CN106741279A - Apery pedipulator joint module, apery machinery leg and anthropomorphic robot - Google Patents
Apery pedipulator joint module, apery machinery leg and anthropomorphic robot Download PDFInfo
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- CN106741279A CN106741279A CN201611119891.8A CN201611119891A CN106741279A CN 106741279 A CN106741279 A CN 106741279A CN 201611119891 A CN201611119891 A CN 201611119891A CN 106741279 A CN106741279 A CN 106741279A
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- motor
- decelerator
- apery
- joint
- drive
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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
Abstract
The invention discloses apery pedipulator joint module, apery machinery leg and anthropomorphic robot, it is related to robot field.The apery pedipulator joint module includes the first noumenon, the second body, controller, motor and decelerator.Motor is installed on the first noumenon, controller and motor connection, and controlled motor, and motor is connected with decelerator, to drive decelerator.Decelerator is installed on the first noumenon, and is connected with the second body, to drive the second body to be rotated relative to the first noumenon.Apery machinery leg includes above-mentioned apery pedipulator joint module.The anthropomorphic robot includes above-mentioned apery machinery leg.The apery pedipulator joint module of present invention offer, the simple structure of apery machinery leg and anthropomorphic robot, kinematic dexterity are high.
Description
Technical field
The present invention relates to robot field, in particular to apery pedipulator joint module, apery machinery leg and imitative
Robot people.
Background technology
Bio-robot refer to according to bionics principle, the superior performance of design such as mimic biology structure, kinetic characteristic
Mechatronic Systems, gradually anti-terrorism is explosion-proof, space probation, rescue and relief work etc. be not suitable for being undertaken by people the environment saliency of task
Go out good application prospect.
Bio-robot mainly has apery, bionical thing and biorobot's three major types.
Anthropomorphic robot refers to that, with mankind's resemblances such as two hands, two foots, head and trunks, can be moved with biped
With the anthropomorphic robot of other classes people's function.Although existing anthropomorphic robot is with the morphological feature similar to people and motion side
Formula, but the robot of redundant degree of freedom or ultra-redundant degree of freedom is mostly, and mechanism structure is complicated, kinematic dexterity is not high asks
Topic urgently improves.
The content of the invention
It is an object of the invention to provide a kind of apery pedipulator joint module, its simple structure, kinematic dexterity is high.
Another object of the present invention is to provide a kind of apery machinery leg, its simple structure, flexibility are high.
Another object of the present invention is to provide a kind of anthropomorphic robot, its simple structure, flexibility are high.
The present invention provides a kind of technical scheme：
A kind of apery pedipulator joint module, including the first noumenon, the second body, joint control, motor and pass
Section decelerator.Motor is installed on the first noumenon, and joint control is connected with motor, and controls motor.Drive
Motor is connected with joint speed reducer, to drive joint speed reducer.Joint speed reducer is installed on the first noumenon, and with second
Body is connected, to drive the second body to be rotated relative to the first noumenon.
Further, above-mentioned motor is connected with joint speed reducer by Timing Belt.
Further, above-mentioned the first noumenon is provided with motor installing hole near one end of the second body.Motor is installed on
Motor installing hole, and can be moved in motor installing hole.
Further, travel switch is installed on above-mentioned joint speed reducer.
Further, above-mentioned joint speed reducer is harmonic wave joint speed reducer.Harmonic wave joint speed reducer is used in motor
Driving under, drive the second body rotate.
The present invention also provides another technical scheme：
A kind of apery machinery leg, including huckle, calf, the first controller, the first motor, the first decelerator.The
One motor is installed on huckle, the first controller and the first motor connection, and controls the first motor.First motor and first slows down
Device is connected, to drive the first decelerator.First decelerator is installed on huckle, and is connected with calf, to drive shank
Portion rotates relative to huckle around first axle.
Further, the quantity of above-mentioned first motor is two, and two the first motors drive first by same Timing Belt
Decelerator.
Further, above-mentioned apery machinery leg also include foot palm part, second controller, the second motor, the second decelerator,
3rd controller, the 3rd motor and the 3rd decelerator.Second motor is installed on calf, and second controller and the second motor connect
Connect, and control the second motor.Second motor and the second decelerator are connected, to drive the second decelerator.Second decelerator is pacified
Loaded on calf, and it is connected with foot palm part, to drive foot palm part to be rotated around second axis relative to calf.3rd motor is installed on
Calf, the 3rd controller and the 3rd motor connection, and control the 3rd motor.3rd motor and the 3rd decelerator are connected,
To drive the 3rd decelerator.3rd decelerator is installed on calf, and is connected with foot palm part, to drive foot palm part with respect to calf
Rotated around the 3rd axis.Second axis are mutually perpendicular to the 3rd axis.
Further, above-mentioned apery machinery leg also includes that body installation portion, the 4th controller, the 4th motor, the 4th subtract
Fast device, the 5th controller, the 5th motor, the 5th decelerator.4th motor is installed on huckle, the 4th controller and the 4th motor
Connection, and control the 4th motor.4th motor and the 4th decelerator are connected, to drive the 4th decelerator.4th decelerator
Huckle is installed on, to drive huckle to be rotated around four axistyle relative to body installation portion.5th motor is installed on huckle,
5th controller and the 5th motor connection, and control the 5th motor.5th motor and the 5th decelerator are connected, to drive the
Five decelerators.5th decelerator is installed on body installation portion, to drive huckle to turn around the 5th axis relative to body installation portion
It is dynamic.Four axistyle is mutually perpendicular to the 5th axis.
The present invention also provides another technical scheme：
A kind of anthropomorphic robot, including body part and above-mentioned apery machinery leg.Apery machinery leg includes huckle, small
Leg, the first controller, the first motor, the first decelerator.First motor is installed on huckle, the first controller and the first motor
Connection, and control the first motor.First motor and the first decelerator are connected, to drive the first decelerator.First decelerator
Huckle is installed on, and is connected with calf, to drive calf to be rotated around first axle relative to huckle.Apery machinery leg
Quantity be two, the body installation portion of two aperies machinery legs is connected with body part respectively.
Compared to existing technology, the present invention is provided apery pedipulator joint module, apery machinery leg and anthropomorphic robot
Beneficial effect be：Apery pedipulator joint module moves joint speed reducer by motor, the output of joint speed reducer
Axle is connected with the second body, and then drives the second body to be rotated around the first noumenon, realizes apery pedipulator on a joint
Motion, for apery machinery leg and anthropomorphic robot provide the simple and flexible apery pedipulator joint module of motion.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
The structural representation of the apery pedipulator joint module that Fig. 1 is provided for first embodiment of the invention；
The structural representation of the apery pedipulator that Fig. 2 is provided for second embodiment of the invention；
The kneed structural representation of the apery pedipulator that Fig. 3 is provided for second embodiment of the invention；
The structural representation of the ankle-joint of the apery pedipulator that Fig. 4 is provided for second embodiment of the invention；
The structural representation of the hip joint of the apery pedipulator that Fig. 5 is provided for second embodiment of the invention.
Icon：100- apery pedipulator joint modules；110- the first noumenons；The bodies of 120- second；130- motors；
140- joint speed reducers；150- transmission mechanisms；200- aperies machinery leg；210- body installation portions；220- knee joints；223-
One motor；The decelerators of 224- first；230- huckles；240- ankle-joints；The motors of 243- second；The decelerators of 244- second；247-
3rd motor；250- calfs；260- hip joints；The motors of 263- the 4th；The decelerators of 264- the 4th；The motors of 267- the 5th；268-
5th decelerator；270- foot palm parts.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Present invention implementation generally described and illustrated in accompanying drawing herein
The component of example can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiments of the invention below to providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model of present invention protection
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further defined and explained in subsequent accompanying drawing.
In the description of the invention, it is necessary to explanation, term " on ", " interior ", " outward ", etc. instruction orientation or position close
System is that, based on orientation shown in the drawings or position relationship, or the orientation usually put when using of the invention product or position are closed
System, is for only for ease of the description present invention and is described with simplified, must have rather than the device or element for indicating or imply meaning
Specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Additionally, term " first " and " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively heavy
The property wanted.
In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or integratedly connect
Connect；Can mechanically connect, or electrically connect；Can be directly connected to, it is also possible to be indirectly connected with by intermediary, can
Being two connections of element internal.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
Below in conjunction with the accompanying drawings, embodiments of the present invention are elaborated.
First embodiment
Fig. 1 is referred to, a kind of apery pedipulator joint module 100, including the first noumenon 110, is present embodiments provided
Two bodies 120, joint control (not shown), motor 130 and joint speed reducer 140.Motor 130 is installed on
One body 110, joint control is connected with motor 130, and controls motor 130.Motor 130 slows down with joint
Device 140 is connected, to drive joint speed reducer 140.Joint speed reducer 140 is installed on the first noumenon 110, and with the second body
120 connections, to drive the second body 120 to be rotated relative to the first noumenon 110.
Motor 130 is connected with joint speed reducer 140 by transmission mechanism 150, in the present embodiment, transmission mechanism
150 is V belt translation.Specifically, above-mentioned V belt translation includes that the belt pulley that the output outer shaft sleeve of motor 130 sets (is not marked in figure
Number), the belt pulley (non-label in figure) that sets of the input outer shaft sleeve of joint speed reducer 140 and connect the Timing Belt of the two belt pulleys
(non-label in figure), so as to realize the transmission between motor 130 and joint speed reducer 140.
V belt translation is a kind of soft transmission, and it can allow whole transmission process more steady.Certainly, in other implementations of the invention
In example, the connected mode between motor 130 and joint speed reducer 140 is also not necessarily limited to the soft transmission as representative with V belt translation,
It can also be the hard transmission with gear drive as representative.
In the present embodiment, it is same in order to prevent because motor 130 and joint speed reducer 140 are by toothed belt transmission
Step band may be loosened in use, and fixed drive electricity is provided near one end of the second body 120 in the first noumenon 110
The motor installing hole (non-label in figure) of machine 130.Motor 130 is fixedly installed in motor installing hole, and can be installed in motor
Moved in hole.The position of motor 130 is finely adjusted with facilitating, so that Timing Belt is in suitable relaxation degree.
In the present embodiment, it is also equipped with travel switch (not shown) on joint speed reducer 140.The effect of travel switch
It is position or the stroke of limit mechanical motion, apery pedipulator joint module 100 is automatically stopped by certain position or stroke, instead
To motion, variable motion or automatic back and forth movement.
In the present embodiment, joint speed reducer 140 is harmonic wave joint speed reducer 140, but is not limited thereto.Slow down in joint
The effect of device 140 is under the driving of motor, to drive the second body 120 around 110 turns of the first noumenon.
When the apery pedipulator joint module 100 that the present invention is provided works, motor 130 rotates, motor 130
Output shaft drives the input shaft of joint speed reducer 140.The output shaft of joint speed reducer 140 is fixedly connected with the second body 120, from
And drive the second body 120 to be rotated relative to the first noumenon 110.
The apery pedipulator joint module 100 that the present invention is provided moves joint speed reducer 140 by motor 130,
The output shaft of joint speed reducer 140 is connected with the second body 120, and then drives the second body 120 to be rotated around the first noumenon 110.
The simple structure of apery pedipulator joint module 100, kinematic dexterity is high, realizes a motion for mechanical leg joint.
Second embodiment
Fig. 2 is referred to, a kind of apery machinery leg 200, including knee joint 220, the and of ankle-joint 240 is present embodiments provided
Hip joint 260.Knee joint 220, ankle-joint 240 and hip joint 260 cooperate, and together constitute apery machinery leg 200 pairs
The emulation of human leg motion.
Fig. 3 is referred to, knee joint 220 includes huckle 230, the controller (not shown) of calf 250 and first, first
Motor 223, the first decelerator 224.First motor 223 is installed on huckle 230, and the first controller is connected with the first motor 223,
And control the first motor 223.First motor 223 is connected with the first decelerator 224, to drive the first decelerator 224.First
Decelerator 224 is installed on huckle 230, and is connected with calf 250, to drive calf 250 with respect to huckle 230 around first
Axis is rotated.
In the present embodiment, the quantity of the first motor 223 is two, the use of the purpose of two the first motors 223 is to carry
For the more large driving force for rotating calf 250, the number of certain first motor 223 can also be other quantity, such as power
When bigger, its quantity is one, naturally it is also possible to be three.
It should be appreciated that the apery pedipulator joint module that the knee joint 220 that the present embodiment is provided is provided with first embodiment
100 have following corresponding relation.That is, the huckle 230 in the present embodiment corresponds to the first noumenon 110 in first embodiment,
Calf 250 corresponds to the second body 120, and the first controller corresponds to joint control, the first motor 223 and corresponds to driving electricity
Machine 130, the first decelerator 224 corresponds to joint speed reducer 140.
It is also to be understood that in the first embodiment for the specific embodiment of apery pedipulator joint module 100, together
Knee joint 220 of the sample suitable for the present embodiment.
Fig. 4 is referred to, ankle-joint 240 includes calf 250, foot palm part 270, second controller (not shown), second
Motor 243, the second decelerator 244, the 3rd controller (not shown), the 3rd motor 247 and the 3rd decelerator (not shown).
Second motor 243 is installed on calf 250, and second controller is connected with the second motor 243, and controls the second motor 243.Second
Motor 243 is connected with the second decelerator 244, to drive the second decelerator 244.Second decelerator 244 is installed on calf
250, and be connected with foot palm part 270, to drive foot palm part 270 to be rotated around second axis relative to calf 250.3rd motor 247
Calf 250 is installed on, the 3rd controller is connected with the 3rd motor 247, and controls the 3rd motor 247.3rd motor 247 and
Three decelerators are connected, to drive the 3rd decelerator.3rd decelerator is installed on calf 250, and connects with foot palm part 270
Connect, to drive foot palm part 270 to be rotated around the 3rd axis relative to calf 250.
In the present embodiment, second axis are parallel to each other with first axle, and second axis are mutually perpendicular to the 3rd axis.
In the present embodiment, the amplitude that foot palm part 270 is rotated around second axis relative to calf 250 for -60 °~60 °, pin
Metacarpus 270 is -45 °~45 ° around the amplitude that the 3rd axis is rotated relative to calf 250.
It should be appreciated that the apery pedipulator joint module that the ankle-joint 240 that the present embodiment is provided is provided with first embodiment
100 have following corresponding relation：Calf 250 in the present embodiment corresponds to the first noumenon 110 in first embodiment, sole
Portion 270 corresponds to the second body 120, and second controller corresponds to joint control, and the second motor 243 corresponds to motor
130, the second decelerator 244 corresponds to joint speed reducer 140.Meanwhile, the apery pedipulator in ankle-joint 240 and first embodiment
Also there is another set corresponding relation in joint module 100：Calf 250 corresponds to the first noumenon 110 in first embodiment, pin
Metacarpus 270 corresponds to the second body 120, and the 3rd controller corresponds to joint control, and motor 130 corresponds to the 3rd motor
247 and joint speed reducer 140 correspond to the 3rd decelerator.That is, the ankle-joint 240 that the present embodiment is provided contains two
The apery pedipulator joint module 100 that first embodiment is provided.
It is also to be understood that in the first embodiment for the specific embodiment of apery pedipulator joint module 100, together
Ankle-joint 240 of the sample suitable for the present embodiment.
Contrast knee joint 220 and ankle-joint 240 are it can be found that correspond to apery machine in first embodiment in knee joint 220
Second body 120 of tool leg joint module 100 is calf 250, and calf 250 corresponds to first in ankle-joint 240
Body 110.
Refer to Fig. 5, hip joint 260 include body installation portion 210, huckle 230, the 4th controller (not shown),
4th motor 263, the 4th decelerator 264, the 5th controller (not shown), the 5th motor 267, the 5th decelerator 268.4th
Motor 263 is installed on huckle 230, and the 4th controller is connected with the 4th motor 263, and controls the 4th motor 263.4th motor
263 are connected with the 4th decelerator 264, to drive the 4th decelerator 264.4th decelerator 264 is installed on huckle 230,
To drive huckle 230 to be rotated around four axistyle relative to body installation portion 210.5th motor 267 is installed on huckle 230,
5th controller is connected with the 5th motor 267, and controls the 5th motor 267.5th motor 267 is driven with the 5th decelerator 268
Connection, to drive the 5th decelerator 268.5th decelerator 268 is installed on body installation portion 210, to drive huckle 230 relative
Rotated around the 5th axis in body installation portion 210.
In the present embodiment, four axistyle is parallel to each other with first axle, second axis, four axistyle and the 5th axis phase
It is mutually vertical.
In the present embodiment, the amplitude that huckle 230 is rotated around four axistyle relative to body installation portion 210 for -80 °~
80 °, the amplitude that huckle 230 is rotated around the 5th axis relative to body installation portion 210 I -60 °~60 °.
It should be appreciated that the apery pedipulator joint module that the hip joint 260 that the present embodiment is provided is provided with first embodiment
100 have following corresponding relation：Body installation portion 210 in the present embodiment corresponds to apery machinery leg joint in first embodiment
The first noumenon 110 of module 100, huckle 230 corresponds to the second body 120, and the 4th controller corresponds to joint control, the
Four motors 263 correspond to motor 130, and the 4th decelerator 264 corresponds to joint speed reducer 140.Also there is another group of correspondence：
Body installation portion 210 in the present embodiment corresponds to the first noumenon of apery pedipulator joint module 100 in first embodiment
110, huckle 230 corresponds to the second body 120, and the 5th controller corresponds to joint control, and the 5th motor 267 corresponds to drive
Dynamic motor 130, the 5th decelerator 268 corresponds to joint speed reducer 140.
It is also to be understood that in the first embodiment for the specific embodiment of apery pedipulator joint module 100, together
Hip joint 260 of the sample suitable for the present embodiment.
Contrast knee joint 220 and hip joint 260 are it can be found that correspond to apery machine in first embodiment in knee joint 220
The first noumenon 110 of tool leg joint module 100 is huckle 230, and huckle 230 corresponds to second in hip joint 260
Body 120.
The apery machinery knee joint 220 of leg 200, ankle-joint 240 and the hip joint 260 that the present embodiment is provided employ the
The combination of the apery pedipulator joint module 100 that one embodiment is provided, makes apery machinery leg 200 simple structure, the spirit of motion
It is active high.
3rd embodiment
The apery pedipulator provided in a kind of anthropomorphic robot, including body part and second embodiment is be provided
Portion 200.The quantity of apery machinery leg 200 is two, wherein, the body installation portion 210 of the two aperies machinery leg 200
It is connected with body part respectively.The anthropomorphic robot simple structure that the present embodiment is provided, motion is flexible.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of apery pedipulator joint module, it is characterised in that including the first noumenon, the second body, joint control, driving
Motor and joint speed reducer, the motor are installed on the first noumenon, the joint control and the motor
Connection, and the motor is controlled, the motor is connected with the joint speed reducer, to drive the joint to subtract
Fast device, the joint speed reducer is installed on the first noumenon, and is connected with second body, to drive second body
Rotated relative to the first noumenon.
2. apery pedipulator joint module according to claim 1, it is characterised in that the motor and the joint
Decelerator is connected by Timing Belt.
3. apery pedipulator joint module according to claim 2, it is characterised in that the first noumenon is near described the
One end of two bodies is provided with motor installing hole, and the motor is installed on the motor installing hole, and can pacify in the motor
Dress is moved in hole.
4. the apery pedipulator joint module according to any one in claim 1-3, it is characterised in that the joint subtracts
Travel switch is installed on fast device.
5. the apery pedipulator joint module according to any one in claim 1-3, it is characterised in that the joint subtracts
Fast device is harmonic wave joint speed reducer, and the harmonic wave joint speed reducer is used under the driving of the motor, drives described the
Two bodies are rotated.
6. a kind of apery machinery leg, it is characterised in that including huckle, calf, the first controller, the first motor, first
Decelerator；
First motor is installed on the huckle, first controller and first motor connection, and controls described
First motor, first motor is connected with first decelerator, and to drive first decelerator, described first subtracts
Fast device is installed on the huckle, and is connected with the calf, to drive the relatively described huckle of the calf around first
Axis is rotated.
7. apery according to claim 6 machinery leg, it is characterised in that the quantity of first motor is two, two
Individual first motor drives first decelerator by same Timing Belt.
8. apery according to claim 6 machinery leg, it is characterised in that the apery machinery leg also includes sole
Portion, second controller, the second motor, the second decelerator, the 3rd controller, the 3rd motor and the 3rd decelerator；
Second motor is installed on the calf, the second controller and second motor connection, and controls described
Second motor, second motor is connected with second decelerator, and to drive second decelerator, described second subtracts
Fast device is installed on the calf, and is connected with the foot palm part, to drive the relatively described calf of the foot palm part around second
Axis is rotated；
3rd motor is installed on the calf, the 3rd controller and the 3rd motor connection, and controls described
3rd motor, the 3rd motor is connected with the 3rd decelerator, and to drive the 3rd decelerator, the described 3rd subtracts
Fast device is installed on the calf, and is connected with the foot palm part, to drive the relatively described calf of the foot palm part around the 3rd
Axis is rotated；
The second axis are mutually perpendicular to the 3rd axis.
9. apery according to claim 6 machinery leg, it is characterised in that also including body installation portion, the 4th controller,
4th motor, the 4th decelerator, the 5th controller, the 5th motor, the 5th decelerator；
4th motor is installed on the huckle, the 4th controller and the 4th motor connection, and controls described
4th motor, the 4th motor is connected with the 4th decelerator, and to drive the 4th decelerator, the described 4th subtracts
Fast device is installed on the huckle, to drive the huckle to be rotated around four axistyle relative to the body installation portion；
5th motor is installed on the huckle, the 5th controller and the 5th motor connection, and controls described
5th motor, the 5th motor is connected with the 5th decelerator, and to drive the 5th decelerator, the described 5th subtracts
Fast device is installed on the body installation portion, to drive the huckle to be rotated around the 5th axis relative to the body installation portion；
The four axistyle is mutually perpendicular to the 5th axis.
10. a kind of anthropomorphic robot, it is characterised in that imitative including body part and as described in any one in claim 6-9
People's machinery leg, the quantity of the apery machinery leg is two, two body installation portions of the apery machinery leg
It is connected with the body part respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611119891.8A CN106741279A (en) | 2016-12-08 | 2016-12-08 | Apery pedipulator joint module, apery machinery leg and anthropomorphic robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611119891.8A CN106741279A (en) | 2016-12-08 | 2016-12-08 | Apery pedipulator joint module, apery machinery leg and anthropomorphic robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107361886A (en) * | 2017-06-21 | 2017-11-21 | 苏州博安捷机器人科技有限公司 | A kind of artificial leg structure |
| CN108556957A (en) * | 2018-06-07 | 2018-09-21 | 合肥工业大学 | A kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents |
| CN108583722A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of multi-joint Form of Bionics Mechanical Legs of the autonomous distributed power of easy assembling type band |
| CN112208669A (en) * | 2020-10-30 | 2021-01-12 | 深圳市优必选科技股份有限公司 | Leg structure and humanoid robot |
| CN114516374A (en) * | 2022-03-07 | 2022-05-20 | 安徽理工大学 | Six-legged robot based on synchronous belt transmission |
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| CN108583722A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of multi-joint Form of Bionics Mechanical Legs of the autonomous distributed power of easy assembling type band |
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| CN114516374A (en) * | 2022-03-07 | 2022-05-20 | 安徽理工大学 | Six-legged robot based on synchronous belt transmission |
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