CN106985928A - A kind of walking robot high-adaptability foot end mechanism - Google Patents
A kind of walking robot high-adaptability foot end mechanism Download PDFInfo
- Publication number
- CN106985928A CN106985928A CN201710137246.7A CN201710137246A CN106985928A CN 106985928 A CN106985928 A CN 106985928A CN 201710137246 A CN201710137246 A CN 201710137246A CN 106985928 A CN106985928 A CN 106985928A
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- sufficient end
- ball
- antiskid claw
- end bottom
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- 210000000078 claw Anatomy 0.000 claims abstract description 56
- 239000000853 adhesive Substances 0.000 claims abstract description 8
- 230000001070 adhesive effect Effects 0.000 claims abstract description 8
- 230000001681 protective effect Effects 0.000 claims description 12
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000013016 damping Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000002689 soil Substances 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 description 14
- 230000000694 effects Effects 0.000 description 4
- 239000003292 glue Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005486 sulfidation Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of walking robot high-adaptability foot end mechanism of the present invention belongs to robotic technology field, is related to a kind of sufficient end structure of walking robot with good damping performance and adaptivity.In sufficient end structure, six dampers are in parallel-connection structure, are connected, are attached with sufficient end bottom with ball auxiliary structure using candan universal joint structure with shank connecting plate；Sole portion use can reset antiskid claw structure, and crawl ground increase friction, hemispherical high resiliency vola is bonded in the lower plate of sufficient end bottom, prevents robot from occurring skidding in advancing.The present invention realizes the requirement of sufficient end structure carrying, vibration damping, Self-resetting, big adhesive force and high-adaptability, and foot end mechanism is effectively increased the adhesive force at sufficient end at robot operation mesopodium end and contact area of ground increase, frictional force increase.It is suitable for ice and snow, the various road conditions such as muddy and sandy soil, increase robot can ambient adaptability.
Description
Technical field
The invention belongs to robotic technology field, it is related to a kind of running machine with good damping performance and adaptivity
People's foot end mechanism.
Background technology
It is increasingly mature with robot technology, with high adaptivity, bear heavy duty and replace the mankind in bad environments
Work turn into one of important trend that robot develops.Based on the consideration of the application environment to walking robot, to sufficient terminal
Structure proposes the requirement of harshness.The sufficient end structure of walking robot is not required nothing more than with high landform adaptability, but also should
Ability with certain buffer shock-absorbing, to improve the stability of robot.Some developed countries are in terms of heavy-load robot research
Certain achievement is had been achieved for, and the domestic research in this aspect is in the junior stage., there is freedom in existing patent of invention
Degree is few, and adaptivity is poor, or does not possess Self-resetting, and vibration-damping function is poor, is unfavorable for the continuous work of foot end mechanism.Patent
In Publication No. CN104973157, the patent of invention " a kind of walking robot vola quick-changing mechanism " of inventor's Wang Fu Jis etc.
A kind of robot foot bottom quick-changing mechanism is disclosed, different foots can be changed according to different road conditions using vola quick-changing mechanism
Be not suitable for changing vola temporarily under bottom, but some special operation conditions.Patent publication No. is CN201310029070.5, the high hypo of inventor
Deng patent of invention " heavily loaded multi-foot robot supporting leg foot end mechanism " in disclose a kind of foot mechanism of heavy-load robot, can
Bear a heavy burden and carry, with double buffering function, can solve the problem that the moment for facing support foot under rugged topography in walking robot walking
Impact, but it is few in the sufficient end free degree.
The content of the invention
The present invention will overcome the deficiencies in the prior art, invent a kind of walking robot high-adaptability foot end mechanism.In foot
In end structure, six dampers are in parallel-connection structure, realize the multiple degrees of freedom, vibration damping and Self-resetting of foot end mechanism, are connected with shank
Plate is connected using candan universal joint structure, is attached with sufficient end bottom with ball auxiliary structure；Sole portion use can reset anti-skidding
Pawl structure, the increase friction of crawl ground；Hemispherical high resiliency vola is bonded in the lower plate of sufficient end bottom, is increased adhesive force and is rubbed
Wipe, prevent robot from occurring skidding in advancing.The present invention realizes sufficient end structure carrying, vibration damping, Self-resetting, big adhesive force
With the requirement of high-adaptability, various road conditions are applicable to.
The present invention adopts the technical scheme that a kind of walking robot high-adaptability foot end mechanism, it is characterized in that, sufficient end knot
In structure, six dampers are in parallel-connection structure, are connected with shank connecting plate using candan universal joint structure, with sufficient end bottom ball pair
Structure is attached；Sole portion use can reset antiskid claw structure, the increase friction of crawl ground；Glue in hemispherical high resiliency vola
Knot prevents robot from occurring skidding in advancing, increases the adhesive force of foot end mechanism in the lower plate of sufficient end bottom；
The foot end mechanism by shank connecting plate 1, damper part 3, sufficient end bottom upper plate 7, sufficient end bottom protective cover 8,
Special attaching nut 11, anti-skidding tine and hemispherical high resiliency vola 10 are constituted；Part and running machine on shank connecting plate 1
The shank of people is connected with mode and connected, and lower part is connected with six damper parts 3 using candan universal joint 2；Equipped with bullet
The ball rod of the damper part 3 of spring and piston is arranged in ball and socket base 6；The bulb of damper part 3 and the ball on ball and socket base 6
Both nests are constituted between ball auxiliary structure, ball pair as gap cooperation；Ball pair back-up ring 4 and ball and socket base 6 have four uniform through holes, four
The secondary back-up ring 4 of ball and ball and socket base 6 are fixed on sufficient end by ball pair back-up ring attachment screw 5 by the secondary through hole of back-up ring 4 of ball and the through hole of ball and socket base 6
On bottom upper plate 7；Sufficient end bottom upper plate 7 is connected with part in foot end mechanism by ball auxiliary structure, sufficient end bottom 7 times parts of upper plate
One section of connection screw thread is designed with to pass through the hole on sufficient end bottom protective cover 8 and be threadedly coupled with special attaching nut 11；Sufficient end
Bottom spring 12 is fixed between sufficient end bottom lower plate 9 and special attaching nut 11, there is pretightning force；The circular configuration portion of push rod 13
Divide and can contact with special attaching nut 11, the planar structure part of push rod 13 is contacted with antiskid claw；It is evenly equipped with sufficient end bottom lower plate 9
Three rectangular shaped slot 9a, zigzag plane one end of three antiskid claws 15 is separately mounted in three rectangular shaped slot 9a；
Have three uniform anti-skidding tines, each anti-skidding tine by push rod slide rail 19, push rod 13, sliding pawl 15,
Antiskid claw bearing 17, torsion spring antiskid claw bearing 16, mandrel 18 and torsion spring 14 can be fixed constitute；There are four on push rod slide rail 19
Through hole, is fixed in sufficient end bottom lower plate 9 with four push rod slide bar attachment screws 20, and push rod slide rail 19 is moved with the formation of push rod 13
It is secondary；Push rod 13 and the linear contact lay of antiskid claw 15；Antiskid claw bearing 17 and torsion spring antiskid claw bearing 16 can be fixed there are four through holes, respectively
Four antiskid claw bearing attachment screws 21 of using by oneself are fixed in sufficient end bottom lower plate 9；Antiskid claw bearing 17, can to fix torsion spring anti-skidding
Pawl bearing 16, mandrel 18 and the collective effect of torsion spring 14, one end of antiskid claw 15 are connected with mandrel 18 with antiskid claw bearing,
The other end is that zigzag plane is separately mounted in three rectangular shaped slot 9a；Antiskid claw 15 can be realized in the presence of push rod 13 around
The rotation of mandrel 18, can stretch out crawl work ground from slotted eye.The one end of torsion spring 14, which is fixed on, can fix torsion spring antiskid claw branch
On seat 16, one end is fixed on antiskid claw 15；Torsion spring 14 can make antiskid claw Self-resetting；Sufficient end bottom protective cover 8 and sufficient end bottom
Subordinate's plate 9 is threadedly coupled；Hemispherical high resiliency vola 10 is bonded in sufficient end bottom lower plate 9, prevents robot from occurring in advancing
Skidding.
The beneficial effects of the invention are as follows realize the pivot angle, vibration damping and runback bit function of foot end mechanism using parallel-connection structure.Adopt
Can be at robot operation mesopodium end and contact area of ground increase, friction with the device of hemispherical high resiliency vola and antiskid claw
Power increase, is effectively increased the adhesive force at sufficient end.Foot end mechanism is suitable for the different road conditions such as ice and snow, muddy and sandy soil, increases machine
People can ambient adaptability.
Brief description of the drawings
Fig. 1 is walking robot high-adaptability foot end mechanism axonometric drawing, and Fig. 2 is sufficient end bottom partial sectional view, Fig. 3 foots end
Bottom axonometric drawing, Fig. 4 is sufficient end bottom mechanism top view, and Fig. 5 is the B-B sectional views of sufficient end bottom mechanism, and Fig. 6 is shank connection
The upward view of plate 1.In figure：1- shank connecting plates, 2- candan universal joints, 3- damper parts, 4- balls pair back-up ring, 5- balls pair back-up ring connects
Connect under screw, 6- ball and socket bases, 7- foot ends bottom upper plate, 8- foot ends bottom protective cover, 9- foot ends bottom lower plate, 9a- foot ends bottom
Rectangular shaped slot on plate, 10- hemispherical high resiliency vola, the special attaching nuts of 11-, 12- foot ends bottom spring, 13- push rods,
14- torsion springs, 15- antiskid claws, 16- can fix torsion spring antiskid claw bearing, 17- antiskid claw bearings, 18- mandrels, 19- pusher slides
Rail, 20- push rod slide bar attachment screws, 21- antiskid claw bearing attachment screws.
Embodiment
Describe the specific implementation of the present invention in detail with technical scheme below in conjunction with the accompanying drawings.
Accompanying drawing 1,2,3,4,5,6 is one embodiment of the present of invention, and the foot end mechanism of robot is by a shank connecting plate
1st, six candan universal joints 2, six damper parts 3, the secondary back-up rings 4 of six balls, secondary back-up ring attachment screws 5, six of 24 balls
Individual ball and socket base 6, sufficient end bottom upper plate 7, sufficient end bottom protective cover 8, sufficient end bottom lower plate 9, a hemispherical
High resiliency vola 10, special attaching nut 11, sufficient end bottom spring 12, three push rods 13, three torsion springs 14, three
Antiskid claw 15, three can fix torsion spring antiskid claw bearing 16, three antiskid claw bearings 17, three mandrels 18, three push rods
Slide rail 19,12 push rod slide bar attachment screws 20 and 12 antiskid claw bearing attachment screw compositions.
Shank connecting plate 1 passes through uniform six through holes and walking robot shank bolt connection, six structures of damper part 3
Into parallel-connection structure, spring and piston mechanism are housed on damper part 3, as shown in Figure 1.Damper part 3 and shank connecting plate 1
Connected using candan universal joint 2, the candan universal joint position distribution situation on shank connecting plate 1 is as shown in fig. 6, damper part
3 can produce oscillating motion with respect to shank connecting plate 1.Circumferential uniform four through holes of ball pair back-up ring 2, and by connecting with the secondary back-up ring of ball
Connect screw 5, ball and socket base 6 to be used in combination, the bulb of damper part 3 is fixed on vola Zu Duan bottoms upper plate 7, constitute ball pair
Coordinate between structure, ball pair for gap, damper part 3 can be made to be swung around vola Zu Duan bottoms upper plate 7, ball and socket base distribution feelings
Condition is as shown in Figure 1.When walking robot is climbed, six damper parts 3 change according to lineament, each damper
The length of the difference for the power that part 3 is subject to according to itself, spring and piston collective effect damper part 3 and with shank connecting plate
1 angle is changed, and the function of walking robot climbing is realized with this.The pivot angle that foot end mechanism is produced with shank is at sufficient end
Spring can be such that damper part 3 returns to except state, i.e. foot end mechanism Self-resetting when lifting.The spring of damper part 3 and work
Plug structure realizes that vibration damping alleviates the function of impact when sufficient end structure touches ground.Foot end mechanism is designed using parallel-connection structure,
The structural parameters of adjustment damper part 3 are to adapt to the ground of different maximum load and different gradient.
The structure of sufficient end bottom upper plate 7 is shown in Fig. 2, and upper part has screwed hole to install ball and socket base 6 and the secondary back-up ring 4 of ball, foot
The threaded rod for holding the center of bottom upper plate 7 to install passes through the hole on sufficient end bottom protective cover 8, connects with the special screw thread of attaching nut 11
Connect, sufficient end bottom spring 12 is arranged between sufficient end bottom lower plate 9 and special attaching nut 11, there is pretightning force, it is possible to achieve
Hold bottom upper plate 7 to there is certain gap with sufficient end bottom protective cover 8 in the case where not stressing, see Fig. 2 and Fig. 5.Fig. 2, figure
3rd, Fig. 4 and Fig. 5 illustrate the design feature and operation principle of the anti-skidding tine in vola jointly.There are four to lead on push rod slide rail 19
Hole, is fixed in sufficient end bottom lower plate 9 with four push rod slide bar attachment screws 20.The circular configuration part of push rod 13 and special connection
The outer conical surface contact of nut 11, the planar structure part of push rod 13 is contacted with antiskid claw.Antiskid claw bearing 17 and torsion spring can be fixed
Antiskid claw bearing 16 has two through holes, and each two antiskid claw bearing attachment screws 21 of using by oneself are fixed in sufficient end bottom lower plate 9,
Antiskid claw bearing 17, torsion spring antiskid claw bearing 16, mandrel 18 and the collective effect of torsion spring 14 can be fixed, antiskid claw 15 is placed
In sufficient end bottom lower plate 9, the one end of torsion spring 14, which is fixed on, can fix on torsion spring antiskid claw bearing 16, and one end is fixed on antiskid claw 15
On.In robot running, foot end mechanism step on ground when, the power transmitted on shank passes to sufficient end by damper part 3
On bottom upper plate 7, then sufficient end bottom upper plate 7 drives special attaching nut 11 to compress sufficient end bottom spring 12, and special connection
Nut 11 promotes three push rods 13 again, and push rod 13 is translated on push rod slide rail 19, promotes antiskid claw 15 to realize around mandrel 18
Rotation, antiskid claw 15 stretches out from uniform three rectangular shaped slot 9a in sufficient end bottom lower plate 9, and the crawl of antiskid claw 15 ground can increase
Plus friction.When robot lifts foot end mechanism, then sufficient end does not stress, and sufficient end bottom spring 12 is not compressed to make sufficient end bottom upper plate 7
Resetted with push rod 13, the Self-resetting in the presence of torsion spring 14 of antiskid claw 15.Sufficient end bottom protective cover 8 and the spiral shell of sufficient end bottom lower plate 9
Line is connected, and the protection protection of sufficient end bottom protective cover 8 is grabbed part and do not encroached in robot running by sandstone, rainwater,
And can be easily opened sufficient end bottom protective cover 8 using being threaded in when anti-skidding tine goes wrong and place under repair.Rubber
Glue material matter hemispherical high resiliency vola 10 is realized in sulfidation with metal sufficient end bottom lower plate 9 and bonded, and prevents robot row
Enter middle generation skidding.When foot termination contacts rugged ground, hemispherical high resiliency vola 10 is flexible, can be according to ground
Shape is deformed, the contact area on increase vola and ground, is effectively increased the adhesive force of foot end mechanism.Hemispherical high resiliency foot
Under bottom 10 and the collective effect of antiskid claw 15, the present invention can walk on rugged ground, ice and snow road and muddy road surface, real
The multi-environment application of existing foot end mechanism.
Claims (1)
1. a kind of walking robot high-adaptability foot end mechanism, it is characterized in that, in sufficient end structure, six dampers are in and are coupled
Structure, is connected with shank connecting plate using candan universal joint structure, is attached with sufficient end bottom with ball auxiliary structure；Sole portion is adopted
With that can reset antiskid claw structure, the increase of crawl ground rubs；Hemispherical high resiliency vola is bonded in the lower plate of sufficient end bottom, is prevented
Skidding occurs in advancing for robot, increases the adhesive force of foot end mechanism；
The foot end mechanism is by shank connecting plate (1), damper part (3), sufficient end bottom upper plate (7), sufficient end bottom protective cover
(8), special attaching nut (11), anti-skidding tine and hemispherical high resiliency vola (10) are constituted；Part on shank connecting plate (1)
It is connected with the shank of legged type robot, part passes through candan universal joint (2) and six dampers under shank connecting plate (1)
Part (3) is connected；The ball rod of damper part (3) equipped with spring and piston is arranged in ball and socket base (6)；Ball pair back-up ring
(4) and ball and socket base (6) has four uniform through holes, the secondary back-up ring attachment screws (5) of four balls pass through ball pair back-up ring (4) through hole and ball
The secondary back-up ring (4) of ball and ball and socket base (6) are fixed on sufficient end bottom upper plate (7) by socket (6) through hole；
Both ball-and-sockets on the bulb and ball and socket base (6) of damper part 3 are constituted between ball auxiliary structure, ball pair as gap cooperation；
Center connecting bolt bar on sufficient end bottom upper plate (7) passes through hole and special attaching nut on sufficient end bottom protective cover (8)
(11) center is threadedly coupled；The outline top of special attaching nut (11) is cylinder, and bottom is cone；Sufficient end bottom bullet
There is pretightning force between sufficient end bottom lower plate (9) and special attaching nut (11) in spring (12)；Push rod (13) circular configuration part
Contacted with special attaching nut (11), push rod (13) planar structure part is contacted with antiskid claw；It is uniform in sufficient end bottom lower plate (9)
Three rectangular shaped slot 9a, zigzag plane one end of three antiskid claws 15 is separately mounted in three rectangular shaped slot 9a；
Three uniform anti-skidding tines are had, each anti-skidding tine is by push rod slide rail (19), push rod (13), antiskid claw
(15), antiskid claw bearing (17), torsion spring antiskid claw bearing (16), mandrel (18) and torsion spring (14) can be fixed constitute；Push rod
There are four through holes on slide rail (19), be fixed on four push rod slide bar attachment screws (20) in sufficient end bottom lower plate (9), pusher slide
Rail (19) and push rod (13) formation prismatic pair；Push rod (13) and antiskid claw (15) linear contact lay；Antiskid claw bearing (17) and it can fix
Torsion spring antiskid claw bearing (16) has four through holes, and each four antiskid claw bearing attachment screws (21) of using by oneself are fixed on sufficient end bottom
In lower plate (9)；Antiskid claw (15) one end is connected by mandrel (18) with antiskid claw bearing (17), and the other end is that zigzag is put down
Face, antiskid claw (15) realizes the rotation around mandrel 18 in the presence of push rod (13), and contact work ground is stretched out from slotted eye；
Torsion spring (14) one end is fixed on and can fixed on torsion spring antiskid claw bearing (16), and the other end is fixed on antiskid claw (15)；Torsion spring
(14) antiskid claw Self-resetting is made；Hemispherical high resiliency vola (10) is bonded in sufficient end bottom lower plate (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710137246.7A CN106985928B (en) | 2017-03-09 | 2017-03-09 | A kind of walking robot high-adaptability foot end mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710137246.7A CN106985928B (en) | 2017-03-09 | 2017-03-09 | A kind of walking robot high-adaptability foot end mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106985928A true CN106985928A (en) | 2017-07-28 |
| CN106985928B CN106985928B (en) | 2018-11-09 |
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| CN201710137246.7A Expired - Fee Related CN106985928B (en) | 2017-03-09 | 2017-03-09 | A kind of walking robot high-adaptability foot end mechanism |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757744A (en) * | 2017-11-28 | 2018-03-06 | 吉林大学 | A kind of unscrewing type quadruped robot foot pad of adaptive multiple types of floors |
| CN108357581A (en) * | 2018-03-14 | 2018-08-03 | 中国科学院合肥物质科学研究院 | A kind of Bionic flexible pawl thorn is to grabbing sufficient constructed machine people |
| CN108583184A (en) * | 2018-04-13 | 2018-09-28 | 太原科技大学 | A kind of imitative kangaroo leg suspension of diamond shape |
| CN108773428A (en) * | 2018-06-21 | 2018-11-09 | 吉林大学 | A kind of bionical ground-grabbing antiskid foot |
| CN109044574A (en) * | 2018-10-08 | 2018-12-21 | 陈金凤 | A kind of bionical astragalus shank mechanical joint artificial limb |
| CN110550122A (en) * | 2018-05-30 | 2019-12-10 | 天津职业技术师范大学 | Supporting leg lower limb mechanism of multi-legged robot with large load bearing ratio |
| CN110588831A (en) * | 2019-09-27 | 2019-12-20 | 哈尔滨理工大学 | Robot foot end damping mechanism |
| CN110834720A (en) * | 2018-08-17 | 2020-02-25 | 中国飞机强度研究所 | Replaceable foot structure for leg landing gear |
| CN111594619A (en) * | 2020-05-27 | 2020-08-28 | 哈尔滨工业大学 | Friction damping type foot end mechanism |
| CN112603611A (en) * | 2020-12-10 | 2021-04-06 | 华中科技大学 | Bionic mechanical leg |
| CN113443043A (en) * | 2021-07-16 | 2021-09-28 | 浙江大学 | Foot structure of biped robot adaptable to uneven road surface |
| CN117734851A (en) * | 2024-02-21 | 2024-03-22 | 成都理工大学 | Parallel robot and foot robot with vibration reduction function |
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| CN102556201A (en) * | 2012-01-19 | 2012-07-11 | 浙江大学 | Flat-sole foot structure of multi-foot walk robot |
| CN103802908A (en) * | 2014-02-19 | 2014-05-21 | 北京航空航天大学 | Modularization sheep foot simulation mechanical foot device |
| CN105564529A (en) * | 2016-01-14 | 2016-05-11 | 大连理工大学 | Bionic sole mechanism for foot type robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20030183427A1 (en) * | 2002-04-01 | 2003-10-02 | Sanyo Electric Co., Ltd. | Method of climbing up/down a step, bogie and wheelchair |
| CN102556201A (en) * | 2012-01-19 | 2012-07-11 | 浙江大学 | Flat-sole foot structure of multi-foot walk robot |
| CN103802908A (en) * | 2014-02-19 | 2014-05-21 | 北京航空航天大学 | Modularization sheep foot simulation mechanical foot device |
| CN105564529A (en) * | 2016-01-14 | 2016-05-11 | 大连理工大学 | Bionic sole mechanism for foot type robot |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757744A (en) * | 2017-11-28 | 2018-03-06 | 吉林大学 | A kind of unscrewing type quadruped robot foot pad of adaptive multiple types of floors |
| CN107757744B (en) * | 2017-11-28 | 2023-10-20 | 吉林大学 | Self-adaptive multi-ground unscrewing type four-foot robot foot pad |
| CN108357581B (en) * | 2018-03-14 | 2023-07-25 | 中国科学院合肥物质科学研究院 | Bionic flexible claw thorn pair-grabbing foot structure robot |
| CN108357581A (en) * | 2018-03-14 | 2018-08-03 | 中国科学院合肥物质科学研究院 | A kind of Bionic flexible pawl thorn is to grabbing sufficient constructed machine people |
| CN108583184A (en) * | 2018-04-13 | 2018-09-28 | 太原科技大学 | A kind of imitative kangaroo leg suspension of diamond shape |
| CN110550122A (en) * | 2018-05-30 | 2019-12-10 | 天津职业技术师范大学 | Supporting leg lower limb mechanism of multi-legged robot with large load bearing ratio |
| CN108773428A (en) * | 2018-06-21 | 2018-11-09 | 吉林大学 | A kind of bionical ground-grabbing antiskid foot |
| CN110834720A (en) * | 2018-08-17 | 2020-02-25 | 中国飞机强度研究所 | Replaceable foot structure for leg landing gear |
| CN109044574A (en) * | 2018-10-08 | 2018-12-21 | 陈金凤 | A kind of bionical astragalus shank mechanical joint artificial limb |
| CN109044574B (en) * | 2018-10-08 | 2021-02-23 | 郑杰 | Bionic talus shank mechanical joint prosthesis |
| CN110588831A (en) * | 2019-09-27 | 2019-12-20 | 哈尔滨理工大学 | Robot foot end damping mechanism |
| CN111594619A (en) * | 2020-05-27 | 2020-08-28 | 哈尔滨工业大学 | Friction damping type foot end mechanism |
| CN112603611B (en) * | 2020-12-10 | 2021-10-15 | 华中科技大学 | Bionic mechanical leg |
| CN112603611A (en) * | 2020-12-10 | 2021-04-06 | 华中科技大学 | Bionic mechanical leg |
| CN113443043B (en) * | 2021-07-16 | 2022-05-17 | 浙江大学 | Foot structure of biped robot adaptable to uneven road surface |
| CN113443043A (en) * | 2021-07-16 | 2021-09-28 | 浙江大学 | Foot structure of biped robot adaptable to uneven road surface |
| CN117734851A (en) * | 2024-02-21 | 2024-03-22 | 成都理工大学 | Parallel robot and foot robot with vibration reduction function |
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