CN106218746B - The processing and assembling of tow-armed robot walking mechanism - Google Patents
The processing and assembling of tow-armed robot walking mechanism Download PDFInfo
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- CN106218746B CN106218746B CN201610604571.5A CN201610604571A CN106218746B CN 106218746 B CN106218746 B CN 106218746B CN 201610604571 A CN201610604571 A CN 201610604571A CN 106218746 B CN106218746 B CN 106218746B
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- 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
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Abstract
The present invention relates to robot, the specifically processing and assembling of tow-armed robot walking mechanism comprising the walking beam of walking mechanism is fixed on platform, several joints of robot are assembled complete；The one end in each joint is hinged with ground-engaging element；The other end in each joint and a tie-beam one end are hinged；The tie-beam other end is bolted to connection on walking beam；By each joint assembly deceleration mechanism.The present invention is moved by several joint drive robots in three dimensions, first axle and the second axis are assembled on the special shell in the joint, shell and linking arm can be driven to rotate horizontally by the rotation of first axle, linking arm can be driven to rotate vertically by the second axis, and third axis can then drive moving component to rotate vertically, it is seen that the present invention realizes the three-dimensional motion of moving component by the rotation of three axis；In implementation process, not only process simple, at low cost but also easy to assembly, quick.
Description
Technical field
The present invention relates to robot, the specifically processing and assembling of tow-armed robot walking mechanism.
Background technology
Existing robot mainly divides two major classes：Cartesian robot and prosthetic robot.Cartesian robot
Mainly it is made of some linear motion units, driving motor, control system and end-effector etc..This robot can be directed to not
Same application, fast and easy are combined into different dimensions, various strokes and different the wall-mounted of load capacity, cantilevered, planer-type
Or the Cartesian robot of the diversified forms such as reversely hung Yong.Prosthetic robot mainly drives electricity by some rotary motion units
The compositions such as machine, control system and end-effector.Prosthetic robot can be with Rapid Combination at not unlike Cartesian robot
Same dimension.For different applications, such as tow-armed robot, the prosthetic robot of fixed different dimensions should be selected.
Currently, the kind of drive of tow-armed robot walking mechanism mainly has rope pulley transmission, linkage transmission, band to pass
Dynamic, chain drive and gear drive etc., and these transmission parts are easily deformed a bit, transmission is inaccurate, as V belt translation, rope are slided
Wheel transmission etc., certain structures are complicated, and process and assemble is difficult, suitable for application in the arc welding robot of microminiature, such as connecting rod machine
Structure, gear drive etc..
Invention content
In view of the above technical problems, the present invention provides a kind of adding for simple, firm tow-armed robot walking mechanism of assembly
Work assembly technology.
The technical solution adopted by the present invention is：The processing and assembling of tow-armed robot walking mechanism comprising following step
Suddenly：
（1）The walking beam of walking mechanism is fixed on platform, several joints of robot are assembled complete；
（2）The one end in each joint is hinged with ground-engaging element；
（3）The other end in each joint and a tie-beam one end are hinged；
（4）The tie-beam other end is bolted to connection on walking beam；
（5）By each joint assembly deceleration mechanism.
Preferably, when assembly joint, the shell of U-type groove formula is taken, correspondence opens up through-hole respectively on the both side plate of shell,
One bearing is installed in each through-hole；First axle is welded in the bottom plate upper edge U-type groove length direction of shell；By the linking arm in joint
Axle sleeve is fixedly mounted in one end, and second axis one end is stretched into from the bearing on side plate between both side plate；It again will be on the linking arm
Axle sleeve from being set between both side plate on the second axis, and axle sleeve is made to pass through key and the second axis connection；Tap the another of the second axis
End makes described one end of the second axis that axle sleeve be passed through to be interference fitted with the bearing on another side plate；Pass through in the linking arm other end another
Outer bearing installs third axis；The first axle, the second axis and third axis are connect with deceleration mechanism respectively.
Preferably, half slot is processed in the bottom plate upper edge U-type groove length direction, the sleeve with the outer diameters such as the half slot
It is welded in half slot, the first axle passes through barrel bore to be keyed with the sleeve.
Preferably, in process and assemble deceleration mechanism, first in inner shaft one end and hollow outer shaft one end elastic conjunction backstop
Piece distinguishes process and assemble hole on two elliptical drive for wheel, and a ring spring is arranged in each pilot hole；Again by two ellipses
Driving wheel is separately mounted to by pilot hole on interior outer shaft, and driving wheel is made to connect with stop tab；Then inner shaft is mounted on sky
Heart outer shaft inner cavity, and the inner shaft other end is made to stretch out the hollow outer shaft other end；Then in the axial centre position of flexbile gear green body along week
To one flat annular groove of turning；Again an annular V slot is circumferentially processed in flat annular groove slot bottom；In flexbile gear green body periphery position
An exclusive tooth is processed respectively in annular groove both sides, and the tooth socket of each tooth is communicated with annular groove, and slot bottom is higher than annular groove
Slot bottom is flushed with annular groove slot bottom；One end of flexbile gear green state joining first axle, the second axis or third axis is processed into outward
Inclined breeze way；Two elliptical drive for wheel for being equipped with interior outer shaft are installed to flexbile gear inner ring again, make two elliptical drive for wheel and two
Exclusive tooth is to coping with just；Finally the elliptical drive for wheel assembled and flexbile gear are installed to the firm gear inner ring for forming two rows of internal tooths,
Two rows of external tooths are made to be engaged with two rows of internal tooths.
Preferably, being radially machined with annular groove along each pilot hole hole wall, first the ring spring is set to corresponding
In annular groove, then by elliptical drive for wheel by pilot hole be mounted on corresponding axis on.
Preferably, the hollow outer shaft both ends are machined with accommodation space respectively, it is fixedly mounted in each accommodation space
One bearing, the inner shaft both ends are mounted on hollow outer shaft inner cavity by the two bearings.
Preferably, the stop tab includes the axial interstage sleeve being interference fitted with respective shaft, interstage sleeve one end has radially extended
Catch, the ring spring fixation are set on interstage sleeve, and two elliptical drive for wheel axially connect with catch, the interstage sleeve peripheral wall molding
There are the several double wedges being axially arranged, each double wedge to be radially into the gap of ring spring.
Preferably, when processing tooth, from far from one laterally closer annular groove side feed of annular groove.
Preferably, the breeze way extends to billet surface from tooth socket slot bottom is axially inclined.
Preferably, the number of teeth of two rows of external tooths is unequal；The tip diameter of two rows of external tooths is unequal.
As can be known from the above technical solutions, the present invention is moved by several joint drive robots in three dimensions, the pass
It saves and assembles first axle and the second axis on special shell, shell and linking arm can be driven to rotate horizontally by the rotation of first axle,
Linking arm can be driven to rotate vertically by the second axis, and third axis can then drive moving component to rotate vertically, it is seen that the present invention is logical
The three-dimensional motion of moving component is realized in the rotation for crossing three axis；In implementation process, not only process it is simple, at low cost, but also fill
With convenient, fast.
Specific implementation mode
The present invention is described more detail below, illustrative examples of the invention and explanation are used for explaining the present invention herein,
But it is not as a limitation of the invention.
The processing and assembling of tow-armed robot walking mechanism comprising following steps：
The walking beam of walking mechanism is fixed on platform, several joints of robot are assembled complete；Again by each
The one end in joint is hinged with ground-engaging element；The other end in each joint and a tie-beam one end are hinged；The tie-beam other end is led to
It crosses bolt to be fixedly connected on walking beam, by each joint assembly deceleration mechanism, to make joint safely and reliably by walking beam
It is connected with ground-engaging element, joint can simultaneously drive ground-engaging element to walk in three dimensions, meet the walking requirement of robot.
When assembling joint, the shell of U-type groove formula is taken, the shell is by the both side plate being laterally arranged vertically and vertical longitudinal direction
The bottom plate composition being arranged, and shell is an integral molding structure, it is easy to process, it is connected firmly, on the both side plate of shell respectively
Correspondence opens up through-hole, a bearing is installed in each through-hole, to assemble the second axis.Since the shell of U-type groove formula is in three masks
There is opening, the rotation of linking arm will not be interfered, ensures that linking arm safely and steadly moves.
First axle is welded in the bottom plate upper edge U-type groove length direction of shell；Specifically, first U-shaped in the bottom plate upper edge
Slot length direction processes half slot, and for the sleeve weld with the outer diameters such as the half slot in half slot, the first axle passes through sleeve
Inner cavity is keyed with the sleeve, is directly welded on bottom plate to can avoid axis, and damage first axle, and the design of half slot are prevented
On the one hand it processes simply, conveniently, is on the other hand convenient for welding, is connected firmly.Axle sleeve is fixedly mounted in the linking arm one end in joint,
Third axis is installed by other bearing in the linking arm other end, robot motion's component is fixedly connected on the third axis, this
Sample moving component can directly be driven by third axis to be rotated vertically around the third axis, and the range rotated vertically is smaller；Meanwhile second
Axis drives linking arm to be rotated vertically around second axis, to drive moving component to be rotated vertically on a large scale around second axis；Perpendicular
While direct rotary turns, first axle can drive the shell water surface rotate, shell drive linking arm, then by linking arm drive moving component around
First axle rotates horizontally, to realize that moving component is a wide range of or small-scale three-dimensional motion.
Second axis one end is stretched into from the bearing on side plate between both side plate；Again by the axle sleeve on the linking arm from two
It is set between side plate on the second axis, and axle sleeve is made to pass through key and the second axis connection；Then the other end for tapping the second axis makes
Described one end of two axis passes through axle sleeve to be interference fitted with the bearing on another side plate, to which the second axis is connected across on both side plate,
And linking arm one end drives linking arm rotation between both side plate, and by the rotation of the second axis, realizes linking arm and movement
The purpose that component rotates vertically around second axis；Finally the first axle, the second axis and third axis are connected with deceleration mechanism respectively
It connects.
In process and assemble deceleration mechanism, first in inner shaft one end and hollow outer shaft one end elastic conjunction stop tab；Interior outer shaft
It can be respectively driven by two motors, can also be respectively driven by two different transmission mechanisms by a motor；Stop tab can make
Driving wheel is mounted on the designated position of axis, and driving wheel is avoided to move axially.Process and assemble hole is distinguished on two elliptical drive for wheel,
Elliptical drive for wheel can be mounted on corresponding axis by pilot hole；Two elliptical drive for wheel can drive the gear of the different numbers of teeth,
Wave producer of the elliptical drive for wheel as harmonic speed reducer.It, can be in the periphery of the elliptical drive for wheel point when as wave producer
The several idler wheels being axially arranged are furnished with, the flexbile gear rotation of two different numbers of teeth can be thus driven, to export different drive ratios
Power.
One ring spring is set in each pilot hole；In implementation process, radially add along each pilot hole hole wall
Work has annular groove, the ring spring to be set in corresponding annular groove, and elliptical drive for wheel is fixedly mounted on corresponding by corresponding ring spring
On axis；It on the one hand can avoid elliptical drive for wheel so directly to contact with corresponding axis and damage elliptical drive for wheel, another party's donut
The elastic force of spring can make assembly more convenient；Meanwhile elliptical drive for wheel and respective shaft even can be used the mode of clearance fit and carry out
Transmission avoids the two from contacting, wear phenomenon occurs, and when the effect of attrition of axis and ring spring is driven, only need to change ring spring i.e.
Can, save repair and maintenance cost.In the present invention, ring spring is the elasticity part for having radical elasticity, in the effect of its elastic force
Under, elliptical drive for wheel can be fixed on axis, ensure that axis drives elliptical drive for wheel rotation.Two elliptical drive for wheel are passed through into assembly
Hole is separately mounted on the interior outer shaft, and driving wheel is made to connect with stop tab；Stop tab includes being interference fitted with respective shaft
Axial interstage sleeve keeps stop tab dynamic with shaft rotation, and interstage sleeve one end has radially extended catch, and the ring spring fixation is set on interstage sleeve, can
Make ring spring is not direct to be contacted with axis, avoids damage ring spring, two elliptical drive for wheel from axially connecting with catch, prevent drive shaft
To movement；The interstage sleeve peripheral wall forms the several double wedges being axially arranged, and each double wedge is radially into the gap of ring spring, to
Ring spring is blocked, can ensure that ring spring is dynamic with shaft rotation in this way.
Then inner shaft is mounted on hollow outer shaft inner cavity, and the inner shaft other end is made to stretch out the hollow outer shaft other end；As excellent
Choosing, the inner shaft are mounted on hollow outer shaft inner cavity by bearing；Specifically, the hollow outer shaft both ends are machined with receiving respectively
Space, each accommodation space is interior to be fixedly mounted a bearing, and the inner shaft both ends are mounted on hollow by the two bearings
Outer shaft inner cavity；When inner shaft is installed, the inner shaft other end is first penetrated into inner cavity from the bearing of one end described in hollow outer shaft, then from hollow
The bearing of the outer shaft other end is pierced by.Preferably, first placing hollow outer shaft vertically, described one end is located above, then
The other end described in inner shaft is placed in the bearing centre hole of one end described in hollow outer shaft, then one end described in inner shaft is applied downwards
Pressure makes its other end penetrate inner cavity, then is pierced by from the bearing centre hole of the hollow outer shaft other end；The inner shaft other end is from hollow outer
When the bearing centre hole of the axis other end is pierced by, pressure is applied from bottom to top to the bearing of the hollow outer shaft other end, prevents the bearing
Because the downward pressure of inner shaft disengages it from outer shaft.
In implementation process, the end face of bearing can not only save space, but also in transmission process with outer shaft end face
In avoid interfering with other component；Both ends described in inner shaft are mounted in two bearings, not only make interior outer shaft that phase can occur in this way
To rotation, ensure that interior outer shaft has higher concentricity；And may make inner shaft support more secured, transmission is more stable.Interior outer shaft
Relative motion this sample loading mode can be used, inner shaft by motor drive rotate when, outer shaft can be made not rotate, only by elliptical drive for wheel
Outer gear rotation is driven, to export power；When outer shaft is driven by motor and rotated, inner shaft can be made not rotate, only by ellipse
The gear rotation of the other different numbers of teeth of drive wheel, to the power of output and outer shaft different drive ratios, it is seen that the present invention can
Realize the transmission of different drive ratios.In implementation process, two elliptical drive for wheel can drive the flexbile gear gear of the different numbers of teeth, because
This can be such that outer shaft does not rotate, only be turned by the first Ellipse motion driven wheel drive first row external tooth when inner shaft is driven by motor and rotated
It is dynamic, and second row external tooth is still within meshing state with internal tooth at this time, since outer shaft does not have driving force, second row external tooth not to drive
Dynamic flexbile gear rotation, and it is rotated under the action of engagement force with flexbile gear；Similarly, when outer shaft is driven by motor and rotated, can make interior
Axis does not rotate, and is only rotated by the gear of the other different numbers of teeth of the second Ellipse motion driven wheel drive, to output with the first driving wheel not
With the power of transmission ratio, it is seen that the transmission of different drive ratios can be achieved in the present invention.
In implementation process, the axial centre position of flexbile gear green body circumferentially one flat annular groove of turning, then in flat ring
Connected in star slot bottom circumferentially processes an annular V slot, and being then located at annular groove side in flexbile gear green body periphery processes an exclusive tooth,
It is located at the annular groove other side in flexbile gear green body periphery and processes another exclusive tooth；It in process, should be from far from annular groove
One laterally closer annular groove side feed, and the tooth socket of each tooth is communicated with annular groove, and tooth socket slot bottom should also be made to be higher than ring
Connected in star slot bottom is flushed with annular groove slot bottom；The clast in process can be made to flow into annular V slot in this way, provided for processing
It is convenient；Meanwhile when lubricating two toothrows, the precipitable a part of waste residue of lubricating oil in annular groove ensures the lubricating oil at tooth
It is more clean；Annular V slot can facilitate clast and waste residue to flow into slot bottom along inclined cell wall, prevent the splashings such as clast and waste residue.
Two elliptical drive for wheel for being equipped with interior outer shaft are installed to flexbile gear, corresponding with two toothrows pair of two elliptical drive for wheel are made
Just, i.e., so that each driving wheel is located at the corresponding flexbile gear inner ring of tooth, in flexbile gear transmission process, since wheel body is sent out in elliptical wave
It is deformed during the driving of raw device, output one end will produce deformation, transmission may be caused not steady enough, and then make first
Axis, the second axis or the transmission of third axis are not steady enough, and one end of flexbile gear green state joining first axle, the second axis or third axis is processed
It can alleviate above-mentioned deformation at the buffering being inclined outwardly, ensure that the transmission of first axle, the second axis or third axis is more stable.It finally will dress
The elliptical drive for wheel and flexbile gear prepared is installed to the firm gear inner ring for forming two rows of internal tooths, keeps two rows of external tooths corresponding with two rows of internal tooths
Engagement.
The breeze way of the present invention extends to billet surface from tooth socket slot bottom is axially inclined, and the inclination extends to linear extension
Or to extend to recessed arc so that close to being relatively large in diameter for first axle, the second axis or third axis side；Since wheel body is passing
Dynamic generate in the process is radially enlarged deformation, and having makes the wheel body close to first axle, the second axis or third axis side generate
The increased trend of radial deformation, therefore during passing power, close to the big straight of first axle, the second axis or third axis side
The deformation effect that diameter buffer part is subject to is smaller, to ensure flange transmission stationarity.In the present invention, two rows of external tooths
The number of teeth it is unequal, to provide two different transmission ratios, to meet the transmission requirement of robot；The outside circle of two rows of external tooths
Diameter is unequal, also determines that the outside circle of two rows of internal tooths is unequal, and in assembly, the smaller external tooth of tip diameter should be close
Assembly direction, it is smaller with tip diameter that so smaller external tooth of tip diameter may pass through the larger internal tooth of tip diameter
Interior tooth engagement ensures that assembling process does not interfere phenomenon.
It is provided for the embodiments of the invention technical solution above to be described in detail, specific case used herein
The principle and embodiment of the embodiment of the present invention are expounded, the explanation of above example is only applicable to help to understand this
The principle of inventive embodiments；Meanwhile for those of ordinary skill in the art, embodiment according to the present invention, in specific embodiment party
There will be changes in formula and application range, in conclusion the content of the present specification should not be construed as limiting the invention.
Claims (7)
1. the processing and assembling of tow-armed robot walking mechanism comprising following steps：
（1）The walking beam of walking mechanism is fixed on platform, several joints of robot are assembled complete；
（2）The one end in each joint is hinged with ground-engaging element；
（3）The other end in each joint and a tie-beam one end are hinged；
（4）The tie-beam other end is bolted to connection on walking beam；
（5）By each joint assembly deceleration mechanism；When assembling joint, the shell of U-type groove formula is taken, on the both side plate of shell respectively
Correspondence opens up through-hole, and a bearing is installed in each through-hole；First axle is welded in the bottom plate upper edge U-type groove length direction of shell；
Axle sleeve is fixedly mounted in the linking arm one end in joint, second axis one end is stretched into from the bearing on side plate between both side plate；Again
By the axle sleeve on the linking arm from being set between both side plate on the second axis, and axle sleeve is made to pass through key and the second axis connection；It strikes
The other end for hitting the second axis makes described one end of the second axis that axle sleeve be passed through to be interference fitted with the bearing on another side plate；It is connecting
The arm other end installs third axis by other bearing；The first axle, the second axis and third axis are connected with deceleration mechanism respectively
It connects；Half slot is processed in the bottom plate upper edge U-type groove length direction, the sleeve weld with the outer diameters such as the half slot is in half slot
Interior, the first axle passes through barrel bore to be keyed with the sleeve；In process and assemble deceleration mechanism, first in inner shaft one end and sky
Heart outer shaft one end elastic conjunction stop tab is distinguished process and assemble hole on two elliptical drive for wheel, is set in each pilot hole
Set a ring spring；Two elliptical drive for wheel are separately mounted to by pilot hole on interior outer shaft again, and make driving wheel and stop tab
Connect；Then inner shaft is mounted on hollow outer shaft inner cavity, and the inner shaft other end is made to stretch out the hollow outer shaft other end；Then in flexbile gear
The axial centre position of green body circumferentially one flat annular groove of turning；Again a ring is circumferentially processed in flat annular groove slot bottom
Shape V slots；It is located at annular groove both sides in flexbile gear green body periphery and processes an exclusive tooth, tooth socket and the annular groove phase of each tooth respectively
It is logical, and slot bottom is flushed higher than annular groove slot bottom or with annular groove slot bottom；By flexbile gear green state joining first axle, the second axis or
It is processed into the breeze way being inclined outwardly in one end of three axis；Two elliptical drive for wheel for being equipped with interior outer shaft are installed to flexbile gear again
Circle makes two elliptical drive for wheel with two rows of external tooths to coping with just；Finally the elliptical drive for wheel assembled and flexbile gear are installed to molding
The firm gear inner ring for having two rows of internal tooths makes two rows of external tooths be engaged with two rows of internal tooths.
2. the processing and assembling of tow-armed robot walking mechanism according to claim 1, it is characterised in that：Along each described
Pilot hole hole wall is radially machined with annular groove, and first the ring spring is set in corresponding annular groove, then elliptical drive for wheel is passed through dress
Distribution is mounted on corresponding axis.
3. the processing and assembling of tow-armed robot walking mechanism as described in claim 1, it is characterised in that：The hollow outer shaft
Both ends are machined with accommodation space respectively, are fixedly mounted a bearing in each accommodation space, the inner shaft both ends by this two
Bearing is mounted on hollow outer shaft inner cavity.
4. the processing and assembling of tow-armed robot walking mechanism as described in claim 1, it is characterised in that：The stop tab packet
The axial interstage sleeve being interference fitted with respective shaft is included, interstage sleeve one end has radially extended catch, and the ring spring fixation is set on interstage sleeve,
Two elliptical drive for wheel axially connect with catch, and the interstage sleeve peripheral wall forms the several double wedges being axially arranged, each double wedge
It is radially into the gap of ring spring.
5. the processing and assembling of tow-armed robot walking mechanism as described in claim 1, it is characterised in that：When processing tooth, from
Far from one laterally closer annular groove side feed of annular groove.
6. the processing and assembling of tow-armed robot walking mechanism as described in claim 1, it is characterised in that：The breeze way from
Tooth socket slot bottom is axially inclined to extend to billet surface.
7. the processing and assembling of tow-armed robot walking mechanism as described in claim 1, it is characterised in that：The tooth of two rows of external tooths
Number is unequal；The tip diameter of two rows of external tooths is unequal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610604571.5A CN106218746B (en) | 2016-07-29 | 2016-07-29 | The processing and assembling of tow-armed robot walking mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610604571.5A CN106218746B (en) | 2016-07-29 | 2016-07-29 | The processing and assembling of tow-armed robot walking mechanism |
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| Publication Number | Publication Date |
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| CN106218746A CN106218746A (en) | 2016-12-14 |
| CN106218746B true CN106218746B (en) | 2018-08-31 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101264603A (en) * | 2008-03-31 | 2008-09-17 | 哈尔滨工程大学 | Robot joint based on harmonic wave speed reducer |
| US7971664B2 (en) * | 2008-03-18 | 2011-07-05 | Bossa Nova Robotics Ip, Inc. | Efficient actuation and selective engaging and locking clutch mechanisms for reconfiguration and multiple-behavior locomotion of an at least two-appendage robot |
| CN202345807U (en) * | 2011-12-06 | 2012-07-25 | 华中科技大学 | Amphibious robot foot mechanism with variable topological structure |
| CN102616296A (en) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN105730546A (en) * | 2016-02-02 | 2016-07-06 | 上海交通大学 | 3D printing technology-based minitype bionic six-legged robot |
-
2016
- 2016-07-29 CN CN201610604571.5A patent/CN106218746B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7971664B2 (en) * | 2008-03-18 | 2011-07-05 | Bossa Nova Robotics Ip, Inc. | Efficient actuation and selective engaging and locking clutch mechanisms for reconfiguration and multiple-behavior locomotion of an at least two-appendage robot |
| CN101264603A (en) * | 2008-03-31 | 2008-09-17 | 哈尔滨工程大学 | Robot joint based on harmonic wave speed reducer |
| CN202345807U (en) * | 2011-12-06 | 2012-07-25 | 华中科技大学 | Amphibious robot foot mechanism with variable topological structure |
| CN102616296A (en) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN105730546A (en) * | 2016-02-02 | 2016-07-06 | 上海交通大学 | 3D printing technology-based minitype bionic six-legged robot |
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| CN106218746A (en) | 2016-12-14 |
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