CN114474098A - Flexible waist structure suitable for biped robot - Google Patents
Flexible waist structure suitable for biped robot Download PDFInfo
- Publication number
- CN114474098A CN114474098A CN202210195376.7A CN202210195376A CN114474098A CN 114474098 A CN114474098 A CN 114474098A CN 202210195376 A CN202210195376 A CN 202210195376A CN 114474098 A CN114474098 A CN 114474098A
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- China
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- buffer
- plate
- biped robot
- rotating
- waist structure
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- 239000000872 buffer Substances 0.000 claims abstract description 93
- 239000007853 buffer solution Substances 0.000 claims description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 12
- 230000009471 action Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 6
- 210000001624 hip Anatomy 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible waist structure suitable for a biped robot, and relates to the technical field of robots. The invention comprises a base plate and a top plate arranged above the base plate, wherein a buffer box is arranged on one side of the top surface of the base plate, a rotating plate is connected to the middle of the bottom surface of the top plate, the lower end of the rotating plate is fixedly sleeved on a rotating column, one end of the rotating column is fixedly connected with a gear plate, and the lower end of the gear plate is inserted into a rectangular open slot on the top surface of the buffer box in a sliding manner; the inside of baffle-box is provided with the cushion collar, and the inside of cushion collar is the symmetry and is provided with the cushion collar, and through reset spring fixed connection between two cushion collars, all be provided with the spacing ring on the cushion collar inner wall of one side far away relatively of two cushion collars. The invention can consume excessive energy when the executive component acts, avoid collision of the executive component caused by inertia, effectively reduce vibration generated by movement, improve stability when the robot moves, and enable the action of the robot to be more flexible.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a flexible waist structure suitable for a biped robot.
Background
The biped robot is a robot imitating the structural characteristics of human beings, the final aim of the robot is to realize the motion behavior similar to the human beings, the current mainstream biped robot realizes the deviation of the integral mass center by means of the deflection of hip joints and ankle joints so as to realize various motions, at present, the movement of the biped robot is mainly executed by executing elements such as motors, cylinders and the like, but when the executing mode is used, firstly, the starting and stopping of the action of the executing elements have certain collision, thereby influencing the service life of the executing elements, and secondly, the movement of the executing elements inevitably causes integral shaking to influence the stability of the movement of the biped robot;
therefore, there is a need for improvement of the prior art to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a flexible waist structure suitable for a biped robot, which has small start-stop collision, long service life of an actuating element, high overall stability and small movement shake, and solves the problems of large start-stop collision and low overall movement stability of the actuating element of the conventional biped robot in use.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a flexible waist structure suitable for a biped robot, which comprises a chassis and a top disc arranged above the chassis, wherein one side of the top surface of the chassis is provided with a buffer box, the middle part of the bottom surface of the top disc is connected with a rotating plate, the lower end of the rotating plate is fixedly sleeved on a rotating column, one end of the rotating column is fixedly connected with a gear disc, and the lower end of the gear disc is inserted in a rectangular open slot on the top surface of the buffer box in a sliding manner;
the buffer box is characterized in that a buffer sleeve is arranged in the buffer box, buffer discs are symmetrically arranged in the buffer sleeve, the two buffer discs are fixedly connected through a reset spring, limiting rings are arranged on the inner walls of the buffer sleeves on the relatively far sides of the two buffer discs, and a plurality of water outlet holes are uniformly distributed on the buffer sleeves on the relatively near sides of the two buffer discs along the circumferential direction;
a gear strip meshed with the gear disc is arranged on the top surface of the buffer sleeve along the axis direction;
the two sides of the rotating plate are symmetrically provided with air cylinders, two ends of each air cylinder are fixedly connected with fixing pieces, one fixing piece is rotatably connected to the bottom surface of the top disc through a first rotating frame, the other fixing piece is rotatably connected to the T-shaped block through a second rotating frame, and a rubber piston column is fixedly arranged on the bottom surface of the T-shaped block;
the T-shaped block is in clearance fit with the T-shaped open slot on the rotating plate, the rubber piston column is inserted into the slot in a sliding mode, and the lower end of the slot is symmetrically communicated with two buffer slots which are bent upwards.
Furthermore, a T-shaped strip is arranged on the bottom surface of the buffer sleeve along the axis direction, and a T-shaped guide groove in clearance fit with the T-shaped strip is arranged on the inner bottom surface of the buffer box.
Furthermore, the outer walls of the two end faces of the buffer sleeve are respectively provided with a horn-shaped air guide sleeve for guiding air.
Furthermore, the top surface of the rotating plate is fixedly connected with a universal ball through a connecting column, the universal ball is sleeved in a universal sleeve in a sliding mode, and the universal sleeve is fixedly connected to the middle of the bottom surface of the top plate.
Further, the top surface position of the buffer groove is higher than the bottom surface position of the rubber piston column.
Furthermore, the buffer grooves, the connecting bodies of the slots and the buffer boxes are filled with buffer solutions.
Furthermore, integrated into one piece is provided with the carriage on the chassis top surface of baffle-box one side, the symmetry is provided with the strengthening rib on the inner wall of carriage, and the distribution is provided with a plurality of first mounting holes on the chassis simultaneously.
Further, the buffer box passes through a side fixed connection of bolt and carriage, fixedly connected with positive and negative motor on the top surface of carriage simultaneously, positive and negative motor's output and the gomphosis of rotation post one end.
Furthermore, a plurality of second mounting holes are uniformly distributed on the top disc along the circumferential direction.
The invention has the following beneficial effects:
1. when the invention is used, the rotation of the positive and negative motors can realize the adjustment of the top plate on the front and back freedom degrees, the telescopic cooperation of the two cylinders can realize the adjustment of the top plate on the left and right freedom degrees, the rotation of the gear disc can be realized when the positive and negative motors drive the rotating plate to rotate, because the gear disc and the gear strip are arranged in a meshed way, under the action of the rotation of the gear plate, the buffer sleeve can move in the buffer box, when the buffer sleeve moves towards one direction, the buffer disc can be extruded, the return spring can unload a certain force, and the viscosity of the buffer solution is matched, so that the internal collision caused by inertia when the positive and negative motors move can be reduced, and similarly, in the telescopic process of the air cylinder, the rubber piston column can move up and down in the slot to a certain degree, and the rubber piston column is matched with the viscosity of the buffer solution, so that the internal collision of the executing element generated by inertia can be reduced.
2. When the buffer device is used, the connecting body of the slot and the buffer groove and the buffer solution in the buffer box are arranged, so that the buffer device can play a good role in transferring energy and reducing buffer in the moving process of the buffer sleeve and the rubber piston column, avoid overlarge shaking of the robot in the moving process and improve the stability of the robot in the moving process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a right side view of the FIG. 1 structure of the present invention;
FIG. 3 is a vertical sectional view of a connecting body of a buffer tank and a buffer housing in the present invention;
FIG. 4 is a vertical cross-sectional view of the structure of FIG. 1 in accordance with the present invention;
FIG. 5 is a schematic view of the overall structure of the top plate of the present invention;
FIG. 6 is a schematic view showing the overall structure of the cylinder according to the present invention;
FIG. 7 is a schematic view showing the overall structure of a rotating plate according to the present invention;
FIG. 8 is a vertical sectional view of the T-shaped block of the present invention in a state of being engaged with the T-shaped open slot;
fig. 9 is a schematic view of the overall structure of the cushion cover of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a chassis; 2. a support frame; 3. a buffer tank; 4. a gear plate; 5. a rotating plate; 6. a top tray; 7. a cylinder; 8. a buffer sleeve; 101. a first mounting hole; 201. reinforcing ribs; 301. a rectangular open slot; 302. a T-shaped guide slot; 401. rotating the column; 402. a positive and negative motor; 501. a universal ball; 502. connecting columns; 503. a T-shaped open slot; 504. a slot; 505. a buffer tank; 601. a second mounting hole; 602. a universal sleeve; 603. a first rotating frame; 701. a fixing sheet; 702. a second rotating frame; 703. a T-shaped block; 704. a rubber piston post; 801. a buffer tray; 802. a return spring; 803. a water outlet hole; 804. a limiting ring; 805. a pod; 806. t-shaped strips; 807. a gear rack.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, 2, 4 and 5, the invention is a flexible waist structure suitable for a biped robot, comprising a chassis 1 and a top plate 6 arranged above the chassis 1, wherein a plurality of second mounting holes 601 are uniformly distributed on the top plate 6 along the circumferential direction, the second mounting holes 601 are arranged to facilitate the connection of the top plate 6 and the upper body of the robot, the middle part of the bottom surface of the top plate 6 is connected with a rotating plate 5, the lower end of the rotating plate 5 is fixedly sleeved on a rotating column 401, the top surface of the rotating plate 5 is fixedly connected with a universal ball 501 through a connecting column 502, the universal ball 501 is slidably sleeved in a universal sleeve 602, and the universal sleeve 602 is fixedly connected to the middle part of the bottom surface of the top plate 6, the arrangement can realize the adjustment of the top plate 6 relative to the rotating plate 5 in the vertical direction, thereby realizing the adjustment of the left and right freedom degrees;
the supporting frame 2 is integrally formed on the top surface of the chassis 1 on one side of the buffer box 3, reinforcing ribs 201 are symmetrically arranged on the inner wall of the supporting frame 2, the stability of the supporting frame 2 can be improved due to the arrangement of the reinforcing ribs 201, meanwhile, a plurality of first mounting holes 101 are distributed on the chassis 1, and the chassis 1 is conveniently connected with the lower trunk of the robot due to the arrangement of the first mounting holes 101;
buffer tank 3 passes through a side fixed connection of bolt and carriage 2, fixedly connected with positive and negative motor 402 on the top surface of carriage 2 simultaneously, positive and negative motor 402's output and the gomphosis of rotating post 401 one end, and the rotation of rotating post 401 can be realized in positive and negative motor 402's work to realize the adjustment of rotor plate 5 in vertical side, thereby realize the adjustment of degree of freedom around.
Referring to fig. 3, 4 and 9, a buffer tank 3 is arranged on one side of the top surface of the chassis 1, buffer solution is filled in the buffer tank 3, the buffer solution comprises water, industrial oil and the like, a gear plate 4 is fixedly connected to one end of the rotating column 401, and the lower end of the gear plate 4 is slidably inserted into a rectangular open slot 301 on the top surface of the buffer tank 3;
the buffer box 3 is internally provided with a buffer sleeve 8, the buffer discs 801 are symmetrically arranged inside the buffer sleeve 8, the two buffer discs 801 are fixedly connected through a reset spring 802, the inner walls of the buffer sleeves 8 at the sides, relatively far away, of the two buffer discs 801 are respectively provided with a limiting ring 804, the buffer discs 801 can be limited by the limiting rings 804, the buffer discs 801 are prevented from falling off from the buffer sleeves 8, the buffer sleeves 8 at the sides, relatively near the two buffer discs 801, of the two buffer discs 801 are respectively and uniformly provided with a plurality of water outlet holes 803 along the circumferential direction, and buffer liquid extruded by the buffer discs 801 can be discharged by the arrangement of the water outlet holes 803;
a gear strip 807 meshed with the gear disc 4 is arranged on the top surface of the buffer sleeve 8 along the axial direction;
a T-shaped strip 806 is arranged on the bottom surface of the buffer sleeve 8 along the axial direction, and a T-shaped guide groove 302 in clearance fit with the T-shaped strip 806 is arranged on the inner bottom surface of the buffer box 3, so that the arrangement can play a role in limiting and guiding the movement of the buffer sleeve 8;
the outer walls of the two end faces of the buffer sleeve 8 are respectively provided with a horn-shaped air guide sleeve 805 for guiding air, and the air guide sleeves 805 can play a role in guiding when buffer solution moves relatively, so that the extrusion force of the buffer solution on the buffer disc 801 is improved;
above-mentioned setting is when using, when positive and negative motor 402 drives rotation post 401 and rotates, can realize the rotation of toothed disc 4, because the setting of meshing between toothed disc 4 and the gear strip 807, can realize the removal of cushion collar 8 in baffle-box 3, at the in-process that removes, because relative movement between cushion collar 8 and the buffer solution, can realize the extrusion of buffer solution to buffer disc 801, under extruded effect, buffer disc 801 removes in cushion collar 8, realize reset spring 802's extrusion, under the extruded condition, apopore 803 discharge can be followed to the buffer solution, thereby damping when realizing the robot implementation action, energy dissipation and buffering collision.
Referring to fig. 4-8, the air cylinders 7 are symmetrically disposed on two sides of the rotating plate 5, and two ends of each air cylinder 7 are fixedly connected with fixing plates 701, one of the fixing plates 701 is rotatably connected to the bottom surface of the top plate 6 through a first rotating frame 603, the other fixing plate 701 is rotatably connected to the T-shaped block 703 through a second rotating frame 702, and a rubber piston post 704 is fixedly disposed on the bottom surface of the T-shaped block 703, so that when the air cylinders 7 are extended, the angle adjustment of the fixing plates 701 relative to the first rotating frame 603 and the second rotating frame 702 can be realized, and the air cylinders 7 are prevented from being locked;
the T-shaped block 703 is in clearance fit with the T-shaped open slot 503 on the rotating plate 5, the arrangement can limit the T-shaped block 703, meanwhile, the rubber piston column 704 is inserted in the slot 504 in a sliding way, and the lower end of the slot 504 is symmetrically communicated with two buffer slots 505 which are bent upwards;
the top surface of the buffer groove 505 is higher than the bottom surface of the rubber piston column 704, the arrangement can realize the buffer movement of the buffer solution in the buffer groove 505 under the expansion and contraction of the rubber piston column 704 under the principle of a communicating vessel, the buffer solution is filled in the connecting body of the buffer groove 505 and the slot 504, and the buffer solution comprises water, industrial oil and the like;
when the device is used, the two cylinders 7 are matched in a stretching and contracting mode to realize inclined movement, the rubber piston columns 704 on the T-shaped blocks 703 can move and adjust in the slots 504 to realize buffering under the condition that the cylinders 7 move in a stretching mode, and in the buffering process, the damping liquid is squeezed to realize vibration reduction, energy dissipation and collision buffering when the robot performs actions.
The above are only preferred embodiments of the present invention, and the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made to the technical solutions described in the above embodiments, and to some of the technical features thereof, are included in the scope of the present invention.
Claims (9)
1. The utility model provides a flexible waist structure suitable for biped robot, includes chassis (1) and sets up top dish (6) in chassis (1) top, its characterized in that: a buffer box (3) is arranged on one side of the top surface of the base plate (1), a rotating plate (5) is connected to the middle of the bottom surface of the top plate (6), the lower end of the rotating plate (5) is fixedly sleeved on a rotating column (401), one end of the rotating column (401) is fixedly connected with a gear plate (4), and the lower end of the gear plate (4) is inserted into a rectangular open slot (301) in the top surface of the buffer box (3) in a sliding mode;
the buffer box (3) is internally provided with a buffer sleeve (8), the buffer sleeves (8) are symmetrically provided with buffer discs (801) inside, the two buffer discs (801) are fixedly connected through a return spring (802), the inner walls of the buffer sleeves (8) on the relatively far sides of the two buffer discs (801) are respectively provided with a limiting ring (804), and the buffer sleeves (8) on the relatively near sides of the two buffer discs (801) are respectively and uniformly provided with a plurality of water outlet holes (803) along the circumferential direction;
a gear rack (807) meshed with the gear disc (4) is arranged on the top surface of the buffer sleeve (8) along the axial direction;
the two sides of the rotating plate (5) are symmetrically provided with air cylinders (7), two ends of each air cylinder (7) are fixedly connected with fixing plates (701), one fixing plate (701) is rotatably connected to the bottom surface of the top disc (6) through a first rotating frame (603), the other fixing plate (701) is rotatably connected to a T-shaped block (703) through a second rotating frame (702), and a rubber piston column (704) is fixedly arranged on the bottom surface of the T-shaped block (703);
the T-shaped block (703) is in clearance fit with the T-shaped open slot (503) on the rotating plate (5), meanwhile, the rubber piston column (704) is inserted in the slot (504) in a sliding way, and the lower end of the slot (504) is symmetrically communicated with two buffer slots (505) which are bent upwards.
2. The flexible waist structure for the biped robot is characterized in that the bottom surface of the buffer sleeve (8) is provided with T-shaped strips (806) along the axial direction, and the inner bottom surface of the buffer box (3) is provided with T-shaped guide grooves (302) which are in clearance fit with the T-shaped strips (806).
3. The flexible waist structure for the biped robot is characterized in that the outer walls of the two end faces of the buffer sleeve (8) are provided with trumpet-shaped air guide sleeves (805) for guiding air.
4. The flexible waist structure suitable for the biped robot is characterized in that the top surface of the rotating plate (5) is fixedly connected with a universal ball (501) through a connecting column (502), the universal ball (501) is slidably sleeved in a universal sleeve (602), and the universal sleeve (602) is fixedly connected to the middle position of the bottom surface of the top plate (6).
5. The flexible waist structure for the biped robot according to claim 4, wherein the position of the top surface of the buffer tank (505) is higher than the position of the bottom surface of the rubber piston column (704).
6. The flexible waist structure for the biped robot according to claim 2 or 5, wherein the buffer tank (505) and the connection of the slot (504) and the buffer box (3) are filled with buffer solution.
7. The flexible waist structure for the biped robot is characterized in that a supporting frame (2) is integrally formed on the top surface of the chassis (1) on one side of the buffer box (3), reinforcing ribs (201) are symmetrically arranged on the inner wall of the supporting frame (2), and a plurality of first mounting holes (101) are distributed on the chassis (1).
8. The flexible waist structure suitable for the biped robot as claimed in claim 7, wherein the buffer box (3) is fixedly connected with one side of the support frame (2) through bolts, and the top surface of the support frame (2) is fixedly connected with a positive and negative motor (402), and the output end of the positive and negative motor (402) is embedded with one end of the rotating column (401).
9. The flexible waist structure for the biped robot is characterized in that a plurality of second mounting holes (601) are uniformly distributed on the top plate (6) along the circumferential direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210195376.7A CN114474098B (en) | 2022-03-01 | 2022-03-01 | Flexible waist structure suitable for biped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210195376.7A CN114474098B (en) | 2022-03-01 | 2022-03-01 | Flexible waist structure suitable for biped robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114474098A true CN114474098A (en) | 2022-05-13 |
| CN114474098B CN114474098B (en) | 2024-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210195376.7A Active CN114474098B (en) | 2022-03-01 | 2022-03-01 | Flexible waist structure suitable for biped robot |
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| Country | Link |
|---|---|
| CN (1) | CN114474098B (en) |
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| CN110733045A (en) * | 2019-11-01 | 2020-01-31 | 安徽普华灵动机器人科技有限公司 | Chassis mechanism of service robot |
| CN111496846A (en) * | 2020-05-09 | 2020-08-07 | 广东科凯达智能机器人有限公司 | Cloud platform nacelle and robot with water guide structure |
| CN112145565A (en) * | 2020-08-31 | 2020-12-29 | 钟远锋 | Rigid coupling with long service life |
| CN213439778U (en) * | 2020-09-08 | 2021-06-15 | 蒋丽 | Hydraulic pump self-locking device out of control based on electrorheological fluid mechanical arm |
| CN113524220A (en) * | 2021-08-04 | 2021-10-22 | 陇东学院 | Multi-degree-of-freedom picking mechanical arm |
| WO2023045091A1 (en) * | 2021-09-23 | 2023-03-30 | 江苏奇捷机器人智能科技有限公司 | Locomotion chassis for robot |
-
2022
- 2022-03-01 CN CN202210195376.7A patent/CN114474098B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07269674A (en) * | 1994-03-29 | 1995-10-20 | Agency Of Ind Science & Technol | Buffer for impact on ball screw |
| CN103264398A (en) * | 2013-05-08 | 2013-08-28 | 南京航空航天大学 | Combination drive robot wrist transmission system |
| WO2017182389A1 (en) * | 2016-04-20 | 2017-10-26 | Helmut-Schmidt-Universität Universität der Bundeswehr Hamburg | Elastic and controllable articulation for use in body area systems |
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| WO2023045091A1 (en) * | 2021-09-23 | 2023-03-30 | 江苏奇捷机器人智能科技有限公司 | Locomotion chassis for robot |
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| Publication number | Publication date |
|---|---|
| CN114474098B (en) | 2024-01-19 |
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