CN110696943B - Novel four-foot robot driven by gas-electricity mixture - Google Patents
Novel four-foot robot driven by gas-electricity mixture Download PDFInfo
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- CN110696943B CN110696943B CN201911068403.9A CN201911068403A CN110696943B CN 110696943 B CN110696943 B CN 110696943B CN 201911068403 A CN201911068403 A CN 201911068403A CN 110696943 B CN110696943 B CN 110696943B
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- 239000000203 mixture Substances 0.000 title abstract description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 150
- 210000002414 leg Anatomy 0.000 claims abstract description 69
- 210000004394 hip joint Anatomy 0.000 claims abstract description 20
- 229910052782 aluminium Inorganic materials 0.000 claims description 33
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 32
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 239000000463 material Substances 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 6
- 238000003466 welding Methods 0.000 claims description 3
- 230000000452 restraining effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 238000013519 translation Methods 0.000 description 5
- 230000005021 gait Effects 0.000 description 3
- 210000003127 knee Anatomy 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 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
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction 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
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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 novel four-foot robot driven by gas-electricity mixture, which comprises a robot trunk part, two groups of hip joint mechanisms, four groups of leg mechanisms, leg switching mechanisms and foot mechanisms which are sequentially connected.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a novel four-foot robot driven by gas-electricity mixture.
Background
As a mobile platform suitable for flat ground and field complex terrains, the quadruped robot can be widely applied to the military and civil fields, can replace human beings to engage in dangerous tasks in military use, can replace human beings to execute carrying tasks or safety patrol in complex environments in civil field, and is an important development direction of the future robot field.
The legs of the four-legged robots at present are mostly simulated to the legs of animals, namely an elbow and a knee, and the structure can lead to the motor to expend corresponding torque to overcome self gravity in a static standing state, so that energy loss is inevitably caused, and meanwhile, the control implementation is difficult due to the elbow and the knee joint.
Disclosure of Invention
In order to overcome the defects and the problems that a bionic quadruped robot needs to consume energy in a static standing state, the control difficulty of the quadruped robot is high and the like in the prior art, the invention aims to provide a novel quadruped robot driven by gas-electricity hybrid, the robot uses a high-pressure gas source and 24V direct current as energy input, an elbow and a knee are simplified into two linear mechanisms, leg-taking walking can be realized by directly controlling the two linear mechanisms, and quadruped gait can be realized by matching control of eight linear mechanisms; through the switching structure of the legs and the feet, the walking task of the quadruped robot under the complex environment is realized.
The invention is realized by the following technical scheme:
a novel four-foot robot driven by gas-electricity mixture comprises a robot body, two groups of hip joint mechanisms, four groups of leg mechanisms and foot mechanisms which are connected in sequence;
the robot body part is a frame body formed by welding aluminum square tubes, and forms a four-foot robot framework;
The hip joint mechanisms are symmetrically distributed on two sides of the trunk of the robot along the advancing direction of the quadruped robot, the hip joint mechanisms are used for driving leg mechanisms to linearly and horizontally translate along the advancing direction of the quadruped robot, each group of hip joint mechanisms comprises a driving motor, two groups of motor synchronous belts and matched synchronous pulleys thereof, two groups of guide rails which are parallel up and down and two matched sliding blocks I, each group of hip joint mechanisms corresponds to two groups of leg mechanisms, each group of motor synchronous belts corresponds to one group of leg mechanisms, the guide rails are fixedly arranged on a frame of the trunk of the robot, and the sliding blocks I linearly reciprocate along the guide rails and are connected with the leg mechanisms; the outer side belt of the motor synchronous belt is fixedly provided with a clamping plate, the clamping plate is connected with the leg mechanism, and the motor synchronous belt outputs power to the leg mechanism through the clamping plate;
The leg mechanism comprises a leg body which can vertically stretch and retract, the leg body is composed of a linear long cylinder, an aluminum square tube and a U-shaped material, the tail end of a piston rod of the linear long cylinder is fixedly connected with the foot mechanism through a connecting piece, the tail end of a cylinder barrel of the linear long cylinder is fixedly connected with the tail end of the U-shaped material through a fixing support, and the bottom end of the aluminum square tube is fixedly connected with the foot mechanism through a connecting piece;
Each group of leg mechanisms is provided with a group of leg switching mechanisms, each leg switching mechanism comprises a connecting plate, a switching plate, a spring cylinder, a fixed block and a switching fixed block, wherein the connecting plate connects the switching plate with the spring cylinder, the switching plate realizes the ejecting and retracting function through the action of the spring cylinder, the fixed block is arranged on the inner side of a U-shaped material, the spring cylinder is fixed on the U-shaped material by using a bolt, the switching fixed block is fixed at the upper end of an aluminum square pipe, and the convex part of the switching fixed block is matched with the switching plate;
Each group of foot mechanism comprises two foot specific mechanisms I, a straight short cylinder, two groups of linear sliding rails and foot specific mechanisms II, wherein the foot specific mechanisms I are arc-shaped sloping walking soles, the foot specific mechanisms II are long-strip-shaped flat walking soles, the foot specific mechanisms I are symmetrically positioned at the left side and the right side, the foot specific mechanisms II are positioned between the two foot specific mechanisms I, the tail end of a piston rod of the straight short cylinder is fixedly connected with the middle of the top of the foot specific mechanisms II, a cylinder barrel of the straight short cylinder is fixedly connected with the tail end of an aluminum square tube, the linear sliding rails are vertically arranged at two sides of the top of the foot specific mechanisms II, corresponding sliding blocks II are arranged on the linear sliding rails, and the side ends of the sliding blocks II are fixedly connected with the foot specific mechanisms I.
Further, each group of motor synchronous belt is provided with two groups of synchronous pulleys in a matching way, one group is a driving wheel, the driving wheel is connected with a driving motor system, the other group is a driven wheel, and the upper end and the lower end of the driven wheel are fixedly connected with the trunk part of the robot through bearing seats.
Further, the leg mechanism further comprises an upper supporting and guiding piece and a lower supporting and guiding piece, wherein the upper supporting and guiding piece and the lower supporting and guiding piece are used for restraining the moving piece aluminum square tube, the lower supporting and guiding piece is connected with the fixed support and the U-shaped material through screw fastening, the upper supporting and guiding piece is connected with the U-shaped material through a fixed connecting plate and screw fastening, and the aluminum square tube penetrates through the two supporting and guiding pieces.
Further, a plurality of bearings are arranged on the bearing guide piece, the bearings and the bearing guide piece are surrounded to form a channel, and the aluminum square tube passes through the channel when moving up and down.
Further, the foot mechanism also comprises a front fixing clamp plate and a rear fixing clamp plate, and the fixing clamp plate clamps and fixes the straight short cylinder barrel and the foot specific mechanism I.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the four-foot robot, the pair of leg mechanisms and the hip joint mechanism for driving the leg mechanisms to linearly and horizontally translate are respectively arranged on two sides of the trunk in the advancing direction of the four-foot robot, the linear vertical translation mechanism is arranged in the leg mechanisms, the vertical translation mechanism drives the leg mechanisms to move up and down to realize leg lifting, and the horizontal translation mechanism alternately operates and cooperates with the vertical translation mechanism to realize walking of the four-foot gait, so that knee bending action like a quadruped is not needed in the walking process, energy is saved, the control difficulty requirement is greatly reduced, and the reliability is greatly improved.
(2) The gait motion of various quadruped robots can be realized while the difficulty of a control algorithm is reduced; the leg mechanism pushes the leg mechanism to do telescopic movement by using the air cylinder, and the leg length stroke is switched by the switching mechanism, so that the four-foot robot is suitable for different obstacles; the foot mechanism is connected with the legs, and the four-foot robot can adapt to a large-angle slope through the sole with a special shape.
(2) The leg switching mechanism is arranged on the leg mechanism, and the switchable soles with different shapes are arranged on the foot mechanism, so that walking under a complex environment is realized
(3) The supporting and guiding piece is arranged in the leg mechanism, so that the leg mechanism has strong bending resistance and can bear a large load.
Drawings
Fig. 1 is a schematic perspective view of a four-legged robot according to the present invention.
Fig. 2 is a schematic perspective view of a hip joint mechanism according to the present invention.
Fig. 3 is an exploded view of the leg mechanism of the present invention.
Fig. 4 is an exploded view of the foot mechanism of the present invention.
Fig. 5 is a schematic view of the leg mechanism and foot mechanism of the present invention after assembly.
Illustration of: 1-a robot trunk; 2-hip joint mechanism, 201-driving motor, 202-motor synchronous belt, 203-guide rail, 204-slide block I, 205-bearing seat, 206-synchronous pulley, 207-clamping plate; 3-leg mechanisms, 301-connecting pieces, 302-fixed supports, 303-bearing pieces, 304-bearings, 305-linear long cylinders, 306-aluminum square tubes, 307-U-shaped materials and 308-fixed connecting plates; 4-leg switching mechanism, 401-connecting plate, 402-switching plate, 403-spring cylinder, 404-fixed block, 405-switching fixed block; 5-foot mechanism, 501-foot specific mechanism I, 502-straight short cylinder, 503-linear slide, 504-fixed splint, 505-slider II, 506-foot specific mechanism II.
In the description of the present invention, the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "I", "II" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected; may be a mechanical connection, an electrical connection; can be directly connected with each other or indirectly connected with each other through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in detail by those skilled in the art.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the novel four-foot robot driven by gas-electricity hybrid comprises a robot trunk part 1, four groups of leg mechanisms 3, two groups of hip joint mechanisms 2 and foot mechanisms 5, wherein the hip joint mechanisms 2 are symmetrically distributed on two sides of the robot trunk part 1 along the advancing direction of the four-foot robot, and the hip joint mechanisms 2 are horizontal translation mechanisms of the leg mechanisms 3; the leg mechanism 3 is connected with the robot trunk part 1 through the hip joint mechanism 2, and the tail end of the leg mechanism 3 is connected with the foot mechanism 5; each group of leg mechanisms 3 is provided with a group of leg switching mechanisms 4 for modifying the length of the leg body, and the power source is a linear cylinder.
The robot trunk 1 is a frame body formed by welding aluminum square tubes, and forms a four-foot robot framework, the robot trunk 1 is responsible for installing a control system, a high-pressure air source and a power system of the robot (a bottle group in a cola bottle shape shown in fig. 1 is a high-pressure air source storage), the robot trunk can be placed on a trunk platform of the robot when load is required, the transportation function of the robot is realized, and meanwhile, the robot can be provided with a camera, a laser radar and other sensors, so that the security patrol function is realized.
As shown in fig. 2, each group of hip joint mechanisms 2 includes a driving motor 201, two groups of motor synchronous belts 202 and matched synchronous pulleys 206 thereof, two groups of guide rails 203 which are parallel up and down and matched two sliding blocks I204 thereof, each group of hip joint mechanisms 2 corresponds to two groups of leg mechanisms 3, and each group of motor synchronous belts 202 corresponds to one group of leg mechanisms 3; the driving motor 201 is a power source of the hip joint mechanism 2, and the motor synchronous belt 202 is used for transmitting power of the driving motor 201; the guide rail 203 is fixedly arranged on the frame of the robot trunk part 1, the sliding block I204 linearly reciprocates along the guide rail 203, and the sliding block I204 is connected with the leg part mechanism 3; the outer side belt of the motor synchronous belt 202 is fixedly provided with a clamping plate 207, the clamping plate 207 is connected with the leg mechanism 3, and the motor synchronous belt 202 outputs power to the leg mechanism 3 through the clamping plate 207; each group of motor synchronous belt 202 is provided with two groups of synchronous pulleys 206 in a matched mode, one group is a driving wheel and is connected with a driving motor 201 system, the other group is a driven wheel, and the upper end and the lower end of the driven wheel are fixedly connected with the robot trunk 1 through bearing blocks 205.
As shown in fig. 3 and fig. 5, the leg mechanism 3 includes a vertically retractable leg body and a leg switching structure 4, the leg body is composed of a fixed support 302, a linear long cylinder 305, an aluminum square tube 306, a U-shaped section 307, and two groups of bearing guides 303, wherein the tail end of a piston rod of the linear long cylinder 305 is fixedly connected with the foot mechanism 5 through a connecting piece 301, and the tail end of a cylinder barrel of the linear long cylinder 305 is fixedly connected with the fixed support 302; the lower end bearing guide 303 is connected with the fixed support 302 and the U-shaped material 307 through screw fastening, the upper end bearing guide 303 is connected with the U-shaped material 307 through a fixed connecting plate 308 and screw fastening, the bottom end of the aluminum square tube 306 is fixedly connected with the foot mechanism 5 through the connecting piece 301, and the aluminum square tube 306 penetrates through the two groups of bearing guide 303. Along with the action of the piston rod of the linear long cylinder 305, the foot mechanism 5 is driven to vertically move up and down, meanwhile, as the aluminum square tube 306 is fixed with the foot mechanism 5, the aluminum square tube 306 is driven to vertically move, the action can stretch or combine the aluminum square tube 306 from the U-shaped material 307, the length of the leg body of the leg mechanism 3 is adjusted, the supporting and guiding piece 303 is used for restricting the movement of the moving piece aluminum square tube 306, restricting the movement of the aluminum square tube 306, enabling the aluminum square tube 306 to only move up and down, simultaneously greatly improving the rigidity of the leg body, improving the sliding property of the aluminum square tube 306 in order to reduce the friction coefficient when the aluminum square tube 306 moves up and down, a plurality of bearings 304 are arranged on the supporting and guiding piece 303, the bearings 304 and the supporting and guiding piece 303 are encircled to form a channel, and in specific implementation, the aluminum square tube 306 passes through the channel when moving up and down.
As shown in fig. 3, the leg switching structure 4 comprises a connecting plate 401, a switching plate 402, a spring cylinder 403, a fixing block 404 and a switching fixing block 405, wherein the connecting plate 401 connects the switching plate 402 with the spring cylinder 403, the switching plate 402 realizes the ejecting and retracting function through the action of the spring cylinder 43 of the spring cylinder 403, the fixing block 404 is arranged on the inner side of the U-shaped material 307, the spring cylinder 403 is fixed on the U-shaped material 307 by using bolts, the switching fixing block 405 is fixed on the upper end of the aluminum square tube 306, the bulge of the switching fixing block is matched with the switching plate 402, the shortest stroke is provided when the switching plate 402 is ejected and matched with the upper bulge surface, and the switching plate 402 is retracted to be the longest stroke, so that the two leg lengths can be switched.
As shown in fig. 4 and fig. 5, each group of foot mechanism 5 includes two foot specific mechanisms I501, a straight short cylinder 502, two groups of linear slide rails 503, two groups of fixing splints 504 on front and rear sides, and a foot specific mechanism II 506, wherein the foot specific mechanism I501 is a sloping walking sole with an arc bottom, and the foot specific mechanism II 506 is a strip-shaped flat walking sole; the foot specific mechanisms I501 are symmetrically positioned on the left side and the right side, the foot specific mechanisms II 506 are positioned between the two foot specific mechanisms I501, the tail end of a piston rod of the straight short cylinder 502 is fixedly connected with the middle of the top of the foot specific mechanism II 506, and the cylinder barrel of the straight short cylinder 502 is fixedly connected with the tail end of the aluminum square tube 306, so that the foot specific mechanisms I501 and II 506 are switched through the straight short cylinder 502; the linear slide rail 503 is vertically arranged on two sides of the top of the foot specific mechanism II 506, the corresponding slide block II 505 is arranged on the linear slide rail 503, the side end of the slide block II 505 is fixedly connected with the foot specific mechanism I501, and the linear slide rail 503 is driven to move up and down and the slide block II 505 is kept motionless when the linear short cylinder 502 moves; the fixed clamp plate 504 clamps and fixes the cylinder barrel of the straight short cylinder 502 and the foot specific mechanism I501, so that the whole structure of the foot specific mechanism I501 of the straight short cylinder 502 is more stable. In the implementation, when the piston rod of the straight short cylinder 502 moves upwards, the foot specific mechanism II 506 is driven to move upwards, the linear slide rail 503 moves upwards relative to the slide block II 505, so that the foot specific mechanism I501 contacts with the ground, the foot specific mechanism II 506 is suspended, and the foot specific mechanism I501 works to crawl the sloping field; when the piston rod of the straight short cylinder 502 moves downwards, the linear slide rail 503 is driven to move downwards relative to the slide block II 505, so that the foot specific mechanism II 506 contacts with the ground, the foot specific mechanism I501 is suspended, and the foot specific mechanism II 506 works to walk on the ground.
The foregoing description of the preferred embodiments of the present invention has been presented only in terms of those specific and detailed descriptions, and is not, therefore, to be construed as limiting the scope of the invention. It should be noted that modifications, improvements and substitutions can be made by those skilled in the art without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (3)
1. The novel four-foot robot driven by the gas-electricity hybrid is characterized by comprising a robot trunk part, two groups of hip joint mechanisms, four groups of leg mechanisms and a foot mechanism which are connected in sequence;
the robot body part is a frame body formed by welding aluminum square tubes, and forms a quadruped robot framework;
The hip joint mechanisms are symmetrically distributed on two sides of a robot trunk along the advancing direction of the quadruped robot, the hip joint mechanisms are used for driving the leg mechanisms to linearly and horizontally translate along the advancing direction of the quadruped robot, each group of hip joint mechanisms comprises a driving motor, two groups of motor synchronous belts and matched synchronous pulleys thereof, two groups of guide rails which are parallel up and down and two matched sliding blocks I, each group of hip joint mechanisms corresponds to two groups of leg mechanisms, each group of motor synchronous belts corresponds to one group of leg mechanisms, the guide rails are fixedly arranged on a frame of the robot trunk, the sliding blocks I linearly reciprocate along the guide rails, and the sliding blocks I are connected with the leg mechanisms; the outer side belt of the motor synchronous belt is fixedly provided with a clamping plate, the clamping plate is connected with the leg mechanism, and the motor synchronous belt outputs power to the leg mechanism through the clamping plate;
The leg mechanism comprises a leg body which can vertically stretch and retract, the leg body is composed of a linear long cylinder, an aluminum square tube and a U-shaped section, the tail end of a piston rod of the linear long cylinder is fixedly connected with the foot mechanism through a connecting piece, the tail end of a cylinder barrel of the linear long cylinder is fixedly connected with the tail end of the U-shaped section through a fixed support, and the bottom end of the aluminum square tube is fixedly connected with the foot mechanism through the connecting piece;
Each group of leg mechanism is provided with a group of leg switching mechanism, each leg switching mechanism comprises a connecting plate, a switching plate, a spring air cylinder, a fixed block and a switching fixed block, wherein the connecting plate connects the switching plate with the spring air cylinder, the switching plate realizes the ejection and retraction function through the action of the spring air cylinder, the fixed block is arranged on the inner side of a U-shaped material, the spring air cylinder is fixed on the U-shaped material by using a bolt, the switching fixed block is fixed at the upper end of the aluminum square pipe, and the bulge part of the switching fixed block is matched with the switching plate;
each group of foot mechanism comprises two foot specific mechanisms I, a straight short cylinder, two groups of linear sliding rails and foot specific mechanisms II, wherein the foot specific mechanisms I are sloping walking soles with arc bottoms, the foot specific mechanisms II are strip-shaped flat walking soles, the foot specific mechanisms I are symmetrically positioned on the left side and the right side, the foot specific mechanisms II are positioned between the two foot specific mechanisms I, the tail ends of piston rods of the straight short cylinders are fixedly connected with the middle of the tops of the foot specific mechanisms II, cylinder barrels of the straight short cylinders are fixedly connected with the tail ends of aluminum square tubes, the linear sliding rails are vertically arranged on the two sides of the tops of the foot specific mechanisms II, sliding blocks II corresponding to the linear sliding rails are arranged on the linear sliding rails, and the side ends of the sliding blocks II are fixedly connected with the foot specific mechanisms I;
Each group of motor synchronous belt is provided with two groups of synchronous pulleys in a matching way, one group is a driving wheel which is connected with the driving motor system, the other group is a driven wheel, and the upper end and the lower end of the driven wheel are fixedly connected with the trunk part of the robot through bearing seats;
The leg mechanism further comprises an upper supporting part, a lower supporting part, a fixing support and a U-shaped section, wherein the upper supporting part and the lower supporting part are used for restraining the moving part aluminum square tube, the lower supporting part is connected with the fixing support and the U-shaped section through screw fastening, the upper supporting part is connected with the U-shaped section through a fixing connecting plate and screw fastening, and the aluminum square tube penetrates through the two supporting parts.
2. The novel four-legged robot driven by hybrid gas and electricity according to claim 1, wherein: the aluminum square pipe is characterized in that a plurality of bearings are arranged on the bearing guide piece, the bearings and the bearing guide piece encircle to form a channel, and the aluminum square pipe passes through the channel when moving up and down.
3. The novel four-legged robot driven by hybrid gas and electricity according to claim 1, wherein: the foot mechanism further comprises a front fixing clamp plate and a rear fixing clamp plate, and the straight short cylinder barrel and the foot specific mechanism I are clamped and fixed by the fixing clamp plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911068403.9A CN110696943B (en) | 2019-11-04 | 2019-11-04 | Novel four-foot robot driven by gas-electricity mixture |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911068403.9A CN110696943B (en) | 2019-11-04 | 2019-11-04 | Novel four-foot robot driven by gas-electricity mixture |
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| CN110696943A CN110696943A (en) | 2020-01-17 |
| CN110696943B true CN110696943B (en) | 2024-06-04 |
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| CN103395456A (en) * | 2013-08-15 | 2013-11-20 | 上海交通大学 | Wheel-legged mobile robot suitable for complicated terrains |
| CN105865269A (en) * | 2016-04-19 | 2016-08-17 | 滨州学院 | Invasive four-legged wheel type robot |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN107309877A (en) * | 2017-07-31 | 2017-11-03 | 中科新松有限公司 | The control system of quadruped robot |
| CN107538490A (en) * | 2017-08-25 | 2018-01-05 | 哈尔滨理工大学 | Towards the quadruped robot motion planning method of complicated landform |
| KR20190113690A (en) * | 2019-09-17 | 2019-10-08 | 엘지전자 주식회사 | Robot System and Control method of the same |
| CN211543731U (en) * | 2019-11-04 | 2020-09-22 | 南昌大学 | Novel gas-electric hybrid driven four-footed robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11633863B2 (en) * | 2018-04-06 | 2023-04-25 | Digital Dream Labs, Llc | Condition-based robot audio techniques |
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2019
- 2019-11-04 CN CN201911068403.9A patent/CN110696943B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395456A (en) * | 2013-08-15 | 2013-11-20 | 上海交通大学 | Wheel-legged mobile robot suitable for complicated terrains |
| CN105865269A (en) * | 2016-04-19 | 2016-08-17 | 滨州学院 | Invasive four-legged wheel type robot |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN107309877A (en) * | 2017-07-31 | 2017-11-03 | 中科新松有限公司 | The control system of quadruped robot |
| CN107538490A (en) * | 2017-08-25 | 2018-01-05 | 哈尔滨理工大学 | Towards the quadruped robot motion planning method of complicated landform |
| KR20190113690A (en) * | 2019-09-17 | 2019-10-08 | 엘지전자 주식회사 | Robot System and Control method of the same |
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| CN110696943A (en) | 2020-01-17 |
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