CN110497980A - A kind of running gear of mechanical sufficient formula - Google Patents
A kind of running gear of mechanical sufficient formula Download PDFInfo
- Publication number
- CN110497980A CN110497980A CN201910882673.7A CN201910882673A CN110497980A CN 110497980 A CN110497980 A CN 110497980A CN 201910882673 A CN201910882673 A CN 201910882673A CN 110497980 A CN110497980 A CN 110497980A
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- Prior art keywords
- bottom plate
- shaft
- connect
- mandril
- driving
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- 230000005540 biological transmission Effects 0.000 claims description 50
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 241000239290 Araneae Species 0.000 claims description 8
- 239000011148 porous material Substances 0.000 claims description 7
- 238000003825 pressing Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 241000124008 Mammalia Species 0.000 description 2
- 241000238421 Arthropoda Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 241000270322 Lepidosauria Species 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
Abstract
The invention discloses a kind of running gears of mechanical sufficient formula, including a bottom plate, a driving assembly and a walking component, driving assembly is installed in conjunction with bottom plate, walking component is installed in conjunction with bottom plate, driving assembly is connect with walking component, walking component is rotatably connect by a support shaft with bottom plate, and driving assembly is connect by crank structure with walking component, and driving assembly driving walking component is being parallel to horizontal plane direction and is moving perpendicular to horizontal plane direction.The running gear stabilized structure of the mechanical sufficient formula, leg structure as robot can effectively support robot, and can guarantee the stability of walking, and provide preferable obstacle performance, and the running gear of the mechanical sufficient formula can be adapted to different types of robot extensively, use scope is wide.
Description
Technical field
The present invention relates to robot correlative technology fields, are more precisely related to a kind of running gear of mechanical sufficient formula.
Background technique
With the continuous development of robot the relevant technologies, robot applications in various fields is also more and more extensive.Various
In robot, mobile robot is with its stronger mobility, in Science Explorations, mountainous region transport, fire-fighting rescue, geological prospecting
Preferably application prospect is all had with fields such as military operations.Mobile robot mainly includes sufficient formula, wheeled, crawler type etc. at present
Several types.Wherein wheeled and caterpillar type robot is more traditional motion structure, originating from the driving structures such as automobile, phase
Pass technology is more mature, but the defect of the generally existing obstacle climbing ability difference of wheeled and caterpillar motion structure, it is caused to be difficult to
It is adapted to different landform extensively, is especially difficult to adapt to the terrain environment complicated and changeable such as mountainous region, jungle.Compared to wheeled, crawler type
Robot, legged type robot have the characteristics that bigger working space, stronger ground adaptability, greater flexibility, by
Gradually become the research hotspot of robot theory and technology.Legged type robot is broadly divided into two foots, four-footed, hexapod robot etc..It is imitative
The key problem in technology of raw legged type robot is the simulation moved enough to leg.Wherein the bionical quadruped robot of the prior art mostly with
Quadruped mammal simulates joint and the muscular movement of four limbs mammal, realizes the movement of robot as references object.This
Kind bionical quadruped robot common configuration is complex, in order to control coordinates multiple joints activity need to use operational capability compared with
Strong processor, and more complicated control program need to be used, cause research and development and manufacturing cost higher, is unfavorable for bionical four-footed
The popularization and application of robot.Also have in the prior art using the arthropods such as spider or reptile as the bionical machine of simulated object
Device people, but it is to be improved in terms of landform adaptability and structural stability.To sum up, by improving sufficient formula running gear
Structure can be efficiently modified the traveling and obstacle performance of bionical legged type robot.
Summary of the invention
In view of this, the main purpose of the present invention is to provide a kind of running gear of mechanical sufficient formula, including a bottom plate, one
Driving assembly and a walking component, driving assembly are installed in conjunction with bottom plate, and walking component is installed in conjunction with bottom plate, driving assembly
It is connect with walking component, walking component is rotatably connect by a support shaft with bottom plate, and driving assembly passes through crank structure
It is connect with walking component, driving assembly driving walking component is being parallel to horizontal plane direction and is moving perpendicular to horizontal plane direction.
In order to achieve the above object, the present invention provides a kind of running gear of mechanical sufficient formula, including a bottom plate, a driving group
Part and a walking component, the driving component are mounted on the one side of the bottom plate, and the walking component is mounted on the bottom plate
One side far from the driving component, the walking component pass through the bottom plate and connect with the driving component, the driving group
Part drives the walking component being parallel to horizontal plane direction and moving perpendicular to horizontal plane direction.
Preferably, the driving component includes a motor, a motor contact and a shaft coupling, the motor contact
It is connect with the bottom plate, the motor is connect with the motor contact, and the motor is located at the motor contact far from institute
One end of bottom plate is stated, the output shaft of the motor passes through the motor contact, and the shaft coupling is arranged in the bottom plate and institute
It states between motor, the output shaft of the shaft coupling and the motor is fixedly and coaxially connected, and the walking component passes through the bottom
Plate is connect with the shaft coupling.
Preferably, the walking component includes a driving shaft, a toggle-action lever, a transmission shaft, a bottom bar, a mandril, one
Strut, two connecting rods and a support shaft assembly, the driving shaft pass through the bottom plate, and the driving shaft can turn with the bottom plate
Dynamic connection, the driving shaft are fixedly connected with the shaft coupling；The toggle-action lever is located at the bottom plate far from the driving group
One end of part, one end of the toggle-action lever and the active axis connection, the other end of the toggle-action lever and the transmission axis connection；
The transmission shaft is parallel with the driving shaft, and the transmission shaft extends along the direction far from the driving shaft；The bottom bar position
It can be turned by the support shaft assembly with the bottom plate in the one end of the toggle-action lever far from the bottom plate, and in the middle part of the bottom bar
Dynamic connection, the mandril are located at the one end of the bottom bar far from the bottom plate；The transmission shaft passes through the bottom bar, the biography
Moving axis is slidably connect with the bottom bar, and the transmission shaft is to be parallel to horizontal plane relative to the glide direction of the bottom bar
Direction, the transmission shaft pass through the mandril, and the transmission shaft is slidably connect with the mandril, and the transmission shaft is opposite
In the mandril glide direction be perpendicular to horizontal plane direction；One end of the support rod and the mandril are far from described
The end of transmission shaft rotatably connects, and the middle part of the support rod and the bottom bar can be rotated far from the end of the transmission shaft
Connection, two connecting rods are parallel with the support rod, and described connecting rod one end is rotatably connect with the bottom bar, institute
The connecting rod other end is stated rotatably to connect with the mandril.
Preferably, the driving shaft is rotatably connect by a bearing with the bottom plate, far from described on the bottom plate
A pressing plate is arranged around the driving shaft in one end of driving assembly, and the pressing plate is fixedly connected with the bottom plate, the fixed axis
It holds.
Preferably, a linear bearing is arranged around the transmission shaft in the junction of the transmission shaft and the mandril, described
Linear bearing is fixedly connected with the mandril.
Preferably, the support shaft assembly includes a support shaft, a bearing spider and a deep groove ball bearing, the bearing
Support is connect with the bottom plate, and the deep groove ball bearing is mounted in the middle part of the bottom bar, described support shaft one end and the bearing
Support connection, the other end are connect with the deep groove ball bearing.
Preferably, the support shaft assembly includes a bearing plate, and the bearing plate is arranged in the bottom bar far from institute
The one end for stating bottom plate is fixedly connected with the bottom bar.
Preferably, the toggle-action lever has a circular hole and a limit hole, and the driving shaft is inserted into the circular hole and the song
Shank is fixedly connected, and the transmission shaft is inserted into the limit hole and connect with the toggle-action lever.
Preferably, there is a mesoporous, described bottom bar one end has a strip waist hole, and the other end has in the middle part of the bottom bar
One bottom bar slot, the mesoporous connect the support shaft assembly, are inserted into the transmission shaft in the waist hole.
Preferably, described mandril one end has an apical pore, and the other end has a mandril slot, is inserted into the biography in the apical pore
Moving axis.
Compared with prior art, a kind of the advantages of running gear of mechanical sufficient formula disclosed by the invention, is: the machinery
The running gear stabilized structure of sufficient formula, the leg structure as robot can effectively support robot, and can guarantee walking
Stability, and provide preferable obstacle performance；The running gear of the mechanical sufficient formula can be adapted to different types of machine extensively
Device people, use scope are wide.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
It is as shown in Figure 1 a kind of structural schematic diagram of the running gear of mechanical sufficient formula of the present invention.
It is illustrated in figure 2 a kind of structural schematic diagram of the toggle-action lever of the running gear of mechanical sufficient formula of the present invention.
It is illustrated in figure 3 a kind of structural schematic diagram of the bottom bar of the running gear of mechanical sufficient formula of the present invention.
It is illustrated in figure 4 a kind of structural schematic diagram of the mandril of the running gear of mechanical sufficient formula of the present invention.
It is illustrated in figure 5 a kind of structural schematic diagram of the support rod of the running gear of mechanical sufficient formula of the present invention.
It is illustrated in figure 6 a kind of movement of walking component of the running gear of mechanical sufficient formula of the present invention in the horizontal plane
Trajectory diagram.
A kind of walking component of the running gear of mechanical sufficient formula of the present invention is illustrated in figure 7 on perpendicular to horizontal plane
Motion profile figure.
Specific embodiment
As shown in Figure 1, a kind of running gear of mechanical sufficient formula of the invention includes a bottom plate 10, a driving assembly 20 and one
Walking component 30.The driving component 20 is combined installation with the bottom plate 10, and the walking component 30 is combined with the bottom plate 10
Installation, and the driving component 20 is connect with the walking component 30, the driving component 20 drives the walking component 30 to exist
It is parallel to horizontal plane direction and is moved perpendicular to horizontal plane direction.Specifically, the driving component 20 is mounted on the bottom plate 10
One side, the walking component 30 is mounted on the one side of the bottom plate 10 far from the driving component 20, the walking component 30
It is connect across the bottom plate 10 with the driving component 20.The running gear of the mechanical sufficient formula can pass through the bottom plate 10 and machine
Device people combines installation, constitutes the running gear of robot.
The driving component 20 includes a motor 21, a motor contact 22 and a shaft coupling 23.The motor connection
Part 22 is L-type part, and the motor contact 22 is connect with the bottom plate 10.The motor 21 connects with the motor contact 22
It connects, the motor 21 is located at the one end of the motor contact 22 far from the bottom plate 10, and the output shaft of the motor 21 is worn
Cross the motor contact 22.The shaft coupling 23 is arranged between the bottom plate 10 and the motor 21, the shaft coupling 23
It is fixedly and coaxially connected with the output shaft of the motor 21, and the walking component 30 passes through the bottom plate 10 and the shaft coupling 23
Connection, the motor 21 drive the walking component 30 to move by the shaft coupling 23.
The walking component 30 include a driving shaft 31, a toggle-action lever 32, a transmission shaft 33, a bottom bar 34, a mandril 35,
One connecting rod 37 of support rod 36, two and a support shaft assembly 38.The driving shaft 31 passes perpendicularly through the bottom plate 10, the master
Moving axis 31 is rotatably connect by a bearing with the bottom plate 10, and the driving shaft 31 passes through the bottom plate 10 towards the drive
One end of dynamic component 20 is fixedly connected with the shaft coupling 23, and the driving shaft 31 and the output shaft of the motor 21 are coaxial,
The motor 21 drives the driving shaft 31 to rotate by the shaft coupling 23.Specifically, far from the drive on the bottom plate 10
A pressing plate 311 is arranged around the driving shaft 31 in one end of dynamic component 20, and the pressing plate 311 is fixedly connected with the bottom plate 10,
The fixed bearing.The toggle-action lever 32 is located at the described one end of bottom plate 10 far from the driving component 20, the toggle-action lever 32
One end connect with the driving shaft 31, the other end of the toggle-action lever 32 is connect with the transmission shaft 33.The transmission shaft 33
It is parallel with the driving shaft 31, and the transmission shaft 33 extends along the direction far from the driving shaft 31.The bottom bar 34 is located at
The one end of the toggle-action lever 33 far from the bottom plate 10, and pass through the support shaft assembly 38 and the bottom in the middle part of the bottom bar 34
Plate 10 rotatably connects.The transmission shaft 33 passes through the bottom bar 34, and the transmission shaft 33 and the bottom bar 34 are slidable
Connection, and the transmission shaft 33 is to be parallel to horizontal plane direction relative to the glide direction of the bottom bar 34.The mandril 35
In the one end of the bottom bar 34 far from the bottom plate 10, and the length of the mandril 35 is less than the length of the bottom bar 34.It is described
Transmission shaft 33 passes through the mandril 35, and the transmission shaft 33 is slidably connect with the mandril 35, and 33 phase of the transmission shaft
Glide direction for the mandril 35 is perpendicular to horizontal plane direction.Specifically, the transmission shaft 33 and the mandril 35
A linear bearing 331 is arranged around the transmission shaft 33 in junction, and the linear bearing 331 is fixedly connected with the mandril 35,
The transmission shaft 33 can make straight reciprocating motion relative to the linear bearing 331.One end of the support rod 36 and institute
It states mandril 35 rotatably to connect far from the end of the transmission shaft 33, the middle part of the support rod 36 and the bottom bar 34 are separate
The end of the transmission shaft 33 rotatably connects, another end of the support rod 36 and ground face contact.Two companies
Bar 37 is parallel with the support rod 36, and the equal one end of the connecting rod 37 is rotatably connect with the bottom bar 34, the connecting rod
37 other ends are rotatably connect with the mandril 35.
Specifically, the support shaft assembly 38 includes a support shaft 381, a bearing spider 382 and a deep groove ball bearing
383, the bearing spider 382 is connect with the bottom plate 10, and the deep groove ball bearing 383 is mounted on 34 middle part of bottom bar, institute
It states 381 one end of support shaft to connect with the bearing spider 382, the other end is connect with the deep groove ball bearing 383, and the support
One end that axis 381 is connect with the deep groove ball bearing 383 is fixed by a bearing plate 3831, and the setting of bearing plate 3831 exists
The one end of the bottom bar 34 far from the bottom plate 10 is fixedly connected with the bottom bar 34.
Further, as shown in Fig. 2, the toggle-action lever 32 has a circular hole 321 and a limit hole 322, the driving shaft
The 31 insertion circular holes 321 are fixedly connected with the toggle-action lever 32, and the transmission shaft 33 is inserted into the limit hole 322 and the song
Shank 32 connects.
As shown in figure 3, having a mesoporous 341 in the middle part of the bottom bar 34, described 34 one end of bottom bar has a strip waist hole
342, the other end has a bottom bar slot 343, and there are two tie rod holes 344,343 two sides of bottom bar slot for 342 side of the waist hole tool
There are two supported holes 345 for tool.The deep groove ball bearing 383 is installed in the mesoporous 341, is inserted into the biography in the waist hole 342
Moving axis 33, the transmission shaft 33 can be slided along the waist hole 342.The connecting rod 37, institute is bolted in the tie rod holes 344
It states supported hole 345 and passes through support rod 36 described in cylinder pin connection.
As shown in figure 4, described 35 one end of mandril has an apical pore 351, the other end has a mandril slot 352, the apical pore
There are two tie rod holes 354 for 351 sides tool, and there are two supported holes 353 for 352 two sides of the mandril slot tool.It is installed in the apical pore 351
The connecting rod 37 is bolted in the linear bearing 331, the tie rod holes 354, and the supported hole 353 is connected by straight pin
Connect the support rod 36.
As shown in figure 5, described 36 one end of support rod is contact jaw 363, the other end has there are two the first coaxial hole 361,
There are two the second coaxial holes 362 for middle part tool.The contact jaw 363 and ground face contact, first hole 361 by straight pin with
The supported hole 353 connects, and second hole 362 is connect by straight pin with the supported hole 345.
After the bottom bar 34, the mandril 35, the support rod 36, two connecting rods 37 connect, four sides are collectively formed
Shape structure, and change positional relationship under the drive of the transmission shaft 33, it is being parallel to control the driving support rod 36
It horizontal plane and is moved upwards perpendicular to the side of horizontal plane.
Specifically, being the crank by the circular trace in the center of circle of G from the point of view of sequence of motion as shown in Figure 6 and Figure 7
The motion profile of bar 32, A, B, C, D are four Along ents on 32 motion profile of the toggle-action lever circle.Work as the crank in H point
When bar 32 is moved around G point, the bottom bar 34 carries out the rotation of arc track centered on K point, drives the support rod 36 in water
In-plane movement.When the toggle-action lever 32 since A point around G point clockwise movement when, the bottom bar 34 vertical direction not
Displacement is generated, and the mandril 35 will drive the support rod 36 along FNH movement in a curve, so that the support rod 36 generates vertically
Movement in horizontal plane direction.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of running gear of mechanical sufficient formula, which is characterized in that including a bottom plate, a driving assembly and a walking component,
The driving component is mounted on the one side of the bottom plate, and the walking component is mounted on the bottom plate far from the driving component
On one side, the walking component passes through the bottom plate and connect with the driving component, and the driving component drives the walking component
It is being parallel to horizontal plane direction and is being moved perpendicular to horizontal plane direction.
2. the running gear of formula as described in claim 1 mechanical sufficient, which is characterized in that the driving component include a motor,
One motor contact and a shaft coupling, the motor contact are connect with the bottom plate, and the motor is connect with the motor
Part connection, the motor are located at the one end of the motor contact far from the bottom plate, and the output shaft of the motor passes through described
Motor contact, the shaft coupling are arranged between the bottom plate and the motor, the output of the shaft coupling and the motor
Axis is fixedly and coaxially connected, and the walking component passes through the bottom plate and connect with the shaft coupling.
3. the running gear of mechanical sufficient formula as claimed in claim 2, which is characterized in that the walking component includes an active
Axis, a toggle-action lever, a transmission shaft, a bottom bar, a mandril, a support rod, two connecting rods and a support shaft assembly, the active
Axis passes through the bottom plate, and the driving shaft is rotatably connect with the bottom plate, the driving shaft and the fixed company of the shaft coupling
It connects；The toggle-action lever is located at the one end of the bottom plate far from the driving component, one end of the toggle-action lever and the driving shaft
Connection, the other end of the toggle-action lever and the transmission axis connection；The transmission shaft is parallel with the driving shaft, and the transmission
Axis extends along the direction far from the driving shaft；The bottom bar is located at the one end of the toggle-action lever far from the bottom plate, and described
It is rotatably connect by the support shaft assembly with the bottom plate in the middle part of bottom bar, the mandril is located at the bottom bar far from described
One end of bottom plate；The transmission shaft passes through the bottom bar, and the transmission shaft is slidably connect with the bottom bar, and the transmission
Axis is to be parallel to horizontal plane direction relative to the glide direction of the bottom bar, and the transmission shaft passes through the mandril, the transmission
Axis is slidably connect with the mandril, and the transmission shaft is perpendicular to horizontal plane side relative to the glide direction of the mandril
To；End of one end of the support rod with the mandril far from the transmission shaft is rotatably connect, the support rod
End of the middle part with the bottom bar far from the transmission shaft rotatably connect, two connecting rods are flat with the support rod
Row, and described connecting rod one end is rotatably connect with the bottom bar, the connecting rod other end is rotatably connect with the mandril.
4. the running gear of mechanical sufficient formula as claimed in claim 3, which is characterized in that the driving shaft passes through a bearing and institute
Bottom plate to be stated rotatably to connect, a pressing plate is arranged around the driving shaft in one end on the bottom plate far from the driving component,
The pressing plate is fixedly connected with the bottom plate, the fixed bearing.
5. the running gear of mechanical sufficient formula as claimed in claim 3, which is characterized in that the company of the transmission shaft and the mandril
It meets place and one linear bearing is set around the transmission shaft, the linear bearing is fixedly connected with the mandril.
6. the running gear of mechanical sufficient formula as claimed in claim 3, which is characterized in that the support shaft assembly includes a support
Axis, a bearing spider and a deep groove ball bearing, the bearing spider are connect with the bottom plate, and the deep groove ball bearing is mounted on
In the middle part of the bottom bar, described support shaft one end is connect with the bearing spider, and the other end is connect with the deep groove ball bearing.
7. the running gear of mechanical sufficient formula as claimed in claim 6, which is characterized in that the support shaft assembly includes a bearing
Pressing plate, the bearing plate are arranged in the one end of the bottom bar far from the bottom plate and are fixedly connected with the bottom bar.
8. the running gear of mechanical sufficient formula as claimed in claim 3, which is characterized in that the toggle-action lever has a circular hole and one
Limit hole, the driving shaft are inserted into the circular hole and are fixedly connected with the toggle-action lever, the transmission shaft be inserted into the limit hole and
The toggle-action lever connection.
9. the running gear of mechanical sufficient formula as claimed in claim 3, which is characterized in that there is a mesoporous in the middle part of the bottom bar,
Described bottom bar one end has a strip waist hole, and the other end has a bottom bar slot, and the mesoporous connects the support shaft assembly, institute
It states and is inserted into the transmission shaft in waist hole.
10. the running gear of mechanical sufficient formula as claimed in claim 3, which is characterized in that described mandril one end has an apical pore,
The other end has a mandril slot, is inserted into the transmission shaft in the apical pore.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910882673.7A CN110497980B (en) | 2019-09-18 | 2019-09-18 | Mechanical foot type walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910882673.7A CN110497980B (en) | 2019-09-18 | 2019-09-18 | Mechanical foot type walking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110497980A true CN110497980A (en) | 2019-11-26 |
| CN110497980B CN110497980B (en) | 2024-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910882673.7A Active CN110497980B (en) | 2019-09-18 | 2019-09-18 | Mechanical foot type walking device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110843954A (en) * | 2019-12-10 | 2020-02-28 | 亚楠山河北食品有限公司 | High-stability stepping device and walking robot with high walking stability |
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