CN107223104A - Multi-foot robot - Google Patents
Multi-foot robot Download PDFInfo
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- CN107223104A CN107223104A CN201680004359.3A CN201680004359A CN107223104A CN 107223104 A CN107223104 A CN 107223104A CN 201680004359 A CN201680004359 A CN 201680004359A CN 107223104 A CN107223104 A CN 107223104A
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- Prior art keywords
- foot robot
- joint
- fuselage
- arm
- transmission component
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
A kind of multi-foot robot (100), including fuselage (10) and the pedipulator (50) that is movably disposed on the fuselage (10).The pedipulator (50) includes the slave arm (545) and the first transmission component (543) with the fuselage (10) movable connection, and first transmission component (543) can drive relatively described fuselage (10) motion of the slave arm (545)；Wherein, first transmission component (543) includes engaging backing stop structure, the engaging backing stop structure is used to give the slave arm (545) enough support forces, and first transmission component (543) is able to maintain that current drive state in the case where being cut off power, so that the pedipulator (50) can keep current running status.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of multi-foot robot.
Background technology
With the development of science and technology, in modern society, the application of multi-foot robot such as reptile robot, bio-robot
It is more and more extensive.The joint of the pedipulator of current multi-foot robot is generally directly driven by steering wheel, makes the polypody machine
Device people can realize walking, the function of climbing.However, when the power of the multi-foot robot is cut off, for example, when described many
After biped robot power-off, the steering wheel loses energy source, because steering wheel does not have auto-lock function, makes the machine of the multi-foot robot
The joint of tool leg loses support force, causes the multi-foot robot just weak and limp on ground when power is cut off.Therefore, it is above-mentioned many
Biped robot is larger using limitation.
The content of the invention
In view of above-mentioned condition, it is necessary to provide a kind of multi-foot robot, the multi-foot robot is when power is cut off
It still is able to the running status before keeping power cut-off.
The embodiment of the present invention provides a kind of multi-foot robot, including fuselage and the machine that is movably disposed on the fuselage
Tool leg.The pedipulator includes the slave arm and the first transmission component with the movable connection of the fuselage, first transmission
Component can drive the relatively described fuselage motion of the slave arm.Wherein, first transmission component includes engaging backing stop structure,
The engaging backing stop structure is used for when first transmission component is being cut off power, the first transmission component described in locking, with
First transmission component is set to be able to maintain that current drive state, so that the pedipulator can keep current operation shape
State.
The embodiment of the present invention also provides a kind of multi-foot robot, including fuselage and multiple pedipulators.Multiple machineries
Leg is connected with the fuselage, the mobile power for providing the fuselage.Each pedipulator includes：First joint, with institute
Fuselage is stated to be rotatably connected；Second joint, is rotatably connected with first joint；And the 3rd joint, closed with described second
Section is rotatably connected.Wherein, when first joint is rotated relative to the fuselage, to adjust the level side in the 3rd joint
To position；The second joint relatively first articulation when, with the position for the vertical direction for adjusting the 3rd joint
Put；When 3rd joint is rotated relative to the second joint, to adjust angle when the 3rd joint is landed.
In above-mentioned multi-foot robot, because first transmission component has engaging backing stop structure, the engaging retaining
Structure is used to give the slave arm enough support forces, and makes first transmission component energy in the case where being cut off power
Current drive state is enough maintained, so that the pedipulator can keep current running status, it is to avoid the polypody machine
Device people is because being cut off power and weak and limp situation.
Brief description of the drawings
Fig. 1 is the assembling stereogram of multi-foot robot provided in an embodiment of the present invention.
Fig. 2 is the side schematic view of the multi-foot robot shown in Fig. 1.
Fig. 3 is the assembling stereogram of the pedipulator of the multi-foot robot shown in Fig. 1.
Fig. 4 is the schematic perspective view at another visual angle of the pedipulator shown in Fig. 3.
Fig. 5 is the schematic perspective view at the another visual angle of the pedipulator shown in Fig. 3.
Fig. 6 is the side schematic view of the pedipulator shown in Fig. 3.
Main element symbol description
Following embodiment will further illustrate the present invention with reference to above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or can also have component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it
Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " level ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
The embodiment of the present invention provides a kind of multi-foot robot, provided with one or more pedipulators.Described in wherein at least one
Pedipulator includes slave arm and the first transmission component.First transmission component can drive the relatively described machine of the slave arm
Body is moved.
Wherein, first transmission component includes engaging backing stop structure, and the engaging backing stop structure is used for described first
Transmission component is when being cut off power, the first transmission component described in locking, so that first transmission component is able to maintain that currently
Drive state so that the pedipulator can keep current running status.
In wherein some embodiments, the engaging backing stop structure can be electronic self-locking structure.When power is off, the electricity
Dynamic self-locking structure is in self-locking state.When being powered, the electronic self-locking mechanism releases self-locking.
For example, first transmission component can include electric expansion cylinder and retaining part, the engaging retaining knot
Structure is the snap-in structure of the electric expansion cylinder and the retaining part.When the electric expansion cylinder is powered, the electricity
The expansion link of dynamic telescopic cylinder is in contraction state, and now expansion link departs from corresponding retaining part；Electronic stretched when described
When contracting cylinder is powered off, the expansion link under self gravitation effect auto-extending and in original state, and with it is corresponding
Retaining part engages.Specifically, retaining part can be spur rack or engaging teeth groove etc..
Or, engaging backing stop structure can be to include electromagnet component, irony engaging part and retaining part.Work as electromagnetism
Iron part attracts the irony engaging part, makes irony engaging part and the retaining isolation of components when being powered；Electromagnet portion
When power is off, the irony engaging part fastens part under self gravitation with the retaining part.Specifically, retaining part can
Think spur rack or engaging teeth groove etc..
In wherein some implementations, the engaging backing stop structure can be mechanical self-latching structure, for example, intermeshing spiral shell
Line.
The embodiment of the present invention also provides a kind of multi-foot robot, provided with one or more pedipulators.Wherein at least one institute
Stating pedipulator includes one or more joints.The joint can adjust the locality of the pedipulator, for example, the joint
Angle when can adjust the position of horizontal direction, the position of vertical direction, land etc..
In wherein some embodiments, the pedipulator can include multiple joints.For example, the pedipulator includes
First joint, second joint and the 3rd joint.Wherein, the first joint, is rotatably connected with the fuselage.Second joint, with
First joint is rotatably connected.3rd joint, is rotatably connected with the second joint.
Wherein, when first joint is rotated relative to the fuselage, to adjust the horizontal direction in the 3rd joint
Position.The second joint relatively first articulation when, with the position for the vertical direction for adjusting the 3rd joint.Institute
When stating the 3rd joint and being rotated relative to the second joint, to adjust angle when the 3rd joint is landed, for example, relative to
The angle of inclination on ground.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Please refer to Fig. 1 to Fig. 2, Fig. 1 and Fig. 2 show the multi-foot robot that one embodiment of the present invention is provided
100, the multi-foot robot 100 can be reptile robot, bio-robot etc., and it can be applied in sports robot neck
Domain, service robot field, medical instruments field etc..In the present embodiment, the multi-foot robot 100 includes fuselage 10
And it is arranged at mechanism loading 30 and pedipulator 50 on the fuselage 10.The mechanism loading 30 is used to realize the polypody machine
The additional function of device people 100.The pedipulator 50 is dynamic for what is supported, walk for the multi-foot robot 100 offer, climb
Power.
In the present embodiment, the fuselage 10 substantially massive base, it is used to carry the mechanism loading 30, is used in combination
In the electronic component for housing the multi-foot robot 100, such as controller, sensor.
The mechanism loading 30 is arranged on the fuselage 10, and can relatively described fuselage 10 move, it is or relatively described
Fuselage 10 is fixed.In the present embodiment, the multi-foot robot 100 is remote-controlled robot, provided with wireless transport module, is used for
Receive telecommand；The mechanism loading 30 is gun turret, and it can launch laser beam of BB bullets or collimation etc..It is appreciated that
In other implementations, the type of the mechanism loading 30 can be set according to being actually needed for multi-foot robot 100
Put, for example, when the multi-foot robot 100 is service humanoid robot, the mechanism loading 30 can be human-computer interaction device；
When the multi-foot robot 100 is Medical Robot, the mechanism loading 30 can be mechanical arm or sensing device etc.
Deng.Certainly, in some embodiments, the mechanism loading 30 can also be omitted, and directly be realized by the fuselage 10
The additional function of the multi-foot robot 100.
The pedipulator 50 is movably connected on the fuselage 10, and deviates from the load machine positioned at the fuselage 10
The side of structure 30.The pedipulator 50 is used to support the fuselage 10, and drives the fuselage 10 and the row of the mechanism loading 30
Walk, climb, or perform other tasks.In the present embodiment, the quantity of the pedipulator 50 is eight, described in eight
50 points of pedipulator is two groups, and pedipulator 50 described in two groups is arranged on the opposite sides portion of the fuselage 10 in symmetry shape, with to institute
State fuselage 10 and symmetrical support force is provided so that the overall gravitational equilibrium of the multi-foot robot 100 and operate steadily.It can manage
Solution, in other implementations, the pedipulator 50 can also be other quantity, for example, the pedipulator 50 can be one
It is individual, two, three, four, five ... etc..
Referring to Fig. 3, the pedipulator 50 includes the first joint 52, the joint 56 of second joint 54 and the 3rd, described the
One joint 52, the second joint 54 and the 3rd joint 56 are sequentially connected.Specifically, first joint 52 can turn
The fuselage 10 is connected to dynamicly, and the second joint 54 is rotatably connected at first joint 52, the 3rd joint
56 are rotatably connected at the second joint 54.
When first joint 52 is rotated relative to the fuselage 10, the 3rd joint 56 can be adjusted in the horizontal direction
On position, so as to adjust the position of the pedipulator 50 in the horizontal direction.Therefore, by controlling the phase of the first joint 52
The angle rotated for the fuselage 10, can control step-length and direction that the pedipulator 50 is moved.
In the present embodiment, first joint 52 is basically parallel to institute relative to the rotating shaft that the fuselage 10 is rotated
The vertical central shaft for stating fuselage 10 is set, and first joint 52 is less than or equal to relative to the angle that the fuselage 10 is rotated
180 degree.
It is appreciated that in other implementations, first joint 52 is relative to the rotating shaft that the fuselage 10 is rotated
Setting angle and set-up mode, being actually needed and set according to the multi-foot robot 100, for example, described
One joint 52 can be set relative to the rotating shaft that the fuselage 10 is rotated relative to the vertical inclined of the fuselage 10.Class
As, first joint 52, can also be according to the multi-foot robot 100 relative to the angular range that the fuselage 10 is rotated
Be actually needed and set, for example, first joint 52 can be less than or equal to relative to the angle that the fuselage 10 is rotated
150 degree, less than or equal to 100 degree, less than or equal to 90 etc..
When the second joint 54 is rotated relative to first joint 52, the 3rd joint 56 can be adjusted in vertical side
To position, so as to adjust the pedipulator 50 in the position of vertical direction.Therefore, by controlling the second joint 54 relative
The angle rotated in first joint 52, the height that the pedipulator 50 can be controlled to climb/lift.
In the present embodiment, the second joint 54 is substantially vertical relative to the rotating shaft that first joint 52 is rotated
Set in the vertical central shaft of the fuselage 10.Specifically in the illustrated embodiment, the second joint 54 is relative to described
The rotating shaft that first joint 52 is rotated, is basically perpendicular to first joint 52 and is set relative to the rotating shaft that the fuselage 10 is rotated.Institute
State second joint 54 and be less than or equal to 100 degree relative to the angle that first joint 52 is rotated.
It is appreciated that in other implementations, the second joint 54 is rotated relative to first joint 52
The setting angle and set-up mode of rotating shaft, being actually needed and set according to the multi-foot robot 100.For example, institute
Stating second joint 54 can incline relative to the rotating shaft that first joint 52 is rotated relative to the vertical central shaft of the fuselage 10
Tiltedly set；Or, the second joint 54 can be closed relative to the rotating shaft that first joint 52 is rotated relative to described first
Section 52 is set relative to the axes of rotation skew that the fuselage 10 is rotated.Similarly, the second joint 54 is relative to first joint
52 angular ranges rotated, can also being actually needed and set according to the multi-foot robot 100, for example, described second closes
Section 54 relative to first joint 52 rotate angle can be less than or equal to 180 degree, less than or equal to 150 degree, be less than or
Equal to 90 etc..
When 3rd joint 56 is rotated relative to the second joint 54, when can adjust the 3rd joint 56 landing
Angle, so as to adjust the angle when pedipulator 50 lands.Therefore, by controlling the 3rd joint 56 relative to described
The angle that second joint 54 is rotated, the angle that the pedipulator 50 can be controlled to climb/lift.
In the present embodiment, the 3rd joint 56 is substantially parallel relative to the rotating shaft that the second joint 54 is rotated
In the second joint 54 relative to the rotating shaft that first joint 52 is rotated, the 3rd joint 56 is closed relative to described second
The angle that section 54 is rotated is less than or equal to 100 degree.
It is appreciated that in other implementations, what the 3rd joint 56 was rotated relative to the second joint 54
The setting angle and set-up mode of rotating shaft, being actually needed and set according to the multi-foot robot 100.For example, institute
The 3rd joint 56 is stated relative to the rotating shaft that the second joint 54 is rotated, can be inclined relative to the vertical central shaft of the fuselage 10
Tiltedly set；Or, the 3rd joint 56 can be closed relative to the rotating shaft that the second joint 54 is rotated relative to described second
Section 54 is set relative to the axes of rotation skew that the fuselage 10 is rotated.Similarly, the 3rd joint 56 is relative to the second joint
54 angular ranges rotated, can also being actually needed and set according to the multi-foot robot 100, for example, the described 3rd closes
Section 56 relative to the second joint 54 rotate angle can be less than or equal to 180 degree, less than or equal to 150 degree, be less than or
Equal to 90 etc..
Please refer to Fig. 3 to Fig. 6, specifically in the embodiments illustrated in the figures, first joint 52 includes actively driving
Moving part 521 and master arm 523.The active drive part 521 is arranged on the fuselage 10.The master arm 523 and the master
Dynamic actuator 521 is connected.
In the present embodiment, the active drive part 521 is rotary drive, and it is used to drive the master arm 523
Rotate, so as to drive the pedipulator 50 is overall to be rotated relative to the fuselage 10.Switching is provided with the active drive part 521
Portion (is not marked) in figure, and the active drive part 521 is installed on the fuselage 10 by the switching part.Specifically, it is described
Active drive part 521 is electric rotating machine, and it includes stator (not marked in figure) and rotor (not marked in figure).The stator is fixed
In on the fuselage 10, the rotor is rotatably connected with the stator.The master arm 523 is connected on the rotor, institute
Stating rotor can drive the master arm 523 to be rotated relative to the fuselage 10, so that the relatively described machine in first joint 52
Body 10 is rotated.
The master arm 523 is used to install the second joint 54.The active drive part 521 drives the master arm
523 rotate when, the axis that the master arm 523 is rotated relative to the fuselage 10, be basically parallel to the fuselage 10 it is vertical in
Heart axle is set.When the multi-foot robot 100 runs on approximate horizontal workplace, the rotary shaft of the master arm 523
Line is set substantially in the vertical direction.
The second joint 54 is movably disposed on the master arm 523.Specifically in the illustrated embodiment, institute
Stating second joint 54 includes driven actuator 541, the first transmission component 543 and slave arm 545.The driven actuator 541
It is arranged on the master arm 523.First transmission component 543 is connected to the driven actuator 541.The slave arm
545 are connected to first transmission component 543.
In the present embodiment, the driven actuator 541 is rotary drive, specifically, the driven actuator 541
For electric rotating machine.The driven actuator 541 is arranged on the master arm 523, and relatively described master arm 523 is fixed.Institute
Stating driven actuator 541 is used to drive first transmission component 543 to move, to drive the relatively described master of the slave arm 545
Swing arm 523 is rotated, so that the second joint 54 is rotated relative to first joint 52.
In the present embodiment, first transmission component 543 is screw mechanism.Specifically, first transmission component
543 include screw mandrel 5431 and the nut 5433 being sheathed on the screw mandrel 5431.The screw mandrel 5431 passes through universal joint 5435
The drive shaft of the driven actuator 541 is connected to, the nut 5433 is meshed with the screw mandrel 5431.The driven driving
Part 541 can drive the screw mandrel 5431 to rotate, to drive the nut 5433 to move.The nut 5433 and the screw mandrel
Engaging structure between 5431, constitutes the engaging backing stop structure of first transmission component 543.When the driven actuator 541
When being cut off power, for example, during the driven actuator 541 power-off, the engaging backing stop structure can prevent the first transmission group
Part 543 continues to be driven, i.e. after the screw thread of nut 5433 is engaged with the screw thread of screw mandrel 5431, the nut 5433 is difficult to automatically
Moved relative to the screw mandrel 5431 so that first transmission component 543 still is able to keep the support to the slave arm 545
Power, so as to avoid the second joint 54 because being cut off power and weak and limp situation.
The slave arm 545 is rotatablely arranged on the master arm 523, and is rotatably connected with the nut 5433
Connect.Specifically, the slave arm 545 is articulated on the master arm 523 by pivot 5451, and the slave arm 545 is by turning
Axle 5453 is rotatably coupled with the nut 5433.When the driven actuator 541 drives the screw mandrel 5431 to rotate, institute
Stating nut 5433 can move along the screw mandrel 5431, so as to drive relatively described 523 turns of the master arm of the slave arm 545
It is dynamic, make the second joint 54 is overall to be rotated relative to first joint 52.The driven actuator 541 is passed by described first
When dynamic component 543 drives the rotation of slave arm 545, the axis that the slave arm 545 is rotated relative to the master arm 523, greatly
Cause the axis rotated perpendicular to the master arm 523 relative to the fuselage 10.When the multi-foot robot 100 runs on substantially water
During flat workplace, the pivot center of the slave arm 545 is set generally in a horizontal direction.
3rd joint 56 is movably disposed on the slave arm 545.In the present embodiment, the described 3rd close
The structure of section 56 is roughly the same with the structure of the second joint 54.Specifically in the illustrated embodiment, the 3rd joint
56 include performing actuator 561, the second transmission component 563 and perform arm 565, and the execution actuator 561 is arranged on described
On slave arm 545, second transmission component 563 is connected to the execution actuator 561, and the execution arm 565 is connected to institute
State the second transmission component 563.
In the present embodiment, the execution actuator 561 is rotary drive, specifically, the execution actuator 561
For electric rotating machine.The execution actuator 561 is arranged on the slave arm 545, and relatively described slave arm 545 is fixed.Institute
State execution actuator 561 be used for drive second transmission component 563 to move, with drive it is described execution arm 565 it is relatively described from
Swing arm 545 is rotated, so that the 3rd joint 56 is rotated relative to the second joint 54.
In the present embodiment, second transmission component 563 is screw mechanism.Specifically, second transmission component
563 include screw mandrel 5631 and the nut 5633 being sheathed on the screw mandrel 5631.The screw mandrel 5631 passes through universal joint 5635
The drive shaft of the execution actuator 561 is connected to, the nut 5633 is meshed with the screw mandrel 5631.It is described to perform driving
Part 561 can drive the screw mandrel 5631 to rotate, to drive the nut 5633 to move.The nut 5633 and the screw mandrel
Engaging structure between 5631, constitutes the engaging backing stop structure of second transmission component 563.When the execution actuator 561
When being cut off power, for example, when the execution actuator 561 is powered off, the engaging backing stop structure can prevent the second transmission group
Part 563 continues to be driven, i.e. after the screw thread of nut 5633 is engaged with the screw thread of screw mandrel 5631, the nut 5633 is difficult to automatically
Moved relative to the screw mandrel 5631 so that second transmission component 563 still is able to keep the support to the execution arm 565
Power, so as to avoid the 3rd joint 56 because being cut off power and weak and limp situation.
The execution arm 565 is rotatablely arranged on the slave arm 545, and is rotatably connected with the nut 5633
Connect.Specifically, the execution arm 565 is articulated on the slave arm 545 by pivot 5651, and the execution arm 565 is by turning
Axle 5653 is rotatably coupled with the nut 5633.When the execution actuator 561 drives the screw mandrel 5631 to rotate, institute
Stating nut 5633 can move along the screw mandrel 5631, so as to drive execution relatively described 545 turns of the slave arm of arm 565
It is dynamic, make the 3rd joint 56 is overall to be rotated relative to the second joint 54.The execution actuator 561 is passed by described second
When dynamic component 563 drives execution arm 565 rotation, the axis that the execution arm 565 is rotated relative to the slave arm 545, greatly
Cause the axis rotated parallel to 545 pairs of the slave arm master arm 523.When the multi-foot robot 100 is run on substantially
During the workplace of level, the pivot center of the execution arm 565 is set generally in a horizontal direction.
Further, the multi-foot robot 100 also includes the leg 58 being arranged on the 3rd joint 56, the branch
Pin 58 is used as support of the pedipulator 50 of the multi-foot robot 100 when landing.The leg 58 include dampening assembly 581 with
And feeler 583, the dampening assembly 581 be arranged at it is described execution arm 565 on, the feeler 583 is held in the dampening assembly
On 581, the feeler 583 and the dampening assembly 581 are used to the multi-foot robot 100 being supported in field of employment, and
Walking, climbing to the multi-foot robot 100 carry out damping.
Specifically in the illustrated embodiment, the dampening assembly 581 includes fixture 5811, installing part 5813, elasticity
Part 5815 and movable part 5817.The fixture 5811 is fixed on the execution arm 565, and the installing part 5813 is arranged at
On the fixture 5811, the elastic component 5815 is movably disposed on the installing part 5813.The movable part 5817
Movably it is held on the elastic component 5815, and for abutting the feeler 583, makes the dampening assembly 581 described
Formed between 3rd joint 56 and the feeler 583 and flexibly support effect, so as to realize the multi-foot robot 100 when walking
Damping.
Specifically, in the present embodiment, the fixture 5811 is two, and two fixtures 5811 are to each other
Every be arranged on it is described execution arm 565 on.The installing part 5813 substantially in shaft-like, its be arranged on two fixtures 5811 it
Between, and it is described installing part 5813 two ends be connected on two fixtures 5811.The movable part 5817 is movable
Ground is sheathed on the installing part 5813, and the movable part 5817 is used to install the feeler 583.The elastic component 5815 can live
It is arranged on the installing part 5813, and is held between the fixture 5811 and the movable part 5817 dynamicly.In this reality
Apply in mode, the elastic component 5815 is two groups, and elastic component 5815 described in two groups is separately positioned on the two of the movable part 5817
Side, and the two ends of elastic component 5815 described in every group support on the fixture 5811 and the movable part 5817 respectively, so that
Realize the bidirectional damping of the pedipulator 50.
The feeler 583 is connected on the movable part 5817, and it, which is used to the multi-foot robot 100 being supported in, uses
Place.Sensor (not shown) is provided with the feeler 583, the sensor is used for whether sensing the feeler 583
Land.The sensor can be pressure sensor, range sensor, vision sensor etc..
Above-mentioned multi-foot robot 100, the first joint 52 of its pedipulator 50 is used as active joint, the conduct of second joint 54
Driven joint, the 3rd joint 56 drive the execution joint as joint, the active joint is performed by the driven joint
Motion, so as to realize the functions such as standing, walking, the climbing of the multi-foot robot 100.Due to the first of the second joint 54
Transmission component 543 has an above-mentioned engaging backing stop structure, and it is enough that the engaging backing stop structure is used to giving the slave arm 545
Support force, and first transmission component 543 is able to maintain that current drive state in the case where being cut off power, so that
The pedipulator is set to keep current running status, it is to avoid the multi-foot robot 100 is weak and limp because being cut off power
Situation.Similarly, because second transmission component 563 in the 3rd joint 56 has above-mentioned engaging backing stop structure, institute is made
State the second transmission component 563 and be able to maintain that current drive state in the case where being cut off power, it is to avoid the polypody machine
Device people 100 is because being cut off power and weak and limp situation.
It is understood that above-mentioned multi-foot robot 100, can only have the above-mentioned joint 56 of second joint 54 or the 3rd
In any one, the function such as standing, walking, climbing to realize the multi-foot robot 100；Even, the multi-foot robot
100 pedipulator 50, it is convenient to omit first joint 52, and the second joint 54 is directly installed in the fuselage 10
On, and give the pedipulator 50 enough support forces by the first transmission component 543 of the second joint 54, make the machine
Tool leg 50 is able to maintain that current drive state in the case where being cut off power.
It is understood that first transmission component 543 can be the transmission mechanism in addition to screw mechanism, and make institute
Stating the first transmission component 543 has engaging backing stop structure, so that first transmission component 543 is being cut off the situation of power
Under be able to maintain that current drive state.
For example, first transmission component 543 can be worm-and-wheel gear.Specifically, first transmission component
543 can include worm screw and the worm gear being meshed with the worm screw.The worm screw is connected to the driving of the driven actuator 541
Axle, the slave arm 545 is arranged on the worm gear.The driven actuator 541 can drive the worm screw to rotate, to drive
The worm gear wheel, so as to drive the slave arm 545 to rotate.The engaging backing stop structure is the worm gear and the worm screw
Engaging structure, thus, when the driven actuator 541 is cut off power, the engaging backing stop structure can prevent the snail
Wheel is rotated relative to the worm screw, and first transmission component 543 still is able to keep the support force to the slave arm 545, so that
The second joint 54 is avoided because being cut off power and weak and limp situation.
Or, first transmission component 543 can be linear electric motors.Specifically, first transmission component 543 can
With the sliding block being adapted including guide rail and with the guide rail, now, the driven actuator 541 can be omitted.On the guide rail
Switching part is provided with, the guide rail is installed on the fuselage 10 by the switching part.The guide rail is rotatably connected at
The master arm 523, the sliding block is slidably disposed on the guide rail.The slave arm 545 and the phase of master arm 523
While pivot joint, it is rotatably connected on the sliding block.When the relatively described guide rail of the sliding block of the linear electric motors is slided
When, the sliding block can drive the relatively described master arm 523 of the slave arm 545 to move.Wherein, the guide rail can pass through ten thousand
Xiang Jie, ball pivot or pivot etc. are rotatably connected on the master arm 523.The engaging backing stop structure is the straight-line electric
Self-locking structure inside machine, thus, when the driven actuator 541 is cut off power, the engaging backing stop structure can be prevented
Only the sliding block is moved relative to the guide rail, and first transmission component 543 still is able to keep the support to the slave arm 545
Power, so as to avoid the second joint 54 because being cut off power and weak and limp situation.
And for example, first transmission component 543 can be the combination of electric expansion cylinder and retaining part.It is specific and
Speech, first transmission component 543 can include electric expansion cylinder and retaining part, and now, the driven actuator 541 can
To omit.The electric expansion cylinder includes cylinder body and the expansion link that is slidably matched with the cylinder body, and the expansion link can be with
The retaining part fastens or is separated.The cylinder body is rotatably connected at the master arm 523, the slave arm 545
While being articulated with the master arm 523, it is rotatably connected on the expansion link.When the expansion link is relative to described
When cylinder body is slided, the expansion link can drive the relatively described master arm 523 of the slave arm 545 to move.Wherein, the cylinder body
It can be rotatably connected at by universal joint, ball pivot or pivot etc. on the master arm 523.It is described engaging backing stop structure be
The snap-in structure of the electric expansion cylinder and the retaining part.Specifically, it is described when the electric expansion cylinder is powered
Expansion link is in contraction state, and now expansion link is separated with corresponding retaining part；When electric expansion cylinder power-off
When, the expansion link under self gravitation effect auto-extending and in original state, and with corresponding retaining part phase
Engaging.Specifically, the retaining part can be spur rack or engaging teeth groove etc..
For another example, first transmission component 543 can be the combination of electronic rotation cylinder and retaining part.It is specific and
Speech, first transmission component 543 can include electronic rotation cylinder and retaining part, and now, the driven actuator 541 can
To omit.The electronic rotation cylinder includes cylinder body, the swingle being rotatably assorted with the cylinder body and is arranged at Sohu of Soviet Union cylinder
Return unit between body and the swingle, the swingle can fasten or be separated with the retaining part.The cylinder
Body is fixedly connected to the master arm 523, and the slave arm 545 is connected on the swingle.When the swingle is relative
When the cylinder body is rotated, the swingle can drive the relatively described master arm 523 of the slave arm 545 to move.The card
Close the snap-in structure that backing stop structure is the electronic rotation cylinder and the retaining part.Specifically, when the electronic rotation gas
When cylinder is powered, the swingle is separated with corresponding retaining part；When the electronic rotation cylinder is powered off, the rotation
Bar is replied under return unit effect and is in original state, and is fastened with corresponding retaining part.Specifically, institute
It can be elastic component to state return unit, and the retaining part can be spur rack or engaging teeth groove etc..
Similarly, it can also be the transmission mechanism in addition to screw mechanism to state the second transmission component 563, for example, being worm gear
Worm mechanism, linear electric motors, telescopic cylinder, rotary cylinder etc., make second transmission component 563 have corresponding engaging retaining
Structure, so that second transmission component 563 is able to maintain that current drive state in the case where being cut off power.
Embodiment of above is merely illustrative of the technical solution of the present invention and unrestricted, although the preferably embodiment party with reference to more than
The present invention is described in detail formula, it will be understood by those within the art that, can be to technical scheme
Modify or equivalent substitution should not all depart from the spirit and scope of technical solution of the present invention.Those skilled in the art can also be at this
The design that other changes etc. are used in the present invention is done in spirit, without departing from the technique effect of the present invention.These
The change done according to present invention spirit, should all be included within scope of the present invention.
Claims (83)
1. a kind of multi-foot robot, including fuselage and the pedipulator that can be movably arranged as on the fuselage, it is characterised in that：
The pedipulator includes the slave arm and the first transmission component with the movable connection of the fuselage, the first transmission component energy
Enough drive the relatively described fuselage motion of the slave arm；Wherein, first transmission component includes engaging backing stop structure, the card
Closing backing stop structure is used for when first transmission component is being cut off power, the first transmission component described in locking, so that described
First transmission component is able to maintain that current drive state, so that the pedipulator can keep current running status.
2. multi-foot robot as claimed in claim 1, it is characterised in that：The pedipulator also includes being connected to the fuselage
Driven actuator, first transmission component is connected on the driven actuator, and the driven actuator can drive described
First transmission component drives the slave arm motion.
3. multi-foot robot as claimed in claim 2, it is characterised in that：First transmission component is screw mechanism, described
Driven actuator is electric rotating machine.
4. multi-foot robot as claimed in claim 3, it is characterised in that：First transmission component include screw mandrel and with it is described
The nut that screw mandrel is meshed, the screw mandrel is connected to the drive shaft of the electric rotating machine, and the slave arm is rotatably connected at
The fuselage, and being rotatably connected on the nut, the engaging backing stop structure is nibbling for the screw mandrel and the nut
Close structure.
5. multi-foot robot as claimed in claim 4, it is characterised in that：The screw mandrel is connected to the rotation by universal joint
The drive shaft of motor.
6. multi-foot robot as claimed in claim 4, it is characterised in that：The nut can be turned by rotating shaft with the slave arm
Dynamic connection.
7. multi-foot robot as claimed in claim 2, it is characterised in that：First transmission component is worm-and-wheel gear,
The driven actuator is electric rotating machine.
8. multi-foot robot as claimed in claim 7, it is characterised in that：First transmission component include worm screw and with it is described
The worm gear that worm screw is meshed, the worm screw is connected to the drive shaft of the electric rotating machine, and the slave arm is connected to the worm gear
On, the engaging backing stop structure is the worm gear and the engaging structure of the worm screw.
9. multi-foot robot as claimed in claim 2, it is characterised in that：The pedipulator also includes master arm, the active
Arm is rotatably connected at the fuselage, and the driven actuator is arranged on the master arm, and the slave arm is rotationally
It is connected on the master arm, to be connected with the fuselage.
10. multi-foot robot as claimed in claim 9, it is characterised in that：The pedipulator also includes being fixed on the fuselage
On active drive part, the master arm is connected to the active drive part, and the active drive part can drive the active
Arm is rotated relative to the fuselage, to drive the pedipulator is overall to be rotated relative to the fuselage.
11. multi-foot robot as claimed in claim 10, it is characterised in that：The active drive part is rotary drive, institute
Stating rotary drive can drive the pedipulator is overall to be rotated relative to the fuselage by the master arm, to change the machine
The position of tool leg in the horizontal direction.
12. multi-foot robot as claimed in claim 11, it is characterised in that：The active drive part is by controlling the machinery
The angle that leg is rotated relative to the fuselage, controls the step-length of the pedipulator movement.
13. multi-foot robot as claimed in claim 11, it is characterised in that：The active drive part drives the pedipulator to turn
The vertical central shaft that dynamic rotating shaft is basically parallel to the fuselage is set.
14. multi-foot robot as claimed in claim 11, it is characterised in that：The angle that the pedipulator is rotated relative to the fuselage
Degree is less than or equal to 180 degree.
15. multi-foot robot as claimed in claim 10, it is characterised in that：The driven actuator can pass through described first
Transmission component drives the slave arm to be rotated relative to the master arm, to change the pedipulator in the position of vertical direction.
16. multi-foot robot as claimed in claim 15, it is characterised in that：The driven actuator is described driven by controlling
The angle that arm is rotated relative to the master arm, controls the height of the pedipulator climbing.
17. multi-foot robot as claimed in claim 15, it is characterised in that：The driven actuator drives the slave arm phase
The rotating shaft rotated to the master arm, the vertical central shaft for being basically perpendicular to the fuselage is set.
18. multi-foot robot as claimed in claim 15, it is characterised in that：The slave arm is rotated relative to the master arm
Rotational angle is less than or equal to 100 degree.
19. multi-foot robot as claimed in claim 2, it is characterised in that：The multi-foot robot also includes performing joint, institute
State execution joint to be arranged on the slave arm, the slave arm can drive the execution joint motions.
20. multi-foot robot as claimed in claim 19, it is characterised in that：Also include the execution being arranged on the slave arm
Actuator and the execution arm being connected on the execution actuator, the execution actuator are used to drive the execution arm relative
The slave arm is rotated.
21. multi-foot robot as claimed in claim 20, it is characterised in that：The execution actuator is by driving the execution
Arm is rotated relative to the slave arm, can adjust angle of the pedipulator in landing.
22. multi-foot robot as claimed in claim 21, it is characterised in that：The execution actuator is by controlling the execution
The angle that arm is rotated relative to the slave arm, controls the angle of the pedipulator climbing.
23. multi-foot robot as claimed in claim 21, it is characterised in that：It is described to perform what arm was rotated relative to the slave arm
Rotating shaft, the vertical central shaft for being basically perpendicular to the fuselage is set.
24. multi-foot robot as claimed in claim 21, it is characterised in that：It is described to perform what arm was rotated relative to the slave arm
Angle is less than or equal to 100 degree.
25. multi-foot robot as claimed in claim 20, it is characterised in that：Also include the second transmission component, pass through described the
Two driving members can drive second transmission component to drive the execution arm to be moved relative to the slave arm, and described second passes
Dynamic component includes engaging backing stop structure, so that the slave arm is when being cut off power, the execution joint can keep current
Running status.
26. multi-foot robot as claimed in claim 25, it is characterised in that：Second transmission component is screw mechanism, institute
It is electric rotating machine to state execution actuator.
27. multi-foot robot as claimed in claim 26, it is characterised in that：Second transmission component include screw mandrel and with institute
The nut that screw mandrel is meshed is stated, the screw mandrel is connected to the drive shaft of the electric rotating machine, and the execution arm is rotatably coupled
In the slave arm, and it is rotatably connected on the nut, the engaging backing stop structure of second driving member is institute
State the engaging structure of screw mandrel and the nut.
28. multi-foot robot as claimed in claim 27, it is characterised in that：The screw mandrel is connected to the rotation by universal joint
The drive shaft of rotating motor.
29. multi-foot robot as claimed in claim 27, it is characterised in that：The nut can with the execution arm by rotating shaft
Rotate connection.
30. multi-foot robot as claimed in claim 25, it is characterised in that：Second transmission component is worm and gear machine
Structure, the execution actuator is electric rotating machine.
31. multi-foot robot as claimed in claim 30, it is characterised in that：Second transmission component include worm screw and with institute
The worm gear that worm screw is meshed is stated, the worm screw is connected to the drive shaft of the electric rotating machine, and the execution arm is connected to the snail
On wheel, the engaging backing stop structure of second driving member is the worm gear and the engaging structure of the worm screw.
32. multi-foot robot as claimed in claim 19, it is characterised in that：The pedipulator also includes being arranged at the execution
Dampening assembly on joint, the dampening assembly is used to carry out damping to the multi-foot robot.
33. multi-foot robot as claimed in claim 32, it is characterised in that：The pedipulator also includes being connected to the damping
Feeler on component, the feeler is used to the multi-foot robot being supported in field of employment.
34. multi-foot robot as claimed in claim 33, it is characterised in that：The dampening assembly includes being connected to the execution
Installing part on joint and the elastic component being arranged on the installing part, the feeler are held on the elastic component.
35. multi-foot robot as claimed in claim 34, it is characterised in that：The dampening assembly also includes being arranged at described hold
Fixture on row joint, the installing part is fixedly connected with the fixture, the elastic component be held in the fixture with
Between the feeler.
36. multi-foot robot as claimed in claim 35, it is characterised in that：The dampening assembly also includes movably setting
Movable part on the installing part, one end of the elastic component is held on the fixture, and the other end is held in the work
On moving part, the feeler is connected on the movable part.
37. multi-foot robot as claimed in claim 36, it is characterised in that：The fixture and the elastic component are two
Group, fixture described in two groups is intervally installed on the execution joint, and the installing part is arranged at fixture described in two groups
Between, elastic component described in two groups is separately positioned on the both sides of the movable part, to realize the bidirectional damping of the multi-foot robot.
38. multi-foot robot as claimed in claim 33, it is characterised in that：Sensor, the biography are provided with the feeler
Sensor is used to sense whether the feeler lands.
39. multi-foot robot as claimed in claim 38, it is characterised in that：The sensor for it is following it is several in any
Kind：Pressure sensor, range sensor, vision sensor.
40. multi-foot robot as claimed in claim 1, it is characterised in that：First transmission component is linear electric motors, described
Linear electric motors include guide rail and the sliding block being adapted with the guide rail, and the guide rail is rotatably connected on the fuselage, institute
State slave arm and be rotatably connected at the fuselage, and be rotatably connected on the sliding block.
41. multi-foot robot as claimed in claim 40, it is characterised in that：The guide rail passes through universal joint, ball pivot or pivot
Axle is connected on the fuselage.
42. multi-foot robot as claimed in claim 1, it is characterised in that：The multi-foot robot also includes movably setting
The mechanism loading being placed on the fuselage, the mechanism loading is used for the additional function for realizing the multi-foot robot.
43. multi-foot robot as claimed in claim 42, it is characterised in that：The mechanism loading is gun turret.
44. a kind of multi-foot robot, it is characterised in that including：
Fuselage；And
Multiple pedipulators, are connected with the fuselage, the mobile power for providing the fuselage；Each pedipulator includes：
First joint, is rotatably connected with the fuselage；
Second joint, is rotatably connected with first joint；And
3rd joint, is rotatably connected with the second joint；
Wherein, when first joint is rotated relative to the fuselage, with the position for the horizontal direction for adjusting the 3rd joint；
The second joint relatively first articulation when, with the position for the vertical direction for adjusting the 3rd joint；Described
When three joints are rotated relative to the second joint, to adjust angle when the 3rd joint is landed.
45. multi-foot robot as claimed in claim 44, it is characterised in that：By first joint relative to the fuselage
The angle of rotation, the step-length of the corresponding pedipulator movement of control.
46. multi-foot robot as claimed in claim 45, it is characterised in that：First joint is rotated relative to the fuselage
Rotating shaft, be basically parallel to the fuselage vertical central shaft set.
47. multi-foot robot as claimed in claim 45, it is characterised in that：First joint is rotated relative to the fuselage
Angle be less than or equal to 180 degree.
48. multi-foot robot as claimed in claim 45, it is characterised in that：First joint includes being arranged at the fuselage
On active drive part and be connected to the master arm of the active drive part, the active drive part can drive the active
Arm is rotated relative to the fuselage, and the second joint is arranged on the master arm.
49. multi-foot robot as claimed in claim 48, it is characterised in that：The active drive part is rotary drive.
50. multi-foot robot as claimed in claim 44, it is characterised in that：By the second joint relative to described first
The angle of articulation, the height of the corresponding pedipulator climbing of control.
51. multi-foot robot as claimed in claim 50, it is characterised in that：The second joint is relative to first joint
The rotating shaft of rotation, the vertical central shaft for being basically perpendicular to the fuselage is set.
52. multi-foot robot as claimed in claim 50, it is characterised in that：The second joint is relative to first joint
The angle of rotation is less than or equal to 100 degree.
53. multi-foot robot as claimed in claim 50, it is characterised in that：The second joint includes being arranged at described first
Driven actuator on joint and the slave arm for being connected to the driven actuator, the driven actuator can drive described
Relatively described first articulation of slave arm, the 3rd joint is connected on the slave arm.
54. multi-foot robot as claimed in claim 53, it is characterised in that：The second joint also includes the first transmission group
Part, first transmission component is connected between the driven actuator and the slave arm, and for driving the slave arm
Rotate.
55. multi-foot robot as claimed in claim 54, it is characterised in that：First transmission component includes engaging retaining knot
Structure, the engaging backing stop structure is used to give the slave arm enough support forces, and is being cut first transmission component
Current drive state is able to maintain that in the case of disconnected power, so that the second joint can keep current operation shape
State.
56. multi-foot robot as claimed in claim 55, it is characterised in that：First transmission component is screw mechanism, institute
Driven actuator is stated for electric rotating machine.
57. multi-foot robot as claimed in claim 56, it is characterised in that：First transmission component include screw mandrel and with institute
The nut that screw mandrel is meshed is stated, the screw mandrel is connected to the drive shaft of the electric rotating machine, and the slave arm is rotatably coupled
In the fuselage, and it is rotatably connected on the nut, the engaging backing stop structure is the screw mandrel and the nut
Engaging structure.
58. multi-foot robot as claimed in claim 57, it is characterised in that：The screw mandrel is connected to the rotation by universal joint
The drive shaft of rotating motor.
59. multi-foot robot as claimed in claim 57, it is characterised in that：The nut can by rotating shaft and the slave arm
Rotate connection.
60. multi-foot robot as claimed in claim 55, it is characterised in that：First transmission component is worm and gear machine
Structure, the driven actuator is electric rotating machine.
61. multi-foot robot as claimed in claim 60, it is characterised in that：First transmission component include worm screw and with institute
The worm gear that worm screw is meshed is stated, the worm screw is connected to the drive shaft of the electric rotating machine, and the slave arm is connected to the snail
On wheel, the engaging backing stop structure is the worm gear and the engaging structure of the worm screw.
62. multi-foot robot as claimed in claim 44, it is characterised in that：By the 3rd joint relative to described second
The angle of articulation, the angle of the corresponding pedipulator climbing of control.
63. multi-foot robot as claimed in claim 62, it is characterised in that：3rd joint is relative to the second joint
The rotating shaft of rotation, is basically parallel to rotating shaft of the second joint relative to first articulation.
64. multi-foot robot as claimed in claim 62, it is characterised in that：3rd joint is relative to the second joint
The angle of rotation is less than or equal to 100 degree.
65. multi-foot robot as claimed in claim 62, it is characterised in that：3rd joint includes being arranged at described second
Execution actuator on joint and the execution arm for being connected to the execution actuator, the execution actuator can drive described
Arm is performed to rotate relative to the second joint.
66. the multi-foot robot as described in claim 65, it is characterised in that：3rd joint also includes the second transmission group
Part, second transmission component is connected between the execution actuator and the execution arm, and for driving the execution arm
Rotate.
67. the multi-foot robot as described in claim 66, it is characterised in that：Second transmission component includes engaging retaining knot
Structure, the engaging backing stop structure is used to give the execution arm enough support forces, and is being cut first transmission component
Current drive state is able to maintain that in the case of disconnected power, so that the 3rd joint can keep current operation shape
State.
68. the multi-foot robot as described in claim 67, it is characterised in that：Second transmission component is screw mechanism, institute
It is electric rotating machine to state execution actuator.
69. multi-foot robot as recited in claim 68, it is characterised in that：Second transmission component include screw mandrel and with institute
The nut that screw mandrel is meshed is stated, the screw mandrel is connected to the drive shaft of the electric rotating machine, and the execution arm is rotatably coupled
In the fuselage, and it is rotatably connected on the nut, the engaging backing stop structure is the screw mandrel and the nut
Engaging structure.
70. the multi-foot robot as described in claim 69, it is characterised in that：The screw mandrel is connected to the rotation by universal joint
The drive shaft of rotating motor.
71. the multi-foot robot as described in claim 69, it is characterised in that：The nut can with the execution arm by rotating shaft
Rotate connection.
72. the multi-foot robot as described in claim 67, it is characterised in that：Second transmission component is worm and gear machine
Structure, the execution actuator is electric rotating machine.
73. the multi-foot robot as described in claim 72, it is characterised in that：Second transmission component include worm screw and with institute
The worm gear that worm screw is meshed is stated, the worm screw is connected to the drive shaft of the electric rotating machine, and the execution arm is connected to the snail
On wheel, the engaging backing stop structure is the worm gear and the engaging structure of the worm screw.
74. multi-foot robot as claimed in claim 44, it is characterised in that：The pedipulator also includes being arranged at the described 3rd
Dampening assembly on joint, the dampening assembly is used to carry out damping to the multi-foot robot.
75. the multi-foot robot as described in claim 74, it is characterised in that：The pedipulator also includes being connected to the damping
Feeler on component, the feeler is used to the multi-foot robot being supported in field of employment.
76. the multi-foot robot as described in claim 75, it is characterised in that：The dampening assembly includes being connected to the described 3rd
Installing part on joint and the elastic component being arranged on the installing part, the feeler are held on the elastic component.
77. the multi-foot robot as described in claim 76, it is characterised in that：The dampening assembly also includes being arranged at described the
Fixture on three joints, the installing part is fixedly connected with the fixture, the elastic component be held in the fixture with
Between the feeler.
78. the multi-foot robot as described in claim 77, it is characterised in that：The dampening assembly also includes movably setting
Movable part on the installing part, one end of the elastic component is held on the fixture, and the other end is held in the work
On moving part, the feeler is connected on the movable part.
79. the multi-foot robot as described in claim 78, it is characterised in that：The fixture and the elastic component are two
Group, fixture described in two groups is intervally installed on the 3rd joint, and the installing part is arranged at fixture described in two groups
Between, elastic component described in two groups is separately positioned on the both sides of the movable part, to realize the bidirectional damping of the multi-foot robot.
80. the multi-foot robot as described in claim 75, it is characterised in that：Sensor, the biography are provided with the feeler
Sensor is used to sense whether the feeler lands.
81. the multi-foot robot as described in claim 80, it is characterised in that：The sensor for it is following it is several in any
Kind：Pressure sensor, range sensor, vision sensor.
82. multi-foot robot as claimed in claim 44, it is characterised in that：The multi-foot robot also includes movably setting
The mechanism loading being placed on the fuselage, the mechanism loading is used for the additional function for realizing the multi-foot robot.
83. the multi-foot robot as described in claim 82, it is characterised in that：The mechanism loading is gun turret.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/086884 WO2017219315A1 (en) | 2016-06-23 | 2016-06-23 | Multi-legged robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107223104A true CN107223104A (en) | 2017-09-29 |
| CN107223104B CN107223104B (en) | 2019-02-12 |
Family
ID=59927666
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004359.3A Expired - Fee Related CN107223104B (en) | 2016-06-23 | 2016-06-23 | Multi-foot robot |
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| Country | Link |
|---|---|
| CN (1) | CN107223104B (en) |
| WO (1) | WO2017219315A1 (en) |
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| 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 |
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| WO2022100042A1 (en) * | 2020-11-12 | 2022-05-19 | 腾讯科技（深圳）有限公司 | Bionic machine foot device, bionic machine and control method thereof |
| CN112389562A (en) * | 2020-11-23 | 2021-02-23 | 武汉理工大学 | Middle leg and foot mechanism and wheel-foot type robot thereof |
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| CN112590964A (en) * | 2020-12-15 | 2021-04-02 | 武汉理工大学 | Wheel-leg combined robot and control method thereof |
| CN112758210A (en) * | 2021-01-18 | 2021-05-07 | 杭州太希智能科技有限公司 | Multifunctional quadruped robot |
| CN114291179A (en) * | 2022-01-06 | 2022-04-08 | 江苏镌极特种设备有限公司 | Multi-foot wall-climbing robot |
| CN114291179B (en) * | 2022-01-06 | 2022-10-18 | 江苏镌极特种设备有限公司 | Multi-foot wall-climbing robot |
| CN114802520A (en) * | 2022-04-19 | 2022-07-29 | 湖北工程学院 | Step foot mechanism and multi-foot robot |
| CN114802520B (en) * | 2022-04-19 | 2023-09-08 | 湖北工程学院 | Walking foot mechanism and multi-foot robot |
| CN115123729A (en) * | 2022-08-15 | 2022-09-30 | 盐城工学院 | Omnidirectional movement transfer robot |
| CN115123729B (en) * | 2022-08-15 | 2023-08-08 | 盐城工学院 | Omnidirectional mobile carrying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017219315A1 (en) | 2017-12-28 |
| CN107223104B (en) | 2019-02-12 |
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