CN1915742A - Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin - Google Patents
Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin Download PDFInfo
- Publication number
- CN1915742A CN1915742A CN 200610112795 CN200610112795A CN1915742A CN 1915742 A CN1915742 A CN 1915742A CN 200610112795 CN200610112795 CN 200610112795 CN 200610112795 A CN200610112795 A CN 200610112795A CN 1915742 A CN1915742 A CN 1915742A
- Authority
- CN
- China
- Prior art keywords
- tooth bar
- motor
- main shaft
- amplitude
- oscillation
- 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.)
- Granted
Links
Images
Landscapes
- Toys (AREA)
- Manipulator (AREA)
Abstract
A sine propulsion mechanism with adjustable swinging amplitude for robot dolphin is composed of machine frame, main motor, amplitude regulating motor, mainshaft with slide sleeve having ring slot, a conversion box with internal gear and external horizontal U-shaped and curved rack bars, a drive fork screwed on leading screw, a short axle inserted in vertical guide track, a horizontal slide way, and a rockerarm for controlling the tail swinging.
Description
Technical field
The present invention relates to a kind of sinusoidal propulsive mechanism of robotic dolphin, particularly about the sinusoidal propulsive mechanism of the adjustable amplitude of oscillation of a kind of robotic dolphin.
Background technology
Robotic dolphin is the product of robotics and bionics high development as a kind of bionic machine system that imitates the dolphin motion, is the crystallization that various new and high technologies merge mutually.Compare with traditional underwater hiding-machine that advances based on screw propeller, robotic dolphin has high efficiency, high maneuverability, low noise and advantage such as easily hidden, thereby is adapted at more monitoring in narrow, the complicated and dynamic underwater environment, searches for, rescue etc.
Peking University's mechanics and engineering science tie up to has at first developed biomimetic robotic dolphin both at home and abroad, and it adopts the series connected afterbody luffing mechanism of multi-joint to realize the motion of back of the body abdomen formula, realizes the motion of automobile with the turning mechanism that swings.As the source of the main propulsive force of robotic dolphin, the afterbody luffing mechanism is realizing playing crucial effects on the high efficiency that dolphin moves about, the high trip speed.In the mechanism of multi-joint polyphone, the motion in each joint adopts a DC servo motor to realize.In order to produce the actv. propulsive force, the motion united and coordinating in each joint need be got up.In the swing up and down reciprocatingly that realizes the robotic dolphin afterbody, the motor in each joint is in the process of frequent braking one a reverse startup, the lower and comparatively accurate position servo control technology of requirement of efficiency of motor.In order to improve the speed of moving about of dolphin, need to increase the hunting frequency of robotic dolphin afterbody, this not only needs the rotating speed of motor height, and the dynamic characteristics of motor is had higher requirement, and promptly the startup of motor and braking time will be lacked.The motion of dolphin can be simulated well in the primary stage of robotic dolphin by this mechanism, but along with the raising to the robotic dolphin performance requriements, this mechanism can not meet the demands.
In mechanical transmission mechanism commonly used, sine mechanism is a kind ofly the gyroscopic movement of electrical motor can be converted into the mechanism that moves back and forth, and this realization for the biological reciprocal rhythmic movement of simulation in the bio-robot field provides a kind of thinking.Especially, when the rotating speed of former moving crank was definite value, the displacement that the driven member that is produced moves back and forth was the sinusoidal function of time; Be converted into reciprocally swinging if adopt transmission device to move back and forth, the angular transposition of the swing of being exported also can be the sinusoidal function of time, and this meets the movement characteristic of dolphin tail swing very much.Yet, because the amplitude of oscillation that sine mechanism output is moved and the track of moving leader end are fixed, be difficult to realize the given characteristics of motion, adopt sine mechanism to be difficult to the comparatively complicated motion of simulation dolphin.Therefore,, but make the bionical submarine navigation device of High Performance of real practical application, need to design a kind of propulsive mechanism that integrates high efficiency and high flexibility for the further performance of moving about that improves robotic dolphin.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide the sinusoidal propulsive mechanism of the adjustable amplitude of oscillation of a kind of robotic dolphin of Efficient and Flexible more.
For achieving the above object, the present invention takes following technical scheme: the sinusoidal propulsive mechanism of the adjustable amplitude of oscillation of a kind of robotic dolphin, it is characterized in that: it comprises a frame, be connected a main shaft and a leading screw by a main motor with an amplitude modulation motor respectively on the described frame, one sliding sleeve with circular groove is set on the described main shaft slidably, the mouth of described main shaft connects a boxcar, the shift fork that is spirally connected on the described leading screw, and two external parts of described shift fork are plugged in the circular groove of described sliding sleeve; Be provided with a gear in the described boxcar, described boxcar is provided with one outward respectively and is parallel to an axial U-shaped tooth bar and a bending tooth bar perpendicular to axial direction, the input end of described U-shaped tooth bar is connected with the end face of described sliding sleeve, two mouths of described U-shaped tooth bar respectively with described gear mesh, the input end of described bending tooth bar and described gear mesh, and the bending of mouth is provided with a minor axis, described minor axis is plugged in the vertical guide rail, the back of described vertical guide rail connects a horizontal rack, the other end of described horizontal rack is plugged in the horizontal slideway that is fixed on the described frame, one middle part is articulated in the rocking arm on the frame, one end of described rocking arm be one with described horizontal rack ingear partial gear, the other end of described rocking arm is used to connect the tail structure of robotic dolphin.
Be respectively arranged with control corner coder on described main motor and the amplitude modulation motor, corresponding with it, a photoelectric switch that is used to discern its zero position is set respectively on described main shaft and leading screw.
The digital signal processing chip TMS320LF2407A that adopts semiconductor company of Texas Instruments to produce is a main control chip, builds typical application circuit, as the motion control card of described main motor and amplitude modulation motor.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention has adopted the direct current brushless servo motor that can turn round continuously as propulsion source, gyroscopic movement is transformed to the crank motion of similar dolphin tail swing by improved sine mechanism and pinion and rack, avoided the startup repeatedly of motor, braking, improved the efficient of system, this is for the robotic dolphin that adopts on-board batteries as the energy, improved flying power effectively, reduced requirement simultaneously, simplified the complexity of control setup the accuracy of positioning of servo control unit.2, the present invention has disposed amplitude modulation mechanism, by the running of amplitude modulation with direct current brushless servo motor, can regulate the radius of gyration of sine mechanism minor axis easily, thereby the amplitude of scalable rocking arm output reciprocally swinging, according to the size of amplitude modulation with the direct current brushless servo motor rotational displacement, can realize the step-less adjustment of the amplitude of oscillation, and the amplitude of oscillation is regulated and can be carried out in the sine mechanism running, control process is smoothly smooth, can realize the reciprocally swinging of the different amplitudes of robotic dolphin afterbody, simulate the different motion of dolphin more truly.The invention provides a kind of propelling unit that is applied to the high efficiency high flexibility of robotic dolphin, can establish technical foundation by practical robotic dolphin for building.
Description of drawings
Fig. 1 is a perspective view of the present invention
Fig. 2 is the schematic top plan view of Fig. 1
Fig. 3 is gear setting and the connection diagram in the boxcar of the present invention
Fig. 4 is the structural representation that boxcar of the present invention has been installed gland
Fig. 5 is rocking arm of the present invention and each structure connection diagram
The specific embodiment
Following conjunction with figs. is further described technical scheme of the present invention.
As shown in Figure 1 and Figure 2, the present invention includes a frame 1, an one main motor 2 and an amplitude modulation motor 3 are installed on frame 1 side by side, and the mouth of main motor 2 and amplitude modulation motor 3 connects a main shaft 6 and a leading screw 7 respectively through the mouth that one speed reducer 4 is connected a coupler 5, two coupler 5 respectively.Slide on the main shaft 6 sliding sleeve 8 with circular groove, mouth captive joint one boxcar 9 of main shaft are set; Sheathed one by the connected shift fork 10 of screw thread on the leading screw 7, and two external parts of shift fork 10 are plugged in the circular groove of main shaft 6 upper sliding sleeves 8, but do not influence the rotation of sliding sleeve 8.One coder 11 is set respectively on main motor 2 and amplitude modulation motor 3.
As Fig. 2, shown in Figure 3, set up a gear 12 by gear wheel shaft in the boxcar 9, be provided with U-shaped tooth bar 13 in boxcar 9 and main shaft 6 parallel directions, the end that U-shaped tooth bar 13 fuses is fixedly connected on the end face of sliding sleeve 8, U-shaped tooth bar 13 can be slided vertically with sliding sleeve 8, and rotate by two mouth driven gears 12 of U-shaped tooth bar 13.Be provided with a bending tooth bar 14 in boxcar 9 direction vertical with main shaft, the input end of bending tooth bar 14 and gear 12 engagements, the bending of the mouth of bending tooth bar 14 is provided with a minor axis 15, bending tooth bar 14 is under the engagement of gear 12 drives, can change minor axis 15 in the bending and the distance between main shaft 6 axis, promptly change the crank radius that minor axis 15 rotates with respect to main shaft 6.One gland 16 is set, to guarantee the engaged transmission (as shown in Figure 4) of bending tooth bar 14 and gear 12 on bending tooth bar 14.
As Fig. 1, shown in Figure 5, minor axis 15 on the bending tooth bar 14 is plugged in the vertical guide rail 17 of a unsettled setting, the back side, middle part of vertical guide rail 17 is fixedly connected on an end of a horizontal rack 18, and the other end of horizontal rack 18 is plugged in the horizontal slideway 19, and horizontal slideway 19 is fixed on the frame 1.One rocking arm 20, its middle part is articulated on the frame 1, an end of rocking arm 20 be one with horizontal rack 18 ingear partial gears 21, the other end of rocking arm 20 connects the tail structure (not shown) of robotic dolphin.
In the foregoing description, main motor 2 and amplitude modulation motor 3 all can adopt brushless DC servomotor, and adopt 1024 line increment photoelectric code disks as coder 11.Because main motor 2 all passes through a retarder 4 separately with amplitude modulation motor 3 and is connected main shaft 6 and leading screw 7, therefore the turned position of main shaft 6 and leading screw 7 is wayward, therefore a photoelectric switch (not shown) is set respectively on main shaft 6 and leading screw 7, photoelectric switch can adopt various structure of the prior art and mounting means, its objective is the zero position when feedback main shaft 6 and leading screw 7 rotate, understand the rotation information of main shaft 6 and leading screw 7 for coder 11.For torque and the rotating speed that obtains to require, the retarder 4 of main motor 2 and amplitude modulation motor 3 mouths can adopt the retarder of epicyclic reduction gear or other prior art structure.The servo control unit of master's motor 2 of the present invention and amplitude modulation motor 3 can adopt the multiaxis control card of buying on the market, also can design voluntarily as required, such as digital signal processing (DSP) the chip TMS320LF2407A that adopts semiconductor company of Texas Instruments to produce is main control chip, build typical application circuit, with the motion control card of decide motor 2 and amplitude modulation motor 3.
Shown in Fig. 1～5, when the present invention operates, the mouth of main motor 2 drives retarder 4, retarder 4 drives main shaft 6 by coupler 5 and rotates, main shaft 6 drives boxcar 9 and rotates, and the minor axis 15 on the bending tooth bar 14 is decomposed into motion along the up-and-down movement of vertical guide rail 17 around main shaft 6 rotational, and vertical guide rail 17 drive horizontal rack 18 horizontal motion two parts in horizontal guide rail 19, the horizontal motion of horizontal guide rail 19 can drive rocking arm 20 again and make reciprocally swinging in the circular arc direction.In the time need regulating to the amplitude of reciprocally swinging, start amplitude modulation motor 3, amplitude modulation motor 3 is by retarder 4, coupler 5 drives leading screw 7 and rotates, be plugged in shift fork 10 on the sliding sleeve 8 under the effect of leading screw 7 screw threads, along leading screw 7 axially movable drive simultaneously sliding sleeve 8 along main shaft 6 directions forward (or backward) move, the U-shaped tooth bar 13 that is fixed on sliding sleeve 8 end faces with sliding sleeve 8 forward (or backward) move, and then rotating in the drive boxcar 9 with U-shaped tooth bar 13 gears in meshs 12, the rotation of gear 12 drives again with its ingear bending tooth bar 14 and moves to the end with minor axis 15 (or opposite end), thereby strengthen the radius along main shaft 6 rotational of (or reducing) minor axis 15, increase (or reducing) vertical guide rail 17 and drive the amplitude that horizontal rack 18 moves in horizontal guide rail 19, and then increase the amplitude of fluctuation that (or reducing) horizontal rack 19 drives rocking arm 20.The adjusting of amplitude of fluctuation of the present invention can be carried out in the sine mechanism running, and control process is smoothly smooth, can realize the reciprocally swinging of the different amplitudes of robotic dolphin afterbody, simulates the motion of dolphin more truly.
The present invention should not be subjected to the restriction of the various embodiments described above, every according to technical solution of the present invention without replacing and improvement that creative work just can draw parts, all should be included within protection scope of the present invention.
Claims (3)
1, the sinusoidal propulsive mechanism of the adjustable amplitude of oscillation of a kind of robotic dolphin, it is characterized in that: it comprises a frame, be connected a main shaft and a leading screw by a main motor with an amplitude modulation motor respectively on the described frame, one sliding sleeve with circular groove is set on the described main shaft slidably, the mouth of described main shaft connects a boxcar, the shift fork that is spirally connected on the described leading screw, two external parts of described shift fork are plugged in the circular groove of described sliding sleeve; Be provided with a gear in the described boxcar, described boxcar is provided with one outward respectively and is parallel to an axial U-shaped tooth bar and a bending tooth bar perpendicular to axial direction, the input end of described U-shaped tooth bar is connected with the end face of described sliding sleeve, two mouths of described U-shaped tooth bar respectively with described gear mesh, the input end of described bending tooth bar and described gear mesh, and the bending of mouth is provided with a minor axis, described minor axis is plugged in the vertical guide rail, the back of described vertical guide rail connects a horizontal rack, the other end of described horizontal rack is plugged in the horizontal slideway that is fixed on the described frame, one middle part is articulated in the rocking arm on the frame, one end of described rocking arm be one with described horizontal rack ingear partial gear, the other end of described rocking arm is used to connect the tail structure of robotic dolphin.
2, the sinusoidal propulsive mechanism of the adjustable amplitude of oscillation of a kind of robotic dolphin as claimed in claim 1, it is characterized in that: be respectively arranged with control corner coder on described main motor and the amplitude modulation motor, corresponding with it, a photoelectric switch that is used to discern its zero position is set respectively on described main shaft and leading screw.
3, as claim 1 or as described in the sinusoidal propulsive mechanism of the adjustable amplitude of oscillation of a kind of robotic dolphin, it is characterized in that: the digital signal processing chip TMS320LF2407A that adopts semiconductor company of Texas Instruments to produce is a main control chip, build typical application circuit, as the motion control card of described main motor and amplitude modulation motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101127950A CN100372734C (en) | 2006-09-01 | 2006-09-01 | Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101127950A CN100372734C (en) | 2006-09-01 | 2006-09-01 | Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1915742A true CN1915742A (en) | 2007-02-21 |
| CN100372734C CN100372734C (en) | 2008-03-05 |
Family
ID=37736858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101127950A Expired - Fee Related CN100372734C (en) | 2006-09-01 | 2006-09-01 | Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100372734C (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079371A (en) * | 2010-11-19 | 2011-06-01 | 王世全 | Bionic robofish propelled by vibration of lateral fins |
| CN102152845A (en) * | 2011-04-11 | 2011-08-17 | 中国科学院深圳先进技术研究院 | Sine feed mechanism |
| CN102180249A (en) * | 2011-04-11 | 2011-09-14 | 中国科学院深圳先进技术研究院 | Intelligent biomimetic robotic dolphin |
| CN102616357A (en) * | 2012-03-08 | 2012-08-01 | 郑志刚 | 360-degree biomimetic fluctuation propulsion device |
| CN102730176A (en) * | 2012-07-04 | 2012-10-17 | 中国科学院自动化研究所 | Modularized biomimetic robotic dolphin push mechanism |
| CN103976848A (en) * | 2014-05-16 | 2014-08-13 | 北京大学 | Multi-degree-of-freedom ankle joint power exoskeleton |
| CN108482626A (en) * | 2018-03-20 | 2018-09-04 | 东南大学 | A kind of jump water dolphin propulsive mechanism based on clutch transformation |
| CN109018233A (en) * | 2018-08-28 | 2018-12-18 | 湖南大学 | A kind of imitative dolphin stroke is played with water entertainment device |
| CN109436319A (en) * | 2018-11-07 | 2019-03-08 | 天津大学 | Flapping wing aircraft wing agitates the transmission controlling mechanism of frequency, direction and amplitude |
| CN110861761A (en) * | 2019-11-08 | 2020-03-06 | 燕山大学 | Hydraulic drive bionic mechanical dolphin |
| CN112653429A (en) * | 2020-12-23 | 2021-04-13 | 中国航空工业集团公司北京长城计量测试技术研究所 | Sinusoidal motion generating device with stepless and adjustable amplitude |
| WO2021109859A1 (en) * | 2019-12-06 | 2021-06-10 | 中国科学院深圳先进技术研究院 | Amplitude-adjustable sine mechanism |
| WO2024108359A1 (en) * | 2022-11-21 | 2024-05-30 | 中国科学院深圳先进技术研究院 | Swinging device, underwater bionic propeller, and application of swinging device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5951474B2 (en) * | 1979-12-18 | 1984-12-14 | 永井 實 | Fish fin type underwater propulsion device |
| WO2003092843A1 (en) * | 2002-04-30 | 2003-11-13 | Mitsubishi Heavy Industries, Ltd. | Fish-shaped underwater navigating body, control system thereof, and aquarium |
| FR2840584B1 (en) * | 2002-06-07 | 2005-09-02 | Daniel Evain | PROPULSIVE DEVICE IN A LIQUID ENVIRONMENT |
| CN1466117A (en) * | 2002-07-04 | 2004-01-07 | 中国科学院自动化研究所 | Long distance controlled multi-joint driven bionical mechanical fish |
-
2006
- 2006-09-01 CN CNB2006101127950A patent/CN100372734C/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079371B (en) * | 2010-11-19 | 2013-04-03 | 王世全 | Bionic robofish propelled by vibration of lateral fins |
| CN102079371A (en) * | 2010-11-19 | 2011-06-01 | 王世全 | Bionic robofish propelled by vibration of lateral fins |
| CN102152845A (en) * | 2011-04-11 | 2011-08-17 | 中国科学院深圳先进技术研究院 | Sine feed mechanism |
| CN102180249A (en) * | 2011-04-11 | 2011-09-14 | 中国科学院深圳先进技术研究院 | Intelligent biomimetic robotic dolphin |
| CN102152845B (en) * | 2011-04-11 | 2013-07-03 | 中国科学院深圳先进技术研究院 | Sine feed mechanism |
| CN102180249B (en) * | 2011-04-11 | 2013-08-07 | 中国科学院深圳先进技术研究院 | Intelligent biomimetic robotic dolphin |
| CN102616357A (en) * | 2012-03-08 | 2012-08-01 | 郑志刚 | 360-degree biomimetic fluctuation propulsion device |
| CN102730176B (en) * | 2012-07-04 | 2015-01-21 | 中国科学院自动化研究所 | Modularized biomimetic robotic dolphin push mechanism |
| CN102730176A (en) * | 2012-07-04 | 2012-10-17 | 中国科学院自动化研究所 | Modularized biomimetic robotic dolphin push mechanism |
| CN103976848B (en) * | 2014-05-16 | 2015-12-30 | 北京大学 | Multivariant ankle joint power exoskeleton |
| CN103976848A (en) * | 2014-05-16 | 2014-08-13 | 北京大学 | Multi-degree-of-freedom ankle joint power exoskeleton |
| CN108482626A (en) * | 2018-03-20 | 2018-09-04 | 东南大学 | A kind of jump water dolphin propulsive mechanism based on clutch transformation |
| CN108482626B (en) * | 2018-03-20 | 2019-12-10 | 东南大学 | Jumping dolphin propulsion mechanism based on clutch transformation |
| CN109018233A (en) * | 2018-08-28 | 2018-12-18 | 湖南大学 | A kind of imitative dolphin stroke is played with water entertainment device |
| CN109436319A (en) * | 2018-11-07 | 2019-03-08 | 天津大学 | Flapping wing aircraft wing agitates the transmission controlling mechanism of frequency, direction and amplitude |
| CN110861761A (en) * | 2019-11-08 | 2020-03-06 | 燕山大学 | Hydraulic drive bionic mechanical dolphin |
| WO2021109859A1 (en) * | 2019-12-06 | 2021-06-10 | 中国科学院深圳先进技术研究院 | Amplitude-adjustable sine mechanism |
| CN112653429A (en) * | 2020-12-23 | 2021-04-13 | 中国航空工业集团公司北京长城计量测试技术研究所 | Sinusoidal motion generating device with stepless and adjustable amplitude |
| CN112653429B (en) * | 2020-12-23 | 2024-04-19 | 中国航空工业集团公司北京长城计量测试技术研究所 | Amplitude stepless adjustable sinusoidal motion generating device |
| WO2024108359A1 (en) * | 2022-11-21 | 2024-05-30 | 中国科学院深圳先进技术研究院 | Swinging device, underwater bionic propeller, and application of swinging device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100372734C (en) | 2008-03-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100372734C (en) | Sine driving mechanism with adjustable amplitude of oscillation for mechanical dolphin | |
| CN204546556U (en) | The parallel steering wheel of double freedom based on differential gear train | |
| CN104133424A (en) | Industrial robot linear interpolation method based on programmable logic controller | |
| CN103707292A (en) | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist | |
| CN204832853U (en) | Many interfaces motion control ware | |
| CN113734396B (en) | Bionic rana nigromaculata swimming robot | |
| CN105215559B (en) | Double swing head and laser cutting machine with hollow axis structure | |
| CN105751211A (en) | Curvature continuously-changing robot driven by flexible rods and control method of robot | |
| CN108438186A (en) | A kind of multi joint motion mechanism of amphibious frog board robot | |
| CN101587327B (en) | Universal motion control system and control method on industrial control platform | |
| CN103736617B (en) | A kind of five degree of freedom controllable-mechanism type flush coater | |
| CN1835384A (en) | Recurrent controller of copying swing | |
| CN1785609A (en) | Design of linked mechanical hand sructure | |
| CN110842898A (en) | Underwater robot with manipulator | |
| CN206255179U (en) | A kind of direction disk control system of ship | |
| CN2871096Y (en) | Rotary multi-axis operating table | |
| CN106428486B (en) | A kind of vector propulsion device for small-scale underwater vehicle device | |
| CN102152845B (en) | Sine feed mechanism | |
| CN209793754U (en) | Direct-drive human-simulated finger convenient to control | |
| CN100340822C (en) | Single-drive solar tracking system | |
| CN2831199Y (en) | Swinging shaft testing jig frame controller | |
| CN210286498U (en) | High-precision traveling system for pool experiment | |
| CN2604248Y (en) | Three-dimensional motion control UV lamp solidifying equipment | |
| CN219257662U (en) | Bionic robot fish pectoral fin structure | |
| CN202147170U (en) | Rotary worktable double motor-driven device used for eliminating gear-driven gap |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080305 Termination date: 20100901 |