 | 武汉科技大学 | Torsional spring energy storage type eight-connecting-rod micro bouncing robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009096335A (en) * | 2007-10-17 | 2009-05-07 | Nsk Ltd | Legged robot |
| CN101941477B (en) * | 2009-07-10 | 2012-05-23 | 西北工业大学 | Energy-stored adjustable gear-five-bar bionic bouncing mechanism |
| CN202138434U (en) * | 2011-05-05 | 2012-02-08 | 西北工业大学 | Simulation jumping mechanism with adjustable jumping degree |
| CN104058015B (en) * | 2014-06-27 | 2016-05-18 | 西北工业大学 | A kind of heavy burden jump device of motorized shifting gear five-rod |
-
2016
- 2016-06-12 CN CN201610407401.8A patent/CN105966482B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105966482A (en) | 2016-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105966482B (en) | Multi link hopping mechanism | |
| CN107600217B (en) | Hopping robot leg and hopping robot | |
| CN104369790B (en) | A kind of biped robot's walking mechanism | |
| CN106585761A (en) | Horse-imitating gait planar connection rod type quadruped walking robot | |
| CN109018055B (en) | Six-wheel foot type robot | |
| CN108820065B (en) | The locust-simulated bouncing robot that can be walked | |
| CN201735092U (en) | Simple search-and-rescue robot | |
| CN102991601A (en) | Two-degree-of-freedom humanoid ankle joint | |
| CN103010327B (en) | Single-motor driven climbing jumping robot | |
| CN110450134B (en) | Rope-controlled steering worm-imitating crawling robot device | |
| CN108284455A (en) | A kind of humanoid dexterous hand finger driven based on SMA | |
| CN104875814B (en) | Walking robot | |
| Zhang et al. | A novel one-motor driven robot that jumps and walks | |
| CN103963864B (en) | A kind of bionic insect hopping robot's structure | |
| CN104476050A (en) | Multi-degree-of-freedom institutional mobile welding robot | |
| CN205325674U (en) | Bionical arm of scrambleing and operating | |
| CN104590408B (en) | Walking mechanism of wheel-tracked leg | |
| CN204673626U (en) | A kind of swing arm crawler belt explosive-removal robot | |
| CN103358315B (en) | Connecting-rod-type underactuated robot finger mechanism with all-rotational joints | |
| CN110469745B (en) | Curved tube inner wall running gear | |
| CN104742995B (en) | The modular leg unit of polypody mobile robot | |
| CN106809292B (en) | A kind of deformable Lun Lv coupling driving mechanism | |
| CN104526690A (en) | Mechanism type mobile mechanical hand with multiple degrees of freedom | |
| CN105818879B (en) | A kind of positive and negative double step gait legged type robot | |
| CN204296906U (en) | A kind of Three Degree Of Freedom wheel carries out Multi-purpose mechanical leg |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |