CN109436123A - A kind of overturning-preventing biped bio-robot - Google Patents
A kind of overturning-preventing biped bio-robot Download PDFInfo
- Publication number
- CN109436123A CN109436123A CN201811522174.9A CN201811522174A CN109436123A CN 109436123 A CN109436123 A CN 109436123A CN 201811522174 A CN201811522174 A CN 201811522174A CN 109436123 A CN109436123 A CN 109436123A
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- fixedly connected
- bio
- biped
- overturning
- bottom plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of overturning-preventing biped bio-robots, including bottom plate, the upper surface of the bottom plate is fixedly connected with one group of damping telescopic rod, the outer surface of the damping telescopic rod is arranged with damping spring, the upper surface of the bottom plate offers sliding slot, the internal slide connection of the sliding slot is fixedly connected with Tension spring for shock absorption between two connecting rods there are two sliding block.The present invention passes through setting driving motor, when the height of robot body changes, the centre-of gravity shift of robot watch box, driving motor drives the rotation of active angular wheel by shaft, active angular wheel drives threaded post rotation by driven angular wheel, threaded post drives whorl brace rod to move left and right, whorl brace rod drives hinged mounting post to rotate, by the way that adjustable spring is arranged, making auxiliary support bar always has ground fitting, the position according to center of gravity is played, the effect of the support angle of auxiliary support bar is adjusted, thus the purpose that the side of arrival is toppled over.
Description
Technical field
The present invention relates to bio-robot technical field more particularly to a kind of overturning-preventing biped bio-robots.
Background technique
" bio-robot " refers to mimic biology and is engaged in the robot of biological characteristic work, at present in western countries, machine
Tool pet is all the fashion, and the task of environmental monitoring can be served as by addition imitating sparrow robot, has a wide development prospect, and 20
The century mankind will enter aging society, develop the wretched insufficiency that " anthropomorphic robot " will make up young labour, solve old
The social concerns such as the home services of ageization society and medical treatment, and new industry can be opened up, create new job opportunity."
With the fast development of bio-robot, for bio-robot using more and more, and then for bionical machine
The requirement of device people also increases accordingly, therefore biped bio-robot is also more particularly important, but existing biped is bionical
Robot when in use, because of the adjusting of robot, causes the transfer of center of gravity, the feelings for causing robot run-off the straight to skew
Condition, the situation that the vibration of external force also often makes robot run-off the straight skew.
Summary of the invention
Technical problems based on background technology, the invention proposes a kind of overturning-preventing biped bio-robots.
A kind of overturning-preventing biped bio-robot proposed by the present invention, including bottom plate, the upper surface of the bottom plate is fixed to be connected
It is connected to one group of damping telescopic rod, the outer surface of the damping telescopic rod is arranged with damping spring, and the upper surface of the bottom plate opens up
There is a sliding slot, there are two sliding block, the upper surface of two sliding blocks is hinged with connecting rod for the internal slide connection of the sliding slot, and two
Tension spring for shock absorption is fixedly connected between a connecting rod, the top of the damping telescopic rod is fixedly connected with robot body,
The top of two connecting rods is hinged with the lower surface of the robot body, and the front of the robot body offers
Mounting groove, is fixedly connected with that there are two sliding rails on the bottom wall inside the mounting groove, and the inside of two sliding rails is flexibly connected
There is a vertical bar, the top of the vertical bar is fixedly connected with modular substrate, and the lower surface of the modular substrate is fixedly connected with that there are two teeth
Item is fixedly connected with work drive motor on the bottom wall inside the mounting groove, and the work drive motor is located between two sliding rails,
The output end of the work drive motor is fixedly connected with bull stick, and the outer surface of the bull stick is fixedly connected with that there are two gear, the teeth
Wheel is meshed with the rack gear, and by bearing rotation connection, there are two screw shell, two spiral shells for the lower surface of the bottom plate
The inside of line sleeve is threaded with support threaded rod, and the bottom end of two support threaded rods is fixedly connected to sufficient shape three
Angle support, the outer surface of two screw shells are fixedly connected to fluted disc, and the lower surface of the bottom plate is fixedly connected with two
A driving motor, the output end of two driving motors are fixedly connected with shaft, and the outer surface of the shaft is fixedly connected with
Gear ring, two gear rings are engaged with the corresponding fluted disc, and the equal bottom end of two shafts is fixedly connected with initiative taper
Shape gear, the opposite side of two screw shells pass through the threaded post that bearing is rotatably connected to inner hollow, two institutes
The outer surface for stating threaded post is fixedly connected with driven angular wheel, two active angular wheels with it is corresponding described driven
Angular wheel is meshed, and the inside of two threaded posts is threaded with whorl brace rod, the lower surface hinge of the bottom plate
The mounting post there are two inner hollow is connect, the outer surface of two mounting posts is hinged with the corresponding whorl brace rod,
Adjustable spring is fixedly connected on roof inside two mounting posts, the bottom end of two adjustable springs is fixed to be connected
It is connected to auxiliary support bar, is fixedly connected with cross bar between two support threaded rods.
Preferably, the quantity of the damping telescopic rod is six, and the damping telescopic rod is symmetrically distributed in the sliding slot
Two sides.
Preferably, motor base, the upper surface of the motor base are fixedly connected in the interior bottom wall of the mounting groove
It is fixedly connected with the work drive motor.
Preferably, the length of the sliding slot reaches the collapsing length with the damping telescopic rod, the top of the damping spring
It is fixedly connected with the lower surface of the robot body, the bottom end of the damping spring and the upper surface of the bottom wall bottom plate are fixed
Connection.
Preferably, the lower section of the screw shell is run through and extended in the bottom end of the support threaded rod, and with the foot
The welding of shape A-frame, the bottom end of the A-frame is fixedly connected with friction pad.
Preferably, the bottom end of the adjustable spring is fixedly connected with impeller, the lower surface of the impeller and auxiliary branch
The upper surface of strut is fixedly connected.
Preferably, the angular range between the mounting post and the bottom plate is 20 degree to 90 degree.
Preferably, it is fixedly connected with fixed plate on the bottom wall inside the mounting groove, the right end of the bull stick passes through bearing
It is rotatablely connected with the fixed plate.
The invention has the advantages that:
The overturning-preventing biped bio-robot, by the way that damping spring is arranged, when robot body is shaken, damping is stretched
Contracting spring absorbs the power of vibration by self-deformation, plays the effect for reducing vibration, meanwhile, robot body passes through hinged company
Extension bar drives two sliding block relative movements, has stretched Tension spring for shock absorption, and the elastic force of Tension spring for shock absorption, which plays, further decreases absorption vibration
The effect of power, to achieve the purpose that improve device stability.
The overturning-preventing biped bio-robot, by the way that work drive motor is arranged, when the module on modular substrate needs replacing dimension
When repairing, work drive motor drives two gears to rotate by bull stick, and gear is by the rack drives modular substrate of engagement along sliding rail
It is moved to the front for protruding from robot body, plays the process for avoiding manual teardown components, facilitates maintenance to reach
Purpose.
The overturning-preventing biped bio-robot, by the way that driving motor is arranged, when the work for needing to adjust robot body is high
When spending, driving motor drives gear ring to rotate by shaft, and gear ring drives screw shell to rotate by fluted disc, and screw shell drives branch
Support threaded rod moves up and down, to reach convenient for adjusting working depth purpose.
The overturning-preventing biped bio-robot, by the way that driving motor is arranged, when the height of robot body changes,
The centre-of gravity shift of robot watch box, driving motor by shaft drive active angular wheel rotate, active angular wheel by from
Mantle shape gear drives threaded post rotation, and threaded post drives whorl brace rod to move left and right, and whorl brace rod drives hinged peace
Column rotation is filled, by the way that adjustable spring is arranged, making auxiliary support bar always has ground fitting, plays the position according to center of gravity, adjusts
The effect of the support angle of auxiliary support bar, thus the purpose that the side of arrival is toppled over.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of overturning-preventing biped bio-robot proposed by the present invention；
Fig. 2 is the structural schematic diagram of A in a kind of Fig. 1 of overturning-preventing biped bio-robot proposed by the present invention；
Fig. 3 is the structural schematic diagram of B in a kind of Fig. 1 of overturning-preventing biped bio-robot proposed by the present invention；
Fig. 4 is the structural schematic diagram of C in a kind of Fig. 1 of overturning-preventing biped bio-robot proposed by the present invention；
Fig. 5 is a kind of modular substrate bottom view of overturning-preventing biped bio-robot proposed by the present invention.
In figure: 1 bottom plate, 2 damping telescopic rods, 3 damping springs, 4 sliding slots, 5 sliding blocks, 6 connecting rods, 7 Tension spring for shock absorption, 8 machines
Human agent, 9 mounting grooves, 10 sliding rails, 11 vertical bars, 12 modular substrates, 13 rack gears, 14 work drive motors, 15 bull sticks, 16 gears, 17 spiral shells
Line sleeve, 18 support threaded rods, 19 A-frames, 20 shafts, 21 gear rings, 22 active angular wheels, 23 threaded posts, 24 are from mantle
Shape gear, 25 whorl brace rods, 26 mounting posts, 27 adjustable springs, 28 auxiliary support bars, 29 cross bars, 30 driving motors, 31 teeth
Disk.
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.
Referring to Fig.1-5, a kind of overturning-preventing biped bio-robot, including bottom plate 1, the upper surface of bottom plate 1 are fixedly connected with
One group of damping telescopic rod 2, the outer surface of damping telescopic rod 2 are arranged with damping spring 3, and the upper surface of bottom plate 1 offers sliding slot 4,
The quantity of damping telescopic rod 2 is six, and damping telescopic rod 2 is symmetrically distributed in the two sides of sliding slot 4, the internal slide connection of sliding slot 4
There are two sliding block 5, the upper surface of two sliding blocks 5 is hinged with connecting rod 6, and damping drawing is fixedly connected between two connecting rods 6
Spring 7, the top of damping telescopic rod 2 are fixedly connected with robot body 8, and the length of sliding slot 4 reaches the flexible length with damping telescopic rod 2
Degree, the top of damping spring 3 are fixedly connected with the lower surface of robot body 8, bottom end and the bottom wall bottom plate 1 of damping spring 3
Upper surface is fixedly connected, and the top of two connecting rods 6 is hinged with the lower surface of robot body 8, by the way that damping spring is arranged
3, when robot body 8 is shaken, damping adjustable spring 2 absorbs the power of vibration by self-deformation, plays reduction vibration
Effect, meanwhile, robot body 8 drives two sliding blocks 5 to relatively move by hinged connecting rod 6, has stretched Tension spring for shock absorption
7, the elastic force of Tension spring for shock absorption 7, which plays the role of further decreasing, absorbs shaking force, thus achieve the purpose that improve device stability,
The front of robot body 8 offers mounting groove 9, is fixedly connected on the bottom wall inside mounting groove 9 there are two sliding rail 10, two cunnings
The inside of rail 10 is connected with vertical bar 11, and the top of vertical bar 11 is fixedly connected with modular substrate 12, under modular substrate 12
Surface is fixedly connected there are two rack gear 13, is fixedly connected with work drive motor 14 on the bottom wall inside mounting groove 9, work drive motor 14
Model Y160M-4, work drive motor 14 are located between two sliding rails 10, and the output end of work drive motor 14 is fixedly connected with bull stick
15, fixed plate is fixedly connected on the bottom wall inside mounting groove 9, the right end of bull stick 15 is rotatablely connected by bearing and fixed plate,
The outer surface of bull stick 15 is fixedly connected there are two gear 16, and gear 16 is meshed with rack gear 13, by the way that work drive motor 14 is arranged, when
When module on modular substrate 12 needs replacing maintenance, work drive motor 14 drives two gears 16 to rotate by bull stick 15, gear
16 drive modular substrate 12 to be moved to the front for protruding from robot body 1 along sliding rail 10 by the rack gear 13 of engagement, play
The process for avoiding manual teardown components, to reach the purpose for facilitating maintenance, the lower surface of bottom plate 1 is rotated by bearing to be connected
It connects there are two screw shell 17, the inside of two screw shells 17 is threaded with support threaded rod 18, two support screw threads
The bottom end of bar 18 is fixedly connected to sufficient shape A-frame 19, and the bottom end of support threaded rod 18 is run through and extends to screw shell 17
Lower section, and welded with sufficient shape A-frame 19, the bottom end of A-frame 19 is fixedly connected with friction pad, passes through setting driving electricity
Machine 30, the model YS7134 of driving motor 30, when needing to adjust the working depth of robot body 8, driving motor 30 is logical
Crossing shaft 20 drives gear ring 21 to rotate, and gear ring 21 drives screw shell 17 to rotate by fluted disc 31, and screw shell 17 drives support
Threaded rod 18 moves up and down, to reach convenient for adjusting working depth purpose, the outer surface of two screw shells 17 is fixed to be connected
It is connected to fluted disc 31, the lower surface of bottom plate 1 is fixedly connected there are two driving motor 30, and the output end of two driving motors 30 is fixed to be connected
It is connected to shaft 20, the outer surface of shaft 20 is fixedly connected with rack gear 21, and two gear rings 21 are engaged with corresponding fluted disc 31, and two
The equal bottom end of shaft 20 is fixedly connected with active angular wheel 22, and the opposite side of two screw shells 17 is rotated by bearing
It is connected with the threaded post 23 of inner hollow, the outer surface of two threaded posts 23 is fixedly connected with driven angular wheel 24, two masters
Dynamic angular wheel 22 is meshed with corresponding driven angular wheel 24, and the inside of two threaded posts 23 is threaded with screw thread
Connecting rod 25, the lower surface of bottom plate 1 is hingedly there are two the mounting post 26 of inner hollow, the angle between mounting post 26 and bottom plate 1
Range is 20 degree to 90 degree, and the outer surface of two mounting posts 26 is hinged with corresponding whorl brace rod 25, two installations
Adjustable spring 27 is fixedly connected on roof inside column 26, the bottom end of two adjustable springs 27 is fixedly connected to auxiliary branch
Strut 28, the bottom end of adjustable spring 27 are fixedly connected with impeller, and the lower surface of impeller and the upper surface of auxiliary support bar 28 are fixed
It connects, is fixedly connected with cross bar 29 between two support threaded rods 18, by the way that driving motor 30 is arranged, when robot body's 8
When height changes, the centre-of gravity shift of robot watch box 8, driving motor 30 drives active angular wheel 22 to revolve by shaft 20
Turn, active angular wheel 22 drives threaded post 23 to rotate by driven angular wheel 24, and threaded post 23 drives whorl brace rod 25
It moves left and right, whorl brace rod 25 drives hinged mounting post 26 to rotate, and by the way that adjustable spring 27 is arranged, makes auxiliary support bar 28
Always there is ground fitting, play the position according to center of gravity, the effect of the support angle of auxiliary support bar 28 is adjusted, thus the side of arrival
The purpose toppled over.
The present invention, by the way that damping spring 3 is arranged, when robot body 8 is shaken, damping adjustable spring 2 passes through certainly
Figure becomes the power for absorbing vibration, plays the effect for reducing vibration, meanwhile, robot body 8 drives two by hinged connecting rod 6
A sliding block 5 relatively moves, and has stretched Tension spring for shock absorption 7, and the elastic force of Tension spring for shock absorption 7 plays the work for further decreasing and absorbing shaking force
With to achieve the purpose that improve device stability.
The overturning-preventing biped bio-robot, by the way that work drive motor 14 is arranged, when the module on modular substrate 12 needs more
When changing maintenance, work drive motor 14 drives two gears 16 to rotate by bull stick 15, and gear 16 is by the rack gear 13 of engagement with dynamic model
Block pedestal 12 is moved to the front for protruding from robot body 1 along sliding rail 10, plays the work for avoiding manual teardown components
Sequence, to reach the purpose for facilitating maintenance.
The overturning-preventing biped bio-robot, by the way that driving motor 30 is arranged, when the work for needing to adjust robot body 8
When height, driving motor 30 drives gear ring 21 to rotate by shaft 20, and gear ring 21 drives screw shell 17 to rotate by fluted disc 31,
Screw shell 17 drives support threaded rod 18 to move up and down, to reach convenient for adjusting working depth purpose.
The overturning-preventing biped bio-robot, by the way that driving motor 30 is arranged, when the height of robot body 8 changes
When, the centre-of gravity shift of robot watch box 8, driving motor 30 drives active angular wheel 22 to rotate by shaft 20, active taper
Gear 22 drives threaded post 23 to rotate by driven angular wheel 24, and threaded post 23 drives whorl brace rod 25 to move left and right, spiral shell
Line connecting rod 25 drives hinged mounting post 26 to rotate, and by the way that adjustable spring 27 is arranged, auxiliary support bar 28 is made to have ground always
The position according to center of gravity is played in fitting, the effect of the support angle of auxiliary support bar 28 is adjusted, thus the mesh that the side of arrival is toppled over
's.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone 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. a kind of overturning-preventing biped bio-robot, including bottom plate (1), which is characterized in that the upper surface of the bottom plate (1) is fixed
It is connected with one group of damping telescopic rod (2), the outer surface of the damping telescopic rod (2) is arranged with damping spring (3), the bottom plate
(1) upper surface offers sliding slot (4), and there are two sliding block (5), two sliding blocks for the internal slide connection of the sliding slot (4)
(5) upper surface is hinged with connecting rod (6), is fixedly connected with Tension spring for shock absorption (7) between two connecting rods (6), described
The top of damping telescopic rod (2) is fixedly connected with robot body (8), the top of two connecting rods (6) with the machine
The lower surface of device human agent (8) is hinged, and the front of the robot body (8) offers mounting groove (9), the mounting groove (9)
There are two being fixedly connected on internal bottom wall sliding rail (10), the inside of two sliding rails (10) is connected with vertical bar
(11), the top of the vertical bar (11) is fixedly connected with modular substrate (12), and the lower surface of the modular substrate (12) is fixed to be connected
There are two connecing rack gear (13), work drive motor (14), the work drive motor are fixedly connected on the internal bottom wall of the mounting groove (9)
(14) it is located between two sliding rails (10), the output end of the work drive motor (14) is fixedly connected with bull stick (15), described
The outer surface of bull stick (15) is fixedly connected there are two gear (16), and the gear (16) is meshed with the rack gear (13), described
By bearing rotation connection, there are two screw shell (17), the inside of two screw shells (17) for the lower surface of bottom plate (1)
It is threaded with support threaded rod (18), the bottom end of two supports threaded rod (18) is fixedly connected to sufficient shape triangle branch
The outer surface of frame (19), two screw shells (17) is fixedly connected to fluted disc (31), and the lower surface of the bottom plate (1) is solid
There are two driving motor (30) for fixed connection, and the output end of two driving motors (30) is fixedly connected with shaft (20), described
The outer surface of shaft (20) is fixedly connected rack gear (21), and two gear rings (21) are nibbled with the corresponding fluted disc (31)
It closes, the equal bottom end of two shafts (20) is fixedly connected with active angular wheel (22), two screw shell (17) phases
The side of back passes through the threaded post (23) that bearing is rotatably connected to inner hollow, and the outer surface of two threaded posts (23) is solid
Surely be connected with driven angular wheel (24), two active angular wheels (22) with the corresponding driven angular wheel
(24) it is meshed, the inside of two threaded posts (23) is threaded with whorl brace rod (25), under the bottom plate (1)
Surface hingedly there are two inner hollow mounting post (26), the outer surface of two mounting posts (26) with the corresponding spiral shell
Line connecting rod (25) hingedly, is fixedly connected to adjustable spring (27), two on the internal roof of two mounting posts (26)
The bottom end of the adjustable spring (27) is fixedly connected to auxiliary support bar (28), solid between two support threaded rods (18)
Surely cross bar (29) are connected with.
2. a kind of overturning-preventing biped bio-robot according to claim 1, which is characterized in that the damping telescopic rod
(2) quantity is six, and the damping telescopic rod (2) is symmetrically distributed in the two sides of the sliding slot (4).
3. a kind of overturning-preventing biped bio-robot according to claim 1, which is characterized in that the mounting groove (9)
Motor base is fixedly connected in interior bottom wall, the upper surface of the motor base is fixedly connected with the work drive motor (14).
4. a kind of overturning-preventing biped bio-robot according to claim 1, which is characterized in that the length of the sliding slot (4)
Degree reaches the collapsing length with the damping telescopic rod (2), top and the robot body (8) of the damping spring (3)
Lower surface is fixedly connected, and the bottom end of the damping spring (3) is fixedly connected with the upper surface of the bottom wall bottom plate (1).
5. a kind of overturning-preventing biped bio-robot according to claim 1, which is characterized in that the support threaded rod
(18) lower section of the screw shell (17) is run through and extended in bottom end, and welds with the sufficient shape A-frame (19), institute
The bottom end for stating A-frame (19) is fixedly connected with friction pad.
6. a kind of overturning-preventing biped bio-robot according to claim 1, which is characterized in that the adjustable spring (27)
Bottom end be fixedly connected with impeller, the lower surface of the impeller is fixedly connected with the upper surface of the auxiliary support bar (28).
7. a kind of overturning-preventing biped bio-robot according to claim 1, which is characterized in that the mounting post (26) with
Angular range between the bottom plate (1) is 20 degree to 90 degree.
8. a kind of overturning-preventing biped bio-robot according to claim 1, which is characterized in that in the mounting groove (9)
Fixed plate is fixedly connected on the bottom wall in portion, the right end of the bull stick (15) is rotatablely connected by bearing and the fixed plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811522174.9A CN109436123A (en) | 2018-12-13 | 2018-12-13 | A kind of overturning-preventing biped bio-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811522174.9A CN109436123A (en) | 2018-12-13 | 2018-12-13 | A kind of overturning-preventing biped bio-robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109436123A true CN109436123A (en) | 2019-03-08 |
Family
ID=65558127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811522174.9A Withdrawn CN109436123A (en) | 2018-12-13 | 2018-12-13 | A kind of overturning-preventing biped bio-robot |
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| CN (1) | CN109436123A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497980A (en) * | 2019-09-18 | 2019-11-26 | 苏州市职业大学 | A kind of running gear of mechanical sufficient formula |
| CN113056131A (en) * | 2021-02-05 | 2021-06-29 | 侯德刚 | Exempt from clear intelligent heat dissipation looped netowrk cabinet |
| CN114378848A (en) * | 2022-03-07 | 2022-04-22 | 欣系你(北京)科贸有限公司 | Multifunctional health management robot |
| CN114517587A (en) * | 2022-03-21 | 2022-05-20 | 中信建设有限责任公司 | Splicing installation device and method for large-span steel structure |
| CN114604328A (en) * | 2022-03-14 | 2022-06-10 | 武汉城市职业学院 | Turning anti-toppling device of wheeled robot |
| CN115140480A (en) * | 2022-08-05 | 2022-10-04 | 杭州智灵捷机器人有限公司 | Prevent robot for storage that emptys |
| CN115416050A (en) * | 2022-10-13 | 2022-12-02 | 安徽智哥机器人系统有限公司 | Moving device of robot |
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2018
- 2018-12-13 CN CN201811522174.9A patent/CN109436123A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497980A (en) * | 2019-09-18 | 2019-11-26 | 苏州市职业大学 | A kind of running gear of mechanical sufficient formula |
| CN110497980B (en) * | 2019-09-18 | 2024-04-12 | 苏州市职业大学 | Mechanical foot type walking device |
| CN113056131A (en) * | 2021-02-05 | 2021-06-29 | 侯德刚 | Exempt from clear intelligent heat dissipation looped netowrk cabinet |
| CN113056131B (en) * | 2021-02-05 | 2022-09-13 | 重庆博森电气（集团）有限公司 | Exempt from clear intelligent heat dissipation looped netowrk cabinet |
| CN114378848A (en) * | 2022-03-07 | 2022-04-22 | 欣系你(北京)科贸有限公司 | Multifunctional health management robot |
| CN114604328A (en) * | 2022-03-14 | 2022-06-10 | 武汉城市职业学院 | Turning anti-toppling device of wheeled robot |
| CN114517587A (en) * | 2022-03-21 | 2022-05-20 | 中信建设有限责任公司 | Splicing installation device and method for large-span steel structure |
| CN115140480A (en) * | 2022-08-05 | 2022-10-04 | 杭州智灵捷机器人有限公司 | Prevent robot for storage that emptys |
| CN115140480B (en) * | 2022-08-05 | 2023-07-04 | 井松机器人(杭州)有限公司 | Anti-toppling robot for storage |
| CN115416050A (en) * | 2022-10-13 | 2022-12-02 | 安徽智哥机器人系统有限公司 | Moving device of robot |
| CN115416050B (en) * | 2022-10-13 | 2024-05-10 | 安徽智哥机器人系统有限公司 | Moving device of robot |
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Application publication date: 20190308 |