CN204110199U - A kind of running gear and adopt the bio-robot of this device - Google Patents

A kind of running gear and adopt the bio-robot of this device Download PDF

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Publication number
CN204110199U
CN204110199U CN201420509064.XU CN201420509064U CN204110199U CN 204110199 U CN204110199 U CN 204110199U CN 201420509064 U CN201420509064 U CN 201420509064U CN 204110199 U CN204110199 U CN 204110199U
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CN
China
Prior art keywords
arm
push rod
hydraulic push
robot
forearm
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CN201420509064.XU
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Chinese (zh)
Inventor
臧红彬
陶俊杰
史亚秋
蔡勇
周颖玥
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西南科技大学
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Priority to CN201420509064.XU priority Critical patent/CN204110199U/en
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Publication of CN204110199U publication Critical patent/CN204110199U/en

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Abstract

The utility model discloses a kind of running gear and adopt the bio-robot of this device, object is that solving existing quadruped robot generally adopts rigid construction trunk, only can realize the problem of low-speed motion.This device comprises the first connecting arm, the second connecting arm, the 3rd connecting arm, the 4th connecting arm, the first hydraulic push rod, the second hydraulic push rod be connected with the second connecting arm, the 3rd hydraulic push rod be connected with the 3rd connecting arm, the first attaching parts be arranged on the second connecting arm, the second attaching parts, passive support component etc. be arranged on the 3rd connecting arm.The utility model proposes brand-new running gear and adopt the bio-robot of this device, have good stability of equilibrium, can realize dynamically running at a high speed, relative to existing quadruped robot, be a kind of innovation completely newly, has significant progressive meaning.The utility model is reasonable in design, is skillfully constructed, and can realize the rapid movement of bio-robot, has wide market outlook and using value.

Description

A kind of running gear and adopt the bio-robot of this device

Technical field

The utility model relates to robot field, particularly a kind of running gear and adopt the bio-robot of this device, be specially a kind of can rapid movement cheetah running gear and adopt the bio-robot of this device.

Background technology

Along with the development and progression of science and technology, quadruped robot has been widely used in the fields such as the investigation of unknown landform, extraterrestrial talent scout's rope, the rescue of the condition of a disaster dangerous situation, military purposes at present, obtains large-scale application.

But the kinematic velocity of current quadruped robot is lower, too low kinematic velocity can limit the practical application of quadruped robot greatly.For this reason, researcher has been not content with the low speed static walking of robot, wishes that the high speed that can realize quadruped robot is dynamically run.

At present, in succession researched and developed a lot of principle prototype or experimental model both at home and abroad, but the basic theory problem that restriction multi-foot robot technology further develops does not obtain basic solution.Therefore, at present in the urgent need to a kind of robot that can realize rapid movement or dynamically run at a high speed.

Utility model content

Goal of the invention of the present utility model is: generally adopt rigid construction trunk for existing quadruped robot, only can realize the problem of low-speed motion, provides a kind of running gear and adopts the bio-robot of this device.The utility model is in conjunction with the dissection of quadruped mammal and motion analysis, set up the bionical quadruped robot kinetic model with elasticity joint of trunk, and based on the motion feature of real quadruped mammal, build the motion gait of bionical quadruped robot, creatively design the performance-oriented bionical cheetah four-footed gait robot with elasticity trunk structure.The utility model proposes brand-new running gear and adopt the bio-robot of this device, have good stability of equilibrium, can realize dynamically running at a high speed, relative to existing quadruped robot, be a kind of innovation completely newly, has significant progressive meaning.The utility model is reasonable in design, is skillfully constructed, and can realize the rapid movement of bio-robot, has wide market outlook and using value.

To achieve these goals, the utility model adopts following technical scheme:

A kind of running gear, comprise the first connecting arm, second connecting arm, 3rd connecting arm, the 4th connecting arm be flexibly connected with the 3rd connecting arm, the first hydraulic push rod be connected with the first connecting arm, the second hydraulic push rod be connected with the second connecting arm, the 3rd hydraulic push rod be connected with the 3rd connecting arm, be arranged on the first attaching parts on the second connecting arm, be arranged on the second attaching parts on the 3rd connecting arm, passive support component, the two ends of described second connecting arm respectively with the first connecting arm, 3rd connecting arm is flexibly connected, the expansion link of described first hydraulic push rod is connected with the first attaching parts, described first hydraulic push rod can drive the second connecting arm to rotate around the junction of the first connecting arm and the second connecting arm, the expansion link of described second hydraulic push rod is connected with the second attaching parts, second hydraulic push rod can drive the 3rd connecting arm to rotate around the junction of the second connecting arm and the second connecting arm by the second attaching parts, the two ends of described 3rd hydraulic push rod respectively with the 3rd connecting arm, 4th connecting arm is connected, 3rd hydraulic push rod can drive the 4th connecting arm to rotate around the junction of the 3rd connecting arm and the 4th connecting arm, described 4th connecting arm is provided with the first bumper, described 4th connecting arm is connected with support component by the first bumper.

The two ends of described second connecting arm are riveted with the first connecting arm, the 3rd connecting arm activity respectively, and described 3rd connecting arm and the activity of the 4th connecting arm are riveted.

Described first bumper is spring type shock absorber or telescopic shock absorber.

Described support component bottom is provided with cushion block.

Described support component bottom is provided with rubber pad.

Adopt the bio-robot of aforementioned movement device, comprise front frame, be arranged on the driving engine on front frame, the control system be connected with driving engine, anterior mobile device, running gear, after poppet, 4th hydraulic push rod, be arranged on the damping spring between front frame and after poppet, described anterior mobile device, running gear is respectively two groups, described anterior mobile device is separately positioned on the both sides of front frame, described running gear is separately positioned on the both sides of after poppet, described front frame is connected with after poppet by the 4th hydraulic push rod, described driving engine respectively with the first hydraulic push rod, second hydraulic push rod, 3rd hydraulic push rod, 4th hydraulic push rod, anterior mobile device is connected.

Described anterior mobile device comprises the first forearm, the second forearm, the second bumper, the support component be connected with the second bumper, the 5th hydraulic push rod be arranged on the first forearm, the 6th hydraulic push rod be arranged on the second forearm, forearm first attaching parts be arranged on the second forearm, forearm second attaching parts be arranged on the second bumper, described 5th hydraulic push rod drives the second forearm around the first forearm rotation by forearm first attaching parts, and described 6th hydraulic push rod drives the second bumper around the second forearm rotation by forearm second attaching parts.

Also comprise in the Ultrasonic ranging device be connected with control system, the infrared inductor be connected with control system, the remote control that is connected with control system one or more.

Also comprise and be arranged on breastbone shell below front frame, be arranged on head shell above front frame.

Also comprise the afterbody be arranged on after poppet.

Described afterbody is formed by connecting by torque spring by several coccyxs.

Generally adopt rigid construction trunk for existing quadruped robot, only can realize the problem of low-speed motion, the utility model provides a kind of running gear and adopts the bio-robot of this device.Applicant, using cheetah as reference, by analyzing the operational process of cheetah, thus obtains the utility model.Wherein, gait is that the one of walking robot is taken a step mode, is the rule of walking robot each bar leg coordinated operation, i.e. the lifting leg and put leg order of each bar leg.It is the very important parameter of research one of walking mechanism, is the very important factor guaranteeing walking mechanism smooth operation.And gait planning is walking robot studies requisite content, its motion characteristics for mechanism and dynamic characteristic have direct impact, also directly have influence on the complexity of method of controlling and realization simultaneously.Wherein, quiet walking refers to that robot meets statics condition all the time in gait processes, namely robot center of gravity always drop on support that several, ground pin surrounds area of a polygon in.Dynamic walking refer to the center of gravity of robot in gait processes always do not drop on support that several, ground pin surrounds area of a polygon in, the center of gravity in gait processes drops on outside corresponding area sometimes.It is outer and produce forward the component of the toppling over power as walking that dynamic walking exactly utilizes this center of gravity to exceed area.Rule gait, also known as fixing gait, refer to that the legs and feet of robot carry out the process of moving by fixing order and track, this gait determines robot only with walking on smooth road surface.Irregular gait, also known as Free gait, refer to that the order of the leg motion of robot and the track of pin motion are unfixed, robot can change the swing order of each bar leg and the path of motion of pin according to the change of pedestrian environment.So desirable irregular gait also can be called self adaptation gait or intelligent gait.

Applicant, on the basis analyzed the motion process of cheetah, by the design to gait, gait planning, proposes a kind of running gear.Running gear of the present utility model is a kind of device of motion of 4DOF, and the path of motion of its latter end as shown in Figure 2.This running gear comprises the first connecting arm, the second connecting arm, the 3rd connecting arm, the 4th connecting arm, the first hydraulic push rod be connected with the first connecting arm, the second hydraulic push rod be connected with the second connecting arm, the 3rd hydraulic push rod be connected with the 3rd connecting arm, the first attaching parts be arranged on the second connecting arm that are flexibly connected with the 3rd connecting arm, is arranged on the second attaching parts on the 3rd connecting arm, passive support component.The two ends of the second connecting arm are flexibly connected with the first connecting arm, the 3rd connecting arm respectively, and the expansion link of the first hydraulic push rod is connected with the first attaching parts, and the first hydraulic push rod can drive the second connecting arm to rotate around the junction of the first connecting arm and the second connecting arm.The expansion link of the second hydraulic push rod is connected with the second attaching parts, and the second hydraulic push rod can drive the 3rd connecting arm to rotate around the second connecting arm by the second attaching parts.One end of 3rd hydraulic push rod is fixedly connected with the 3rd connecting arm, and its other end is connected with the 4th connecting arm, and the 3rd hydraulic push rod can drive the 4th connecting arm to relatively rotate around the junction of the 3rd connecting arm and the 4th connecting arm.4th connecting arm is provided with the first bumper, and the 4th connecting arm is connected with support component by the first bumper.By cooperatively interacting of each parts, by controlling corresponding hydraulic push rod, the utility model can be made to realize running required gait, then coordinate corresponding assembly, can become a kind of multi-foot robot that can run at a high speed, the utility model improves the bio-robot based on this device further for this reason.Can be found out by path of motion figure, the gait requirement that this device can adapt to varying environment and run fast, effectively can solve the problem that existing multi-foot robot cannot be run fast.

Further, the two ends of the second connecting arm are riveted with the first connecting arm, the 3rd connecting arm activity respectively, and the 3rd connecting arm and the activity of the 4th connecting arm are riveted, and the first bumper is spring type shock absorber or telescopic shock absorber.Support component bottom is provided with cushion block, and cushion block can be rubber pad.Cushion block can play the effects such as friction, damping, contributes to the easy motion of device.

Emphasis is substantially all concentrated on the impact on the speed of quadruped robot, energy consumption and stability of robot leg structure and different motion gaits by existing quadruped robot research, the trunk of robot substantially all adopts rigid construction, and do not consider that quadruped robot is run required key position, the change that can not effectively utilize trunk improves speed, therefore, eventually can run into the bottleneck of raising speed, the rapid movement of multi-foot robot cannot be realized.

The utility model provides a kind of bio-robot, it comprises front frame, be arranged on the driving engine on front frame, the control system be connected with driving engine, anterior mobile device, running gear, after poppet, 4th hydraulic push rod, be arranged on the damping spring between front frame and after poppet, anterior mobile device, running gear is respectively two groups, anterior mobile device is separately positioned on the both sides of front frame, running gear is separately positioned on the both sides of after poppet, front frame is connected with after poppet by the 4th hydraulic push rod, driving engine respectively with the first hydraulic push rod, second hydraulic push rod, 3rd hydraulic push rod, 4th hydraulic push rod, anterior mobile device is connected.In the utility model, front frame, after poppet are connected by damping spring, the 4th hydraulic push rod, and form elastic support main body, anterior mobile device, running gear are respectively two groups, correspondence is symmetricly set on front frame, after poppet both sides, forms drive element of the present utility model; Driving engine is connected with the first hydraulic push rod, the second hydraulic push rod, the 3rd hydraulic push rod, the 4th hydraulic push rod, anterior mobile device respectively, and driving engine and control system then form control of the present utility model and engine installation.Meanwhile, running gear is as rear portion mobile device, and it has 4 degree of freedom; Anterior mobile device is positioned at front frame both sides, and it has 3 degree of freedom; Further, running gear, anterior mobile device adopt hydraulic push rod to drive respectively, and hydraulic push rod has driving engine to provide power, by the distribution of control system to power, thus realize the motion control of whole device, complete corresponding action.Running gear, anterior mobile device are respectively arranged with the first bumper, the second bumper, thus effectively play the object of damping, rapid movement.

Further, also comprise and be arranged on breastbone shell below front frame, be arranged on head shell above front frame; Also comprise and be arranged on afterbody on after poppet; Afterbody is formed by connecting by torque spring by several coccyxs.In the utility model, tail structure adopts without driving the mode that freely swings, and between each coccyx, only arrange the afterbody motion that torque spring carrys out Reality simulation cheetah, head shell also can adopt the type of drive of hydraulic push rod, thus realizes head and freely swing.

On the basis of this bio-robot basic exercise, the utility model has carried out application extension to it again, adds Ultrasonic ranging device, infrared inductor, remote control, thus makes the utility model make to have application prospect more widely.

The utility model is for the requirement of practical application to the kinematic velocity of bionical quadruped robot, and the deficiency of existing research, with occurring in nature quadruped mammal for reference, in conjunction with dissection and the motion analysis of quadruped mammal, set up the bionical quadruped robot kinetic model with elasticity joint of trunk, and based on the motion feature of real quadruped mammal, build the motion gait of bionical quadruped robot, the basis of dynamics analysis is studied joint of trunk movement mechanism, characteristic and the coupled relation with other structure thereof, the key mechanism that research is galloped at all speed at a high speed.The utility model can provide theoretical foundation for the design of the bionical quadruped robot with joint of vertebral column of can running at a high speed and control.

In the utility model, running gear, anterior mobile device are respectively arranged with bumper; Meanwhile, provide power by driving engine, and by the distribution of control system to power, realize the rapid movement of whole device; Front frame, after poppet are connected by damping spring, the 4th hydraulic push rod, form elastic support main body, realize flexibility, in quadruped robot motion process, avoid larger rigidity on the impact of gait, realize stablizing compliant motion; And, afterbody is formed by connecting by torque spring by several coccyxs, in the utility model, afterbody adopts without driving the mode freely swung, only torque spring is set between each coccyx, carry out the afterbody motion of Reality simulation cheetah, head shell also can adopt the type of drive of hydraulic push rod, thus realizes head and freely swing.

First the innovation of the rigid construction trunk of traditional quadruped robot is designed to elasticity joint of trunk by the utility model, utilizes the change of trunk to improve speed thus, can solve in existing four-footed gait robot research, the bottleneck problem of the raising speed run into.Simultaneously, shock-damping structure design of the present utility model can also improve the stability of motion of robot largely, and the employing hydraulic push rod of innovation drives the motion of each major joint, comparing conventional motors drives more stable, larger propulsive effort can be provided simultaneously, increase the load-carrying capacity of quadruped robot greatly, the comformability of intensifier entirety and practicality.By adopting previous designs, quick ability to run of the present utility model can be significantly improved, especially the elastic construction of joint of lumbar vertebra (i.e. the joint of lumbar vertebra of ramus digitalis anterior frame and after poppet formation) makes quadruped robot more close with quadruped motion, stability, alerting ability etc. are all greatly improved, and also make the utility model have better practicality and market outlook.

Accompanying drawing explanation

Fig. 1 is the structural representation of running gear in the utility model.

Fig. 2 is the path of motion figure of running gear in the utility model.

Fig. 3 is the structural representation of bio-robot in the utility model.

Fig. 4 is the exploded view of Fig. 3.

Fig. 5 is the birds-eye view of Fig. 3.

Mark in figure: 1 is the first connecting arm, 2 is the second connecting arm, and 3 is the 3rd connecting arm, and 4 is the 4th connecting arm, 5 is the first hydraulic push rod, and 6 is the second hydraulic push rod, and 7 is the 3rd hydraulic push rod, and 8 is the second attaching parts, 9 is support component, and 10 is the first bumper, and 11 is front frame, 12 is driving engine, and 13 is anterior mobile device, and 14 is running gear, 15 is after poppet, and 16 is the 4th hydraulic push rod, and 17 is damping spring, 18 is breastbone shell, and 19 is head shell, and 20 is afterbody.

Detailed description of the invention

Below in conjunction with accompanying drawing, the utility model is described in detail.

In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.

Below in conjunction with accompanying drawing to and embodiment the utility model is described in further detail.

Embodiment 1

As shown in the figure, bio-robot of the present utility model comprises front frame, the driving engine be arranged on front frame, the control system be connected with driving engine, anterior mobile device, running gear, after poppet, the 4th hydraulic push rod, is arranged on damping spring between front frame and after poppet, is arranged on breastbone shell below front frame, is arranged on the head shell above front frame, the afterbody be arranged on after poppet.

Wherein, running gear comprises the first connecting arm, second connecting arm, 3rd connecting arm, 4th connecting arm of riveting with the 3rd connecting arm activity, the first hydraulic push rod be connected with the first connecting arm, the second hydraulic push rod be connected with the second connecting arm, the 3rd hydraulic push rod be connected with the 3rd connecting arm, be arranged on the first attaching parts on the second connecting arm, be arranged on the second attaching parts on the 3rd connecting arm, passive support component, the two ends of the second connecting arm respectively with the first connecting arm, 3rd connecting arm activity riveted joint, the expansion link of the first hydraulic push rod is connected with the first attaching parts, first hydraulic push rod can drive the second connecting arm to rotate around the junction of the first connecting arm and the second connecting arm, the expansion link of the second hydraulic push rod is connected with the second attaching parts, second hydraulic push rod can drive the 3rd connecting arm to rotate around the junction of the second connecting arm and the 3rd connecting arm by the second attaching parts, the two ends of the 3rd hydraulic push rod respectively with the 3rd connecting arm, 4th connecting arm is connected, 3rd hydraulic push rod can drive the 4th connecting arm to rotate around the junction of the 3rd connecting arm and the 4th connecting arm, 4th connecting arm is provided with the first bumper, 4th connecting arm is connected with support component by the first bumper.First bumper can select spring type shock absorber or telescopic shock absorber, and support component bottom can be provided with for damping, the rubber pad strengthening the effects such as friction.

Anterior mobile device comprises the first forearm, the second forearm, the second bumper, the support component be connected with the second bumper, the 5th hydraulic push rod be arranged on the first forearm, the 6th hydraulic push rod be arranged on the second forearm, forearm first attaching parts be arranged on the second forearm, forearm second attaching parts be arranged on the second bumper, 5th hydraulic push rod drives the second forearm around the first forearm rotation by forearm first attaching parts, and the 6th hydraulic push rod drives the second bumper around the second forearm rotation by forearm second attaching parts.

Wherein, anterior mobile device is two groups and is symmetricly set on the both sides of front frame; Running gear is as rear portion actuating device, and be also two groups, it is symmetricly set on the both sides of after poppet.Front frame is connected with after poppet by the 4th hydraulic push rod, and driving engine is connected with the first hydraulic push rod, the second hydraulic push rod, the 3rd hydraulic push rod, the 4th hydraulic push rod, anterior mobile device respectively, and afterbody is formed by connecting by torque spring by several coccyxs.

Meanwhile, this bio-robot also comprises Ultrasonic ranging device, infrared inductor, remote control, and Ultrasonic ranging device, infrared inductor, remote control are connected with control system respectively.

Front frame, after poppet are connected by damping spring, the 4th hydraulic push rod, form elastic support main body; Anterior mobile device, running gear are respectively two groups, and correspondence is symmetricly set on front frame, after poppet both sides, forms drive element of the present utility model; Driving engine is connected with the first hydraulic push rod, the second hydraulic push rod, the 3rd hydraulic push rod, the 4th hydraulic push rod, anterior mobile device respectively, and driving engine and control system then form control of the present utility model and engine installation; Afterbody is formed by connecting by torque spring by several coccyxs, it adopts without driving the mode freely swung, and only between each coccyx, arranges torque spring, carrys out the afterbody motion of Reality simulation cheetah, head shell also can adopt the type of drive of hydraulic push rod, thus realizes head and freely swing.These designs make the utility model more close with quadruped motion, and stability, alerting ability etc. are all greatly improved.Test by experiment, compared with existing quadruped robot, the bio-robot of the present embodiment can carry out rapid movement, and has good balance and stability, has significant progressive meaning.

The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.

Claims (10)

1. a running gear, it is characterized in that, comprise the first connecting arm, second connecting arm, 3rd connecting arm, the 4th connecting arm be flexibly connected with the 3rd connecting arm, the first hydraulic push rod be connected with the first connecting arm, the second hydraulic push rod be connected with the second connecting arm, the 3rd hydraulic push rod be connected with the 3rd connecting arm, be arranged on the first attaching parts on the second connecting arm, be arranged on the second attaching parts on the 3rd connecting arm, passive support component, the two ends of described second connecting arm respectively with the first connecting arm, 3rd connecting arm is flexibly connected, the expansion link of described first hydraulic push rod is connected with the first attaching parts, described first hydraulic push rod can drive the second connecting arm to rotate around the junction of the first connecting arm and the second connecting arm, the expansion link of described second hydraulic push rod is connected with the second attaching parts, second hydraulic push rod can drive the 3rd connecting arm to rotate around the junction of the second connecting arm and the second connecting arm by the second attaching parts, the two ends of described 3rd hydraulic push rod respectively with the 3rd connecting arm, 4th connecting arm is connected, 3rd hydraulic push rod can drive the 4th connecting arm to rotate around the junction of the 3rd connecting arm and the 4th connecting arm, described 4th connecting arm is provided with the first bumper, described 4th connecting arm is connected with support component by the first bumper.
2. running gear according to claim 1, is characterized in that, the two ends of described second connecting arm rivets with the first connecting arm, the 3rd connecting arm activity respectively, described 3rd connecting arm and the 4th connecting arm is movable rivets.
3. running gear according to claim 1 or 2, is characterized in that, described first bumper is spring type shock absorber or telescopic shock absorber.
4. running gear according to claim 1, it is characterized in that, described support component bottom is provided with cushion block.
5. a bio-robot, it is characterized in that, comprise front frame, be arranged on the driving engine on front frame, the control system be connected with driving engine, anterior mobile device, running gear described in any one of claim 1-4, after poppet, 4th hydraulic push rod, be arranged on the damping spring between front frame and after poppet, described anterior mobile device, running gear is respectively two groups, described anterior mobile device is separately positioned on the both sides of front frame, described running gear is separately positioned on the both sides of after poppet, described front frame is connected with after poppet by the 4th hydraulic push rod, described driving engine respectively with the first hydraulic push rod, second hydraulic push rod, 3rd hydraulic push rod, 4th hydraulic push rod, anterior mobile device is connected.
6. bio-robot according to claim 5, it is characterized in that, described anterior mobile device comprises the first forearm, second forearm, second bumper, the support component be connected with the second bumper, be arranged on the 5th hydraulic push rod on the first forearm, be arranged on the 6th hydraulic push rod on the second forearm, be arranged on forearm first attaching parts on the second forearm, be arranged on forearm second attaching parts on the second bumper, described 5th hydraulic push rod drives the second forearm around the first forearm rotation by forearm first attaching parts, described 6th hydraulic push rod drives the second bumper around the second forearm rotation by forearm second attaching parts.
7. bio-robot according to claim 5, is characterized in that, also comprises one or more in the Ultrasonic ranging device be connected with control system, the infrared inductor be connected with control system, the remote control that is connected with control system.
8. bio-robot according to claim 5, is characterized in that, also comprises being arranged on breastbone shell below front frame, being arranged on head shell above front frame.
9. the bio-robot according to any one of claim 5-8, is characterized in that, also comprises the afterbody be arranged on after poppet.
10. bio-robot according to claim 9, is characterized in that, described afterbody is formed by connecting by torque spring by several coccyxs.
CN201420509064.XU 2014-09-05 2014-09-05 A kind of running gear and adopt the bio-robot of this device CN204110199U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105599821A (en) * 2016-01-06 2016-05-25 山东优宝特智能机器人有限公司 Electric driven biomimetic four-leg robot with environment sensing ability and control method
CN107775653A (en) * 2016-08-31 2018-03-09 江苏金刚文化科技集团股份有限公司 One kind walking class Intelligent bionic machinery people
CN108852741A (en) * 2018-04-10 2018-11-23 北京空间飞行器总体设计部 A kind of double leval jib power-assistant running mechanism
CN108909870A (en) * 2018-05-08 2018-11-30 北京交通大学 It is a kind of singly to drive bionical multi-foot robot and its reconstruct forward method
WO2019162144A1 (en) * 2018-02-21 2019-08-29 Benubot-Projektkooperation Gbr Mobile robot and method for performing a running/walking movement
CN111152860A (en) * 2019-12-18 2020-05-15 南京涵曦月自动化科技有限公司 Bionic foot of four-foot robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105599821A (en) * 2016-01-06 2016-05-25 山东优宝特智能机器人有限公司 Electric driven biomimetic four-leg robot with environment sensing ability and control method
CN107775653A (en) * 2016-08-31 2018-03-09 江苏金刚文化科技集团股份有限公司 One kind walking class Intelligent bionic machinery people
WO2019162144A1 (en) * 2018-02-21 2019-08-29 Benubot-Projektkooperation Gbr Mobile robot and method for performing a running/walking movement
CN108852741A (en) * 2018-04-10 2018-11-23 北京空间飞行器总体设计部 A kind of double leval jib power-assistant running mechanism
CN108852741B (en) * 2018-04-10 2020-08-18 北京空间飞行器总体设计部 Four-bar linkage helping hand running gear
CN108909870A (en) * 2018-05-08 2018-11-30 北京交通大学 It is a kind of singly to drive bionical multi-foot robot and its reconstruct forward method
CN111152860A (en) * 2019-12-18 2020-05-15 南京涵曦月自动化科技有限公司 Bionic foot of four-foot robot

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