CN115056884A - Humanoid robot leg structure with characteristics of differential joint decoupling and inertia upward movement - Google Patents
Humanoid robot leg structure with characteristics of differential joint decoupling and inertia upward movement Download PDFInfo
- Publication number
- CN115056884A CN115056884A CN202210736870.XA CN202210736870A CN115056884A CN 115056884 A CN115056884 A CN 115056884A CN 202210736870 A CN202210736870 A CN 202210736870A CN 115056884 A CN115056884 A CN 115056884A
- Authority
- CN
- China
- Prior art keywords
- joint
- linear
- group
- linear joint
- connecting rod
- 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.)
- Granted
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
Abstract
The invention discloses a humanoid robot leg structure with differential joint decoupling and inertia upward moving characteristics, which structurally changes a joint driving unit into a linear joint device, and comprises two first linear joint groups arranged on a hip, two second linear joint groups arranged on a thigh and a first connecting rod group, wherein the linear joints are extended and contracted simultaneously through the joint motors of the first linear joint groups and the second linear joint groups rotating in the same direction, so that the front and back swinging is realized; when the two joint motors rotate reversely, differential motion occurs, and left and right sides swing is realized; the third linear joint group arranged between the thigh and the shank can complete the jumping or landing actions of the robot; the application also provides a decoupling mechanical structure of the knee joint and the ankle joint, and the coupling influence of the knee joint movement on the ankle joint can be eliminated.
Description
Technical Field
The invention relates to the field of humanoid robots, in particular to a humanoid robot leg structure with differential joint decoupling and inertia upward moving characteristics.
Background
The humanoid robot is similar to a human shape in appearance, can complete certain physical functions, perception functions and the like of human beings, can be widely applied to the fields of national defense and military industry, deep sea detection, biological medical treatment, home service, transportation and the like, has a very wide application prospect in certain environments unsuitable for human work and environments with repeated labor, and can greatly reduce the burden of people. In view of the background of the development of science and technology, the research and development of humanoid robots is continuously increased in various countries, and through the development of half a century, a large number of important scientific and technological achievements are generated in the field of humanoid robots, and people are favored.
The lower limb freedom degrees of the existing humanoid robot are generally six, namely the hip joint self-rotation, the forward swing and the outward swing, the knee joint forward swing and the ankle joint forward swing and the outward swing, the joints are mostly driven by a speed reducer, and due to the influence of structural arrangement, the motion inertia is large, the driving capability of a driving unit is not strong, and the quick response characteristic and the maneuvering flexibility characteristic of the humanoid robot are not favorably realized. Chinese patent ZL202110377836.3 'a humanoid robot based on joint-crossing cooperative driving' proposes that an ankle joint driving unit is moved upwards to reduce the motion inertia, so that the flexibility of the lower limbs of the humanoid robot is improved; chinese patent 202110442716.7, "an ankle joint of a motion decoupling parallel drive type exoskeleton robot", proposes that the ankle joint performs motion decoupling through a parallel drive structure, and realizes two rotational degrees of freedom, namely dorsiflexion/plantarflexion and inversion/eversion; none of the above designs, however, address the decoupling problem between the knee joint and the ankle joint.
The existing humanoid robot needs to perform knee joint and ankle joint decoupling in the movement process, so that the action of the knee joint and the action of the ankle joint are eliminated; the existing knee joint and ankle joint decoupling generally has two means, one is to realize decoupling through a control algorithm, but the control of the multi-degree-of-freedom humanoid robot is very complicated; the other is decoupling through a mechanical structure, and the coupling of each joint is eliminated through a related structure device.
Disclosure of Invention
In order to solve the defects in the prior art, the application provides the humanoid robot leg structure with the characteristics of differential joint decoupling and inertia upward movement, so that knee joint and ankle joint decoupling can be realized, the influence of knee joint movement on the ankle joint is eliminated, and a control algorithm is simplified.
The technical scheme adopted by the invention is as follows:
humanoid robot leg structure with characteristics of differential joint decoupling and inertia upward movement comprises:
the first linear joint group is provided with two linear joints;
the two support frames are hinged with the upper part of the first linear joint group, and each support frame is correspondingly connected with one first linear joint group;
a connecting piece which can rotatably connect the two support frames;
a thigh rotatably connected to the link in a radial direction;
a lower leg hinged to the thigh;
the sole is hinged with the bottom end of the shank in a spherical manner;
the upper surface of the supporting plate is in spherical hinge joint with the bottom end of the first linear joint group;
the two second pairs of connecting rod groups are arranged at the hinged positions of the thighs and the shanks;
the two second linear joint groups are arranged between the support plate and the second pair of connecting rod groups; the upper part of each second linear joint group is hinged with the bottom of the support plate, and the bottom end of each second linear joint group is hinged with the second pair of connecting rod groups;
the first connecting rod group is hinged with the second pair of connecting rod groups, the number of the first connecting rod groups is two, the upper end of each first connecting rod group is hinged with the second pair of connecting rod groups, and the bottom end of each first connecting rod group is hinged with the sole in a spherical manner
And the upper end of the third linear joint group is hinged with the thigh, and the bottom end of the third linear joint group is hinged with the shank.
Furthermore, 1U-shaped frame is arranged on each support frame; one end of the U-shaped frame is fixed on the supporting frame, and the other end of the U-shaped frame is U-shaped and is hinged with the upper part of the first linear joint group;
further, the first linear joint group, the second linear joint group and the third linear joint group are all composed of joint motors and linear joints, each linear joint is composed of a lead screw and a lead screw nut, the lead screw nuts are fixedly connected with the joint motors, the lead screws and the lead screw nuts are in threaded fit, and rotary motion is changed into linear motion through the lead screw nuts.
Further, the joint motor is arranged on the upper portion of the uppermost layer of linear joint.
Further, two ends of the connecting piece are respectively provided with an axial connecting end along the axis; the axial connecting end of the connecting piece is respectively and rotatably connected with the lower ends of the 2 supporting frames.
Further, the middle part of the connecting piece is provided with a radial connecting end which is vertical to the axis of the connecting piece; the axial connecting end is in a rotating shaft shape, and the radial connecting end is rotatably connected with the upper end of the thigh.
Further, the first linear joint group, the second pair of connecting rod groups, the third linear joint group and the first connecting rod group are positioned on the same side of the leg structure of the humanoid robot, and the side is the rear side of the leg; the opposite side is the front side of the leg.
A humanoid robot is provided with the humanoid robot leg structure.
The invention has the beneficial effects that:
1. the joint driving unit at the hip joint is replaced by the linear joint device, two first linear joint groups and connecting pieces which are respectively connected with the two first linear joint groups and the thigh in a rotatable mode are designed aiming at the hip joint structure. Joint motors of the two first linear joint groups rotate in the same direction, so that linear joints stretch out and contract simultaneously, and the hip joint swings back and forth; when the two first linear joint groups rotate reversely, the two sides of the connecting piece are in differential motion, so that the hip joint swings to the left side and the right side of the thigh; and has the characteristics of simple structure and good driving effect.
2. The application provides ankle joint through the different control of mated straight line joint + mated connecting rod, realizes the forward swing motion, outer pendulum motion. Through using the linear joint group in this application, and the joint motor design of linear joint group realizes on the upper portion of linear joint group that the drive unit moves up, reduces the inertia of humanoid robot low limbs, strengthens the drive effect for the low limbs motion is nimble mobile, and response characteristic is good.
3. The decoupling mechanical structure of the knee joint and the ankle joint is provided, the coupling influence of the knee joint movement on the ankle joint is eliminated through the structure, and the control algorithm is simplified, so that the posture control of the lower limbs of the humanoid robot in the walking or take-off process is better realized.
4. The linear joint device used in the application has the characteristics of strong driving load capacity and quick response.
5. The invention completes the respective forward swing motion and outward swing motion of the hip joint and the ankle joint by using the driving units in pairs, realizes the control of two degrees of freedom, and has the characteristics of compact structure and light weight.
6. According to the invention, the driving unit is moved upwards, so that the inertia of the lower limbs of the humanoid robot is reduced, the driving effect is enhanced, the lower limbs move flexibly and flexibly, and the response characteristic is good.
Drawings
FIG. 1 is a side view of a leg structure of a humanoid robot designed in accordance with the present invention;
FIG. 2 is a side view of a leg structure of a humanoid robot designed in accordance with the present invention;
FIG. 3 is a side view of a leg structure of a humanoid robot designed in accordance with the present invention;
FIG. 4 is a partial view of the thigh and the calf of the leg structure of the humanoid robot designed by the invention;
FIG. 5 is a schematic view of the swing of a leg structure of a humanoid robot designed by the invention;
in the figure, 1, a support frame, 2, a first linear joint group, 3, a support plate, 4, a second linear joint group, 5, a first connecting rod group, 6, a sole, 7, a shank, 8, a thigh, 9, a U-shaped frame, 10, a connecting piece, 11, a third linear joint group, 12, a second pair of connecting rods, 13, an ankle joint, 14, a knee joint, 15, a hip joint, 16 and an upper limb connecting piece.
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.
The humanoid robot leg structure with the characteristics of differential joint decoupling and inertia upward movement designed by the application has the specific structure shown in figures 1-4, and comprises the following components:
the support frame 1 is equipped with 2 support frames 1, and 2 support frames 1 are relative to be set up, and the relative face of support frame 1 is called the internal surface, and the outside is called the surface.
Each support frame 1 is provided with 1U-shaped frame 9; one end of the U-shaped frame 9 is fixed on the surface of the supporting frame 1, and the other end is U-shaped and hinged with the upper part of the first linear joint group 2. The two U-shaped brackets 9 are arranged towards one side of the support frame 1, the side where the U-shaped brackets 9 are located is called the rear side of the leg, and similarly, the opposite side is called the front side of the leg.
The first linear joint group 2 is provided with two first linear joint groups 2, the upper parts of the first linear joint groups 2 are arranged on a U-shaped frame 9, and the first linear joint groups 2 are hinged with the U-shaped frame 9; the bottom end of the first linear joint group 2 is hinged with the upper surface of the supporting plate 3 through a ball.
The supporting plate 3 is fixedly arranged at the upper part of the thigh, and the bottom of the supporting plate 3 is provided with a vertical plate for hinging and fixing with the second linear joint group 4.
The connecting pieces 10, the connecting pieces 10 are arranged between the inner surfaces of the 2 support frames 1; two ends of the connecting piece 10 are respectively provided with an axial connecting end along the axis; the axial connecting end of the connecting piece 10 is respectively and rotatably connected with the lower ends of the 2 support frames 1, so that the 2 support frames 1 can rotate around the central line of the connecting piece 10 to form a hip joint 15. The middle part of the connecting piece 10 is provided with a radial connecting end which is vertical to the axis of the connecting piece 10; specifically, the connecting piece 10 adopts a cylindrical structure, the axial connecting ends are arranged at two ends of the connecting piece 10, and the axial connecting ends are in a rotating shaft shape; the opposite positions of the 2 support frames 1 are respectively provided with a round hole, and when the support frames are assembled, the two ends of the connecting piece 10 are respectively inserted into the round holes of the 2 support frames 1, so that the support frames can be rotatably connected.
And the upper limb connecting pieces 16 are fixedly arranged on the upper parts of the two support frames 1, and the upper limb connecting pieces 16 are used for being connected with the upper part of the humanoid robot.
The upper end of the thigh 8 is rotatably connected with the connecting piece 10, the lower end of the thigh 8 is rotatably connected with the upper end of the shank 7, and the joint of the thigh 8 and the shank 7 is a knee joint 14. Specifically, the upper end of the thigh 8 is provided with a connecting hole which is sleeved on the radial connecting end of the connecting piece 10, so that the thigh 8 can rotate around the radial connecting end of the connecting piece 10.
A second pair of linkages 12, the second pair of linkages 12 being disposed on a rear side of the thigh 8, the second pair of linkages 12 being rotatably coupled to the thigh 8.
The second linear joint group 4 is provided with two second linear joint groups 4, and the two second linear joint groups 4 are positioned at the rear side of thighs 8; the upper part of the second linear joint group 4 is hinged on the lower surface of the support plate 3, and the bottom end of the second linear joint group 4 is hinged with the second pair of connecting rod groups 12. Under the constraint of the second pair of connecting rod groups 12, the hinge centers of the tail ends of the two linear joint motors of the second linear joint group 4 do reciprocating fan-shaped motion.
The lower end of the lower leg 7 is hinged with the sole 6 in a spherical manner to form an ankle joint 13.
A first link group 5 provided with two first link groups 5; the two first connecting rod groups 5 are positioned at the rear side of the lower leg 7; the upper end of the first connecting rod group 5 is hinged with the second pair of connecting rod groups 12, and the bottom end of the first connecting rod group 5 is hinged with the sole 6 in a spherical mode.
A third linear joint group 11, the third linear joint group 11 being disposed between the thigh 8 and the calf 7; with reference to fig. 4, the upper end of the third linear joint group 11 is hinged on the rear side of the thigh 8, and the bottom end of the third linear joint group 11 is hinged on the rear side of the shank 7. The linear joint can obtain high explosive force, and the requirement of rapid take-off of the humanoid robot is met; furthermore, the use of paired linear joint sets may enable two degrees of freedom at the joints.
In this embodiment, each of the first linear joint group 2, the second linear joint group 4, and the third linear joint group 11 is composed of a joint motor and a linear joint, the linear joint is composed of a lead screw and a lead screw nut, the lead screw nut is fixedly connected with the joint motor, the lead screw and the lead screw nut are in threaded fit, and the lead screw nut converts the rotational motion into the linear motion and outputs the power. Through the positive rotation or the reverse rotation of the joint motor, the screw nut and the joint motor move relatively on the screw, so that the first linear joint group 2 stretches and retracts in the linear direction.
The working principle and the working process of each part of the leg structure of the humanoid robot designed by the application are respectively explained with reference to the attached drawing 5:
1. and (4) moving the hip joint.
When the joint motors of the two first linear joint groups 2 rotate in the same direction, the two linear joints extend out simultaneously, and in the process that the first linear joint groups 2 extend upwards, as shown in fig. 1, the U-shaped frame 9 and the support frame 1 are driven to rotate anticlockwise around the central line of the connecting piece 10, namely the hip joint 15 swings towards the back of the leg. Conversely, when the two joint motors rotate in the same direction, the two linear joints contract simultaneously, and in the process of contracting the first linear joint group 2 downwards, the U-shaped frame 9 and the support frame 1 are driven to rotate clockwise around the central line of the connecting piece 10, namely the hip joint 15 swings towards the front of the leg, so that the hip joint 15 swings forwards and backwards.
When the joint motors of the two first linear joint groups 2 rotate in opposite directions, one linear joint extends out to drive the U-shaped frame 9 and the support frame 1 to rotate anticlockwise around the central line of the connecting piece 10; the other linear joint contracts to drive the U-shaped frame 9 and the support frame 1 to rotate clockwise around the central line of the connecting piece 10; because of the differential motion of the two sides of the connecting piece 10, the connecting piece 10 can swing to the left and the right sides of the thigh 8 around the center line of the thigh 8, namely the external swing of the hip joint is realized.
2. Ankle joint movement
When the two joint motors of the second linear joint group 4 rotate in the same direction, the two linear joints extend out simultaneously, and in the process that the second linear joint group 4 extends downwards, the second pair of connecting rod groups 12, the first connecting rod group 5 and the sole 6 are driven to swing towards the front side of the leg. On the contrary, when the two linear joints are contracted simultaneously, the second pair of connecting rod sets 12, the first connecting rod set 5 and the sole 6 are all driven to swing towards the rear side of the leg in the process of upwards contracting the second linear joint set 4, thereby realizing the front-back swing of the sole 6,
when the joint motors in the two second linear joint groups 4 rotate reversely, one linear joint extends out to drive the second pair of connecting rod groups 12 and the first connecting rod group 5 to move downwards; the other linear joint contracts to drive the second pair of connecting rod groups 12 and the first connecting rod group 5 to move upwards; therefore, a differential motion is generated at the sole 6, so that the sole 6 is driven to swing towards the left and the right, and the ankle joint is swung outwards.
3. Jumping motion of shank
When the joint motor of the third linear joint group 11 rotates to enable the linear joints to extend out simultaneously, the bottom end of the linear joint of the third linear joint group 11 pushes the rear side of the lower leg 7 to drive the lower leg 7 to move, and the robot takes off or lands.
4. Knee joint and ankle joint decoupling
In fig. 3, the second linear joint group 4, the first link group 5 and the second pair of link groups 12 are hinged, the axes of the second linear joint group 4 are parallel to each other, the central planes of the first link group 5 are parallel to each other, and the central planes of the second pair of link groups 12 are parallel to each other due to the fact that the linear joints are used in pairs and have the same size, and the two sets of links are used in pairs and have the same size, so that the parallelogrammic structures are formed in space with each other and are independent of the third linear joint group 11, and the ankle joint 13 is mainly affected by the second linear joint group 4, the first link group 5 and the second pair of link groups 12, so that the knee joint 14 and the ankle joint 13 have power transmission paths independent of each other in structure, are not affected by each other and can be controlled independently of each other, this achieves decoupling of the knee joint 14 from the ankle joint 13.
When the third linear joint group 11 extends (or contracts), the angle between the lower leg 7 and the upper leg 8 increases (decreases), and the leg starts to move. In order to eliminate the coupling influence of the movement of the knee joint 14, the ankle joint 13 moves the second linear joint group 4, and through the power transmission of the second pair of connecting rod groups 12 and the first connecting rod group 5, the ankle joint 13 can generate forward swing or outward swing movement due to the self-adaptive capacity of the spherical hinge, so that the original posture of the sole 6 or the posture to be achieved according to the needs can be maintained. Thereby increasing the flexibility and adaptability of the humanoid robot.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (8)
1. Humanoid robot leg structure with characteristics of differential joint decoupling and inertia upward movement is characterized in that the humanoid robot leg structure comprises:
the two first linear joint groups (2) are arranged, and the number of the first linear joint groups (2) is two;
the two support frames (1) are hinged with the upper part of the first linear joint group (2), each support frame (1) is correspondingly connected with one first linear joint group (2);
a connecting piece 10 which can rotatably connect the two support frames (1);
a thigh (8) which is connected to the connecting element (10) in a radially rotatable manner;
a lower leg (7) articulated with the upper leg (8);
a sole (6) which is in spherical hinge joint with the bottom end of the shank (7);
the supporting plate (3) is arranged on the upper part of the thigh (8), and the upper surface of the supporting plate (3) is in spherical hinge joint with the bottom end of the first linear joint group (2);
the second pair of connecting rod groups (12) are arranged at the hinged part of the thigh (8) and the shank (7), and two second connecting rod groups (12) are arranged;
the second linear joint groups (4) are arranged between the support plate (3) and the second pair of connecting rod groups (12), and the number of the second linear joint groups (4) is two; the upper part of each second linear joint group (4) is hinged with the bottom of the support plate (3), and the bottom end of each second linear joint group (4) is hinged with a second pair of connecting rod groups (12);
the first connecting rod group (5) is hinged with the second pair of connecting rod groups (12), the number of the first connecting rod groups (5) is two, the upper end of each first connecting rod group (5) is hinged with the second pair of connecting rod groups (12), and the bottom end of each first connecting rod group (5) is hinged with the sole (6) in a spherical mode
The upper end of the third linear joint group (11) is hinged with the thigh (8), and the bottom end of the third linear joint group (11) is hinged with the shank (7).
2. The humanoid robot leg structure with differential joint decoupling and inertia upward movement characteristics as claimed in claim 1, characterized in that 1U-shaped frame (9) is provided on each support frame (1); one end of the U-shaped frame (9) is fixed on the support frame (1), and the other end is U-shaped and is hinged with the upper part of the first linear joint group (2).
3. The humanoid robot leg structure with the characteristics of differential joint decoupling and inertia upward movement according to claim 1, wherein the first linear joint group (2), the second linear joint group (4) and the third linear joint group (11) are all composed of joint motors and linear joints, each linear joint is composed of a lead screw and a lead screw nut, each lead screw nut is fixedly connected with each joint motor, the lead screws and the lead screw nuts are in threaded fit, and rotary motion is converted into linear motion through the lead screw nuts.
4. The humanoid robot leg structure with differential joint decoupling and inertia upward-moving characteristics of claim 1, wherein the joint motor is disposed on an upper portion of an uppermost layer of linear joints.
5. The humanoid robot leg structure with differential joint decoupling and inertia upward-moving characteristics as claimed in claim 1, characterized in that two ends of the connecting piece (10) are respectively provided with an axial connecting end along an axis; the axial connecting ends of the connecting pieces (10) are respectively and rotatably connected with the lower ends of the 2 support frames (1).
6. The humanoid robot leg structure with the characteristics of differential joint decoupling and inertia upward shift as claimed in claim 5, characterized in that the middle part of the connecting piece (10) is provided with a radial connecting end, and the radial connecting end is perpendicular to the axis of the connecting piece (10); the axial connecting end is in a rotating shaft shape, and the radial connecting end is rotatably connected with the upper end of the thigh (8).
7. The humanoid robot leg structure with the differential joint decoupling and inertia upward moving characteristics of any one of claims 1-6, characterized in that the first linear joint group (2), the second linear joint group (4), the second pair of connecting rod groups (12), the third linear joint group (11), and the first connecting rod group (5) are located on the same side of the humanoid robot leg structure, the side being a leg rear side; the opposite side is the front side of the leg.
8. A humanoid robot characterized by being equipped with a humanoid robot leg structure as claimed in claim 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210736870.XA CN115056884B (en) | 2022-06-27 | 2022-06-27 | Humanoid robot leg structure with differential joint decoupling and inertia upward movement characteristics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210736870.XA CN115056884B (en) | 2022-06-27 | 2022-06-27 | Humanoid robot leg structure with differential joint decoupling and inertia upward movement characteristics |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115056884A true CN115056884A (en) | 2022-09-16 |
| CN115056884B CN115056884B (en) | 2023-10-17 |
Family
ID=83203205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210736870.XA Active CN115056884B (en) | 2022-06-27 | 2022-06-27 | Humanoid robot leg structure with differential joint decoupling and inertia upward movement characteristics |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115056884B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040133307A1 (en) * | 2002-12-23 | 2004-07-08 | Samsung Electronics Co., Ltd. | Two-legged walking robot |
| US20150122559A1 (en) * | 2012-05-31 | 2015-05-07 | Thk Co., Ltd. | Lower limb structure for legged robot, and legged robot |
| CN110576920A (en) * | 2019-08-06 | 2019-12-17 | 陇东学院 | Hydraulic double-foot robot lower limb mechanism with buffering function |
| CN210555244U (en) * | 2019-10-16 | 2020-05-19 | 陇东学院 | Lower limb mechanism of under-actuated hydraulic biped robot |
| CN113134841A (en) * | 2021-04-08 | 2021-07-20 | 北京理工大学 | Humanoid robot based on joint-crossing cooperative driving |
| CN113753152A (en) * | 2021-10-21 | 2021-12-07 | 郑州信息科技职业学院 | Three-degree-of-freedom full-decoupling parallel mechanical leg structure and four-foot robot |
| CN114013532A (en) * | 2021-12-09 | 2022-02-08 | 之江实验室 | Integrated ankle foot system for improving walking stability of biped robot |
| CN114030537A (en) * | 2021-11-24 | 2022-02-11 | 广东纯米电器科技有限公司 | Biped robot |
| CN216468151U (en) * | 2021-11-24 | 2022-05-10 | 广东纯米电器科技有限公司 | Biped robot |
-
2022
- 2022-06-27 CN CN202210736870.XA patent/CN115056884B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040133307A1 (en) * | 2002-12-23 | 2004-07-08 | Samsung Electronics Co., Ltd. | Two-legged walking robot |
| US20150122559A1 (en) * | 2012-05-31 | 2015-05-07 | Thk Co., Ltd. | Lower limb structure for legged robot, and legged robot |
| CN110576920A (en) * | 2019-08-06 | 2019-12-17 | 陇东学院 | Hydraulic double-foot robot lower limb mechanism with buffering function |
| CN210555244U (en) * | 2019-10-16 | 2020-05-19 | 陇东学院 | Lower limb mechanism of under-actuated hydraulic biped robot |
| CN113134841A (en) * | 2021-04-08 | 2021-07-20 | 北京理工大学 | Humanoid robot based on joint-crossing cooperative driving |
| CN113753152A (en) * | 2021-10-21 | 2021-12-07 | 郑州信息科技职业学院 | Three-degree-of-freedom full-decoupling parallel mechanical leg structure and four-foot robot |
| CN114030537A (en) * | 2021-11-24 | 2022-02-11 | 广东纯米电器科技有限公司 | Biped robot |
| CN216468151U (en) * | 2021-11-24 | 2022-05-10 | 广东纯米电器科技有限公司 | Biped robot |
| CN114013532A (en) * | 2021-12-09 | 2022-02-08 | 之江实验室 | Integrated ankle foot system for improving walking stability of biped robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115056884B (en) | 2023-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11713088B2 (en) | Leg mechanism and humanoid robot | |
| CN103612681B (en) | A kind of Form of Bionics Mechanical Legs | |
| CN103029130B (en) | Humanoid robot | |
| CN110588833B (en) | High-load three-section leg structure suitable for electric foot type robot | |
| CN113353172B (en) | Leg structure with low inertia and high bearing capacity and foot type robot applying same | |
| WO2019126919A1 (en) | Three-degree-of-freedom parallel mechanism | |
| CN110682305B (en) | Humanoid robot system | |
| CN102198664B (en) | Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair | |
| CN105856250A (en) | Four-foot walking robot | |
| CN202071080U (en) | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeve | |
| CN110576920A (en) | Hydraulic double-foot robot lower limb mechanism with buffering function | |
| CN110480608A (en) | A kind of bio-robot with the parallel buffering leg and parallel flexible trunk of double drives | |
| CN206085075U (en) | Skeleton of robot and adopt robot of this skeleton | |
| JP3749946B2 (en) | Joint mechanism, double-arm robot and biped robot using it | |
| CN115056884A (en) | Humanoid robot leg structure with characteristics of differential joint decoupling and inertia upward movement | |
| CN203109948U (en) | Humanoid robot | |
| CN210361383U (en) | Two-degree-of-freedom hip joint of anthropomorphic robot and anthropomorphic robot | |
| CN113134841B (en) | Humanoid robot based on joint-crossing cooperative driving | |
| CN108210244B (en) | Bionic three-degree-of-freedom exoskeleton hip joint | |
| CN109940586B (en) | Multi-joint spine and spine type quadruped robot | |
| CN114432091A (en) | Seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove | |
| CN106863350B (en) | Flexible driving hip joint for semi-passive biped robot | |
| CN215358522U (en) | Multi-degree-of-freedom ankle joint structure of lower limb exoskeleton robot | |
| CN114735106B (en) | Walking mechanism of crab robot | |
| CN112693540B (en) | Parallel driving mechanism for crawling mechanical legs |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |