CN203332261U - Multi-foot moving device based on hybrid driving mechanism - Google Patents
Multi-foot moving device based on hybrid driving mechanism Download PDFInfo
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- CN203332261U CN203332261U CN2013203913578U CN201320391357U CN203332261U CN 203332261 U CN203332261 U CN 203332261U CN 2013203913578 U CN2013203913578 U CN 2013203913578U CN 201320391357 U CN201320391357 U CN 201320391357U CN 203332261 U CN203332261 U CN 203332261U
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Abstract
The utility model discloses a multi-foot moving device based on a hybrid driving mechanism. The multi-foot moving device is composed of a machine body (1) and a plurality of hybrid driving leg structures (2), wherein the hybrid driving leg structures (2) are installed on the machine body (1), and each hybrid driving leg structures (2) comprises a base (5), a main driving motor (6), a motor base (7), a coupler (8), a crank rotating shaft (9), a crank (10), a crank connecting rod rotating shaft (11), a transmission connecting rod (12), a rocking rod rotating shaft (13), a gear box rotating shaft (14), a linear driving unit (15), a rocking rod (16), a rocking rod shank rotating shaft (17), a shank unit (18), a connecting rod-lead screw nut sleeve rotating shaft (19) and a connecting rod shank rotating shaft (20). According to the multi-foot moving device based on the hybrid driving mechanism, rapid and efficient tread swing is achieved, efficient walking and running of the moving device can be achieved, meanwhile, flexible control is achieved, and further adaptability of the moving device to complex terrains such as a mountain slope, grassland and a hollow position is achieved.
Description
Technical field
The utility model relates to bionical mobile platform technical field, specifically a kind of polypody mobile device of hybrid drive as leg structure that adopt.
Background technology
In the fields such as military affairs, exploration and rescue, traditional crawler belt and wheeled mobile device are subject to larger restriction in complex-terrain application scenarios such as high mountain, jungle, wastelands, and bionical sufficient formula mobile device is because it has better maneuverability, stronger compatible with environment, thereby have broad application prospects.In sufficient formula mobile device research in the past, most of leg structure adopted based on the fisher's formula serial mechanism, make it have the controlled alerting ability of good multiple degree of freedom.For example, " BigDog " of U.S. Boston Dynamics company and " LittleDog ", " StarlETH " of Switzerland ETH, " Scorpoin " eight sufficient celestial body detecting robots of U.S. NASA etc., it is all the leg structure design that adopts open chain multiple degree of freedom serial mechanism, there is good landform comformability, can pass through various complex-terrains.Yet, the joint of fisher's formula serial mechanism mostly needs servo drive system, driveability requires high, control algorithm is complicated simultaneously, servo stiffness is high, and actuator need to carry out crank motion frequently, along with the swing of leg frequency increases, impact and waste of power that the frequent rotating switching of actuator brings increase greatly, and this has just restricted moving velocity and the mobile efficiency of such sufficient formula mobile device greatly.Therefore, improve speed and the efficiency of sufficient formula mobile device, the sufficient formula travel mechanism that obtains high-effect, quick travel becomes the important development trend of current legged type robot research.
Current, the research that the raising legged type robot moves efficiency exists multiple different Research Thinking.A kind of is to add wheeled mobile device to carry out the compound of multiple move mode on legged type robot, as " HYBTOR " wheel leg quadruped robot of Harbin Institute of Technology, " ATHLETE " six biped robots of U.S. NASA, robot adopts sufficient formula walking by bumpy terrain environment, adopt wheeled quick travel of carrying out smooth ground simultaneously, in mobile efficiency, obtain raising to a certain extent.Yet sufficient formula and wheel type mobile mechanism compound, improved mechanism's complexity and cost price on the one hand, reduced system reliability; Increase on the other hand the resistance under the complex-terrains such as mire marsh, rock slit, weeds and desert, affected to a certain extent the landform comformability of robot.And another kind of Research Thinking is to change into continuous rotatablely moving by the reciprocally swinging by the leg driving, avoids the frequent rotating switching of actuator, thereby improve moving velocity and efficiency." RHex " six biped robots of Boston Dynamics adopt simple circular arc leg, continuous rotation by the circular arc leg realizes that sufficient formula moves, obtained higher mobile efficiency, there is good applicability in the environment such as meadow, mire, stone riprap, but it high center of gravity obstacle crossing function and the flexible Motor ability of shank of legged type robot have been abandoned in fact; The connecting rod mechanism that " the Water Runner " of " Strandbeests " of Theo Jansen and the U.S. adopts crank to drive, as leg structure, is converted to the reciprocally swinging of shank by the motion of the continuous rotation of crank, thereby realizes the efficient movement of robot.Wherein, " Strandbeests " can be used sea wind to carry out the seabeach walking, and " Water Runner " can run fast on the water surface.Yet, owing to only having fixing foot end track, the leg structure of the piston crank mechanism of single degree of freedom does not possess the comformability of complex-terrain.
The utility model content
The utility model technology is dealt with problems: overcome the prior art deficiency, a kind of polypody mobile device based on hybrid drive is provided, realize that gait swings fast and efficiently, thereby realize the efficient walking of mobile device and run; Realize controlling flexibly simultaneously, and then realize the comformability of mobile device to complex-terrains such as hillside, meadow, hollows.
The purpose of this utility model is achieved through the following technical solutions: a kind of polypody mobile device based on hybrid drive is comprised of body 1 and a plurality of combination drive leg structure 2; Described combination drive leg structure 2 is installed on body 1, described each combination drive leg structure 2 comprises pedestal 5, main drive motor 6, motor cabinet 7, coupler 8, crankshaft 9, crank 10, crank connecting link rotating shaft 11, transmission connecting rod 12, rocking bar rotating shaft 13, gear case rotating shaft 14, linear drives unit 15, rocking bar 16, the rotating shaft 17 of rocking bar shank and mid-calf cell 18, connecting rod-feed screw nut sleeve rotating shaft 19, connecting rod shank rotating shaft 20; Main drive motor 6 is installed on motor cabinet 7, motor cabinet 7 is rigidly connected on pedestal 5, crank 10, linear drives unit 15 and rocking bar 16 are installed on pedestal 5 by crankshaft 9, gear case rotating shaft and rocking bar rotating shaft 13 respectively, transmit connecting rod 12 and be connected with crank 10, linear drives unit 15 and mid-calf cell 18 with the rotating shaft 20 of connecting rod shank by crank connecting link rotating shaft 11, connecting rod-feed screw nut sleeve rotating shaft 19 respectively, rocking bar 16 is connected by rocking bar shank rotating shaft 17 with mid-calf cell 18.
Orthogonal being installed on frame 1 of each combination drive leg structure in described a plurality of combination drive leg structure 2, mounting means is outer elbow formula, interior elbow formula or parallel elbow formula; 2 one-tenths, the above polypody mobile device combination drive leg structure of four-footed laterally, vertically, array or annular spread on body, the front and back foot adopts outer elbow formula, interior elbow formula or the distribution of parallel elbow formula simultaneously.
Described linear drives unit 15 comprises servomotor 21, gear case 22, motor gear 24, gear case cover 25, lead screw shaft 27, feed screw nut 29 and screw gear 34, gear case 22 is installed on pedestal 5 by gear case rotating shaft 14, gear case 22 is fixing by screw 26 with gear case cover 25, servomotor 21 fixing with gear case on and fixing with motor gear 24 by motor gear holding screw 23, motor gear 24 and screw gear 34 engagements, screw gear 34 is fixing with lead screw shaft 27 by locating dowel pin 33, lead screw shaft 27 is passed through angular contact bearing 32 by gear case 22 and gear case cover 25 axial restraints, feed screw nut 29 is affixed by screw 28 and feed screw nut sleeve 30, feed screw nut sleeve 30 is hinged by connecting rod-feed screw nut sleeve rotating shaft 19 and transmission connecting rod 12, it is spacing to feed screw nut 29 that nut 31 is installed on the end of lead screw shaft 27.
Described mid-calf cell 18 comprises shank top 35, recoil spring 36, shank position-limited lever 37, M8 nut 38,39He vola, shank bottom 40; Shank top 35 is hinged with transmission connecting rod 12 and rocking bar 16 by connecting rod shank rotating shaft 20 and rocking bar shank rotating shaft 17 respectively, shank top 35 coordinates by the hole axle with shank bottom 39, can move up and down, centre is recoil spring 36, shank position-limited lever 37 is installed between shank top 35 and shank bottom 39, and two ends M8 nut 38 and vola 40 are installed on 39 bottoms, shank bottom.
Described vola 40 is made by vibration-absorptive material.
Dynamic duty process of the present utility model is as follows: main drive motor 6 passes to crankshaft 9 by coupler 7 by rotation, crank 10 rotarily drives transmission connecting rod 12 and linear drives unit 15 is swung, and then driving rocking bar and mid-calf cell is swung, foot end closed loop moving track is realized in the shank bottom; Servomotor 21 drive motor gear 24 rotations in the linear drives unit, and then drive lead screw shaft 27 to rotate by screw gear 34, thereby drive feed screw nut 29 and feed screw nut sleeve 30 to carry out axial motion, thereby the swing of transmitting connecting rod 12 and whole linear drives unit 15 is regulated, the real-time adjusting of realization to sufficient end motion track, thereby change the motion gait of polypody mobile device and carry out the attitude adjustment of whole fuselage, to improve manoevreability and the landform adaptive faculty of polypody mobile device; In the time of the vola kiss the earth, but recoil spring 36 impact power cushioned, reduce shank top stressed.
The utility model principle: the utility model mainly comprises the topology installation of leg structure and many legs of mobile device of combination drive; Wherein the combination drive leg structure adopts multivariant combination drive closed chain connecting rod mechanism, the crank that one of them degree of freedom is unidirectional constant-speed drive, the active force of leg mechanism is provided, and all the other degree of freedom are reciprocating servocontrol degree of freedom, carry out the servo adjusting of leg mechanism and control.Connecting rod end points in connecting rod mechanism or epitaxial end are as the foot end of leg mechanism; Crank is driven by common high-power rotating driver (comprising heavy-duty motor, HM Hydraulic Motor, driving engine etc.), carries out unidirectional constant speed rotation, realizes that the gait of whole leg link mechanism swings, and realizes foot end run trace; Servo-driver carries out servo-drive in sufficient formula traveling process, adjusts in real time the track of foot end, realizes the comformability under complex-terrain.
The topology of many legs of mobile device is installed mainly by a plurality of combination drive leg structure modules being carried out the layout of diverse location on rigidity and flexible body, obtain different polypody mobile device forms, realize the different performances of advancing, different landform is kept to comformability and alerting ability.
The utility model advantage compared with prior art is:
(1) the utility model adopts the leg mechanism of hybrid drive as mobile device, with the control servo power, inputting and carrying out effective combination the high-power common rotating power source of continuous unidirectional rotation and high-frequency response: utilize the single direction rotation driving leg portion mechanism of main power to realize that gait swings fast and efficiently, thereby realize the efficient walking of mobile device and run; Utilize high frequency servo to drive the path of motion of regulating leg mechanism simultaneously, realize controlling flexibly, and then realize the comformability of mobile device to complex-terrains such as hillside, meadow, hollows.
(2) combination drive leg structure of the present utility model adopts modular design, by different topologys, installs, and can realize different mobile device configurations, obtains different Combination properties.
The accompanying drawing explanation
The structure principle chart that Fig. 1 is the utility model hybrid drive;
Fig. 2 is that 3 kinds of different topologys of the four-footed mobile device of the utility model based on hybrid drive are installed; Wherein a, b, c are respectively the mounting means figure of the parallel elbow formula of leg structure, interior elbow formula and outer elbow formula;
The topological erection plan that Fig. 3 is the polypody mobile device combination drive leg structure based on hybrid drive; Wherein a for laterally, b for vertically, c is array, d is annular carries out leg structural topology erection plan;
Fig. 4 a, Fig. 4 b, Fig. 4 c are respectively the polypody mobile device application example based on combination drive that a kind of master driver of the utility model and servo-driver are all DC machine, and wherein 4a is elbow formula in four-footed, 4b be six foots vertically, 4c be eight foots laterally;
The leg mechanism design drawing that Fig. 5 is four-footed mobile device application example in the utility model;
Fig. 6 is four-footed mobile device application example linear servo drive design drawing in the utility model;
Fig. 7 is four-footed mobile device application example mid-calf cell design drawing in the utility model.
Wherein in Fig. 1, Fig. 2, the unidirectional constant speed rotary of single arrow arc representation drives, and double-head arrow circular arc and straight line mean the high-frequency servo-drive.The body that in Fig. 2 and Fig. 3, thick lines are mobile device.At Fig. 4, 5, in 6 and 7: 1 is the mobile device body, 2 is mixed organization leg mechanism (as Fig. 5), 3 is the control system protective case, 4 is laser radar, 5 is pedestal, 6 is main drive motor, 7 is motor cabinet, 8 is coupler, 9 is crankshaft, 10 is crank, 11 is the crank connecting link rotating shaft, 12 for transmitting connecting rod, 13 is the rocking bar rotating shaft, 14 is the gear case rotating shaft, 15 is linear drives unit (as Fig. 6), 16 is rocking bar, 17 is the rotating shaft of rocking bar shank, 18 is mid-calf cell (as Fig. 7), 19 is connecting rod-feed screw nut sleeve rotating shaft, 20 is the rotating shaft of connecting rod shank, 21 is servomotor, 22 is gear case, 23 is the motor gear holding screw, 24 is motor gear, 25 is gear case cover, 26 is the M3 screw, 27 is lead screw shaft, 28 is the M5 screw, 29 is feed screw nut, 30 is the feed screw nut sleeve, 31 is the M12 nut, 32 is angular contact bearing, 33 is the diameter locating dowel pin that is 4, 34 is screw gear, 35 is shank top, 36 is recoil spring, 37 is the shank position-limited lever, 38 is the M8 nut, 39 is the shank bottom, 40 is vola.
The specific embodiment
As shown in Figure 1, combination drive leg formula mechanism is a multivariant crank-rocker mechanism, one of them degree of freedom adopts the rotary actuation (unidirectional arrow circular curve) of unidirectional constant speed, and all the other degree of freedom adopt linear servo drive or rotating servo to drive (four-headed arrow straight line or circular curve); Single direction rotation drives by the driving crank High Rotation Speed, realizes that hybrid drive does gait and swing, and realizes rapidity and the high efficiency of mechanism; Servo-driver is regulated shank on the basis of main driving, further regulates foot end track, makes mechanism have good alerting ability, adapts to different complicated landform.As shown in Figures 2 and 3, the black heavy line means the body of mobile device, by the different topology to the combination drive leg mechanism, installs, and forms different mobile device forms, utilize hybrid drive forward or reverse motion, make mobile device there is different quick travel performances, Fig. 2 be four-footed mobile device based on hybrid drive 3 in four leg topologys install, a, b, c are respectively the mounting means of the parallel elbow formula of leg structure, interior elbow formula and outer elbow formula, and simulation has the various mammiferous walking step state of different leg structures respectively, Fig. 3 means the topology installation (overlooking) of the combination drive leg structure mobile device that four-footed is above, in figure, black arrow means the mobile device working direction, black rectangle means combination drive leg structure plan structure, polypody mechanism can take laterally (in Fig. 3 a), vertically (b in Fig. 3), array (c in Fig. 3) or annular (d in Fig. 3) are carried out the installation of leg structural topology, by stable gait design, many group legs (every group can independently keep mobile device to stablize) replace kiss the earth and carry out moving forward of mobile device, polypody mobile device based on hybrid drive can obtain efficient high speed gait of march (the unidirectional high-speed driving of master driver), obtain alerting ability and complex-terrain comformability (high frequency of servo-driver is regulated) preferably simultaneously.
Fig. 4 a means a kind of embodiment of the complete motor-driven polypody mobile device based on hybrid drive, and the servo-drive degree of freedom of its combination drive leg structure is 1, adopts moving sets, and position is Fig. 1 intermediate rocker position; Mobile device mainly is comprised of body 1 and combination drive leg structure 2, wherein Fig. 4 a is the four-footed mobile device that leg structure is installed the topology installation that adopts Fig. 2 b, Fig. 4 b is that leg mechanism is taked the six sufficient mobile devices that vertically topology is installed, Fig. 4 c is for adopting eight sufficient mobile devices of horizontal topology installation, and Fig. 4 b and 4c mean that six foots are vertically horizontal with eight foots.The scope of polypody mobile device is 4-20, no matter odd number or even number all can, the 4a of below take is elaborated as example, 4b is identical with 4a with the 4b specific embodiment.
Combination drive leg structure is carried out effective vibration damping connection by the body 1 of pedestal 5 mobile devices, simultaneously because the modular design (as shown in Figure 5) of leg structure, the four-footed mobile device configuration of Fig. 2 a and Fig. 2 c and vertically, laterally, the polypody mobile device of array and annular can realize simultaneously.In combination drive leg structure, crank 10, linear drives unit 15 and rocking bar 16 form revolute pair by crankshaft 9, gear case rotating shaft 14 and rocking bar rotating shaft 13 through bearing and pedestal respectively; Crank 10, pedestal 5, transmission connecting rod 12 and linear drives unit 15 form four bar the first closed chains, crank 10 and transmission connecting rod 12 form revolute pair by crank connecting link rotating shaft 11 through bearing, and linear drives unit 15 and transmission connecting rod 12 pass through connecting rod-feed screw nut sleeve rotating shaft 19 and form revolute pairs; Pedestal 5, linear drives unit 15, transmission connecting rod 12, mid-calf cell 18 and rocking bar 16 form five bar the second closed chains, transmit connecting rod 12 and form revolute pair by the rotating shaft 20 of connecting rod shank through bearing and mid-calf cell 16,16 of rocking bars form revolute pair by rocking bar shank rotating shaft 17 and shank.Crank 10 High Rotation Speeds drive the first closed chain, realize transmitting the periodic oscillations of connecting rod 12 and linear drives unit 15, linear drives unit 16 carries out linear servo the motion of the first closed chain is carried out to servo adjusting simultaneously, fine setting linear drives unit 15 and the swing of transmitting connecting rod 12; Wobble drive second closed chain of linear drives unit 15 and transmission connecting rod 12, realize the swing of mid-calf cell 18 and rocking bar 16, and shank is realized the foot end track of whole combination drive leg structure by vola 40, realize walking and run.
Crank 10 is driven by main motor 6 high-power, unidirectional constant speed rotary, main motor 6 is fixedly installed on pedestal 5 by motor cabinet 7, the high speed of main motor 6 output shafts, unidirectional constant speed rotary pass to crankshaft 9 by coupler 8 simultaneously, thereby driving crank 10 is rotated, linear drives unit 15(is as shown in Figure 6) by low power servo drive motor 21, driven, servo drive motor 21 is by being installed on gear case 22, gear case 22 is rotated by gear case rotating shaft 14 and pedestal 5, the servo rotation of motor output shaft passes to screw gear 34 by motor gear 24, through locating dowel pin 33, drive lead screw shaft 27 to be moved, lead screw shaft is carried out the transmission of axial limiting and axial force by two angular contact ball bearings 32 by gear case 22 and gear case cover 25 simultaneously, lead screw shaft 27 rotarily drives the feed screw nut sleeve 30 affixed with feed screw nut 29 and moves axially (31 pairs of feed screw nuts of nut move axially carry out spacing), the first closed chain geomery changes, the swing of regulating servo straight line driver element 15 and transmitting connecting rod 12, and then regulate foot and hold track, in mid-calf cell (as shown in Figure 7), shank top 35 and shank bottom 39 coordinate formation to do straight-line displacement by the hole axle, the middle recoil spring 36 of installing, by 37 pairs of movements of shank position-limited lever, lead with spacing simultaneously, shank bottom 39 is fixed by the vola 40 made from vibration-absorptive material, when the vola kiss the earth and form impulsive force, vola 40 passes to shank bottom 39 by the impulsive force of decaying after energy absorbing, and then pass to recoil spring 36 and carry out energy absorbing, weak impulsive force is afterwards received on shank top 35 twice, reduce the impact of ground shock on actuator.
When the fast walking or run on smooth ground of the polypody mobile device based on combination drive, straightaway is without the adjusting of carrying out servo-drive; When being turned, regulate the foot end track of the right and left leg by servo-drive, the height of track is inconsistent, thereby realizes the velocity contrast of sufficient formula, forms turn radius and is turned; When low-speed running runs into obstacle under complex-terrain when mobile device, adjust the foot end track of each foot by servo-driver, realize the adaptation of mobile device to complicated ground, cross over the small-scale obstacle; In addition, can also be identified large-scale obstacle by laser radar 4 sensors such as grade, be evaded thereby turn to detour.
In a word, the utility model adopts the leg structure of combination drive closed chain connecting rod mechanism as mobile device, the servo-drive of the common rotating power source of single direction rotation and high frequency response is organically combined, utilizing main power single direction rotation driving leg portion mechanism to make gait swings, realize the efficient fast speed walking of mobile device, utilize servo-drive to regulate the path of motion of leg mechanism simultaneously, realize the flexible control of motion, realize adaptive capacity and the obstacle climbing ability of mobile device to complicated landform.
The utility model does not elaborate part and belongs to techniques well known.
Above content is in conjunction with concrete preferred implementation further detailed description of the utility model; can not assert that the specific embodiment of the present utility model only limits to this; for the utility model person of an ordinary skill in the technical field; without departing from the concept of the premise utility; can also make some simple deduction or replace, all should be considered as belonging to the utility model and determine scope of patent protection by submitted to claims.
Claims (5)
1. the polypody mobile device based on hybrid drive, it is characterized in that: it is comprised of body (1) and a plurality of combination drive leg structures (2), described combination drive leg structure (2) is installed on body (1), described each combination drive leg structure (2) comprises pedestal (5), main drive motor (6), motor cabinet (7), coupler (8), crankshaft (9), crank (10), crank connecting link rotating shaft (11), transmission connecting rod (12), rocking bar rotating shaft (13), gear case rotating shaft (14), linear drives unit (15), rocking bar (16), rocking bar shank rotating shaft (17) and mid-calf cell (18), connecting rod-feed screw nut sleeve rotating shaft (19), connecting rod shank rotating shaft (20), main drive motor (6) is installed on motor cabinet (7), motor cabinet (7) is rigidly connected on pedestal (5), crank (10), linear drives unit (15) and rocking bar (16) are respectively by crankshaft (9), gear case rotating shaft and rocking bar rotating shaft (13) are installed on pedestal (5), transmit connecting rod (12) respectively by crank connecting link rotating shaft (11), connecting rod-feed screw nut sleeve rotating shaft (19) and connecting rod shank rotating shaft (20) and crank (10), linear drives unit (15) is connected with mid-calf cell (18), rocking bar (16) is connected by rocking bar shank rotating shaft (17) with mid-calf cell (18).
2. the polypody mobile device based on hybrid drive according to claim 1, it is characterized in that: each the combination drive leg structure in described a plurality of combination drive leg structures (2) is orthogonal is installed on frame (1) above, and mounting means is outer elbow formula, interior elbow formula or parallel elbow formula; The above polypody mobile device combination drive leg structure (2) of four-footed becomes laterally, vertically, array or annular spread on body, the front and back foot adopts outer elbow formula, interior elbow formula or the distribution of parallel elbow formula simultaneously.
3. the polypody mobile device based on hybrid drive according to claim 1, it is characterized in that: described linear drives unit (15) comprises servomotor (21), gear case (22), motor gear (24), gear case cover (25), lead screw shaft (27), feed screw nut (29) and screw gear (34), gear case (22) is installed on pedestal (5) by gear case rotating shaft (14), gear case (22) is fixing by screw (26) with gear case cover (25), servomotor (21) fixing with gear case on and fixing by motor gear holding screw (23) and motor gear (24), motor gear (24) and screw gear (34) engagement, screw gear (34) is fixing by locating dowel pin (33) and lead screw shaft (27), lead screw shaft (27) is passed through angular contact bearing (32) by gear case (22) and gear case cover (25) axial restraint, feed screw nut (29) is affixed by screw (28) and feed screw nut sleeve (30), feed screw nut sleeve (30) is hinged by connecting rod-feed screw nut sleeve rotating shaft (19) and transmission connecting rod (12), it is spacing to feed screw nut (29) that nut (31) is installed on the end of lead screw shaft (27).
4. the polypody mobile device based on hybrid drive according to claim 1, it is characterized in that: described mid-calf cell (18) comprises shank top (35), recoil spring (36), shank position-limited lever (37), M8 nut (38), shank bottom (39) and vola (40); Shank top (35) is hinged with transmission connecting rod (12) and rocking bar (16) by connecting rod shank rotating shaft (20) and rocking bar shank rotating shaft (17) respectively, shank top (35) coordinates by the hole axle with shank bottom (39), can move up and down, centre is recoil spring (36), shank position-limited lever (37) is installed between shank top (35) and shank bottom (39), and two ends M8 nuts (38) and vola (40) are installed on bottom, shank bottom (39).
5. the polypody mobile device based on hybrid drive according to claim 1, it is characterized in that: described vola (40) are made by vibration-absorptive material.
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| CN2013203913578U CN203332261U (en) | 2013-07-01 | 2013-07-01 | Multi-foot moving device based on hybrid driving mechanism |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
| CN103979034A (en) * | 2014-05-19 | 2014-08-13 | 北京交通大学 | Four-leg walking robot with single power leg mechanism |
| CN104943761A (en) * | 2015-06-19 | 2015-09-30 | 金陵科技学院 | Earthquake rescue robot |
| CN106809294A (en) * | 2016-12-27 | 2017-06-09 | 郑州轻工业学院 | The walking robot that cam link combined mechanism drives |
| CN106809295A (en) * | 2016-12-27 | 2017-06-09 | 郑州轻工业学院 | The walking robot list leg system that cam link combined mechanism drives |
| CN107253498A (en) * | 2017-06-07 | 2017-10-17 | 中科新松有限公司 | A kind of legged type robot leg structure and the legged type robot with it |
| CN109367644A (en) * | 2018-11-06 | 2019-02-22 | 北京建筑大学 | A kind of multi-mode walking robot |
| CN110077486A (en) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | A kind of bionical eight sufficient specialized robot |
| CN110294040A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of mobile walking devices |
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2013
- 2013-07-01 CN CN2013203913578U patent/CN203332261U/en not_active Expired - Lifetime
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
| CN103395457B (en) * | 2013-07-01 | 2016-03-02 | 中国科学技术大学 | A kind of polypody mobile device based on hybrid drive |
| CN103979034A (en) * | 2014-05-19 | 2014-08-13 | 北京交通大学 | Four-leg walking robot with single power leg mechanism |
| CN104943761A (en) * | 2015-06-19 | 2015-09-30 | 金陵科技学院 | Earthquake rescue robot |
| CN104943761B (en) * | 2015-06-19 | 2017-03-08 | 金陵科技学院 | A kind of earthquake rescue robot |
| CN106809295A (en) * | 2016-12-27 | 2017-06-09 | 郑州轻工业学院 | The walking robot list leg system that cam link combined mechanism drives |
| CN106809294A (en) * | 2016-12-27 | 2017-06-09 | 郑州轻工业学院 | The walking robot that cam link combined mechanism drives |
| CN106809295B (en) * | 2016-12-27 | 2018-09-21 | 郑州轻工业学院 | The walking robot list leg system of cam link combined mechanism driving |
| CN106809294B (en) * | 2016-12-27 | 2018-11-06 | 郑州轻工业学院 | The walking robot of cam link combined mechanism driving |
| CN107253498A (en) * | 2017-06-07 | 2017-10-17 | 中科新松有限公司 | A kind of legged type robot leg structure and the legged type robot with it |
| CN107253498B (en) * | 2017-06-07 | 2019-12-03 | 中科新松有限公司 | A kind of legged type robot leg structure and the legged type robot with it |
| CN109367644A (en) * | 2018-11-06 | 2019-02-22 | 北京建筑大学 | A kind of multi-mode walking robot |
| CN109367644B (en) * | 2018-11-06 | 2020-10-16 | 北京建筑大学 | Multi-mode walking robot |
| CN110077486A (en) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | A kind of bionical eight sufficient specialized robot |
| CN110294040A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of mobile walking devices |
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