CN113147950A - Leg power system mechanism of leg-foot type robot and leg-foot type robot - Google Patents
Leg power system mechanism of leg-foot type robot and leg-foot type robot Download PDFInfo
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- CN113147950A CN113147950A CN202110500781.0A CN202110500781A CN113147950A CN 113147950 A CN113147950 A CN 113147950A CN 202110500781 A CN202110500781 A CN 202110500781A CN 113147950 A CN113147950 A CN 113147950A
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- leg
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- hip joint
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a leg power system mechanism of a leg-foot type robot and the leg-foot type robot, wherein the system mechanism comprises a hip joint power unit, a thigh power unit, a shank power unit and a trunk unit. The hip joint motor drives the thigh connecting rod and the shank connecting rod to swing within a certain range at two sides of the body, the thigh motor drives the thigh connecting rod to swing within a certain range in the front and back of the body, and the shank motor drives the balanced power transmission mechanism to realize the swing of the shank connecting rod within a certain range in the front and back of the body. The leg power system mechanism of the leg-foot type robot and the leg power system mechanism of the leg-foot type robot have no singular position in the motion process, so that stable balanced torque output of a power system is realized, the accuracy and the controllability are realized, and the integral bearing capacity is improved. And the accuracy of the control position of the leg power system of the leg-foot type robot and the reliability of the track motion are improved. Has good rigidity, impact resistance, long service life and easy maintenance.
Description
Technical Field
The invention relates to the field of legged robots, in particular to a leg power system mechanism of a legged robot and the legged robot.
Background
The leg power system mechanism of the existing leg-foot type robot mainly comprises a synchronous belt type, a chain type and a plane four-connecting-rod type; wherein, the synchronous belt type leg power system mechanism has poor durability, power bearing capacity, structural rigidity and maintainability, and is not suitable for commercial application; although the chain type leg power system mechanism has large power bearing capacity, the chain has large weight, causes large inertia of the leg and is not beneficial to motion control, and the chain transmission also causes large motion noise and is not suitable for a lightweight leg-foot type robot; the planar four-link leg power system mechanism has the characteristic of singular position, the transmission fluctuation of power torque is large, the maintainability is poor, the transmitted torque is minimum at the limit positions (close to singular positions) close to the two ends of the leg action, and the transmitted torque is maximum at a certain position in the middle, so that the efficiency of a leg joint motor cannot be fully exerted, the integral bearing capacity, the action explosive capacity and the obstacle crossing capacity are reduced, the accuracy of the mechanism control position is poor, and the track motion error is large. The leg power system mechanism disclosed by the invention adopts a precise controllable balanced power transmission mechanism, and can well overcome the defects of the leg power system mechanisms of the two leg-foot robots.
Through searching the technical scheme of the prior patent, the leg power system mechanism of the synchronous belt type, chain type and plane four-connecting-rod type leg-foot type robot has the following technical scheme:
1. in the application of a synchronous belt type and chain type leg-foot type robot, for example, chinese patent No. 202010974839.0 published on 09/16/2020, a leg assembly for a foot type robot is disclosed, which discloses a leg power system structure of a foot type robot, and a lower leg transmission system generally comprises an input wheel, an output wheel and a chain or belt connecting the two. The input wheel is arranged near the thigh root of the thigh joint arm and is connected with the output end of the motor, and is driven to rotate by the motor. A chain or belt transmits rotation of the input wheel to the output wheel. The output wheel is arranged at the position where the thigh joint arm is connected with the shank joint arm. The lower leg joint arm pivots correspondingly along with the rotation of the output wheel, so that the fore-and-aft movement of the lower leg is realized. The invention has the application defects of the leg power system mechanism of the synchronous belt type and chain type legged-legged robot no matter the synchronous belt type or the chain type is adopted.
2. In the application of a planar four-link legged robot, for example, application number 201710149070.7, published in 2017, 03, 10, discloses a leg power system structure of an electrically-driven quadruped robot, and discloses a leg power system structure of a legged robot, wherein each independent leg module comprises a thigh motor assembly, a shank motor assembly, a hip joint motor assembly, and related connecting rods and fixing seats thereof. The hip joint motor drives the thigh and shank assembly through a parallelogram mechanism, the thigh motor assembly directly drives the thigh rod assembly, and the shank motor assembly drives the shank assembly through an anti-parallelogram mechanism. The leg power system mechanism of the planar four-link legged robot drives the lower leg to move by adopting a parallelogram mechanism, namely a planar four-link mode, and has the application defect of the leg power system mechanism of the planar four-link legged robot.
Disclosure of Invention
The invention aims to provide a leg power system mechanism of a leg-foot type robot and the leg-foot type robot using the same, which have the advantages of no change of power transmission torque balance, accuracy and controllability, no strange position of leg connecting rod motion, accuracy in control, high bearing capacity, convenience in maintenance and use, and the like, aiming at the defects of the prior art.
In order to achieve the above object, in a first aspect, the present invention provides a leg power system mechanism of a legged robot, the leg power system mechanism includes a hip joint power unit (1), a thigh power unit (2), a shank power unit (3) and a trunk unit (4), and is characterized in that the hip joint power unit (1) includes a hip joint motor (1.1) and a hip joint flange (1.2), the hip joint motor (1.1) is connected with the trunk unit (4) through the trunk flange (4.1), one end of the hip joint flange (1.2) is fixedly connected with a rotor of the hip joint motor (1.1), the other end of the hip joint flange (1.2) is fixedly connected with the thigh motor (2.1), a hip joint flange limit structure a (1.2.1) is arranged on one side of an outer surface of the hip joint flange (1.2), an upper surface and a lower surface of the hip joint flange (1.2) are respectively provided with a hip joint flange limit structure B (1.2.2), the hip joint flange limiting structure A (1.2.1) and the trunk flange limiting structure (4.1.1) are combined to realize limiting; the thigh power unit (2) comprises a thigh motor (2.1), a thigh flange (2.2) and a thigh connecting rod (2.3), the thigh motor (2.1) is connected with the thigh flange (2.2), the thigh flange (2.2) is fixedly connected with the shank motor (3.1), and the thigh flange limiting structure (2.2.1) and the hip joint flange limiting structure B (1.2.2) are combined to realize limiting; the shank power unit (3) comprises a shank motor (3.1) and a balanced power transmission mechanism
(3.2) and a shank connecting rod (3.3), wherein the shank motor (3.1) is fixedly connected with the thigh connecting rod (2.3), and the shank motor (3.1) is connected with the shank connecting rod (3.3) through a balanced power transmission mechanism (3.2).
Preferably, the hip joint motor (1.1), the thigh motor (2.1) and the shank motor (3.1) are integrated into a whole.
Preferably, the thigh connecting rod (2.3) and the shank connecting rod (3.3) form a revolute pair through a knee joint connecting shaft (3.3.2), and a first upper limiting block (2.3.1) and a first lower limiting block (2.3.2) are installed inside the thigh connecting rod (2.3).
Preferably, the balanced power transmission mechanism (3.2) comprises a main power gear flange (3.2.1), a main transmission gear (3.2.2), a rack (3.2.3), a driven power gear assembly (3.2.4), a shank driving gear assembly (3.2.5), a guide rail assembly (3.2.6) and a guide wheel assembly (3.2.7), wherein the main power gear flange (3.2.1) is fixedly connected with the main transmission gear (3.2.2), the main power gear (3.2.2) is meshed with one end of the rack (3.2.3), the driven power gear assembly (3.2.4) is meshed with the other end of the rack (3.2.3), and the driven power gear assembly (3.2.4) is meshed with the shank driving gear assembly (3.2.5).
Preferably, the driven power gear assembly (3.2.4) comprises a driven power gear (3.2.4.1), a deep groove ball bearing A (3.2.4.2) and a driven power gear connecting shaft (3.2.4.3), the deep groove ball bearing A (3.2.4.2) is arranged in the driven power gear (3.2.4.1), and the driven power gear (3.2.4.1) is connected with the thigh connecting rod (2.3) through the driven power gear connecting shaft (3.2.4.3).
Alternatively, the deep groove ball bearing a may be replaced by an angular contact ball bearing.
Preferably, the shank drive gear assembly (3.2.5) comprises a shank drive gear (3.2.5.1) and a deep groove ball bearing B (3.2.5.2), the shank drive gear (3.2.5.1) is internally provided with the deep groove ball bearing B (3.2.5.2), the outer side of the shank connecting rod (3.3) is internally provided with a thrust bearing (3.3.1), the knee joint connecting shaft (3.3.2) respectively penetrates through the thigh connecting rod (2.3), the shank connecting rod (3.3) and the shank drive gear assembly (3.2.5), and the shank connecting rod (3.3) is fixedly connected with the shank drive gear assembly (3.2.5) through a bolt.
Alternatively, the deep groove ball bearing B may be replaced by an angular contact ball bearing.
Preferably, the guide rail assembly (3.2.6) comprises a guide rail A (3.2.6.1) and a guide rail B (3.2.6.2), the rack (3.2.3) in the equalizing power transmission mechanism (3.2) is fixedly connected with the guide rail A (3.2.6.1) and the guide rail B (3.2.6.2) in the guide rail assembly (3.2.6) through bolts, and the guide rail A (3.2.6.1) and the guide rail B (3.2.6.2) are integrally formed.
Preferably, a guide rail assembly (3.2.6) in the balanced power transmission mechanism (3.2) is fixedly connected with a stop block (3.2.6.3), the stop block (3.2.6.3) is integrally formed with a guide rail A (3.2.6.1) and a guide rail B (3.2.6.2), a second upper limit block (2.3.3) and a second lower limit block (2.3.4) are mounted inside the thigh link (2.3), and the second upper limit block (2.3.3) and the second lower limit block (2.3.4) are in fit connection with the stop block (3.2.6.3) in the balanced power transmission mechanism (3.2).
In a second aspect, the present invention provides the leg power system mechanism as claimed in any one of claims 1 to 8.
The leg power system mechanism of the leg-foot type robot comprises a hip joint power unit, a thigh power unit and a shank power unit which are all independent control units. The balance power transmission mechanism in the shank power unit realizes that the balance of transmission torque does not change and is accurate and controllable at different positions in the motion process of the shank connecting rod, the shank connecting rod does not have a singular position in motion, the efficiency of a shank joint motor can be fully exerted, and the integral bearing capacity, the action explosive capacity and the obstacle crossing capacity are improved. And the accuracy of the control position of the lifting mechanism, the reliability of the track motion, and the convenience in operation, maintenance and use are realized.
Compared with the prior art, the invention has the beneficial effects that:
1. the leg power system mechanism of the leg-foot type robot has no singular position in the motion process, so that stable balanced torque output of the power system is realized, the accuracy and the controllability are realized, and the integral bearing capacity is improved. Simpler dynamic model and control algorithm.
2. The accuracy of the leg power system control position and the reliability of the track motion of the leg-foot type robot are improved.
3. The leg power system mechanism of the leg-foot type robot has good rigidity, impact resistance, long service life and easy maintenance.
Drawings
FIG. 1 is a schematic view of the overall structure of the robot of the present invention;
FIG. 2 is a schematic view of a robot leg power system assembly configuration of the present invention;
FIG. 3 is a schematic view of the balanced power transmission assembly of the present invention;
FIG. 4 is a schematic diagram of the position-limiting structure of the hip joint flange and the trunk flange of the present invention;
FIG. 5 is a schematic diagram of a limiting structure of the thigh flange and the hip joint flange of the present invention;
FIG. 6 is a partially disassembled schematic view of the robot leg power system of the present invention;
FIG. 7 is an exploded view of the robot leg power system of the present invention;
FIG. 8 is a schematic view of the calf link and calf drive gear assembly of the present invention;
FIG. 9 is a cross-sectional view of a portion of the lower leg drive gear assembly of the present invention, namely the knee joint;
FIG. 10 is a schematic view of the swing limiting structure of the lower leg link of the present invention;
FIG. 11 is a schematic view of the rack, rail and stop block assembly of the present invention.
In the figure: 1. a hip joint power unit; 1.1, a hip joint motor; 1.2, a hip joint flange; 1.2.1, a hip joint flange limiting structure A; 1.2.2, a hip joint flange limiting structure B; 2. a thigh power unit; 2.1, a thigh motor; 2.2, thigh flanges; 2.3, a thigh connecting rod; 2.2.1, a thigh flange limiting structure; 2.3.1, a first upper limit block; 2.3.2, a first lower limiting block; 2.3.3, a second upper limit block; 2.3.4, a second lower limit block; 3. a shank power unit; 3.1, a shank motor; 3.2, balancing a power transmission mechanism; 3.2.1, a main power gear flange; 3.2.2, a main transmission gear; 3.2.3, a rack; 3.2.4, driven power gear assembly; 3.2.5, a shank drive gear assembly; 3.2.6, a guide rail assembly; 3.2.7, a guide wheel assembly, 3.2.4.1 and a driven gear; 3.2.4.2 deep groove ball bearing A; 3.2.4.3, connecting the shaft from the power gear; 3.2.5.1, shank drive gear; 3.2.5.2, a deep groove ball bearing B; 3.2.6.1, guide rail A; 3.2.6.2, guide rail B; 3.2.6.3, a stop block; 3.3, a shank connecting rod; 3.3.1 thrust bearing; 3.3.2, a knee joint connecting shaft; 4. a torso unit; 4.1, a trunk flange; 4.1.1, a trunk flange limit structure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in the embodiment of the present invention: the leg power system mechanism of the leg-foot type robot and the leg-foot type robot using the same are provided, the leg-foot type robot consists of a trunk (4) and four leg power systems, the four leg power systems are connected with the trunk through trunk flanges, and each leg power system consists of a hip joint power unit (1), a thigh power unit (2) and a shank power unit (3).
Referring to fig. 2-5, the hip joint power unit (1) includes a hip joint motor (1.1) and a hip joint flange (1.2); the thigh power unit (2) comprises a thigh motor (2.1), a thigh flange (2.2) and a thigh connecting rod (2.3); the shank power unit (3) comprises a shank motor (3.1), a shank connecting rod (3.3) and an internal balanced power transmission mechanism (3.2).
The shell of the stator of the hip joint motor (1.1) is connected with the trunk (4) of the legged robot through a trunk flange (4.1), one end of the hip joint flange (1.2) is fixedly connected with the rotor of the hip joint motor (1.1), and the other end of the hip joint flange (1.2) is fixedly connected with the shell of the stator of the thigh motor (2.1). The limiting structure A (1.2.1) of the hip joint flange (1.2) and the limiting structure (4.1.1) in the trunk flange (4.1) are used for limiting the rotation range of the hip joint power unit (1).
The rotor of the thigh motor (2.1) is connected with a thigh flange (2.2), the thigh flange (2.2) is fixedly connected with the driving plate side of the stator shell of the shank motor (3.1), and the limiting structure (2.2.1) of the thigh flange (2.2) and the limiting structure B (1.2.2) in the hip joint flange (1.2) are used for limiting the rotation range of the thigh power unit (2).
The rotor side of the stator shell of the shank motor (3.1) is fixedly connected with the thigh connecting rod (2.3), and the rotor of the shank motor (3.1) drives the shank connecting rod (3.3) to move through the balanced power transmission mechanism (3.2).
Referring to fig. 6-9, the balanced power transmission mechanism (3.2) includes a main power gear flange (3.2.1), a main power gear (3.2.2), a rack (3.2.3), a driven power gear assembly (3.2.4), a shank driving gear assembly (3.2.5), a guide rail assembly (3.2.6), and a guide wheel assembly (3.2.7). Deep groove ball bearings or angular contact ball bearings (3.2.4.2) are arranged in the driven gear (3.2.4.1), form a rotary pair with the thigh connecting rod (2.3), and are connected through a driven gear connecting shaft (3.2.4.3). A deep groove ball bearing or an angular contact ball bearing (3.2.5.2) is arranged in the shank driving gear (3.2.5.1), a thrust bearing (3.3.1) is arranged in the outer side of the shank connecting rod (3.3), and the knee joint connecting shaft (3.3.2) respectively penetrates through the thigh connecting rod (2.3), the shank connecting rod (3.3) and the shank driving gear assembly (3.2.5) to form a rotary pair. The shank connecting rod (3.3) is fixedly connected with the shank driving gear assembly (3.2.5) into a whole in a bolt or riveting mode. The balance power transmission mechanism can realize that the balance of transmission torque cannot be changed and is accurate and controllable.
Referring to fig. 10-11, the rack (3.2.3) of the balanced power transmission mechanism (3.2) may be fixedly connected with the guide rail a (3.2.6.1) and the guide rail B (3.2.6.2) of the guide rail assembly (3.2.6) by bolts or rivets. The guide rail a (3.2.6.1) and the guide rail B (3.2.6.2) may be formed as separate parts or may be formed integrally with the rack. The guide wheel assembly (3.2.7) restricts the guide rail assembly (3.2.6) to move up and down, so that the rack (3.2.3) is restricted to move up and down.
The guide rail assembly (3.2.6) is fixedly connected with the stop block (3.2.6.3). The stopper 3.2.6.3 is not limited to a separate part, and may be integrally formed as part of the rail A3.2.6.1 or the rail B3.2.6.2. Thigh connecting rod (2.3) internally mounted or corresponding second upper limit piece (2.3.3) of integrated into one piece and second lower limit piece (2.3.4), stopper (3.2.6.3) among the balanced power transmission mechanism (3.2) of cooperation realize spacing from top to bottom balanced power transmission mechanism (3.2), realize then spacing to shank luffing motion scope, this spacing is the spacing design of redundancy, increases the spacing reliability of shank.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (9)
1. A leg power system mechanism of a legged robot comprises a hip joint power unit (1), a thigh power unit (2), a shank power unit (3) and a trunk unit (4), it is characterized in that the hip joint power unit (1) comprises a hip joint motor (1.1) and a hip joint flange (1.2), the hip joint motor (1.1) is connected with the trunk unit (4) through a trunk flange (4.1), one end of the hip joint flange (1.2) is fixedly connected with the hip joint motor (1.1), the other end of the hip joint flange (1.2) is fixedly connected with a thigh motor (2.1), a hip joint flange limiting structure A (1.2.1) is arranged on one side of the outer surface of the hip joint flange (1.2), the upper surface and the lower surface of the hip joint flange (1.2) are respectively provided with a hip joint flange limiting structure B (1.2.2), the hip joint flange limiting structure A (1.2.1) is connected with the trunk flange limiting structure (4.1.1) in a matched manner;
the thigh power unit (2) comprises a thigh motor (2.1), a thigh flange (2.2) and a thigh connecting rod (2.3), the thigh motor (2.1) is connected with the thigh flange (2.2), the thigh flange (2.2) is fixedly connected with the shank motor (3.1), and the thigh flange limiting structure (2.2.1) is connected with the hip joint flange limiting structure B (1.2.2) in a matching manner;
the shank power unit (3) comprises a shank motor (3.1), a balanced power transmission mechanism (3.2) and a shank connecting rod (3.3), the shank motor (3.1) is fixedly connected with the shank connecting rod (2.3), and the shank motor (3.1) is connected with the shank connecting rod (3.3) through the balanced power transmission mechanism (3.2).
2. The leg power system mechanism of the legged robot according to claim 1, characterized in that the hip joint motor (1.1), thigh motor (2.1) and shank motor (3.1) are integrated motors.
3. The leg power system mechanism of the legged robot as claimed in claim 1, wherein the thigh link (2.3) and the shank link (3.3) form a revolute pair through a knee joint connecting shaft (3.3.2), and the thigh link (2.3) is internally provided with a first upper limit block (2.3.1) and a first lower limit block (2.3.2).
4. The leg power system mechanism of the legged robot as claimed in claim 1, wherein the balance power transmission mechanism (3.2) comprises a main power gear flange (3.2.1), a main drive gear (3.2.2), a rack (3.2.3), a driven power gear assembly (3.2.4), a shank drive gear assembly (3.2.5), a guide rail assembly (3.2.6) and a guide wheel assembly (3.2.7), the main power gear flange (3.2.1) is fixedly connected with the main drive gear (3.2.2), the main power gear (3.2.2) is engaged with one end of the rack (3.2.3), the driven power gear assembly (3.2.4) is engaged with the other end of the rack (3.2.3), and the driven power gear assembly (3.2.4) is engaged with the shank drive gear assembly (3.2.5).
5. The leg power system mechanism of the legged robot as claimed in claim 4, characterized in that the driven power gear assembly (3.2.4) comprises a driven power gear (3.2.4.1), deep groove ball bearings A (3.2.4.2) and a driven power gear connecting shaft (3.2.4.3), the driven power gear (3.2.4.1) embeds the deep groove ball bearings A (3.2.4.2), the driven power gear (3.2.4.1) is connected with the thigh connecting rod (2.3) through a driven power gear connecting shaft (3.2.4.3).
6. The leg power system mechanism of the legged robot according to claim 4, characterized in that the lower leg driving gear assembly (3.2.5) includes a lower leg driving gear (3.2.5.1) and a deep groove ball bearing B (3.2.5.2), the lower leg driving gear (3.2.5.1) is provided with the deep groove ball bearing B (3.2.5.2) inside, the outer side of the lower leg connecting rod (3.3) is provided with the thrust bearing (3.3.1) inside, the knee joint connecting shaft (3.3.2) respectively passes through the upper leg connecting rod (2.3), the lower leg connecting rod (3.3) and the lower leg driving gear assembly (3.2.5), and the lower leg connecting rod (3.3) is fixedly connected with the lower leg driving gear assembly (3.2.5) through a bolt.
7. The leg power system mechanism of the legged robot as claimed in claim 4, said guide rail assembly (3.2.6) includes guide rail A (3.2.6.1) and guide rail B (3.2.6.2), said rack (3.2.3) of the equalizing power transmission mechanism (3.2) is fixedly connected with guide rail A (3.2.6.1) and guide rail B (3.2.6.2) of the guide rail assembly (3.2.6) by bolts, and said guide rail A (3.2.6.1) and guide rail B (3.2.6.2) are integrally formed.
8. The leg power system mechanism of the legged robot as claimed in claim 4, wherein the rail assembly (3.2.6) in the balance power transmission mechanism (3.2) is fixedly connected with the stop block (3.2.6.3), the stop block (3.2.6.3) is integrally formed with the rail A (3.2.6.1) and the rail B (3.2.6.2), the thigh link (2.3) is internally provided with the second upper limit block (2.3.3) and the second lower limit block (2.3.4), and the second upper limit block (2.3.3) and the second lower limit block (2.3.4) are in fit connection with the stop block (3.2.6.3) in the balance power transmission mechanism (3.2).
9. A legged robot including a leg power system mechanism, wherein the leg power system mechanism is the leg power system mechanism of any one of claims 1-8.
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| CN113844566A (en) * | 2021-09-09 | 2021-12-28 | 昆明理工大学 | Wheel-foot type robot leg structure capable of automatically switching power and wheel-foot type robot |
| CN113978566A (en) * | 2021-11-22 | 2022-01-28 | 昆明理工大学 | Wheel-foot type robot leg structure with suspension function and wheel-foot type robot |
| CN114313052A (en) * | 2021-12-31 | 2022-04-12 | 杭州未名信科科技有限公司 | Self-locking leg and foot module and robot |
| CN114954725A (en) * | 2022-06-08 | 2022-08-30 | 北京哈崎机器人科技有限公司 | Robot |
| CN115609629A (en) * | 2022-12-16 | 2023-01-17 | 苏州光格科技股份有限公司 | Mechanical joint, foot type robot applying mechanical joint and cooperative mechanical arm |
| CN115848530A (en) * | 2023-02-14 | 2023-03-28 | 七腾机器人有限公司 | Robot foot joint |
| WO2023045615A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Robot leg rotation limiting structure and robot |
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| CN112722111A (en) * | 2021-01-12 | 2021-04-30 | 杭州云深处科技有限公司 | Universal limiting mechanism for quadruped robot and quadruped robot |
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| CN113844566A (en) * | 2021-09-09 | 2021-12-28 | 昆明理工大学 | Wheel-foot type robot leg structure capable of automatically switching power and wheel-foot type robot |
| CN113844566B (en) * | 2021-09-09 | 2022-11-01 | 昆明理工大学 | Wheel-foot type robot leg structure capable of automatically switching power and wheel-foot type robot |
| WO2023045615A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Robot leg rotation limiting structure and robot |
| CN113978566A (en) * | 2021-11-22 | 2022-01-28 | 昆明理工大学 | Wheel-foot type robot leg structure with suspension function and wheel-foot type robot |
| CN114313052A (en) * | 2021-12-31 | 2022-04-12 | 杭州未名信科科技有限公司 | Self-locking leg and foot module and robot |
| CN114313052B (en) * | 2021-12-31 | 2023-05-16 | 杭州未名信科科技有限公司 | Leg and foot module capable of self-locking and robot |
| CN114954725A (en) * | 2022-06-08 | 2022-08-30 | 北京哈崎机器人科技有限公司 | Robot |
| CN115609629A (en) * | 2022-12-16 | 2023-01-17 | 苏州光格科技股份有限公司 | Mechanical joint, foot type robot applying mechanical joint and cooperative mechanical arm |
| CN115609629B (en) * | 2022-12-16 | 2023-09-01 | 苏州光格科技股份有限公司 | Mechanical joint, foot robot using same and cooperative mechanical arm |
| CN115848530A (en) * | 2023-02-14 | 2023-03-28 | 七腾机器人有限公司 | Robot foot joint |
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