CN108928401B - Shell with waterproof and dustproof functions and bionic robot leg - Google Patents
Shell with waterproof and dustproof functions and bionic robot leg Download PDFInfo
- Publication number
- CN108928401B CN108928401B CN201810602355.6A CN201810602355A CN108928401B CN 108928401 B CN108928401 B CN 108928401B CN 201810602355 A CN201810602355 A CN 201810602355A CN 108928401 B CN108928401 B CN 108928401B
- Authority
- CN
- China
- Prior art keywords
- knee
- hip
- shell
- joint
- hip joint
- 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.)
- Active
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 210000000629 knee joint Anatomy 0.000 claims abstract description 80
- 210000004394 hip joint Anatomy 0.000 claims abstract description 75
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 210000002414 leg Anatomy 0.000 claims abstract description 25
- 210000003127 knee Anatomy 0.000 claims description 108
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 26
- 210000001624 hip Anatomy 0.000 claims description 24
- 238000002955 isolation Methods 0.000 claims description 19
- 210000000689 upper leg Anatomy 0.000 claims description 12
- 125000006850 spacer group Chemical group 0.000 claims description 8
- 230000003592 biomimetic effect Effects 0.000 claims description 3
- 210000004417 patella Anatomy 0.000 claims 6
- 238000007789 sealing Methods 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 8
- 239000000428 dust Substances 0.000 description 2
- 230000009545 invasion Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a shell with waterproof and dustproof functions and a bionic robot leg, wherein the shell is used for installing a bionic robot leg power transmission mechanism, the bionic robot leg power transmission mechanism comprises a hip joint power mechanism and a knee joint power mechanism, and the shell comprises a hip joint unit and a knee joint unit; the hip joint power mechanism is arranged in the hip joint unit, the knee joint power mechanism is arranged in the knee joint unit, and the hip joint unit and the knee joint unit are of sealing structures. The structure ensures that the two-degree-of-freedom bionic robot leg can work normally in a severe natural environment, enhances the moving range of the robot and improves the practicability of the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a shell with waterproof and dustproof functions and a bionic robot leg.
Background
With the growth of economy and the disappearance of population dividend, social security costs rise year by year. The robot is used for substituting people to engage in security patrol, disaster area rescue and other tasks in some dangerous areas, so that casualties of people can be effectively reduced. Legged robots possess advantages over wheeled robots in terms of crossing obstacles. Considering that the robot performs tasks outside and faces complicated and variable bad weather, the development of the four-foot robot with waterproof performance has considerable significance.
Patent CN 103407514B discloses a four-foot bionic robot leg mechanism, which consists of a body support, a thigh support, a shank connecting rod, a shank connecting plate, a joint disc limiting block, a shank supporting seat, a shank sleeve and other rigid structures, and a joint disc and joint disc hydraulic cylinder shaft rigid-flexible modulation mechanism, a sole and other flexible structures. And hydraulic driving is adopted. Flexible movement of the lower leg, movement of the upper step, jumping and the like can be realized. But the hydraulically driven robot has large noise, poor control precision, small joint movement angle and high control difficulty.
Patent CN 107128394a discloses a four-foot anti-birthday robot leg mechanism, which consists of a hip joint transmission module, a knee joint transmission module, a shank module and a foot end module. The hip joint transmission module is connected with the speed reducer through the motor to directly drive the hip joint to move, and the scheme has high transmission efficiency. The knee joint transmission module drives the ball screw mechanism to move through the motor, and further drives the four-bar mechanism to move so as to drive the knee joint to move, and the knee joint transmission module has compact structure and small transmission friction. However, the leg mechanism does not have the waterproof and dustproof functions, and the application range is limited.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides a shell with waterproof and dustproof functions and a bionic robot leg.
The technical scheme adopted for solving the technical problems is as follows: the shell with the waterproof and dustproof functions is used for installing a power transmission mechanism of a bionic robot leg, the power transmission mechanism of the bionic robot leg comprises a hip joint power mechanism and a knee joint power mechanism, and the shell comprises a hip joint unit and a knee joint unit;
the hip joint unit comprises a hip joint shell, a hip joint cover waterproof ring and a hip knee water seal, the knee joint unit comprises a knee joint shell, a knee joint cover waterproof ring, a knee connecting rod, a knee isolation sheet waterproof ring, a knee isolation sheet water seal, a knee fixing ring water seal and a knee connecting rod transmission shaft, the hip joint cover is arranged at the outer opening end of the hip joint shell, and the hip joint unit is sealed through the hip joint cover waterproof ring; the hip joint power mechanism is arranged in the hip joint shell, the fixed end of the hip joint power mechanism is fixedly connected with the hip joint shell, the power output end of the hip joint power mechanism is fixedly connected with the knee joint shell, and the hip joint shell and the knee joint shell are sealed through a hip-knee water seal; the outer opening end of the knee joint shell is provided with a knee joint cover which is sealed by a waterproof ring; the knee spacer is installed in the knee joint shell, the knee spacer is sealed with the inner wall of the knee joint shell through a knee spacer waterproof ring, the fixed end of the knee joint power mechanism is fixed in the left cavity, the power output end of the knee joint power mechanism penetrates through the knee spacer and is connected with the knee connecting rod transmission shaft supported in the right cavity, the knee connecting rod transmission shaft is coaxial with the power output end of the knee joint power mechanism, the knee connecting rod transmission shaft is sealed with the knee spacer through a knee spacer water seal, the other side of the knee connecting rod transmission shaft is sealed with the inner wall of the right cavity through a knee fixing ring water seal, and one end of the knee connecting rod penetrates into the right cavity and is connected with the knee connecting rod transmission shaft.
Furthermore, a knee fixing ring is fixedly arranged between the other side of the knee connecting rod transmission shaft and the inner wall of the right cavity, and the other side of the knee connecting rod transmission shaft and the knee fixing ring are sealed through a knee fixing ring water seal.
Further, the knee fixing ring and the inner wall of the right chamber are sealed through the knee fixing ring waterproof ring.
Furthermore, a hip top cover is arranged in the middle of the outer side of the hip joint cover, the outer side of the hip joint cover is sealed with the hip top cover through a hip top cover waterproof ring, and a hip outlet watertight port is arranged in the middle of the hip top cover.
Furthermore, knee top covers are arranged in the middle of the outer sides of the knee joint covers, the outer sides of the knee joint covers and the knee top covers are sealed through knee top cover waterproof rings, and knee outlet watertight ports are arranged in the middle of the knee top covers.
Further, a mounting base is arranged outside the hip joint shell.
The invention further aims to provide a bionic robot leg which comprises the shell, a hip joint power mechanism, a knee joint power mechanism, thighs, shanks and soles, wherein one end of each thigh is fixed on a knee joint shell, the other end of each thigh is hinged with each shank, the soles are arranged at the lower ends of the shanks, and the other ends of the knee connecting rods are hinged with the upper ends of the shanks.
Further, a ground contact sensor is arranged in the sole.
The beneficial effects of the invention are as follows: because the electronic equipment of the hip joint power mechanism and the knee joint power mechanism is in the protection of the shell and the sealing ring, the invasion of liquid and flying dust is effectively isolated, the probability of damaging the electronic equipment due to foreign matter invasion is reduced, and the service life of the electronic equipment is prolonged. The structure ensures that the two-degree-of-freedom bionic robot leg can work normally in a severe natural environment, enhances the moving range of the robot and improves the practicability of the robot.
Drawings
Fig. 1 is a sectional view of a housing having waterproof and dustproof functions according to an embodiment of the present invention;
FIG. 2 is a perspective view of a biomimetic robotic leg according to an embodiment of the present disclosure;
FIG. 3 is a side view of a biomimetic robotic leg according to an embodiment of the present disclosure;
in the figure: 1-0 of a hip joint shell, 1-1 of a hip joint cover, 1-2 of a hip top cover, 1-3 of a hip joint cover waterproof ring, 1-4 of a hip top cover waterproof ring, 1-5 of a hip outgoing water seal port, 1-6 of a hip knee water seal, 1-7 of a mounting base, 1-8 of a hip joint power mechanism, 2-0 of a knee joint shell, 2-1 of a knee joint cover, 2-2 of a knee top cover, 2-3 of a knee fixing ring, 2-4 of a knee joint cover waterproof ring, 2-5 of a knee top cover waterproof ring, 2-6 of a knee outgoing water seal port, 2-7 of a knee connecting rod, 2-8 of a knee fixing ring waterproof ring, 2-9 of a knee isolation sheet waterproof ring, 2-11 of a knee isolation sheet water seal, 2-12 of a knee connecting rod transmission shaft, 2-13 of a knee joint power mechanism, 2-14 of a thigh, 3-0 of a shank 3-1, 3-2 of a lower rotating shaft, 3-3 of a joint rotating shaft, 3-3 of a sole of a foot, 3-4 of a knee.
Detailed Description
The invention is further described below with reference to the drawings.
As shown in fig. 1, an embodiment of the present invention provides a housing having a waterproof and dustproof function, the housing being used for mounting a power transmission mechanism of a bionic robot leg, the power transmission mechanism of the bionic robot leg including hip joint power mechanisms 1 to 8 and knee joint power mechanisms 2 to 14, the housing including a hip joint unit and a knee joint unit;
the hip joint unit comprises a hip joint shell 1-0, a hip joint cover 1-1, a hip joint cover waterproof ring 1-3 and a hip knee water seal 1-6, the knee joint unit comprises a knee joint shell 2-0, a knee joint cover 2-1, a knee joint cover waterproof ring 2-4, a knee connecting rod 2-7, a knee isolation sheet 2-9, a knee isolation sheet waterproof ring 2-10, a knee isolation sheet water seal 2-11, a knee fixing ring water seal 2-12 and a knee connecting rod transmission shaft 2-13,
the hip joint power mechanism 1-8 and the knee joint power mechanism 2-14 of the robot leg mechanism belong to waterproof and dustproof protection objects, and in order to achieve the effect of protecting the tightness of the legs and preventing liquid and dust from invading, the waterproof ring is used for sealing static parts, and the water seal is used for sealing dynamic parts. The outer open end of the hip joint shell 1-0 is provided with a hip joint cover 1-1, and is sealed by a hip joint cover waterproof ring 1-3; the hip joint power mechanism 1-8 is arranged in the hip joint shell 1-0, the fixed end of the hip joint power mechanism 1-8 is fixedly connected with the hip joint shell 1-0, the power output end of the hip joint power mechanism 1-8 is fixedly connected with the knee joint shell 2-0, and the hip joint shell 1-0 and the knee joint shell 2-0 are sealed through a hip knee water seal 1-6; the knee joint cover 2-1 is arranged at the outer opening end of the knee joint shell 2-0 and is sealed by the knee joint cover waterproof ring 2-4; the knee isolation sheet 2-9 is arranged in the knee joint shell 2-0, the inner part of the knee joint shell 2-0 is divided into a left cavity and a right cavity, the knee isolation sheet 2-9 and the inner wall of the knee joint shell 2-0 are sealed through the knee isolation sheet waterproof ring 2-10, the fixed end of the knee joint power mechanism 2-14 is fixed in the left cavity, the power output end of the knee joint power mechanism 2-14 penetrates through the knee isolation sheet 2-9 and is connected with the knee connecting rod transmission shaft 2-13 supported in the right cavity, the knee connecting rod transmission shaft 2-13 is coaxial with the power output end of the knee joint power mechanism 2-14, the knee connecting rod transmission shaft 2-13 is sealed between one side of the knee connecting rod transmission shaft 2-13 and the knee isolation sheet 2-9 through the knee isolation sheet water seal 2-11, the other side of the knee connecting rod transmission shaft 2-13 and the inner wall of the right cavity are sealed through the knee fixing ring water seal 2-12, and one end of the knee connecting rod 2-7 penetrates into the right cavity and is connected with the knee connecting rod transmission shaft 2-13.
A knee fixing ring 2-3 is fixedly arranged between the other side of the knee connecting rod transmission shaft 2-13 and the inner wall of the right cavity, and the other side of the knee connecting rod transmission shaft 2-13 is sealed with the knee fixing ring 2-3 through a knee fixing ring water seal 2-12; the knee fixing ring 2-3 and the inner wall of the right chamber are sealed by the knee fixing ring waterproof ring 2-8.
The middle part of the outer side of the hip joint cover 1-1 is provided with a hip top cover 1-2, the outer side of the hip joint cover 1-1 is sealed with the hip top cover 1-2 through a hip top cover waterproof ring 1-4, the middle part of the hip top cover 1-2 is provided with a hip outgoing line watertight port 1-5, and a circuit of the hip joint power mechanism 1-8 passes through the hip outgoing line watertight port 1-5.
The knee top cover 2-2 is mounted in the middle of the outer side of the knee joint cover 2-1, the outer side of the knee joint cover 2-1 and the knee top cover 2-2 are sealed through the knee top cover waterproof ring 2-5, the knee outlet watertight port 2-6 is mounted in the middle of the knee top cover 2-2, and a circuit of the knee joint power mechanism 2-14 passes through the knee outlet watertight port 2-6.
The hip joint shell 1-0 is externally provided with a mounting base 1-7 for fixing the whole shell on the body of the bionic robot.
As shown in fig. 2-3, the present invention further provides a bionic robot leg, which comprises the above-mentioned shell, hip joint power mechanism 1-8, knee joint power mechanism 2-14, thigh 3-0, shank 3-1 and sole 3-4, wherein one end of thigh 3-0 is fixed on knee joint shell 2-0, the other end of thigh 3-0 is hinged with shank 3-1 through knee joint rotation shaft 3-3, sole 3-4 is mounted at the lower end of shank 3-1, and the other end of knee connecting rod 2-7 is hinged with the upper end of shank 3-1 through lower rotation shaft 3-2. When the knee joint connecting rod 2-7 moves, the lower leg 3-1 is pulled to rotate around the knee joint rotating shaft 3-3 through the lower rotating shaft 3-2. The robot sole 3-4 is internally provided with a ground contact sensor which can feed back an electric signal to a control system when the robot sole is grounded.
The bionic robot body is provided with a controller and a driver, the circuit connects the hip joint power mechanism 1-8 and the knee joint power mechanism 2-14 with the driver on the robot body, the controller changes a control strategy in real time by receiving the touchdown information of the sole 3-4 and sends an instruction to the driver in a weak current form, and the driver drives the movement ends of the strong current hip joint power mechanism 1-8 and the knee joint power mechanism 2-14 to rotate according to the instruction through the strong current hip joint power mechanism 1-8 and the knee joint power mechanism 2-14, and the movement ends of the hip joint power mechanism 1-8 move to realize the relative rotation of the hip joint shell 1-0 and the knee joint shell 2-0; the movement end of the knee joint power mechanism 2-14 moves to realize the stretching movement of the knee connecting rod 2-7, thereby driving the lower leg 3-1 to swing around the thigh 3-0. The controller may be an industrial personal computer MIO-5251, and the driver may be an ACJ-055-18 type driver of Copley company, which is, of course, only used in the present embodiment, not limited thereto.
Through the arrangement of the shell mechanisms and the sealing, the two-degree-of-freedom bionic robot leg can work normally in rainy and snowy weather, the service life of the electronic equipment is prolonged, the movement capacity of the robot is enhanced, and the probability of damage of the robot is reduced.
Claims (7)
1. The shell with the waterproof and dustproof functions is used for installing a power transmission mechanism of a bionic robot leg and is characterized by comprising a hip joint power mechanism and a knee joint power mechanism, wherein the shell comprises a hip joint unit and a knee joint unit;
the hip joint unit comprises a hip joint shell, a hip joint cover waterproof ring and a hip knee water seal,
the knee joint unit comprises a knee joint shell, a knee joint cover waterproof ring, a knee connecting rod, a knee spacer waterproof ring, a knee spacer water seal, a knee fixing ring water seal and a knee connecting rod transmission shaft;
the outer opening end of the hip joint shell is provided with a hip joint cover which is sealed by a waterproof ring; the hip joint power mechanism is arranged in the hip joint shell, the fixed end of the hip joint power mechanism is fixedly connected with the hip joint shell, the power output end of the hip joint power mechanism is fixedly connected with the knee joint shell, and the hip joint shell and the knee joint shell are sealed through a hip-knee water seal;
the outer opening end of the knee joint shell is provided with a knee joint cover which is sealed by a waterproof ring; the knee isolation sheet is arranged in the knee joint shell, the inner part of the knee joint shell is divided into a left cavity and a right cavity, the knee isolation sheet and the inner wall of the knee joint shell are sealed through a knee isolation sheet waterproof ring, the fixed end of the knee joint power mechanism is fixed in the left cavity, the power output end of the knee joint power mechanism penetrates through the knee isolation sheet and is connected with a knee connecting rod transmission shaft supported in the right cavity, the knee connecting rod transmission shaft is coaxial with the power output end of the knee joint power mechanism, one side of the knee connecting rod transmission shaft is sealed with the knee isolation sheet through a knee isolation sheet water seal, the other side of the knee connecting rod transmission shaft is sealed with the inner wall of the right cavity through a knee fixing ring water seal, and one end of the knee connecting rod penetrates into the right cavity and is connected with the knee connecting rod transmission shaft;
wherein, the hip joint shell is equipped with the mounting base outside.
2. The shell according to claim 1, wherein a knee fixing ring is fixedly arranged between the other side of the knee connecting rod transmission shaft and the inner wall of the right chamber, and the other side of the knee connecting rod transmission shaft and the knee fixing ring are sealed through a knee fixing ring water seal.
3. The housing of claim 2, wherein the knee retaining ring seals with the right chamber inner wall with a knee retaining ring waterproof ring.
4. The shell according to claim 1, wherein the hip joint cover is provided with a hip top cover at the middle part at the outer side, the hip joint cover is sealed with the hip top cover through a hip top cover waterproof ring, and a hip outlet watertight port is arranged at the middle part of the hip top cover.
5. The housing of claim 1, wherein the knee cap outer side is centrally mounted with a knee cap, the knee cap outer side and the knee cap are sealed by a knee cap waterproof ring, and the knee cap central mounting is provided with a knee outlet watertight port.
6. A bionic robot leg, comprising the shell, a hip joint power mechanism, a knee joint power mechanism, a thigh, a shank and a sole, wherein one end of the thigh is fixed on a knee joint shell, the other end of the thigh is hinged with the shank, the sole is arranged at the lower end of the shank, and the other end of the knee connecting rod is hinged with the upper end of the shank.
7. The biomimetic robotic leg of claim 6, wherein a touchdown sensor is mounted within the sole of the foot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810602355.6A CN108928401B (en) | 2018-06-12 | 2018-06-12 | Shell with waterproof and dustproof functions and bionic robot leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810602355.6A CN108928401B (en) | 2018-06-12 | 2018-06-12 | Shell with waterproof and dustproof functions and bionic robot leg |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108928401A CN108928401A (en) | 2018-12-04 |
| CN108928401B true CN108928401B (en) | 2024-03-15 |
Family
ID=64446299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810602355.6A Active CN108928401B (en) | 2018-06-12 | 2018-06-12 | Shell with waterproof and dustproof functions and bionic robot leg |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108928401B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114987645A (en) * | 2022-04-26 | 2022-09-02 | 中国北方车辆研究所 | Shaft-driven three-degree-of-freedom bionic leg |
| CN118753401B (en) * | 2024-09-05 | 2025-01-21 | 上海傅利叶智能科技有限公司 | Lower limb components and humanoid robots |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130000008A (en) * | 2011-06-15 | 2013-01-02 | 한국해양연구원 | Approximated modeling method of generalized drag torque acting on multi-joint links underwater robot |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN104416580A (en) * | 2013-09-10 | 2015-03-18 | 精工爱普生株式会社 | Joint driving device and robot |
| CN107225596A (en) * | 2017-07-21 | 2017-10-03 | 安徽新华学院 | A kind of exoskeleton robot joint and its control system |
| CN206795870U (en) * | 2017-06-07 | 2017-12-26 | 南京科远自动化集团股份有限公司 | A kind of rotary joint sealing structure |
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN108214544A (en) * | 2018-02-28 | 2018-06-29 | 北京精密机电控制设备研究所 | A kind of integrated form joint of robot device |
| CN208325458U (en) * | 2018-06-12 | 2019-01-04 | 杭州云深处科技有限公司 | Everybody leg of a kind of shell having functions of waterproof and dustproof and bionic machine |
| CN209067847U (en) * | 2018-11-19 | 2019-07-05 | 天津探海股份有限公司 | A kind of sealed waterproof device of underwater robot |
| KR102445308B1 (en) * | 2021-04-02 | 2022-09-20 | 한국과학기술원 | Leg unit for multi-legged robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3607929B2 (en) * | 2001-01-31 | 2005-01-05 | ビー・エル・オートテック株式会社 | Rotary joint |
| KR101694819B1 (en) * | 2015-03-31 | 2017-01-11 | (주)케이엔알시스템 | Integrated hydraulic rotary actuator |
-
2018
- 2018-06-12 CN CN201810602355.6A patent/CN108928401B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130000008A (en) * | 2011-06-15 | 2013-01-02 | 한국해양연구원 | Approximated modeling method of generalized drag torque acting on multi-joint links underwater robot |
| CN104416580A (en) * | 2013-09-10 | 2015-03-18 | 精工爱普生株式会社 | Joint driving device and robot |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN206795870U (en) * | 2017-06-07 | 2017-12-26 | 南京科远自动化集团股份有限公司 | A kind of rotary joint sealing structure |
| CN107225596A (en) * | 2017-07-21 | 2017-10-03 | 安徽新华学院 | A kind of exoskeleton robot joint and its control system |
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN108214544A (en) * | 2018-02-28 | 2018-06-29 | 北京精密机电控制设备研究所 | A kind of integrated form joint of robot device |
| CN208325458U (en) * | 2018-06-12 | 2019-01-04 | 杭州云深处科技有限公司 | Everybody leg of a kind of shell having functions of waterproof and dustproof and bionic machine |
| CN209067847U (en) * | 2018-11-19 | 2019-07-05 | 天津探海股份有限公司 | A kind of sealed waterproof device of underwater robot |
| KR102445308B1 (en) * | 2021-04-02 | 2022-09-20 | 한국과학기술원 | Leg unit for multi-legged robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108928401A (en) | 2018-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107116980B (en) | Amphibious robot and amphibious detection system | |
| CN207089614U (en) | Underwater robot and amphibious robot | |
| CN108928401B (en) | Shell with waterproof and dustproof functions and bionic robot leg | |
| EP3446952B1 (en) | General-purpose six-legged walking robot, and main structure thereof | |
| CN103231751B (en) | Single-joint-sealed amphibious multi-legged robot | |
| CN207088875U (en) | Lu Hang robots and amphibious robot | |
| CN104773042A (en) | Amphibious robot with transformable structure | |
| CN101244728A (en) | Flameproof robot platform for underground search and rescue operations in coal mines | |
| CN211491549U (en) | Kinect-based somatosensory rescue robot | |
| CN110466637A (en) | Single shaft-driven four feet all directions climbing robot and its control method | |
| CN107140053B (en) | Wheel-leg type mobile robot based on spherical parallel mechanism | |
| SE539200C2 (en) | Sealing arrangement for an amphibious vehicle | |
| CN208100398U (en) | A kind of ball shape robot structure | |
| CN113753152A (en) | Three-degree-of-freedom full-decoupling parallel mechanical leg structure and four-foot robot | |
| CN110171551A (en) | A kind of underwater robot walking mechanism | |
| CN207241835U (en) | A kind of barrier-surpassing robot | |
| CN109533078A (en) | A kind of robot foot section structure and robot based on magnetic converting technique | |
| CN207088876U (en) | Amphibious robot and amphibious Reconnaissance system | |
| CN205129831U (en) | Robot for space | |
| CN208325458U (en) | Everybody leg of a kind of shell having functions of waterproof and dustproof and bionic machine | |
| CN119388393A (en) | A large-load industrial-grade humanoid robot upper body module and humanoid robot | |
| CN203158114U (en) | Intelligent obstacle crossing robot based on Bluetooth control | |
| CN201179899Y (en) | Flameproof robot platform for underground search and rescue operations in coal mines | |
| CN214492428U (en) | Foot type robot with flight capability | |
| CN111110529A (en) | Mechanical guide dog based on machine vision |
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 | ||
| GR01 | Patent grant |