CN102416622B - Bionic snake mouth mechanism - Google Patents
Bionic snake mouth mechanism Download PDFInfo
- Publication number
- CN102416622B CN102416622B CN 201110269056 CN201110269056A CN102416622B CN 102416622 B CN102416622 B CN 102416622B CN 201110269056 CN201110269056 CN 201110269056 CN 201110269056 A CN201110269056 A CN 201110269056A CN 102416622 B CN102416622 B CN 102416622B
- Authority
- CN
- China
- Prior art keywords
- lower jaw
- steel wire
- rod member
- quadrate
- rod members
- 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
Images
Landscapes
- Surgical Instruments (AREA)
Abstract
The invention relates to a bionic snake mouth mechanism, which comprises a head frame system which can simulate the jaw motion of snakes, a power-driven part and a motion switching part, wherein a power source of the power-driven part passes through driving steel wires and is limited and guided by the motion switching part to draw an upper jaw closed loop articulated mechanism and a lower jaw component of the head frame system to move, so that a bionic snake mouth can be opened and closed. The bionic snake mouth mechanism can better simulate the motion mode of the snake mouth, has the advantages of simple structure, large motion space and the like, is easy to operate, can be used for the development of minimally invasive surgical instruments, surgical debridement, biopsy sampling and the like, and also can be popularized and used for various grabbing manipulators.
Description
Technical field
The present invention relates to a kind of bio-mechanism, be particularly related to a kind of Bionic snake mouth mechanism, be used for the research to snake mouth motor pattern, and can further be applied to the Minimally Invasive Surgery medicine equipment, carry out operation wound clearing, biopsy sampling etc., belong to Robotics and field of medical technology.
Background technology
Bionics is the science of mimic biology building technology device, is that biology, mathematics and engineering technology science interpenetrate and emerging frontier science being combined into.The in recent years progress of bionics, robotics, biotomy, new material and drive unit has promoted the development of bionical snake technology.
At present to the bionical research of snake mainly concentrate on snake without limb motion aspect, the countries such as the U.S., Japan, Germany, Britain, France have all carried out the research work of snake-shaped robot, and develop many model machines.The Hirose of Tokyo Univ Japan taught first from the bionic viewpoint research robot that crawls, and had developed First snake-shaped robot model machine in 1972.
The snake mouth can magnify to the prey that swallows times over own vol, usually mouth can only magnify to 30 degree, and She Zui can magnify to 150 degree, therefore it is significant to develop a kind of bio-mechanism that can simulate the She Zui motion, and related data to the research of snake mouth bio-mechanism is not yet found in the retrieval of present patented technology.
Summary of the invention
Technical problem to be solved by this invention is, blank for existing bionical snake technical field exists provides a kind of Bionic snake mouth mechanism, the athletic posture that it can imitation She Zui true to nature, realize the opening and closing of large space scope, reach long-range purpose of carrying out multiple crawl work.
For realizing above purpose, in the technical scheme of the present invention, adopt stainless steel as the Bionic snake mouth mechanism material, combine to realize the human simulation of the upper jaw and the lower jaw opening and closing campaign, the motion of maxilla canine tooth and the disengaging movement of lower jaw front end to She Zui by linkage with pulley mechanism.
The present invention is that the concrete technical scheme that its technical problem of solution is taked is:
A kind of Bionic snake mouth mechanism, it comprises head frame system, power drive part and the motion conversion portion that can imitate the She Zui motion, wherein,
Described head frame system comprises:
Maxilla closed loop linkage, linkage for the left and right sides symmetrical configuration that formed by jawbone rod member and two quadrate rod members on parietal bone, the two canine tooth rod members, two, the parietal bone two ends are respectively by the hinged two canine tooth rod members of connecting axle and two quadrate rod members, and jawbone rod member two ends are respectively by the hinged two canine tooth rod members of connecting axle and two quadrate rod members on two;
The lower jaw parts, linkage for the left and right sides symmetrical configuration that formed by two lower jaw afterbody rod members, two lower jaw front end rod members and both sides connecting rod, two lower jaw afterbody rod members are by the hinged two quadrate rod members of connecting axle difference, two lower jaw front end rod members are by the hinged two lower jaw afterbody rod members of connecting axle difference, and should connect axis perpendicular to the be connected axis of two lower jaw afterbody rod members with two quadrate rod members, the front end of two lower jaw front end rod members connects with connecting axle by the both sides connecting rod that is hinged;
Described power drive partly is positioned at the far-end of described Bionic snake mouth mechanism, some driving steel wires that it comprises power source and drives the head frame system motion;
Described motion conversion portion comprises:
The fixation with steel wire parts comprise some fixation with steel wire screws, its with described driving fixation with steel wire on the rod member surface of head frame system;
The steel wire limiting component, comprise stop screw and stopper slot, stop screw is twisted solid lower surface at described lower jaw afterbody rod member, and its head offers and carries out spacing through hole to driving steel wire, stopper slot such as is at the dark parallel slot, is distributed on the same periphery of lower jaw afterbody rod member;
Steel wire leading block parts, comprise quadrate leading block and lower jaw leading block, the quadrate leading block is the pulley parallel-connection structure, be arranged on the connecting axle of described quadrate rod member and upper jawbone rod member, each pulley drives steel wire to one and leads, the lower jaw leading block is arranged on the connecting axle of described lower jaw afterbody rod member and lower jaw front end rod member, and its both sides drive steel wire to two simultaneously and lead.
Bionic snake mouth mechanism of the present invention, its head frame system and motion conversion portion are made by stainless steel, and it is the stainless steel steel wire of 0.5mm that described driving steel wire adopts diameter; The length of described parietal bone is 60mm; Described power source adopts motor, manpower handle or other hydraulic pressure, Pneumatic rotary parts; Described quadrate leading block is comprised of 5 pulleys that are arranged in juxtaposition on connecting axle, independent rotation and separate by sleeve between each pulley, this pulley endoporus is placed through on the described connecting axle by bearing, the rear end of this connecting axle is provided with retaining ledge, and front end is twisted intrinsic locking nut, and this diameter of pulley is 10mm, thickness is 2mm, both sides are provided with end ring, and this end ring is that the stainless steel substrates of 0.5mm processes by thickness
The structure that Bionic snake mouth mechanism of the present invention adopts two groups of multi-connecting-rod mechanisms to combine with many group pulley mechanisms, realized the motor pattern of She Zui, mechanism's advantages of simple, carry out motion control by steel wire traction, have simple in structure, lightweight, the advantages such as space large, easy operating, can adapt to miniaturization and remote-operated occasion.Described Bionic snake mouth mechanism utilization realizes pulling motion by the spacing steel wire of guide wheel guiding and stop screw, maxilla drives steel wire and lower jaw and drives guide hole and the guide wheel that steel wire passes on the caging bolt and be fixed on maxilla and the lower jaw, and the maxilla canine tooth that six drive motors drive respectively bionical She Zui moves, lower jaw opens recovery movement and the disengaging movement of lower jaw front end; Described Bionic snake mouth mechanism left and right sides jaw is symmetrical structure, and the driving steel wire of left and right sides same area is controlled by the same power source, guarantees the coordination stationarity of motion.
Described Bionic snake mouth mechanism has that closed volume is little, capacity greatly, characteristics simply and easily, not only can be used for the exploitation of Minimally Invasive Surgery medicine equipment, carry out Minimally Invasive Surgery debridement, biopsy sampling etc., and can realize multiple crawl purposes, have widely actual application value.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is schematic perspective view of the present invention.
Fig. 3 is steel wire traction mode schematic diagram of the present invention.
Fig. 4 is quadrate leading block structural representation of the present invention.
Among the figure,
1 maxilla closed loop linkage, 2 quadrate rod members, 3 lower jaw parts, 4 parietal bones, 5-1,5-2 canine tooth rod member, 6-1, the upper jawbone rod member of 6-2,7-1,7-2 lower jaw afterbody rod member, 8-1,8-2 lower jaw front end rod member, 9-1,9-2 side connecting rod, 10 quadrate leading blocks, 11 stopper slots, 12 lower jaw leading blocks, 13 stop screws, 14 fixation with steel wire nuts, 15 lower jaw afterbody rod member upper surface fixation with steel wire screws, 16 lower jaw front end rod member fixation with steel wire screws, 17 quadrate rod member fixation with steel wire screws, 18 connecting axles, 19 clamp nuts, 20 pulleys, 21 end rings, 22 screws, 23 bearings, 24 sleeves, C1 lower jaw members close drives steel wire, and C2 quadrate rod member opens the driving steel wire, C3 lower jaw component side is to opening the driving steel wire, C4 lower jaw parts open the driving steel wire, and C5 lower jaw component side drives steel wire to regaining, and C6 quadrate rod member is regained and driven steel wire.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described in further detail.
Bionic snake mouth mechanism of the present invention comprises head frame system, power drive part and the motion conversion portion that can imitate snake mouth motor pattern.Overall structure of the present invention as shown in Figure 1, its stereochemical structure is as shown in Figure 2.
Described bionical snakehead section frame system comprises maxilla closed loop linkage 1 and lower jaw parts 3.Described maxilla closed loop linkage 1 is four connecting rod endplay devices of left and right sides symmetrical configuration, and it is comprised of jawbone rod member 6-1 and 6-2 and two quadrate rod members 2 on parietal bone 4, symmetrical two canine tooth rod member 5-1 and the 5-2, symmetrical two.Described parietal bone 4 is a frame component, and its length is 60mm; The left and right sides of these parietal bone 4 front ends is by the end of the connecting axle hinged two canine tooth rod member 5-1 of difference and 5-2, and the left and right sides of its rear end is by an end of the hinged two quadrate rod members 2 of connecting axle difference.By the other end of the hinged two canine tooth rod member 5-1 of connecting axle and 5-2, the other end of the hinged two quadrate rod members 2 of connecting axle is passed through respectively in its rear end to the front end of jawbone rod member 6-1 and 6-2 respectively on described two.Thereby, on parietal bone 4, two canine tooth rod member 5-1 and the 5-2, two jawbone rod member 6-1 and 6-2 and two quadrate rod members 2 successively tandem array consist of the quadric chain of a closed loop, specifically, be that jawbone rod member 6-1 and 6-2 are the double rocker mechanism of rocking bar on the parietal bone 4, two, it is in order to simulate the maxilla of snake.
Described lower jaw parts 3 are the spatial linkage of a structure on two sides symmetry, in order to simulate the lower jaw of snake.These lower jaw parts 3 are comprised of two lower jaw afterbody rod member 7-1 of symmetry and 7-2, symmetrical two lower jaw front end rod member 8-1 and 8-2 and symmetrical both sides connecting rod 9-1 and 9-2.The rear end of described two lower jaw afterbody rod member 7-1 and 7-2 is by the rear end of the hinged two quadrate rod members 2 of connecting axle difference, to realize the opening and closing campaign of She Zui; The rear end of two lower jaw front end rod member 8-1 and 8-2 is by the front end of the connecting axle hinged two lower jaw afterbody rod member 7-1 of difference and 7-2, and the axis of this connecting axle is perpendicular to the axis of the connecting axle of two lower jaw afterbody rod member 7-1 and 7-2 and two quadrate rod members 2, to realize swinging of two lower jaw front end rod member 8-1 and 8-2; Described side connecting rod 9-1 and side connecting rod 9-2 are hinged by connecting axle, and its two ends are by the connecting axle front end of hinged two lower jaw front end rod member 8-1 and 8-2 respectively, thereby realize the lateral spread action of snake lower jaw.
All members of described head frame system are made by stainless steel, its on two jawbone rod member 6-1 be connected the rear end with 6-2 and be connected with the flexible arm of imitation snake body motion.
Partly for realizing the motive drive source of described Bionic snake mouth mechanism motion, it is positioned at the far-end of described Bionic snake mouth mechanism in described power drive, comprises some driving steel wires of power source and drive head frame system motion.Described power source can adopt motor, manpower handle or other hydraulic pressure, Pneumatic rotary parts, only needs to provide the rotary power of rotating to get final product, and it is in order to affect described driving steel wire.It is the stainless steel steel wire of 0.5mm that described some driving steel wires adopt diameter, and it connects the power source of far-end by the guide hole in the described flexible arm.See also Fig. 3, described some driving steel wires comprise symmetrical identical left and right two groups, and each group drives steel wire and comprises that the lower jaw members close drives steel wire C1, quadrate rod member and opens and drive steel wire C2, lower jaw component side and drive steel wire C3, lower jaw parts and open and drive steel wire C4, lower jaw component side and drive steel wire C5 and quadrate rod member and regain and drive steel wire C6 to regaining to opening.
Described motion conversion portion is made by stainless steel, it is in order to realize that described power drive part is to power transmission and the control of described head frame system motion, this motion conversion portion comprises identical left and right two ones of symmetrical configuration, each motion conversion portion comprises fixation with steel wire parts, steel wire limiting component and steel wire leading block parts, below as an example of the left movement conversion portion example its structure is described, the right motion conversion portion is identical with left movement conversion portion symmetry.
Described fixation with steel wire parts in order to described driving fixation with steel wire on each rod member surface of described head frame system, it comprises some fixation with steel wire screws: lower jaw afterbody rod member upper surface fixation with steel wire screw 15, be arranged at the upper surface of described lower jaw afterbody rod member 7-1, and described driving steel wire C1 be fixed on the upper surface of lower jaw afterbody rod member 7-1; Lower jaw front end rod member fixation with steel wire screw 16 is arranged at the lower surface of described lower jaw front end rod member 8-1, and will drives the lower surface that steel wire C3, C5 are fixed on lower jaw front end rod member 8-1; Quadrate rod member fixation with steel wire screw 17 is arranged at the outer surface of described quadrate rod member 2, and will drives the outer surface that steel wire C2, C6 are fixed on quadrate rod member 2.
Described steel wire limiting component is spacing in order to the driving steel wire is carried out, and it comprises stop screw 13 and stopper slot 11.Described stop screw 13 is twisted solid lower surface at described lower jaw afterbody rod member 7-1, its head offers and carries out spacing through hole to driving steel wire C3, C5, this stop screw 13 is threaded connection fixation with steel wire nut 14, this hold-down nut 14 is tightened and is fitted with the lower surface of lower jaw afterbody rod member 7-1, thereby will drive the lower surface that steel wire C4 is fixed on lower jaw afterbody rod member 7-1.Described stopper slot 11 such as is at the dark parallel slot, be opened in the rear portion of lower jaw afterbody rod member 7-1 and be distributed on the same periphery, it is in order to drive steel wire C3, lower jaw parts and open and drive steel wire C4 and lower jaw component side and drive steel wire C5 and carry out spacing to regaining to opening the lower jaw component side.
Described steel wire leading block parts are in order to lead to driving steel wire, and it comprises quadrate leading block 10 and lower jaw leading block 12.Described quadrate leading block 10 is arranged on the connecting axle 18 of described quadrate rod member 2 and upper jawbone rod member 6-1 by bearing.This square bone conduction to the structure of pulley 10 as shown in Figure 4, it is the pulley parallel-connection structure, formed by 5 identical pulleys 20 of structure, these 5 pulleys, 20 parallel being arranged in juxtaposition on connecting axle 18, each pulley 20 separate rotation, and between separate by sleeve 24, these 5 pulleys 20 drive steel wire C1 to the lower jaw members close respectively, the quadrate rod member opens and drives steel wire C2, the lower jaw component side drives steel wire C3 to opening, the lower jaw parts open driving steel wire C4 and the lower jaw component side leads to regaining driving steel wire C5, and 20 pairs one on each pulley drives steel wire and leads.The diameter of described pulley 20 is 10mm, thickness is 2mm, the endoporus of this pulley 20 is placed through on the described connecting axle 18 by bearing 23, its both sides are provided with end ring 21, this end ring 21 is that the stainless steel substrates of 0.5mm processes by thickness, have through hole on it, be fixed on the surface of pulley 20 by screw 22 so that bearing 23 is carried out axial restraint.The rear end of described connecting axle 18 is provided with retaining ledge, and front end is provided with screw thread, and the above twists intrinsic locking nut 19 so that assembly pulley is carried out axial locking.Described lower jaw leading block 12 is arranged on the connecting axle of described lower jaw afterbody rod member 7-1 and lower jaw front end rod member 8-1, and its both sides are in order to lead to two driving steel wire C3 and C5 simultaneously.
The mode of traction of described driving steel wire as shown in Figure 3.Described lower jaw component side drives steel wire C5 by the guiding of quadrate leading block 10 and stopper slot 11 to opening driving steel wire C3 and lower jaw component side to regaining, pass the spacing guide hole on the stop screw 13, the both sides of the described lower jaw leading block 12 of difference pile warp, be fixed on the lower surface of lower jaw front end rod member 8-1 by lower jaw front end rod member fixation with steel wire screw 16, the rotating by the same power source drives the side direction that realizes lower jaw parts 3 and opens and recovery movement.Described lower jaw parts open and drive steel wire C4 by the guiding of quadrate leading block 10 and stopper slot 11, be fixed on the lower surface of lower jaw afterbody rod member 7-1 by the fixation with steel wire nut 14 on the stop screw 13, drive the opening movement of realizing lower jaw parts 3 by power source.Described lower jaw members close drives steel wire C1 by the guiding of quadrate leading block 10, is fixed on the upper surface of lower jaw afterbody rod member 7-1 by lower jaw afterbody rod member upper surface fixation with steel wire screw 15, realizes the closing motion of lower jaw parts 3.Described quadrate rod member opens and drives steel wire C2 by the guiding of quadrate leading block 10, is fixed on the outer surface of quadrate rod member 2 by quadrate rod member fixation with steel wire screw 17, realizes the opening movement of quadrate rod member 2, drives stretching out of canine tooth rod member 5-1.Described quadrate rod member is regained and is driven steel wire C6 and be fixed on the outer surface of quadrate rod member 2 by quadrate rod member fixation with steel wire screw 17, drives the withdrawal that realizes quadrate rod member 2 by power source, drives the recovery movement of canine tooth rod member 5-1.Arrange by position and the radius of analytical calculation to each leading block, make mechanism kinematic and drive the steel wire more reasonable stress.Both sides are controlled the correspondence driving steel wire of same motion and are controlled by the same power source, to guarantee the harmony of motion.
Be convenient narration, the below does the motion process explanation with the left side structure of described Bionic snake mouth mechanism, and the right side motion process is identical with the left side.
The motion process of Bionic snake mouth mechanism of the present invention is as follows:
When described Bionic snake mouth mechanism opens, the lower jaw parts open and drive steel wire C4 tension, the lower jaw members close drives steel wire C1 to be loosened, drive the lower jaw parts by power source and open driving steel wire C4, bionical mouth is opened, maxilla and lower jaw open the angle maximum can reach 150 °, the quadrate rod member opens and drives steel wire C2 tension afterwards, the quadrate rod member is regained driving steel wire C6 and is loosened, it is protruding to drive canine tooth rod member 5-1, the lower jaw component side drives steel wire C3 tension to opening, and the lower jaw component side is loosened to regaining driving steel wire C5 simultaneously, makes lower jaw parts 3 realize lateral spread.When described Bionic snake mouth mechanism is closed, the lower jaw members close drives steel wire C1 tension, the lower jaw parts open driving steel wire C4 to be loosened, lower jaw parts 3 are regained, the lower jaw component side drives steel wire C5 tension to regaining, and the lower jaw component side is loosened to opening driving steel wire C3, and lower jaw parts 3 side direction are regained, open driving steel wire C4 by quadrate rod member withdrawal driving steel wire C6 tension and lower jaw parts in the closing course and loosen to make canine tooth rod member 5-1 to regain, the interlock target is brought in the bionical snake mouth.Described Bionic snake mouth mechanism both sides are the full symmetric structure, and the driving steel wire of control both sides same movement is controlled by the same power source.
The skin of Bionic snake mouth mechanism of the present invention coats has flexible bionic snake skin, adopt the driving steel wire to drive opening of bionical She Zui and masticatory movement, coordination control by each power source makes bionical She Zui realize each motor pattern, can imitate the motion of snake class head.Simple in structure, lightweight, the advantages such as space large, easy operating that the present invention has.
Described Bionic snake mouth mechanism not only can be used for the exploitation of Minimally Invasive Surgery medicine equipment, carry out Minimally Invasive Surgery debridement, biopsy sampling etc., and can be used for multiple industry crawl purposes, have that closed volume is little, the crawl capacity greatly, advantage simply and easily, possess widely actual application value.
Claims (9)
1. Bionic snake mouth mechanism is characterized in that: described mechanism comprises head frame system, power drive part and the motion conversion portion that can imitate the She Zui motion, wherein,
Described head frame system comprises:
Maxilla closed loop linkage, linkage for the left and right sides symmetrical configuration that formed by jawbone rod member and two quadrate rod members on parietal bone, the two canine tooth rod members, two, the parietal bone two ends are respectively by the hinged two canine tooth rod members of connecting axle and two quadrate rod members, and jawbone rod member two ends are respectively by the hinged two canine tooth rod members of connecting axle and two quadrate rod members on two;
The lower jaw parts, linkage for the left and right sides symmetrical configuration that formed by two lower jaw afterbody rod members, two lower jaw front end rod members and two side connecting rods, two lower jaw afterbody rod members are by the hinged two quadrate rod members of connecting axle difference, two lower jaw front end rod members are by the hinged two lower jaw afterbody rod members of connecting axle difference, and should connect axis perpendicular to the be connected axis of two lower jaw afterbody rod members with two quadrate rod members, the front end of two lower jaw front end rod members connects with connecting axle by two side connecting rods that are hinged;
Described power drive partly is positioned at the far-end of described Bionic snake mouth mechanism, some driving steel wires that it comprises power source and drives the head frame system motion;
Described motion conversion portion comprises:
The fixation with steel wire parts comprise some fixation with steel wire screws, its with described driving fixation with steel wire on the rod member surface of head frame system;
The steel wire limiting component, comprise stop screw and stopper slot, stop screw is twisted solid lower surface at described lower jaw afterbody rod member, and its head offers and carries out spacing through hole to driving steel wire, stopper slot such as is at the dark parallel slot, is distributed on the same periphery of lower jaw afterbody rod member;
Steel wire leading block parts, comprise quadrate leading block and lower jaw leading block, the quadrate leading block is the pulley parallel-connection structure, be arranged on the connecting axle of described quadrate rod member and upper jawbone rod member, each pulley drives steel wire to one and leads, the lower jaw leading block is arranged on the connecting axle of described lower jaw afterbody rod member and lower jaw front end rod member, and its both sides drive steel wire to two simultaneously and lead.
2. Bionic snake mouth mechanism according to claim 1, it is characterized in that: described quadrate leading block is comprised of 5 pulleys that are arranged in juxtaposition on connecting axle, independent rotation and separate by sleeve between each pulley.
3. Bionic snake mouth mechanism according to claim 2, it is characterized in that: described pulley endoporus is placed through on the described connecting axle by bearing, and these pulley both sides are provided with end ring.
4. Bionic snake mouth mechanism according to claim 3 is characterized in that: described end ring is that the stainless steel substrates of 0.5mm processes by thickness.
5. Bionic snake mouth mechanism according to claim 2, it is characterized in that: the rear end of described connecting axle is provided with retaining ledge, and front end is twisted intrinsic locking nut.
6. Bionic snake mouth mechanism according to claim 2, it is characterized in that: described diameter of pulley is 10mm, thickness is 2mm.
7. each described Bionic snake mouth mechanism in 6 according to claim 1, it is characterized in that: described head frame system and motion conversion portion are made by stainless steel, and it is the stainless steel steel wire of 0.5mm that described driving steel wire adopts diameter.
8. the Bionic snake mouth mechanism described in according to claim 1, it is characterized in that: the length of described parietal bone is 60mm.
9. the Bionic snake mouth mechanism described in according to claim 1, it is characterized in that: described power source adopts motor, manpower handle or other hydraulic pressure, Pneumatic rotary parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110269056 CN102416622B (en) | 2011-09-13 | 2011-09-13 | Bionic snake mouth mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110269056 CN102416622B (en) | 2011-09-13 | 2011-09-13 | Bionic snake mouth mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102416622A CN102416622A (en) | 2012-04-18 |
| CN102416622B true CN102416622B (en) | 2013-10-16 |
Family
ID=45941397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110269056 Active CN102416622B (en) | 2011-09-13 | 2011-09-13 | Bionic snake mouth mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102416622B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103358310B (en) * | 2013-07-04 | 2015-05-27 | 上海大学 | Mouth movement mechanism of humanoid robot |
| CN103909527A (en) * | 2014-03-27 | 2014-07-09 | 北京邮电大学 | Bionics based robot mouth device |
| CN103903294B (en) * | 2014-03-28 | 2017-06-23 | 西北工业大学 | The implementation method of three-dimensional virtual human mouth motion |
| CN111972367B (en) * | 2020-08-14 | 2022-04-19 | 鹏城实验室 | Foldable bionic mouth and capture device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5386741A (en) * | 1993-06-07 | 1995-02-07 | Rennex; Brian G. | Robotic snake |
| CN1373029A (en) * | 2002-03-27 | 2002-10-09 | 辽宁工程技术大学 | Snake-shaped robot |
| CN1498730A (en) * | 2002-11-06 | 2004-05-26 | 中国科学院沈阳自动化研究所 | Modular snake shaped robot with varistructure |
| CN1590036A (en) * | 2003-09-04 | 2005-03-09 | 中国科学院沈阳自动化研究所 | Snake-shaped robot with ground adaptability |
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| CN101265813A (en) * | 2008-05-14 | 2008-09-17 | 哈尔滨工业大学 | Mine searching multi- robot system based on wireless sensor network |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1105789A1 (en) * | 1998-08-14 | 2001-06-13 | ViA, Inc. | Mobile robotic snake |
| KR100893004B1 (en) * | 2007-10-31 | 2009-04-10 | 충남대학교산학협력단 | A snake type inquiry robot |
| KR101014346B1 (en) * | 2010-08-11 | 2011-02-15 | (주)엔티렉스 | Snake shape robot |
-
2011
- 2011-09-13 CN CN 201110269056 patent/CN102416622B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5386741A (en) * | 1993-06-07 | 1995-02-07 | Rennex; Brian G. | Robotic snake |
| CN1373029A (en) * | 2002-03-27 | 2002-10-09 | 辽宁工程技术大学 | Snake-shaped robot |
| CN1498730A (en) * | 2002-11-06 | 2004-05-26 | 中国科学院沈阳自动化研究所 | Modular snake shaped robot with varistructure |
| CN1590036A (en) * | 2003-09-04 | 2005-03-09 | 中国科学院沈阳自动化研究所 | Snake-shaped robot with ground adaptability |
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| CN101265813A (en) * | 2008-05-14 | 2008-09-17 | 哈尔滨工业大学 | Mine searching multi- robot system based on wireless sensor network |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102416622A (en) | 2012-04-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112842534B (en) | Surgical tool system | |
| CN102579227B (en) | Hand and wrist exoskeleton rehabilitation training device | |
| CN102416622B (en) | Bionic snake mouth mechanism | |
| CN106510848B (en) | A kind of transurethral operating robot and control system | |
| CN103565562B (en) | Under-actuated artificial limb hand | |
| CN106361433A (en) | Flexible operation tool system based on continuous body structure | |
| CN102639080B (en) | Minimally invasive laparoscopic surgical pliers | |
| CN106175850A (en) | The flexible operation tool system that a kind of straight line driving mechanism drives | |
| CN104758013B (en) | Driving mechanism for multi-degree-of-freedom flexible robot for single-incision laparoscopic minimally invasive surgery | |
| CN104586608B (en) | The wearable power-assisted finger controlled based on myoelectricity and its control method | |
| WO2021184791A1 (en) | Serpentine surgical robot applied to minimally invasive surgery | |
| CN106725855B (en) | A kind of mixed connection six degree of freedom minimally invasive surgical operation robot | |
| CN106943277A (en) | The submissive exoskeleton rehabilitation manipulator of self adaptation Wearable | |
| CN104799891A (en) | Instrument for robot-assisted micro-invasive surgery | |
| KR20190075909A (en) | Flexible Surgical Tool System | |
| CN105193525A (en) | Bionic hand with five fingers based on nickel-titanium memory alloy | |
| CN101879346B (en) | Catheter screw device for minimally invasive vascular interventional surgical robot | |
| CN108354668A (en) | A kind of operation on digestive tract robotic system | |
| CN105313115B (en) | A kind of flexible cable artificial-muscle | |
| US20110137423A1 (en) | Mechanical joint imitating creatures' joints | |
| CN103263338A (en) | Upper limb rehabilitation robot | |
| CN108724163B (en) | Pneumatic muscle-driven seven-degree-of-freedom humanoid mechanical arm | |
| CN105751211B (en) | A kind of the continual curvature variation robot and its control method of flexible link driving | |
| CN106308939A (en) | Driving unit used for driving flexible continuum structure | |
| CN106308937A (en) | Flexible surgery tool system with far end capable of turning in any direction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151216 Address after: 201708, No. 1356, Xin Xie Road, Huaxin Town, Qingpu District, Shanghai Patentee after: Shanghai Bolong Powder Engineering Co., Ltd. Address before: 200240 Dongchuan Road, Shanghai, No. 800, No. Patentee before: Shanghai Jiao Tong University |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 201708, No. 1356, Xin Xie Road, Huaxin Town, Qingpu District, Shanghai Patentee after: Shanghai Bolong Equipment Technology Co., Ltd Address before: 201708, No. 1356, Xin Xie Road, Huaxin Town, Qingpu District, Shanghai Patentee before: SHANGHAI BLOOM POWDER ENGINEERING Inc. |