CN112407085A - Driving system and driving method of snake-shaped motion bionic robot - Google Patents
Driving system and driving method of snake-shaped motion bionic robot Download PDFInfo
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- CN112407085A CN112407085A CN202011210780.4A CN202011210780A CN112407085A CN 112407085 A CN112407085 A CN 112407085A CN 202011210780 A CN202011210780 A CN 202011210780A CN 112407085 A CN112407085 A CN 112407085A
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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
Abstract
The invention discloses a snake-shaped motion bionic robot driving system and a snake-shaped motion bionic robot driving method, which comprise a snake-shaped robot head and a driving mechanism, wherein the outer wall of one side of the snake-shaped robot head is fixedly connected with a first connecting sheet, a plug pin vertically penetrates through the first connecting sheet in an inserted manner, the bottom of the plug pin is inserted with a second connecting sheet, and the end face of one side of the second connecting sheet is fixedly connected with a snake-shaped robot box body. The acceleration sensor can effectively drive the walking speed of the snake-shaped motion bionic robot, and solves the problems that the existing snake-shaped motion bionic robot is slow in driving and unobvious in acceleration effect in the driving process; meanwhile, the speed reduction sensor can control the snake-shaped motion bionic robot to rapidly reduce the speed when the bionic robot walks, and meanwhile, the bionic robot has the advantages of reasonable design and convenience in operation; meanwhile, the purpose of rapid turning can be achieved through the rear differential or the front differential, and the device has the advantages of being high in sensitivity and convenient and fast to operate.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a driving system and a driving method of a snake-shaped motion bionic robot.
Background
The snake-shaped robot is a novel bionic robot capable of simulating the motion of a biological snake, can realize limb-free motion like a biological snake-shaped robot, is called as a robot with the greatest practical sense in the international robot industry, is developed in 1972 by Tokyo science and technology university in Japan, and has the speed of 40 cm/s, and the research on the snake-shaped robot in the United states represents the advanced level of the world in China, in 2000 and 10 months, and the American aerospace agency shows a snake-shaped robot for outer space exploration in the research center of California equipment.
The conventional snake-shaped motion bionic robot is generally mild in driving mode, the requirements of quick acceleration and deceleration are very slow in the walking process, and the method for quickly turning the snake-shaped motion bionic robot is very slow in the walking process and the driving result is very unsatisfactory. Therefore, a bionic fish underwater robot walking device and a driving method capable of realizing multiple functions of slow walking and fast walking are urgently needed.
Disclosure of Invention
The invention aims to provide a driving system and a driving method of a snake-shaped motion bionic robot, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a drive system and a drive method of a snake-shaped motion bionic robot comprise a head part of the snake-shaped robot and a drive mechanism.
The utility model discloses a snake-shaped robot head, including snakelike robot head, first connection piece, the outer wall fixed mounting of snakelike robot head, the outer wall fixed mounting of one side of snakelike robot head has the bolt, the bottom of bolt is pegged graft there is the second connection piece, a side end face fixedly connected with snakelike robot box of second connection piece, the outer wall fixed mounting at the top of snakelike robot head has the base, the inside fixed mounting of base has multistage miniature lifter, the top face fixed mounting of multistage miniature lifter has the fixed block, the top face fixed mounting of fixed block has the miniature light of surveying, the outer wall fixed mounting of the both sides of snakelike robot head has infrared ray sensor, the outer wall fixed mounting of the bottom of snakelike robot head has speed reduction spring, speed reduction spring's bottom fixed mounting to the surface of dwang.
The driving mechanism comprises a control box, a rotating rod, a steering gear, a driving wheel and a rear differential mechanism, wherein the driving wheel is rotatably sleeved on both sides of the rotating rod, the inner sides of the driving wheels are fixedly provided with steering gears, the middle position of the rotating rod is fixedly provided with a rear differential mechanism, the surface of the rear differential is in transmission connection with a transmission shaft, the tips at the two sides of the transmission shaft are in rotary connection with a cross universal joint, the tail end of one side of the transmission shaft is in transmission connection with a transfer case, a gear of the transfer case is meshed to an output shaft of the speed changer, the transmission rotates the sleeve machine to the clutch, one side of the clutch far away from the transmission is fixedly provided with the engine, one side fixed mounting that the transfer case kept away from the dwang has the dwang, differential mechanism before the intermediate position fixed mounting of dwang, the tip department fixed mounting that the drive wheel was kept away from to preceding differential mechanism has the ball cage universal joint.
Preferably, the embedded installation of control box is to the outer wall of the bottom of snakelike robot head, the inner structure of control box becomes back style of calligraphy cavity structure, the control box includes controller, acceleration sensor and deceleration sensor, controller, acceleration sensor and deceleration sensor all belong to the internal power supply to the battery of battery receiver on.
Preferably, the inside of battery receiver is the cavity structure, the size of battery receiver is greater than the size of control box, battery receiver and control box all embedded installation to the outer wall of the bottom of snakelike robot head on, the inside fixed mounting of battery receiver has a plurality of festivals battery.
Preferably, two infrared ray sensor all belongs to the internal connection power to the battery of battery receiver on, the inner structure of base becomes concave style of calligraphy cavity structure, the cavity department fixed mounting of the inside of base has multistage miniature lifter, multistage miniature lifter comprises a plurality of lifters and diminishes in proper order from the supreme diameter in the top.
Preferably, the upper and lower terminal surface of first connection piece and second connection piece all runs through to be opened there is the through-hole, the through-hole department of first connection piece and second connection piece has run through the bolt, the quantity of snake shape robot box is a plurality of sections, the length of snake shape robot box is between 10cm to 15cm, the width of snake shape robot box is between 5cm to 10 cm.
Preferably, the diameters of the two rotating rods in the driving mechanism are the same, and the two rotating rods are sleeved with driving wheels in a rotating mode, and the diameters of the four driving wheels are the same.
Preferably, two the equal fixed mounting in surface of dwang has speed reducing spring, speed reducing spring's quantity is four, four speed reducing spring is two liang of a set of fixed mounting to the surface of two speed reducing spring tip departments all.
Preferably, multistage miniature lifter, rear differential mechanism, transfer case, derailleur, clutch and front differential mechanism all belong to on the battery of inscribing power supply battery receiver, multistage miniature lifter, rear differential mechanism, transfer case, derailleur, clutch and front differential mechanism all on the electric connection controller.
Preferably, the inner ring of the other gear of the transfer case is in transmission connection with a transmission shaft, the tips at two ends of the transmission shaft are in transmission connection with a cross universal joint, and one side of the cross universal joint, which is far away from the transfer case, is in transmission connection with a front differential.
Preferably, the driving method of the bionic fish underwater robot comprises the following steps:
(1) the slow speed walking, battery through in the battery receiver provides the power makes the engine begin the circular telegram work, simultaneously the human control remote switch, and the speed reduction sensor in the remote switch control controller, thereby engine drive drives transmission shaft, cross universal joint and rear differential drive this moment, thereby make the drive wheel remove, when the speed of traveling is too fast, through the speed reduction sensor control engine in the controller speed reduction, thereby reach the effect of traveling at a slow speed.
(2) The fast walking, battery through in the battery receiver provides the power makes the engine begin the circular telegram work, simultaneously the human control remote switch, and the speed reduction sensor in the remote switch control controller, thereby engine drive drives transmission shaft, cross universal joint and rear differential drive this moment, thereby make the drive wheel remove, when the speed of traveling is too fast, through the acceleration sensor control engine in the controller speed reduction, thereby reach the effect of traveling at a slow speed.
(3) The adjustment turns to fast, under the state of step (1) or (2), provide the power through the battery in the battery receiver and make the engine begin the circular telegram work, simultaneously the human control remote switch, and the speed reduction sensor among the remote switch control controller, thereby engine drive drives transmission shaft, cross universal joint and rear differential drive this moment, thereby make the drive wheel remove, when needs turn to, only need to turn to through rear differential or the corresponding adjustment of front differential can realize.
Compared with the prior art, the invention has the beneficial effects that:
(1) the acceleration sensor can effectively drive the walking speed of the snake-shaped motion bionic robot, and solves the problems that the existing snake-shaped motion bionic robot is slow in driving and unobvious in acceleration effect in the driving process;
(2) meanwhile, the speed reduction sensor can control the snake-shaped motion bionic robot to rapidly reduce the speed when the bionic robot walks, and meanwhile, the bionic robot has the advantages of reasonable design, simple structure and convenience in operation;
(3) meanwhile, the rear differential or the front differential arranged in the invention can realize the purpose of rapid turning of the snake-shaped motion bionic robot in the walking process, and has the advantages of strong sensitivity and convenient and rapid operation.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is an enlarged partial view of the head and the first connecting piece of the serpentine robot of the present invention;
FIG. 3 is an enlarged schematic view of the head of the snake robot of the present invention in a top view;
fig. 4 is a schematic structural diagram of the driving mechanism of the present invention.
In the figure: 1. snakelike robot head, 2, infrared sensor, 3, a pedestal, 4, multistage miniature lifter, 5, the fixed block, 6, survey miniature light, 7, first connection piece, 8, the bolt, 9, the second connection piece, 10, the battery receiver, 11, the control box, 1101, a controller, 1102, acceleration sensor, 1103, the speed reduction sensor, 12, speed reduction spring, 13, the dwang, 14, the steering gear, 15, the drive wheel, 16, rear differential, 17, the cross universal joint, 18, the transmission shaft, 19, the transfer case, 20, the derailleur, 21, the clutch, 22, the engine, 23, front differential, 24, the ball cage universal joint, 25, the snakelike robot box.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, an embodiment of the present invention is shown: a drive system and a drive method of a snake-shaped motion bionic robot comprise a snake-shaped robot head 1 and a drive mechanism.
A first connecting plate 7 is fixedly connected with the outer wall of one side of the head part 1 of the snake-shaped robot, a bolt 8 is vertically inserted through the first connecting plate 7, a second connecting sheet 9 is inserted at the bottom of the bolt 8, one side end face of the second connecting sheet 9 is fixedly connected with a snake-shaped robot box body 25, a base 3 is fixedly arranged on the outer wall of the top of the snake-shaped robot head 1, a multi-stage micro lifting rod 4 is fixedly arranged inside the base 3, a fixed block 5 is fixedly arranged on the top end surface of the multi-stage micro lifting rod 4, a detection micro illuminating lamp 6 is fixedly arranged on the top end surface of the fixed block 5, the outer wall fixed mounting of the both sides of snakelike robot head 1 has infrared ray sensor 2, the outer wall fixed mounting of the bottom of snakelike robot head 1 has speed reduction spring 12, speed reduction spring 12's bottom fixed mounting is to the surface of dwang 13.
Actuating mechanism includes control box 11, dwang 13, steering gear 14, drive wheel 15 and back differential 16, the drive wheel 15 has been cup jointed all to rotate in the both sides of dwang 13, the equal fixed mounting in inboard of drive wheel 15 has steering gear 14, the intermediate position fixed mounting of dwang 13 has back differential 16, back differential 16's surface transmission is connected with transmission shaft 18, the both sides tip department of transmission shaft 18 rotates and is connected with cross universal joint 17, the transmission of one side terminal department of transmission shaft 18 is connected with transfer case 19, 19 gear engagement of transfer case to the output shaft of derailleur 20, derailleur 20 rotates set machine to clutch 21 on, one side fixed mounting that derailleur 20 was kept away from to clutch 21 has engine 22, one side fixed mounting that dwang 13 was kept away from to transfer case 19 has dwang 13, differential 23 before the intermediate position fixed mounting of dwang 13, a ball cage universal joint 24 is fixedly arranged at the end of the front differential 23 far away from the driving wheel 15.
The embedded installation of control box 11 is to on the outer wall of the bottom of serpentine robot head 1, the inner structure of control box 11 becomes back style of calligraphy cavity structure, control box 11 includes controller 1101, acceleration sensor 1102 and deceleration sensor 1103, controller 1101, acceleration sensor 1102 and deceleration sensor 1103 all belong to the internal power supply to the battery of battery receiver 10 on.
The inside of battery receiver 10 is the cavity structure, the size of battery receiver 10 is greater than the size of control box 11, battery receiver 10 and control box 11 all embed installation to the outer wall of snakelike robot head 1's bottom on, the inside fixed mounting of battery receiver 10 has a plurality of festivals battery.
Two infrared ray sensor 2 all belongs to the internal connection power to the battery of battery receiver 10 on, the inner structure of base 3 becomes concave style of calligraphy cavity structure, the cavity department fixed mounting of the inside of base 3 has multistage miniature lifter 4, multistage miniature lifter 4 comprises a plurality of lifters and from the supreme diameter of top diminishes in proper order.
The through-hole has all been run through to open by the upper and lower terminal surface of first connection piece 7 and second connection piece 9, the through-hole department of first connection piece 7 and second connection piece 9 has run through bolt 8, the quantity of snake robot box 25 is a plurality of sections, the length of snake robot box 25 is between 10cm to 15cm, the width of snake robot box 25 is between 5 to 10 cm.
The through-hole has all been run through to open by the upper and lower terminal surface of first connection piece 7 and second connection piece 9, the through-hole department of first connection piece 7 and second connection piece 9 has run through bolt 8, the quantity of snake robot box 25 is a plurality of sections, the length of snake robot box 25 is between 10cm to 15cm, the width of snake robot box 25 is between 5 to 10 cm.
Two the equal fixed mounting in surface of dwang 13 has speed reducing spring 12, speed reducing spring 12's quantity is four, four speed reducing spring 12 is two liang of a set of fixed mounting to the surface of two speed reducing spring 12 tip departments all.
The multi-stage miniature lifting rod 4, the rear differential 16, the transfer case 19, the transmission 20, the clutch 21 and the front differential 23 all belong to a storage battery internally connected with the power storage battery storage box 10, and the multi-stage miniature lifting rod 4, the rear differential 16, the transfer case 19, the transmission 20, the clutch 21 and the front differential 23 are all electrically connected to the controller 1101.
The inner ring of the other gear of the transfer case 19 is in transmission connection with a transmission shaft 18, the tips of the two ends of the transmission shaft 18 are in transmission connection with a cross universal joint 17, and one side of the cross universal joint 17 far away from the transfer case 19 is in transmission connection with a front differential 23.
A drive system and a drive method of a snake-shaped motion bionic robot are characterized in that: the driving method comprises the following steps:
1 slow walking of snakelike robot head, battery through in the battery receiver provides the power makes the engine begin the circular telegram work, simultaneously artificial control remote switch, and the speed reduction sensor in the remote switch control controller, thereby engine drive drives the transmission shaft this moment, cross universal joint and rear differential drive, thereby make the drive wheel remove, when the speed of traveling when too fast, through the speed reduction sensor control engine speed reduction in the controller, thereby reach the effect of traveling at a slow speed.
The infrared ray sensor 2 walks fast, the battery through in the battery receiver provides the power makes the engine begin the circular telegram work, simultaneously the manual control remote switch, and the speed reduction sensor in the remote switch control controller, thereby engine drive drives transmission shaft, cross universal joint and rear differential drive this moment, thereby make the drive wheel remove, when the speed of traveling is too fast, through the acceleration sensor control engine deceleration in the controller, thereby reach the effect of traveling at a slow speed.
Base 3 adjustment turns to fast, under step S-shaped robot head 1 or infrared sensor 2's state, it makes the engine begin circular telegram work to provide the power through the battery in the battery receiver, simultaneously artificial control remote switch, and the speed reduction sensor in the remote switch control controller, thereby engine drive drives the transmission shaft this moment, cross universal joint and rear differential drive, thereby make the drive wheel remove, when needs turn to, only need turn to through rear differential or the corresponding adjustment of front differential can realize.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A snakelike motion bionic robot driving system is characterized in that: comprises a snake-shaped robot head (1) and a driving mechanism;
the outer wall of one side of the snake-shaped robot head (1) is fixedly connected with a first connecting piece (7), the first connecting piece (7) vertically penetrates through and is inserted with a bolt (8), the bottom of the bolt (8) is inserted with a second connecting piece (9), one side end face of the second connecting piece (9) is fixedly connected with a snake-shaped robot box body (25), the outer wall of the top of the snake-shaped robot head (1) is fixedly provided with a base (3), the inside of the base (3) is fixedly provided with a multi-stage micro lifting rod (4), the top end face of the multi-stage micro lifting rod (4) is fixedly provided with a fixing block (5), the top end face of the fixing block (5) is fixedly provided with a detection micro illuminating lamp (6), the outer walls of two sides of the snake-shaped robot head (1) are fixedly provided with infrared sensors (2), and the outer wall of the bottom of the snake-shaped robot head (1, the bottom of the speed reducing spring (12) is fixedly arranged on the surface of the rotating rod (13);
actuating mechanism includes control box (11), dwang (13), steering gear (14), drive wheel (15) and back differential mechanism (16), the both sides of dwang (13) are all rotated and have been cup jointed drive wheel (15), the equal fixed mounting in inboard of drive wheel (15) has steering gear (14), the intermediate position fixed mounting of dwang (13) has back differential mechanism (16), the surface transmission of back differential mechanism (16) is connected with transmission shaft (18), the both sides tip department of transmission shaft (18) rotates and is connected with cross universal joint (17), one side end department transmission of transmission shaft (18) is connected with transfer case (19), transfer case (19) gear engagement is to the output shaft of derailleur (20), derailleur (20) rotate the cover machine to clutch (21) on, one side fixed mounting that derailleur (20) were kept away from to clutch (21) has engine (22), transfer case (19) keep away from one side fixed mounting of dwang (13) has dwang (13), differential (23) before intermediate position fixed mounting of dwang (13), the tip that drive wheel (15) were kept away from in preceding differential (23) department fixed mounting has ball cage universal joint (24).
2. The drive system of the snake-shaped motion bionic robot as claimed in claim 1, wherein: the embedded installation of control box (11) is to on the outer wall of the bottom of snakelike robot head (1), the inner structure of control box (11) becomes back style of calligraphy cavity structure, control box (11) include controller (1101), acceleration sensor (1102) and deceleration sensor (1103), on controller (1101), acceleration sensor (1102) and deceleration sensor (1103) all belong to the internal power supply to the battery of battery receiver (10).
3. The drive system of the snake-shaped motion bionic robot as claimed in claim 1, wherein: the inside of battery receiver (10) is the cavity structure, the size of battery receiver (10) is greater than the size of control box (11), battery receiver (10) and control box (11) all embedded installation to the outer wall of the bottom of snakelike robot head (1), the inside fixed mounting of battery receiver (10) has a plurality of festivals battery.
4. The drive system of the snake-shaped motion bionic robot as claimed in claim 3, wherein: two infrared ray sensor (2) all belong to the internal connection power to the battery of battery receiver (10) on, the inner structure of base (3) becomes concave style of calligraphy cavity structure, the cavity department fixed mounting of the inside of base (3) has multistage miniature lifter (4), multistage miniature lifter (4) comprise a plurality of lifters and follow the supreme diameter of top and diminish in proper order.
5. The drive system of the snake-shaped motion bionic robot as claimed in claim 1, wherein: the upper and lower terminal surface of first connection piece (7) and second connection piece (9) all runs through to be opened there is the through-hole, the through-hole department of first connection piece (7) and second connection piece (9) runs through bolt (8), the quantity of snake robot box (25) is a plurality of sections, the length of snake robot box (25) is between 10cm to 15cm, the width of snake robot box (25) is between 5cm to 10 cm.
6. The drive system of the snake-shaped motion bionic robot as claimed in claim 1, wherein: the diameter of two dwang (13) is the same among the actuating mechanism, and two the both sides of dwang (13) are all rotated and have been cup jointed drive wheel (15), four the diameter of drive wheel (15) is the same.
7. The drive system of the snake-shaped motion bionic robot as claimed in claim 1, wherein: two the equal fixed mounting in surface of dwang (13) has speed reducing spring (12), the quantity of speed reducing spring (12) is four, four speed reducing spring (12) are two liang of a set of fixed mounting to the surface of two speed reducing spring (12) tip departments all.
8. The serpentine motion bionic robot driving system according to any one of claims 1 to 3, characterized in that: multistage miniature lifter (4), rear differential (16), transfer case (19), derailleur (20), clutch (21) and front differential (23) all belong to on the battery of internal connection power supply battery receiver (10), on multistage miniature lifter (4), rear differential (16), transfer case (19), derailleur (20), clutch (21) and front differential (23) all electric connection controller (1101).
9. The drive system of the snake-shaped motion bionic robot as claimed in claim 1, wherein: the inner ring of the other gear of the transfer case (19) is in transmission connection with a transmission shaft (18), the tips at two ends of the transmission shaft (18) are in transmission connection with a cross universal joint (17), and one side, far away from the transfer case (19), of the cross universal joint (17) is in transmission connection with a front differential (23).
10. The snake-shaped motion bionic robot driving system and the driving method thereof obtained according to any one of claims 1 to 9 are characterized in that: the driving method comprises the following steps:
(1) the slow speed walking, battery through in the battery receiver provides the power makes the engine begin the circular telegram work, simultaneously the human control remote switch, and the speed reduction sensor in the remote switch control controller, thereby engine drive drives transmission shaft, cross universal joint and rear differential drive this moment, thereby make the drive wheel remove, when the speed of traveling is too fast, through the speed reduction sensor control engine in the controller speed reduction, thereby reach the effect of traveling at a slow speed.
(2) The fast walking, battery through in the battery receiver provides the power makes the engine begin the circular telegram work, simultaneously the human control remote switch, and the speed reduction sensor in the remote switch control controller, thereby engine drive drives transmission shaft, cross universal joint and rear differential drive this moment, thereby make the drive wheel remove, when the speed of traveling is too fast, through the acceleration sensor control engine in the controller speed reduction, thereby reach the effect of traveling at a slow speed.
(3) The adjustment turns to fast, under the state of step (1) or (2), provide the power through the battery in the battery receiver and make the engine begin the circular telegram work, simultaneously the human control remote switch, and the speed reduction sensor among the remote switch control controller, thereby engine drive drives transmission shaft, cross universal joint and rear differential drive this moment, thereby make the drive wheel remove, when needs turn to, only need to turn to through rear differential or the corresponding adjustment of front differential can realize.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011210780.4A CN112407085A (en) | 2020-11-03 | 2020-11-03 | Driving system and driving method of snake-shaped motion bionic robot |
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| CN202011210780.4A CN112407085A (en) | 2020-11-03 | 2020-11-03 | Driving system and driving method of snake-shaped motion bionic robot |
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| CN113757485A (en) * | 2021-09-01 | 2021-12-07 | 西安石油大学 | Bionic snake robot for long-distance oil and gas pipeline inspection |
| RU224959U1 (en) * | 2023-12-31 | 2024-04-09 | федеральное государственное бюджетное образовательное учреждение высшего образования "Ижевский государственный технический университет имени М.Т. Калашникова" | Mobile multi-tier platform |
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Application publication date: 20210226 |
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| RJ01 | Rejection of invention patent application after publication |