CN110962959A - Robot and mechanical leg thereof - Google Patents
Robot and mechanical leg thereof Download PDFInfo
- Publication number
- CN110962959A CN110962959A CN201911345526.2A CN201911345526A CN110962959A CN 110962959 A CN110962959 A CN 110962959A CN 201911345526 A CN201911345526 A CN 201911345526A CN 110962959 A CN110962959 A CN 110962959A
- Authority
- CN
- China
- Prior art keywords
- outer tube
- leg
- telescopic rod
- fixedly connected
- robot
- 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.)
- Granted
Links
- 210000002414 leg Anatomy 0.000 claims abstract description 75
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 210000000689 upper leg Anatomy 0.000 claims abstract description 29
- 210000004394 hip joint Anatomy 0.000 claims description 12
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims description 3
- 210000000629 knee joint Anatomy 0.000 description 12
- 210000000544 articulatio talocruralis Anatomy 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 210000002683 foot Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000008407 joint function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
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)
Abstract
The invention relates to the technical field of robots and discloses a robot and a mechanical leg thereof, wherein the mechanical leg comprises a first driving device, a second driving device and a leg structure, the leg structure comprises a thigh mechanism, a first telescopic rod and a second telescopic rod, the first driving device and the second driving device are fixedly connected to the top of the thigh mechanism, the first telescopic rod and the second telescopic rod are arranged in front and at the back and are parallel to each other, the top end of the first telescopic rod and the top end of the second telescopic rod are fixedly connected to the bottom of the thigh mechanism, the first driving device is connected with the top of the first telescopic rod and can drive the first telescopic rod to stretch, and the second driving device is connected with the top of the second telescopic rod and can drive the second telescopic rod to stretch. According to the invention, the weight distribution of the mechanical legs is improved, the rotational inertia of the mechanical legs is reduced, the load capacity is improved, different leg actions are realized by arranging the first telescopic rod and the second telescopic rod, and the load capacity is further improved by superposing and outputting.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot and a mechanical leg thereof.
Background
At present, the design idea of the biped walking robot is to simulate the joint distribution of a human, joint modules are arranged on mechanical legs corresponding to the positions of hip joints, knee joints and ankle joints of the human, and the torque output of the knee joints directly determines the load capacity. However, the joint module is arranged, so that the weight of the mechanical leg is large, and the rotational inertia is large. And the torque output of the joint module needs to be improved due to the larger rotational inertia, so that the weight of the joint module is increased after the torque output is improved, and the integral weight of the mechanical leg is increased. Therefore, the design concept limits the improvement of the load capacity and the application of the robot.
Disclosure of Invention
The purpose of the invention is: provided are a robot and a mechanical leg thereof, which can reduce the moment of inertia of the mechanical leg and improve the load capacity.
In order to achieve the above object, the present invention provides a robot leg, including a first driving device, a second driving device, and a leg structure, where the leg structure includes a thigh mechanism, a first telescopic rod and a second telescopic rod, the first driving device and the second driving device are both fixedly connected to a top of the thigh mechanism, the first telescopic rod and the second telescopic rod are arranged in front of and behind and parallel to each other, a top end of the first telescopic rod and a top end of the second telescopic rod are both fixedly connected to a bottom of the thigh mechanism, the first driving device is connected to the top of the first telescopic rod and can drive the first telescopic rod to extend and retract, and the second driving device is connected to the top of the second telescopic rod and can drive the second telescopic rod to extend and retract.
Optionally, the hip joint further comprises a rotating mechanism, the rotating mechanism is used for being rotatably connected with the hip joint, and the rotating mechanism is fixedly connected to one side of the thigh mechanism, so that the thigh mechanism can swing back and forth relative to the hip joint.
Optionally, the first telescopic rod includes a first outer tube, a first screw rod and a first nut, the top end of the first screw rod is connected to the first driving device, the first nut is rotatably connected to the first screw rod, the first nut is fixedly connected to the top end of the first outer tube, and the first outer tube is sleeved outside the bottom end of the first screw rod.
Optionally, the second telescopic rod includes a second outer tube, a second screw rod and a second nut, the top end of the second screw rod is connected to the second driving device, the second nut is rotatably connected to the second screw rod, the second nut is fixedly connected to the top end of the second outer tube, and the second outer tube is sleeved outside the bottom end of the second screw rod.
Optionally, the first outer tube and the second outer tube are both carbon fiber tubes.
Optionally, the leg structure includes a sliding plate, the sliding plate is fixedly connected to the thigh mechanism, the sliding plate is provided with a first through hole for the first outer tube to pass through and a second through hole for the second outer tube to pass through, the first outer tube is movably connected to the sliding plate through the first through hole, and the second outer tube is movably connected to the sliding plate through the second through hole.
Optionally, the leg structure further includes a housing, the housing has an upper opening and a lower opening, the housing is sleeved outside the first telescopic rod and the second telescopic rod, the upper opening of the housing is fixedly connected to the bottom of the thigh mechanism, and the lower opening of the housing is fixedly connected to the sliding plate.
Optionally, the shoe sole structure further comprises a foot structure, wherein the foot structure comprises a sole mechanism and a heel mechanism, the sole mechanism is fixedly connected to the bottom end of the first outer tube, and the heel mechanism is fixedly connected to the bottom end of the second outer tube.
Optionally, the sole mechanism includes a toe block, a connection sleeve and a connection pipe, the first end of the connection sleeve is fixedly connected to the bottom end of the first outer pipe, the second end of the connection sleeve is fixedly connected to the toe block through the connection pipe, and an included angle between the axial direction of the connection pipe and the advancing direction is an acute angle.
The invention also provides a robot, which comprises the mechanical leg.
Compared with the prior art, the robot and the mechanical leg thereof have the advantages that:
the mechanical leg of the robot comprises a first driving device, a second driving device and a leg structure, wherein the leg structure comprises a thigh mechanism, a first telescopic rod and a second telescopic rod, the first driving device and the second driving device are fixedly connected to the top of the thigh mechanism, the hip joint driving mechanism comprises a first driving device, a second driving device, a thigh mechanism, a. Through such structure, with the function coupling of knee joint among the prior art and ankle joint to can pass through first telescopic link and the superimposed output of second telescopic link with knee joint's power among the prior art and ankle joint's power, avoid knee joint's moment of torsion output to restrict load capacity, further improve load capacity on the basis of reducing mechanical leg's inertia.
The robot comprises the mechanical legs, and the load capacity is improved by improving the weight distribution of the mechanical legs and superposing the power of the knee joint and the power of the ankle joint.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a partial structural schematic diagram of an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of the step crossing according to the embodiment of the present invention.
In the figure, 1, a first driving device; 2. a second driving device; 3. a leg structure; 4. a rotating mechanism; 5. a foot structure; 31. a thigh mechanism; 32. a first telescopic rod; 33. a second telescopic rod; 34. a sliding plate; 35. a housing; 321. a first screw; 322. a first outer tube; 323. a first nut; 331. a second screw; 332. a second outer tube; 333. a second nut; 51. a sole mechanism; 52. a heel mechanism; 511. a toe block; 512. connecting sleeves; 513. and (4) connecting the pipes.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element 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 "first" and "second" 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 otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, a robot leg according to a preferred embodiment of the present invention includes a first driving device 1, a second driving device 2, and a leg structure 3, where the leg structure 3 includes a thigh mechanism 31, a first telescopic rod 32, and a second telescopic rod 33, the first driving device 1 and the second driving device 2 are both fixedly connected to a top of the thigh mechanism 31, the first telescopic rod 32 and the second telescopic rod 33 are disposed in front of and behind and parallel to each other, a top end of the first telescopic rod 32 and a top end of the second telescopic rod 33 are both fixedly connected to a bottom of the thigh mechanism 31, the first driving device 1 is connected to the top of the first telescopic rod 32 and can drive the first telescopic rod 32 to extend and retract, and the second driving device 2 is connected to the top of the second telescopic rod 33 and can drive the second telescopic rod 33 to extend and retract. According to the mechanical leg, the first driving device 1 and the second driving device 2 are arranged at positions close to hip joints in the prior art, so that the weight distribution of the mechanical leg is improved, the moment of inertia of the mechanical leg is reduced, the load capacity is improved, and in addition, the mechanical leg can be designed more flexibly and more beautifully. The mechanical leg in the prior art, the knee joint and the ankle joint are provided with the joint modules, the mechanical leg needs to ensure high rigidity, and the mechanical leg in the embodiment reduces the rigidity requirement of the mechanical leg, reduces economic cost and also reduces the difficulty in improving the load capacity of the mechanical leg by arranging the first driving device 1 and the second driving device 2 at the positions close to the hip joint. The first driving device 1 and the second driving device 2 can drive the first telescopic rod 32 and the second telescopic rod 33 synchronously, or drive the first telescopic rod 32 and the second telescopic rod 33 asynchronously, so as to realize different leg movements. When the telescopic heights of the first telescopic rod 32 and the second telescopic rod 33 are consistent, the mechanical legs are put down and lifted; when the telescopic heights of the first telescopic rod 32 and the second telescopic rod 33 are not consistent, the mechanical leg can tilt forwards or backwards, the angle difference of the forward tilting or the backward tilting of the mechanical leg is determined by the telescopic height difference of the first telescopic rod 32 and the second telescopic rod 33, the functions of a knee joint and an ankle joint in the prior art are realized, and the knee joint has good adaptability to uneven ground. When a step needs to be spanned, a single mechanical leg can span the step according to the height difference between the first telescopic rod 32 and the second telescopic rod 33, please refer to fig. 3. In addition, the knee joint function and the ankle joint function in the prior art are coupled, the knee joint power and the ankle joint power in the prior art can be output in a superposed mode through the first telescopic rod 32 and the second telescopic rod 33, the torque output limiting load capacity of the knee joint is avoided, and the load capacity is further improved on the basis of reducing the rotational inertia of the mechanical leg.
The robot leg of the embodiment further includes a rotation mechanism 4, the rotation mechanism 4 is configured to be rotatably connected to the hip joint, and the rotation mechanism 4 is fixedly connected to one side of the thigh mechanism 31, so that the thigh mechanism can swing back and forth relative to the hip joint. In this embodiment, the rotating mechanism 4 is a rotating shaft, and the rotating shaft is perpendicular to the first telescopic rod 32, so as to ensure that the thigh structure can swing back and forth relative to the hip joint, thereby driving the mechanical leg to swing back and forth.
Referring to fig. 2, the first telescopic rod 32 includes a first outer tube 322, a first screw 321 and a first nut 323, the top end of the first screw 321 is connected to the first driving device 1, the first nut 323 is rotatably connected to the first screw 321, the first nut 323 is fixedly connected to the top end of the first outer tube 322, and the first outer tube 322 is sleeved outside the bottom end of the first screw 321. The first driving device 1 drives the first screw rod 321 to rotate, and the first nut 323 on the first screw rod 321 moves linearly upward or downward accordingly, and drives the first outer tube 322 to move linearly upward or downward, thereby implementing the telescopic motion of the first telescopic rod 32. The second telescopic rod 33 includes a second outer tube 332, a second screw 331 and a second nut 333, the top end of the second screw 331 is connected to the second driving device 2, the second nut 333 is rotatably connected to the second screw 331, the second nut 333 is fixedly connected to the top end of the second outer tube 332, and the second outer tube 332 is sleeved outside the bottom end of the second screw 331. Similar to the operation principle of the first telescopic rod 32, the second driving device 2 drives the second screw rod 331 to rotate, and the second nut 333 on the second screw rod 331 accordingly moves linearly upward or downward, and drives the second outer tube 332 to move linearly upward or downward, thereby implementing the telescopic motion of the second telescopic rod 33. In this embodiment, the first outer tube 322 and the second outer tube 332 are both carbon fiber tubes. The carbon fiber tube has light weight and high strength, and can ensure certain strength while reducing the weight of the mechanical leg. In addition, the leg structure 3 includes a sliding plate 34, the sliding plate 34 is fixedly connected with the thigh mechanism 31, the sliding plate 34 is provided with a first through hole for the first outer tube 322 to pass through and a second through hole for the second outer tube 332 to pass through, the first outer tube 322 is movably connected with the sliding plate 34 through the first through hole, and the second outer tube 332 is movably connected with the sliding plate 34 through the second through hole. The first outer tube 322 moves upwards or downwards in the first through hole, the second outer tube 332 moves upwards or downwards in the second through hole, and the first through hole and the second through hole can limit the displacement of the first outer tube 322 and the second outer tube 332 in the direction perpendicular to the respective axial directions, so that the first outer tube 322 and the second outer tube 332 are prevented from shaking, and the stability of the first telescopic rod 32 and the second telescopic rod 33 is improved. Referring to fig. 1 and 3, the leg structure 3 further includes a housing 35, the housing 35 has an upper opening and a lower opening, the housing 35 is sleeved outside the first telescopic rod 32 and the second telescopic rod 33, the upper opening of the housing 35 is fixedly connected to the bottom of the thigh mechanism 31, and the lower opening of the housing 35 is fixedly connected to the sliding plate 34. The first screw 321, the first nut 323, the second screw 331 and the second nut 333 are shielded by the housing 35, so that the mechanical leg is more attractive.
The mechanical leg of this embodiment further includes a foot structure 5, where the foot structure 5 includes a sole mechanism 51 and a heel mechanism 52, the sole mechanism 51 is fixedly connected to the bottom end of the first outer tube 322, and the heel mechanism 52 is fixedly connected to the bottom end of the second outer tube 332. The sole mechanism 51 is not connected to the heel mechanism 52, and does not interfere with the state in which the first extensible rod 32 and the second extensible rod 33 have a difference in height. The sole mechanism 51 comprises a toe block 511, a connecting sleeve 512 and a connecting pipe 513, wherein a first end of the connecting sleeve 512 is fixedly connected with the bottom end of the first outer pipe 322, a second end of the connecting sleeve 512 is fixedly connected with the toe block 511 through the connecting pipe 513, and an included angle between the axial direction of the connecting pipe 513 and the advancing direction is an acute angle. This arrangement reduces the weight of the sole structure on the one hand and allows the mechanical leg to stand more stably on the ground on the other hand. In addition, the heel structure is provided with a hollow part, so that the weight of the heel structure is reduced.
The embodiment also provides a robot, which comprises the mechanical leg.
The working process of the invention is as follows: first drive arrangement 1 drive first telescopic link 32 concertina movement, and second drive arrangement 2 drive second telescopic link 33 concertina movement, when first telescopic link 32 and second telescopic link 33 are flexible simultaneously and do not have the difference in height, realize raising and putting down of mechanical leg, when first telescopic link 32 has the difference in height to the realization stridees across the step or adapts to the ground of unevenness.
To sum up, the embodiment of the present invention provides a robot and a mechanical leg thereof, wherein the mechanical leg reduces the moment of inertia of the mechanical leg and improves the load capacity by improving the weight distribution of the mechanical leg, different leg motions are realized by arranging the first telescopic link 32 and the second telescopic link 33, and the load capacity is further improved by superimposing outputs.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a mechanical leg of robot, its characterized in that, includes first drive arrangement, second drive arrangement and leg structure, leg structure includes thigh mechanism, first telescopic link and second telescopic link, first drive arrangement and the equal fixed connection of second drive arrangement in the top of thigh mechanism, first telescopic link with the second telescopic link sets up around and is parallel to each other, the top of first telescopic link with the equal fixed connection in the top of second telescopic link in the bottom of thigh mechanism, first drive arrangement with the top of first telescopic link is connected and can drive first telescopic link is flexible, second drive arrangement with the top of second telescopic link is connected and can drive the second telescopic link is flexible.
2. The robotic leg of claim 1, further comprising a rotation mechanism for rotatable connection with a hip joint, the rotation mechanism fixedly connected to a side of a thigh mechanism such that the thigh mechanism is capable of swinging back and forth relative to the hip joint.
3. The mechanical leg of the robot as claimed in claim 1, wherein the first telescopic rod includes a first outer tube, a first screw rod and a first nut, the top end of the first screw rod is connected to the first driving device, the first nut is rotatably connected to the first screw rod, the first nut is fixedly connected to the top end of the first outer tube, and the first outer tube is sleeved outside the bottom end of the first screw rod.
4. The mechanical leg of the robot as claimed in claim 3, wherein the second telescopic rod comprises a second outer tube, a second screw rod and a second nut, the top end of the second screw rod is connected to the second driving device, the second nut is rotatably connected to the second screw rod, the second nut is fixedly connected to the top end of the second outer tube, and the second outer tube is sleeved outside the bottom end of the second screw rod.
5. The robot leg of claim 4, wherein the first outer tube and the second outer tube are both carbon fiber tubes.
6. The robot leg of claim 4, wherein the leg structure comprises a sliding plate, the sliding plate is fixedly connected to the thigh mechanism, the sliding plate is provided with a first through hole for the first outer tube to pass through and a second through hole for the second outer tube to pass through, the first outer tube is movably connected to the sliding plate through the first through hole, and the second outer tube is movably connected to the sliding plate through the second through hole.
7. The robotic leg of claim 6, wherein the leg structure further comprises a housing having an upper opening and a lower opening, the housing is sleeved outside the first telescopic rod and the second telescopic rod, the upper opening of the housing is fixedly connected to the bottom of the thigh mechanism, and the lower opening of the housing is fixedly connected to the sliding plate.
8. The robotic leg of claim 4, further comprising a foot structure including a ball mechanism and a heel mechanism, the ball mechanism being fixedly connected to a bottom end of the first outer tube, the heel mechanism being fixedly connected to a bottom end of the second outer tube.
9. The mechanical leg of the robot as claimed in claim 8, wherein the sole mechanism includes a toe block, a connection sleeve and a connection pipe, a first end of the connection sleeve is fixedly connected to the bottom end of the first outer tube, a second end of the connection sleeve is fixedly connected to the toe block through the connection pipe, and an included angle between an axial direction of the connection pipe and a forward direction is an acute angle.
10. A robot, characterized in that it comprises a robot leg according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911345526.2A CN110962959B (en) | 2019-12-24 | 2019-12-24 | Robot and mechanical leg thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911345526.2A CN110962959B (en) | 2019-12-24 | 2019-12-24 | Robot and mechanical leg thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110962959A true CN110962959A (en) | 2020-04-07 |
| CN110962959B CN110962959B (en) | 2022-03-08 |
Family
ID=70036112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911345526.2A Active CN110962959B (en) | 2019-12-24 | 2019-12-24 | Robot and mechanical leg thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110962959B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB114385A (en) * | 1917-08-08 | 1918-04-04 | Alfred Bone | Improvements in or relating to Artificial Legs. |
| US8337369B1 (en) * | 2005-12-19 | 2012-12-25 | Jacobson Zachary T | Adjustable quick-release ratcheting binding system for adjustable leg extensions |
| US20150122559A1 (en) * | 2012-05-31 | 2015-05-07 | Thk Co., Ltd. | Lower limb structure for legged robot, and legged robot |
| CN107128397A (en) * | 2017-05-31 | 2017-09-05 | 地壳机器人科技有限公司 | Robot leg sole running gear |
| CN107510525A (en) * | 2017-09-18 | 2017-12-26 | 燕山大学 | Gait tracking below-knee prosthesis based on health leg transducing signal |
| CN107697184A (en) * | 2017-09-27 | 2018-02-16 | 深圳市行者机器人技术有限公司 | A kind of leg structure of legged type robot |
| CN207843102U (en) * | 2018-01-24 | 2018-09-11 | 淮阴师范学院 | A kind of apery biped robot |
| CN109718065A (en) * | 2018-12-13 | 2019-05-07 | 上海电子工业学校 | Mobile power assisting device |
-
2019
- 2019-12-24 CN CN201911345526.2A patent/CN110962959B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB114385A (en) * | 1917-08-08 | 1918-04-04 | Alfred Bone | Improvements in or relating to Artificial Legs. |
| US8337369B1 (en) * | 2005-12-19 | 2012-12-25 | Jacobson Zachary T | Adjustable quick-release ratcheting binding system for adjustable leg extensions |
| US20150122559A1 (en) * | 2012-05-31 | 2015-05-07 | Thk Co., Ltd. | Lower limb structure for legged robot, and legged robot |
| CN107128397A (en) * | 2017-05-31 | 2017-09-05 | 地壳机器人科技有限公司 | Robot leg sole running gear |
| CN107510525A (en) * | 2017-09-18 | 2017-12-26 | 燕山大学 | Gait tracking below-knee prosthesis based on health leg transducing signal |
| CN107697184A (en) * | 2017-09-27 | 2018-02-16 | 深圳市行者机器人技术有限公司 | A kind of leg structure of legged type robot |
| CN207843102U (en) * | 2018-01-24 | 2018-09-11 | 淮阴师范学院 | A kind of apery biped robot |
| CN109718065A (en) * | 2018-12-13 | 2019-05-07 | 上海电子工业学校 | Mobile power assisting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110962959B (en) | 2022-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8387726B2 (en) | Legged mobile robot | |
| CN101391417B (en) | Both feet humanoid robot based on passive movement mode | |
| CN108371820B (en) | Deformation robot, deformation method thereof and automatic resetting method of combined steering engine | |
| CN110192958A (en) | A kind of recovery bed pose conversion equipment and the bed body suitable for upper and lower extremities rehabilitation | |
| JP5612763B2 (en) | Multi-legged walking device | |
| CN102991601A (en) | Two-degree-of-freedom humanoid ankle joint | |
| CN110406612A (en) | Robot leg structure and robot | |
| CN104354784B (en) | A kind of biped robot of quick walk | |
| CN110962959B (en) | Robot and mechanical leg thereof | |
| CN111532354B (en) | Walking device with multiple movement modes | |
| CN110979505B (en) | Hip joint structure and humanoid robot | |
| CN214493142U (en) | Wheel-leg robot | |
| CN109080727B (en) | Six-foot walking robot | |
| CN211220775U (en) | Walking supporting mechanism of biped walking robot | |
| CN104925160B (en) | The walking robot leg configuration of linear drives and Six-foot walking robot in parallel | |
| CN109733499B (en) | Mechanical structure of bionic dinosaur | |
| CN110641570A (en) | Pneumatic bionic wall-climbing walking device capable of crossing inner wall | |
| CN116252885B (en) | Bipedal robot | |
| CN111096872A (en) | Parallel ankle rehabilitation robot with adjustable platform height and using method thereof | |
| CN210882386U (en) | Automatic rising movement structure for robot falling | |
| JP2003340753A (en) | Robot | |
| CN110434840B (en) | Three-degree-of-freedom generalized spherical parallel mechanism | |
| CN220948275U (en) | Thigh structure, mechanical leg and biped robot | |
| CN220948274U (en) | Shank structure, mechanical leg and biped robot | |
| CN211642407U (en) | Robot leg structure |
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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240304 Address after: 200000 2 / F, building 6, 128 Xiangyin Road, Yangpu District, Shanghai Patentee after: Shanghai zhuoyide robot Co.,Ltd. Country or region after: China Address before: 518052 Nanshan digital culture industry base - West Tower 1303, No. 10128, Shennan Avenue, Shenzhen, Guangdong Patentee before: SHENZHEN XINGZHE ROBOT TECHNOLOGY CO.,LTD. Country or region before: China |