CN107284549B - Limb movement bionic structure and bionic robot mouse comprising same - Google Patents
Limb movement bionic structure and bionic robot mouse comprising same Download PDFInfo
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- CN107284549B CN107284549B CN201710429026.1A CN201710429026A CN107284549B CN 107284549 B CN107284549 B CN 107284549B CN 201710429026 A CN201710429026 A CN 201710429026A CN 107284549 B CN107284549 B CN 107284549B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 87
- 230000033001 locomotion Effects 0.000 title claims abstract description 68
- 210000003414 extremity Anatomy 0.000 claims description 138
- 230000009467 reduction Effects 0.000 claims description 41
- 230000003592 biomimetic effect Effects 0.000 claims description 28
- 230000000694 effects Effects 0.000 claims description 8
- 210000003194 forelimb Anatomy 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 238000011160 research Methods 0.000 abstract description 5
- 241001465754 Metazoa Species 0.000 abstract description 4
- 210000004556 brain Anatomy 0.000 abstract description 4
- 230000006399 behavior Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 241000282472 Canis lupus familiaris Species 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 2
- 241000283973 Oryctolagus cuniculus Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
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- 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 application relates to the technical field of bionic structures, in particular to a limb movement bionic structure and a bionic robot mouse comprising the limb movement bionic structure. The application aims to solve the problems of compactness of a limb movement bionic structure and consistency of the shape of the limb of an animal in the prior art. For this purpose, the limb movement bionic structure of the application comprises a frame, a first limb connected to the frame, a second limb connected to the first limb, a driving device connected to the first limb and the second limb, and a connecting rod which is respectively connected with the second limb and the driving device in a pivoting way. Through the technical scheme of the application, the dexterity, functional perfection and structural compactness of the limb movement bionic structure are improved, so that the consistency of the limb movement bionic structure and the real limb structure is improved, the research of biologists, neuroscientists and brain researchers on the limbs is facilitated, and the effective control of the limb behaviors is realized.
Description
Technical Field
The application relates to the technical field of bionic structures, in particular to a limb movement bionic structure and a bionic robot mouse comprising the limb movement bionic structure.
Background
With the development of the technology of the bionic structure, the technology of the bionic structure on the aspect of movement and structure is mature, especially the technology of the bionic robot is mature, the effort of scientific researchers on the electromechanical aspect on the bionic robot is greatest, the development of the bionic robot is approaching to perfection, in view of the approaching perfection of the bionic robot, the scientific workers often move the movement principle and the structural shape of the bionic robot to other bionic animals, for example, the bionic robot mouse uses a transmission mechanism and a shape structure similar to those of the bionic robot.
Although the existing bionic robot mouse can meet the most basic ornamental value, the bionic robot mouse has the following defects in researches on the motion principle, behavior characteristics and interaction modes of the mouse by biologists, neuroscientists and brain researchers: 1) Because the limbs of the bionic robot are longer, the driving device and the transmission device of the bionic robot cannot show the compactness of the limb structure of the bionic robot mouse with shorter limbs; 2) The bionic robot driving device and the transmission mechanism are applied to the bionic robot mouse, so that the structural complexity of the bionic robot mouse is increased, and the movement flexibility of limbs of the bionic robot mouse cannot be reflected; 3) The difference between the shape structure of the limbs of the bionic robot and the structure of the limbs of the bionic robot mouse influences the research of scientific researchers on the interaction mode of the bionic robot mouse.
Therefore, how to design a limb movement bionic structure suitable for a bionic robot mouse has become a problem to be solved.
Disclosure of Invention
In order to solve the above-mentioned problems in the prior art, namely, in order to design a limb structure suitable for a bionic robot mouse, according to a first aspect of the present application, there is provided a new limb movement bionic structure comprising a frame, a first limb pivotally connected to the frame, a second limb pivotally connected to the first limb, and a driving device connected to the first limb and the second limb, the driving device being capable of driving the first limb and the second limb to move, the limb movement bionic structure further comprising a connecting rod pivotally connected to the second limb and the driving device, respectively, for transmitting a driving force of the driving device to the second limb. The limb movement bionic structure is compact, the functions are perfect, the movement is flexible, the similarity with the real limb structure is high, and the limb movement bionic structure is beneficial to the study of biologists, neuroscientists and brain researchers on the limb movement modes.
In the preferred technical scheme of the limb movement bionic structure, the limb movement bionic structure further comprises a first speed reduction device, and the first limb is connected with the driving device through the first speed reduction device.
In the preferred technical solution of the limb movement bionic structure, the driving device includes a first driving motor, the first reduction device includes a first reduction gear and a first gear rotating body which are engaged with each other, the first driving motor is connected to the first reduction gear and is capable of driving the first reduction gear to rotate, and the first limb is fixed to the first gear rotating body or is provided integrally with the first gear rotating body.
In the preferred technical scheme of the limb movement bionic structure, the limb movement bionic structure further comprises a second speed reduction device, and the second limb is connected with the driving device through the second speed reduction device.
In the preferred technical scheme of the limb movement bionic structure, the driving device further comprises a second driving motor, the second speed reducing device comprises a second speed reducing gear and a second gear rotating body which are meshed with each other, the second driving motor is connected to the second speed reducing gear and can drive the second speed reducing gear to rotate, and the second limb is pivotally connected to the non-center position of the second gear rotating body.
In the preferable technical scheme of the limb movement bionic structure, the first driving motor is a speed reducing motor; and/or the first gear rotator is a circular arc gear rotator.
In the preferable technical scheme of the limb movement bionic structure, the second driving motor is a speed reducing motor; and/or the second gear rotator is a disc gear rotator.
In the preferred technical scheme of the limb movement bionic structure, the limb movement bionic structure is a forelimb structure of a bionic robot mouse.
In the preferred technical scheme of the limb movement bionic structure, the first limb is a big arm of a bionic robot mouse, and the second limb is a small arm of the bionic robot mouse.
According to a second aspect of the present application there is also provided a biomimetic robotic mouse comprising the limb movement biomimetic structure of the first aspect.
It can be understood by those skilled in the art that in the technical scheme of the application, by arranging the connecting rod between the driving device and the second limb of the limb movement bionic structure, the connecting rod is respectively connected with the driving device and the second limb, so that the limitation of the positions of the driving device and the speed reducer in the limb movement bionic structure is solved, for example, the driving device and the speed reducer are not only limited to the connection part of the first limb and the second limb, but also can be arranged on the frame of the limb movement bionic structure, thereby reducing the structural complexity of the limb movement bionic structure and improving the movement flexibility of the limb movement bionic structure. In addition, through the structure of the connecting rod outside the limb, the compact type limb movement bionic structure is improved, the limb movement bionic structure is more suitable for the limb of a bionic animal with a shorter limb, in addition, the compound movement in the connecting rod mechanism can realize the compound movement of the second limb relative to the first limb, and the function of the limb movement bionic structure is more perfect.
Furthermore, on the basis of optimizing the structure and the movement of the limb movement bionic structure, the technical scheme of the application optimizes the shapes of the components in the limb movement bionic structure, for example, in the bionic robot mouse in the second aspect of the application, the end part of the first limb of the robot mouse is arranged to be in a circular arc shape, so that the similarity of the shape of the first limb and the big arm of the biological mouse is improved, and the research level of scientific researchers on the behavior characteristics and the interaction modes of the bionic robot mouse is improved.
In conclusion, through optimizing the shape and structure of the bionic robot mouse, the compactness and miniaturization of the bionic robot mouse are improved, the movement flexibility and the consistency of the shape and the limb shape of the bionic mouse are improved, and the research progress of biologists, neuroscientists and brain researchers on the movement principle, behavior characteristics and interaction modes of the mouse is accelerated.
Drawings
Fig. 1 is a schematic structural view of a biomimetic robotic mouse forelimb structure according to a preferred embodiment of the present application.
Fig. 2 is a perspective view of the structure of the forelimb of the biomimetic robotic mouse shown in fig. 1.
Fig. 3 is a perspective view of a transmission mechanism of the forelimb structure of the bionic robot mouse shown in fig. 1.
Detailed Description
The preferred embodiments of the present application will be described below with reference to the accompanying drawings, and it will be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present application, and are not intended to limit the scope of the present application, and those skilled in the art may adapt it as necessary to suit specific applications. For example, while the reduction gear provided in this specification is an external gear reduction, the reduction gear in this specification is not limited to an external gear reduction, and the reduction gear in this specification may be an internal gear reduction, or other non-gear reduction, without departing from the spirit and scope of the present application.
It should be noted that, the present application relates to the technical field of mechanical transmission, and it should be understood by those skilled in the art that the "connecting rod" in the present specification is not limited to a rod-shaped structure, for example, two revolute pairs are disposed on the second reduction gear in the present application, so the second reduction gear in the present application may be equivalently a "movable connecting rod" connected to the connecting rod.
In addition, the present application relates to the field of bionics technologies, so that the terms "first limb", "second limb", "forearm", etc. in the description of the present application are for convenience of understanding, but are not limited to specific structures or shapes and designated limbs thereof, for example, "first limb" and "forearm" may be understood as "thigh" connected to the trunk of a biomimetic robot mouse, and "second limb" and "forearm" may be understood as "calf" not connected to the trunk of a biomimetic robot mouse.
Furthermore, the terms "first," "second," and the like, in the description of the present application, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. It should also be noted that, in the description of the present application, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present application can be understood by those skilled in the art according to the specific circumstances.
As shown in fig. 1 to 3, according to one embodiment of the present application, the forelimb structure of the biomimetic robot includes a frame 102 mounted on the trunk of the robot and a first limb 104 pivotally connected to the frame 102, the first limb 104 is driven by a driving device 108 mounted on the frame 102, and the first limb 104 transmits the driving force of the driving device 108 to a second limb 106. In addition, in order to achieve the compound movement of the second limb 106 relative to the first limb 104, the forelimb structure of the biomimetic robotic mouse of the present application further comprises a driving device 120 for the second limb 106 independently and a connecting rod 110 for transmitting the driving force of the driving device 120 to the second limb 106. In particular, the connecting rod 110 of the present application is preferably a bending rod, which is connected to the second limb 106 for transmitting the driving force of the driving device 120 to the second limb 106. It should be understood by those skilled in the art that the connecting rod 110 is provided as a bending rod only for simulating the shape structure of the limb of the biological mouse, and the shape of the connecting rod 110 is not limited, that is, the main function of the connecting rod 110 is to transmit the driving force of the driving device 120 to the second limb 106, so that the shape structure of the connecting rod 110 is not limited to the bending rod in fig. 1, and a user may set the connecting rod 110 to other more preferable shape structures in consideration of that the connecting rod 110 does not mechanically interfere with other components. Also, based on this principle, the number of connecting rods 110 is not limited to just one, and the user may arrange the connecting rods 110 as two or even more connecting rods 110 connected to each other according to a specific movement track of the second limb 106, without departing from the basic principle and scope of the present application.
With continued reference to fig. 1-3, in order to achieve rotational speed matching and torque transfer between the drive device 108 and the first limb 104, the present application provides a first reduction device between the first limb 104 and the drive device 108, the first reduction device consisting of a first reduction gear 112 and a first gear rotator 114 that mesh with each other, wherein the first reduction gear 112 is connected to the drive device 108 and the first gear rotator 114 is connected to the first limb 104. In particular, the first gear rotator 114 of the present application is integrally connected to the first limb 104. However, it should be understood by those skilled in the art that the integrated connection is only a preferred embodiment of the present application, so as to improve the compactness of the first gear rotator 114 and the first limb 104 on the basis of satisfying the transmission between the first gear rotator 114 and the first limb 104, and based on this effect, the connection manner between the first gear rotator 114 and the first limb 104 in the present application may also be a compact fixed connection manner such as an assembly structure, which does not deviate from the basic principle and the protection scope of the present application.
Further, with continued reference to fig. 1-3, the present application provides the first gear rotator 114 in a semi-circular configuration with gear teeth on an outer edge of the semi-circular configuration that cooperate with the first reduction gear 112, and the first limb 104 is coupled to the first gear rotator 114 at a substantially central location of the semi-circular configuration. It should be understood by those skilled in the art that the first gear rotating body 114 with a semicircular structure is only a preferred embodiment of the present application, namely, to simulate the shape of a big arm of a biological rat, and the semicircular structure is not limited to the protection scope of the shape structure of the first gear rotating body 114 in view of this effect, for example, the first gear rotating body 114 may also have a fan-shaped structure, that is, the first gear rotating body 114 of the present application only has a circular arc shape and the edges thereof are provided with the tooth and slot structures. Further, the first reduction gear 112 and the first gear rotating body 114 in the present application are engaged with each other externally, but the first reduction gear 112 and the first gear rotating body 114 in the present application are not limited to engaged with each other, for example, engaged with each other, and the matching of the rotation speed and the torque transmission effect can be achieved, so that the adjustment does not deviate from the basic principle and the protection scope of the present application. Furthermore, the engagement of the first gear rotator 114 with the first reduction gear 112 and the connection of the first limb 104 with the first gear rotator 114 shown in fig. 1 and 2 are exemplary, and may be adjusted as desired by one skilled in the art to suit a particular application.
Preferably, the driving means 108 of the present application is provided as a stepper motor. In this regard, it will be appreciated by those skilled in the art that the stepper motor may address the problem of insufficient motor drive force in the prior art, and in addition, the controllability and continuity of the stepper motor may enable the first limb 104 and the second limb 106 to rapidly respond to mechanical swing, thereby enabling complex mechanical movements to simulate movement of a biological mouse limb, and therefore, based on this effect, variable frequency speed motors with sufficient drive force, rapid responsiveness and controllability may be substituted for the stepper motor of the present application, without departing from the scope of the present application.
With continued reference to fig. 1-3, in order to also achieve rotational speed matching and torque transfer between the drive device 120 and the second limb 106, the present application provides a second reduction device between the second limb 106 and the drive device 120. The second reduction means consists of a second reduction gear 116 and a second gear rotator 118 which mesh with each other, wherein the second reduction gear 116 is connected to the drive means 120 and the second gear rotator 118 is connected to the second limb 106. In particular, the second gear rotating body 118 in the present application has a disc-shaped structure, and the outer edge of the disc-shaped structure is provided with gear teeth that cooperate with the second reduction gear 116. It should be understood by those skilled in the art that the second gear rotating body 118 having a disc-shaped structure is only a preferred embodiment of the present application, and is not intended to limit the shape structure of the second gear rotating body 118 of the present application, for example, the second gear rotating body 118 may also have a fan-shaped or semicircular structure, that is, the second gear rotating body 118 of the present application may have a circular arc shape and the edges thereof are provided with tooth and tooth space characteristics. Further, the second reduction gear 116 and the second gear rotating body 118 in the present application are engaged with each other externally, but the second reduction gear 116 and the second gear rotating body 118 in the present application are not limited to engaged with each other externally, and may be engaged with each other internally, for example, and the matching of the rotational speeds and the torque transmission can be achieved, so that the effects of the matching of the rotational speeds and the torque transmission are considered, and the variation does not deviate from the scope of the present application. With respect to the second gear rotator 118, it should be noted that although depicted as being coaxial with the first gear rotator 114 in fig. 1-3, this is merely a preferred embodiment provided for compactness, and the first gear rotator 114 and the second gear rotator 118 may be of non-coaxial construction, provided that their respective functions are enabled.
Preferably, the independent driving means 120 of the present application is provided as a stepper motor. In this regard, it should be understood by those skilled in the art that the stepper motor may solve the problem of insufficient driving force of the ultrasonic motor in the prior art, and in addition, the controllability and the continuity of the stepper motor may enable the second limb 106 to rapidly respond to the mechanical swing, thereby implementing a complex motion to simulate the movement of the limb of the biological mouse, so that, based on this effect, the variable-frequency speed motor with sufficient driving force, rapid responsiveness and controllability may replace the stepper motor of the present application, which does not deviate from the protection scope of the present application.
Further, with continued reference to fig. 1 to 3, the biomimetic robotic mouse forelimb structure of the present application further comprises a connecting rod 110, one end of the connecting rod 110 is pivotally connected to the non-center position of the second gear rotator 118, and the other end of the connecting rod 110 is pivotally connected to the second limb 106, so as to drag the connecting rod 110 and thereby enable rotation of the second limb 106 by rotation of the second gear rotator 118. Further, since the connecting rod 110 is pivotally connected to the non-center position of the second gear rotating body 118, there are two revolute pairs on the second gear rotating body 118, and the second gear rotating body 118 with two revolute pairs can be equivalently referred to as a "movable rotating connecting rod", so as to achieve the effect of mutual rotation between the two revolute pairs. Accordingly, although the present application specifically depicts the second gear rotator 118 as a disc structure and the connecting rod 110 as a bent connecting rod, this is not limiting, as the second gear rotator 118 and the connecting rod 110 may take any suitable shape as long as it is capable of dragging the connecting rod 110 and thus rotating the second limb 106 when the second gear rotator 118 rotates.
Preferably, the first limb 104 of the embodiment shown in fig. 1-3 is the big arm of a biomimetic robotic mouse and the second limb 106 is the small arm of a biomimetic robotic mouse. It will be appreciated by those skilled in the art that the limb movement biomimetic structure of the present application is illustrated by the limb structure of a biomimetic robot mouse for convenience of description only and is not limiting of the application of the limb movement biomimetic structure of the present application, for example, the limb movement biomimetic structure of the present application may also be used for the limb structure of other animals such as rabbits, cats, dogs, etc., based on the principle of the limb movement biomimetic structure of the present application, without departing from the scope of protection of the present application.
Finally, according to a second aspect of the present application, the present application also proposes a biomimetic robotic mouse comprising the limb movement biomimetic structure of the first aspect. Similarly, the bionic robot mouse is only one embodiment of the present application, and is not limited to the bionic robot of the present application, for example, the bionic robot of the present application may be other bionic machines such as a bionic robot rabbit, a bionic robot cat, a bionic robot dog, etc.
Thus far, the technical solution of the present application has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present application is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present application, and such modifications and substitutions will fall within the scope of the present application.
Claims (6)
1. A limb movement bionic structure is characterized by comprising a frame, a first limb pivotally connected to the frame, a second limb pivotally connected to the first limb and a driving device connected to the first limb and the second limb, wherein the driving device can drive the first limb and the second limb to move,
the limb movement bionic structure also comprises a connecting rod which is respectively and pivotally connected with the second limb and the driving device and used for transmitting the driving force of the driving device to the second limb,
the limb movement bionic structure further comprises a first reduction gear, the first limb is connected with the driving device through the first reduction gear, the driving device comprises a first driving motor, the first reduction gear comprises a first reduction gear and a first gear rotating body which are meshed with each other, the first driving motor is connected to the first reduction gear and can drive the first reduction gear to rotate, the first limb is fixed to the first gear rotating body or is integrated with the first gear rotating body,
the limb movement bionic structure further comprises a second speed reducer, the second limb is connected with the driving device through the second speed reducer, the driving device further comprises a second driving motor, the second speed reducer comprises a second speed reduction gear and a second gear rotating body which are meshed with each other, the second driving motor is connected to the second speed reduction gear and can drive the second speed reduction gear to rotate, the second limb is pivotally connected to the non-center position of the second gear rotating body,
one end of the connecting rod is pivotally connected to the non-center position of the second gear rotating body, the other end of the connecting rod is pivotally connected to the second limb, so that the connecting rod is dragged through the rotation of the second gear rotating body and the rotation of the second limb is realized, and as the connecting rod is pivotally connected to the non-center position of the second gear rotating body, two revolute pairs are arranged on the second gear rotating body, the second gear rotating body with the two revolute pairs is equivalent to a movable rotary connecting rod, and the effect of mutual rotation between the two revolute pairs is realized.
2. The limb-movement biomimetic structure according to claim 1, wherein the first drive motor is a gear motor; and/or the first gear rotator is a circular arc gear rotator.
3. The limb-movement biomimetic structure according to claim 2, wherein the second drive motor is a gear motor; and/or the second gear rotator is a disc gear rotator.
4. A limb movement biomimetic structure according to any one of claims 1 to 3, wherein the limb movement biomimetic structure is a biomimetic robotic mouse forelimb structure.
5. The limb movement biomimetic structure of claim 4, wherein the first limb is a large arm of the biomimetic robotic mouse and the second limb is a small arm of the biomimetic robotic mouse.
6. A biomimetic robotic mouse comprising a limb movement biomimetic structure as defined in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710429026.1A CN107284549B (en) | 2017-06-08 | 2017-06-08 | Limb movement bionic structure and bionic robot mouse comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710429026.1A CN107284549B (en) | 2017-06-08 | 2017-06-08 | Limb movement bionic structure and bionic robot mouse comprising same |
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| CN107284549A CN107284549A (en) | 2017-10-24 |
| CN107284549B true CN107284549B (en) | 2023-09-12 |
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| CN201710429026.1A Active CN107284549B (en) | 2017-06-08 | 2017-06-08 | Limb movement bionic structure and bionic robot mouse comprising same |
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| CN213414006U (en) * | 2020-10-29 | 2021-06-11 | 杭州宇树科技有限公司 | Robot leg structure with compact structure and quadruped robot applying same |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06320448A (en) * | 1994-04-25 | 1994-11-22 | Nissan Motor Co Ltd | Articulated industrial robot |
| CN104149091A (en) * | 2014-08-08 | 2014-11-19 | 北京理工大学 | Forearm simulator of bionic rat-like robot |
| CN104354785A (en) * | 2014-10-27 | 2015-02-18 | 中北大学 | Bionic crab robot |
| CN104590412A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Multifunctional bionic jumping and walking robot |
| CN204640216U (en) * | 2015-03-12 | 2015-09-16 | 覃孟扬 | A kind of robot for carrying and piling |
| CN206954341U (en) * | 2017-06-08 | 2018-02-02 | 中国科学院自动化研究所 | Limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features |
-
2017
- 2017-06-08 CN CN201710429026.1A patent/CN107284549B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06320448A (en) * | 1994-04-25 | 1994-11-22 | Nissan Motor Co Ltd | Articulated industrial robot |
| CN104149091A (en) * | 2014-08-08 | 2014-11-19 | 北京理工大学 | Forearm simulator of bionic rat-like robot |
| CN104354785A (en) * | 2014-10-27 | 2015-02-18 | 中北大学 | Bionic crab robot |
| CN104590412A (en) * | 2014-12-24 | 2015-05-06 | 浙江理工大学 | Multifunctional bionic jumping and walking robot |
| CN204640216U (en) * | 2015-03-12 | 2015-09-16 | 覃孟扬 | A kind of robot for carrying and piling |
| CN206954341U (en) * | 2017-06-08 | 2018-02-02 | 中国科学院自动化研究所 | Limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features |
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| CN107284549A (en) | 2017-10-24 |
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