CN114474098B - Flexible waist structure suitable for biped robot - Google Patents
Flexible waist structure suitable for biped robot Download PDFInfo
- Publication number
- CN114474098B CN114474098B CN202210195376.7A CN202210195376A CN114474098B CN 114474098 B CN114474098 B CN 114474098B CN 202210195376 A CN202210195376 A CN 202210195376A CN 114474098 B CN114474098 B CN 114474098B
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- buffer
- plate
- chassis
- rotating
- fixedly connected
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- 239000000872 buffer Substances 0.000 claims abstract description 101
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 239000007853 buffer solution Substances 0.000 claims description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 6
- 239000007788 liquid Substances 0.000 description 9
- 210000001624 hip Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- 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)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible waist structure suitable for a biped robot, and relates to the technical field of robots. The invention comprises a chassis and a top plate arranged above the chassis, wherein one side of the top surface of the chassis is provided with a buffer box, the middle part of the bottom surface of the top plate is connected with a rotating plate, the lower end of the rotating plate is fixedly sleeved on a rotating column, one end of the rotating column is fixedly connected with a gear plate, and the lower end of the gear plate is slidably inserted into a rectangular open slot on the top surface of the buffer box; the inside of buffer box is provided with the cushion collar, and the inside of cushion collar is the symmetry and is provided with the cushion collar, and through reset spring fixed connection between two cushion collars, all is provided with the spacing ring on the cushion collar inner wall of two cushion collars relatively far sides. The invention can consume excessive energy when the executive component acts, avoid collision of the executive component caused by inertia, effectively reduce vibration generated by movement, improve the stability of the robot during movement and make the action of the robot more flexible.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a flexible waist structure suitable for a bipedal robot.
Background
The bipedal robot is a robot imitating the structural characteristics of human beings, the final aim of the bipedal robot is to realize the similar movement behavior to human beings, the current mainstream bipedal robot realizes the deviation of the integral mass center by means of the deflection of hip joints and ankle joints so as to realize various movements, and the current movement of the bipedal robot is mainly carried out by using an executing element such as a motor, a cylinder and the like;
accordingly, there is a need for improvements in the art to address the above-described problems.
Disclosure of Invention
The invention aims to provide a flexible waist structure which is suitable for a biped robot and has the advantages of small start-stop collision, long service life of an executive component, high overall stability and small movement and shake, and solves the problems of large start-stop collision and low overall movement stability of the executive component when the conventional biped robot is used.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a flexible waist structure suitable for a bipedal robot, which comprises a chassis and a top disc arranged above the chassis, wherein a buffer box is arranged on one side of the top surface of the chassis, the middle part of the bottom surface of the top disc is connected with a rotating plate, the lower end of the rotating plate is fixedly sleeved on a rotating column, one end of the rotating column is fixedly connected with a gear disc, and the lower end of the gear disc is slidably inserted into a rectangular open slot on the top surface of the buffer box;
the inner part of the buffer box is provided with a buffer sleeve, the buffer sleeve is symmetrically provided with buffer discs, the two buffer discs are fixedly connected through a reset spring, the inner walls of the buffer sleeves on the relatively far sides of the two buffer discs are respectively provided with a limiting ring, and the buffer sleeves on the relatively near sides of the two buffer discs are respectively provided with a plurality of water outlets uniformly distributed along the circumferential direction;
a gear strip meshed with the gear disc is arranged on the top surface of the buffer sleeve along the axial direction;
the two sides of the rotating plate are symmetrically provided with air cylinders, two ends of each air cylinder are fixedly connected with fixing plates, one fixing plate is rotationally connected to the bottom surface of the top plate through a first rotating frame, the other fixing plate is rotationally connected to the T-shaped block through a second rotating frame, and rubber piston columns are fixedly arranged on the bottom surface of the T-shaped block;
the T-shaped block is in clearance fit in a T-shaped opening groove on the rotating plate, the rubber piston column is inserted in the slot in a sliding mode, and two buffer grooves which are bent upwards are symmetrically communicated with the lower end of the slot.
Further, a T-shaped strip is arranged on the bottom surface of the buffer sleeve along the axial direction, and a T-shaped guide groove in clearance fit with the T-shaped strip is arranged on the inner bottom surface of the buffer box.
Further, horn-shaped air guide covers for guiding air are arranged on the outer walls of the two end faces of the buffer sleeve.
Further, the top surface of the rotating plate is fixedly connected with a universal ball through a connecting column, the universal ball is sleeved in a universal sleeve in a sliding mode, and the universal sleeve is fixedly connected to the middle position of the bottom surface of the top plate.
Further, the top surface position of the buffer tank is higher than the bottom surface position of the rubber piston column.
Further, the buffer tank and the connecting body of the slot are filled with buffer liquid.
Further, the integrated into one piece is provided with the braced frame on the chassis top surface of buffer tank one side, the symmetry is provided with the strengthening rib on the inner wall of braced frame, and the last distribution of chassis is provided with a plurality of first mounting holes simultaneously.
Further, the buffer box is fixedly connected with one side face of the supporting frame through bolts, meanwhile, a positive and negative motor is fixedly connected to the top face of the supporting frame, and the output end of the positive and negative motor is embedded with one end of the rotating column.
Further, a plurality of second mounting holes are uniformly distributed on the top plate along the circumferential direction.
The invention has the following beneficial effects:
1. when the invention is used, the rotation of the positive and negative motors can realize the adjustment of the top plate in the front and back degrees of freedom, the telescopic fit of the two cylinders can realize the adjustment of the top plate in the left and right degrees of freedom, the positive and negative motors drive the rotating plate to rotate, the rotation of the gear plate can be realized, because the gear plate and the gear strip are meshed, the buffer sleeve can move in the buffer box under the action of the rotation of the gear plate, when the buffer sleeve moves in one direction, the buffer plate can be extruded, the reset spring can remove certain force, then the viscosity of buffer solution is matched, the internal collision caused by inertia can be reduced when the positive and negative motors move, and in the same way, the rubber piston column can move up and down in the slot in the telescopic process of the cylinders and then the viscosity of the buffer solution is matched, and the internal collision of the executing element caused by inertia can be reduced.
2. When the robot is used, the connecting body of the slot and the buffer groove and the buffer liquid in the buffer box are arranged, so that the energy can be well transferred in the moving process of the buffer sleeve and the rubber piston column, the buffer effect is reduced, the robot is prevented from shaking excessively in the moving process, and the moving stability of the robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a right side view of the structure of FIG. 1 in accordance with the present invention;
FIG. 3 is a vertical cross-sectional view of the connection body of the buffer tank and the buffer jacket of the present invention;
FIG. 4 is a vertical cross-sectional view of the structure of FIG. 1 in accordance with the present invention;
FIG. 5 is a schematic view of the overall structure of the top plate according to the present invention;
FIG. 6 is a schematic view of the overall structure of the cylinder according to the present invention;
FIG. 7 is a schematic view of the overall structure of the rotating plate according to the present invention;
FIG. 8 is a vertical cross-sectional view of the T-block and T-slot in the mated state of the present invention;
FIG. 9 is a schematic view of the overall structure of the cushion cover according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. a chassis; 2. a support frame; 3. a buffer tank; 4. a gear plate; 5. a rotating plate; 6. a top plate; 7. a cylinder; 8. a buffer sleeve; 101. a first mounting hole; 201. reinforcing ribs; 301. a rectangular open slot; 302. a T-shaped guide groove; 401. rotating the column; 402. a forward and reverse motor; 501. a universal ball; 502. a connecting column; 503. a T-shaped open slot; 504. a slot; 505. a buffer tank; 601. a second mounting hole; 602. a universal sleeve; 603. a first rotating frame; 701. a fixing piece; 702. a second turret; 703. a T-shaped block; 704. a rubber piston column; 801. a buffer tray; 802. a return spring; 803. a water outlet hole; 804. a limiting ring; 805. a guide cover; 806. a T-bar; 807. a gear strip.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, 2, 4 and 5, the invention discloses a flexible waist structure suitable for a bipedal robot, which comprises a chassis 1 and a top plate 6 arranged above the chassis 1, wherein a plurality of second mounting holes 601 are uniformly distributed on the top plate 6 along the circumferential direction, the second mounting holes 601 are arranged to facilitate the connection between the top plate 6 and the upper body of the robot, a rotating plate 5 is connected in the middle of the bottom surface of the top plate 6, the lower end of the rotating plate 5 is fixedly sleeved on a rotating column 401, the top surface of the rotating plate 5 is fixedly connected with a universal ball 501 through a connecting column 502, the universal ball 501 is slidingly sleeved in a universal sleeve 602, and the universal sleeve 602 is fixedly connected at the middle position of the top plate bottom surface of the top plate 6, so that the top plate 6 can be adjusted relative to the rotating plate 5 in the vertical direction, and the left and right degrees of freedom can be adjusted;
the supporting frame 2 is integrally formed on the top surface of the chassis 1 on one side of the buffer box 3, the reinforcing ribs 201 are symmetrically arranged on the inner wall of the supporting frame 2, the stability of the supporting frame 2 can be improved due to the arrangement of the reinforcing ribs 201, a plurality of first mounting holes 101 are distributed on the chassis 1, and the arrangement of the first mounting holes 101 is convenient for the connection of the chassis 1 and the lower trunk of the robot;
buffer tank 3 passes through a side fixed connection of bolt and carriage 2, and fixedly connected with positive and negative motor 402 on the top surface of carriage 2 simultaneously, positive and negative motor 402's output and the gomphosis of rotation post 401 one end, and positive and negative motor 402's work can realize the rotation of rotation post 401 to realize the adjustment of rotor plate 5 in the vertical orientation, thereby realize the adjustment of fore-and-aft degree of freedom.
Referring to fig. 3, 4 and 9, a buffer tank 3 is disposed on one side of the top surface of the chassis 1, the buffer tank 3 is filled with buffer solution, the buffer solution comprises water, industrial oil and the like, one end of a rotating column 401 is fixedly connected with a gear plate 4, and the lower end of the gear plate 4 is slidably inserted into a rectangular open slot 301 on the top surface of the buffer tank 3;
the buffer box 3 is internally provided with the buffer sleeve 8, the buffer sleeve 8 is internally symmetrically provided with the buffer discs 801, the two buffer discs 801 are fixedly connected through the reset spring 802, the inner walls of the buffer sleeves 8 on the relatively far sides of the two buffer discs 801 are respectively provided with the limiting rings 804, the limiting rings 804 can limit the buffer discs 801, the buffer discs 801 are prevented from falling off from the buffer sleeve 8, the buffer sleeves 8 on the relatively near sides of the two buffer discs 801 are respectively and circumferentially provided with the water outlets 803 uniformly, and the buffer liquid extruded by the buffer discs 801 can be discharged through the water outlets 803;
a gear strip 807 which meshes with the gear disk 4 is provided on the top surface of the cushion cover 8 in the axial direction;
a T-shaped strip 806 is arranged on the bottom surface of the buffer sleeve 8 along the axial direction, a T-shaped guide groove 302 which is in clearance fit with the T-shaped strip 806 is arranged on the inner bottom surface of the buffer box 3, and the arrangement can play a role in limiting and guiding the movement of the buffer sleeve 8;
the outer walls of the two end surfaces of the buffer sleeve 8 are provided with horn-shaped guide hoods 805 for guiding flow, and the guide hoods 805 can realize the guiding function when the buffer liquid moves relatively, so that the extrusion force of the buffer liquid on the buffer disk 801 is improved;
when the device is used, the front motor 402 drives the rotating column 401 to rotate, the gear disc 4 can be rotated, the buffer sleeve 8 can be moved in the buffer box 3 due to the meshed arrangement between the gear disc 4 and the gear strip 807, the buffer can be extruded to the buffer disc 801 due to the relative movement between the buffer sleeve 8 and buffer liquid in the moving process, the buffer disc 801 can be moved in the buffer sleeve 8 under the extruding action, the extrusion of the reset spring 802 is realized, and the buffer liquid can be discharged from the water outlet 803 under the extruding condition, so that the vibration reduction, energy dissipation and collision relief of the robot in the action are realized.
Referring to fig. 4-8, the two sides of the rotating plate 5 are symmetrically provided with air cylinders 7, two ends of each air cylinder 7 are fixedly connected with fixing plates 701, one fixing plate 701 is rotatably connected to the bottom surface of the top plate 6 through a first rotating frame 603, the other fixing plate 701 is rotatably connected to a T-shaped block 703 through a second rotating frame 702, and rubber piston columns 704 are fixedly arranged on the bottom surface of the T-shaped block 703;
the T-shaped block 703 is in clearance fit in the T-shaped opening groove 503 on the rotating plate 5, the T-shaped block 703 can be limited by the arrangement, meanwhile, the rubber piston column 704 is slidably inserted into the slot 504, and two buffer grooves 505 which are bent upwards are symmetrically communicated with the lower end of the slot 504;
the top surface position of the buffer groove 505 is higher than the bottom surface position of the rubber piston column 704, and the arrangement can realize buffer movement of buffer liquid in the buffer groove 505 under the expansion and contraction of the rubber piston column 704 under the principle of a communicating vessel, and the buffer liquid is filled in a connecting body of the buffer groove 505 and the slot 504 and comprises water, industrial oil and the like;
when the device is used, the two cylinders 7 are matched in a telescopic manner to realize inclined movement, the rubber piston column 704 on the T-shaped block 703 can perform certain movement adjustment in the slot 504 under the condition of telescopic movement of the cylinders 7, so that buffering is realized, and in the buffering process, the buffer solution is used for realizing vibration reduction, energy dissipation and collision relief when the robot performs actions under the extruded action.
The foregoing is only a preferred embodiment of the present invention, and the present invention is not limited thereto, and any modification, equivalent replacement, and improvement of some of the technical features described in the foregoing embodiments are all within the scope of the present invention.
Claims (8)
1. The utility model provides a flexible waist structure suitable for biped robot, includes chassis (1) and sets up top disk (6) in chassis (1) top, its characterized in that: a buffer box (3) is arranged on one side of the top surface of the chassis (1), a rotating plate (5) is connected to the middle of the bottom surface of the top plate (6), the lower end of the rotating plate (5) is fixedly sleeved on a rotating column (401), one end of the rotating column (401) is fixedly connected with a gear disc (4), and the lower end of the gear disc (4) is slidably inserted into a rectangular open groove (301) on the top surface of the buffer box (3);
the inner part of the buffer box (3) is provided with a buffer sleeve (8), the buffer sleeve (8) is internally symmetrically provided with buffer discs (801), the two buffer discs (801) are fixedly connected through a reset spring (802), the inner wall of the buffer sleeve (8) at the relatively far side of the two buffer discs (801) is provided with a limit ring (804), and the buffer sleeve (8) at the relatively near side of the two buffer discs (801) is uniformly provided with a plurality of water outlets (803) along the circumferential direction;
a gear strip (807) meshed with the gear disc (4) is arranged on the top surface of the buffer sleeve (8) along the axial direction;
the two sides of the rotating plate (5) are symmetrically provided with air cylinders (7), two ends of each air cylinder (7) are fixedly connected with fixing plates (701), one fixing plate (701) is rotationally connected to the bottom surface of the top plate (6) through a first rotating frame (603), the other fixing plate (701) is rotationally connected to the T-shaped block (703) through a second rotating frame (702), and a rubber piston column (704) is fixedly arranged on the bottom surface of the T-shaped block (703);
the T-shaped block (703) is in clearance fit in a T-shaped opening groove (503) on the rotating plate (5), meanwhile, the rubber piston column (704) is in sliding insertion in the slot (504), and two buffer grooves (505) which are bent upwards are symmetrically communicated with the lower end of the slot (504);
the buffer solution is filled in the buffer tank (3) and the connector of the buffer groove (505) and the slot (504).
2. A flexible waist structure suitable for bipedal robots as claimed in claim 1, wherein the bottom surface of the buffer sleeve (8) is provided with a T-shaped strip (806) along the axial direction, and the inner bottom surface of the buffer box (3) is provided with a T-shaped guide groove (302) in clearance fit with the T-shaped strip (806).
3. A flexible waist structure suitable for use in a bipedal robot as claimed in claim 2, wherein horn-like fairings (805) for guiding flow are provided on the outer walls of both end faces of the cushion sheath (8).
4. The flexible waist structure suitable for the bipedal robot of claim 1, wherein the top surface of the rotating plate (5) is fixedly connected with a universal ball (501) through a connecting column (502), the universal ball (501) is sleeved in a universal sleeve (602) in a sliding manner, and the universal sleeve (602) is fixedly connected to the middle position of the bottom surface of the top plate (6).
5. A flexible waist structure adapted for use in a bipedal robot as claimed in claim 4 wherein the top surface of the buffer slot (505) is located higher than the bottom surface of the rubber piston post (704).
6. The flexible waist structure suitable for the biped robot according to claim 1, wherein the supporting frame (2) is integrally formed on the top surface of the chassis (1) on one side of the buffer box (3), reinforcing ribs (201) are symmetrically arranged on the inner wall of the supporting frame (2), and a plurality of first mounting holes (101) are distributed on the chassis (1).
7. The flexible waist structure suitable for the biped robot according to claim 6, wherein the buffer box (3) is fixedly connected with one side surface of the supporting frame (2) through bolts, meanwhile, a positive and negative motor (402) is fixedly connected to the top surface of the supporting frame (2), and the output end of the positive and negative motor (402) is embedded with one end of the rotating column (401).
8. A flexible waist structure suitable for a bipedal robot as claimed in claim 1, wherein a plurality of second mounting holes (601) are uniformly distributed on the top plate (6) along the circumferential direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210195376.7A CN114474098B (en) | 2022-03-01 | 2022-03-01 | Flexible waist structure suitable for biped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210195376.7A CN114474098B (en) | 2022-03-01 | 2022-03-01 | Flexible waist structure suitable for biped robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114474098A CN114474098A (en) | 2022-05-13 |
| CN114474098B true CN114474098B (en) | 2024-01-19 |
Family
ID=81484321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210195376.7A Active CN114474098B (en) | 2022-03-01 | 2022-03-01 | Flexible waist structure suitable for biped robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN114474098B (en) |
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| CN106985147A (en) * | 2017-05-22 | 2017-07-28 | 苏州睿达矩自动化设备有限公司 | A kind of damping base of meal delivery robot |
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| CN110733045A (en) * | 2019-11-01 | 2020-01-31 | 安徽普华灵动机器人科技有限公司 | Chassis mechanism of service robot |
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| CN112145565A (en) * | 2020-08-31 | 2020-12-29 | 钟远锋 | Rigid coupling with long service life |
| CN213439778U (en) * | 2020-09-08 | 2021-06-15 | 蒋丽 | Hydraulic pump self-locking device out of control based on electrorheological fluid mechanical arm |
| CN113524220A (en) * | 2021-08-04 | 2021-10-22 | 陇东学院 | Multi-degree-of-freedom picking mechanical arm |
| WO2023045091A1 (en) * | 2021-09-23 | 2023-03-30 | 江苏奇捷机器人智能科技有限公司 | Locomotion chassis for robot |
-
2022
- 2022-03-01 CN CN202210195376.7A patent/CN114474098B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07269674A (en) * | 1994-03-29 | 1995-10-20 | Agency Of Ind Science & Technol | Buffer for impact on ball screw |
| CN103264398A (en) * | 2013-05-08 | 2013-08-28 | 南京航空航天大学 | Combination drive robot wrist transmission system |
| WO2017182389A1 (en) * | 2016-04-20 | 2017-10-26 | Helmut-Schmidt-Universität Universität der Bundeswehr Hamburg | Elastic and controllable articulation for use in body area systems |
| KR20170133081A (en) * | 2016-05-25 | 2017-12-05 | 장대환 | System for mask cleaning process using 6 axis robot and method thereof |
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| CN111496846A (en) * | 2020-05-09 | 2020-08-07 | 广东科凯达智能机器人有限公司 | Cloud platform nacelle and robot with water guide structure |
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| WO2023045091A1 (en) * | 2021-09-23 | 2023-03-30 | 江苏奇捷机器人智能科技有限公司 | Locomotion chassis for robot |
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| Publication number | Publication date |
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| CN114474098A (en) | 2022-05-13 |
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