CN116767382B - Biped robot and robot - Google Patents
Biped robot and robot Download PDFInfo
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- CN116767382B CN116767382B CN202311056060.0A CN202311056060A CN116767382B CN 116767382 B CN116767382 B CN 116767382B CN 202311056060 A CN202311056060 A CN 202311056060A CN 116767382 B CN116767382 B CN 116767382B
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- 210000002414 leg Anatomy 0.000 claims description 77
- 210000000689 upper leg Anatomy 0.000 claims description 69
- 230000005540 biological transmission Effects 0.000 claims description 27
- 244000309466 calf Species 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 210000002683 foot Anatomy 0.000 description 57
- 230000007246 mechanism Effects 0.000 description 11
- 230000009471 action Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 210000003108 foot joint Anatomy 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change 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
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to a biped robot and a robot, and belongs to the technical field of robots. Comprising a leg structure; and a plurality of driving structures arranged on the left and right sides of the leg structure; the sum of the masses of the driving structures on the left side of the leg structure is not less than 60% and not more than 140% of the sum of the masses of the driving structures on the right side of the leg structure. According to the application, the mass of the driving structures arranged on the two sides of the leg structure tend to be equal, so that the inertia generated by the driving structures on the two sides of the leg structure is the same when the robot advances, the leg structure is not easy to generate lateral deflection in the advancing process of the robot, and the advancing of the robot is more stable; when standing, the driving structure masses at the two sides tend to be equal, so that the weight moment born by the driving structure can not generate lateral component force, and the robot stands more stably.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a bipedal robot.
Background
The biped robot belongs to a humanoid robot and is typically characterized in that the lower limbs of the robot are connected through a revolute pair by using a rigid member to simulate the legs, hip joints, knee joints and ankle joints of a human being, and a driving mechanism is used for replacing muscles to realize supporting and continuous coordinated movement of the body. In the future, it is expected that the bipedal robot can work cooperatively with human beings in the living and working environments of the human beings instead of working manually in the extreme environments, and thus, it is required that the robot can walk stably in more complicated environments.
The driving mechanism of the existing biped robot is reasonably arranged according to structural requirements, so that the driving mechanism of the robot is scattered, the mass distribution on two sides of the legs of the robot is unbalanced, and the walking stability of the robot is affected.
For example, CN2022116778775 discloses a leg structure and a bipedal robot, wherein the leg structure comprises: thigh limbs; the shank is rotatably arranged on the thigh limb, and a first connecting end is arranged at the end part of the shank facing the thigh limb; thigh actuating mechanism and shank actuating mechanism fixed mounting are in same one side, and sufficient actuating mechanism installs in the shank, and the quality of robot shank one side is obviously greater than the quality of opposite side, is unfavorable for the stability of robot walking. Meanwhile, as for the foot joint driving mechanism, the applied foot has the freedom degree of rotating sideways, and in order to ensure that the connecting rod can normally drive the foot to rotate sideways, the foot joint driving mechanism can only be fixedly arranged in the lower leg; for the shank actuating mechanism, because it is close to the lower extreme setting of thigh, move it to the inboard back, shank actuating mechanism on two thighs is nearer apart from, produces the interference easily, is unfavorable for the realization of swing leg action, moreover, because thigh top structural arrangement is comparatively compact, shank actuating mechanism can not directly move the tip to the thigh in this application, to the technical problem that conventional technical means can not effectively be solved shank both sides mass distribution in this application to the technical staff of this application.
Disclosure of Invention
In order to solve the problems, the application provides a bipedal robot which can effectively solve the technical problems that the quality distribution on two sides of the legs of the robot is uneven and the stability of the robot during walking and standing is affected.
In one aspect of the present application, a bipedal robot is provided comprising a leg structure; and
A plurality of driving structures arranged on the left and right sides of the leg structure;
the sum of the masses of the driving structures on the left side of the leg structure is not less than 60% and not more than 140% of the sum of the masses of the driving structures on the right side of the leg structure.
Further, the leg structure includes a thigh;
a lower leg, one end of which is hinged with one end of the thigh;
a foot, one end of the foot being hinged to the other end of the calf;
the driving structure includes:
the thigh driving joint module is arranged on one side of one end, away from the shank, of the thigh;
the lower leg driving joint module is arranged at one end of the thigh, which is away from the lower leg, and is opposite to the other side of the thigh driving joint module; and
The foot driving joint module is arranged on the lower leg, and the foot driving joint module is arranged at one end, close to the thigh, of the lower leg and is on the same side with the thigh driving joint module;
wherein the sum of the mass of the thigh drive joint module and the foot drive joint module is not less than 60% of the mass of the shank drive joint module and not more than 140% of the mass of the shank drive joint module.
Further, the sum of the mass of the thigh drive joint module and the foot drive joint module is not less than 85% of the mass of the shank drive joint module and not more than 115% of the mass of the shank drive joint module.
Further, the device also comprises a fixing frame; and
The two leg structures are respectively arranged at two ends of the fixing frame and serve as a left leg and a right leg of the robot.
Further, the left leg is arranged mirror symmetrically to the drive structure of the right leg.
Further, the thigh driving joint module is in high conformity with the shank driving joint module in the vertical direction.
Further, the driving structure further comprises a transmission assembly, wherein the transmission assembly is arranged in the leg structure in an embedded manner and is used for transmitting power of the output of the shank driving joint module to the shank or transmitting power of the foot driving joint module to the foot.
Further, the transmission assembly of the calf is in the same vertical plane as the transmission assembly of the foot.
Further, a first cavity is formed in the thigh, and the transmission assembly of the shank is embedded in the first cavity.
Further, a second cavity is configured on the lower leg, and the transmission assembly of the foot is embedded in the second cavity.
Further, the transmission assembly comprises a crank, and the output flanges of the thigh driving joint module and the shank driving joint module are respectively provided with a crank;
the lower leg driving joint module drives the crank to rotate, so as to drive the lower leg rocker to act, and further drive the lower leg to swing back and forth;
the foot rocker, the one end of foot rocker with the crank on the foot drive joint module is articulated, and the pin joint eccentric setting, the other end with the foot is articulated, wherein, the foot drive joint module drives the crank rotates, thereby drives the motion of foot rocker, and then drives the foot changes its with the contained angle between the shank.
Further, the hinge point of the shank rocker and the shank is located above the hinge point of the shank and the thigh in the vertical direction.
Further, the shank rocker is hinged to the top end of the shank.
Further, the hinge point of the shank rocker and the shank is located below the hinge point of the shank and the thigh in the vertical direction.
Further, the hinge point of the foot rocker and the foot is located in the middle of the foot.
In one aspect, a robot is also provided, including the bipedal robot described above.
The application has the beneficial effects that:
according to the application, the mass of the driving structures arranged on the two sides of the leg structure tend to be equal, so that the inertia generated by the driving structures on the two sides of the leg structure is the same when the robot advances, the leg structure is not easy to generate lateral deflection in the advancing process of the robot, and the advancing of the robot is more stable; when standing, the driving structural materials on two sides tend to be equal to the weight moment born by the driving structure, so that lateral component force can not be generated, and the robot stands more stably.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, 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 view of a bipedal robot in accordance with one embodiment of the application;
FIG. 2 is a schematic view of a bipedal robot in accordance with one embodiment of the application;
FIG. 3 is a schematic view of a bipedal robot in accordance with one embodiment of the application;
FIG. 4 is a schematic view of a bipedal robot in accordance with one embodiment of the application;
FIG. 5 is a schematic view of a bipedal robot in accordance with one embodiment of the application;
FIG. 6 is a schematic view of a bipedal robot in accordance with one embodiment of the application;
FIG. 7 is a schematic view of a bipedal robot in accordance with one embodiment of the application;
FIG. 8 is an exploded view of a bipedal robot in accordance with one embodiment of the application;
FIG. 9 is a schematic view of the transmission assembly connection of a calf in accordance with an embodiment of the application;
FIG. 10 is a schematic diagram of a transmission assembly connection for a foot in accordance with an embodiment of the present application;
FIG. 11 is a schematic view of the thigh structure in accordance with an embodiment of the application;
FIG. 12 is a schematic view of the structure of a calf in accordance with an embodiment of the application;
FIG. 13 is a schematic view of a bipedal robot in accordance with one embodiment of the application;
in fig. 1-13, 1, leg structure; 101. thigh; 1011. a first cavity; 102. a lower leg; 1021. a second cavity; 103. a foot; 2 a driving structure; 201. thigh driving joint module; 202. a calf drive joint module; 203. a foot drive joint module; 204. a transmission assembly; 2041. a crank; 2042. a rocker; 3. a fixing frame; 4. a left leg; 5. and a right leg.
Detailed Description
In order to make the objects, technical solutions and advantageous effects of the present application more apparent, preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, so as to facilitate understanding of the skilled person.
Referring to fig. 1-5, in one embodiment of the present application, a bipedal robot is provided, comprising a leg structure 1; and a plurality of driving structures 2 arranged on the left and right sides of the leg structure 1; the sum of the masses of the driving structures 2 on the left side of the leg structure 1 is not less than 60% of the sum of the masses of the driving structures 2 on the right side of the leg structure 1, and not more than 140% of the sum of the masses of the driving structures 2 on the right side of the leg structure 1, wherein the driving structures 2 are used for driving the leg structure 1 to perform the actions of stretching, bending and the like.
In the present embodiment, the left side of the observer is defined as the left side of the leg structure 1 and the right side of the observer is defined as the right side of the leg structure 1 with facing the robot. According to the application, the driving structures 2 with different masses are selected to adjust the masses of the load on the two sides of the leg structure 1, and the masses of the driving structures 2 mounted on the two sides of the leg structure 1 are similar, so that the inertia of the driving structures 2 on the two sides of the leg structure 1 is similar in the running process of the robot, lateral deflection or torsion of the leg structure 1 is avoided, and the running of the robot is more stable; meanwhile, in the leg lifting or standing state, the whole gravity centers of the leg structure 1 and the driving structure 2 are basically positioned on the leg structure 1, the lateral component force generated by the gravity moment born by the leg structure 1 and the driving structure 2 is small, and the robot is easier to stand stably.
Referring to fig. 6, in some embodiments, the leg structure 1 includes a thigh 101; a lower leg 102, one end of the lower leg 102 being hinged to one end of the thigh 101; and a foot 103, wherein one end of the foot 103 is hinged with the other end of the lower leg 102, and the thigh 101 and the lower leg 102 or the lower leg 102 and the foot 103 can relatively rotate by hinging with the corresponding hinging shaft as a rotation center.
The driving structure 2 comprises a thigh driving joint module 201, wherein the thigh driving joint module 201 is arranged on one side of one end of the thigh 101, which is away from the shank 102; a lower leg driving joint module 202, wherein the lower leg driving joint module 202 is arranged at one end of the thigh 101, which is away from the lower leg 102, and is opposite to the other end of the thigh driving joint module 201; and a foot driving joint module 203, wherein the foot driving joint module 203 is disposed on the lower leg 102, and the foot driving joint module 203 is disposed on one end of the lower leg 102 adjacent to the thigh 101 and on the same side as the thigh driving joint module 201.
Wherein, the sum of the mass of the thigh driving joint module 201 and the foot driving joint module 203 is not less than 60% of the mass of the shank driving joint module 202, and not more than 140% of the mass of the shank driving joint module 202, so as to improve the stability of the robot during traveling and standing.
In some embodiments, the sum of the masses of the thigh drive joint module 201 and the foot drive joint module 203 may be a minimum value, several interval values, intermediate value, several interval values, maximum value between 60% and 140% of the mass of the shank drive joint module 202 to improve the stability of the robot when traveling and standing.
In some embodiments, the sum of the mass of the thigh drive joint module 201 and the foot drive joint module 203 is not less than 75% of the mass of the shank drive joint module 202, and not more than 125% of the mass of the shank drive joint module 202, to improve stability of the robot while traveling and standing.
In some embodiments, the sum of the mass of the thigh drive joint module 201 and the foot drive joint module 203 is not less than 85% of the mass of the shank drive joint module 202 and not more than 115% of the mass of the shank drive joint module 202 to improve stability of the robot while traveling and standing.
In some embodiments, the sum of the masses of the shank driving joint module 202 and the foot driving joint module 203 is approximately equal to the mass of the thigh driving joint module 201, so that the masses at the left and right sides of the leg structure 1 reach a balanced state, and the inertia moment generated by the joint modules at the left and right sides of the robot in the walking process is equal, thereby avoiding the problem of leg shaking of the robot in the walking process and improving the walking stability of the robot.
Referring to fig. 7, in some embodiments, the bipedal robot further comprises a mount 3; and two leg structures 1, wherein the two leg structures 1 are respectively arranged at two ends of the fixing frame 3 to serve as a left leg 4 and a right leg 5 of the robot.
In some embodiments, the driving structures 2 of the left leg 4 and the right leg 5 are arranged in a mirror symmetry manner, so that the mass distribution of the left leg 4 and the right leg 5 of the robot is relatively balanced, the overall gravity center of the robot is changed consistently when the left leg 4 or the right leg 5 is lifted, the variable of control parameters is reduced, the sensitivity of the robot control is improved, the quick response of the robot is facilitated, and meanwhile, the robot is not easy to incline to one side in the standing or advancing process, and the stability of the robot is facilitated.
As an example, the sum of the masses of the thigh driving joint module 201 and the foot driving joint module 203 is slightly smaller than the mass of the shank driving joint module 202, i.e. the sum of the masses of the driving structures 2 outside the leg structure 1 is slightly larger than the sum of the masses of the driving structures 2 inside, and by distributing more masses of the driving structures 2 outside the leg structure 1, the realization of the robot leg swinging action is facilitated, and the possibility of interference between the left leg 4 and the right leg 5 is reduced.
In some embodiments, the thigh driving joint module 201 and the shank driving joint module 202 are consistent in height in the vertical direction and are all arranged near the top of the leg structure 1, so that more mass of the left leg 4 and the right leg 5 is distributed near the upper end of the thigh driving joint module, which is beneficial to reducing the load of the thigh driving joint module 201, and simultaneously, the centroids of the left leg 4 and the right leg 5 are relatively moved upwards, reducing the rotational inertia required by the action of the left leg 4 and the right leg 5, and being beneficial to the stability of the robot when the action of the left leg 4 and the right leg 5.
Referring to fig. 8-13, in some embodiments, the driving structure 2 further includes a transmission assembly 204, where the transmission assembly 204 is embedded in the leg structure 1, and is used to transmit the power output by the calf driving joint module 202 to the calf 102 or transmit the power of the foot driving joint module 203 to the foot 103, so as to reduce the mass distribution outside the leg structure, further reduce the possibility of the robot tilting sideways during traveling or standing, and improve the stability of the robot.
In some embodiments, the transmission assembly 204 of the lower leg 102 and the transmission assembly 204 of the foot 103 are located in the same vertical plane, so that the transmission assembly 204 of the lower leg 102 and the transmission assembly 204 of the foot 103 are subjected to a gravitational moment and do not generate lateral component force, which is beneficial to improving the overall stability of the robot.
In some embodiments, a first cavity 1011 is configured in the thigh 101, the first cavity 1011 extends downward from the upper end of the thigh 101 through the thigh 101, and the transmission assembly 204 of the shank 102 is embedded in the first cavity 1011, thereby achieving the purpose of mounting the transmission assembly 204 of the shank 102 in the thigh 101.
In some embodiments, the lower leg 102 is configured with a second cavity 1021, the second cavity 1021 extending downwardly from the upper end of the lower leg 102 through the lower end of the lower leg 102 and through the front side of the lower leg 102, and the transmission assembly 204 of the foot 103 extends outwardly from the front side of the lower leg 102 after the transmission assembly 204 of the foot 103 is received within the second cavity 1021.
In some embodiments, the transmission assembly 204 includes a crank 2041, and one crank 2041 is provided on each of the output flanges of the thigh drive joint module 201 and the shank drive joint module 202.
The shank rocker 2042, one end of the shank rocker 2042 is hinged with a crank 2041 on the shank driving joint module 202, the hinge point is eccentrically arranged, and the other end of the shank rocker 2042 is hinged with the shank 102, wherein the shank driving joint module 202 drives the crank 2041 to rotate, so that the shank rocker 2042 is driven to act, and the shank 102 is driven to swing back and forth.
And a foot rocker 2042, wherein one end of the foot rocker 2042 is hinged with a crank 2041 on the foot driving joint module 203, a hinge point is eccentrically arranged, and the other end of the foot rocker 2042 is hinged with the foot 103, wherein the foot driving joint module 203 drives the crank 2041 to rotate, so that the foot rocker 2042 is driven to act, and the foot 103 is driven to change an included angle between the foot and the lower leg 102.
In some embodiments, the hinge point of the shank rocker 2042 and the shank 102 is located vertically above the hinge point of the shank 102 and the thigh 101, such that the shank 102 is divided into upper and lower arms by the hinge point of the shank 102 and the thigh 101, and the shank rocker 2042 drives the entire shank 102 to rotate relative to each other via the upper arm.
In some embodiments, the calf rocker 2042 is hinged to the top end of the calf 102 to extend the length of the arm on the calf 102 as much as possible to reduce the rated power required by the calf drive joint module 202 to facilitate selection of the calf drive joint module 202.
In some embodiments, the hinge point of the shank rocker 2042 and the shank 102 is located below the hinge point of the shank 102 and the thigh 101 in the vertical direction, that is, the top end of the shank 102 is hinged to the thigh 101, and the shank rocker 2042 is hinged to a position in the middle or upper half of the shank 102, so that the shank rocker 2042 can also drive the shank 102 to move when moving.
In some embodiments, the hinge point of the foot rocker 2042 and the foot 103 is located in the middle of the foot 103, which is beneficial to reduce the impact of the foot rocker 2042 when falling down. The service life of the foot rocker 2042 is improved.
Referring to fig. 13, in some embodiments, a robot is provided, including the bipedal robot described above.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the application, and that, although the application has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the application as defined by the appended claims; the size of the drawing is irrelevant to the specific real object, and the real object size can be changed arbitrarily.
Claims (14)
1. A biped robot, comprising:
a leg structure; and
A plurality of driving structures arranged on the left and right sides of the leg structure;
the leg structure includes:
thigh;
a lower leg, one end of which is hinged with one end of the thigh;
a foot, one end of the foot being hinged to the other end of the calf;
the driving structure includes:
the thigh driving joint module is arranged on one side of one end, away from the shank, of the thigh;
the lower leg driving joint module is arranged at one end of the thigh, which is away from the lower leg, and is opposite to the other side of the thigh driving joint module; and
The foot driving joint module is arranged on the lower leg, and the foot driving joint module is arranged at one end, close to the thigh, of the lower leg and is on the same side with the thigh driving joint module;
wherein the sum of the mass of the thigh drive joint module and the foot drive joint module is not less than 60% of the mass of the shank drive joint module and not more than 140% of the mass of the shank drive joint module.
2. The bipedal robot of claim 1, wherein the robot is configured to,
the sum of the mass of the thigh drive joint module and the foot drive joint module is not less than 85% of the mass of the shank drive joint module and not more than 115% of the mass of the shank drive joint module.
3. The bipedal robot of claim 2, further comprising:
a fixing frame; and
The two leg structures are respectively arranged at two ends of the fixing frame and serve as a left leg and a right leg of the robot.
4. The bipedal robot of claim 3, wherein the robot further comprises a robot arm,
the left leg is arranged mirror-symmetrically with the driving structure of the right leg.
5. The bipedal robot of claim 4, wherein the robot further comprises a pair of arms,
the thigh driving joint module is consistent with the shank driving joint module in height in the vertical direction.
6. The bipedal robot of claim 5, wherein the drive structure further comprises:
and the transmission assembly is embedded in the leg structure.
7. The bipedal robot of claim 6, wherein the robot further comprises a gripper,
the transmission assembly of the lower leg is located in the same vertical plane as the transmission assembly of the foot.
8. The bipedal robot of claim 7, wherein the robot is configured to,
a first cavity is formed in the thigh, and the transmission assembly of the shank is embedded in the first cavity.
9. The bipedal robot of claim 8, wherein the robot is configured to,
a second cavity is formed in the lower leg, and the transmission assembly of the foot is embedded in the second cavity.
10. The bipedal robot of claim 9, wherein the transmission assembly comprises:
the output flanges of the thigh driving joint module and the lower leg driving joint module are respectively provided with a crank;
the lower leg driving joint module drives the crank to rotate, so as to drive the lower leg rocker to act, and further drive the lower leg to swing back and forth;
the foot rocker, the one end of foot rocker with the crank on the foot drive joint module is articulated, and the pin joint eccentric setting, the other end with the foot is articulated, wherein, the foot drive joint module drives the crank rotates, thereby drives the motion of foot rocker, and then drives the foot changes its with the contained angle between the shank.
11. The bipedal robot of claim 10, wherein the robot is configured to,
the hinge point of the shank rocker and the shank is located above the hinge point of the shank and the thigh in the vertical direction.
12. The bipedal robot of claim 11, wherein the robot is configured to,
the shank rocker is hinged with the top end of the shank.
13. The bipedal robot of claim 10, wherein the robot is configured to,
the hinge point of the shank rocker and the shank is positioned below the hinge point of the shank and the thigh in the vertical direction.
14. The bipedal robot of claim 10, wherein the robot is configured to,
the hinge point of the foot rocker and the foot is positioned in the middle of the foot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311056060.0A CN116767382B (en) | 2023-08-22 | 2023-08-22 | Biped robot and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311056060.0A CN116767382B (en) | 2023-08-22 | 2023-08-22 | Biped robot and robot |
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| Publication Number | Publication Date |
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| CN116767382A CN116767382A (en) | 2023-09-19 |
| CN116767382B true CN116767382B (en) | 2023-11-17 |
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| CN105857431A (en) * | 2016-03-29 | 2016-08-17 | 刘子骞 | Robot with reasonable structural design |
| CN111497963A (en) * | 2020-04-21 | 2020-08-07 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Multi-mode biped wheel-leg robot |
| CN111688839A (en) * | 2020-06-18 | 2020-09-22 | 敬科(深圳)机器人科技有限公司 | Shank mechanism and biped robot with same |
| CN115123423A (en) * | 2022-07-28 | 2022-09-30 | 纯米科技(上海)股份有限公司 | Biped robot |
| CN116605329A (en) * | 2023-05-17 | 2023-08-18 | 傅利叶动力(北京)科技有限公司 | Lower limb component of biped robot |
-
2023
- 2023-08-22 CN CN202311056060.0A patent/CN116767382B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857431A (en) * | 2016-03-29 | 2016-08-17 | 刘子骞 | Robot with reasonable structural design |
| CN111497963A (en) * | 2020-04-21 | 2020-08-07 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Multi-mode biped wheel-leg robot |
| CN111688839A (en) * | 2020-06-18 | 2020-09-22 | 敬科(深圳)机器人科技有限公司 | Shank mechanism and biped robot with same |
| CN115123423A (en) * | 2022-07-28 | 2022-09-30 | 纯米科技(上海)股份有限公司 | Biped robot |
| CN116605329A (en) * | 2023-05-17 | 2023-08-18 | 傅利叶动力(北京)科技有限公司 | Lower limb component of biped robot |
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| CN116767382A (en) | 2023-09-19 |
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