CN106737596A - A kind of robot running gear - Google Patents
A kind of robot running gear Download PDFInfo
- Publication number
- CN106737596A CN106737596A CN201710019456.6A CN201710019456A CN106737596A CN 106737596 A CN106737596 A CN 106737596A CN 201710019456 A CN201710019456 A CN 201710019456A CN 106737596 A CN106737596 A CN 106737596A
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- Prior art keywords
- worm
- gear
- assembly
- component
- mechanical leg
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- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000001681 protective effect Effects 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 241000237858 Gastropoda Species 0.000 claims description 3
- 210000000515 tooth Anatomy 0.000 claims 3
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000002457 bidirectional effect Effects 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 description 20
- 238000010586 diagram Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000202814 Cochliomyia hominivorax Species 0.000 description 1
- 230000018199 S phase Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
A kind of robot running gear, including protective acoustic cover assembly and the mounting seat being arranged on below cover assembly.First worm component of the dynamic action of outside input in protective acoustic cover assembly is arranged on, and the first Worm-gear assembly, the second worm component, the second Worm-gear assembly and the 3rd Worm-gear assembly being arranged in mounting seat are driven to successively, the driving to the first mechanical leg assembly, the second mechanical leg assembly and the 3rd mechanical leg assembly is realized, the straight line twocouese walking motion of robot is completed.The present invention is realized and is capable of achieving bidirectional walking of the robot in rectilinear direction under conditions of single power input drives by setting multigroup " worm and wormwheel " transmission mechanism.Compact conformation of the present invention is succinct, and energy transmission loss is small in running, and fault rate is low, cheap, applied widely.
Description
Technical field
The invention belongs to mechanical engineering technical field, it is related to a kind of robot with walking function, it is more particularly to a kind of
Robot running gear.
Background technology
Walking robot mainly includes wheel two kinds of subclass walking mechanism and bionic mechanical leg walking mechanism.Existing bionical machine
Often driving structure is complicated for tool leg walking mechanism, and parts required precision is high, causes production cost higher.It is many especially for having
The joint part of free degree pedipulator, generally requires multiple power set (such as motor, hydraulic mechanism etc.) and is driven, and enters one
Step increased the complexity and production cost of walking robot.
The content of the invention
Defect it is an object of the invention to overcome prior art, there is provided a kind of compact conformation, with low cost, fault rate
It is low, it is only necessary to which that a power set drive the robot running gear that just can realize rectilinear direction bidirectional-movement.
To achieve the above object, present invention employs following technical scheme：
A kind of robot running gear, including protective acoustic cover assembly and the mounting seat being arranged on below cover assembly.It is outside defeated
First worm component of the dynamic action for entering in protective acoustic cover assembly is arranged on, and be arranged in mounting seat is driven to successively
One Worm-gear assembly, the second worm component, the second Worm-gear assembly and the 3rd Worm-gear assembly, realize to the first mechanical leg assembly, second
The driving of mechanical leg assembly and the 3rd mechanical leg assembly, completes the straight line twocouese walking motion of robot.
Further, the protective acoustic cover assembly is generally bell, including the spherical upper shell of semicircle and annular lower house,
It is bolted between upper shell and lower house.
Further, first worm component is bowl-type enveloping worm structure, including the spherical worm screw body of semicircle and defeated
Enter axle, worm screw body interior is provided with the first worm tooth used cooperatively with the first Worm-gear assembly.
Further, first Worm-gear assembly includes the first worm gear and first bevel gear, the first worm gear and first bevel gear
Connected by axle；First Worm-gear assembly is provided with 4 altogether, is evenly distributedly fixedly mounted on the top of mounting seat；Described
One worm gear drives the first Worm-gear assembly to rotate under the driving of the first worm component, and power is transferred into the by first bevel gear
Two worm components.
Further, mounted angle of first Worm-gear assembly in mounting seat is 45 degree, the cone of the first bevel gear
Face angle degree is 45 degree.
Further, second worm component includes the second worm tooth and the second cone used cooperatively with first bevel gear
Gear, mounting seat middle part is vertically fixed on by the second worm shaft；Driving of the second worm screw group in the first Worm-gear assembly
Under, first bevel gear drives second bevel gear to rotate, and drives the second worm component to rotate, so that the second worm tooth drives second
Worm-gear assembly and the 3rd Worm-gear assembly rotate, and realize that power is transmitted.
Further, second worm component is provided with 4, is each used cooperatively with first Worm-gear assembly；Wherein, phase
Each self-driven second Worm-gear assembly of 2 the second worm components of offside；Another 2 the second worm components drive one the jointly
Three Worm-gear assemblies；
Further, 2 second Worm-gear assemblies are arranged on mounting seat both sides, in 2 the second worm components of opposite side
Driving under rotate, power is transferred to the first mechanical leg assembly and the second mechanical leg assembly；3rd Worm-gear assembly is set
In the middle part of mounting seat, rotated under the driving of other 2 the second worm components；3rd Worm-gear assembly is provided with cam, the
Timing Belt moving cam is rotated when three Worm-gear assemblies rotate, and realizes the periodicity top pressure to the 3rd mechanical leg assembly, so as to by power
It is transferred to the 3rd mechanical leg assembly.
Further, the described first mechanical leg assembly includes linkage and the first foot, and shown linkage is prejudicially pacified
On second Worm-gear assembly；When second Worm-gear assembly is rotated, cycle movement is done by drive link mechanism, and then drives the
The similar cycle movement taken a step is done by one foot；Described second mechanical leg assembly includes linkage and the first foot, shown to connect
Linkage is eccentrically mounted on another second Worm-gear assembly.
Further, the described 3rd mechanical leg assembly includes push rod, the 3rd foot and back-moving spring；The push rod is in cam
Under promotion, make the reciprocating motion of vertical direction；Push rod bottom is provided with the 3rd foot, the 3rd foot push rod driving, with push rod
Together do reciprocating motion vertically；Spring-assist push rod in mounting seat resets upwards.
A kind of robot running gear that the present invention is provided, by setting multigroup " endless screw-worm gear " transmission mechanism, realizes
Bidirectional walking of the robot in rectilinear direction is capable of achieving under conditions of single power input drives.Compact conformation letter of the present invention
Clean, energy transmission loss is small in running, and fault rate is low, cheap, applied widely.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of robot running gear of the invention；
Fig. 2 is a kind of overall structure sectional view of robot running gear of the invention；
Fig. 3 is a kind of internal structure schematic diagram of robot running gear of the invention；
Fig. 4 is first worm component and the first worm gear engaging structure schematic diagram of a kind of robot running gear of the invention；
Fig. 5 is the section view after protective acoustic cover assembly and the first worm component assembling of a kind of robot running gear of the invention
Figure.
Fig. 6 is a kind of the first mechanical leg assembly overall structure diagram of robot running gear of the invention；
Fig. 7 is a kind of the second mechanical leg assembly overall structure diagram of robot running gear of the invention.
Specific embodiment
Below in conjunction with the embodiment that accompanying drawing 1 to 6 is given, a kind of the specific of robot running gear of the invention is further illustrated
Implementation method.A kind of robot running gear of the present invention is not limited to the following description.
As depicted in figs. 1 and 2, the invention provides a kind of robot running gear, including protective acoustic cover assembly a and it is arranged on
Mounting seat b below cover assembly a.First worm component of the dynamic action of outside input in protective acoustic cover assembly a is arranged on
1, and the first Worm-gear assembly 2, the second worm component 3, the second Worm-gear assembly 4 and being arranged on mounting seat b are driven to successively
Three Worm-gear assemblies 7, realize the driving to the first mechanical leg assembly 9 of the mechanical mechanical leg assembly 6 and the 3rd of leg assembly 5, second, complete
The straight line twocouese walking motion of robot.
As shown in Figure 4 and Figure 5, it is the part of robot running gear protective acoustic cover assembly a of the present invention and the first worm component 1
Structural representation.The protective acoustic cover assembly a is generally bell, including the spherical upper shell a1 of semicircle and annular lower house 2,
It is bolted between upper shell a1 and lower house 2.First worm component 1 is bowl-type enveloping worm structure, including partly
The worm screw body 11 and input shaft 12 of spheroidal, are provided with first used cooperatively with the first Worm-gear assembly 2 inside worm screw body 11
Worm tooth 13.First worm component 1 is by being arranged on the clutch shaft bearing a3 of protective acoustic cover assembly a bottoms and second axle on top
A4 is held, the positioning in cover assembly a is realized.The power of outside input drives the by the input shaft 12 of the first worm component 1
One worm component 1 is rotated, so as to power is transferred into the first Worm-gear assembly 2 by the first worm tooth 13.
As shown in figure 3, being the internal structure schematic diagram of robot running gear of the present invention.First Worm-gear assembly 2 is wrapped
The first worm gear 21 and first bevel gear 23 are included, the first worm gear 21 and first bevel gear 23 are by the axially connection of axle 22.Described first
Worm-gear assembly 2 is provided with 4 altogether, is evenly distributedly fixedly mounted on the top of mounting seat b with specific inclination angle by fixture 24.Institute
State the first worm gear 21 drives the first Worm-gear assembly 2 to rotate under the driving of the first worm component 1, will be dynamic by first bevel gear 23
Power is transferred to the second worm component 3.Preferably, the mounted angle of first Worm-gear assembly 2 is 45 degree, the first bevel gear
23 frustoconical bevel angle is also 45 degree.
Second worm component 3 includes the snail of second bevel gear 31 and second used cooperatively with first bevel gear 23
Bar tooth 32, mounting seat b middle parts are vertically fixed on by the second worm shaft 33.Under the driving of the first Worm-gear assembly 2, the
One bevel gear 23 drives second bevel gear 31 to rotate, and drives the second worm component 3 to rotate, so that the second worm tooth 32 drives the
Two Worm-gear assemblies 4 and the 3rd Worm-gear assembly 7 rotate, and realize that power is transmitted.Second worm component 3 is provided with 4, each with one
Individual first Worm-gear assembly 2 is used cooperatively.Wherein, 2 each self-driven second Worm-gear assemblies of the second worm component 3 of opposite side
4；Another 2 the second worm components 3 drive the 3rd Worm-gear assembly 7 jointly.
Described 2 the second Worm-gear assemblies 4 are arranged on mounting seat b both sides, in 2 drives of the second worm component 3 of opposite side
Dynamic lower rotation, the first mechanical mechanical leg assembly 6 of leg assembly 5 and second is transferred to by power.
3rd Worm-gear assembly 7 is arranged on mounting seat b middle parts, in the other 2 driving backspins of the second worm component 3
Turn.3rd Worm-gear assembly 7 is provided with cam 8, and Timing Belt moving cam 8 is rotated when the 3rd Worm-gear assembly 7 rotates, and realizes to the
The periodicity top pressure of three mechanical leg assemblies 9, so as to power is transferred into the 3rd mechanical leg assembly 9.
As shown in fig. 6, being the overall structure diagram of the mechanical leg assembly 5 of the present invention first.Described first mechanical leg assembly 5
Including the foot 52 of linkage 51 and first, shown linkage 51 is eccentrically mounted on second Worm-gear assembly 4.Second
When Worm-gear assembly 4 is rotated, cycle movement is done by drive link mechanism 51, and then drives the first foot 52 to do the similar cycle taken a step
Property motion.Specifically, linkage component concentric with the second Worm-gear assembly 4 in linkage 51 is fixed on mounting seat b, its
His linkage component is and is hinged, so as to form the mechanical structure of similar crank connecting link, drives the first foot 52 to carry out periodicity fortune
It is dynamic.
As shown in fig. 7, being a kind of the second mechanical overall structure diagram of leg assembly 6 of robot running gear of the invention.
Described second mechanical leg assembly 6 includes the foot 62 of linkage 61 and first, and shown linkage 61 is eccentrically mounted in another
On individual second Worm-gear assembly 4.The first mechanical mechanical leg assembly 6 of leg assembly 5 and second can be seen that by comparison diagram 6 and Fig. 7
Structural principle is similar to, and unique difference is that the second mechanical leg assembly 6 is two parallel bar linkage structures, with 2 the first foots
62, in order to keep the stability of robot ambulation process.
As shown in figure 3, the 3rd mechanical leg assembly 9 is vertically installed at mounting seat b bottoms, including push rod 91, the 3rd foot 92
With back-moving spring 93.The push rod 91 makees the reciprocating motion of vertical direction under the promotion of cam 8.The bottom of push rod 91 is provided with
Reciprocating motion vertically is together done in the driving of push rod 91 with push rod 91 by three foots 92, the 3rd foot 92.It is additionally provided with mounting seat b
The spring 93 used cooperatively with push rod 91, assists push rod 91 to reset upwards.
The robot running gear that the present invention is provided, the course of work and principle are as follows：
External power supply (such as motor) drives the first worm component 1 to rotate, and the first worm component 1 drives 4 the first snails
Wheel assembly 2 rotates, and 4 first bevel gears 23 of the first Worm-gear assembly 2 drive 4 second bevel gears 31 of the second worm component 3
Rotation.
Assuming that original state is as shown in figure 1, the first mechanical mechanical leg assembly 6 of leg assembly 5 and second of both sides connects with ground
Touch, the 3rd middle pedipulator 9 is not contacted with ground.The first bevel gear 23 of left and right two drives the second worm component 3 to rotate, the
Two worm component 4 drives two the second Worm-gear assemblies 4 in left and right to rotate, and the second Worm-gear assembly 4 drives the first mechanical leg assembly 5 and the
The connecting rod mechanism movement (assuming that now two Worm-gear assemblies 4 in left and right are rotated clockwise) of two mechanical leg assemblies 6, the song of linkage
Handle is rotated clockwise, and the swing rod of drivening rod mechanism is moved downward, and then the first foot 52 and the second foot being connected with swing rod
62 earthward have an effect, and the whole mounting seat of drive and the associated mechanisms being fixed in mounting seat are mobile to side (right side).
At the same time, two other first bevel gear 23 drives second bevel gear 31 and drives the second worm component 3 to rotate,
Second worm component 3 drive the 3rd Worm-gear assembly 7 rotate, and then drive be fixedly connected with the 3rd Worm-gear assembly 7 with special
The cam 8 of contour curve is rotated, and cam 8 drives push rod 91 to move down, and then drives the mechanical leg assembly 9 of middle the 3rd downward
Motion.
When the foot's height of the first mechanical mechanical leg assembly 6 of leg assembly 5 and second reaches the foot's phase with the 3rd pedipulator 9
With height after, the contour curve of cam 8 and first the 5, second mechanical leg assembly 6 of mechanical leg assembly linkage it is common
Under effect, push rod 8 declines a little just stop again, and is kept for a period of time.At this moment, the swing rod of linkage reaches pole position position,
The foot of the first mechanical mechanical leg assembly 6 of leg assembly 5 and second leaves ground and continues to swing.Then, the 3rd mechanical leg assembly 9
Foot begins to move up, and when original position is risen to, the first mechanical mechanical leg assembly 6 of leg assembly 5 and second also swings
To original position.So, just complete a cycle motion, now robot is realized to the segment distance of right translation one, prepare into
Enter next period of motion.
Further, by changing the direction that power is input into, it is possible to achieve the rightabout walking of robot.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
Specific implementation of the invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should be all considered as belonging to of the invention
Protection domain.
Claims (10)
1. a kind of robot running gear, including protective acoustic cover assembly and the mounting seat being arranged on below cover assembly, its feature exist
In：First worm component of the dynamic action of outside input in protective acoustic cover assembly is arranged on, and drive to be arranged on peace successively
The first Worm-gear assembly, the second worm component, the second Worm-gear assembly and the 3rd Worm-gear assembly on dress seat, realize to the first pedipulator
The driving of component, the second mechanical leg assembly and the 3rd mechanical leg assembly, completes the straight line twocouese walking motion of robot.
2. a kind of robot running gear according to claim 1, it is characterised in that：The protective acoustic cover assembly generally clock
Shape, including the spherical upper shell of semicircle and annular lower house, be bolted between upper shell and lower house.
3. a kind of robot running gear according to claim 2, it is characterised in that：First worm component is bowl-type
Enveloping worm structure, including semicircle spherical worm screw body and input shaft, worm screw body interior is provided with matches somebody with somebody with the first Worm-gear assembly
The first worm tooth that conjunction is used.
4. a kind of robot running gear according to claim 3, it is characterised in that：First Worm-gear assembly includes the
One worm gear and first bevel gear, the first worm gear and first bevel gear are connected by axle；First Worm-gear assembly is provided with 4 altogether,
Evenly distributedly it is fixedly mounted on the top of mounting seat；First worm gear drives the first snail under the driving of the first worm component
Wheel assembly is rotated, and power is transferred into the second worm component by first bevel gear.
5. a kind of robot running gear according to claim 4, it is characterised in that：First Worm-gear assembly is being installed
Mounted angle on seat is 45 degree, and the frustoconical bevel angle of the first bevel gear is 45 degree.
6. a kind of robot running gear according to claim 4, it is characterised in that：Second worm component includes the
Two worm tooths and the second bevel gear used cooperatively with first bevel gear, are vertically fixed on by the second worm shaft
Dress seat middle part；Under the driving of the first Worm-gear assembly, first bevel gear drives second bevel gear to rotate to second worm screw group, and drives
Second worm component is rotated, so that the second worm tooth drives the second Worm-gear assembly and the rotation of the 3rd Worm-gear assembly, realizes that power is passed
Pass.
7. a kind of robot running gear according to claim 6, it is characterised in that：Second worm component is provided with 4
It is individual, each used cooperatively with first Worm-gear assembly；Wherein, each self-driven of 2 the second worm components of opposite side
Two Worm-gear assemblies；Another 2 the second worm components drive the 3rd Worm-gear assembly jointly.
8. a kind of robot running gear according to claim 7, it is characterised in that：2 second Worm-gear assemblies set
Put in mounting seat both sides, rotated under 2 drivings of the second worm component of opposite side, power is transferred to the first pedipulator group
Part and the second mechanical leg assembly；3rd Worm-gear assembly is arranged on mounting seat middle part, in the drive of other 2 the second worm components
Dynamic lower rotation；3rd Worm-gear assembly is provided with cam, and Timing Belt moving cam is rotated when the 3rd Worm-gear assembly rotates, and it is right to realize
The periodicity top pressure of the 3rd mechanical leg assembly, so as to power is transferred into the 3rd mechanical leg assembly.
9. a kind of robot running gear according to claim 8, it is characterised in that：Described first mechanical leg assembly includes
Linkage and the first foot, shown linkage are eccentrically mounted on second Worm-gear assembly；Second Worm-gear assembly turns
When dynamic, cycle movement is done by drive link mechanism, and then drives the first foot to do the similar cycle movement taken a step；Described second
Mechanical leg assembly includes linkage and the first foot, and shown linkage is eccentrically mounted in another the second Worm-gear assembly
On.
10. a kind of robot running gear according to claim 9, it is characterised in that：Described 3rd mechanical leg assembly bag
Include push rod, the 3rd foot and back-moving spring；The push rod makees the reciprocating motion of vertical direction under the promotion of cam；Under push rod
Portion is provided with the 3rd foot, and the 3rd foot together does reciprocating motion vertically with push rod in the driving of push rod；In mounting seat
Spring-assist push rod resets upwards.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019456.6A CN106737596A (en) | 2017-01-11 | 2017-01-11 | A kind of robot running gear |
| PCT/CN2017/082102 WO2018129837A1 (en) | 2017-01-11 | 2017-04-27 | Robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019456.6A CN106737596A (en) | 2017-01-11 | 2017-01-11 | A kind of robot running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737596A true CN106737596A (en) | 2017-05-31 |
Family
ID=58947628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710019456.6A Pending CN106737596A (en) | 2017-01-11 | 2017-01-11 | A kind of robot running gear |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106737596A (en) |
| WO (1) | WO2018129837A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502047A (en) * | 2018-05-25 | 2018-09-07 | 钦州学院 | Bionical six legged type robots walking mechanism |
| CN111843985A (en) * | 2019-04-24 | 2020-10-30 | 发那科株式会社 | Protective cover sealing member, robot and parallel connecting rod robot |
| WO2021056619A1 (en) * | 2019-09-27 | 2021-04-01 | 唐山维数科技有限公司 | Transport robot |
| CN116124192A (en) * | 2023-04-14 | 2023-05-16 | 迈泽锐(武汉)工业技术有限公司 | Sensor mounting structure and sensor system |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055982B (en) * | 2019-12-31 | 2024-04-26 | 上海宇鹤自动化科技有限公司 | Robot base walking under water |
| CN111550539B (en) * | 2020-05-15 | 2023-05-19 | 合肥卓科智能技术有限公司 | Four-foot bionic robot airborne hydraulic power system |
| CN114180089B (en) * | 2021-12-11 | 2024-02-02 | 浙江极客桥智能装备股份有限公司 | Unmanned aerial vehicle air park system |
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| WO2002011956A1 (en) * | 2000-08-04 | 2002-02-14 | Robottec Co., Ltd. | Multiple-legged walking apparatus |
| CN203982684U (en) * | 2014-07-29 | 2014-12-03 | 桂林电子科技大学 | Four-footed connecting rod travel mechanism |
| CN204056037U (en) * | 2014-07-15 | 2014-12-31 | 昆明理工大学 | The full landform walking device of a kind of hybrid power |
| CN204296907U (en) * | 2014-06-09 | 2015-04-29 | 北方民族大学 | Multifunctional rescue detection gathers robot |
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| JPS5957074A (en) * | 1982-09-27 | 1984-04-02 | Agency Of Ind Science & Technol | Three-dimensional moving machine |
| KR100241140B1 (en) * | 1997-12-26 | 2000-04-01 | 김성년 | Moving system for robot having multi-leg |
| CN104044422B (en) * | 2014-06-09 | 2016-05-11 | 北方民族大学 | Bearing device safety detection robot under burst fire-disaster |
| CN204976638U (en) * | 2015-04-27 | 2016-01-20 | 东北大学 | Snakelike net robot of climbing |
| CN106003039B (en) * | 2016-06-20 | 2018-01-23 | 南京航空航天大学 | Can orthogonal bidirectional-movement structure changes mobile robot and its control method |
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- 2017-04-27 WO PCT/CN2017/082102 patent/WO2018129837A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002011956A1 (en) * | 2000-08-04 | 2002-02-14 | Robottec Co., Ltd. | Multiple-legged walking apparatus |
| CN204296907U (en) * | 2014-06-09 | 2015-04-29 | 北方民族大学 | Multifunctional rescue detection gathers robot |
| CN204056037U (en) * | 2014-07-15 | 2014-12-31 | 昆明理工大学 | The full landform walking device of a kind of hybrid power |
| CN203982684U (en) * | 2014-07-29 | 2014-12-03 | 桂林电子科技大学 | Four-footed connecting rod travel mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502047A (en) * | 2018-05-25 | 2018-09-07 | 钦州学院 | Bionical six legged type robots walking mechanism |
| CN111843985A (en) * | 2019-04-24 | 2020-10-30 | 发那科株式会社 | Protective cover sealing member, robot and parallel connecting rod robot |
| WO2021056619A1 (en) * | 2019-09-27 | 2021-04-01 | 唐山维数科技有限公司 | Transport robot |
| CN116124192A (en) * | 2023-04-14 | 2023-05-16 | 迈泽锐(武汉)工业技术有限公司 | Sensor mounting structure and sensor system |
| CN116124192B (en) * | 2023-04-14 | 2023-07-11 | 迈泽锐(武汉)工业技术有限公司 | Sensor mounting structure and sensor system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018129837A1 (en) | 2018-07-19 |
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Application publication date: 20170531 |