CN115383789A - Bionic robot limb structure shared by arms and legs and used for automobile test - Google Patents
Bionic robot limb structure shared by arms and legs and used for automobile test Download PDFInfo
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- CN115383789A CN115383789A CN202211324108.7A CN202211324108A CN115383789A CN 115383789 A CN115383789 A CN 115383789A CN 202211324108 A CN202211324108 A CN 202211324108A CN 115383789 A CN115383789 A CN 115383789A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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Abstract
The invention relates to the technical field of bionic robots for automobile tests, and discloses a bionic robot limb structure for automobile tests with shared arms and legs, which comprises: a connecting seat; the first main body is arranged on the connecting seat in a manner of rotating back and forth and left and right; a second body rotatably disposed on the first body; the two telescopic assemblies are respectively arranged on the first main body and the second main body, and each telescopic assembly comprises a driving machine, a lead screw, a nut, a first fixed seat and a second fixed seat; the lead screw is connected with the nut to form a ball screw structure, and the driver can drive the lead screw to rotate so as to adjust the distance between the first fixing seat and the second fixing seat. The invention has the advantages that the limb structure can be used as an arm or a leg, and the first main body and the second main body have adjustable length and strong universality; and all the degrees of freedom of the arms and legs of a real driver can be simulated by reasonably arranging all the motors, so that the driving requirement of an automobile test is fully met.
Description
Technical Field
The invention relates to the technical field of bionic robots for automobile tests, in particular to a bionic robot limb structure for an automobile test with shared arms and legs.
Background
In the automobile production process, an automobile is usually required to be tested, the accuracy of test data is difficult to guarantee by the existing manual driving, and potential safety hazards exist in the real-person driving. With the continuous development of society, the biomimetic robot industry has gained vigorous development, and the biomimetic robot is a machine with high intelligence, and it controls through central processing unit, and the biomimetic robot accomplishes each item instruction through four limbs when working, therefore the biomimetic robot is applied to the automobile test gradually.
The arms and legs of the existing bionic robot for the automobile test are usually required to be manufactured independently and cannot be used universally, so that the manufacturing cost is increased; the length of the arms and the legs is a fixed value, so that the adjustment cannot be carried out, when drivers with different heights and body types are subjected to simulated driving, different bionic robots need to be replaced, a plurality of different bionic robots are needed to complete the test, and the test cost is increased; meanwhile, the four limbs of the existing bionic robot cannot simulate all degrees of freedom of arms and legs of a real driver, so that all operations in the driving process cannot be finished, and the automobile test requirements cannot be met.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing a bionic robot limb structure for an automobile test, which has strong universality and can simulate all degrees of freedom of a real driver limb and is shared by arms and legs.
The invention solves the technical problem by adopting the technical scheme that an arm and leg shared bionic robot limb structure for an automobile test is provided, and comprises the following components:
a connecting seat for connecting with a shoulder or a hip of the robot;
the first main body comprises a mounting seat, a first upper main body and a first lower main body which are sequentially connected from top to bottom, the mounting seat is arranged on the connecting seat in a front-back rotating manner, the first upper main body is arranged on the mounting seat in a left-right rotating manner, the first upper main body is rotatably connected with the first lower main body, and the first upper main body and the first lower main body are on the same straight line; the first upper main body or the first lower main body comprises a first connecting part and a second connecting part which are arranged at intervals;
a second body including a second upper body and a second lower body rotatably connected, the second upper body being rotatably connected to the first lower body to adjust an angle between the second body and the first body, and the second upper body and the second lower body being on the same straight line; the second upper main body or the second lower main body comprises a third connecting part and a fourth connecting part which are arranged at intervals;
the two telescopic assemblies respectively comprise a driving machine, a lead screw, a nut, a first fixed seat and a second fixed seat, the first fixed seats and the second fixed seats are arranged at intervals, the two first fixed seats are respectively connected with the second connecting part and the fourth connecting part, and the two second fixed seats are respectively connected with the first connecting part and the third connecting part; the driving machine and the lead screw are arranged on the first fixing seat, the nut is arranged on the second fixing seat, the lead screw and the nut are connected to form a ball screw structure, and the driving machine can drive the lead screw to rotate so as to adjust the distance between the first fixing seat and the second fixing seat.
Further, one of the telescopic assemblies is arranged between the first connecting part and the second connecting part so as to adjust the length of the first main body; the other telescopic assembly is arranged between the third connecting part and the fourth connecting part so as to adjust the length of the second main body;
and the first connecting part, the second connecting part, the third connecting part and the fourth connecting part are sequentially arranged from top to bottom, the first connecting part and the second connecting part are arranged on the first upper main body, and the third connecting part and the fourth connecting part are arranged on the second upper main body.
Further, the telescopic assembly further comprises a coupler, and an output shaft of the driving machine is connected with the lead screw through the coupler.
Furthermore, the first connecting portion and the third connecting portion are provided with accommodating spaces for the lead screw to stretch out and draw back.
Furthermore, the telescopic assembly further comprises a guide pillar, a guide sleeve is arranged on the first fixing seat or the second fixing seat, one end of the guide pillar is fixed on the first fixing seat or the second fixing seat, and the other end of the guide pillar is telescopically arranged in the guide sleeve in a penetrating mode.
Furthermore, the telescopic assembly further comprises a bearing, the bearing is arranged on the second fixed seat, and the bearing is sleeved on one end, far away from the driving machine, of the lead screw.
Furthermore, a first motor is arranged on the connecting seat, one end of the mounting seat is connected to an output shaft of the first motor, a second motor is arranged on the first upper main body, and the other end of the mounting seat is connected to an output shaft of the second motor; and the output shaft of the first motor is perpendicular to the output shaft of the second motor.
Furthermore, a third motor and a fourth motor are arranged on the first lower main body, an output shaft of the third motor is connected with the second connecting portion, and an output shaft of the fourth motor is connected with the third connecting portion.
Furthermore, a fifth motor is arranged on the fourth connecting portion, and an output shaft of the fifth motor is connected with the second lower main body.
Further, still include palm portion, be equipped with the sixth motor under the second on the main part, palm portion sets up on the output shaft of sixth motor.
Compared with the prior art, the invention has at least the following beneficial effects:
(1) According to the bionic robot, the limb structure is connected with the shoulder or hip of the robot through the connecting seat, so that the limb structure can be used as an arm of the robot and a leg of the robot, the arm and the leg are shared, the limbs of the bionic robot can share the same limb structure, and the overall manufacturing cost of the robot is reduced;
(2) According to the invention, the telescopic assemblies are arranged in the first main body and the second main body, so that when the whole body structure is used as an arm or a leg, the length of the body structure can be adjusted, drivers with different heights and body types can be simulated, the universality is strong, the automobile test requirements can be met by only one set of robot, and the test cost is reduced; the first main body and the second main body are stretched and retracted by a ball screw structure in the stretching assembly and driven by a driving machine, so that the structure is simple, and stretching and retraction adjustment are accurate;
(3) The body structure comprises a connecting seat, a first main body, a second main body and a palm part which are sequentially connected in a rotatable mode, wherein the connecting seat is used as a connecting carrier of the body structure and the whole robot, the first main body can rotate back and forth and left and right relative to the connecting seat to further realize swinging and opening and closing of arms or legs, the first main body is formed by rotatably connecting a first upper main body and a first lower main body, the second main body is formed by rotatably connecting a second upper main body and a second lower main body, all degrees of freedom of the arms or legs of a real driver can be simulated, and each driving operation requirement in an automobile test can be met.
Drawings
FIG. 1 is a schematic view of a bionic robot limb structure;
FIG. 2 is a schematic view of another state of the structure of FIG. 1;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is an exploded view of FIG. 2;
FIG. 5 is an exploded view of the connecting socket and the first body;
FIG. 6 is an exploded view of the second body and palm;
FIG. 7 is a schematic structural view of the telescoping assembly;
fig. 8 is a schematic structural view of the first connection portion.
In the figure:
100. a connecting seat; 110. a first motor; 111. an output shaft of the first motor; 200. a first body; 210. a mounting seat; 220. a first upper body; 221. a first connection portion; 221a, an accommodating space; 222. a second connecting portion; 223. a second motor; 223a, an output shaft of the second motor; 230. a first lower body; 231. a third motor; 231a, an output shaft of the third motor; 232. a fourth motor; 232a, an output shaft of the fourth motor; 300. a second body; 310. a second upper body; 311. a third connecting portion; 312. a fourth connecting portion; 313. a fifth motor; 313a, an output shaft of a fifth motor; 320. a second lower body; 321. connecting sleeves; 322. a sixth motor; 322a, an output shaft of a sixth motor; 400. a telescoping assembly; 410. a driver; 420. a lead screw; 430. a nut; 440. a first fixed seat; 441. a first support plate; 450. a second fixed seat; 451. a guide sleeve; 452. a second support plate; 460. a coupling; 470. a guide post; 480. a bearing; 500. a palm part.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 to 8, a bionic robot limb structure for an automobile test with shared arms and legs comprises:
a coupling seat 100 for coupling with a shoulder or a hip of the robot;
a first body 200 including a mounting seat 210, a first upper body 220 and a first lower body 230 connected in sequence from top to bottom, the mounting seat 210 being rotatably disposed on the connecting seat 100 back and forth, the first upper body 220 being rotatably disposed on the mounting seat 210 left and right, the first upper body 220 being rotatably connected to the first lower body 230, and the first upper body 220 and the first lower body 230 being on the same straight line; the first upper body 220 or the first lower body 230 includes first connection parts 221 and second connection parts 222 disposed at intervals;
a second body 300 including a second upper body 310 and a second lower body 320 rotatably coupled, the second upper body 310 being rotatably coupled with the first lower body 230 to adjust an angle between the second body 300 and the first body 200, and the second upper body 310 being on the same line as the second lower body 320; the second upper body 310 or the second lower body 320 includes a third connection part 311 and a fourth connection part 312 which are disposed at an interval;
the two telescopic assemblies 400 respectively comprise a driving machine 410, a lead screw 420, a nut 430, a first fixed seat 440 and a second fixed seat 450, the first fixed seat 440 and the second fixed seat 450 are arranged at intervals, the two first fixed seats 440 are respectively connected with the second connecting part 222 and the fourth connecting part 312, and the two second fixed seats 450 are respectively connected with the first connecting part 221 and the third connecting part 311; the driving machine 410 and the screw 420 are disposed on the first fixing base 440, the nut 430 is disposed on the second fixing base 450, the screw 420 and the nut 430 are connected to form a ball screw structure, and the driving machine 410 can drive the screw 420 to rotate so as to adjust a distance between the first fixing base 440 and the second fixing base 450.
Specifically, the arms are usually connected to the shoulders of the human body, the legs are connected to the buttocks of the human body, and the connecting seat 100 in the scheme is used as a support carrier of the whole limb structure and is connected with the shoulders or the buttocks of the robot through the connecting seat 100, so that the four limbs of the robot can be mounted; when the limb structure is used as an arm, the first body 200 and the second body 300 are a big arm and a small arm, respectively; when the limb structure is used as a leg, the first body 200 and the second body 300 are a thigh and a shank, respectively; the telescopic assemblies 400 are arranged on the first main body 200 and the second main body 300, so that the lengths of the first main body 200 and the second main body 300 are adjustable, the limb structure can be used as an arm and a leg, drivers with different heights and body types can be simulated, and the universality is high; in addition, the mounting seat 210 can be arranged on the connecting seat 100 in a front-back rotating manner, the first main body 200 can be arranged on the mounting seat 210 in a left-right rotating manner, so that the first main body 200 can rotate front-back and left-right relative to the connecting seat 100, the swinging and opening and closing of the first main body 200 are realized, and the first upper main body 220, the first lower main body 230, the second upper main body 310 and the second lower main body 320 are sequentially and rotatably connected, so that the whole limb structure can simulate all degrees of freedom of the arms or legs of a real driver, and the automobile test requirements are fully met.
In this embodiment, one of the telescopic assemblies 400 is disposed between the first connection portion 221 and the second connection portion 222 to adjust the length of the first body 200; another telescopic assembly 400 is disposed between the third connection part 311 and the fourth connection part 312 to adjust the length of the second body 300; the first connecting portion 221, the second connecting portion 222, the third connecting portion 311, and the fourth connecting portion 312 are sequentially disposed from top to bottom, the first connecting portion 221 and the second connecting portion 222 are disposed on the first upper body 220, and the third connecting portion 311 and the fourth connecting portion 312 are disposed on the second upper body 310. That is, the lengths of the first body 200 and the second body 300 can be independently adjusted by arranging the telescopic assemblies 400 between the first connection portion 221 and the second connection portion 222 and between the third connection portion 311 and the fourth connection portion 312; it should be noted that the retraction assembly 400 may be disposed on the first lower body 230 or the second lower body 320.
When the limb structure is actually adjusted in a telescopic manner, the driving machine 410 on the two telescopic assemblies 400 drives the screw rod 420 to rotate, so that the screw rod 420 can be stretched relative to the nut 430 to adjust the distance between the first fixing seat 440 and the second fixing seat 450, because the two first fixing seats 440 are respectively connected with the second connecting portion 222 and the fourth connecting portion 312, and the two second fixing seats 450 are respectively connected with the first connecting portion 221 and the third connecting portion 311, the adjustment of the lengths of the first main body 200 and the second main body 300 is realized.
As shown in fig. 5 to 7, the telescopic assembly 400 further includes a coupler 460, and the output shaft of the driving machine 410 is connected to the lead screw 420 through the coupler 460. I.e. by providing a coupling 460 for connecting and rotating the output shaft of the driver 410 with the lead screw 420 for movement and torque transmission.
Preferably, the first connecting portion 221 and the third connecting portion 311 are both provided with an accommodating space 221a for the lead screw 420 to extend and retract, when the driver 410 drives the lead screw 420 to rotate, the lead screw 420 drives the nut 430 to move along the length direction of the lead screw 420, so that one end of the lead screw 420, which is far away from the driver 410, can pass through the second fixing seat 450, and the accommodating space 221a is provided to accommodate the lead screw 420.
In actual use, the retractable assembly 400 further includes a guide pillar 470, the guide sleeve 451 is disposed on the first fixing base 440 or the second fixing base 450, one end of the guide pillar 470 is fixed on the first fixing base 440 or the second fixing base 450, and the other end of the guide pillar 470 is telescopically inserted into the guide sleeve 451. Preferably, a plurality of guide posts 470 and guide sleeves 451 are arranged, the plurality of guide posts 470 are arranged around the circumference of the screw rod 420, and the guide posts 470 serve to guide and support the extension and retraction of the screw rod 420, so as to improve the connection strength between the first fixing seat 440 and the second fixing seat 450; and the first fixing seat 440 and the second fixing seat 450 respectively include a first supporting plate 441 and a second supporting plate 452, when the first body 200 or the second body 300 is contracted to the shortest, the first supporting plate 441 and the second supporting plate 452 abut against each other to prevent the driver 410 from being collided, and the first supporting plate 441 or the second supporting plate 452 is connected to each guide sleeve 451 to improve the supporting strength of the guide sleeve 451.
The telescopic assembly 400 further includes a bearing 480, the bearing 480 is disposed on the second fixing base 450, and the bearing 480 is sleeved on one end of the screw rod 420 far from the driver 410. By providing the bearing 480, both ends of the screw 420 are supported by the driver 410 and the bearing 480, respectively, and the stability of the rotation of the screw 420 is improved.
As shown in fig. 4 to 6, the connecting base 100 is provided with a first motor 110, one end of the mounting base 210 is connected to an output shaft 111 of the first motor, the first upper body 220 is provided with a second motor 223, and the other end of the mounting base 210 is connected to an output shaft 223a of the second motor; and the output shaft 111 of the first motor is perpendicular to the output shaft 223a of the second motor. Specifically, the connecting base 100 is sleeved on one end of the mounting base 210, the mounting base 210 can be driven to rotate back and forth by the first motor 110 on the connecting base 100, the first main body 200 can be driven to rotate left and right by the second motor 223 on the first upper main body 220, and when the first main body 200 is used as a large arm (or thigh), the large arm (or thigh) can swing and open and close.
The first lower body 230 is provided with a third motor 231 and a fourth motor 232, an output shaft 231a of the third motor is connected with the second connecting portion 222, and an output shaft 232a of the fourth motor is connected with the third connecting portion 311. That is, the third motor 231 can drive the first lower body 230 to rotate relative to the first upper body 220, so as to realize the rotation of the big arm (or thigh); the fourth motor 232 can drive the second body 300 to rotate relative to the first body 200, so as to adjust the angle between the first body 200 and the second body 300.
As shown in fig. 4 and 6, a fifth motor 313 is provided on the fourth connecting portion 312, and an output shaft 313a of the fifth motor is connected to the second lower body 320. Specifically, a connecting sleeve 321 is provided on the second lower body 320, the connecting sleeve 321 is used for connecting with an output shaft 313a of a fifth motor 313, and the rotation of the forearm (or the lower leg) is realized through the fifth motor 313.
Preferably, the limb structure further comprises a palm portion 500, the second lower body 320 is provided with a sixth motor 322, and the palm portion 500 is arranged on an output shaft 322a of the sixth motor. The palm portion 500 can be used as a palm or a sole, and the rotation of the palm portion 500 is driven by the sixth motor 322.
In the scheme, the telescopic assemblies 400 are arranged on the first main body 200 and the second main body 300 of the whole limb structure, so that the length of the first main body 200 and the length of the second main body 300 can be adjusted, drivers with different heights can be simulated, the limb structure can be used as arms or legs, and the universality is high; meanwhile, all the degrees of freedom of arms and legs of a real driver can be simulated by the limb structure through arranging and reasonably arranging all the motors, and the driving requirements of automobile tests are fully met.
It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions of the present invention as related to "first," "second," "a," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or to imply that the number of technical features indicated is indicative. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of the technical solutions by those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Claims (10)
1. The utility model provides an arm and leg shared automobile test are with bionical robot limb structure which characterized in that, including:
a connecting seat for connecting with a shoulder or a hip of the robot;
the first main body comprises a mounting seat, a first upper main body and a first lower main body which are sequentially connected from top to bottom, the mounting seat is arranged on the connecting seat in a front-back rotating manner, the first upper main body is arranged on the mounting seat in a left-right rotating manner, the first upper main body is rotatably connected with the first lower main body, and the first upper main body and the first lower main body are on the same straight line; the first upper main body or the first lower main body comprises a first connecting part and a second connecting part which are arranged at intervals;
a second body including a second upper body and a second lower body rotatably connected, the second upper body being rotatably connected with the first lower body to adjust an angle between the second body and the first body, and the second upper body and the second lower body being on the same straight line; the second upper main body or the second lower main body comprises a third connecting part and a fourth connecting part which are arranged at intervals;
the two telescopic assemblies respectively comprise a driving machine, a lead screw, a nut, a first fixed seat and a second fixed seat, the first fixed seat and the second fixed seat are arranged at intervals, the two first fixed seats are respectively connected with the second connecting part and the fourth connecting part, and the two second fixed seats are respectively connected with the first connecting part and the third connecting part; the driving machine and the lead screw are arranged on the first fixing seat, the nut is arranged on the second fixing seat, the lead screw and the nut are connected to form a ball screw structure, and the driving machine can drive the lead screw to rotate so as to adjust the distance between the first fixing seat and the second fixing seat.
2. The limb structure of a bionic robot for an automobile test with shared arms and legs as claimed in claim 1, wherein a telescopic component is arranged between the first connecting part and the second connecting part to adjust the length of the first main body; the other telescopic assembly is arranged between the third connecting part and the fourth connecting part so as to adjust the length of the second main body;
and the first connecting part, the second connecting part, the third connecting part and the fourth connecting part are sequentially arranged from top to bottom, the first connecting part and the second connecting part are arranged on the first upper main body, and the third connecting part and the fourth connecting part are arranged on the second upper main body.
3. The bionic robot limb structure for the automobile test with the shared arms and legs as claimed in claim 1, characterized in that the telescopic assembly further comprises a coupler, and the output shaft of the driving machine is connected with the lead screw through the coupler.
4. The bionic robot limb structure for the automobile test with the shared arms and legs as claimed in claim 2, characterized in that the first connecting part and the third connecting part are both provided with accommodating spaces for the lead screw to stretch.
5. The bionic robot limb structure for the automobile test with the shared arm and leg as claimed in claim 1, wherein the telescopic assembly further comprises a guide pillar, a guide sleeve is arranged on the first fixing seat or the second fixing seat, one end of the guide pillar is fixed on the first fixing seat or the second fixing seat, and the other end of the guide pillar is telescopically inserted in the guide sleeve.
6. The bionic robot limb structure for the automobile test with the shared arms and legs as claimed in claim 1, characterized in that the telescopic assembly further comprises a bearing, the bearing is arranged on the second fixed seat, and the bearing sleeve is arranged on one end of the screw rod far away from the driving machine.
7. The bionic robot limb structure for the automobile test with the shared arms and legs as the claim 1 is characterized in that a first motor is arranged on the connecting seat, one end of the mounting seat is connected to an output shaft of the first motor, a second motor is arranged on the first upper main body, and the other end of the mounting seat is connected to an output shaft of the second motor; and the output shaft of the first motor is perpendicular to the output shaft of the second motor.
8. The bionic robot limb structure for the automobile test with the arm and the leg shared as recited in claim 2, wherein a third motor and a fourth motor are arranged on the first lower main body, an output shaft of the third motor is connected with the second connecting part, and an output shaft of the fourth motor is connected with the third connecting part.
9. The bionic robot limb structure for the automobile test with the arm and the leg shared as recited in claim 1, wherein a fifth motor is arranged on the fourth connecting part, and an output shaft of the fifth motor is connected with the second lower main body.
10. The bionic robot limb structure for the automobile test shared by the arm and the leg as claimed in claim 1, characterized by further comprising a palm part, wherein a sixth motor is arranged on the second lower main body, and the palm part is arranged on an output shaft of the sixth motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211324108.7A CN115383789A (en) | 2022-10-27 | 2022-10-27 | Bionic robot limb structure shared by arms and legs and used for automobile test |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211324108.7A CN115383789A (en) | 2022-10-27 | 2022-10-27 | Bionic robot limb structure shared by arms and legs and used for automobile test |
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| CN115383789A true CN115383789A (en) | 2022-11-25 |
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| CN202211324108.7A Pending CN115383789A (en) | 2022-10-27 | 2022-10-27 | Bionic robot limb structure shared by arms and legs and used for automobile test |
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| CN109968373A (en) * | 2019-05-08 | 2019-07-05 | 西北工业大学 | Mixed type multi-purpose intelligent anthropomorphic robot |
| US20200100919A1 (en) * | 2018-09-30 | 2020-04-02 | Huazhong University Of Science And Technology | Knee joint power generation device based on bidirectional ball screw drive and application thereof |
| CN112643651A (en) * | 2020-12-23 | 2021-04-13 | 中国科学院沈阳自动化研究所 | Telescopic bionic outer limb mechanical arm |
| CN215511080U (en) * | 2021-08-30 | 2022-01-14 | 内蒙古宜化化工有限公司 | Robot convenient to adjust gripper position for calcium carbide production |
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2022
- 2022-10-27 CN CN202211324108.7A patent/CN115383789A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078799A (en) * | 2016-07-18 | 2016-11-09 | 佛山市联智新创科技有限公司 | A kind of light-duty six axle all-purpose robots being provided with adjutage |
| US20200100919A1 (en) * | 2018-09-30 | 2020-04-02 | Huazhong University Of Science And Technology | Knee joint power generation device based on bidirectional ball screw drive and application thereof |
| CN109822555A (en) * | 2019-04-04 | 2019-05-31 | 广东铭凯医疗机器人有限公司 | A kind of wrist joint bio-mechanism and robot arm configuration |
| CN109968373A (en) * | 2019-05-08 | 2019-07-05 | 西北工业大学 | Mixed type multi-purpose intelligent anthropomorphic robot |
| CN112643651A (en) * | 2020-12-23 | 2021-04-13 | 中国科学院沈阳自动化研究所 | Telescopic bionic outer limb mechanical arm |
| CN215511080U (en) * | 2021-08-30 | 2022-01-14 | 内蒙古宜化化工有限公司 | Robot convenient to adjust gripper position for calcium carbide production |
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