CN108248717A - It is a kind of can operated tool have terminal stabilization control function quadruped robot - Google Patents
It is a kind of can operated tool have terminal stabilization control function quadruped robot Download PDFInfo
- Publication number
- CN108248717A CN108248717A CN201711453923.2A CN201711453923A CN108248717A CN 108248717 A CN108248717 A CN 108248717A CN 201711453923 A CN201711453923 A CN 201711453923A CN 108248717 A CN108248717 A CN 108248717A
- Authority
- CN
- China
- Prior art keywords
- quadruped robot
- connecting rod
- operated tool
- control function
- trunk ontology
- 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.)
- Pending
Links
- 230000006641 stabilisation Effects 0.000 title claims abstract description 26
- 238000011105 stabilization Methods 0.000 title claims abstract description 26
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 210000000245 forearm Anatomy 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 230000005021 gait Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013486 operation strategy Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Artificial Intelligence (AREA)
- Combustion & Propulsion (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robotic technology fields, more particularly to it is a kind of can operated tool have terminal stabilization control function quadruped robot, including quadruped robot and mechanical arm, the quadruped robot includes trunk ontology and four and is arranged on the downside of trunk ontology and front and rear symmetrical, symmetrical pedipulator, the mechanical arm includes four-degree-of-freedom joint structure and handgrip, the handgrip is detachably arranged on four-degree-of-freedom joint structure, the four-degree-of-freedom joint structure is by floor installation on trunk ontology, the trunk ontology front end is equipped with visual sensing unit, power and control unit are also integrated on the trunk ontology.The configuration of the present invention is simple, movement are flexibly, can conduct oneself with dignity in robot carries out reasonable balance between flexible gait, precisely analysis environments can judge to complete the task of crawl object or operated tool while walking path, with great market value.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to one kind can operated tool have terminal stabilization control function
Quadruped robot.
Background technology
Nature is made a general survey of, large-scale terrestrial animal is mostly quadruped, no matter in cliff, hills, grassland or desert,
The figure of quadruped can be seen, this fully shows accreditation of the natural selection to four-footed move mode.Quadruped robot because
Its superior landform adaptability is always the emphasis studied both at home and abroad in recent years, wherein par excellence be no more than U.S. boss
The bigdog Series machine people for utility companies of pausing.
The quadruped robot of mainstream at present, mainly in dynamical system, one kind is used using hydraulic-driven, one kind for difference
Motor drives；Its emphasis is in locomitivity, and robot is born a heavy burden as mobile platform or reconnaissance mission；Defect is machine
The interaction of people and external environment is fewer, and no image of Buddha people equally completes the use to some tools.
Invention content
The purpose of the present invention is to solve robot function in the prior art is single, market value is low, is only capable of
Complete walking or the problems such as jump action, provide it is a kind of can operated tool there is the four-footed machine of terminal stabilization control function
People.
To achieve the above object, the technical solution adopted in the present invention is：One kind can operated tool have terminal stabilization
The quadruped robot of control function, including quadruped robot and mechanical arm, the quadruped robot includes trunk ontology and four
Item is arranged on the downside of trunk ontology and front and rear symmetrical, symmetrical pedipulator, the mechanical arm include four-degree-of-freedom joint
Structure and handgrip, the handgrip are detachably arranged on four-degree-of-freedom joint structure, the four-degree-of-freedom joint structure
By floor installation on trunk ontology, the trunk ontology front end is equipped with visual sensing unit, on the trunk ontology
It is also integrated with power and control unit.
Preferably, the pedipulator includes first connecting rod and second connecting rod, the first connecting rod and second connecting rod it
Between connected by first rotating shaft, between the first connecting rod and trunk ontology pass through the second shaft connect, described first connect
First hydraulic cylinder is equipped between bar and trunk ontology, second hydraulic cylinder, institute are equipped between the first connecting rod and second connecting rod
Rotating bar is equipped between the second shaft and trunk ontology stated, passes through third hydraulic cylinder between the rotating bar and trunk ontology
Connection.
Preferably, the mechanical arm includes large arm, forearm and handgrip, and motor is equipped between the large arm and pedestal,
The large arm can be equipped with third shaft under the driving of motor between base rotation, the large arm and forearm, described
The 4th shaft is equipped between forearm and handgrip, to be detachably connected between the handgrip and the 4th shaft.
Preferably, the handgrip includes upper and lower two clamping jaws.
Preferably, the visual sensing unit is camara module.
Preferably, the trunk ontology is equipped with through-hole.
Preferably, the second connecting rod end is equipped with buffer non-skid block.
Preferably, the power and control unit include master chip, power module, Wi-Fi module/bluetooth module, control
Port processed, USART, power supply output module, sensor assembly and program download module.
After adopting the above technical scheme, the invention has the advantages that：
It is provided by the invention it is a kind of can operated tool have terminal stabilization control function quadruped robot pass through vision
Sensing unit obtains the image of environment, and passes through identification and analysis, allows robot that can recognize object and residing environment；It is described
It is a kind of can operated tool have terminal stabilization control function quadruped robot leg mechanism include first connecting rod, second connect
The setting of bar and foot buffer non-skid block can increase while carrying out reasonable balance between robot dead weight and flexibly gait
Big foot forced area, and damage of the ground shock power to robot can be slowed down；By the setting of through-hole, machine can be mitigated
Device people's overall weight improves movement velocity and reduces energy consumption；Mechanical arm can be walked by being set on the base in body
Ensure the stabilization of mechanical arm in the process；By the setting of flexible mechanical arm, while to be detachably connected between handgrip and mechanical arm,
Therefore it can according to circumstances need to replace handgrip so that the operation strategies of the robot are more flexible extensively, expanded machine significantly
The usage scenario of device people so that the robot of imitative quadruped has originally captures object, operated tool as human hand
Ability.
In conclusion it is provided by the invention it is a kind of can operated tool have terminal stabilization control function quadruped robot
Simple in structure, movement is flexibly, can conduct oneself with dignity in robot carries out reasonable balance between flexible gait, can precisely analysis environments judge
The task of crawl object or operated tool is completed while walking path, there is great market value.
Description of the drawings
Fig. 1 is a kind of structural representation for being capable of quadruped robot of the operated tool with terminal stabilization control function of the present invention
Figure one；
Fig. 2 is a kind of structural representation for being capable of quadruped robot of the operated tool with terminal stabilization control function of the present invention
Figure two；
Fig. 3 is a kind of structural representation for being capable of quadruped robot of the operated tool with terminal stabilization control function of the present invention
Figure three.
Wherein：Handgrip 1, forearm 2, large arm 3, motor 4, visual sensing unit 5, first connecting rod 6, second connecting rod 7, trunk sheet
Body 8, first hydraulic cylinder 9, second hydraulic cylinder 10, third hydraulic cylinder 11, rotating bar 12, pedestal 13, first rotating shaft 14, the second shaft
15th, third shaft 16, the 4th shaft 17, quadruped robot 18, mechanical arm 19, pedipulator 20, four-degree-of-freedom joint structure 21, logical
Hole 22, buffer non-skid block 23.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term should broadly understood, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
It as shown in Figs. 1-3, being capable of four-footed machine of the operated tool with terminal stabilization control function for a kind of of the present invention
People, including quadruped robot 18 and mechanical arm 19, the quadruped robot 18 includes trunk ontology 8 and four are arranged on trunk
On the downside of ontology 8 and front and rear symmetrical, symmetrical pedipulator 20, the mechanical arm 19 include 21 He of four-degree-of-freedom joint structure
Handgrip 1, the handgrip 1 are detachably arranged on four-degree-of-freedom joint structure 21, the four-degree-of-freedom joint structure 21
It is mounted on trunk ontology 8 by pedestal 13,8 front end of trunk ontology is equipped with visual sensing unit 5, the trunk sheet
It is also integrated with power and control unit on body 8, the visual sensing unit 5 is camara module, on the trunk ontology 8
Equipped with through-hole 22.
Wherein, the pedipulator 20 includes first connecting rod 6 and second connecting rod 7, the first connecting rod 6 and second connecting rod
It is connected by first rotating shaft 14 between 7, is connected between the first connecting rod 6 and trunk ontology 8 by the second shaft 15, it is described
First connecting rod 6 and trunk ontology 8 between be equipped with first hydraulic cylinder 9, be equipped between the first connecting rod 6 and second connecting rod 7
Second hydraulic cylinder 10 is equipped with rotating bar 12, the rotating bar 12 and trunk between second shaft 15 and trunk ontology 8
It is connected between ontology 8 by third hydraulic cylinder 11, the mechanical arm 19 includes large arm 3, forearm 2 and handgrip 1, the large arm
Motor 4 is equipped between 3 and pedestal 13, the large arm 3 can rotate under the driving of motor 4 around pedestal 13,3 He of large arm
Third shaft 16 is equipped between forearm 2, the 4th shaft 17, the handgrip 1 and the are equipped between the forearm 2 and handgrip 1
To be detachably connected between four shafts 17, the handgrip 1 includes upper and lower two clamping jaws, and it is anti-that 7 end of second connecting rod is equipped with buffering
Sliding block 23, power and control unit include master chip, power module, Wi-Fi module/bluetooth module, control port, USART, electricity
Source output module, sensor assembly and program download module.
A kind of operation principle for being capable of quadruped robot of the operated tool with terminal stabilization control function of the present invention is as follows：
The head visual sensing unit 5 of quadruped robot obtains external environment information, the association of power and control unit on trunk ontology 8
Under same-action, second hydraulic cylinder 10 drives second connecting rod 7 to be rotated relative to first connecting rod 6 around first rotating shaft 14, the first hydraulic pressure
Cylinder 9 drives first connecting rod 6 relative to trunk ontology 8 around 15 swing of the second shaft, and third hydraulic cylinder 11 drives rotating bar
12 drive first connecting rod 6 and second connecting rod 7, and around 15 lateral deflection of the second shaft, mechanical arm pedestal 13 is mounted on robot trunk
Above ontology 8, mechanical arm large arm 3 drives through motor 4 and is rotated around pedestal 13, and mechanical arm forearm 2 is driven through motor 4 in large arm 3
Third shaft 16 rotate, mechanical gripper 1 be mounted on 2 end of forearm, drive through motor 4 and rotated around the 4th shaft 17, mechanical gripping
Hand 1 possesses two clamping jaws up and down in itself, can relative motion implement grasping movement, while handgrip 1 detachably replaces other tools,
Realize that robot operated tool works.
It is provided by the invention it is a kind of can operated tool have terminal stabilization control function quadruped robot pass through vision
Sensing unit obtains the image of environment, and passes through identification and analysis, allows robot that can recognize object and residing environment；It is described
It is a kind of can operated tool have terminal stabilization control function quadruped robot leg mechanism include first connecting rod, second connect
The setting of bar and foot buffer non-skid block can increase while carrying out reasonable balance between robot dead weight and flexibly gait
Big foot forced area, and damage of the ground shock power to robot can be slowed down；By the setting of through-hole, machine can be mitigated
Device people's overall weight improves movement velocity and reduces energy consumption；By the setting of flexible mechanical arm, at the same handgrip and mechanical arm it
Between to be detachably connected, therefore can according to circumstances need to replace handgrip so that the more spirit extensively of the operation strategies of the robot
It is living, the usage scenario of robot has been expanded significantly so that the robot of imitative quadruped has originally captures as human hand
The ability of object, operated tool.
In conclusion it is provided by the invention it is a kind of can operated tool have terminal stabilization control function quadruped robot
Simple in structure, movement is flexibly, can conduct oneself with dignity in robot carries out reasonable balance between flexible gait, can precisely analysis environments judge
The task of crawl object or operated tool is completed while walking path, there is great market value and the market competitiveness.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. it is a kind of can operated tool have terminal stabilization control function quadruped robot, including quadruped robot (18) and machine
Tool arm (19), it is characterised in that：The quadruped robot (18) is arranged on trunk ontology including trunk ontology (8) and four
(8) on the downside of and front and rear symmetrical, symmetrical pedipulator (20), the mechanical arm (19) include four-degree-of-freedom joint structure
(21) it is detachably arranged on four-degree-of-freedom joint structure (21) with handgrip (1), the handgrip (1), described four freely
Joint structure (21) is spent by pedestal (13) on trunk ontology (8), and trunk ontology (8) front end is passed equipped with vision
Feel unit (5), power and control unit are also integrated on the trunk ontology (8).
2. it is according to claim 1 it is a kind of can operated tool have terminal stabilization control function quadruped robot,
It is characterized in that：The pedipulator (20) includes first connecting rod (6) and second connecting rod (7), the first connecting rod (6) and second
It is connected between connecting rod (7) by first rotating shaft (14), passes through second turn between the first connecting rod (6) and trunk ontology (8)
Axis (15) connects, and first hydraulic cylinder (9), the first connecting rod are equipped between the first connecting rod (6) and trunk ontology (8)
(6) second hydraulic cylinder (10) is equipped between second connecting rod (7), is set between second shaft (15) and trunk ontology (8)
There is rotating bar (12), connect between the rotating bar (12) and trunk ontology (8) by third hydraulic cylinder (11).
3. it is according to claim 2 it is a kind of can operated tool have terminal stabilization control function quadruped robot,
It is characterized in that：The mechanical arm (19) includes large arm (3), forearm (2) and handgrip (1), the large arm (3) and pedestal (13)
Between be equipped with motor (4), the large arm (3) can rotate under the driving of motor (4) around pedestal (13), the large arm (3)
Third shaft (16) is equipped between forearm (2), the 4th shaft (17) is equipped between the forearm (2) and handgrip (1), it is described
Handgrip (1) and the 4th shaft (17) between to be detachably connected.
4. it is according to claim 3 it is a kind of can operated tool have terminal stabilization control function quadruped robot,
It is characterized in that：The handgrip (1) includes upper and lower two clamping jaws.
5. it is according to claim 1 it is a kind of can operated tool have terminal stabilization control function quadruped robot,
It is characterized in that：The visual sensing unit (5) is camara module.
6. it is according to claim 1 it is a kind of can operated tool have terminal stabilization control function quadruped robot,
It is characterized in that：The trunk ontology (8) is equipped with through-hole (22).
7. it is according to claim 2 it is a kind of can operated tool have terminal stabilization control function quadruped robot,
It is characterized in that：Described second connecting rod (7) end is equipped with buffer non-skid block (23).
8. according to claim 1-7 it is a kind of can operated tool have terminal stabilization control function quadruped robot,
It is characterized in that：The power and control unit include master chip, power module, Wi-Fi module/bluetooth module, control terminal
Mouth, USART, power supply output module, sensor assembly and program download module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711453923.2A CN108248717A (en) | 2017-12-28 | 2017-12-28 | It is a kind of can operated tool have terminal stabilization control function quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711453923.2A CN108248717A (en) | 2017-12-28 | 2017-12-28 | It is a kind of can operated tool have terminal stabilization control function quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108248717A true CN108248717A (en) | 2018-07-06 |
Family
ID=62724208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711453923.2A Pending CN108248717A (en) | 2017-12-28 | 2017-12-28 | It is a kind of can operated tool have terminal stabilization control function quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108248717A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050711A (en) * | 2018-10-29 | 2018-12-21 | 山东大学 | One kind is run quadruped robot |
| CN109176455A (en) * | 2018-10-13 | 2019-01-11 | 东北石油大学 | More mechanical arm quadruped robots |
| CN109552580A (en) * | 2018-12-26 | 2019-04-02 | 武汉需要智能技术有限公司 | A kind of underwater multi-functional pedipulator |
| CN109571543A (en) * | 2019-02-13 | 2019-04-05 | 南京工程学院 | A kind of quadruped robot and its grasping means with body pitching joint and grasping mechanism |
| CN109874506A (en) * | 2019-04-08 | 2019-06-14 | 济南大学 | A kind of modularized bionic quadruped robot for spraying or picking |
| CN111687847A (en) * | 2020-07-09 | 2020-09-22 | 深圳市多够机器人技术有限公司 | Remote control device and control interaction mode of foot type robot |
| CN112124641A (en) * | 2020-09-28 | 2020-12-25 | 中国空间技术研究院 | Space landing capture robot |
| CN112746865A (en) * | 2021-02-03 | 2021-05-04 | 安徽理工大学 | Unmanned detection robot for complex conditions of closed-pit abandoned mine |
| CN113977595A (en) * | 2021-09-28 | 2022-01-28 | 北京炎凌嘉业机电设备有限公司 | Intelligent bionic foot type robot |
| CN114590339A (en) * | 2022-04-02 | 2022-06-07 | 北京交通大学 | Virtual waist joint design for high-outbreak bouncing motion of quadruped robot |
| CN114987659A (en) * | 2022-07-13 | 2022-09-02 | 东莞市卓蓝自动化设备有限公司 | AGV dolly is transported to new forms of energy battery |
| CN114986480A (en) * | 2022-05-31 | 2022-09-02 | 国网上海市电力公司 | A four-footed robot structure for cable tunnel patrols and examines |
| CN116079736A (en) * | 2023-02-21 | 2023-05-09 | 中国兵器装备集团自动化研究所有限公司 | Mechanical arm tail end stabilization method, device, equipment and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002103253A (en) * | 2000-09-28 | 2002-04-09 | Sony Corp | Leg type moving robot and mounting structure of leg part |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN103407514A (en) * | 2013-07-15 | 2013-11-27 | 西北工业大学 | Four-foot bio-robot leg |
| CN103921267A (en) * | 2014-03-18 | 2014-07-16 | 上海交通大学 | All-directional movable manipulator with four feet |
| CN103963867A (en) * | 2014-04-25 | 2014-08-06 | 中科宇博（北京）文化有限公司 | Biomimetic mechanical dinosaur |
| CN205237681U (en) * | 2015-10-27 | 2016-05-18 | 重庆航天职业技术学院 | Automatic many joints digit control machine tool arm of material is got to centering |
| CN107364506A (en) * | 2017-07-12 | 2017-11-21 | 清华大学 | A kind of track combined quadruped robot of foot |
| CN206733002U (en) * | 2017-05-17 | 2017-12-12 | 成都理工大学 | Six-freedom hydraulic articulated robot |
-
2017
- 2017-12-28 CN CN201711453923.2A patent/CN108248717A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002103253A (en) * | 2000-09-28 | 2002-04-09 | Sony Corp | Leg type moving robot and mounting structure of leg part |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN103407514A (en) * | 2013-07-15 | 2013-11-27 | 西北工业大学 | Four-foot bio-robot leg |
| CN103921267A (en) * | 2014-03-18 | 2014-07-16 | 上海交通大学 | All-directional movable manipulator with four feet |
| CN103963867A (en) * | 2014-04-25 | 2014-08-06 | 中科宇博（北京）文化有限公司 | Biomimetic mechanical dinosaur |
| CN205237681U (en) * | 2015-10-27 | 2016-05-18 | 重庆航天职业技术学院 | Automatic many joints digit control machine tool arm of material is got to centering |
| CN206733002U (en) * | 2017-05-17 | 2017-12-12 | 成都理工大学 | Six-freedom hydraulic articulated robot |
| CN107364506A (en) * | 2017-07-12 | 2017-11-21 | 清华大学 | A kind of track combined quadruped robot of foot |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176455A (en) * | 2018-10-13 | 2019-01-11 | 东北石油大学 | More mechanical arm quadruped robots |
| CN109050711B (en) * | 2018-10-29 | 2021-06-25 | 山东大学 | Running quadruped robot |
| CN109050711A (en) * | 2018-10-29 | 2018-12-21 | 山东大学 | One kind is run quadruped robot |
| CN109552580A (en) * | 2018-12-26 | 2019-04-02 | 武汉需要智能技术有限公司 | A kind of underwater multi-functional pedipulator |
| CN109571543A (en) * | 2019-02-13 | 2019-04-05 | 南京工程学院 | A kind of quadruped robot and its grasping means with body pitching joint and grasping mechanism |
| CN109571543B (en) * | 2019-02-13 | 2024-03-01 | 南京工程学院 | Quadruped robot with body pitching joints and grabbing mechanism and grabbing method thereof |
| CN109874506A (en) * | 2019-04-08 | 2019-06-14 | 济南大学 | A kind of modularized bionic quadruped robot for spraying or picking |
| CN111687847B (en) * | 2020-07-09 | 2024-02-02 | 广东鹏行智能有限公司 | Remote control device and control interaction mode of foot robot |
| CN111687847A (en) * | 2020-07-09 | 2020-09-22 | 深圳市多够机器人技术有限公司 | Remote control device and control interaction mode of foot type robot |
| CN112124641A (en) * | 2020-09-28 | 2020-12-25 | 中国空间技术研究院 | Space landing capture robot |
| CN112124641B (en) * | 2020-09-28 | 2022-03-18 | 中国空间技术研究院 | Space landing capture robot |
| CN112746865A (en) * | 2021-02-03 | 2021-05-04 | 安徽理工大学 | Unmanned detection robot for complex conditions of closed-pit abandoned mine |
| CN113977595A (en) * | 2021-09-28 | 2022-01-28 | 北京炎凌嘉业机电设备有限公司 | Intelligent bionic foot type robot |
| CN114590339A (en) * | 2022-04-02 | 2022-06-07 | 北京交通大学 | Virtual waist joint design for high-outbreak bouncing motion of quadruped robot |
| CN114986480A (en) * | 2022-05-31 | 2022-09-02 | 国网上海市电力公司 | A four-footed robot structure for cable tunnel patrols and examines |
| CN114987659A (en) * | 2022-07-13 | 2022-09-02 | 东莞市卓蓝自动化设备有限公司 | AGV dolly is transported to new forms of energy battery |
| CN116079736A (en) * | 2023-02-21 | 2023-05-09 | 中国兵器装备集团自动化研究所有限公司 | Mechanical arm tail end stabilization method, device, equipment and storage medium |
| CN116079736B (en) * | 2023-02-21 | 2024-08-13 | 中国兵器装备集团自动化研究所有限公司 | Mechanical arm tail end stabilization method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108248717A (en) | It is a kind of can operated tool have terminal stabilization control function quadruped robot | |
| CN105128977B (en) | Rotate the three-dimensional walking robot leg configuration of driving | |
| CN207606868U (en) | A kind of simple activation lacking mechanical finger | |
| CN107140055B (en) | Hand-foot fusion electric six-foot robot | |
| CN104386157B (en) | Quadruped robot with flexible joints | |
| CN111067760B (en) | Upper limb rehabilitation training robot based on omnidirectional mobile platform | |
| CN104986240B (en) | The walking robot leg configuration of linear drives and four feet walking robot in parallel | |
| CN102991601B (en) | Two-degree-of-freedom humanoid ankle joint | |
| CN101391417B (en) | Both feet humanoid robot based on passive movement mode | |
| CN104924294B (en) | There is the quadruped robot of waist structure in parallel | |
| CN103144693A (en) | Leg mechanism for four-footed bionic robot | |
| CN107297738B (en) | Mechanical arm control system | |
| CN208541541U (en) | A kind of machinery restoring gloves | |
| CN108214458B (en) | Wearable upper limb mechanical arm | |
| CN105108753B (en) | A kind of sucked type metope Work robot | |
| CN103481965A (en) | Low-power dissipation running gear and control method based on intelligent terminal | |
| CN105193534A (en) | Control method of wearable power-assisted exoskeleton lower limb mechanism | |
| KR20140088722A (en) | Wearable Robot and Control Method thereof | |
| CN107128397A (en) | Robot leg sole running gear | |
| CN106113024A (en) | The three freedom degree manipulator of a kind of tendon connecting rod mixed drive refers to and control method | |
| CN111660284A (en) | Wearable cooperation robot with auxiliary stay function | |
| CN103816029B (en) | Six degree of freedom leg recovery exercising robot | |
| KR20090118542A (en) | Humanoid robot and neck joint assembly thereof | |
| CN105774939A (en) | Novel semi-passive quadruped robot turning structure and control method thereof | |
| CN210500255U (en) | Lower limb exoskeleton robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180706 |