CN112693538B - Foot end structure of foot type robot, leg movement mechanism and four-foot robot - Google Patents
Foot end structure of foot type robot, leg movement mechanism and four-foot robot Download PDFInfo
- Publication number
- CN112693538B CN112693538B CN202110304563.XA CN202110304563A CN112693538B CN 112693538 B CN112693538 B CN 112693538B CN 202110304563 A CN202110304563 A CN 202110304563A CN 112693538 B CN112693538 B CN 112693538B
- Authority
- CN
- China
- Prior art keywords
- wheel
- rubber tire
- ring
- end structure
- foot
- 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
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
- B62D57/028—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 having wheels and mechanical legs
Abstract
The invention relates to a foot end structure, a leg movement mechanism and a quadruped robot of a foot type robot, which comprise a wheel type assembly, wherein the wheel type assembly comprises a hollow rubber tire, a wheel column arranged in the center of the rubber tire and two external support rings; the two outer support rings are respectively and coaxially arranged on two sides of the wheel post, the outer support rings are rotatably connected with the wheel post, and a locking mechanism is respectively arranged between the two outer support rings and the wheel post. The invention can slide on the flat ground and can lock the walking, thereby solving the problems that the walking of the existing foot type robot on the flat ground is slower, and the walking is not as convenient, quick and flexible as a wheel type, and simultaneously solving the problem that the existing wheel type robot is easy to slide and retreat when climbing a slope; the invention has compact structure and high integration level, can realize positive and negative rotation locking and can realize braking with certain force.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a foot end structure of a foot type robot, a leg movement mechanism and a four-foot robot.
Background
Robotics is a leading-edge subject with rapid development and high comprehensiveness, and the subject is wide in related field, integrates latest scientific research achievements of various subjects such as mechanical engineering, electrical and electronic engineering, computer engineering, automatic control engineering, bioscience, artificial intelligence and the like, and represents the latest achievement of electromechanical integration. The robot fully embodies the respective characteristics of the human body and the machine, and has greater flexibility and wider application range than the traditional machine. The advent and application of robots is a need for human production and social progress, and is a necessity for scientific and technological development and production tool evolution. At present, the robot and the automatic complete equipment thereof become high and new technology application fields which are highly valued at home and abroad, and at the same time, the robot permeates into various fields such as ocean, aviation, aerospace, military, agriculture, service, entertainment and the like at an incredible speed.
The existing foot type robot walks slowly on flat ground, and is not as convenient, rapid and flexible as a wheel type; the existing wheel type robot is easy to slide and retreat when climbing a slope, is only suitable for flat ground, and has a narrow application range.
Disclosure of Invention
The invention provides a foot end structure of a foot type robot, a leg movement mechanism and a four-foot robot for solving the technical problems.
The invention is realized by the following technical scheme:
a foot end structure of a foot type robot comprises a wheel type assembly, wherein the wheel type assembly comprises a hollow rubber tire, a wheel column arranged in the center of the rubber tire and two external support rings;
the two outer support rings are respectively and coaxially arranged on two sides of the wheel post, the outer support rings are rotatably connected with the wheel post, and a locking mechanism is respectively arranged between the two outer support rings and the wheel post.
Further, when one locking mechanism is in an unlocking state and the other locking mechanism is in a locking state, the rubber tire can only rotate forwards or backwards;
when the two locking mechanisms are in a locking state, the rubber tire cannot rotate;
when the two locking mechanisms are in an unlocked state, the rubber tire can freely rotate in the forward and reverse directions.
Furthermore, the foot end structure of the foot type robot also comprises an air pressure sensor connected with the rubber tire.
Furthermore, the locking mechanism comprises a gear ring meshed with the wheel post and an electromagnet assembly used for driving the gear ring to move axially.
Furthermore, the electromagnet assembly comprises a magnet connected with the gear ring and an electromagnet connected with the external support ring.
Or the electromagnet assembly comprises an armature connected with the gear ring and an electromagnet connected with the external support ring.
Further, springs are respectively arranged between the external support ring and the wheel column; under the action of the spring, the gear ring tends to move towards the wheel post.
Furthermore, the gear ring is connected with the external support ring through a plurality of connecting shafts, and the gear ring is in sliding fit with the connecting shafts.
Furthermore, the teeth of the gear rings are right-angle teeth, and the tooth shapes of the gear rings of the two locking mechanisms are opposite in direction.
The leg movement mechanism of the legged robot comprises leg rods and the wheel type assembly, wherein the leg rods are connected with the two outer support rings.
The quadruped robot comprises a trunk and four leg movement mechanisms.
Compared with the prior art, the invention has the following beneficial effects:
the wheel type structure of the invention can slide on the flat ground and can lock the walking, thus solving the problems that the existing foot type robot walks slowly on the flat ground and is not as convenient, quick and flexible as a wheel type robot, and simultaneously solving the problem that the existing wheel type robot slides and retreats easily when climbing a slope;
2, the invention has compact structure and high integration level, can realize forward and reverse rotation locking and can realize braking with certain force;
3, the invention can provide adjusting parameters for the balance of the legs by detecting the pressure of the wheel parts.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention.
Figure 1 is a front view of a wheel assembly;
figure 2 is a two-dimensional cross-sectional view of the wheel assembly;
figure 3 is a three-dimensional cross-sectional view of the wheel assembly;
FIG. 4 is a schematic view of the wheel assembly with the second ring gear disengaged from the wheel post and the first ring gear engaged with the wheel post;
FIG. 5 is a schematic view of a leg motion mechanism;
in the figure: the device comprises 1-rubber tires, 2-air pressure sensors, 3-wheel columns, 5-springs, 6-spring guide columns, 12-connecting shafts, 41-first outer ring bearings, 42-second outer ring bearings, 71-first gear rings, 72-second gear rings, 81-first external support rings, 82-second external support rings, 91-first electromagnets, 92-second electromagnets, 101-first permanent magnets, 102-second permanent magnets, 100-wheel assemblies, 200-leg rod pieces, 300-inclined planes and 400-right-angle planes.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described in detail and completely with reference to the accompanying drawings. It is to be understood that the described embodiments are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "two sides", "forward direction", "reverse direction", etc. indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships which are usually arranged when the product of the present invention is used, or the directions or positional relationships which are usually understood by those skilled in the art, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or the element which is referred to must have a specific direction, be constructed and operated in a specific direction, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; 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 invention discloses a foot end structure of a foot type robot, which comprises a wheel type assembly, wherein the wheel type assembly comprises a hollow rubber tire, a wheel column arranged in the center of the rubber tire and two external support rings. Two external support rings are respectively and coaxially arranged on two sides of the wheel post, the external support rings are rotationally connected with the wheel post, locking mechanisms are respectively arranged between the two external support rings and the wheel post, and the directions of the two locking mechanisms allowing rotation are opposite.
When one locking mechanism is in an unlocking state and the other locking mechanism is in a locking state, the rubber tire can only rotate forwards or backwards.
When both the locking mechanisms are in the locked state, the rubber tire cannot rotate.
When the two locking mechanisms are in an unlocked state, the rubber tire can freely rotate in the forward and reverse directions.
The invention also discloses a leg movement mechanism which comprises a leg rod piece and the wheel type assembly, wherein the leg rod piece is connected with the two external support rings.
The invention also discloses a quadruped robot which comprises four leg movement mechanisms.
Based on the foot end structure of the foot type robot, the invention discloses two embodiments.
Example one
As shown in fig. 1 to 4, the foot end structure of the legged robot disclosed in the present embodiment includes a wheel assembly 100, and the wheel assembly 100 includes a hollow rubber tire 1 and a wheel post 3. The air pressure sensor 2 is connected with the rubber tire 1 and used for detecting tire pressure and collecting data of stress conditions of legs.
The first outer support ring 81 and the second outer support ring 82 are coaxially mounted on both sides of the wheel post 3, respectively. A first outer ring bearing 41 is arranged between the outer surface of the first outer support ring 81 and the inner surface of the wheel post 3, and a second outer ring bearing 42 is arranged between the outer surface of the second outer support ring 82 and the inner surface of the wheel post 3.
The first ring gear 71 is connected to the first outer support ring 81 through the connecting shaft 12 and is axially slidable with respect to the first outer support ring 81, and the second ring gear 72 is connected to the second outer support ring 82 through the connecting shaft 12 and is axially slidable with respect to the second outer support ring 82.
The first and second ring gears 71 and 72 are coaxial with the wheel post 3. In the present embodiment, the first and second ring gears 71, 72 are slidable along the connecting shaft 12 and form a gear engagement with the wheel post 3, and the first and second ring gears 71, 72 are axially movable relative to the first and second outer support rings 81, 82 and are not rotatable relative to the first and second outer support rings 81, 82.
The spring 5 is a coil spring in this embodiment, and the spring 5 is provided with a spring guide post 6.
The first ring gear 71 is connected with a first permanent magnet 101, the second ring gear 72 is connected with a second permanent magnet 102, the first outer retainer 81 is connected with a first electromagnet 91 adapted to the first permanent magnet 101, and the second outer retainer 82 is connected with a second electromagnet 92 adapted to the second permanent magnet 102.
In the embodiment, the teeth of the first gear ring 71 and the second gear ring 72 are right-angle teeth, one meshing surface of the right-angle teeth is an inclined surface 300, and the inclined surface 300 forms an included angle with the axial direction; the other meshing surface of the right-angle tooth is a right-angle surface 400, and the right-angle surface 400 is parallel to the axial direction.
The first ring gear 71 is toothed in the opposite direction to the second ring gear 72.
As shown in fig. 5, the leg exercise mechanism disclosed in the present invention includes a leg bar 200 and a wheel assembly 100, wherein the leg bar 200 is connected to a first outer support ring 81 and a second outer support ring 82. The first outer support ring 81 and the second outer support ring 82 are fixed with the leg link 200, and the first outer support ring 81 and the second outer support ring 82 are connected with the wheel post 3 and the rubber tire 1 through the outer ring bearing 4 to move in the most basic structure.
The invention discloses a quadruped robot, which comprises four leg movement mechanisms, and the movement principle is as follows: the leg rod 200 drives the wheel assembly 100 to move, and finally, the four robot leg mechanisms move together to form a motion module of the quadruped robot.
The working principle of the embodiment is as follows:
the first state: the first ring gear 71 and the second ring gear 72 are kept in long mesh with the wheel post 3 by the tension of the spring 5, and the rubber tire 1 is kept stationary with respect to the leg link 200.
And a second state: as shown in fig. 2 and 4, the second electromagnet 92 is energized to attract the second permanent magnet 102, so as to drive the second gear ring 72 to disengage from the wheel post 3, and a single-side gear ring meshing state is formed, at this time, the rubber tire 1 can rotate in reverse direction instead of rotating in forward direction.
The reason is as follows: the teeth of the first gear ring 71 are right-angled teeth, when the rubber tire 1 rotates reversely, the inclined surface 300 of the right-angled teeth of the wheel column 3 gives a component force in the horizontal direction to the first gear ring 71, and the component force pushes the first gear ring 71 to move towards the first outer support ring 81, so that the limitation of the first gear ring 71 on the wheel column 3 is removed, and the wheel column 3 and the rubber tire 1 rotate reversely relative to the leg rod 200;
when the rubber tire 1 rotates forward, the right-angled surface 400 of the right-angled tooth of the wheel post 3 cannot generate a horizontal component force on the first ring gear 71, and thus cannot push the first ring gear 71 to move toward the first outer support ring 81, and cannot release the restriction of the first ring gear 71 on the wheel post 3, so that the rubber tire 1 cannot rotate forward relative to the leg rod 200.
And the second state is suitable for the robot to descend the slope.
And a third state: the first electromagnet 91 is electrified to attract the first permanent magnet 101, so that the first gear ring 71 is driven to be separated from the wheel post 3 to form a single-side gear ring meshing state, and at the moment, the rubber tire 1 can rotate forwards but can not rotate backwards.
The reason is as follows: the teeth of the second gear ring 72 are right-angled teeth, when the rubber tire 1 rotates forwards, the inclined surface 300 of the right-angled teeth of the wheel post 3 gives a component force to the second gear ring 72 in the horizontal direction, and the component force pushes the second gear ring 72 to move towards the second external support ring 82, so that the limitation of the second gear ring 72 on the wheel post 3 is removed, and the wheel post 3 and the rubber tire 1 rotate forwards relative to the leg rod piece 200;
when the rubber tire 1 is reversely rotated, the right-angled surface 400 of the right-angled tooth of the wheel post 3 cannot generate a component force in the horizontal direction to the second ring gear 72, and cannot push the second ring gear 72 to move toward the second outer support ring 82, and the restriction of the wheel post 3 by the second ring gear 72 cannot be released, so that the rubber tire 1 cannot be reversely rotated with respect to the leg link 200.
And the third state is suitable for the robot to ascend.
And a fourth state: the first electromagnet 91 and the second electromagnet 92 are simultaneously electrified to attract the first permanent magnet 101 and the second permanent magnet 102, so that the first gear ring 71 and the second gear ring 72 are driven to be separated from the wheel post 3 to form a double-sided gear ring non-meshing state, and at the moment, the rubber tire 1 can rotate forwards and backwards. State four is suitable for sliding on flat ground.
And a fifth state: when the wheel part rotates reversely, the first electromagnet 91 is electrified to attract the first permanent magnet 101 to drive the gear ring of the first gear ring 71 part to be separated from the wheel post 3, the second electromagnet 92 is electrified with reverse current to form repulsive force to act on the second permanent magnet 102, the second gear ring 72 is pushed to press the wheel post 3 to form reverse braking force, and the braking effect is achieved. And the fifth state is suitable for braking the tire when the robot slides on the flat ground.
And a sixth state: when the wheel part rotates forwards, the second electromagnet 92 is electrified to attract the second permanent magnet 102 to drive the second gear ring 72 to be separated from the wheel post 3, the first electromagnet 91 is electrified with reverse current to form repulsive force to act on the first permanent magnet 101, and pushes the gear ring 71 part to press the wheel post 3 to form forward braking force, so that the braking effect is achieved.
Example two
The present embodiment replaces both the first permanent magnet 101 and the second permanent magnet 102 with armatures. The working principle of the embodiment is as follows:
the first state: the first ring gear 71 and the second ring gear 72 are kept in long mesh with the wheel post 3 by the tension of the spring 5, and the rubber tire 1 is kept stationary with respect to the leg link 200.
And a second state: as shown in fig. 5, the second electromagnet 92 is energized to attract the second permanent magnet 102, so as to drive the second gear ring 72 to disengage from the wheel post 3, and a single-side gear ring meshing state is formed, at this time, the rubber tire 1 can not rotate forward but can rotate backward.
And a third state: the first electromagnet 91 is electrified to attract the first permanent magnet 101, so that the first gear ring 71 is driven to be separated from the wheel post 3 to form a single-side gear ring meshing state, and at the moment, the rubber tire 1 can rotate forwards but can not rotate backwards.
And a fourth state: the first electromagnet 91 and the second electromagnet 92 are simultaneously electrified to attract the first permanent magnet 101 and the second permanent magnet 102, so that the first gear ring 71 and the second gear ring 72 are driven to be separated from the wheel post 3 to form a double-sided gear ring non-meshing state, and at the moment, the rubber tire 1 can rotate forwards and backwards.
And a fifth state: when the wheel part rotates reversely, the first electromagnet 91 is electrified to attract the first permanent magnet 101 to drive the gear ring of the first gear ring 71 part to be separated from the wheel post 3, the second electromagnet 92 is powered off, and the spring pushes the second gear ring 72 to press the wheel post 3 to form reverse braking force so as to play a braking role.
And a sixth state: when the wheel part rotates forwards, the second electromagnet 92 ring is electrified to attract the second permanent magnet 102 magnet to drive the second gear ring 72 to separate from the wheel post 3, the first electromagnet 91 is powered off, and the spring 5 pushes the first gear ring 71 part gear ring to press the wheel post 3 to form a forward braking force, so that a braking effect is achieved.
The invention has compact structure, high integration level, fast and flexible walking on flat ground, difficult sliding and retreating when climbing, wide application range and easy popularization and application.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A foot end structure of a foot type robot is characterized in that: the wheel type assembly comprises a hollow rubber tire, a wheel column arranged in the center of the rubber tire and two external support rings;
the two outer support rings are respectively coaxially arranged on two sides of the wheel post, the outer support rings are rotatably connected with the wheel post, and a locking mechanism is respectively arranged between the axial direction of the two outer support rings and the wheel post;
when one locking mechanism is in an unlocking state and the other locking mechanism is in a locking state, the rubber tire can only rotate forwards or backwards;
when the two locking mechanisms are in a locking state, the rubber tire cannot rotate;
when the two locking mechanisms are in an unlocked state, the rubber tire can freely rotate in the forward and reverse directions.
2. The foot end structure of the legged robot according to claim 1, characterized by: and the pneumatic sensor is connected with the rubber tire.
3. The foot end structure of the legged robot according to claim 1 or 2, characterized in that: the locking mechanism comprises a gear ring meshed with the wheel post and an electromagnet assembly used for driving the gear ring to move axially.
4. The foot end structure of the legged robot according to claim 3, characterized by: the electromagnet assembly includes a magnet/armature connected to the gear ring and an electromagnet connected to an external support ring.
5. The foot end structure of the legged robot according to claim 3, characterized by: springs are respectively arranged between the external support ring and the wheel column; under the action of the spring, the gear ring tends to move towards the wheel post.
6. The foot end structure of the legged robot according to claim 5, characterized by: the gear ring is connected with the external support ring through a plurality of connecting shafts, and the gear ring is in sliding fit with the connecting shafts.
7. The legged robot foot end structure according to claim 4, 5 or 6, characterized in that: the teeth of the gear rings are right-angle teeth, and the tooth shapes of the gear rings of the two locking mechanisms are opposite in direction.
8. Leg motion of sufficient robot mechanism, its characterized in that: comprising a leg bar connected to the two outer support rings and a legged robot foot end structure according to any of claims 1-7.
9. A quadruped robot, characterized in that: comprising a torso and four leg movement mechanisms according to claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110304563.XA CN112693538B (en) | 2021-03-23 | 2021-03-23 | Foot end structure of foot type robot, leg movement mechanism and four-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110304563.XA CN112693538B (en) | 2021-03-23 | 2021-03-23 | Foot end structure of foot type robot, leg movement mechanism and four-foot robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112693538A CN112693538A (en) | 2021-04-23 |
| CN112693538B true CN112693538B (en) | 2021-06-22 |
Family
ID=75515307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110304563.XA Active CN112693538B (en) | 2021-03-23 | 2021-03-23 | Foot end structure of foot type robot, leg movement mechanism and four-foot robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112693538B (en) |
Family Cites Families (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10292854A (en) * | 1997-04-17 | 1998-11-04 | Exedy Corp | Transmission mechanism and stair elevating vehicle having the same |
| ITBO20040352A1 (en) * | 2004-06-01 | 2004-09-01 | Emilsider Meccanica | SELF-ADJUSTABLE WHEEL FOR FURNITURE AND SIMILAR |
| JP5376347B2 (en) * | 2009-06-19 | 2013-12-25 | 国立大学法人豊橋技術科学大学 | Steerable drive mechanism and omnidirectional vehicle |
| CN102616296B (en) * | 2012-03-31 | 2014-01-29 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN104443105B (en) * | 2014-10-29 | 2017-03-15 | 西南大学 | Low energy consumption Hexapod Robot |
| CN104960379B (en) * | 2015-05-25 | 2017-11-10 | 上海交通大学 | Three mode deformation wheels |
| US10106214B2 (en) * | 2015-09-25 | 2018-10-23 | California Institute Of Technology | Puffer: pop-up flat folding explorer robot |
| DE102016013467A1 (en) * | 2016-11-09 | 2018-05-09 | Li-Sheng Chien | Rolling cart specific roller assembly |
| CN207015070U (en) * | 2017-06-21 | 2018-02-16 | 上海鸿研物流技术有限公司 | Universal caster wheel with brake gear |
| EP3418070B1 (en) * | 2017-06-23 | 2023-04-12 | Christiane Wiemers | Braked castor |
| WO2019041076A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Automatic balancing foot stress device for intelligent robot |
| CN109808789A (en) * | 2017-11-21 | 2019-05-28 | 富泰华工业（深圳）有限公司 | Wheeled mobile robot it is anti-walk deflection device |
| CN108327812B (en) * | 2018-03-23 | 2020-08-25 | 重庆大学 | Multi-walking-mode wheel-leg robot |
| WO2019245509A2 (en) * | 2018-05-11 | 2019-12-26 | Elektroland Savunma Sanayi A.S. | A manually launchable surveillance and exploration robot with increased mobility |
| CN108725622B (en) * | 2018-07-13 | 2023-08-22 | 中国工程物理研究院化工材料研究所 | Omnidirectional traveling robot |
| CN108820070A (en) * | 2018-08-16 | 2018-11-16 | 西南科技大学 | A kind of robot foot end structure |
| CN108825982A (en) * | 2018-09-12 | 2018-11-16 | 李强 | The electric-controlled type plant bottom case be moved easily, locked |
| CN209666738U (en) * | 2019-04-11 | 2019-11-22 | 黄连强 | A kind of castor of locking device |
| CN110304168A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Novel wheel leg composite construction and four-leg bionic robot |
| CN111661186B (en) * | 2020-06-04 | 2022-05-24 | 大连理工大学 | Eccentric universal translation magnetic wall-climbing robot and working mode thereof |
| CN111806153B (en) * | 2020-07-23 | 2022-02-25 | 珠海格力电器股份有限公司 | Caster wheel mechanism and air conditioner with same |
| CN112009591A (en) * | 2020-09-07 | 2020-12-01 | 德鲁动力科技(海南)有限公司 | Foot type robot |
| CN112141236B (en) * | 2020-09-25 | 2021-08-24 | 昆明理工大学 | Take shock-absorbing function's sufficient formula robot shank system of wheel |
-
2021
- 2021-03-23 CN CN202110304563.XA patent/CN112693538B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112693538A (en) | 2021-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102922528B (en) | Software robot | |
| CN201446986U (en) | Bionic jumping robot | |
| Zhao et al. | Development of a controllable and continuous jumping robot | |
| CN101633372A (en) | Spherical jumping robot | |
| DE102017217182A1 (en) | Rollable movable multipurpose device | |
| US6568869B1 (en) | Three dimensional universal unit for movable structure | |
| CN112693538B (en) | Foot end structure of foot type robot, leg movement mechanism and four-foot robot | |
| CN101941477A (en) | Energy-stored adjustable gear-five-bar bionic bouncing mechanism | |
| CN108944429A (en) | Transmission mechanism and one-way assembly applied by same | |
| Zhang et al. | A novel one-motor driven robot that jumps and walks | |
| JP3769565B2 (en) | Geared motor used in electric wheelchair drive device | |
| Groothuis et al. | Single motor-variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control | |
| Zhao et al. | A single motor actuated miniature steerable jumping robot | |
| CN109808787A (en) | Jump mobile mechanism, robot and asteroid detection robot | |
| CN202201079U (en) | Hopping robot based on rotating-disc cylindrical-pin driving mechanism | |
| CN111252234A (en) | Oblique double-acting wing | |
| CN106972693A (en) | A kind of built-in motor and the electric bicycle for configuring the built-in motor | |
| CN115520301A (en) | Separable bionic centipede robot and joint separation method thereof | |
| CN105522559B (en) | Four-freedom-degree parallel mechanism | |
| CN103010329A (en) | Biped walking movement mechanism | |
| CN107021143B (en) | Locust-simulated jumping robot | |
| CN210503165U (en) | Unmanned aerial vehicle undercarriage receive and releases and uses locking mechanism | |
| CN210000301U (en) | quick-change frame for battery | |
| US4229984A (en) | Step by step motor and/or brake device | |
| CN203612223U (en) | Manual bridge retreating device for aerobridge |
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 |