CN105965514B - Bionical hydraulic pressure four-footed machine dinosaur structure - Google Patents
Bionical hydraulic pressure four-footed machine dinosaur structure Download PDFInfo
- Publication number
- CN105965514B CN105965514B CN201610301644.3A CN201610301644A CN105965514B CN 105965514 B CN105965514 B CN 105965514B CN 201610301644 A CN201610301644 A CN 201610301644A CN 105965514 B CN105965514 B CN 105965514B
- Authority
- CN
- China
- Prior art keywords
- joint
- dinosaur
- hole
- free bearing
- cylinder
- 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.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The present invention relates to a kind of bionical hydraulic pressure four-footed machine dinosaur structure, including dinosaur trunk, the incidence being connected on dinosaur trunk, afterbody, four pedipulators, incidence is made up of four turning joints, upper neck joint is connected to the upper jaw and lower jaw, lower neck joint on head by forward and backward rotary shaft respectively, lower neck joint is connected by rotary shaft with dinosaur trunk, connected between head and lower neck joint by linkage, realize the linkage on lower neck joint and head；Afterbody is connected on dinosaur trunk by rotary shaft, afterbody is made up of nine turning joints, nine turning joints from first to last pass sequentially through nine and alternately rotate axis connection in length and breadth, nine turning joints realize that the comprehensive of tail waves built with nine servo hydraulic cylinders in the case where nine servo hydraulic cylinders coordinate transmission；Four pedipulators include hip joint, big leg joint, calf joint, the sole being sequentially connected；Hip joint realizes the adjustment of dinosaur pedipulator Slide attitude under hip joint Driven by Hydraulic Cylinder.
Description
Technical field
The present invention relates to a kind of bionical hydraulic pressure four-footed machine, especially a kind of bionical hydraulic pressure four-footed machine dinosaur structure.
Background technology
Robot is the technology of a multi-crossed disciplines, is related to Machine Design, computer, sensor, automatically controls, people
Machine interaction, bionics etc..Robot is widely used, including machinery, electronics, automobile, housekeeping, video display, amusement etc..The design's
Bionical hydraulic pressure four-footed machinery dinosaur, using mechanical designing technique, bionics technology, hydraulic control technology, sensor technology, intelligence
Control technology etc., the motion feature of dinosaur can be realized, such as walk, shake the head, open one's mouth, wag the tail.Bionical dinosaur is widely used, special
It is not in some theme parks and some public places of entertainment etc..
Existing existing four-leg bionic machine dinosaur, common problem are the head mechanism designs of dinosaur, the free degree
It is few, it is impossible to it is flexibly rotated and is swung；Tail structure design is single, although the swing of afterbody can be realized, totally certainly
Few by spending, swing is stiff, dumb；Leg facet joint complex, influence the stability of dinosaur travelling control.Typically driven using motor
Dynamic, control system is complicated.Overall construction design and true dinosaur surface are unlike influence is viewed and admired and application.Therefore, need
Excellent brand-new design is carried out in structure and control system in the bionical four-footed machine dinosaur of hydraulic pressure.
The content of the invention
The technical problem to be solved in the present invention is by carrying out brand-new set to the structure of bionical hydraulic pressure four-footed machinery dinosaur
Meter, it is few to solve bionical dinosaur incidence, the afterbody free degree, swings dumb；It is complicated to solve bionical dinosaur leg structure, side-sway is done
Relate to problem；It is not true to nature to solve bionical dinosaur surface, does not reach bandwagon effect problem；Solve bionical dinosaur stability problem,
And provide a kind of bionical hydraulic pressure four-footed machine dinosaur structure.
In order to solve the above problems, the technical solution adopted by the present invention is：A kind of bionical hydraulic pressure four-footed machine dinosaur structure,
Including head, dinosaur trunk, the incidence being connected on dinosaur trunk, afterbody, four pedipulators and with four pedipulator phases
Four soles of connection, it is characterised in that：The incidence is made up of four turning joints, and four turning joints are respectively head
The upper jaw and lower jaw, upper neck joint, lower neck joint；The upper and lower jaw on head, in head servo Driven by Hydraulic Cylinder, realize dinosaur mouth
Bar opening and closing, the upper jaw on head is provided with two dinosaur eyes, and two dinosaur eyes connect stepper motors, and dinosaur eyes are in stepping
Blinking for eyes is realized under the control driving of motor；The upper neck joint is connected to the upper jaw on head by preceding rotary shaft, passes through
Rotary shaft is connected to the lower neck joint on head afterwards, and lower neck joint is connected by rotary shaft with dinosaur trunk, upper neck joint and lower neck
Joint is connected to servo hydraulic cylinder, and the waving of mechanism, pitching motion are realized by servo hydraulic cylinder driving；The head with
Connected between lower neck joint by connecting rod, realize the linkage on lower neck joint and head；The afterbody is connected to probably by rotary shaft
On imperial trunk, the afterbody is made up of nine turning joints, and nine turning joints from first to last pass sequentially through nine and replaced in length and breadth
Rotation axis connection, nine turning joints are realized in the case where nine servo hydraulic cylinders coordinate transmission built with nine servo hydraulic cylinders
The comprehensive of tail waves；Four pedipulators include hip joint, big leg joint, calf joint, the sole being sequentially connected；
Hip joint is connected by revolute with dinosaur trunk, and hip joint hydraulic cylinder is housed between hip joint and dinosaur trunk, and hip joint exists
The adjustment of dinosaur pedipulator Slide attitude is realized under hip joint Driven by Hydraulic Cylinder；Between the hip joint and big leg joint, thigh
Between joint and calf joint, between calf joint and sole respectively by rotating axis connection, and install servo hydraulic cylinder, each
Three toes are connected with sole, toe hydraulic cylinder is housed between sole and toe, toe is real under the driving of toe hydraulic cylinder
It is now flexible to rotate.
The upper jaw and lower jaw on the head are respectively half grand shape and oblong-shaped frame structure, and upper jaw rear end is arranged to square
Frame structure, the surface plate of quadra structure floor are provided with free bearing, and quadra structure rear end face is provided with through hole cylinder, lead to
Folds connecting rod, folds connecting rod end set through hole are fixedly connected with the cylinder of hole, through hole and the axle being arranged on connecting rod coordinate
Connection, lower jaw rear end are provided with bending shape panel, and bending shape panel is provided with free bearing；The cylinder body afterbody of head servo hydraulic cylinder with
The free bearing connection being located on the surface plate of the quadra structure floor of the upper jaw, the piston end of head servo hydraulic cylinder is with being located at down
Free bearing connection on the downside of the bending shape panel of jaw；The upper jaw on head and the side of lower jaw are respectively equipped with side through hole, head it is upper
Bearing pin is provided with the side through hole of jaw and lower jaw, and is connected by bearing pin, head is realized in the presence of head servo hydraulic cylinder
The upper jaw and lower jaw around bearing pin rotate, to realize the opening and closing of the dinosaur face.
The upper neck joint is bent frame structure, and the front end face of bent frame structure is provided with symmetrical vertical through hole circle
Post, rear end face are provided with a vertical through hole cylinder, and the vertical through hole cylinder of rear end face is provided with folding shape connecting rod, and folding shape connecting rod is provided with one
Free bearing is supported, the vertical through hole cylinder of upper neck joint front end face passes through preceding rotation with the through hole cylinder of quadra structure rear end face
Axis connection realizes a revolute pair；The vertical through hole cylinder of the upper neck joint rear end face and the symmetrical through hole of lower neck joint front end face
Cylinder realizes another revolute pair by rotating axis connection.
The lower neck joint is trapezoidal shape frame structure, and the front end of trapezoidal shape frame structure is provided with symmetrical through hole cylinder and curved
Shape connecting plate, bending connecting plate are provided with through hole, and the through hole of bending connecting plate is connected with the axle being arranged on connecting rod, trapezoidal shape
The surface plate of frame structure side is provided with free bearing, and trapezoidal shape frame structure rear end face is provided with horizontal through hole cylinder, horizontal through hole
Cylinder is provided with planar linkage and plane body, and plane body is provided with support free bearing；First servo hydraulic cylinder afterbody is connected to lower neck
On free bearing on the side panel of joint, the first servo hydraulic cylinder piston end and the vertical through hole cylinder for being arranged on neck joint rear end face
On folding shape connecting rod on support free bearing be connected；Second servo hydraulic cylinder afterbody is connected to the support free bearing on dinosaur trunk
On, on the second servo hydraulic cylinder piston end and the planar linkage being arranged on the horizontal through hole cylinder of lower neck joint rear end face
Support free bearing is connected；The vertical through hole cylinder of the symmetrical through hole cylinder and upper neck joint rear end face of lower neck joint front end face passes through
Rotary shaft is connected the revolute pair to be formed and swung afterwards, the horizontal through hole cylinder of lower neck joint rear end face with dinosaur body
The revolute pair that horizontal through hole cylinder is rotated up and down by rotary shaft formation in mating connection.
Nine turning joints of the afterbody are respectively the turning joint of afterbody first, the turning joint of afterbody second, afterbody
Three turning joints, the turning joint of afterbody the 4th, the turning joint of afterbody the 5th, the turning joint of afterbody the 6th, the activity of afterbody the 7th are closed
Section, the turning joint of afterbody the 8th, the turning joint of afterbody the 9th, each turning joint are plane frame structure, before plane frame structure,
Rear end is respectively provided with an orthogonal revolute, nine turning joint respectively by the driving of nine servo hydraulic cylinders, around
Each joint rotary shaft rotary oscillation.
The hip joint is square structure body, and side is provided with the first support free bearing, square structure side in square structure body
Face is provided with the second support free bearing and the 3rd rotating through hole being connected with the thigh, and square structure body top is provided with horizontal through hole
And it is connected by bearing pin with dinosaur body free bearing；The big leg joint is strip structure, and both ends are respectively equipped with thigh
First, the second rotating through hole, thigh joint side wall are provided with thigh second and support free bearing and thigh first to support free bearing, the shank
Joint is strip structure, and upper end is provided with the rotating through hole of shank first, and lower end is provided with the rotating through hole of shank second, thigh
First, the 3rd rotating through hole with hip joint, the rotating through hole of shank first are connected the second rotating through hole respectively；Shank first rotates
Through hole is connected with the rotating through hole of thigh second by rotary shaft, and strip structure body side surface supports provided with shank first, second
Free bearing；Hip joint hydraulic cylinder body afterbody supports free bearing to be connected with dinosaur trunk, and hip joint hydraulic cylinder piston portion is closed with hip
First support free bearing of section medial surface is hinged；Thigh hydraulic cylinder body afterbody is connected with the second support free bearing of hip joint,
Thigh hydraulic cylinder piston portion supports free bearing to be hinged with thigh second；Shank hydraulic cylinder body afterbody supports free bearing phase with thigh first
Be hinged, shank hydraulic cylinder piston portion supports free bearing to be hinged with shank first.
The sole is horseshoe-shaped structure, and sole first, second is provided with above horseshoe-shaped structure and supports free bearing, the shape of a hoof
Structure front end is provided with three sole support free bearings；Sole first, second support free bearing respectively with sole hydraulic cylinder and shank the
Two rotating through hole are connected, and three sole support free bearings are connected with three toes respectively；The toe upper end sets toe bloster hinge
Seat, rear end are provided with link free bearing, and front end is cone-shaped toe, and toe hydraulic cylinder one end is connected on sole support free bearing, another
End is connected on toe support free bearing, and toe supports free bearing and revolute to be connected with sole by toe, and in toe hydraulic cylinder
Driving under realize the motion of toe joint.
The dinosaur trunk is half grand shape frame structure, and half grand shape frame structure upper end is provided with an elongated spine, spine
Truncated cone-shaped backbone is provided with, symmetrical 12 skeletons are provided among half grand shape frame structure.
The beneficial effects of the invention are as follows：
（1）Incidence is made up of 4 turning joints, and mobilizable eyes are provided with the upper jaw of head, are not only increased
The pliability of the comprehensive swing of dinosaur neck, flexibility, also make bionical dinosaur motion get up it is more natural, true to nature, in addition
The stability of dinosaur can be increased.
（2）Servo hydraulic cylinder is set to promote in dinosaur incidence, the type of drive of linkage transmission, the probably tap made
Portion and neck 1 can under the promotion of a hydraulic cylinder realize the linkage in two joints, and such design structure is simple, reduces
The complexity of incidence system, control are simple.
（3）In dinosaur tail structure, set 9 turning joints and by 9 in length and breadth revolute pair be sequentially connected, it is each activity close
Section passes through Driven by Hydraulic Cylinder, realizes afterbody all-direction rotation, and swing, the rotation of so afterbody that design makes are more flexible, and
All joints can be made to realize linkage under the driving of hydraulic cylinder, control accuracy is higher, and tail motion is got up more life-like.Often
Individual turning joint uses framework design, simple in construction.
(4) hip joint is designed using square structure body during leg structure uses, square shape portion set a horizontal through hole with admittedly
The free bearing being scheduled on body is connected by bearing pin, and side swing hydraulic cylinder free bearing is arranged on side center section in square structure body, makes
Leg side-sway control more balances, and leg hydraulic cylinder forms triangular structure with leg joint, and stability is stronger.
（5）Body part uses grand shape framework design, and body upper end is provided with spine, backbone and ridge frame, and profile is true to nature,
Simple in construction, space is big, can improve the stability of dinosaur walking.
（6）The design, sole structure is added for dinosaur, it is more steady flexible on foot.Movable pin is provided with sole
Toe., the free degree is more, flexibly.
（7）The dinosaur uses HYDRAULIC CONTROL SYSTEM, and control accuracy is high, efficiency high.
Brief description of the drawings
Bionical hydraulic pressure four-footed machine dinosaur dimensional structure diagram in Fig. 1 present invention；
Bionical hydraulic pressure four-footed machine dinosaur head structural representation in Fig. 2 present invention；
The upper neck joint structural representation of bionical hydraulic pressure four-footed machine dinosaur in Fig. 3 present invention；
Neck joint structural representation under bionical hydraulic pressure four-footed machine dinosaur in Fig. 4 present invention；
Bionical hydraulic pressure four-footed machine dinosaur incidence general structure schematic diagram in Fig. 5 present invention；
Bionical hydraulic pressure four-footed machine dinosaur incidence general structure schematic top plan view in Fig. 6 present invention；
Bionical hydraulic pressure four-footed machine dinosaur body structural representation in Fig. 7 present invention；
Bionical hydraulic pressure four-footed machine dinosaur body structure elevational schematic view in Fig. 8 present invention；
Bionical hydraulic pressure four-footed machine dinosaur tail structure schematic diagram in Fig. 9 present invention；
Bionical hydraulic pressure four-footed machine dinosaur afterbody the first movable joint structure schematic diagram in Figure 10 present invention；
Bionical hydraulic pressure four-footed machine dinosaur afterbody the second movable joint structure schematic diagram in Figure 11 present invention；
The bionical movable joint structure schematic diagram of hydraulic pressure four-footed machine dinosaur afterbody the 8th in Figure 12 present invention；
Bionical hydraulic pressure four-footed machine dinosaur leg assembling structure schematic diagram in Figure 13 present invention；
Bionical hydraulic pressure four-footed machine dinosaur hip joint structural representation in Figure 14 present invention；
Bionical hydraulic pressure four-footed machine dinosaur thigh articulation structure schematic diagram in Figure 15 present invention；
Bionical hydraulic pressure four-footed machine dinosaur calf joint structural representation in Figure 16 present invention；
Bionical hydraulic pressure four-footed machine dinosaur sole articulation structure schematic diagram in Figure 17 present invention；
Bionical hydraulic pressure four-footed machine dinosaur toe joint structural representation in Figure 18 present invention.
Embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1 to Figure 18, bionical hydraulic pressure four-footed machine dinosaur of the invention, including dinosaur trunk 004 and connection
Incidence, afterbody 005 and four pedipulators 006 on dinosaur trunk 004 and four soles being connected with four pedipulators.
Incidence is made up of 4 turning joints, respectively the upper jaw 1 on head 001 and lower jaw 4, upper neck joint 002, lower neck
Joint 003；The upper and lower jaw Isosorbide-5-Nitrae on head 001 drives in head servo hydraulic cylinder 15, realizes the opening and closing of dinosaur face, head it is upper
Jaw 1 is provided with two dinosaur eyes 2, and two dinosaur eyes 2 can realize blinking for eyes under the control of stepper motor 3.
Upper neck joint 002 is connected to the upper jaw 1 on head by preceding rotary shaft 12, and head is connected to by rear rotary shaft 19
Lower neck joint 003；Lower neck joint 003 is connected on upper neck joint 002 and dinosaur trunk 004 by former and later two rotary shafts, on
Neck joint 002 and lower neck joint 003 realize the waving of mechanism, pitching motion, the He of head 001 by servo hydraulic cylinder driving respectively
Lower neck joint 003 realizes the linkage on lower neck joint 003 and head by connecting rod 27.
Afterbody 005 is connected in the torso portion 004 of dinosaur by rotary shaft, and afterbody 005 is made up of 9 turning joints
And pass sequentially through 9 and alternately rotate axis connection in length and breadth, realize the comprehensive of tail in the case where 9 servo hydraulic cylinders coordinate transmission
Wave.
Four pedipulators 006 include hip joint 5, big leg joint 6, calf joint 7, the sole 8 being sequentially connected；Hip joint 5
Connected by revolute and dinosaur trunk 004, and dinosaur pedipulator Slide attitude is realized under the driving of hip joint hydraulic cylinder 66
Adjustment；In addition, hip joint 5 and big leg joint 6, big leg joint 6 and calf joint 7, calf joint 7 and sole 8 pass through rotation respectively
Rotating shaft connects, and is driven by servo hydraulic cylinder；Three toes 9, driving of the toe 9 in hydraulic cylinder are provided with each sole 8
It is lower to realize flexible rotate.
The present invention, the mechanism design of bionical dinosaur and true dinosaur surface have very high similarity, head mechanism
Design is combined using Driven by Hydraulic Cylinder and connection-rod linkage, realizes that a hydraulic cylinder controls the linkage in two joints, tail passes through 9
The brand new design of individual 9 rotary shafts in joint, has 9 frees degree, and tail freely spirit can be realized by Driven by Hydraulic Cylinder
Comprehensive swing living.The structure design can realize the opening and closing of dinosaur face, and eyes blink, and neck waves, leg knot
The walking of structure, side-sway etc., surface is true to nature, easy to control, flexible, and stability is high.
With reference to shown in Fig. 1, Fig. 2, the upper jaw 1 and lower jaw 4 on head are set by half grand shape and oblong-shaped frame structure respectively
Form, the rear end of the upper jaw 1 is arranged to quadra structure, and quadra structure floor sets a surface plate, and surface plate is provided with one
Free bearing, quadra structure rear end face are provided with through hole cylinder 11, and what is be connected with through hole cylinder 11 is a folds connecting rod 13, folding
The end set of row connecting rod 13 has a through hole 14, and folds connection boom end through hole 14 coordinates with the axle being arranged on connecting rod 27 to be connected
Connect, the rear end of lower jaw 4 is provided with bending shape panel 10, and bending shape panel 10 is provided with a free bearing；The cylinder of head servo hydraulic cylinder 15
A free bearing on the surface plate of quadra structure floor of the body afterbody with being located at the upper jaw 1 is connected, head servo hydraulic cylinder 15
The free bearing of bending shape panel 10 downside of the piston end with being located at lower jaw 4 is connected.The upper jaw 1 on head and the side of lower jaw 4 are respectively equipped with
Bearing pin is provided with side through hole 16,17, the head upper jaw 1 and the side through hole of lower jaw 4, and is connected by bearing pin, in head servo liquid
The upper jaw 1 and lower jaw 4 that head is realized in the presence of cylinder pressure 15 rotate around bearing pin, to realize the opening and closing of the dinosaur face.
The left and right sides is provided with two dinosaur eyes 2 on head 001, and dinosaur eyes 2 are by half arc upper eyelid and conisphere shape
Eyeball is formed, and eyelid structure is connected on stepper motor by shaft coupling, under the drive of stepper motor, it is possible to achieve eyelid
Blink.
With reference to Fig. 3, Fig. 4, Fig. 5, upper neck joint 002 is formed by bent frame structure setting, the front end of bent frame structure
Face is provided with symmetrical vertical through hole cylinder 18, and rear end face is provided with a vertical through hole cylinder 20, the vertical through hole cylinder 20 of rear end face
Provided with folding shape connecting rod 21, folding shape connecting rod 21 is provided with a support free bearing.The vertical through hole cylinder 18 of the upper front end face of neck joint 002 with
The through hole cylinder 11 of quadra structure rear end face realizes a revolute pair by the connection of preceding rotary shaft 12.The upper rear end of neck joint 002
The symmetrical through hole cylinder 22 of the vertical through hole cylinder 18 in face and the lower front end face of neck joint 003 realizes another turn by rotating axis connection
Dynamic pair.
Lower neck joint 003 is set by trapezoidal shape frame structure and formed, and the front end of trapezoidal shape frame structure is provided with symmetrical through hole
Cylinder 22 and bending connecting plate 23, bending connecting plate 23 are provided with a through hole, the through hole of bending connecting plate 23 and the company of being arranged on
Axle on bar 27 is connected, and trapezoidal shape frame structure side is provided with a surface plate, and surface plate is provided with a free bearing 24, trapezoidal shape frame
Frame structure rear end face is provided with a horizontal through hole cylinder 25, and horizontal through hole cylinder 25 is provided with a planar linkage, and planar linkage end is set
There is a plane body 26, plane body 26 is provided with a support free bearing.The afterbody of first servo hydraulic cylinder 28 is connected to the lower side of neck joint 003
On free bearing 24 on face, the piston end of the first servo hydraulic cylinder 28 and the vertical through hole cylinder for being arranged on the rear end face of neck joint 002
On a folding shape connecting rod 21 on support free bearing be connected.The afterbody of second servo hydraulic cylinder 29 is connected to the branch on the body of dinosaur
Support on free bearing, the piston end of the second servo hydraulic cylinder 29 is with being arranged on the horizontal through hole cylinder 25 of the lower rear end face of neck joint 003
Support free bearing on one planar linkage is connected.After the symmetrical through hole cylinder 22 and upper neck joint 002 of the lower front end face of neck joint 003
The vertical through hole cylinder 20 of end face is connected to form a revolute pair to swing by rear rotary shaft 19, after lower neck joint 003
The horizontal through hole cylinder 25 of end face one forms about one with horizontal through hole cylinder 30 on dinosaur body by the way that rotary shaft is in mating connection
The revolute pair of rotation.
With reference to Fig. 9 to Figure 12, afterbody 005 by 9 turning joints by 9 in length and breadth alternate rotary shaft be sequentially connected and
Into.9 turning joints by the driving of 9 servo hydraulic cylinders, rotate around each joint rotary shaft respectively.9 activities of afterbody are closed
Section is respectively the first turning joint of afterbody 37, the second turning joint of afterbody 38, and the turning joint 39 of afterbody the 3rd, afterbody the 4th are movable
Joint 40, the turning joint 41 of afterbody the 5th, the turning joint 42 of afterbody the 6th, the turning joint 43 of afterbody the 7th, the activity of afterbody the 8th
Joint 44, the turning joint 45 of afterbody the 9th.Each turning joint is designed using plane frame structure, and it is mutual that front and back ends are respectively provided with one
Vertical revolute.
The front end face of the first turning joint of afterbody 37 is connected on the dinosaur body by the rotary shaft of level first, rear end face
The front end of the second turning joint of afterbody 38 is connected to by the first vertical rotary shaft；The front end face of the second turning joint of afterbody 38 passes through
The rotary shaft of level second is connected to the rear end face of the first turning joint of afterbody 37, and afterbody rear end face is connected by the second vertical rotary shaft
In the front end face of the 3rd turning joint of afterbody 39；The front end face of the 3rd turning joint of afterbody 39 is connected to tail by the rotary shaft of level the 3rd
The rear end face of the second turning joint of portion 38, before afterbody rear end face is connected to the turning joint 40 of afterbody the 4th by the 3rd vertical rotary shaft
End face；The front end face of the 4th turning joint of afterbody 40 is connected to the rear end of the 3rd turning joint of afterbody 39 by the rotary shaft of level the 4th
Face, afterbody rear end face are connected to the front end face of the 4th turning joint of afterbody 40 by the 3rd vertical rotary shaft；The activity of afterbody the 5th is closed
Save 41 front end faces and the rear end face of the 4th turning joint of afterbody 40 is connected to by the rotary shaft of level the 5th, afterbody rear end face passes through the 5th
Vertical rotary shaft is connected to the front end face of the 4th turning joint of afterbody 40；The front end face of the 6th turning joint of afterbody 42 passes through level the 6th
Rotary shaft is connected to the rear end face of the 5th turning joint of afterbody 41, and afterbody rear end face is connected to afterbody by the 6th vertical rotary shaft
The front end face of five turning joint 41；The front end face of the 7th turning joint of afterbody 43 is connected to afterbody the 6th by the rotary shaft of level the 7th and lived
The rear end face of movable joint 42, afterbody rear end face are connected to the front end face of the 6th turning joint of afterbody 42 by the 7th vertical rotary shaft；Tail
The front end face of the 8th turning joint of portion 44 is connected to the rear end face of the 7th turning joint of afterbody 43, tail by the rotary shaft of level the 8th
Portion's rear end face is connected to the front end face of the 7th turning joint of afterbody 43 by the 8th vertical rotary shaft；Before the turning joint 45 of afterbody the 9th
End face is connected to the rear end face of the 8th turning joint of afterbody 42 by the rotary shaft of level the 9th.
The afterbody of the first turning joint servo hydraulic cylinder 46 of afterbody is connected on dinosaur trunk 004, and the first turning joint is watched
Take the free bearing that the piston end of hydraulic cylinder 46 is connected on the support frame 57 being located in the front end face revolute of the first turning joint 37
On, the first turning joint 37 is put under the driving of the first turning joint servo hydraulic cylinder 46 around the first moving rotary axle 58 or so
It is dynamic；The afterbody of second turning joint servo hydraulic cylinder 47 is connected to the support free bearing for being located at the first turning joint lower bottom part 59
On, the piston end of the second turning joint servo hydraulic cylinder 47, which is connected to, to be located in the front end face revolute of the second turning joint 38
On support frame 62 on free bearing；Second turning joint 38 is under the driving of the second turning joint servo hydraulic cylinder 47 around the second activity rotation
Rotating shaft is swung up and down.The afterbody of 3rd turning joint servo hydraulic cylinder 48, which is connected to, is located at the medial surface 63 of the second turning joint 38
On support free bearing on, the piston end of the 3rd turning joint servo hydraulic cylinder 48 be connected to is located at the front end face of the 3rd turning joint 39 rotation
Turn on the support frame in pair on free bearing；3rd turning joint 39 is under the driving of the 3rd turning joint servo hydraulic cylinder 48 around the 3rd
Moving rotary axle swings.The afterbody of 4th turning joint servo hydraulic cylinder 49, which is connected to, is located at the upper bottom portion of the 3rd turning joint 39
Support free bearing on, the piston end of the 4th turning joint servo hydraulic cylinder 49 be connected to is located at the front end face of the 4th turning joint 40 rotation
On support frame in pair on free bearing；4th turning joint 40 is lived under the driving of the 4th turning joint servo hydraulic cylinder 49 around the 4th
Dynamic rotary shaft is swung up and down.The afterbody of 5th turning joint servo hydraulic cylinder 50, which is connected to, is located at medial surface in the 4th turning joint 40
On support free bearing on, the piston end of the 5th turning joint servo hydraulic cylinder 50 be connected to is located at the front end face of the 5th turning joint 41 rotation
Turn on the support frame in pair on free bearing；5th turning joint 41 is under the driving of the 5th turning joint servo hydraulic cylinder 50 around the 5th
Moving rotary axle swings.The afterbody of 6th turning joint servo hydraulic cylinder 51, which is connected to, is located at bottom in the 5th turning joint 41
On the support free bearing in portion, the piston end of the 6th turning joint servo hydraulic cylinder 51, which is connected to, is located at the rotation of the front end face of the 6th turning joint 42
Turn on the support frame in pair on free bearing；6th turning joint 42 is under the driving of the 6th turning joint servo hydraulic cylinder 51 around the 6th
Moving rotary axle is swung up and down.The afterbody of 7th turning joint servo hydraulic cylinder 52, which is connected to, is located at inner side in the 6th turning joint 42
On support free bearing on face, the piston end of the 7th turning joint servo hydraulic cylinder 52, which is connected to, is located at the front end face of the 7th turning joint 43
On support frame in revolute on free bearing；7th turning joint 43 is under the driving of the 7th turning joint servo hydraulic cylinder 52 around
Seven moving rotary axles swing；The afterbody of 8th turning joint servo hydraulic cylinder 53, which is connected to, is located at bottom in the 7th turning joint 43
On the support free bearing in portion, the piston end of the 8th turning joint servo hydraulic cylinder 53, which is connected to, is located at the rotation of the front end face of the 8th turning joint 44
Turn on the support frame in pair on free bearing；8th turning joint 44 is under the driving of the 8th turning joint servo hydraulic cylinder 53 around the 8th
Moving rotary axle is swung up and down.The afterbody of 9th turning joint servo hydraulic cylinder 54, which is connected to, is located at inner side in the 8th turning joint 44
On support free bearing on face, the piston end of the 9th turning joint servo hydraulic cylinder 54, which is connected to, is located at the front end face of the 9th turning joint 45
On the free bearing on support frame 65 in revolute 64；Driving of 9th turning joint 45 in the 9th turning joint servo hydraulic cylinder 54
Under swung around the 9th moving rotary axle.
With reference to Figure 13 to Figure 18, the hip joint 5 of pedipulator is arranged to square structure body, and side is provided with the in square structure body
One support free bearing 73, square structure body side surface are provided with the second support free bearing 71 and the 3rd rotating through hole being connected with the thigh
72, square structure body upper part is provided with a horizontal through hole 70 and is connected by bearing pin with the dinosaur body free bearing 34.Thigh
Joint 6 is strip structure, and both ends are respectively equipped with the rotating through hole 74,78 of thigh first, second, and the big side wall of leg joint 6 is provided with
Thigh second supports free bearing 77 and thigh first to support free bearing 75, and calf joint 7 is strip structure, and upper end is provided with shank
First rotating through hole 79, lower end are provided with the second rotating through hole of shank 82, the rotating through hole 74,78 of thigh first, second respectively with hip
3rd rotating through hole 72, first rotating through hole of shank 79 in joint 5 are connected.The first rotating through hole of shank 79 is revolved with thigh second
Turn through hole 78 by rotary shaft to be connected, strip structure body side surface is provided with shank first, second and supports free bearing 80,81.
Sole 8 is set by horseshoe-shaped structure and formed, and is provided with sole first, second above and is supported free bearing 83,84, leading portion is set
It is equipped with three sole support free bearings 85；Sole first, second support free bearing 83,84 respectively with sole hydraulic cylinder 69 and shank second
Rotating through hole 82 connects, and the sole support free bearing 85 of front end three connects with three toes 9 respectively, and in the drive of toe hydraulic cylinder 86
The motion of toe joint is realized under dynamic.
The upper end of toe 9 sets toe to support free bearing 91, and rear end is provided with link free bearing 90, and front end is cone-shaped toe 92.Pin
The one end of toe hydraulic cylinder 86 is connected on sole support free bearing 85, and the other end is connected on toe support free bearing 91, and toe 9 passes through pin
Toe supports free bearing 89 and revolute to be connected with sole 8.
The cylinder body afterbody of hip joint hydraulic cylinder 66 supports free bearing to be connected with dinosaur trunk, the piston portion of hip joint hydraulic cylinder 66
Free bearing 73 is supported to be hinged with hip joint medial surface first.Second support free bearing of the cylinder body afterbody of thigh hydraulic cylinder 67 and hip joint
71 are connected, and the piston portion of thigh hydraulic cylinder 67 supports free bearing 77 be hinged with thigh second.The cylinder body afterbody of shank hydraulic cylinder 68 with it is big
Leg first supports free bearing 75 to be hinged, and the piston portion of shank hydraulic cylinder 68 supports free bearing 80 to be hinged with shank first.
Formed as shown in fig. 7, dinosaur trunk 004 is set by half grand shape frame structure, the upper end of dinosaur trunk 004 is provided with one
Elongated spine 31, spine 31 are provided with truncated cone-shaped backbone, symmetrical 12 skeletons 32 are provided among dinosaur trunk 004, this
Structure design, stability is good, and similar with the real structure of dinosaur, inner space is big.
Claims (7)
1. a kind of bionical hydraulic pressure four-footed machine dinosaur structure, including head (001), dinosaur trunk (004), be connected to dinosaur trunk
(004) incidence, afterbody (005), four pedipulators (006) and four pin being connected with four pedipulators (006) on
The palm, it is characterised in that：The incidence is made up of four turning joints, four turning joints be respectively head the upper jaw (1) and
Lower jaw (4), upper neck joint (002), lower neck joint (003)；The upper and lower jaw (Isosorbide-5-Nitrae) on head drives in head servo hydraulic cylinder (15)
It is dynamic, the opening and closing of dinosaur face are realized, the upper jaw (1) on head is provided with two dinosaur eyes (2), two dinosaur eyes (2) connections
Stepper motor (3), dinosaur eyes (2) realize blinking for eyes under the control driving of stepper motor (3)；The upper neck joint
(002) upper jaw (1) on head is connected to by preceding rotary shaft (12), passes through rear rotary shaft（19）It is connected to the lower neck joint on head
(003)；Lower neck joint (003) is connected by rotary shaft with dinosaur trunk (004), upper neck joint (002) and lower neck joint (003)
Servo hydraulic cylinder is connected to, the waving of mechanism, pitching motion are realized by servo hydraulic cylinder driving；The head (001)
Pass through connecting rod between lower neck joint (003)（27）Connection, realize the linkage of lower neck joint (003) and head (001)；The tail
Portion (005) is connected on dinosaur trunk (004) by rotary shaft, and the afterbody (005) is made up of nine turning joints, nine work
Movable joint from first to last passes sequentially through nine and alternately rotates axis connection in length and breadth, and nine turning joints are built with nine servo-hydraulics
Cylinder, realize that the comprehensive of tail waves in the case where nine servo hydraulic cylinders coordinate transmission；Four pedipulators (006) include according to
Hip joint (5), big leg joint (6), calf joint (7), the sole (8) of secondary connection；Hip joint (5) passes through revolute and dinosaur body
Dry (004) connection, is equipped with hip joint hydraulic cylinder (66) between hip joint (5) and dinosaur trunk (004), hip joint (5) closes in hip
The adjustment of dinosaur pedipulator Slide attitude is realized under section hydraulic cylinder (66) driving；The hip joint (5) and big leg joint (6) it
Between, between big leg joint (6) and calf joint (7), between calf joint (7) and sole (8) respectively by rotating axis connection, and
Servo hydraulic cylinder is installed, three toes (9) is connected with each sole (8), toe liquid is housed between sole (8) and toe (9)
Cylinder pressure (86), toe (9) realize flexible rotation under the driving of toe hydraulic cylinder (86)；The upper jaw (1) on the head and under
Jaw (4) is respectively half grand shape and oblong-shaped frame structure, and the upper jaw (1) rear end is arranged to quadra structure, quadra knot
The surface plate of structure bottom surface is provided with free bearing, and quadra structure rear end face is provided with through hole cylinder (11), consolidated on through hole cylinder (11)
Surely folds connecting rod (13) is connected, folds connecting rod (13) end set through hole (14), through hole (14) is with being arranged on connecting rod (27)
On axle be connected, lower jaw (4) rear end is provided with bending shape panel (10), and bending shape panel (10) is provided with free bearing；Head
Free bearing on the surface plate of quadra structure floor of the cylinder body afterbody of servo hydraulic cylinder (15) with being located at the upper jaw (1) is connected,
The piston end of head servo hydraulic cylinder (15) is connected with the free bearing on the downside of the bending shape panel (10) for being located at lower jaw (4)；Head
The side of the upper jaw (1) and lower jaw (4) is respectively equipped with side through hole, is provided with the upper jaw (1) on head and the side through hole of lower jaw (4)
Bearing pin, and be connected with each other by bearing pin, the upper jaw (1) and lower jaw on head are realized in the presence of head servo hydraulic cylinder (15)
(4) rotated around bearing pin, to realize the opening and closing of the dinosaur face.
2. bionical hydraulic pressure four-footed machine dinosaur structure according to claim 1, it is characterised in that：The upper neck joint
(002) it is bent frame structure, provided with symmetrical vertical through hole cylinder (18), rear end face is provided with the front end face of bent frame structure
Vertical through hole cylinder (20), the vertical through hole cylinder (20) of rear end face are provided with folding shape connecting rod (21), and folding shape connecting rod (21) is provided with
Support free bearing, the vertical through hole cylinder (18) of upper neck joint (002) front end face and the through hole cylinder of quadra structure rear end face
(11) revolute pair is realized by preceding rotary shaft (12) connection；The vertical through hole cylinder of upper neck joint (002) rear end face
(20) the symmetrical through hole cylinder (22) with lower neck joint (003) front end face realizes another revolute pair by rotating axis connection.
3. bionical hydraulic pressure four-footed machine dinosaur structure according to claim 1, it is characterised in that：The lower neck joint
(003) it is trapezoidal shape frame structure, the front end of trapezoidal shape frame structure is provided with symmetrical through hole cylinder (22) and bending connecting plate
(23), bending connecting plate (23) is provided with through hole, and the through hole of bending connecting plate (23) is connected with the axle being arranged on connecting rod (27)
Connect, the surface plate of trapezoidal shape frame structure side is provided with free bearing (24), and trapezoidal shape frame structure rear end face is provided with horizontal through hole
Cylinder (25), horizontal through hole cylinder (25) are provided with planar linkage and plane body (26), and plane body (26) is provided with support free bearing；
First servo hydraulic cylinder (28) afterbody is connected on the free bearing (24) on the surface plate of lower neck joint (003) side, the first servo
On hydraulic cylinder (28) piston end and the folding shape connecting rod (21) being arranged on the vertical through hole cylinder of neck joint (002) rear end face
Support free bearing is connected；Second servo hydraulic cylinder (29) cylinder afterbody is connected on the support free bearing on dinosaur trunk, the second servo
On hydraulic cylinder (29) piston end and the planar linkage being arranged on the horizontal through hole cylinder (25) of lower neck joint (003) rear end face
Support free bearing be connected；The symmetrical through hole cylinder (22) of lower neck joint (003) front end face and upper neck joint (002) rear end face
Vertical through hole cylinder (20) is connected to form the revolute pair to swing by rear rotary shaft (19), lower neck joint (003) rear end
The horizontal through hole cylinder (25) in face passes through in rotary shaft formation in mating connection with the horizontal through hole cylinder (30) on dinosaur body
The revolute pair of lower rotation.
4. bionical hydraulic pressure four-footed machine dinosaur structure according to claim 1, it is characterised in that：Nine work of the afterbody
Movable joint is respectively the turning joint of afterbody first (37), the turning joint of afterbody second (38), the turning joint (39) of afterbody the 3rd, tail
The turning joint (40) of portion the 4th, the turning joint (41) of afterbody the 5th, the turning joint (42) of afterbody the 6th, the turning joint of afterbody the 7th
(43), the turning joint (44) of afterbody the 8th, the turning joint (45) of afterbody the 9th, each turning joint are plane frame structure, plane
Frame structure front and back ends are respectively provided with an orthogonal revolute, and nine turning joint passes through nine servo-hydraulics respectively
The driving of cylinder, around each joint rotary shaft rotary oscillation.
5. bionical hydraulic pressure four-footed machine dinosaur structure according to claim 1, it is characterised in that：The hip joint (5) is
Square structure body, side is provided with the first support free bearing (73) in square structure body, and square structure body side surface is provided with the second bloster hinge
Seat (71) and the 3rd rotating through hole (72) being connected with the thigh, square structure body top are provided with horizontal through hole (70) and led to
Bearing pin is crossed with dinosaur body free bearing (34) to be connected；The big leg joint (6) is strip structure, and both ends are respectively equipped with thigh
First, second rotating through hole (74,78), big leg joint (6) side wall are provided with thigh second and support free bearing (77) and thigh first
Free bearing (75) is supported, the calf joint (7) is strip structure, and upper end is provided with the rotating through hole of shank first (79), lower end
Provided with the rotating through hole of shank second (82), the rotating through hole of thigh first, second (74,78) the 3rd rotation with hip joint (5) respectively
Turn through hole (72), the rotating through hole of shank first (79) is connected；The rotating through hole of shank first (79) and the rotating through hole of thigh second
(78) it is connected by rotary shaft, strip structure body side surface is provided with shank first, second and supports free bearing (80,81)；Hip joint
Hydraulic cylinder (66) cylinder body afterbody supports free bearing to be connected with dinosaur trunk, in hip joint hydraulic cylinder (66) piston portion and hip joint
First support free bearing (73) of side is hinged；Second support free bearing (71) of thigh hydraulic cylinder (67) cylinder body afterbody and hip joint
It is connected, thigh hydraulic cylinder (67) piston portion supports free bearing (77) be hinged with thigh second；Shank hydraulic cylinder (68) cylinder body afterbody
Free bearing (75) is supported to be hinged with thigh first, shank hydraulic cylinder (68) piston portion supports free bearing (80) mutually to cut with scissors with shank first
Connect.
6. bionical hydraulic pressure four-footed machine dinosaur structure according to claim 5, it is characterised in that：The sole (8) is by horse
Ungulate structure setting is formed, and sole first, second is provided with above horseshoe-shaped structure and supports free bearing (83,84), horseshoe-shaped structure
Front end is provided with three sole support free bearings (85)；Sole first, second support free bearing (83,84) respectively with sole hydraulic cylinder
（69）With the rotating through hole of shank second（82）Connection, three sole support free bearings (85) are connected with three toes (9) respectively；It is described
Toe (9) upper end sets toe to support free bearing (91), and rear end is provided with link free bearing (90), and front end is cone-shaped toe (92)；Pin
Toe hydraulic cylinder (86) one end is connected on sole support free bearing (85), and the other end is connected on toe support free bearing (91), toe
(9) support free bearing (89) and revolute to be connected with sole (8) by toe, and toe is realized under the driving of toe hydraulic cylinder (86)
The motion in joint.
7. bionical hydraulic pressure four-footed machine dinosaur structure according to claim 1, it is characterised in that：The dinosaur trunk
(004) set and formed by half grand shape frame structure, half grand shape frame structure upper end is provided with an elongated spine (31), spine (31)
Truncated cone-shaped backbone is provided with, symmetrical 12 skeletons (32) are provided among half grand shape frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610301644.3A CN105965514B (en) | 2016-05-09 | 2016-05-09 | Bionical hydraulic pressure four-footed machine dinosaur structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610301644.3A CN105965514B (en) | 2016-05-09 | 2016-05-09 | Bionical hydraulic pressure four-footed machine dinosaur structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105965514A CN105965514A (en) | 2016-09-28 |
| CN105965514B true CN105965514B (en) | 2017-12-26 |
Family
ID=56991696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610301644.3A Expired - Fee Related CN105965514B (en) | 2016-05-09 | 2016-05-09 | Bionical hydraulic pressure four-footed machine dinosaur structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105965514B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108237523A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | Robot reach up device and with its robot |
| CN106799740A (en) * | 2017-03-24 | 2017-06-06 | 浙江格瑶电子科技有限公司 | A kind of new lion dance robot chimera |
| CN107351060B (en) * | 2017-07-10 | 2020-07-14 | 上海理工大学 | Bionic robot head and neck flexible structure |
| CN107351937B (en) * | 2017-07-10 | 2020-09-01 | 上海理工大学 | Bionic hydraulic crawling robot |
| CN107351117B (en) * | 2017-07-10 | 2019-11-01 | 上海理工大学 | A kind of bio-robot compliant tail portions mechanism |
| CN107554641B (en) * | 2017-09-22 | 2023-08-04 | 山东大学 | Ostrich-like robot walking mechanism |
| CN109178138B (en) * | 2018-10-25 | 2020-06-09 | 中石化石油机械股份有限公司 | Quadruped robot and leg joint structure |
| CN109733499B (en) * | 2019-01-22 | 2021-06-01 | 北华航天工业学院 | Mechanical structure of bionic dinosaur |
| CN110104089B (en) * | 2019-05-05 | 2021-04-30 | 昆明理工大学 | Flexible spine four-footed bionic robot |
| CN111496767A (en) * | 2020-05-13 | 2020-08-07 | 李文亚 | Four-foot mobile lion dancing robot device |
| CN112298398B (en) * | 2020-12-01 | 2021-10-26 | 上海交通大学 | Bionic quadruped robot |
| CN114290379A (en) * | 2022-02-09 | 2022-04-08 | 柳州铁道职业技术学院 | Flexible neck mechanism of bionic robot |
| CN114872070B (en) * | 2022-06-24 | 2023-05-19 | 上海工程技术大学 | Mechanical bionic chicken |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4624273B2 (en) * | 2006-02-07 | 2011-02-02 | 川田工業株式会社 | Endoskeleton robot exterior |
| JP2007319946A (en) * | 2006-05-30 | 2007-12-13 | Kawada Kogyo Kk | Balance structure for walking type robot |
| CN202822766U (en) * | 2012-07-30 | 2013-03-27 | 周志昌 | Motor-driven robot eyelids |
| CN102795275B (en) * | 2012-08-22 | 2015-02-25 | 中科宇博（北京）文化有限公司 | Bionic mechanical dinosaur |
| CN203266650U (en) * | 2013-04-22 | 2013-11-06 | 汕头大学 | Snakelike robot with three-dimensional motion ability |
| CN103223247A (en) * | 2013-04-26 | 2013-07-31 | 上海电力学院 | Dinosaur toy driven by hybrid power |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN204236619U (en) * | 2014-12-10 | 2015-04-01 | 自贡亘古龙腾科技有限公司 | A kind of forelimb structure of biomimetic mechanical dinosaur |
| CN205198962U (en) * | 2015-10-26 | 2016-05-04 | 自贡市汇龙堂文化艺术有限公司 | Singlely control emulation machinery dinosaur |
-
2016
- 2016-05-09 CN CN201610301644.3A patent/CN105965514B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105965514A (en) | 2016-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105965514B (en) | Bionical hydraulic pressure four-footed machine dinosaur structure | |
| CN105818882B (en) | A kind of four-leg bionic robot that four bar metamorphic mechanisms of plane are used in waist | |
| CN105667624B (en) | Electric drive four-leg bionic robot | |
| CN108583720A (en) | Four-footed bionic robot with eight-rod metamorphic mechanism at waist and driving method | |
| JPS59133297U (en) | Swing walking animal toy | |
| CN105620582A (en) | Four-foot bio-robot with eight-rod metamorphic mechanism used on waist and driving method thereof | |
| CN209870593U (en) | Humanoid biped robot mechanical structure | |
| CN108044637A (en) | A kind of anthropomorphic robot | |
| CN209274762U (en) | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing | |
| CN206885197U (en) | Mobile robot | |
| CN205499110U (en) | Waist uses eight pole metamorphic mechanism 's polypody bionic robot | |
| CN105751248B (en) | Bionical hydraulic pressure four-footed machine dinosaur incidence structure | |
| CN207643143U (en) | A kind of anthropomorphic robot | |
| JP7360566B1 (en) | Model toys and movable structures | |
| CN212038988U (en) | BJD doll | |
| CN205889195U (en) | Intelligent robot | |
| CN112298398B (en) | Bionic quadruped robot | |
| CN109178139A (en) | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing | |
| CN201253481Y (en) | Robot toy core capable of skiing, dancing and walking | |
| CN205499109U (en) | Waist uses eight pole metamorphic mechanism 's four -footed bionic robot | |
| KR101365695B1 (en) | Driving apparatus for horse riding health machine | |
| CN207307181U (en) | Artificial animal toy | |
| CN107128395A (en) | The moving method of mobile robot and mobile robot | |
| CN105729500B (en) | Bionical hydraulic machine dinosaur tail structure | |
| CN207307177U (en) | Artificial animal toy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171226 Termination date: 20200509 |