CN110125916A - Bionical chameleon tongue actuator - Google Patents
Bionical chameleon tongue actuator Download PDFInfo
- Publication number
- CN110125916A CN110125916A CN201910543509.3A CN201910543509A CN110125916A CN 110125916 A CN110125916 A CN 110125916A CN 201910543509 A CN201910543509 A CN 201910543509A CN 110125916 A CN110125916 A CN 110125916A
- Authority
- CN
- China
- Prior art keywords
- sleeve
- ejection
- extension sleeve
- chameleon
- bionical
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Surgical Instruments (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of bionical chameleon tongue actuator, the reset assembly of reset withdrawal is carried out including rack, regulating mechanism, ejection component and ejection component for that will pop up；Ejection component includes fixed tailstock, central support shaft, shrinkage sleeve, ejection sleeve and provides the first driving mechanism of driving power for ejection sleeve；The reset assembly includes the second driving mechanism for connecting setting with extension sleeve and driving multiple contraction blocks of extension sleeve contraction and driving contraction block to be shunk along central support shaft axial direction, and contraction block end is fixedly installed on fixed tailstock and multiple contraction blocks are evenly arranged in extension sleeve circumferential direction；The bionical chameleon tongue actuator of the technical program can be realized, at a distance quickly crawl accurate to target object.
Description
Technical field
The present invention relates to bio-robot fields, and in particular to a kind of bionical chameleon tongue actuator.
Background technique
In the prior art, industry crawl robot can be only applied to structured environment, and that there are ontologies is irremovable, does not have
The problems such as limitations such as standby expansion service, environmental suitability be poor, scientist is exploring maneuverability, can stretch both at home and abroad at present
Exhibition, efficient grasp mode.With the multi-disciplinary development such as biomethanics, Machine Design, biomimetic material, optimal control and hand over
Fork fusion, scientific research personnel studies miscellaneous crawl robot, but traditional mechanical structure ejection speed is slow, direction of ejection
It is uncontrollable, it is difficult to control.
For example Chinese University of Science and Technology Chen Xiaoping et al. has developed a kind of retractable curved flexible machine arm of Bionic honeycomb structure, passes through
Independent control is arranged in the air pressure size of air bag module in each honeycomb unit, realizes the flexible and medium and long distance of mechanical arm
Grasping body.Guerra devises scalable mechanical arm using the rigid structure that guide rail connects more conduits, effectively improves machine
The crawl space of device people.In addition to this, there are also the design method that Italian scientist Paolo uses bionical trunk, it is based on shape
Memorial alloy devises longitudinal extension mechanism and any flexibility in the three-dimensional space of imitative trunk may be implemented in radial expansion mechanism
Bending, and immersed body crawl experiment has been carried out, widen the scope of application of flexible machine arm.
The above mechanical arm can realize the grasping body of medium and long distance, but disadvantage is to control difficulty, it is difficult to realize essence
True Pose Control and quickly crawl, it is therefore desirable to design a compact-sized, control is simple, may be implemented fast and accurately
Crawl robot is particularly important.
Summary of the invention
In view of this, the present invention provides a kind of bionical chameleon tongue actuator, catapult mechanism uses bionic mechanism, whole
The Eject mode for imitating chameleon tongue, pure by spring or electromagnetic launch method compared to other, the present invention is using ejection mould
The reaction force pop-up that extruding center axis support tip circular conical surface generates after block ventilation expansion, and take shrinkage sleeve nesting knot
Structure can to launch module quickly and launch away straight, and direction is controllable, can more embody bionic function.
A kind of bionical chameleon tongue actuator, including rack, the position adjusting mechanism being set in rack, is set to position
It sets the ejection component on regulating mechanism and the ejection component for that will pop up reset the reset assembly of withdrawal；The ejection
During component includes the fixation tailstock being fixedly installed on regulating mechanism, the central support shaft being set on fixed tailstock, is coated at
Multiple shrinkage sleeves of telescopic slide can be axially carried out in heart support shaft and along central support shaft, be set to central support shaft and receipts
Between contracting sleeve and shrinkage sleeve is driven to carry out the ejection sleeve of axial stretching and provide for ejection sleeve to drive the of power
One driving mechanism；The reset assembly includes connecting setting with extension sleeve and driving telescopic along central support shaft axial direction
The second driving mechanism that the multiple contraction blocks and driving contraction block that cylinder is shunk are shunk, the contraction block end fixed setting
In on fixed tailstock and multiple contraction blocks are evenly arranged in extension sleeve circumferential direction.
Further, the central support shaft includes construction section, contraction section and ejection section；The construction section and fixed tailstock
It is fixedly connected, the ejection section diameter is greater than contraction section diameter, and ejection section and contraction section joint are formed with limited step；It is described
Ejection section end cross-sectional is isosceles trapezoidal structure.
Further, the shrinkage sleeve with central support shaft be coaxially disposed, the shrinkage sleeve along elongation direction
It is sequentially arranged the first extension sleeve, the second extension sleeve and third extension sleeve, first extension sleeve is along center branch
The limit ring structure being used cooperatively with limited step is provided on the sliding of support axis axial direction and the inner wall of the first extension sleeve.
Further, the first extension sleeve internal diameter is greater than less than the second extension sleeve internal diameter, third extension sleeve internal diameter
Second extension sleeve internal diameter, can relative telescopic sliding and any two are adjacent stretches between any two adjacent expansion sleeve
Limit ring structure is provided between contracting sleeve.
Further, the ejection sleeve is fixedly installed in third extension sleeve, and the ejection sleeve diameter is greater than center
Support shaft launches the outer diameter of section, and ejection sleeve outer diameter is less than third shrinkage sleeve internal diameter；The ejection sleeve includes inner cylinder and outer
Tin, it is formed with the ring-shaped cavity for pouring high pressure gas between the inner barrel and outer barrel, is arranged on the third shrinkage sleeve
There is the air inlet of connection ring-shaped cavity.
Further, third extension sleeve end is provided with the mounting disc of circular ring structure, is arranged in mounting disc flexible
Buffer stopper, elastic buffer block end are connected with sticky suction sheet.
Further, the position adjusting mechanism includes the be set in rack for being laterally adjusted to ejection component
One ball wire rod mechanism carries out the second ball wire rod mechanism of vertical adjustment to ejection component and carries out angle to component is launched
The angular adjustment component of adjusting.
Further, the angular adjustment component include the first driving motor being set on the second ball wire rod mechanism, with
The motor mount of first driving motor connection setting, connect setting with the second driving motor output shaft at the second driving motor
First gear and the second gear being engaged with first gear are provided between the rotation axis of second gear and fixed tailstock
Connecting rod, the second gear rotation drive fixed tailstock to rotate synchronously.
The beneficial effects of the present invention are: the present invention provides a kind of bionical chameleon tongue actuator, it is whole to imitate chameleon
The Eject mode of tongue, pure by spring or electromagnetic launch method compared to other, the present invention is using ejection module ventilation expansion
The reaction force pop-up that extruding center axis support tip circular conical surface generates afterwards, and shrinkage sleeve nested structure is taken, it can make
Ejection module is quick and launches away straight, and direction is controllable, can more embody bionic function.
The present invention provides a kind of paper folding contraction type contraction block of negative pressure driving, drives the Wound-rotor type of idler wheel to receive compared to motor
Return device, the contraction block weight that the present invention uses is low, can be shunk with straight line, direction is controllable.
The present invention provide it is a kind of for make ejection sleeve fiber-reinforced films, compared to by demoulding production it is thin
Film, bubble-free defect, thickness is up to micron level, and elasticity modulus is big, is still able to maintain leakproofness under high pressure.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is configuration schematic diagram of the invention；
Fig. 2 is present invention ejection component elongation state structural schematic diagram；
Fig. 3 is present invention ejection component reset state structural schematic diagram；
Fig. 4 is extension sleeve elongation state structural schematic diagram of the present invention；
Fig. 5 is present invention ejection assemble cross-section.
Appended drawing reference
Sticky suction sheet 1；Elastic buffer block 2；Launch sleeve 3；Mounting disc 4；Third extension sleeve 5；Second extension sleeve
6；First extension sleeve 7；Miniature webcam 8；Circular conical surface 9；Launch section 10；Limited step 11；Contraction section 12；Construction section 13；Gu
Determine tailstock 14；Second angle adjusts component 15；First angle adjusts component 16；Second ball wire rod mechanism 17；First ball wire
Linkage 18；Rack 19；First tracheae 20；Contraction block 21；Second tracheae 22；Limit ring structure 23；Connecting rod 24；Second gear
25；Second driving motor 26；First gear 27；First driving motor 28；Motor mount 29；Rotation axis 30；Central support shaft
31；Air inlet 32；Outer cylinder 33；Inner cylinder 34.
Specific embodiment
Fig. 1 is configuration schematic diagram of the invention, and Fig. 2 is present invention ejection component elongation state structural schematic diagram, Fig. 3
Component reset state structural schematic diagram is launched for the present invention, Fig. 4 is extension sleeve elongation state structural schematic diagram of the present invention, Fig. 5
Assemble cross-section is launched for the present invention, as shown, a kind of bionical chameleon tongue actuator, including rack 19, is set to machine
Position adjusting mechanism on frame 19, be set to the ejection component on position adjusting mechanism and the ejection component for that will pop up into
Row resets the reset assembly withdrawn；The ejection component includes the fixation tailstock 14 being fixedly installed on regulating mechanism, is set to
Central support shaft 31 on fixed tailstock 14 is coated in central support shaft and can carry out flexible cunning along central support shaft 31 is axial
Dynamic multiple shrinkage sleeves are set between central support shaft 31 and shrinkage sleeve and shrinkage sleeve are driven to carry out axial stretching
It launches sleeve 3 and provides the first driving mechanism of driving power for ejection sleeve 3；The reset assembly includes and extension sleeve
Connection setting and the multiple contraction blocks 21 and driving contraction block for driving extension sleeve to shrink along 31 axial direction of central support shaft
21 the second driving mechanisms shunk, 21 end of contraction block is fixedly installed on fixed tailstock 14 and multiple contraction blocks 21
It is evenly arranged in extension sleeve circumferential direction.Contraction block 21 is evenly arranged in the outer of shrinkage sleeve using three pieces in the technical program
Circumferencial direction, contraction block 21 are made of the material of Pneumatic artificial muscle, and structure is similar to the bellows knot of continuous bending forming
Structure, 20 one end of the first tracheae connect the second driving mechanism (mechanism of such as vacuum pump etc), and the other end is connect with contraction block 21.It is logical
Cross the second driving mechanism extraction air driven contraction block 21 shrink, and then drive shrinkage sleeve reset, the technical program it is bionical
Chameleon tongue actuator, the whole Eject mode for imitating chameleon tongue are pure by spring or electromagnetic launch compared to other
Method, the reaction force pop-up that the present invention is generated using extruding center axis support tip circular conical surface after ejection module ventilation expansion,
And take shrinkage sleeve nested structure, can to launch module quickly and launch away straight, direction is controllable, can more embody imitative
Raw function.
In the present embodiment, the central support shaft 31 includes construction section 13, contraction section 12 and ejection section 10；The installation
Section 13 is fixedly connected with fixed tailstock 14, and 10 diameter of ejection section is greater than 12 diameter of contraction section, ejection section 10 and contraction section 12
Joint is formed with limited step 11；10 end cross-sectional of ejection section is isosceles trapezoidal structure, the installation of central support shaft 31
External thread structure is provided in section 13 and construction section 13 is fixedly connected with fixed tailstock 14, and ejection 10 end cross-sectional of section is isosceles ladder
Shape, so that the end of central support shaft 31 forms circular conical surface 9, to form ejection cavity, the end installation of central support shaft 31
It is provided with the miniature webcam 8 for observing ejection component movement.
In the present embodiment, the shrinkage sleeve is coaxially disposed with central support shaft 31, and the shrinkage sleeve is along elongation
Direction (i.e. horizontal direction to the left in Fig. 1) be sequentially arranged the first extension sleeve 7, the second extension sleeve 6 and third
Extension sleeve 5, first extension sleeve 7 slide along 31 axial direction of central support shaft and on the inner walls of the first extension sleeve 7
It is provided with the limit ring structure 23 being used cooperatively with limited step 11,7 end of first sleeve is radially inwardly formed limited
Position ring structure 23, the limit ring structure 23 and limited step 11 of cyclic structure, which are used cooperatively, ensures that 7 end of first sleeve will not be in
Heart support shaft 31 falls off.
In the present embodiment, internal diameter of the internal diameter less than the second extension sleeve 6 of first extension sleeve 7, third telescopic
The internal diameter of cylinder 5 is greater than the internal diameter of the second extension sleeve 6, can relative telescopic sliding between any two adjacent expansion sleeve
And limit ring structure is provided between any two adjacent expansion sleeve.Adjacent extension sleeve is also using similar limit two-by-two
Ring structure allows extension sleeve to stretch such as radio antenna structure.
In the present embodiment, the ejection sleeve 3 is fixedly installed in third extension sleeve 5, and 3 internal diameters of the ejection sleeve are big
In the outer diameter of central support shaft ejection section 10, ejection 3 outer diameter of sleeve is less than the internal diameter of third shrinkage sleeve 5；The ejection sleeve
Including inner cylinder 33 and outer cylinder 34, the ring-shaped cavity for pouring high pressure gas, institute are formed between the inner cylinder 33 and outer cylinder 34
State the air inlet 32 that connection ring-shaped cavity is provided on third shrinkage sleeve 5.Air inlet 32 connect setting with the second tracheae 22, the
Two air inlet pipe, 22 other end connects the first driving mechanism (such as high-voltage booster), (as shown in figure 5, Fig. 5 is that ejection component resets shape
State) the first driving mechanism constantly inflates toward the ring-shaped cavity between inner cylinder 33 and outer cylinder 34, and ring-shaped cavity expansion squeezes circular conical surface
9, circular conical surface 9 gives ejection sleeve reaction force while being squeezed, and the pressure inside ring-shaped cavity reaches specified number
When value, ejection sleeve 3 drive third extension sleeve 5 outward project, third extension sleeve 5 drive the second extension sleeve 6 extend into
And drive the elongation of the first extension sleeve 7, complete the simulation process that entire chameleon tongue stretches out, the maximum length stretched out certainly by
The length of extension sleeve determines, suitable more extension sleeve can be installed according to specific requirement, control pressure height is not
Also different with catapulting distance, air pressure is bigger, launches remoter.
In the present embodiment, 5 end of third extension sleeve is provided with the mounting disc 1 of circular ring structure, is arranged in mounting disc 1
Flexible buffer stopper 2,2 end of elastic buffer block are connected with sticky suction sheet 1.It is arrived in tongue (sticky suction sheet 1)
Up to target position, by inertia, so that entire front end and target object contact, adhere to target object by sticky adsorption module,
For elastic buffer block 2 in order to avoid inertia is too big and damages to target object, overall structure is simple, compact.
In the present embodiment, the position adjusting mechanism includes being set in rack 19 for carrying out lateral tune to ejection component
First ball wire rod mechanism 18 of section carries out the second ball wire rod mechanism 17 of vertical adjustment to ejection component and to ejection group
Part carries out the angular adjustment component of angular adjustment, passes through setting for the first ball wire rod mechanism 18 and the second ball wire rod mechanism 17
It sets, can make to launch the adjusting in component realization plane up and down；Two ball-screws are arranged in cross structure, ball-screw
Ten type matrix groups can be such that the ejection component being fixed thereon arbitrarily moves in lead screw plane, therefore shrink program executing to launch
Before, miniature webcam 8 is opened, crawl platform is arbitrarily moved in lead screw plane, the feature (color until recognizing target object
Feature, shape feature etc.) stop afterwards, then execute ejection and retract program.Therefore invention increases automatic aiming function, compared to
Other platforms, considerably increase the accuracy of crawl, and function is more perfect
In the present embodiment, the angular adjustment component includes the first driving electricity being set on the second ball wire rod mechanism 17
It is machine 28, the motor mount 29 that setting is connect with the first driving motor 28, the second driving motor 26, defeated with the second driving motor 26
The first gear 27 of axis connection setting and the second gear 25 being engaged with first gear 27 out, the rotation of second gear 25
Connecting rod 24 is provided between axis and fixed tailstock 14, the rotation of second gear 25 drives fixed tailstock 14 to rotate synchronously.The
One driving motor, 28 rotational drive motor mounting base 29 realizes rotation, while the second driving motor 26 drives 27 turns of first gear
Dynamic, the rotation of first gear 27 drives second gear 25 to rotate, and drives connecting rod with the rotation axis 30 that second gear 25 is coaxially disposed
24 rotate and then ejection component are driven to realize rotation, pass through the setting of angular adjustment component, it is ensured that ejection component is able to achieve each
The ejection of angle.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (8)
1. a kind of bionical chameleon tongue actuator, it is characterised in that: adjust machine including rack, the position being set in rack
Structure, the ejection component being set on position adjusting mechanism and the ejection component for that will pop up reset the reset group of withdrawal
Part；
The ejection component includes the fixation tailstock being fixedly installed on regulating mechanism, the central supported being set on fixed tailstock
Axis is coated in central support shaft and can axially carry out multiple shrinkage sleeves of telescopic slide along central support shaft, be set to
Between heart support shaft and shrinkage sleeve and shrinkage sleeve is driven to carry out the ejection sleeve of axial stretching and provide for ejection sleeve
Drive the first driving mechanism of power；
The reset assembly includes connecting setting with extension sleeve and driving extension sleeve to shrink along central support shaft axial direction
Multiple contraction blocks and the second driving mechanism for being shunk of driving contraction block, the contraction block end is fixedly installed on fixation
On tailstock and multiple contraction blocks are evenly arranged in extension sleeve circumferential direction.
2. bionical chameleon tongue actuator according to claim 1, it is characterised in that: the central support shaft includes peace
Fill section, contraction section and ejection section；The construction section is fixedly connected with fixed tailstock, and it is straight that the ejection section diameter is greater than contraction section
Diameter, ejection section and contraction section joint are formed with limited step；The ejection section end cross-sectional is isosceles trapezoidal structure.
3. bionical chameleon tongue actuator according to claim 2, it is characterised in that: the shrinkage sleeve is and center
Support shaft coaxial arrangement, the shrinkage sleeve have been sequentially arranged the first extension sleeve, the second extension sleeve along the direction of elongation
And third extension sleeve, first extension sleeve is slided along central support shaft axial direction and the inner wall of the first extension sleeve
On be provided with the limit ring structure being used cooperatively with limited step.
4. bionical chameleon tongue actuator according to claim 3, it is characterised in that: the first extension sleeve internal diameter
Less than the second extension sleeve internal diameter, third extension sleeve internal diameter is greater than the second extension sleeve internal diameter, and any two are adjacent to stretch
Between contracting sleeve limit ring structure can be provided between relative telescopic sliding and any two adjacent expansion sleeve.
5. bionical chameleon tongue actuator according to claim 4, it is characterised in that: the ejection sleeve fixed setting
In in third extension sleeve, the ejection sleeve diameter is greater than the outer diameter of central support shaft ejection section, and ejection sleeve outer diameter is less than
Third shrinkage sleeve internal diameter；The ejection sleeve includes inner barrel and outer barrel, is formed between the inner barrel and outer barrel for pouring
The ring-shaped cavity of high pressure gas is provided with the air inlet of connection ring-shaped cavity on the third shrinkage sleeve.
6. bionical chameleon tongue actuator according to claim 5, it is characterised in that: third extension sleeve end
It is provided with the mounting disc of circular ring structure, elastic buffer block is provided in mounting disc, elastic buffer block end is connected with
Sticky suction sheet.
7. bionical chameleon tongue actuator according to claim 1, it is characterised in that: the position adjusting mechanism includes
It is set to the first ball wire rod mechanism in rack for being laterally adjusted to ejection component, longitudinal tune is carried out to ejection component
Second ball wire rod mechanism of section and the angular adjustment component that angular adjustment is carried out to ejection component.
8. bionical chameleon tongue actuator according to claim 7, it is characterised in that: the angular adjustment component includes
The first driving motor for being set on the second ball wire rod mechanism, the motor mount that setting is connect with the first driving motor, the
Two driving motors, the first gear that setting is connect with the second driving motor output shaft and be engaged with first gear second
Gear, is provided with connecting rod between the rotation axis of second gear and fixed tailstock, the second gear rotation drives fixed tailstock
It rotates synchronously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543509.3A CN110125916B (en) | 2019-06-21 | 2019-06-21 | Bionic color-changing tongue actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543509.3A CN110125916B (en) | 2019-06-21 | 2019-06-21 | Bionic color-changing tongue actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110125916A true CN110125916A (en) | 2019-08-16 |
| CN110125916B CN110125916B (en) | 2022-05-10 |
Family
ID=67579075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910543509.3A Active CN110125916B (en) | 2019-06-21 | 2019-06-21 | Bionic color-changing tongue actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110125916B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112164281A (en) * | 2020-10-30 | 2021-01-01 | 李明顺 | Oral training device capable of displaying details in English pronunciation |
| CN114132194A (en) * | 2021-12-06 | 2022-03-04 | 杭州电子科技大学 | Electromagnetic ejection type charging system and charging recovery method for electric automobile |
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| JP2002043797A (en) * | 2000-07-28 | 2002-02-08 | Matsushita Electric Ind Co Ltd | Electronic parts mounting device |
| US20160263751A1 (en) * | 2013-10-18 | 2016-09-15 | President And Fellows Of Harvard College | Mechanically Programmed Soft Actuators with Conforming Sleeves |
| CN106426199A (en) * | 2016-10-13 | 2017-02-22 | 镇江高等职业技术学校 | Marble ejection mechanism for intelligent vehicle |
| CN206089726U (en) * | 2016-10-14 | 2017-04-12 | 黑龙江省冶金研究所 | Projectile robot |
| CN107042510A (en) * | 2017-04-12 | 2017-08-15 | 华中科技大学 | A kind of hydraulic series flexible drive mechanism and test its experiment porch |
| CN108789394A (en) * | 2018-06-06 | 2018-11-13 | 江南大学 | A kind of electromagnetic drive type quick-expansion robot |
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2019
- 2019-06-21 CN CN201910543509.3A patent/CN110125916B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002043797A (en) * | 2000-07-28 | 2002-02-08 | Matsushita Electric Ind Co Ltd | Electronic parts mounting device |
| US20160263751A1 (en) * | 2013-10-18 | 2016-09-15 | President And Fellows Of Harvard College | Mechanically Programmed Soft Actuators with Conforming Sleeves |
| CN106426199A (en) * | 2016-10-13 | 2017-02-22 | 镇江高等职业技术学校 | Marble ejection mechanism for intelligent vehicle |
| CN206089726U (en) * | 2016-10-14 | 2017-04-12 | 黑龙江省冶金研究所 | Projectile robot |
| CN107042510A (en) * | 2017-04-12 | 2017-08-15 | 华中科技大学 | A kind of hydraulic series flexible drive mechanism and test its experiment porch |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112164281A (en) * | 2020-10-30 | 2021-01-01 | 李明顺 | Oral training device capable of displaying details in English pronunciation |
| CN114132194A (en) * | 2021-12-06 | 2022-03-04 | 杭州电子科技大学 | Electromagnetic ejection type charging system and charging recovery method for electric automobile |
| CN114132194B (en) * | 2021-12-06 | 2022-04-22 | 杭州电子科技大学 | Electromagnetic ejection type charging system and charging recovery method for electric automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110125916B (en) | 2022-05-10 |
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