CN210000442U - robot walking mechanism - Google Patents
robot walking mechanism Download PDFInfo
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- CN210000442U CN210000442U CN201822111362.4U CN201822111362U CN210000442U CN 210000442 U CN210000442 U CN 210000442U CN 201822111362 U CN201822111362 U CN 201822111362U CN 210000442 U CN210000442 U CN 210000442U
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Abstract
The utility model discloses a robot running gear, its overall structure divide into two parts hip and shank, wherein, the hip includes base and connecting seat two parts, the shank includes thigh and shank two parts, and motion control system divide into four parts, install the transmission system that is used for controlling the thigh rotation in the base, install the second transmission system that is used for controlling thigh swing back and forth in the connecting seat, install the third transmission system that is used for controlling thigh lateral swing in the connecting seat and install the fourth transmission system that is used for controlling shank swing back and forth in the connecting seat.
Description
Technical Field
The utility model belongs to the robot structure field relates to robot running gear.
Background
The foot robot is kinds of intelligent robots with redundant drive, multi-branch chain and time-varying topological motion mechanisms, and relates to comprehensive high-tech products in biology, bionics, mechanics, sensing technology, information processing technology and the like.
However, the existing legged robot structure has the disadvantages that the whole robot is very heavy, people are easy to hurt after falling down, and particularly heavy devices such as driving devices are arranged on leg joints of the robot, so that the dynamic response performance of the legs of the robot is low, the whole structure of the robot is not compact enough, and the work efficiency is not high.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model aims at providing kinds of robot running gear, can reduce the shank quality of robot to obtain good dynamic tracking performance, and realize that the overall structure of robot is compact and work is high-efficient.
Based on this, the utility model provides an kinds of robot running gear, it includes hip and two shank, the hip includes base and two connecting seats that correspond respectively with each said shank , two said connecting seats are connected respectively in the bottom of said base, the shank includes thigh and shank that from the top down connects gradually, the thigh is connected with the base through the said connecting seat;
the base is provided with a control device and an th transmission system for controlling the connecting seat to rotate, and the connecting seat is provided with a second transmission system for controlling the thigh to swing back and forth, a third transmission system for controlling the thigh to swing laterally and a fourth transmission system for controlling the shank to swing back and forth;
the th transmission system, the second transmission system, the third transmission system and the fourth transmission system are respectively electrically connected with the control device.
Optionally, the th transmission system includes a th driving device, a transmission member, and two sets of 0 th connecting rod assemblies, the two sets of th connecting rod assemblies are respectively connected to the output end of the th driving device through the transmission member, and the th connecting rod assembly is correspondingly connected to the connecting seat , the th driving device is fixedly mounted on the base, the th driving device is electrically connected to the control device, and the first driving device drives the first connecting rod assembly to rotate the connecting seat.
Optionally, the link assembly includes branch and second branch, the th tip of branch with the th tip of second branch is articulated mutually, the second end of branch with the driving medium is connected, the second end of second branch with the connecting seat is connected.
Optionally, the second transmission system includes th synchronous pulley device and a second driving device, the second driving device is installed on the connecting seat, and the second driving device is electrically connected with the control device, the th synchronous pulley device includes th driving wheel and th driven wheel, the th driving wheel is connected with the output end of the second driving device, the th driven wheel is connected with the thigh, the second driving device drives the th synchronous pulley device to work, so that the thigh can swing back and forth.
Optionally, the third transmission system includes a second synchronous pulley device and a third driving device, the third driving device is installed on the connecting seat, the third driving device is electrically connected to the control device, the second synchronous pulley device includes a second driving wheel and a second driven wheel, an output end of the third driving device is connected to the second driving wheel, the second driven wheel is connected to the thigh, and the second driving device drives the second synchronous pulley device to work, so that the lateral swing of the thigh can be realized.
Optionally, the fourth transmission system includes a fourth driving device, a third synchronous pulley device and a second connecting rod assembly, the fourth driving device is installed on the connecting seat, the third synchronous pulley device includes a third driving wheel and a third driven wheel, an output end of the fourth driving device is connected to the third driving wheel, the fourth driving device is electrically connected to the control device, the third driven wheel is connected to the shank through the second connecting rod assembly, and the fourth driving device drives the second connecting rod assembly to move through the third synchronous pulley device, so as to swing the shank back and forth.
Optionally, the second connecting rod assembly includes a third rod and a fourth rod, the th end of the third rod is hinged to the th end of the fourth rod, the second end of the third rod is connected to the third driven wheel, and the second end of the fourth rod is connected to the lower leg.
Optionally, an th cavity is arranged in the connecting seat, the third driving device and the second speed reducer are respectively installed in the th cavity, an output shaft of the second driving device is parallel to an output shaft of the fourth driving device, and the th synchronous pulley device and the third synchronous pulley device are respectively located on two sides of the connecting seat.
Optionally, a second cavity is arranged in the base, two bearings corresponding to the connecting seats are fixedly arranged in the second cavity, and the base is connected with the connecting seats through the bearings.
Optionally, the control device includes a control module, a data processing module and a communication module, the data processing module and the communication module are respectively electrically connected to the control module, and the th driving device, the second driving device, the third driving device and the fourth driving device are respectively electrically connected to the control module.
Implement the embodiment of the utility model provides a, following beneficial effect has:
the utility model discloses a robot running gear includes hip and two shank, the hip includes base and two connecting seats that correspond with each shank respectively, two connecting seats are connected respectively in the bottom of base, the shank includes thigh and shank that from the top down connects gradually, the thigh is connected with the base through the connecting seat, be equipped with controlling means on the base and be used for controlling connecting seat pivoted transmission system, be equipped with the second transmission system that is used for controlling the thigh swing back and forth on the connecting seat, the third transmission system that is used for controlling thigh lateral swing and the fourth transmission system that is used for controlling shank swing back and forth, transmission system, the second transmission system, the third transmission system and the fourth transmission system are connected with controlling means electricity respectively, controlling means and transmission system install on the base, the second transmission system, third transmission system and fourth transmission system all install on the connecting seat, and the connecting seat is connected and is constituteed the hip structure in the base bottom, make transmission system and control system concentrate on the hip on the whole, reduce the quality of shank, and compact structure, high operating efficiency, in addition, because there is hardly there is heavier drive arrangement on the shank, the dynamic response performance of the shank of the.
Drawings
Fig. 1 is a schematic front view of the walking mechanism of robots according to the embodiment of the present invention;
fig. 2 is a schematic top view of the walking mechanism of robots according to the embodiment of the present invention;
fig. 3 is a schematic front view of a partial structure of a connecting seat portion of the walking mechanism of robots according to the embodiment of the present invention;
fig. 4 is a schematic side view of a partial structure of a connecting seat portion of the walking mechanism of robots according to the embodiment of the present invention;
fig. 5 is a schematic diagram of a right-view structure of the walking mechanism of robots according to the embodiment of the present invention;
fig. 6 is a schematic view of a partial front view structure of the walking mechanism of robots according to the embodiment of the present invention.
Description of reference numerals:
1. hip, 11, base, 111, second cavity, 1111, bearing, 12, connecting seat, 2, leg, 21, thigh, 22, calf, 3, transmission system, 31, driving device, 32, transmission member, 33, linkage assembly, 331, strut, 332, second strut, 4, second transmission system, 41, second driving device, 42, synchronous pulley device, 421, driving wheel, 422, driven wheel, 43, reducer, 5, third transmission system, 51, third driving device, 52, second synchronous pulley device, 521, second driving wheel, 522, second driven wheel, 53, second reducer, 6, fourth transmission system, 61, fourth driving device, 62, third synchronous pulley device, 621, third driving wheel, 622, third driven wheel, 63, second linkage assembly, 631, third strut, 632, fourth strut.
Detailed Description
The technical solution in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of , but not all embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1 to 6, the driving mechanisms provided by the embodiments of the present invention include a hip 1 and two legs 2, the hip 1 includes a base 11 and two connecting seats 12 corresponding to the legs 2 , the two connecting seats 12 are connected to the bottom of the base 11, the legs 2 include a thigh 21 and a shank 22 sequentially connected from top to bottom, the thigh 21 is connected to the base 11 through the connecting seats 12, the base 11 is provided with a control device and a driving system 3 for controlling the connecting seats 12 to rotate, the connecting seats 12 are provided with a second driving system 4 for controlling the thigh 21 to swing back and forth, a third driving system 5 for controlling the thigh 21 to swing laterally, and a fourth driving system 6 for controlling the shank 22 to swing back and forth, and the driving system 3, the second driving system 4, the third driving system 5, and the fourth driving system 6 are electrically connected to the control device, respectively.
Based on the above structure, the robot walking mechanism comprises a hip 1 and two legs 2, the hip 1 comprises a base 11 and two connecting seats 12, the legs 2 comprise a thigh 21 and a shank 22 which are sequentially connected from top to bottom, the two connecting seats 12 are respectively connected to the bottom of the base 11, the upper end of the thigh 21 is correspondingly connected with the connecting seat 12 , a control device and a transmission system 3 are respectively installed on the base 11, a second transmission system 4 for controlling the front and back swing of the thigh 21, a third transmission system 5 for controlling the lateral swing of the thigh 21 and a fourth transmission system 6 for controlling the front and back swing of the shank 22 are respectively installed on the connecting seat 12, the transmission system 3, the second transmission system 4, the third transmission system 5 and the fourth transmission system 6 are respectively and electrically connected with the control device, so that the working states of the transmission system 3, the second transmission system 4, the third transmission system 5 and the fourth transmission system 6 are controlled by the control device, it is required to be noted that the working states of the third transmission system 3, the second transmission system 4, the third transmission system 5 and the fourth transmission system 6 are respectively independent from working states, the hip system 12 and the working state of the robot walking mechanism is more compact, and the walking mechanism is not designed to the robot walking mechanism, and the robot walking mechanism has a more compact structure, and the robot walking mechanism has no heavy weight of the hip 2, and the hip 2.
The first transmission system 3 includes a th driving device 31, a transmission member 32 and two sets of th connecting rod assemblies 33, the two sets of th connecting rod assemblies 33 are respectively in transmission connection with output ends of th driving devices 31 through the transmission member 32, in this embodiment, the transmission member 32 is a lead screw, the two sets of th connecting rod assemblies 33 are correspondingly connected with the two connecting seats 12 2, the th driving device 31 is fixedly installed on the base 11, and the th driving device 31 is electrically connected with the control device, therefore, the th driving device 31 drives the transmission member 32 to move, the transmission member 32 converts the rotation motion into linear motion and transmits the linear motion to the two sets of th connecting rod assemblies 33, the two sets of th connecting rod assemblies 33 respectively drive the corresponding connecting seats 12 to rotate, the two connecting seats 12 further drive the thighs 21 correspondingly connected with , it is worth pointing out that the transmission system 3 only needs to use the th driving devices 31, the first connecting rod assemblies 31 change the motion direction of the th driving device 31 and transmit the motion to the first connecting rods 33 on both sides, and the first connecting rods 33 respectively, thereby reducing the cost of the transmission members.
, the th connecting rod assembly 33 comprises a 0 th supporting rod 331 and a second supporting rod 332, the th end of the th supporting rod 331 is hinged with the th end of the second supporting rod 332, the second end of the th supporting rod 331 is connected with the transmission piece 32, and the second end of the second supporting rod 332 is connected with the connecting seat 12, so that the transmission piece 32 drives the th supporting rod of the th connecting rod assembly 33 on both sides of the transmission piece to move respectively, and then the th supporting rod 331 drives the second supporting rod 332 to move, so that the connecting seat 12 rotates, and finally the whole leg 2 structure rotates.
In addition, the second transmission system 4 comprises a second driving device 41, an th synchronous pulley device 42 and a th speed reducer 43, the second driving device 41 is a motor, the second driving device 41 is mounted on the connecting base 12, the second driving device 41 is electrically connected with the control device, the 0 th synchronous pulley device 42 comprises a 1 th driving pulley 421 and a 2 th driven pulley 422, a 3 th driving pulley 421 is connected with the output end of the second driving device 41, a 4 th driven pulley 422 is in transmission connection with the 5 th speed reducer 43, the th speed reducer 43 is connected with the thigh 21, the control device controls the second driving device 41 to work, the output end of the second driving device 41 drives the th driving pulley 421 of the th synchronous pulley device 42 to rotate, the driving pulley 421 transmits power to the th driven pulley 422, the th driven pulley 422 transmits power to the th speed reducer 43, and the th speed reducer 43 controls the thigh 21 to swing back and forth.
In this embodiment, the third transmission system 5 includes a third driving device 51, a second synchronous pulley device 52 and a second speed reducer 53, the third driving device 51 is a motor, the third driving device 51 is mounted on the connecting base 12, the third driving device 51 is electrically connected to the control device, the second synchronous pulley device 52 includes a second driving pulley 521 and a second driven pulley 522, an output end of the third driving device 51 is connected to the second driving pulley 521, the second driven pulley 522 is in transmission connection with the second speed reducer 53, and the second speed reducer 53 is connected to the thigh 21; the control device controls the third driving device 51 to work, the output end of the third driving device 51 drives the second driving wheel 521 of the second synchronous pulley device 52 to rotate, the second driving wheel 521 transmits power to the second driven wheel 522, the second driven wheel 522 transmits power to the second speed reducer 53, and the second speed reducer 53 controls the thigh 21 to swing laterally.
The fourth transmission system 6 comprises a fourth driving device 61, a third synchronous pulley device 62, a second connecting rod assembly 63 and a third speed reducer, the fourth driving device 61 is a motor, the fourth driving device 61 is installed on the connecting seat 12, the third synchronous pulley device 62 comprises a third driving wheel 621 and a third driven wheel 622, the output end of the fourth driving device 61 is connected with the third driving wheel 621, so that the fourth driving device 61 is in transmission connection with the third synchronous pulley device 62, the fourth driving device 61 is electrically connected with the control device, the third driven wheel 622 is in transmission connection with the third speed reducer, and the third speed reducer is connected with the shank 22 through the second connecting rod assembly 63; the control device controls the fourth driving device 61 to work, the output end of the fourth driving device 61 drives the third driving wheel 621 of the third synchronous pulley device 62 to rotate, the third driving wheel 621 transmits power to the third driven wheel 622, the third driven wheel 622 transmits power to the third speed reducer, the third speed reducer drives the second connecting rod assembly 63 to rotate, and the second connecting rod assembly 63 controls the lower leg 22 to swing back and forth.
The second connecting rod assembly 63 comprises a third supporting rod 631 and a fourth supporting rod 632, the th end of the third supporting rod 631 is hinged to the th end of the fourth supporting rod 632, the second end of the third supporting rod 631 is connected with a third speed reducer, the second end of the fourth supporting rod 632 is connected with the lower leg 22, the output end of the third speed reducer transmits power to the third supporting rod 631, the third supporting rod 631 drives the fourth supporting rod 632 to rotate, the fourth supporting rod 632 drives the lower leg 22 to swing back and forth, the second connecting rod assembly 63 is hinged to the two supporting rods to avoid interference with the structure on the upper leg 21, and the structure is compact.
It should be noted that, in this embodiment, the th speed reducer 43, the second speed reducer 53 and the third speed reducer are all harmonic speed reducers, which have high transmission efficiency, smooth operation and low mass, and can effectively reduce the mass of the whole device and ensure the mass of the driving robot for walking movement, but in other embodiments, the types of the th speed reducer 43, the second speed reducer 53 and the third speed reducer are not limited by this embodiment, and when an appropriate speed reducer type can be selected according to actual needs.
Referring to fig. 1 to 4, a th cavity is formed in the connecting base 12, the third driving device 51 and the second speed reducer 53 are respectively installed in the th cavity, the th cavity can save external space by accommodating the third driving device 51 and the second speed reducer 53, an output shaft of the second driving device 41 and an output shaft of the fourth driving device 61 are parallel to each other, the driving devices are arranged in a compact structure without interference due to the arrangement of the second driving device 41 and the fourth driving device 61, the th synchronous pulley device 42 and the third synchronous pulley device 62 are respectively located on two sides of the connecting base 12, and steps are performed from a transverse optimized arrangement mode to ensure that the th synchronous pulley device 42 and the third synchronous pulley device 62 do not collide in work.
In addition, a second cavity 111 is disposed in the base 11, two bearings 1111 corresponding to each connection seat 12 are fixedly disposed in the second cavity 111, in this embodiment, the number of the bearings 1111 is two, the base 11 is connected to each connection seat 12 through each bearing 1111, the bearings 1111 enable the connection seat 12 to rotate around the axial direction, and the connection seat 12 further drives the thigh 21 to rotate axially.
, the control device comprises a control module, a data processing module and a communication module, the control device is used for controlling the control circuit and the communication circuit of most parts of the centralized platform, the quality of the leg 2 is reduced, the response performance of the leg 2 is improved, meanwhile, the circuit is centralized and arranged to be beneficial to processing information and arranging a heat dissipation device, the data processing module and the communication module are respectively electrically connected with the control module, the th driving device 31, the second driving device 41, the third driving device 51 and the fourth driving device 61 are respectively electrically connected with the control module, and therefore all the driving devices are controlled to independently operate through the control module.
To sum up, the working process of each transmission system of the robot walking mechanism is as follows:
the transmission system 3, the driving device 31 is fixedly installed on the base 11, the control device controls the driving device 31 to work, the driving device 31 drives the transmission piece 32 to move, the transmission piece 32 drives the th connecting rod assembly 33 to rotate the th supporting rod 331, the th supporting rod 331 drives the th connecting rod assembly 33 to rotate the second supporting rod 332, the connecting base 12 is rotated through the th connecting rod assembly 33, and finally the connecting base 12 drives the thigh 21 to axially rotate.
In the second transmission system 4, the second driving device 41 is mounted on the connecting seat 12, the control device controls the second driving device 41 to operate, the output end of the second driving device 41 drives the driving pulley 421 of the -th synchronous pulley device 42 to rotate, the driving pulley 421 drives the -th driven pulley 422 of the -th synchronous pulley device 42 to rotate through a synchronous belt, the -th driven pulley 422 transmits power to the -th speed reducer 43, and finally the -th speed reducer 43 drives the thigh 21 to swing back and forth.
In the third transmission system 5, the third driving device 51 is installed in the th cavity 112 of the connecting base 12, the control device controls the third driving device 51 to work, the output end of the third driving device 51 drives the second driving pulley 521 of the second synchronous pulley device 52 to rotate, the second driving pulley 521 drives the second driven pulley 522 of the second synchronous pulley device 52 to rotate through a synchronous belt, the second driven pulley 522 transmits power to the second speed reducer 53, and finally the second speed reducer 53 drives the thigh 21 to swing laterally.
Fourth transmission system 6: fourth drive arrangement 61 installs on connecting seat 12, controlling means controls fourth drive arrangement 61 work, third drive arrangement 61's output drives second driving wheel 621 of second synchronous pulley device 62 and rotates, second driving wheel 621 passes through the hold-in range and drives the second of second synchronous pulley device 62 and follow driving wheel 622 and rotate, the second is followed driving wheel 622 and is given power transmission to third branch 631 of second link assembly 63, third branch 631 drives fourth branch 632 and rotates, fourth branch 632 drives shank 22 at last and carries out the fore-and-aft swing.
Therefore, the robot walking mechanism realizes fine control on each part of the robot leg 2, the th transmission system 3, the second transmission system 4, the third transmission system 5 and the fourth transmission system 6 are intensively arranged on the hip 1, so that the whole structure is compact, the dynamic response performance of the leg 2 can be improved, and the th transmission system 3 realizes synchronous rotation of two thighs 21 by using motors through optimization of the transmission structure, so that the efficiency is improved, and the cost can be reduced.
It is to be understood that the terms "," "second," etc. are used herein to describe various information, but such information should not be limited to these terms, which are used merely to distinguish information of the type from one another.
The above is the preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the principle of the present invention, and these modifications and variations are also considered as the protection scope of the present invention.
Claims (10)
- The robot walking mechanism is characterized by comprising a hip and two legs, wherein the hip comprises a base and two connecting seats corresponding to the legs respectively, the two connecting seats are connected to the bottom of the base respectively, the legs comprise thighs and calves which are sequentially connected from top to bottom, and the thighs are connected with the base through the connecting seats;the base is provided with a control device and an th transmission system for controlling the connecting seat to rotate, and the connecting seat is provided with a second transmission system for controlling the thigh to swing back and forth, a third transmission system for controlling the thigh to swing laterally and a fourth transmission system for controlling the shank to swing back and forth;the th transmission system, the second transmission system, the third transmission system and the fourth transmission system are respectively electrically connected with the control device.
- 2. The robot walking mechanism of claim 1, wherein the th transmission system comprises a th driving device, a transmission member and two sets of 0 th connecting rod assemblies, the two sets of th connecting rod assemblies are respectively in transmission connection with the output end of the th driving device through the transmission member, the th connecting rod assembly is correspondingly connected with the connecting seat , the th driving device is fixedly mounted on the base, the th driving device is electrically connected with the control device, and the first driving device drives the first connecting rod assemblies to enable the connecting seat to rotate.
- 3. The robot walking mechanism of claim 2, wherein the -th linkage assembly comprises a -th strut and a second strut, wherein a -th end of the -th strut is hinged to a -th end of the second strut, a second end of the -th strut is connected to the transmission member, and a second end of the second strut is connected to the connecting seat.
- 4. The walking mechanism of robot as claimed in claim 2, wherein the second transmission system comprises th synchronous pulley device and a second driving device, the second driving device is mounted on the connecting seat, and the second driving device is electrically connected to the control device, the th synchronous pulley device comprises th driving pulley and th driven pulley, the th driving pulley is connected to the output end of the second driving device, the th driven pulley is connected to the thigh, and the second driving device drives the th synchronous pulley device to work, so as to enable the thigh to swing back and forth.
- 5. The robot walking mechanism of claim 4, wherein the third transmission system comprises a second synchronous pulley device and a third driving device, the third driving device is mounted on the connecting seat, the third driving device is electrically connected to the control device, the second synchronous pulley device comprises a second driving wheel and a second driven wheel, an output end of the third driving device is connected to the second driving wheel, the second driven wheel is connected to the thigh, and the second driving device drives the second synchronous pulley device to work, so that the lateral swing of the thigh can be realized.
- 6. The robot walking mechanism of claim 5, wherein the fourth transmission system comprises a fourth driving device, a third synchronous pulley device and a second connecting rod assembly, the fourth driving device is mounted on the connecting seat, the third synchronous pulley device comprises a third driving wheel and a third driven wheel, an output end of the fourth driving device is connected with the third driving wheel, the fourth driving device is electrically connected with the control device, the third driven wheel is connected with the shank through the second connecting rod assembly, and the fourth driving device drives the second connecting rod assembly to move through the third synchronous pulley device, so that the shank can swing back and forth.
- 7. The robotic walking mechanism of claim 6, wherein the second linkage assembly includes a third strut and a fourth strut, wherein an th end of the third strut is hinged to a th end of the fourth strut, a second end of the third strut is connected to the third driven wheel, and a second end of the fourth strut is connected to the calf.
- 8. The robot traveling mechanism according to claim 6, wherein an th cavity is formed in the connecting seat, the third driving device is installed in the th cavity, an output shaft of the second driving device is parallel to an output shaft of the fourth driving device, and the th synchronous pulley device and the third synchronous pulley device are respectively located on both sides of the connecting seat.
- 9. A robot walking mechanism according to , wherein a second cavity is formed in the base, two bearings corresponding to each of the connecting seats are fixed in the second cavity, and the base is connected to the connecting seats through the bearings.
- 10. A robot walking mechanism according to claim 6 or 7, wherein the control means comprises a control module, a data processing module and a communication module, the data processing module and the communication module being electrically connected to the control module, respectively, and the th driving means, the second driving means, the third driving means and the fourth driving means being electrically connected to the control module, respectively.
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| CN201822111362.4U CN210000442U (en) | 2018-12-14 | 2018-12-14 | robot walking mechanism |
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| CN201822111362.4U CN210000442U (en) | 2018-12-14 | 2018-12-14 | robot walking mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109484510A (en) * | 2018-12-14 | 2019-03-19 | 深圳市行者机器人技术有限公司 | A kind of robot running gear |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109484510A (en) * | 2018-12-14 | 2019-03-19 | 深圳市行者机器人技术有限公司 | A kind of robot running gear |
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