CN205652233U - Humanoid robot leg mechanism and be connected with robot of this mechanism - Google Patents
Humanoid robot leg mechanism and be connected with robot of this mechanism Download PDFInfo
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- CN205652233U CN205652233U CN201620268905.1U CN201620268905U CN205652233U CN 205652233 U CN205652233 U CN 205652233U CN 201620268905 U CN201620268905 U CN 201620268905U CN 205652233 U CN205652233 U CN 205652233U
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 71
- 210000000689 upper leg Anatomy 0.000 claims abstract description 59
- 210000004394 hip joint Anatomy 0.000 claims abstract description 47
- 210000002414 leg Anatomy 0.000 claims abstract description 37
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 31
- 210000001624 hip Anatomy 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 5
- 210000003141 lower extremity Anatomy 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 15
- 238000009434 installation Methods 0.000 abstract description 6
- 238000005728 strengthening Methods 0.000 abstract 1
- 238000002474 experimental method Methods 0.000 description 6
- 230000005021 gait Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000002787 reinforcement Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to a robotechnology field, concretely relates to humanoid robot leg mechanism and be connected with robot of this mechanism, including waist subassembly, hip joint subassembly, thigh subassembly, shank subassembly, ankle joint subassembly and the sole subassembly that connects gradually, hip joint subassembly, thigh subassembly, shank subassembly and ankle joint subassembly include the support body and connect the drive assembly on the support body, and drive assembly is including the motor, driving pulley, from the driven pulleys and the harmonic speed reducer ware that connect gradually, motor and harmonic speed reducer ware fixed connection are in on the support body, the thigh subassembly pass through harmonic speed reducer ware and/or pivot respectively with hip joint subassembly and shank subassembly are connected. The utility model provides a humanoid robot leg mechanism and be connected with robot of this mechanism has reduced the part quantity of whole mechanism, and the installation of being convenient for has reduced the mechanical error that the installation produced to at support body internal design gusset and strengthening rib, the structural strength and the rigidity of each subassembly of effectual assurance.
Description
Technical field
This utility model relates to robotics, be specifically related to a kind of anthropomorphic robot leg mechanism and
Connect the robot having this mechanism.
Background technology
Apish form and behavior and the robot that manufactures and designs is exactly anthropomorphic robot, general respectively or
There is extremity and the head of apery simultaneously.Robot is typically based on different application demand and is designed to not similar shape
Shape, as applied to the mechanical arm of industry, wheel chair robot, walking robot etc..And anthropomorphic robot grinds
Studying carefully collection machinery, electronics, computer, material, sensor, the multi-door science such as control technology is in one, generation
A national development in Hi-Tech level by table.Come from the present Research of robotics and artificial intelligence
Seeing, high intelligence will be fully achieved, and the anthropomorphic robot of high flexibility is had got long long way to go, and,
Self is understood by the mankind the most up hill and dale, and these all limit the development of anthropomorphic robot.
Anthropomorphic robot is as the study hotspot of robotics at present, always by domestic and international each colleges and universities
With institute as the breach of robotics research.But, double due to most of anthropomorphic robots
Lower limb structure uses the version of polylith aluminium alloy plate overlap joint, there is that structural strength is poor, parts
Quantity is many, have many defects such as installation machine error, and these defects can cause when carrying out gait emulation experiment,
In the case of using same emulation experiment data, the anthropomorphic robot actual walking pattern obtained by experiment every time
Data all differ, and this can cause the gait data finally recalled not have reproducibility, it is impossible to effective
Complete gait emulation experiment.
As can be seen here, can be for deficiency of the prior art, the both legs structure for anthropomorphic robot is done
Improve further, to solve above-mentioned technical problem, it is achieved anthropomorphic robot actual walking pattern data are uniform, step
State data redundancy is good, effectively realizes gait emulation, becomes the technology that those skilled in the art are urgently to be resolved hurrily
A difficult problem.
Utility model content
This utility model is in order to solve above-mentioned technical problem, it is provided that a kind of anthropomorphic robot leg mechanism and company
Being connected to the robot of this mechanism, leg mechanism intensity of the present utility model is good, parts quantity is few, energy
Enough effectively reduce the both legs structure installing the machine error produced.
In order to reach above-mentioned technique effect, this utility model includes techniques below scheme:
A kind of anthropomorphic robot leg mechanism, including the hip joint assembly being sequentially connected with, thigh assembly,
Shank component, ankle joint assembly and sole assembly, described hip joint assembly, thigh assembly, shank component
Including support body and the driving assembly being connected on support body with ankle joint assembly, described driving assembly includes successively
Motor, driving pulley, driven pulley and the harmonic speed reducer connected, described motor and harmonic speed reducer are solid
Surely be connected on described support body, described thigh assembly by harmonic speed reducer and/or rotating shaft respectively with described hip
Joint assembly and shank component connect.The each reasonable in design of this utility model, each joint assembly can be real
Existing flexible motion, structural strength is high, when carrying out apery walking, efficiently accomplishes gait emulation.
Further, on described hip joint assembly, connection has waist feature, described waist feature to include support body
I and the motor I being sequentially connected with, driving pulley I, driven pulley I and harmonic speed reducer I, described motor I,
Driven pulley and harmonic speed reducer I are fixedly connected on described support body I.
Further, between described motor I and driving pulley I, driven pulley I and harmonic speed reducer I
Between all in vertically connecting, described driving pulley I and described driven pulley I is positioned at same level, and
Connected by transmission band I.
Further, described hip joint assembly being fixedly connected with harmonic speed reducer connector, described hip closes
Joint assembly is connected with the harmonic speed reducer of described waist feature by harmonic speed reducer connector.
Hip joint assembly and waist feature connected mode and reasonable in design, effectively by the startup of motor
Control described waist feature rotating relative to thigh assembly so that connect the machine of this utility model leg mechanism
Device people is capable of making arbitrary angle value in 0～360 ° of angular range above the waist according to the instruction received
Do and rotate, it is achieved more flexible motion.
Further, the support body of described hip joint assembly is cross support body I, described cross support body I
On be fixedly connected with the U-shaped part of hip joint, described motor is fixedly connected on the U-shaped part of described hip joint,
One end of described cross support body I is fixing with the flexbile gear of harmonic speed reducer on described thigh assembly even
Connecing, another relative end is rotationally connected with the support body of described thigh assembly.
By in the structure of hip joint assembly, carry out structure with cross support body I and the U-shaped part of hip joint
Connect and design, use integrated design scheme, effectively reduce number of parts, reduce installation machinery
Error；Add gusset and reinforcement, improve the strength and stiffness of part, make overall structure more steady
Fixed.It is prone to each structure design of thigh assembly and waist feature.
Further, the driving component count on described thigh assembly is two, two on thigh assembly
Described harmonic speed reducer is respectively fixedly connected with two ends of the support body at thigh assembly.
In order to realize the flexible motion of thigh assembly, on thigh, arrange two respectively drive assembly, divide
Kong Zhi the phase of the relative motion of thigh assembly and hip joint assembly and shank component and ankle joint assembly
To motion, harmony is less, and apery effect is more preferable.
Further, the driving component count on described shank component is one, and described shank component passes through
Harmonic speed reducer and rotating shaft are connected with described ankle joint assembly.Shank component is capable of with ankle joint assembly
Relative motion, the structure flexible design of this utility model shank component and thigh assembly, it is possible to according to research
Needs exchange replacement use, improve the service efficiency of each assembly.
Further, one end that described shank component is connected with thigh assembly is provided with U-shaped part, described
One of U-shaped part section is connected with the harmonic speed reducer of described thigh assembly, and another section passes through rotating shaft
It is connected with described thigh assembly.
By connecting U-shaped part, it is achieved motion more flexible between shank component and thigh assembly, operation side
Just, make thigh assembly more preferable with the bonding strength of shank component, effectively reduce and machine error is installed.
Further, described ankle joint assembly also includes be fixedly connected on the support body of ankle joint assembly ten
Font support body II, the support body of described ankle joint assembly and motor are fixing to be connected, described cross support body II's
One end is fixed with the flexbile gear of harmonic speed reducer on described shank component and is connected, another relative end
It is rotationally connected with the support body of described shank component.
By in the structure of hip joint assembly, carry out structure connection and design with cross support body II, adopt
Use integrated design scheme, effectively reduce number of parts, reduce installation machine error；Add muscle
Plate and reinforcement, improve the strength and stiffness of part, makes overall structure more stable.It is prone to shank group
Each structure design of part.
Further, described sole assembly includes sole main part, rubber blanket and the sole being sequentially connected with
Base plate, described sole main part is fixing with the support body of ankle joint assembly to be connected.
The structure design of sole assembly, it is possible to preferably provide firm supporting role for leg mechanism,
When walking so that two legs degree of balance is more preferable.
A kind of robot, including upper body mechanism and the leg mechanism that is connected with described upper body mechanism, described lower limb
Portion mechanism is above-mentioned anthropomorphic robot leg mechanism.
The leg mechanism of robot using this utility model independently to study, makes anthropomorphic robot in emulation experiment
Room motion is more flexible, it is easy to manipulation, compensate for existing anthropomorphic robot and there is the gait when emulation experiment
The problem that data repdocutbility is low.
Use technique scheme, including following beneficial effect: the one that this utility model provides is imitated
Robot people's leg mechanism and connection have the robot of this mechanism, are for existing anthropomorphic robot
The defect of both legs hip joint structure and deficiency, propose the mechanism of a kind of anthropomorphic robot both legs hip joint
Form, its internal main support uses integrated structure design, by motor, harmonic speed reducer
Installed part combines together, decreases the number of parts of whole mechanism, it is simple to installs, reduces installation
The machine error produced, and gusset and reinforcement in main support member indoor design, effectively ensure
The structural strength of part and rigidity.
Accompanying drawing explanation
Fig. 1 is this utility model anthropomorphic robot leg mechanism structural representation；
Fig. 2 is this utility model waist feature structural representation；
Fig. 3 is this utility model hip joint modular construction schematic diagram；
Fig. 4 is this utility model thigh modular construction schematic diagram；
Fig. 5 is this utility model shank component structural representation；
Fig. 6 is this utility model ankle joint modular construction schematic diagram；
Fig. 7 is this utility model sole modular construction schematic diagram；
In figure,
1, waist feature；11 support body I；12, motor I；13, driving pulley I；14, driven pulley I；
15, harmonic speed reducer I；2, hip joint assembly；21, support body II；22, motor II, 23, actively
Belt wheel II；24, driven pulley II；25, harmonic speed reducer II；26, harmonic speed reducer connector；
27, the U-shaped part of hip joint；3, thigh assembly；31, support body III；32, motor III；33, actively
Belt wheel III；34, driven pulley III；35, harmonic speed reducer III；4, shank component；41, support body
IV；42, motor IV；43, driving pulley IV；44, driven pulley IV；45, harmonic reduction
Device IV；46, U-shaped part；5, ankle joint assembly；51, support body V, 52, motor V；53, actively
Belt wheel V；54, driven pulley V；55, harmonic speed reducer V；56, cross support body II；6、
Sole assembly；61, sole main part；62, rubber blanket；63, sole base plate.
Detailed description of the invention
Below by specific embodiment and combine accompanying drawing this utility model is described in further detail.
The present embodiment provides a kind of anthropomorphic robot leg mechanism, as it is shown in figure 1, include connecting successively
Hip joint assembly 2, thigh assembly 3, shank component 4, ankle joint assembly 5 and the sole assembly connect
6, described hip joint assembly, thigh assembly, shank component and ankle joint assembly include support body and connection
Driving assembly on support body, motor that described driving assembly includes being sequentially connected with, driving pulley,
Driven pulley and harmonic speed reducer, described motor and harmonic speed reducer be fixedly connected on described support body,
Described thigh assembly by harmonic speed reducer and/or rotating shaft respectively with described hip joint assembly and shank group
Part connects.
One end of described hip joint assembly is entered by steel wheel and the flexbile gear of harmonic speed reducer with thigh assembly
Row connects, and the other end is connected with thigh assembly by axle and bearing；Thigh assembly leads to shank component
Cross the steel wheel of harmonic speed reducer and flexbile gear and axle and bearing is attached；Shank component and ankle joint
Assembly is attached by the steel wheel of the harmonic speed reducer of shank component and flexbile gear and axle and bearing；
Ankle joint assembly is fixedly connected by screw with sole assembly.
Described motor is fixedly connected with main belt driving wheel by jackscrew, main belt driving wheel by pad and
Jump ring is fixing with described driving pulley to be connected, and driven pulley is connected by pad and jump ring driven belt
Wheel shaft, described driven belt wheel shaft is connected by jackscrew and described harmonic speed reducer are fixing.
As shown in Fig. 2～7, concrete is divided into, described hip joint assembly 2 include support body II21,
Motor II22, driving pulley II23, driven pulley II24 and harmonic speed reducer II25；
Described thigh assembly 3 includes support body III31, motor III32, driving pulley III33, driven belt
Wheel III34 and harmonic speed reducer III35；
Described shank component 4 includes support body IV41, motor IV42, driving pulley IV43, driven
Belt wheel IV44 and harmonic speed reducer IV45；
Described ankle joint assembly 5 includes support body V51, motor V52, driving pulley V53, driven
Belt wheel V54 and harmonic speed reducer V55；
Further in the present embodiment, there is waist as in figure 2 it is shown, connect on described hip joint assembly
Parts 1, described waist feature 1 includes support body I11 and the motor I12 being sequentially connected with, main belt
Wheel I13, driven pulley I14 and harmonic speed reducer I15, described motor I, driven pulley and harmonic wave subtract
Speed device I is fixedly connected on described support body I.
Described waist feature and hip joint assembly by the steel wheel of the harmonic speed reducer of hip joint assembly and
Flexbile gear uses screw to be fixedly connected.
Described support body I includes upper plate and lower supporting plate, and the motor I stated and upper plate are entered by screw
Row is fixing to be connected, and upper plate and lower supporting plate are fixedly connected by screw, and lower supporting plate is harmonious
Ripple decelerator I is fixedly connected by screw.
In the present embodiment, further, between described motor I and driving pulley I, driven pulley
All in being vertically connected between I with harmonic speed reducer I, described driving pulley I and described driven pulley I
It is positioned at same level, and is connected by transmission band I.
When needs leg assembly relatively rotates with waist feature, start motor I, motor I and drive
Driving pulley I, further drives driven pulley I, described driven pulley I to drive harmonic speed reducer I
Rotate.
In the present embodiment, further, as it is shown on figure 3, on described hip joint assembly fixing even
Being connected to harmonic speed reducer connector 26, described hip joint assembly passes through harmonic speed reducer connector and institute
The harmonic speed reducer 15 stating waist feature connects.
In the present embodiment, further, as it is shown on figure 3, the support body II of described hip joint assembly
For cross support body I, described cross support body I is fixedly connected with the U-shaped part of hip joint 27, described
Motor II is fixedly connected on the U-shaped part of described hip joint, an end of described cross support body I
Fixing with the flexbile gear of harmonic speed reducer III on described thigh assembly is connected, another relative end and
The support body III of described thigh assembly is rotationally connected.
The U-shaped part of hip joint is fixed on cross support body I by screw, cross support body I
It is connected by bearing and axle part U-shaped with hip joint, is connected by screw and harmonic speed reducer are fixing,
Harmonic speed reducer and the U-shaped part of hip joint are fixedly connected by screw.The electricity of described waist feature
Operationally, output power to driving pulley, power is transmitted extremely machine by driving pulley by transmission band
Driven pulley, described driven pulley drives the motion of described harmonic speed reducer, controls described waist feature
Rotate relative to thigh assembly so that the robot connecting this utility model leg mechanism is capable of
Half in 0～360 ° of angular range arbitrary angle value do and rotate.
In the present embodiment, further, as shown in Figure 4, the driving group on described thigh assembly
Number of packages amount is two, and two described harmonic speed reducer III on thigh assembly are respectively fixedly connected with in institute
State two ends of support body.
Anthropomorphic robot of the present utility model, including two symmetrically arranged thigh assemblies and shank group
Part, two harmonic speed reducer III of each thigh assembly and the support body III of thigh assembly pass through screw
Being fixedly connected, two driven pulley III and two harmonic speed reducer III are carried out by axle and key
Connecting, the support body III of two motor III and thigh assembly is fixedly connected by screw, two
Driving pulley III is attached by axle and key respectively at two motor III, each driving pulley III
Connected by transmission band with corresponding driven pulley III.
In the present embodiment, further, as it is shown in figure 5, driving group on described shank component
Number of packages amount is one, and described shank component is by harmonic speed reducer IV and rotating shaft and described ankle joint group
Part 5 connects.
The motor IV and support body IV of shank component are fixedly connected by screw, driving pulley IV
Being attached by axle and key with motor IV, harmonic speed reducer IV and support body IV is carried out by screw
Fixing connection, driven pulley IV and harmonic speed reducer IV is attached by axle and key.
When leg moves, by controlling two motor III on thigh assembly, and shank
A motor IV on assembly rotates, and is further driven to driving pulley and the driven belt being connected
Wheel motion, controls thigh assembly, shank component and sole group under the drive of driven pulley further
Part cooperates, and walks.
In the present embodiment, further, the one end described shank component being connected with thigh assembly
It is provided with U-shaped part 46, of described U-shaped part section and the harmonic speed reducer of described thigh assembly
Connecting III, another section is connected with described thigh assembly by rotating shaft.
The setting of U-shaped part between thigh assembly and shank component, is connected by harmonic speed reducer III and rotating shaft
Connect, it is possible to effectively realize effective rotation of thigh assembly and shank component.
In the present embodiment, further, as shown in Figure 6, described ankle joint assembly also includes solid
Surely the cross support body II56 being connected on the support body V51 of ankle joint assembly, described ankle joint assembly
Support body V51 and motor V is fixing connects, an end of described cross support body II56 is with described
On shank component, the flexbile gear of harmonic speed reducer IV is fixing connects, and another relative end is little with described
The support body IV of lower limb assembly is rotationally connected.
Described cross support body I and cross support body II all includes cross bracket, is fixedly connected on
The connector of four ends of cross bracket, passes through connector, it is achieved hip joint assembly and thigh group
The connection of part.
The cross support body II and harmonic speed reducer V of ankle joint assembly is fixed even by screw
Connecing, cross support body II and driven pulley V and harmonic speed reducer V is attached by axle and key,
Driven pulley V and harmonic speed reducer V is attached by axle and key, and harmonic speed reducer V and ankle close
The support body V of joint assembly is fixedly connected by screw, and support body V and motor V is carried out by screw
Fixing connection, driving pulley V and motor V is attached by bearing and axle.
In the present embodiment, further, as it is shown in fig. 7, described sole assembly includes successively
Sole main part 61, rubber blanket 62 and the sole base plate 63 connected, described sole main part and ankle joint
The support body V51 of assembly is fixing to be connected.
The structure design of sole assembly, it is possible to preferably provide firm supporting role for leg mechanism,
When walking so that two legs degree of balance is more.Rubber blanket and sole main part pass through adhesive
Bonding, the number of plies of sole base plate is two-layer, and sole base plate described in two-layer is carried out by adhesive
Bonding.
The present embodiment provides a kind of robot, including upper body mechanism and is connected with described upper body mechanism
Leg mechanism, described leg mechanism is the anthropomorphic robot leg mechanism of above-described embodiment.
The foregoing is only preferred embodiment of the present utility model, be not limited to this practicality
Novel, for a person skilled in the art, this utility model can have various modifications and variations.
All within spirit of the present utility model and principle, any modification, equivalent substitution and improvement made
Deng, within should be included in protection domain of the present utility model.
Claims (10)
1. an anthropomorphic robot leg mechanism, including the hip joint assembly (2) being sequentially connected with,
Thigh assembly (3), shank component (4), ankle joint assembly (5) and sole assembly (6),
It is characterized in that, described hip joint assembly, thigh assembly, shank component and ankle joint assembly include
Support body and the driving assembly being connected on support body, motor that described driving assembly includes being sequentially connected with,
Driving pulley, driven pulley and harmonic speed reducer, described motor and harmonic speed reducer are fixedly connected on
On described support body, described thigh assembly by harmonic speed reducer and/or rotating shaft respectively with described hip joint
Assembly and shank component connect.
A kind of anthropomorphic robot leg mechanism the most according to claim 1, it is characterised in that
Connecting on described hip joint assembly and have waist feature (1), described waist feature includes support body I (11),
The motor I (12) that also includes being sequentially connected with, driving pulley I (13), driven pulley I (14) and
Harmonic speed reducer I (15), described motor I, driven pulley and harmonic speed reducer I are fixedly connected on
On described support body I.
A kind of anthropomorphic robot leg mechanism the most according to claim 2, it is characterised in that
All in vertically between described motor I and driving pulley I, between driven pulley I and harmonic speed reducer I
Connecting, described driving pulley I and described driven pulley I is positioned at same level, and by transmission band
I connects.
A kind of anthropomorphic robot leg mechanism the most according to claim 2, it is characterised in that
Harmonic speed reducer connector (26), described hip joint group it is fixedly connected with on described hip joint assembly
Part is connected with the harmonic speed reducer of described waist feature by harmonic speed reducer connector.
A kind of anthropomorphic robot leg mechanism the most according to claim 1, it is characterised in that
The support body of described hip joint assembly is cross support body I, and described cross support body I is fixedly connected with
The U-shaped part of hip joint (27), described motor is fixedly connected on the U-shaped part of described hip joint, described
One end of cross support body I is fixing with the flexbile gear of harmonic speed reducer on described thigh assembly to be connected,
Another relative end is rotationally connected with the support body of described thigh assembly.
A kind of anthropomorphic robot leg mechanism the most according to claim 1, it is characterised in that
Driving component count on described thigh assembly is two, and two described harmonic waves on thigh assembly subtract
Speed device is respectively fixedly connected with two ends of the support body at thigh assembly；Driving on described shank component
Dynamic component count is one, and described shank component is by harmonic speed reducer and rotating shaft and described ankle joint
Assembly connects.
A kind of anthropomorphic robot leg mechanism the most according to claim 1, it is characterised in that
The one end being connected with thigh assembly on described shank component is provided with U-shaped part (46), described U-shaped
One of part section is connected with the harmonic speed reducer of described thigh assembly, and another section passes through rotating shaft
It is connected with described thigh assembly.
A kind of anthropomorphic robot leg mechanism the most according to claim 1, it is characterised in that
Described ankle joint assembly also includes the cross support body II being fixedly connected on the support body of ankle joint assembly
(56), the support body of described ankle joint assembly and the fixing connection of motor, described cross support body II's
One end is fixing with the flexbile gear of harmonic speed reducer on described shank component to be connected, relative another
End is rotationally connected with the support body of described shank component.
A kind of anthropomorphic robot leg mechanism the most according to claim 1, it is characterised in that
Described sole assembly includes sole main part (61), rubber blanket (62) and the sole being sequentially connected with
Base plate (63), described sole main part is fixing with the support body of ankle joint assembly to be connected.
10. a robot, including upper body mechanism and the leg mechanism that is connected with described upper body mechanism,
It is characterized in that, described leg mechanism is the anthropomorphic robot lower limb described in any one of claim 1～9
Portion mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620268905.1U CN205652233U (en) | 2016-03-31 | 2016-03-31 | Humanoid robot leg mechanism and be connected with robot of this mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620268905.1U CN205652233U (en) | 2016-03-31 | 2016-03-31 | Humanoid robot leg mechanism and be connected with robot of this mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN205652233U true CN205652233U (en) | 2016-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620268905.1U Active CN205652233U (en) | 2016-03-31 | 2016-03-31 | Humanoid robot leg mechanism and be connected with robot of this mechanism |
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| Country | Link |
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| CN (1) | CN205652233U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752196A (en) * | 2016-03-31 | 2016-07-13 | 北京钢铁侠科技有限公司 | Human simulation robot leg mechanism and robot connected with same |
| CN114750853A (en) * | 2022-05-17 | 2022-07-15 | 中国北方车辆研究所 | Passive type double-freedom-degree foot device of four-foot robot |
-
2016
- 2016-03-31 CN CN201620268905.1U patent/CN205652233U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105752196A (en) * | 2016-03-31 | 2016-07-13 | 北京钢铁侠科技有限公司 | Human simulation robot leg mechanism and robot connected with same |
| CN114750853A (en) * | 2022-05-17 | 2022-07-15 | 中国北方车辆研究所 | Passive type double-freedom-degree foot device of four-foot robot |
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