CN107351939A - Legged type robot leg mechanism - Google Patents
Legged type robot leg mechanism Download PDFInfo
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- CN107351939A CN107351939A CN201710620499.XA CN201710620499A CN107351939A CN 107351939 A CN107351939 A CN 107351939A CN 201710620499 A CN201710620499 A CN 201710620499A CN 107351939 A CN107351939 A CN 107351939A
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- upper plate
- lower plate
- connecting rod
- type robot
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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 a kind of legged type robot leg mechanism, body includes upper plate and the lower plate be arrangeding in parallel, and driving joint is fixed with body, drives diarthrodial input and motor connection, drives diarthrodial output end and output axis connection；Multiple six circular arc cams are fixedly connected with an output shaft, each six circular arc cam is connected in corresponding square groove, square groove is fixedly connected with one end of corresponding sliding bar, the other end of sliding bar is connected with sliding ball angle mechanism, one end of sliding ball angle mechanism and connecting rod connects, connecting rod is installed on the rotating shaft by small axle, rotary shaft is arranged between upper plate and lower plate by bearing, the other end of connecting rod is provided with walking leg, and the length of corresponding sliding bar is set according to the installation site of different walking legs.A plurality of walking leg is controlled by power source, it is simple in construction, in light weight, small volume, amphibious environment is taken into account, the problem of it is excessive to solve the power source of multi-foot robot in the prior art, very flexible, and range of movement is limited.
Description
Technical field
The invention belongs to robotic technology field, is related to a kind of legged type robot leg mechanism, applied to multi-foot robot,
The foot movement of the biological for polypodies such as sea crab, spider can be used for simulating.
Background technology
The continuous progress and development of the subjects such as aquatic bionic, robotics, mechanical kinetics, many demands of society
Be continuously increased, polypody bio-robot because its is adaptable, be widely used the features such as mechanical field study hotspot.It is more
Sufficient bio-robot can stably move at a high speed under Various Complex surface conditions.With the artificial platform of polypody bionic machine, take
Different Work tools is carried, can be removed mines, welded, the dangerous property such as pipeline cleaning, biological specimen collection, bad environments
Work.Walking leg realizes the main portions of function as multi-foot robot, and the design for sufficient formula structure is bionical polypody machine
The most important thing of people's design.The structure of existing bionical multi-foot robot is excessively complicated, power source is excessive, so as to cause robot mistake
Weight, it is difficult to reach miniaturization, the actual demand that flexibility is strong, range of movement is wide；And current legged type robot mostly can not
Take into account amphibious environment.
The content of the invention
In order to achieve the above object, the present invention provides a kind of legged type robot leg mechanism, is controlled by a power source
A plurality of walking leg, it is simple in construction, in light weight, small volume, amphibious environment is taken into account, solve the dynamic of multi-foot robot in the prior art
The problem of power source is excessive, very flexible, and range of movement is limited.
The technical solution adopted in the present invention is a kind of legged type robot leg mechanism, it is characterised in that including body,
Body includes upper plate and the lower plate be arrangeding in parallel, and driving joint is fixed with body, drives diarthrodial input and motor connection,
Drive diarthrodial output end and output axis connection；Multiple six circular arc cams are fixedly connected with an output shaft, each six circular arc
Cam is connected in corresponding square groove, and square groove is fixedly connected with one end of corresponding sliding bar, the other end of sliding bar
Mechanism is connected with sliding ball angle, and one end connection of sliding ball angle mechanism and connecting rod, this one end of connecting rod is arranged on by small axle to be turned
On moving axis, rotary shaft is arranged between upper plate and lower plate by bearing, and the other end of connecting rod is provided with walking leg；According to asynchronous
The installation site of row foot sets the length of corresponding sliding bar, is equipped with the middle part of each sliding bar and extends respectively to upper plate, lower plate
Wing plate, be respectively equipped with self-lubricating material system corresponding with wing plate on upper plate and lower plate, along the length direction of upper plate and lower plate
Chute, the end of wing plate is engaged and installed in chute.
The present invention is further characterized in that, further, the sliding ball angle mechanism includes U-shaped big support and U-shaped small
Support, two U-shaped sides inner sides of big support are equipped with ring buckle, and small rack is stuck in by ring buckle in the U-shaped opening of big support,
It is provided with second bearing between small rack and big support, baffle plate, baffle plate and is fixed with by fastening nail at the U-shaped opening of small rack
Rotating ball is stuck in the U-shaped opening of small rack by three bearings, is equipped between rotating ball and small rack, between rotating ball and baffle plate
3rd bearing；Big support is connected with sliding bar, and one end connection of rotating ball and connecting rod, the other end of connecting rod is provided with walking leg,
The middle part of connecting rod is rotatablely connected by clutch shaft bearing and small axle, and the mounting hole of radial direction is provided with rotary shaft, and small axle passes through mounting hole
It is vertical with rotary shaft to be fixedly connected.
Further, the wing plate end is circular arc.
Further, more support columns are provided between the upper plate and lower plate, in the outer surface of upper plate and lower plate, with supporting
Post corresponding position is equipped with gland.
Further, it is described driving joint be fixed on by fore-stock and after-poppet in body, driving joint respectively with control
Device processed, remote control connection, controller, remote control are installed on body.
Further, encoder is housed, to gather the reading of driving joint output revolutions on the output shaft.
Further, chute gland is provided with the outer surface of the upper plate and lower plate, chute, bearing is distinguished by gland
It is fixedly connected with upper plate, lower plate.
Further, the sufficient end of the walking leg is provided with toe.
Further, the multiple six circular arc cam is arranged in order from inside to outside in sequence on an output shaft, often
The hole coordinated with output shaft is offered on individual six circular arc cam.
The beneficial effects of the invention are as follows：The present invention includes body and multiple leg mechanisms, and driving joint is fixed with body,
Each leg mechanism includes six circular arc cams, and multiple six circular arc cams are connected to one and driven on diarthrodial output shaft, often
Individual six circular arc cam is connected in corresponding square groove, and square groove is fixedly connected with one end of corresponding sliding bar, sliding bar
The other end be connected with sliding ball angle, one end of sliding ball angle and connecting rod connection, connecting rod is installed on the rotating shaft by small axle, even
The other end of bar is provided with walking leg；The length of corresponding sliding bar is set according to the installation site of different walking legs, it is each to slide
It is equipped with the middle part of bar respectively to upper plate, the wing plate of lower plate extension, on upper plate and lower plate, along the length direction of upper plate and lower plate
Chute corresponding with wing plate is respectively equipped with, the end of wing plate is engaged and installed in chute.Each leg mechanism is convex by six circular arcs
The walking movement of wheel and the corresponding walking leg of sliding ball angle mechanism controls, multiple leg mechanisms control the walking fortune of multiple walking legs
It is dynamic, realize and control a plurality of walking leg to walk by a power source, the compound movement of biological for polypody can be imitated, there is structure
Simply, it is in light weight, small volume, efficiency high, low cost and other advantages.
The present invention uses Modular Structure Design, and driving joint is waterproof driving device, environment can use, make under water
It is of the invention can the operation under amphibious environment, flexibility is strong, and range of movement is wide.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the front view of single group leg mechanism of the present invention；
Fig. 2 is the right view of single group leg mechanism of the present invention；
Fig. 3 is the structural representation of body of the present invention；
Fig. 4 is the front view of sliding ball angle mechanism；
Fig. 5 is the right view of sliding ball angle mechanism；
Fig. 6 is the motion principle figure of six circular arc cam mechanisms；
Fig. 7 is the kinematic sketch of six circular arc cam mechanisms；
Fig. 8 is the structural representation of sliding ball angle driving walking leg motion；
Fig. 9 is the structural representation that a driving joint drives three walking legs.
In figure, 1-1. upper plates, 1-2. lower plates, 2. 6 circular arc cams, 3. sliding bars, 4. walking legs, 5. connecting rods, 6. rotate
Axle, 7. small axles, 8. clutch shaft bearings, 9. glands, 10. toes, 11. support columns, 12. chutes, 13. sliding ball angle mechanisms, 14. codings
Device, 15. fore-stocks, 16. driving joints, 17. after-poppets, 18. chute glands, 19. bearings, 20. big supports, 21. small racks,
22. second bearing, 23. baffle plates, 24. rotating balls, 25. fastening nails, 26. 3rd bearings, 27. output shafts, 28. wing plates.
Embodiment
Below in conjunction with the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely retouched
State, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
The structure of single group leg mechanism of the present invention, as Figure 1-3, including body and a leg mechanism, body include
The upper plate 1-1 and lower plate 1-2 be arrangeding in parallel, upper plate 1-1 and lower plate 1-2 can use carbon fiber, lucite, aluminium alloy or not
Rust Steel material be made, more support columns 11 are provided between upper plate 1-1 and lower plate 1-2, upper plate 1-1 and lower plate 1-2 outer surface,
Gland 9 is equipped with the corresponding position of support column 11；Driving joint 16 is fixed in body by fore-stock 15 and after-poppet 17, is driven
Joint 16 is connected with controller, remote control respectively, and controller, remote control are installed on upper plate 1-1, lower plate 1-2, driving
The input and motor connection in joint 16, the output end in driving joint 16 is connected with output shaft 27, equipped with coding on output shaft 27
Device 14, to gather the reading of the driving output revolutions of joint 16；Leg mechanism includes six circular arc cams 2, six circular arc cams 2 with it is defeated
Shaft 27 is fixedly connected, and six circular arc cams 2 are connected in square groove, can be rotated in square groove, square groove and sliding bar 3
One end is fixedly connected, and the other end of sliding bar 3 is connected with sliding ball angle mechanism 13, and the middle part of sliding bar 3 is provided with respectively to upper plate
The wing plate 28 of 1-1, lower plate 1-2 extension, is equipped with chute 12 corresponding with wing plate 28, chute 12 on upper plate 1-1, lower plate 1-2
Set along upper plate 1-1, lower plate 1-2 length direction, chute pressure is provided with upper plate 1-1 and lower plate 1-2 outer surface, chute 12
Lid 18, the end of wing plate 28 are engaged and installed in chute 12, can be slided in chute 12, and the end of wing plate 28 is circular arc；Sliding ball angle
Mechanism 13 is connected with one end of connecting rod 5, and the other end of connecting rod 5 is provided with walking leg 4, and the sufficient end of walking leg 4 is provided with toe 10, is risen
Acted on to damping and slide-prevention；Connecting rod 5 by small axle 7 be arranged on rotary shaft 6 on, rotary shaft 6 by bearing 19 be arranged on upper plate 1-1 with
Between lower plate 1-2；Bearing 19 is fixedly connected with upper plate 1-1, lower plate 1-2 respectively by gland 9, for positioning, fixed bias circuit
6。
Sliding ball angle mechanism 13 is a kind of gyroscope-like structure that can realize space multiple degrees of freedom transmission campaign, and structure is as schemed
Shown in 4-5, including big support 20 and small rack 21, big support 20 and small rack 21 are U-shaped, and small rack 21 is stuck in big support 20
U-shaped opening in, be equipped with ring buckle on the inside of two of big support 20 U-shaped sides, small rack 21 is stuck in support 20 by ring buckle
U-shaped opening in, be provided with second bearing 22 between small rack 21 and big support 20, big support 20 is buckled in one by identical two parts
It is U-shaped to play composition so that second bearing 22 and small rack 21 can be snapped together in assembling；The U-shaped opening of small rack 21
Place 25 is fixed with baffle plate 23 by fastening nail, and rotating ball 24 is stuck in the U-shaped opening of small rack 21 by baffle plate 23, rotating ball 24 with
Between small rack 21,3rd bearing 26 is equipped between rotating ball 24 and baffle plate 23, second bearing 22,3rd bearing 26 play
Reduce friction, make the more smooth effect of rotation；Big support 20 is connected with sliding bar 3, and rotating ball 24 is connected with one end of connecting rod 5,
The other end of connecting rod 5 is provided with walking leg 4, and the middle part of connecting rod 5 is rotatablely connected by clutch shaft bearing 8 and small axle 7, in rotary shaft 6
The mounting hole of radial direction is provided with, small axle 7 is fixedly connected by the way that mounting hole is vertical with rotary shaft 6.
The motion principle of legged type robot leg mechanism of the present invention, as shown in figs 6-8, six circular arc cams 2 are with driving joint
16 output shaft 27 rotates together, while six circular arc cams 2 slide in square groove, and six circular arc cams 2 are due to eccentric nature, band
Dynamic sliding bar 3 moves back and forth in the horizontal plane, while is swung up and down in vertical plane, and the end of wing plate 28 is circular arc, is easy to slide
Lever 3 is swung up and down in perpendicular；Two wing plates 28 of sliding bar 3 slide in chute 12, and chute 12 limits slip
The free degree of the bar 3 along upper plate 1-1, lower plate 1-2 width, make sliding bar 3 can only be along upper plate 1-1, lower plate 1-2 length side
Carry out horizontal reciprocating movement and vertically swing.When length direction progress of the sliding bar 3 along upper plate 1-1, lower plate 1-2 is horizontal past
Multiple motion and when vertically swinging, sliding bar 3 drives big support 20 to be synchronized with the movement, the big horizontal reciprocating movement of support 20 and vertical
Swing up and down, small rack 21 rotates in the presence of second bearing 22 around the axis of vertical direction, and rotating ball 24 is around level side
To axis rotated in small rack 21, the horizontal reciprocating movement of rotating ball 24 be converted to by the limitation of rotary shaft 6 promote connecting rod 5,
Small axle 7 rotates around the horizontal reciprocating of rotary shaft 6；The middle part of connecting rod 5 is rotatablely connected by clutch shaft bearing 8 and small axle 7 so that connecting rod 5
Can smoothly it be rotated around small axle 7, the vertically swing drivening rod 5 of rotating ball 24 vertically rotates around small axle 7, even
The vertically rotation of bar 5 is rotated with horizontal reciprocating and is synthesized on walking leg 4, forms three dimensions geometric locus so that walking
Foot 4 realizes walking movement.
One driving joint 16 drives the structure of three walking legs 4, as shown in figure 9, including three foot mechanisms, each foot
Portion mechanism includes six circular arc cams 2, and output shaft 27 of multiple six circular arc cams 2 with a driving joint 16 is connected, often
The outside of individual six circular arc cam 2 is arranged with square groove, and square groove is fixedly connected with one end of corresponding sliding bar 3, sliding bar 3
The other end connected with corresponding sliding ball angle mechanism 13, sliding ball angle mechanism 13 is connected with one end of connecting rod 5, and connecting rod 5 passes through
Small axle 7 is arranged in rotary shaft 6, and the other end of connecting rod 5 is connected with walking leg 4；Set according to the installation site of different walking legs 4
The length of sliding bar 3, the middle part of each sliding bar 3 is equipped with the wing plate 28 extended respectively to upper plate 1-1, lower plate 1-2, in upper plate
Chute 12 corresponding with wing plate 28, wing plate are respectively equipped with 1-1 and lower plate 1-2, along upper plate 1-1 and lower plate 1-2 length direction
28 end is engaged and installed in chute 12.
One driving joint 16 controls the motion principle of a plurality of walking leg：Driving joint 16 drives output shaft 27 to rotate, often
Individual six circular arc cam 2 drive corresponding to sliding bar 3 moves back and forth in the horizontal plane and vertical plane in swing up and down, sliding bar 3 and
The connection end of sliding ball angle mechanism 13 drives sliding ball angle mechanism 13 to be synchronized with the movement, the horizontal reciprocating movement of sliding ball angle mechanism 13
Being converted to by the limitation of rotary shaft 6 promotes connecting rod 5, small axle 7 to be rotated around the horizontal reciprocating of rotary shaft 6；The middle part of connecting rod 5 passes through first axle
Hold 8 to be rotatablely connected with small axle 7 so that connecting rod 5 smoothly can vertically rotate around small axle 7, and connecting rod 5 vertically turns
Dynamic rotated with horizontal reciprocating is synthesized on walking leg 4 so that walking leg 4 realizes walking movement, i.e., each six circular arc cam 2 drives
One walking leg 4 does walking movement；The bias of multiple six circular arc cams 2 is both connected to one and drives the defeated of joint 16 by the present invention
On shaft 27, multiple six circular arc cams 2 drive a plurality of walking leg 4 to do walking movement, you can realize the driving (power of joint 16
Source) control a plurality of walking leg 4 to walk, robot weight is greatly reduced, simplifies structure, reduces volume so that machine
The flexibility of people is stronger, and range of movement is wider.
During actual motion, a plurality of leg is not while moved to equidirectional animal, and we are by same nesting
Foot mechanism above machine be divided into it is multigroup, each group by one driving joint control；So, it is multiple to drive joint different directions not
The rotation of same frequency, it is achieved that the different frequency of multigroup foot mechanism towards different directions moves.
Multiple cams 2 of each group of foot mechanism are both connected to above the output shaft 27 in same driving joint 16, according to suitable
Sequence is arranged in order from inside to outside.The hole coordinated with output shaft 27 is offered on each six circular arc cam 2, is easy to connect with output shaft 27
Connect firmly；Motion phase that the position in hole is actually needed according to foot mechanism determines.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
It is interior.
Claims (9)
1. a kind of legged type robot leg mechanism, it is characterised in that including body, body includes the upper plate (1-1) be arrangeding in parallel
With lower plate (1-2), driving joint (16) is fixed with body, drives the input and motor connection of joint (16), drives joint
(16) output end is connected with output shaft (27)；Multiple six circular arc cams (2) are fixedly connected with an output shaft (27), each
Six circular arc cams (2) are connected in corresponding square groove, and square groove is fixedly connected with the one end of corresponding sliding bar (3), sliding
The other end of lever (3) is connected with sliding ball angle mechanism (13), and sliding ball angle mechanism (13) is connected with one end of connecting rod (5), even
This one end of bar (5) is arranged in rotary shaft (6) by small axle (7), and rotary shaft (6) is arranged on upper plate (1- by bearing (19)
1) between lower plate (1-2), the other end of connecting rod (5) is provided with walking leg (4)；According to the installation site of different walking legs (4)
The length of corresponding sliding bar (3) is set, is equipped with the middle part of each sliding bar (3) and prolongs respectively to upper plate (1-1), lower plate (1-2)
The wing plate (28) stretched, set respectively on upper plate (1-1) and lower plate (1-2), along the length direction of upper plate (1-1) and lower plate (1-2)
There is the chute (12) of self-lubricating material corresponding with wing plate (28), the end of wing plate (28) is engaged and installed in chute (12).
A kind of 2. legged type robot leg mechanism according to claim 1, it is characterised in that the sliding ball angle mechanism
(13) include U-shaped big support (20) and U-shaped small rack (21), annular is equipped with the inside of two U-shaped sides of big support (20)
Button, small rack (21) are stuck in the U-shaped opening of big support (20) by ring buckle, set between small rack (21) and big support (20)
There is a second bearing (22), baffle plate (23) is fixed with by fastening nail (25) at the U-shaped opening of small rack (21), baffle plate (23) and the
Rotating ball (24) is stuck in the U-shaped opening of small rack (21) by three bearings (26), between rotating ball (24) and small rack (21), is turned
It is dynamic that 3rd bearing (26) is equipped between ball (24) and baffle plate (23)；Big support (20) is connected with sliding bar (3), rotating ball (24)
It is connected with one end of connecting rod (5), the other end of connecting rod (5) is provided with walking leg (4), and connecting rod passes through clutch shaft bearing in the middle part of (5)
(8) it is rotatablely connected with small axle (7), the mounting hole of radial direction is provided with rotary shaft (6), small axle (7) passes through mounting hole and rotary shaft (6)
Vertically it is fixedly connected.
A kind of 3. legged type robot leg mechanism according to claim 1, it is characterised in that the end of the wing plate (28)
For circular arc.
A kind of 4. legged type robot leg mechanism according to claim 1, it is characterised in that the upper plate (1-1) and under
More support columns (11) are provided between plate (1-2), in the outer surface of upper plate (1-1) and lower plate (1-2), corresponding with support column (11)
Place is equipped with gland (9).
5. a kind of legged type robot leg mechanism according to claim 1, it is characterised in that driving joint (16) is logical
Cross fore-stock (15) and after-poppet (17) is fixed in body, driving joint (16) is connected with controller, remote control respectively, is controlled
Device processed, remote control are installed on body.
6. a kind of legged type robot leg mechanism according to claim 1, it is characterised in that filled on the output shaft (27)
There is encoder (14), to gather the reading of driving joint (16) output revolutions.
A kind of 7. legged type robot leg mechanism according to claim 1, it is characterised in that in the upper plate (1-1) and
Outer surface, chute (12) place of lower plate (1-2) are provided with chute gland (18), bearing (19) by gland (9) respectively with upper plate (1-
1), lower plate (1-2) is fixedly connected.
A kind of 8. legged type robot leg mechanism according to claim 1, it is characterised in that the foot of the walking leg (4)
End is provided with toe (10).
A kind of 9. legged type robot leg mechanism according to claim 1, it is characterised in that the multiple six circular arc cam
(2) it is arranged in order from inside to outside in sequence on an output shaft (27), offers and export on each six circular arc cam (2)
The hole that axle (27) coordinates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710620499.XA CN107351939B (en) | 2017-07-26 | 2017-07-26 | Leg mechanism of foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710620499.XA CN107351939B (en) | 2017-07-26 | 2017-07-26 | Leg mechanism of foot robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107351939A true CN107351939A (en) | 2017-11-17 |
| CN107351939B CN107351939B (en) | 2023-07-14 |
Family
ID=60285625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710620499.XA Active CN107351939B (en) | 2017-07-26 | 2017-07-26 | Leg mechanism of foot robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351939B (en) |
Cited By (4)
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|---|---|---|---|---|
| CN108216419A (en) * | 2018-01-08 | 2018-06-29 | 吉林大学 | A kind of foot formula walking robot leg structure |
| CN108357583A (en) * | 2018-04-24 | 2018-08-03 | 深圳市娅安科技有限公司 | A kind of robot walking device |
| CN108482513A (en) * | 2018-05-02 | 2018-09-04 | 佛山科学技术学院 | A kind of tri-state machinery leg structure |
| CN111516775A (en) * | 2020-05-15 | 2020-08-11 | 哈尔滨工程大学 | Foot type robot capable of stably working in amphibious environment |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216419A (en) * | 2018-01-08 | 2018-06-29 | 吉林大学 | A kind of foot formula walking robot leg structure |
| CN108216419B (en) * | 2018-01-08 | 2020-01-07 | 吉林大学 | Leg structure of foot type walking robot |
| CN108357583A (en) * | 2018-04-24 | 2018-08-03 | 深圳市娅安科技有限公司 | A kind of robot walking device |
| CN108482513A (en) * | 2018-05-02 | 2018-09-04 | 佛山科学技术学院 | A kind of tri-state machinery leg structure |
| CN108482513B (en) * | 2018-05-02 | 2023-08-01 | 佛山科学技术学院 | Tri-state mechanical leg structure |
| CN111516775A (en) * | 2020-05-15 | 2020-08-11 | 哈尔滨工程大学 | Foot type robot capable of stably working in amphibious environment |
| CN111516775B (en) * | 2020-05-15 | 2021-04-09 | 哈尔滨工程大学 | Foot type robot capable of stably working in amphibious environment |
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| CN107351939B (en) | 2023-07-14 |
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