CN110217312A - A kind of auxiliary robot suitable for steelshop - Google Patents
A kind of auxiliary robot suitable for steelshop Download PDFInfo
- Publication number
- CN110217312A CN110217312A CN201910484153.0A CN201910484153A CN110217312A CN 110217312 A CN110217312 A CN 110217312A CN 201910484153 A CN201910484153 A CN 201910484153A CN 110217312 A CN110217312 A CN 110217312A
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- connecting plate
- plate
- joint motor
- steelshop
- robot
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- 238000004458 analytical method Methods 0.000 claims abstract description 6
- 210000004394 hip joint Anatomy 0.000 claims description 24
- 210000000629 knee joint Anatomy 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 16
- 210000000689 upper leg Anatomy 0.000 claims description 11
- 206010049214 Monopodia Diseases 0.000 claims description 7
- 230000002269 spontaneous effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 abstract description 24
- 239000010959 steel Substances 0.000 abstract description 24
- 230000007613 environmental effect Effects 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 239000007788 liquid Substances 0.000 abstract description 4
- 210000002414 leg Anatomy 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000006378 damage Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000009628 steelmaking Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 210000001503 joint Anatomy 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 235000001968 nicotinic acid Nutrition 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007670 refining Methods 0.000 description 2
- 244000050510 Cunninghamia lanceolata Species 0.000 description 1
- 241000124008 Mammalia Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 210000002345 respiratory system Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of auxiliary robots suitable for steelshop, including main supporting plate (1)；Main supporting plate (1) includes the bottom plate (100) of horizontal distribution；The rear and front end of bottom plate (100) is respectively provided with the first connecting plate (101) and the second connecting plate (102)；The front of first connecting plate (101) and the dead astern of the second connecting plate (102) are respectively provided with a secondary support plate (2)；First connecting plate (101), the second connecting plate (102) and secondary support plate (2) extend through the supporting beam (3) of more genesis analysis, and are linked together by supporting beam (3)；The top of first connecting plate (101) is equipped with infrared temperature sensor (13).The present invention can be realized to be replaced manually under high temperature environment, is carried out real-time monitoring to the environmental aspect of liquid steel temperature situation and steelshop, is effectively overcome the problems, such as that steelshop bad environments are injured caused by steel worker.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of auxiliary robot suitable for steelshop.
Background technique
Robot is by mechanical technique, computer science and technology, electronic technology, and control technology etc. blends and what is formed shows
Generationization high-tech product.In 21 century, the continuous development of robot helps the mankind from duplicate production activity and arduous work
Make to free in environment.Robot has been widely used in the every aspect of human production life, and robot technology can mention
High human being's production efficiency improves human living standard.So developing robot technology, more high-quality more intelligent machine is designed
People is always the pursuit of engineering personnel.
Now in steelshop, hard work is still manually completed mostly, and steelshop environment is extremely severe,
Firstly, first problem is exactly high temperature, the temperature of molten steel is in 1700 degrees centigrades, due to the technique requirement of steel-making, labour people
Member cannot cause environment temperature locating for labour personnel to exceed the range that the mankind are suitable for far apart with steelmaking equipment, give work
Great discomfort is brought as personnel.Second Problem is dust problem, and steelshop dust is big, to the respiratory system of staff
Bring damage.Third problem is that noise is big, and steel industry belongs to heavy industry, can inevitably generate huge noise in workshop, give
People brings great discomfort.
Summary of the invention
The purpose of the present invention is being directed to technological deficiency of the existing technology, a kind of auxiliary suitable for steelshop is provided
Robot.
For this purpose, the present invention provides a kind of auxiliary robot suitable for steelshop, including main supporting plate；
Main supporting plate includes the bottom plate of horizontal distribution；
The rear and front end of bottom plate is respectively provided with the first connecting plate and the second connecting plate；
The dead astern in the front of the first connecting plate and the second connecting plate is respectively provided with a secondary support plate；
First connecting plate, the second connecting plate and secondary support plate, extend through the supporting beam of more genesis analysis, and pass through
Supporting beam links together；
The top of first connecting plate, is equipped with infrared temperature sensor.
Wherein, the top of the first connecting plate, is also equipped with laser radar；
The front of secondary support plate immediately ahead of the first connecting plate is equipped with a camera.
Wherein, bottom plate, the first connecting plate and the second connecting plate are integrally formed.
Wherein, the corner location of bottom plate is separately installed with a set of monopodia walking mechanism.
Wherein, every set monopodia walking mechanism specifically includes: the side-sway joint motor of a genesis analysis,；
The output end for the main shaft that each side-sway joint motor has, passes through the hip of a steering engine connecting bracket and cross direction profiles
The shell of joint motor is fixedly connected；
Hip joint motor is connect by the steering wheel carried on its main shaft with one end of a thigh；
The shell of hip joint motor is fixed by the shell that motor connects supporting plate and the knee joint motor of a cross direction profiles
Connection；
Knee joint motor is connected by the steering wheel being connected on spontaneous main shaft with one end of an eccentric disc；
The other end of eccentric disc is connected with one end of connecting rod, while the other end of connecting rod is connected with the top of shank；
The bottom of shank is for being grounded.
Wherein, the other end of thigh and the top of shank are hinged.
By the above technical solution provided by the invention as it can be seen that compared with prior art, the present invention provides one kind to be applicable in
In the auxiliary robot of steelshop, it can be realized and replace manually, carrying out liquid steel temperature situation real-time under high temperature environment
Monitoring, effectively overcomes a series of the problem of steelshop bad environments cause injuries to steel worker, can promote steel
The development of industry.
In addition, the present invention provides a kind of auxiliary robots suitable for steelshop, additionally it is possible to realize in hot environment
It is lower to replace manually, real-time monitoring is carried out to the environmental aspect of steelshop, further overcomes steelshop bad environments to refining
A series of the problem of steel worker causes injuries.
Detailed description of the invention
Fig. 1 is a kind of overall schematic of auxiliary robot suitable for steelshop provided by the invention；
Fig. 2 is that a kind of leg portion attaching structure of auxiliary robot suitable for steelshop provided by the invention amplifies signal
Figure；
Fig. 3 is a kind of right limb structural schematic diagram in rear of auxiliary robot suitable for steelshop provided by the invention；
Fig. 4 be a kind of auxiliary robot suitable for steelshop provided by the invention have infrared temperature sensor,
The schematic view of the mounting position of laser radar and camera；
In attached drawing: 1 is main supporting plate, and 2 be secondary support plate, and 3 be supporting beam, and 4 be side-sway joint motor, and 5 connect for steering engine
Bracket；
6 be hip joint motor, and 7 connect supporting plate for motor, and 8 be knee joint motor, and 9 be eccentric disc, and 10 be thigh；
11 be connecting rod, and 12 be shank, and 13 be infrared temperature sensor, and 14 be laser radar, and 15 be camera.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawing with embodiment to this
Invention is described in further detail.
Referring to Fig. 1 to Fig. 4, the present invention provides a kind of auxiliary robots suitable for steelshop, in overall structure
Upper is full landform four-footed walking mechanism, using bionics principle, using the structure type of " elbow after preceding elbow ".Single leg totally three joints
It constitutes, specifically includes side-sway joint, hip joint and knee joint.The present invention specifically includes main supporting plate 1；
Main supporting plate 1 includes the bottom plate 100 of horizontal distribution；
The rear and front end of bottom plate 100 is respectively provided with the first connecting plate 101 and the second connecting plate 102；
The dead astern in the front of the first connecting plate 101 and the second connecting plate 102 is respectively provided with a secondary support plate 2；
First connecting plate 101, the second connecting plate 102 and secondary support plate 2, extend through the supporting beam of more genesis analysis
3, and linked together by supporting beam 3 (such as weld together or the rear and front end of supporting beam 3 can have locking screw
It is female)；
The top of first connecting plate 101, is equipped with infrared temperature sensor 13.
It should be noted that in the present invention, the work that the mass loading of robot passes through main supporting plate 1 and secondary support plate 2
With, and be applied in supporting beam 3.
In the present invention, in specific implementation, the top of the first connecting plate 101 is also equipped with laser radar 14；
Positioned at the front of the secondary support plate 2 in 101 front of the first connecting plate, a camera 15 is installed.
In the present invention, in specific implementation, bottom plate 100, the first connecting plate 101 and the second connecting plate 102 are integrally formed
Structure.
Based on above technical scheme it is found that the auxiliary robot provided by the invention suitable for steelshop, by infrared
The setting of temperature sensor 13, laser radar 14 and camera 15 effectively overcomes steelshop bad environments to steel-making
Worker causes a series of the problem of injuries, can promote the development of steel industry.
In the present invention, in specific implementation, the corner location of bottom plate 100 is separately installed with a set of monopodia walking mechanism.
In specific implementation, every set monopodia walking mechanism is specifically included: the side-sway joint motor 4 of a genesis analysis,；
The output end for the main shaft 41 that each side-sway joint motor 4 has passes through a steering engine connecting bracket 5 and cross direction profiles
The shell of hip joint motor 6 be fixedly connected；It therefore, can be with by the rotary motion of the output end of 4 main shaft of side-sway joint motor
The shell rotary motion together of hip joint motor 6 is driven, and then entire leg (i.e. monopodia) mechanism is driven to carry out side-sway movement.
It should be noted that for the present invention, as shown in Fig. 2, the output for the main shaft 41 that each side-sway joint motor 4 has
End, is fixedly connected with steering engine connecting bracket 5 especially by a side-sway joint motor steering wheel 42.Specific structure are as follows: side-sway joint electricity
The shaft end (i.e. the output end of main shaft) of the output shaft of machine 4 has milled a plane, in the inner hole of side-sway joint motor steering wheel 42
There is a plane, two such plane just cooperates (such as clamping or grafting) transmitting torque.Side-sway joint motor steering wheel
42 are with the connection type of steering engine connecting bracket 5: have via hole on side-sway joint motor steering wheel 42, steering engine connecting bracket 5 with
42 corresponding position of side-sway joint motor steering wheel has threaded hole, by hex screw, by side-sway joint motor steering wheel 42 and steering engine
Both connecting brackets 5 are fixed together.
It should be noted that have a certain number of via holes in two each faces up and down of steering engine connecting bracket 5, motor 6 it is outer
Shell side wall has corresponding threaded hole on position corresponding with steering engine connecting bracket, by hex screw, by hip joint electricity
6 shell of machine is mounted on steering engine bracket 5.
Hip joint motor 6 is by steering wheel included on its main shaft (direction for being located remotely from bottom plate 100), with a thigh 10
One end connection, it is thereby achieved that the pendulum motion of thigh 10.
The shell of hip joint motor 6 connects the shell of the knee joint motor 8 of supporting plate 7 and a cross direction profiles by motor
It is fixedly connected, therefore, hip joint motor 6, motor connection 7 knee joint motor 8 of supporting plate is made to be connected and become an entirety.In this way
Mode realize the side-sway joint of robot, hip joint and kneed Union Movement, realize the full landform row of robot
Walk movement.
Shown in Figure 2 in specific implementation, motor connects supporting plate 7 in shell and the knee joint electricity with hip joint motor 6
The corresponding position of the shell of machine 8 has via hole (through-hole), the shell of the shell of hip joint motor 6 and knee joint motor 8 with machine
Via hole corresponding position on connection supporting plate 7 is provided with threaded hole, can be by hip joint motor 6, motor connection by hex screw
Supporting plate 7, the threaded connection of knee joint motor 8 are fixed together.
Knee joint motor 8 is by steering wheel connected on spontaneous main shaft (positioned at the direction close to bottom plate 100), with a bias
One end of disk 9 is connected, and therefore, can impart power to eccentric disc 9；
The other end of eccentric disc 9, be connected (specially hinged) with one end of connecting rod 11, at the same the other end of connecting rod 11 with it is small
The top of leg 12 is connected (specially hinged)；
The other end of thigh 10 is connected (specially hinged) with the top of shank 12；
The bottom of shank 12 is for being grounded.
Therefore, for the present invention, eccentric disc 9, connecting rod 11, thigh 10 and shank 12 constitute parallelogram together
The power of knee joint motor 8 can be sequentially delivered on the top of shank 10 by mechanism by eccentric disc 9, connecting rod 11.Together
When, additionally it is possible to by the power of hip joint motor 6, the top of shank 10 is transmitted to by thigh 10.Therefore, total realizes
The walking mechanism of single leg Three Degree Of Freedom.
In the present invention, in specific implementation, camera 13 is connected with host computer and (passes through signal wire), for acquiring view
Feel signal, be then transferred to host computer, more image/video information can be provided for operator, while may be subsequent
Machine vision processing and automatically control mechanism provide initial data.
In specific implementation, laser radar 14 is connected with host computer and (passes through signal wire), for acquiring Environment Obstacles in real time
Object information voluntarily models the ambient condition of steelshop by scanning result, to preferably realize robot oneself
I controls.
In specific implementation, infrared temperature sensor is connected with host computer and (passes through signal wire), for acquiring the temperature of molten steel
Information is spent, host computer or sensor signal data collector are then transferred to, therefore, is generated by molten steel under different temperatures
Infrared signal is different, carries out real-time measurement to the temperature of molten steel under the premise of certain accuracy guarantee, is more conducive to steel-making vehicle
Between production operation.
In specific implementation, laser radar 14 can use existing China fir river laser radar scanner distance measuring sensor LiDAR
Location navigation path planning obstacle avoidance system, this laser radar system, may be implemented robot SLAM positioning and avoidance, industry are fast
Fast precisely mapping, independently builds figure, path planning at environmental scanning.
Based on above technical scheme it is found that being mainly made of three parts for auxiliary robot provided by the invention, one
It is basic machine, full landform walking mechanism；Second is that environment sensing and path planning system；Third is that infrared survey information collection system
System.
Wherein, it should be noted that for auxiliary robot provided by the invention, the basic machine having is full landform
Walking mechanism is designed to four-footed walking mechanism using bionics principle.It includes three rotations that robot of the present invention, which uses leg,
The structure of degree-of-freedom joint, three joints are respectively side-sway joint, hip joint and knee joint.Wherein, side-sway joint connects body
With side-sway component, the side-sway movement between body and leg is realized；Hip joint connects side-sway component and big leg assembly, and knee joint connects
Big leg assembly and shank component are connect, realizes the flexion and extension of leg.And side-sway joint is due to high to motor control required precision,
So being realized using steering engine, hip joint and knee joint are driven using digital rudder controller, are led to due to control accuracy requirement height
Position control, speed control and the Torque Control of Servo-controller are crossed to realize the various gaits of robot.In order to improve machine
Stability in people's motion process, in the present invention, the leg of robot use the structure type of " elbow after preceding elbow ".
For the present invention, fully take into account in basic machine, drive kneed motor be not suitable for being directly installed on it is small
The junction of leg and thigh drives the installation site of the motor of motion of knee joint to be moved at hip joint, and is connected with one piece
The shell of the shell of hip joint motor 6 and knee joint motor 8 has been fixed on together by plate (i.e. motor connects supporting plate 7), by flat
The movement of knee joint driving motor is transmitted on lower leg component by row quadrangular mechanism, alleviates side-sway joint and hip joint drives
The load of dynamic motor moves more flexible to keep the structure of robot more compact.
For the present invention, in specific implementation, second part is environment sensing path planning system, mainly there is two big function
It can component composition.First is that laser radar, second is that machine vision collector, the two cross-reference realize the acquisition to site environment
And robot autonomous path planning.Laser radar system is by the barrier in front of scanning machine people incessantly, by dividing
The signal that Laser feedback is returned is analysed, the map of robot local environment is automatically analyzed and construct.With robot ambulation range
Expansion, robot oneself constantly goes amendment to be able adequately determines with the blind area for improving map by the positioning of inertial navigation element
Robot the location of environment at the scene provides relatively reliable reference information for the autokinetic movement planning of robot.Machine
Device vision system preferably helps staff to understand the environmental condition at scene, and the collected information of camera can be passed soft by figure
Part is transferred directly on the host computer of robot, and operator directly can carry out robot by long-range control instruction remote
Journey operation, realizes the various functions of robot.
For the present invention, the infrared temperature acquisition system that Part III has, mainly by camera 15, laser radar 14
And infrared temperature sensor 13 is constituted.The present invention, the infrared temperature acquisition system having by Part III, can be by red
Outer temperature sensor obtains the temperature information of molten steel in real time, improves the Real time and controllable of steel manufacture process, preferably promote
The development of steel industry.
For the present invention, when specifically used, operator can pass through computer host computer (such as industrial computer)
Or mobile phone control terminal directly carries out control operation to robot, it on computers can be real-time in the terminal of position machine or cell phone client
Show the figure communication breath of robot camera, while also can the real time reaction environment that by laser radar scanning and voluntarily constructs
Figure.The invention patent has a degree of control and decision-making capability, receives the machine vision having by combining
Algorithm and laser navigation algorithm can be automatically performed some measurements and other nonproductive tasks, help or the to a certain degree previous generation
For the field operation activity of steel worker.The collected liquid steel temperature information of infrared temperature sensor institute, robot can Real-time Feedback
Into the master system of robot, at the same time, robot supports the external communication protocol of diversified forms, can be by molten steel
Temperature information is directly fed back in steelshop production management system, to realize that intelligent information steel manufacture process provides original
Beginning data.
Compared with prior art, the present invention has the following beneficial effects:
1, the present invention monitors the temperature of molten steel in real time, tracks entire steelshop equipped with infrared temperature measuring system
Operation process provides reliable guarantee for better implementation steelmaking operations.
2, the present invention simulates four-footed mammal using bionics principle in view of the complexity of steelshop environment
Walking manner designs the four-footed mobile platform based on full landform.
3, the present invention reasonably selects the servo motor in each joint in mechanical structure, according to the control in different joints essence
Degree, selects suitable servo motor, under the premise of least cost, the comprehensive performance for reaching robot is best.
4, the present invention uses parallelogram mechanism, and kneed motor is mounted near rack, hip is effectively reduced
The load of joint motor, the more flexible agility so that entire four-footed mobile platform is taken action.
5, the present invention is developed by further subsequent technology, can be by by laser radar technique and machine vision technique
It combines, it, can but also with the ability for perceiving environment and making resolution of self cruising while having artificial remote operation function
To realize the automatic control of robot.
6, robot of the present invention is developed by further subsequent technology, and can increase has intelligent self-contr ol energy
Power is efficiently solved since steelshop bad environments give operator's bring various damages.
In conclusion compared with prior art, a kind of auxiliary robot suitable for steelshop provided by the invention,
It can be realized replaces manually under high temperature environment, carries out real-time monitoring to liquid steel temperature situation, effectively overcomes steel-making vehicle
Between a series of bad environments the problem of injuries are caused to steel worker, the development of steel industry can be promoted.
In addition, the present invention provides a kind of auxiliary robots suitable for steelshop, additionally it is possible to realize in hot environment
It is lower to replace manually, real-time monitoring is carried out to the environmental aspect of steelshop, further overcomes steelshop bad environments to refining
A series of the problem of steel worker causes injuries.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of auxiliary robot suitable for steelshop, which is characterized in that including main supporting plate (1)；
Main supporting plate (1) includes the bottom plate (100) of horizontal distribution；
The rear and front end of bottom plate (100) is respectively provided with the first connecting plate (101) and the second connecting plate (102)；
The front of first connecting plate (101) and the dead astern of the second connecting plate (102) are respectively provided with a secondary support plate (2)；
First connecting plate (101), the second connecting plate (102) and secondary support plate (2), extend through the support of more genesis analysis
Beam (3), and linked together by supporting beam (3)；
The top of first connecting plate (101) is equipped with infrared temperature sensor (13).
2. auxiliary robot as described in claim 1, which is characterized in that the top of the first connecting plate (101) is also equipped with sharp
Optical radar (14)；
The front of secondary support plate (2) immediately ahead of the first connecting plate (101) is equipped with a camera (15).
3. auxiliary robot as claimed in claim 1 or 2, which is characterized in that bottom plate (100), the first connecting plate (101) and
Two connecting plates (102) are integrally formed.
4. auxiliary robot as claimed any one in claims 1 to 3, which is characterized in that the corner location of bottom plate (100),
It is separately installed with a set of monopodia walking mechanism.
5. auxiliary robot as claimed in claim 4, which is characterized in that every set monopodia walking mechanism specifically includes: one vertical
To the side-sway joint motor (4) of distribution,；
The output end for the main shaft that each side-sway joint motor (4) has passes through a steering engine connecting bracket (5) and cross direction profiles
The shell of hip joint motor (6) is fixedly connected；
Hip joint motor (6) is connect by the steering wheel carried on its main shaft with one end of a thigh (10)；
The shell of hip joint motor (6) passes through the outer of the knee joint motor (8) of motor connection supporting plate (7) and a cross direction profiles
Shell is fixedly connected；
Knee joint motor (8) is connected by the steering wheel being connected on spontaneous main shaft with one end of an eccentric disc (9)；
The other end of eccentric disc (9) is connected with one end of connecting rod (11), while the top of the other end of connecting rod (11) and shank (12)
End is connected；
The bottom of shank (12) is for being grounded.
6. auxiliary robot as claimed in claim 5, which is characterized in that the other end of thigh (10) and the top of shank (12)
It is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910484153.0A CN110217312B (en) | 2019-06-05 | 2019-06-05 | Auxiliary robot suitable for steelmaking workshop |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910484153.0A CN110217312B (en) | 2019-06-05 | 2019-06-05 | Auxiliary robot suitable for steelmaking workshop |
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| Publication Number | Publication Date |
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| CN110217312A true CN110217312A (en) | 2019-09-10 |
| CN110217312B CN110217312B (en) | 2024-07-23 |
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ID=67819729
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| CN201910484153.0A Active CN110217312B (en) | 2019-06-05 | 2019-06-05 | Auxiliary robot suitable for steelmaking workshop |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660264A (en) * | 2020-12-30 | 2021-04-16 | 厦门大学 | U-shaped foot end sensing robot leg structure and output torque detection control method |
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| CN105235769A (en) * | 2015-11-16 | 2016-01-13 | 山东大学 | Bionic climbing quadruped robot |
| CN206278172U (en) * | 2016-12-21 | 2017-06-27 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| CN108791561A (en) * | 2018-06-11 | 2018-11-13 | 前沿驱动（北京）技术有限公司 | A kind of novel quadruped robot |
| CN109263746A (en) * | 2018-09-17 | 2019-01-25 | 重庆大学 | Leg mechanism and its bio-robot based on double-crank compound linkages |
| CN210391367U (en) * | 2019-06-05 | 2020-04-24 | 天津商业大学 | Auxiliary robot suitable for steelmaking workshop |
-
2019
- 2019-06-05 CN CN201910484153.0A patent/CN110217312B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235769A (en) * | 2015-11-16 | 2016-01-13 | 山东大学 | Bionic climbing quadruped robot |
| CN206278172U (en) * | 2016-12-21 | 2017-06-27 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| CN108791561A (en) * | 2018-06-11 | 2018-11-13 | 前沿驱动（北京）技术有限公司 | A kind of novel quadruped robot |
| CN109263746A (en) * | 2018-09-17 | 2019-01-25 | 重庆大学 | Leg mechanism and its bio-robot based on double-crank compound linkages |
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| CN112660264A (en) * | 2020-12-30 | 2021-04-16 | 厦门大学 | U-shaped foot end sensing robot leg structure and output torque detection control method |
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| CN110217312B (en) | 2024-07-23 |
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