CN105173080B - A kind of aircraft of the imperial shape of China - Google Patents
A kind of aircraft of the imperial shape of China Download PDFInfo
- Publication number
- CN105173080B CN105173080B CN201510634286.3A CN201510634286A CN105173080B CN 105173080 B CN105173080 B CN 105173080B CN 201510634286 A CN201510634286 A CN 201510634286A CN 105173080 B CN105173080 B CN 105173080B
- Authority
- CN
- China
- Prior art keywords
- gastrostege
- stepper motor
- bone
- section
- piece
- 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
Landscapes
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of aircraft of the imperial shape of China, including leading unit, save osteon, foot section osteon, unit and circuit control system are closed in ten thousand rotations, control device is closed in ten thousand rotations that circuit control system includes microcomputerized controller and is connected with microcomputerized controller, save bone control device and four limbs control device, ten thousand rotations are closed control device and are connected with inside ten thousand rotation pass units for adjusting the stepper motor of imperial figure state, section bone control device is connected with generating the motor of recoil strength, four limbs control device is stretched in the wrong with four limbs internal control, the stepper motor connection of pick-and-place, microcomputerized controller also with supply unit, human-computer interaction device, sensor device is connected with master switch.The present invention shows revering and worshipping to Chinese dragon in the form of dynamic, can deepen profound influence of the Chinese dragon to China, changes the external passiveness image to Chinese dragon.
Description
Technical field
The present invention relates to a kind of aircraft of the imperial shape of Intelligent flight device technical field more particularly to China.
Background technology
Chinese dragon is the symbol of the Chinese nation, it has been recognized that Chinese dragon is the totem of the Chinese nation, be have it is powerful
The spirit symbol of ability is succession and the mark of outstanding history culture, is to look up to carrier and the affectional tie of national unity.Although
People are painting, and carve, building, static form performance the revering and worshipping to Chinese dragon such as Competitive Activities, but can not
Deepen profound influence of the China dragon to China, it is impossible to change the external passiveness image to Chinese dragon.
The content of the invention
In view of the drawbacks described above of the prior art, the technical problems to be solved by the invention are to provide a kind of imperial shape of China
Aircraft, to solve the above problems.
To achieve the above object, the present invention provides a kind of aircraft of the imperial shape of China, it is characterised in that：Including tap
Unit and circuit control system are closed in unit, section osteon, foot section osteon, ten thousand rotations, and the circuit control system includes microcomputer control
Control device, section bone control device and four limbs control device are closed in device processed and ten thousand rotations being connected with microcomputerized controller, and ten thousand rotation is closed
Control device closed with ten thousand rotations advance inside units for adjusting imperial body, left and right, the stepper motor of upper and lower posture are connected, the section
Bone control device is connected with being used in the motor that each section bone of imperial body generates recoil strength, in the four limbs control device and four limbs
The connection of in the wrong, pick-and-place stepper motor is stretched in portion's control, the microcomputerized controller also with supply unit, human-computer interaction device, sensor
Device is connected with master switch, and the sensor device includes visual sensor and hearing transducer.
Further, the leading unit includes tap and the longan being arranged on tap, Long Jiao, and the tap is internal to be set
Right larynx squama stepper motor, leading blade motor, larynx squama stepper motor, larynx squama sliding shoe are equipped with, the larynx squama sliding shoe passes through
Larynx squama line is connected with larynx scale, and the larynx scale is arranged on leading lower part, the left and right sides of the tap by larynx squama nail of shipping and reselling on another market
It is respectively arranged with left larynx scale, left larynx squama line, left larynx squama pin and right larynx squama to ship and resell on another market nail, right larynx scale, right larynx squama line, the left side
Larynx scale is connected by left larynx squama pin with tap, and left larynx squama line is connected with left larynx scale, and right larynx scale turns also by right larynx squama
Dynamic pin is connected with tap, the right larynx scale, the connection of right larynx squama line.
Further, include section bone on the section osteon and be fixed on the squama frame of section bone and be fixed on the more of squama frame
Layer scale is equipped between multilayer scale to save the gap of bone blade motor air-breathing, saves and is equipped in bone for through gastrostege line
With the tube chamber of gastrostege thread casing, design is there are one blade motor above tube chamber, there are one gastrostege piece below tube chamber, by gastrostege
Nail connection gastrostege piece of shipping and reselling on another market connects with bone, one end of gastrostege line is saved through the section bone tube chamber of section bone by gastrostege piece and with gastrostege piece
It connects；There is a left gastrostege piece on the tube chamber left side, and being shipped and resell on another market to follow closely by left gastrostege connects left gastrostege piece and section bone, the left gastrostege piece rotational steps
Adjustment be by left gastrostege line traffic control, and then by ten thousand rotation close the inside the small step motor control of left gastrostege；There is a right side on the right of tube chamber
Gastrostege piece, being shipped and resell on another market to follow closely by right gastrostege connects right gastrostege piece and section bone, and the adjustment of the right gastrostege piece rotational steps is by right gastrostege
Line traffic control, and then by the small step motor control of right gastrostege of ten thousand rotation pass the insides；One end connection section bone spring of bone is saved, saves bone spring
For connecting section bone and saving the connector between bone.
Further, the foot section osteon includes foot section bone, section bone stepper motor, humerus, humerus stepper motor, phalanges
With phalanges stepper motor, the phalanges with the humerus of foot section bone one end corresponding matching and with foot section bone other end corresponding matching, institute
Stating has humerus elastic ring between foot section bone and humerus, section bone sliding shoe is provided in the section bone stepper motor, and the section bone is slided
One end dome disk of motion block and humerus is connected by saving bone line, hemisphere shape and phalanges one end of the other end protrusion of the humerus
The hemisphere shape of spill is engaged, and humerus elastic ring is provided between humerus and phalanges, is provided in the humerus stepper motor
One end dome disk of humerus sliding shoe, the humerus sliding shoe and phalanges is connected by humerus line；The other end of the phalanges has
Proximal phalanx and phalanges one end are formed rotation connection by five claws, wherein one end of forefinger claw by rotated pin, described
Nearly section spring is provided in proximal phalanx and phalanges, while baffle is provided on the proximal phalanx, the proximal phalanx is in
Phalanges rotation connection is saved, and middle section spring is provided in middle phalanx and proximal phalanx, while baffle is provided on middle phalanx,
The middle phalanx is rotatablely connected with distal phalanx, and remote section spring is provided in distal phalanx and middle phalanx, while remote section
Baffle is provided on phalanges, phalanges stepper motor is set in the phalanges, the phalanges stepper motor is driven by spiral rotating
The movement of corresponding phalanges sliding shoe, the phalanges, distal phalanx far save spring, are middle phalanx, middle section spring, proximal phalanx, near
Section spring both passes through phalanges line, and the distal phalanx is connected by phalanges line with phalanges sliding shoe.
Further, unit is closed in ten thousand rotation includes sliding stand, gastrostege spool, gastrostege line, gastrostege line cap bag, gastrostege bullet
Spring, gastrostege slide damper, gastrostege gear, gastrostege conducting ring, gastrostege fixed plate, gastrostege compression spring, gastrostege outer conductor, motor
Platform, gastrostege inside conductor, the small stepper motor of gastrostege, gastrostege slide push plate, the big stepper motor of gastrostege and gastrostege pinion gear, the gastrostege
Outer conductor, gastrostege conducting ring, gastrostege inside conductor, the small stepper motor of gastrostege, gastrostege slide push plate and are sequentially connected, and the gastrostege slides
Baffle slides push plate with gastrostege and connects, and the gastrostege spring connects with gastrostege slide damper, and the gastrostege slides push plate and gastrostege
Line connects, and the gastrostege gear is mounted with the small stepper motor of two identical gastrosteges and gastrostege slides push plate, and the gastrostege line connects
Connect gastrostege slide damper and gastrostege piece, the spindle nose of the big stepper motor of gastrostege has a gastrostege pinion gear, the gastrostege pinion gear with
Band gastrostege gear connects.
Further, do relative motion between the gastrostege gear and left gastrostege gear, right gastrostege gear, the gastrostege tooth
Wheel and left gastrostege gear, for right gastrostege gear there are two push plate is slided, each one end for sliding push plate is convex, and corresponding
Several adjacent slide dampers form different distances, each slide damper controls gastrostege piece, left gastrostege piece and right abdomen respectively
Scale, adjusts the rotational steps of corresponding gastrostege piece, left gastrostege piece and right gastrostege piece, and the gastrostege line is connection gastrostege slide damper
With the non-stretchable line of softness of gastrostege piece, the gastrostege spool for covering gastrostege line outside the Pass in ten thousand rotations is also soft non-stretchable gastrostege
Spool.
Further, it is described ten thousand rotation close unit inside stepper motors for the small stepper motor of gastrostege, the big stepper motor of gastrostege,
The small stepper motor of left gastrostege, the big stepper motor of left gastrostege, the small stepper motor of right gastrostege, the big stepper motor of right gastrostege, the four limbs
Internal stepper motor includes section bone stepper motor, humerus stepper motor, phalanges stepper motor, the humerus stepper motor, section
Bone stepper motor is multiple.
Further, the stepper motor inside the imperial body section bone include right larynx squama stepper motor, leading blade motor,
Larynx squama stepper motor and section bone blade motor.
Further, one end connection section bone spring of the section bone of the section osteon, section bone spring for connect section bone with
Save the connector between bone.
Further, the blade motor sucks air from the gap that multilayer scale specially designs, and air is discharged
Gastrostege piece, left gastrostege piece and right gastrostege piece.
The beneficial effects of the invention are as follows：
1st, connected between the imperial model section bone of China of the invention and section bone with section bone spring, form flexible body, save bone
Inside there is section bone blade motor, from scale layer air-breathing, discharge gastrostege piece or left gastrostege piece and right gastrostege piece, form recoil strength so that
Chinese dragon model rapid development is strong.
2nd, the section bone bone of the imperial model foot section bone of China of the invention and humerus junction are the semicircular body and spill of convex
Semicircular body connects, meanwhile, humerus is also that the semicircular body of convex and the semicircular body of spill are connected with phalanges junction, passes through four respectively
Three-dimensional rotation is realized in the control of a section bone stepper motor and four humerus stepper motors.A certain phalanges stepper motor passes through it
Phalanges line connection one only proximal phalanx, closely save spring, middle phalanx, it is middle section spring, distal phalanx, far save spring, pass through
The control of a certain phalanges stepper motor, realizes the bending control of one only, and the control of five stepper motors is, it can be achieved that five pawls
The function of grasping is realized in bending control so that China's dragon model flexible movements.
3rd, gastrostege gear, left gastrostege gear, the right gastrostege gear of the imperial rotation of the model ten thousand pass the inside of China of the invention can be opposite
Movement, each gear is there are two push plate is slided, and one end of each push plate is convex, with corresponding several adjacent slide dampers
Different distances is formed, it is each to control gastrostege piece, left gastrostege piece and right gastrostege piece respectively, adjust corresponding gastrostege piece, left gastrostege piece
With the rotational steps of right gastrostege piece so that China's dragon model attitude is flexible.
4th, the present invention is respectively to the section osseous system of Chinese imperial model, and faucet system, ten thousand rotation relation systems, foot section osseous system carry out
While careful reliable Machine Design, also the Chinese imperial each motive position of model is controlled using domestic " Godson " chip
System borrows intellectual technology and realizes dragon reliable flexible rapid development in the air, performance the revering and worshipping to Chinese dragon in the form of dynamic
It visits, profound influence of the Chinese dragon to China can be deepened, change the external passiveness image to Chinese dragon.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the integrated circuit structure diagram of the present invention；
Fig. 2 is the integrated circuit schematic diagram of the present invention；
Fig. 3 is the leading positive view of the present invention；
Fig. 4 is leading top view of the invention；
Fig. 5 is leading oblique view of the invention；
Fig. 6 is present invention section bone positive view；
Fig. 7 is present invention section bone left view；
Fig. 8 is present invention section bone oblique view；
Fig. 9 is foot section bone partial sectional view of the present invention；
Figure 10 is foot section bone oblique view of the present invention；
Figure 11 is that partial cutaway gastrostege outer conductor view is closed in ten thousand rotation of the present invention；
Figure 12 is that the big stepper motor view of partial cutaway gastrostege is closed in ten thousand rotation of the present invention；
Figure 13 is partial view of the ten thousand rotation pass of the present invention in section bone；
Figure 14 is the imperial body oblique view of each system composition of the present invention；
Figure 15 is the imperial body top view of each system composition of the present invention.
Specific embodiment
As shown in Figure 1, the present invention provides a kind of aircraft of the imperial shape of China, it is characterised in that：Including leading unit, section
Osteon, foot section osteon, ten thousand rotations close units and circuit control system, the circuit control system include microcomputerized controller and with
Control device, section bone control device and four limbs control device are closed in ten thousand rotations of microcomputerized controller connection, and control device is closed in ten thousand rotation
Closed with ten thousand rotations advance inside units for adjusting imperial body, left and right, the stepper motor of upper and lower posture be connecteds, the section bone control fills
It puts with being used to be connected in the motor that each section bone of imperial body generates recoil strength, the four limbs control device is stretched with four limbs internal control
Bend, the connection of the stepper motor of pick-and-place, the microcomputerized controller also with supply unit, human-computer interaction device, sensor device and total
Switch connection, the sensor device include visual sensor and hearing transducer.
As shown in Fig. 2, instruction is sent according to program instruction requirement by MCU,
First：Control section bone chipset PIC1 by its instruction control driving section bone motor plate ULN1, ULN2, and then is controlled
The blade of system section bone motor unit M53~M76 rotates, and generates recoil strength.
Second：Chipset PIC2 is closed in ten thousand rotation of control, is closed motor plate ULN3 by its ten thousand rotation of instruction control driving, and then controlled
Stepper motor M77~M82 is closed in ten thousand rotations, and (on the one hand, the big stepping electricity of the big stepper motor of gastrostege, left gastrostege in portion inside the Pass is revolved in control ten thousand
Machine and the big stepper motor of right gastrostege are realized and select different section bones.On the other hand, the small stepping electricity of gastrostege in portion inside the Pass is revolved in control ten thousand
Machine, the small stepper motor of left gastrostege and the small stepper motor of right gastrostege are realized and gastrostege, left gastrostege, the right side are adjusted on the section bone of the selection
The size of the rotational steps of gastrostege).Stepper motor PIC2 is closed by ten thousand rotation of control, imperial body can be controlled to rise, left and right is preceding
Into with curved posture.
3rd：Four limbs chipset PIC3, PIC4 are controlled, the forelimb that control driving four limbs motor plate is instructed by it is left
The right ULN5 of ULN4, forelimb, the left ULN6 of hind leg, the right ULN7 of hind leg, so control respectively the left M1 of forelimb of four limbs stepper motor~
Right M14~the M26 of M13, forelimb, the left M27~M39 of hind leg, the right M40~M52 of hind leg.So as to corresponding drive humerus stepping electricity
Machine, section bone stepper motor, phalanges stepper motor, realization four limbs are flexible, claw can grab the posture that can be held.
4th：The information feedback of related sensor group sen1, sen2, sen3 with dragon are collected, by A/D converter,
The processing of sensor feedback chipset PIC5 is sent to, is sent to MCU analyses, is required according to the analysis of MCU Programs instruction, in time
Change above-mentioned first, second, and third control instruction.
To sum up, "Longxin" chip controls above-mentioned four kinds of instructions simultaneously, can realize the various postures that Chinese dragon dances in the air in the air.
As shown in Fig. 3,4,5, leading operation principle is as follows：
Structural principle：
There is larynx scale 9 below tap 1, larynx scale 9 is connected by larynx squama rotated pin 10 with tap, has the work(rotated
Energy.Larynx squama line 8 forms the state of connection through larynx squama sliding shoe 7 and larynx scale 9.Left larynx scale 14 is also by left larynx squama pin simultaneously
Nail 16 is connected with tap 1, has the function of to rotate.Left larynx squama line 15 passes through left larynx squama slide unit stepper motor and left 14 shape of larynx scale
Into the state of connection.Right larynx scale 12 is connected also by right larynx squama rotated pin 11 with tap, has the function of to rotate.Right larynx squama
Line 13 forms the state of connection through right larynx squama slide unit stepper motor and right larynx scale 12.
Operation principle：
Chip controls group sends signal control larynx squama stepper motor 6, is driven by its helical axis and is moved down on larynx squama sliding shoe 7
It is dynamic, larynx squama line 8 is made to be in the state shunk or stretched.Since leading blade motor 5 generates the recoil effect of air, larynx squama line 8
The state tensed is presented, the rotational steps of larynx scale 9 are always in the maximum rotation angle of current larynx squama sliding shoe 7.When larynx squama is slided
When motion block 7 moves up, larynx squama line 8 is in contraction state, and the rotational steps of larynx scale 9 reduce, and at this moment tap will reduce what is risen
Power, when larynx squama sliding shoe 7 moves down, larynx squama line 8 is in extended configuration, the rotation angle for making 9 formation amplitude of larynx scale larger,
At this moment tap will increase the power risen.Equally, chipset sends signal and controls left larynx squama stepper motor, controls left larynx scale 14
Rotational steps control the right posture of tap.Meanwhile chipset sends signal and controls right larynx squama stepper motor 4, controls right larynx scale
12 rotational steps control the left posture of tap.Simultaneously control larynx squama stepper motor 6, left larynx squama stepper motor (not marking) and
Right larynx squama stepper motor 4.
As shown in Fig. 6,7,8, the operation principle for saving bone is as follows：
Structural principle：
There are the squama frame 24 for being fixed on section bone 17 and the scale 25 for being fixed on squama frame 24 on section bone, be equipped with layer by layer between scale 25
Special gap, for saving the air-breathing of bone blade motor 23.Saving has tube chamber in bone, there are one blade is electronic for design above tube chamber
Machine 23 there are one gastrostege piece 18 below tube chamber, is shipped and resell on another market 21 connection gastrostege pieces 18 of nail and section bone 17 by gastrostege, inside the tube chamber for saving bone
It devises the gastrostege line 20 that diameter can be passed through small but cannot pass through the gastrostege spool 56 being relatively large in diameter, so gastrostege spool 56 is kept off
In the inside of section bone tube chamber, and through gastrostege thread casing 19, prevent the abrasion of luminal surface, one end of gastrostege line 20 passes through section
By gastrostege piece 18, the state connected is formed with gastrostege piece 18 for the section bone tube chamber of bone.Left gastrostege piece 34 and right gastrostege piece 29 are one
The principle of sample.
During work, no matter the gastrostege slide damper 60 inside Wan Xuanguan is slided push plate 69 and is moved and still exists on the left side by gastrostege
The right, since section bone blade motor 23 generates the recoil effect of air, the recoil strength being subject on gastrostege piece 18 makes to be connected to abdomen
The gastrostege line 20 of squama slide damper 60 and gastrostege piece 18 is in the state tensed to sum up, passes through the stretching, extension and shortening of gastrostege line 20
Control, can realize the function of 18 rotation angle of control gastrostege piece.
There is a left gastrostege piece 34 on the tube chamber left side, is shipped and resell on another market by left gastrostege and follows closely the left gastrostege piece 34 of 33 connections and section bone 17, rotates width
The adjustment of degree is controlled by left gastrostege line 32, and then the small step motor control of left gastrostege of the inside is closed by ten thousand rotations.On the right of tube chamber
There is a right gastrostege piece 29, shipped and resell on another market by right gastrostege and follow closely the right gastrostege piece 29 of 30 connections and section bone, the adjustment of rotational steps is by right gastrostege
What line 28 controlled, and then by the small step motor control of right gastrostege of ten thousand rotation pass the insides.The section bone spring 22 of one end connection of bone is saved,
Bone spring 22 is saved for connecting section bone 17 and saving the connector between bone 17.
Operation principle：
During work, chip combination control signal sends what instruction control section bone blade motor 23 was specially designed from scale layer 25
Gap air-breathing, by air discharge gastrostege piece 18, left gastrostege piece 34 and right gastrostege piece 29.Imperial body is by many identical section bones 17
It is formed by connecting by saving bone spring 22.The rising posture of imperial body is controlled by the rotation angle of gastrostege piece 18, the rotation of gastrostege piece 18
Angle is big, is risen with dragon relatively with regard to high, and the rotation angle of gastrostege piece 18 is small, and liter is relatively just low with dragon.The left and right posture of imperial body
It is controlled by left gastrostege piece 34 and right gastrostege piece 29, when the angle of the big and right gastrostege piece 29 of the angle of left gastrostege piece 34 is small, Long Shenxiang
It is right close；On the contrary, when the angle of the small and right gastrostege piece 29 of the angle of left gastrostege piece 34 is big, imperial body is shifted left close to；When left gastrostege piece
34 as the rotation angle of right gastrostege piece 29 when, the formation of imperial body does not keep left the posture also do not kept right.
Such as Fig. 9,10, the principle of foot section osteon is as follows：
Structural principle：
The end face of foot section bone 35 is a raised hemisphere shape, and the end face of humerus 40 is a spill hemisphere shape,
With 35 corresponding matching of foot section bone, three-dimensional mutually rotation is realized.The other end of humerus 40 is a convex hemisphere shape, and recessed
The phalanges 45 of shape hemisphere shape is engaged.There is humerus elastic ring 44 between foot section bone 35 and humerus 40, make it have the work of elasticity
With, have in section bone stepper motor 36 and save bone sliding shoe 37, one end dome disk of 38 envoy's bone sliding shoe 37 of section bone line and humerus 40
Form connection status.Jointly controlling for bone stepper motor 36 is saved by four, realizes three-dimensional mutually rotation.Humerus 40 and phalanges 45
Connection and foot section bone 35 it is similar with the connection of humerus 40.The hemisphere shape of the other end protrusion of humerus 40 and 45 one end of phalanges are recessed
The hemisphere shape of shape is engaged, and has humerus elastic ring 44 between humerus 40 and phalanges 45, there is humerus cunning in humerus stepper motor 41
Motion block 42, humerus line 43 make humerus sliding shoe 42 and one end dome disk of phalanges form connection status.Pass through four humerus steppings
Motor 41 jointly controls, and realizes three-dimensional mutually rotation.
The other end of phalanges 45 now introduces one end of the mechanism, wherein forefinger claw of forefinger claw, the end there are five claw
Proximal phalanx 50 and 45 one end of phalanges are formed by rotated pin by the relation rotated, and had in proximal phalanx 50 and phalanges 45 near
It saves spring 51 and keeps its extended configuration, while have baffle on proximal phalanx 50, ensure that it is made to bend to the centre of the palm during bending, it is impossible to
Backwards to bending.Proximal phalanx 50 forms rotation relation with middle phalanx 48 again, and has in middle phalanx 48 and proximal phalanx 50
It saves spring 49 and keeps its extended configuration, while have baffle on middle phalanx 48, it is made to be bent to the centre of the palm, it is impossible to backwards to bending.
Middle phalanx 48 forms rotation relation with distal phalanx 46, and has remote section spring 47 to keep in distal phalanx 46 and middle phalanx 48
Its extended configuration, while have baffle on distal phalanx 46, it is made to be bent to the centre of the palm, it is impossible to backwards to bending.Finger in phalanges
Bone stepper motor 54 by spiral rotating, drives corresponding phalanges sliding shoe 53 to move, and phalanges line 52 is saved through phalanges 45, closely
Spring 51, proximal phalanx 50, middle section spring 49, middle phalanx 48, remote section spring 47, distal phalanx 46, and by phalanges sliding shoe
53 form the state of connection with distal phalanx 46.
Operation principle：
When chip combination control signal sends the rotation of one of four section bone stepper motors 36 of instruction control, section bone step
The rotating screw axis of stepper motor 36 drives it to save bone sliding shoe 37 and moves up and down, and envoy's bone sliding shoe 37 and humerus 40 are in connection
The section bone line 38 of state compresses and stretches section flexible bone circle 39 also with section bone sliding shoe 37.When section bone sliding shoe 37 is upward,
It saves bone line 38 and compresses section flexible bone circle 39, humerus 40 is made to be bent around foot section bone 35 towards its direction.When section bone sliding shoe 37 to
When lower, due to saving the elasticity of flexible bone circle 39, section bone line 38 stretches section flexible bone circle 39, make humerus 40 around foot section bone 35 towards
Its negative direction restores to the original state.
The operation principle of humerus 40 and phalanges 45 is the same, when chip combination control signal sends instruction four humerus of control
During the rotation of one of stepper motor 41, the rotating screw axis of humerus stepper motor 41 drives to be moved down on its humerus sliding shoe 42
It is dynamic, and humerus sliding shoe 42 and phalanges 45 is made to be compressed also with humerus sliding shoe 42 in the humerus line 43 of connection status and stretch it
Humerus elastic ring 44.When humerus sliding shoe 42 is upward, humerus line 43, which compresses humerus elastic ring 44, makes phalanges 45 around humerus 40
It is bent towards its direction.When humerus sliding shoe 42 is downward, due to the elasticity of humerus elastic ring 44, humerus line 43 stretches humerus bullet
Property circle 44, make phalanges 45 around humerus 40 towards its negative direction restore to the original state.
When phalanges stepper motor 54 drives phalanges sliding shoe 53 to move by helical axis, by phalanges sliding shoe 53 and remote section
The phalanges line 52 that phalanges 46 forms inherent connection relation controls proximal phalanx 50, middle phalanx 48, the opposite of distal phalanx 46 to receive
Contracting stretching, extension.When phalanges sliding shoe 53 moves up, the contraction of phalanges line 52 makes proximal phalanx 50, middle phalanx 48 and distal phalanx
46 relatively rotate towards the centre of the palm.When phalanges sliding shoe 53 moves down, phalanges line 52 stretches, due to inherent bullet between each phalanges
Spring it is restorative, make proximal phalanx 50, middle phalanx 48 and distal phalanx 46 be in extended configuration.Above-mentioned is the stretching, extension of a claw
And contraction state.
When the corresponding five phalanges sliding shoes of five claws drive its corresponding phalanges line 52 to move up, five claws
The state in the centre of the palm is formed, when the corresponding five phalanges sliding shoes of five claws drive phalanges line 52 to move down, due to phalanges
The effect that interior elasticity is recovered, five claws form the state of stretching, extension.
Contact foot section bone 35, humerus 40 and phalanges 45, by the instruction control section bone stepper motor 36 of chip controls group 72,
Humerus stepper motor 41 and phalanges stepper motor 54 can realize movement of the limbs in space.The identical original of four limbs
Reason is, it can be achieved that the posture that four limbs move in the air.
As shown in Figure 11,12,13, it is as follows that operation principle is closed in ten thousand rotations：
Structural principle：
On the one hand, the rotation angle of gastrostege piece 18 is controlled.Chipset sends instruction, gradually by gastrostege outer conductor 65, abdomen
Squama conducting ring 62, gastrostege inside conductor 67 control the small stepper motor 68 of gastrostege, and the small stepper motor 68 of gastrostege is rotated according to instruction requirement,
Gastrostege is driven to slide push plate 69 to move left and right, the end face that the gastrostege contacted with gastrostege slide damper 60 slides push plate 69 is convex
, effect is that the vertex of convex is made to be contacted with a gastrostege slide damper 60, makes 60 displacement distance of gastrostege slide damper maximum, convex
The edge of shape can be contacted with adjacent several gastrostege slide dampers 60, and move it distance reduces successively, until average distance.
When the small stepper motor 68 of gastrostege rotates clockwise, gastrostege slide damper 60 is driven by the helical axis of the small stepper motor 68 of gastrostege
It moves left, due to the elastic force of gastrostege spring 59, gastrostege slide damper 60 and adjacent is also moved to the left.When the small stepper motor of gastrostege
During 68 rotation counterclockwise, by the helical axis of the small stepper motor 68 of gastrostege gastrostege is driven to slide push plate 69 and moved right, gastrostege slides
Baffle 60 also moves right, and gastrostege spring 59 is caused further to be compressed.
Gastrostege line 57 is the soft but non-stretchable line for connecting gastrostege slide damper 60 and gastrostege piece 18, in ten thousand rotations outside the Pass
The gastrostege spool 56 for being sleeved on gastrostege line 57 is also soft but non-stretchable gastrostege spool 56.Sliding stand 55, which corresponds to, to be passed through
The small gastrostege line 57 of diameter but the gastrostege spool 56 being relatively large in diameter is cannot pass through, so keeping off gastrostege spool 56 in sliding stand 55
Outside, and through gastrostege line cap bag 58, gastrostege line cap bag 58 is the abrasion on sliding stand surface in order to prevent.Simultaneously in section 17 side of bone
Face, the small gastrostege line 57 of diameter can be passed through but cannot pass through the tube chamber for the gastrostege spool 56 being relatively large in diameter by devising, so by abdomen
Squama spool 56 is kept off in the outside of section bone tube chamber, and through gastrostege line cap bag 58, prevents the abrasion of luminal surface, and the one of gastrostege line 57
The section bone tube chamber through section bone is held, by gastrostege piece 18, the state connected is formed with gastrostege piece 18.During work, no matter ten thousand rotations are closed
The gastrostege slide damper 60 of the inside on the left side still on the right, the recoil work brought due to the section bone blade motor 23 in section bone
With the recoil strength being subject on gastrostege piece 18 makes the gastrostege line 57 for being connected to gastrostege slide damper 60 and gastrostege piece 18 be in tension
State to sum up, can realize the function of 18 rotation angle of control gastrostege piece.
On the other hand, different gastrostege pieces 18 is selected.Chipset is required according to instruction, and the big stepping of gastrostege is controlled by electric wire
Motor 70, the spindle nose of the big stepper motor 70 of gastrostege have gastrostege pinion gear 71, and gastrostege pinion gear 71 can drive 61 turns of gastrostege gear
It is dynamic.
Operation principle：
The instruction sent by chipset, on the one hand, the rotation of the big stepper motor 70 of gastrostege passes through gastrostege pinion gear 71
Connection drives the rotation mounted on gastrostege gear 61, realizes the gastrostege piece 18 inside the different section bones of selection.On the other hand, gastrostege
Small stepper motor 68 drives gastrostege to slide push plate 69 and moves, at the same time, the gastrostege line 57 being connected with gastrostege slip push plate 69
It is mobile, realize the function of the rotational steps size for adjusting gastrostege piece 18 in some section bone.Because the body of dragon is in M shapes
, it is necessary to be mounted with that the small stepper motor 68 of two identical gastrosteges and gastrostege slide push plate 69 in gastrostege gear 61, ensure same
The function of the rotational steps size of one gastrostege piece 18 of gastrostege piece 18 or control of two section bones can be controlled in one time, it is real
The curved posture of existing dragon body.Imperial body is the posture in M, so should be there are two section bone highest, because its corresponding gastrostege piece 18 revolves
Turn amplitude maximum and make section bone highest due to recoil strength maximum, and it is because gastrostege piece 18 that other two, which saves the minimum posture of bone,
Rotational steps are minimum and make the section bone minimum when recoil strength is minimum, but it is highest and lowest between be continuous, so gastrostege is slided
Dynamic push plate 69 is convex, and convex vertex makes gastrostege slide damper 60 compress maximum, causes gastrostege piece 18 by gastrostege line 57
Rotational steps it is big, so as to this point it is corresponding section bone highest.
Meanwhile in ten thousand rotations inside the Pass, not only there are the gastrostege gear 61 of gastrostege group, the small stepper motor 68 of gastrostege, the big stepping of gastrostege
Motor 70 etc. also has the left gastrostege gear of left gastrostege group, the small stepper motor of left gastrostege, the big stepper motor of left gastrostege etc., right gastrostege
The right gastrostege gear of group, the small stepper motor of right gastrostege, the big stepper motor of right gastrostege etc..Abdomen in the different section bones of gastrostege group effector
The size of scale rotational steps adjusts height and the advance of imperial body.Left gastrostege group is with right gastrostege group effector in different section bones
The size of left gastrostege piece and right gastrostege piece rotational steps adjusts the bending posture of the left and right of imperial body.
In conclusion the imperial model section bone of the China of the present invention, foot section bone, the design advantage of Wan Xuanguan are as follows：
1st, save and connected between bone and section bone with section bone spring, form flexible body, saving has section bone blade motor in bone, from
Scale layer air-breathing discharges gastrostege piece or left gastrostege piece and right gastrostege piece, forms recoil strength so that China's dragon model rapid development is strong.
2nd, the section bone bone of foot section bone is that the semicircular body of convex and the semicircular body of spill are connected with humerus junction, meanwhile, the upper arm
Bone is also that the semicircular body of convex and the semicircular body of spill are connected with phalanges junction, passes through four section bone stepper motors and four respectively
Three-dimensional rotation is realized in the control of a humerus stepper motor.A certain phalanges stepper motor connects one by its phalanges line
Proximal phalanx, closely save spring, middle phalanx, it is middle section spring, distal phalanx, far save spring, pass through a certain phalanges stepper motor
The bending control of one only is realized in control, and the control of five stepper motors is, it can be achieved that the bending control of five pawls, realizes and grasp
Function so that China's dragon model flexible movements.
3rd, the gastrostege gear inside Wan Xuanguan, left gastrostege gear, there is gastrostege gear can be movable relatively, there are two each gears
Push plate is slided, one end of each push plate is convex, and different distances are formed from corresponding several adjacent slide dampers, each
Gastrostege piece, left gastrostege piece and right gastrostege piece are controlled respectively, adjust the rotation width of corresponding gastrostege piece, left gastrostege piece and right gastrostege piece
Degree so that China's dragon model attitude is flexible.
As shown in Figure 14,15, joint section osseous system, faucet system, ten thousand rotation relation systems, the operation principle of foot section osseous system,
Domestic " Godson " chip may be employed in chip, borrows intellectual technology, and by being instructed in chip programming, chipset will according to instruction
It asks：
First, control the larynx squama stepper motor of faucet system, left larynx squama stepper motor, right larynx squama stepper motor, Jin Erfen
Not Kong Zhi larynx scale, left larynx scale, the rotational steps of right larynx scale, adjust tap flight direction and posture.
Second, the small stepper motor of gastrostege and the big stepper motor of gastrostege of ten thousand rotation relation system the inside of control, the left small stepping of gastrostege
Motor and the big stepper motor of left gastrostege, the right small stepper motor of gastrostege and the big stepper motor of right gastrostege control different section bone groups respectively
Into section osseous system inside gastrostege group, left gastrostege group, the size of the rotational steps of right gastrostege group.Comprehensive Control dragon is in aerial
Advance, up and down and left and right bending posture.
3rd, control section bone stepper motor, humerus stepper motor, phalanges in the foot section osseous system of four foot section bone compositions
Stepper motor controls the flexible performance of dragon's paw, and the function that can be held etc. can be stretched including dragon's paw.
To sum up each system realizes the flexible rapid development of dragon bending in the air under the control of chip combination control.
The preferred embodiment of the present invention described in detail above.It should be appreciated that those of ordinary skill in the art without
Creative work is needed according to the present invention can to conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (9)
1. a kind of aircraft of the imperial shape of China, it is characterised in that：Including leading unit, section osteon, foot section osteon, Wan Xuan
Unit and circuit control system are closed, ten thousand rotations that the circuit control system includes microcomputerized controller and is connected with microcomputerized controller are closed
Control device, section bone control device and four limbs control device, ten thousand rotation close control device with being adjusted inside ten thousand rotation pass units
The imperial body advance of section, the stepper motor connection of left and right, upper and lower posture, the section bone control device is with being used in each section bone of imperial body
The motor connection of recoil strength is generated, the four limbs control device is stretched in the wrong, pick-and-place stepper motor with four limbs internal control and is connected,
The microcomputerized controller is also connected with supply unit, human-computer interaction device, sensor device and master switch, the sensor device
Including visual sensor and hearing transducer；
The tap unit includes leading (1) and the longan (2) being arranged on leading (1), Long Jiao (3), and the tap (1) is internal
Right larynx squama stepper motor (4), leading blade motor (5), larynx squama stepper motor (6), larynx squama sliding shoe (7) are provided with, it is described
Larynx squama sliding shoe (7) is connected by larynx squama line (8) with larynx scale (9), the larynx scale (9) by larynx squama ship and resell on another market nail (10) set
Left larynx scale (14), left larynx squama line (15), left larynx squama are respectively arranged at left and right sides of leading (1) lower part, the tap (1)
Pin (16) and right larynx squama rotated pin (11), right larynx scale (12), right larynx squama line (13), the left larynx scale (14) pass through a left side
Larynx squama pin (16) is connected with leading (1), and left larynx squama line (15) is connected with left larynx scale (14), and right larynx scale (12) is also by the right side
Larynx squama rotated pin (11) is connected with leading (1), the right larynx scale (12), the connection of right larynx squama line (13).
2. a kind of aircraft of the imperial shape of China as described in claim 1, it is characterised in that：Include section on the section osteon
It bone (17) and is fixed on the squama frame (24) of section bone (17) and is fixed on the multilayer scale (25) of squama frame (24), multilayer scale
(25) it is equipped with to save the gap of bone blade motor (23) air-breathing between, is equipped in section bone (17) for through gastrostege line (20)
With the tube chamber of gastrostege thread casing (19), above tube chamber design there are one section bone blade motor (23), below tube chamber there are one
Gastrostege piece (18) is shipped and resell on another market nail (21) connection gastrostege piece (18) and section bone (17) by gastrostege, and one end of gastrostege line (20) is through saving bone
(17) section bone tube chamber is connected by gastrostege piece (18) and with gastrostege piece (18)；There is a left gastrostege piece (34) on the tube chamber left side, by a left side
Gastrostege nail (33) of shipping and reselling on another market connects left gastrostege piece (34) and saves bone (17), and the adjustment of left gastrostege piece (34) rotational steps is by a left side
Gastrostege line (32) controls, and then the small step motor control of left gastrostege of the inside is closed by ten thousand rotations；There is a right gastrostege piece on the right of tube chamber
(29), connected right gastrostege piece (29) by right gastrostege nail (30) of shipping and reselling on another market and saved bone (17), right gastrostege piece (29) rotational steps
Adjustment is controlled by right gastrostege line (28), and then the small step motor control of right gastrostege of the inside is closed by ten thousand rotations；Save the one of bone (17)
End connection section bone spring (22), section bone spring (22) are used to connect the connector between section bone (17) and section bone (17).
3. a kind of aircraft of the imperial shape of China as described in claim 1, it is characterised in that：The foot section osteon includes foot
Save bone (35), section bone stepper motor (36), humerus (40), humerus stepper motor (41), phalanges (45) and phalanges stepper motor
(54), there is humerus elastic ring (44) between the foot section bone (35) and humerus (40), the section bone stepper motor (36) is inner to be set
There is section bone sliding shoe (37), the section bone sliding shoe (37) is connected with one end dome disk of humerus (40) by saving bone line (38),
The hemisphere shape of the other end protrusion of the humerus (40) is engaged with the hemisphere shape of phalanges (45) one end spill, humerus (40)
Humerus elastic ring (44) is provided between phalanges (45), the humerus stepper motor (41) is inner to be provided with humerus sliding shoe
(42), the humerus sliding shoe (42) is connected with one end dome disk of phalanges (45) by humerus line (43)；The phalanges (45)
The other end there are five claw, wherein one end of forefinger claw by rotated pin proximal phalanx (50) and phalanges (45) one end
Rotation connection is formed, nearly section spring (51), while the proximal phalanx are provided in the proximal phalanx (50) and phalanges (45)
(50) baffle is provided on, the proximal phalanx (50) is rotatablely connected with middle phalanx (48), and middle phalanx (48) and nearly section
Middle section spring (49) is provided in phalanges (50), while baffle is provided on middle phalanx (48), the middle phalanx (48) with
Distal phalanx (46) is rotatablely connected, and remote section spring (47) is provided in distal phalanx (46) and middle phalanx (48), while remote
Baffle is provided on section phalanges (46), phalanges stepper motor (54), the phalanges stepper motor are set in the phalanges (45)
(54) drive corresponding phalanges sliding shoe (53) mobile by spiral rotating, the phalanges (45), distal phalanx (46) far save bullet
Spring (47), middle phalanx (48), middle section spring (49), proximal phalanx (50), closely section spring (51) both pass through phalanges line (52), institute
Distal phalanx (46) is stated to be connected with phalanges sliding shoe (53) by phalanges line (52).
4. a kind of aircraft of the imperial shape of China as described in claim 1, it is characterised in that：Unit is closed in ten thousand rotation to be included sliding
Dynamic platform (55), gastrostege spool (56), gastrostege line (57), gastrostege line cap bag (58), gastrostege spring (59), gastrostege slide damper
(60), gastrostege gear (61), gastrostege conducting ring (62), gastrostege fixed plate (63), gastrostege compression spring (64), gastrostege outer conductor
(65), motor platform (66), gastrostege inside conductor (67), the small stepper motor of gastrostege (68), gastrostege slide push plate (69), the big stepping of gastrostege
Motor (70) and gastrostege pinion gear (71), the gastrostege outer conductor (65), gastrostege conducting ring (62), gastrostege inside conductor (67), abdomen
The small stepper motor of squama (68), gastrostege slide push plate (69) and are sequentially connected, and the gastrostege slide damper (60) slides push plate with gastrostege
(69) connect, the gastrostege spring (59) connects with gastrostege slide damper (60), and the gastrostege slides push plate (69) and gastrostege line
(57) connect, the gastrostege gear (61) is mounted with that two small stepper motors of identical gastrostege (68) and gastrostege slide push plate
(69), gastrostege line (57) the connection gastrostege slide damper (60) and gastrostege piece (18), the big stepper motor of gastrostege (70)
Spindle nose has gastrostege pinion gear (71), and the gastrostege pinion gear (71) connects with gastrostege gear (61).
5. a kind of aircraft of the imperial shape of China as claimed in claim 4, it is characterised in that：The gastrostege gear (61) and a left side
It does relative motion between gastrostege gear, right gastrostege gear, the gastrostege gear (61) and left gastrostege gear, right gastrostege gear is equal
There are two push plate is slided, each one end for sliding push plate is convex, and difference is formed with corresponding several adjacent slide dampers
Distance, each slide damper controls gastrostege piece (18), left gastrostege piece (34) and right gastrostege piece (29), adjusts corresponding gastrostege respectively
The rotational steps of piece (18), left gastrostege piece (34) and right gastrostege piece (29), the gastrostege line (57) are connection gastrostege slide dampers
(60) and the non-stretchable line of softness of gastrostege piece (18), it is also in the gastrostege spool (56) for the gastrostege line (57) that ten thousand rotations cover outside the Pass
Soft non-stretchable gastrostege spool.
6. a kind of aircraft of the imperial shape of China as described in claim 1, it is characterised in that：Ten thousand rotation is closed inside unit
Stepper motor is the small stepper motor of gastrostege (68), the big stepper motor of gastrostege (70), the small stepper motor of left gastrostege, the big stepping of left gastrostege
Motor, the small stepper motor of right gastrostege, the big stepper motor of right gastrostege, the stepper motor inside the four limbs include section bone stepper motor
(36), humerus stepper motor (41) and phalanges stepper motor (54), the humerus stepper motor (41), section bone stepper motor (36)
It is multiple.
7. a kind of aircraft of the imperial shape of China as described in claim 1, it is characterised in that：Inside the tap unit
Stepper motor includes left larynx squama stepper motor, right larynx squama stepper motor (4), leading blade motor (5), larynx squama stepper motor
(6), bone blade motor (23) is saved.
8. a kind of aircraft of the imperial shape of China as claimed in claim 3, it is characterised in that：The foot section bone of the section osteon
(35) one end connection section bone spring, section bone spring is for connection section bone and saves the connector between bone.
9. a kind of aircraft of the imperial shape of China as claimed in claim 2, it is characterised in that：The section bone blade motor
(23) air is sucked from the gap specially designed for multilayer scale (25), and air is discharged into gastrostege piece (18), left gastrostege piece
(34) and right gastrostege piece (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510634286.3A CN105173080B (en) | 2015-09-30 | 2015-09-30 | A kind of aircraft of the imperial shape of China |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510634286.3A CN105173080B (en) | 2015-09-30 | 2015-09-30 | A kind of aircraft of the imperial shape of China |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105173080A CN105173080A (en) | 2015-12-23 |
| CN105173080B true CN105173080B (en) | 2018-05-29 |
Family
ID=54895665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510634286.3A Active CN105173080B (en) | 2015-09-30 | 2015-09-30 | A kind of aircraft of the imperial shape of China |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105173080B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02128783A (en) * | 1988-11-08 | 1990-05-17 | Keikichi Itai | Rising dragon |
| CN1322656A (en) * | 2000-10-28 | 2001-11-21 | 韩锦熙 | Chinese flying dragon |
| CN2855490Y (en) * | 2005-11-16 | 2007-01-10 | 黄启玩 | Inflatable driving dragon lamp |
| CN102861440A (en) * | 2012-10-02 | 2013-01-09 | 王德普 | Dancing dragon and manufacturing method thereof |
| CN205022869U (en) * | 2015-09-30 | 2016-02-10 | 毛忠杰 | Aircraft of china dragon |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8286907B2 (en) * | 2009-05-07 | 2012-10-16 | Disney Enterprises, Inc. | Flying entertainment vehicle |
-
2015
- 2015-09-30 CN CN201510634286.3A patent/CN105173080B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02128783A (en) * | 1988-11-08 | 1990-05-17 | Keikichi Itai | Rising dragon |
| CN1322656A (en) * | 2000-10-28 | 2001-11-21 | 韩锦熙 | Chinese flying dragon |
| CN2855490Y (en) * | 2005-11-16 | 2007-01-10 | 黄启玩 | Inflatable driving dragon lamp |
| CN102861440A (en) * | 2012-10-02 | 2013-01-09 | 王德普 | Dancing dragon and manufacturing method thereof |
| CN205022869U (en) * | 2015-09-30 | 2016-02-10 | 毛忠杰 | Aircraft of china dragon |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105173080A (en) | 2015-12-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103538077B (en) | A kind of multiple degrees of freedom bionic mechanical hand | |
| Wattanasiri et al. | Design of multi-grip patterns prosthetic hand with single actuator | |
| CN101721290B (en) | Exoskeleton type finger motion function rehabilitation robot | |
| CN105193525A (en) | Bionic hand with five fingers based on nickel-titanium memory alloy | |
| CN103170960A (en) | Human-imitation synchronous wireless control mechanical arm system | |
| CN207465244U (en) | A kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive | |
| CN102294698A (en) | Tractive simulation robot hand | |
| CN110640774B (en) | Six-degree-of-freedom five-finger manipulator | |
| CN108656100B (en) | Human emulated robot based on cylinder | |
| CN203171617U (en) | Humanoid synchronous wireless control mechanical hand system | |
| CN204160479U (en) | A kind of Apery manipulator | |
| CN104434350B (en) | Finger mechanism of anthropomorphic myoelectrical artificial hand | |
| Ismail et al. | Extra robotic thumb and exoskeleton robotic fingers for patient with hand function disability | |
| CN105173080B (en) | A kind of aircraft of the imperial shape of China | |
| CN111110408A (en) | Finger knuckle, finger and palm structure of human imitation | |
| Zhang et al. | Passive adaptive grasp multi-fingered humanoid robot hand with high under-actuated function | |
| CN206063381U (en) | A kind of ectoskeleton drive lacking is all referring to training rehabilitation device | |
| CN215021682U (en) | Recovered gloves based on speech control | |
| Nemoto et al. | F3Hand II: A flexible five-fingered prosthetic hand using curved pneumatic artificial muscles | |
| CN110538015B (en) | Mechanical artificial limb arm | |
| CN206154333U (en) | Imitative staff mechanical gripper | |
| CN205022869U (en) | Aircraft of china dragon | |
| CN210061162U (en) | Two-degree-of-freedom multi-mode humanoid manipulator | |
| CN116650285A (en) | Flexible hand rehabilitation exoskeleton and control method thereof | |
| Nemoto et al. | F3Hand: A five-fingered prosthetic hand driven with curved pneumatic artificial muscles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Aojie Inventor after: Li Xia Inventor after: Mao Yan Inventor before: Mao Zhongjie |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180111 Address after: 518109 A 607, Longteng Pavilion, south side of Longhua street, Longhua New District, Guangdong Province, 607 Applicant after: Shenzhen Shun Amperex Technology Limited Address before: 614200 Sichuan city in Leshan province Mount Emei city Southwest Jiao Tong University Emei campus board 1112 Applicant before: Mao Zhongjie |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190506 Address after: 518109 Longhua Street, Longhua District, Shenzhen City, Guangdong Province, Jinglong Community, Heping West Road, Longtengge B Building 3 Unit 205 Patentee after: Shenzhen Zhongshun New Energy Battery Co. Address before: 518109 Building A 607, Longtengge Commercial and Residential Building, South of Heping Road, Longhua Street, Longhua New District, Shenzhen Patentee before: Shenzhen Shun Amperex Technology Limited |
|
| TR01 | Transfer of patent right |