CN109866842A - A kind of mechanical foot of adjustable passive stabilization - Google Patents
A kind of mechanical foot of adjustable passive stabilization Download PDFInfo
- Publication number
- CN109866842A CN109866842A CN201910293339.8A CN201910293339A CN109866842A CN 109866842 A CN109866842 A CN 109866842A CN 201910293339 A CN201910293339 A CN 201910293339A CN 109866842 A CN109866842 A CN 109866842A
- Authority
- CN
- China
- Prior art keywords
- fixed
- cabinet
- spring
- bottom end
- spring strut
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Compressors, Vaccum Pumps And Other Relevant Systems (AREA)
Abstract
The invention discloses a kind of mechanical foot of adjustable passive stabilization, including cabinet, cabinet side is equipped with opening, is fitted with cover board at case-side end opening.The present apparatus passes through vacuum air suction pump, the setting of cover and through-hole, the present apparatus is during following fuselage mobile, ground can be adsorbed automatically to achieve the purpose that stable fuselage, and the setting for passing through sealing ring, the friction dynamics between ground and cabinet bottom end can be increased, and then effectively play anti-skidding effect, and since support rod is hingedly arranged with fixed block, so certain angle can be bent between cabinet and support rod, and due to the setting of the first spring strut and slide bar, bending angle between cabinet and support rod is controlled, the first spring in the first spring strut and second spring can effectively buffer bending dynamics simultaneously, and then effectively raise stability of the present apparatus when being movably walking on rough road surface.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of mechanical foot of adjustable passive stabilization.
Background technique
The design of mechanical foot is an important ring for legged type robot design, the structure of the mechanical foot of traditional legged type robot compared with
To be simple, vola is planar structure under normal circumstances, and more anti-slip stable functions are not provided in the plane of vola, so
Contact condition between vola and ground is poor, is easy to be pushed in this way when by external force, and walking stability is poor, simultaneously
Existing mechanical its damping effect of foot is poor, and the walking impact that robot interior element is subject to therebetween is big, reduces zero, robot
The service life of part.
Summary of the invention
To solve the above problems, the present invention provides a kind of mechanical foot of adjustable passive stabilization.
The present invention is achieved through the following technical solutions:
A kind of mechanical foot of adjustable passive stabilization, including cabinet, the cabinet side, which is equipped with, to be open, at the case-side end opening
It is fitted with cover board, the cover board is opened on bottom end in the cabinet by being fixedly connected at fixing bolt and case-side end opening
Equipped with multiple through-holes, be fixed with filter screen in each through-hole, each positive lower end of through-hole is even be equipped with one it is corresponding
Sealing ring, the sealing ring top are fixedly connected with cabinet bottom end, and the same cover, the cover setting are covered on multiple through-holes
In cabinet and its bottom end is fixedly connected with bottom end in cabinet, and the cover side is equipped with vacuum air suction pump, the vacuum suction
Pump is fixedly mounted in cabinet on bottom end, and exhaust pipe, the exhaust pipe are fixedly connected on the exhaust outlet of the vacuum air suction pump
Side penetrates cover board and stretches out on the outside of cabinet, and the exhaust pipe and cover board contact position are tightly connected, the suction of the vacuum air suction pump
Connecting tube is fixedly connected on port, the connecting tube side is fixedly connected with faceshield side wall and is connected to cover inside, described
Cover top is fixed with ventilation duct, and ball valve is equipped in the ventilation duct, offers the ball to match with ball valve in the ventilation duct
Type mounting groove in the ball-type mounting groove that the ball valve is arranged in ventilation duct and rotates connection, and the ball valve side is fixed
Have a shaft, the shaft other end penetrates the ball-type mounting groove inner sidewall in ventilation duct and is fixedly connected with gear, the shaft with
Ventilation duct contact position is equipped with sealing ring, is cased with guide cylinder in the shaft between the ventilation duct and gear, the guide cylinder with turn
Axis rotation connects, and is fixed with fixed link on the guide cylinder top surface, the fixed link top is fixedly connected with top in cabinet, institute
Ventilation duct top to be stated to penetrate top in cabinet and stretch out on the outside of cabinet, the ventilation duct is sealedly and fixedly connected with cabinet contact position,
Top end is fixed with the first filter screen in the ventilation duct, and the box top centre is symmetrically fixed with two fixed blocks,
The box top side is fixed with the first fixed block, offers first through hole at the box top other side, and described first
It is fixed with guide plate on the box top of through-hole side, offers T-type sliding slot on the guide plate side wall, in the T-type sliding slot
Sliding has T-type sliding block, and the T-type slider side end stretches out T-type sliding slot and is fixed with rack gear, and the rack gear bottom end passes through first through hole simultaneously
It protrudes into cabinet and is engaged with gear, the rack gear top is hinged with push-pull rod, and the push-pull rod top is fixed with transverse slat, the cross
Plate side is fixed with spring strut, and two link blocks are symmetrically fixed on the spring strut top surface, and sliding has cunning in the spring strut
Block is fixed with spring in the sliding block top surface and spring strut between top, the spring is arranged in spring strut, the sliding block
Bottom end is fixed with support rod, and the support rod bottom end is stretched out spring strut and entered between two fixed blocks to be passed through with two fixed blocks
Pin is hinged, and the second fixed block is fixed on the support rod side wall, link block, the company are hinged on second fixed block
It connects block bottom end and is fixed with the first spring strut, sliding has the first sliding block in first spring strut, first sliding block top and the
The first spring is fixed in one spring strut between top, first spring is arranged in the first spring strut, and described first is sliding
Block bottom end is fixed with slide bar, and the slide bar bottom end stretches out the first spring strut and the first fixed block is hinged, first sliding block bottom end
With second spring is fixed in the first spring strut between bottom end, the second spring is set in the slide bar in the first spring strut
On.
Preferably, the spring strut is square tube.
Preferably, the vacuum air suction pump is electrically connected by conducting wire and extraneous power supply.
Preferably, it is used between bottom end and cover in the cabinet and connection is welded and fixed.
Preferably, the model CDWC-VBH2005 of the vacuum air suction pump.
Compared with prior art, the beneficial effects of the present invention are: the present apparatus passes through vacuum air suction pump, cover and through-hole
Setting, the present apparatus can adsorb ground automatically during following fuselage mobile to achieve the purpose that stable fuselage, and
By the setting of sealing ring, the friction dynamics between ground and cabinet bottom end can be increased, and then are effectively played anti-skidding
Effect, and since support rod is hingedly arranged with fixed block, so certain angle can be bent between cabinet and support rod, and
And due to the setting of the first spring strut and slide bar, the bending angle between cabinet and support rod is controlled, while the first spring
The first spring and second spring in cylinder can effectively buffer bending dynamics, so effectively raise the present apparatus it is concave-convex not
Stability when being movably walking on flat road surface.
Detailed description of the invention
Fig. 1 is the schematic diagram of structure of the present invention；
Fig. 2 is the Section A-A figure of structure of the present invention；
Fig. 3 is the partial structure diagram of structure of the present invention；
Fig. 4 is the side view of structure of the present invention.
In figure: cabinet 1, through-hole 2, filter screen 3, sealing ring 4, cover 5, ventilation duct 6, the first filter screen 7, ball valve 8, shaft
9, fixed link 10, guide cylinder 11, gear 12, fixed block 13, rack gear 14, guide plate 15, T-type sliding block 16, push-pull rod 17, transverse slat
18, support rod 19, spring strut 20, sliding block 21, spring 22, link block 23, connecting tube 24, vacuum air suction pump 25, exhaust pipe 26, lid
Plate 27, first through hole 29, T-type sliding slot 30, the second fixed block 31, link block 32, the first spring strut 33, is slided first fixed block 28
Bar 34, the first spring 35, the first sliding block 36, second spring 37.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
As shown in Figure 1, Figure 2, Figure 3, Figure 4, the mechanical foot of a kind of adjustable passive stabilization, including cabinet 1,1 side of cabinet are set
There is opening, the 1 side opening of cabinet is fitted with cover board 27, and the cover board 27 is opened by fixing bolt and 1 side of cabinet
It is fixedly connected at mouthful, offers multiple through-holes 2 in the cabinet 1 on bottom end, be fixed with filter screen 3 in each through-hole 2, often
The positive lower end of a through-hole 2 is even to be equipped with a corresponding sealing ring 4, the fixed company in 4 top of sealing ring and 1 bottom end of cabinet
It connects, the same cover 5 is covered on multiple through-holes 2, the cover 5 is arranged in cabinet 1 and its bottom end is fixed with bottom end in cabinet 1
Connection, 5 side of cover are equipped with vacuum air suction pump 25, and the vacuum air suction pump 25 is fixedly mounted in cabinet 1 on bottom end, institute
It states and is fixedly connected with exhaust pipe 26 on the exhaust outlet of vacuum air suction pump 25,26 side of exhaust pipe penetrates cover board 27 and stretches out case
1 outside of body, the exhaust pipe 26 are tightly connected with 27 contact position of cover board, are fixedly connected on the air entry of the vacuum air suction pump 25
Have a connecting tube 24,24 side of connecting tube be fixedly connected with 5 side wall of cover and be connected to inside cover 5,5 top of cover
It is fixed with ventilation duct 6, ball valve 8 is equipped in the ventilation duct 6, the ball-type peace to match with ball valve 8 is offered in the ventilation duct 6
Tankage in the ball-type mounting groove that the ball valve 8 is arranged in ventilation duct 6 and rotates connection, and 8 side of ball valve is fixed with
Shaft 9,9 other end of shaft penetrate the ball-type mounting groove inner sidewall in ventilation duct 6 and are fixedly connected with gear 12, the shaft
14 are equipped with sealing ring with 6 contact position of ventilation duct, are cased with guide cylinder 11 in the shaft 9 between the ventilation duct 6 and gear 12, described
Guide cylinder 11 and the rotation of shaft 9 connect, and are fixed with fixed link 10,10 top of fixed link and case on 11 top surface of guide cylinder
Top is fixedly connected in body 1, and 6 top of ventilation duct penetrates in cabinet 1 top and stretches out 1 outside of cabinet, the ventilation duct 6 with
1 contact position of cabinet is sealedly and fixedly connected, and top end is fixed with the first filter screen 7,1 top surface of cabinet in the ventilation duct 6
Centre is symmetrically fixed with two fixed blocks 13, and the 1 top surface side of cabinet is fixed with the first fixed block 28, and the cabinet 1 pushes up
First through hole 29 is offered at the other side of face, is fixed with guide plate 15 on 1 top surface of cabinet of 29 side of first through hole, it is described
T-type sliding slot 30 is offered on 15 side wall of guide plate, sliding has T-type sliding block 16,16 side of T-type sliding block in the T-type sliding slot 30
End stretches out T-type sliding slot 30 and is fixed with rack gear 14,14 bottom end of rack gear pass through first through hole 29 and protrude into cabinet 1 with gear 12
Engagement, 14 top of rack gear are hinged with push-pull rod 17, and 17 top of push-pull rod is fixed with transverse slat 18,18 side of transverse slat
It is fixed with spring strut 20, two link blocks 23 are symmetrically fixed on 20 top surface of spring strut, there is sliding in the spring strut 20
Sliding block 21, spring 22 is fixed in 21 top surface of sliding block and spring strut 20 between top, the spring 22 is arranged in spring
In cylinder 20,21 bottom end of sliding block is fixed with support rod 19, and 19 bottom end of support rod stretches out spring strut 20 and enters two admittedly
Determine between block 13 with two fixed blocks 13 by pin it is hinged, be fixed with the second fixed block 31, institute on 19 side wall of support rod
It states and is hinged with link block 32 on the second fixed block 31,32 bottom end of link block is fixed with the first spring strut 33, first bullet
Sliding has the first sliding block 36 in spring cylinder 33, is fixed with the in 36 top of the first sliding block and the first spring strut 33 between top
One spring 35, first spring 35 are arranged in the first spring strut 33, and 36 bottom end of the first sliding block is fixed with slide bar 34, institute
It states 34 bottom end of slide bar and stretches out the first spring strut 33 and the first fixed block 28 hingedly, 36 bottom end of the first sliding block and the first spring strut
Second spring 37 is fixed in 33 between bottom end, the second spring 37 is set on the slide bar 34 in the first spring strut 33.
The spring strut 20 is square tube.
The vacuum air suction pump 25 is electrically connected by conducting wire and extraneous power supply.
It is used between bottom end and cover 5 in the cabinet 1 and connection is welded and fixed.
The model CDWC-VBH2005 of the vacuum air suction pump 25.
Working principle: in the use of the present invention, two link blocks 23 are fixed by pin with robot fuselage first, and
The present apparatus has several, and according to the supporting point requirement of robot, equal number is installed to the present apparatus the every of robot
On a supporting point, to play the role of supporting robot fuselage weight, this completes the fixations between the present apparatus and fuselage
Installment work first has to starting vacuum air suction pump 25, in fuselage moving process, 1 bottom end one of cabinet when fuselage needs mobile
It can directly be separated back and forth with ground fitting, when 1 bottom end of cabinet is bonded with ground, due to the setting of sealing ring 4,4 meeting of sealing ring
It is fitted closely with ground, such sealing ring 4 can increase the friction dynamics between 1 bottom end of ground and cabinet, and then effective
Anti-skidding effect, and 22 quilt of spring when 1 bottom end of cabinet is bonded with ground, under the weight of fuselage in spring strut 20 are arrived
It squeezes, such spring 22 can effectively play the role of bumper and absorbing shock, while spring strut 20 can be along under the weight of fuselage
19 slide downward of sliding block 21 and support rod, spring strut 20 drive push-pull rod 17 together by transverse slat 18 during moving down
It moves down, 14 slide downward of rack gear is pushed when push-pull rod 17 declines, band moving gear 12 side clockwise when 14 slide downward of rack gear
To rotation, ball valve 8 is driven to rotate by shaft 9 when gear 12 rotates, when spring strut 20 drops to maximum journey under fuselage weight
When spending, ball valve 8 will be driven to turn to for gear 12 so that ball valve 8 is closed, since ball valve 8 is closed, so ventilation duct 6 is no longer logical
Wind, and 1 bottom end of cabinet is bonded with ground at this time, through-hole 2 is blocked by ground, so cover 5 is just at a sealing cavity, this
When had been started up due to vacuum air suction pump 25, vacuum air suction pump 25 will continue to draw the air retained in cover 5, such cover 5
Interior air pressure reduces, and then the low pressure in cover 5 can be by the absorption ground of multiple through-holes 2 tightly, so as to effective
The stability of the present apparatus when being contacted with ground is improved, when 1 bottom end of cabinet and ground are to be separated, spring strut 20 can be in machine first
Upward sliding under the active force for lifting active force and spring 22 of body, cabinet 1 is since the low pressure in cover 5 will not be prior at this time
Surface separation, when spring strut 20 rises to certain altitude and passes sequentially through push-pull rod 17,9 inverse time of rack gear 14, gear 12 and shaft
Needle direction rotates ball valve 8, so that ball valve 8 is opened, in this way since the low pressure outside air in cover 5 can quickly pass through ventilation
Pipe 6 enters in cover 5, so that the air pressure in cover 5 is normal, so that the air pressure in cover 5 will not pass through multiple through-holes 2
Adsorb ground, and then continuing to lift 1 bottom end of active force lower box and surface separation and continue to follow fuselage forward with fuselage
It is mobile, in summary, the present apparatus can adsorb ground automatically during following fuselage mobile to reach stable machine
The purpose of body, and pass through the setting of sealing ring 4, the friction dynamics between 1 bottom end of ground and cabinet can be increased, and then effectively
Play anti-skidding effect, and since support rod 19 and fixed block 13 are hingedly arranged, so between cabinet 1 and support rod 19
Certain angle can be bent, and due to the setting of the first spring strut 33 and slide bar 34, it is curved between cabinet 1 and support rod 19
Dog-ear degree is controlled, while the first spring 35 in the first spring strut 33 and second spring 37 can effectively buffer folding force
Degree, and then effectively raise stability of the present apparatus when being movably walking on rough road surface.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (5)
1. a kind of mechanical foot of adjustable passive stabilization, including cabinet (1), it is characterised in that: cabinet (1) side is equipped with and opens
Mouthful, cabinet (1) side opening is fitted with cover board (27), and the cover board (27) passes through fixing bolt and cabinet (1) side
It is fixedly connected at end opening, the cabinet (1) offers multiple through-holes (2) on interior bottom end, is fixed in each through-hole (2)
Filter screen (3), each through-hole (2) is positive, and lower end is even is equipped with a corresponding sealing ring (4), sealing ring (4) top
It is fixedly connected with cabinet (1) bottom end, is covered with the same cover (5) on multiple through-holes (2), the cover (5) is arranged in cabinet (1)
Interior and its bottom end is fixedly connected with cabinet (1) interior bottom end, and cover (5) side is equipped with vacuum air suction pump (25), the vacuum
Asepwirator pump (25) is fixedly mounted on cabinet (1) interior bottom end, the row of being fixedly connected on the exhaust outlet of the vacuum air suction pump (25)
Tracheae (26), exhaust pipe (26) side penetrate cover board (27) and stretch out on the outside of cabinet (1), the exhaust pipe (26) and cover board
(27) contact position is tightly connected, and is fixedly connected with connecting tube (24), the connection on the air entry of the vacuum air suction pump (25)
Pipe (24) side is fixedly connected with cover (5) side wall and is connected to cover (5) inside, and cover (5) top is fixed with ventilation
It manages (6), is equipped with ball valve (8) in the ventilation duct (6), the ball-type peace to match with ball valve (8) is offered in the ventilation duct (6)
Tankage, the ball-type mounting groove that the ball valve (8) is arranged in ventilation duct (6) is interior and rotates connection, ball valve (8) side
Be fixed with shaft (9), shaft (9) other end penetrate the ball-type mounting groove inner sidewall in ventilation duct (6) be fixedly connected it is with teeth
It takes turns (12), the shaft (14) and ventilation duct (6) contact position are equipped with sealing ring, between the ventilation duct (6) and gear (12)
It is cased in shaft (9) guide cylinder (11), the guide cylinder (11) and shaft (9) rotation connect, on guide cylinder (11) top surface
It is fixed with fixed link (10), fixed link (10) top is fixedly connected with cabinet (1) interior top, ventilation duct (6) top
It penetrating the interior top of cabinet (1) and stretches out on the outside of cabinet (1), the ventilation duct (6) is sealedly and fixedly connected with cabinet (1) contact position,
The interior top end of the ventilation duct (6) is fixed with the first filter screen (7), and cabinet (1) top surface centre is symmetrically fixed with two
A fixed block (13), cabinet (1) the top surface side are fixed with the first fixed block (28), at cabinet (1) the top surface other side
It offers first through hole (29), is fixed with guide plate (15) on cabinet (1) top surface of first through hole (29) side, it is described to lead
It is offered T-type sliding slot (30) on plate (15) side wall, there is T-type sliding block (16) sliding in the T-type sliding slot (30), the T-type is sliding
Block (16) side is stretched out T-type sliding slot (30) and is fixed with rack gear (14), and rack gear (14) bottom end passes through first through hole (29) and stretches
Enter and engaged in cabinet (1) with gear (12), rack gear (14) top is hinged with push-pull rod (17), push-pull rod (17) top
It is fixed with transverse slat (18), transverse slat (18) side is fixed with spring strut (20), is symmetrically fixed on spring strut (20) top surface
There are two link block (23), there is sliding block (21) sliding in the spring strut (20), sliding block (21) top surface and spring strut (20)
It is fixed between interior top spring (22), in spring strut (20), sliding block (21) bottom end is solid for spring (22) setting
Surely have support rod (19), support rod (19) bottom end stretch out spring strut (20) and enter between two fixed blocks (13) with two
Fixed block (13) is hinged by pin, is fixed with the second fixed block (31) on support rod (19) side wall, and described second is fixed
It is hinged on block (31) link block (32), link block (32) bottom end is fixed with the first spring strut (33), first spring
There is the first sliding block (36) sliding in cylinder (33), fixed between the first sliding block (36) top and the first spring strut (33) interior top
Equipped with the first spring (35), the first spring (35) setting is in the first spring strut (33), the first sliding block (36) bottom end
It being fixed with slide bar (34), the first spring strut (33) and the first fixed block (28) are stretched out hingedly in slide bar (34) bottom end, and described the
It is fixed with second spring (37) between one sliding block (36) bottom end and the first spring strut (33) interior bottom end, the second spring (37)
It is set on the slide bar (34) in the first spring strut (33).
2. the mechanical foot of a kind of adjustable passive stabilization according to claim 1, it is characterised in that: the spring strut (20) is
Square tube.
3. the mechanical foot of a kind of adjustable passive stabilization according to claim 1, it is characterised in that: the vacuum air suction pump
(25) it is electrically connected by conducting wire and extraneous power supply.
4. the mechanical foot of a kind of adjustable passive stabilization according to claim 1, it is characterised in that: the interior bottom of the cabinet (1)
End is welded and fixed and is connect with using between cover (5).
5. the mechanical foot of a kind of adjustable passive stabilization according to claim 1, it is characterised in that: the vacuum air suction pump
(25) model CDWC-VBH2005.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910293339.8A CN109866842A (en) | 2019-04-12 | 2019-04-12 | A kind of mechanical foot of adjustable passive stabilization |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910293339.8A CN109866842A (en) | 2019-04-12 | 2019-04-12 | A kind of mechanical foot of adjustable passive stabilization |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109866842A true CN109866842A (en) | 2019-06-11 |
Family
ID=66922524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910293339.8A Pending CN109866842A (en) | 2019-04-12 | 2019-04-12 | A kind of mechanical foot of adjustable passive stabilization |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109866842A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406610A (en) * | 2019-07-22 | 2019-11-05 | 南京理工大学 | A kind of robot buffering foot of preload adjustable |
| CN110682304A (en) * | 2019-10-16 | 2020-01-14 | 徐江奎 | Shock-resistant and shock-absorbing mechanical foot for robot |
| CN113386877A (en) * | 2021-05-26 | 2021-09-14 | 武汉理工大学 | Robot large adhesive force foot with replaceable sole |
| WO2022166453A1 (en) * | 2021-02-04 | 2022-08-11 | 北京理工大学 | Angle-controllable robot passive foot and robot using same |
| CN115416779A (en) * | 2022-11-04 | 2022-12-02 | 宿迁市玉合轩科技有限公司 | Two-leg bionic robot based on gravity center adjustment and balancing method thereof |
-
2019
- 2019-04-12 CN CN201910293339.8A patent/CN109866842A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406610A (en) * | 2019-07-22 | 2019-11-05 | 南京理工大学 | A kind of robot buffering foot of preload adjustable |
| CN110682304A (en) * | 2019-10-16 | 2020-01-14 | 徐江奎 | Shock-resistant and shock-absorbing mechanical foot for robot |
| WO2022166453A1 (en) * | 2021-02-04 | 2022-08-11 | 北京理工大学 | Angle-controllable robot passive foot and robot using same |
| CN113386877A (en) * | 2021-05-26 | 2021-09-14 | 武汉理工大学 | Robot large adhesive force foot with replaceable sole |
| CN115416779A (en) * | 2022-11-04 | 2022-12-02 | 宿迁市玉合轩科技有限公司 | Two-leg bionic robot based on gravity center adjustment and balancing method thereof |
| CN115416779B (en) * | 2022-11-04 | 2023-09-19 | 宿迁市玉合轩科技有限公司 | Two-leg bionic robot based on gravity center adjustment and balancing method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109866842A (en) | A kind of mechanical foot of adjustable passive stabilization | |
| CN208187717U (en) | A kind of automobile front and rear covers opening and closing durability test device | |
| CN202112037U (en) | Lifting type sugarcane collecting box of sugarcane harvester | |
| CN209342570U (en) | A kind of detachable dust concentration intelligent environment prior-warning device | |
| CN110431998A (en) | A kind of fuzzy picker of apple | |
| CN107626596B (en) | A kind of lorry unloading cargo size separation device | |
| CN106524323B (en) | A kind of Intelligent air purifier based on Internet of Things | |
| CN206548442U (en) | A kind of walking robot chassis hitch | |
| CN209549968U (en) | A kind of grain processing drying unit | |
| CN208143393U (en) | A kind of Novel camera structure | |
| CN206509725U (en) | Automobile fuel filler wicket automatic assembling detection machine | |
| CN109371509A (en) | A kind of Disk Plucker of spinning process | |
| CN209617987U (en) | A kind of yarn rack with dust cover | |
| CN207329751U (en) | A kind of plane material sucker conveying device | |
| CN209063124U (en) | A kind of sucker crawl gripper | |
| CN211036187U (en) | A belt cleaning device for eiderdown | |
| CN207590601U (en) | Mechanical adsorbent equipment | |
| CN208542660U (en) | A kind of safety seat production safety belt cleaning device | |
| CN209574495U (en) | A kind of chopsticks rack | |
| CN209159665U (en) | A kind of support device of tank body transport vehicle | |
| CN208294330U (en) | A kind of switching device of panzer simulator drive window | |
| CN208715729U (en) | A kind of Telescopic rotary vermicelli frame | |
| CN207556867U (en) | A kind of new-energy automobile cover test device | |
| CN208716387U (en) | Glass transfer sucker | |
| CN217795198U (en) | Energy-saving weaving after-treatment constant pressure dust collector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190611 |