CN113335416A - Hip joint mechanism and foot type robot - Google Patents
Hip joint mechanism and foot type robot Download PDFInfo
- Publication number
- CN113335416A CN113335416A CN202110808668.9A CN202110808668A CN113335416A CN 113335416 A CN113335416 A CN 113335416A CN 202110808668 A CN202110808668 A CN 202110808668A CN 113335416 A CN113335416 A CN 113335416A
- Authority
- CN
- China
- Prior art keywords
- driving mechanism
- driving
- foot
- rotating shaft
- angle adjusting
- 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.)
- Pending
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
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a hip joint mechanism and a foot type robot, wherein the hip joint mechanism comprises: the angle adjusting mechanism, the left pendulum driving mechanism, the right pendulum driving mechanism and the two front and back driving mechanisms are arranged on the left and right side of the frame; the angle adjusting mechanism is used for adjusting an included angle between the left pendulum driving mechanism and the right pendulum driving mechanism, and when the angle adjusting mechanism is connected with the leg part and the foot part of the foot type robot, the leg part and the foot part can be driven to move, so that the angle between the two foot parts can be adjusted; the left pendulum driving mechanism and the right pendulum driving mechanism are matched for driving the angle adjusting mechanism to bend and swing leftwards and rightwards; the two front and rear driving mechanisms are used for driving the left pendulum driving mechanism, the right pendulum driving mechanism and the angle adjusting machine to swing forwards or backwards in a bending way. The invention can realize the adjustment of the angle between the two feet through the angle adjusting mechanism, thereby effectively improving the flexibility of the foot movement; the lower half of the body of the foot robot has 9 degrees of freedom, and compared with the prior art, the lower half of the body of the foot robot can reduce 7 driving devices, effectively reduce the whole weight and has low driving torque.
Description
Technical Field
The invention relates to the field of robots, in particular to a hip joint mechanism and a foot type robot.
Background
The key of leg design of the legged robot is how to design hip joints and leg structures with high rigidity, low rotational inertia and low mass. At present traditional design thinking is respectively in each joint department direct use joint module, and the benefit of design like this is the modularized design, and the maintenance is changed to the convenience, nevertheless adopts above-mentioned design thinking, can cause the whole ratio of robot to be heavier, and the shank rotates the inertia height, needs higher drive torque, and dynamic property is not enough.
In order to solve the above problems, application No. 201911345580.7 entitled robot and hip joint structure thereof discloses a robot with three sets of driving mechanisms arranged at the hip joint, thereby realizing the front-back swing, left-right swing and rotation of the hip joint and ensuring six degrees of freedom of the hip joint structure. However, since each two degrees of automation are controlled by one group of driving mechanisms, the rotation inertia is high, the driving torque is high, the structure is complex, and the driving of hip joints and leg parts of the legged robot is not facilitated; on the other hand, the prior art can not realize the angle adjustment between two feet of the foot type robot, so that the flexibility of the movement of the legs and the feet of the foot type robot is lower, and different functional requirements can not be met.
Accordingly, the prior art is deficient and needs improvement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a hip joint mechanism and a foot type robot, and solves the problems of high rotational inertia and high driving torque of the foot type robot in the prior art; the problem of can't realize angle modulation between two feet, lead to the flexibility of motion lower, can't satisfy different functional requirements is solved.
The present invention provides a hip joint mechanism, comprising: the angle adjusting mechanism, the left pendulum driving mechanism and the right pendulum driving mechanism; the angle adjustment mechanism includes: first fixing base, install first rotary driving device on the first fixing base, with first ball screw that first rotary driving device output is connected, cover slide assembly, two rocking arm subassemblies on the first ball screw, install the extension axle bottom first fixing base, the rocking arm subassembly includes: the first rotating shaft is connected with the sliding assembly; the left pendulum driving mechanism includes: remove seat, second rotary driving device, with second ball screw, cover that second rotary driving device output is connected are in sliding seat, triaxial linkage subassembly, second fixing base on the second ball screw, the triaxial linkage subassembly includes: the second fixed seat is sleeved on the third rotating shaft, and the movable seat is sleeved on the fourth rotating shaft and the fifth rotating shaft; the right pendulum driving mechanism and the left pendulum driving mechanism have the same structure; the moving seats of the left swing driving mechanism and the right swing driving mechanism are sleeved on the extension shaft, the moving seat of the left swing driving mechanism is connected with a second rotating shaft of one rocker arm assembly of the two rocker arm assemblies, and the right swing driving mechanism is connected with a second rotating shaft of the other rocker arm assembly. The angle adjusting mechanism is used for adjusting an included angle between the left pendulum driving mechanism and the right pendulum driving mechanism, and when the angle adjusting mechanism is connected with the leg part and the foot part of the foot type robot, the leg part and the foot part can be further driven to move, so that the angle between the two foot parts can be adjusted; the left pendulum driving mechanism and the right pendulum driving mechanism are matched and used for driving the angle adjusting mechanism to bend leftwards and rightwards to swing.
Further, the hip joint mechanism further comprises: and the two front and rear driving mechanisms are used for driving the left pendulum driving mechanism, the right pendulum driving mechanism and the angle adjusting mechanism to bend and swing forwards or backwards.
Further, the front-rear driving mechanism includes: and the moving seats of the left pendulum driving mechanism and the right pendulum driving mechanism are respectively connected with the output ends of the third rotary driving devices of the two groups of front and rear driving mechanisms.
Further, the sliding assembly includes: the sliding rail and the linear sliding table are arranged on the sliding rail, the linear sliding table is in threaded connection with the first ball screw, and the first rotating shaft is connected with the linear sliding table.
The present invention also provides a legged robot comprising: a hip joint mechanism, a leg, a foot, a knee joint for driving the leg, and an ankle joint of the foot are bent.
Further, the leg portion includes: the front and back driving mechanism is rotatably connected to the thigh part.
Further, the bending drive mechanism includes: install fourth rotary driving device and fifth rotary driving device on the thigh portion, set up thigh portion one is served first transmission shaft, cover and is in epaxial first carousel of first transmission, setting are in one of shank portion is served second transmission shaft, cover and is in epaxial second carousel of second rotation, first steel wire, second steel wire, first steel wire cover is in on fourth rotary driving device output, the first carousel, the second steel wire cover is in on fifth rotary driving device output, the second carousel.
Further, the lower leg portion is connected to the first turntable, and the foot portion is connected to the second turntable.
Further, the foot robot further comprises: the angle adjusting mechanism comprises a body part connected with the angle adjusting mechanism, a battery arranged in the body part and a control panel.
By adopting the scheme, the invention provides a hip joint mechanism and a foot type robot, which have the following beneficial effects:
1. the angle adjusting mechanism, the left-right bending swing and the front-back bending swing are all completed through the matching of the two groups of mechanisms, so that the driving of the hip joint structure is more flexible, the rotational inertia is low, and 5 degrees of freedom of the hip joint are ensured;
2. the angle adjustment between the two feet can be realized through the angle adjusting mechanism, so that the flexibility of the foot movement is effectively improved, and different functional requirements can be met;
3. the lower half body of the foot type robot has 9 degrees of freedom, compared with the prior art, 7 driving devices can be reduced, the whole weight is effectively reduced, and the driving torque is low;
4. flexibility, low moment of inertia, high rigidity, and compact structure.
Drawings
FIG. 1 is a schematic structural diagram of a legged robot according to the present invention;
FIG. 2 is a schematic view of a hip joint mechanism according to the present invention;
FIG. 3 is a schematic view of another angle of a hip joint mechanism according to the present invention;
FIG. 4 is a schematic structural view of the angle adjustment mechanism of the present invention;
FIG. 5 is a schematic view of another angle structure of the angle adjustment mechanism of the present invention;
FIG. 6 is a schematic structural view of the angle adjustment mechanism and the movable base of the present invention;
FIG. 7 is a schematic structural diagram of a left pendulum driving mechanism, a right pendulum driving mechanism, and a front and rear driving mechanism according to the present invention;
fig. 8 is a schematic view of the structure of the leg, foot and bending drive mechanism of the present invention.
Wherein: the angle adjusting mechanism comprises an angle adjusting mechanism 1, a first fixed seat 10, a first rotary driving device 11, a first ball screw 12, an extension shaft 13, a rocker 14, a first rotating shaft 15, a second rotating shaft 16, a sliding rail 17, a linear sliding table 18, a left swing driving mechanism 2, a moving seat 20, a second rotary driving device 21, a second ball screw 22, a sliding seat 23, a second fixed seat 24, a third rotating shaft 25, a fourth rotating shaft 26, a fifth rotating shaft 27, a right swing driving mechanism 3, a front and back driving mechanism 4, a thigh portion 5, a shank portion 6, a foot portion 7, a bending driving mechanism 8, a fourth rotary driving device 80, a fifth rotary driving device 81, a first transmission shaft 82, a first rotary disk 83, a second transmission shaft 84, a second rotary disk 85, a body portion 9, a battery 90 and a control panel 91.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Referring to fig. 2 to 7, the present invention provides a hip joint mechanism, including: the device comprises an angle adjusting mechanism 1, a left pendulum driving mechanism 2, a right pendulum driving mechanism 3 and two front and rear driving mechanisms 4; the angle adjusting mechanism 1 is used for adjusting an included angle between the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3, and when the angle adjusting mechanism is connected with the leg part and the foot part 7 of the foot type robot, the leg part and the foot part 7 can be further driven to move, so that the angle between the two foot parts 7 can be adjusted; the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3 are matched to drive the angle adjusting mechanism 1 to bend and swing leftwards and rightwards; the two front and rear driving mechanisms 4 are used for driving the left pendulum driving mechanism 2, the right pendulum driving mechanism 3 and the angle adjusting mechanism 1 to bend and swing forwards or backwards; five degrees of freedom of the hip joint (the angle adjusting mechanism 1 is adjusted to be one degree of freedom) are ensured, and the left-right bending swing and the front-back bending swing are completed through the matching of the two groups of mechanisms, so that the hip joint is driven more flexibly and the rotational inertia is low.
Referring to fig. 2 to 6, specifically, in the present embodiment, the angle adjustment mechanism 1 includes: first fixing base 10, install first rotation drive device 11 on first fixing base 10, with first ball screw 12 that 11 output terminals of first rotation drive device are connected, the cover slip subassembly on first ball screw 12, two rocking arm subassemblies, install in extension axle 13 of first fixing base 10 bottom, the rocking arm subassembly includes: the swing arm 14, a first rotating shaft 15 and a second rotating shaft 16 are rotatably arranged on the swing arm 14, and the first rotating shaft 15 is connected with the sliding assembly; the sliding assembly includes: the linear sliding table 18 is arranged on the sliding rail 17, the linear sliding table 18 is in threaded connection with the first ball screw 12, and the first rotating shaft 15 is connected with the linear sliding table 18.
Referring to fig. 2, fig. 3 and fig. 7, specifically, in the present embodiment, the left pendulum driving mechanism 2 includes: remove seat 20, second rotary driving device 21, with the second ball screw 22 that the output of second rotary driving device 21 is connected, cover slide 23, triaxial linkage subassembly, the second fixing base 24 on the second ball screw 22, the triaxial linkage subassembly includes: a third rotating shaft 25 connected to the sliding seat 23, a fourth rotating shaft 26 disposed on the second fixing seat 24, and a fifth rotating shaft 27 connected to the outer side of the first rotary driving device 11, wherein the second fixing seat 24 is sleeved on the third rotating shaft, and the moving seat 20 is sleeved on the fourth rotating shaft 26 and the fifth rotating shaft 27; the right pendulum driving mechanism 3 and the left pendulum driving mechanism 2 have the same structure; one ends of a third rotating shaft 25, a fourth rotating shaft 26 and a fifth rotating shaft 27 of the three-shaft linkage assembly are connected to form a closed triangle, the fourth rotating shaft 26 is a driving shaft, the third rotating shaft 25 and the fifth rotating shaft 27 are driven shafts, and linkage effect can be realized in the driving process of the left swing driving mechanism 2 and the right swing driving mechanism 3; specifically, the specific driving process of the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3 driving the angle adjusting mechanism 1 to bend and swing leftwards is as follows: the second rotary driving devices 21 of the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3 are respectively started to drive the second ball screw 22 to rotate, the sliding seat 23 of the left pendulum driving mechanism 2 and the second ball screw 22 generate relative displacement and move to one side close to the second rotary driving device 21, the sliding seat 23 of the right pendulum driving mechanism 3 and the second ball screw 22 generate relative displacement and move to one side of the second rotary driving device 21 far away from the right pendulum driving mechanism 3, the sliding seats 23 of the right pendulum driving mechanism 3 and the left pendulum driving mechanism 2 respectively pull the corresponding third rotating shafts 25 to move, as the third rotating shafts 25 are connected with the second fixed seats 24, the fourth rotating shafts 26 on the second fixed seats 24 can be further driven to rotate, under the linkage action of the third rotating shafts 25, the fourth rotating shafts 26 and the fifth rotating shafts 27, the movable seats 20 can be driven to rotate, thereby realizing leftward bending, it should be noted that the driving process of the right pendulum driving mechanism 3 and the left pendulum driving mechanism 2 is the same, but when the driving angle adjusting mechanism 1 swings leftwards or rightwards in a bending manner, the rotating directions of the second rotating driving device 21 of the right pendulum driving mechanism 3 and the left pendulum driving mechanism 2 are opposite, so that the moving directions of the sliding seat 23 are kept consistent; according to the invention, the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3 are arranged, the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3 are synchronously driven to realize leftward or rightward bending and swinging, a three-axis linkage assembly is adopted in the driving process to realize a linkage process, the stability is high, the linkage effect is good, compared with the prior art, the flexibility in the bending process is effectively improved, and the rotational inertia is reduced.
Specifically, in this embodiment, the moving seats 20 of the left swing driving mechanism 2 and the right swing driving mechanism 3 are both sleeved on the extension shaft 13, the moving seat 20 of the left swing driving mechanism 2 is connected to the second rotating shaft 16 of one of the two sets of rocker arm assemblies, and the right swing driving mechanism 3 is connected to the second rotating shaft 16 of the other set of rocker arm assembly; after the moving seat 20 of the left pendulum driving mechanism 2 is sleeved on the second rotating shaft 16 of the rocker arm assembly, a first connecting rod is formed between the extension shaft 13 and the second rotating shaft 16, a second connecting rod (connected through the rocker arm 14) is formed between the second rotating shaft 16 and the first rotating shaft 15, a third connecting rod is formed between the first rotating shaft 15 and the linear sliding table 18, the linear sliding table 18 can move on the sliding rail 17, a fourth connecting rod is formed in the moving process of the linear sliding table, a four-connecting-rod shape can be formed, and linkage can be realized in the moving process; specifically, the adjusting process of the angle adjusting mechanism 1 is as follows: the first rotary driving device 11 is started to drive the first ball screw 12 to rotate, the linear sliding table 18 moves on the slide rail 17, the first rotating shaft 15 is pulled, the second rotating shaft 16 is pulled to rotate under the action of the rocker 14, the moving seat 20 is further driven to rotate on the extension shaft 13 under the action of the second rotating shaft 16, the rotation of the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3 is realized, because the left pendulum driving mechanism 2 and the right pendulum driving mechanism are respectively arranged at two sides of the extension shaft 13 and are in a symmetrical state, in the driving process of the angle adjusting mechanism 1, the rotating directions of the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3 are opposite, the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3 are adjusted to have a certain angle from a parallel state, the angle change range is 1-90 degrees, thereby the adjustment of the angle between the two foot parts 7 is realized, and the flexibility of the motion of the foot parts 7 is effectively improved, can meet different functional requirements.
Referring to fig. 2 to 3, in the present embodiment, specifically, the front-back driving mechanism 4 includes: the moving seats 20 of the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3 are respectively connected with the output ends of the third rotary driving devices of the two groups of front and rear driving mechanisms 4; and starting the third rotary driving device, namely driving the left pendulum driving mechanism 2, the right pendulum driving mechanism 3 and the angle adjusting mechanism 1 to integrally rotate forwards or backwards, wherein the specific rotating direction is determined by adjusting the rotating direction of the third rotary driving device.
Referring to fig. 1 to 8, the present invention further provides a legged robot, including: the hip joint mechanism, the leg portion, the foot portion 7, the bending driving mechanism 8 for driving the knee joint of the leg portion and the ankle joint of the foot portion 7 to bend, the trunk portion 9 connected to the angle adjusting mechanism 1, the battery 90 and the control board 91 provided in the trunk portion 9 are described above, and specifically, in the present embodiment, the battery 90 is the rechargeable battery 90. Under the action of the angle adjusting mechanism 1, the angle between the two legs and the two feet 7 can be adjusted, the left pendulum driving mechanism 2 and the right pendulum driving mechanism 3 can drive the trunk part 9 to bend and swing leftwards and rightwards, and the two front and rear driving mechanisms 4 can drive the trunk part 9 to bend and swing forwards and backwards.
Referring to fig. 1 and 8, in particular, in the present embodiment, the leg portion includes: a thigh part 5 and a shank part 6, wherein the front and back driving mechanism 4 is rotatably connected to the thigh part 5; the bending drive mechanism 8 includes: a fourth rotation driving device 80 and a fifth rotation driving device 81 mounted on the thigh portion 5, a first transmission shaft 82 disposed at one end of the thigh portion 5, a first rotating disc 83 sleeved on the first transmission shaft 82, a second transmission shaft 84 disposed at one end of the shank portion 6, a second rotating disc 85 sleeved on the second rotation shaft, a first steel wire, a second steel wire (the first steel wire and the second steel wire are not shown in the drawing), the first steel wire is sleeved on the output end of the fourth rotation driving device 80 and the first rotating disc, and the second steel wire is sleeved on the output end of the fifth rotation driving device 81 and the second rotating disc; the lower leg portion 6 is connected to the first rotary plate 83, and the foot portion 7 is connected to the second rotary plate 85. The fourth rotary driving device 80 is matched with the first steel wire and the first turntable 83 and used for driving the knee joint to bend, the fifth driving device is matched with the second steel wire and the second turntable 85 and used for driving the ankle joint to bend, the driving process is fast, the transmission efficiency is high, and the rigidity is high; the fourth rotation driving device 80 and the fifth rotation driving device 81 are symmetrically arranged on the thigh part 5, so that the structure is more compact and the stability is high; on the other hand, in addition to the 5 degrees of freedom provided by the hip joint mechanism of the present invention, the lower body of the legged robot of the present invention has 9 degrees of freedom by adding 4 degrees of freedom to the legs (left and right legs) by the bending drive mechanism 8, and thus the drive device can be reduced by 7 compared with the conventional art, the overall weight can be effectively reduced, and the drive torque is low.
Specifically, in the present embodiment, the first rotation driving device 11, the second rotation driving device 21, the third rotation driving device, the fourth rotation driving device 80, and the fifth rotation driving device 81 are all rotating motors, and a motor driving plate is disposed on one side of each of the third rotation driving device, the fourth rotation driving device 80, and the fifth rotation driving device 81, and the motor driving plate is BLDC.
In summary, the present invention provides a hip joint mechanism and a foot robot, which have the following advantages:
1. the angle adjusting mechanism, the left-right bending swing and the front-back bending swing are all completed through the matching of the two groups of mechanisms, so that the driving of the hip joint structure is more flexible, the rotational inertia is low, and 5 degrees of freedom of the hip joint are ensured;
2. the angle adjustment between the two feet can be realized through the angle adjusting mechanism, so that the flexibility of the foot movement is effectively improved, and different functional requirements can be met;
3. the lower half body of the foot type robot has 9 degrees of freedom, compared with the prior art, 7 driving devices can be reduced, the whole weight is effectively reduced, and the driving torque is low;
4. flexibility, low moment of inertia, high rigidity, and compact structure.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A hip joint mechanism, comprising: the angle adjusting mechanism, the left pendulum driving mechanism and the right pendulum driving mechanism;
the angle adjustment mechanism includes: first fixing base, install first rotary driving device on the first fixing base, with first ball screw that first rotary driving device output is connected, cover slide assembly, two rocking arm subassemblies on the first ball screw, install the extension axle bottom first fixing base, the rocking arm subassembly includes: the first rotating shaft is connected with the sliding assembly;
the left pendulum driving mechanism includes: remove seat, second rotary driving device, with second ball screw, cover that second rotary driving device output is connected are in sliding seat, triaxial linkage subassembly, second fixing base on the second ball screw, the triaxial linkage subassembly includes: the second fixed seat is sleeved on the third rotating shaft, and the movable seat is sleeved on the fourth rotating shaft and the fifth rotating shaft;
the right pendulum driving mechanism and the left pendulum driving mechanism have the same structure; the moving seats of the left swing driving mechanism and the right swing driving mechanism are sleeved on the extension shaft, the moving seat of the left swing driving mechanism is connected with a second rotating shaft of one rocker arm assembly of the two rocker arm assemblies, and the right swing driving mechanism is connected with a second rotating shaft of the other rocker arm assembly.
2. The hip joint mechanism according to claim 1, further comprising: and the two front and rear driving mechanisms are used for driving the left pendulum driving mechanism, the right pendulum driving mechanism and the angle adjusting mechanism to bend and swing forwards or backwards.
3. The hip joint mechanism according to claim 2, wherein said forward and backward driving mechanism comprises: and the moving seats of the left pendulum driving mechanism and the right pendulum driving mechanism are respectively connected with the output ends of the third rotary driving devices of the two groups of front and rear driving mechanisms.
4. The hip joint mechanism according to claim 1, wherein said sliding assembly comprises: the sliding rail and the linear sliding table are arranged on the sliding rail, the linear sliding table is in threaded connection with the first ball screw, and the first rotating shaft is connected with the linear sliding table.
5. A legged robot, comprising: a hip joint mechanism, a leg, a foot, a knee joint for driving the leg and an ankle joint of the foot bending drive mechanism as claimed in any one of claims 1 to 4.
6. The legged robot according to claim 5, wherein the leg portion comprises: the front and back driving mechanism is rotatably connected to the thigh part.
7. The legged robot according to claim 6, wherein the bending drive mechanism includes: install fourth rotary driving device and fifth rotary driving device on the thigh portion, set up thigh portion one is served first transmission shaft, cover and is in epaxial first carousel of first transmission, setting are in one of shank portion is served second transmission shaft, cover and is in epaxial second carousel of second rotation, first steel wire, second steel wire, first steel wire cover is in on fourth rotary driving device output, the first carousel, the second steel wire cover is in on fifth rotary driving device output, the second carousel.
8. The legged robot according to claim 7, wherein the lower leg portion is connected to the first turntable and the foot portion is connected to the second turntable.
9. The legged robot according to claim 5, further comprising: the angle adjusting mechanism comprises a body part connected with the angle adjusting mechanism, a battery arranged in the body part and a control panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110808668.9A CN113335416A (en) | 2021-07-16 | 2021-07-16 | Hip joint mechanism and foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110808668.9A CN113335416A (en) | 2021-07-16 | 2021-07-16 | Hip joint mechanism and foot type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113335416A true CN113335416A (en) | 2021-09-03 |
Family
ID=77479855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110808668.9A Pending CN113335416A (en) | 2021-07-16 | 2021-07-16 | Hip joint mechanism and foot type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113335416A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113830196A (en) * | 2021-09-26 | 2021-12-24 | 山东大学 | Biped robot capable of being spliced autonomously, multi-configuration robot and control method of multi-configuration robot |
-
2021
- 2021-07-16 CN CN202110808668.9A patent/CN113335416A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113830196A (en) * | 2021-09-26 | 2021-12-24 | 山东大学 | Biped robot capable of being spliced autonomously, multi-configuration robot and control method of multi-configuration robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110217311B (en) | Agile four-foot robot based on coaxial parallel mechanism | |
| US6866557B2 (en) | Apparatus and method for producing ambulatory motion | |
| CN111391934B (en) | Wheel-leg composite robot moving device and wheel-leg composite robot | |
| CN106741277B (en) | Hybrid mechanical leg mechanism | |
| CN112208667B (en) | Connecting rod transmission mechanism and robot | |
| CN111482986B (en) | Series-parallel three-degree-of-freedom rotating mechanism | |
| CN107243921B (en) | Waist joint for humanoid robot | |
| CN107030728B (en) | Multi-connecting-rod robot head and neck control mechanism | |
| CN113335416A (en) | Hip joint mechanism and foot type robot | |
| CN110077486A (en) | A kind of bionical eight sufficient specialized robot | |
| CN215553656U (en) | Hip joint mechanism and foot type robot | |
| CN113618750B (en) | Humanoid robot with high dynamic quadruped motion mode and double-arm working mode | |
| CN213566218U (en) | Connecting rod transmission mechanism and robot | |
| CN108312127A (en) | A kind of linkage controlled suitable for humanoid robot joint freedom degrees with limitation | |
| CN112706853A (en) | Reconfigurable biped robot with multi-connecting-rod structure | |
| JP2012121119A (en) | Hip joint structure of bipedal walking robot | |
| CN111633685A (en) | Manipulator parallel joint | |
| CN220972406U (en) | Finger module, manipulator and robot | |
| CN218258450U (en) | Mechanical leg of biped robot and biped robot | |
| CN111038614B (en) | Robot and leg structure thereof | |
| CN115158508B (en) | Variable-rigidity foot-imitating machine and robot | |
| CN220114719U (en) | Two-degree-of-freedom robot joint structure and robot | |
| CN211568143U (en) | Robot and leg structure thereof | |
| CN214648662U (en) | Reconfigurable biped robot with multi-connecting-rod structure | |
| CN215358447U (en) | Multi-degree-of-freedom arm movement structure and robot thereof |
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 |