CN204309923U - Wheel legged type robot leg structure and there is the wheel legged type robot of this leg structure - Google Patents
Wheel legged type robot leg structure and there is the wheel legged type robot of this leg structure Download PDFInfo
- Publication number
- CN204309923U CN204309923U CN201420779081.5U CN201420779081U CN204309923U CN 204309923 U CN204309923 U CN 204309923U CN 201420779081 U CN201420779081 U CN 201420779081U CN 204309923 U CN204309923 U CN 204309923U
- Authority
- CN
- China
- Prior art keywords
- bar
- thigh
- hinged
- wheel
- type robot
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model relates to a kind of wheel legged type robot leg structure, and comprise thigh, the top of thigh is connected with the first actuating unit, below top with external member hinged formation hip joint; Second actuating unit that end is provided with wheel, wheels is rotated of thigh and the first elastic shock attenuation unit hinged with metatarsal bar; Thigh upper end is the hinged formation knee joint with shank the first half also; The upper end of shank is connected with the 3rd actuating unit, and lower end is articulated with on metatarsal bar and forms ankle-joint; Described first elastic shock attenuation unit comprise respectively with thigh and the hinged sleeve of metatarsal bar and slide shaft, and slide shaft upper end to be stretched in sleeve and can be reciprocatingly slided, slide shaft overlaps flexible, the lower end of elastic component is fixed on the boss of slide shaft the latter half, and upper end is fixed on sleeve.The invention also discloses a kind of wheel legged type robot.The utility model can realize sufficient formula and wheeled two kinds of walking manners.
Description
Technical field
The utility model relates to robot field, specifically, relates to a kind of wheel legged type robot of taking turns legged type robot leg structure and having this leg structure.
Background technology
At present, the quadruped robot movability in legged type robot is strong, and load-carrying capacity is strong, and can walk at complex-terrain, at troop-carrying, the fields such as mining have potential application prospect, but speed is comparatively slow, and walking stability has much room for improvement.Wheeled robot is applicable to smooth ground, speed, and it is difficult to move on complex-terrain.
Therefore, how designing a kind of robot of brand new, can walk on different road surfaces faster, is the problem that those skilled in the art need solution badly.
Chinese patent application CN 104029745 A discloses a kind of leg wheel hybrid hydraulic pedipulator, comprise thigh hydraulic actuating cylinder, the thigh bar plate of shank hydraulic actuating cylinder and opposing parallel installation, shank bar plate, main body connecting panel and thigh hydraulic actuating cylinder connecting panel, between the square fixed block of main body of main body connecting panel and thigh hydraulic actuating cylinder connecting panel, be provided with body cylindrical joint pin; Two pieces of main body connecting panels are hinged with two blocks of thigh bar plates respectively, and two blocks of thigh bar plates are hinged with two blocks of shank bar plates respectively, are fixed with parallel shank end bar between two blocks of shank bar plates through the square fixed block of shank; Thigh hydraulic actuating cylinder two ends to be hinged on respectively between two pieces of thigh bar plate tops and bottom two pieces of thigh hydraulic actuating cylinder connecting panels between; On the side arm plate extended with two blocks of thigh bar plates between shank hydraulic actuating cylinder two ends are hinged in the middle part of two blocks of shank bar plates respectively.This patent application cushion characteristic is poor, and walking stability is inadequate, is difficult to adapt to complex-terrain.
Utility model content
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, provides a kind of wheel legged type robot of taking turns legged type robot leg structure and having this leg structure.Robot leg structure provided by the utility model, can walk quickly under different road conditions; Walking stability is strong.Meanwhile, the utility model additionally provides a kind of robot with this leg structure, and robot is provided with bar of removing obstacles, can the less obstacle of cleaning quality.
In order to reach above-mentioned purpose, the utility model adopts following technical scheme:
A kind of wheel legged type robot leg structure, comprising:
One thigh, the top of thigh is connected with the first actuating unit, below top with external member hinged formation hip joint;
Second actuating unit that end is provided with wheel, wheels is rotated of thigh and the first elastic shock attenuation unit hinged with metatarsal bar;
Thigh upper end is the hinged formation knee joint with shank the first half also;
The upper end of described shank is connected with the 3rd actuating unit, and lower end is articulated with on metatarsal bar and forms ankle-joint;
Described first elastic shock attenuation unit comprise respectively with thigh and the hinged sleeve of metatarsal bar and slide shaft, and slide shaft upper end to be stretched in sleeve and can be reciprocatingly slided, slide shaft overlaps flexible, the lower end of elastic component is fixed on the boss of slide shaft the latter half, and upper end is fixed on sleeve; Sleeve and thigh is hinged, slide shaft along sleeve slide up and down and slide shaft lower end and metatarsal bar hinged, can effectively slow down when doing formula motion, ground, in the face of the impact of overall leg structure, improves working stability, elongate member service life.
By the reverse force of the first, the 3rd actuating unit to thigh and shank, drive metatarsal bar to do formula walking, or metatarsal bar and shank are folded to thigh direction, wheel lands, and drives walk through the second actuating unit.
Described first elastic shock attenuation unit and shank be arranged in parallel.
On described thigh, knee joint upper articulation has the second elastic shock attenuation unit parallel with shank, and the second elastic shock attenuation unit lower end is articulated with metatarsal bar upper end.
First, second elastic shock attenuation block construction described is identical.
Described first, the 3rd actuating unit is respectively hip joint hydraulic actuating cylinder and Knee Joint Fluid cylinder pressure.
Described second actuating unit comprises the motor be installed on thigh, and motor output shaft is fixedly connected with the bevel pinion in the finishing bevel gear cuter of pair of meshing, and bevel gear wheel is installed on transmission shaft, and the transmission shaft other end is fixedly connected with wheel.
Described transmission shaft is each passed through the bearing in thigh and sleeve.
A kind of wheel legged type robot, comprise the wheel legged type robot leg structure be installed on body described in four, wherein first actuating unit one end is connected to the top of thigh, and the other end is connected on body; Upper leg portion is the hinged formation hip joint with body also; 3rd actuating unit one end is connected with shank upper end, and the other end is installed on body; Described body front end is also hinged with the unit of removing obstacles by Driven by Hydraulic Cylinder.
Described unit of removing obstacles comprises remove obstacles bar and right side, the left side be hinged with described body and to remove obstacles bar, and left side bar bar hydraulic actuating cylinder of also removing obstacles with left side of removing obstacles is hinged, and the remove obstacles other end of bar hydraulic actuating cylinder and body of left side is hinged; Described right side bar bar hydraulic actuating cylinder of also removing obstacles with right side of removing obstacles is hinged, and the remove obstacles other end of bar hydraulic actuating cylinder of right side is also hinged with body.
The remove obstacles bottom of bar of bar and right side of removing obstacles, described left side is equipped with block of removing obstacles.
The utility model is the sufficient formula quadruped robot of wheel, and smooth ground is wheel type movement, speed is fast.Running into irregular terrain transition is the walking of sufficient formula.The conversion of foot wheel can make this quadruped robot adapt to different terrain walking.This robot has hip joint, knee joint, ankle-joint.Hip joint is directly by Driven by Hydraulic Cylinder, and knee joint is by the movement of the structure band action spot end of an approximate parallelogram.Ankle-joint is passive freedom degree.The motion of this robot leg is flexible, ground strong adaptability, and moving velocity is fast, is conducive to stabilized walking for extreme terrain conversion athletic posture.
The utility model also has following characteristics:
1) under the comparatively uneven condition of landform, the metatarsal bar lower end of robot and earth surface, the motion of 4 leg foot formulas, makes robot can advance at rough terrain; Wheel legged type robot leg structure imitates horse leg structure, with thigh and the shank of Driven by Hydraulic Cylinder, metatarsal bar, and left and right two spring device parallel with shank, form leg structure.Two spring devices, thigh and the metatarsal bar parallel with shank form two parallelogram sturcutres jointly, and degree of freedom is many, is easily out of shape, strong adaptability.Two spring devices are not merely single springs, also comprise slide shaft, sleeve, and slide shaft can be stretched or overhanging in realizing in sleeve in slippage, cushions.The wheel legged type robot leg structure of imitative horse leg structure can adapt to complicated landform.Cushion characteristic is good, and stability is strong.
2) under the condition that landform is comparatively good, the road wheel of robot and earth surface, 4 road wheels are synchronized with the movement, make robot can under good road conditions Fast marching;
3) robot according to different road conditions, can change different walking modes, and then the comparatively fast speed achieved under different road conditions is advanced.
Accompanying drawing illustrates:
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of taking turns legged type robot leg structure in the utility model;
Fig. 2 is the structural representation of the wheel legged type robot in the utility model with wheel legged type robot leg structure;
Fig. 3 takes turns legged type robot to adopt wheeled constitution diagram of advancing in the utility model;
Fig. 4 be in Fig. 2 A-A to cutaway view;
Fig. 5 be in Fig. 2 S to schematic diagram;
Wherein: 2, body, 3, bearing pin, 4, bearing pin, 5, hip joint hydraulic actuating cylinder, 6, bearing pin, 7, bearing pin, 8, thigh bar, 9, sleeve, 10, slide shaft, 11, elastomeric element, 12, shank bar, 13, bearing pin, 14, bearing pin, 15, bearing pin, 16, metatarsal bar, 17, elastomeric element, 18, slide shaft, 19, sleeve, 21, road wheel, 22, bearing pin, 23,
Bearing pin, 24, bearing pin, 25, Knee Joint Fluid cylinder pressure, 26, the second antifriction-bearing box, the 27, first antifriction-bearing box, 28, bevel gear wheel, 29, bevel pinion, 30, motor, 31, motor fixing seat, 32, transmission shaft, 33, right side removes obstacles bar hydraulic actuating cylinder, 34, left side removes obstacles bar hydraulic actuating cylinder, 35, to remove obstacles block, 36, body shoulder, 37, left side removes obstacles bar, 38, right side removes obstacles bar.
Detailed description of the invention:
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Embodiment 1: a kind of robot leg structure, its structure as Figure 1 and Figure 4, comprising:
Body shoulder 36, this body shoulder 36 has the first hinged joint, is provided with bearing pin 7 in the first hinged joint, the upside of the first hinged joint is the second hinged joint, be provided with bearing pin 4 in second hinged joint, the right side of the first hinged joint is the 3rd hinged joint, is provided with bearing pin 3 in the 3rd hinged joint;
The upper end of thigh bar 8 is hinged by bearing pin 7 and body shoulder 36, and the top of thigh bar 8 is hinged by bearing pin 6 and hip joint hydraulic actuating cylinder 5, and the other end of hip joint hydraulic actuating cylinder 5 is hinged by bearing pin 4 and body shoulder 36;
The lower end of thigh bar 8 is hinged by the upper end of bearing pin 22 with shank bar 12, and the top of shank bar 12 is hinged by bearing pin 23 and Knee Joint Fluid cylinder pressure 25, and the other end of Knee Joint Fluid cylinder pressure 25 is hinged by bearing pin 3 and body shoulder 36;
The bottom of shank bar 12 is hinged by the upper end of bearing pin 14 with metatarsal bar 16, metatarsal bar 16 is hinged with the first elastic shock attenuation unit and the second elastic shock attenuation unit respectively with articulation piece (bearing pin 14) both sides of shank bar 12, and the other end of arbitrary elastic shock attenuation unit is all hinged with thigh bar 8;
Thigh bar 8 is also provided with running on wheels unit.
First elastic shock attenuation unit is comprised and the sleeve 9 be hinged by bearing pin 24 with thigh bar 8 respectively, and the slide shaft 10 to be connected with metatarsal bar 16 by bearing pin 13, sleeve 9 is positioned at the top of the articulation piece (bearing pin 22) of shank bar 12 and thigh bar 8 with the articulation piece (bearing pin 24) of thigh bar 8, the cylindrical shell inner sleeve of sleeve 9 has slide shaft 10, elastomeric element 11 lower end is fixed on slide shaft bottom, and upper end is fixed on sleeve 9.
Second elastic shock attenuation unit comprises the sleeve 19 be hinged by transmission shaft 32 with thigh bar 8, and the slide shaft 18 to be connected with metatarsal bar 16 by bearing pin 15, this sleeve 19 is positioned at the below of the articulation piece (bearing pin 22) of shank bar 12 and thigh bar 8 with the articulation piece (transmission shaft 32) of thigh bar 8, the cylindrical shell inner sleeve of sleeve 19 has slide shaft 18, elastomeric element 17 lower end is fixed on slide shaft bottom, and upper end is fixed on sleeve 19.
Elastomeric element 11 and elastomeric element 17 are spring, and one end of spring is fixedly connected with the boss be arranged on corresponding slide shaft, and the other end of spring is fixedly connected with corresponding sleeve.
Running on wheels unit comprises the motor fixing seat 31 be arranged on thigh bar 8 and the first antifriction-bearing box 27 being arranged at thigh bar 8 inside; Described motor fixing seat 31 is provided with motor 30, the axle of motor 30 is provided with bevel pinion 29, described first antifriction-bearing box 27 is suitable with described transmission shaft 32, one end of transmission shaft 32 is provided with the bevel gear wheel 28 engaged with described bevel pinion 29, the other end of transmission shaft 32 is provided with road wheel 21, and motor 30 drives road wheel 21 to rotate by bevel pinion 29 transmission to transmission shaft 32.
Be provided with the second antifriction-bearing box 26, second antifriction-bearing box 26 in sleeve 19 and the first antifriction-bearing box 27 line of centers coincides, transmission shaft 32 is through described first antifriction-bearing box 27 and the second antifriction-bearing box 26.
Above-mentioned structure adopts biomimetic features to make, mainly imitative horse leg structure, upper leg portion and body hinged by hip joint, thigh and shank hinged by knee joint, shank and and metatarsal hinged by ankle-joint.This structure can adapt to the landform walking of complexity comparatively.Metatarsal bar 16 in the utility model is exactly the metatarsal in bionical horse leg.
Embodiment 2:
As Figure 1-5, the utility model additionally provides a kind of wheel legged type robot, and this is taken turns legged type robot and has body 2, described body 2 is provided with described in 4 embodiments 1 and states robot leg structure.Body shoulder 36 and body 2 weld together.
The front end of robot is provided with unit of removing obstacles.Specifically, described in unit of removing obstacles comprise remove obstacles bar 37 and right side, the left side be hinged with described body 2 and to remove obstacles bar 38, left side bar 37 bar hydraulic actuating cylinder 34 of also removing obstacles with left side of removing obstacles is hinged, and the remove obstacles other end of bar hydraulic actuating cylinder 34 and body 2 of left side is hinged; Described right side bar 38 bar hydraulic actuating cylinder 33 of also removing obstacles with right side of removing obstacles is hinged, and the remove obstacles other end of bar hydraulic actuating cylinder 33 of right side is also hinged with body 2; And remove obstacles in described left side, the remove obstacles bottom of bar 38 of bar 37 and right side is equipped with block 35 of removing obstacles.
Continue with reference to shown in figure 1 and Fig. 2, under uneven road conditions, metatarsal bar 16 and earth surface in the robot of this programme, by the motion of 4 legs, realize robot advancing in uneven road conditions.Specifically, stretched by the piston rod of hip joint hydraulic actuating cylinder 5, drive thigh bar 8 to rotate, Knee Joint Fluid cylinder pressure 25 drives shank bar 12 to rotate, the two ends of the first elastic shock attenuation unit and the second elastic shock attenuation unit are hinged with thigh bar 8 and metatarsal bar 16 respectively, play buffer action.During forward stride, hip joint hydraulic actuating cylinder pushes away for 5 times, then thigh bar 8 with bearing pin 7 for node carries out rotating (thigh bar 8 forward swing), Knee Joint Fluid cylinder pressure 25 shrinks, then shank bar 12 with bearing pin 22 for node carries out rotating (shank bar 12 counter-clockwise swing), because elastomeric element 17 one end is fixed on the end of slide shaft 18, the other end is fixed on sleeve 19, now elastomeric element 17 tension, slide shaft 18 is thereupon overhanging downwards from the hole of sleeve 19, and metatarsal bar 16 is with regard to forward stride.Meanwhile, by compression, because elastomeric element 11 one end is fixed on the end of slide shaft 10, the other end is fixed on sleeve 9 elastomeric element 11, now slide shaft 10 from the hole of sleeve 9 upwards with within stretch.By the motion of 4 legs, then robot will move ahead.
Continue with reference to figure 3, Fig. 1, and shown in Fig. 4, under good road conditions, road wheel 21 and earth surface in the robot of this programme, be synchronized with the movement by 4 road wheels 21, realizes the Fast marching of robot under good road conditions.Specifically, in good road surface situation, hip joint hydraulic actuating cylinder 5 shrinks, then thigh bar 8 will with bearing pin 7 for node rotates, until in vertical state; Simultaneously Knee Joint Fluid cylinder pressure pushes away for 25 times, then shank bar 12 will with bearing pin 22 for node rotates, and metatarsal bar 16 also with on move, till more than 10 centimetres above ground level of metatarsal bar 16.In this case, road wheel 21 can contact to earth.4 road wheels 21 all land, then a corresponding metatarsal bar 16 all departs from ground.The motor 30 be fixed in motor fixing seat 31 is started working, and by the transmission of the finishing bevel gear cuter that is meshed, drives transmission shaft 32 to drive road wheel 21 to rotate, thus realizes the wheeled fast of good road surface and advance.
Continue with reference to shown in figure 5, to remove obstacles the positive front portion of bar at wheel, realize the swing perpendicular to working direction by Driven by Hydraulic Cylinder, when there is obstacle in the dead ahead of robot ambulation wheel, the dead ahead of obstacle dial wheel within 3 kilograms that occur once in a while, the object of removing obstacles can be reached.
After have employed said structure, the robot of this programme, can walk faster under different road conditions, can also the not too large obstacle of cleaning quality.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the utility model.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from spirit or scope of the present utility model, can realize in other embodiments.Therefore, the utility model can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. take turns a legged type robot leg structure, it is characterized in that, comprising:
One thigh, the top of thigh is connected with the first actuating unit, below top with external member hinged formation hip joint;
Second actuating unit that end is provided with wheel, wheels is rotated of thigh and the first elastic shock attenuation unit hinged with metatarsal bar;
Thigh upper end is the hinged formation knee joint with shank the first half also;
The upper end of described shank is connected with the 3rd actuating unit, and lower end is articulated with on metatarsal bar and forms ankle-joint;
Described first elastic shock attenuation unit comprise respectively with thigh and the hinged sleeve of metatarsal bar and slide shaft, and slide shaft upper end to be stretched in sleeve and can be reciprocatingly slided, slide shaft overlaps flexible, the lower end of elastic component is fixed on the boss of slide shaft the latter half, and upper end is fixed on sleeve;
By the reverse force of the first, the 3rd actuating unit to thigh and shank, drive metatarsal bar to do formula walking, or metatarsal bar and shank are folded to thigh direction, wheel lands, and drives walk through the second actuating unit.
2. wheel legged type robot leg structure as claimed in claim 1, it is characterized in that, described first elastic shock attenuation unit and shank be arranged in parallel.
3. wheel legged type robot leg structure as claimed in claim 1, it is characterized in that, on described thigh, knee joint upper articulation has the second elastic shock attenuation unit parallel with shank, and the second elastic shock attenuation unit lower end is articulated with metatarsal bar upper end.
4. wheel legged type robot leg structure as claimed in claim 3, it is characterized in that, first, second elastic shock attenuation block construction described is identical.
5. wheel legged type robot leg structure as claimed in claim 1, it is characterized in that, described first, the 3rd actuating unit is respectively hip joint hydraulic actuating cylinder and Knee Joint Fluid cylinder pressure.
6. wheel legged type robot leg structure as claimed in claim 1, it is characterized in that, described second actuating unit comprises the motor be installed on thigh, motor output shaft is fixedly connected with the finishing bevel gear cuter of in the finishing bevel gear cuter of pair of meshing, another finishing bevel gear cuter is installed on transmission shaft, and the transmission shaft other end is fixedly connected with wheel.
7. wheel legged type robot leg structure as claimed in claim 6, it is characterized in that, described transmission shaft is each passed through the bearing in thigh and sleeve.
8. take turns a legged type robot, it is characterized in that, comprise and be installed on four wheel legged type robot leg structures as claimed in claim 1 on body, wherein first actuating unit one end is connected to the top of thigh, and the other end is connected on body; Upper leg portion is the hinged formation hip joint with body also; 3rd actuating unit one end is connected with shank upper end, and the other end is installed on body; Described body front end is also hinged with the unit of removing obstacles by Driven by Hydraulic Cylinder.
9. take turns legged type robot as claimed in claim 8, it is characterized in that, described unit of removing obstacles comprises remove obstacles bar and right side, the left side be hinged with described body and to remove obstacles bar, and left side bar bar hydraulic actuating cylinder of also removing obstacles with left side of removing obstacles is hinged, and the remove obstacles other end of bar hydraulic actuating cylinder and body of left side is hinged; Described right side bar bar hydraulic actuating cylinder of also removing obstacles with right side of removing obstacles is hinged, and the remove obstacles other end of bar hydraulic actuating cylinder of right side is also hinged with body.
10. take turns legged type robot as claimed in claim 9, it is characterized in that, the remove obstacles bottom of bar of bar and right side of removing obstacles, described left side is equipped with block of removing obstacles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420779081.5U CN204309923U (en) | 2014-12-10 | 2014-12-10 | Wheel legged type robot leg structure and there is the wheel legged type robot of this leg structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420779081.5U CN204309923U (en) | 2014-12-10 | 2014-12-10 | Wheel legged type robot leg structure and there is the wheel legged type robot of this leg structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204309923U true CN204309923U (en) | 2015-05-06 |
Family
ID=53132250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420779081.5U Expired - Fee Related CN204309923U (en) | 2014-12-10 | 2014-12-10 | Wheel legged type robot leg structure and there is the wheel legged type robot of this leg structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204309923U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005079A (en) * | 2016-05-24 | 2016-10-12 | 浙江大学 | Single-leg robot jumping mechanism with active ankle joint and bionic foot |
| CN106428290A (en) * | 2016-12-09 | 2017-02-22 | 山东大学 | Flexible quadruped robot |
| CN107878592A (en) * | 2017-12-14 | 2018-04-06 | 中国科学院合肥物质科学研究院 | A kind of independent suspension mechanism for quadruped robot |
| CN109551474A (en) * | 2018-11-20 | 2019-04-02 | 福州大学 | A kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate |
| CN109747728A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of full revolute pair modularization robot shipping platform |
| CN112319648A (en) * | 2020-11-09 | 2021-02-05 | 武汉理工大学 | Leg mechanism of foot type robot with switchable degrees of freedom |
| CN113401246A (en) * | 2021-07-21 | 2021-09-17 | 北京理工大学 | Leg and foot mechanism of bionic robot |
-
2014
- 2014-12-10 CN CN201420779081.5U patent/CN204309923U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005079A (en) * | 2016-05-24 | 2016-10-12 | 浙江大学 | Single-leg robot jumping mechanism with active ankle joint and bionic foot |
| CN106005079B (en) * | 2016-05-24 | 2018-05-22 | 浙江大学 | Single robot leg hopping mechanism with active ankle arthrosis Yu bionical foot |
| CN106428290A (en) * | 2016-12-09 | 2017-02-22 | 山东大学 | Flexible quadruped robot |
| CN106428290B (en) * | 2016-12-09 | 2018-06-19 | 山东大学 | A kind of flexibility quadruped robot |
| CN109747728A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of full revolute pair modularization robot shipping platform |
| CN107878592A (en) * | 2017-12-14 | 2018-04-06 | 中国科学院合肥物质科学研究院 | A kind of independent suspension mechanism for quadruped robot |
| CN107878592B (en) * | 2017-12-14 | 2023-05-02 | 中国科学院合肥物质科学研究院 | Independent suspension mechanism for four-foot robot |
| CN109551474A (en) * | 2018-11-20 | 2019-04-02 | 福州大学 | A kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate |
| CN112319648A (en) * | 2020-11-09 | 2021-02-05 | 武汉理工大学 | Leg mechanism of foot type robot with switchable degrees of freedom |
| CN113401246A (en) * | 2021-07-21 | 2021-09-17 | 北京理工大学 | Leg and foot mechanism of bionic robot |
| CN113401246B (en) * | 2021-07-21 | 2022-08-12 | 北京理工大学 | Leg and foot mechanism of bionic robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104443104A (en) | Foot wheel type robot leg structure and foot wheel type robot with same | |
| CN204309923U (en) | Wheel legged type robot leg structure and there is the wheel legged type robot of this leg structure | |
| CN103625572B (en) | With the quadruped robot leg of elastic four-rod mechanism | |
| CN107140052B (en) | A kind of wheel leg type hexapod robot with suspension | |
| CN102556199B (en) | Multi-degree-of-freedom flexible foot plate for humanoid robot | |
| CN206171601U (en) | Bionical conveying robot of wheel mutual transform of leg | |
| CN105109572A (en) | Single-leg structure for wheel-legged type robot in leg-arm mixing operation | |
| CN104627265A (en) | Biped robot lower limb mechanism driven hydraulically | |
| CN108466550B (en) | Can carry on frame assembly of multiple detection rescue platform | |
| CN104163213A (en) | Passive self-adaption caterpillar structure | |
| CN206520675U (en) | Apery biped walking mechanism | |
| CN105667624B (en) | Electric drive four-leg bionic robot | |
| CN205131424U (en) | Leg formula robot shank structure | |
| CN204124229U (en) | Walking robot | |
| CN103963867B (en) | Biomimetic mechanical dinosaur | |
| CN107140041A (en) | Synchronization telescope deformation type wheel carries out leg and is combined running gear | |
| CN103991489B (en) | The 3DOF leg mechanism that a kind of Pneumatic artificial muscle drives | |
| CN110576920A (en) | Hydraulic double-foot robot lower limb mechanism with buffering function | |
| CN104354784A (en) | Bipedal robot capable of quickly walking | |
| CN110282036B (en) | Combined search and rescue robot | |
| CN103318290B (en) | Class two lateral-deviation robot crotch lateral deviation shock mitigation system | |
| CN106614466B (en) | Six-foot walking type pesticide spraying robot | |
| CN103264735A (en) | Underactuated mixed-connected travelling mechanism | |
| CN209757305U (en) | Crawler-type stair climbing robot | |
| CN105501325A (en) | Humanoid robot two-freedom-degree parallel-connection shock absorption mechanical foot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150506 Termination date: 20151210 |
|
| EXPY | Termination of patent right or utility model |