CN108820070A - A kind of robot foot end structure - Google Patents
A kind of robot foot end structure Download PDFInfo
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- CN108820070A CN108820070A CN201810931856.9A CN201810931856A CN108820070A CN 108820070 A CN108820070 A CN 108820070A CN 201810931856 A CN201810931856 A CN 201810931856A CN 108820070 A CN108820070 A CN 108820070A
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- Prior art keywords
- palm
- centre
- robot
- toe
- spring
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a kind of robot foot end structures, purpose is that the sufficient end forced area for solving existing legged type robot is small, robot is easy to produce slipping phenomenon, it is difficult to steadily walk on non-structural road surface, robot is influenced to work normally, and the problem of large-scale legged type robot is since own wt is excessive, and walking shakiness can cause enormous impact to robot, influence robot service life.The present invention is using the mutual cooperation between spring structure and component, to realize the function of increasing contact area and bumper and absorbing shock.In the present invention, on the one hand by the compression of spring, expands sufficient end feet toe contact range, fuselage is made to keep stablizing；On the other hand, by compressing the sufficient end centre of the palm, play the role of bumper and absorbing shock, and then increase the service life of robot.The present invention has rational design, is skillfully constructed, and structure is simple, easy to operate, and production, maintenance cost are low, easy to use, application value with higher, has remarkable progress for the development of multi-foot robot.
Description
Technical field
The present invention relates to machinery field, especially hexapod robot field, specially a kind of robot foot end structure.
Background technique
Currently, most of legged type robots can only be in structural pavements stabilized walking；And on non-structural road surface, stability
It is substantially reduced.Especially large-scale legged type robot, when walking, can generate enormous impact, be easy to make driving device, connector etc.
At damage.
Further, the sufficient end forced area of existing legged type robot is small, and robot is easy to produce slipping phenomenon.Especially
When walking on non-structural road surface, due to ground relief, it may cause contact area and further decrease, seriously affect machine
People works normally.And large-scale legged type robot is difficult to accomplish accurately to control to leg since own wt is excessive, when walking, can be to production
Raw enormous impact, causes the damage of driving device or joint connector, influences precision, reduce the service life of robot.
To sum up, the travel situations for large-scale legged type robot on non-structural road surface also need to solve the contact with ground
Unbalance stress and slippage problems caused by area is small.And there has been no effective solution schemes for these problems.
For this purpose, there is an urgent need to a kind of new devices, to solve the above problems.
Summary of the invention
Goal of the invention of the invention is：Small for the sufficient end forced area of existing legged type robot, robot is easy to produce
Raw slipping phenomenon, is difficult to steadily walk on non-structural road surface, influences robot normal work, and large-scale legged type robot is due to certainly
The problem of body weight is excessive, and walking shakiness can cause enormous impact to robot, influence robot service life, provides a kind of machine
Device people's structure of foot.For this purpose, the present invention has carried out completely new design to the structure of foot of existing multi-foot robot, provide a kind of complete
New robot foot end structure.The present invention is using the mutual cooperation between spring structure and component, to realize increase contact area
And the function of bumper and absorbing shock.In the present invention, on the one hand by the compression of spring, expands sufficient end feet toe contact range, make fuselage
It keeps stablizing；On the other hand, by compressing the sufficient end centre of the palm, play the role of bumper and absorbing shock, and then increase the use longevity of robot
Life.The present invention has rational design, is skillfully constructed, and structure is simple, easy to operate, production, maintenance cost it is low, it is easy to use, have compared with
High application value has remarkable progress for the development of multi-foot robot.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of robot foot end structure, including for being connected with robot body upper end connection, centre of the palm upper cover, under the centre of the palm
Lid, centre of the palm spring, sufficient end feet toe, toe spring, the foot end feet toe, toe spring are respectively at least three；
The upper end connection is flexibly connected with centre of the palm upper cover, passes through the palm between centre of the palm upper cover center and centre of the palm lower cover center
Heart spring is connected as one；
The foot end feet toe include for support portion, the interconnecting piece with ground face contact, the support portion, interconnecting piece using one at
Type, the foot end feet toe are disposed with link slot, connecting fulcrum close to one end of interconnecting piece, and the link slot is located at connection branch
Between point and support portion；
It is provided with supporting element on lid under the centre of the palm, is flexibly connected between the supporting element and link slot by connecting shaft, it is described
Rotating fulcrum is formed between supporting element and link slot and sufficient end feet toe can turn around the rotation of activity supporting point relative support；
One end of the toe spring is connected with centre of the palm lower cover, the connecting fulcrum of the other end of the toe spring and sufficient end feet toe
It is connected and toe spring can plays shock absorbing effect between sufficient end feet toe and centre of the palm lower cover.
The foot end feet toe is arc-shaped or crescent.
The foot end feet toe, toe spring are respectively three to six.
It further include the telescopic sleeve being arranged on the spring of the centre of the palm.
The centre of the palm upper cover is flexibly connected by flexural pivot with upper end connection.
Damping shock absorption component is provided between the centre of the palm upper cover and centre of the palm lower cover.
The annular upper cover body that the centre of the palm upper cover includes upper cover end plate, is arranged on upper cover end plate, the upper cover end plate with
Annular upper cover body is using integrated molding；
The annular lower cover that the centre of the palm lower cover includes lower cover end plate, is arranged on lower cover end plate, the lower cover end plate and annular
Lower cover is using integrated molding.
The centre of the palm lower cover further includes the second connector, and second connector and lower cover end plate are connected, the toe bullet
Spring is connected by the second connector with centre of the palm lower cover.
The upper cover end plate, lower cover end plate difference are rounded, and the annular upper cover body, annular lower cover difference are in a tubular form.
Several lower end grooves are provided under the centre of the palm on lid, the supporting element is arranged in the groove of lower end, under described
It holds and forms the movable space of sufficient end feet toe between groove and supporting element.
The supporting element is in the shape of a rod.
For foregoing problems, the present invention provides a kind of robot foot end structure.It include upper end connection, centre of the palm upper cover,
Centre of the palm lower cover, centre of the palm spring, sufficient end feet toe, toe spring.Wherein, upper end connection is used for structure of foot and robot body
It is connected, to provide corresponding support.In the present invention, sufficient end feet toe, toe spring cooperate, and sufficient end feet toe, toe bullet
Spring is respectively at least three, to provide strong support for robot.
In the present invention, upper end connection is flexibly connected with centre of the palm upper cover, between centre of the palm upper cover center and centre of the palm lower cover center
It is connected as one by centre of the palm spring, constitutes the main body of structure of foot.It further, further include that stretching on the spring of the centre of the palm is set
Contracting sleeve；Based on the structure, it is able to ascend spring connection stability and reliability.Meanwhile sufficient end feet toe includes support portion, connects
Socket part, support portion, interconnecting piece are using being integrally formed, and connecting portion is below the upper cover of the centre of the palm, and sufficient end feet toe is close to the one of interconnecting piece
End is provided with connecting fulcrum, is additionally provided with link slot on sufficient end feet toe, link slot is between connecting fulcrum and support portion.The knot
In structure, support portion is used for and ground face contact.
In addition, being provided with supporting element on lid under the centre of the palm, supporting element is hinged with link slot, is formed between supporting element and link slot
Rotating fulcrum, and sufficient end feet toe can turn around the rotation of activity supporting point relative support.One end of toe spring is connected with centre of the palm lower cover, foot
The other end of toe spring is connected with the connecting fulcrum of sufficient end feet toe, and toe spring can play between sufficient end feet toe and centre of the palm lower cover
Shock absorbing effect.
Based on above structure, when work, robot body passes through upper end connection and centre of the palm upper cover presses, centre of the palm upper cover
It is pressed downward sufficient end feet toe；At this point, sufficient end feet toe is support with rotating fulcrum, sufficient end feet toe is flared out respectively, sufficient end feet toe it
Between form strong end support；Meanwhile toe spring can play corresponding buffer function, and then preferably solve polypody machine
The unstable defect of device people walking；And be connected between centre of the palm upper cover and centre of the palm lower cover by centre of the palm spring, when the centre of the palm, lower cover lands,
Centre of the palm spring can play corresponding buffer function again.When robot body moves upwards, centre of the palm spring, toe spring rise again
To the effect of reset, it is prepared for sufficient end landing next time.In the present invention, each foot end feet toe connects a compressible toe
Spring, and the centre of the palm connects a card compressed spring（That is centre of the palm spring）.
Compared with existing structure, robot foot end structure of the invention automatically adjusts self-view, increasing stress is passed through
Add these three advantages of contact range, bumper and absorbing shock to combine, enhances legged type robot to the adaptability of non-structure environment.
Sufficient end feet toe is arc-shaped or crescent, and sufficient end feet toe, toe spring are respectively three to six, sufficient end feet toe, toe
Being uniformly distributed for spring is conducive to structure of foot offer preferably support.Centre of the palm upper cover is connected by flexural pivot and upper end connection activity
It connects；Using the structure, it can effectively ensure that ground is vertical with sufficient end holding, make the stress of spring always along axial direction, increase its use
Service life.Damping shock absorption material is filled between centre of the palm upper cover and centre of the palm lower cover（That is damping shock absorption component）, damping shock absorption component
It is provided with the damping effect for being conducive to improve structure of foot.
In order to optimize overall structure, in the present invention, centre of the palm upper cover includes upper cover end plate, the annular that is arranged on upper cover end plate
Upper cover body, upper cover end plate and annular upper cover body are using integrated molding；Centre of the palm lower cover includes lower cover end plate, is arranged on lower cover end plate
Annular lower cover, lower cover end plate and annular lower cover are using being integrally formed.Upper cover end plate, lower cover end plate distinguish rounded, ring
Shape upper cover body, annular lower cover difference are in a tubular form.As shown in Figure 1, being conducive to the structure for simplifying entirety using the structure, improving
Practicability.
Further, several lower end grooves are provided under the centre of the palm on lid, supporting element is arranged in the groove of lower end, lower end groove
The movable space of sufficient end feet toe is formed between supporting element.Meanwhile supporting element is in the shape of a rod.Above-mentioned improvement can effectively optimize
Whole structure, it is more compact, succinct, reliable to make structure, to meet the needs of buffering, damping.
In the present invention, when being contacted with ground, by toe spring-compressed, play separates sufficient end feet toe on one side to sufficient end feet toe
Effect, increase foot termination contacting surface.Meanwhile centre of the palm upper cover is connected with centre of the palm lower cover by centre of the palm spring, when being contacted with ground, is led to
Centre of the palm spring-compressed is crossed, bumper and absorbing shock is played the role of.The effect of flexural pivot is, it is ensured that it is vertical with ground and sufficient end holding, make
The stress of spring increases its service life always along axial direction.
When robot ambulation, sufficient end feet toe first adjusts sufficient end angle, makes sufficient end guarantor perpendicular to the ground with ground face contact, flexural pivot
It holds vertical；Then, sufficient end continues to fall, sufficient end feet toe stress, opens respectively from three directions, and increase contact range；Finally,
Centre of the palm lower cover and ground face contact play the role of bumper and absorbing shock in the centre of the palm under the action of spring.
To sum up, the present invention, which efficiently solves, solves robot leg when being contacted with ground because unstable caused by unbalance stress
Problem, robot leg existing slippage problems when being contacted with ground, robot leg when being contacted with ground ask by existing impact
Topic, and sufficient end spring is by radial force, the problem of being easily damaged.The present invention can effectively ensure sufficient end stress aspect along spring shaft
To, and ensure sufficiently large contact range, make sufficient end keep stablizing.In addition, structure-based improvement, so that sufficient end of the invention
Structure has preferable buffering and damping effect, can effectively increase the service life of robot.Present inventive concept is ingenious, and design is closed
Reason, structure is simple, and easy to use, easy to maintain, manufacturing cost is low, applies valence with higher with good application prospect
Value is worth large-scale promotion and application.
Detailed description of the invention
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the structural schematic diagram of embodiment 1.
It is marked in figure：1, sufficient end feet toe, 2, centre of the palm upper cover, 3, centre of the palm spring, 4 centre of the palm lower covers, 5, toe spring, 6 be ball
Hinge.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification unless specifically stated can be equivalent or with similar purpose by other
Alternative features are replaced.That is, unless specifically stated, each feature is an example in a series of equivalent or similar characteristics
?.
Embodiment 1
The robot foot end structure of the present embodiment includes upper end connection, centre of the palm upper cover, centre of the palm lower cover, centre of the palm spring, sufficient end feet
Toe, toe spring, flexural pivot.In the present embodiment, sufficient end feet toe, toe spring are respectively three.Wherein, upper end connection be used for
Robot body is connected, and centre of the palm upper cover is flexibly connected by flexural pivot with upper end connection.
Meanwhile upper end connection is flexibly connected with centre of the palm upper cover, is passed through between centre of the palm upper cover center and centre of the palm lower cover center
Centre of the palm spring is connected.Further, also telescopic sleeve can be arranged on the spring of the centre of the palm in the present embodiment.In the present embodiment, sufficient end feet
Toe includes for support portion, the interconnecting piece with ground face contact, and using being integrally formed, sufficient end feet toe, which is located at, to be connected for support portion, interconnecting piece
One end of socket part is provided with connecting fulcrum；Link slot is additionally provided on sufficient end feet toe, link slot is located at connecting fulcrum and support portion
Between.Under the centre of the palm lid on be provided with supporting element, be flexibly connected between supporting element and link slot by connecting shaft, supporting element with connect
Rotating fulcrum is formed between slot, sufficient end feet toe can turn around the rotation of activity supporting point relative support.Under one end and the centre of the palm of toe spring
Lid is connected, and the other end of toe spring is connected with the connecting fulcrum of sufficient end feet toe and toe spring can be under sufficient end feet toe and the centre of the palm
Play the role of bumper and absorbing shock and reset between lid.
Preferably, sufficient end feet toe is in irregular crescent；Damping shock absorption is provided between centre of the palm upper cover and centre of the palm lower cover
Component, damping shock absorption part are made of damping shock absorption material.
Further, as shown, in the present embodiment, centre of the palm upper cover includes circular upper cover end plate, in both ends open tubulose
Annular upper cover body, annular upper cover body is arranged on upper cover end plate, and upper cover end plate and annular upper cover body are using being integrally formed.Together
When, centre of the palm lower cover includes circular lower cover end plate, the annular lower cover in both ends open tubulose, and annular lower cover is arranged in lower cover
On end plate, lower cover end plate and annular lower cover are using integrated molding.
As shown, being provided with upper recess on lid on the centre of the palm.Several lower end grooves are provided on lid under the centre of the palm, are supported
Part is arranged in the groove of lower end, and the movable space of sufficient end feet toe is formed between lower end groove and supporting element.Using the structure, favorably
In the volume of reduction foot end mechanism, and guarantee the intensity of centre of the palm lower cover.In the present embodiment, supporting element is in the shape of a rod.
It is able to know that based on above structure, the structure of foot of the present embodiment includes three removable action spot end feet toes and one can
The centre of the palm is compressed, and each sufficient end feet toe connects a compressible spring（That is toe spring）, the centre of the palm connects a card compressed spring
（Centre of the palm spring）.
In the foot end feet toe, when being contacted with ground, by toe spring-compressed, play makes sufficient end feet toe to one to sufficient end feet toe
The separated effect in side increases foot termination contacting surface.Centre of the palm upper cover is connected with centre of the palm lower cover by centre of the palm spring, when being contacted with ground,
By centre of the palm spring-compressed, play the role of bumper and absorbing shock.The effect of flexural pivot is, it is ensured that keeps hanging down respectively with ground, sufficient end
Directly, make the stress of spring always along axial direction, increase its service life.
When robot ambulation, sufficient end feet toe first adjusts sufficient end angle, makes sufficient end guarantor perpendicular to the ground with ground face contact, flexural pivot
It holds vertical.Then, sufficient end continues to fall, sufficient end feet toe stress, opens respectively from three directions, and increase contact range.Finally,
Centre of the palm lower cover and ground face contact play the role of bumper and absorbing shock under the action of the spring.The sufficient end feet toe of this implementation can ensure
Along spring axial direction in terms of sufficient end stress, and ensure sufficiently large contact range, and ensure the bumper and absorbing shock at sufficient end.
Improvement based on above structure, the present invention are capable of increasing the contact range of sufficient end feet toe, effectively solve existing machine
People is easy the problem of skidding.Meanwhile structure-based improvement, so that the present invention has better buffering and damping effect, to machine
People plays better protective effect, increases the service life of robot.In addition, compared with existing structure, the present invention is by stress
Automatic adjustment self-view, increase contact range, bumper and absorbing shock these three advantages combine, enhance legged type robot to non-
The adaptability of structural environment expands the application range of structure.
The invention is not limited to specific embodiments above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
1. a kind of robot foot end structure, which is characterized in that including the upper end connection for being connected with robot body, the centre of the palm
Upper cover, centre of the palm lower cover, centre of the palm spring, sufficient end feet toe, toe spring, the foot end feet toe, toe spring are respectively at least three；
The upper end connection is flexibly connected with centre of the palm upper cover, passes through the palm between centre of the palm upper cover center and centre of the palm lower cover center
Heart spring is connected as one；
The foot end feet toe include for support portion, the interconnecting piece with ground face contact, the support portion, interconnecting piece using one at
Type, the foot end feet toe are disposed with link slot, connecting fulcrum close to one end of interconnecting piece, and the link slot is located at connection branch
Between point and support portion；
It is provided with supporting element on lid under the centre of the palm, is flexibly connected between the supporting element and link slot by connecting shaft, it is described
Rotating fulcrum is formed between supporting element and link slot and sufficient end feet toe can turn around the rotation of activity supporting point relative support；
One end of the toe spring is connected with centre of the palm lower cover, the connecting fulcrum of the other end of the toe spring and sufficient end feet toe
It is connected and toe spring can plays shock absorbing effect between sufficient end feet toe and centre of the palm lower cover.
2. robot foot end structure according to claim 1, which is characterized in that the foot end feet toe is arc-shaped or crescent.
3. robot foot end structure according to claim 1, which is characterized in that the foot end feet toe, toe spring are respectively
Three to six.
4. any one robot foot end structure according to claim 1 ~ 3, which is characterized in that further include being arranged in centre of the palm spring
On telescopic sleeve.
5. any one robot foot end structure according to claim 1 ~ 4, which is characterized in that the centre of the palm upper cover passes through flexural pivot
It is flexibly connected with upper end connection.
6. robot foot end structure according to claim 1, which is characterized in that set between the centre of the palm upper cover and centre of the palm lower cover
It is equipped with damping shock absorption component.
7. any one robot foot end structure according to claim 1 ~ 6, which is characterized in that the centre of the palm upper cover includes upper cover
End plate, the annular upper cover body being arranged on upper cover end plate, the upper cover end plate and annular upper cover body are using integrated molding；
The annular lower cover that the centre of the palm lower cover includes lower cover end plate, is arranged on lower cover end plate, the lower cover end plate and annular
Lower cover is using integrated molding.
8. robot foot end structure according to claim 7, which is characterized in that the upper cover end plate, lower cover end plate are in respectively
Circle, the annular upper cover body, annular lower cover difference are in a tubular form.
9. robot foot end structure according to claim 8, which is characterized in that be provided under several on lid under the centre of the palm
Groove is held, the supporting element is arranged in the groove of lower end, and it is movable that sufficient end feet toe is formed between the lower end groove and supporting element
Space.
10. robot foot end structure according to claim 9, which is characterized in that the supporting element is in the shape of a rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810931856.9A CN108820070A (en) | 2018-08-16 | 2018-08-16 | A kind of robot foot end structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810931856.9A CN108820070A (en) | 2018-08-16 | 2018-08-16 | A kind of robot foot end structure |
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| CN108820070A true CN108820070A (en) | 2018-11-16 |
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| CN201810931856.9A Pending CN108820070A (en) | 2018-08-16 | 2018-08-16 | A kind of robot foot end structure |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491393A (en) * | 2018-12-10 | 2019-03-19 | 辽宁工程技术大学 | A kind of ball-type mobile robot based on STM32 single-chip microcontroller |
| CN109677502A (en) * | 2019-01-25 | 2019-04-26 | 山东省科学院自动化研究所 | A kind of robot bionic foot mechanism and biped robot |
| CN110539303A (en) * | 2019-08-01 | 2019-12-06 | 北京鲲鹏神通科技有限公司 | Humanoid walking robot |
| CN110588831A (en) * | 2019-09-27 | 2019-12-20 | 哈尔滨理工大学 | Robot foot end damping mechanism |
| CN110758585A (en) * | 2019-11-11 | 2020-02-07 | 江苏科技大学 | Shank structure of disk-shaped claw thorn type wall-climbing robot |
| CN112478013A (en) * | 2020-11-24 | 2021-03-12 | 胡永星 | Novel sufficient buffer gear of robot |
| CN112693538A (en) * | 2021-03-23 | 2021-04-23 | 德鲁动力科技(成都)有限公司 | Foot end structure of foot type robot, leg movement mechanism and four-foot robot |
| CN113895539A (en) * | 2021-11-05 | 2022-01-07 | 广东博智林智能制造有限公司 | Foot structure and multi-legged robot |
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| CN107829492A (en) * | 2017-11-04 | 2018-03-23 | 杭州同筹网络科技有限公司 | A kind of walking mechanism for being applied to dredging sewer pipe small intelligent robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491393A (en) * | 2018-12-10 | 2019-03-19 | 辽宁工程技术大学 | A kind of ball-type mobile robot based on STM32 single-chip microcontroller |
| CN109677502A (en) * | 2019-01-25 | 2019-04-26 | 山东省科学院自动化研究所 | A kind of robot bionic foot mechanism and biped robot |
| CN109677502B (en) * | 2019-01-25 | 2024-03-26 | 山东省科学院自动化研究所 | Robot bionic foot mechanism and biped robot |
| CN110539303A (en) * | 2019-08-01 | 2019-12-06 | 北京鲲鹏神通科技有限公司 | Humanoid walking robot |
| CN110588831A (en) * | 2019-09-27 | 2019-12-20 | 哈尔滨理工大学 | Robot foot end damping mechanism |
| CN110758585A (en) * | 2019-11-11 | 2020-02-07 | 江苏科技大学 | Shank structure of disk-shaped claw thorn type wall-climbing robot |
| CN110758585B (en) * | 2019-11-11 | 2022-04-05 | 江苏科技大学 | Shank structure of disk-shaped claw thorn type wall-climbing robot |
| CN112478013A (en) * | 2020-11-24 | 2021-03-12 | 胡永星 | Novel sufficient buffer gear of robot |
| CN112478013B (en) * | 2020-11-24 | 2021-12-17 | 真木农业设备（安徽）有限公司 | Foot buffer mechanism of robot |
| CN112693538A (en) * | 2021-03-23 | 2021-04-23 | 德鲁动力科技(成都)有限公司 | Foot end structure of foot type robot, leg movement mechanism and four-foot robot |
| CN113895539A (en) * | 2021-11-05 | 2022-01-07 | 广东博智林智能制造有限公司 | Foot structure and multi-legged robot |
| CN113895539B (en) * | 2021-11-05 | 2022-04-26 | 广东博智林智能制造有限公司 | Foot structure and multi-legged robot |
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Effective date of registration: 20230714 Address after: No. 1, East Third Road, Erxianqiao, Chengdu, Sichuan, 610041 Applicant after: Chengdu University of Technology Applicant after: Southwest University of Science and Technology Applicant after: Jiang Gang Address before: 621010, No. 59, Qinglong Avenue, Fucheng District, Sichuan, Mianyang Applicant before: Southwest University of Science and Technology Applicant before: Jiang Gang |