CN107651037B - A kind of legged type robot list leg device with hard and soft interchangeable joint - Google Patents
A kind of legged type robot list leg device with hard and soft interchangeable joint Download PDFInfo
- Publication number
- CN107651037B CN107651037B CN201710817742.7A CN201710817742A CN107651037B CN 107651037 B CN107651037 B CN 107651037B CN 201710817742 A CN201710817742 A CN 201710817742A CN 107651037 B CN107651037 B CN 107651037B
- Authority
- CN
- China
- Prior art keywords
- leg
- hip
- shank
- component
- hard
- 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
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
Abstract
The present invention discloses a kind of legged type robot list leg device with hard and soft interchangeable joint, including hip component, thigh parts and lower leg component, there is altogether three degree of freedom, three degree of freedom driving installation section has used a kind of compact-sized mounting means, so that single leg structure of robot is simple and reduces the quality of single leg, the dynamic property of single leg is improved.Kneed freedom degree realizes the function in quick hard and soft interchangeable joint by changing the attribute of connecting rod by parallel four-bar structure.Under flexible single leg, have the function of certain anti-buffering and flexible joint.Due to the use of parallel four-bar, so that the modules such as single leg driving motor are installed close to hip joint, and lower leg component has used simply carbon fibre tube, alleviates weight, improves whole dynamic property.Lower leg component can be realized the function of fast quick change shank and foot using simply carbon nano-tube structure.
Description
Technical field
The invention belongs to mechanical design fields, are related to a kind of legged type robot list leg device with hard and soft interchangeable joint.
Background technique
The rigid leg of traditional legged type robot has three degree of freedom, and knee joint is most important link.Sufficient formula machine
Device people rigid leg is more applicable in light and small humanoid robot, and rigid leg may be implemented to be precisely controlled and the characteristics of stable operation.Greatly
The legged type robot of type is in use, usually due to ground rigid contact, huge impact is generated to the knee joint of leg so that
The service life of leg greatly shortens, simultaneously because the demand of legged type robot dynamic motion, so large-scale legged type robot
Flexible leg is a big hot spot of current research.Legged type robot flexible leg is in joint motor part or lower leg portion at present
Directly increasing spring, perhaps compliant member is perhaps by reduction gearbox or other kinds of drive, to realize the shock resistance of leg
And flexibility characteristics, so that the design of shank and articular portion becomes complicated, to greatly reduce legged type robot list leg
Dynamic property.So the legged type robot list leg with hard and soft interchangeable joint gets a good eye value, in light and small humanoid robot
Rigid joint can be changed into, to guarantee to be precisely controlled, flexible joint can be changed into large machines people, to guarantee large size
The dynamic locomopion of robot has the function of certain shock resistance and storage energy.
Summary of the invention
Present invention is generally directed to provide flexible link and shock resistance effect during legged type robot dynamic locomopion, and it is real
Under conditions of quick-replaceable between existing rigid leg and flexible leg, a kind of legged type robot with hard and soft interchangeable joint is proposed
Single leg device, be suitble to small-sized legged type robot the dynamic locomopion for being precisely controlled movement and large-scale legged type robot or run quickly
It runs.
The present invention has the legged type robot list leg device in hard and soft interchangeable joint, including hip component, thigh parts and shank
Component.
Wherein, hip component is connected by hip leg connector with thigh parts；Hip component realizes hip leg by hip motor driven
Connector rotates together with thigh parts around x-axis；Thigh parts are driven by crotch's driving mechanism, are rotated around y-axis.In thigh parts
Also there is knee driving mechanism and shank connector；Knee driving mechanism realizes shank by the shank transmission mechanism of two-freedom
Rotation of the connector around y-axis；Shank connector is used to connect the lower leg component of carbon fiber pipe structure.Above-mentioned crotch's driving mechanism,
Knee driving mechanism is identical as hip driving mechanism structure, using compact-sized mounting means.
Above-mentioned shank transmission mechanism includes actuating arm, slave arm and transmission component；The actuating arm is two, is installed respectively
In the left and right sides of knee transmission mechanism；Slave arm is two, is respectively arranged at left and right sides of shank connector；Actuating arm with from
Transmission component is installed between swing arm, forms the drive mechanism of 2 freedom degrees, the movement for making actuating arm be transferred to shank connector is equivalent
One parallel four-bar structure.The transmission component, which can be used, draws high device spring or connecting rod, is respectively formed flexible or rigid knee.
The present invention has the advantages that
1, the present invention has the legged type robot list leg device in hard and soft interchangeable joint, has used parallel four-bar machine in knee joint
Structure is as transmission, by replacing the mode of connecting rod, to realize the property in hard and soft interchangeable joint.Due in replacement joint feature
When, it is only necessary to connecting rod single component is replaced, so can be realized quick-replaceable effect.Under rigid joint, it may be used as light
The walking of small-sized legged type robot being precisely controlled with static gait；Under flexible joint, medium-and-large-sized sufficient formula machine may be used as
The dynamic locomopion of people.
2, the present invention has the legged type robot list leg device in hard and soft interchangeable joint, has used parallel four-bar machine in knee joint
For structure as transmission, parallelogram lindage is symmetrical distribution, improves the intensity of mechanism, and parallel four-bar structure itself is simple
Quality is light with respect to other traditional transmissions, while being driven using parallel four-bar so that the motor-driven mechanism of knee joint is towards hip joint
It is mobile, therefore thigh has preferable dynamic property.
3, the present invention has the legged type robot list leg device in hard and soft interchangeable joint, all employs one in joint drive part
The compact mechanical structure of kind, is utilized the space structure of motor itself, bearing is being installed in the way of spatial offset, is being improved
The space utilization rate of single leg reduces the complexity of single leg, reduces the quality of single leg, therefore single leg overall mechanism has preferably
Dynamic property.
4, there is the present invention legged type robot list leg device in hard and soft interchangeable joint to pass through connecting rod under flexible state
Stress transmission, realizes a kind of kneed feature of flexibility, and the impact force in vola slows down impact by connecting rod, stores certain
Energy, therefore the present invention has the characteristics that preferable shock resistance and flexible joint.
5, the present invention has the legged type robot list leg device in hard and soft interchangeable joint, and shank is made using simple carbon fiber pipe
Based on, under conditions of not reducing shank intensity, shank quality is not only alleviated, improves the dynamic of shank.Due to small
The installation of leg is simple, can be realized the shank and foot of quick-replaceable legged type robot.
Detailed description of the invention
Fig. 1 is the legged type robot list leg device overall structure diagram that the present invention has hard and soft interchangeable joint；
Fig. 2 is that the present invention has hip partial structure diagram in the legged type robot list leg device in hard and soft interchangeable joint；
Fig. 3 is that the present invention has hip point and hip point and thigh in the legged type robot list leg device in hard and soft interchangeable joint
Part connected mode schematic diagram；
Fig. 4 is that the present invention has leg portion structural schematic diagram in the legged type robot list leg device in hard and soft interchangeable joint；
Fig. 5 is that the present invention has hip leg connecting-piece structure signal in the legged type robot list leg device in hard and soft interchangeable joint
Figure；
Fig. 6 is that the present invention has flexible knee joint structure signal in the legged type robot list leg device in hard and soft interchangeable joint
Figure；
Fig. 7 is that the present invention has rigid knee joint structure signal in the legged type robot list leg device in hard and soft interchangeable joint
Figure.
In figure:
1- hip component and lower leg component 2- thigh parts 3- lower leg component
101- left connection board 102- right connection board 103- hip driving mechanism
104- shaft coupling 105- potentiometer connector 103a- motor casing
103b- motor 103c- left bearing external member 103d- right bearing assemblies
103e- potentiometer 103c1- left axle support pad 103c2- left axle bearing sleeve
103c3- left bearing 103d1- right axle support pad 103d2- right axle bearing sleeve
The right leg plate of the left leg plate 202- of 103d3- right bearing 201-
203- crotch driving mechanism 204- knee driving mechanism 205- shank transmission mechanism
206- shank connector 205a- actuating arm 205b- slave arm
The driven connecting shaft of 205c- transmission component 205d- actuating arm connecting shaft 205e-
205f- connecting rod shaft
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
The present invention have hard and soft interchangeable joint legged type robot list leg device, including hip component 1, thigh parts 2 with it is small
Pin components 3, as shown in Figure 1
The hip component 1 is directly connected with the fastening of legged type robot ontology.Hip component 1 uses cramped construction, including left company
Fishplate bar 101, right connection board 102 and hip driving mechanism 103, as shown in Figure 2.Hip driving mechanism 103 include motor casing 103a,
Motor 103b, left bearing external member 103c, right bearing assemblies 103d and potentiometer 103e, as shown in Figure 3.Wherein, motor casing 103a
It is fastened by bolts in right connection board 102, and motor casing 103a utilizes the space of motor reduction gearbox, in the item for not changing intensity
Under part, it is bolted connection with the deceleration box member shell benefit of motor 103b；By above-mentioned connection type, make that motor 103b's is defeated
Shaft is as revolute pair, rather than as traditional revolute pair needs a solid shafting as center of rotation.Motor 103b output shaft
It is connected with potentiometer 103e output between centers by the way that shaft coupling 104 is coaxial；Wherein, shaft coupling 104 and motor 103b output between centers are logical
Key connection is crossed, 104 inner ring of shaft coupling is connected with potentiometer connector 105, and potentiometer connector 105 passes through manifold and potentiometer
103e output shaft is connected, and the pedestal and left connection board 101 of potentiometer 103e is bolted.
The right bearing assemblies 103d includes right axle support pad 103d1, right axle bearing sleeve 103d2 and right bearing 103d3.Wherein,
Right axle support pad 103d1 and right axle bearing sleeve 103d2 are placed on the outer ring motor casing 103a；Right axle bearing sleeve 104 passes through bolt and motor casing
103a is fastenedly connected；There is gap between right axle support pad 103d1 inner ring and motor casing 103a；Right axle support pad 103d1 and right axle bearing sleeve
Right bearing 103d3 is installed between 103d2；Right axle support pad 103d1 and right bearing 103d3 internal diameter are interference fitted, outside right bearing 103d3
Diameter and right axle bearing sleeve 130d2 interference fit.By above-mentioned connection type, using the surrounding space on the cylindrical surface motor 103b as the right side
The installation site of bearing holder (housing, cover) 103d2, rather than motor 103b output shaft surrounding space, reduce the space size of hip component 1, together
When increase the diameter of right bearing 103d3 to enhance the intensity of connection.
The left bearing external member 103c includes left axle support pad 103c1, left axle bearing sleeve 103c2 and left bearing 103c3.Wherein,
Left axle support pad 103c1 is placed on 104 outer ring of shaft coupling, is bolted connection between 105 outer ring of shaft coupling.Left axle bearing sleeve
Fixation is bolted between 103c2 and left connection board 101, uses thin slice face contact between the two, not only ensure that intensity but also dropped
Low space size.Left bearing 103c3 is installed between left axle support pad 103c1 and left axle bearing sleeve 103c2；Left axle support pad 103c1 and
Left bearing 103c3 internal diameter interference fit, left bearing 103c3 outer diameter and left axle bearing sleeve 103c2 are interference fitted.1 knot of entire hip component
Structure utilizes the outer cycle space of motor 103b, to increase the compactedness of hip component 1, while reducing 1 weight of hip component.
The thigh parts 2 include left leg plate 201, right leg plate 202, crotch's driving mechanism 203, knee driving mechanism 204,
Shank transmission mechanism 205 and shank connector 206, as shown in Figure 4.Wherein, crotch's driving mechanism 203, knee driving mechanism 204
It is setting up and down, it is installed on top position between left leg plate 201 and right leg plate 202.Crotch's driving mechanism 203 and knee driving mechanism
Structure is identical as 103 structure of hip driving mechanism, and crotch's driving mechanism 203 and knee driving mechanism 204 and left leg plate 201 and
Connection type between right leg plate 202, also with the connection type of hip driving mechanism 103 and left connection board 101 and right connection board 102
It is identical.
Above-mentioned hip component with pass through hip leg connector 4 between thigh parts and be connected, such as Fig. 3, shown in Fig. 4；The hip leg connection
Part 4 has the upper half and lower half, as shown in figure 5, the upper half and lower half are the connecting plate being parallel to each other, and axis is mutual
Vertically.In hip leg connector 4, the connecting plate of the upper half two divides left axle support pad 103c1 and right axle support pad in 1 with hip respectively
103d3 is connected.Left axle support pad 103c1 can be driven to rotate by the motor 103b in hip point 1 as a result, and then hip leg is driven to connect
Fitting 4 rotates, and thigh parts 2 is driven to rotate, while right axle support pad 103d1 is servo-actuated；Entire driving is passed from motor 103b output shaft
It passs and moves to thigh parts 2, form a rotary freedom around x-axis.The connecting plate difference of lower half two of hip leg connector 4
With in crotch driving mechanism 203 left axle support pad 103c1 and right axle support pad 103d3 be connected.Pass through crotch's driving mechanism as a result,
Motor 103b in 203 can drive left axle support pad 103c1 to rotate, and drive 2 unitary rotation of thigh parts, while right axle support pad
103d1 is servo-actuated；Entire driving transmits the motion to thigh parts 2 from motor 103b output shaft, and it is free to form a rotation around y-axis
Degree.
The shank connector 206 is U-shaped structure, and the lower position between left leg plate 201 and right leg plate 202, two sides lead to
It crosses bearing to be connected with left leg plate 201 and right leg plate 202, forms shank connector 206 between left leg plate 201 and right leg plate 202
One rotary freedom around y-axis.Shank connector 206 is used to connect lower leg component 3, is driven by knee joint driving mechanism 204
It is dynamic, and be driven by shank transmission mechanism 205, realize lower leg component 3 around the rotary motion of y-axis.Wherein, shank transmission mechanism 205
For the drive mechanism of two freedom degrees, including actuating arm 205a, slave arm 205b and transmission component 205c, as shown in Figure 6.It is described
Actuating arm 205a is two, is respectively arranged in knee transmission mechanism 204, left axle support pad 103c1 and right axle support pad 103d3 outer rim
On, it may be designed as and two bearing gasket integral structures.Slave arm 205b is two, is respectively symmetrically installed on U-shaped structure shank company
206 two sides of fitting.Transmission component 205c is installed between actuating arm 205a and slave arm 205b, forms the drive mechanism of 2 freedom degrees,
Actuating arm 205a is set to be transferred to the equivalent parallel four-bar structure of movement of shank connector 206, actuating arm 205a is equivalent to flat
The drive rod of four bar of row, transmission component 205c, which can be used, draws high device spring or connecting rod substitution, therefore the parallel four-bar structure
There are two types of structures for tool, the first is flexible structure, and second is rigid structure.
In the flexible structure, transmission component 205c is using device spring is drawn high, as shown in fig. 6, drawing high device spring one end peace
Loaded on the center actuating arm connecting shaft 205d, pass through the spring washer axially position of two sides；The both ends actuating arm connecting shaft 205d
It is connected respectively with two actuating arm 205a, and by being equipped with attachment spacers 205f on two opposite flanks actuating arm 205a,
Realize the axially position of actuating arm connecting shaft 205d；Thus make to draw high between device spring 205c and actuating arm connecting shaft 205d that there are one
A freedom degree passively rotated.It draws high the device spring other end (body end) and is installed on the center driven connecting shaft 205e, pass through
The spring washer axially position of two sides.The both ends driven connecting shaft 205e are fastened by bolts company with two slave arm 205b respectively
It connects.As a result, actuating arm 205a, draw high device spring, slave arm 205b and left and right leg plate and be equivalent to a parallel four-bar structure, pass through
Motor 103b driving actuating arm 205a in knee driving mechanism 204 moves up and down, and then drives shank by drawing high device spring
Connector 206 is rotated around y-axis, and then lower leg component 3 is driven to rotate around y-axis, and rotating range is 120 degree.
In the rigid structure, transmission component 205c uses connecting rod, as shown in fig. 7, connecting rod has two, is symmetrically installed,
Top between two connecting rods is connected with two actuating arm 205a respectively, two connecting rod bottom ends respectively with two slave arm 205b phases
Even；It is connected between two connecting rods by connecting rod shaft 205f.Actuating arm 205a and connecting rod are symmetrically installed as a result, and there are one
A passive freedom degree, and connecting rod and slave arm 205b are symmetrically installed and there are a passive freedom degrees.Actuating arm as a result,
205a, connecting rod, slave arm 205b and left and right leg plate are equivalent to a parallel four-bar structure, by knee driving mechanism 204
Motor 103b drives actuating arm 205a to move up and down, and then drives shank connector 206 to rotate around y-axis by drawing high device spring,
And then lower leg component 3 is driven to rotate around y-axis, rotating range is 120 degree.If above-mentioned connecting rod directly uses rigid rod, for most
The legged type robot rigid leg of common Three Degree Of Freedom；If connecting rod uses spring, for legged type robot flexible leg；If even
Bar uses damper, then is the damping leg of legged type robot；If the sufficient formula of elastic damping can be achieved using various ways parallel connection
The flexible leg of robot.
There are three components for the lower leg component 3, promote the dynamic property of shank, respectively connecting tube 301, shank pipe
302 with sufficient end 303.Wherein, 301 top of connecting tube is fixed with 206 bottom of shank connector, 301 lower end of connecting tube and shank pipe
302 tops are coaxially interference fitted connection；302 bottom end of shank pipe is connect by interference fit with sufficient end 303.Above-mentioned connecting tube 301,
Shank pipe 302 uses carbon fibre tube, and not only light weight intensity can guarantee, improve the dynamic property of shank, and be able to achieve small
The quick-replaceable characteristic of leg and foot, while and sufficient quick-replaceable may be implemented to adapt to different landform requirements.
The present invention has the legged type robot list leg device in hard and soft interchangeable joint, tight using three degree of freedom driving structure
It gathers, reduces the complexity of the structure of entire leg, while utilizing parallelogram lindage, motor driving structure is from knee joint towards big
Leg root is mobile, improves the dynamic property of thigh.Shank utilizes the carbon fibre tube of intensity height and light weight, not only simplifies structure
And quality is reduced, the dynamic property of shank is improved.It is special using the easy replacement of the connecting rod of parallel four-bar in thigh parts 2
Property, the connecting rod that rigid knee joint and flexible kneed replacement are equivalent to parallel four-bar is replaced, hard and soft interchangeable joint is formd
Legged type robot single leg structure.Particularly, under flexible knee joint structure, drawing high device spring has under certain pulling force
For rigidity characteristics, become spring performance later more than certain pulling force.When flexible knee joint structure leg in the state led leg or
The small state of person's stress draws high device spring due to being considered as rigid rod by pulling force is small, may be implemented accurately to control, drop
Control complexity after low lift leg；When the leg of flexible knee joint structure is in holding state or by the state impacted, draw high
Device spring can slow down impact and storage energy, drop due to drawing high device spring and generating spring performance by big pulling force and impact
The low damage of legged type robot.Entire mechanism has preferable dynamic property and shock resistance.
The present invention has the legged type robot list leg device in hard and soft interchangeable joint with the following functions:
A, it can not only use but also can have been used as flexible kneed single leg as rigid leg.
B, after replacing flexible knee joint, have the function of shock resistance and flexible buffer joint.
C, have the function of that knee joint rigidity and flexibility can be with quick replacements, convenient for the need of robot at different conditions
It asks.
D, has the function of shank and can be with quick replacement, convenient for the demand of robot at different conditions.
Claims (6)
1. a kind of legged type robot list leg device with hard and soft interchangeable joint, including hip component, thigh parts and lower leg component；
It is characterized by: hip component is connected by hip leg connector with thigh parts；Hip component realizes that hip leg connects by hip motor driven
Fitting rotates together with thigh parts around x-axis；Thigh parts are driven by crotch's driving mechanism, are rotated around y-axis；In thigh parts also
With knee driving mechanism and shank connector；Knee driving mechanism realizes shank connection by two free shank transmission mechanisms
Rotation of the part around y-axis；Shank connector is used to connect lower leg component；
Above-mentioned hip component includes left connection board, right connection board and hip driving mechanism；Hip driving mechanism includes motor casing, electricity
Machine, left bearing external member, right bearing assemblies and potentiometer；Wherein, motor casing is fixed in right connection board, outside the deceleration box member of motor
Shell is fixed with motor casing；Motor output shaft is coaxially connected with potentiometer output between centers by shaft coupling；The pedestal of potentiometer and a left side
It is connected between connecting plate；Right bearing assemblies are installed on motor casing outer ring, make right axle support pad inner ring and motor casing in right bearing assemblies
Between have gap；Left bearing external member is installed in left connection board and fixes with shaft coupling；Left axle support pad in left bearing external member with
Right axle support pad is used to connect hip leg connection structure；Crotch's driving mechanism, knee driving mechanism are identical as hip driving mechanism structure.
2. a kind of legged type robot list leg device with hard and soft interchangeable joint as described in claim 1, it is characterised in that: hip leg
Connector has the upper half and lower half, and the upper half and lower half are the connecting plate being parallel to each other, and axis is mutually perpendicular to, point
Hip point and hip joint driving mechanism Yong Lai not connected.
3. a kind of legged type robot list leg device with hard and soft interchangeable joint as described in claim 1, it is characterised in that: shank
Transmission mechanism is the drive mechanism of two freedom degrees, including actuating arm, slave arm and transmission component；The actuating arm is two,
It is respectively arranged in the left and right sides of knee transmission mechanism；Slave arm is two, is respectively arranged at left and right sides of shank connector；It drives
Transmission component is installed between swing arm and slave arm, forms the drive mechanism of 2 freedom degrees, actuating arm is made to be transferred to shank connector
Move an equivalent parallel four-bar structure.
4. a kind of legged type robot list leg device with hard and soft interchangeable joint as claimed in claim 3, it is characterised in that: described
Transmission component is to draw high device spring；It draws high device spring one end and is installed on actuating arm connecting shaft center position, pass through the spring of two sides
Washer axially position；Actuating arm connecting shaft both ends are connected with two actuating arms respectively；Draw high the device spring other end be installed on it is driven
Connecting shaft center position, driven connecting shaft both ends are connected with two slave arms respectively.
5. a kind of legged type robot list leg device with hard and soft interchangeable joint as claimed in claim 3, it is characterised in that: described
Transmission component is two connecting rods, is symmetrically installed, the top between two connecting rods is connected with two actuating arms respectively, two connecting rod bottom ends
It is connected respectively with two slave arms；It is connected between two connecting rods by connecting rod shaft.
6. a kind of legged type robot list leg device with hard and soft interchangeable joint as described in claim 1, it is characterised in that: shank
Component includes connecting tube, shank pipe and sufficient end；Wherein, connecting tube top is fixed with shank connector, connecting tube lower end and shank
Tube top end coaxially connects；Shank tube bottom end is connect with sufficient end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710817742.7A CN107651037B (en) | 2017-09-12 | 2017-09-12 | A kind of legged type robot list leg device with hard and soft interchangeable joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710817742.7A CN107651037B (en) | 2017-09-12 | 2017-09-12 | A kind of legged type robot list leg device with hard and soft interchangeable joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107651037A CN107651037A (en) | 2018-02-02 |
| CN107651037B true CN107651037B (en) | 2019-04-12 |
Family
ID=61129680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710817742.7A Active CN107651037B (en) | 2017-09-12 | 2017-09-12 | A kind of legged type robot list leg device with hard and soft interchangeable joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107651037B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591908B (en) * | 2018-12-11 | 2020-11-27 | 北京中航科电测控技术股份有限公司 | Novel joint structure of leg and foot robot |
| CN110281276B (en) * | 2019-06-28 | 2020-08-28 | 北京理工大学 | Robot upper limbs structure that shocks resistance |
| CN112498517B (en) * | 2020-12-17 | 2021-11-16 | 江苏集萃复合材料装备研究所有限公司 | Three-degree-of-freedom robot leg structure |
| CN113371095B (en) * | 2021-06-18 | 2022-11-29 | 哈尔滨工业大学（深圳） | Leg structure with joints rotating at any angle and multi-legged robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1509848A (en) * | 2002-12-23 | 2004-07-07 | 三星电子株式会社 | Robot with two-leg walk |
| CN204992918U (en) * | 2015-10-20 | 2016-01-20 | 旗瀚科技股份有限公司 | Slewing mechanism of robot head |
| CN105644650A (en) * | 2015-12-30 | 2016-06-08 | 哈尔滨工业大学 | Pneumatic-electric combined driving flexible biped robot |
| CN105752196A (en) * | 2016-03-31 | 2016-07-13 | 北京钢铁侠科技有限公司 | Human simulation robot leg mechanism and robot connected with same |
| CN106938674A (en) * | 2017-03-15 | 2017-07-11 | 上海未来伙伴机器人有限公司 | Robot leg steering wheel and robot |
| US9731416B1 (en) * | 2015-03-11 | 2017-08-15 | Google Inc. | Legged robot passive fluid-based ankles with spring centering |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9981389B2 (en) * | 2014-03-03 | 2018-05-29 | California Institute Of Technology | Robotics platforms incorporating manipulators having common joint designs |
-
2017
- 2017-09-12 CN CN201710817742.7A patent/CN107651037B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1509848A (en) * | 2002-12-23 | 2004-07-07 | 三星电子株式会社 | Robot with two-leg walk |
| US9731416B1 (en) * | 2015-03-11 | 2017-08-15 | Google Inc. | Legged robot passive fluid-based ankles with spring centering |
| CN204992918U (en) * | 2015-10-20 | 2016-01-20 | 旗瀚科技股份有限公司 | Slewing mechanism of robot head |
| CN105644650A (en) * | 2015-12-30 | 2016-06-08 | 哈尔滨工业大学 | Pneumatic-electric combined driving flexible biped robot |
| CN105752196A (en) * | 2016-03-31 | 2016-07-13 | 北京钢铁侠科技有限公司 | Human simulation robot leg mechanism and robot connected with same |
| CN106938674A (en) * | 2017-03-15 | 2017-07-11 | 上海未来伙伴机器人有限公司 | Robot leg steering wheel and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107651037A (en) | 2018-02-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107651037B (en) | A kind of legged type robot list leg device with hard and soft interchangeable joint | |
| CN106182071B (en) | The flexible differential driving joint module of two degrees of freedom rotation | |
| CN102285390B (en) | Elastically driven walking leg in hybrid connection for walking robot | |
| CN100551644C (en) | Biomimetic ankle | |
| CN103084913B (en) | Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture | |
| CN113353172B (en) | Leg structure with low inertia and high bearing capacity and foot type robot applying same | |
| CN108186279B (en) | Rotary internal and external joint for rehabilitation exoskeleton mechanism | |
| CN204160473U (en) | A kind of novel multiple branch circuit hydraulic control sphere parallel mechanism | |
| CN106945071B (en) | A kind of Three Degree Of Freedom lumbar device of anthropomorphic robot | |
| CN101858824A (en) | Shaft end type torque loader | |
| CN104999472A (en) | Series-parallel type five-freedom-degree bionic shoulder joint linked with shoulder blade | |
| CN104843180B (en) | Aircraft and there is the aircraft power equipment of attachment means for main-gear box and electromotor being linked together | |
| CN209536873U (en) | A kind of generator brake inspection platform of adjustable angle | |
| CN114145964A (en) | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot | |
| CN103991489A (en) | Three-freedom-degree leg mechanism driven by pneumatic artificial muscle | |
| CN101813170B (en) | Mechanism for mutual conversion between reciprocating motion and rotating motion, part and device thereof | |
| CN101761618B (en) | Mechanism mutually converting reciprocating motion and rotating motion as well as part and equipment thereof | |
| CN209408531U (en) | Highly integrated robot doublejointed unit and legged type robot and cooperation mechanical arm | |
| CN206209204U (en) | The system that a kind of laser facula of noise spectra of semiconductor lasers output carries out even light | |
| CN104690730B (en) | The four limbs of a kind of anthropomorphic robot and trunk mechanism | |
| CN205580733U (en) | Big moment of torsion loading device of skewed tooth formula | |
| CN117039530B (en) | Plug mechanism with self-positioning function | |
| CN216046217U (en) | Shockproof generator set | |
| CN216447370U (en) | Damping mechanism of nuclear magnetic resonance imaging device | |
| CN219584351U (en) | Leg structure of four-foot machine dog |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |