CN113954984A - Bionic mechanism of hydraulic quadruped robot - Google Patents
Bionic mechanism of hydraulic quadruped robot Download PDFInfo
- Publication number
- CN113954984A CN113954984A CN202111435867.6A CN202111435867A CN113954984A CN 113954984 A CN113954984 A CN 113954984A CN 202111435867 A CN202111435867 A CN 202111435867A CN 113954984 A CN113954984 A CN 113954984A
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- thigh
- shank
- hip
- frame
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- 230000007246 mechanism Effects 0.000 title claims abstract description 164
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 15
- 210000000689 upper leg Anatomy 0.000 claims abstract description 111
- 210000003127 knee Anatomy 0.000 claims abstract description 10
- 210000002414 leg Anatomy 0.000 claims description 21
- 210000001503 joint Anatomy 0.000 claims description 12
- 210000003423 ankle Anatomy 0.000 claims description 9
- 229910052751 metal Inorganic materials 0.000 claims description 8
- 239000002184 metal Substances 0.000 claims description 8
- 210000001624 hip Anatomy 0.000 claims 13
- 210000004394 hip joint Anatomy 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 5
- 239000000463 material Substances 0.000 description 6
- 244000309466 calf Species 0.000 description 5
- 210000002683 foot Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000282465 Canis Species 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Classifications
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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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a bionic mechanism of a hydraulic four-foot robot, which comprises a trunk mechanism, a hip mechanism and a walking mechanism, wherein the hip mechanism is arranged between the trunk mechanism and the walking mechanism, the top end of the hip mechanism is arranged at the four corners of the bottom end of the trunk mechanism in a swinging mode, the walking mechanism and the hip mechanism are connected by adopting a front elbow and rear knee type topological structure, and the trunk mechanism and the walking mechanism are connected in parallel. The invention adopts the front elbow and back knee topological structure connection between the walking mechanism and the hip mechanism, namely the hip mechanism and the thigh mechanism joint shaft are positioned at the front end, the thigh mechanism and the shank mechanism joint shaft are positioned at the back end, and the state of the thigh mechanism and the shank mechanism is the symmetrical topological state of the front elbow and back knee at the moment, so that the ground contact area of the bottom end of the shank mechanism is larger, the movement is smoother and more stable, and the thigh mechanism and the shank mechanism are connected in series through the parallel connection of the trunk mechanism and the walking mechanism, thereby being convenient for driving the robot to walk and being more stable.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a bionic mechanism of a hydraulic quadruped robot.
Background
With the scientific and technological progress and the rapid development of social productivity, the robot industry is developed vigorously, wherein the hydraulic quadruped robot is developed rapidly and is widely applied. The hydraulic quadruped robot is a bionic robot, has great advantages in the aspect of crossing terrain obstacles, and can travel on various rugged and uneven complex roads. In recent years, the hydraulic four-legged robot plays an important role in the aspects of field survey, information transmission, material transportation and the like due to the flexible and maneuvering characteristics of the hydraulic four-legged robot.
Although the hydraulic quadruped robot has the advantages of rapid development speed, wide application range and very wide development prospect, the hydraulic quadruped robot also has a plurality of problems and challenges, the bionic robot in the prior art still has defects in stability and flexibility, and the stability is poor when the robot moves due to the self weight of the robot, and the sensitivity is insufficient, so that the effect of stable movement cannot be met.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a bionic mechanism of a hydraulic quadruped robot, and the specific technical scheme is as follows:
a bionic mechanism of a hydraulic four-foot robot comprises a trunk mechanism, a hip mechanism and a walking mechanism, wherein the hip mechanism is arranged between the trunk mechanism and the walking mechanism, the top end of the hip mechanism is arranged at the four corners of the bottom end of the trunk mechanism in a swinging mode, the walking mechanism and the hip mechanism are connected through a front elbow and rear knee type topological structure, the trunk mechanism is connected with the walking mechanism in a parallel mode, the walking mechanism comprises a thigh mechanism and a shank mechanism, the thigh mechanism is rotatably connected with the hip mechanism, and each thigh mechanism is connected with the shank mechanism in a series mode.
As an improvement of the above technical scheme, the trunk mechanism includes four double-threaded screws, four frame plates, a cross beam and an upper hinge shaft of a side swing cylinder, the frame plates are uniformly fixed on the double-threaded screws through nuts, the cross beam is arranged at the position close to the two ends of the double-threaded screws, the upper hinge shaft of the side swing cylinder is arranged between the cross beam and the frame plates, the hip mechanism is arranged between the frame plates in a side swing mode, a bearing seat, a lower shaft of the side swing cylinder and the upper hinge shaft of the thigh cylinder are arranged between the hip mechanism and the frame plates, the bearing seat is fixedly connected to the hip mechanism, a bearing is arranged in the bearing seat, the bearing is rotatably connected to the frame plates, one end of the bearing penetrates through the frame plates to be provided with a bearing cover, and the bearing cover is fixedly connected to the frame plates.
As an improvement of the technical scheme, the thigh mechanism comprises a thigh frame, a thigh cylinder lower shaft, a shank cylinder upper hinge shaft, a first thigh stop block, a second thigh stop block and a large and small leg joint shaft, wherein the first thigh stop block and the second thigh stop block are fixedly connected to the thigh frame through bolts, the first thigh stop block and the second thigh stop block are respectively positioned on two sides of the thigh frame, a hip thigh joint rotating shaft is rotatably connected between the top end of the thigh frame and the bottom end of the hip mechanism, two ends of the hip thigh joint rotating shaft are rotatably connected with hip thigh rotating shaft end covers, the hip thigh rotating shaft end covers are fixedly connected to the hip mechanism, the thigh cylinder lower shaft is fastened to the thigh frame through nut threads, a thigh cylinder is arranged between the thigh cylinder lower shaft and the thigh cylinder upper hinge shaft, the shank cylinder upper hinge shaft is arranged on the thigh frame, the upper hinge shaft of the shank cylinder is positioned on one side of the lower shaft of the thigh cylinder, the large and small leg joint shafts are rotatably connected between the thigh frame and the shank mechanism, the two ends of the large and small leg joint shafts are rotatably connected with the large and small leg rotating shaft end covers, the large and small leg rotating shaft end covers are fixedly connected to the thigh frame, the lower end of the thigh frame, which is close to the large and small leg joint shafts, is provided with the lower shaft of the shank cylinder, and the shank cylinder is arranged between the lower shaft of the shank cylinder and the upper hinge shaft of the shank cylinder.
As an improvement of the technical scheme, the shank mechanism comprises a first shank sleeve, a second shank sleeve, a third shank sleeve, a metal connecting block, an ankle shell and foot end rubber, a first cylindrical pin is arranged between the first shank sleeve and the second shank sleeve and connected through the first cylindrical pin, a second cylindrical pin is arranged between the second shank sleeve and the third shank sleeve and connected through the second cylindrical pin, and the metal connecting block, the ankle shell and the foot end rubber sequentially pass through a long bolt from top to bottom and are fixed at the bottom end of the third shank sleeve.
The invention has the beneficial effects that: the front elbow and back knee type topological structure is adopted to connect the hip mechanism, namely, the hip mechanism and the thigh mechanism are positioned at the front end, the thigh mechanism and the shank mechanism are positioned at the rear end, the states of the thigh mechanism and the shank mechanism are symmetrical topological states of the front elbow and back knee type, the ground contact area of the bottom end of the shank mechanism is larger, the movement is smoother and more stable, the trunk mechanism and the walking mechanism are connected in parallel, the thigh mechanism and the shank mechanism are connected in series, the robot is convenient to drive to walk, the control is simpler and more stable.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the torso mechanism of the present invention;
FIG. 3 is a schematic view of the traveling mechanism of the present invention;
figure 4 is a schematic view of the hip mechanism of the present invention;
FIG. 5 is a schematic view of a thigh frame of the present invention;
FIG. 6 is a schematic view of a calf mechanism of the present invention;
FIG. 7 is an enlarged view of area A of FIG. 1;
FIG. 8 is an enlarged view of the area B of FIG. 1 according to the present invention;
FIG. 9 is an enlarged view of the area C in FIG. 3 according to the present invention.
Reference numerals: 1. a torso mechanism; 11. a double-ended screw; 12. a frame plate; 13. a cross beam; 14. a hinge shaft at the upper part of the side swing cylinder; 15. a bearing cap; 2. a hip mechanism; 21. a bearing seat; 211. a bearing; 22. a lower shaft of the side swing cylinder; 23. a hinge shaft at the upper part of the thigh cylinder; 24. a hip-thigh joint spindle; 25. a hip thigh shaft end cover; 3. a traveling mechanism; 31. a thigh mechanism; 311. a thigh frame; 3111. a lower shaft of the shank cylinder; 312. a thigh cylinder lower shaft; 313. a hinge shaft at the upper part of the shank cylinder; 314. a first thigh stop; 315. a second thigh stop; 316. a large and a small leg joint shafts; 317. end covers of the rotating shafts of the big leg and the small leg; 32. a shank mechanism; 321. a first calf sleeve; 3211. a first cylindrical pin; 322. a second calf sleeve; 3221. a second cylindrical pin; 323. a third calf sleeve; 324. a metal connecting block; 325. an ankle outer shell; 326. the foot end rubber.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic view of the overall structure of the present invention.
A bionic mechanism of a hydraulic four-footed robot comprises a trunk mechanism 1, hip mechanisms 2 and a walking mechanism 3, wherein the hip mechanisms 2 are arranged between the trunk mechanism 1 and the walking mechanism 3, the top ends of the hip mechanisms 2 are arranged at four corners of the bottom end of the trunk mechanism 1 in a swinging mode, the walking mechanism 3 is connected with the hip mechanisms 2 through a front elbow and back knee topological structure, the trunk mechanism 1 is connected with the walking mechanism 3 in a parallel mode, the walking mechanism 3 comprises a thigh mechanism 31 and a shank mechanism 32, the thigh mechanism 31 is rotatably connected with the hip mechanisms 2, and each thigh mechanism 31 is connected with the shank mechanism 32 in a series mode.
The front elbow and rear knee type topological structure is adopted for connection between the walking mechanism 3 and the hip mechanism 2, namely, the hip mechanism 2 and the thigh mechanism 31 are positioned at the front end, the thigh mechanism 31 and the shank mechanism 32 are positioned at the rear end, and at the moment, the states of the thigh mechanism 31 and the shank mechanism 32 are symmetrical topological states of the front elbow and rear knee type, so that the ground contact area of the bottom end of the shank mechanism 32 is larger, the movement is smoother and more stable, and through the parallel connection of the trunk mechanism 1 and the walking mechanism 3, the thigh mechanism 31 and the shank mechanism 32 are connected in series, the robot is convenient to drive to walk, the control is simpler and more stable.
As shown in fig. 1, 2, 3 and 4, fig. 1 is a schematic view of the overall structure of the present invention; FIG. 2 is a schematic view of the torso mechanism of the present invention; FIG. 3 is a schematic view of the traveling mechanism of the present invention; figure 4 is a schematic view of the hip mechanism of the present invention.
The torso mechanism 1 comprises four double-head screws 11, four frame plates 12, a cross beam 13 and a side swing cylinder upper hinge shaft 14, the frame plates 12 are uniformly fixed on the double-head screws 11 through nuts, the cross beam 13 is arranged at the position, close to the two ends, of the double-head screws 11, the side swing cylinder upper hinge shaft 14 is arranged between the cross beam 13 and the frame plates 12, the hip mechanism 2 is arranged between the frame plates 12 in a side swing mode, a bearing seat 21, a side swing cylinder lower shaft 22 and a thigh cylinder upper hinge shaft 23 are arranged between the hip mechanism 2 and the frame plates 12, the bearing seat 21 is fixedly connected to the hip mechanism 2, a bearing 211 is arranged in the bearing seat 21, the bearing 211 is rotatably connected to the frame plates 12, one end of the bearing 211 penetrates through the frame plates 12 to be provided with a bearing cover 15, and the bearing cover 15 is fixedly connected to the frame plates 12.
Wherein, the frame plate 12 is made of space aluminum as the main material, which ensures that the frame plate obtains stronger strength and corrosion resistance, more importantly, the weight of the machine body is greatly reduced due to the characteristic of low weight of the material, thereby being more convenient for surveying, information transmission and material transportation in the field, greatly improving the application range and the use efficiency of the robot, and the side swing hydraulic cylinder is convenient to install through the matching of the upper hinge shaft 14 of the side swing cylinder and the lower shaft 22 of the side swing cylinder, the output end is positioned at the lower shaft 22 of the side swing cylinder, and the side swing hydraulic cylinder is fixed through a clamp spring, thereby realizing the swing of the hip mechanism 2 driving the traveling mechanisms 3, increasing the distance between the traveling mechanisms 3 when traveling on a steep wave section, thereby increase plantar area of touching down, the condition that appears crawling unmovable when avoiding walking, through the setting of bearing cap 15, can increase the stability of bearing 211, improve the stability of operation.
As shown in fig. 1, 2, 3, 6, 7, 8 and 9, fig. 1 is a schematic view of the overall structure of the present invention; FIG. 2 is a schematic view of the torso mechanism of the present invention; FIG. 3 is a schematic view of the traveling mechanism of the present invention; FIG. 6 is a schematic view of a calf mechanism of the present invention; FIG. 7 is an enlarged view of area A of FIG. 1; FIG. 8 is an enlarged view of the area B of FIG. 1 according to the present invention; FIG. 9 is an enlarged view of the area C in FIG. 3 according to the present invention.
The thigh mechanism 31 comprises a thigh frame 311, a thigh cylinder lower shaft 312, a shank cylinder upper hinge shaft 313, a first thigh stopper 314, a second thigh stopper 315 and a big and small leg joint shaft 316, the first thigh stopper 314 and the second thigh stopper 315 are fixedly connected to the thigh frame 311 through bolts, the first thigh stopper 314 and the second thigh stopper 315 are respectively located on two sides of the thigh frame 311, a hip and thigh joint rotating shaft 24 is rotatably connected between the top end of the thigh frame 311 and the bottom end of the hip mechanism 2, two ends of the hip and thigh joint rotating shaft 24 are respectively rotatably connected with a hip and thigh rotating shaft end cover 25, the hip and thigh rotating shaft end cover 25 is fixedly connected to the hip mechanism 2, the shank cylinder lower shaft 312 is fastened to the thigh frame 311 through nut threads, a thigh cylinder is arranged between the thigh cylinder lower shaft 312 and the shank cylinder upper hinge shaft 23, the shank cylinder upper hinge shaft 313 is arranged on the thigh frame 311, the upper hinge shaft 313 of the shank cylinder is positioned on one side of the lower hinge shaft 312 of the thigh cylinder, the large shank joint shaft 316 is rotatably connected between the thigh frame 311 and the shank mechanism 32, two ends of the large shank joint shaft 316 are rotatably connected with large and small leg pivot end covers 317, the large and small leg pivot end covers 317 are fixedly connected to the thigh frame 311, a lower shank cylinder shaft 3111 is arranged at the bottom end of the thigh frame 311 close to the large and small leg joint shaft 316, and a shank cylinder is arranged between the lower shank cylinder shaft 3111 and the upper hinge shaft 313 of the shank cylinder.
The lower leg mechanism 32 comprises a first lower leg sleeve 321, a second lower leg sleeve 322, a third lower leg sleeve 323, a metal connecting block 324, an ankle shell 325 and foot end rubber 326, a first cylindrical pin 3211 is arranged between the first lower leg sleeve 321 and the second lower leg sleeve 322 and connected through the first cylindrical pin 3211, a second cylindrical pin 3221 is arranged between the second lower leg sleeve 322 and the third lower leg sleeve 323 and connected through the second cylindrical pin 3221, and the metal connecting block 324, the ankle shell 325 and the foot end rubber 326 are fixed at the bottom end of the third lower leg sleeve 323 through long bolts sequentially from top to bottom.
Wherein, through the setting of each axle, the pneumatic cylinder of easy to assemble to the range scope of the three pneumatic cylinder that sets up is respectively: 252.7-297mm of side swing hydraulic cylinder, 276 + 345mm of thigh cylinder and 300 + 360mm of shank cylinder, the leg joint can be driven by the hydraulic cylinder, so that the leg of the robot reaches the designated pose, the hydraulic system can provide strong power instantly, the robot can do rigid and strong stable motion even under the condition of large load, the shape of the robot is similar to the ankle of a canine organism, the bionic degree of the foot is improved, the contact area of the foot is increased by increasing the included angle between the foot end and the ground, the stability of the robot is improved, meanwhile, the metal connecting block 324 can be replaced by a six-dimensional force sensor for impedance control or force control in the later period, the accurate external force value can be measured by replacing the sensor, and the ankle shell 325 sleeved outside the sensor and the foot end rubber 326 arranged below can play a good protection role in the sensor, the life of extension sensor, and foot end rubber 326 that the foot bottom set up is the rubber material, the compliance has, rubber materials can provide better shock attenuation nature, and the touchdown surface of foot end rubber 326 is processed into the arc, can increase the area of contact with the earth of foot end, the stability of very big promotion robot, promote bionic robot's bionical degree, and first shank sleeve 321, it is fixed through first cylindric lock 3223211 and second cylindric lock 3221 between second shank sleeve 322 and the third shank sleeve 323, the dismantlement maintenance of shank mechanism 32 of being convenient for, and through the setting of first thigh dog 314 and second thigh dog 315, play the effect of protection.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. The bionic mechanism of the hydraulic quadruped robot comprises a trunk mechanism (1), a hip mechanism (2) and a walking mechanism (3), wherein the hip mechanism (2) is arranged between the trunk mechanism (1) and the walking mechanism (3), and is characterized in that: the hip mechanism (2) is arranged at the four corners of the bottom end of the trunk mechanism (1) in a swinging mode, the walking mechanism (3) is connected with the hip mechanism (2) through a front elbow and rear knee type topological structure, the trunk mechanism (1) is connected with the walking mechanism (3) in a parallel mode, the walking mechanism (3) comprises a thigh mechanism (31) and a shank mechanism (32), the thigh mechanism (31) is rotatably connected with the hip mechanism (2), and each thigh mechanism (31) is connected with the shank mechanism (32) in a series mode.
2. The bionic mechanism of the hydraulic quadruped robot as claimed in claim 1, wherein: the trunk mechanism (1) comprises four double-head screws (11), four frame plates (12), a cross beam (13) and side swing cylinder upper hinge shafts (14), the frame plates (12) are uniformly fixed on the double-head screws (11) through nuts, the cross beam (13) is arranged at the positions, close to the two ends, of the double-head screws (11), the side swing cylinder upper hinge shafts (14) are arranged between the cross beam (13) and the frame plates (12), the hip mechanism (2) is arranged between the frame plates (12) in a side swing mode, a bearing seat (21), a side swing cylinder lower shaft (22) and a thigh cylinder upper hinge shaft (23) are arranged between the hip mechanism (2) and the frame plates (12), the bearing seat (21) is fixedly connected to the hip mechanism (2), a bearing (211) is arranged in the bearing seat (21), and the bearing (211) is rotatably connected to the frame plates (12), one end of the bearing (211) penetrates through the frame plate (12) and is provided with a bearing cover (15), and the bearing cover (15) is fixedly connected to the frame plate (12).
3. The bionic mechanism of the hydraulic quadruped robot as claimed in claim 2, wherein: the thigh mechanism (31) comprises a thigh frame (311), a thigh cylinder lower shaft (312), a thigh cylinder upper hinge shaft (313), a first thigh block (314), a second thigh block (315) and a big leg joint shaft (316), wherein the first thigh block (314) and the second thigh block (315) are fixedly connected to the thigh frame (311) through bolts, the first thigh block (314) and the second thigh block (315) are respectively positioned on two sides of the thigh frame (311), a hip thigh joint rotating shaft (24) is rotatably connected between the top end of the thigh frame (311) and the bottom end of the hip mechanism (2), hip thigh rotating shaft end covers (25) are rotatably connected to two ends of the hip joint rotating shaft (24), the hip thigh rotating shaft end covers (25) are fixedly connected to the hip mechanism (2), the thigh cylinder lower shaft (312) is fastened to the thigh frame (311) through nut threads, a thigh cylinder is arranged between the thigh cylinder lower shaft (312) and the thigh cylinder upper hinge shaft (23), the shank cylinder upper hinge shaft (313) is arranged on the thigh frame (311), the shank cylinder upper hinge shaft (313) is located on one side of the thigh cylinder lower shaft (312), the large and small leg joint shafts (316) are rotatably connected between the thigh frame (311) and the shank mechanism (32), both ends of the large and small leg joint shaft (316) are rotatably connected with large and small leg rotating shaft end covers (317), the large and small leg rotating shaft end covers (317) are fixedly connected to the thigh frame (311), a shank cylinder lower shaft (3111) is arranged at the position, close to the large and small leg joint shafts (316), of the bottom end of the thigh frame (311), and a shank cylinder is arranged between the shank cylinder lower shaft (3111) and the shank cylinder upper hinge shaft (313).
4. The bionic mechanism of the hydraulic quadruped robot as claimed in claim 3, wherein: the shank mechanism (32) comprises a first shank sleeve (321), a second shank sleeve (322), a third shank sleeve (323), a metal connecting block (324), an ankle shell (325) and foot end rubber (326), a first cylindrical pin (3211) is arranged between the first shank sleeve (321) and the second shank sleeve (322) and connected through the first cylindrical pin (3211), a second cylindrical pin (3221) is arranged between the second shank sleeve (322) and the third shank sleeve (323) and connected through the second cylindrical pin (3221), and the metal connecting block (324), the ankle shell (325) and the foot end rubber (326) are sequentially fixed at the bottom end of the third shank sleeve (323) through long bolts from top to bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111435867.6A CN113954984A (en) | 2021-11-29 | 2021-11-29 | Bionic mechanism of hydraulic quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111435867.6A CN113954984A (en) | 2021-11-29 | 2021-11-29 | Bionic mechanism of hydraulic quadruped robot |
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| Publication Number | Publication Date |
|---|---|
| CN113954984A true CN113954984A (en) | 2022-01-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111435867.6A Pending CN113954984A (en) | 2021-11-29 | 2021-11-29 | Bionic mechanism of hydraulic quadruped robot |
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| Country | Link |
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| CN (1) | CN113954984A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN209410196U (en) * | 2019-01-14 | 2019-09-20 | 浙江大学 | A kind of quadruped robot walking mechanism |
-
2021
- 2021-11-29 CN CN202111435867.6A patent/CN113954984A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN209410196U (en) * | 2019-01-14 | 2019-09-20 | 浙江大学 | A kind of quadruped robot walking mechanism |
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Application publication date: 20220121 |