[AI35-4]Novelty-search Create a report
Enter [AI35-3] Novelty search - the task_id in the query, as well as the information in similar patents (including patent_id, pn, selected, user_added, most_similar, public_score, feature_items). Users can add similar patent information by themselves. If task_id is successfully returned, the report creation is successful
Request Parameters
List of parameters supported by this API endpoint
| Name | Type | Example | Description |
|---|---|---|---|
Required | array | [
{
"pn": "CN118289111A",
"selected": true,
"patent_id": "c8803f2a-a2fb-4d8f-af7a-ec7b137be8d8",
"user_added": false,
"most_similar": true,
"public_score": 0.9747,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "一种人形机器人的腿部动力结构"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "所述跨步驱动单元，用于驱动所述第一大腿体前后摆动，进而带动整个腿部动力结构前后摆动"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "所述第一大腿体上部设有髋关节驱动单元，以驱动所述第一大腿体左右摆动进而带动整个腿部动力结构左右摆动"
},
{
"similar": true,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": "所述第一大腿体和所述第二大腿体之间，设有第一驱动单元，以实现所述第一大腿体与所述第二大腿体相对周向转动"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "所述大腿体组件，或大腿体组件与所述小腿体组件之间，设有膝关节驱动单元，以实现所述大腿体组件与所述小腿体相对前后摆动"
},
{
"similar": true,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "所述小腿体上设有脚踝驱动单元，所述脚踝驱动单元的输出端设有连杆，所述连杆与所述脚部支撑件连接，以带动所述脚部支撑件作上下、左右方向的摆动"
},
{
"similar": true,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": "本发明的驱动单元通过抱箍件进行固定，能够将驱动单元进行有效固定在腿体上，避免驱动单元打滑，同时可以有效减少紧固件(螺钉或螺栓)的使用，提高拆装效率，并且相比螺钉或螺栓固定结构，结构上更加美观"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "因而可以很好的满足人形机器人需要实现各种动作姿态的要求，并且整个腿部动力结构设计合理，结构紧凑，拟人效果好，便于人形机器人的推广使用"
}
]
},
{
"pn": "CN221938342U",
"selected": true,
"patent_id": "9aad3560-1157-49b0-9fb4-ce2adf26376d",
"user_added": false,
"most_similar": false,
"public_score": 0.9747,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "一种人形机器人的腿部动力结构"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "所述跨步驱动单元，用于驱动所述第一大腿体前后摆动，进而带动整个腿部动力结构前后摆动"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "所述第一大腿体上部设有髋关节驱动单元，以驱动所述第一大腿体左右摆动进而带动整个腿部动力结构左右摆动"
},
{
"similar": true,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": "所述第一大腿体和所述第二大腿体之间，设有第一驱动单元，以实现所述第一大腿体与所述第二大腿体相对周向转动"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "所述大腿体组件，或大腿体组件与所述小腿体组件之间，设有膝关节驱动单元，以实现所述大腿体组件与所述小腿体相对前后摆动"
},
{
"similar": true,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "所述小腿体上设有脚踝驱动单元，所述脚踝驱动单元的输出端设有连杆，所述连杆与所述脚部支撑件连接，以带动所述脚部支撑件作上下、左右方向的摆动"
},
{
"similar": true,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": "本实用新型的驱动单元通过抱箍件进行固定，能够将驱动单元进行有效固定在腿体上，避免驱动单元打滑，同时可以有效减少紧固件(螺钉或螺栓)的使用，提高拆装效率，并且相比螺钉或螺栓固定结构，结构上更加美观"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "因而可以很好的满足人形机器人需要实现各种动作姿态的要求，并且整个腿部动力结构设计合理，结构紧凑，拟人效果好，便于人形机器人的推广使用"
}
]
},
{
"pn": "CN119389326A",
"selected": true,
"patent_id": "33af84a7-f113-4b7f-9c08-f3b7ba33cbae",
"user_added": false,
"most_similar": false,
"public_score": 0.9519,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "本发明的人形机器人下肢结构中所采用的腿部动力结构设计紧凑，布局合理，能够完成各种姿态、动作要求"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "大腿摆动驱动安装在所述髋部座体的内侧，且其输出转轴与所述第一活动座相连接"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "大腿侧摆驱动与所述第一活动座固定连接，且其输出转轴与所述第二活动座相连接"
},
{
"similar": true,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": "大腿旋转驱动与所述第二活动座固定连接，且其输出转轴与所述大腿单元的上端相连接"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "小腿摆动驱动在所述大腿支架的上端设置"
},
{
"similar": true,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "第一脚部驱动的输出轴和所述第二脚部驱动朝向相反的方向布置"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "本发明的人形机器人下肢结构中所采用的腿部动力结构设计紧凑，布局合理，能够完成各种姿态、动作要求"
},
{
"similar": false,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": ""
}
]
},
{
"pn": "CN111098951A",
"pbd": "2020-05-05",
"selected": false,
"patent_id": "12727bed-0eb4-4826-a6b2-b6c139595dad",
"user_added": false,
"most_similar": false,
"public_score": 0.865,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "类人形机器人腿部结构"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "膝关节驱动件，安装于所述大腿部；以及膝关节传动组件，用于将所述膝关节驱动件的动力传递至所述小腿部以使所述小腿部摆动"
},
{
"similar": true,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "踝关节驱动件，安装于所述大腿部；踝侧传动组件，用于将所述踝关节驱动件的动力传递至所述脚部以使所述脚部运动"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "该类人形机器人腿部结构中，将重量较大的膝关节驱动件的安装位置提高到大腿部上，通过膝关节传动组件将膝关节驱动件的动力传递至小腿部，带动小腿部摆动，这使得大腿部的转动惯量降低，有效降低大腿部与小腿部之间膝关节的所需动力"
},
{
"similar": false,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": ""
}
]
},
{
"pn": "CN119459921A",
"selected": false,
"patent_id": "0a131de7-6699-45f0-b4c7-bb14460599dc",
"user_added": false,
"most_similar": false,
"public_score": 0.8617,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "一种人形机器人腿部结构，包括依次连接的大腿部、膝关节、小腿部、踝关节和脚部"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "连接组件101用于和人形机器人的髋关节连接"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "第一关节模组电机102通过螺栓安装在电机安装块104上，其输出端通过平头螺丝与第一凸轮103连接，第一凸轮103端面的螺栓与第一拉杆201的上端连接，第一拉杆201两端的孔位安装向心关节轴承203，通过第一卡簧204固定，第一卡簧204为无耳卡簧，向心关节轴承203内圈与第二膝关节转轴210配合，实现膝关节200的俯仰运动"
},
{
"similar": true,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "第二关节模组电机108和第三关节模组电机301通过传动链带动脚部500进行俯仰和横滚运动，实现踝关节400的解耦控制"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "通过该可解耦踝关节400设计，机器人可以灵活地完成下蹲、行走、单腿支撑等动作，增强了在复杂地形中的行走能力"
},
{
"similar": false,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": ""
}
]
},
{
"pn": "CN112046637A",
"pbd": "2020-12-08",
"selected": false,
"patent_id": "04723cf0-5c56-4812-a27b-451d110ed041",
"user_added": false,
"most_similar": false,
"public_score": 0.8491,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "本发明还提供一种人形机器人，包括上述的腿部机构。"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "髋关节驱动机构包括u形连接件、固定于所述u形连接件且用于驱动所述u形件旋转的髋旋转舵机、固定于所述u形连接件且用于驱动大腿结构件侧摆的髋侧摆舵机以及设于所述u形连接件内且用于驱动所述大腿结构件前摆的髋前摆舵机"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "髋关节驱动机构包括u形连接件、固定于所述u形连接件且用于驱动所述u形件旋转的髋旋转舵机、固定于所述u形连接件且用于驱动大腿结构件侧摆的髋侧摆舵机以及设于所述u形连接件内且用于驱动所述大腿结构件前摆的髋前摆舵机"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "膝关节驱动机构，设于所述大腿结构件上且用于驱动所述小腿结构件相对所述大腿结构件转动"
},
{
"similar": true,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "脚踝驱动机构，用于驱动所述脚板结构件相对所述小腿结构件转动"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "本发明提供的腿部机构及人形机器人的有益效果在于：与现有技术相比，本发明腿部机构包括髋关节驱动机构、大腿结构件、小腿结构件、脚板结构件、膝关节驱动机构和脚踝驱动机构，大腿结构件、小腿结构件和脚板结构件依次连接。髋关节驱动机构包括髋旋转舵机、髋侧摆舵机和髋前摆舵机，分别用于实现髋关节的旋转、侧摆和前摆，且髋旋转舵机、髋侧摆舵机和髋前摆舵机均集成于u形连接件上，无需设置在大腿结构件上，可以提高腿部机构的质心；膝关节驱动机构设于大腿结构件，相比于设置在膝关节处，也可以相应提高腿部机构的质心，从而可以减小腿部机构及人形机器人所需的驱动力。"
},
{
"similar": false,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": ""
}
]
},
{
"pn": "CN119078989A",
"selected": false,
"patent_id": "b343fc70-ae91-4ea1-8fae-9899bb4ddc58",
"user_added": false,
"most_similar": false,
"public_score": 0.7592,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "腿部结构及人形机器人"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "髋部直线执行器501的第一端与大腿支架101相连接，第二端与髋关节组件2相连接，以通过髋关节组件2运动驱动大腿支架101和大腿支架101中的至少一个进行俯仰运动和侧摆运动"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "髋部直线执行器501驱动髋关节组件2运动，以带动大腿支架101绕b轴和/或c轴转动"
},
{
"similar": true,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": "电机模板104通过回转安装架201驱动大腿支架101进行旋转运动"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "膝关节直线执行器502的驱动端与膝关节组件3连接，以驱动小腿支架102进行俯仰运动"
},
{
"similar": true,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "踝部直线执行器503第一端与小腿支架102转动连接，第二端与足支架103转动连接，以驱动足支架103和小腿支架102中的至少一个进行俯仰和侧摆运动"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "腿部结构进行相应动作时所需要的能量更少，响应速度快，提高人形机器人的动态稳定性"
},
{
"similar": false,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": ""
}
]
},
{
"pn": "CN110217308A",
"selected": false,
"patent_id": "1cd5bafd-faae-4cbb-8774-a7fa2a9b9fab",
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"most_similar": false,
"public_score": 0.7527,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "一种内部走油的轮腿式仿人形机器人包括头部、肩部、躯体、髋部盆骨、第一液压连杆组件、第二液压连杆组件、第三液压连杆组件、液压缸、两个机械臂、两个大腿、两个小腿和两个驱动轮"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "每个大腿与髋部盆骨铰接并通过第二液压连杆组件驱动使每个大腿能前后摆动"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "每个小腿与每个大腿铰接并通过第三液压连杆组件驱动使每个小腿能前后摆动"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "本发明各个关节采用无软管化油路，无需大量液压管路和电气线路的连接，结构简单，安装和拆卸方便；管线磨损故障大幅降低，整机安全性与可靠性提高；同时能使本发明质量轻化"
},
{
"similar": false,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": ""
}
]
},
{
"pn": "CN113232743A",
"selected": false,
"patent_id": "8975386d-370e-4e13-aa82-3dc9d9ad6f4c",
"user_added": false,
"most_similar": false,
"public_score": 0.663,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "一种人形四足机器人，包括腿部、机械臂、腰部、移动平台、头部和躯干部"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "每个所述髋关节的另一端的内侧均设置有一个第二电机，所述第二电机通过所述臀关节与所述大腿的顶端连接，所述第二电机控制所述腿部的一个俯仰"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "每个所述髋关节的另一端的外侧均设置有一个第三电机，所述第三电机通过所述膝关节与所述小腿连接，所述第三电机控制所述小腿的一个俯仰"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "每个所述髋关节的另一端的外侧均设置有一个第三电机，所述第三电机通过所述膝关节与所述小腿连接，所述第三电机控制所述小腿的一个俯仰"
},
{
"similar": false,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": ""
}
]
},
{
"pn": "CN111959633A",
"selected": false,
"patent_id": "b0309d3c-4540-4870-8b32-f379158a839f",
"user_added": false,
"most_similar": false,
"public_score": 0.641,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "液压驱动型足式仿生人形机器人，包括腿部机械结构和液压系统"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "髋关节能够实现转动、侧摆和/或俯仰动作"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "髋关节具备转动、侧摆和俯仰三个自由度，采用液压摆动缸驱动髋关节实现扭转运动，采用两个液压驱动单元驱动髋关节实现侧摆和俯仰运动"
},
{
"similar": true,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": "液压摆动缸能够带动所述扭转中间件相对所述上肢连接架转动，进而实现腿部整体转动"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "膝关节能够实现俯仰动作，通过液压驱动单元中伺服缸杆的伸缩实现膝关节的俯仰运动"
},
{
"similar": true,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "踝关节能够实现前后俯仰和/或左右侧摆动作，踝关节处采用万向节结构来模拟踝关节的前后俯仰和左右侧摆运动"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "腿部结构灵活性更好且自由度数更多；单腿机构可以由上向下划分为髋关节、膝关节和踝关节，每个单腿机构有6个自由度，其中髋关节有腿部结构的转动、侧摆和俯仰3个自由度，膝关节有小腿俯仰1个自由度，踝关节有脚掌的侧摆和俯仰2个自由度；该足式人形仿生机器人运动灵活性更高、避障能力更强、整机集成度功重比更高、工作平稳换向冲击小、响应快、推力大、负载能力更强"
},
{
"similar": false,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": ""
}
]
},
{
"pn": "CN117262067A",
"selected": false,
"patent_id": "2fd7c046-3cb9-4538-a2a9-0b774f605caa",
"user_added": false,
"most_similar": false,
"public_score": 0.5684,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "一种六自由度、低惯量的机器人仿生腿，它包括髋关节结构和腿部结构；所述的腿部结构包括大腿、膝关节连接轴、小腿、踝关节万向节组件、脚部、膝关节曲柄摇杆驱动组件和踝关节曲柄摇杆驱动组件；所述大腿的下端与小腿的上端通过膝关节连接轴转动连接，小腿的下端通过踝关节万向节组件与脚部转动连接；膝关节曲柄摇杆驱动组件的固定端安装在大腿的上端，膝关节曲柄摇杆驱动组件的驱动端铰连接在小腿的上端，并驱动小腿绕膝关节连接轴的轴线方向进行前后摆动，实现小腿的俯仰动作；所述的踝关节曲柄摇杆驱动组件的固定端安装在大腿的中间部位，踝关节曲柄摇杆驱动组件的驱动端连接在踝关节万向节组件上，用以实现脚部的俯仰动作和侧摆动作"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "髋关节俯仰电机5安装在大腿连接件3上，并与大腿6的端部连接，用于实现大腿的俯仰动作"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "在两个推杆伸缩件4的作用下实现大腿的侧摆与偏航动作"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "膝关节曲柄摇杆驱动组件11的驱动端铰连接在小腿8的上端，并驱动小腿8绕膝关节连接轴7的轴线方向进行前后摆动，实现小腿8的俯仰动作"
},
{
"similar": true,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "踝关节曲柄摇杆驱动组件12的驱动端连接在踝关节万向节组件9上，用以实现脚部的俯仰动作和侧摆动作"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "本申请通过两方面的设计使得腿部结构整体结构更加紧凑，外观更加“拟人”化。一是，结构上布局的设计：髋关节结构与腿部结构均为对称式设计，髋关节结构的中分面与腿部结构的中分面垂直设计，其中髋关节俯仰电机与膝关节俯仰电机对称布置在腿部结构中分面的两侧，两个踝关节驱动单元对称布置在腿部结构中分面的两侧，且处于髋关节俯仰电机与膝关节俯仰电机的下方，同时处于膝关节的上方，即整个腿部结构的驱动电机均对称布置于大腿上，充分利用了大腿的空间，小腿尺寸得以缩小，整体布局紧凑，外观更加“拟人”。二是，小腿部轻量化的设计，减小驱动装置的体积：将用于驱动踝关节的电机置于大腿上，小腿部分不安装任何机器人腿部的驱动元件，使机器人腿部的质量分布更加靠近大腿根部，减小了小腿部分的惯量，降低了小腿驱动装置的要求，进而减小驱动装置的体积，使布局更加紧凑，更加接近人类腿部外形，同时对实现更高的运动性能提供了可能；而用于驱动髋关节的电缸压缩了高度尺寸，更加“拟人”、美观"
},
{
"similar": false,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": ""
},
{
"similar": false,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": ""
}
]
},
{
"pn": "CN119459929A",
"selected": false,
"patent_id": "9633ce7b-c5ee-4491-8d6f-75baffda46f9",
"user_added": false,
"most_similar": false,
"public_score": 0.5656,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "一种腿部组件，用于人形机器人，所述人形机器人还包括胯部组件"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "俯仰驱动件用于驱动所述支架围绕第一轴线旋转，以带动腿部组件在第三方向上摆动，所述第三方向为所述人形机器人的前后方向"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "横滚驱动件用于驱动所述腿部组件围绕第三轴线摆动，以带动所述腿部组件在所述第二方向上摆动"
},
{
"similar": true,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": "偏航驱动件还与所述腿部组件连接，并驱动所述腿部组件围绕第二轴线转动"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "第一驱动件通过曲柄、第一连杆和第二连杆将动力传递至小腿件，以驱动小腿件绕第四轴线转动"
},
{
"similar": true,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "所述第一连杆和所述第二连杆平行且均沿直线延伸，在第三方向上，所述第一连杆和所述第二连杆具有间隔，所述第三方向为所述人形机器人的前后方向"
},
{
"similar": true,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": "所述第二表面设置有限位部，所述限位部用于限制所述曲柄的转动范围"
},
{
"similar": true,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "腿部组件的结构设置合理，重心稳定，拟人程度高"
}
]
},
{
"pn": "CN116803832A",
"selected": false,
"patent_id": "b363021e-e6d0-43dc-81b6-84e265ed5b61",
"user_added": false,
"most_similar": false,
"public_score": 0.55,
"feature_items": [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "一种双足机器人腿部结构，具有两个腿部组件，所述腿部组件包括腿部，所述腿部包括大腿及驱动所述大腿转动的大腿关节、小腿及驱动所述小腿转动的小腿关节、足部"
},
{
"similar": true,
"tech_feature": "跨步驱动单元用于驱动左大腿前后摆动",
"comparison_feature": "用于驱动腿部组件摆动的摆腿关节，其具有一沿水平方向的摆腿转动轴"
},
{
"similar": true,
"tech_feature": "髋关节驱动单元用于驱动左大腿左右摆动",
"comparison_feature": "用于驱动腿部组件摆动的摆腿关节，其具有一沿水平方向的摆腿转动轴"
},
{
"similar": true,
"tech_feature": "第一驱动单元实现左腿与右腿的相对周向转动",
"comparison_feature": "用于驱动腿部转动的转腿关节，其与所述腿部构成腿部组件"
},
{
"similar": true,
"tech_feature": "膝关节驱动单元实现大腿组件与小腿组件的相对前后摆动",
"comparison_feature": "所述腿部包括大腿及驱动所述大腿转动的大腿关节、小腿及驱动所述小腿转动的小腿关节"
},
{
"similar": false,
"tech_feature": "脚踝驱动单元通过连杆带动脚部支撑件作上下、左右方向的摆动",
"comparison_feature": "所述足部"
},
{
"similar": false,
"tech_feature": "实现了人形机器人多种姿态和动作的需求，并通过紧凑的结构设计降低了生产成本和尺寸，提高了拆装效率和美观性",
"comparison_feature": "本申请优化了双足机器人腿部的摆腿惯量和力矩，降低摆腿过程中的扭矩需求，更易实现腿部的“轻抬轻放”，从而降低了双足机器人的控制难度和能耗，提升了机器人的适用性"
},
{
"similar": false,
"tech_feature": "各驱动单元通过抱箍件固定，限制轴向和周向运动",
"comparison_feature": ""
}
]
}
] | Patent Technical Characteristics Information |
Required | array | [
{
"similar": true,
"tech_feature": "人形机器人的腿部动力结构",
"comparison_feature": "一种六自由度、低惯量的机器人仿生腿，它包括髋关节结构和腿部结构"
}
] | Patented Technical Features |
| string | 一种六自由度、低惯量的机器人仿生腿，它包括髋关节结构和腿部结构 | Feature words found in the target text |
| boolean | true | Similarity |
| string | 人形机器人的腿部动力结构 | characteristic word |
Required | boolean | true | Is it the most similar |
Required | string | 2fd7c046-3cb9-4538-a2a9-0b774f605caa | patent id |
Required | string | CN117262067A | Patent Number |
Required | number<float> | 0.6557 | Openness Score |
Required | boolean | true | Checked or unchecked for comparison |
Required | boolean | - | Whether the data is added by the user |
Required | string | d12fcd63d27028b88a73168d5bca44d5 | Task_id for technical queries |
Response Schema
Structure of the API response data
| Field Name | Type | Example | Description |
|---|---|---|---|
data | object | - | response data |
task_id | string | d12fcd63d27028b88a73168d5bca44d5 | task_id of the technical survey report |
statusRequired | boolean | false | Status |
error_msg | string | The request parameter format is incorrect！ | Error Message |
error_codeRequired | integer | 0 | Error Code |
Success Response Example
Example of a successful API response
JSON
{
"data": {
"task_id": "d12fcd63d27028b88a73168d5bca44d5"
},
"status": true,
"error_code": 0
}Error Codes
List of possible error codes returned by this endpoint
Business Errors
| Error Code | Description |
|---|---|
68300004 | Invalid parameter! |
68300005 | Search api failure! |
68300006 | Analytic basic access error! |
68300007 | Bad request! |
68300008 | Service error, please try again later! |
68300010 | The file does not comply with upload specifications! |
Platform Errors
| Error Code | Description |
|---|---|
67200000 | API call exceeds the total limit set by the platform! |
67200001 | API call exceeds the total limit set by the platform! |
67200002 | The current call rate is too fast, exceeding the current configuration limit QPS! |
67200003 | The key and secret parameters for applying for the token are incorrect or the client has been disabled! |
67200004 | The requested api does not have permission. Please contact our support personnel! |
67200005 | Insufficient account balance/number of calls! |
67200006 | The client has exceeded the activation validity period! |
67200007 | The current call exceeds the configured usage limit of the day! |
67200008 | Please check if the required apikey in the query parameter has been transmitted! |
67200009 | The apikey does not match the passed bearerToken. Please check if a valid token is being used! |
67200012 | The request is illegal! |
67200100 | The current server status is busy, request response timeout! |
67200101 | The API requested currently does not exist. Please check the request path! |
HTTP Status Codes
| Status Code | Description |
|---|---|
0 | Success |
201 | Created |
401 | Unauthorized |
403 | Forbidden |
404 | Not Found |
Performance Metrics
Expected performance characteristics for this endpoint
Normal Response Time
5000 ms
Max Response Time
10000 ms