CN208248334U - A kind of easy-to-assemble modularization hexapod robot - Google Patents
A kind of easy-to-assemble modularization hexapod robot Download PDFInfo
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- CN208248334U CN208248334U CN201820716770.XU CN201820716770U CN208248334U CN 208248334 U CN208248334 U CN 208248334U CN 201820716770 U CN201820716770 U CN 201820716770U CN 208248334 U CN208248334 U CN 208248334U
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Abstract
The utility model discloses a kind of easy-to-assemble modularization hexapod robot, including at least two composite modules；Each composite module includes fuselage ring, horizontal push mechanism, the big leg mechanism of two machinery, the small leg mechanism of two machinery and Liang Ge T-type bindiny mechanism；The fuselage ring of each composite module successively abutting joint, and it is in the same plane.The easy-to-assemble modularization hexapod robot pass through the fuselage ring of each composite module successively abutting joint, it can be desirably combined into multi-foot robot, and when locally breaking down, can directly be combined module replacement, safeguard simple and convenient, suitable field survivorship use.
Description
Technical field
The utility model relates to a kind of robot, especially a kind of easy-to-assemble modularization hexapod robot.
Background technique
Legged type robot is increasingly becoming a research hotspot, and in large-scale, medium-sized multi-foot robot, driver occupies one
The volume of partial robotic, if cannot the driver to robot reasonably arranged, will increase unnecessary volume.
On the other hand, for multi-foot robot often in field work, components are easy to damage, need to carry out corresponding part to change reparation,
Even cause entirety to be scrapped due to local damage, troublesome maintenance and at high cost, unsuitable field survivorship use sometimes.
Utility model content
Purpose of utility model: providing a kind of easy-to-assemble modularization hexapod robot, being capable of the replacement of fast and easy modularization
Maintenance is suitable for field survivorship and uses.
Technical solution: easy-to-assemble modularization hexapod robot described in the utility model, including at least two combination dies
Block；
Each composite module includes fuselage ring, horizontal push mechanism, the big leg mechanism of two machinery, two mechanical shanks
Mechanism and Liang Ge T-type bindiny mechanism；
Horizontal push mechanism includes Liang Ge electric putter mechanism and a pusher bar support；Pusher bar support is fixedly mounted on fuselage frame
On frame；The Liang Ge electric putter mechanism of horizontal push mechanism is hingedly mounted on pusher bar support；
Liang Ge T-type bindiny mechanism is respectively articulated in the left and right side edge for being mounted on fuselage ring；The two of horizontal push mechanism
Side of the telescopic end of a electric putter mechanism respectively with Liang Ge T-type bindiny mechanism is hinged；
Two big leg mechanisms of machinery include Liang Ge electric putter mechanism, and the telescopic end and T of one of electric putter mechanism
The other side of type bindiny mechanism is hinged, and the telescopic end of another electric putter mechanism and the upper end of mechanical small leg mechanism are mutually cut with scissors
It connects；
The fuselage ring of each composite module successively abutting joint, and it is in the same plane.
Further, fuselage ring includes the side frame of left and right sides and is connected laterally between the side frame of left and right sides
Connecting cross beam；Two root side frames and connecting cross beam constitute U-shaped structure, and U-shaped structure is an integral molding structure；Two sides
A lateral rectangular opening for hinged installation T-type bindiny mechanism is transversely provided on frame；On side frame and it is located at lateral square
Vertical pin shaft hole is vertically provided through at shape hole.
Further, pusher bar support includes two transverse bars and a vertical bar；Two transverse bars are transversely mounted respectively
In the upper and lower sides corresponding position of the side frame of left and right sides；Vertical bar is mounted vertically between two transverse bars, and is located at laterally
The middle position of bar；Liang Ge electric putter mechanism, which is respectively articulated with, to be mounted between two transverse bars up and down, and is located at vertical bar
The left and right sides.
Further, electric putter mechanism includes electric pushrod, U-shaped plug and is hingedly mounted on U-shaped plug two sides yoke
On push rod articulated shaft；Two short axles for hingedly installing are symmetrically arranged on the outer wall of electric pushrod；U-shaped plug is fixed
It is mounted on the telescopic end of electric pushrod.
Further, T-type bindiny mechanism includes integrally formed lateral swing rod and vertical swing rod；One end of lateral swing rod is solid
The middle part of vertical swing rod is set calmly；Hinged mounting hole is equipped in the other end of lateral swing rod；It is vertical at the middle part of lateral swing rod
Hinged shaft is rotatably installed；An end hinge hole, and the center of end hinge hole are equipped at the both ends of vertical swing rod
Line and the axial line of hinged shaft are perpendicular；Lateral swing rod runs through lateral rectangular opening, and the upper and lower ends of hinged shaft are respectively articulated with
It is mounted on vertical pin shaft hole；The push rod articulated shaft of the electric putter mechanism of horizontal push mechanism is hingedly mounted on hinged mounting hole
On.
Further, mechanical big leg mechanism further includes that two parallelogram frames and four are fixedly mounted on two in parallel
Steady brace between quadrilateral frame；The Liang Ge electric putter mechanism of mechanical big leg mechanism is hingedly mounted on two in parallel by short axle
Between quadrilateral frame, and the telescopic direction of Liang Ge electric putter mechanism is opposite；One end hinge hole of vertical swing rod is hingedly installed
On the push rod articulated shaft of an electric putter mechanism of mechanical big leg mechanism；Another end hinge hole of vertical swing rod passes through solid
Rationed marketing axis is hingedly mounted on two parallelogram frames.
Further, mechanical small leg mechanism includes upper strut and hemispherical footing；It is equipped in the upper end of upper strut upper
Hinge hole and lower hinge hole；Upper hinge hole is hingedly mounted on two parallelogram frames by fixed pin shaft, lower hinge hole hinge
On the push rod articulated shaft for meeting another electric putter mechanism for being mounted on mechanical big leg mechanism；Hemispherical footing is fixedly mounted on support
On the lower end of bar.
Further, the both ends of fixed pin shaft, the both ends of push rod articulated shaft and two short axles on electric pushrod are led to
It crosses hinged seat and realizes hinged installation；Hinged seat includes mounting seat, bearing and circlip；Bearing is equipped in mounting seat to install
Hole and two are for installing the fixed installation circular hole of hinged seat；Bearing limits bearing in bearing mounting hole, and by circlip
Position.
Further, limit threaded hole is equipped in the middle part of fixed pin shaft and push rod articulated shaft；Hinge hole, hinge in end
Connect that mounting hole, equal threaded engagement is equipped with a caging bolt, and the end of caging bolt at upper hinge hole and lower hinge hole
The limit threaded hole in each hole with corresponding position is respectively protruding into mutually to screw.
Further, an installation notch are equipped on the upside of the both ends of side frame；On the both ends end face of side frame
It is equipped with the mounting hole communicated with installation notch；The side frame end of adjacent composite module is by connection bolt by mounting hole pair
Connect installation.
The utility model compared with prior art, the beneficial effect is that: successively by the fuselage ring of each composite module
Abutting joint can be desirably combined into multi-foot robot, and when locally breaking down, can directly be combined module
Simple and convenient, suitable field survivorship use is safeguarded in replacement；By the Liang Ge electric putter mechanism of horizontal push mechanism respectively to two
Pedipulator carries out wobble drive, realizes the horizontal hunting of pedipulator, and realized by T-type bindiny mechanism and swing transmission；Pass through two
Respective Liang Ge electric putter mechanism realizes swing and the small leg mechanism of machinery of mechanical big leg mechanism respectively on mechanical big leg mechanism
Swing；Driving mechanism used in robot all uses the identical electric putter mechanism of structure, is pushed away using modular electricity
Linkage realizes the walking motion driving of pedipulator, need to only carry out to the electric pushrod of electric putter mechanism when carrying out travelling control
It controls respectively, driver is close, can be obviously shortened the program development period.
Detailed description of the invention
Fig. 1 is that structural schematic diagram is implemented in a kind of hexapod robot combination of the utility model；
Fig. 2 is the hexapod robot combination partition structural schematic diagram of the utility model；
Fig. 3 is structural schematic diagram after the U-shaped structure fuselage ring of the utility model combines；
Fig. 4 is the single composite module structural schematic diagram of the utility model；
Fig. 5 is the big leg mechanism of machinery and mechanical shank mechanism structure schematic diagram of the utility model；
Fig. 6 is the structural schematic diagram of the T-type bindiny mechanism of the utility model；
Fig. 7 is the mechanical shank mechanism structure schematic diagram of the utility model；
Fig. 8 is the electric putter mechanism structure schematic diagram of the utility model；
Fig. 9 is the hinge base structure schematic diagram of the utility model.
Specific embodiment
Technical solutions of the utility model are described in detail with reference to the accompanying drawing, but the protection scope of the utility model
It is not limited to the embodiment.
Embodiment 1:
As shown in figs 1-9, the six easy-to-assemble modularization hexapod robot of foot of one kind that the utility model embodiment provides,
Including three composite modules, i.e., using hexapod robot as embodiment；
Three composite modules include that fuselage ring 1, horizontal push mechanism, two machinery, 3, two machinery of big leg mechanism are small
Leg mechanism 4 and Liang Ge T-type bindiny mechanism 6；
Wherein, horizontal push mechanism includes Liang Ge electric putter mechanism 2 and a pusher bar support 5；Pusher bar support 5 is fixedly mounted
On fuselage ring 1；The Liang Ge electric putter mechanism 2 of horizontal push mechanism is hingedly mounted on pusher bar support 5；
Liang Ge T-type bindiny mechanism 6 is respectively articulated in the left and right side edge for being mounted on fuselage ring 1；Horizontal push mechanism
Side of the telescopic end of Liang Ge electric putter mechanism 2 respectively with Liang Ge T-type bindiny mechanism 6 is hinged；
The big leg mechanism 3 of two machinery includes Liang Ge electric putter mechanism 2, and the telescopic end of one of electric putter mechanism 2
It is hinged with the other side of T-type bindiny mechanism 6, the upper end of the telescopic end of another electric putter mechanism 2 and mechanical small leg mechanism 4
It is hinged；
The fuselage ring 1 of each composite module successively abutting joint, and it is in the same plane.
Further, the side frame 7 of fuselage ring 1 including left and right sides and be connected laterally at left and right sides side frame 7 it
Between connecting cross beam 11；Two root side frames 7 and connecting cross beam 11 constitute U-shaped structure, and U-shaped structure is an integral molding structure；
A lateral rectangular opening 9 for hinged installation T-type bindiny mechanism 6 is transversely provided on two side frames 7；In side frame 7
Above and at lateral rectangular opening 9 vertically it is provided through vertical pin shaft hole 10；It is all provided on side frame 7 and connecting cross beam 11
There is lightening hole.It is integrally formed using side frame 7 and connecting cross beam 11, it can be ensured that structural strength.
Further, pusher bar support 5 includes two transverse bars 12 and a vertical bar 13；Two transverse bars 12 are horizontal respectively
To the upper and lower sides corresponding position for the side frame 7 for being mounted on left and right sides；Vertical bar 13 is mounted vertically between two transverse bars 12,
And it is located at the middle position of transverse bar 12；Liang Ge electric putter mechanism 2, which is respectively articulated with, to be mounted between two transverse bars 12 up and down,
And it is located at the left and right sides of vertical bar 13.Support between two transverse bars 12 is realized using vertical bar 13, while can be to two
A electric putter mechanism 2 carries out limit isolation, prevents to collide.
Further, electric putter mechanism 2 includes electric pushrod 15, U-shaped plug 17 and is hingedly mounted on 17 liang of U-shaped plug
Push rod articulated shaft 18 on the yoke of side；Two short axles for hingedly installing are symmetrically arranged on the outer wall of electric pushrod 15
16；U-shaped plug 17 is fixedly mounted on the telescopic end of electric pushrod 15.The hinged of electric pushrod 15 is realized using short axle 16
Installation；It can be realized the hinged installation of 15 retractable ends of electric pushrod using U-shaped plug 17 and push rod articulated shaft 18.
Further, T-type bindiny mechanism 6 includes integrally formed lateral swing rod 24 and vertical swing rod 23；Lateral swing rod 24
One end be fixed at the middle part of vertical swing rod 23；Hinged mounting hole 28 is equipped in the other end of lateral swing rod 24；In transverse direction
The middle part of swing rod 24 is vertically rotatably equipped with hinged shaft 27；An end hinge hole is equipped at the both ends of vertical swing rod 23
26, and the center line of end hinge hole 26 and the axial line of hinged shaft 27 are perpendicular；Lateral swing rod 24 runs through lateral rectangular opening
9, the upper and lower ends of hinged shaft 27, which are respectively articulated with, to be mounted on vertical pin shaft hole 10；The electric putter mechanism 2 of horizontal push mechanism
Push rod articulated shaft 18 be hingedly mounted on hinged mounting hole 28.Horizontal push mechanism and machinery are connected by T-type bindiny mechanism 6
Big leg mechanism 3, realizes wobble drive when walking, while also well realizing the hinge of mechanical big leg mechanism 3 and fuselage ring 1
Installation is connect, the support demand of each mechanical big leg mechanism 3 is met.
Further, mechanical big leg mechanism 3 further includes that two parallelogram frames 20 and four are fixedly mounted on two
Steady brace 21 between parallelogram frame 20；The Liang Ge electric putter mechanism 2 of mechanical big leg mechanism 3 is hingedly pacified by short axle 16
Between two parallelogram frames 20, and the telescopic direction of Liang Ge electric putter mechanism 2 is opposite；One end of vertical swing rod 23
Portion's hinge hole 26 is hingedly mounted on the push rod articulated shaft 18 of an electric putter mechanism 2 of mechanical big leg mechanism 3；Vertical swing rod 23
Another end hinge hole 26 be hingedly mounted on two parallelogram frames 20 by fixed pin shaft 40.Mechanical thigh machine
The Liang Ge electric putter mechanism 2 of structure 3 is parallel installation up and down, can be very good to reduce mechanical big leg mechanism 3 using parallel installation
Size, and power transmitting is good.
Further, mechanical small leg mechanism 4 includes upper strut 29 and hemispherical footing 32；In the upper end of upper strut 29
Equipped with upper hinge hole 30 and lower hinge hole 31；Upper hinge hole 30 is hingedly mounted on two parallelogram frames by fixed pin shaft 40
On 20, lower hinge hole 31 is hingedly mounted on the push rod articulated shaft 18 of another electric putter mechanism 2 of mechanical big leg mechanism 3；Half
Spherical footing 32 is fixedly mounted on the lower end of strut 29.It can satisfy the support of all angles using hemispherical footing 32
Demand, versatility is stronger, can better adaptation to the ground.
Further, two short on the both ends of fixed pin shaft 40, the both ends of push rod articulated shaft 18 and electric pushrod 15
Axis 16 realizes hinged installation by hinged seat 14；Hinged seat 14 includes mounting seat 35, bearing 38 and circlip 39；It is installing
Pedestal 35 is equipped with bearing mounting hole 36 and two for installing the fixed installation circular hole 37 of hinged seat 14；Bearing 38 is embedded in axis
It holds in mounting hole 36, and bearing 38 is limited by circlip 39.The hinged peace of each spindle nose is realized using modular hinged seat 14
Dress, can facilitate installation and maintenance, versatility is stronger.
Further, limit threaded hole 19 is equipped at the middle part of fixed pin shaft 40 and push rod articulated shaft 18；It is cut with scissors in end
Connect that hole 26, hinged mounting hole 28, equal threaded engagement is equipped with a caging bolt 25 at upper hinge hole 30 and lower hinge hole 31,
And 19 phase of limit threaded hole that the end of caging bolt 25 is respectively protruding into each hole with corresponding position screws.Using limit
The cooperation of threaded hole 19 and caging bolt 25 can be realized the fixation of hole position on fixed pin shaft 40 and push rod articulated shaft 18, prevent
Only hole is along axis play, it is ensured that the stability at joint of robot swing.
Further, an installation notch 8 are equipped on the upside of the both ends of side frame 7；In the both ends end face of side frame 7
On be equipped with the mounting hole 33 communicated with installation notch 8；7 end of side frame of adjacent composite module is by connection bolt 41 by pacifying
Fill abutting joint at hole 33.Connection bolt 41 can be facilitated to be inserted into mounting hole 33 using installation notch 8 and carry out abutting joint.
Easy-to-assemble modularization hexapod robot described in the utility model when in use, pass through the machine of each composite module
The successively abutting joint of body frame 1 can be desirably combined into multi-foot robot, and when locally breaking down, can be direct
It is combined module replacement, safeguards simple and convenient, suitable field survivorship use；Pass through two electric putter machines of horizontal push mechanism
Structure 2 carries out wobble drive to two pedipulators respectively, realizes the horizontal hunting of pedipulator, and realized and swung by T-type bindiny mechanism 6
Transmission；Realize the swing of mechanical big leg mechanism 3 respectively by respective Liang Ge electric putter mechanism 2 on the big leg mechanism 3 of two machinery
And the swing of mechanical small leg mechanism 4；Driving mechanism used in easy-to-assemble modularization hexapod robot is all using knot
The identical electric putter mechanism 2 of structure realizes that the walking motion of pedipulator drives using modular electric putter mechanism 2, is being gone
Walk when controlling only need to the electric pushrod 15 to electric putter mechanism 2 controlled respectively, driver is close, can be obvious
Shorten the program development period.
As described above, although the utility model has been indicated and described referring to specific preferred embodiment, it must not
It is construed to the limitation to the utility model itself.In the spirit and scope for not departing from the utility model that appended claims define
Under the premise of, it can various changes can be made in the form and details to it.
Claims (10)
1. a kind of easy-to-assemble modularization hexapod robot, it is characterised in that: including at least two composite modules；
Each composite module includes that fuselage ring (1), horizontal push mechanism, two big leg mechanisms of machinery (3), two machinery are small
Leg mechanism (4) and Liang Ge T-type bindiny mechanism (6)；
Horizontal push mechanism includes Liang Ge electric putter mechanism (2) and a pusher bar support (5)；Pusher bar support (5) is fixedly mounted on
On fuselage ring (1)；The Liang Ge electric putter mechanism (2) of horizontal push mechanism is hingedly mounted on pusher bar support (5)；
Liang Ge T-type bindiny mechanism (6) is respectively articulated in the left and right side edge for being mounted on fuselage ring (1)；Horizontal push mechanism
Side of the telescopic end of Liang Ge electric putter mechanism (2) respectively with Liang Ge T-type bindiny mechanism (6) is hinged；
Two big leg mechanisms of machinery (3) include Liang Ge electric putter mechanism (2), and one of electric putter mechanism (2) is flexible
It holds and is hinged with the other side of T-type bindiny mechanism (6), the telescopic end of another electric putter mechanism (2) and mechanical small leg mechanism (4)
Upper end be hinged；
The fuselage ring (1) of each composite module successively abutting joint, and it is in the same plane.
2. easy-to-assemble modularization hexapod robot according to claim 1, it is characterised in that: fuselage ring (1) includes
The side frame (7) of left and right sides and the connecting cross beam (11) being connected laterally between the side frame (7) of left and right sides；Two root sides
Frame (7) and connecting cross beam (11) constitute U-shaped structure, and U-shaped structure is an integral molding structure；It is horizontal on two side frames (7)
The hinged lateral rectangular opening (9) for installing T-type bindiny mechanism (6) is used for being equipped with one；On side frame (7) and it is located at lateral square
Vertical pin shaft hole (10) are vertically provided through at shape hole (9).
3. easy-to-assemble modularization hexapod robot according to claim 2, it is characterised in that: pusher bar support (5) includes
Two transverse bars (12) and a vertical bar (13)；Two transverse bars (12) are transversely mounted on the side frame of left and right sides respectively
(7) upper and lower sides corresponding position；Vertical bar (13) is mounted vertically between two transverse bars (12), and is located at transverse bar (12)
Middle position；Liang Ge electric putter mechanism (2), which is respectively articulated with, to be mounted between two transverse bars (12) up and down, and is located at vertical
The left and right sides of bar (13).
4. easy-to-assemble modularization hexapod robot according to claim 3, it is characterised in that: electric putter mechanism (2) packet
Include electric pushrod (15), U-shaped plug (17) and the push rod articulated shaft being hingedly mounted on the yoke of U-shaped plug (17) two sides
(18)；Two short axles (16) for hingedly installing are symmetrically arranged on the outer wall of electric pushrod (15)；U-shaped plug (17) is solid
Dingan County is on the telescopic end of electric pushrod (15).
5. easy-to-assemble modularization hexapod robot according to claim 4, it is characterised in that: T-type bindiny mechanism (6) packet
Include integrally formed lateral swing rod (24) and vertical swing rod (23)；One end of lateral swing rod (24) is fixed at vertical swing rod
(23) middle part；Hinged mounting hole (28) are equipped in the other end of lateral swing rod (24)；It is vertical at the middle part of lateral swing rod (24)
Hinged shaft (27) are rotatably installed；An end hinge hole (26), and end are equipped at the both ends of vertical swing rod (23)
The center line of hinge hole (26) and the axial line of hinged shaft (27) are perpendicular；Lateral swing rod (24) runs through lateral rectangular opening (9),
The upper and lower ends of hinged shaft (27), which are respectively articulated with, to be mounted on vertical pin shaft hole (10)；The electric putter mechanism of horizontal push mechanism
(2) push rod articulated shaft (18) is hingedly mounted on hinged mounting hole (28).
6. easy-to-assemble modularization hexapod robot according to claim 5, it is characterised in that: mechanical big leg mechanism (3)
It further include two parallelogram frames (20) and four fixed drawings being fixedly mounted between two parallelogram frames (20)
Bar (21)；The Liang Ge electric putter mechanism (2) of mechanical big leg mechanism (3) is hingedly mounted on two parallelogram by short axle (16)
Between frame (20), and the telescopic direction of Liang Ge electric putter mechanism (2) is opposite；One end hinge hole (26) of vertical swing rod (23)
It is hingedly mounted on the push rod articulated shaft (18) of an electric putter mechanism (2) of mechanical big leg mechanism (3)；Vertical swing rod (23)
Another end hinge hole (26) is hingedly mounted on two parallelogram frames (20) by fixed pin shaft (40).
7. easy-to-assemble modularization hexapod robot according to claim 6, it is characterised in that: mechanical small leg mechanism (4)
Including upper strut (29) and hemispherical footing (32)；It is equipped in the upper end of upper strut (29) upper hinge hole (30) and lower hinged
Hole (31)；Upper hinge hole (30) is hingedly mounted on two parallelogram frames (20) by fixed pin shaft (40), lower hinge hole
(31) it is hingedly mounted on the push rod articulated shaft (18) of another electric putter mechanism (2) of mechanical big leg mechanism (3)；Hemispherical bottom
Foot (32) is fixedly mounted on the lower end of strut (29).
8. easy-to-assemble modularization hexapod robot according to claim 6, it is characterised in that: the two of fixed pin shaft (40)
Two short axles (16) on end, the both ends of push rod articulated shaft (18) and electric pushrod (15) realize hinge by hinged seat (14)
Connect installation；Hinged seat (14) includes mounting seat (35), bearing (38) and circlip (39)；Axis is equipped on mounting seat (35)
Mounting hole (36) and two are held for installing the fixed installation circular hole (37) of hinged seat (14)；Bearing (38) is installed embedded in bearing
In hole (36), and bearing (38) are limited by circlip (39).
9. easy-to-assemble modularization hexapod robot according to claim 8, it is characterised in that: in fixed pin shaft (40) and
Limit threaded hole (19) is equipped in the middle part of push rod articulated shaft (18)；Hinge hole (26), hinged mounting hole (28), upper hinge in end
It connects equal threaded engagement at hole (30) and lower hinge hole (31) and a piece caging bolt (25), and the end of caging bolt (25) is installed
The limit threaded hole (19) that portion is respectively protruding into each hole with corresponding position mutually screws.
10. easy-to-assemble modularization hexapod robot according to claim 2, it is characterised in that: the two of side frame (7)
An installation notch (8) is equipped on the upside of end；It is equipped on the both ends end face of side frame (7) and is communicated with installation notch (8)
Mounting hole (33)；Side frame (7) end of adjacent composite module, which is docked by connection bolt (41) by mounting hole (33), pacifies
Dress.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820716770.XU CN208248334U (en) | 2018-05-14 | 2018-05-14 | A kind of easy-to-assemble modularization hexapod robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820716770.XU CN208248334U (en) | 2018-05-14 | 2018-05-14 | A kind of easy-to-assemble modularization hexapod robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638041A (en) * | 2018-05-14 | 2018-10-12 | 南京蜘蛛侠智能机器人有限公司 | A kind of modularization robot |
| CN110142750A (en) * | 2019-06-17 | 2019-08-20 | 山东大学 | A kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises and method |
| CN111391935A (en) * | 2020-03-19 | 2020-07-10 | 上海工程技术大学 | Self-deformation reconfigurable multi-terrain robot |
-
2018
- 2018-05-14 CN CN201820716770.XU patent/CN208248334U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638041A (en) * | 2018-05-14 | 2018-10-12 | 南京蜘蛛侠智能机器人有限公司 | A kind of modularization robot |
| CN110142750A (en) * | 2019-06-17 | 2019-08-20 | 山东大学 | A kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises and method |
| CN111391935A (en) * | 2020-03-19 | 2020-07-10 | 上海工程技术大学 | Self-deformation reconfigurable multi-terrain robot |
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