CN113212591B - Quadruped robot - Google Patents
Quadruped robot Download PDFInfo
- Publication number
- CN113212591B CN113212591B CN202110517292.6A CN202110517292A CN113212591B CN 113212591 B CN113212591 B CN 113212591B CN 202110517292 A CN202110517292 A CN 202110517292A CN 113212591 B CN113212591 B CN 113212591B
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- 230000007246 mechanism Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241000124008 Mammalia Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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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
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a quadruped robot which comprises a rack, a driving assembly, a connecting frame, a limiting assembly and a fixing frame, wherein gears are rotatably connected to the periphery inside the rack, a rotating disc is rotatably connected to the periphery of the top of the rack, the connecting frame is fixed to the bottom of the driving assembly, a first motor is fixed to the top of the connecting frame, a bolt is in threaded connection with the surface of a supporting frame, the fixing frame is fixed to the bottom of the rack, and second motors are fixed to two ends of the outer side of the fixing frame. This four-footed robot is provided with gear and mounting bracket, drives the actuating lever through the second cylinder on mounting bracket surface and rotates in the outside of mounting bracket to make the actuating lever be the swing form, thereby realize the effect of four-footed walking, the inside first cylinder of cooperation frame drives the fly leaf and slides, makes the rack on its surface of fly leaf cooperation drive gear revolve, thereby drives rolling disc and mounting bracket through the gear and rotates, so that the regulation position of walking, makes the walking more stable.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a quadruped robot.
Background
Mobile robots have become increasingly popular in commercial and industrial environments, machine devices that automatically perform work. The foot robot can accept human command, can run a pre-arranged program, and can also act according to a principle outline made by an artificial intelligence technology, the foot robot is divided into two-foot, four-group and multi-foot robots, wherein the four-foot robot is designed by imitating the body structure of a four-foot mammal in the nature, so that the influence of complex terrains on stability can be overcome, and high-speed movement can be realized.
Disclosure of Invention
The present invention is directed to a quadruped robot, which solves the problems of the prior art that the quadruped robot is inconvenient to use in a narrow space, and the abrasion of the sole of a foot is large, thereby being inconvenient to protect.
In order to achieve the purpose, the invention provides the following technical scheme: a quadruped robot, which comprises a frame, a driving component, a connecting frame, a limiting component and a fixing frame,
the periphery of the inside of the rack is rotatably connected with a gear, the surface of the gear is meshed with a rack, the rack is fixed on the surface of a movable plate, the movable plate is connected with a first air cylinder, and the first air cylinder is fixed on the periphery of the inside of the rack;
the driving assembly for walking is arranged on the periphery of the top of the rack;
the connecting frame is fixed at the bottom of the driving assembly, a first motor is fixed at the top of the connecting frame, the output end of the first motor is connected with a lead screw, the lead screw is rotatably connected inside the connecting frame, a movable block is in threaded connection with the surface of the lead screw and is connected with a supporting frame, the supporting frame is in sliding connection with the surface of the connecting frame, a mounting groove is formed in the surface of the supporting frame, a mounting block is mounted inside the mounting groove, a limiting groove is formed in the surface of the mounting block, the mounting block is fixed on the surface of an L-shaped supporting leg, the L-shaped supporting leg is arranged on the surface of the supporting frame, and a wear-resistant block is fixed at the bottom of the L-shaped supporting leg;
the limiting assembly used for dismounting the L-shaped supporting leg is arranged in the supporting frame;
the utility model discloses a pneumatic conveying device, including frame, dwang, fixed block, third cylinder, backup pad, the bottom in the frame is fixed to the mount, and the outside both ends of mount are fixed with the second motor, the output of second motor is connected with the dwang, and the dwang rotates the inboard both ends of connecting at the mount, the fixed surface of dwang has the fixed block, and is fixed with the third cylinder on the fixed block, and the third cylinder is connected with the backup pad simultaneously.
Preferably, drive assembly, rolling disc include mounting bracket, second cylinder, connecting block and actuating lever, the rolling disc rotates to be connected around the top of frame, and the rolling disc is connected with the gear, the fixed surface of rolling disc has the mounting bracket, and the top of mounting bracket is fixed with the second cylinder, the second cylinder rotates with the connecting block to be connected, and the connecting block is fixed at the top of actuating lever, and the actuating lever rotates the outside of connecting at the mounting bracket simultaneously.
Preferably, spacing subassembly includes bolt, gag lever post, trapezoidal piece and spring, bolt threaded connection is on the surface of support frame, and the inside sliding connection of support frame has the gag lever post, the gag lever post runs through the mounting groove and is connected with the spacing groove, and the top of gag lever post is fixed with trapezoidal piece, the spring has been cup jointed on the surface of gag lever post, and the spring is fixed in the inside of support frame.
Preferably, a rotating mechanism is formed among the gear, the rack and the movable plate.
Preferably, a sliding mechanism is formed among the screw rod, the movable block and the support frame.
Preferably, the mounting block is connected with the mounting groove in a clamping manner.
Preferably, the third cylinder is provided with two groups, and the minimum length of the two groups of third cylinders is the same as the length of the fixing frame.
Preferably, a rotating mechanism is formed among the second air cylinder, the connecting block and the driving rod, and four groups are arranged among the second air cylinder, the connecting block and the driving rod.
Preferably, a telescopic mechanism is formed among the limiting rod, the trapezoidal block and the spring.
Compared with the prior art, the invention has the beneficial effects that: the four-foot robot has the advantages that,
(1) the four-foot walking mechanism is provided with a gear and an installation frame, a driving rod is driven to rotate on the outer side of the installation frame through a second air cylinder on the surface of the installation frame so as to enable the driving rod to swing, so that the four-foot walking effect is achieved, the first air cylinder in the rack is matched to drive a movable plate to slide, the movable plate is matched with a rack on the surface of the movable plate to drive the gear to rotate, and therefore the rotating disc and the installation frame are driven to rotate through the gear so as to adjust the walking direction and enable walking to be more stable;
(2) the lead screw and the support frame are arranged, the lead screw is driven to rotate by the first motor at the top of the connecting frame, the lead screw rotates and is matched with the movable block to drive the support frame to slide upwards or downwards on the surface of the connecting frame, so that the height position of the support frame can be adjusted, the support frame can be used under the condition of adapting to different terrains, the structure is simple, the connection is reliable, and the application range is enlarged;
(3) the bolt and the limiting rod are arranged, the bolt is abutted against the trapezoidal block by rotating the bolt, so that the limiting rod is driven by the trapezoidal block to descend and is clamped into the limiting groove in the surface of the mounting block, the mounting block and the L-shaped supporting leg are fixed on the outer side of the supporting frame, when the L-shaped supporting leg needs to be detached, the bolt is only required to be rotated to be separated from the trapezoidal block, and then the trapezoidal block and the limiting rod are driven to slide upwards under the elastic action of the spring to be separated from the limiting groove in the surface of the mounting block, so that the L-shaped supporting leg is convenient to detach, the structure is compact, the wear-resistant block at the bottom of the L-shaped supporting leg can be replaced when the wear of the wear-resistant block is large, and the practicability is improved;
(4) be provided with dwang and third cylinder, the second motor through the mount outside drives the dwang and rotates, makes the dwang drive fixed block and third cylinder and rotates and be vertical form to drive the backup pad through the third cylinder after using and descend and support whole, thereby reduce the pressure that the actuating lever bore, and can fold the third cylinder when using, avoid influencing normal use, compact structure improves the life of actuating lever.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic top sectional view of the rack of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a schematic view of the structure of FIG. 3 at A according to the present invention;
FIG. 5 is a schematic cross-sectional view of the connecting frame of the present invention;
FIG. 6 is a schematic side view of a cross-sectional structure of the stand of the present invention;
FIG. 7 is a schematic view of the structure of FIG. 6 at B in accordance with the present invention;
fig. 8 is a schematic bottom view of the fixing frame of the present invention.
In the figure: 1. the device comprises a frame, 2, a gear, 3, a rack, 4, a movable plate, 5, a first air cylinder, 6, a driving component, 601, a rotating disc, 602, a mounting rack, 603, a second air cylinder, 604, a connecting block, 605, a driving rod, 7, a connecting rack, 8, a first motor, 9, a screw rod, 10, a movable block, 11, a supporting frame, 12, a mounting groove, 13, a mounting block, 14, a limiting groove, 15, an L-shaped supporting leg, 16, a wear-resisting block, 17, a limiting component, 1701, a bolt, 1702, a limiting rod, 1703, a trapezoidal block, 1704, a spring, 18, a fixing rack, 19, a second motor, 20, a rotating rod, 21, a fixing block, 22, a third air cylinder, 23 and a supporting plate.
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. 1-8, the present invention provides a technical solution: a quadruped robot is disclosed, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, a gear 2 is rotatably connected to the periphery of the inside of a frame 1, a rack 3 is engaged and connected to the surface of the gear 2, the rack 3 is fixed to the surface of a movable plate 4, the movable plate 4 is connected to a first cylinder 5, the first cylinder 5 is fixed to the periphery of the inside of the frame 1, a rotating mechanism is formed among the gear 2, the rack 3 and the movable plate 4, the movable plate 4 is driven by the first cylinder 5 to slide, the movable plate 4 drives the gear 2 to rotate by the rack 3 on the surface thereof, so that the gear 2 drives a rotating disc 601 to rotate to adjust the walking direction, a driving component 6 for walking is arranged around the top of the frame 1, the driving component 6 and the rotating disc 601 comprise a mounting frame 602, a second cylinder 603, a connecting block 604 and a driving rod 605, the rotating disc 601 is rotatably connected around the top of the frame 1, and rolling disc 601 is connected with gear 2, the fixed surface of rolling disc 601 has mounting bracket 602, and the top of mounting bracket 602 is fixed with second cylinder 603, second cylinder 603 rotates with connecting block 604 and is connected, and connecting block 604 fixes the top at actuating lever 605, actuating lever 605 rotates the outside of connecting at mounting bracket 602 simultaneously, second cylinder 603, constitute slewing mechanism between connecting block 604 and the actuating lever 605, and it all is provided with four groups, extend through second cylinder 603 and drive actuating lever 605 and rotate in the outside of mounting bracket 602, make actuating lever 605 be the swing form in the outside of mounting bracket 602, thereby reciprocal purpose that realizes biological four-footed walking so, cooperation gear 2 drives rolling disc 601 and mounting bracket 602 rotation adjustment walking position, make the walking process more stable.
As shown in fig. 1, 5, 6 and 7, the connecting frame 7 is fixed at the bottom of the driving assembly 6, the first motor 8 is fixed at the top of the connecting frame 7, the output end of the first motor 8 is connected with the screw rod 9, the screw rod 9 is rotatably connected inside the connecting frame 7, the surface of the screw rod 9 is in threaded connection with the movable block 10, the movable block 10 is connected with the supporting frame 11, a sliding mechanism is formed among the screw rod 9, the movable block 10 and the supporting frame 11, the screw rod 9 is driven by the first motor 8 at the top of the connecting frame 7 to rotate, the screw rod 9 drives the movable block 10 and the supporting frame 11 to slide upwards or downwards on the surface of the connecting frame 7, so as to adjust the height position of the supporting frame 11, so that the overall height can be adjusted according to the use condition, the use range of the supporting frame 11 is improved, the supporting frame 11 is slidably connected on the surface of the connecting frame 7, and the surface of the supporting frame 11 is provided with an installation groove 12, the mounting block 13 is mounted inside the mounting groove 12, the surface of the mounting block 13 is provided with a limiting groove 14, the mounting block 13 is fixed on the surface of the L-shaped supporting leg 15, the L-shaped supporting leg 15 is arranged on the surface of the supporting frame 11, the bottom of the L-shaped supporting leg 15 is fixed with a wear-resistant block 16, the mounting block 13 is in clamping connection with the mounting groove 12 so as to detach and replace the L-shaped supporting leg 15 when the wear-resistant block 16 at the bottom of the L-shaped supporting leg 15 is greatly worn, a limiting component 17 for detaching and installing the L-shaped supporting leg 15 is arranged inside the supporting frame 11, the limiting component 17 comprises a bolt 1701, a limiting rod 1702, a trapezoidal block 1703 and a spring 1704, the bolt 1701 is in threaded connection with the surface of the supporting frame 11, the limiting rod 1702 is in sliding connection with the inside of the supporting frame 11, the limiting rod 1702 penetrates through the mounting groove 12 to be connected with the limiting groove 14, and the top of the limiting rod 1702 is fixed with the trapezoidal block 1703, spring 1704 is cup jointed on the surface of gag lever post 1702, and spring 1704 fixes in the inside of support frame 11, gag lever post 1702, constitute telescopic machanism between trapezoidal piece 1703 and the spring 1704, make it support the trapezoidal piece 1703 of support frame 11 inside through rotating bolt 1701, make can drive trapezoidal piece 1703 and slide downwards, thereby drive gag lever post 1702 card through trapezoidal piece 1703 and go into the spacing groove 14 on installation piece 13 surface, so that fix installation piece 13 and L shape supporting leg 15, when needing to dismantle L shape supporting leg 15, it makes its and trapezoidal piece 1703 separation to rotate bolt 1701, later then can drive trapezoidal piece 1703 and slide upwards under the spring action of spring 1704, thereby make gag lever post 1702 and the spacing groove 14 separation on installation piece 13 surface, so that change L shape supporting leg 15 wear-resisting piece 16, moreover, the steam generator is simple in structure, and convenient for operation, and the practicality is improved.
As shown in fig. 1 and 8, the fixing frame 18 is fixed at the bottom of the frame 1, and the two ends of the outer side of the fixing frame 18 are fixed with the second motor 19, the output end of the second motor 19 is connected with the rotating rod 20, and the rotating rod 20 is rotatably connected with the two ends of the inner side of the fixing frame 18, the surface of the rotating rod 20 is fixed with the fixing block 21, and the fixing block 21 is fixed with the third cylinder 22, and the third cylinder 22 is connected with the supporting plate 23, the three cylinders 22 are provided with two sets, and the minimum length of the two sets of the third cylinders 22 is equal to the length of the fixing frame 18, so as to facilitate folding the third cylinder 22, and the fixing block 21 is matched with the second motor 19 to drive the rotating rod 20 and the fixing block 21 to rotate, so that the fixing block 21 drives the third cylinder 22 to rotate to be vertical, thereby the third cylinder 22 drives the supporting plate 23 to descend for supporting the whole body after use, and reducing the pressure born by the driving rod 605, thereby improving the service life thereof.
The working principle is as follows: when the four-legged robot is used, firstly, the movable plate 4 is driven to slide by the first air cylinder 5 in the frame 1, the movable plate 4 drives the gear 2 to rotate by the rack 3 on the surface of the movable plate, the gear 2 drives the rotating disc 601 and the mounting rack 602 to rotate and adjust the walking direction, then, the driving rod 605 is driven by the second air cylinder 603 on the top of the mounting rack 602 to rotate and swing on the outer side of the mounting rack 602 so as to walk, when the height position of the supporting frame 11 needs to be adjusted in the using process, firstly, the first motor 8 on the top of the connecting rack 7 is opened so as to drive the screw rod 9 to rotate, so that the screw rod 9 drives the supporting frame 11 to slide upwards or downwards on the surface of the connecting rack 7 through the movable block 10 so as to adjust the height position, when the L-shaped supporting leg 15 on the outer side of the supporting frame 11 and the wear-resistant block 16 on the bottom of the supporting frame need to be replaced after long-time use, firstly, the bolt 1701 on the surface of the supporting frame 11 is rotated so as to be separated from the trapezoidal block 1703, then the trapezoidal block 1703 and the limiting rod 1702 are driven to slide upwards under the action of the elastic force of the spring 1704 to be separated from the limiting groove 14 on the surface of the mounting block 13, the L-shaped supporting leg 15 is pulled to draw the mounting block 13 out of the mounting groove 12 on the surface of the connecting frame 7, then the mounting block 13 on the surface of the L-shaped supporting leg 15 to be replaced is clamped into the mounting groove 12, the bolt 1701 is rotated to abut against the trapezoidal block 1703, so that the trapezoidal block 1703 and the limiting rod 1702 are driven to slide downwards to be clamped into the limiting groove 14 on the surface of the mounting block 13 to be fixed, after the use is finished, the rotating rod 20 and the fixing block 21 can be driven by the second motor 19 outside the fixing frame 18 at the bottom of the rack 1 to rotate, so that the fixing block 21 drives the third cylinder 22 to rotate to be vertical, the supporting plate 23 is driven by the third cylinder 22 to descend for supporting, the weight born by the driving rod 605 is reduced, and the service life of the driving rod is prolonged, this completes the entire operation and what is not described in detail in this specification is prior art to the person skilled in the art.
The terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for simplicity of description only and are not intended to indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operative in a particular orientation, and are not to be considered limiting of the claimed invention.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (3)
1. The utility model provides a quadruped robot, includes frame (1), drive assembly (6), link (7), spacing subassembly (17) and mount (18), its characterized in that:
the periphery of the inside of the rack (1) is rotatably connected with a gear (2), the surface of the gear (2) is meshed with a rack (3), the rack (3) is fixed on the surface of a movable plate (4), the movable plate (4) is connected with a first air cylinder (5), the first air cylinder (5) is fixed on the periphery of the inside of the rack (1), and a rotating mechanism is formed among the gear (2), the rack (3) and the movable plate (4);
the driving assembly (6) used for walking is arranged on the periphery of the top of the rack (1), the driving assembly (6) and the rotating disc (601) comprise a mounting rack (602), a second cylinder (603), a connecting block (604) and a driving rod (605), the rotating disc (601) is rotatably connected on the periphery of the top of the rack (1), the rotating disc (601) is connected with the gear (2), the mounting rack (602) is fixed on the surface of the rotating disc (601), the second cylinder (603) is fixed on the top of the mounting rack (602), the second cylinder (603) is rotatably connected with the connecting block (604), the connecting block (604) is fixed on the top of the driving rod (605), and the driving rod (605) is rotatably connected to the outer side of the mounting rack (602);
the connecting frame (7) is fixed at the bottom of the driving assembly (6), a first motor (8) is fixed at the top of the connecting frame (7), the output end of the first motor (8) is connected with a lead screw (9), the lead screw (9) is rotatably connected inside the connecting frame (7), a movable block (10) is connected to the surface of the lead screw (9) in a threaded manner, the movable block (10) is connected with a supporting frame (11), a sliding mechanism is formed among the lead screw (9), the movable block (10) and the supporting frame (11), the supporting frame (11) is slidably connected to the surface of the connecting frame (7), a mounting groove (12) is formed in the surface of the supporting frame (11), an installation block (13) is installed inside the mounting groove (12), a limiting groove (14) is formed in the surface of the installation block (13), and the installation block (13) is fixed on the surface of the L-shaped supporting leg (15), the mounting block (13) is connected with the mounting groove (12) in a clamping manner, the L-shaped supporting leg (15) is arranged on the surface of the supporting frame (11), and a wear-resistant block (16) is fixed at the bottom of the L-shaped supporting leg (15);
the limiting assembly (17) used for disassembling and assembling the L-shaped supporting leg (15) is arranged inside the supporting frame (11), the limiting assembly (17) comprises a bolt (1701), a limiting rod (1702), a trapezoidal block (1703) and a spring (1704), the bolt (1701) is in threaded connection with the surface of the supporting frame (11), the limiting rod (1702) is connected with the supporting frame (11) in a sliding mode, the limiting rod (1702) penetrates through the mounting groove (12) to be connected with the limiting groove (14), the trapezoidal block (1703) is fixed to the top of the limiting rod (1702), the spring (1704) is sleeved on the surface of the limiting rod (1702), and the spring (1704) is fixed inside the supporting frame (11);
the utility model discloses a pneumatic control device, including frame (1), mount (18), and the outside both ends of mount (18) are fixed with second motor (19), the output of second motor (19) is connected with dwang (20), and dwang (20) rotate to be connected at the inboard both ends of mount (18), the fixed surface of dwang (20) has fixed block (21), and is fixed with third cylinder (22) on fixed block (21), and third cylinder (22) are connected with backup pad (23) simultaneously, third cylinder (22) are provided with two sets ofly, and the minimum length of two sets of third cylinder (22) closes the length the same with mount (18).
2. The quadruped robot of claim 1, wherein: and a rotating mechanism is formed among the second air cylinder (603), the connecting block (604) and the driving rod (605), and four groups are arranged among the second air cylinder, the connecting block and the driving rod.
3. The quadruped robot of claim 1, wherein: and a telescopic mechanism is formed among the limiting rod (1702), the trapezoidal block (1703) and the spring (1704).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110517292.6A CN113212591B (en) | 2021-05-12 | 2021-05-12 | Quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110517292.6A CN113212591B (en) | 2021-05-12 | 2021-05-12 | Quadruped robot |
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| Publication Number | Publication Date |
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| CN113212591A CN113212591A (en) | 2021-08-06 |
| CN113212591B true CN113212591B (en) | 2022-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110517292.6A Active CN113212591B (en) | 2021-05-12 | 2021-05-12 | Quadruped robot |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2006011577A1 (en) * | 2004-07-30 | 2008-05-01 | 株式会社テムザック | Multipoint grounding type foot support mechanism, biped walking robot including the same, and control structure thereof |
| CN201343082Y (en) * | 2008-12-26 | 2009-11-11 | 上海师范大学 | Running mechanism of four-legged walking robot |
| CN105865269B (en) * | 2016-04-19 | 2018-01-30 | 滨州学院 | Attack four-footed wheeled robot |
| CN106741281B (en) * | 2016-12-13 | 2019-12-31 | 齐鲁工业大学 | A Quadruped Robot Walking Mechanism Containing Linear Joints |
| CN107458495B (en) * | 2017-07-04 | 2020-04-24 | 山东大学 | Leg moving mechanism and quadruped robot |
| CN108466286B (en) * | 2018-03-19 | 2020-04-28 | 嘉兴学院 | A Cylinder-Based Quadruped Multidirectional Robot |
| CN110723232B (en) * | 2019-11-25 | 2024-12-03 | 林世斌 | A walking structure for a bionic multi-legged robot |
| CN111675011A (en) * | 2020-06-24 | 2020-09-18 | 四川君河建设工程有限公司 | Cable pay-off that has shock-absorbing function for electric power construction |
| CN112377787B (en) * | 2020-11-14 | 2022-05-17 | 徐州长航科技有限公司 | Display installation device of crane |
| CN112551043A (en) * | 2020-11-25 | 2021-03-26 | 江苏汇能燃气催化科技有限公司 | Infrared drying device of coating processing assembly line |
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