CN117944778A - Double-joint driven bionic self-balancing continuous jumping robot - Google Patents
Double-joint driven bionic self-balancing continuous jumping robot Download PDFInfo
- Publication number
- CN117944778A CN117944778A CN202410356504.0A CN202410356504A CN117944778A CN 117944778 A CN117944778 A CN 117944778A CN 202410356504 A CN202410356504 A CN 202410356504A CN 117944778 A CN117944778 A CN 117944778A
- Authority
- CN
- China
- Prior art keywords
- balancing
- jumping
- supporting plate
- double
- fixedly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000009191 jumping Effects 0.000 title claims abstract description 73
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 210000000689 upper leg Anatomy 0.000 claims abstract description 19
- 210000000629 knee joint Anatomy 0.000 claims abstract description 13
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 10
- 206010044048 Tooth missing Diseases 0.000 claims description 24
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000000737 periodic effect Effects 0.000 abstract description 6
- 238000009825 accumulation Methods 0.000 abstract description 4
- 244000309466 calf Species 0.000 abstract 5
- 241001416488 Dipodidae Species 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 238000004146 energy storage Methods 0.000 description 5
- 238000004804 winding Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003592 biomimetic effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009172 bursting Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a double-joint driven bionic self-balancing continuous jumping robot, which belongs to the field of bionic robots and comprises a supporting plate, a transmission unit and a double-joint jumping unit; two connecting pins are symmetrically connected to the lower end of the supporting plate; the two groups of self-balancing units are vertically distributed on the front side and the rear side of the supporting plate; each group of double-joint jumping units comprises thighs, the upper ends of the thighs are rotationally connected with one connecting pin, the lower ends of the thighs are rotationally connected with the upper ends of the calves through knee joint connecting shafts, the lower ends of the calves are rotationally connected with soles through ankle joint connecting shafts, the lower ends of pull ropes are fixedly connected with the lower ends of the rear sides of the calves through rope hooks, two ends of one torsion spring are respectively fixedly connected with the lower ends of the thighs and the upper ends of the calves, and two ends of the other torsion spring are respectively fixedly connected with the front sides of the calves and the soles; the periodic engagement and disconnection between the gear with the missing teeth and the pinion are utilized, and the energy accumulation and release of the double-joint jumping unit are controlled through the pull rope, so that the continuous jumping of the jumping robot is realized.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a double-joint driven bionic self-balancing continuous jumping robot.
Background
With the continuous development of science and technology, robots, especially biomimetic robots that perform biomimetic design with the structure or function of various living things as prototypes, are expanding in application in various aspects. The bionic robot has certain excellent characteristics of a bionic prototype, and therefore plays an important role in some unstructured special scenes such as interplanetary exploration, field reconnaissance and disaster relief.
Jumping is a very common movement mode in nature, like frog, jerboa, locust and the like, compared with crawling, jumping movement has the characteristics of strong adaptability, strong explosive force, high moving efficiency and the like, so that the bionic robot with the jumping function is widely applied in the field of robots, and is particularly suitable for application in unstructured complex working environments. At present, most jumping robots are mainly designed to perform simple bionic design aiming at basic jumping structures of some common jumping living things, so that simple jumping movement can be realized, but the continuity of movement is poor, the energy storage is limited due to a single driving force, and higher jumping is difficult to realize. Moreover, the current research pays little attention to indexes such as stability, periodicity and the like of the jumping process, so that the existing majority of jumping robots are easy to generate unbalance problem in the jumping process, and stable and powerful periodic continuous jumping is difficult to realize.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the double-joint driven bionic self-balancing continuous jumping robot, which takes a small-sized jumping animal jerboa in nature as a bionic prototype, enhances the jumping ability and the jumping stability of the jumping robot, and ensures that the jumping robot can realize stable and powerful periodic continuous jumping.
A double-joint driven bionic self-balancing continuous jumping robot comprises a supporting plate, two groups of transmission units, two groups of double-joint jumping units, a controller and a power supply;
Two connecting pins are symmetrically connected to the lower end of the supporting plate;
the two groups of self-balancing units are vertically distributed on the front side and the rear side of the supporting plate;
Each group of double-joint jumping units comprises a thigh, a knee joint connecting shaft, a shank, two torsion springs, a sole, an ankle joint connecting shaft, a pull rope and a rope hook;
The upper end of the thigh is rotationally connected with one of the connecting pins, the lower end of the thigh is rotationally connected with the upper end of the shank through a knee joint connecting shaft, the lower end of the shank is rotationally connected with the sole through an ankle joint connecting shaft, the lower end of the pull rope is fixedly connected with the lower end of the rear side of the shank through a rope hook, one torsion spring is sleeved outside the knee joint connecting shaft, two ends of the torsion spring are respectively fixedly connected with the lower end of the thigh and the upper end of the shank, and two ends of the other torsion spring are respectively fixedly connected with the lower end of the front side of the shank and the upper end of the sole;
each group of transmission units controls a group of double-joint jumping units to move, and the two groups of transmission units are symmetrically distributed in the supporting plate;
each group of transmission units comprises a pinion shaft, a steering engine supporting seat, a tooth-missing gear shaft, a rope coiling disc, a pinion, a guide roller and a roller bracket;
The two ends of the pinion shaft are rotationally connected in the supporting plate, the steering engine is fixedly connected with the supporting plate through a steering engine supporting seat, one end of the tooth-missing gear shaft is fixedly connected with the steering engine rotating shaft, the other end of the tooth-missing gear shaft is rotationally connected in the supporting plate, the tooth-missing gear is fixedly connected to the outer side of the tooth-missing gear shaft, the pinion is fixedly connected to the outer side of the pinion shaft, the pinion shaft is fixedly connected with a rope coiling disc, the tooth-missing gear is meshed with the pinion, the guide roller is rotationally connected in the supporting plate through a roller bracket, and the upper end of the pull rope bypasses the guide roller and is fixedly connected to the rope coiling disc;
the steering engine, the controller and the power supply are connected in series through wires.
Preferably, the self-balancing unit comprises a long tail, two balancing discs, two balancing disc supports, two outer rings and a swinging rod, wherein the two balancing discs and the two balancing disc supports are connected to the supporting plate through fixing bolts respectively, the outer rings are arranged outside the two balancing discs, the balancing discs of the front self-balancing unit are connected with tail counterweight balls through the long tail, and the balancing discs of the rear self-balancing unit are connected with inner swinging balls through the swinging rod.
Preferably, the upper end of the supporting plate is also covered with an upper cover.
The invention has the beneficial effects that:
The design of the invention takes jerboa as a bionic prototype, carries out the bionic design of a double-joint jumping unit aiming at the characteristics of double-force of knee joint and ankle joint in the jumping process of jerboa, carries out the bionic design of a self-balancing unit aiming at the balancing effect of the slender tail part in the jumping process of jerboa, and carries out the design of a tooth-missing type transmission unit aiming at jerboa capable of continuous jumping motion; the invention is designed by combining the jerboa biological coupling elements beneficial to jumping motion;
The invention adopts the double-joint jumping unit, the torsion springs at the knee joint connecting shaft and the ankle joint connecting shaft can provide jumping force, and the two pairs of joints share four torsion springs, thereby greatly enhancing the bursting force and the jumping height of the jumping robot; the energy accumulation and release of the double-joint jumping unit adopts a pull rope driving mode with a simple structure, and the tensioning and releasing of the pull rope are controlled by the rope winding disc, so that the compression and release of the torsion spring are realized;
The transmission unit of the jumping robot adopts a gear with a missing tooth for transmission, the gear with a missing tooth is meshed with and disconnected from the complete pinion periodically, and the energy accumulation and release of the double-joint jumping unit are controlled through a pull rope, so that the periodic continuous jumping of the jumping robot is realized; the mechanical periodic control mode is adopted, so that the control process is simpler and more stable;
The self-balancing unit of the jump robot takes jerboa tail biological coupling elements as prototypes for bionic design and is divided into left-right balance and front-back balance; the robot long tail is of a slender structure and can swing left and right to maintain left and right balance; the supporting plate is internally provided with a swing rod which can swing back and forth to maintain the balance back and forth; the two groups of self-balancing units act simultaneously to assist in maintaining the stable posture of the jumping robot in the air jumping process.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is an internal structural view of the transmission unit and the self-balancing unit of the present invention;
FIG. 4 is a front view of the transmission unit and self-balancing unit of the present invention;
FIG. 5 is a schematic diagram of the energy storage phase of the dual joint jumping unit of the present invention;
In the figure: 1. an upper cover; 2. a support plate; 3. thigh; 4. long tail; 5. a knee joint connecting shaft; 6. a tail weight ball; 7. a lower leg; 8. a torsion spring; 9. sole of foot; 10. an ankle joint connecting shaft; 11. a pull rope; 12. a connecting pin; 13. rope hooks; 14. a pinion shaft; 15. steering engine; 16. steering engine supporting seat; 17. an outer ring; 18. a controller; 19. a fixing bolt; 20. a power supply; 21. a tooth-missing gear; 22. a tooth-missing gear shaft; 23. a rope reel; 24. a pinion gear; 25. a balancing disk; 26. a balance disc support; 27. a guide roller; 28. a roller bracket; 29. an inner swing ball; 30. and (5) swinging rod.
Detailed Description
Referring to fig. 1 to 5, a double-joint-driven bionic self-balancing continuous jumping robot comprises a supporting plate 2, two groups of transmission units, two groups of double-joint jumping units, a controller 18 and a power supply 20;
two connecting pins 12 are symmetrically connected to the lower end of the supporting plate 2;
the two groups of self-balancing units are vertically distributed on the front side and the rear side of the supporting plate 2;
Each group of double-joint jumping units comprises a thigh 3, a knee joint connecting shaft 5, a shank 7, two torsion springs 8, a sole 9, an ankle joint connecting shaft 10, a pull rope 11 and a rope hook 13;
The upper end of the thigh 3 is rotationally connected with one of the connecting pins 12, the lower end of the thigh 3 is rotationally connected with the upper end of the shank 7 through the knee joint connecting shaft 5, the lower end of the shank 7 is rotationally connected with the sole 9 through the ankle joint connecting shaft 10, the lower end of the pull rope 11 is fixedly connected with the lower end of the rear side of the shank 7 through the rope hook 13, one torsion spring 8 is sleeved outside the knee joint connecting shaft 5, two ends of the torsion spring 8 are respectively fixedly connected with the lower end of the thigh 3 and the upper end of the shank 7, and two ends of the other torsion spring 8 are respectively fixedly connected with the lower end of the front side of the shank 7 and the upper end of the sole 9;
Each group of transmission units controls a group of double-joint jumping units to move, and the two groups of transmission units are symmetrically distributed in the supporting plate 2;
each group of transmission units comprises a pinion shaft 14, a steering engine 15, a steering engine supporting seat 16, a gear with a missing tooth 21, a gear with a missing tooth 22, a rope coiling disc 23, a pinion 24, a guide roller 27 and a roller bracket 28;
The two ends of the pinion shaft 14 are rotationally connected in the support plate 2, the steering engine 15 is fixedly connected with the support plate 2 through a steering engine support seat 16, one end of a tooth-missing gear shaft 22 is fixedly connected with a steering engine 15 rotating shaft, the other end of the tooth-missing gear shaft 22 is rotationally connected in the support plate 2, a tooth-missing gear 21 is fixedly connected on the outer side of the tooth-missing gear shaft 22, a pinion 24 is fixedly connected on the outer side of the pinion shaft 14, a rope coiling disc 23 is fixedly connected on the pinion shaft 14, the tooth-missing gear 21 and the pinion 24 are meshed with each other, a guide roller 27 is rotationally connected in the support plate 2 through a roller bracket 28, and the upper end of a pull rope 11 bypasses the guide roller 27 and is fixedly connected on the rope coiling disc 23;
the steering engine 15, the controller and the power supply are connected in series through wires.
Referring to fig. 1 to 4, the self-balancing unit further comprises two groups of self-balancing units vertically distributed on the front side and the rear side of the supporting plate 2, wherein each self-balancing unit comprises a long tail 4, two balancing discs 25, two balancing disc supports 26, two outer rings 17 and a swinging rod 30, the two balancing discs 25 and the two balancing disc supports 26 are respectively connected to the supporting plate 2 through fixing bolts 19, the outer rings 17 are arranged on the outer sides of the two balancing discs 25, the balancing discs 25 of the front side self-balancing unit are connected with tail weight balls 6 through the long tails 4, and the balancing discs 25 of the rear side self-balancing unit are connected with inner swinging balls 29 through the swinging rods 30.
Further, referring to fig. 1, the upper end of the supporting plate 2 is further covered with an upper cover 1.
The working principle of the invention is as follows:
steering engine 15 provides power for the jumping robot and is controlled by a signal provided by controller 18, and is powered by power supply 20;
The rotating shaft of the steering engine 15 drives the gear with missing teeth 22 to rotate so as to drive the gear with missing teeth 21 to rotate, the gear with missing teeth 21 drives the pinion 24 to rotate so as to drive the rope coiling disc 23 to rotate, the rope 11 is coiled on the rope coiling disc 23, the other end of the rope 11 is connected with the rope hook 13 on the lower leg 7 through the guide roller 27, the compression and release of the double-joint jumping unit can be realized through the rope 11, and the self-balancing unit is positioned in the supporting plate 2 so as to assist the jumping robot to realize self-balancing;
The transmission unit is a tooth-missing transmission system, when the tooth-missing part of the tooth-missing gear 21 is meshed with the pinion 24, the power accumulation of jumping motion can be realized for the double-joint jumping unit, when the tooth-missing gear 21 is not meshed with the pinion 24, the energy can be released to realize the jumping motion, and the cyclic reciprocation of the two parts can realize the periodic continuous jumping; the rope winding disc 23 is wound with the pull rope 11, and when the pinion 24 is meshed with the toothed part of the tooth-missing gear 21, the rope winding disc 23 drives the pull rope 11 to shorten so as to compress the four torsion springs 8, so that bouncing energy storage is realized; when the tooth-lacking gear 21 is not meshed with the pinion 24, the rope winding disc 23 loses power, the pull rope 11 is not tensioned any more, and the elasticity of the four torsion springs 8 starts to be released, so that the jumping motion of the double-joint jumping unit is realized;
The front self-balancing unit is responsible for front-back balancing, the rear self-balancing unit is responsible for left-right balancing, the self-balancing unit carries out structural function bionic design according to the structure of jerboa tail parts, a tail counterweight ball 6 is connected to a balancing disc 25 of the front self-balancing unit through a long tail 4, the tail counterweight ball 6 is a solid iron ball, and when the jumping robot tilts leftwards or rightwards, the tail counterweight ball 6 swings to the other side due to inertia so as to assist the jumping robot to maintain balance; the balancing disk 25 of the rear self-balancing unit is connected with the inner swing ball 29 through the swing link 30, and when the jumping robot is tilted forward or backward, the inner swing ball 29 swings to the other side due to inertia to assist the jumping robot in maintaining balance.
Four torsion springs 8 are arranged on the double-joint jumping unit, and when the pull rope 11 is contracted, the four torsion springs 8 are compressed to perform bouncing energy storage; when the pull rope 11 is loosened, the four torsion springs 8 can release energy to provide upward bouncing force; the thigh 3 and the shank 7 are hollow rod-shaped structures, and the pull rope 11 can realize tensioning and compression of the thigh 3 and the shank 7 through the rope hook 13, so that power assistance is provided for energy storage of the four torsion springs 8.
Claims (3)
1. A bionic self-balancing continuous jumping robot driven by double joints is characterized in that: comprises a supporting plate (2), two groups of transmission units, two groups of double-joint jumping units, a controller (18) and a power supply (20);
two connecting pins (12) are symmetrically connected to the lower end of the supporting plate (2);
the two groups of self-balancing units are vertically distributed on the front side and the rear side of the supporting plate (2);
Each group of double-joint jumping units comprises a thigh (3), a knee joint connecting shaft (5), a shank (7), two torsion springs (8), a sole (9), an ankle joint connecting shaft (10), a stay rope (11) and a rope hook (13);
The upper end of a thigh (3) is rotationally connected with one connecting pin (12), the lower end of the thigh (3) is rotationally connected with the upper end of a shank (7) through a knee joint connecting shaft (5), the lower end of the shank (7) is rotationally connected with a sole (9) through an ankle joint connecting shaft (10), the lower end of a pull rope (11) is fixedly connected with the lower end of the rear side of the shank (7) through a rope hook (13), one torsion spring (8) is sleeved outside the knee joint connecting shaft (5), two ends of the torsion spring (8) are respectively fixedly connected with the lower end of the thigh (3) and the upper end of the shank (7), and two ends of the other torsion spring (8) are respectively fixedly connected with the lower end of the front side of the shank (7) and the upper end of the sole (9);
Each group of transmission units controls a group of double-joint jumping units to move, and the two groups of transmission units are symmetrically distributed in the supporting plate (2);
each group of transmission units comprises a pinion shaft (14), a steering engine (15), a steering engine supporting seat (16), a gear with a missing tooth (21), a gear shaft with a missing tooth (22), a rope coiling disc (23), a pinion (24), a guide roller (27) and a roller bracket (28);
The two ends of the pinion shaft (14) are rotationally connected in the supporting plate (2), the steering engine (15) is fixedly connected with the supporting plate (2) through a steering engine supporting seat (16), one end of the tooth-missing gear shaft (22) is fixedly connected with a rotating shaft of the steering engine (15), the other end of the tooth-missing gear shaft (22) is rotationally connected in the supporting plate (2), the tooth-missing gear (21) is fixedly connected to the outer side of the tooth-missing gear shaft (22), the pinion (24) is fixedly connected to the outer side of the pinion shaft (14), a rope coiling disc (23) is fixedly connected to the pinion shaft (14), the tooth-missing gear (21) is meshed with the pinion (24), the guide roller (27) is rotationally connected in the supporting plate (2) through a roller bracket (28), and the upper end of the pull rope (11) bypasses the guide roller (27) and is fixedly connected to the rope coiling disc (23);
The steering engine (15), the controller and the power supply are connected in series through wires.
2. A double-joint driven bionic self-balancing continuous jumping robot according to claim 1, wherein: the self-balancing unit comprises a long tail (4), two balancing discs (25), two balancing disc supports (26), two outer rings (17) and a swinging rod (30), wherein the two balancing discs (25) and the two balancing disc supports (26) are connected to the supporting plate (2) through fixing bolts (19) respectively, the outer rings (17) are arranged outside the two balancing discs (25), the balancing discs (25) of the front self-balancing unit are connected with tail counterweight balls (6) through the long tail (4), and the balancing discs (25) of the rear self-balancing unit are connected with inner swinging balls (29) through the swinging rod (30).
3. A double-joint driven bionic self-balancing continuous jumping robot according to claim 1, wherein: the upper end of the supporting plate (2) is also covered with an upper cover (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410356504.0A CN117944778B (en) | 2024-03-27 | 2024-03-27 | Double-joint driven bionic self-balancing continuous jumping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410356504.0A CN117944778B (en) | 2024-03-27 | 2024-03-27 | Double-joint driven bionic self-balancing continuous jumping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117944778A true CN117944778A (en) | 2024-04-30 |
| CN117944778B CN117944778B (en) | 2024-07-05 |
Family
ID=90792611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410356504.0A Active CN117944778B (en) | 2024-03-27 | 2024-03-27 | Double-joint driven bionic self-balancing continuous jumping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117944778B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012210703A (en) * | 2012-05-02 | 2012-11-01 | Kazuo Hanno | Multifunctional input fully automatic robot |
| US20130282174A1 (en) * | 2012-04-18 | 2013-10-24 | Board Of Trustees Of Michigan State University | Jumping robot |
| CN104709375A (en) * | 2015-03-12 | 2015-06-17 | 哈尔滨工程大学 | Energy-storage type leapfrog-simulation robot |
| US20210370733A1 (en) * | 2019-12-23 | 2021-12-02 | California Institute Of Technology | Synchronized Multi-Modal Robot |
| CN116001942A (en) * | 2022-12-14 | 2023-04-25 | 浙江工业大学 | Forest bionic kangaroo robot based on tooth-missing gear and control method thereof |
-
2024
- 2024-03-27 CN CN202410356504.0A patent/CN117944778B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130282174A1 (en) * | 2012-04-18 | 2013-10-24 | Board Of Trustees Of Michigan State University | Jumping robot |
| JP2012210703A (en) * | 2012-05-02 | 2012-11-01 | Kazuo Hanno | Multifunctional input fully automatic robot |
| CN104709375A (en) * | 2015-03-12 | 2015-06-17 | 哈尔滨工程大学 | Energy-storage type leapfrog-simulation robot |
| US20210370733A1 (en) * | 2019-12-23 | 2021-12-02 | California Institute Of Technology | Synchronized Multi-Modal Robot |
| CN116001942A (en) * | 2022-12-14 | 2023-04-25 | 浙江工业大学 | Forest bionic kangaroo robot based on tooth-missing gear and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117944778B (en) | 2024-07-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110217311B (en) | Agile four-foot robot based on coaxial parallel mechanism | |
| CN103332235B (en) | Modularized walking robot with flexible torso | |
| CN104590413B (en) | Bionic jumping and walking mechanism | |
| CN101678866B (en) | Energy efficient robotic system | |
| CN101391417B (en) | Both feet humanoid robot based on passive movement mode | |
| CN101954935B (en) | Jumping robot of locust-simulated turning joint lever ejecting mechanism | |
| CN109178137B (en) | Multi-foot robot based on Three Degree Of Freedom pedipulator | |
| CN103612681A (en) | Bionic mechanical leg | |
| CN103010330A (en) | Biped walking robot | |
| CN111591370B (en) | Jumping robot with controllable jumping force and direction | |
| CN117944778B (en) | Double-joint driven bionic self-balancing continuous jumping robot | |
| CN111846012A (en) | Multi-motion-mode track-adjustable bionic bouncing robot | |
| CN111591369B (en) | Jumping robot with controllable energy storage size and controllable jumping-off angle | |
| CN201815109U (en) | Jumping robot imitating the locust movable joint lever ejection mechanism | |
| CN103010329A (en) | Biped walking movement mechanism | |
| CN104742995B (en) | The modular leg unit of polypody mobile robot | |
| CN103950481A (en) | Mechanical joint and leg structure of bionic mechanical dinosaur | |
| CN107161228B (en) | Bionic jumping robot | |
| CN113479273B (en) | Modular composite robot | |
| CN203780646U (en) | Mechanical joint and leg structure of bionic mechanical dinosaur | |
| CN106882286B (en) | Hydraulic drive formula robot leg foot structure | |
| CN113562093A (en) | Wheel-foot robot with balancing device | |
| CN109080723A (en) | Single-leg jumping robot based on parallel institution | |
| CN114291182A (en) | Light-duty high performance four-footed robot | |
| CN108858147A (en) | A kind of pneumatic muscles driving primate bio-robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |