CN108943023A - A kind of gasbag robot leg buffer mechanism of adjustable rigidity - Google Patents
A kind of gasbag robot leg buffer mechanism of adjustable rigidity Download PDFInfo
- Publication number
- CN108943023A CN108943023A CN201810920897.8A CN201810920897A CN108943023A CN 108943023 A CN108943023 A CN 108943023A CN 201810920897 A CN201810920897 A CN 201810920897A CN 108943023 A CN108943023 A CN 108943023A
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- robot
- buffer mechanism
- connecting plate
- leather
- wall
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to mobile robot technology fields, and disclose a kind of gasbag robot leg buffer mechanism of adjustable rigidity, including robot body, the bottom of the robot body is provided with first-level buffer mechanism, the first-level buffer mechanism includes multiple connecting plates, it is rotatedly connected by springing back bindiny mechanism between multiple connecting plates, the connecting plate positioned at the top and the connecting plate positioned at bottom are longer than other connecting plates, the top of the connecting plate positioned at the top is connected with the bottom of robot body, the side of multiple connecting plates is integrally formed with fixed plate, air bag is bonded with by glue jointly between multiple fixed plates, the side of multiple air bags is provided with tracheae.The gasbag robot leg buffer mechanism of the adjustable rigidity is inflated or is evacuated to air bag by the small air pump in control robot body, thus to achieve the purpose that adjust different elastic stiffness.
Description
Technical field
The present invention relates to mobile robot technology field, the gasbag robot leg buffer of specially a kind of adjustable rigidity
Structure.
Background technique
Currently, wheeled and caterpillar mobile robot the relevant technologies have attained full development, have many various
Mobile robot product be applied to the fields such as amusement, anti-terror explosive removing, hazardous environment operation and military affairs.Wheeled robot tool
Have the advantages that frictional resistance is small, speed is fast, but be only adapted to flat ground environment, obstacle climbing ability is poor.Caterpillar type robot pair
Environment it is adaptable, can crossing over blockage, speeling stairway, Crossing ditch etc., but transmission efficiency is low.No wheel is wheeled robot
Or caterpillar type robot can only all walk less than half of land on earth, and human and animal can be in land
From anywhere in walk, therefore, leg type mobile robot has the adaptation of stronger environment than wheeled and caterpillar mobile robot
Ability.There is the bionics for being interpenetrated, being be combined with each other by life science and engineering technology file the 1960s, that is,
From this time, the U.S. takes the lead in having carried out the research of bio-robot, and in nineteen sixty-eight by the Mosher of General Electric Company
Have developed four feet walking robot in First Modern Significance in the world, with control function, four feet walking robot
It is the multi-body system with advanced dynamic problem.Robot has three leg support ground when quiet gait is walked, generally
It can keep stable；But only have two legs to support ground in Dynamic gait walking, the ground shock power that foot is subject to when landing easily makes
Robot falls, and therefore, dynamic locomopion stable problem is a problem of quadruped robot, solves the main of this problem at present
Approach is to develop novel elasticity and flexibility mechanical system, and existing elasticity walking mechanism structure is complicated, and spring rate
On-line control cannot be carried out according to the ground environment of different hardness.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of gasbag robot leg buffer mechanism of adjustable rigidity,
Has the advantages that buffer capacity is strong, can carry out on-line control according to the ground environment of different hardness, solving spring rate cannot
The problem of adjusting.
(2) technical solution
To realize that the above-mentioned purpose that can carry out on-line control according to the ground environment of different hardness, the present invention provide following skill
Art scheme: a kind of gasbag robot leg buffer mechanism of adjustable rigidity, including robot body, the bottom of the robot body
Portion is provided with first-level buffer mechanism, and the first-level buffer mechanism includes multiple connecting plates, passes through between multiple connecting plates
Rebound bindiny mechanism is rotatedly connected, and the connecting plate positioned at the top and the connecting plate positioned at bottom are than other connecting plates
Long, the top of the connecting plate positioned at the top is connected with the bottom of robot body, the side of multiple connecting plates
Integrally formed with fixed plate, air bag is bonded with by glue jointly between multiple fixed plates, multiple air bags
Side is provided with tracheae, and multiple air bags pass through connecting tube and are connected with tracheae, extends to machine at the top of the tracheae
The inside of device human body is provided with auxiliary buffer gear, the lower section of the first-level buffer mechanism between multiple fixed plates
It is provided with level 2 buffering mechanism, the level 2 buffering mechanism includes mounting base, the mounting base and the connecting plate for being located at bottom
It is fixedly linked, the bottom of the mounting base offers grease chamber, and the inner wall of the grease chamber is fixedly connected with partition, and the partition will be oily
Room is divided into two cavitys up and down, and the side wall of the partition offers damping hole, and upper and lower two cavitys are connected by damping hole
Logical, the inside of the grease chamber is filled with hydraulic oil, and the inner wall lower end of the grease chamber is fixedly connected with linear bearing, the linear axis
The inner wall held slidably connects slide bar, and the upper end of the slide bar extends to the inside of grease chamber, and is fixedly connected at the top of slide bar
The contact surface of piston, the piston and grease chamber is provided with oil sealing, and the bottom end of the slide bar is rotatably connected to first by articulated shaft
Connecting rod, the bottom of the mounting base offer circular groove corresponding with grease chamber, and the inner wall of the circular groove is rotated by shaft to be connected
It is connected to the second connecting rod, the bottom of the first connecting rod and the second connecting rod is fixedly connected with robot foot jointly.
Preferably, the rebound bindiny mechanism includes bull stick, and the bottom of one of them connecting plate offers turn trough, institute
The inner wall for stating bull stick and turn trough is rotatedly connected, and is fixedly connected at the top of another described connecting plate there are two corresponding rotating plate,
Two rotating plates are socketed with bar rotation, and the side wall that the bull stick is located between two rotating plates is socketed with torsional spring, the torsion
One end of spring and the inner wall of turn trough are fixedly linked, and are fixedly linked at the top of the other end of the torsional spring and another connecting plate.
Preferably, the auxiliary buffer gear includes two corresponding hooks, and two hooks are solid with two respectively
Fixed board side close to each other is fixedly linked, and is mounted with spring jointly on two hooks.
Preferably, the upper end of the first-level buffer mechanism is provided with shell, and the upper shell is cylindrical, and upper shell
It is socketed in the outside of first-level buffer mechanism, the inner wall upper end of the upper shell is fixedly linked with the connecting plate for being located at the top, institute
The lower end for stating first-level buffer mechanism is provided with lower casing, and the lower casing matches with upper shell, and the lower casing is socketed in two
The outside of grade buffer gear, the inner wall bottom end of the lower casing and the side wall of mounting base are fixedly linked.
Preferably, the first connection leather, the first connection leather are provided between the upper shell and lower casing jointly
In a ring, and first connects the outside that leather is socketed in first-level buffer mechanism, and the upper and lower ends of the first connection leather are logical
It crosses glue to be fixedly linked with upper shell and lower casing, the top of the upper shell is bonded with by glue connect leather phase with first
The top of matched second connection leather, the second connection leather is fixedly linked by the bottom of glue and robot body,
The bottom of the lower casing is bonded with by glue and connect the third connection leather that leather matches, the third connection with first
The bottom of leather at the top of glue and robot foot by being fixedly linked.
Preferably, the inside of the robot foot is embedded with displacement sensor and pressure sensor.
Preferably, the bottom of the robot foot is bonded with antiskid, shock-absorbing pad by glue.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of gasbag robot leg buffer mechanism of adjustable rigidity, have
Below the utility model has the advantages that
1, the gasbag robot leg buffer mechanism of the adjustable rigidity passes through the setting of first-level buffer mechanism, robot row
The impact force that it is faced when walking is transmitted by connecting plate to robot body, due to being rotation connection between multiple connecting plates
, so can relatively rotate between multiple connecting plates, fixed plate rotation is driven when multiple connecting plates rotate, it is multiple described
Fixed plate rotation squeezes the air bag being arranged between fixed plate, passes through tracheae in air bag and is filled with inert gas, is inhaled by gas
The impact force that the transmitting of buffering ground comes is received, when the ground environment walking in different hardness, passes through what is be arranged inside robot foot
Pressure sensor detects impact force information, and the impact force information detected is transmitted to inside robot body, by inside it
The calculating of chip, the small air pump controlled in robot body are inflated or are evacuated to air bag, to adjust difference to reach
The purpose of elastic stiffness.
2, the gasbag robot leg buffer mechanism of the adjustable rigidity passes through the setting of level 2 buffering mechanism, robot foot
When landing, the place of being followed by first touches with ground and generates impact force, and impact force is by first connecting rod band moving slide-bar in grease chamber
Interior movement, the piston at the top of slide bar push the indoor hydraulic oil of oil, make hydraulic oil by damping hole, and hydraulic oil absorbs ground transmitting
The impact force come, damping hole consumes the impact force that hydraulic oil absorbs, to slow down the impact force for being transmitted to robot leg.
Detailed description of the invention
Fig. 1 is a kind of gasbag robot leg buffer mechanism structural schematic diagram of adjustable rigidity proposed by the present invention；
Fig. 2 is a kind of structural representation of the gasbag robot leg buffer mechanism part A of adjustable rigidity proposed by the present invention
Figure；
Fig. 3 is a kind of rebound bindiny mechanism of gasbag robot leg buffer mechanism of adjustable rigidity proposed by the present invention
Structural schematic diagram；
Fig. 4 is a kind of structural representation of the gasbag robot leg buffer mechanism part B of adjustable rigidity proposed by the present invention
Figure.
In figure: 1 robot body, 2 connecting plates, 3 second connection leathers, 4 tracheaes, shell, 6 air bags, 7 first connections on 5
Leather, 8 fixed plates, 9 robot foots, 10 pressure sensors, 11 antiskid, shock-absorbing pads, 12 hooks, 13 springs, 14 bull sticks, 15 torsional springs,
16 mounting bases, 17 damping holes, 18 grease chambers, 19 lower casings, 20 thirds connect leather, 21 slide bars, 22 second connecting rods.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-4, a kind of gasbag robot leg buffer mechanism of adjustable rigidity, including robot body 1, machine
The bottom of human body 1 is provided with first-level buffer mechanism, and first-level buffer mechanism includes multiple connecting plates 2, between multiple connecting plates 2
It is rotatedly connected by springing back bindiny mechanism, the connecting plate 2 positioned at the top and the connecting plate 2 positioned at bottom are than other connections
Plate 2 is long, and the top positioned at the connecting plate 2 of the top is connected with the bottom of robot body 1, and the side of multiple connecting plates 2 is equal
Integrally formed with fixed plate 8, air bag 6 is bonded with by glue jointly between multiple fixed plates 8, the side of multiple air bags 6 is equal
It is provided with tracheae 4, multiple air bags 6 are connected by connecting tube with tracheae 4, and the top of tracheae 4 extends to robot body 1
Inside is provided with auxiliary buffer gear between multiple fixed plates 8, level 2 buffering machine is provided with below first-level buffer mechanism
Structure, level 2 buffering mechanism include mounting base 16, and mounting base 16 is fixedly linked with the connecting plate 2 for being located at bottom, mounting base 16
Bottom offers grease chamber 18, and the inner wall of grease chamber 18 is fixedly connected with partition, and grease chamber is divided into two cavitys up and down by partition, partition
Side wall offers damping hole 17, and upper and lower two cavitys are connected by damping hole 17, and the inside of grease chamber 18 is filled with hydraulic oil, oil
The inner wall lower end of room 18 is fixedly connected with linear bearing, and the inner wall of linear bearing slidably connects slide bar 21, the upper end of slide bar 21
The inside of grease chamber 18 is extended to, and the top of slide bar 21 is fixedly connected with piston, the contact surface of piston and grease chamber 18 is provided with oil
Envelope, the bottom end of slide bar 21 are rotatably connected to first connecting rod by articulated shaft, and the bottom of mounting base 16 offers and 18 phase of grease chamber
The inner wall of corresponding circular groove, circular groove is rotatably connected to the second connecting rod 22, first connecting rod and the second connecting rod 22 by shaft
Bottom be fixedly connected with robot foot 9 jointly.
Springing back bindiny mechanism includes bull stick 14, and the bottom of one of connecting plate 2 offers turn trough, bull stick 14 and turn trough
Inner wall is rotatedly connected, and the top of another connecting plate 2 is fixedly connected there are two corresponding rotating plate, two rotating plates with bull stick 14
Rotation socket, the side wall that bull stick 14 is located between two rotating plates are socketed with torsional spring 15, and one end of torsional spring 15 and the inner wall of turn trough are solid
Fixed to be connected, the other end of torsional spring 15 and the top of another connecting plate 2 are fixedly linked, when robot leg strikes object, spring
13 hold each connecting plate 2, prevent the entire robot leg fold past.
Assisting buffer gear includes two corresponding hooks 12, and two hooks 12 are mutually leaned on two fixed plates 8 respectively
Close side is fixedly linked, and is mounted with spring 13 jointly on two hooks 12, offsets the rotating tendency between multiple connecting plates 2,
Slow down a part of impact force.
The upper end of first-level buffer mechanism is provided with shell 5, and upper shell 5 is cylindrical, and upper shell 5 is socketed in level-one and delays
The outside of punch mechanism, the inner wall upper end of upper shell 5 is fixedly linked with the connecting plate 2 for being located at the top, under first-level buffer mechanism
End is provided with lower casing 19, and lower casing 19 matches with upper shell 5, and lower casing 19 is socketed in the outside of level 2 buffering mechanism, under
The inner wall bottom end of shell 19 and the side wall of mounting base 16 are fixedly linked.
The first connection leather 7 is provided between upper shell 5 and lower casing 19 jointly, first connects leather 7 in a ring, and the
One connection leather 7 is socketed in the outside of first-level buffer mechanism, and the upper and lower ends of the first connection leather 7 pass through glue and upper shell
5 and lower casing 19 be fixedly linked, the top of upper shell 5 is bonded with and first connect that leather 7 matches second connects by glue
Leather 3 is connect, the top of the second connection leather 3 is fixedly linked by the bottom of glue and robot body 1, the bottom of lower casing 19
It is bonded with by glue and connect the third connection leather 20 that leather 7 matches with first, the bottom of third connection leather 20 passes through
Glue and the top of robot foot 9 are fixedly linked, and cover the part in entire robot leg under shell, make robot leg more
With aesthetics.
The inside of robot foot 9 is embedded with displacement sensor and pressure sensor 10,10 monitoring robot of pressure sensor
Impact force when foot 9 lands controls the gas capacity in air bag 6 according to the size of impact force, and displacement sensor is for monitoring
The displacement of robot foot 9 during the motion, and machine is determined according to the coordinate system being set in advance and the displacement monitored
The spatial position of device people foot 9.
The bottom of robot foot 9 is bonded with antiskid, shock-absorbing pad 11 by glue, prevents from generating between robot foot 9 and ground
Sliding, and a part of impact force is slowed down by antiskid, shock-absorbing pad 11.
To sum up, the gasbag robot leg buffer mechanism of the adjustable rigidity faces its impact force when robot ambulation
It is transmitted by connecting plate 2 to robot body 1, due to being rotation connection between multiple connecting plates 2, so multiple connecting plates
It can relatively rotate between 2, drive fixed plate 8 to rotate when multiple connecting plates 2 rotate, multiple rotations of fixed plate 8 are squeezed
The air bag 6 being arranged between pressing fixed board 8, air bag 6 is interior to be filled with inert gas by tracheae 4, and buffering ground is absorbed by gas
The impact force that face transmitting comes passes through the pressure sensing being arranged inside robot foot 9 when the ground environment walking in different hardness
Device 10 detects impact force information, and the impact force information detected is transmitted to inside robot body 1, by its inside chip
It calculates, the small air pump controlled in robot body 1 is inflated or is evacuated to air bag 6, to adjust different elasticity to reach
The purpose of rigidity, by the setting of level 2 buffering mechanism, when robot foot 9 is landed, the place of being followed by first touches with ground and is produced
Raw impact force, impact force are moved in grease chamber 18 by first connecting rod band moving slide-bar 21, and the piston at 21 top of slide bar pushes oil
Hydraulic oil in room 18 makes hydraulic oil by damping hole 17, and hydraulic oil absorbs the impact force that ground transmitting comes, and damping hole 17 consumes
The impact force that hydraulic oil absorbs, to slow down the impact force for being transmitted to robot leg.
It should be noted that the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of gasbag robot leg buffer mechanism of adjustable rigidity, including robot body (1), it is characterised in that: described
The bottom of robot body (1) is provided with first-level buffer mechanism, and the first-level buffer mechanism includes multiple connecting plates (2), multiple
It is rotatedly connected by springing back bindiny mechanism between the connecting plate (2), positioned at the connecting plate (2) of the top and positioned at most
The connecting plate (2) of lower section is longer than other connecting plates (2), top and robot sheet positioned at the connecting plate (2) of the top
The bottom of body (1) is connected, and the side of multiple connecting plates (2) is integrally formed with fixed plate (8), multiple fixed plates
(8) it is bonded with jointly air bag (6) by glue between, the side of multiple air bags (6) is provided with tracheae (4), multiple
The air bag (6) is connected by connecting tube with tracheae (4), extends to robot body (1) at the top of the tracheae (4)
Inside is provided with auxiliary buffer gear between multiple fixed plates (8), is provided with two below the first-level buffer mechanism
Grade buffer gear, the level 2 buffering mechanism includes mounting base (16), the mounting base (16) and the connecting plate for being located at bottom
(2) be fixedly linked, the bottom of the mounting base (16) offers grease chamber (18), the inner wall of the grease chamber (18) be fixedly connected with every
Grease chamber is divided into two cavitys up and down by plate, the partition, and the side wall of the partition offers damping hole (17), described in upper and lower two
Cavity is connected by damping hole (17), and the inside of the grease chamber (18) is filled with hydraulic oil, under the inner wall of the grease chamber (18)
End is fixedly connected with linear bearing, and the inner wall of the linear bearing slidably connects slide bar (21), the upper end of the slide bar (21)
The inside of grease chamber (18) is extended to, and is fixedly connected with piston at the top of slide bar (21), the contact of the piston and grease chamber (18)
Face is provided with oil sealing, and the bottom end of the slide bar (21) is rotatably connected to first connecting rod, the mounting base (16) by articulated shaft
Bottom offer circular groove corresponding with grease chamber (18), the inner wall of the circular groove is rotatably connected to the second connecting rod by shaft
(22), the bottom of the first connecting rod and the second connecting rod (22) is fixedly connected with robot foot (9) jointly.
2. a kind of gasbag robot leg buffer mechanism of adjustable rigidity according to claim 1, it is characterised in that: described
Springing back bindiny mechanism includes bull stick (14), and the bottom of one of them connecting plate (2) offers turn trough, the bull stick (14) with
The inner wall of turn trough is rotatedly connected, and is fixedly connected at the top of another described connecting plate (2) there are two corresponding rotating plate, two institutes
It states rotating plate and rotates socket with bull stick (14), the side wall that the bull stick (14) is located between two rotating plates is socketed with torsional spring (15),
One end of the torsional spring (15) and the inner wall of turn trough are fixedly linked, the other end of the torsional spring (15) and another connecting plate (2)
Top be fixedly linked.
3. a kind of gasbag robot leg buffer mechanism of adjustable rigidity according to claim 1, it is characterised in that: described
Assisting buffer gear includes two corresponding hooks (12), and two hooks (12) are mutual with two fixed plates (8) respectively
Close side is fixedly linked, and is mounted with spring (13) jointly on two hooks (12).
4. a kind of gasbag robot leg buffer mechanism of adjustable rigidity according to claim 1, it is characterised in that: described
The upper end of first-level buffer mechanism is provided with shell (5), and the upper shell (5) is cylindrical, and upper shell (5) is socketed in level-one
The outside of buffer gear, the inner wall upper end of the upper shell (5) are fixedly linked with the connecting plate (2) for being located at the top, and described one
The lower end of grade buffer gear is provided with lower casing (19), and the lower casing (19) matches with upper shell (5), the lower casing
(19) outside of level 2 buffering mechanism, the inner wall bottom end of the lower casing (19) and the side wall stationary phase of mounting base (16) are socketed in
Even.
5. a kind of gasbag robot leg buffer mechanism of adjustable rigidity according to claim 4, it is characterised in that: described
The first connection leather (7) is provided between upper shell (5) and lower casing (19) jointly, described first connects leather (7) in a ring,
And first connects the outside that leather (7) are socketed in first-level buffer mechanism, the upper and lower ends of first connection leather (7) pass through
Glue is fixedly linked with upper shell (5) and lower casing (19), and the top of the upper shell (5) is bonded with by glue to be connected with first
The second connection leather (3) that leather (7) matches is connect, the top of second connection leather (3) passes through glue and robot sheet
The bottom of body (1) is fixedly linked, and the bottom of the lower casing (19) is bonded with by glue to be connect leather (7) with first and match
Third connect leather (20), the bottom of third connection leather (20) is fixed by glue and the top of robot foot (9)
It is connected.
6. a kind of gasbag robot leg buffer mechanism of adjustable rigidity according to claim 1, it is characterised in that: described
The inside of robot foot (9) is embedded with displacement sensor and pressure sensor (10).
7. a kind of gasbag robot leg buffer mechanism of adjustable rigidity according to claim 1, it is characterised in that: described
The bottom of robot foot (9) is bonded with antiskid, shock-absorbing pad (11) by glue.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810920897.8A CN108943023A (en) | 2018-08-14 | 2018-08-14 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810920897.8A CN108943023A (en) | 2018-08-14 | 2018-08-14 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108943023A true CN108943023A (en) | 2018-12-07 |
Family
ID=64469617
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810920897.8A Pending CN108943023A (en) | 2018-08-14 | 2018-08-14 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
Country Status (1)
| Country | Link |
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| CN (1) | CN108943023A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635993A (en) * | 2021-07-23 | 2021-11-12 | 广州大学 | Four-legged robot with rigid-flexible coupling structure |
| CN113977630A (en) * | 2021-10-21 | 2022-01-28 | 广州大学 | Variable-rigidity continuous mechanical arm based on air spring |
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| CN102179821A (en) * | 2011-06-10 | 2011-09-14 | 北方工业大学 | Rigidity-adjustable elastic linear telescopic passive robot joint |
| CN102673674A (en) * | 2012-06-01 | 2012-09-19 | 浙江大学 | Bionic elastic spine mechanism of quadruped robots |
| CN102756376A (en) * | 2012-07-20 | 2012-10-31 | 清华大学 | Finger device for underactuated robot adapting along with shapes automatically |
| CN107263443A (en) * | 2017-06-19 | 2017-10-20 | 侯昭正 | Unpowered ectoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE1004639A5 (en) * | 1990-09-27 | 1993-01-05 | Dumont Gilbert | Pad for protection against the risk of automated equipment collision |
| CN201506402U (en) * | 2009-10-16 | 2010-06-16 | 山东大学 | Rigidity-adjustable air bag type robot leg cushioning mechanism |
| CN102179821A (en) * | 2011-06-10 | 2011-09-14 | 北方工业大学 | Rigidity-adjustable elastic linear telescopic passive robot joint |
| CN102673674A (en) * | 2012-06-01 | 2012-09-19 | 浙江大学 | Bionic elastic spine mechanism of quadruped robots |
| CN102756376A (en) * | 2012-07-20 | 2012-10-31 | 清华大学 | Finger device for underactuated robot adapting along with shapes automatically |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635993A (en) * | 2021-07-23 | 2021-11-12 | 广州大学 | Four-legged robot with rigid-flexible coupling structure |
| CN113977630A (en) * | 2021-10-21 | 2022-01-28 | 广州大学 | Variable-rigidity continuous mechanical arm based on air spring |
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Application publication date: 20181207 |
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