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    • 9. 发明授权
    • Legged mobile robot
    • 有腿的移动机器人
    • US08387726B2
    • 2013-03-05
    • US13152724
    • 2011-06-03
    • Susumu Miyazaki
    • Susumu Miyazaki
    • B62D57/032
    • A63H11/00B25J9/106B62D57/032
    • A robot 1 is equipped with a leg 2 including a knee joint 16 connecting a thigh link 32 and a crus link 34. The knee joint 16 is equipped with a connecting rod 44, one end of which is connected so as to be freely rotatable with respect to an axis 40 of the crus link 34 and the other end of which is connected so as to be freely rotatable to an axis 42 of the thigh link 32, and a distance varying mechanism 50 which changes the distance between an axis 60 of the crus link 34 and an axis 56 of the thigh link 32 by a driving force of an electric motor 40. When a bending angle of the knee joint 16 is 0 degree, a sum of the distance between the axis 40 and axis 42 and the distance between the axis 60 and the axis 56, is smaller than the distance between the axis 40 and the axis 56.
    • 机器人1配备有包括连接大腿连杆32和十字连杆34的膝关节16的腿部2.膝关节16配备有连杆44,连杆44的一端连接成可自由转动, 相对于十字连杆34的轴线40并且其另一端连接成能够自由旋转到大腿连杆32的轴线42;以及距离变化机构50,其改变了轴线60之间的距离 通过电动机40的驱动力,大腿连杆32的轴线56和轴56.当膝关节16的弯曲角度为0度时,轴线40与轴42之间的距离和距离 在轴线60和轴线56之间的距离小于轴线40和轴线56之间的距离。