CN1974300A - Polypod walking robot capable of being disassembled and reconstructed - Google Patents

Polypod walking robot capable of being disassembled and reconstructed Download PDF

Info

Publication number
CN1974300A
CN1974300A CNA2006101252166A CN200610125216A CN1974300A CN 1974300 A CN1974300 A CN 1974300A CN A2006101252166 A CNA2006101252166 A CN A2006101252166A CN 200610125216 A CN200610125216 A CN 200610125216A CN 1974300 A CN1974300 A CN 1974300A
Authority
CN
China
Prior art keywords
foot unit
unit
joint
foot
links
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
Application number
CNA2006101252166A
Other languages
Chinese (zh)
Other versions
CN100441468C (en
Inventor
陈学东
孙翊
蒲华燕
周明皓
贾文川
赵军
曾理湛
何学明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huazhong University of Science and Technology
Original Assignee
Huazhong University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Huazhong University of Science and Technology filed Critical Huazhong University of Science and Technology
Priority to CNB2006101252166A priority Critical patent/CN100441468C/en
Publication of CN1974300A publication Critical patent/CN1974300A/en
Application granted granted Critical
Publication of CN100441468C publication Critical patent/CN100441468C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Manipulator (AREA)

Abstract

The walking robot capable of being disassembled and reconstructed includes two rows of parallel food unit structures beside the frame unit, and features that it consists of food unit structures, frame unit structure and active joint unit structures, which may be separated from and combined to other unit structures easily. By means of changing the positions and number of the connecting frames, it is possible to alter the number and configuration of feet in the walking robot and to alter the structure and function of the walking robot. The present invention provides great expansion space for the structure and moving function of walking robot, can replace fault unit and composite new motion structure conveniently, and makes walking robot well fitting different motion environments. The present invention can also simplify structure and control of robot, and lower developing and using cost.

Description

Polypod walking robot capable of being disassembled and reconstructed
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of polypod walking robot capable of being disassembled and reconstructed.
Background technology
The tradition mobile robot mainly comprises wheeled, crawler type, sufficient formula, mode of motion such as hybrid.Wherein, wheeled and caterpillar type robot is simple in structure, but its motion is limit by environmental factor, locomitivity a little less than.And the polypody walking robot can be on the road surface of injustice stabilized walking, can replace wheeled and caterpillar type robot and finish hauling operation in the complex environment of some unstructuredness, if design suitable leg/arm fusion structure again, then can make robot in dangerous or dangerous environment, replace people's work, finish the task that some wheeled robots are difficult for finishing by corresponding end-of-arm tooling.Therefore, this robotlike has boundless application prospect.In view of this, many in the world developed countries have all dropped into cooresponding manpower and financial resources and have carried out this robotlike's Study on Technology since nineteen sixties.Along with the progress of Computer Control Technology, Robotics is fast-developing especially.
At present, in the industrial robot field, the adaptive capacity that improves the industrial machinery arm by the research of modularization robot modular construction on the prerequisite that reduces development of industrial machinery arm and use cost has been arranged, however also very rare at the similar achievement in research of walking robot.Mainly concentrate on the control method and motion structure and function under the single working environment both at home and abroad about walking machine people's research, and it is very limited at the achievement in research of research cost that how to reduce walking robot and raising walking robot extendability, motion that enrich is a target to realize being suitable for the efficient of various working environments to embody a concentrated expression of most robots, and by adopting complicated motion structure and control method to realize above-mentioned target.These motion structures and control method are not only very complicated, and common this structure is once determining just to be good at making change, and when the working environment of robot or task changed, the adaptive capacity of robot obviously descended even can't work.In addition, increasingly sophisticated structure also can cause the rate of breakdown in the operational process significantly to increase, and the development cost of robot and use cost also so greatly increase.Therefore,, environment and task needs that walking robot often changes can not be fundamentally satisfied, the contradiction of enriching between robot function and reduction development and the use cost can not be solved by the function of increase motion structure and the method for complexity.
Summary of the invention
The objective of the invention is to overcome the weak point of prior art, a kind of walking robot that can be decomposed and reconstituted is provided, this walking robot can dynamic group synthesize the walking robot with multiple motion structure and mode of motion, to satisfy the needs of various environment and task, simplify robot construction and control simultaneously, reduce development and use cost.
Polypod walking robot capable of being disassembled and reconstructed provided by the invention, it is characterized in that: it comprises first foot unit, second foot unit, the 3rd foot unit, four-footed unit and fuselage support, and wherein fuselage support is provided with first to fourth upper bracket beam and first to fourth lower bracket beam;
The tail end of the upper and lower frame of first foot unit links to each other with the tail end of the upper and lower frame of second foot unit, and the tail end of the upper and lower frame of the 3rd foot unit links to each other with the tail end of the upper and lower frame of four-footed unit; First, second upper bracket beam and first, second lower bracket beam are installed on the upper spider and lower bearing bracket of first foot unit and the 3rd foot unit successively, and the 3rd, the 4th upper bracket beam and the 3rd, the 4th lower bracket beam are installed on second foot unit and four-footed unit upper spider and the lower bearing bracket successively;
The structure of four foot units is identical, includes sufficient end, calf joint, big leg joint, hip joint, upper spider and lower bearing bracket; Wherein, calf joint, big leg joint are the identical joint of structure of series combination with hip joint; The foot end comprises that toe, podomere bar are connected support with the 3rd; Wherein, the rear end of toe links to each other with the front end of podomere bar, and the podomere rod rear end is connected support and links to each other with the 3rd; The 3rd terminal connection support of foot links to each other with the terminal pad of calf joint; The connection support at calf joint rear portion links to each other with the terminal pad of big leg joint; The housing both sides of big leg joint link to each other with upper spider, lower bearing bracket respectively, and upper spider, lower bearing bracket link to each other with the terminal pad both sides of hip joint respectively;
The structure of above-mentioned calf joint, big leg joint and hip joint is identical, includes electrical motor, gear reducer, straight gear and turns to retarder; Electric machine support is positioned at housing, and electrical motor and gear reducer are arranged in the cavity of electric machine support, and gear reducer is positioned at the front end of electrical motor; The front end output shaft of gear reducer links to each other with first straight gear; Second, third straight gear is meshed with first straight gear respectively; Turn to reducer stent to be connected the front end of electric machine support; First, second turns to retarder to lay respectively to turn to the both sides of reducer stent; Second, third straight gear turns to the end of retarder to link to each other with first, second respectively; First, second connects support and is installed in the housing afterbody respectively; First, second terminal pad lays respectively at first, second outside that turns to retarder; Photoelectric encoder is positioned at the tail end of electrical motor, and potential device is positioned on the terminal pad.
Walking robot with light locomotive running is compared, the present invention has bigger extending space on the structure of walking robot and motor function, and can conveniently replace disabling unit, and reconfigure new motion structure, various movement environment is had stronger adaptive capacity.Simultaneously, because the assembled unit of system adopts unified modularization production-release design, combination walking robot robot system must be used with manufacturing cost reduce greatly.The walking robot robot system of forming with this form be the mobile robot field a recent studies on direction, have development space and application prospect widely.Particularly, the present invention has following effect:
1, the present invention has broken the restriction of existing various walking robot on the unit 26S Proteasome Structure and Function, utilize a plurality of simple machine people unit with same structure, according to environment and task needs, be combined into various walking robot robot systems quickly and easily with different structure and mode of motion.This unit that can be decomposed and reconstituted adopts the modular construction design that is suitable for making up, and constitutes multivariant foot unit by single motor-driven joint module, constitutes the walking robot with multiple mode of motion by a plurality of foot units.This make has been brought into play the extended capability of system in combination unit on 26S Proteasome Structure and Function to greatest extent, and can avoid the redundancy on 26S Proteasome Structure and Function as far as possible.
2, the present invention has adopted same modularization production-release design to form various types of walking robots, can make production in batches, and flexible combination becomes the multiple walking robot robot system that is suitable for various environment and mission requirements, thereby reduced the complexity of walking robot robot system in structure and control.
3, compare with the unit walking robot of undecomposable reconstruct, the present invention has bigger extending space on the structure of walking robot He on the motor function, and can replace disabling unit easily, be reassembled into new walking robot structure, different environment is had stronger adaptive capacity.Simultaneously, because various types of system in combination unit all adopts unified modularization production-release design, the use and the manufacturing cost of combination walking robot robot system are reduced greatly.The walking robot robot system of forming with this form is a recent studies on direction in Robotics field, has development space and application prospect widely.
Description of drawings
Fig. 1 is a four-footed configuration walking robot system schematic of the present invention, and wherein (a) is front view, (b) is birds-eye view.
Fig. 2 is of the present invention six sufficient configuration walking robot system schematic, and wherein (a) is front view, (b) is birds-eye view.
Fig. 3 is a foot unit structure embodiment scheme drawing of the present invention, and wherein (a) is front view, (b) is birds-eye view.
Fig. 4 is a joint of the present invention scheme drawing, and wherein (a) is front view, (b) is birds-eye view.
The specific embodiment
The present invention is further detailed explanation below in conjunction with accompanying drawing and example,
As shown in Figure 1, the four-footed configuration comprises first foot unit 1, second foot unit 2, the 3rd foot unit 3, four-footed unit 4 and fuselage support 5, wherein fuselage support is provided with upper bracket beam and lower bracket beam, is respectively first to fourth upper bracket beam 5a, 5b, 5c, 5d and first to fourth lower bracket beam 5e, 5f, 5g, 5h.
The tail end of the upper and lower frame of first foot unit 1 links to each other with the tail end of the upper and lower frame of second foot unit 2, and the tail end of the upper and lower frame of the 3rd foot unit 3 links to each other with the tail end of the upper and lower frame of four-footed unit 4.First, second upper bracket beam 5a, 5b and first, second lower bracket beam 5e, 5f are installed on first foot unit 1 and the 3rd foot unit 3 upper spiders and the lower bearing bracket successively, and the 3rd, the 4th upper bracket beam 5c, 5d and the 3rd, the 4th lower bracket beam 5g, 5h are installed on second foot unit 2 and four-footed unit 4 upper spiders and the lower bearing bracket successively.Can change the robot construction size by rack beams 5a, 5b, 5c, 5d, 5e, 5f, 5g, the 5h that different length is installed.
The four-footed configuration is the simplest walking robot configuration, and its control principle is by controlling each joint motions of four foot units, can make foot unit finish actions such as lifting, swing and fall.And controller lifts, swings and fall by planning that four foot units are finished in a certain order successively, just can realize walking movement.The sensor device that is installed in the joint of robot provides necessary status information for controller, and controller carries out analysis and arrangement according to status information and people's operational order, exports control signal then and comes robot command to finish corresponding action.
The structure of six sufficient configurations of the present invention is similar to the four-footed configuration, as shown in Figure 2, has only increased the 5th foot unit 6 and the 6th foot unit 7.The tail end of the upper and lower frame of the 5th foot unit 6 links to each other with the tail end of the upper and lower frame of the 6th foot unit 7.First, second upper bracket beam 5a, 5b and first, second lower bracket beam 5e, 5f are installed on the upper spider and lower bearing bracket of first foot unit 1, the 3rd foot unit 3 and the 5th foot unit 6 successively.Three, the 4th upper bracket beam 5c, 5d and the 3rd, the 4th lower bracket beam 5g, 5h are installed on the upper spider and lower bearing bracket of second foot unit 2, four-footed unit 4 and the 6th foot unit 7 successively.
The walking movement of the walking robot of six sufficient configurations and four-footed configuration are similar, are equally to finish successively in a certain order by six foot units of controller planning to lift, swing and fall the realization walking movement.Yet different with the four-footed configuration is that the walking robot function of six sufficient configurations is abundanter.It not only can utilize whole six foot units to realize sane walking movements, can also only utilize wherein four sufficient walkings or body support, and utilize remaining two foots to finish the work that is similar to arm, for example sample collecting and carrying etc.
By changing the number of foot unit, can also construct the polypody walking robot of other configuration.
As shown in Figure 3, comprise foot end 8, calf joint 9, big leg joint 10, hip joint 11, upper spider 12 and lower bearing bracket 13 by the foot unit that joint of robot of the present invention was combined into.Calf joint 9, big leg joint 10 are the identical joint of structure of series combination with hip joint 11.
Foot terminal 8 comprises that toe 8a, podomere bar 8b, the 3rd connect support 8c.The rear end of toe 8a links to each other with the front end of podomere bar 8b, and podomere bar 8b rear end is connected support 8c and links to each other with the 3rd.
The 3rd of terminal 8 rear portions of foot connect support and link to each other by attaching screw with the terminal pad of calf joint 9.The connection support at calf joint 9 rear portions links to each other by attaching screw with the terminal pad of big leg joint 10.The both sides of the housing of big leg joint 10 link to each other with upper spider 12, lower bearing bracket 13 respectively, and upper spider 12, lower bearing bracket 13 link to each other with the terminal pad both sides of hip joint 11 respectively.
Three joint coordinations under the control of controller of foot unit are moved the toe of foot terminal 8 with certain track in three dimensional space.The coordination of a plurality of foot units just can realize the motor function of robot.
Housing by changing big leg joint 10 and the installation site of upper and lower frame, calf joint 9 be connected support on housing the installation site or change the array mode in joint by the method for adding new joint.Installation site on housing or terminal pad can be front and back two sides or two sides up and down.
The present invention can adopt other array modes, constitutes the robot foot unit of various ways.
As shown in Figure 4, joint of robot of the present invention comprises driving device and sensing device two parts.
Driving device comprises that mainly electrical motor 20, gear reducer 19, first straight gear 18, second straight gear 17, the 3rd straight gear 28, first turn to retarder 25 and second to turn to retarder 27.
Electric machine support 16 is positioned at housing 14, and electrical motor 20 and gear reducer 19 are installed in the cavity of electric machine support 16, and gear reducer 19 is positioned at the front end of electrical motor 20.The front end output shaft of gear reducer 19 links to each other with first straight gear 18.Second, third straight gear 17,28 is meshed with first straight gear 18.Turn to reducer stent 15 to be connected the front end of electric machine support 16 by screw.First turns to retarder 25, second to turn to retarder 27 to be installed in the both sides that turn to reducer stent 15.Second straight gear 17, the 3rd straight gear 28 turn to retarder 25, second to turn to the end of retarder 27 to link to each other with first respectively.First, second connects support 22a, 22b and is installed in housing 14 afterbodys respectively.First, second terminal pad 23,29 lays respectively at the outside that first, second turns to retarder 25,27.First, second connects support 22a, 22b and links to each other with two terminal pads in next stage joint respectively by attaching screw 26.
Rotatablely moving of electrical motor 20 main shafts slowed down through gear reducer 19, first, second that is arranged in juxtaposition with two groups respectively by each straight gear 17,18 and 28 turns to retarder 25,27 to link to each other again, two turn to retarder with hand of rotation by being transformed to perpendicular to the joint shaft direction along the joint central axis direction.
Sensing device comprises photoelectric encoder 21 that is installed in electrical motor 20 tail ends and the potential device 24 that is installed on the terminal pad 23, and photoelectric encoder 21 is used to obtain the tach signal of electrical motor 20, and potential device 24 is used to obtain the absolute location information that terminal pad 23 rotates.
First, second connects support 22a, the installation site of 22b on housing 14, can be chosen in front and back two sides of its afterbody or two sides up and down, to change the turning cylinder angulation with the next stage joint, realizes two kinds of array modes.
The work and the control principle in joint be, electrical motor 20 main shafts are high speed revolution under joint control control, after the motion of main shaft is slowed down through driving device and changed direction, drives terminal pad 23 and rotate, and realizes the rotation in joint.The motor speed signal that joint control obtains by measuring light photoelectric coder 21, the absolute angle position calculated signals of terminal pad of passing through 24 acquisitions of measurement potential device and the deviation of target location, and control motor 20 main shafts turn to the target location with certain speed and acceleration/accel.
Gear reducer 19 can adopt planetary reduction gear or straight gear retarder; Turn to retarder 25,27 can adopt worm and gear, helical tooth wheel set or bevel-gear pair, all can constitute joint of robot of the present invention.

Claims (2)

1, a kind of polypod walking robot capable of being disassembled and reconstructed, comprise first foot unit (1), second foot unit (2), the 3rd foot unit (3), four-footed unit (4) and fuselage support (5), wherein fuselage support (5) is provided with first to fourth upper bracket beam (5a, 5b, 5c, 5d) and first to fourth lower bracket beam (5e, 5f, 5g, 5h);
The tail end of the upper and lower frame of first foot unit (1) links to each other with the tail end of the upper and lower frame of second foot unit (2), and the tail end of the upper and lower frame of the 3rd foot unit (3) links to each other with the tail end of the upper and lower frame of four-footed unit (4); First, second upper bracket beam (5a, 5b) and first, second lower bracket beam (5e, 5f) are installed on the upper spider and lower bearing bracket of first foot unit (1) and the 3rd foot unit (3) successively, and the 3rd, the 4th upper bracket beam (5c, 5d) and the 3rd, the 4th lower bracket beam (5g, 5h) are installed on second foot unit (2) and four-footed unit (4) upper spider and the lower bearing bracket successively;
The structure of first to fourth foot unit (1,2,3,4) is identical, includes sufficient end, calf joint, big leg joint, hip joint, upper spider and lower bearing bracket; Wherein, calf joint, big leg joint are the identical joint of structure of series combination with hip joint; The foot end comprises that toe, podomere bar are connected support with the 3rd; Wherein, the rear end of toe links to each other with the front end of podomere bar, and the podomere rod rear end is connected support and links to each other with the 3rd; The 3rd terminal connection support of foot links to each other with the terminal pad of calf joint; The connection support at calf joint rear portion links to each other with the terminal pad of big leg joint; The housing both sides of big leg joint link to each other with upper spider, lower bearing bracket respectively, and upper spider, lower bearing bracket link to each other with the terminal pad both sides of hip joint respectively;
The structure of above-mentioned calf joint, big leg joint and hip joint is identical, includes electrical motor, gear reducer, straight gear and turns to retarder; Electric machine support is positioned at housing, and electrical motor and gear reducer are arranged in the cavity of electric machine support, and gear reducer is positioned at the front end of electrical motor; The front end output shaft of gear reducer links to each other with first straight gear; Second, third straight gear is meshed with first straight gear respectively; Turn to reducer stent to be connected the front end of electric machine support; First, second turns to retarder to lay respectively to turn to the both sides of reducer stent; Second, third straight gear turns to the end of retarder to link to each other with first, second respectively; First, second connects support and is installed in the housing afterbody respectively; First, second terminal pad lays respectively at first, second outside that turns to retarder; Photoelectric encoder is positioned at the tail end of electrical motor, and potential device is positioned on the terminal pad.
2, polypody walking robot according to claim 1 is characterized in that: it also comprises the 5th foot unit (6) and the 6th foot unit (7); The tail end of the upper and lower frame of the 5th foot unit (6) links to each other with the tail end of the upper and lower frame of the 6th foot unit (7); First, second upper bracket beam (5a, 5b) and first, second lower bracket beam (5e, 5f) are installed on the upper spider and lower bearing bracket of first foot unit (1), the 3rd foot unit (3) and the 5th foot unit (6) successively; Three, the 4th upper bracket beam (5c, 5d) and the 3rd, the 4th lower bracket beam (5g, 5h) are installed on the upper spider and lower bearing bracket of second foot unit (2), four-footed unit (4) and the 6th foot unit (7) successively.
CNB2006101252166A 2006-12-01 2006-12-01 Polypod walking robot capable of being disassembled and reconstructed Expired - Fee Related CN100441468C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2006101252166A CN100441468C (en) 2006-12-01 2006-12-01 Polypod walking robot capable of being disassembled and reconstructed

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2006101252166A CN100441468C (en) 2006-12-01 2006-12-01 Polypod walking robot capable of being disassembled and reconstructed

Publications (2)

Publication Number Publication Date
CN1974300A true CN1974300A (en) 2007-06-06
CN100441468C CN100441468C (en) 2008-12-10

Family

ID=38124720

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2006101252166A Expired - Fee Related CN100441468C (en) 2006-12-01 2006-12-01 Polypod walking robot capable of being disassembled and reconstructed

Country Status (1)

Country Link
CN (1) CN100441468C (en)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102092429A (en) * 2011-03-24 2011-06-15 天津理工大学 Two-leg walking mechanism
CN102139715A (en) * 2011-01-31 2011-08-03 郑宇� Novel robot walking mechanism and method
CN102407893A (en) * 2011-09-02 2012-04-11 北京林业大学 Wheel and leg combined moving robot
CN103231751A (en) * 2013-04-07 2013-08-07 哈尔滨工程大学 Single-joint-sealed amphibious multi-legged robot
CN103273980A (en) * 2013-06-17 2013-09-04 吉林大学 Modular robot capable of being self-assembled into multi-foot wheel-leg robot
CN103661664A (en) * 2012-09-07 2014-03-26 南京理工大学 Transfer case type control multi-leg walking machine
CN103661667A (en) * 2013-12-11 2014-03-26 北京航空航天大学 Smart quadruped robot with flexible waist
CN103733149A (en) * 2011-08-01 2014-04-16 Thk株式会社 Load control system and load drive system
CN104165064A (en) * 2014-08-15 2014-11-26 山东科技大学 Shotcreting mechanical arm with six-foot walking device
CN104228996A (en) * 2014-09-26 2014-12-24 哈尔滨理工大学 Double-power quadruped robot capable of walking on ramp
CN104859745A (en) * 2015-05-20 2015-08-26 天津大学 Multi-legged biomimetic robot with metamorphic mechanism on waist
CN105905182A (en) * 2016-04-19 2016-08-31 青岛滨海学院 Intelligent four-foot investigation robot
CN107351938A (en) * 2017-07-10 2017-11-17 上海理工大学 A kind of multi-joint climbing robot
CN108006366A (en) * 2017-12-04 2018-05-08 江苏科技大学 A kind of multi-foot walking formula detecting robot of pipe
CN108382484A (en) * 2018-02-28 2018-08-10 华中科技大学 A kind of Multifeet walking robot for flexibly turning to advance
CN109367646A (en) * 2018-11-19 2019-02-22 中国船舶重工集团公司第七〇九研究所 A kind of modular reconfigurable multi-foot robot
CN110962956A (en) * 2019-11-28 2020-04-07 北京理工大学 Reconfigurable wheel-foot robot based on parallel modular structure
CN111195901A (en) * 2020-01-21 2020-05-26 北京交通大学 Multi-foot deformation robot based on Schatz mechanism
CN111846004A (en) * 2020-07-21 2020-10-30 李荣仲 Four-footed robot dog with gravity center adjustment mechanism
CN115303381A (en) * 2022-09-13 2022-11-08 哈尔滨工业大学 High-speed low-energy-consumption hexapod robot based on dead point supporting effect

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB8618044D0 (en) * 1986-07-24 1986-09-03 Sheeter E Vehicle
JPH0557638A (en) * 1991-09-02 1993-03-09 Mitsubishi Heavy Ind Ltd Mobile robot for beam structure
CN2208961Y (en) * 1994-04-21 1995-10-04 熊榜岳 Electrically operated crab toy
CN1336306A (en) * 2000-06-17 2002-02-20 冯建光 Multiple-legged walking vehicle
CN1191150C (en) * 2002-11-14 2005-03-02 华中科技大学 Multifeet walking robot and its control device
CN2827822Y (en) * 2005-09-23 2006-10-18 哈尔滨工程大学 Mechanical crab
CN200995713Y (en) * 2006-12-01 2007-12-26 华中科技大学 Decomposed and reconfigured multi-foot walking robot

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102139715A (en) * 2011-01-31 2011-08-03 郑宇� Novel robot walking mechanism and method
CN102092429B (en) * 2011-03-24 2013-03-20 天津理工大学 Two-leg walking mechanism
CN102092429A (en) * 2011-03-24 2011-06-15 天津理工大学 Two-leg walking mechanism
CN103733149A (en) * 2011-08-01 2014-04-16 Thk株式会社 Load control system and load drive system
CN103733149B (en) * 2011-08-01 2016-10-19 Thk株式会社 Load control system and load driving system
CN102407893A (en) * 2011-09-02 2012-04-11 北京林业大学 Wheel and leg combined moving robot
CN103661664A (en) * 2012-09-07 2014-03-26 南京理工大学 Transfer case type control multi-leg walking machine
CN103661664B (en) * 2012-09-07 2016-01-20 南京理工大学 Partition type controls polypody walking machine
CN103231751B (en) * 2013-04-07 2015-05-27 哈尔滨工程大学 Single-joint-sealed amphibious multi-legged robot
CN103231751A (en) * 2013-04-07 2013-08-07 哈尔滨工程大学 Single-joint-sealed amphibious multi-legged robot
CN103273980A (en) * 2013-06-17 2013-09-04 吉林大学 Modular robot capable of being self-assembled into multi-foot wheel-leg robot
CN103661667A (en) * 2013-12-11 2014-03-26 北京航空航天大学 Smart quadruped robot with flexible waist
CN103661667B (en) * 2013-12-11 2015-11-18 北京航空航天大学 A kind of dexterous type quadruped robot with flexible waist
CN104165064A (en) * 2014-08-15 2014-11-26 山东科技大学 Shotcreting mechanical arm with six-foot walking device
CN104228996A (en) * 2014-09-26 2014-12-24 哈尔滨理工大学 Double-power quadruped robot capable of walking on ramp
CN104228996B (en) * 2014-09-26 2016-03-30 哈尔滨理工大学 A kind of double dynamical quadruped robot for the walking of slope road
CN104859745A (en) * 2015-05-20 2015-08-26 天津大学 Multi-legged biomimetic robot with metamorphic mechanism on waist
CN104859745B (en) * 2015-05-20 2017-04-05 天津大学 A kind of polypody bio-robot that metamorphic mechanisms are used in waist
CN105905182A (en) * 2016-04-19 2016-08-31 青岛滨海学院 Intelligent four-foot investigation robot
CN107351938A (en) * 2017-07-10 2017-11-17 上海理工大学 A kind of multi-joint climbing robot
CN108006366A (en) * 2017-12-04 2018-05-08 江苏科技大学 A kind of multi-foot walking formula detecting robot of pipe
CN108382484A (en) * 2018-02-28 2018-08-10 华中科技大学 A kind of Multifeet walking robot for flexibly turning to advance
CN109367646A (en) * 2018-11-19 2019-02-22 中国船舶重工集团公司第七〇九研究所 A kind of modular reconfigurable multi-foot robot
CN110962956A (en) * 2019-11-28 2020-04-07 北京理工大学 Reconfigurable wheel-foot robot based on parallel modular structure
CN111195901A (en) * 2020-01-21 2020-05-26 北京交通大学 Multi-foot deformation robot based on Schatz mechanism
CN111195901B (en) * 2020-01-21 2021-06-15 北京交通大学 Multi-foot deformation robot based on Schatz mechanism
CN111846004A (en) * 2020-07-21 2020-10-30 李荣仲 Four-footed robot dog with gravity center adjustment mechanism
CN115303381A (en) * 2022-09-13 2022-11-08 哈尔滨工业大学 High-speed low-energy-consumption hexapod robot based on dead point supporting effect

Also Published As

Publication number Publication date
CN100441468C (en) 2008-12-10

Similar Documents

Publication Publication Date Title
CN100441468C (en) Polypod walking robot capable of being disassembled and reconstructed
CN1857875A (en) Three-translation and one-rotation parallel mechanism
CN1136988A (en) Driving method and use for joint driving mechanism
CN1296896A (en) Speed changing equipment for bicycle
US20150122559A1 (en) Lower limb structure for legged robot, and legged robot
CN108772829B (en) Seven-degree-of-freedom mechanical arm
CN202029133U (en) Pivoted arm structure of robot
CN1788948A (en) Link drive mechanism with a harmonic gear reducer and industrial robot using the same
CN107089277A (en) A kind of novel bionic Hexapod Robot
CN1191150C (en) Multifeet walking robot and its control device
CN1701927A (en) Flexible rope driven three and four degree of freedom decoupling parallel mechanism
CN104786211B (en) A kind of Six-DOF industrial robot containing ball screw assembly,
CN200995713Y (en) Decomposed and reconfigured multi-foot walking robot
CN107486843A (en) A kind of industrial double Delta parallel robots structures and control system
CN109227522A (en) A kind of omni-directional moving mechanism and hoisting machine people's system
CN2871096Y (en) Rotary multi-axis operating table
CN1261279C (en) Three-axle parallel mainshaft head structure for implemonting multidirection verticel-horizontal processing
CN109968330A (en) Flat one turn of the three of toothed belt transmission structure independent moving platform grabs robot mechanism
CN1546286A (en) Rotation pair combination unit and motion decoupling parallel mechanism formed thereby
CN209095546U (en) A kind of omni-directional moving mechanism having obstacle crossing function and robot system
CN106272363A (en) The three-degree of freedom flexible parallel institution control device and method that oscillating cylinder drives
CN106826803A (en) A kind of multiple degrees of freedom link-type light-duty mechanical arm
CN1557609A (en) Structure decoupling three degrees of freedom parallel robot mechanism
CN110000762A (en) The flat one turn of crawl robot mechanism of the three of toothed belt transmission structure
CN206140506U (en) Multi freedom motion platform

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20081210

Termination date: 20191201