CN107351939B - Leg mechanism of foot robot - Google Patents
Leg mechanism of foot robot Download PDFInfo
- Publication number
- CN107351939B CN107351939B CN201710620499.XA CN201710620499A CN107351939B CN 107351939 B CN107351939 B CN 107351939B CN 201710620499 A CN201710620499 A CN 201710620499A CN 107351939 B CN107351939 B CN 107351939B
- Authority
- CN
- China
- Prior art keywords
- bracket
- upper plate
- lower plate
- foot
- sliding
- 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.)
- Active
Links
Images
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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a leg mechanism of a foot robot, which comprises an upper plate and a lower plate which are arranged in parallel, wherein a driving joint is fixed in the body, the input end of the driving joint is connected with a motor, and the output end of the driving joint is connected with an output shaft; the six arc cams are fixedly connected with an output shaft, each six arc cam is clamped in a corresponding square groove, one end of each square groove is fixedly connected with one end of a corresponding sliding rod, the other end of each sliding rod is connected with a sliding ball angle mechanism, the sliding ball angle mechanism is connected with one end of a connecting rod, the connecting rod is installed on a rotating shaft through a small shaft, the rotating shaft is installed between an upper plate and a lower plate through a bearing, walking feet are installed at the other end of the connecting rod, and the length of each sliding rod is set according to the installation positions of different walking feet. The power source is used for controlling a plurality of walking feet, the structure is simple, the weight is light, the volume is small, the amphibious environment is considered, and the problems of excessive power sources, poor flexibility and limited movement range of the multi-foot robot in the prior art are solved.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a leg mechanism of a foot robot, which is applied to a multi-foot robot and can be used for simulating foot motions of multi-foot organisms such as sea crabs, spiders and the like.
Background
The subjects of underwater bionics, robotics, mechanical dynamics and the like are continuously improved and developed, the demand of various social aspects is continuously increased, and the multi-legged bionic robot becomes a research hot spot in the mechanical field due to the characteristics of strong adaptability, wide application and the like. The multi-foot bionic robot can move stably at high speed under the condition of various complex pavements. The multi-foot bionic robot is used as a platform, different working tools are carried, and dangerous and environmentally-bad work such as mine removal, welding, pipeline cleaning, biological sample collection and the like can be carried out. The walking foot is used as the main part of the multi-foot robot for realizing the function, and the design of the foot type structure is the important part of the design of the bionic multi-foot robot. The existing bionic multi-legged robot is excessively complex in structure and excessive in power source, so that the robot is excessively heavy, and the practical requirements of miniaturization, strong flexibility and wide movement range are difficult to achieve; and most of the existing foot robots cannot consider amphibious environment.
Disclosure of Invention
In order to achieve the above purpose, the invention provides a leg mechanism of a foot robot, which controls a plurality of walking feet through one power source, has a simple structure, light weight and small volume, gives consideration to amphibious environment, and solves the problems of excessive power sources, poor flexibility and limited movement range of the multi-foot robot in the prior art.
The leg mechanism of the foot robot is characterized by comprising a machine body, wherein the machine body comprises an upper plate and a lower plate which are arranged in parallel, a driving joint is fixed in the machine body, the input end of the driving joint is connected with a motor, and the output end of the driving joint is connected with an output shaft; the six arc cams are fixedly connected with an output shaft, each six arc cam is clamped in a corresponding square groove, the square groove is fixedly connected with one end of a corresponding sliding rod, the other end of the sliding rod is connected with a sliding ball angle mechanism, the sliding ball angle mechanism is connected with one end of a connecting rod, the one end of the connecting rod is arranged on a rotating shaft through a small shaft, the rotating shaft is arranged between an upper plate and a lower plate through a bearing, and the other end of the connecting rod is provided with a walking foot; the length of corresponding sliding rods is set according to the installation positions of different walking feet, wing plates extending towards the upper plate and the lower plate are arranged in the middle of each sliding rod respectively, sliding grooves made of self-lubricating materials corresponding to the wing plates are arranged on the upper plate and the lower plate and along the length directions of the upper plate and the lower plate respectively, and the end parts of the wing plates are clamped and installed in the sliding grooves.
The invention is further characterized in that the sliding ball angle mechanism comprises a U-shaped large bracket and a U-shaped small bracket, annular buckles are arranged on the inner sides of two U-shaped edges of the large bracket, the small bracket is clamped in a U-shaped opening of the large bracket through the annular buckles, a second bearing is arranged between the small bracket and the large bracket, a baffle is fixed at the U-shaped opening of the small bracket through fastening nails, a rotating ball is clamped in the U-shaped opening of the small bracket by the baffle and a third bearing, and a third bearing is arranged between the rotating ball and the small bracket and between the rotating ball and the baffle; the large support is connected with the sliding rod, the rotating ball is connected with one end of the connecting rod, the walking foot is installed at the other end of the connecting rod, the middle part of the connecting rod is rotationally connected with the small shaft through the first bearing, a radial mounting hole is formed in the rotating shaft, and the small shaft is vertically and fixedly connected with the rotating shaft through the mounting hole.
Further, the end part of the wing plate is arc-shaped.
Further, a plurality of support columns are arranged between the upper plate and the lower plate, and pressing covers are arranged on the outer surfaces of the upper plate and the lower plate and at positions corresponding to the support columns.
Further, the driving joint is fixed in the machine body through the front support and the rear support, and is respectively connected with the controller and the remote control device, and the controller and the remote control device are both arranged on the machine body.
Further, the output shaft is provided with an encoder for acquiring the reading of the output revolution of the driving joint.
Further, chute pressing covers are arranged on the outer surfaces of the upper plate and the lower plate and the chute, and the bearings are respectively and fixedly connected with the upper plate and the lower plate through the pressing covers.
Furthermore, the foot end of the walking foot is provided with a toe.
Further, the six arc cams are sequentially arranged on one output shaft from inside to outside in sequence, and each six arc cam is provided with a hole matched with the output shaft.
The beneficial effects of the invention are as follows: the invention comprises a machine body and a plurality of leg mechanisms, wherein a driving joint is fixed in the machine body, each leg mechanism comprises a six-arc cam, the six-arc cams are connected to an output shaft of one driving joint, each six-arc cam is clamped in a corresponding square groove, the square groove is fixedly connected with one end of a corresponding sliding rod, the other end of the sliding rod is connected with a sliding ball angle, the sliding ball angle is connected with one end of a connecting rod, the connecting rod is arranged on a rotating shaft through a small shaft, and the other end of the connecting rod is provided with a walking foot; the length of corresponding sliding rods is set according to the installation positions of different walking feet, wing plates extending towards the upper plate and the lower plate are arranged in the middle of each sliding rod respectively, sliding grooves corresponding to the wing plates are arranged on the upper plate and the lower plate and along the length directions of the upper plate and the lower plate respectively, and the end parts of the wing plates are clamped and installed in the sliding grooves. Each leg mechanism controls the walking motion of the corresponding walking foot through the six-arc cam and the sliding ball angle mechanism, and the plurality of leg mechanisms control the walking motion of the plurality of walking feet, so that the walking of the plurality of walking feet is controlled through one power source, the complex motion of the multi-foot organism can be simulated, and the walking device has the advantages of simple structure, light weight, small volume, high efficiency, low cost and the like.
The invention adopts a modularized structural design, and the driving joint is a waterproof driving device, so that the waterproof driving device can be used in an underwater environment, can work in an amphibious environment, and has strong flexibility and wide movement range.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a front view of a single set of leg mechanisms of the present invention;
FIG. 2 is a right side view of the single set of leg mechanism of the present invention;
FIG. 3 is a schematic view of the structure of the body of the present invention;
FIG. 4 is a front view of a sliding ball angle mechanism;
FIG. 5 is a right side view of the sliding ball angle mechanism;
FIG. 6 is a motion schematic of a six-arc cam mechanism;
FIG. 7 is a schematic diagram of the motion of a six-arc cam mechanism;
FIG. 8 is a schematic view of a sliding ball angle-driven ambulatory foot motion;
fig. 9 is a schematic diagram of a structure in which one drive joint drives three walking feet.
1-1 parts of the upper plate, 1-2 parts of the lower plate, 2 parts of the six arc cams, 3 parts of the sliding rod, 4 parts of the walking foot, 5 parts of the connecting rod, 6 parts of the rotating shaft, 7 parts of the small shaft, 8 parts of the first bearing, 9 parts of the gland, 10 parts of the toe, 11 parts of the support column, 12 parts of the sliding chute, 13 parts of the sliding ball angle mechanism, 14 parts of the encoder, 15 parts of the front bracket, 16 parts of the driving joint, 17 parts of the rear bracket, 18 parts of the sliding chute gland, 19 parts of the bearing, 20 parts of the large bracket, 21 parts of the small bracket, 22 parts of the second bearing, 23 parts of the baffle, 24 parts of the rotating ball, 25 parts of the fastening nail, 26 parts of the third bearing, 27 parts of the output shaft and 28 parts of the wing plate.
Detailed Description
In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The structure of the single-group leg mechanism of the invention is shown in fig. 1-3, and comprises a machine body and a leg mechanism, wherein the machine body comprises an upper plate 1-1 and a lower plate 1-2 which are arranged in parallel, the upper plate 1-1 and the lower plate 1-2 can be made of carbon fiber, organic glass, aluminum alloy or stainless steel materials, a plurality of supporting columns 11 are arranged between the upper plate 1-1 and the lower plate 1-2, and a gland 9 is arranged on the outer surface of the upper plate 1-1 and the lower plate 1-2 and at the position corresponding to the supporting columns 11; the driving joint 16 is fixed in the machine body through the front bracket 15 and the rear bracket 17, the driving joint 16 is respectively connected with a controller and a remote control device, the controller and the remote control device are both arranged on the upper plate 1-1 and the lower plate 1-2, the input end of the driving joint 16 is connected with a motor, the output end of the driving joint 16 is connected with an output shaft 27, and the output shaft 27 is provided with an encoder 14 for collecting the reading of the output revolution number of the driving joint 16; the leg mechanism comprises a six-arc cam 2, the six-arc cam 2 is fixedly connected with an output shaft 27, the six-arc cam 2 is clamped in a square groove and can rotate in the square groove, the square groove is fixedly connected with one end of a sliding rod 3, the other end of the sliding rod 3 is connected with a sliding ball angle mechanism 13, wing plates 28 which extend towards an upper plate 1-1 and a lower plate 1-2 respectively are arranged in the middle of the sliding rod 3, sliding grooves 12 corresponding to the wing plates 28 are arranged on the upper plate 1-1 and the lower plate 1-2, the sliding grooves 12 are arranged along the length direction of the upper plate 1-1 and the lower plate 1-2, a sliding groove gland 18 is arranged on the outer surfaces of the upper plate 1-1 and the lower plate 1-2 and at the sliding grooves 12, the end parts of the wing plates 28 are clamped and installed in the sliding grooves 12 and can slide in the sliding grooves 12, and the end parts of the wing plates 28 are arc-shaped; the sliding ball angle mechanism 13 is connected with one end of the connecting rod 5, the other end of the connecting rod 5 is provided with a walking foot 4, and the foot end of the walking foot 4 is provided with a toe 10, so that the damping and anti-skidding effects are achieved; the connecting rod 5 is arranged on the rotating shaft 6 through a small shaft 7, and the rotating shaft 6 is arranged between the upper plate 1-1 and the lower plate 1-2 through a bearing 19; the bearing 19 is fixedly connected with the upper plate 1-1 and the lower plate 1-2 through the gland 9 respectively and is used for positioning and fixing the rotating shaft 6.
The sliding ball angle mechanism 13 is a gyroscopic structure capable of realizing space multi-degree-of-freedom transmission motion, the structure is shown in fig. 4-5, the structure comprises a large bracket 20 and a small bracket 21, the large bracket 20 and the small bracket 21 are both U-shaped, the small bracket 21 is clamped in a U-shaped opening of the large bracket 20, annular buckles are arranged on the inner sides of two U-shaped edges of the large bracket 20, the small bracket 21 is clamped in the U-shaped opening of the bracket 20 through the annular buckles, a second bearing 22 is arranged between the small bracket 21 and the large bracket 20, and the large bracket 20 is buckled together by the same two parts to form a U-shaped structure, so that the second bearing 22 and the small bracket 21 can be buckled together during assembly; a baffle plate 23 is fixed at the U-shaped opening of the small bracket 21 through a fastening nail 25, the baffle plate 23 clamps a rotating ball 24 in the U-shaped opening of the small bracket 21, and a third bearing 26 is arranged between the rotating ball 24 and the small bracket 21 and between the rotating ball 24 and the baffle plate 23, and the second bearing 22 and the third bearing 26 both play roles in reducing friction and enabling rotation to be smoother; the big support 20 is connected with the sliding rod 3, and the ball 24 is connected with one end of connecting rod 5, and walking foot 4 is installed to the other end of connecting rod 5, and the middle part of connecting rod 5 is connected with little axle 7 rotation through first bearing 8, opens radial mounting hole on the axis of rotation 6, and little axle 7 passes through mounting hole and axis of rotation 6 vertical fixed connection.
The motion principle of the leg mechanism of the foot robot is shown in fig. 6-8, the six-arc cams 2 rotate along with the output shaft 27 of the driving joint 16, meanwhile, the six-arc cams 2 slide in the square grooves, the six-arc cams 2 drive the sliding rod 3 to reciprocate in the horizontal plane due to the eccentric characteristic and swing up and down in the vertical plane, the end parts of the wing plates 28 are arc-shaped, so that the sliding rod 3 can swing up and down in the vertical plane conveniently; the two wing plates 28 of the sliding rod 3 slide in the sliding grooves 12, and the sliding grooves 12 limit the freedom degree of the sliding rod 3 along the width direction of the upper plate 1-1 and the lower plate 1-2, so that the sliding rod 3 can only horizontally reciprocate and vertically swing up and down along the length direction of the upper plate 1-1 and the lower plate 1-2. When the sliding rod 3 horizontally reciprocates and vertically swings up and down along the length direction of the upper plate 1-1 and the lower plate 1-2, the sliding rod 3 drives the large bracket 20 to synchronously move, the large bracket 20 horizontally reciprocates and vertically swings up and down, the small bracket 21 rotates around the axis in the vertical direction under the action of the second bearing 22, the rotating ball 24 rotates in the small bracket 21 around the axis in the horizontal direction, and the horizontal reciprocation of the rotating ball 24 is limited by the rotating shaft 6 and is converted into the horizontal reciprocation of the pushing connecting rod 5 and the small shaft 7 around the rotating shaft 6; the middle part of connecting rod 5 is connected with the rotation of minor axis 7 through first bearing 8 for connecting rod 5 can rotate smoothly round minor axis 7, and the vertical up-and-down swing of swivel ball 24 drives connecting rod 5 and rotates about minor axis 7 is vertical, and the vertical up-and-down rotation and the horizontal reciprocal rotation of connecting rod 5 are synthesized to walking on the foot 4, form three-dimensional space track curve, make walking on foot 4 realize walking motion.
The structure of the three walking feet 4 driven by one driving joint 16 is shown in fig. 9, and comprises three foot mechanisms, wherein each foot mechanism comprises a six-arc cam 2, a plurality of six-arc cams 2 are connected with an output shaft 27 of one driving joint 16, square grooves are sleeved outside each six-arc cam 2, the square grooves are fixedly connected with one end of a corresponding sliding rod 3, the other end of the sliding rod 3 is connected with a corresponding sliding ball angle mechanism 13, the sliding ball angle mechanism 13 is connected with one end of a connecting rod 5, the connecting rod 5 is arranged on a rotating shaft 6 through a small shaft 7, and the other end of the connecting rod 5 is connected with the walking feet 4; the length of the sliding rods 3 is set according to the installation positions of different walking feet 4, wing plates 28 extending towards the upper plate 1-1 and the lower plate 1-2 are arranged in the middle of each sliding rod 3, sliding grooves 12 corresponding to the wing plates 28 are arranged on the upper plate 1-1 and the lower plate 1-2 along the length direction of the upper plate 1-1 and the lower plate 1-2, and the end parts of the wing plates 28 are clamped and installed in the sliding grooves 12.
A drive joint 16 controls the principle of motion of a plurality of walking feet: the driving joint 16 drives the output shaft 27 to rotate, each six-arc cam 2 drives the corresponding sliding rod 3 to reciprocate in the horizontal plane and swing up and down in the vertical plane, the connecting end of the sliding rod 3 and the sliding ball angle mechanism 13 drives the sliding ball angle mechanism 13 to synchronously move, and the horizontal reciprocation of the sliding ball angle mechanism 13 is limited by the rotating shaft 6 and is converted into horizontal reciprocation of the pushing connecting rod 5 and the small shaft 7 around the rotating shaft 6; the middle part of the connecting rod 5 is rotationally connected with the small shaft 7 through a first bearing 8, so that the connecting rod 5 can smoothly vertically rotate up and down around the small shaft 7, the vertical up and down rotation and the horizontal reciprocating rotation of the connecting rod 5 are combined on the walking foot 4, the walking foot 4 realizes the walking motion, namely, each six-arc cam 2 drives one walking foot 4 to do the walking motion; the eccentricities of the six-arc cams 2 are connected to the output shaft 27 of one driving joint 16, and the six-arc cams 2 drive the walking feet 4 to walk, so that one driving joint 16 (power source) can control the walking feet 4 to walk, the weight of the robot is greatly reduced, the structure is simplified, the size is reduced, the flexibility of the robot is higher, and the movement range is wider.
In the actual movement process of animals, a plurality of legs do not move in the same direction at the same time, and the foot mechanisms on the same prototype are divided into a plurality of groups, and each group is controlled by a driving joint; thus, the plurality of driving joints rotate in different directions and at different frequencies, so that the plurality of groups of foot mechanisms move in different directions and at different frequencies.
The cams 2 of each set of foot mechanisms are connected to the output shaft 27 of the same drive joint 16, in sequence from inside to outside. Each six-arc cam 2 is provided with a hole matched with the output shaft 27, so that the six-arc cams are convenient to connect firmly with the output shaft 27; the position of the aperture is determined by the actual desired phase of motion of the foot mechanism.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. The leg mechanism of the foot robot is characterized by comprising a machine body, wherein the machine body comprises an upper plate (1-1) and a lower plate (1-2) which are arranged in parallel, a driving joint (16) is fixed in the machine body, the input end of the driving joint (16) is connected with a motor, and the output end of the driving joint (16) is connected with an output shaft (27); the six-arc cams (2) are fixedly connected with an output shaft (27), each six-arc cam (2) is clamped in a corresponding square groove, the square groove is fixedly connected with one end of a corresponding sliding rod (3), the other end of the sliding rod (3) is connected with a sliding ball angle mechanism (13), the sliding ball angle mechanism (13) is connected with one end of a connecting rod (5), the end of the connecting rod (5) is arranged on a rotating shaft (6) through a small shaft (7), the rotating shaft (6) is arranged between an upper plate (1-1) and a lower plate (1-2) through a bearing (19), and a walking foot (4) is arranged at the other end of the connecting rod (5); setting the lengths of corresponding sliding rods (3) according to the installation positions of different walking feet (4), wherein the middle part of each sliding rod (3) is provided with a wing plate (28) which extends towards the upper plate (1-1) and the lower plate (1-2) respectively, sliding grooves (12) which are made of self-lubricating materials and correspond to the wing plates (28) are arranged on the upper plate (1-1) and the lower plate (1-2) along the length direction of the upper plate (1-1) and the lower plate (1-2) respectively, and the end parts of the wing plates (28) are clamped and installed in the sliding grooves (12);
the sliding ball angle mechanism (13) comprises a large U-shaped bracket (20) and a small U-shaped bracket (21), annular buckles are arranged on the inner sides of two U-shaped edges of the large bracket (20), the small bracket (21) is clamped in a U-shaped opening of the large bracket (20) through the annular buckles, a second bearing (22) is arranged between the small bracket (21) and the large bracket (20), a baffle (23) is fixed at the U-shaped opening of the small bracket (21) through a fastening nail (25), a rotating ball (24) is clamped in the U-shaped opening of the small bracket (21) through the baffle (23) and a third bearing (26), and a third bearing (26) is arranged between the rotating ball (24) and the small bracket (21) and between the rotating ball (24) and the baffle (23); the large support (20) is connected with the sliding rod (3), the rotating ball (24) is connected with one end of the connecting rod (5), the walking foot (4) is installed at the other end of the connecting rod (5), the middle part of the connecting rod (5) is rotationally connected with the small shaft (7) through the first bearing (8), a radial mounting hole is formed in the rotating shaft (6), and the small shaft (7) is vertically and fixedly connected with the rotating shaft (6) through the mounting hole.
2. A foot robot leg mechanism according to claim 1, characterized in that the end of the wing plate (28) is circular arc-shaped.
3. The leg mechanism of the foot robot according to claim 1, wherein a plurality of support columns (11) are arranged between the upper plate (1-1) and the lower plate (1-2), and pressing covers (9) are arranged on the outer surfaces of the upper plate (1-1) and the lower plate (1-2) and at positions corresponding to the support columns (11).
4. The leg mechanism of the foot robot according to claim 1, wherein the driving joint (16) is fixed in the machine body through a front bracket (15) and a rear bracket (17), the driving joint (16) is respectively connected with a controller and a remote control device, and the controller and the remote control device are both arranged on the machine body.
5. A foot robot leg mechanism according to claim 1, characterized in that the output shaft (27) is provided with an encoder (14) for taking readings of the number of revolutions output by the drive joint (16).
6. The leg mechanism of the foot robot according to claim 1, wherein a chute gland (18) is arranged on the outer surfaces of the upper plate (1-1) and the lower plate (1-2) and at the chute (12), and the bearing (19) is fixedly connected with the upper plate (1-1) and the lower plate (1-2) through the gland (9) respectively.
7. A foot robot leg mechanism according to claim 1, characterized in that the foot end of the walking foot (4) is provided with a toe (10).
8. A foot robot leg mechanism according to claim 1, wherein the six circular cams (2) are sequentially arranged on an output shaft (27) from inside to outside, and each six circular cam (2) is provided with a hole matched with the output shaft (27).
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 CN107351939A (en) | 2017-11-17 |
| CN107351939B true 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) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108482513B (en) * | 2018-05-02 | 2023-08-01 | 佛山科学技术学院 | Tri-state mechanical leg structure |
| 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 |
| CN113374064A (en) * | 2021-04-26 | 2021-09-10 | 王树 | Dredging machine for sewage pipeline |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
| DE10032640A1 (en) * | 2000-07-05 | 2002-01-17 | Jan Stein | Walking robot has legs of at least one pair suspended in gimbal fashion in sliding joints on movable steering beam; each beam is mounted on robot body to be pivotable about vertical axis |
| CN103481964B (en) * | 2013-09-13 | 2015-08-05 | 北京航空航天大学 | A kind of Six-foot walking robot with obstacle climbing ability |
| CN104723814B (en) * | 2015-03-02 | 2017-04-12 | 黑龙江工程学院 | Amphibious multi-foot robot achieving coupling drive of foot paddles |
| CN104960591B (en) * | 2015-07-10 | 2017-05-24 | 陕西九立机器人制造有限公司 | Hexapod robot |
| CN105216901B (en) * | 2015-09-07 | 2018-03-27 | 郑州大学 | A kind of four-degree-of-freedom leg mechanism in parallel of walking robot |
| CN106945745A (en) * | 2017-05-02 | 2017-07-14 | 吉林大学 | A kind of sufficient mobile platform of double-deck disc type six |
| CN207060207U (en) * | 2017-07-26 | 2018-03-02 | 陈曦 | Legged type robot leg mechanism |
-
2017
- 2017-07-26 CN CN201710620499.XA patent/CN107351939B/en active Active
Non-Patent Citations (3)
| Title |
|---|
| 仿海蟹机器人浮游步态动力学建模与运动控制;王海龙 等;机器人;第37卷(第02期);第176-187页 * |
| 仿蟹机器人行走稳定性判定方法;王立权 等;高技术通讯;第23卷(第02期);第167-173页 * |
| 基于CPG的仿蟹机器人复杂地形步态生成方法;王刚 等;中南大学学报(自然科学版);第47卷(第12期);第4070-4080页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107351939A (en) | 2017-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107351939B (en) | Leg mechanism of foot robot | |
| CN103273979B (en) | Splittable snake-like robot with multiple motion modes | |
| CN102556200B (en) | Four-feet walker | |
| CN109178137B (en) | Multi-foot robot based on Three Degree Of Freedom pedipulator | |
| CN107298137B (en) | Lying type walking robot | |
| CN203726481U (en) | Robot head | |
| CN104760492B (en) | Full-step walking spherical robot | |
| CN104444418B (en) | Eighteen-degree-of-freedom robot with bucket | |
| CN103144694B (en) | A kind of four-leg bionic robot pivot stud mechanism | |
| CN102897243B (en) | Robot device capable of walking stably | |
| CN103622751A (en) | Surgical robot passive joint based on motor drive locking | |
| CN111846008A (en) | Biped robot with variable-rigidity ankle joint | |
| CN107243921B (en) | Waist joint for humanoid robot | |
| CN107554640B (en) | Six-foot walker based on four-degree-of-freedom mechanism legs | |
| CN108639178A (en) | The climbing robot of hybrid movement | |
| CN109606499B (en) | Miniature six-leg robot | |
| CN102991601A (en) | Two-degree-of-freedom humanoid ankle joint | |
| CN108608408A (en) | A kind of bionical jellyfish robot of multiple degrees of freedom | |
| CN108275217B (en) | Four-foot robot with multiple motion modes | |
| CN103010327B (en) | Single-motor driven climbing jumping robot | |
| CN104875215B (en) | A kind of two-freedom apery wrist device | |
| CN109398523B (en) | Closed-chain quadruped robot with intermittent adjustment characteristic | |
| CN201105774Y (en) | Novel wall climbing robot mechanism | |
| CN104875814B (en) | Walking robot | |
| CN207060207U (en) | Legged type robot leg mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230615 Address after: 150050, Hongqi Avenue, Daowai District, Heilongjiang, Harbin province 999 Applicant after: HEILONGJIANG INSTITUTE OF TECHNOLOGY Address before: 150050, Hongqi Avenue, Daowai District, Heilongjiang, Harbin province 999 Applicant before: Chen Xi |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |