CN103569235A - Five-joint robot imitating frog to jump - Google Patents

Five-joint robot imitating frog to jump Download PDF

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Publication number
CN103569235A
CN103569235A CN201310553698.5A CN201310553698A CN103569235A CN 103569235 A CN103569235 A CN 103569235A CN 201310553698 A CN201310553698 A CN 201310553698A CN 103569235 A CN103569235 A CN 103569235A
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CN
China
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shank
sole
hind leg
thigh
leg
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CN201310553698.5A
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Chinese (zh)
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CN103569235B (en
Inventor
胡胜海
高爽
姚建均
王茂林
孙天仕
姜贵林
余伟
张满慧
张保平
陈茜
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哈尔滨工程大学
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Abstract

The invention provides a five-joint robot imitating a frog to jump. The five-joint robot is composed of a trunk mechanism, a fore limb mechanism and a hind limb mechanism. The trunk mechanism comprises two driving motors, a left body side plate, a right body side body, a reinforcing supporting shaft, a body hind limb hanging spring shaft, a motor protective plate, two body fixing plates and two synchronous belt transmission mechanisms. The fore limb mechanism comprises a fore limb thigh mechanism, a fore limb crus mechanism and a sole mechanism. The fore limb thigh mechanism comprises a left fore limb thigh, a right fore limb thigh, a shoulder joint shaft and a fore limb thigh fixing plate. The fore limb crus mechanism comprises a left fore limb crus, a right fore limb crus, a spring installation plate, a reset spring, a crus driving rope, an elbow joint shaft, a crus reinforcing supporting shaft and a fore limb crus fixing plate. The sole mechanism comprises a sole, a sole reset spring and a sole rotation shaft. The hind limb mechanism comprises a hind limb thigh mechanism, a hind limb crus mechanism and a sole mechanism. The bionic degree of the robot is improved, the jumping capacity of the robot is enhanced, and the flexibility, take-off and buffering effects of the mechanical mechanisms of the robot are improved.

Description

Frog hopping robot is imitated in five joints
Technical field
That the present invention relates to is a kind of hopping robot, especially relates to the imitative frog hopping robot in a kind of five joints.
Background technology
Along with the development of Robotics, when in the face of rugged environment and complicated landform, kinematic robot bouncing function strengthens its landform and adapts to and paleocinetic ability, is development in recent years a kind of Robotics faster.Compare wheeled or caterpillar type robot, hopping robot has outstanding obstacle climbing ability, and the explosive and emergentness of its motion is very favorable for robot escape from danger.Mode of motion that the more important thing is jump has low energy consumption feature.In addition, research hopping robot contribute to biology run, the deep study of skip motion mechanism, to improving current walking or creep etc., slow mode of motion has good inspiration meaning.
At present, hopping robot has been done to a large amount of research both at home and abroad.Abroad, hopping robot is the earliest single leg hopping robot of professor's M.H.Raibert development of Massachusetts Polytechnics in 1987, and this robot is similar to the plane motion with the inverted pendulum of spring.At home, the Yang Huangpu of Shanghai Communications University has proposed a kind of mechanism of single-leg jumping robot, this robot with adopt before the structure of robot of spring different, it is only comprised of rotary joint, the upset of property performance period is jumped.In recent years Harbin Institute of Technology has also carried out relevant project research, and frog is carried out to organism structure analysis and skip motion collection apparatus, has developed the imitative robot model machine that jumps that leapfrogs.
In the patent of , Patent Office of the People's Republic of China issue simultaneously, have some imitative frog hopping robots, but most of bionical degree is not high yet.Imitative frog hopping robot (number of patent application: 201210279364.9) by the reasonable setting to front and back limb, improved the degree of utilization of driver element, optimized leg structure, jump performance is also good, but its back leg is not high to the bionical degree of frog, the integraty of having ignored leg structure, does not meet bionics principle.A kind of frog jump robot (number of patent application: 201010194799.4), motor is as dynamical element, the device such as overriding clutch and cog belt is as transmission device, slide block can move under the driving of motor by driving device on guide rail, thereby robot both legs stretch under the driving of slide block and contraction completes jump action.Robot leg has well imitated frog back leg, elastic element has also been installed additional in its foot, but only with the spring of step elastic element and hip joint, cushions after its take-off, and buffering effect is not so good, and need to stretch very long distance of the spring of its hip joint could discharge, affected take-off efficiency.In addition, bionic locust jumping robot (number of patent application: 200710072236.6) its leg structure is the same with the imitative frog hopping robot's of Huang former times light back leg mechanism principle.
Summary of the invention
The object of the present invention is to provide a kind of skeletal structure that can simulate visually frog, in jump process, can obtain larger force of explosion, the imitative frog hopping robot in the five stable joints of landing.
The object of the present invention is achieved like this:
Five joints of the present invention imitative frog hopping robot be mainly comprised of trunk mechanism, forelimb mechanism and hind leg mechanism;
Described trunk mechanism comprises two drive motor, left and right sides health side plate, reinforces pivot shaft, health hind leg is hung spring shaft, electric motor protecting plate, the first health adapter plate, the second health adapter plate, two synchronous belt drive mechanisms, described two synchronous belt drive mechanisms are connected with two drive motor, two drive motor are fixed by electric motor protecting plate and the first health adapter plate and left and right sides health side plate respectively, and the two ends of trunk are connected with shank joint shaft by bearing;
Described forelimb mechanism mainly comprises the large leg mechanism of forelimb, the little leg mechanism of forelimb and sole mechanism; The large leg mechanism of described forelimb comprises left and right forelimb thigh, shoulder joint nodal axisn and forelimb thigh adapter plate, and shoulder joint nodal axisn and left and right forelimb thigh are fixed; The little leg mechanism of described forelimb comprises that left and right forelimb shank, spring fitting plate, retracing spring, shank drive rope, elbow joint axle, shank to reinforce pivot shaft and forelimb shank adapter plate, described retracing spring is arranged on spring fitting plate and forelimb thigh adapter plate, shank drives rope one end to be arranged on the right side or left fore shank, shank drives the rope other end to be arranged on the synchronous pulley of described synchronous belt drive mechanism, and elbow joint axle and left and right forelimb shank are fixed; Described sole mechanism comprises sole, sole retracing spring, sole rotating shaft, and sole is arranged on the forelimb shank of left and right by sole rotating shaft, and sole retracing spring is arranged on sole and left and right forelimb shank;
Described hind leg mechanism mainly comprises the large leg mechanism of hind leg, the little leg mechanism of hind leg and sole mechanism; The large leg mechanism of described hind leg comprises left and right hind leg thigh, ankle-joint axle, thigh retracing spring and hind leg thigh adapter plate, described ankle-joint axle and left and right hind leg thigh are fixed, hind leg thigh adapter plate and left and right hind leg thigh are fixed, and retracing spring one end is arranged on hind leg thigh adapter plate, the other end is arranged on hind leg and hangs on spring shaft; The little leg mechanism of described hind leg comprises left and right hind leg shank, crooked rope, knee axis, shank front end fixed pulley adapter plate and the shank retracing spring of driving of shank, described knee axis and left and right hind leg shank are fixed, shank front end fixed pulley adapter plate and left and right hind leg shank are fixed, the crooked driving rope of shank one end is arranged on health extension spring shaft, one end is arranged on left or right hind leg shank, and shank retracing spring one end is arranged on shank front end fixed pulley adapter plate, one end is arranged on hind leg thigh adapter plate.
The present invention can also comprise:
1, the little leg mechanism of described hind leg also comprises hind leg shank telescoping mechanism, described hind leg shank telescoping mechanism comprises stationary pipes, telescopic pipe, orienting lug, slide-and-guide plate, hind leg shank adapter plate and coil tension spring, described stationary pipes is separately fixed at a described left side, on the hind leg shank of right side, described orienting lug, slide-and-guide plate passes through the borehole jack of self in described stationary pipes, and be fixed on described two telescopic pipes, described hind leg shank adapter plate is arranged on a described left side, between the hind leg shank of right side, described coil tension spring one end is arranged on hind leg shank adapter plate, the other end is arranged on described slide-and-guide plate, described shank telescoping mechanism also comprises leading sheave, pulley support plate and telescopic drive rope, described pulley support plate is fixed on shank front end fixed pulley adapter plate, leading sheave is arranged between pulley support plate, telescopic drive rope two ends are separately fixed on hind leg thigh adapter plate and slide-and-guide plate and by described leading sheave.
2, described sole mechanism comprises sole, sole retracing spring, sole rotating shaft, locating dowel pin, described sole is arranged on telescopic pipe by sole rotating shaft, described sole retracing spring one end is arranged on described sole, the other end is arranged on described telescopic pipe, and described locating dowel pin is fixed on sole.
Realistic meaning of the present invention and advantage are:
Frog hopping robot is imitated in five joints disclosed by the invention, due to the driver train of front and back limb and actuating unit have been carried out to rational layout, improved the degree of utilization of robot driver element, optimized robot leg structure, improved the bionical degree of robot, strengthen the skip capability of robot, improved flexibility and take-off and the buffering effect of robot mechanical mechanism.
Accompanying drawing explanation
Fig. 1 is the imitative frog hopping robot general assembly structural representations in five joints;
Fig. 2 is the imitative frog hopping robot trunk birds-eye vieies in five joints;
Fig. 3 is the imitative frog hopping robot forelimb structural representations in five joints;
Fig. 4 is the imitative frog hopping robot hind leg structural representations in five joints.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail:
In conjunction with Fig. 1, this robot is mainly comprised of the Ⅰ, of the trunk mechanism forelimb ⅡHe of mechanism hind leg mechanism III three parts.The coordinated movement of various economic factors of the main forward hind leg of jump process of robot realizes.Trunk mechanism is connected with the Ⅱ, of forelimb mechanism hind leg mechanism III by shoulder joint nodal axisn 9 and ankle-joint axle 1 respectively.
In conjunction with Fig. 2; trunk mechanism mainly comprises: two drive motor; left and right sides health side plate A16 and B2; reinforce 10, one health hind legs of pivot shaft for one and hang 17, one electric motor protecting plates 12 of spring shaft; a health fixed plate A 3 and a health adapter plate B11; two synchronous belt drive mechanisms, synchronous belt drive mechanism is connected with drive motor by flat key, has tightening device bolt bearing on it.Two drive motor are fixed with left and right sides health side plate A16 and B2 by electric motor protecting plate 12 and health fixed plate A 3 respectively, and the two ends of trunk are connected with shank joint shaft by bearing.
In conjunction with Tu3, forelimb, mechanism mainly comprises: the large leg mechanism of forelimb, the little leg mechanism of forelimb and sole mechanism.The large leg mechanism of described forelimb comprises left and right forelimb thigh A18 and B29, shoulder joint nodal axisn 9 and forelimb thigh adapter plate 20.Shoulder joint nodal axisn 9 is fixed by bolt and left and right forelimb thigh A18 and B29.Described lower leg portion comprises left and right forelimb shank A22 and B27, spring fitting plate 21, and retracing spring 30, shank drives rope 19, elbow joint axle 28, shank is reinforced pivot shaft 23 and forelimb shank adapter plate 26.Described retracing spring 30 is arranged on spring fitting plate 21 and forelimb thigh adapter plate 20, and it is upper that shank drives rope 19 one end to be arranged on forelimb shank A22, and the other end is arranged on synchronous pulley 8.Elbow joint axle 28 is fixed by bolt and left and right forelimb shank A22 and B27.Described sole mechanism comprises sole 25, sole retracing spring 24.Sole 25 is arranged on left and right forelimb shank A22 by bolt and B27 is upper, and sole retracing spring 24 is arranged on sole 25 and left and right forelimb shank A22 and B27.
In conjunction with Tu4, hind leg, mechanism mainly comprises: the large leg mechanism of hind leg, the little leg mechanism of hind leg and sole mechanism.The large leg mechanism of described hind leg comprises left and right hind leg thigh A31 and B52, ankle-joint axle 1, thigh retracing spring 53 and hind leg thigh adapter plate 50.Described ankle-joint axle 1 is fixed by bolt and left and right hind leg thigh A31 and B52, hind leg thigh adapter plate 50 is fixed by bolt and left and right hind leg thigh A31 and B52, retracing spring 53 one end are arranged on hind leg thigh adapter plate 50, and one end is arranged on hind leg and hangs on spring aluminium axle 17.The little leg mechanism of described hind leg comprises left and right hind leg shank A46 and B38, crooked rope 51, knee axis 35, shank front end fixed pulley adapter plate 32 and the shank retracing spring 49 of driving of shank.Described knee axis 35 is fixed by bolt and left and right hind leg shank A46 and B38, and shank front end fixed pulley adapter plate 32 is fixed by bolt and left and right hind leg shank A46 and B38.Crooked rope 51 one end that drive of shank are arranged on health extension spring aluminium axle 17, and one end is arranged on hind leg shank A46 and B38.Shank retracing spring 49 one end are arranged on shank front end fixed pulley adapter plate 32, and one end is arranged on hind leg thigh adapter plate 50.
The little leg mechanism of described hind leg also comprises hind leg shank telescoping mechanism.Described hind leg shank telescoping mechanism comprises stationary pipes 44, telescopic pipe 41, orienting lug 36, slide-and-guide plate 45, hind leg shank adapter plate 40, coil tension spring 39.Described stationary pipes 44 is separately fixed on described left and right side hind leg shank A46 and B38.Described orienting lug 36, slide-and-guide plate 45 pass through the borehole jack of self in described stationary pipes 44, and are fixed on described two telescopic pipes 41.Described hind leg shank adapter plate 40 is arranged between described left and right side hind leg shank A46 and B38.Described coil tension spring 39 one end are arranged on hind leg shank adapter plate 40, and the other end is arranged on described slide-and-guide plate 45.Described shank telescoping mechanism also comprises leading sheave 34, pulley support plate 47 and telescopic drive rope 51.Described pulley support plate 47 is fixed on shank front end fixed pulley adapter plate 32, and track adjusting wheel 34 is arranged between pulley support plate 47.Telescopic drive rope 37 two ends are separately fixed on hind leg thigh adapter plate 50 and slide-and-guide plate 45, and by described leading sheave 34.
Described sole mechanism comprises sole 42, sole retracing spring 43.Described sole 42 is arranged on telescopic pipe 41 by bolt, and described sole retracing spring 43 one end are arranged on described sole 42, and the other end is arranged on described telescopic pipe 41.
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, jump process to the imitative frog hopping robot in five joints once illustrates: the attitude adjusting stage, forelimb drive motor 5 drives shoulder joint nodal axisn 9 to rotate counterclockwise by toothed belt transmission, thereby drive the forelimb thigh left and right sides fixed plate A 18 and the B29 that are connected with it to rotate, the angle between thigh and trunk diminishes simultaneously.Along with the transmission of Timing Belt 6, the shank being fixed on synchronous pulley 8 drives rope 19 to be wound around, and drives shank rotation simultaneously, and the angle between shank and thigh diminishes, retracing spring 30 tensionings.Hind leg drive motor 4 drives ankle-joint axle 1 to clockwise rotate (from the positive dirction of Fig. 1) by Timing Belt 15 transmissions, thereby drive the hind leg thigh left and right sides fixed plate A 31 and the B52 that are connected with it to rotate, angle between thigh and trunk diminishes simultaneously, thigh retracing spring 53 tensioning gradually.Crooked rope 51 and left and right sides shank fixed plate A 46 and the B38 of driving of shank, and thigh left and right sides health fixed plate A 31 and B52 and hind leg hang spring aluminium axle 17 and formed four-bar linkage, shank is followed the crooked and joint shaft 35 of staying with one's parents in order to make them happy of thigh and is rotated counterclockwise (from the front of Fig. 1).Along with the rotation of shank, the distance between shank front end fixed pulley adapter plate 32 and slide-and-guide plate 45 reduces gradually, thereby telescopic drive rope 37 pulls slide-and-guide plate 45 to move to the direction of leading sheave 34, coil tension spring 39 tensioning gradually.Along with the movement of slide-and-guide plate 45, telescopic pipe 41 is and then mobile.Sole 42 is done cw motion under the effect of sole retracing spring 43 and telescopic pipe 41, and the angle between sole 42 and shank reduces gradually.Now having completed robot take-off accumulation of energy prepares.When each joint angles of limb guarantees robot take-off before and after regulating by limb drive motor before and after controlling, obtain best take off angle.Jump phase, motor departs to be controlled, and spring capacity discharges, robot soars, aloft forelimb drive motor 5 regulates shoulder joint nodal axisn 9 and elbow joint axles 28, guarantees that robot steadily lands, hind leg drive motor 4 rotate regulate each joint angles of hind leg again accumulation of energy prepare for jump next time.

Claims (3)

1. the imitative frog hopping robot in five joints, is mainly comprised of trunk mechanism, forelimb mechanism and hind leg mechanism, it is characterized in that:
Described trunk mechanism comprises two drive motor, left and right sides health side plate, reinforces pivot shaft, health hind leg is hung spring shaft, electric motor protecting plate, the first health adapter plate, the second health adapter plate, two synchronous belt drive mechanisms, described two synchronous belt drive mechanisms are connected with two drive motor, two drive motor are fixed by electric motor protecting plate and the first health adapter plate and left and right sides health side plate respectively, and the two ends of trunk are connected with shank joint shaft by bearing;
Described forelimb mechanism mainly comprises the large leg mechanism of forelimb, the little leg mechanism of forelimb and sole mechanism; The large leg mechanism of described forelimb comprises left and right forelimb thigh, shoulder joint nodal axisn and forelimb thigh adapter plate, and shoulder joint nodal axisn and left and right forelimb thigh are fixed; The little leg mechanism of described forelimb comprises that left and right forelimb shank, spring fitting plate, retracing spring, shank drive rope, elbow joint axle, shank to reinforce pivot shaft and forelimb shank adapter plate, described retracing spring is arranged on spring fitting plate and forelimb thigh adapter plate, shank drives rope one end to be arranged on the right side or left fore shank, shank drives the rope other end to be arranged on the synchronous pulley of described synchronous belt drive mechanism, and elbow joint axle and left and right forelimb shank are fixed; Described sole mechanism comprises sole, sole retracing spring, sole rotating shaft, and sole is arranged on the forelimb shank of left and right by sole rotating shaft, and sole retracing spring is arranged on sole and left and right forelimb shank;
Described hind leg mechanism mainly comprises the large leg mechanism of hind leg, the little leg mechanism of hind leg and sole mechanism; The large leg mechanism of described hind leg comprises left and right hind leg thigh, ankle-joint axle, thigh retracing spring and hind leg thigh adapter plate, described ankle-joint axle and left and right hind leg thigh are fixed, hind leg thigh adapter plate and left and right hind leg thigh are fixed, and retracing spring one end is arranged on hind leg thigh adapter plate, the other end is arranged on hind leg and hangs on spring shaft; The little leg mechanism of described hind leg comprises left and right hind leg shank, crooked rope, knee axis, shank front end fixed pulley adapter plate and the shank retracing spring of driving of shank, described knee axis and left and right hind leg shank are fixed, shank front end fixed pulley adapter plate and left and right hind leg shank are fixed, the crooked driving rope of shank one end is arranged on health extension spring shaft, one end is arranged on left or right hind leg shank, and shank retracing spring one end is arranged on shank front end fixed pulley adapter plate, one end is arranged on hind leg thigh adapter plate.
2. frog hopping robot is imitated in five joints according to claim 1, it is characterized in that: the little leg mechanism of described hind leg also comprises hind leg shank telescoping mechanism, described hind leg shank telescoping mechanism comprises stationary pipes, telescopic pipe, orienting lug, slide-and-guide plate, hind leg shank adapter plate and coil tension spring, described stationary pipes is separately fixed at a described left side, on the hind leg shank of right side, described orienting lug, slide-and-guide plate passes through the borehole jack of self in described stationary pipes, and be fixed on described two telescopic pipes, described hind leg shank adapter plate is arranged on a described left side, between the hind leg shank of right side, described coil tension spring one end is arranged on hind leg shank adapter plate, the other end is arranged on described slide-and-guide plate, described shank telescoping mechanism also comprises leading sheave, pulley support plate and telescopic drive rope, described pulley support plate is fixed on shank front end fixed pulley adapter plate, leading sheave is arranged between pulley support plate, telescopic drive rope two ends are separately fixed on hind leg thigh adapter plate and slide-and-guide plate and by described leading sheave.
3. frog hopping robot is imitated in five joints according to claim 1 and 2, it is characterized in that: described sole mechanism comprises sole, sole retracing spring, sole rotating shaft, locating dowel pin, described sole is arranged on telescopic pipe by sole rotating shaft, described sole retracing spring one end is arranged on described sole, the other end is arranged on described telescopic pipe, and described locating dowel pin is fixed on sole.
CN201310553698.5A 2013-11-11 2013-11-11 Frog hopping robot is imitated in five joints CN103569235B (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104709375A (en) * 2015-03-12 2015-06-17 哈尔滨工程大学 Energy-storage type leapfrog-simulation robot
CN105292291A (en) * 2015-11-24 2016-02-03 刘阳 Bionic frog electric robot
CN106314591A (en) * 2016-09-19 2017-01-11 南宁邃丛赋语科技开发有限责任公司 Multi-mode intelligent human-simulated movement mechanism
CN106314589A (en) * 2016-09-19 2017-01-11 南宁邃丛赋语科技开发有限责任公司 Electrically-operated mechanism type intelligent walking mechanical leg
CN106314590A (en) * 2016-09-19 2017-01-11 南宁邃丛赋语科技开发有限责任公司 Interactive intelligent robot toy based on built-in distance sensor
CN106379438A (en) * 2016-09-19 2017-02-08 南宁邃丛赋语科技开发有限责任公司 Single servo motor driven movement mechanism
CN106379437A (en) * 2016-09-19 2017-02-08 南宁邃丛赋语科技开发有限责任公司 Walking type transport robot

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CN102806951A (en) * 2012-08-07 2012-12-05 北方工业大学 Frog-inspired biomimetic jumping robot
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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104709375A (en) * 2015-03-12 2015-06-17 哈尔滨工程大学 Energy-storage type leapfrog-simulation robot
CN105292291A (en) * 2015-11-24 2016-02-03 刘阳 Bionic frog electric robot
CN105292291B (en) * 2015-11-24 2017-11-03 福州环亚众志计算机有限公司 A kind of bionical frog electric robot
CN106314591A (en) * 2016-09-19 2017-01-11 南宁邃丛赋语科技开发有限责任公司 Multi-mode intelligent human-simulated movement mechanism
CN106314589A (en) * 2016-09-19 2017-01-11 南宁邃丛赋语科技开发有限责任公司 Electrically-operated mechanism type intelligent walking mechanical leg
CN106314590A (en) * 2016-09-19 2017-01-11 南宁邃丛赋语科技开发有限责任公司 Interactive intelligent robot toy based on built-in distance sensor
CN106379438A (en) * 2016-09-19 2017-02-08 南宁邃丛赋语科技开发有限责任公司 Single servo motor driven movement mechanism
CN106379437A (en) * 2016-09-19 2017-02-08 南宁邃丛赋语科技开发有限责任公司 Walking type transport robot
CN106314590B (en) * 2016-09-19 2018-11-23 扬州市君睿创智工业设计有限公司 A kind of interactive intelligent robot toy based on built-in range sensor
CN106314591B (en) * 2016-09-19 2018-12-25 泾县麦蓝网络技术服务有限公司 A kind of multi-modal intelligent apery movement mechanism
CN106379438B (en) * 2016-09-19 2019-01-01 江苏德瑞博新能源汽车制造有限公司 A kind of movement mechanism of single servo motor driving
CN106379437B (en) * 2016-09-19 2019-01-04 绍兴龙飞针织有限公司 A kind of walking transportation robot

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