CN211543731U - Novel gas-electric hybrid driven four-footed robot - Google Patents
Novel gas-electric hybrid driven four-footed robot Download PDFInfo
- Publication number
- CN211543731U CN211543731U CN201921884559.XU CN201921884559U CN211543731U CN 211543731 U CN211543731 U CN 211543731U CN 201921884559 U CN201921884559 U CN 201921884559U CN 211543731 U CN211543731 U CN 211543731U
- Authority
- CN
- China
- Prior art keywords
- foot
- leg
- robot
- mechanisms
- group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a gas-electricity hybrid drive's novel quadruped robot, including consecutive robot trunk, two sets of hip joint mechanisms, four group's shank mechanism and shank switching mechanism, and foot mechanism, the utility model discloses trunk both sides at quadruped robot direction of advance set up a pair of shank mechanism respectively, and drive the hip joint mechanism of the straight line horizontal translation of shank mechanism, and establish a straight line vertical translation mechanism in shank mechanism, vertical translation mechanism reciprocates through driving shank mechanism and realizes lifting the leg, horizontal translation mechanism operation and vertical translation mechanism cooperation operation in turn, realize the walking of quadruped gait, make the in-process of walking not need have the knee bending action like the quadruped, consequently energy saving more, require greatly reduced to the control degree of difficulty simultaneously, the reliability improves greatly.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to gas-electricity hybrid drive's novel four-footed robot.
Background
As a mobile platform suitable for flat ground and field complex terrains, the quadruped robot can be widely applied to the military field and the civil field, the robot can replace human beings to carry out dangerous tasks in the military field, and can replace human beings to carry out carrying tasks or safety patrol in the civil field, and the quadruped robot is an important development direction in the future robot field.
The legs of the four-legged robot mostly imitate the legs of animals, namely 'elbows' and 'knees', the structure can cause that a motor needs to expend corresponding torque to overcome self gravity in a static standing state, energy loss is inevitably caused, and meanwhile, the control realization is difficult due to the 'elbows' and 'knees' joints.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects and difficult problems that the bionic quadruped robot needs to consume energy in a static standing state, the quadruped robot has high control difficulty and the like in the prior art, the utility model aims to provide a novel quadruped robot driven by gas and electricity in a mixed way, the robot takes a high-pressure gas source and 24V direct current as energy input, an elbow and a knee are simplified into two linear mechanisms, the two linear mechanisms can be directly controlled to realize leg walking, and the four-footed gait can be realized through the matching control of the eight linear mechanisms; through the switching structure of the legs and the feet, the walking task of the quadruped robot under the complex environment is realized.
The utility model discloses a following technical scheme realizes:
a novel gas-electric hybrid driven four-legged robot comprises a robot body, two sets of hip joint mechanisms, four sets of leg mechanisms and a foot mechanism which are sequentially connected;
the robot body part is a frame body formed by welding aluminum square tubes, and the frame body forms a four-legged robot framework;
the hip joint mechanisms are symmetrically distributed on two sides of a trunk of the robot along the advancing direction of the four-footed robot, the hip joint mechanisms are used for driving leg mechanisms to linearly and horizontally translate along the advancing direction of the four-footed robot, each group of hip joint mechanisms comprises a driving motor, two groups of motor synchronous belts and matched synchronous belt wheels, two groups of guide rails which are parallel up and down and two matched slide blocks I, each group of hip joint mechanisms corresponds to two groups of leg mechanisms, each group of motor synchronous belts corresponds to one group of leg mechanisms, the guide rails are fixedly arranged on a framework of the trunk of the robot, the slide blocks I linearly reciprocate along the guide rails, and the slide blocks I are connected with the leg mechanisms; a clamping plate is fixedly arranged on the outer side belt of the motor synchronous belt and connected with the leg mechanism, and the motor synchronous belt outputs power to the leg mechanism through the clamping plate;
the tail end of a piston rod of the straight long cylinder is fixedly connected with the tail end of the U-shaped section bar through a connecting piece, the tail end of a cylinder barrel of the straight long cylinder is fixedly connected with the tail end of the U-shaped section bar through a fixed support, and the bottom end of the aluminum square tube is fixedly connected with the foot mechanism through the connecting piece;
each group of leg mechanisms is provided with a group of leg switching mechanisms, each leg switching mechanism comprises a connecting plate, a switching plate, a spring cylinder, a fixed block and a switching fixed block, the switching plate is connected with the spring cylinder through the connecting plate, the switching plate realizes the function of popping and withdrawing through the action of the spring cylinder, the fixed block is arranged on the inner side of the U-shaped section, the spring cylinder is fixed on the U-shaped section through a bolt, the switching fixed block is fixed at the upper end of the aluminum square pipe, and the bulge of the switching fixed block is matched with the switching;
wherein, every group foot mechanism includes two specific mechanisms of foot I, the short cylinder of straight line, two sets of linear slide rails, the specific mechanism II of foot, the specific mechanism I of foot is curved slope walking sole for the bottom, the specific mechanism II of foot is the level land walking sole of rectangular shape, the specific mechanism I symmetry of foot is located the left and right sides, the specific mechanism II of foot is located between the specific mechanism I of two feet, the piston rod end of the short cylinder of straight line and the specific mechanism II top centre of foot are fixed continuous, the short cylinder of straight line is in fixed continuous with aluminium square pipe end, the linear slide rail is erect and is installed in the specific mechanism II top both sides of foot, install the slider II that corresponds with it on the linear slide rail, slider II side is fixed continuous with specific mechanism I of foot.
Furthermore, each group of motor synchronous belts is provided with two groups of synchronous belt wheels in a matched manner, one group of synchronous belt wheels is a driving wheel which is connected with a driving motor system, and the other group of synchronous belt wheels is a driven wheel, and the upper end and the lower end of the driven wheel are fixedly connected with the body part of the robot through bearing seats.
Furthermore, the leg mechanism also comprises an upper bearing piece, a lower bearing piece and two groups of bearing pieces used for restricting the moving piece aluminum square tube, the lower bearing piece is connected with the fixed support and the U-shaped section through screws in a fastening way, the upper bearing piece is connected with the U-shaped section through a fixed connecting plate and screws in a fastening way, and the aluminum square tube passes through the two groups of bearing pieces.
Furthermore, a plurality of bearings are arranged on the bearing and guide piece, the bearings and the bearing and guide piece surround a channel, and the aluminum square pipe penetrates through the channel when moving up and down.
Furthermore, the foot mechanism also comprises a front group of fixed clamping plates and a rear group of fixed clamping plates, and the fixed clamping plates clamp and fix the straight short cylinder barrel and the foot specific mechanism I.
Compared with the prior art, the utility model discloses beneficial effect includes:
(1) the utility model discloses truck both sides at four-footed robot direction of advance set up a pair of shank mechanism respectively, and drive the hip joint mechanism of the horizontal translation of shank mechanism straight line, and establish a straight line vertical translation mechanism in shank mechanism, vertical translation mechanism reciprocates through driving shank mechanism and realizes lifting the leg, horizontal translation mechanism moves in turn and the cooperation of vertical translation mechanism operates, realize the walking of four-footed gait, make the in-process at the walking need not have the action of bending the knee like the quadruped animal, consequently, save energy more, require greatly reduced to the control degree of difficulty simultaneously, the reliability improves greatly.
(2) The utility model can realize the gait motion of various quadruped robots while reducing the difficulty of the control algorithm; the leg mechanism uses the cylinder to push the leg mechanism to do telescopic motion, and the leg length stroke is switched through the switching mechanism, so that the quadruped robot can adapt to different obstacles; the foot mechanism is connected with the leg, and the quadruped robot can adapt to a large-angle slope through the sole with a special shape.
(2) The utility model discloses set up shank switching mechanism, set up the changeable sole of different shapes at foot mechanism at shank mechanism, and then realize walking under the complex environment.
(3) The utility model discloses establish in shank mechanism and hold the guide piece for shank mechanism bending resistance is strong, can bear heavy load.
Drawings
Fig. 1 is a schematic view of the three-dimensional structure of the quadruped robot of the present invention.
Fig. 2 is a schematic three-dimensional structure of the middle hip joint mechanism of the present invention.
Fig. 3 is an exploded view of the middle leg mechanism of the present invention.
Fig. 4 is an exploded view of the midfoot mechanism of the invention.
Fig. 5 is a schematic structural view of the assembled middle leg mechanism and foot mechanism of the present invention.
Illustration of the drawings: 1-a robot torso; 2-hip joint mechanism, 201-driving motor, 202-motor synchronous belt, 203-guide rail, 204-slide block I, 205-bearing seat, 206-synchronous pulley and 207-clamping plate; 3-leg mechanism, 301-connecting piece, 302-fixed support, 303-guide piece, 304-bearing, 305-linear long cylinder, 306-aluminum square tube, 307-U section bar, 308-fixed connecting plate; 4-leg switching mechanism, 401-connecting plate, 402-switching plate, 403-spring cylinder, 404-fixing block and 405-switching fixing block; 5-foot mechanism, 501-foot specific mechanism I, 502-linear short cylinder, 503-linear slide rail, 504-fixed splint, 505-slide block II, 506-foot specific mechanism II.
In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships 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 specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "I", "II" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, integrally connected; can be mechanical connection and electrical connection; may be directly connected, indirectly connected through intervening agents, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood to be specific to those skilled in the art.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a novel gas-electric hybrid driven quadruped robot comprises a robot body part 1, four leg mechanisms 3, two hip joint mechanisms 2 and a foot mechanism 5, wherein the hip joint mechanisms 2 are symmetrically distributed on two sides of the robot body part 1 along the advancing direction of the quadruped robot, and the hip joint mechanisms 2 are horizontal translation mechanisms of the leg mechanisms 3; the leg mechanism 3 is connected with the robot trunk part 1 through the hip joint mechanism 2, and the tail end of the leg mechanism 3 is connected with the foot mechanism 5; each group of leg mechanisms 3 is provided with a group of leg switching mechanisms 4 for modifying the length of the leg body, and the power source is a linear cylinder.
The robot body part 1 is a frame body formed by welding aluminum square tubes and forms a four-footed robot framework, the robot body part 1 is used for installing a control system, a high-pressure air source and a power system of the robot (a bottle group in a shape of a cola bottle shown in figure 1 is a high-pressure air source storage device), and the robot body part can also be placed on a body platform of the robot when needing to bear load, so that the transportation function of the robot is realized, and meanwhile, the robot can carry sensors such as a camera and a laser radar, and the security patrol function is realized.
As shown in fig. 2, each set of hip joint mechanism 2 includes a driving motor 201, two sets of motor synchronous belts 202 and matched synchronous pulleys 206 thereof, two sets of up-and-down parallel guide rails 203 and two matched sliders I204 thereof, each set of hip joint mechanism 2 corresponds to two sets of leg mechanisms 3, and each set of motor synchronous belts 202 corresponds to one set of leg mechanisms 3; the driving motor 201 is a power source of the hip joint mechanism 2, and the motor synchronous belt 202 is used for transmitting the power of the driving motor 201; the guide rail 203 is fixedly arranged on the frame of the robot trunk part 1, the slide block I204 reciprocates linearly along the guide rail 203, and the slide block I204 is connected with the leg mechanism 3; a clamping plate 207 is fixedly arranged on the outer side belt of the motor synchronous belt 202, the clamping plate 207 is connected with the leg mechanism 3, and the motor synchronous belt 202 outputs power to the leg mechanism 3 through the clamping plate 207; each group of motor synchronous belts 202 is provided with two groups of synchronous belt wheels 206 in a matching way, one group of synchronous belt wheels is driving wheels which are connected with the driving motor 201 system, the other group of synchronous belt wheels is driven wheels, and the upper end and the lower end of the driven wheels are fixedly connected with the body part 1 of the robot through a bearing seat 205.
As shown in fig. 3 and 5, the leg mechanism 3 includes a leg body and a leg switching structure 4 which can be vertically extended and retracted, the leg body is composed of a fixed support 302, a linear long cylinder 305, an aluminum square tube 306, a U-shaped material 307, and upper and lower and two sets of bearing guides 303, wherein the end of a piston rod of the linear long cylinder 305 is fixedly connected with the foot mechanism 5 through a connecting piece 301, and the end of a cylinder barrel of the linear long cylinder 305 is fixedly connected with the fixed support 302; the lower end bearing guide member 303 is fixedly connected with the fixed support 302 and the U-shaped profile 307 through screws, the upper end bearing guide member 303 is fixedly connected with the U-shaped profile 307 through a fixed connecting plate 308 and screws, the bottom end of the aluminum square pipe 306 is fixedly connected with the foot mechanism 5 through a connecting member 301, and the aluminum square pipe 306 penetrates through the two groups of bearing guide members 303. The foot mechanism 5 is driven to vertically move up and down along with the action of the piston rod of the straight long cylinder 305, meanwhile, the aluminum square pipe 306 is driven to vertically move due to the fact that the aluminum square pipe 306 is fixed with the foot mechanism 5, the aluminum square pipe 306 can be stretched or combined from the inside of the U-shaped section 307 through the action, the length of the leg body of the leg mechanism 3 is adjusted, the bearing and guide piece 303 is used for restraining the moving piece, namely the aluminum square pipe 306, and limiting the movement of the aluminum square pipe 306, so that the aluminum square pipe 306 can only vertically move, meanwhile, the rigidity of the leg body can be greatly improved, in order to reduce the friction coefficient of the aluminum square pipe 306 during vertical movement and improve the sliding performance of the aluminum square pipe 306, the bearing and guide piece 303 are provided with a plurality of bearings 304, the bearings.
As shown in fig. 3, the leg switching structure 4 includes a connection plate 401, a switching plate 402, a spring cylinder 403, a fixing block 404, and a switching fixing block 405, wherein the connection plate 401 connects the switching plate 402 with the spring cylinder 403, the switching plate 402 realizes the ejecting and retracting function through the action of the spring cylinder 403 cylinder 43, the fixing block 404 is disposed inside the U-shaped section 307, the spring cylinder 403 is fixed on the U-shaped section 307 by using a bolt, the switching fixing block 405 is fixed on the upper end of the aluminum square pipe 306, the protrusion of the switching plate is engaged with the switching plate 402, the switching plate 402 has the shortest stroke when being engaged with the upper protruding surface when being ejected, and the switching plate 402 has the longest stroke when being retracted, so that the lengths of.
As shown in fig. 4 and 5, each group of foot mechanisms 5 includes two foot specific mechanisms I501, a linear short cylinder 502, two groups of linear sliding rails 503, two groups of front and rear fixed splints 504, and a foot specific mechanism II 506, where the foot specific mechanism I501 is a slope walking sole with an arc-shaped bottom, and the foot specific mechanism II 506 is a strip-shaped flat walking sole; the foot specific mechanisms I501 are symmetrically arranged on the left side and the right side, the foot specific mechanisms II 506 are arranged between the two foot specific mechanisms I501, the tail ends of piston rods of the linear short cylinders 502 are fixedly connected with the middle of the top of the foot specific mechanism II 506, cylinder barrels of the linear short cylinders 502 are fixedly connected with the tail ends of the aluminum square pipes 306, and the foot specific mechanisms I501 and the foot specific mechanisms II 506 are switched through the linear short cylinders 502; the linear sliding rail 503 is vertically installed at two sides of the top of the foot specific mechanism II 506, the sliding block II 505 corresponding to the linear sliding rail 503 is installed on the linear sliding rail 503, the side end of the sliding block II 505 is fixedly connected with the foot specific mechanism I501, and the linear short cylinder 502 drives the linear sliding rail 503 to move up and down and the sliding block II 505 to keep still when moving; the fixing clamp plate 504 clamps and fixes the cylinder barrel of the straight short cylinder 502 and the foot specific mechanism I501, so that the overall structure of the foot specific mechanism I501 of the straight short cylinder 502 is more stable. In specific implementation, when the piston rod of the straight short cylinder 502 moves upwards, the straight short cylinder drives the foot specific mechanism II 506 to move upwards, the linear sliding rail 503 moves upwards relative to the sliding block II 505, so that the foot specific mechanism I501 is in contact with the ground, the foot specific mechanism II 506 is suspended, and the foot specific mechanism I501 works to crawl on a sloping ground; when the piston rod of the straight short cylinder 502 moves downwards, the linear slide rail 503 is driven to move downwards relative to the slide block II 505, so that the foot specific mechanism II 506 is in contact with the ground, the foot specific mechanism I501 is suspended, and the foot specific mechanism II 506 works to walk on the flat ground.
The foregoing merely illustrates preferred embodiments of the present invention, which are described in considerable detail and detail, but are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several changes, modifications and substitutions can be made, which are all within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (5)
1. A novel gas-electric hybrid driven four-footed robot is characterized by comprising a robot trunk, two sets of hip joint mechanisms, four sets of leg mechanisms and a foot mechanism which are connected in sequence;
the robot body part is a frame body formed by welding aluminum square tubes, and the frame body forms a four-legged robot framework;
the hip joint mechanisms are symmetrically distributed on two sides of a trunk of the robot along the advancing direction of the four-footed robot, the hip joint mechanisms are used for driving the leg mechanisms to linearly and horizontally translate along the advancing direction of the four-footed robot, each group of hip joint mechanisms comprises a driving motor, two groups of motor synchronous belts and matched synchronous belt wheels, two groups of guide rails which are parallel up and down and two matched slide blocks I, each group of hip joint mechanisms corresponds to two groups of leg mechanisms, each group of motor synchronous belts corresponds to one group of leg mechanisms, the guide rails are fixedly arranged on a frame of the trunk of the robot, the slide blocks I linearly reciprocate along the guide rails, and the slide blocks I are connected with the leg mechanisms; a clamping plate is fixedly arranged on the outer side belt of the motor synchronous belt and connected with the leg mechanism, and the motor synchronous belt outputs power to the leg mechanism through the clamping plate;
the tail end of the leg mechanism is connected with the foot mechanism, the leg mechanism comprises a leg body capable of vertically stretching, the leg body is composed of long linear cylinders, square aluminum tubes and U-shaped bars which are distributed in parallel, the tail ends of piston rods of the long linear cylinders are fixedly connected with the foot mechanism through connecting pieces, the tail ends of cylinder barrels of the long linear cylinders are fixedly connected with the tail ends of the U-shaped bars through fixed supports, and the bottom ends of the square aluminum tubes are fixedly connected with the foot mechanism through the connecting pieces;
each group of leg mechanisms is provided with a group of leg switching mechanisms, each leg switching mechanism comprises a connecting plate, a switching plate, a spring cylinder, a fixed block and a switching fixed block, the switching plate is connected with the spring cylinder through the connecting plate, the switching plate realizes the function of popping and withdrawing through the action of the spring cylinder, the fixed block is arranged on the inner side of a U-shaped section, the spring cylinder is fixed on the U-shaped section through a bolt, the switching fixed block is fixed at the upper end of the square aluminum pipe, and the protruding part of the switching fixed block is matched with the switching plate;
every group foot mechanism includes two specific mechanisms of foot I, the short cylinder of straight line, two sets of linear slide rails, the specific mechanism of foot II, specific mechanism of foot I is curved sloping ground walking sole in bottom, specific mechanism of foot II is the level land walking sole of rectangular shape, specific mechanism of foot I symmetric position the left and right sides specific mechanism of foot II is located two between the specific mechanism of foot I, the end of the piston rod of the short cylinder of straight line with the specific mechanism of foot II tops centre is fixed links to each other, the short cylinder of straight line with in the end fixed linking to each other of aluminium square pipe, linear slide rail erects to be installed in specific mechanism of foot II top both sides, install the slider II that corresponds with it on the linear slide rail, II side ends of slider with specific mechanism of foot I is fixed links to each other.
2. The novel gas-electric hybrid driven quadruped robot as claimed in claim 1, wherein: and two groups of synchronous belt wheels are matched with each group of motor synchronous belts, one group of synchronous belt wheels is a driving wheel which is connected with the driving motor system, the other group of synchronous belt wheels is a driven wheel, and the upper end and the lower end of the driven wheel are fixedly connected with the body part of the robot through a bearing seat.
3. The novel gas-electric hybrid driven quadruped robot as claimed in claim 1, wherein: the leg mechanism further comprises an upper bearing piece, a lower bearing piece and two groups of bearing pieces used for restraining the moving piece aluminum square tube, the lower bearing piece is fixedly connected with the fixed support and the U-shaped section through screws, the upper bearing piece is fixedly connected with the U-shaped section through a fixed connecting plate and screws, and the aluminum square tube penetrates through the two groups of bearing pieces.
4. The novel gas-electric hybrid driven quadruped robot as claimed in claim 3, wherein: the bearing guide piece is provided with a plurality of bearings, the bearings and the bearing guide piece surround a channel, and the aluminum square pipe penetrates through the channel when moving up and down.
5. The novel gas-electric hybrid driven quadruped robot as claimed in claim 1, wherein: the foot mechanism further comprises a front fixing clamping plate and a rear fixing clamping plate, and the straight short cylinder barrel and the foot specific mechanism I are clamped and fixed through the fixing clamping plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921884559.XU CN211543731U (en) | 2019-11-04 | 2019-11-04 | Novel gas-electric hybrid driven four-footed robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921884559.XU CN211543731U (en) | 2019-11-04 | 2019-11-04 | Novel gas-electric hybrid driven four-footed robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211543731U true CN211543731U (en) | 2020-09-22 |
Family
ID=72500113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921884559.XU Expired - Fee Related CN211543731U (en) | 2019-11-04 | 2019-11-04 | Novel gas-electric hybrid driven four-footed robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211543731U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696943A (en) * | 2019-11-04 | 2020-01-17 | 南昌大学 | Novel gas-electric hybrid driven four-footed robot |
-
2019
- 2019-11-04 CN CN201921884559.XU patent/CN211543731U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696943A (en) * | 2019-11-04 | 2020-01-17 | 南昌大学 | Novel gas-electric hybrid driven four-footed robot |
| CN110696943B (en) * | 2019-11-04 | 2024-06-04 | 南昌大学 | Novel four-foot robot driven by gas-electricity mixture |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203581163U (en) | Wall-climbing robot | |
| CN105946483B (en) | With the amphibious multi-foot robot for becoming cell type pedipulator | |
| CN102390458B (en) | Hydraulic driving four-footed robot with space hybrid leg structure | |
| CN211543731U (en) | Novel gas-electric hybrid driven four-footed robot | |
| CN105882339B (en) | Become cell type pedipulator | |
| CN109178135B (en) | Dual-drive mode closed-chain leg mechanism | |
| CN203381704U (en) | Telescopic arm of wall-climbing robot | |
| CN109403612A (en) | A kind of extension type hanging basket and the construction equipment comprising it | |
| CN110696943B (en) | Novel four-foot robot driven by gas-electricity mixture | |
| WO2013136149A4 (en) | Method for the functioning of a transportation means having at least one movable support, and device for the implementation thereof | |
| CN106741282B (en) | Robot leg that contains straight line joint | |
| CN110371208A (en) | A kind of single-degree-of-freedom Telescopic rotary climbing robot based on scissors mechanism | |
| CN202684830U (en) | Window sectional material assembly floor | |
| CN214737385U (en) | Box type high pier intelligent detection vehicle | |
| CN109018065B (en) | Full-mimicry profiling propelling mechanism | |
| CN110884587B (en) | Pneumatic quadruped robot | |
| CN211214205U (en) | Shank lifting adjusting device for orthopedics | |
| CN209740117U (en) | transmission unit and transmission equipment that can be used to ladder face | |
| CN205187316U (en) | Reciprocal telescopic mechanism | |
| CN108372319A (en) | Autonomous mobile robot punching device and control method | |
| CN220537410U (en) | Transportation lifting platform | |
| CN208684339U (en) | Lifting and translating unit | |
| CN112720421B (en) | Double-guide-rail type planar robot with telescopic rod | |
| CN211029992U (en) | Light compact material snatchs manipulator | |
| CN210761040U (en) | Obstacle-crossing four-foot robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200922 Termination date: 20211104 |