CN106737848A - 腿部结构及人形机器人 - Google Patents
腿部结构及人形机器人 Download PDFInfo
- Publication number
- CN106737848A CN106737848A CN201611246936.8A CN201611246936A CN106737848A CN 106737848 A CN106737848 A CN 106737848A CN 201611246936 A CN201611246936 A CN 201611246936A CN 106737848 A CN106737848 A CN 106737848A
- Authority
- CN
- China
- Prior art keywords
- leg
- steering wheel
- grades
- end cap
- level
- 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.)
- Granted
Links
- 230000008878 coupling Effects 0.000 claims abstract description 13
- 238000010168 coupling process Methods 0.000 claims abstract description 13
- 238000005859 coupling reaction Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000002787 reinforcement Effects 0.000 claims description 6
- 210000002683 foot Anatomy 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
- Y10S901/28—Joint
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Steering Controls (AREA)
- Toys (AREA)
Abstract
Description
1 | 腰部结构 | 5226 | 第一轴孔 |
2 | 脚部结构 | 524 | 第二连接结构 |
3 | 腿部结构 | 5240 | 第二连接部 |
30 | 一级腿部舵机 | 5242 | 第二侧端盖 |
32 | 第一输出轴 | 5246 | 第一连接孔 |
34 | 第一连接端 | 526 | 加强筋 |
40 | 二级腿部舵机 | 54 | 第一端盖 |
42 | 第二输出轴 | 540 | 第一侧板 |
44 | 第二连接端 | 542 | 第一盖体部 |
45 | 动力部件 | 544 | 第二轴孔 |
46 | 球形机构 | 56 | 第二端盖 |
50 | 连接组件 | 560 | 第二侧板 |
52 | 连接件 | 562 | 第二盖体部 |
522 | 第一连接结构 | 566 | 第二连接孔 |
5220 | 第一连接部 | 58 | 第一收容腔 |
5224 | 第一侧端盖 | 59 | 第二收容腔 |
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611246936.8A CN106737848B (zh) | 2016-12-29 | 2016-12-29 | 腿部结构及人形机器人 |
US15/465,621 US10011027B1 (en) | 2016-12-29 | 2017-03-22 | Leg structure and humanoid robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611246936.8A CN106737848B (zh) | 2016-12-29 | 2016-12-29 | 腿部结构及人形机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106737848A true CN106737848A (zh) | 2017-05-31 |
CN106737848B CN106737848B (zh) | 2023-08-04 |
Family
ID=58929162
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611246936.8A Active CN106737848B (zh) | 2016-12-29 | 2016-12-29 | 腿部结构及人形机器人 |
Country Status (2)
Country | Link |
---|---|
US (1) | US10011027B1 (zh) |
CN (1) | CN106737848B (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107160428A (zh) * | 2017-06-09 | 2017-09-15 | 上海未来伙伴机器人有限公司 | 机器人的胯部关节及机器人 |
CN107322630A (zh) * | 2017-07-03 | 2017-11-07 | 深圳市优必选科技有限公司 | 机器人关节绕线结构及机器人 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6228097B2 (ja) * | 2014-10-06 | 2017-11-08 | 本田技研工業株式会社 | 移動ロボット |
CN112208669A (zh) * | 2020-10-30 | 2021-01-12 | 深圳市优必选科技股份有限公司 | 腿部结构及仿人机器人 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6583595B1 (en) * | 1999-09-07 | 2003-06-24 | Sony Corporation | Robot and joint device for the same |
JP2003266340A (ja) * | 2002-03-18 | 2003-09-24 | Sony Corp | 脚式移動ロボット |
KR20140010519A (ko) * | 2012-07-12 | 2014-01-27 | 한국해양과학기술원 | 내압 수밀 구조를 갖는 다관절 해저로봇용 다리 겸용 로봇팔 |
CN203901300U (zh) * | 2014-06-05 | 2014-10-29 | 张晨阳 | 一种人形机器人 |
CN205554362U (zh) * | 2016-03-29 | 2016-09-07 | 合肥凌翔信息科技有限公司 | 一种多自由度人形机器人 |
CN206344172U (zh) * | 2016-12-29 | 2017-07-21 | 深圳市优必选科技有限公司 | 腿部结构及人形机器人 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1273398A4 (en) * | 2000-02-25 | 2003-07-30 | Bandai Co | ELEMENT SET FOR A CALENDAR |
JP4587738B2 (ja) * | 2003-08-25 | 2010-11-24 | ソニー株式会社 | ロボット装置及びロボットの姿勢制御方法 |
KR101457147B1 (ko) * | 2008-05-14 | 2014-11-03 | 삼성전자 주식회사 | 인간형 로봇과 그 어깨관절 어셈블리 |
JP5991857B2 (ja) * | 2011-06-10 | 2016-09-14 | 三星電子株式会社Samsung Electronics Co.,Ltd. | ロボットの均衡制御装置及びその制御方法 |
JP2015182143A (ja) * | 2014-03-20 | 2015-10-22 | セイコーエプソン株式会社 | ロボットおよびロボットシステム |
FR3021891A1 (fr) * | 2014-06-05 | 2015-12-11 | Aldebaran Robotics | Dispositif de prepositionnement et de fixation amovible de membres articules d'un robot humanoide |
JP6593991B2 (ja) * | 2014-12-25 | 2019-10-23 | 三菱重工業株式会社 | 移動ロボット及び先端ツール |
CN106737816A (zh) * | 2016-12-05 | 2017-05-31 | 深圳市优必选科技有限公司 | 舵机及机器人 |
-
2016
- 2016-12-29 CN CN201611246936.8A patent/CN106737848B/zh active Active
-
2017
- 2017-03-22 US US15/465,621 patent/US10011027B1/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6583595B1 (en) * | 1999-09-07 | 2003-06-24 | Sony Corporation | Robot and joint device for the same |
JP2003266340A (ja) * | 2002-03-18 | 2003-09-24 | Sony Corp | 脚式移動ロボット |
KR20140010519A (ko) * | 2012-07-12 | 2014-01-27 | 한국해양과학기술원 | 내압 수밀 구조를 갖는 다관절 해저로봇용 다리 겸용 로봇팔 |
CN203901300U (zh) * | 2014-06-05 | 2014-10-29 | 张晨阳 | 一种人形机器人 |
CN205554362U (zh) * | 2016-03-29 | 2016-09-07 | 合肥凌翔信息科技有限公司 | 一种多自由度人形机器人 |
CN206344172U (zh) * | 2016-12-29 | 2017-07-21 | 深圳市优必选科技有限公司 | 腿部结构及人形机器人 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107160428A (zh) * | 2017-06-09 | 2017-09-15 | 上海未来伙伴机器人有限公司 | 机器人的胯部关节及机器人 |
CN107160428B (zh) * | 2017-06-09 | 2023-12-12 | 上海未来伙伴机器人有限公司 | 机器人的胯部关节及机器人 |
CN107322630A (zh) * | 2017-07-03 | 2017-11-07 | 深圳市优必选科技有限公司 | 机器人关节绕线结构及机器人 |
Also Published As
Publication number | Publication date |
---|---|
US20180186016A1 (en) | 2018-07-05 |
CN106737848B (zh) | 2023-08-04 |
US10011027B1 (en) | 2018-07-03 |
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Legal Events
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GR01 | Patent grant | ||
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CP01 | Change in the name or title of a patent holder |
Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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CP01 | Change in the name or title of a patent holder | ||
TR01 | Transfer of patent right |
Effective date of registration: 20231201 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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TR01 | Transfer of patent right |