CN105128976B - A kind of drive lacking running gear and its Servo Control method - Google Patents

A kind of drive lacking running gear and its Servo Control method Download PDF

Info

Publication number
CN105128976B
CN105128976B CN201510430618.6A CN201510430618A CN105128976B CN 105128976 B CN105128976 B CN 105128976B CN 201510430618 A CN201510430618 A CN 201510430618A CN 105128976 B CN105128976 B CN 105128976B
Authority
CN
China
Prior art keywords
leg
platform
motor
walking
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
Application number
CN201510430618.6A
Other languages
Chinese (zh)
Other versions
CN105128976A (en
Inventor
李清都
刘国栋
樊锁钟
杨芳艳
熊诗琪
蔡浩
金雪亮
唐俊
刁建
李永
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai zhuoyide robot Co.,Ltd.
Original Assignee
Chongqing University of Post and Telecommunications
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Chongqing University of Post and Telecommunications filed Critical Chongqing University of Post and Telecommunications
Priority to CN201510430618.6A priority Critical patent/CN105128976B/en
Publication of CN105128976A publication Critical patent/CN105128976A/en
Application granted granted Critical
Publication of CN105128976B publication Critical patent/CN105128976B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The present invention relates to a kind of drive lacking running gear and its Servo Control method, the device includes the leg being made up of inner side leg and outer legs, and inner side leg is connected with outer legs by bent axle;Inner side leg is spindle rotationally arranged on interior transverse axis, and two outer legs are spindle rotationally arranged on the outer transverse axis at two ends respectively;Lifting hip joint is fixed on upper body platform sinistral or right side, including sliding block, screw motor and slide rail, and its center is threaded, and centre passes through screw rod, the screw rod to be connected with the screw motor axle being fixed on the platform of upper body;The low in energy consumption of the present apparatus, simple structure, stability is strong, meanwhile, the flexible turning by simple control realization.

Description

A kind of drive lacking running gear and its Servo Control method
Technical field
The invention belongs to robotics, it is related to a kind of drive lacking running gear and its Servo Control method.
Background technology
Walking has important Research Significance as anthropomorphic robot basic function.Traditional active walking manner, is based on ZMP is theoretical, by precise control joint angles, adjusts the apish walking of body posture, though relatively easy to implement, paces Heavy, energy consumption is excessive.State-of-the-art anthropomorphic robot with the Asimo of Japanese Honda as representative, walking energy expenditure rate exceeds 10 times of people, cause rapidly depleting in battery a few hours, seriously limit working time, scope of activities, load-carrying ability, use the longevity The important indicators such as life.
Therefore, walking energy consumption is the crucial problem for perplexing robot research greatly, is especially failed for many years significantly in battery capacity Today of breakthrough.And present invention design super low energy consumption passive walking field, by the innovative design to passive walking structure and Effective master control set, realizes drive lacking walking and turns to, effectively overcome traditional passive walking robot foot wipe ground and Turn to difficult problem.
The content of the invention
In view of this, it is an object of the invention to provide a kind of drive lacking running gear and its Servo Control method, specifically Including following technical scheme:
A kind of drive lacking running gear, including the leg being made up of two inner side legs and two outer legs, the inner side leg It is connected by bent axle with outer legs, the bent axle includes one section of axis, two short supporting axles, the outer horizontal stroke of transverse axis and two ends in two sections Axle;The inner side leg is spindle rotationally arranged on interior transverse axis, and two outer legs are spindle rotationally arranged in the outer of two ends respectively On transverse axis;The spacing ring that can be slid on is provided with the inside and outside leg;Lifting hip joint is fixed on upper body platform sinistral Or right side, including sliding block, screw motor and slide rail, its center is threaded, and centre passes through screw rod, the screw rod with it is solid It is scheduled on the screw motor axle connection on the platform of upper body;Fixed hip joint is fixed on upper body platform dextral or left side, including flat a pair Capable spacing ring;There are four supports on the upper body platform, middle two supports are supported on axis two ends, and the axis is rotatable Ground is passed through on two supports in platform inner side, and the short supporting axle penetrates rotatably platform outrigger, the screw motor point Not Wei Yu lower position in the middle of left side or right side two stands, be fixedly connected with platform, motor revolves by the way that belt is synchronous with middle major axis Turn, master control set include data acquisition device, drive device, the information of the master control set real-time processing data harvester, Control turning device is adjusted by drive device to realize turning, and control driving motor realizes the acceleration and deceleration of walking;Described turn Bending apparatus are made up of screw motor and arthrodia, realize that walking device is turned right or left-hand rotation by raising arthrodia, are reduced and are slided Realize that walking device turns left or turns right in joint;The power supply provides energy for device.
Further, the lower end of the leg is provided with the foot as part of contacting to earth, and the foot contacts with ground point and sets Put.
Further, outer legs are four identical straight legs long in the leg, wherein, during walking, inner side leg or outer legs In contacted with ground is supporting leg, leave ground to lead leg.
Further, the fixed hip joint is located at the mirror position of lifting hip joint, and rotatable slip pipe is set by two Composition.
Further, the lifting hip joint is made up of screw motor and slider bracket, slider bracket connection spacing ring, described Leg passes through spacing ring, the slider bracket to be arranged on the platform right side or lower left and can be slided up and down with screw rod rotation, and lifting hip is closed It is boundary upper and lower leg ratio long that section can change with joint, and upward sliding can reach minimum scale value 1:10, slide downward is reachable It is 1 to maximum scale value:8, when lifting slider height is highly consistent with fixed hip joint, ratio value is 1:9;Sliding block declines, Ratio value is more than 1:Walking device is turned right when 9;Sliding block rises, and ratio value is less than 1:Walking device turns left when 9;Sliding block is maintained at 1:9 During height, walking device straight trip.
Present invention also offers a kind of Servo Control method of described drive lacking running gear, including forward-reverse control Method and left-hand rotation right-hand rotation control method, forward-reverse control method are comprised the following steps:
A) device is connected, is turned on the power, device starts;
B) motor 10 ° of rotation (counterclockwise) clockwise, upper body center of gravity leans forward (hypsokinesis);
C) motor rotation (clockwise) counterclockwise, is now in preaxial leg for supporting leg, and another is to lead leg;
D) information of master control set real-time processing data harvester, lifting hip joint is adjusted by controlling drive device Position and the rotating speed of driving motor, keep walking device steadily to advance;
E) lead leg and reach angle on target, wait is led leg and contacted to earth;When control system detects motor reverse impulse, it is determined that Now lead leg and contacted to earth, now system to be led leg and complete switching action with supporting leg;
F) c), d) and e) process is repeated, completes persistently to move ahead or retreat.
Left-hand rotation right-hand rotation control method is comprised the following steps:
A) walking device is in forward traveling;
B) lead leg when being overlapped with supporting leg, master control set control screw motor turns clockwise, and declines sliding block, joint Locate upper and lower leg ratio more than 1:9 are less than 1:8, leg step pitch is more than right side step pitch inside and outside left side, after landing of leading leg, walking device left side Displacement is more than right side, so as to realize turning right, master control set control screw motor rotate counterclockwise rises sliding block, on joint Lower leg ratio is less than 1:9 are more than 1:10, leg step pitch is less than right side step pitch inside and outside left side, after landing of leading leg, walking device left lateral position Move and be less than right side, so as to realize;
C) b) process is repeated, walking device is persistently turned;
D) master control set control screw motor makes the upper and lower leg ratio of joint recover 1:9, walking device recovers forward traveling.
The beneficial effects of the present invention are:The design of the drive lacking running gear that the present invention is provided and its Servo Control side Method, realizes receiving leg action in walking process by hip structure, and leg is straight legs, is point contact type with the ground way of contact, is reduced The complexity of structure, meanwhile, realize turning by changing unilateral step-length.
Brief description of the drawings
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below and carries out Explanation:
Fig. 1 is structural representation of the invention;
Fig. 2 is bent axle mechanical structure schematic diagram;
Fig. 3 is lifting hip joint structural representation;
Fig. 4 is Servo Control schematic diagram;
Fig. 5 is overall schematic.
Specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
Fig. 1 is structural representation of the invention, and Fig. 5 is overall schematic, as illustrated, device of the present invention includes Two inner side legs 9 and two legs of the composition of outer legs 8, the inner side leg 9 are connected with outer legs 8 by bent axle 3, the bent axle 3 include transverse axis 33 outside transverse axis 32 in one section of 34, two sections of short supporting axle of axis 31, two and two ends;The inner side leg 9 is rotatable It is arranged on interior transverse axis 32, two outer legs 8 are spindle rotationally arranged on the outer transverse axis 33 at two ends respectively;It is described inside and outside The spacing ring that can be slid on is provided with leg;The lifting hip joint 4 is fixed on upper body platform sinistral (right side), including Sliding block 44, screw motor 42 and slide rail 41, its center are threaded, and centre passes through screw rod 43, the screw rod 43 with it is solid The screw motor axle 42 being scheduled on the platform of upper body is connected;The fixed hip joint 2 is fixed on upper body platform dextral (left side), including A pair of parallel spacing ring;There are four supports 1 on the upper body platform, middle two supports are supported on the two ends of axis 31, described Axis 31 is penetrated rotatably on two supports in platform inner side, and the short supporting axle 34 penetrates rotatably platform outrigger, The screw motor 42 is located at lower position in the middle of left side (right side) two stands respectively, is fixedly connected with platform, and motor 7 passes through skin Band and the synchronous rotary of middle major axis 31, the master control set 6 include data acquisition device, drive device, and the master control set is real-time The information of processing data harvester, adjusts control turning device and realizes turning by drive device, and control driving motor 7 Realize the acceleration and deceleration of walking;The power supply 5 provides energy for device;The turning structure is by lifting hip joint and fixed hip joint Constitute, realize that walking device is turned right (left-hand rotation) by raising arthrodia, reduce arthrodia and realize that walking device turns left (right-hand rotation).
Wherein, the lower end of the leg is provided with the foot as part of contacting to earth, and the foot is four identical Spheroid.The interior outer legs of the leg are identical straight legs long, wherein, during walking, with ground in inner side leg or outer legs Face contact be supporting leg, leave ground to lead leg.
Fig. 2 is bent axle mechanical structure schematic diagram, the bent axle 3, support 1 and lifting joint 4 and the common structure of spacing ring 45 Into hip, the hip as this running gear action support section, hip top is connected by bent axle 3 with leg realization, Bent axle is free to rotate;Hip bottom is by the He of lifting joint 4 that is left-right asymmetry and being rotated freely along the direction of vertical support frame 1 Spacing ring 45 is constituted;Lifting joint controlled can realize lifting, and regulation homonymy step-length is so as to realize turning;Leg is spacing through hip Ring, and can freely up and down slide.Fig. 3 is fixed hip joint structural representation.
The radius of crankshaft is r, and crankshaft rotation angle is α, and hip top barycenter quality is m, hip bottom barycenter Quality is M;It is φ to lead leg with supporting leg angle, and the step-length is d.
Fig. 4 is Servo Control schematic diagram,
(retrogressing) mode that moves ahead of the walking device is divided into following steps:
A) device is connected, is turned on the power, device starts;
B) motor is (counterclockwise) clockwise rotates 10 ° (the horizontal α of explanation is 90 °), and upper body center of gravity leans forward (retrogressing);
C) motor rotation (clockwise) counterclockwise, is now in preaxial leg for supporting leg, and another is to lead leg;
D) information of master control set real-time processing data harvester, lifting hip joint is adjusted by controlling drive device Position and the rotating speed of driving motor, keep walking device steadily to advance;
E) lead leg and reach angle on target, wait is led leg and contacted to earth;When control system detects motor reverse impulse, it is determined that Now lead leg and contacted to earth, now system to be led leg and complete switching action with supporting leg;
F) c), d) and e) process is repeated, completes persistently to move ahead (retrogressing).
Its left-hand rotation (right-hand rotation) is controlled to comprise the following steps:
A) walking device is in forward traveling;
B) lead leg when being overlapped with supporting leg, master control set control screw motor turns clockwise, and declines sliding block, joint Locate upper and lower leg l1With l2Ratio is more than 1:9 are less than 1:8, leg step pitch is more than right side step pitch inside and outside left side, after landing of leading leg, walking Device left side displacement is more than right side, so as to realize turning right, master control set control screw motor rotate counterclockwise rises sliding block, closes Upper and lower leg ratio is less than 1 at section:9 are more than 1:10, leg step pitch is less than right side step pitch inside and outside left side, after landing of leading leg, walking device Left side displacement is less than right side, so as to realize;
C) b) process is repeated, walking device is persistently turned;
D) master control set control screw motor makes the upper and lower leg ratio of joint recover 1:9, walking device recovers forward traveling.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical Cross above preferred embodiment to be described in detail the present invention, it is to be understood by those skilled in the art that can be Various changes are made to it in form and in details, without departing from claims of the present invention limited range.

Claims (7)

1. a kind of drive lacking running gear, it is characterised in that:Including the leg being made up of two inner side legs and two outer legs, institute State inner side leg to be connected by bent axle with outer legs, the bent axle includes transverse axis and two in one section of axis, two short supporting axles, two sections The outer transverse axis at end;The inner side leg is spindle rotationally arranged on interior transverse axis, and two outer legs are spindle rotationally arranged in respectively On the outer transverse axis at two ends;The spacing ring that can be slid on is provided with the medial and lateral leg;Lifting hip joint is fixed on Body platform sinistral, including sliding block, screw motor and slide rail, its center are threaded, and centre passes through screw rod, the screw rod It is connected with the screw motor axle being fixed on the platform of upper body;Fixed hip joint is fixed on upper body platform dextral, including a pair of parallel Spacing ring;There are four supports on the upper body platform, middle two supports are supported on axis two ends, and the axis is rotationally Through on two supports in platform inner side, the short supporting axle penetrates rotatably platform outrigger, and the screw motor is located at Lower position in the middle of the two stands of left side, is fixedly connected with platform, and motor passes through belt and middle major axis synchronous rotary, master control set bag Data acquisition device, drive device are included, the information of the master control set real-time processing data harvester is adjusted by drive device Section control turning device is realized turning, and control driving motor realizes the acceleration and deceleration of walking;The turning device is by screw rod electricity Machine and arthrodia are constituted, and realize that walking device is turned right by raising arthrodia, are reduced arthrodia and are realized that walking device turns left;Electricity Source provides energy for device;
Or lifting hip joint is fixed on upper body platform dextral, including sliding block, screw motor and slide rail, its center carries spiral shell Line, centre passes through screw rod, the screw rod to be connected with the screw motor axle being fixed on the platform of upper body;Fixed hip joint is fixed on Body platform sinistral, including a pair of parallel spacing ring;In thering are four supports, middle two supports to be supported on the upper body platform Axle two ends, the axis is penetrated rotatably on two supports in platform inner side, and the short supporting axle is penetrated rotatably outside platform Side stand, the screw motor is located at lower position in the middle of the two stands of right side, is fixedly connected with platform, and motor is by belt with Major axis synchronous rotary, master control set includes data acquisition device, drive device, the master control set real-time processing data collection dress The information put, adjusts control turning device and realizes turning by drive device, and control driving motor realizes the plus-minus of walking Speed;The turning device is made up of screw motor and arthrodia, realizes that walking device turns left by raising arthrodia, is reduced and is slided Movable joint realizes that walking device is turned right;Power supply provides energy for device.
2. a kind of drive lacking running gear according to claim 1, it is characterised in that:The lower end of the leg is provided with work It is the foot of part of contacting to earth, the foot contacts setting with ground point.
3. a kind of drive lacking running gear according to claim 1, it is characterised in that:Outer legs are four in the leg Identical straight legs long, wherein, during walking, what is contacted with ground in inner side leg or outer legs is supporting leg, and leave ground is pendulum Dynamic leg.
4. a kind of drive lacking running gear according to claim 1, it is characterised in that:The fixed hip joint is located at lifting The mirror position of hip joint, sets rotatable slip pipe and constitutes by two.
5. a kind of drive lacking running gear according to claim 1, it is characterised in that:The lifting hip joint is by screw rod Motor and slider bracket are constituted, and slider bracket connection spacing ring, the leg passes through spacing ring, and the slider bracket is arranged on flat Platform is right or lower left can slide up and down with screw rod rotation, and it is boundary upper and lower leg ratio long that lifting hip joint can change with joint, Upward sliding can reach minimum scale value 1:10, it is 1 that slide downward can reach maximum scale value:8, when lifting slider height with it is solid Determine hip joint it is highly consistent when, ratio value is 1:9;Sliding block declines, and ratio value is more than 1:Walking device is turned right when 9;Sliding block rises, than Example value is less than 1:Walking device turns left when 9;Sliding block is maintained at 1:During 9 height, walking device straight trip.
6. the Servo Control method of the drive lacking running gear as any one of claim 1 to 5, including forward-reverse control Method processed and left-hand rotation right-hand rotation control method, it is characterised in that:
Forward-reverse control method is comprised the following steps:
A) device is connected, is turned on the power, device starts;
B) motor turns clockwise 10 °, and upper body center of gravity leans forward, 10 ° of rotate counterclockwise, upper body center of gravity hypsokinesis;
C) motor turns clockwise, and what is contacted with ground in inner side leg or outer legs is supporting leg, leave ground to lead leg;
D) information of master control set real-time processing data harvester, the position of lifting hip joint is adjusted by controlling drive device With the rotating speed of driving motor, walking device is kept steadily to advance;
E) lead leg and reach angle on target, wait is led leg and contacted to earth;When control system detects motor reverse impulse, it is determined that now Lead leg and contacted to earth, now system to be led leg and complete switching action with supporting leg;
F) c), d) and e) process is repeated, completion persistently moves ahead;
G) motor rotate counterclockwise, what is contacted with ground in inner side leg or outer legs is supporting leg, leave ground to lead leg;
H) information of master control set real-time processing data harvester, the position of lifting hip joint is adjusted by controlling drive device With the rotating speed of driving motor, walking device is kept steadily to retreat;
I) lead leg and reach angle on target, wait is led leg and contacted to earth;When control system detects motor reverse impulse, it is determined that now Lead leg and contacted to earth, now system to be led leg and complete switching action with supporting leg;
J) g), h) and i) process is repeated, lasting retrogressing is completed.
7. the Servo Control method of drive lacking running gear according to claim 6, it is characterised in that:
Left-hand rotation right-hand rotation control method is comprised the following steps:
A) walking device is in forward traveling;
B) lead leg when being overlapped with supporting leg, master control set control screw motor turns clockwise, and declines sliding block, on joint Lower leg ratio is more than 1:9 are less than 1:8, leg step pitch is more than right side step pitch inside and outside left side, after landing of leading leg, walking device left side displacement More than right side, so as to realize turning right, master control set control screw motor rotate counterclockwise rises sliding block, the upper and lower leg of joint Ratio is less than 1:9 are more than 1:10, leg step pitch is less than right side step pitch inside and outside left side, and after landing of leading leg, walking device left side displacement is small In right side, so as to realize;
C) b) process is repeated, walking device is persistently turned;
D) master control set control screw motor makes the upper and lower leg ratio of joint recover 1:9, walking device recovers forward traveling.
CN201510430618.6A 2015-07-21 2015-07-21 A kind of drive lacking running gear and its Servo Control method Active CN105128976B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510430618.6A CN105128976B (en) 2015-07-21 2015-07-21 A kind of drive lacking running gear and its Servo Control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510430618.6A CN105128976B (en) 2015-07-21 2015-07-21 A kind of drive lacking running gear and its Servo Control method

Publications (2)

Publication Number Publication Date
CN105128976A CN105128976A (en) 2015-12-09
CN105128976B true CN105128976B (en) 2017-06-16

Family

ID=54714670

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510430618.6A Active CN105128976B (en) 2015-07-21 2015-07-21 A kind of drive lacking running gear and its Servo Control method

Country Status (1)

Country Link
CN (1) CN105128976B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105411818B (en) * 2016-01-08 2018-03-09 广州足步医疗科技有限公司 A kind of bionical sufficient formula walking aid device with drive control
CN105774938B (en) * 2016-03-03 2017-11-07 北京中航科电测控技术股份有限公司 Biped robot with obstacle crossing function
CN105774939B (en) * 2016-03-29 2018-06-15 重庆邮电大学 A kind of semi-passive quadruped robot turning structure and its control method
CN106394716B (en) * 2016-07-05 2018-07-13 河海大学常州校区 A kind of shipping stair climbing auxiliary device
CN106080832B (en) * 2016-08-09 2018-06-29 重庆邮电大学 Semi-passive running gear and its control method
CN109625116B (en) * 2018-12-18 2020-12-15 江汉大学 Semi-passive walking robot capable of doing knee bending movement and control method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4834200A (en) * 1986-12-15 1989-05-30 Agency Of Industrial Science & Technology Method and apparatus for dynamic walking control of robot
CN101492075A (en) * 2009-03-09 2009-07-29 张进华 Method for realizing four-foot stride walk using gravity-center turning process
CN102556200A (en) * 2012-01-13 2012-07-11 燕山大学 Four-feet walker
CN102700649A (en) * 2012-06-21 2012-10-03 哈尔滨工业大学 Body type epistemic passive biped walking robot system
CN104648515A (en) * 2015-01-14 2015-05-27 重庆邮电大学 Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof
CN104742997A (en) * 2015-03-26 2015-07-01 重庆邮电大学 Double-twisted rocker type passive walking device

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006011577A1 (en) * 2004-07-30 2006-02-02 Tmsuk Co., Ltd. Multi-point ground contact type foot part support mechanism, bipedal walking robot having the support mechanism, and control structure for the robot
JP5590622B6 (en) * 2009-12-22 2018-06-27 国立大学法人 名古屋工業大学 2-legged passive walking machine
US9296102B2 (en) * 2012-01-11 2016-03-29 Technion Research And Development Foundation Ltd. Robot, device and a method for central pattern generator(CPG) based control of a movement of the robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4834200A (en) * 1986-12-15 1989-05-30 Agency Of Industrial Science & Technology Method and apparatus for dynamic walking control of robot
CN101492075A (en) * 2009-03-09 2009-07-29 张进华 Method for realizing four-foot stride walk using gravity-center turning process
CN102556200A (en) * 2012-01-13 2012-07-11 燕山大学 Four-feet walker
CN102700649A (en) * 2012-06-21 2012-10-03 哈尔滨工业大学 Body type epistemic passive biped walking robot system
CN104648515A (en) * 2015-01-14 2015-05-27 重庆邮电大学 Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof
CN104742997A (en) * 2015-03-26 2015-07-01 重庆邮电大学 Double-twisted rocker type passive walking device

Also Published As

Publication number Publication date
CN105128976A (en) 2015-12-09

Similar Documents

Publication Publication Date Title
CN105128976B (en) A kind of drive lacking running gear and its Servo Control method
CN206033066U (en) Hoisting machinery convenient to remove
CN104986244B (en) Drive lacking running gear and its control method
CN203032844U (en) Self-balanced vehicle auxiliary wheel structure and self-balanced vehicle with same
CN105015642B (en) By single motor-driven semi-passive walking device and its rotating direction control method
CN105962876A (en) Capsule controller of endoscope
CN202236177U (en) Gantry type traditional Chinese medicine massage robot
CN107575059A (en) A kind of tower bicycle parking device
CN207311653U (en) The sufficient Bionic crab robot of one kind eight
CN107000475B (en) Utilize the wheel of the load rotation acted on eccentric position axle
CN205699305U (en) Basketball training auxiliary robot
CN104512493B (en) Control method of gear transmission halving upper body energy-saving passive walking device
CN102389364A (en) Gantry Chinese medical massaging robot
CN207696559U (en) A kind of charge and discharge rotating machinery arm apparatus
CN206734445U (en) A kind of Hexapod Robot based on parallel institution
CN206383998U (en) Locomotive and shifting car device
CN106272468B (en) Two-freedom foldable moving robot
CN106004282B (en) A kind of multiple degrees of freedom shooting operation intelligent robot waterborne
CN202783482U (en) Novel six-foot biomimetic robot
CN211586703U (en) Biomedical detection operation panel
CN209478174U (en) A kind of agricultural robot platform based on intersection girder rack
CN107697179B (en) Dual-mode spherical robot mechanism and walking method
CN206664690U (en) Carbon-free trolley steering mechanism with quickreturn characteristics
CN107010111A (en) Carbon-free trolley steering mechanism with quickreturn characteristics
CN101284552B (en) Dynamic balancing single-wheel remotion robot body

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20210205

Address after: 401120 9-16, building 11, Guobin City, No.18, Xinji Avenue, Longxi street, Yubei District, Chongqing

Patentee after: Chongqing Hengdao Intellectual Property Agency Co.,Ltd.

Address before: 400065 Chongqing Nan'an District huangjuezhen pass Chongwen Road No. 2

Patentee before: CHONGQING University OF POSTS AND TELECOMMUNICATIONS

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20210901

Address after: 200000 2 / F, building 6, 128 Xiangyin Road, Yangpu District, Shanghai

Patentee after: Shanghai zhuoyide robot Co.,Ltd.

Address before: 401120 9-16, building 11, Guobin City, No.18, Xinji Avenue, Longxi street, Yubei District, Chongqing

Patentee before: Chongqing Hengdao Intellectual Property Agency Co.,Ltd.