CN112589829B - Exoskeleton knee joint driving structure based on flexible cam mechanism - Google Patents
Exoskeleton knee joint driving structure based on flexible cam mechanism Download PDFInfo
- Publication number
- CN112589829B CN112589829B CN202011486082.7A CN202011486082A CN112589829B CN 112589829 B CN112589829 B CN 112589829B CN 202011486082 A CN202011486082 A CN 202011486082A CN 112589829 B CN112589829 B CN 112589829B
- Authority
- CN
- China
- Prior art keywords
- knee joint
- stay cord
- encoder
- connecting block
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention discloses an exoskeleton knee joint driving structure based on a flexible cam mechanism, which comprises a driving mechanism, a thigh rod and a knee joint simulation mechanism, wherein the driving mechanism is connected with the thigh rod through a hinge; the knee joint realizes the synchronous rotation of two rotation points of the knee joint through the meshing of the arc tooth surface I and the arc tooth surface II, and can make up the torque change generated by the bending of the knee joint; through the geometric relationship, the length change of the pull rope and the bending angle of the knee joint can be determined to form a sine curve relationship, so that the bending angle of the knee joint can be determined without an angle sensor, and the using number of the exoskeleton sensors is reduced; meanwhile, the sizes of the radii of the arc tooth surface I and the arc tooth surface II can be known through the geometric relationship, and the rotating radius of the driving mechanism can also be determined; in the scheme, the moment is stable when the knee joint rotates, the energy loss can be reduced, and the energy consumption of the system is reduced.
Description
Technical Field
The invention relates to an exoskeleton knee joint driving structure based on a flexible cam mechanism, which is a wearable exoskeleton mechanical structure driven by a knee joint.
Background
The exoskeleton originally refers to a hard external structure for protecting soft organs in organisms in biology, and the existing exoskeleton robot refers to a mechanical device which simulates the motion state of a human body, enhances the motion capability of the human body, integrates bionics and man-machine ergonomics, is worn on the outer side of a limb of the human body, and can improve the specific capabilities of people in walking durability, load bearing capability and the like. As the exoskeleton robot relates to human-computer ergonomics, the exoskeleton robot is required to have strong adaptability, not only is suitable for wearers with different body shapes, but also carries out dangerous protection on human joints, and prevents human body damage in the wearing process.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides an exoskeleton knee joint driving structure based on a flexible cam mechanism, which solves the problem that when a flexible knee joint in an exoskeleton robot in the prior art is bent, a driving force angle is continuously changed due to the continuous change of a joint angle, so that the moment of the exoskeleton joint is continuously changed, and further energy loss is generated.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
an exoskeleton knee joint driving structure based on a flexible cam mechanism comprises a driving mechanism, a thigh rod and a knee joint simulation mechanism;
the drive mechanism comprises a motor, a stay cord encoder and a fixed block, the motor is arranged on a motor frame, the stay cord encoder is arranged in an encoder box body, and the encoder box body is fixed on the motor frame;
the fixing block is fixed at the middle upper part of the thigh rod, and the motor frame is fixed on the thigh rod and positioned between the root part of the thigh rod and the fixing block; two upper guide wheels are arranged on the fixed block and respectively marked as an upper guide wheel I and an upper guide wheel II;
the knee joint simulation mechanism comprises an upper connecting block, a lower connecting block and a connecting piece, wherein the upper connecting block is connected with the connecting piece through a pin shaft I, the lower connecting block is connected with the connecting piece through a pin shaft II, an arc tooth surface I taking the pin shaft I as the center of a circle is arranged on the upper connecting block, an arc tooth surface II taking the pin shaft II as the center of a circle is arranged on the lower connecting block, and the arc tooth surface I is meshed with the arc tooth surface II; two lower guide wheels are arranged on the upper connecting block and respectively marked as a lower guide wheel I and a lower guide wheel II, and the two lower guide wheels are both positioned on one side of the pin shaft I away from the pin shaft II; a fixed shaft is arranged on the lower connecting block and is positioned on one side of the pin shaft II, which is far away from the pin shaft I;
the upper connecting block is fixed at the lower end of the thigh rod;
the stay cord of stay cord encoder includes stay cord, elastomer and lower stay cord triplex, goes up the one end of stay cord and is connected with the wheel of being qualified for the next round of competitions in the stay cord encoder, goes up the other end of stay cord and is connected with the one end of elastomer after around last guide pulley I and last guide pulley II in proper order, and the other end of elastomer is connected with the one end of stay cord down, and the other end of stay cord is connected with the fixed axle after around guide pulley II and lower guide pulley I in proper order down, detects the pulling force that bears on the stay cord down through force transducer.
Preferably, the pull rope encoder comprises an absolute encoder, a magnetic bead seat, a threaded shaft, a wire outlet wheel, a gasket and a nut, the wire outlet wheel, the gasket and the nut are all installed on the threaded shaft, the wire outlet wheel is fixedly connected with the threaded shaft, a meshing transmission mechanism is formed between the side surface of the magnetic bead seat and the side surface of the threaded shaft, the gasket isolates the wire outlet wheel and the magnetic bead seat, the nut is fixedly connected with the threaded shaft, and the magnetic bead seat and the wire outlet wheel are pressed tightly through the nut; the threaded shaft is connected with an output shaft of the motor, the absolute encoder is fixed in the encoder box body, the absolute encoder covers the magnetic beads in the magnetic bead seat, and the magnetic bead seat is connected with the encoder box body through a buckling structure.
Preferably, the upper connecting block is fixed at the lower end of the thigh rod, and an included angle which is smaller than 180 degrees and larger than 140 degrees is formed between the upper connecting block and the thigh rod.
Preferably, the pull rope between the upper guide wheel II and the lower guide wheel II is in a tension state, and a gap exists between the pull rope and the thigh rod.
Compared with the prior art, the knee joint realizes the synchronous rotation of two rotation points of the knee joint through the meshing of the arc-shaped tooth surface I and the arc-shaped tooth surface II, and can make up the torque change caused by the bending of the knee joint; by combining the geometric relationship, the length change of the pull rope and the bending angle of the knee joint can be determined to form a sine curve relationship, so that the bending angle of the knee joint can be determined without an angle sensor, and the using number of the exoskeleton sensors is reduced; meanwhile, the size of the radius of the arc tooth surface I and the radius of the arc tooth surface II can be known by combining the geometric relation, and the rotating radius of the driving mechanism can also be determined; in the scheme, the moment is stable when the knee joint rotates, the energy loss can be reduced, and the energy consumption of the system is reduced.
Has the advantages that: the exoskeleton knee joint driving structure based on the flexible cam mechanism provided by the invention adopts a variable-torque flexible knee joint structure, so that the torque of the knee joint is kept stable during rotation, and the energy loss can be reduced; meanwhile, the length change of the rope and the angle form a sine curve relationship, and the knee joint angle can be judged according to the length change of the rope.
Drawings
FIG. 1(a) is a schematic front view of the structure of the present invention;
FIG. 1(b) is a schematic side view of the present invention;
FIG. 1(c) is a schematic rear view of the present invention;
FIG. 2 is a schematic diagram of an assembly structure of a pull rope encoder in the driving mechanism;
FIG. 3 is a schematic view of the stress applied to the knee joint in the natural state of the knee joint according to the present invention;
fig. 4 is a schematic diagram of the force applied to the knee joint in the bending state of the knee joint.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1(a), 1(b) and 1(c), the exoskeleton knee joint driving structure based on the flexible cam mechanism comprises a driving mechanism, a thigh rod 4 and a knee joint simulation mechanism.
The driving mechanism comprises a motor 1, a stay cord encoder and a fixing block 3, wherein the motor 1 is installed on a motor frame 2, the stay cord encoder is installed in an encoder box body 10, and the encoder box body 10 is fixed on the motor frame 2.
The fixed block 3 is fixed on the middle upper part of the thigh rod 4, and the motor frame 2 is fixed on the thigh rod 4 and positioned between the root part of the thigh rod 4 and the fixed block 3; two upper guide wheels 3.1 are arranged on the fixed block 3 and are respectively marked as an upper guide wheel I and an upper guide wheel II.
The knee joint simulation mechanism comprises an upper connecting block 7, a lower connecting block 9 and a connecting piece 8, wherein the upper connecting block 7 is connected with the connecting piece 8 through a pin shaft I3.4, the lower connecting block 9 is connected with the connecting piece 8 through a pin shaft II3.5, an arc tooth surface I7.1 taking the pin shaft I3.4 as the center of a circle is arranged on the upper connecting block 7, an arc tooth surface II9.1 taking the pin shaft II3.5 as the center of a circle is arranged on the lower connecting block 9, and the arc tooth surface I7.1 is meshed with the arc tooth surface II 9.1; two lower guide wheels 3.2 are arranged on the upper connecting block 7 and respectively marked as a lower guide wheel I and a lower guide wheel II, and the two lower guide wheels 3.2 are both positioned on one side of the pin shaft I3.4 far away from the pin shaft II 3.5; and a fixed shaft 3.3 is arranged on the lower connecting block 9, and the fixed shaft 3.3 is positioned on one side of the pin shaft II3.5, which is far away from the pin shaft I3.4.
The upper connecting block 7 is fixed at the lower end of the thigh rod 4.
Stay cord 6 of stay cord encoder includes stay cord 6.1, elastomer 5 and pull down rope 6.2 triplex, the one end of going up stay cord 6.1 is connected with the wheel 15 of being qualified for the next round of competitions in the stay cord encoder, the other end of going up stay cord 6.1 is connected with the one end of elastomer 5 after winding through last guide pulley I and last guide pulley II in proper order, the other end of elastomer 5 is connected with the one end of pull down rope 6.2, the other end of pull down rope 6.2 is connected with fixed axle 3.3 after winding through lower guide pulley II and lower guide pulley I in proper order, detect the pulling force that bears on the pull down rope 6.2 through force sensor.
As shown in fig. 2, the pull rope encoder comprises an absolute encoder 11, a magnetic bead 12, a magnetic bead seat 13, a threaded shaft 14, a wire outgoing wheel 15, a gasket 16 and a nut 17, wherein the wire outgoing wheel 15, the gasket 16 and the nut 17 are all mounted on the threaded shaft 14, the wire outgoing wheel 15 is fixedly connected with the threaded shaft 14, a meshing transmission mechanism is formed between the side surface of the magnetic bead seat 13 and the side surface of the threaded shaft 14, the gasket 16 isolates the wire outgoing wheel 15 and the magnetic bead seat 13, the nut 17 is fixedly connected with the threaded shaft 14, and the magnetic bead seat 13 and the wire outgoing wheel 15 are tightly pressed through the nut 17; threaded shaft 14 and motor 1's output shaft, absolute encoder 11 fixes in encoder box body 10, and absolute encoder 11 covers magnetic bead 12 in magnetic bead seat 13, and magnetic bead seat 13 passes through lock structural connection with encoder box body 10.
The following describes the operation principle of the knee joint simulation mechanism.
As shown in FIG. 3, the knee joint effective driving arm d is shown in the natural state of the knee joint, i.e., when the knee joint bending angle θ is 0 °θIs d1Effective length L of the pull cordθIs L1The radiuses of the arc tooth surface I and the arc tooth surface II are both r.
As shown in FIG. 4, the knee joint effective driving arm d is in a bending state of the knee joint, i.e., when the knee joint bending angle θ is not 0 °θThe relation between the angle theta and the bending angle theta of the knee joint is
From this relationship, it can be seen that the knee joint flexion angle θ is the maximum value θmaxWhile pulling the rope effectivelyLength LθIs Lmax＝Lθ(θmax). According to the knee joint driving structure, when the driving module rotates the radius d2≥LmaxIn time, the drive module can meet the requirement of the knee joint on the range of motion.
Meanwhile, as can be seen from fig. 3 and 4, the pulling force F of the pulling rope and the rotation radius d of the driving module2In a relationship of
τ is drive module torque, θ2Is the angle theta between the pull rope and the thigh rod3Is the included angle between the connecting line of the center of the line outlet wheel and the rotating center and the thigh rod. Designing the size and position of the drive module based on this relationship can effectively eliminate the occurrence of surface mechanism dead points while minimizing d2To reduce theta2The resulting tension is reduced.
Meanwhile, as can be seen from fig. 3 and 4, when the knee joint is bent, the meshing point of the arc tooth surface I and the arc tooth surface II changes with the bending angle theta of the knee joint, that is, the length of the moment arm of the knee joint changes with the bending angle theta of the knee joint, and when the knee joint is in a natural state, the relationship between the torque of the knee joint and the moment arm is T1＝F×d1Wherein T is1The joint torque when the knee joint is in a natural state.
The knee joint torque when the knee joint is bent is
TθThe joint torque when the knee joint bending angle is theta; according to the relation, the design can compensate the torque loss caused by the bending of the knee joint.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. The utility model provides an ectoskeleton knee joint drive structure based on flexible cam mechanism which characterized in that: comprises a driving mechanism, a thigh rod (4) and a knee joint simulation mechanism;
the driving mechanism comprises a motor (1), a stay cord encoder and a fixed block (3), the motor (1) is arranged on a motor frame (2), the stay cord encoder is arranged in an encoder box body (10), and the encoder box body (10) is fixed on the motor frame (2);
the fixing block (3) is fixed on the middle upper part of the thigh rod (4), and the motor frame (2) is fixed on the thigh rod (4) and positioned between the root part of the thigh rod (4) and the fixing block (3); two upper guide wheels (3.1) are arranged on the fixed block (3) and respectively marked as an upper guide wheel I and an upper guide wheel II;
the knee joint simulation mechanism comprises an upper connecting block (7), a lower connecting block (9) and a connecting piece (8), wherein the upper connecting block (7) is connected with the connecting piece (8) through a pin shaft I (3.4), the lower connecting block (9) is connected with the connecting piece (8) through a pin shaft II (3.5), an arc tooth surface I (7.1) taking the pin shaft I (3.4) as the circle center is arranged on the upper connecting block (7), an arc tooth surface II (9.1) taking the pin shaft II (3.5) as the circle center is arranged on the lower connecting block (9), and the arc tooth surface I (7.1) is meshed with the arc tooth surface II (9.1); two lower guide wheels (3.2) are arranged on the upper connecting block (7) and respectively marked as a lower guide wheel I and a lower guide wheel II, and the two lower guide wheels (3.2) are both positioned on one side of the pin shaft I (3.4) far away from the pin shaft II (3.5); a fixed shaft (3.3) is arranged on the lower connecting block (9), and the fixed shaft (3.3) is positioned on one side of the pin shaft II (3.5) far away from the pin shaft I (3.4);
the upper connecting block (7) is fixed at the lower end of the thigh rod (4);
stay cord (6) of stay cord encoder include stay cord (6.1), elastomer (5) and stay cord (6.2) triplex down, the one end of going up stay cord (6.1) is connected with play line wheel (15) in the stay cord encoder, the other end of going up stay cord (6.1) is connected with the one end of elastomer (5) after around last guide pulley I and last guide pulley II in proper order, the other end of elastomer (5) is connected with the one end of stay cord (6.2) down, the other end of stay cord (6.2) is connected with fixed axle (3.3) after around guide pulley II and guide pulley I down in proper order down, detect the pulling force that bears on stay cord (6.2) down through force sensor.
2. The exoskeleton knee joint drive structure based on a flexible cam mechanism of claim 1, wherein: the pull rope encoder comprises an absolute encoder (11), magnetic beads (12), a magnetic bead seat (13), a threaded shaft (14), a wire outgoing wheel (15), a gasket (16) and a nut (17), the wire outgoing wheel (15), the gasket (16) and the nut (17) are all installed on the threaded shaft (14), the wire outgoing wheel (15) is fixedly connected with the threaded shaft (14), a meshing transmission mechanism is formed between the side face of the magnetic bead seat (13) and the side face of the threaded shaft (14), the gasket (16) isolates the wire outgoing wheel (15) and the magnetic bead seat (13), the nut (17) is fixedly connected with the threaded shaft (14), and the magnetic bead seat (13) and the wire outgoing wheel (15) are compressed through the nut (17); the threaded shaft (14) is connected with an output shaft of the motor (1), the absolute encoder (11) is fixed in the encoder box body (10), the magnetic beads (12) are covered in the magnetic bead seat (13) by the absolute encoder (11), and the magnetic bead seat (13) is connected with the encoder box body (10) through a buckling structure.
3. The exoskeleton knee joint drive structure based on a flexible cam mechanism of claim 1, wherein: the upper connecting block (7) is fixed at the lower end of the thigh rod (4), and an included angle which is smaller than 180 degrees and larger than 140 degrees is formed between the upper connecting block (7) and the thigh rod (4).
4. The exoskeleton knee joint drive structure based on a flexible cam mechanism of claim 1, wherein: the pull rope (6) between the upper guide wheel II and the lower guide wheel II is in a tensioning state, and a gap exists between the pull rope and the thigh rod (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011486082.7A CN112589829B (en) | 2020-12-16 | 2020-12-16 | Exoskeleton knee joint driving structure based on flexible cam mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011486082.7A CN112589829B (en) | 2020-12-16 | 2020-12-16 | Exoskeleton knee joint driving structure based on flexible cam mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112589829A CN112589829A (en) | 2021-04-02 |
| CN112589829B true CN112589829B (en) | 2022-02-22 |
Family
ID=75196331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011486082.7A Active CN112589829B (en) | 2020-12-16 | 2020-12-16 | Exoskeleton knee joint driving structure based on flexible cam mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112589829B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113386117B (en) * | 2021-06-07 | 2022-06-17 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm with yaw freedom and capable of realizing sine decoupling |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150139056A (en) * | 2014-06-02 | 2015-12-11 | 대우조선해양 주식회사 | Wearable robot applied linear actuator |
| CN106826763A (en) * | 2017-01-23 | 2017-06-13 | 哈尔滨工业大学 | For the flexible exoskeleton robot of climbing knee joint power-assisted |
| CN108042316A (en) * | 2017-10-19 | 2018-05-18 | 布法罗机器人科技（成都）有限公司 | A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot |
| CN110193819A (en) * | 2019-06-27 | 2019-09-03 | 迈宝智能科技(苏州)有限公司 | Adaptive knee-joint mechanism and device for wearable ectoskeleton |
| CN110202549A (en) * | 2019-06-27 | 2019-09-06 | 迈宝智能科技(苏州)有限公司 | The wearable assistance exoskeleton of hard and soft combination drive |
| CN110202548A (en) * | 2019-06-27 | 2019-09-06 | 迈宝智能科技(苏州)有限公司 | Torque-variable flexibility knee joint structure for wearable ectoskeleton |
| CN110393651A (en) * | 2019-07-23 | 2019-11-01 | 公安部第一研究所 | One kind having apery kneed knee joint assistance exoskeleton robot |
| CN110509259A (en) * | 2019-08-15 | 2019-11-29 | 朱逸安 | It is a kind of for mitigating the exoskeleton mechanism of joint pressure |
| CN210844099U (en) * | 2019-03-27 | 2020-06-26 | 淮安文信科技有限公司 | Knee joint wearing type power-assisted robot |
-
2020
- 2020-12-16 CN CN202011486082.7A patent/CN112589829B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150139056A (en) * | 2014-06-02 | 2015-12-11 | 대우조선해양 주식회사 | Wearable robot applied linear actuator |
| CN106826763A (en) * | 2017-01-23 | 2017-06-13 | 哈尔滨工业大学 | For the flexible exoskeleton robot of climbing knee joint power-assisted |
| CN108042316A (en) * | 2017-10-19 | 2018-05-18 | 布法罗机器人科技（成都）有限公司 | A kind of bionical variation rigidity flexibility knee joint of exoskeleton robot |
| CN210844099U (en) * | 2019-03-27 | 2020-06-26 | 淮安文信科技有限公司 | Knee joint wearing type power-assisted robot |
| CN110193819A (en) * | 2019-06-27 | 2019-09-03 | 迈宝智能科技(苏州)有限公司 | Adaptive knee-joint mechanism and device for wearable ectoskeleton |
| CN110202549A (en) * | 2019-06-27 | 2019-09-06 | 迈宝智能科技(苏州)有限公司 | The wearable assistance exoskeleton of hard and soft combination drive |
| CN110202548A (en) * | 2019-06-27 | 2019-09-06 | 迈宝智能科技(苏州)有限公司 | Torque-variable flexibility knee joint structure for wearable ectoskeleton |
| CN110393651A (en) * | 2019-07-23 | 2019-11-01 | 公安部第一研究所 | One kind having apery kneed knee joint assistance exoskeleton robot |
| CN110509259A (en) * | 2019-08-15 | 2019-11-29 | 朱逸安 | It is a kind of for mitigating the exoskeleton mechanism of joint pressure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112589829A (en) | 2021-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111184620B (en) | Elbow joint exoskeleton robot is driven to flexible rope with compensation arrangement | |
| CN100336639C (en) | Thumb mechanism of underactuated self-adaptive hand prosthesis | |
| CN104665962B (en) | Wearable function strengthens machine hand system and its assisted finger and control method | |
| US20220233388A9 (en) | Assisted exoskeleton rehabilitation device | |
| CN203598078U (en) | Module type human-imitated artificial finger | |
| CN111390892B (en) | Full-drive bionic dexterous hand based on pneumatic muscles | |
| CN112842830B (en) | Exoskeleton knee joint driving structure and method based on flexible cam system | |
| CN112589829B (en) | Exoskeleton knee joint driving structure based on flexible cam mechanism | |
| CN108814890B (en) | Gravity balance tail end traction type upper limb rehabilitation robot and working method | |
| CN101474795B (en) | Pre-bend coupling under-actuated three-joint robot finger device | |
| CN100551640C (en) | The tendon rope gear under-driven robot finger device | |
| CN101633170B (en) | Finger device of coupling three-joint robot | |
| CN101234489A (en) | Belt wheel under-driven robot finger device | |
| CN103419200A (en) | Artificial muscle elastic joint driving device of robot | |
| CN204160479U (en) | A kind of Apery manipulator | |
| CN100551642C (en) | The Chiasma tendon rope under-driven robot finger device | |
| CN110842968A (en) | Antagonistic driving device adopting capstan and tendon transmission | |
| CN107224709A (en) | A kind of variable double tail finses equipment for being used to swim | |
| CN210056675U (en) | Elbow joint rehabilitation training device | |
| CN110202548A (en) | Torque-variable flexibility knee joint structure for wearable ectoskeleton | |
| CN102328316A (en) | Double-joint inclined belt type transmission compound underactuated robot finger device | |
| CN102179816A (en) | Finger device of unilateral-coupling and self-adaption composite type underactuated robot | |
| CN111390891B (en) | Tensioning structure for robot full-drive finger pneumatic muscle | |
| CN204725487U (en) | The multiple degrees of freedom bionic mechanical hand that a kind of wire saws and pneumatic muscles drive | |
| CN207153010U (en) | A kind of variable double tail finses equipment for being used to swim |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: Room D306, South 3rd Floor, Huanxiuhu Building (formerly Yicheng Gardening), High-speed Rail New Town, Xiangcheng District, Suzhou City, Jiangsu Province, 215131 Patentee after: Maybe Intelligent Technology (Suzhou) Co.,Ltd. Address before: Room d306, South third floor, huanxiuhu building, high speed railway new town, Xiangcheng District, Nantong City, Jiangsu Province Patentee before: Maybe Intelligent Technology (Suzhou) Co.,Ltd. |
|
| CP02 | Change in the address of a patent holder |