CN106240669A - Robot walking device - Google Patents

Robot walking device Download PDF

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Publication number
CN106240669A
CN106240669A CN201610603581.7A CN201610603581A CN106240669A CN 106240669 A CN106240669 A CN 106240669A CN 201610603581 A CN201610603581 A CN 201610603581A CN 106240669 A CN106240669 A CN 106240669A
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China
Prior art keywords
hip
beat
support
hinged
motor
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Granted
Application number
CN201610603581.7A
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Chinese (zh)
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CN106240669B (en
Inventor
赵烈
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One robot technology (Changzhou) Co., Ltd.
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Jiangsu Angell Robot Co Ltd
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Priority to CN201610603581.7A priority Critical patent/CN106240669B/en
Publication of CN106240669A publication Critical patent/CN106240669A/en
Application granted granted Critical
Publication of CN106240669B publication Critical patent/CN106240669B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/028Vehicles 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 having wheels and mechanical legs

Abstract

A kind of robot walking device, has waist body frame, two hip torsional brace, two hip beat supports, thigh support frame, little leg support;Two hip torsional brace are separately fixed at waist body frame bottom surface, and respectively can make the rotation around upward and downward axis, and two hip beat supports are respectively hinged at the bottom of two hip torsional brace and respectively can make around front and back to the rotation of axis;The upper end of two thigh support frames is the most hinged with the front side of two hip beat supports, the lower end of two thigh support frames is the most hinged on rear side of the upper end of little leg support with described in one, be hinged with hip joint pitching electric pushrod between rear side and the bottom of thigh support frame of every hip beat support, on front side of every front side of hip beat support and the upper end of little leg support between be hinged with knee joint pitching electric pushrod;Described foot assembly has drive wheel assemblies and walking assembly.Present configuration is simple, flexible movements and have three kinds of Move Modes, can improve the adaptive capacity to environment of robot, locomotivity and ability to work to greatest extent by selecting different walking modes.

Description

Robot walking device
Technical field
Home services type anthropomorphic robot initially enters daily life.Anthropomorphic robot all has walking mechanism, Robot walking device is that common, different walking mode adapts to different use rings with wheeled, crawler type and bipedal walking type Border.China's application number be 201510352997.1 application for a patent for invention disclosed in a kind of Humanoid Robot Based on Walking device, including Waist assembly, thigh assembly, shank assembly, four parts of sole assembly, waist assembly and thigh assembly connecting portion are as hip Joint, thigh assembly closes as ankle with sole assembly connecting portion as knee joint, shank assembly with shank assembly connecting portion Joint, each joint has one degree of freedom, and moving in each position simultaneously, completes walking motion before and after robot.Above-mentioned robot has Standby biped is walked this kind of pattern, and obstacle performance is good, but the efficiency not possessing running on wheels when level walking is high, motion is flat Surely, the advantage such as speed is fast, and each joint only one of which degree of freedom of above-mentioned anthropomorphic robot, action is owed flexibly.
China's application number be 201510187777.8 application for a patent for invention disclosed wheel foot change type move system of robot Four wheel foot shifters are arranged on vehicle body frame thus form wheel foot change type and move robot by system.Wheel foot change type Mobile robot can roll with four-wheel, steadily can creep as quadruped on out-of-flatness ground, and it takes turns foot conversion relatively Complexity, and be not suitable for using in service type robot of family.
Summary of the invention
It is an object of the invention to propose a kind of simple in construction, flexible movements and there is the machine People's Bank of China of three kinds of Move Modes Walking apparatus.
For reaching above-mentioned purpose, the present invention adopts the following technical scheme that: a kind of robot walking device, total including waist One-tenth, two huckles, two calf and Liang Ge foot assembly, described waist assembly has waist body frame, two hips reverse and prop up Frame and two hip beat supports, huckle has thigh support frame, and calf has little leg support;Two hip torsional brace are solid respectively Being scheduled on the left and right side of waist body frame bottom surface, two hip torsional brace are respectively made around upward and downward under reversing motor transmission mechanism driving The rotation of axis, two hip beat supports are respectively hinged at the bottom of two hip torsional brace, and two hip beat supports are respectively partially Pendulum motor drive mechanism drives lower work around front and back to the rotation of axis;The upper end of two thigh support frames is each and two hip beat supports Front side is hinged, and the lower end of two thigh support frames is the most hinged on rear side of the upper end of little leg support with described in one, after every hip beat support Hip joint pitching electric pushrod, the front side of every hip beat support it is hinged with between side and the lower side portion position of corresponding thigh support frame And it is hinged with knee joint pitching electric pushrod between on front side of the upper end of little leg support;Described foot assembly have drive wheel assemblies and Walking assembly, drive wheel assemblies is connected to the bottom of little leg support, and walking assembly is connected in drive wheel assemblies.
It is respectively provided with guide post on four angles of described shank frame bottom.
Described drive wheel assemblies include left and right to drive sprocket axle, the drivewheel being fixed on drive sprocket axle, support actively The slip wheel carrier of wheel shaft and drive the driver motor that drive sprocket axle rotates, be in little leg support four lead described slip wheel carrier Between bar, it is connected between the top of slip wheel carrier and the bottom of little leg support and has amortisseur.
Described walking assembly has shaped as frame underframe, is hinged with a pair sagittal connecting rod, Mei Yilian on underframe and in front end Being hinged with air spring between rear end and the rear end of underframe of bar, connecting rod is by the hinge hole of rear end, the air spring hinge by front end Connect Kong Jundong engagement sleeves on drive sprocket axle.
By the second hinge between on front side of every lower end of knee joint pitching electric pushrod and the upper end of little leg support, every the The two ends, left and right of two bearing pins are respectively hinged with follower, and two followers partner.
Being connected by the first bearing pin between described hip torsional brace with hip beat support, the middle part of the first bearing pin is placed in hip In the pin shaft hole of portion's beat support and be tight fit, the front and back ends of the first bearing pin is respectively placed in the forward and backward pin of hip torsional brace Coordinating in axis hole and for dynamic, the head of the first bearing pin front end stretches out hip torsional brace.
Described torsion motor transmission mechanism, by reversing motor and the first synchronous belt drive mechanism forms, reverses motor and is fixed on On the bottom surface of waist body frame, the fixing axle of the output shaft and hip torsional brace top that reverse motor is all inserted upwardly into waist body frame Inner chamber in, the active and passive synchronous pulley of the first synchronous belt drive mechanism is separately fixed at and reverses the output shaft of motor and fixing On axle.
Described beat motor transmission mechanism is made up of beat motor and the second synchronous belt drive mechanism, and beat motor is fixed on On hip torsional brace, the output shaft of beat motor forward extends out hip beat support, the master of the second synchronous belt drive mechanism, quilt Dynamic synchronous pulley is separately fixed on the output shaft of beat motor and the head of the first bearing pin.
One end of the push rod of described hip joint pitching electric pushrod is hinged on thigh support frame.
One end of the push rod of described knee joint pitching electric pushrod is hinged on beat support.
The present invention has following good effect: 1. present configuration is simple, and the part used is few, for assembling, maintenance all There is provided convenient.2. the hip joint of the present invention has three degree of freedom, can front and back reverse, deflect and pitch;Knee joint There is one degree of freedom, can pitch;Ankle joint has two degree of freedom, so flexible movements.2. the present invention has three kinds Move Mode, i.e. two-wheel walking mode, biped walking mode and four-wheel walking mode, the present invention in different application scenarios, The adaptive capacity to environment of robot, locomotivity and work energy can be improved to greatest extent by selecting different walking modes Power.
Accompanying drawing explanation
Fig. 1 is the overview of the present invention.
The connection figure of the suitable hip joint of Fig. 2.
Fig. 3 is the top view of Fig. 2.
Fig. 4 is the sectional view of the A-A of Fig. 3.
Fig. 5 is the view of hip torsional brace.
Fig. 6 is the view of hip beat support.
Fig. 7 is the view of thigh support frame.
Fig. 8 is thigh support frame and the connection view of hip joint pitching electric pushrod.
Fig. 9 is the view of little leg support.
Figure 10 is the view of drive wheel assemblies.
Figure 11 is the view of walking assembly.
Figure 12 is the view of biped walking mode.
Figure 13 is the view of two-wheel walking mode.
Figure 14 is the view of four-wheel walking mode.
Detailed description of the invention
Embodiment 1
See that Fig. 1 to Figure 11, the present embodiment include waist assembly, two huckles, two calf and Liang Ge foot assembly.Waist Assembly has waist body frame 1, two hip torsional brace 4(and sees Fig. 5) and two hip beat support 5(see Fig. 6).Huckle has greatly Leg support 7, calf has little leg support 10.Two hip torsional brace 4 are separately fixed on waist body frame 1 bottom surface and are in Left and right side, hip torsional brace 4 has top board and front and back walls, and top board has the fixing axle 4-1 being integrated, and antetheca is provided with Front pin shaft hole 4-a and motor axis hole 4-b, rear wall is provided with rear pin shaft hole 4-c.The top of hip beat support 5 is circular arc, and Top have through before and after pin shaft hole 5-a, before and after bottom, side is respectively provided with hinged groove 5-d of left and right centering.Described hip is turned round Turning and be connected by the first bearing pin 14 between support 4 with hip beat support 5, the middle part of the first bearing pin 14 is placed in hip beat support 5 Pin shaft hole 5-a in and be tight fit, the front and back ends of the first bearing pin 14 is respectively placed in the front pin shaft hole 4-a of hip torsional brace 4 With in the 4-b of rear pin shaft hole and for moving cooperation, the leading head 14-1 of the first bearing pin 14 stretches out the antetheca of hip torsional brace 4.
Two hip torsional brace 4 are respectively driven by torsion motor transmission mechanism 2, reverse motor transmission mechanism 2 and have torsion electricity Machine 2-1 and the first synchronous belt drive mechanism, reverse motor 2-1 and be fixed on the bottom surface of waist body frame 1, reverse the defeated of motor 2-1 The fixing axle 4-1 at shaft and hip torsional brace 4 top is all inserted upwardly in waist body frame 1 inner chamber, the first toothed belt transmission machine Active and passive synchronous pulley 2-2,2-3 of structure is separately fixed on the output shaft and the fixing axle 4-1 that reverse motor 2-1.Reverse motor 2-1 rotates, and drives hip torsional brace 4 to make the rotation around upward and downward axis.
Two hip beat supports 5 are respectively driven by beat motor transmission mechanism 3, and beat motor transmission mechanism 3 has beat electricity Machine 3-1 and the second synchronous belt drive mechanism composition, beat motor 3-1 is fixed on hip torsional brace 4, beat motor 3-1's Output shaft forward extends out the antetheca of hip beat support 5, active and passive synchronous pulley 3-2,3-3 of the second synchronous belt drive mechanism It is separately fixed on the output shaft of beat motor 3-1 and the head 14-1 of the first bearing pin 14.Beat motor 3-1 rotates, and drives hip Portion's beat support 5 is made around front and back to the rotation of axis.
Thigh support frame 7 is a pair clamping plate 7-1.It is respectively provided with guide post 10-1 on four angles bottom little leg support 10.
Between the upper end of a pair clamping plate 7-1 that corresponding thigh support frame 7 is respectively inserted in the front side of two hip beat supports 5, pass through Bearing pin is hinged with the front side of hip beat support 5 by the upper end of thigh support frame 7.
On rear side of the upper end of two little leg supports 10 between each lower end inserting corresponding a pair clamping plate 7-1 of thigh support frame 7, by pin Axle is by hinged on rear side of the lower end of thigh support frame 7 and the upper end of little leg support 10.
It is provided with between rear side and the lower side portion position of thigh support frame 7 of every hip beat support 5 that hip joint pitching is electronic to be pushed away Bar 6.One end of the push rod 6-1 of hip joint pitching electric pushrod 6 is downward, and hip is inserted in the upper end of hip joint pitching electric pushrod 6 In hinged groove 5-d on rear side of beat support 5, and by bearing pin by inclined at hip for the upper end thereof of hip joint pitching electric pushrod 6 The rear side of swinging rack 5.The lower end of hip joint pitching electric pushrod 6 i.e. push rod 6-1 end is hinged on thigh by the 3rd bearing pin 16 and props up (see figure 8) between the middle part lower portion of a pair clamping plate 7-1 of frame 7.
It is provided with knee joint pitching electric pushrod between on front side of every front side of hip beat support 5 and the upper end of little leg support 10 8.One end of the push rod 8-1 of knee joint pitching electric pushrod 8 upwards, the i.e. push rod 8-1's in the upper end of knee joint pitching electric pushrod 8 One end is inserted in hinged groove 5-d on front side of hip beat support 5, and by hinge at the front side of hip beat support 5, knee joint The lower end of joint pitching electric pushrod 8 is inserted in the left and right centering groove 10-d on front side of the upper end of little leg support 10, and by second Bearing pin 15 is hinged on front side of the upper end of little leg support 10.
The two ends, left and right of every second bearing pin 15 are hinged with follower 9, and two followers 9 partner.
Described foot assembly has drive wheel assemblies 12 and walking assembly 13.
Described drive wheel assemblies 12 include left and right to drive sprocket axle 12-1, the drivewheel that is fixed on drive sprocket axle 12-1 12-3, the slip wheel carrier 12-3 supporting drive sprocket axle 12-1 and the driver motor 12-2 driving drive sprocket axle 12-1 to rotate, institute State between four guide post 10-1 that slip wheel carrier 12-3 is in little leg support 10, the top of slip wheel carrier 12-3 and little leg support Connecting between the bottom of 10 and have amortisseur 11, drive wheel assemblies 12 is connected with little leg support 10 by amortisseur 11, makes movable pulley Frame 12-3 can slide up and down along guide post.The amortisseur 11 of the present embodiment uses spring, fixing on the top of slip wheel carrier 12-3 Having location bar 12-5, spring housing is on the bar 12-5 of location, and the upper end of spring is fixed on the bottom of little leg support 10, the lower end of spring It is fixed on the top of slip wheel carrier 12-3.
Described walking assembly 13 has shaped as frame underframe 13-1, is hinged with a pair sagittal company on underframe 13-1 and in front end It is hinged with air spring 13-3, after connecting rod 13-2 passes through between rear end and the rear end of underframe 13-1 of bar 13-2, each connecting rod 13-2 Hinge hole 13-2-a, the air spring 13-3 of end all moves engagement sleeves on drive sprocket axle 12-1 by the hinge hole 13-3-a of front end, Walking assembly 13 is made to be connected in drive wheel assemblies 12.The exchange of drive wheel assemblies 12 and walking assembly 13 is very convenient, as long as pulling The underframe 13-1, connecting rod 13-2 of dynamic walking assembly 13 rotates, and air spring 13-3 stretches, can be achieved with walking assembly 13 open and Draw in, open and be use state.
Figure 12 to Figure 14 is biped walking, two-wheel walking and the view of pattern four-wheel walking mode respectively.Two-wheel walking mould Formula and four-wheel walking mode are suitable for smooth structured environment, and four-wheel walking mode is more stable, and load capacity is strong, biped Walking mode is adapted to irregular, to have barrier ground, and environmental suitability is preferable.In different application scenarios, permissible Select different walking modes.
When enabling two-wheel or four-wheel rolling walking mode, the driver motor 12-2 on two foot's assemblies the most just or inverts And rotating speed the same time, robot realizes advancing or retreating, and when two of foot driving motor steerings are contrary, robot realizes turning Curved.The control of biped walking mode is more complicated, by controlling torsion motor transmission mechanism 2, beat motor transmission mechanism 3, hip pass Joint pitching electric pushrod 6, the synthetic operation of knee joint pitching electric pushrod 8, it is achieved imitate the walking movement of the mankind.

Claims (10)

1. a robot walking device, including waist assembly, two huckles, two calf and Liang Ge foot assembly, its It is characterised by: waist assembly has waist body frame (1), two hip torsional brace (4) and two hips beat support (5), huckle Having thigh support frame (7), calf has little leg support (10);Two hip torsional brace (4) are separately fixed at waist body frame (1) The left and right side of bottom surface, two hip torsional brace (4) are respectively made around upward and downward axis under reversing motor transmission mechanism (2) driving Rotating, two hips beat support (5) are respectively hinged at the bottom of two hip torsional brace (4), and two hips beat support (5) respectively exist Beat motor transmission mechanism (3) drives lower work around front and back to the rotation of axis;The upper end of two thigh support frames (7) is the most inclined with two hips The front side of swinging rack (5) is hinged, and the lower end of two thigh support frames (7) is the most hinged on rear side of the upper end of little leg support (10) with described in one, It is hinged with hip joint pitching electronic between rear side and the lower side portion position of corresponding thigh support frame (7) of every hip beat support (5) Knee joint pitching electricity it is hinged with between on front side of push rod (6), the front side of every hip beat support (5) and the upper end of little leg support (10) Dynamic push rod (8);Described foot assembly has drive wheel assemblies (12) and walking assembly (13), and drive wheel assemblies (12) is connected to little The bottom of leg support (10), walking assembly (13) is connected in drive wheel assemblies (12).
Robot walking device the most according to claim 1, it is characterised in that: four of described little leg support (10) bottom Guide post (10-1) it is respectively provided with on angle.
Robot walking device the most according to claim 2, it is characterised in that: described drive wheel assemblies (12) includes left and right To drive sprocket axle (12-1), the drivewheel (12-3) that is fixed on drive sprocket axle (12-1), support drive sprocket axle (12-1) The driver motor (12-2) that slip wheel carrier (12-3) and driving drive sprocket axle (12-1) rotate, described slip wheel carrier (12-3) place Between four guide posts (10-1) of little leg support (10), the top of slip wheel carrier (12-3) and the bottom of little leg support (10) Between connect have amortisseur (11).
Robot walking device the most according to claim 3, it is characterised in that: described walking assembly (13) has at the bottom of shaped as frame Frame (13-1), underframe (13-1) is upper and is hinged with a pair sagittal connecting rod (13-2) in front end, after each connecting rod (13-2) It is hinged with air spring (13-3), the connecting rod (13-2) hinge hole (13-2-by rear end between end and the rear end of underframe (13-1) A), air spring (13-3) all moves engagement sleeves on drive sprocket axle (12-1) by the hinge hole (13-3-a) of front end.
Robot walking device the most according to claim 1, it is characterised in that: every knee joint pitching electric pushrod (8) Between on front side of the upper end of lower end and little leg support (10) hinged by the second bearing pin (15), the two ends, left and right of every second bearing pin (15) are each Being hinged with follower (9), two followers (9) partner.
Robot walking device the most according to claim 1, it is characterised in that: described hip torsional brace (4) and hip Being connected by the first bearing pin (14) between beat support (5), the middle part of the first bearing pin (14) is placed in the bearing pin of hip beat support (5) In hole and be tight fit, the front and back ends of the first bearing pin (14) be respectively placed in the forward and backward pin shaft hole of hip torsional brace (4) and For dynamic cooperation, the head (14-1) of the first bearing pin (14) front end stretches out hip torsional brace (4).
Robot walking device the most according to claim 1, it is characterised in that: described torsion motor transmission mechanism (2) by Reverse motor (2-1) and the first synchronous belt drive mechanism composition, reverse motor (2-1) and be fixed on the bottom surface of waist body frame (1), The fixing axle (4-1) of the output shaft and hip torsional brace (4) top that reverse motor (2-1) is all inserted upwardly into waist body frame (1) Inner chamber in, the active and passive synchronous pulley (2-2,2-3) of the first synchronous belt drive mechanism be separately fixed at torsion motor (2-1) Output shaft and fixing axle (4-1) on.
Robot walking device the most according to claim 6, it is characterised in that: described beat motor transmission mechanism (3) by Beat motor (3-1) and the second synchronous belt drive mechanism composition, beat motor (3-1) is fixed on hip torsional brace (4), partially The output shaft of pendulum motor (3-1) forward extends out hip beat support (5), the active and passive Timing Belt of the second synchronous belt drive mechanism Wheel (3-2,3-3) is separately fixed on the output shaft of beat motor (3-1) and the head (14-1) of the first bearing pin (14).
Robot walking device the most according to claim 1, it is characterised in that: described hip joint pitching electric pushrod (6) One end of push rod (6-1) be hinged on thigh support frame (7).
Robot walking device the most according to claim 1, it is characterised in that: described knee joint pitching electric pushrod (6) One end of push rod (8-1) be hinged on beat support (5).
CN201610603581.7A 2016-07-27 2016-07-27 Robot walking device Active CN106240669B (en)

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Cited By (21)

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Publication number Priority date Publication date Assignee Title
CN106584449A (en) * 2017-01-23 2017-04-26 哈尔滨工业大学 Serial-parallel elastically driven linear movement unit
CN106914906A (en) * 2017-04-16 2017-07-04 赵洁 A kind of electric pole repairs robot
CN106995017A (en) * 2017-04-11 2017-08-01 上海岭先机器人科技股份有限公司 A kind of robot motion mechanism with double feet walking with wheel type mobile translation function
CN107176370A (en) * 2017-06-20 2017-09-19 董旺建 A kind of automatically walk load-carrying box
CN108216412A (en) * 2017-12-26 2018-06-29 杭州欢乐飞机器人科技股份有限公司 A kind of leg-wheel robot
CN108382482A (en) * 2018-01-08 2018-08-10 哈尔滨理工大学 A kind of foot device of variable mode of contacting to earth
CN108438083A (en) * 2018-03-21 2018-08-24 吉林大学 A kind of biped robot with bionical tension and compression joint
CN108528563A (en) * 2018-05-14 2018-09-14 南京大学 A kind of Hexapod Robot
CN109483521A (en) * 2018-12-04 2019-03-19 杭州程天科技发展有限公司 A kind of multi-functional exoskeleton robot
CN109747730A (en) * 2017-11-07 2019-05-14 山东交通学院 A kind of automobile-used two-freedom numerical control wheel leg mechanism of plate
CN110271622A (en) * 2018-03-15 2019-09-24 杭州萤石软件有限公司 Take turns sufficient formula structure and wheel legged type robot
CN110525535A (en) * 2019-07-25 2019-12-03 广东省智能制造研究所 A kind of two-wheel foot mixing self-balance robot
CN110696940A (en) * 2019-11-21 2020-01-17 上海交通大学 Omnidirectional wheel foot type robot
CN112874652A (en) * 2021-02-04 2021-06-01 南方科技大学 Variable-form leg structure and robot
CN112874651A (en) * 2021-02-04 2021-06-01 南方科技大学 Quadruped robot
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Cited By (31)

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Publication number Priority date Publication date Assignee Title
CN106584449A (en) * 2017-01-23 2017-04-26 哈尔滨工业大学 Serial-parallel elastically driven linear movement unit
CN106584449B (en) * 2017-01-23 2019-01-08 哈尔滨工业大学 A kind of linear motion unit of series-parallel flexible drive
CN106995017A (en) * 2017-04-11 2017-08-01 上海岭先机器人科技股份有限公司 A kind of robot motion mechanism with double feet walking with wheel type mobile translation function
CN106914906B (en) * 2017-04-16 2018-11-02 扬州市杭集创意设计园有限公司 A kind of electric pole repairing robot
CN106914906A (en) * 2017-04-16 2017-07-04 赵洁 A kind of electric pole repairs robot
CN107176370B (en) * 2017-06-20 2019-06-11 董旺建 A kind of automatically walk load-carrying box
CN107176370A (en) * 2017-06-20 2017-09-19 董旺建 A kind of automatically walk load-carrying box
CN109747730A (en) * 2017-11-07 2019-05-14 山东交通学院 A kind of automobile-used two-freedom numerical control wheel leg mechanism of plate
CN108216412A (en) * 2017-12-26 2018-06-29 杭州欢乐飞机器人科技股份有限公司 A kind of leg-wheel robot
CN108216412B (en) * 2017-12-26 2023-11-28 国网浙江省电力有限公司台州供电公司 Wheel leg type robot
CN108382482A (en) * 2018-01-08 2018-08-10 哈尔滨理工大学 A kind of foot device of variable mode of contacting to earth
CN110271622A (en) * 2018-03-15 2019-09-24 杭州萤石软件有限公司 Take turns sufficient formula structure and wheel legged type robot
CN110271622B (en) * 2018-03-15 2021-02-26 杭州萤石软件有限公司 Wheel-foot type structure and wheel-foot type robot
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CN108528563A (en) * 2018-05-14 2018-09-14 南京大学 A kind of Hexapod Robot
CN108528563B (en) * 2018-05-14 2023-11-03 南京大学 Six-foot robot
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CN109483521B (en) * 2018-12-04 2024-01-09 杭州程天科技发展有限公司 Multifunctional exoskeleton robot
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