CN207329166U - A kind of automatically walk load-carrying box - Google Patents
A kind of automatically walk load-carrying box Download PDFInfo
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- CN207329166U CN207329166U CN201720720420.6U CN201720720420U CN207329166U CN 207329166 U CN207329166 U CN 207329166U CN 201720720420 U CN201720720420 U CN 201720720420U CN 207329166 U CN207329166 U CN 207329166U
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Abstract
The utility model discloses a kind of automatically walk load-carrying box, including freight container, its feature is to include sole articulation mechanism, left and right leg and two leg hip joint mechanism；Sole articulation mechanism includes the left and right respectively sole with a strap brake outer rotor direct current integrated motor and an Additional wheel, is provided with direction ultrasonic sensor；Connecting portion is connected by strap brake outer rotor direct current integrated motor with the upper connecting portion of the left and right sole of the sole articulation mechanism respectively under the left and right of left and right leg, and connecting portion is respectively by the left and right leg connecting portion of strap brake outer rotor direct current integrated motor and two leg hip joint mechanism on the left and right of left and right leg；The both legs hip joint frame left side of two leg hip joint mechanism has left leg connecting portion, the right edge of both legs hip joint frame to have right leg connecting portion, and center-of-gravity regulating direct current generator is fixed on inside both legs hip joint frame, and the freight container center of gravity in walking is adjusted by center of gravity block.The utility model is as robot, energy loading, walking, rotation or stair activity etc..
Description
Technical field
The utility model belongs to a kind of automatically walk load-carrying box, especially belongs to its sole articulation mechanism, both legs hip joint machine
Structure, gravity center adjusting mechanism, strap brake outer rotor direct current integrated motor, master control load-carrying box and remote control and detection part.
Background technology
Small scale robot walking mechanism has been developed that, including swing arm transmission system, chassis system, crank connecting link machine
Structure, bearing wheels mechanism and travel driving system；The swing arm transmission system includes swing arm system, swing arm motor and swing arm and slows down
Device；Another have a robot running gear, including drive link, rack, walking guide rail, mechanical foot, pedipulator, pedipulator sleeve, the
Two connecting rods and other mechanisms, walking mechanism complex on the whole, it is difficult to industrialization, the advantages of being compared with the prior art, exists
In：The utility model is proceeded from the reality, and using strap brake outer rotor direct current integrated motor, can be moved in flat road surface with wheel,
Energy consumption is reduced, when stair activity can simulate the walking of mankind's nature walking posture.
The content of the invention
One purpose of the utility model is to provide in a kind of flat road surface quickly to be moved with wheel, with double during stair activity
The articulation mechanism of the automatically walk load-carrying box for the both legs hip walked enough, central processing unit can pass through center-of-gravity sensor and ultrasonic wave
The information of sensor feedback, by judging that flow regulation motor adjusts the center of gravity of both legs hip joint in real time, accomplishes to prevent automatic row
Load-carrying box tumble is walked, and being capable of natural stair activity.
Another purpose of the utility model is to provide automatically walk load-carrying box, and automatically walk load-carrying box is provided with and environment
And human interaction detection sensor, central processing unit, display and APP programs.Walking route is planned more particularly, to automatic, from
Move stair activity, by elevator floor, and join and confirm with the remote auto of user's cargo.
Another purpose of the utility model is that electric rotating machine uses strap brake outer rotor direct current integrated motor i.e. driver
Installed in the afterbody of motor.
The purpose of this utility model is achieved in that a kind of automatically walk load-carrying box, including freight container, its feature exist
In：Including sole articulation mechanism, left and right leg and two leg hip joint mechanism；The sole articulation mechanism includes left and right and respectively carries
The sole of one strap brake outer rotor direct current integrated motor and an Additional wheel, is respectively provided with both direction on the sole of left and right
Ultrasonic sensor；3 joint portions of the left and right leg are respectively provided with brake outer rotor direct current integrated motor, left and right leg
Left and right under connecting portion pass through the left and right sole of strap brake outer rotor direct current integrated motor and the sole articulation mechanism respectively
The connection of upper connecting portion, the calf of left and right leg is provided with chargeable electrical source of power, connecting portion difference on the left and right of left and right leg
By on the left and right leg connecting portion of strap brake outer rotor direct current integrated motor and two leg hip joint mechanism；The both legs hip joint
Mechanism includes both legs hip joint frame, and both legs hip joint frame left side has left leg connecting portion, the right edge of both legs hip joint frame to have the right side
Leg connecting portion, center-of-gravity regulating direct current generator are fixed on inside both legs hip joint frame, center-of-gravity regulating direct current generator connection center of gravity block, and
Freight container center of gravity in walking is adjusted by center of gravity block.
The left and right sole respectively plays the role of left and right thigh support, strap brake outer rotor direct current integrated motor and Additional wheel
It is separately mounted to inside the sole of left and right, the ultrasonic sensor detection and the distance of left side object, left foot that left foot palm outside is equipped with
The ultrasonic sensor detection and the distance of left front end object that palm front end is equipped with, the ultrasonic sensor inspection that right crus of diaphragm palm outside is equipped with
The distance with the right object is surveyed, the ultrasonic sensor detection and the distance of right front ends object that right crus of diaphragm palm front end is equipped with.
The two leg hip joint mechanism is connected by strap brake outer rotor direct current integrated motor with sole, and left and right leg includes a left side
Right leg, left and right thigh and joint connecting portion, left and right shank are connected with left and right thigh by strap brake outer rotor direct current integrated motor
Connect, left and right thigh is connected with the bottom of both legs hip joint frame by strap brake outer rotor direct current integrated motor, each joint connecting portion
Strap brake outer rotor direct current integrated motor can be rotated freely in certain angle.
The left and right leg includes left leg, right leg, left thigh and right thigh；The left leg includes left leg
Portion, lower-left connecting portion and upper left connecting portion, be connected with left leg portion upper left connecting portion, under be connected with lower-left connecting portion, lower-left
Connecting portion is connected by strap brake outer rotor direct current integrated motor with the upper connecting portion that left foot is slapped, and left power battery is directly installed on
On left leg；Right leg includes right leg portion, bottom right connecting portion and upper right connecting portion, and upper right connection is connected with right leg portion
Portion, under be connected with bottom right connecting portion, bottom right connecting portion passes through the upper connection that strap brake outer rotor direct current integrated motor is slapped with right crus of diaphragm
Portion is connected, and right power battery is directly installed on right leg；
The left thigh includes left thigh portion, lower-left connecting portion and upper left connecting portion, and left thigh is connected with lower-left in portion
Connecting portion, under be connected with lower-left connecting portion, the left side that lower-left connecting portion passes through strap brake outer rotor direct current integrated motor and left leg
Upper connecting portion is connected；Upper left connecting portion is connected by strap brake outer rotor direct current integrated motor with the left connecting portion of hip joint；It is right
Thigh includes right thigh portion, upper right connecting portion and bottom right connecting portion, be connected with right thigh portion upper right connecting portion, under be connected with the right side
Lower connecting portion, bottom right connecting portion are connected by strap brake outer rotor direct current integrated motor with the upper right connecting portion of right leg；Upper right
Connecting portion is connected by strap brake outer rotor direct current integrated motor with the right connecting portion of hip joint.
Center-of-gravity sensor is installed in the freight container；It is described to be passed from the left and right center of gravity of freight container by center of gravity
Sensor senses the overall center of gravity of center of gravity signal and the rotation adjusting automatically walk load-carrying box of center-of-gravity regulating direct current generator.
Rotary infrared camera that the freight container is provided with, ultrasonic sensor, bar code scanner, FRID scannings
Instrument, motor control key, built-in GPS positioning system, bluetooth sensor, loudspeaker, camera, central processing unit, with APP programs
With the computer of display.The central processing unit according to center-of-gravity sensor feedack, ultrasound examination external environment condition
State, judges driving strap brake outer rotor direct current integrated motor movement by flow, accomplishes to prevent automatically walk load-carrying box from falling,
Automatic sounding prompting passerby prevents from colliding, automatic to plan walking route and prevent from wandering away, and walks stair automatically, by elevator floor, when
When joining with user's cargo, by the bar code scanner installed in automatically walk load-carrying box or FRID scanner scannings cargo and true
Correct cargo is recognized, if user, which takes by mistake, needs timely sounding reminding.
The motor used in the strap brake outer rotor direct current integrated motor is the DDSM motors of unofficial biography, described
DDSM motors include motor stator and motor outer rotor, and the strap brake outer rotor direct current integrated motor includes band positioning column
Left end cap, brake solenoid one, brake solenoid two, support column, brake activity template, bremsbelage, locking nut, motor are fixed
Son, motor outer rotor, rotor foreign steamer, bearing one, bearing two, encoder turntable, right end cap, read head fixed seat, photoelectric encoder
Read head, circuit board mounting shell, first circuit board, second circuit board and board support column, band positioning column left end cap pass through bearing
One contacts with the left surface of rotor foreign steamer, right end cap be nested in the right side of the positioning column with positioning column left end cap by bearing two with
Rotor foreign steamer right flank contacts, and read head fixed seat is nested in the right side of the positioning column of left end cap and connects with the right flank of motor stator
Touch, band positioning column left end cap, motor stator, read head fixed seat, right end cap are fixed together by locking nut；Turn outside motor
Son is nested in inside rotor foreign steamer and rotor foreign steamer can be driven to rotate together, and motor stator is nested in inside motor outer rotor, and
And motor stator is nested on the positioning column with positioning column left end cap and fixes, band positioning column left end cap is provided with brake on side
Electromagnet one, brake solenoid two, the brake activity template groove that is equipped with are sleeved on brake solenoid one, brake solenoid two
On edge, bremsbelage is fixed on brake activity template by support column, and first circuit board, second circuit board are installed on circuit
Inside plate mounting shell, circuit board mounting shell is nested on the positioning column with positioning column left end cap and fixes；Encoder turntable is fixed
It can rotate on the right side of rotor foreign steamer and with rotor foreign steamer, photoelectric encoder read head is fixed in read head fixed seat and can be with volume
Code device turntable is engaged, and the information that photoelectric encoder read head can read encoder turntable is transferred to first circuit board or/and second
The photoelectric encoder interface circuit that circuit board is equipped with, the servo that incoming first circuit board or/and second circuit board are equipped with are driven
Dynamic device；
The servo-driver includes power module of voltage regulation, crystal oscillator module, outer memory module, photoelectric encoder and connects
Mouth, PWM three-phase bridges power amplification circuit, DSP embedded microcontrollers module, the RS232 communication modules with isolation circuit, band every
CAN communication module or EtherCAT communication modules, high-power FET drive circuit from circuit, the crystal oscillator module,
RS232 communication modules with isolation circuit, the CAN communication module with isolation circuit or EtherCAT communication modules, photoelectric coding
Device interface, current detection module, outer memory module, PWM three-phase bridge power amplification circuits module respectively with the embedded micro-controls of DSP
Device module connection processed, high-power FET drive circuit control DDSM after being connected with PWM three-phase bridge power amplification circuit modules
Motor movement, DDSM motors are connected through photoelectric encoder, photoelectric encoder interface with DSP embedded microcontroller modules；
RS232 communication modules are connected with central processing unit respectively with CAN communication module or EtherCAT communication modules.
Included according to the articulation mechanism of the automatically walk load-carrying box of the utility model both legs hip：Each joint portion all passes through band
Brake outer rotor direct current integrated motor（I.e. from tape drive and hollow）Connection, calf are provided with power source, electric wire and connection
For line all from centre through being finally connected with computer, the motor that strap brake outer rotor direct current integrated motor uses is the sub- DDSM of unofficial biography
Motor, DDSM motors include motor stator and motor outer rotor.
The beneficial effects of the utility model are：The automatically walk load-carrying box for the both legs hip walked according to the utility model biped
Articulation mechanism be used as the hip joint mechanism of robot, at this time, robot can carry out various motion, such as, body
Rotation, with the wheel automatic sliding of foot, can also walk naturally.
Brief description of the drawings
The utility model in order to better understand, is below in conjunction with the accompanying drawings described the utility model.
Fig. 1 is the schematic diagram of the automatically walk load-carrying box of the utility model.
Fig. 2 is the schematic diagram that the shank of the utility model is connected with sole.
Fig. 3 is the schematic diagram that the thigh of the utility model is connected with shank.
Fig. 4 is the schematic diagram that the both legs hip joint of the utility model is connected with thigh.
Fig. 5 is that the center of gravity of the automatically walk load-carrying box of the utility model adjusts the schematic perspective view of example.
Fig. 5 a are that the center of gravity of the automatically walk load-carrying box of the utility model adjusts the front view of example.
Fig. 5 b are that the center of gravity of the automatically walk load-carrying box of the utility model adjusts the left view of example.
Fig. 6 is the schematic perspective view using the walking of the utility model automatically walk load-carrying box.
Fig. 6 a are the front view using the walking of the utility model automatically walk load-carrying box.
Fig. 6 b are the left view using the walking of the utility model automatically walk load-carrying box.
Fig. 7 a are the schematic diagram using the action of going downstairs of the utility model automatically walk load-carrying box.
Fig. 7 b are the schematic diagram using the action of going upstairs of the utility model automatically walk load-carrying box.
Fig. 8 is the schematic perspective view of the elevator floor operation of the automatically walk load-carrying box of the utility model.
Fig. 8 a are the right view of the elevator floor operation of the automatically walk load-carrying box of the utility model.
Stereogram when Fig. 9 is the cargo handing-over of the automatically walk load-carrying box of the utility model.
Left view when Fig. 9 a are the cargo handing-over of the automatically walk load-carrying box of the utility model.
Figure 10 is that the direct current generator of the utility model is schemed with the 3D of center of gravity adjusting block.
Figure 10 a are the front view of the direct current generator with center of gravity adjusting block of the utility model.
Figure 10 b are the left view of the direct current generator with center of gravity adjusting block of the utility model.
Figure 11 is the front view of the strap brake outer rotor direct current integrated motor of the utility model.
Figure 11-1 is the A-A schematic cross-sectional views of Figure 11 of the utility model.
Figure 11-2 is the decomposition distributed architecture figure of each component of the strap brake outer rotor direct current integrated motor of the utility model.
Figure 11-3 is the decomposition distributed architecture figure of each component of the strap brake outer rotor direct current integrated motor of the utility model.
Figure 12 is the servo-driver functional block diagram of strap brake outer rotor direct current integrated motor.
Figure 13 is the operation principle flow chart of the utility model.
Figure 14 is the flow chart of the central processing unit center-of-gravity regulating of the utility model.
Figure 15 is that the strap brake outer rotor direct current integrated motor of the utility model finds zero point flow chart.
Figure 16 is the work flow diagram of the strap brake outer rotor direct current integrated motor of the utility model.
Embodiment
As shown in Figure 1, the automatically walk loading described in the utility model comprising sole articulation mechanism and hip joint mechanism
The schematic diagram of the embodiment of case.In the embodiment shown in fig. 1, it includes：Part I left foot palm 1-1, right crus of diaphragm palm 1-2；Second
Part left leg 2-1, right leg 2-2；Part III left thigh 3-1, right thigh 3-2；Part IV both legs hip joint 4；5th
Part load-carrying box 5；Part VI strap brake outer rotor direct current integrated motor D1, D2, D3, D4, D5, D6, D7, D8, center-of-gravity regulating
Direct current generator D9, direct current generator D10, unlocking direct current generator D11；
The left foot palm 1-1 of Part I is included outside supporting part 1-1-1, the left redundant wheel 1-1-2 and strap brake of the left foot palm
Rotor direct current integrated motor D1, left redundant wheel 1-1-2 and strap brake outer rotor direct current integrated motor D1 are installed on the left foot palm
The inside of supporting part 1-1-1, left redundant wheel 1-1-2 can be driven by the strap brake outer rotor direct current integrated motor D1 that rotates and one
Walking is played, upper position, the ultrasonic wave that the upper connecting portion 1-1-3 of the left foot palm is located at the rear end of the supporting part 1-1-1 of the left foot palm pass
Sensor 1-1-4 is located at the front end of the supporting part 1-1-1 of the left foot palm, ultrasonic sensor 1-1-5 is located at the supporting part 1- that left foot is slapped
The left side of 1-1；Right crus of diaphragm palm 1-2 includes supporting part 1-2-1, the right redundant wheel 1-2-2 and strap brake outer rotor direct current of the right crus of diaphragm palm
Motor integrating D2, right redundant wheel 1-2-2 and strap brake outer rotor direct current integrated motor D2 are installed on the supporting part 1- of the right crus of diaphragm palm
The inside of 2-1, right redundant wheel 1-2-2 can be driven by the strap brake outer rotor direct current integrated motor D2 rotated and walked together,
The upper connecting portion 1-2-3 of the right crus of diaphragm palm is located at upper position, the ultrasonic sensor 1-2- of the rear end of the supporting part 1-2-1 of the right crus of diaphragm palm
4 are located at the right side of right crus of diaphragm ramus volaris profundus support part 1-2-1 positioned at the front end of right crus of diaphragm ramus volaris profundus support part 1-2-1, ultrasonic sensor 1-2-5；
The operation principle or process of Part I：When automatically walk load-carrying box is started to work, the rotation above load-carrying box
Infrared camera 5-4 is automatically turned on and rotated with uniform speed, the state on detection front and periphery, and and ultrasonic sensor
Feedack to central processing unit, central processing unit judges whether directly to advance, if it can advance send instruction
To strap brake outer rotor direct current integrated motor D1, D2 and them are allowed to rotate, so as to accordingly drive left and right Additional wheel to rotate together
Walking, if remind distance then central processing unit then send deceleration instruction to strap brake outer rotor direct current integrated motor D1,
D2 simultaneously allows them to reduce speed, if then then to send halt instruction straight to strap brake outer rotor for central processing unit for dangerous distance
Flow motor integrating D1, D2 to stop, then the whole left foot palm 1-1 of the utility model, right crus of diaphragm palm 1-2 stop movement.Similarly, centre
Reason device can instruct strap brake outer rotor direct current integrated motor D1, D2 to retreat.When central processing unit control strap brake outer rotor is straight
When flowing the asynchronous rotation of motor integrating D1, D2, left foot palm 1-1, right crus of diaphragm palm 1-2 can carry out turning walking, and by lateral super
Whether sonic sensor detects arrives at or lateral barrier situation, whether to control left foot palm 1-1, right crus of diaphragm palm 1-2
Walking.
The left leg 2-1 of Part II includes left leg portion 2-1-1, lower-left connecting portion 2-1-2 and upper left connecting portion 2-1-
Be connected with 4, left leg portion 2-1-1 upper left connecting portion 2-1-4, under be connected with lower-left connecting portion 2-1-2, lower-left connecting portion 2-1-
2 are connected by strap brake outer rotor direct current integrated motor D3 with the upper connecting portion 1-1-3 that left foot is slapped, and left power battery 2-1-3 is straight
Connect on left leg 2-1；Right leg 2-2 includes right leg portion 2-2-1, bottom right connecting portion 2-2-2 and upper right connecting portion 2-
Be connected with 2-4, right leg portion 2-2-1 upper right connecting portion 2-2-4, under be connected with bottom right connecting portion 2-2-2, bottom right connecting portion 2-
2-2 is connected by strap brake outer rotor direct current integrated motor D4 with the upper connecting portion 1-2-3 that right crus of diaphragm is slapped, right power battery 2-2-3
It is directly installed on right leg 2-2；Above-mentioned left and right power battery provides the utility model relevant position respectively（Left or right）'s
With the module of electric power or the voltage and current of component, for example, left power battery can supply left leg strap brake outer rotor it is straight
Flow the electric current and voltage of motor integrating D3, D5, D7 etc..Rotary infrared camera, ultrasonic sensor can also be provided, bar code is swept
Retouch instrument, FRID scanners, motor control key and built-in GPS positioning system, bluetooth sensor, loudspeaker, camera, central processing
Device, APP programs, display computer voltage and current.
Part III left thigh 3-1 includes left thigh portion 3-1-1, lower-left connecting portion 3-1-2 and upper left connecting portion 3-1-3,
Be connected with left thigh portion 3-1-1 lower-left connecting portion 3-1-2, under be connected with lower-left connecting portion 3-1-2, lower-left connecting portion 3-1-2
It is connected by strap brake outer rotor direct current integrated motor D5 with the upper left connecting portion 2-1-4 of left leg；Upper left connecting portion 3-1-3 is simultaneously
It is connected by strap brake outer rotor direct current integrated motor D7 with the left connecting portion 4-2-1 of hip joint；Right thigh 3-2 includes right thigh
Portion 3-2-1, upper right connecting portion 3-1-3 and bottom right connecting portion 3-2-2, are connected with upper right connecting portion 3-1- on right thigh portion 3-2-1
3rd, bottom right connecting portion 3-2-2 is connected with, bottom right connecting portion 3-2-2 is small by strap brake outer rotor direct current integrated motor D6 and the right side
The upper right connecting portion 2-2-4 of leg is connected；Upper right connecting portion 3-1-3 is simultaneously closed by strap brake outer rotor direct current integrated motor D8 and hip
The right connecting portion 4-2-2 of section is connected；
The both legs hip joint 4 of Part IV includes both legs hip joint frame 4-1, and both legs hip joint frame 4-1 left sides have left leg
Connecting portion 4-2-1, the right edge of both legs hip joint frame 4-1 have right leg connecting portion 4-2-2, center-of-gravity regulating direct current generator D9 to be fixed on
Inside both legs hip joint frame 4-1, center of gravity adjusting block 4-3 is eccentric structure, so can just play the role of center-of-gravity regulating, center of gravity tune
Locking nub 4-3 is installed on the motor shaft front end of center-of-gravity regulating direct current generator D9, and center-of-gravity regulating direct current generator D9, which is rotated, drives center of gravity tune
Locking nub 4-3 rotates the position of centre of gravity for reaching and adjusting load-carrying box, and center-of-gravity sensor 4-4-1 and center-of-gravity sensor 4-4-2 are installed on hip
Inside the frame 4-1 of joint, three-dimensional information and will perform dynamic that central processing unit is fed back according to center-of-gravity sensor 4-4-1,4-4-2
As the closed loop conditions of computing, central processing unit sends instructions to center-of-gravity regulating direct current generator D9, the side computing of central processing unit energy
Side adjust instruction makes the center of gravity of automatically walk load-carrying box reach perfect condition；
As shown in figure 14, second and third, the tetrameric course of work：For example the central processing unit of the utility model is according to load
The rotary infrared camera 5-4 that container body is equipped with obtains the situation of peripheral environment, judges whether that needs are gone upstairs, if desired
Central processing unit, which then sends instructions, starts the three-dimensional information of center-of-gravity regulating direct current generator D9 combinations center-of-gravity sensor feedback, starts left leg
Strap brake outer rotor direct current integrated motor D3, D5 and the D7 in portion lift left leg, start the strap brake outer rotor direct current one of right leg
Body motor D4, D6 and D8 and center-of-gravity regulating direct current generator D9 rotates center of gravity adjusting block 4-3 and reaches adjusting automatically walk loading
The center of gravity of case is placed on right leg, and combines the information of the ultrasonic sensor detection of the left foot palm, left leg is advanced and is gone upstairs, then
Central processing unit, which sends instruction startup center-of-gravity regulating direct current generator D9, makes center of gravity adjusting block 4-3 rotate and with reference to center-of-gravity sensor
The three-dimensional information of feedback, starting strap brake outer rotor direct current integrated motor D3, D5 and D7 of left leg makes automatically walk load-carrying box
Center of gravity be placed on left leg, strap brake outer rotor direct current integrated motor D4, D6 and the D8 for starting right leg lift right leg, and combine
The information of the ultrasonic sensor detection of the right crus of diaphragm palm, makes right leg advance and goes upstairs, and so repeatedly, upper well can thus go downstairs
Ladder crosses hollow area etc..
The load-carrying box 5 of Part V includes freight container 5-1, four direction ultrasonic sensor 5-2-1,5-2-2,5-2-
3rd, 5-2-4, built-in camera, GPS positioning system, bluetooth sensor, loudspeaker, central processing unit, display and APP application programs
Computer 5-3, rotary infrared camera 5-4, cursor 5-5, bar code scanner 5-6, FRID scanner 5-7, direct current generator
D10, unlocking direct current generator D11, cursor 5-5 are driven by direct current generator D10 and rotated, and the lid of load-carrying box is by unlocking direct current generator
D11 drives closure or openness；In freight container 5-1 or on built-in camera, GPS positioning system, bluetooth sensor, loudspeaker are installed
, the computer 5-3 of central processing unit, display and APP application programs, rotary infrared camera 5-4, cursor 5-5, bar code sweep
Instrument 5-6, FRID scanner 5-7, direct current generator D10, unlocking direct current generator D11 are retouched, and is directly sleeved on or is connected to both legs hip
On joint 4.
As shown in figure 13, the course of work of Part V：The automatically walk load-carrying box of the utility model during the work time,
Rotary infrared camera 5-4 feeds back to central processing unit, central processing unit at the uniform velocity to rotate, the information interacted with surrounding environment
Danger journey when judging that automatically walk load-carrying box is walked with reference to four direction ultrasonic sensor 5-2-1,5-2-2,5-2-3,5-2-4
Degree, and strap brake outer rotor direct current integrated motor D1, D2 are sent instructions to, allow them to do corresponding action, when reaching elevator,
The information obtained by rotary infrared camera 5-4, starts direct current generator D10, allows cursor 5-5 to rotate and press elevator building
Layer, after arriving at, sends information to user, user sends picking information to automatically walk load-carrying box, starts unlocking direct current
Motor D11, opens the lid of automatically walk load-carrying box, and user's cargo position, the bar when user's picking thing are reminded with loudspeaker
Code scanner 5-6 or FRID scanner 5-7 directly reads the information of cargo, and cross-check information to mistake, as to if, startup is opened
Lock direct current generator D11 shuts lid, such as not to if prompting user picking thing again, or allow artificial remote assistance.
The connecting portion 1-1-3 of the left foot palm as shown in Figure 2 passes through strap brake outer rotor direct current integrated motor D3 and left leg
Lower connecting portion 2-1-2 connections；The connecting portion 1-2-3 of the right crus of diaphragm palm passes through strap brake outer rotor direct current integrated motor D4 and right leg
Lower connecting portion 2-2-2 connections；
The upper left connecting portion 2-1-4 of left leg as shown in Figure 3 is big by strap brake outer rotor direct current integrated motor D5 and a left side
The lower-left connecting portion 3-1-2 connections of leg；The upper right connecting portion 2-2-4 of right leg passes through strap brake outer rotor direct current integrated motor D6
It is connected with the bottom right connecting portion 3-2-2 of right thigh；
The upper left connecting portion 3-1-3 of left thigh as shown in Figure 4 passes through strap brake outer rotor direct current integrated motor D7 and both legs
The left leg connecting portion 4-2-1 connections of hip joint；The upper right connecting portion 3-2-3 of right thigh passes through strap brake outer rotor direct current integrated electricity
Machine D8 is connected with the right leg connecting portion 4-2-2 of both legs hip joint；
As shown in Fig. 5, Fig. 5 a, Fig. 5 b when center-of-gravity regulating direct current generator D9 is past to turn left, the center of gravity that drive front end is connected
Adjusting block is rotated toward the left side, and the center of gravity of load-carrying box is also rotated toward the left side, when center-of-gravity regulating direct current generator D9 is rotated toward the right, band
The center of gravity adjusting block that dynamic front end is connected is rotated toward the right, and the center of gravity of load-carrying box is also toward the right；The detailed figure of center of gravity adjusting block is shown in figure
10th, Figure 10 a, Figure 10 b.
Central processing unit is according to the three of center-of-gravity sensor 4-4-1,4-4-2 as shown in Fig. 6, Fig. 6 a, Fig. 6 b, Fig. 7 a, Fig. 7 b
Dimension data and the feedback for being aided with ultrasonic sensor 1-1-4,1-2-4,1-1-5,1-2-5,5-2-1,5-2-2,5-2-3,5-2-4
Data, corresponding strap brake outer rotor direct current integrated motor D1, D2, D3, D4, D5, D6, D7, the D8 of integrated operation and center-of-gravity regulating
Direct current generator D9 makes left leg or right leg lift or walk, and walks so as to fulfill stair activity or in rough ground；Also can drive at the same time
Dynamic strap brake outer rotor direct current integrated motor D1, D2 can realize advance or retrogressing, when strap brake outer rotor direct current integrated motor D1,
Turning can be realized during the single drivings of D2.
The central processing unit as shown in Fig. 8, Fig. 8 a gives the selection that direct current generator D10 instructions cursor 5-5 realizes number of floor levels.
Shown in Fig. 9, Fig. 9 a when user sends short message or password, the lid of load-carrying box is opened by unlocking direct current generator D11, prompts to use
Place where the cargo of family, and the bar code scanner 5-6 or FRID scanner 5-7 by carrying confirms the cargo of user, if with
When family is taken by mistake with voice prompt user and notify Call center ask artificial assistance.
Center of gravity adjusting block 4-3 is fixed on the output shaft of direct current generator D9 as shown in Figure 10, Figure 10 a, Figure 10 b, and with straight
Galvanic electricity machine D9 is rotated and rotated.
As shown in Figure 11, Figure 11-1, Figure 11-2, Figure 11-3, strap brake outer rotor direct current integrated motor includes band positioning
Column left end cap 6-1, one 6-2-1 of brake solenoid, two 6-2-2 of brake solenoid, support column 6-3, brake activity template 6-4, brake
Friction plate 6-5, locking nut 6-6, motor stator 7-1, motor outer rotor 7-2, rotor foreign steamer 7-3, one 7-4-1 of bearing, bearing
Two 7-4-2, encoder turntable 7-5, right end cap 8-1, read head fixed seat 8-2, photoelectric encoder read head 8-3, circuit board mounting shell
9-1, first circuit board 9-2-1, second circuit board 9-2-2, board support column 9-3, band positioning column left end cap 6-1 pass through bearing
One 7-4-1 is contacted with the left surface of rotor foreign steamer 7-3, and right end cap 8-1 is nested in the right side of the positioning column with positioning column left end cap 6-1
Side is contacted by two 7-4-2 of bearing with rotor foreign steamer 7-3 right flanks, and read head fixed seat 8-2 is nested in the positioning column of left end cap 6-1
Right side be in contact with the right flank of motor stator 7-1, pass through locking nut 6-6 band positioning column left end cap 6-1, motor stators
7-1, read head fixed seat 8-2, right end cap 8-1 are fixed together；Motor outer rotor 7-2 is nested in inside rotor foreign steamer 7-3 and energy
Rotor foreign steamer 7-3 is driven to rotate together, motor stator 7-1 is nested in inside motor outer rotor 7-2, and motor stator 7-1 is embedding
It is sleeved on the positioning column with positioning column left end cap 6-1 and fixes, band positioning column left end cap 6-1 is provided with brake solenoid on side
One 6-2-1, two 6-2-2 of brake solenoid, the groove of brake activity template 6-4 are sleeved on one 6-2-1 of brake solenoid, brake electromagnetism
On the edge of two 6-2-2 of iron, so brake activity template 6-4 would not positioning, bremsbelage 6-5 fixed by support column 6-3
On brake activity template 6-4, first circuit board 9-2-1, second circuit board 9-2-2 are installed on inside circuit board mounting shell 9-1, electricity
Road plate mounting shell 9-1 is iron sheet shell, can shielding motor rotor electromagnetic interference, play heat dissipation and protection first circuit board 9-2-1,
The effect of second circuit board 9-2-2, circuit board mounting shell 9-1 are nested on the positioning column with positioning column left end cap 6-1 and fix.
Be screwed in one 6-2-1 of brake solenoid, two 6-2-2 of brake solenoid on left end cap 6-1 for electric work type electricity
Magnet, one 6-2-1 of brake solenoid, two 6-2-2 of brake solenoid work when being powered, and make one 6-2-1 of brake solenoid, brake electricity
Two 6-2-2 of magnet produces magnetic force and holds bremsbelage 6-5, bremsbelage 6-5 is separated with rotor foreign steamer 7-3, this belt transect
Brake outer rotor direct current integrated motor when obtaining turn signal can normal rotation, when the alarm of automatically walk load-carrying box, failure,
During electrical source of power out of power, it is fixed on after one 6-2-1 of brake solenoid on left end cap, two 6-2-2 of brake solenoid power-off in bullet
Under spring effect, the iron core in one 6-2-1 of brake solenoid, two 6-2-2 of brake solenoid is ejected, drive bremsbelage 6-5
Rotor foreign steamer 7-3 is pushed down, makes rotor foreign steamer 7-3 stop having the function that brake.Encoder turntable 7-5 is fixed on rotor foreign steamer 7-
3 right side can be rotated with rotor foreign steamer 7-3, and photoelectric encoder read head 8-3 is fixed on read head fixed seat 8-2 to be turned with encoder
Disk 7-5 is engaged, and the information for reading encoder turntable 7-5 is transferred to the photoelectric encoder interface circuit of first circuit board 9-2-1,
The servo-driver of incoming following strap brake outer rotor direct current integrated motor.
Figure 12 be strap brake outer rotor direct current integrated motor servo-driver functional block diagram, strap brake outer rotor direct current
The servo-driver of motor integrating（Similarly hereinafter servo driver of motor）First circuit board includes, power module of voltage regulation, crystal oscillator mould
Block, outer memory module SARAM, photoelectric encoder interface, PWM three-phase bridges power amplification circuit, DSP embedded microcontroller moulds
Block TSM320F2806x, second circuit board include the RS232 communication modules with isolation circuit, the CAN communication with isolation circuit
Module, high-power FET drive circuit, wherein TSM320F2806x are also equipped with floating point processing unit FPU, direct memory
Access dma module, multichannel buffered serial port, external memory storage expansion module EMIF, the PWM output modules for having multichannel, seizure
All control signals of unit module CAP, coder state acquisition module QEP, code protection module CSM, DSP（AD、SPI、
SCI, DA, CAN, IO etc.）；The crystal oscillator module, the RS232 communication modules with isolation circuit, the CAN with isolation circuit lead to
Interrogate module（Or EtherCAT communication modules）, photoelectric encoder interface, current detection module, outer memory module SARAM,
PWM three-phase bridge power amplification circuits module is connected with DSP embedded microcontroller modules respectively, high-power FET driving electricity
Road controls DDSM motor movements after being connected with PWM three-phase bridge power amplification circuit modules, and DDSM motors are through photoelectric encoder, photoelectricity
Encoder interfaces are connected with DSP embedded microcontroller modules；RS232 communication modules and CAN communication module（Or EtherCAT
Communication module）It is connected respectively with central processing unit.
The motor that above-mentioned strap brake outer rotor direct current integrated motor uses is the sub- DDSM motors of unofficial biography, and DDSM motors include
Above-mentioned motor stator 7-1 and motor outer rotor 7-2, servo driver of motor is by photoelectric encoder read head by DDSM motors
Rotating speed, direction feed back to DSP embedded microcontroller modules, and the three-pass DINSAR signal of photoelectric encoder output is filtered, poor
After the processing of sub-signal receiver chip and Phototube Coupling, tri- signals of EQEPA, EQEPB, EQEPZ, these three signals difference are exported
Input the corresponding pin of the QEP modules of DSP.Other external circuits are not required because itself is with regard to that can carry out 4 frequencys multiplication in QEP modules
The forward position of pulse can be counted, and DDSM motor steerings can be differentiated according to the order of A, B two-way pulse.Work as strap brake
When advanced 90 ° when the A in outer rotor direct current integrated motor D1, D2 is identical compared to B, DDSM motors, which rotate forward, drives rotor foreign steamer 7-3
Rotate, automatically walk load-carrying box advances, and on the contrary then DDSM motor reversals drive rotor foreign steamer 7-3 to rotate, automatically walk load-carrying box
Retreat.And Z phases are a benchmark contrast signals, for calibrating step-by-step counting, given signal is compared with the signal gathered
Compared with exporting PWM waveform after pid control algorithm, DDSM motors is reached set position values.The method of detection speed is pair
Photoelectric encoder feedback pulse in certain time is counted, and with suitable formula of mathematical, is obtained by software programming
To DDSM motor speeds.Prime power driving circuit uses PWM three-phase bridge power amplification circuit module I R2181 chips and big work(
Rate field-effect tube drive circuit.IR2181 is a kind of high voltage, the power MOSFET of high speed and high-power FET driving
Circuit.IR2181 has overcurrent protection function, if external feedback electric current exceeds setting value, IR2181 will starting current protection
Electric current, closes output channel, so as to play a protective role to system.When building circuit using IR2181 chips, three need to be provided
6 high-power FET circuits are driven to IR2181 chip circuits.Current detection module is using the current sense built in it
Device detects DDSM current of electric, in DDSM motor three-phases the electric current of a certain phase be equal to other biphase currents difference or the sum of.Cause
This, only it is to be understood that wherein the electric current of two-phase can calculate third phase electric current, therefore current detecting only needs to detect DDSM motors
The wherein electric current of two-phase（Biphase current Ia, Ib are shown in figure）.The system uses high-voltage linear current sensor
Ir2175 detects electric current.Its built-in current detect and protection circuit, can by be connected on the sampling resistor of winding loop come into
Row current sample, and the analog signal of input can be converted into digital PMW signals automatically and can directly sent in place by the chip
Manage device and carry out data processing.
As shown in figure 15, when strap brake outer rotor direct current integrated motor powers on, brake solenoid obtains electric, and rotor foreign steamer is in
Free state, the instruction of central processing unit zero point, driving DDSM motor work, reads photoelectric encoder information, when reaching zero point,
DDSM motors are set to zero point, otherwise return to driving DDSM motor steps.As shown in figure 16（Motor described in figure is DDSM electricity
Machine）, when reading DDSM motor current states, central processing unit operating instruction is performed, driving DDSM motor work, judges DDSM
Whether motor is abnormal situation, and in the event of brake solenoid dead electricity is then made, bremsbelage pushes down rotor foreign steamer, DDSM electricity
Machine stop, keep photoelectric encoder information, abnormal conditions processing after, brake solenoid obtain it is electric, read photoelectric encoder information, sentence
Whether disconnected DDSM motors reach designated position, and next central processing unit operating instruction is carried out if being；Otherwise driving is returned to
DDSM motors work, and read photoelectric encoder information Step.
The system is communicated using two ways with the central processing unit of computer, be respectively RS232 serial communications and
CANOPEN real-time ethernets communicate（Also the EtherCAT of faster speed can be used to communicate）Two kinds of communication modules.
The design of software systems corresponds to the hardware circuit design of system, according to the operation principle of control system, by each work(
It can carry out modularized processing.System main program is mainly included to the configuring of clock, the initialization of each function module function and fixed
When device interruption subroutine etc..Based on the TMS320F2806x Resources on Chip enriched and interface resource, the servomotor designed herein
Driver can realize the control of the electric current to DDSM motors, position and speed, realize and export PWM waveform by PID approach to control
Strap brake outer rotor direct current integrated motor processed.
Rotary infrared camera 5-4, ultrasonic sensor 5-2-1,5-2-2,5-2-3,5-2-4 can be examined as shown in Figure 1
The distance with people or object is measured, realizing reduces speed or stop waiting；By built-in GPS positioning system, central processing unit,
The computer 5-3 of APP application programs can obtain the position of automatically walk load-carrying box in real time, so as to it is urgent when manually helped
Help.
Claims (7)
1. a kind of automatically walk load-carrying box, including freight container, it is characterised in that：Including sole articulation mechanism, left and right leg and
Two leg hip joint mechanism；The sole articulation mechanism include left and right respectively with strap brake outer rotor direct current integrated motor and
The sole of one Additional wheel, the ultrasonic sensor of both direction is respectively provided with the sole of left and right；The 3 of the left and right leg
A joint portion is respectively provided with brake outer rotor direct current integrated motor, under the left and right of left and right leg connecting portion respectively by strap brake outside
Rotor direct current integrated motor is connected with the upper connecting portion of the left and right sole of the sole articulation mechanism, the calf peace of left and right leg
Equipped with chargeable electrical source of power, on the left and right of left and right leg connecting portion respectively by strap brake outer rotor direct current integrated motor with it is double
On the left and right leg connecting portion of leg hip joint mechanism；The two leg hip joint mechanism includes both legs hip joint frame, both legs hip joint
Frame left side has left leg connecting portion, the right edge of both legs hip joint frame to have right leg connecting portion, and center-of-gravity regulating direct current generator is fixed on
Inside both legs hip joint frame, center-of-gravity regulating direct current generator connection center of gravity block, and the freight container in walking is adjusted by center of gravity block
Center of gravity.
2. automatically walk load-carrying box according to claim 1, it is characterised in that：The left and right sole respectively plays left and right leg
Supporting role, strap brake outer rotor direct current integrated motor and Additional wheel are separately mounted to inside the sole of left and right, left foot palm outside
The distance of the ultrasonic sensor detection freight container and left side object that are equipped with, the ultrasonic sensor inspection that left foot palm front end is equipped with
Survey the distance of freight container and left front end object, the ultrasonic sensor detection freight container and the right thing that right crus of diaphragm palm outside is equipped with
The distance of body, the distance of ultrasonic sensor detection freight container and right front ends object that right crus of diaphragm palm front end is equipped with.
3. automatically walk load-carrying box according to claim 1 or 2, it is characterised in that：The two leg hip joint mechanism passes through
Strap brake outer rotor direct current integrated motor is connected with sole, and left and right leg includes left and right shank, left and right thigh and joint connecting portion, left
Right leg is connected with left and right thigh by strap brake outer rotor direct current integrated motor, the bottom of left and right thigh and both legs hip joint frame
Connected by strap brake outer rotor direct current integrated motor, the strap brake outer rotor direct current integrated motor of each joint connecting portion can be one
Determine angle to rotate freely.
4. automatically walk load-carrying box according to claim 1 or 2, it is characterised in that：Left and right leg is small including left leg, the right side
Leg, left thigh and right thigh；
The left leg includes left leg portion, lower-left connecting portion and upper left connecting portion, and upper left connection is connected with left leg portion
Portion, under be connected with lower-left connecting portion, lower-left connecting portion passes through the upper connection that strap brake outer rotor direct current integrated motor is slapped with left foot
Portion is connected, and left power battery is directly installed on left leg；Right leg includes right leg portion, bottom right connecting portion is connected with upper right
Portion, be connected with right leg portion upper right connecting portion, under be connected with bottom right connecting portion, bottom right connecting portion is straight by strap brake outer rotor
Stream motor integrating is connected with the upper connecting portion that right crus of diaphragm is slapped, and right power battery is directly installed on right leg；
The left thigh includes left thigh portion, lower-left connecting portion and upper left connecting portion, and lower-left connection is connected with left thigh portion
Portion, under be connected with lower-left connecting portion, lower-left connecting portion passes through the upper left of strap brake outer rotor direct current integrated motor and left leg and connects
Socket part is connected；Upper left connecting portion is connected by strap brake outer rotor direct current integrated motor with the left connecting portion of hip joint；Right thigh
Comprising right thigh portion, upper right connecting portion and bottom right connecting portion, be connected with right thigh portion upper right connecting portion, under be connected with bottom right company
Socket part, bottom right connecting portion are connected by strap brake outer rotor direct current integrated motor with the upper right connecting portion of right leg；Upper right connects
Portion is connected by strap brake outer rotor direct current integrated motor with the right connecting portion of hip joint.
5. automatically walk load-carrying box according to claim 1 or 2, it is characterised in that：Center of gravity biography is installed in freight container
Sensor；The left and right center of gravity of the freight container can be sensed center of gravity signal by center-of-gravity sensor and be turned and center-of-gravity regulating direct current generator
The dynamic overall center of gravity for adjusting automatically walk load-carrying box.
6. automatically walk load-carrying box according to claim 1 or 2, it is characterised in that：Freight container is provided with rotary infrared
Camera, ultrasonic sensor, bar code scanner, FRID scanners, motor control key and built-in GPS positioning system, bluetooth
Sensor, loudspeaker, camera, central processing unit, the computer with APP programs and display.
7. automatically walk load-carrying box according to claim 1 or 2, it is characterised in that：The strap brake outer rotor direct current
The motor used in motor integrating is the DDSM motors of unofficial biography, and the DDSM motors include turning outside motor stator and motor
Son, the strap brake outer rotor direct current integrated motor include band positioning column left end cap, brake solenoid one, brake solenoid
2nd, support column, brake activity template, bremsbelage, locking nut, motor stator, motor outer rotor, rotor foreign steamer, bearing one,
Bearing two, encoder turntable, right end cap, read head fixed seat, photoelectric encoder read head, circuit board mounting shell, first circuit board,
Two circuit boards and board support column, are contacted, right end cap with positioning column left end cap by bearing one with the left surface of rotor foreign steamer
The right side for being nested in the positioning column with positioning column left end cap is contacted by bearing two with rotor foreign steamer right flank, and read head fixed seat is embedding
It is sleeved on the right side of the positioning column of left end cap to be in contact with the right flank of motor stator, by locking nut band positioning column left end
Lid, motor stator, read head fixed seat, right end cap are fixed together；Motor outer rotor is nested in inside rotor foreign steamer and can drive
Rotor foreign steamer rotates together, and motor stator is nested in inside motor outer rotor, and motor stator is nested in band positioning column left end
Fixed on the positioning column of lid, brake solenoid one, brake solenoid two are installed on band positioning column left end cap side, brake is lived
The groove that movable plate is equipped with is sleeved on the edge of brake solenoid one, brake solenoid two, and bremsbelage passes through support column
It is fixed on brake activity template, first circuit board, second circuit board are installed on inside circuit board mounting shell, and circuit board mounting shell is embedding
It is sleeved on the positioning column with positioning column left end cap and fixes；Encoder turntable is fixed on the right side of rotor foreign steamer and can be with rotor
Foreign steamer rotates, and photoelectric encoder read head is fixed in read head fixed seat and can be engaged with encoder turntable, and photoelectric encoder is read
The information that head can read encoder turntable is transferred to the photoelectric encoder interface that first circuit board or/and second circuit board are equipped with
Circuit, the servo-driver that incoming first circuit board or/and second circuit board are equipped with；
The servo-driver include power module of voltage regulation, crystal oscillator module, outer memory module, photoelectric encoder interface,
PWM three-phase bridges power amplification circuit, DSP embedded microcontrollers module, the RS232 communication modules with isolation circuit, band isolation
The CAN communication module or EtherCAT communication modules of circuit, high-power FET drive circuit, the crystal oscillator module, band
The RS232 communication modules of isolation circuit, the CAN communication module with isolation circuit or EtherCAT communication modules, photoelectric encoder
Interface, current detection module, outer memory module, PWM three-phase bridge power amplification circuits module respectively with the embedded microcontrollers of DSP
Device module connects, and high-power FET drive circuit controls DDSM electricity after being connected with PWM three-phase bridge power amplification circuit modules
Machine moves, and DDSM motors are connected through photoelectric encoder, photoelectric encoder interface with DSP embedded microcontroller modules；RS232
Communication module is connected with central processing unit respectively with CAN communication module or EtherCAT communication modules.
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| CN201720720420.6U CN207329166U (en) | 2017-06-20 | 2017-06-20 | A kind of automatically walk load-carrying box |
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| CN201720720420.6U CN207329166U (en) | 2017-06-20 | 2017-06-20 | A kind of automatically walk load-carrying box |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583725A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
| CN108583721A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type bionic leg |
| CN108583724A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band |
| CN108839724A (en) * | 2018-07-13 | 2018-11-20 | 长沙紫宸科技开发有限公司 | A kind of multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band |
| CN110356487A (en) * | 2019-07-11 | 2019-10-22 | 广东博智林机器人有限公司 | A kind of Bipedal platform and its control method |
| CN110963229A (en) * | 2018-09-30 | 2020-04-07 | 陈锦萱 | Novel moving device and novel combined moving device for uneven ground |
| CN112659108A (en) * | 2021-01-06 | 2021-04-16 | 北京唐柏世纪科技发展有限公司 | Distributed energy humanoid robot suitable for inflammable and explosive scenes |
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2017
- 2017-06-20 CN CN201720720420.6U patent/CN207329166U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583725A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
| CN108583721A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type bionic leg |
| CN108583724A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band |
| CN108839724A (en) * | 2018-07-13 | 2018-11-20 | 长沙紫宸科技开发有限公司 | A kind of multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band |
| CN110963229A (en) * | 2018-09-30 | 2020-04-07 | 陈锦萱 | Novel moving device and novel combined moving device for uneven ground |
| CN110963229B (en) * | 2018-09-30 | 2023-11-03 | 江苏金鼎建设集团有限公司 | Novel moving device for uneven ground and novel combined moving device |
| CN110356487A (en) * | 2019-07-11 | 2019-10-22 | 广东博智林机器人有限公司 | A kind of Bipedal platform and its control method |
| CN110356487B (en) * | 2019-07-11 | 2020-12-15 | 广东博智林机器人有限公司 | Double-foot walking platform and control method thereof |
| CN112659108A (en) * | 2021-01-06 | 2021-04-16 | 北京唐柏世纪科技发展有限公司 | Distributed energy humanoid robot suitable for inflammable and explosive scenes |
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