CN102211627A - Four-leg robot mechanism based on bionic design - Google Patents
Four-leg robot mechanism based on bionic design Download PDFInfo
- Publication number
- CN102211627A CN102211627A CN 201110106481 CN201110106481A CN102211627A CN 102211627 A CN102211627 A CN 102211627A CN 201110106481 CN201110106481 CN 201110106481 CN 201110106481 A CN201110106481 A CN 201110106481A CN 102211627 A CN102211627 A CN 102211627A
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- motor
- knee
- robot
- sun
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 11
- 210000002414 leg Anatomy 0.000 claims abstract description 35
- 210000003127 knee Anatomy 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 230000036541 health Effects 0.000 claims description 25
- 210000000689 upper leg Anatomy 0.000 claims description 15
- 244000309466 calf Species 0.000 claims description 12
- 210000000629 knee joint Anatomy 0.000 claims description 10
- 230000008961 swelling Effects 0.000 claims description 8
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 210000000278 spinal cord Anatomy 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a four-leg robot mechanism based on a bionic design. The four-leg robot mechanism consists of a body frame and four legs. The body frame consists of a front plate and a rear plate, two sides of the body frame are provided with flexible handles, and the robot mechanism is convenient to convey; each leg comprises a hip, a huckle, a knee and a crural part; the hip realizes two freedom degrees by adopting a differential bevel gear; the hip and the huckle are connected by an expansion sleeve to realize fast and convenient assembly and disassembly; the bevel gear drive motion is adopted by the knee; the crural part comprises a large cylinder, a small cylinder, a conical spring and a force sensor; and the large cylinder and the small cylinder are connected through the conical spring, so that the external impact force generated in the walking process of the robot can be buffered, the force sensor on a sole can acquire ground acting force, and the external environment can be conveniently sensed in real time and the robot can be subjected to balanced control conveniently. Through the bionic design idea, a spinal cord and a flexible foot mechanism of the robot are stimulated and designed, the flexibility of the robot movement is improved, the impact of the ground to the robot is reduced, and the robot mechanism has a compact structure and is convenient to install.
Description
Technical field
The invention belongs to the robot field, relate to a kind of four robot leg mechanisms based on Bionic Design.
Background technology
Along with the intensification of the mankind to realm of nature understanding, increasing intelligent bionic apparatus is developed.The intelligent bionic robot as research object, with the motion of physical construction imitated biological tissue, and then is explored its movement mechanism with the biology of occurring in nature.Development of miniaturized, lighting and adaptable bionical four robot legs are significant to the development that promotes robotics, and this class bio-robot has wide application and development prospect at aspects such as scientific research, demonstration teaching and intelligence development amusements.
That China Patent No. CN 101927793 A disclose is a kind of the variable-structure quadruped robot structure of upright motion change " crawl with ", this quadruped robot organism and four limbs that are fixed in the above, every limbs adopt three steering wheel controls, tiller room is a cascaded structure, it is many that this structure connects rod member, complex structure is not suitable for small-sized, the light bio-robot of requirement.Body is an integral body in this structure simultaneously, has limited the alerting ability of motion.
China Patent No. CN 101811525 A disclose a kind of " the hydraulic-driven quadruped robot travel mechanism with barycenter setting device ", four legs of layout below trunk of this robot mechanism, all adopt hydraulic-driven, every leg has and has redundant degree of freedom, has increased the complexity of mechanism controls.Hydraulic-driven has improved the volume and weight of sleeve mechanism in addition, is inconvenient to carry transportation and dismounting.
China Patent No. CN 101791994 A disclose " a kind of traveling gear of cam driving control type quadruped robot ", rear leg assemblies and the universal coupling assembling that is connected preceding rear leg assemblies before mechanism is divided into.Wherein the universal-joint coupling assembling only provides a passive mode of motion, can not be unfavorable for motion of mechanism and balance control to artificial to its control.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of structure compact more, install and carry convenient, more help improving robot motion's alerting ability, better absorb foot impacts power, have the four robot leg mechanisms based on Bionic Design of perception external environment condition effect.
Four robot leg mechanisms based on Bionic Design comprise body frame and four shanks; Article four, shank is fixed on the body frame; Article four, shank comprises hip, huckle, knee and calf; Hip connects huckle, and huckle connects knee, and knee connects calf; Body frame comprises that plate behind health header board, the health, preceding rotation flange, back rotate flange, first motor and flexible handle; The preceding flange that rotates is fixed on the health header board, the back is rotated flange and is fixed on behind the health on the plate, preceding flange and the back rotation flange formation revolute pair of rotating, rotate on the flange before first motor is fixed on, first motor output shaft is connected to the back and rotates flange, and the two ends of flexible handle are separately fixed at behind health header board and the health on the plate; Hip comprises that second motor, the first commutating tooth wheels, first drive fixed mount, first sun finishing bevel gear cuter, bevel planet gear, planet stent, second sun finishing bevel gear cuter, second driving fixed mount, the second commutating tooth wheels and the 3rd motor; Second motor output shaft connects the wheel for inputting of the first commutating tooth wheels, the 3rd motor output shaft connects the wheel for inputting of the second commutating tooth wheels, the output wheel of the first commutating tooth wheels connects first sun finishing bevel gear cuter, the output wheel of the second commutating tooth wheels connects second sun finishing bevel gear cuter, first sun finishing bevel gear cuter, second sun finishing bevel gear cuter and bevel planet gear and planet stent constitute rotary motion pair, the first driving fixed mount and second drives fixed mount and is fixed on the health header board, supports first sun finishing bevel gear cuter and second sun finishing bevel gear cuter and the bevel planet gear simultaneously; Huckle comprises swelling cover, thigh bar, the 4th motor and motor cabinet, and thigh bar and bevel planet gear output shaft are fixing by the swelling cover, and the 4th motor is fixed in the thigh bar by motor cabinet; Knee comprises knee joint bevel gear set, gear casing and bevel gear shaft; The input finishing bevel gear cuter of knee joint bevel gear set is installed on the 4th motor output shaft, is meshing with each other with the output finishing bevel gear cuter of knee joint bevel gear set on the knee axis, gear casing is fixed on the thigh bar, supports knee axis simultaneously; Calf comprises left leg plate, right leg plate, large cylinder, cone-shaped spring, little cylinder and force gauge; The left leg plate is connected the bevel gear shaft two ends in the knee with the right leg plate, and it is fixing with the large cylinder upper end, large cylinder lower end hollow, little cylinder one end is enclosed within the large cylinder, both connect by cone-shaped spring, pin is inserted in the groove that large cylinder and little cylinder cooperatively interact, and the roundlet tube other end is equipped with force gauge.
It is simply compact that the present invention compared with prior art has integral structure, the characteristics of easy installation and removal, and the body joints of adding makes robot be fit to the high-speed motion occasion more, and the shock absorber of shank and force gauge are guaranteed the motion control reliability easily.
Description of drawings
Fig. 1 is the whole pictorial diagram of four robot leg mechanisms;
Fig. 2 is four robot leg body frame pictorial diagram;
Fig. 3 is four robot leg list leg pictorial diagram;
Fig. 4 is four robot leg hip assembly drowings;
Fig. 5 is four robot leg huckles, knee and calf assembly drowing;
Among the figure: body frame 1, shank 2, health header board 3, plate 4 behind the health, the preceding flange 5 that rotates, flange 6 is rotated in the back, first motor 7, flexible bandage 8, hip 9, huckle 10, knee 11, calf 12, second motor 13, the first commutating tooth wheels 14, first drives fixed mount 15, first sun finishing bevel gear cuter 16, bevel planet gear 17, planet stent 18, second sun finishing bevel gear cuter 19, second drives fixed mount 20, the second commutating tooth wheels 21, the 3rd motor 22, swelling cover 23, thigh bar 24, the 4th motor 25, motor cabinet 26, knee joint bevel gear set 27, gear casing 28, bevel gear shaft 29, left leg plate 30, right leg plate 31, large cylinder 32, cone-shaped spring 33, roundlet tube 34, force gauge 35.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
As Fig. 1,2,3, shown in 4,5, comprise body frame 1 and four shanks 2 based on four robot leg mechanisms of Bionic Design; Article four, shank 2 is fixed on the body frame 1; Article four, shank 2 comprises hip 9, huckle 10, knee 11 and calf 12; Hip 9 connects huckle 10, and huckle 10 connects knee 11, and knee 11 connects calf 12; Body frame 1 comprises that plate 4 behind health header board 3, the health, preceding rotation flange 5, back rotate flange 6, first motor 7 and flexible handle 8; The preceding flange 5 that rotates is fixed on the health header board 3, the back is rotated flange 6 and is fixed on behind the health on the plate 4, preceding flange 5 and the back rotation flange 6 formation revolute pairs of rotating, rotate on the flange 5 before first motor 7 is fixed on, first motor, 7 output shafts are connected to the back and rotate flange 6, and the two ends of flexible handle 8 are separately fixed at behind health header board 3 and the health on the plate 4; Hip 9 comprises that second motor 13, the first commutating tooth wheels 14, first drive fixed mount 15, first sun finishing bevel gear cuter 16, bevel planet gear 17, planet stent 18, second sun finishing bevel gear cuter 19, second driving fixed mount 20, the second commutating tooth wheels 21 and the 3rd motor 22; Second motor, 13 output shafts connect the wheel for inputting of the first commutating tooth wheels 14, the 3rd motor 22 output shafts connect the wheel for inputting of the second commutating tooth wheels 21, the output wheel of the first commutating tooth wheels 14 connects first sun finishing bevel gear cuter 16, the output wheel of the second commutating tooth wheels 21 connects second sun finishing bevel gear cuter 19, first sun finishing bevel gear cuter 16, second sun finishing bevel gear cuter 19 and bevel planet gear 17 constitute rotary motion pair with planet stent 18, the first driving fixed mount 15 and second drives fixed mount 20 and is fixed on the health header board 3, supports first sun finishing bevel gear cuter 16 and second sun finishing bevel gear cuter 19 and bevel planet gear 17 simultaneously; Huckle 10 comprises swelling cover 23, thigh bar 24, the 4th motor 25 and motor cabinet 26, and thigh bar 24 is fixing by swelling cover 23 with bevel planet gear 17 output shafts, and the 4th motor 25 is fixed in the thigh bar 24 by motor cabinet 26; Knee 11 comprises knee joint bevel gear set 27, gear casing 28 and bevel gear shaft 29; The input finishing bevel gear cuter of knee joint bevel gear set 27 is installed on the 4th motor 25 output shafts, is meshing with each other with the output finishing bevel gear cuter of knee joint bevel gear set 27 on the knee axis 29, gear casing 28 is fixed on the thigh bar 24, supports knee axis 29 simultaneously; Calf 12 comprises left leg plate 30, right leg plate 31, large cylinder 32, cone-shaped spring 33, roundlet tube 34 and force gauge 35; Left leg plate 30 is connected bevel gear shaft 29 two ends in the knee 11 with right leg plate 31, and fix with large cylinder 32 upper ends, large cylinder 32 lower end hollows, roundlet tube 34 1 ends are enclosed within the large cylinder 32, both connect by cone-shaped spring 33, pin is inserted in the groove that large cylinder 32 and roundlet tube 34 cooperatively interact, and roundlet tube 34 other ends are equipped with force gauge 35.
Working process of the present invention is as follows: the output shaft of first motor 7 on the body frame 1 drives the back and rotates flange 6 rotations, can realize the relative motion of plate 4 behind health header board 3 and the health, strengthened the alerting ability of robot in the high-speed motion occasion, the carrying of robot can realize very easily by flexible handle 8, first sun finishing bevel gear cuter 16 of hip 9, second sun finishing bevel gear cuter 19 and bevel planet gear 17 are formed the bevel type differential gear combination, second motor 13 and the 3rd motor 22 drive first sun finishing bevel gear cuter 16 and second sun finishing bevel gear cuter 19 respectively, both Motion Transmission are to bevel planet gear 17, the revolution of bevel planet gear 17 and rotation realize flexion/extension, the motion of interior two degree of freedom of receipts/abduction, compact conformation, driving torque increases, and has improved the robustness in robot motion's process.Thigh bar 24 is fixing by swelling cover 23 with bevel planet gear 17 output shafts, adopt this mode to make things convenient for Assembly ﹠Disassembly to the robot shank, fix the 4th motor 25 in the thigh bar 24, reasonable distribution shank center of gravity, the balance control that more helps robot by the rotation of the 4th motor 25 output shafts, arrives bevel gear shaft 29 with transmission of power, left leg plate 30 and right leg plate 31 are fixed on bevel gear shaft 29 two ends, have so just realized the relative motion of huckle 10 and calf 12.Large cylinder 32 hollows, roundlet tube 34 is enclosed within the large cylinder 32, both connect by cone-shaped spring 33, pin is inserted in the groove that large cylinder 32 and roundlet tube 34 cooperatively interact, and can prevent that roundlet tube 34 from coming off from large cylinder 32, and roundlet tube 34 other ends are equipped with force gauge 35, when the vola is subjected to impacting, roundlet tube 34 relatively moves by producing between compression cone-shaped spring 33 and the large cylinder 32, has slowed down the influence of impulse force to body movement, to adapt to rugged ground.Simultaneously, the force gauge 35 in vola is used to gather ground-surface application force, is convenient to the real-time perception external environment condition and robot is carried out balance control.
Claims (1)
1. four robot leg mechanisms based on Bionic Design is characterized in that comprising body frame (1) and four shanks (2); Article four, shank (2) is fixed on the body frame (1); Article four, shank (2) comprises hip (9), huckle (10), knee (11) and calf (12); Hip (9) connects huckle (10), and huckle (10) connects knee (11), and knee (11) connects calf (12); Body frame (1) comprises that plate (4) behind health header board (3), the health, preceding rotation flange (5), back rotate flange (6), first motor (7) and flexible handle (8); The preceding flange (5) that rotates is fixed on the health header board (3), the back is rotated flange (6) and is fixed on behind the health on the plate (4), preceding flange (5) and back rotation flange (6) the formation revolute pair of rotating, rotate on the flange (5) before first motor (7) is fixed on, first motor (7) output shaft is connected to the back and rotates flange (6), and the two ends of flexible handle (8) are separately fixed at behind health header board (3) and the health on the plate (4); Hip (9) comprise second motor (13), the first commutating tooth wheels (14), first drive fixed mount (15), first sun finishing bevel gear cuter (16), bevel planet gear (17), planet stent (18), second sun finishing bevel gear cuter (19), second drive fixed mount (20), the second commutating tooth wheels (21) ' and the 3rd motor (22); Second motor (13) output shaft connects the wheel for inputting of the first commutating tooth wheels (14), the 3rd motor (22) output shaft connects the wheel for inputting of the second commutating tooth wheels (21), the output wheel of the first commutating tooth wheels (14) connects first sun finishing bevel gear cuter (16), the output wheel of the second commutating tooth wheels (21) connects second sun finishing bevel gear cuter (19), first sun finishing bevel gear cuter (16), second sun finishing bevel gear cuter (19) and bevel planet gear (17) constitute rotary motion pair with planet stent (18), the first driving fixed mount (15) and second drives fixed mount (20) and is fixed on the health header board (3), supports first sun finishing bevel gear cuter (16) and second sun finishing bevel gear cuter (19) and bevel planet gear (17) simultaneously; Huckle (10) comprises swelling cover (23), thigh bar (24), the 4th motor (25) and motor cabinet (26), thigh bar (24) is fixing by swelling cover (23) with bevel planet gear (17) output shaft, and the 4th motor (25) is fixed in the thigh bar (24) by motor cabinet (26); Knee (11) comprises knee joint bevel gear set (27), gear casing (28) and bevel gear shaft (29); The input finishing bevel gear cuter of knee joint bevel gear set (27) is installed on the 4th motor (25) output shaft, be meshing with each other with the output finishing bevel gear cuter of knee joint bevel gear set (27) on the knee axis (29), gear casing (28) is fixed on the thigh bar (24), supports knee axis (29) simultaneously; Calf (12) comprises left leg plate (30), right leg plate (31), large cylinder (32), cone-shaped spring (33), little cylinder (34) and force gauge (35); Left leg plate (30) is connected bevel gear shaft (29) two ends in the knee (11) with right leg plate (31), and it is fixing with large cylinder (32) upper end, large cylinder (32) lower end hollow, little cylinder (34) one ends are enclosed within the large cylinder (32), both connect by cone-shaped spring (33), pin is inserted in the groove that large cylinder (32) and little cylinder (34) cooperatively interact, and little cylinder (34) other end is equipped with force gauge (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110106481A CN102211627B (en) | 2011-04-27 | 2011-04-27 | Four-leg robot mechanism based on bionic design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110106481A CN102211627B (en) | 2011-04-27 | 2011-04-27 | Four-leg robot mechanism based on bionic design |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102211627A true CN102211627A (en) | 2011-10-12 |
| CN102211627B CN102211627B (en) | 2012-10-17 |
Family
ID=44743207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110106481A Expired - Fee Related CN102211627B (en) | 2011-04-27 | 2011-04-27 | Four-leg robot mechanism based on bionic design |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102211627B (en) |
Cited By (50)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
| CN102582714A (en) * | 2012-01-31 | 2012-07-18 | 山东大学 | Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot |
| CN102689660A (en) * | 2012-01-13 | 2012-09-26 | 河南科技大学 | Robot balance device and wheel-leg robot using same |
| CN102700644A (en) * | 2012-06-08 | 2012-10-03 | 上海交通大学 | Wheel and foot combined all-terrain robot running device |
| CN102830716A (en) * | 2012-08-22 | 2012-12-19 | 中科宇博（北京）文化有限公司 | Mechanical joint and neck and tail structures of bionic mechanical dinosaur |
| CN103204194A (en) * | 2013-04-09 | 2013-07-17 | 北京交通大学 | Four-foot crawling robot simulating infants |
| CN103264734A (en) * | 2013-04-22 | 2013-08-28 | 浙江大学 | Sole ground touch sensing mechanism of legged robot |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN103407513A (en) * | 2013-05-13 | 2013-11-27 | 清华大学 | Flat ground power type biped robot walking method adopting spring coupling |
| CN103481963A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Two-stage buffer foot device applicable to obstacle crossing robot |
| CN103600786A (en) * | 2013-10-30 | 2014-02-26 | 李天豪 | Intelligent doraemon |
| CN103661658A (en) * | 2012-09-10 | 2014-03-26 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism for series compensation device |
| CN103802909A (en) * | 2014-02-25 | 2014-05-21 | 中国人民解放军军事交通学院 | Leg linkage mechanism of quadruped robot |
| CN103979034A (en) * | 2014-05-19 | 2014-08-13 | 北京交通大学 | Four-leg walking robot with single power leg mechanism |
| CN104149872A (en) * | 2014-09-01 | 2014-11-19 | 安徽理工大学 | Complex road surface transfer robot based on parallel mechanisms |
| CN104309717A (en) * | 2014-10-30 | 2015-01-28 | 郑州轻工业学院 | Body-variable and modular four-foot walking robot with energy storage function |
| CN104875813A (en) * | 2015-05-26 | 2015-09-02 | 上海大学 | Electrically-driven small bionic four-leg robot |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
| CN105892558A (en) * | 2015-01-26 | 2016-08-24 | 郝成武 | Robot toe bearing capacity balance mechanism |
| CN105947012A (en) * | 2016-05-10 | 2016-09-21 | 南京航空航天大学 | Differential gear driving robot leg mechanism and control method |
| CN106005090A (en) * | 2016-07-08 | 2016-10-12 | 燕山大学 | Double-oscillating bar flexible four-leg walking robot |
| CN106672104A (en) * | 2015-11-10 | 2017-05-17 | 中国人民解放军军械工程学院 | Terrain self-adapted flat and multi-foot waking system based on phase difference |
| CN107010137A (en) * | 2017-04-18 | 2017-08-04 | 江苏信息职业技术学院 | A kind of lightweight quadruped robot |
| CN107097213A (en) * | 2017-05-19 | 2017-08-29 | 沃奇（北京）智能科技有限公司 | Robot lower limb |
| CN107457802A (en) * | 2017-09-13 | 2017-12-12 | 北京理工大学 | A kind of anthropomorphic robot falls down protection device |
| RU2642020C2 (en) * | 2016-06-24 | 2018-01-23 | Павел Михайлович Близнец | Pacing device |
| CN108394485A (en) * | 2018-02-11 | 2018-08-14 | 嘉兴学院 | A kind of multi-functional polypody bio-robot system based on pneumatic system |
| CN108748183A (en) * | 2018-06-13 | 2018-11-06 | 芜湖捷创科技信息咨询有限公司 | A kind of foot formula walking robot |
| CN109018063A (en) * | 2018-08-15 | 2018-12-18 | 重庆大学 | A kind of four-footed emulated robot |
| CN109018064A (en) * | 2018-08-24 | 2018-12-18 | 北京理工大学 | Leg foot type bionic machine mouse |
| CN109501883A (en) * | 2018-12-30 | 2019-03-22 | 北华航天工业学院 | Pedipulator structure and legged type robot |
| CN109857131A (en) * | 2019-03-11 | 2019-06-07 | 山东职业学院 | A kind of two foot-four-footed posture changing control method of legged type robot |
| CN109874506A (en) * | 2019-04-08 | 2019-06-14 | 济南大学 | A kind of modularized bionic quadruped robot for spraying or picking |
| CN109941370A (en) * | 2019-01-04 | 2019-06-28 | 上海海事大学 | A kind of four feet walking robot based on three-shaft linkage control structure |
| CN110091935A (en) * | 2019-04-26 | 2019-08-06 | 南京航空航天大学 | Three Degree Of Freedom leg joint and method based on differential gear train |
| CN110154012A (en) * | 2019-05-24 | 2019-08-23 | 东北大学 | A kind of four-leg bionic robot and its control method |
| CN110641573A (en) * | 2019-10-29 | 2020-01-03 | 北京航空航天大学 | Closed-chain single-degree-of-freedom five-rod leg mechanism |
| CN111003074A (en) * | 2019-11-07 | 2020-04-14 | 清华大学 | Parallel wheel-foot type robot leg structure and mobile robot |
| CN112937232A (en) * | 2021-03-03 | 2021-06-11 | 常州龙源智能机器人科技有限公司 | Robot |
| CN113071577A (en) * | 2021-04-30 | 2021-07-06 | 郑州宇通重工有限公司 | Robot sole force flexible control method and multi-foot robot platform |
| CN113081667A (en) * | 2021-03-25 | 2021-07-09 | 北京航空航天大学 | Twelve-degree-of-freedom gait simulation device |
| CN113215938A (en) * | 2021-07-08 | 2021-08-06 | 深圳市勘察研究院有限公司 | Mechanized slurry paving robot |
| CN113371095A (en) * | 2021-06-18 | 2021-09-10 | 哈尔滨工业大学（深圳） | Leg structure with joints rotating at any angle and multi-legged robot |
| WO2021189675A1 (en) * | 2020-03-24 | 2021-09-30 | 北京理工大学 | Parallel-drive joint used for super-dynamic bionic robot, and robot |
| CN113518652A (en) * | 2018-09-26 | 2021-10-19 | 幽灵机器人公司 | Leg and foot type robot |
| CN113525550A (en) * | 2021-08-26 | 2021-10-22 | 清华大学 | Robot leg and quadruped robot based on differential structure |
| CN113618750A (en) * | 2021-08-06 | 2021-11-09 | 上海大学 | Humanoid robot with high dynamic four-foot motion mode and two-arm working mode |
| CN114571497A (en) * | 2022-03-14 | 2022-06-03 | 上海大学 | Leg-arm robot pivot type explosive motion joint based on double-motor power cooperation |
| CN114987645A (en) * | 2022-04-26 | 2022-09-02 | 中国北方车辆研究所 | Shaft-driven three-degree-of-freedom bionic leg |
| WO2023284359A1 (en) * | 2021-07-15 | 2023-01-19 | Oppo广东移动通信有限公司 | Robot, leg assembly, and drive mechanism |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5929585A (en) * | 1996-11-19 | 1999-07-27 | Sony Corporation | Robot system and its control method |
| EP1110679A1 (en) * | 1999-03-10 | 2001-06-27 | Mitsubishi Heavy Industries, Ltd. | Working robot |
| WO2002011956A1 (en) * | 2000-08-04 | 2002-02-14 | Robottec Co., Ltd. | Multiple-legged walking apparatus |
| CN2928631Y (en) * | 2006-07-27 | 2007-08-01 | 浙江大学 | Wave foot walking robot |
| CN101269678A (en) * | 2008-05-16 | 2008-09-24 | 武汉理工大学 | Wheeled robot with traveling system |
| CN101422907A (en) * | 2008-12-16 | 2009-05-06 | 吉林大学 | Under-actuated bipod walking robot hip-joint mechanism |
| CN101580083A (en) * | 2009-06-04 | 2009-11-18 | 浙江大学 | Knee joint mechanism of humanoid robot |
-
2011
- 2011-04-27 CN CN201110106481A patent/CN102211627B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5929585A (en) * | 1996-11-19 | 1999-07-27 | Sony Corporation | Robot system and its control method |
| EP1110679A1 (en) * | 1999-03-10 | 2001-06-27 | Mitsubishi Heavy Industries, Ltd. | Working robot |
| WO2002011956A1 (en) * | 2000-08-04 | 2002-02-14 | Robottec Co., Ltd. | Multiple-legged walking apparatus |
| CN2928631Y (en) * | 2006-07-27 | 2007-08-01 | 浙江大学 | Wave foot walking robot |
| CN101269678A (en) * | 2008-05-16 | 2008-09-24 | 武汉理工大学 | Wheeled robot with traveling system |
| CN101422907A (en) * | 2008-12-16 | 2009-05-06 | 吉林大学 | Under-actuated bipod walking robot hip-joint mechanism |
| CN101580083A (en) * | 2009-06-04 | 2009-11-18 | 浙江大学 | Knee joint mechanism of humanoid robot |
Cited By (66)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390457B (en) * | 2011-12-30 | 2013-06-05 | 上海大学 | Leg mechanism for four-legged robots |
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
| CN102689660A (en) * | 2012-01-13 | 2012-09-26 | 河南科技大学 | Robot balance device and wheel-leg robot using same |
| CN102582714A (en) * | 2012-01-31 | 2012-07-18 | 山东大学 | Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot |
| CN102582714B (en) * | 2012-01-31 | 2013-08-07 | 山东大学 | Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot |
| CN102700644A (en) * | 2012-06-08 | 2012-10-03 | 上海交通大学 | Wheel and foot combined all-terrain robot running device |
| CN102700644B (en) * | 2012-06-08 | 2014-10-15 | 上海交通大学 | Wheel and foot combined all-terrain robot running device |
| CN102830716A (en) * | 2012-08-22 | 2012-12-19 | 中科宇博（北京）文化有限公司 | Mechanical joint and neck and tail structures of bionic mechanical dinosaur |
| CN103661658B (en) * | 2012-09-10 | 2015-12-30 | 中国科学院沈阳自动化研究所 | A kind of string mends device inspection robot mechanism |
| CN103661658A (en) * | 2012-09-10 | 2014-03-26 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism for series compensation device |
| CN103204194A (en) * | 2013-04-09 | 2013-07-17 | 北京交通大学 | Four-foot crawling robot simulating infants |
| CN103204194B (en) * | 2013-04-09 | 2015-09-23 | 北京交通大学 | Imitative baby's Four-feet creeping robot |
| CN103264734B (en) * | 2013-04-22 | 2015-06-17 | 浙江大学 | Sole ground touch sensing mechanism of legged robot |
| CN103264734A (en) * | 2013-04-22 | 2013-08-28 | 浙江大学 | Sole ground touch sensing mechanism of legged robot |
| CN103407513A (en) * | 2013-05-13 | 2013-11-27 | 清华大学 | Flat ground power type biped robot walking method adopting spring coupling |
| CN103407513B (en) * | 2013-05-13 | 2015-08-19 | 清华大学 | Adopt the level land walking method for dynamic biped robot of spring coupling |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN103481963A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Two-stage buffer foot device applicable to obstacle crossing robot |
| CN103481963B (en) * | 2013-09-13 | 2016-06-01 | 北京航空航天大学 | A kind of foot device with two-stage buffering being applicable to barrier-surpassing robot |
| CN103600786A (en) * | 2013-10-30 | 2014-02-26 | 李天豪 | Intelligent doraemon |
| CN103802909A (en) * | 2014-02-25 | 2014-05-21 | 中国人民解放军军事交通学院 | Leg linkage mechanism of quadruped robot |
| CN103979034A (en) * | 2014-05-19 | 2014-08-13 | 北京交通大学 | Four-leg walking robot with single power leg mechanism |
| CN104149872A (en) * | 2014-09-01 | 2014-11-19 | 安徽理工大学 | Complex road surface transfer robot based on parallel mechanisms |
| CN104309717A (en) * | 2014-10-30 | 2015-01-28 | 郑州轻工业学院 | Body-variable and modular four-foot walking robot with energy storage function |
| CN105892558A (en) * | 2015-01-26 | 2016-08-24 | 郝成武 | Robot toe bearing capacity balance mechanism |
| CN105892558B (en) * | 2015-01-26 | 2018-08-17 | 郝成武 | A kind of robot toes bearing capacity balance mechanism |
| CN104875813A (en) * | 2015-05-26 | 2015-09-02 | 上海大学 | Electrically-driven small bionic four-leg robot |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
| CN106672104A (en) * | 2015-11-10 | 2017-05-17 | 中国人民解放军军械工程学院 | Terrain self-adapted flat and multi-foot waking system based on phase difference |
| CN106672104B (en) * | 2015-11-10 | 2018-11-06 | 中国人民解放军军械工程学院 | A kind of flat polypody pedestrian system of terrain self-adaptive based on phase difference |
| CN105947012A (en) * | 2016-05-10 | 2016-09-21 | 南京航空航天大学 | Differential gear driving robot leg mechanism and control method |
| RU2642020C2 (en) * | 2016-06-24 | 2018-01-23 | Павел Михайлович Близнец | Pacing device |
| CN106005090A (en) * | 2016-07-08 | 2016-10-12 | 燕山大学 | Double-oscillating bar flexible four-leg walking robot |
| CN106005090B (en) * | 2016-07-08 | 2018-01-23 | 燕山大学 | A kind of flexible four leg walking robots of double swing-bar |
| CN107010137A (en) * | 2017-04-18 | 2017-08-04 | 江苏信息职业技术学院 | A kind of lightweight quadruped robot |
| CN107010137B (en) * | 2017-04-18 | 2023-04-28 | 江苏信息职业技术学院 | Lightweight quadruped robot |
| CN107097213A (en) * | 2017-05-19 | 2017-08-29 | 沃奇（北京）智能科技有限公司 | Robot lower limb |
| CN107457802A (en) * | 2017-09-13 | 2017-12-12 | 北京理工大学 | A kind of anthropomorphic robot falls down protection device |
| CN108394485A (en) * | 2018-02-11 | 2018-08-14 | 嘉兴学院 | A kind of multi-functional polypody bio-robot system based on pneumatic system |
| CN108748183A (en) * | 2018-06-13 | 2018-11-06 | 芜湖捷创科技信息咨询有限公司 | A kind of foot formula walking robot |
| CN109018063A (en) * | 2018-08-15 | 2018-12-18 | 重庆大学 | A kind of four-footed emulated robot |
| CN109018064A (en) * | 2018-08-24 | 2018-12-18 | 北京理工大学 | Leg foot type bionic machine mouse |
| CN113518652A (en) * | 2018-09-26 | 2021-10-19 | 幽灵机器人公司 | Leg and foot type robot |
| CN109501883A (en) * | 2018-12-30 | 2019-03-22 | 北华航天工业学院 | Pedipulator structure and legged type robot |
| CN109941370A (en) * | 2019-01-04 | 2019-06-28 | 上海海事大学 | A kind of four feet walking robot based on three-shaft linkage control structure |
| CN109857131A (en) * | 2019-03-11 | 2019-06-07 | 山东职业学院 | A kind of two foot-four-footed posture changing control method of legged type robot |
| CN109874506A (en) * | 2019-04-08 | 2019-06-14 | 济南大学 | A kind of modularized bionic quadruped robot for spraying or picking |
| CN110091935A (en) * | 2019-04-26 | 2019-08-06 | 南京航空航天大学 | Three Degree Of Freedom leg joint and method based on differential gear train |
| CN110091935B (en) * | 2019-04-26 | 2023-05-12 | 南京航空航天大学 | Three-degree-of-freedom leg joint based on differential gear train and method |
| CN110154012B (en) * | 2019-05-24 | 2020-08-04 | 东北大学 | Four-footed bionic robot and control method thereof |
| CN110154012A (en) * | 2019-05-24 | 2019-08-23 | 东北大学 | A kind of four-leg bionic robot and its control method |
| CN110641573A (en) * | 2019-10-29 | 2020-01-03 | 北京航空航天大学 | Closed-chain single-degree-of-freedom five-rod leg mechanism |
| CN111003074A (en) * | 2019-11-07 | 2020-04-14 | 清华大学 | Parallel wheel-foot type robot leg structure and mobile robot |
| WO2021189675A1 (en) * | 2020-03-24 | 2021-09-30 | 北京理工大学 | Parallel-drive joint used for super-dynamic bionic robot, and robot |
| CN112937232A (en) * | 2021-03-03 | 2021-06-11 | 常州龙源智能机器人科技有限公司 | Robot |
| CN113081667A (en) * | 2021-03-25 | 2021-07-09 | 北京航空航天大学 | Twelve-degree-of-freedom gait simulation device |
| CN113071577A (en) * | 2021-04-30 | 2021-07-06 | 郑州宇通重工有限公司 | Robot sole force flexible control method and multi-foot robot platform |
| CN113371095A (en) * | 2021-06-18 | 2021-09-10 | 哈尔滨工业大学（深圳） | Leg structure with joints rotating at any angle and multi-legged robot |
| CN113215938A (en) * | 2021-07-08 | 2021-08-06 | 深圳市勘察研究院有限公司 | Mechanized slurry paving robot |
| WO2023284359A1 (en) * | 2021-07-15 | 2023-01-19 | Oppo广东移动通信有限公司 | Robot, leg assembly, and drive mechanism |
| CN113618750A (en) * | 2021-08-06 | 2021-11-09 | 上海大学 | Humanoid robot with high dynamic four-foot motion mode and two-arm working mode |
| CN113618750B (en) * | 2021-08-06 | 2024-02-27 | 上海大学 | Humanoid robot with high dynamic quadruped motion mode and double-arm working mode |
| CN113525550A (en) * | 2021-08-26 | 2021-10-22 | 清华大学 | Robot leg and quadruped robot based on differential structure |
| CN114571497A (en) * | 2022-03-14 | 2022-06-03 | 上海大学 | Leg-arm robot pivot type explosive motion joint based on double-motor power cooperation |
| CN114571497B (en) * | 2022-03-14 | 2024-02-20 | 上海大学 | Leg arm robot pivot type explosive movement joint based on double-motor power cooperation |
| CN114987645A (en) * | 2022-04-26 | 2022-09-02 | 中国北方车辆研究所 | Shaft-driven three-degree-of-freedom bionic leg |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102211627B (en) | 2012-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102211627B (en) | Four-leg robot mechanism based on bionic design | |
| CN108743243B (en) | Wrist rehabilitation device | |
| CN101121424B (en) | Double-foot robot lower limb mechanism with multiple freedom degree | |
| CN104842345B (en) | Human-simulated mechanical arm based on hybrid driving of various artificial muscles | |
| CN102343950B (en) | Pliant four-footed robot with flexible waist and elastic legs | |
| CN103099691B (en) | Two-degree-of-freedom exoskeleton ankle joint mechanism | |
| CN105711672B (en) | A kind of walking climbing robot based on articular couple handwheel | |
| CN108451747B (en) | Wearable elbow joint skeleton rehabilitation training device | |
| CN109986579B (en) | Multi-mode motion primate-imitating robot | |
| CN104887456B (en) | A kind of wearing type upper limb recovery training device of Pneumatic artificial muscle driving | |
| CN103448828B (en) | A kind of Four-foot bio-robot leg mechanism | |
| CN103610524A (en) | Portable energy-storage type external skeleton assisting robot | |
| CN104340291A (en) | Wheel leg type dual-purpose robot | |
| CN112141236B (en) | Take shock-absorbing function's sufficient formula robot shank system of wheel | |
| CN108773426A (en) | Single power source carries the bionical quadruped robot of elastic leg | |
| CN103083157B (en) | Five-freedom-degree series-parallel lower limb rehabilitation robot | |
| CN103029130A (en) | Humanoid robot | |
| CN102849140A (en) | Multi-moving-mode bionic moving robot | |
| CN102991601A (en) | Two-degree-of-freedom humanoid ankle joint | |
| CN104287942A (en) | Wearable elbow joint rehabilitation robot device | |
| CN108622228B (en) | Quadruped robot with flexible waist | |
| CN107042502B (en) | Closed chain link-type drive lacking lower limb exoskeleton mechanism | |
| CN210634666U (en) | Multi-degree-of-freedom light single-leg mechanism | |
| CN114408046A (en) | Wheeled biped robot | |
| CN104742995B (en) | The modular leg unit of polypody mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20111012 Assignee: ZHEJIANG GUOZI ROBOT TECHNOLOGY Co.,Ltd. Assignor: Zhejiang University Contract record no.: 2013330000081 Denomination of invention: Four-leg robot mechanism based on bionic design Granted publication date: 20121017 License type: Exclusive License Record date: 20130422 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121017 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |