CN207888629U - A kind of tool wide-angle is bent the wheeled anthropomorphic robot of function - Google Patents
A kind of tool wide-angle is bent the wheeled anthropomorphic robot of function Download PDFInfo
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- CN207888629U CN207888629U CN201820201811.1U CN201820201811U CN207888629U CN 207888629 U CN207888629 U CN 207888629U CN 201820201811 U CN201820201811 U CN 201820201811U CN 207888629 U CN207888629 U CN 207888629U
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Abstract
The utility model is related to apery wheeled robot field, specially a kind of tool wide-angle is bent the wheeled anthropomorphic robot of function.The robot includes：Comprehensive chassis system, big angle of depression waist system, apery light weight mechanical arm system, chest system, head visual speech system, comprehensive chassis system include：Shock mitigation system and kinematic system, big angle of depression waist system include：Dynamical system and slide block connecting rod system, apery light weight mechanical arm system include：According to human body limb data flexible customization, chest system includes chest rotary joint and robot power control system for robot motion's joint module and articular link plate, wherein articular link plate, and head visual speech system includes：Binocular camera, speech ciphering equipment and two-freedom degree joint.The utility model simplifies the structure and weight of anthropomorphic robot, reduces manufacturing cost, realizes that the customization according to human body limb data to robot, realization surpass the 55 ° big angle of depression and bend over to act, improves the function applicability of anthropomorphic robot.
Description
Technical field
The utility model is related to apery wheeled robot field, specially a kind of tool wide-angle is bent the wheeled apery of function
Robot.
Background technology
Present wheeled anthropomorphic robot basic structure is similar, by wheel undercarriage, mechanical arm, head, body several major
It constitutes, but there are larger differences in waist structure, such as：Link-type, Worm-gear type etc..
Such as：Waist structure disclosed in patent of invention (publication number CN 106945071A) controls one using a motor
The mode of degree of freedom realizes that waist tilts, and power motor is various, and structure and control are complicated.For another example utility model patent (publication number
CN 206263988U) by the way of worm and gear, realization bends over to act, and angle of bending is lean forward 20 °, 40 ° of layback, with machine
The action demand degree of conformity that device people's top rake is more than the rear elevation angle is relatively low.
And in existing waist structure, waist joint exists still in the form of independent joint, and joint collaboration, gravity balance are asked
Topic become limitation robot wide-angle bend Motor ability an important factor for, in the action process of robot, action of bending over
It generates, the inevitable variation with robot entirety center of gravity.Therefore, it is necessary to remove other abarticular joints of waist cooperate with together it is dynamic
Make, such as：Coxa joint, knee joint etc., to ensure that whole center of gravity does not generate larger offset with action of bending over.And it is dynamic to multi-joint
Power is precisely controlled, and the control difficulty and complexity of robot is significantly greatly increased.
Utility model content
The purpose of this utility model is to provide a kind of tool wide-angle and bends the wheeled anthropomorphic robot of function, solves existing imitative
The technical issues of robot people angle of bending is smaller, and action body balance of bending needs each joint co-operating, simplifies
Structure reduces control complexity and reduces cost.
The technical solution of the utility model is as follows：
A kind of tool wide-angle is bent the wheeled anthropomorphic robot of function, including head visual speech system, chest system, imitative
People's light weight mechanical arm system, big angle of depression waist system, the top-down composite structure of comprehensive chassis system；
The head visual speech system includes：Binocular camera, speech ciphering equipment and two-freedom degree joint；
The chest system includes：Chest rotary joint and robot power control system；
The apery light weight mechanical arm system includes：Robot motion's joint module and articular link plate；
The big angle of depression waist system includes：Dynamical system and slide block connecting rod system；
The comprehensive chassis system includes：Shock mitigation system and kinematic system, the front-wheel wheel group and rear wheel rotation of kinematic system
Group is set to the bottom of comprehensive chassis system, forms wheeled anthropomorphic robot.
The dynamical system of the big angle of depression waist system, number of degrees of freedom, 1, and provide power by linear motor.
The slide block connecting rod system of the big angle of depression waist system, including：Back yoke plate, leg yoke plate, coxa joint, knee
Joint, fixed board, dynamical system, chute system, back yoke plate are connecting rod one, and bottom and the coxa joint of back yoke plate connect
It connects, retains rotary freedom；There are connection holes on the top of back yoke plate, couple with chest rotary joint, yoke plate middle part and slideway
System couples, and retains rotary freedom；Leg yoke plate is connecting rod two, and the end of leg yoke plate is closed with coxa joint, knee respectively
Section connection, retains rotary freedom；Chute system, plate both sides are distributed slideway between slideway, and top couples with waist yoke plate, reservation
Rotary freedom；Fixed board, there are the installation interfaces docked with chassis for bottom end.
In the slide block connecting rod system, chute system and waist yoke plate and triangle three side of leg yoke plate, slideway system
System is under dynamical system effect, length linear change；Coxa joint opposed robots move toward the back lower place, robot entirety center of gravity
It moves down, waist yoke plate is shown as decentralization, angular deflection.
Robot motion's joint module, including：Shoulder pitch power plant modules, modularized joint and planetary reduction gear
Module.
The power motor of the modularized joint is located at cycle space in needle bearing, and be directed to different dynamic demand have it is logical
Interface.
The center reserving installation hole of the planetary reduction gear module, couples with modularized joint, and it is dynamic to meet mechanical arm shoulder
Power demand.
The articular link plate is according to human body limb data flexible customization.
The advantages of the utility model and advantageous effect are：
1, the wide-angle of the utility model bends function based on the realization of slide block connecting rod system, and two connecting rods of system correspond to respectively
Back yoke plate and leg yoke plate, two triangle adjacent sides；By the linear motion of linear motor control slide block, make triangle
Three edge lengths linear changes, it is existing to bend over and action of going down on one's knees outside the robot system.Based on this system, robot may be implemented to surpass
It crosses 55 ° to bend to act, and action of going down on one's knees, so that the bend over centre-of gravity shift of action of robot is compensated, a power source is completed
The work of multiple power sources greatly simplifies structure and control.
2, the anthropomorphic robot of the utility model, system are built by plank and structural member, greatly utilize the sheet fabrication period
Short feature, the articulation plate between each modularized joint can ensure according to different user, different use occasion flexible customizations
The applicability of its function.
Description of the drawings
The following drawings is only intended in doing schematic illustration and explanation to the utility model, does not limit the model of the utility model
It encloses.Wherein：
Fig. 1 be the utility model it is a kind of tool wide-angle bend function wheeled anthropomorphic robot overall structure diagram.
Fig. 2 is the overall structure figure that the utility model wide-angle is bent under action.
Fig. 3 (a)-Fig. 3 (b) is the structure chart of the utility model apery light weight mechanical arm system；Wherein, Fig. 3 (a) is whole
Structure, Fig. 3 (b) are decomposition texture.
Figure label title is as follows：
1000 head visual speech systems；1001 two-freedom degree joints；1002 binocular cameras；1003 head sound equipments；
1101 head shells；1102 controller rear covers；
2000 chest systems；2001 back power controllers；2002 front yoke plates；2100 chest shells；2200 chests revolve
Turn joint；
3000 apery light weight mechanical arm systems；3100 mechanical arm shells；3200 shoulder roll power plant modules；3201 connections
Block；3202 stop screw nuts；3203 connection claws；3210 planetary reduction gear modules；3211 modularization gusset pieces；3212 external tooths
Circle；3213 centre wheels；3214 planetary gears；3215 retarder gusset pieces；3220 modularized joints；3221 bearing outer rings join block；
3222 module joint needle bearings；3223 module joint motor tail shells；3224 module joint power motors；3225 motor casings；
3300 shoulder pitch power plant modules；3301 synchronous belts；3302 power motors；3303 shoulder structure plates；3304 small pulleys；3305
Pressing device；3306 connection metal plates；3307 big belt wheels；3308 shoulder axis；3400 upper arm roll power plant modules；3401 upper arm power
Motor；3402 upper arm motors join block；3403 upper arm needle bearings；3404 upper arm structure parts；3500 underarm pitch power plant modules；
3501 PTO drive disks；3600 underarm roll power plant modules；3601 underarm, one metal plate；3602 underarm power motors；3603 underarms
Two metal plates；3700 palms；3801 upper arm couple long slab；3802 upper arm couple short slab；3803 upper arm articular lamellas；3804 upper arm couple
Claw；3805 underarm short slabs；3806 underarm long slabs；
4000 big angle of depression waist systems；4100 waist system shells；The following system shell of 4101 waists；4200 linkages
System；4201 back Left-wing Federation plates；The right yoke plate in 4202 backs；4203 hip cushion blocks；4204 coxa joints；The right yoke plate in 4205 legs；
4206 leg Left-wing Federation plates；4207 knee joints；4208 fixed boards；4209 gusset pieces；4300 slip bocks systems；4301 sliding blocks couple
Block；4302 double-sliders；4303 pairs of slideways；Plate between 4304 slideways；4305 push rods join block；4306 line handspikes；
5000 comprehensive chassis systems；5100 chassis cases；5200 rear wheel rotation groups；5201 base plate electric machine bearing blocks；5202
Base plate electric machine；5203 Mecanum wheels；5204 rear wheels structural slabs；5300 profile shapes structure-steel framings；5400 front-wheel wheel groups；5401 subtract
Shake suspension hinge.
Specific implementation mode
For a clearer understanding of the technical features, objectives and effects of the utility model, below with reference to attached drawing
And embodiment is described in further details the utility model, pitch power therein, roll power, pitch axis, yaw axis
Meaning is respectively：A relatively upper element or coordinate system, pitching are waved as pitch axis, are swung left and right for yaw axis, and rolling is shaken
Pendulum is roll axis, and Pitch power, roll power are the power for providing corresponding oscillating motion.
As shown in Figure 1, Figure 2, shown in Fig. 3 (a)-Fig. 3 (b), the utility model provides a kind of tool wide-angle and bends the wheeled of function
Anthropomorphic robot, the wheeled anthropomorphic robot include head visual speech system 1000, chest system 2000, apery light weight machinery
Arm system 3000, big angle of depression waist system 4000, comprehensive chassis system 5000 composite structure from top to bottom, comprehensive chassis system
The bottom of system 5000 is equipped with front-wheel wheel group and rear wheel rotation group, forms wheeled anthropomorphic robot, concrete composition and structure are as follows：
The head visual speech system 1000 realizes acquisition of information and the interaction of voice and vision, packet for robot
Include two-freedom degree joint 1001, binocular camera 1002, head sound equipment 1003 and head shell 1101, controller rear cover
1102, wherein：The two-freedom degree joint 1001 is located at the bottom of head visual speech system 1000, is used for head pitch axis
There is craft port with the pedestal of the movement of yaw axis, wherein two-freedom degree joint 1001, for coupling with chest system 2000.Institute
Binocular camera 1002 is stated, is located at the front of head visual speech system 1000, for obtaining ambient image information.The head
Sound equipment 1003 is located at the both sides of head visual speech system 1000, for obtaining environmental voice information.Head visual speech system
Controller is set in 1000, vision data, processing acoustic information for receiving analysis camera shooting head end.Controller rear cover 1102 is pacified
Loaded on 1101 rear portion of head shell, binocular camera 1002, head sound equipment 1003 are set to outside controller rear cover 1102 and head
In the protection shell that shell 1101 is formed.
The chest system 2000, including back power controller 2001, front yoke plate 2002, chest shell 2100, chest
Portion's rotary joint 2200, wherein：Back power controller 2001, front yoke plate 2002 and chest rotary joint 2200 are set to chest
In portion's shell 2100；The back power controller 2001, the dynamic Control for controlling robot, including two-freedom degree joint
1 of 1001 2 power steering engines, 10 power motors of apery light weight mechanical arm system 3000, chest rotary joint 2200
4 power motors of power motor, 1 straight line power motor of big angle of depression waist system 4000, comprehensive chassis system 5000.
The chest rotary joint 2200 is used for the rotation of robot chest, and the lower end of chest rotary joint 2200 is connection port, is used
Couple in big angle of depression waist system 4000.
The apery light weight mechanical arm system 3000, including mechanical arm shell 3100, robot motion's joint module (machine
People's movable joint module includes shoulder roll power plant modules 3200, shoulder pitch power plant modules 3300, upper arm roll power plant modules
3400, underarm pitch power plant modules 3500, underarm roll power plant modules 3600), palm 3700, articulation plate (articulation
Plate includes upper arm connection long slab 3801, upper arm connection short slab 3802, upper arm articular lamella 3803, upper arm connection claw 3804, underarm
Short slab 3805, underarm long slab 3806), wherein：It is shoulder pitch power plant modules that shoulder roll power plant modules 3200, which export end,
3300, shoulder pitch power plant module 3300 couples long slab 3801 and upper arm connection between upper arm roll power plant modules 3400 for upper arm
The connection of short slab 3802 is connect, is upper arm articular lamella 3803 between upper arm roll power plant modules 3400 and underarm pitch power plant modules 3500
Couple the connection of claw 3804 with upper arm；It is short for underarm between underarm pitch power plant modules 3500 and underarm roll power plant modules 3600
Plate 3805 couples with underarm long slab 3806；The palm 3700 is located at the bottom of underarm roll power plant modules 3600, palm 3700
With 3602 shaft hole matching of underarm power motor, using finger setting；The mechanical arm shell 3100 is set to apery light weight mechanical arm
The outside of system 3000.
The shoulder roll power plant modules 3200, including coupling block 3201, stop screw nut 3202, connection claw
3203, planetary reduction gear module 3210 etc., for modularized joint 3220 and shoulder pitch power plant modules 3300 couple and
Mechanical position limitation.Planetary reduction gear module 3210 includes modularization gusset piece 3211, external toothing 3212, centre wheel 3213, planetary gear
3214, retarder gusset piece 3215, wherein：Four through-holes on modularization gusset piece 3211 are used for and module joint power motor
3224 screw attachments；Four through-holes on retarder gusset piece 3215 are coupled by screw with external toothing 3212, retarder connection
Four axis pins on plate 3215 and four 3214 clearance fits of planetary gear, four threaded holes on retarder gusset piece 3215 are used for
Couple 3801 screw attachment of long slab with upper arm；Centre wheel 3213 is located at retarder center, is engaged with four planetary gears, centre wheel
The D-shaped hole at 3213 centers is interference fitted with the D-shaped axis of module joint power motor 3224.
The shoulder pitch power plant modules 3300, including synchronous belt 3301, power motor 3302, shoulder structure plate 3303,
Small pulley 3304, pressing device 3305, connection metal plate 3306, big belt wheel 3307, shoulder axis 3308, wherein：3307 He of big belt wheel
3304 gear ratio of small pulley is 4, is driven by synchronous belt 3301 among big belt wheel 3307 and small pulley 3304, leans on pressing device 3305
It compresses；One end of shoulder axis 3308 passes through key connection and clamp spring axial limiting, the other end of shoulder axis 3308 with big belt wheel 3307
The through-hole for crossing axle center for one, for being connect with stop screw nut 3202；Shoulder structure plate 3303, the position for coupling metal plate 3306
It is respectively with effect：Shoulder structure plate 3303 is for coupling power motor 3302 and shoulder axis 3308,3303 He of shoulder structure plate
It is apery light weight mechanical arm system 3000 and 2000 connector of chest system to couple metal plate 3306, jointly with front yoke plate 2002
It connects.
The upper arm roll power plant modules 3400, including upper arm power motor 3401, upper arm motor connection block 3402, upper arm rolling
Needle bearing 3403, upper arm structure part 3404, wherein：The upper arm needle bearing 3403, inner ring are matched with upper arm motor connection block 3402
It closes, outer ring coordinates with upper arm structure part 3404.The both sides of upper arm motor connection block 3402 couple respectively with upper arm long slab 3801,
Upper arm couples short slab 3802 and couples, and the top of upper arm motor connection block 3402 is connect with upper arm power motor 3401, upper arm structure part
3404 couple with upper arm articular lamella 3803.
The underarm pitch power plant modules 3500, including modularized joint 3220 and PTO drive disk 3501, wherein：Mould
Block joint 3220 includes bearing outer ring connection block 3221, module joint needle bearing 3222, module joint motor tail shell 3223, mould
Block joint power motor 3224, motor casing 3225, wherein：Module joint power motor 3224 is located inside motor casing 3225, uses
In providing power for joint；Motor casing 3225 be equipped with screw hole, respectively with couple claw 3203 and module joint motor tail shell
3223 connections；3222 inner ring of module joint needle bearing coordinates with module joint motor tail shell 3223, module joint needle bearing
3222 outer rings coordinate with bearing outer ring connection block 3221；Bearing outer ring connection block 3221 couples 3802 bolt-connection of short slab with upper arm, on
Arm couples claw 3804 and 3225 screw attachment of motor casing；Bearing outer ring connection block 3221 couples with underarm short slab 3805, and power is defeated
The side of placing 3501 couples with underarm long slab 3806.
The underarm roll power plant modules 3600, including one metal plate 3601 of underarm, two metal plate 3603 of underarm, underarm power electric
Machine 3602, wherein：Outside one metal plate 3601 of underarm setting up and down and two metal plate 3603 of underarm of underarm power motor 3602, underarm
Coupled with one metal plate 3601 of underarm and two metal plate 3603 of underarm by screw between short slab 3805 and underarm long slab 3806.
The big angle of depression waist system 4000, including waist system shell 4100, push and pull system 4200, slip bocks system
4300, wherein：The push and pull system 4200, including back Left-wing Federation plate 4201, the right yoke plate 4202 in back, hip cushion block 4203, hip
Portion joint 4204, the right yoke plate 4205 in leg, leg Left-wing Federation plate 4206, knee joint 4207, fixed board 4208, gusset piece
4209, the right yoke plate 4202 of back Left-wing Federation plate 4201 and back is connecting rod one, and the right yoke plate 4205 in leg and leg Left-wing Federation plate 4206 are
Connecting rod two is coxa joint 4204 between connecting rod one and connecting rod two, retains rotary freedom, back Left-wing Federation plate 4201 and back are right
Hip cushion block 4203 is set between plate 4202, the right yoke plate of back Left-wing Federation plate 4201 and back 4202 is constrained by hip cushion block 4203
Relative axial position.Plate 4304 is hinged between one upper end of connecting rod and the slideway of slip bocks system 4300, two lower end of connecting rod and fixed board
It is knee joint 4207 between 4208, retains rotary freedom.In addition, waist system shell 4100 be waist system above shell and
4,101 two parts of the following system shell of waist are constituted, and are respectively used to protect the upper and lower part of big angle of depression waist system 4000.
Plate between the slip bocks system 4300, including sliding block coupling block 4301, double-slider 4302, double slideways 4303, slideway
4304, push rod connection block 4305, line handspike 4306, wherein：Double slideways 4303 are fixed on 4304 both sides of plate between slideway, ensure straight line
Degree；Double-slider 4302 couples with sliding block coupling block 4301,4301 both sides of sliding block coupling block and 4208 screw attachment of fixed board, double
Sliding block 4302 is equivalent to chassis and fixes.Push rod connection block 4305 top couple with plate between slideway 4304, push rod join 4305 lower part of block and
Line handspike 4306 couples, and line handspike 4306 provides power for big waist system of bending, and plate 4304 is along cunning between alloing slideway
Road rectilinear direction is moved relative to chassis along Z-direction.
Comprehensive chassis system 5000, including it is chassis case 5100, rear wheel rotation group 5200, profile shapes structure-steel framing 5300, preceding
Take turns wheel group 5400, rear wheel rotation group 5200 include base plate electric machine bearing block 5201, base plate electric machine 5202, Mecanum wheel 5203, after
Wheel group structure plate 5204, wherein：5204 both sides of rear wheels structural slab, base plate electric machine are fixed in the distribution of base plate electric machine bearing block 5201
5202 join with 5201 screw attachment of base plate electric machine bearing block, ring flange and 5202 motor shaft of base plate electric machine of Mecanum wheel 5203
It connects.The profile shapes structure-steel framing 5300 couples with rear wheel rotation group 5200, is relatively fixed；Profile shapes structure-steel framing 5300 and front-wheel wheel group
5400 is hinged by shockproof suspension hinge 5401, and front-wheel wheel group 5400 retains the rotary freedom relative to rear wheel rotation group 5200,
To adapt to the small size fluctuating of not similar shape；In addition, chassis case 5100 is arranged in 5300 top of profile shapes structure-steel framing.
Embodiment the result shows that, the tool wide-angle of the utility model is bent the wheeled anthropomorphic robot of function, is effectively solved
The wide-angle of robot is bent problem, and the structure and weight of anthropomorphic robot are simplified, and reduces manufacturing cost, is realized according to human body limb
Customization of the volume data to robot, realization surpass the 55 ° big angle of depression and bend over to act, and improve the function applicability of anthropomorphic robot, realize
Lightweight and low cost.
Claims (8)
- The wheeled anthropomorphic robot of function 1. a kind of tool wide-angle is bent, which is characterized in that including head visual speech system, chest Portion's system, apery light weight mechanical arm system, big angle of depression waist system, the top-down composite structure of comprehensive chassis system；The head visual speech system includes：Binocular camera, speech ciphering equipment and two-freedom degree joint；The chest system includes：Chest rotary joint and robot power control system；The apery light weight mechanical arm system includes：Robot motion's joint module and articular link plate；The big angle of depression waist system includes：Dynamical system and slide block connecting rod system；The comprehensive chassis system includes：Shock mitigation system and kinematic system, the front-wheel wheel group and rear wheel rotation group of kinematic system are set It is placed in the bottom of comprehensive chassis system, forms wheeled anthropomorphic robot.
- The wheeled anthropomorphic robot of function 2. tool wide-angle according to claim 1 is bent, which is characterized in that described to bow greatly The dynamical system of angle waist system, number of degrees of freedom, 1, and provide power by linear motor.
- The wheeled anthropomorphic robot of function 3. tool wide-angle according to claim 1 is bent, which is characterized in that described to bow greatly The slide block connecting rod system of angle waist system, including：Back yoke plate, coxa joint, knee joint, fixed board, moves leg yoke plate Force system, chute system, back yoke plate are connecting rod one, and the bottom of back yoke plate is connect with coxa joint, retain rotary freedom； There are connection holes on the top of back yoke plate, couple with chest rotary joint, couple with chute system in the middle part of yoke plate, retain rotation certainly By spending；Leg yoke plate is connecting rod two, and the end of leg yoke plate couples with coxa joint, knee joint respectively, retains rotation certainly By spending；Chute system, plate both sides are distributed slideway between slideway, and top couples with waist yoke plate, reservation rotary freedom；It is fixed vertical Plate, there are the installation interfaces docked with chassis for bottom end.
- The wheeled anthropomorphic robot of function 4. tool wide-angle according to claim 3 is bent, which is characterized in that the sliding block In push and pull system, chute system and waist yoke plate and triangle three side of leg yoke plate, chute system are acted in dynamical system Under, length linear change；Coxa joint opposed robots move toward the back lower place, robot entirety decentralization, and waist yoke plate is aobvious It is shown as decentralization, angular deflection.
- The wheeled anthropomorphic robot of function 5. tool wide-angle according to claim 1 is bent, which is characterized in that the machine People's movable joint module, including：Shoulder pitch power plant modules, modularized joint and planetary reduction gear module.
- The wheeled anthropomorphic robot of function 6. tool wide-angle according to claim 5 is bent, which is characterized in that the module The power motor for changing joint is located at cycle space in needle bearing, and is directed to different dynamic demand and has general interface.
- The wheeled anthropomorphic robot of function 7. tool wide-angle according to claim 5 is bent, which is characterized in that the planet The center reserving installation hole of retarder module, couples with modularized joint, meets mechanical arm shoulder power demand.
- The wheeled anthropomorphic robot of function 8. tool wide-angle according to claim 1 is bent, which is characterized in that the joint Connecting plate is according to human body limb data flexible customization.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820201811.1U CN207888629U (en) | 2018-02-06 | 2018-02-06 | A kind of tool wide-angle is bent the wheeled anthropomorphic robot of function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820201811.1U CN207888629U (en) | 2018-02-06 | 2018-02-06 | A kind of tool wide-angle is bent the wheeled anthropomorphic robot of function |
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| CN207888629U true CN207888629U (en) | 2018-09-21 |
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|---|---|---|---|
| CN201820201811.1U Expired - Fee Related CN207888629U (en) | 2018-02-06 | 2018-02-06 | A kind of tool wide-angle is bent the wheeled anthropomorphic robot of function |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127640A (en) * | 2018-02-06 | 2018-06-08 | 东北大学 | A kind of have wide-angle and bend the wheeled anthropomorphic robot of function |
| CN109823403A (en) * | 2019-03-01 | 2019-05-31 | 达闼科技（北京）有限公司 | A kind of robot chassis skeleton and robot |
| CN109866232A (en) * | 2019-03-01 | 2019-06-11 | 达闼科技（北京）有限公司 | Chest skeleton texture and robot of robot |
| CN109955223A (en) * | 2019-03-01 | 2019-07-02 | 达闼科技（北京）有限公司 | A kind of robot inner frame and robot |
| CN111267083A (en) * | 2020-03-12 | 2020-06-12 | 北京科技大学 | Mechanical arm autonomous carrying system based on combination of monocular and binocular cameras |
| EP3978207A4 (en) * | 2020-07-08 | 2022-08-31 | CloudMinds Robotics Co., Ltd. | Robot and housing thereof |
-
2018
- 2018-02-06 CN CN201820201811.1U patent/CN207888629U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127640A (en) * | 2018-02-06 | 2018-06-08 | 东北大学 | A kind of have wide-angle and bend the wheeled anthropomorphic robot of function |
| CN108127640B (en) * | 2018-02-06 | 2023-12-12 | 东北大学 | Wheel type humanoid robot with large-angle bending function |
| CN109823403A (en) * | 2019-03-01 | 2019-05-31 | 达闼科技（北京）有限公司 | A kind of robot chassis skeleton and robot |
| CN109866232A (en) * | 2019-03-01 | 2019-06-11 | 达闼科技（北京）有限公司 | Chest skeleton texture and robot of robot |
| CN109955223A (en) * | 2019-03-01 | 2019-07-02 | 达闼科技（北京）有限公司 | A kind of robot inner frame and robot |
| CN111267083A (en) * | 2020-03-12 | 2020-06-12 | 北京科技大学 | Mechanical arm autonomous carrying system based on combination of monocular and binocular cameras |
| CN111267083B (en) * | 2020-03-12 | 2022-01-04 | 北京科技大学 | Mechanical arm autonomous carrying system based on combination of monocular and binocular cameras |
| EP3978207A4 (en) * | 2020-07-08 | 2022-08-31 | CloudMinds Robotics Co., Ltd. | Robot and housing thereof |
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