CN110497980B - Mechanical foot type walking device - Google Patents
Mechanical foot type walking device Download PDFInfo
- Publication number
- CN110497980B CN110497980B CN201910882673.7A CN201910882673A CN110497980B CN 110497980 B CN110497980 B CN 110497980B CN 201910882673 A CN201910882673 A CN 201910882673A CN 110497980 B CN110497980 B CN 110497980B
- Authority
- CN
- China
- Prior art keywords
- rod
- bottom plate
- shaft
- transmission shaft
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims description 45
- 230000033001 locomotion Effects 0.000 description 13
- 230000008878 coupling Effects 0.000 description 11
- 238000010168 coupling process Methods 0.000 description 11
- 238000005859 coupling reaction Methods 0.000 description 11
- 239000011664 nicotinic acid Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 241000124008 Mammalia Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 241000238421 Arthropoda Species 0.000 description 1
- 241000938605 Crocodylia Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 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
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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a mechanical foot type walking device which comprises a bottom plate, a driving component and a walking component, wherein the driving component is combined with the bottom plate and is installed, the walking component is combined with the bottom plate and is connected with the walking component, the walking component is rotatably connected with the bottom plate through a supporting shaft, the driving component is connected with the walking component through a crank structure, and the driving component drives the walking component to move in a direction parallel to a horizontal plane and a direction vertical to the horizontal plane. The mechanical foot type walking device is stable in structure, can effectively support the robot as a leg structure of the robot, can ensure walking stability, provides good obstacle crossing performance, can be widely suitable for robots of different types, and is wide in application range.
Description
Technical Field
The invention relates to the related technical field of robots, in particular to a mechanical foot type walking device.
Background
With the continuous development of related technologies of robots, the robots are increasingly used in various fields. Among various robots, the mobile robot has better application prospect in the fields of scientific exploration, mountain transportation, fire rescue, geological exploration, military operation and the like by virtue of stronger maneuvering performance. Currently, mobile robots mainly comprise foot type, wheel type, crawler type and other types. The wheeled and crawler robots are more traditional motion structures, and originate from driving structures such as automobiles, and the related technology is more mature, but the wheeled and crawler type motion structures have the defect of poor obstacle crossing capability generally, so that the wheeled and crawler type motion structures are difficult to widely adapt to different terrains, and are particularly difficult to adapt to complex and changeable terrains environments such as mountain areas, jungles and the like. Compared with wheeled robots and crawler robots, the foot-type robot has the characteristics of larger working space, stronger ground adaptability, larger flexibility and the like, and gradually becomes a research hotspot of robot theory and technology. Foot robots are mainly divided into two-foot, four-foot, six-foot robots and the like. The technical key of the bionic foot type robot is to simulate leg and foot movements. The bionic quadruped robot in the prior art mostly takes quadruped mammals as reference objects, simulates the joint and muscle movements of the four-limb mammals, and realizes the movements of the robot. The bionic four-legged robot is complex in general structure, a processor with strong calculation capability is needed for controlling and coordinating the movement of a plurality of joints, and a complex control program is needed to be applied, so that research and development and manufacturing costs are high, and popularization and application of the bionic four-legged robot are not facilitated. In the prior art, bionic robots using arthropods such as spiders or reptiles as simulation objects exist, but the terrain adaptability and the structural stability are required to be improved. In sum, the traveling and obstacle crossing performance of the bionic foot-type robot can be effectively improved by improving the structure of the foot-type traveling device.
Disclosure of Invention
Therefore, the main object of the present invention is to provide a mechanical foot-type walking device, which comprises a bottom plate, a driving assembly and a walking assembly, wherein the driving assembly is combined with the bottom plate, the walking assembly is combined with the bottom plate, the driving assembly is connected with the walking assembly, the walking assembly is rotatably connected with the bottom plate through a supporting shaft, the driving assembly is connected with the walking assembly through a crank structure, and the driving assembly drives the walking assembly to move in a direction parallel to a horizontal plane and a direction perpendicular to the horizontal plane.
In order to achieve the above purpose, the invention provides a mechanical foot type walking device, which comprises a bottom plate, a driving component and a walking component, wherein the driving component is arranged on one surface of the bottom plate, the walking component is arranged on one surface of the bottom plate far away from the driving component, the walking component is connected with the driving component through the bottom plate, and the driving component drives the walking component to move in a direction parallel to a horizontal plane and a direction perpendicular to the horizontal plane.
Preferably, the driving assembly comprises a motor, a motor connecting piece and a coupling, wherein the motor connecting piece is connected with the bottom plate, the motor is connected with the motor connecting piece, the motor is located at one end of the motor connecting piece away from the bottom plate, an output shaft of the motor penetrates through the motor connecting piece, the coupling is arranged between the bottom plate and the motor, the coupling is fixedly connected with the output shaft of the motor in a coaxial mode, and the walking assembly penetrates through the bottom plate and is connected with the coupling.
Preferably, the walking assembly comprises a driving shaft, a crank rod, a transmission shaft, a bottom rod, a top rod, a support rod, two connecting rods and a support shaft assembly, wherein the driving shaft penetrates through the bottom plate, the driving shaft is rotatably connected with the bottom plate, and the driving shaft is fixedly connected with the coupler; the crank rod is positioned at one end of the bottom plate far away from the driving assembly, one end of the crank rod is connected with the driving shaft, and the other end of the crank rod is connected with the transmission shaft; the transmission shaft is parallel to the driving shaft and extends in a direction away from the driving shaft; the bottom rod is positioned at one end of the crank rod, which is far away from the bottom plate, the middle part of the bottom rod is rotatably connected with the bottom plate through the supporting shaft assembly, and the ejector rod is positioned at one end of the bottom rod, which is far away from the bottom plate; the transmission shaft penetrates through the bottom rod, the transmission shaft is connected with the bottom rod in a sliding mode, the sliding direction of the transmission shaft relative to the bottom rod is parallel to the horizontal plane direction, the transmission shaft penetrates through the ejector rod, the transmission shaft is connected with the ejector rod in a sliding mode, and the sliding direction of the transmission shaft relative to the ejector rod is perpendicular to the horizontal plane direction; one end of the supporting rod is rotatably connected with the end of the ejector rod, which is far away from the transmission shaft, the middle of the supporting rod is rotatably connected with the end of the bottom rod, which is far away from the transmission shaft, the two connecting rods are parallel to the supporting rod, one end of each connecting rod is rotatably connected with the bottom rod, and the other end of each connecting rod is rotatably connected with the ejector rod.
Preferably, the driving shaft is rotatably connected with the bottom plate through a bearing, one end, far away from the driving assembly, of the bottom plate surrounds the driving shaft, and the pressing plate is fixedly connected with the bottom plate and fixes the bearing.
Preferably, a linear bearing is arranged around the transmission shaft at the joint of the transmission shaft and the ejector rod, and the linear bearing is fixedly connected with the ejector rod.
Preferably, the supporting shaft assembly comprises a supporting shaft, a bearing support and a deep groove ball bearing, wherein the bearing support is connected with the bottom plate, the deep groove ball bearing is installed in the middle of the bottom rod, one end of the supporting shaft is connected with the bearing support, and the other end of the supporting shaft is connected with the deep groove ball bearing.
Preferably, the supporting shaft assembly comprises a bearing pressing plate, and the bearing pressing plate is arranged at one end, far away from the bottom plate, of the bottom rod and is fixedly connected with the bottom rod.
Preferably, the crank rod is provided with a round hole and a limiting hole, the driving shaft is inserted into the round hole and fixedly connected with the crank rod, and the transmission shaft is inserted into the limiting hole and connected with the crank rod.
Preferably, the middle part of the bottom rod is provided with a middle hole, one end of the bottom rod is provided with an elongated waist hole, the other end of the bottom rod is provided with a bottom rod groove, the middle hole is connected with the support shaft assembly, and the transmission shaft is inserted into the waist hole.
Preferably, one end of the ejector rod is provided with an ejector hole, the other end of the ejector rod is provided with an ejector rod groove, and the ejector hole is inserted into the transmission shaft.
Compared with the prior art, the mechanical foot type walking device disclosed by the invention has the advantages that: the mechanical foot type walking device is stable in structure, can effectively support the robot as a leg structure of the robot, can ensure the walking stability, and provides good obstacle crossing performance; the mechanical foot type walking device can be widely suitable for robots of different types, and is wide in application range.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a mechanical foot-type walking device according to the present invention.
Fig. 2 is a schematic diagram of a crank rod of a mechanical foot-type walking device according to the present invention.
Fig. 3 is a schematic structural view of a bottom rod of a mechanical foot-type walking device according to the present invention.
Fig. 4 is a schematic structural view of a top rod of a mechanical foot-type walking device according to the present invention.
Fig. 5 is a schematic structural view of a support rod of a mechanical foot-type walking device according to the present invention.
Fig. 6 is a diagram showing a motion trace of the walking component of the mechanical foot-type walking device on a horizontal plane.
Fig. 7 shows a motion trace of the walking component of the mechanical foot-type walking device of the invention on a vertical horizontal plane.
Detailed Description
As shown in fig. 1, a walking device of the present invention includes a base plate 10, a driving unit 20 and a walking unit 30. The driving assembly 20 is installed in combination with the base plate 10, the walking assembly 30 is installed in combination with the base plate 10, the driving assembly 20 is connected with the walking assembly 30, and the driving assembly 20 drives the walking assembly 30 to move in a direction parallel to a horizontal plane and a direction perpendicular to the horizontal plane. Specifically, the driving assembly 20 is mounted on one surface of the base plate 10, the walking assembly 30 is mounted on one surface of the base plate 10 away from the driving assembly 20, and the walking assembly 30 is connected with the driving assembly 20 through the base plate 10. The mechanical foot type walking device can be combined with a robot through the bottom plate 10 to form the walking device of the robot.
The drive assembly 20 includes a motor 21, a motor connection 22, and a coupling 23. The motor connecting piece 22 is an L-shaped piece, and the motor connecting piece 22 is connected with the bottom plate 10. The motor 21 is connected with the motor connecting piece 22, the motor 21 is located at one end of the motor connecting piece 22 away from the bottom plate 10, and an output shaft of the motor 21 passes through the motor connecting piece 22. The coupling 23 is arranged between the base plate 10 and the motor 21, the coupling 23 is fixedly connected with an output shaft of the motor 21 in a coaxial manner, the walking assembly 30 penetrates through the base plate 10 to be connected with the coupling 23, and the motor 21 drives the walking assembly 30 to move through the coupling 23.
The walking assembly 30 includes a driving shaft 31, a crank rod 32, a driving shaft 33, a bottom rod 34, a top rod 35, a supporting rod 36, two connecting rods 37, and a supporting shaft assembly 38. The driving shaft 31 vertically passes through the bottom plate 10, the driving shaft 31 is rotatably connected with the bottom plate 10 through a bearing, the driving shaft 31 passes through the bottom plate 10, and is fixedly connected with the coupling 23 toward one end of the driving assembly 20, and the driving shaft 31 is coaxial with an output shaft of the motor 21, and the motor 21 drives the driving shaft 31 to rotate through the coupling 23. Specifically, a pressing plate 311 is disposed on the bottom plate 10 at an end far away from the driving assembly 20 and surrounding the driving shaft 31, and the pressing plate 311 is fixedly connected with the bottom plate 10 to fix the bearing. The crank rod 32 is located at an end of the base plate 10 away from the driving assembly 20, one end of the crank rod 32 is connected with the driving shaft 31, and the other end of the crank rod 32 is connected with the driving shaft 33. The drive shaft 33 is parallel to the drive shaft 31, and the drive shaft 33 extends in a direction away from the drive shaft 31. The bottom rod 34 is located at an end of the crank rod 33 remote from the base plate 10, and a middle portion of the bottom rod 34 is rotatably connected to the base plate 10 through the support shaft assembly 38. The transmission shaft 33 passes through the bottom rod 34, the transmission shaft 33 is slidably connected with the bottom rod 34, and the sliding direction of the transmission shaft 33 relative to the bottom rod 34 is parallel to the horizontal plane direction. The ejector rod 35 is located at an end of the bottom rod 34 away from the bottom plate 10, and the length of the ejector rod 35 is smaller than the length of the bottom rod 34. The transmission shaft 33 passes through the ejector rod 35, the transmission shaft 33 is slidably connected with the ejector rod 35, and the sliding direction of the transmission shaft 33 relative to the ejector rod 35 is perpendicular to the horizontal plane direction. Specifically, a linear bearing 331 is disposed around the transmission shaft 33 at the connection position between the transmission shaft 33 and the ejector rod 35, the linear bearing 331 is fixedly connected to the ejector rod 35, and the transmission shaft 33 can perform linear reciprocating motion relative to the linear bearing 331. One end of the supporting rod 36 is rotatably connected with the end of the top rod 35 away from the transmission shaft 33, the middle part of the supporting rod 36 is rotatably connected with the end of the bottom rod 34 away from the transmission shaft 33, and the other end of the supporting rod 36 is in contact with the ground. Both the connecting rods 37 are parallel to the supporting rods 36, one ends of the connecting rods 37 are rotatably connected with the bottom rods 34, and the other ends of the connecting rods 37 are rotatably connected with the top rods 35.
Specifically, the supporting shaft assembly 38 includes a supporting shaft 381, a bearing support 382 and a deep groove ball bearing 383, the bearing support 382 is connected to the bottom plate 10, the deep groove ball bearing 383 is installed in the middle of the bottom rod 34, one end of the supporting shaft 381 is connected to the bearing support 382, the other end is connected to the deep groove ball bearing 383, and one end of the supporting shaft 381 connected to the deep groove ball bearing 383 is fixed by a bearing pressing plate 3831, and the bearing pressing plate 3831 is disposed at one end of the bottom rod 34 far away from the bottom plate 10 and is fixedly connected to the bottom rod 34.
Further, as shown in fig. 2, the crank rod 32 has a circular hole 321 and a limiting hole 322, the driving shaft 31 is inserted into the circular hole 321 and fixedly connected with the crank rod 32, and the driving shaft 33 is inserted into the limiting hole 322 and connected with the crank rod 32.
As shown in fig. 3, the middle portion of the bottom rod 34 has a middle hole 341, one end of the bottom rod 34 has an elongated waist hole 342, the other end has a bottom rod slot 343, the side portion of the waist hole 342 has two connecting rod holes 344, and two sides of the bottom rod slot 343 have two supporting holes 345. The deep groove ball bearing 383 is installed in the middle hole 341, the transmission shaft 33 is inserted into the waist hole 342, and the transmission shaft 33 can slide along the waist hole 342. The link hole 344 is connected to the link 37 by a bolt, and the support hole 345 is connected to the support bar 36 by a cylindrical pin.
As shown in fig. 4, the ejector rod 35 has an ejector hole 351 at one end and an ejector rod groove 352 at the other end, two link holes 354 are provided at the side of the ejector rod hole 351, and two supporting holes 353 are provided at both sides of the ejector rod groove 352. The linear bearing 331 is installed in the top hole 351, the link hole 354 is connected to the link 37 through a bolt, and the support hole 353 is connected to the support bar 36 through a cylindrical pin.
As shown in fig. 5, one end of the supporting rod 36 is a contact end 363, the other end has two coaxial first holes 361, and the middle part has two coaxial second holes 362. The contact end 363 is in contact with the ground, the first hole 361 is connected to the supporting hole 353 by a cylindrical pin, and the second hole 362 is connected to the supporting hole 345 by a cylindrical pin.
The bottom rod 34, the top rod 35, the support rod 36 and the two connecting rods 37 are connected to form a quadrilateral structure, and the driving of the transmission shaft 33 changes the position relationship, so as to control and drive the support rod 36 to move in the directions parallel to the horizontal plane and perpendicular to the horizontal plane.
Specifically, as shown in fig. 6 and 7, when viewed in the motion sequence, the circular track with G as the center is the motion track of the crank rod 32, and A, B, C, D is four equal division points on the motion track circle of the crank rod 32. When the crank rod 32 moves around the point G at the point H, the bottom rod 34 rotates in a circular arc track with the point K as the center, so as to drive the support rod 36 to move in the horizontal plane direction. When the crank lever 32 moves clockwise from the point a around the point G, the bottom lever 34 is not displaced in the vertical direction, and the top rod 35 drives the support lever 36 to move along the FNH arc, so that the support lever 36 moves in the direction perpendicular to the horizontal plane.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The mechanical foot type walking device is characterized by comprising a bottom plate, a driving assembly and a walking assembly, wherein the driving assembly is arranged on one surface of the bottom plate, the walking assembly is arranged on one surface of the bottom plate far away from the driving assembly, the walking assembly is connected with the driving assembly through the bottom plate, and the driving assembly drives the walking assembly to move in a direction parallel to a horizontal plane and a direction perpendicular to the horizontal plane;
the driving assembly comprises a motor, a motor connecting piece and a coupler, wherein the motor connecting piece is connected with the bottom plate, the motor is connected with the motor connecting piece, the motor is positioned at one end of the motor connecting piece far away from the bottom plate, an output shaft of the motor penetrates through the motor connecting piece, the coupler is arranged between the bottom plate and the motor, the coupler is fixedly connected with an output shaft of the motor in a coaxial way, and the walking assembly penetrates through the bottom plate to be connected with the coupler; the walking assembly comprises a driving shaft, a crank rod, a transmission shaft, a bottom rod, a top rod, a supporting rod, two connecting rods and a supporting shaft assembly, wherein the driving shaft penetrates through the bottom plate, the driving shaft is rotatably connected with the bottom plate, and the driving shaft is fixedly connected with the coupler; the crank rod is positioned at one end of the bottom plate far away from the driving assembly, one end of the crank rod is connected with the driving shaft, and the other end of the crank rod is connected with the transmission shaft; the transmission shaft is parallel to the driving shaft and extends in a direction away from the driving shaft; the bottom rod is positioned at one end of the crank rod, which is far away from the bottom plate, the middle part of the bottom rod is rotatably connected with the bottom plate through the supporting shaft assembly, and the ejector rod is positioned at one end of the bottom rod, which is far away from the bottom plate; the transmission shaft penetrates through the bottom rod, the transmission shaft is connected with the bottom rod in a sliding mode, the sliding direction of the transmission shaft relative to the bottom rod is parallel to the horizontal plane direction, the transmission shaft penetrates through the ejector rod, the transmission shaft is connected with the ejector rod in a sliding mode, and the sliding direction of the transmission shaft relative to the ejector rod is perpendicular to the horizontal plane direction; one end part of the supporting rod is rotatably connected with the end part of the ejector rod far away from the transmission shaft, the middle part of the supporting rod is rotatably connected with the end part of the bottom rod far away from the transmission shaft, the two connecting rods are parallel to the supporting rod, one end of each connecting rod is rotatably connected with the bottom rod, and the other end of each connecting rod is rotatably connected with the ejector rod; the driving shaft is rotatably connected with the bottom plate through a bearing, one end, far away from the driving assembly, of the bottom plate is provided with a pressing plate around the driving shaft, the pressing plate is fixedly connected with the bottom plate, and the bearing is fixed; the connecting part of the transmission shaft and the ejector rod is provided with a linear bearing around the transmission shaft, and the linear bearing is fixedly connected with the ejector rod.
2. The mechanical foot-type walking device of claim 1, wherein the support shaft assembly comprises a support shaft, a bearing support and a deep groove ball bearing, the bearing support is connected with the bottom plate, the deep groove ball bearing is installed in the middle of the bottom rod, one end of the support shaft is connected with the bearing support, and the other end of the support shaft is connected with the deep groove ball bearing.
3. The mechanical foot walker of claim 2 wherein the support axle assembly comprises a bearing platen disposed at an end of the bottom bar remote from the bottom plate in fixed connection with the bottom bar.
4. The mechanical foot type walking device of claim 1, wherein the crank rod is provided with a round hole and a limit hole, the driving shaft is inserted into the round hole to be fixedly connected with the crank rod, and the driving shaft is inserted into the limit hole to be connected with the crank rod.
5. The mechanical foot type walking device of claim 1 wherein the bottom bar has a central hole in the middle, one end of the bottom bar has an elongated waist hole, the other end has a bottom bar slot, the central hole is connected to the support shaft assembly, and the waist hole is inserted into the transmission shaft.
6. The mechanical foot-type walking device according to claim 1, wherein the ejector rod has an ejector hole at one end and an ejector rod groove at the other end, and the transmission shaft is inserted into the ejector hole.
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 CN110497980A (en) | 2019-11-26 |
| CN110497980B true CN110497980B (en) | 2024-04-12 |
Family
ID=68592141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910882673.7A Active CN110497980B (en) | 2019-09-18 | 2019-09-18 | Mechanical foot type walking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110497980B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2450282A1 (en) * | 2002-11-25 | 2004-05-25 | Kee-Man Kwok | An electric toy |
| CN101434269A (en) * | 2008-12-26 | 2009-05-20 | 中国农业大学 | Biped wheeled running mechanism |
| CN101708745A (en) * | 2009-12-16 | 2010-05-19 | 安徽工业大学 | Double straight rod leg walking wheel |
| RU2422317C1 (en) * | 2010-03-11 | 2011-06-27 | Государственное образовательное учреждение высшего профессионального образования Волгоградский государственный технический университет (ВолгГТУ) | Walking leg for multileg self-propelled machines and for off-road vehicles |
| CN103057619A (en) * | 2013-01-25 | 2013-04-24 | 哈尔滨工业大学 | Foot-end mechanism for supporting leg of heavy-load multi-legged robot |
| CN104925156A (en) * | 2015-05-20 | 2015-09-23 | 苏州市职业大学 | All-direction spherical robot driving device |
| CN205737785U (en) * | 2016-05-07 | 2016-11-30 | 上海大学 | A kind of robot running gear |
| EP3152014A1 (en) * | 2014-06-05 | 2017-04-12 | Aldebaran Robotics | Secure, motor-driven hinge to be provided on a humanoid robot |
| CN106809294A (en) * | 2016-12-27 | 2017-06-09 | 郑州轻工业学院 | The walking robot that cam link combined mechanism drives |
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| WO2017117886A1 (en) * | 2016-01-08 | 2017-07-13 | 重庆足步科技有限公司 | Bionic foot walking aid with drive control |
| CN106976489A (en) * | 2017-03-24 | 2017-07-25 | 广西大学 | One kind automation stepping is climbed tree monitoring sniffing robot |
| CN107985438A (en) * | 2017-12-08 | 2018-05-04 | 韩学 | A kind of gardens multi-function robot |
| WO2018103175A1 (en) * | 2016-12-08 | 2018-06-14 | 郁有华 | Automobile group |
| CN109436123A (en) * | 2018-12-13 | 2019-03-08 | 大连蒂艾斯科技发展股份有限公司 | A kind of overturning-preventing biped bio-robot |
| CN110077486A (en) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | A kind of bionical eight sufficient specialized robot |
| CN111071364A (en) * | 2020-01-17 | 2020-04-28 | 苏州市职业大学 | Six sufficient wall climbing mechanisms of impacted style piezoelectricity drive |
| CN210592218U (en) * | 2019-09-18 | 2020-05-22 | 苏州市职业大学 | Mechanical foot type walking device |
-
2019
- 2019-09-18 CN CN201910882673.7A patent/CN110497980B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2450282A1 (en) * | 2002-11-25 | 2004-05-25 | Kee-Man Kwok | An electric toy |
| CN101434269A (en) * | 2008-12-26 | 2009-05-20 | 中国农业大学 | Biped wheeled running mechanism |
| CN101708745A (en) * | 2009-12-16 | 2010-05-19 | 安徽工业大学 | Double straight rod leg walking wheel |
| RU2422317C1 (en) * | 2010-03-11 | 2011-06-27 | Государственное образовательное учреждение высшего профессионального образования Волгоградский государственный технический университет (ВолгГТУ) | Walking leg for multileg self-propelled machines and for off-road vehicles |
| CN103057619A (en) * | 2013-01-25 | 2013-04-24 | 哈尔滨工业大学 | Foot-end mechanism for supporting leg of heavy-load multi-legged robot |
| EP3152014A1 (en) * | 2014-06-05 | 2017-04-12 | Aldebaran Robotics | Secure, motor-driven hinge to be provided on a humanoid robot |
| CN104925156A (en) * | 2015-05-20 | 2015-09-23 | 苏州市职业大学 | All-direction spherical robot driving device |
| WO2017117886A1 (en) * | 2016-01-08 | 2017-07-13 | 重庆足步科技有限公司 | Bionic foot walking aid with drive control |
| CN205737785U (en) * | 2016-05-07 | 2016-11-30 | 上海大学 | A kind of robot running gear |
| WO2018103175A1 (en) * | 2016-12-08 | 2018-06-14 | 郁有华 | Automobile group |
| CN106809294A (en) * | 2016-12-27 | 2017-06-09 | 郑州轻工业学院 | The walking robot that cam link combined mechanism drives |
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN106976489A (en) * | 2017-03-24 | 2017-07-25 | 广西大学 | One kind automation stepping is climbed tree monitoring sniffing robot |
| CN107985438A (en) * | 2017-12-08 | 2018-05-04 | 韩学 | A kind of gardens multi-function robot |
| CN109436123A (en) * | 2018-12-13 | 2019-03-08 | 大连蒂艾斯科技发展股份有限公司 | A kind of overturning-preventing biped bio-robot |
| CN110077486A (en) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | A kind of bionical eight sufficient specialized robot |
| CN210592218U (en) * | 2019-09-18 | 2020-05-22 | 苏州市职业大学 | Mechanical foot type walking device |
| CN111071364A (en) * | 2020-01-17 | 2020-04-28 | 苏州市职业大学 | Six sufficient wall climbing mechanisms of impacted style piezoelectricity drive |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110497980A (en) | 2019-11-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108327812B (en) | A multi-walking wheel-legged robot | |
| CN111976859B (en) | UPS-based parallel-connection wheel-foot mobile robot | |
| CN105667622B (en) | A six-wheeled mobile robot with a three-segment body | |
| CN108791563A (en) | A kind of legged type robot list leg device and legged type robot | |
| CN203228864U (en) | Connecting-bar type four-footed crawling robot | |
| CN102849140B (en) | Multi-moving-mode bionic moving robot | |
| CN114475831B (en) | Foot-type multi-mode bionic robot | |
| CN109398526B (en) | Foot end track adjustable carrying platform on foot | |
| CN111469946B (en) | Bionic mobile robot with crawling and rolling functions | |
| CN105882339B (en) | Become cell type pedipulator | |
| CN110091934B (en) | Self-adaptive multi-foot walking platform | |
| CN109606501B (en) | Quadruped Robot Based on Four-bar Linkage | |
| CN110497980B (en) | Mechanical foot type walking device | |
| CN104843103A (en) | Novel operation robot in building environments | |
| CN109204602A (en) | Miniature quadruped robot | |
| CN107554640B (en) | A hexapod walker based on four-degree-of-freedom mechanism legs | |
| CN210592218U (en) | Mechanical foot type walking device | |
| CN112849295A (en) | Multiphase three-dimensional cam type bionic foot type robot | |
| CN115583298B (en) | A variable configuration wheeled robot structure | |
| CN210592219U (en) | A four-bar linkage bionic robot | |
| CN204309924U (en) | A kind of multi-mode traveling gear for robot | |
| CN113064421B (en) | Portable multi-mode mobile robot | |
| CN206278172U (en) | The variable electronic quadruped robot of mechanism configuration | |
| CN113602528A (en) | Reconfigurable wheel leg moving device for Mars detection | |
| CN110450881B (en) | Four-bar linkage bionic robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |