CN204750348U - Imitative dinosaur robot - Google Patents
Imitative dinosaur robot Download PDFInfo
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- CN204750348U CN204750348U CN201520498494.0U CN201520498494U CN204750348U CN 204750348 U CN204750348 U CN 204750348U CN 201520498494 U CN201520498494 U CN 201520498494U CN 204750348 U CN204750348 U CN 204750348U
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Abstract
The utility model discloses an imitative dinosaur robot, this robot of its characterized in that includes head, neck, body, two pedipulators, afterbody and control mechanism, and two pedipulator structures are in full accord, and the symmetry is installed in the somatic both sides of robot, and head, neck and afterbody are whole welding, and the head welds with the neck and is in the same place, control mechanism installs in somatic inside, mainly comprises eight servo motor, contains two neck motors, two afterbody motors, two promotion motors and two push motor for control and the motion of coordinating the robot, the pedipulator includes lift system, promotion system, supplementary braced system and four systems of combined action system.
Description
Technical field
The invention belongs to robotics, be specially a kind of imitative dinosaur robot.
Background technology
According to the walking manner of robot, robot can be divided into wheeled robot, caterpillar type robot and legged type robot.Legged type robot relies on it to show very strong comformability with the discontinuous contact characteristic on ground in the process of walking, especially on the passage having obstacle or on very inapproachable work-yard, has more vast potential for future development.
Society, robot has been widely used in productive life, and having and be arranged on hotel, the attendant in dining room, the manipulation robot in inflammable blast, dangerous operation place, is the robot of family's cleaning, toy robot etc.In the series of products of robot, biped robot is extensively adopted by places such as various public place of entertainment, hotel, dining rooms.But current biped amusement robot ubiquity complex structure, the shortcomings such as productive costs is high, poor stability, make this robot not obtain wide popularization and application.
Imitative dinosaur robot is the one in legged type robot.The biped robot of existing report mainly contains: a kind of biped robot's number of patent application of people's designs such as red female, the Wen Xin in Shanghai University of Science and Technology palace: 201120378672.8 and the biped amusement robot number of patent application of people's design such as Yulin College Wang Xiong: 201220320757.8).Above-mentioned robot image is mechanical, recreational low, and alerting ability and stability are also poor.
Summary of the invention
For the deficiencies in the prior art, the technical matters that quasi-solution of the present invention is determined is, provides a kind of imitative dinosaur robot.This Robot Design is ingenious, structure simple, it is easy to control, and stability and alerting ability are all good, are a kind of novel biped robots.
The technical scheme that the present invention solve the technical problem is: a kind of imitative dinosaur robot of design, this robot comprises the head of profiling, neck, body, two pedipulators and afterbody and built-in control mechanism, article two, pedipulator structure is completely the same, symmetry is arranged on the both sides of robot body, head, neck and afterbody are integral solder part, and head and neck weld together; Described control mechanism is arranged on the inside of body, forming, comprising two neck motors, two afterbody motors, two lifting motors and two pushing motors, for controlling the motion with coordinating robot primarily of eight servomotors;
There is upper and lower two-layer adapter plate described body inside, upper strata adapter plate is symmetrically installed with four servomotors, two neck motors and two afterbody motors respectively, move in the neck be connected with body for cooperation control and the upper and lower, left and right of afterbody, when the synchronized in the same way driving of two servomotors controlling afterbody, realize the upper and lower motion of afterbody by the parallelogram linkage be connected with servomotor, the direction that the direction of its motion is rotated by servomotor determines; When the reverse synchronized driving of two servomotors, the same left and right motion being realized afterbody by the parallelogram linkage be connected with servomotor, its sense of motion is determined by two servomotor rotation directions equally, and the drive system of neck is identical with afterbody with driving system; The center of gravity of whole robot is effectively changed by the coordinated movement of various economic factors of neck and afterbody; Lower floor's adapter plate is symmetrically installed with four servomotors equally, two lifting motors and two pushing motors respectively, a lifting motor and a pushing motor are one group, the motion of a cooperation control pedipulator, wherein lifting motor is responsible for rising and falling of pedipulator, and pushing motor is responsible for pedipulator and is moved forward and backward motion, four servomotors pass through cooperation control, realize when a pedipulator is supporting leg, another one leg for leading leg, thus realizes moving forward and backward of robot;
Described pedipulator comprises elevator system, moving system, auxiliary shoring system and combined action system four systems; Described elevator system mainly comprises No. 2 lifting motors and lifting arm, and described No. 2 lifting motors are fixedly connected with lower floor adapter plate 8 by screw; Described lifting arm is fixedly connected with No. 2 lifting motors by retarder, flange, both synchronous axial system;
Described moving system mainly comprises No. 2 pushing motors, No. 1 catch bar and No. 2 catch bars; Described No. 2 pushing motors are fixed on lower floor's adapter plate by screw; Described No. 1 catch bar is fixedly connected with No. 2 pushing motors by retarder, flange, both synchronous axial system; Described No. 2 catch bars are connected with No. 1 catch bar on-fixed by bearing, roller bearing end cap, and both can relatively rotate;
Described auxiliary shoring system mainly comprises No. 6 minor axises, No. 7 minor axises, No. 1 major axis, No. 2 major axis, No. 1 strut bar, No. 2 strut bars and No. 3 strut bars; The weld together of described No. 7 minor axises and lower floor's adapter plate, is fixedly connected with; Described No. 1 strut bar is connected with No. 7 minor axis on-fixeds by bearing, roller bearing end cap, and both can rotate relatively; Described No. 6 minor axises are connected with No. 1 strut bar on-fixed by bearing, roller bearing end cap, and both can rotate relatively; Described No. 1 major axis is fixedly connected with No. 3 strut bars with No. 2 strut bars by screw with No. 2 major axis;
Described combined action system mainly comprises No. 3 pipe links, No. 4 pipe links, sole, No. 3 minor axises, No. 4 minor axises and No. 5 minor axises; Described No. 3 pipe links are connected with No. 2 major axis on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; Described No. 3 minor axises and No. 3 pipe link weld togethers, be fixedly connected with, and No. 3 minor axises are connected with No. 2 catch bar on-fixeds by bearing, roller bearing end cap simultaneously, and both can relatively rotate; Described No. 4 pipe links are connected with No. 1 major axis on-fixed by bearing, roller bearing end cap, and both can relatively rotate; Described No. 4 minor axises, No. 5 minor axises are fixedly connected with sole respectively by screw, and No. 4 minor axises, No. 5 minor axises are connected with No. 3 pipe links, No. 4 pipe link on-fixeds respectively by bearing, roller bearing end cap simultaneously, can relatively rotate between the two.
The present invention imitates the advantage of dinosaur robot and good effect is:
1, the present invention is a kind of imitative dinosaur robot, head, neck and Tail Shape copy the configuration design of dinosaur, shared by the shared overall ratio of each several part and dinosaur body parts, overall ratio is identical, lifelike image, structure is ingenious, by head, neck, trunk, leg, afterbody forms, neck and afterbody drive with two motors respectively, by one group of linkage transmission, realize neck, head and afterbody upper and lower, swing, thus the center of gravity controlling robot of the present invention arrives stabilized zone before each step of walking, namely afterbody and neck are before motion, by swinging the center of gravity having changed robot, improve stability and the alerting ability of robot entirety greatly.
2, designed pedipulator structure relates to bionics field, every bar pedipulator adopts two servomotors, by the cooperation control of two servomotors, leg exercise is decomposed into and promotes and advance two stages, add sole at the end of leg simultaneously, increase the area of contact on leg and ground, make the motion of robot more stable, quick and accurate.
3, in designed leg four-bar mechanism, every bar leg is all designed with auxiliary shoring system, can make robot move time more stable, and by a relatively large margin improve its load-carrying capacity.
Accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram that the present invention imitates a kind of embodiment of dinosaur robot;
Fig. 2 is the leg integral structure schematic diagram that the present invention imitates a kind of embodiment of dinosaur robot;
Fig. 3 is the body inner upper strata mounting plates structure schematic diagram that the present invention imitates a kind of embodiment of dinosaur robot;
Fig. 4 is a kind of angle perspective view of single leg joint that the present invention imitates a kind of embodiment of dinosaur robot;
Fig. 5 is the another kind of angle perspective view of single leg joint that the present invention imitates a kind of embodiment of dinosaur robot;
Fig. 6 is leg local joint (in Fig. 5 dotted line frame) perspective view that the present invention imitates a kind of embodiment of dinosaur robot;
Fig. 7 is that the another kind of angle that the present invention imitates a kind of embodiment of dinosaur robot sees leg local joint perspective view;
Fig. 8 is the leg foot structure schematic diagram that the present invention imitates a kind of embodiment of dinosaur robot.
Detailed description of the invention
The present invention is described further below in conjunction with embodiment and accompanying drawing thereof.But the claims of the application is not limited to the description scope of described embodiment.
The imitative dinosaur robot of the present invention's design (is called for short robot, see Fig. 1-8), it is characterized in that this robot comprises the head 1 of imitative dinosaur shape, neck 2, body 3, left and right pedipulator 4,5 and afterbody 6 and built-in control mechanism, the structure of left and right two pedipulators 4,5 is completely the same, symmetry is arranged on the both sides of robot body 3, head 1, neck 2 and afterbody 6 are integral solder part, and head 1 and neck 2 weld together; Described control mechanism is arranged on the inside of body 3, form primarily of eight servomotors, comprise two neck motors, 24,25, two afterbody motors, 14,15, two lifting motors, 10,11 and two pushing motors 9,12, for controlling the motion with coordinating robot;
Described body 3 is by base plate 7, upper strata adapter plate 13, lower floor's adapter plate 8, No. 1 afterbody motor 14, No. 2 afterbody motors 15, No. 1 neck motor 24, No. 2 neck motors 25, No. 1 lifting motor 10, No. 1 pushing motor 9, 12 compositions, together with body 3 internal backplane 7 is fixed by screws in upper strata adapter plate 13, upper strata adapter plate 13 is symmetrically installed with four servomotors (i.e. No. 1 afterbody motor 14, No. 2 afterbody motors 15, No. 1 neck motor 24 and No. 2 neck motors 25), for coordinating to drive the neck 2 that controls to be connected with body with dynamic and afterbody 6, under, left, right motion.Lower floor's adapter plate is also symmetrically installed with four servomotors (i.e. No. 1 pushing motor 9, No. 1 lifting motor 10, No. 2 lifting motors 11 and No. 2 pushing motors 12), drives for coordinating and control rising and falling and forward movement of two pedipulators 4,5.
Symmetrical before and after the mechanism that described upper strata adapter plate 13 is installed, neck driving system and afterbody driving system is divided into according to axis of symmetry, described afterbody driving system is by No. 1 connecting panel 16, No. 2 connecting panels 23, No. 1 pipe link 17, No. 2 pipe links 22, T-shaped bar 18, No. 1 minor axis 19, No. 2 minor axises 21, No. 3 connecting panels 20, bearing, roller bearing end cap form.No. 1 afterbody motor 14 and No. 2 afterbody motors 15 are fixed by screws in the riser part on upper strata adapter plate 13, bearing is passed through with No. 1 connecting panel 16 and No. 2 connecting panels 23, roller bearing end cap on-fixed connects, with servomotor synchronous axial system, when controlling two servomotors (i.e. No. 1 afterbody motor 14 and No. 2 afterbody motors 15) the synchronized in the same way driving of afterbody 6, two afterbody motor shafts drive No. 1 connecting panel 16 and No. 2 connecting panel 23 rotating in same directions, No. 1 pipe link 17, No. 2 pipe links 22 respectively with No. 1 connecting panel 16, No. 2 connecting panels 23 pass through bearing, roller bearing end cap on-fixed connects, and respectively with respective connecting panel synchronous axial system, the T-shaped bar 18 be connected with No. 2 pipe links 22 with No. 1 pipe link 17 is moved up and down, and then realize the upper of afterbody, lower motion, the direction of its motion is determined by the direction of electric machine rotation, when two servomotors (No. 1 afterbody motor 14 and No. 2 afterbody motors 15) reverse synchronized driving, two afterbody motor shafts drive No. 1 connecting panel 16 and No. 2 connecting panels 23 to rotate backward, No. 1 pipe link 17 and No. 2 pipe links 22 are with No. 1 connecting panel 16 and No. 2 connecting panel 23 synchronous axial system, the T-shaped bar 18 be connected with No. 2 pipe links 22 with No. 1 pipe link 17 is rotated, by the power transmission of intermediary agency, and then make that No. 2 minor axises 21 are passive to rotate around its line of centers, realize the left and right motion of afterbody with this, its sense of motion is determined by two direction of motor rotation equally.The drive system of neck 2 is identical with afterbody with driving system.The center of gravity (see Fig. 3) of whole robot is changed by the coordinated movement of various economic factors actv. of neck 2 and afterbody 6.
Symmetrical installation No. 1 lifting motor 10, No. 1 pushing motor 9, No. 2 lifting motors 11 and No. 2 pushing motors 12 on described lower floor adapter plate 8; Wherein, 1, No. 2 lifting motor 10,11 is responsible for rising and falling of pedipulator, and 1, No. 2 pushing motor 9,12 is responsible for moving forward and backward of pedipulator, four servomotor cooperation control; When a pedipulator is supporting leg, another one leg for leading leg, thus realizes travel forward (see Fig. 2) of robot.
Described pedipulator is (see Fig. 4, 5, 6 and 7) primarily of No. 2 lifting motors 11, No. 2 pushing motors 12, lower floor's adapter plate 8, lifting arm 406, No. 1 catch bar 407, No. 2 catch bars 408, No. 1 strut bar 409, No. 2 strut bars 405, No. 3 strut bars 404, No. 3 pipe links 403, No. 4 pipe links 402, sole 401, No. 3 minor axises 414, No. 4 minor axises 415, No. 5 minor axises 416, No. 6 minor axises 411, No. 7 minor axises 410, No. 1 major axis 412, No. 2 major axis 413, the composition such as bearing and roller bearing end cap.
Described pedipulator comprises four systems by function, elevator system, moving system, auxiliary shoring system and combined action system.
Described elevator system mainly comprises No. 2 lifting motors 11, lifting arm 406.Described No. 2 lifting motors 11 are fixedly connected with lower floor adapter plate 8 by screw; Described lifting arm 406 is fixedly connected with No. 2 lifting motors 11 by retarder, flange, both synchronous axial system.
Described moving system mainly comprises No. 2 pushing motors 12, No. 1 catch bar 407 and No. 2 catch bars 408.Described No. 2 pushing motors 12 are fixedly connected with lower floor adapter plate 8 by screw; Described No. 1 catch bar 407 is fixedly connected with No. 2 pushing motors 12 by retarder, flange, both synchronous axial system; Described No. 2 catch bars 408 are connected with No. 1 catch bar 407 on-fixed by bearing, roller bearing end cap, and both can relatively rotate.
Described auxiliary shoring system mainly comprises No. 1 strut bar 409, No. 2 strut bars 405 and No. 3 strut bars 404.Described No. 7 minor axises 410 and the weld together of lower floor's adapter plate 8, be fixedly connected with; Described No. 1 strut bar 409 is connected with No. 7 minor axis 410 on-fixeds by bearing, roller bearing end cap, and both can rotate relatively; Described No. 6 minor axises 411 are connected with No. 1 strut bar 409 on-fixed by bearing, roller bearing end cap, and both can rotate relatively; Described No. 1 major axis 412 is fixedly connected with No. 3 strut bars 404 with No. 2 strut bars 405 by screw with No. 2 major axis 413.
Described combined action system mainly comprises No. 3 pipe links 403, No. 4 pipe links 402, sole 401, No. 3 minor axises 414, No. 4 minor axises 415 and No. 5 minor axises 416.Described No. 3 pipe links 403 are connected with No. 2 major axis 413 on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; Described No. 3 minor axises 414 and No. 3 pipe link 403 weld togethers, be fixedly connected with, and No. 3 minor axises 414 are connected with No. 2 catch bar 408 on-fixeds by bearing, roller bearing end cap simultaneously, and both can relatively rotate; Described No. 4 pipe links 402 are connected with No. 1 major axis 412 on-fixed by bearing, roller bearing end cap, and both can relatively rotate; Described No. 4 minor axises 415, No. 5 minor axises 416 are fixedly connected with sole 401 respectively by screw, No. 4 minor axises 415, No. 5 minor axises 416 are connected respectively by bearing, roller bearing end cap and No. 3 pipe links 403, No. 4 pipe link 402 on-fixeds simultaneously, can relatively rotate between the two.
The work of dinosaur robot or motion principle and process are put in the present invention:
Afterbody driving system is made up of No. 1 connecting panel 16, No. 2 connecting panels 23, No. 1 pipe link 17, No. 2 pipe links 22, T-shaped bar 18, No. 1 minor axis 19, No. 2 minor axises 21, No. 3 connecting panels 20, bearing, roller bearing end cap.No. 1 afterbody motor 14 and No. 2 afterbody motors 15 are fixed by screws in the riser part on upper strata adapter plate 13, bearing is passed through with No. 1 connecting panel 16 and No. 2 connecting panels 23, roller bearing end cap on-fixed connects, with servomotor synchronous axial system, when controlling two servomotors (i.e. No. 1 afterbody motor 14 and No. 2 afterbody motors 15) the synchronized in the same way driving of afterbody 6, two afterbody motor shafts drive No. 1 connecting panel 16 and No. 2 connecting panel 23 rotating in same directions, No. 1 pipe link 17, No. 2 pipe links 22 respectively with No. 1 connecting panel 16, No. 2 connecting panels 23 pass through bearing, roller bearing end cap on-fixed connects, and respectively with respective connecting panel synchronous axial system, the T-shaped bar 18 be connected with No. 2 pipe links 22 with No. 1 pipe link 17 is moved up and down, and then realize the upper of afterbody, lower motion, the direction of its motion is determined by the direction of electric machine rotation, when two servomotors (No. 1 afterbody motor 14 and No. 2 afterbody motors 15) reverse synchronized driving, two afterbody motor shafts drive No. 1 connecting panel 16 and No. 2 connecting panels 23 to rotate backward, No. 1 pipe link 17 and No. 2 pipe links 22 are with No. 1 connecting panel 16 and No. 2 connecting panel 23 synchronous axial system, the T-shaped bar 18 be connected with No. 2 pipe links 22 with No. 1 pipe link 17 is rotated, by the power transmission of intermediary agency, and then make that No. 2 minor axises 21 are passive to rotate around its line of centers, realize the left and right motion of afterbody with this, its sense of motion is determined by two direction of motor rotation equally.The drive system of neck 2 is identical with afterbody with driving system.The center of gravity of whole robot is changed by the coordinated movement of various economic factors actv. of neck 2 and afterbody 6
No. 2 lifting motors 11 and No. 2 pushing motors 12 two motors of controlling leg exercise work simultaneously.No. 2 lifting motors 11 rotate, pass through retarder, flange is fixedly connected with lifting arm 406, lifting arm 406 is driven to rotate, lifting arm 406 by No. 2 major axis 413 and bearing and, No. 3 pipe link 403 on-fixeds connect, when lifting arm 406 is with No. 2 electric machine rotations, drive No. 3 pipe links 403 being connected with its on-fixed upwards or move downward, No. 4 pipe links 402 are by No. 1 major axis 412, bearing is connected with No. 4 pipe link 402 on-fixeds with roller bearing end cap, No. 1 major axis 412 is fixedly connected with No. 3 strut bars 404 with No. 2 strut bars 405 by screw with No. 2 major axis 413, thus No. 4 pipe links 402 with lifting arm 406 upwards or move downward, meanwhile, No. 2 pushing motors 12 rotate, and drive No. 1 catch bar 407, No. 1 catch bar 407 to drive No. 2 catch bars 408, No. 2 catch bars 408 to be fixedly connected with No. 3 pipe links by No. 3 minor axises, drive No. 3 pipe links 403 to move with the motion of No. 2 catch bars 408.In this process, two motor coordination work, combined action, thus complete robot ambulation motion process.
In order to improve the stability in operational process, further feature of the present invention is connected with lower floor adapter plate 8, to improve leg intensity further by No. 3 pipe links 403, No. 4 pipe links 402 by No. 1 strut bar 409, No. 2 strut bars 405 and No. 3 strut bars 404.
The present invention does not address part and is applicable to prior art.
Claims (2)
1. an imitative dinosaur robot, it is characterized in that this robot comprises the head of profiling, neck, body, two pedipulators and afterbody and built-in control mechanism, article two, pedipulator structure is completely the same, symmetry is arranged on the both sides of robot body, head, neck and afterbody are integral solder part, and head and neck weld together; Described control mechanism is arranged on the inside of body, forming, comprising two neck motors, two afterbody motors, two lifting motors and two pushing motors, for controlling the motion with coordinating robot primarily of eight servomotors;
There is upper and lower two-layer adapter plate described body inside, upper strata adapter plate is symmetrically installed with four servomotors, two neck motors and two afterbody motors respectively, move in the neck be connected with body for cooperation control and the upper and lower, left and right of afterbody, when the synchronized in the same way driving of two servomotors controlling afterbody, realize the upper and lower motion of afterbody by the parallelogram linkage be connected with servomotor, the direction that the direction of its motion is rotated by servomotor determines; When the reverse synchronized driving of two servomotors, the same left and right motion being realized afterbody by the parallelogram linkage be connected with servomotor, its sense of motion is determined by two servomotor rotation directions equally, and the drive system of neck is identical with afterbody with driving system; The center of gravity of whole robot is effectively changed by the coordinated movement of various economic factors of neck and afterbody; Lower floor's adapter plate is symmetrically installed with four servomotors equally, two lifting motors and two pushing motors respectively, a lifting motor and a pushing motor are one group, the motion of a cooperation control pedipulator, wherein lifting motor is responsible for rising and falling of pedipulator, and pushing motor is responsible for pedipulator and is moved forward and backward motion, four servomotors pass through cooperation control, realize when a pedipulator is supporting leg, another one leg for leading leg, thus realizes moving forward and backward of robot;
Described pedipulator comprises elevator system, moving system, auxiliary shoring system and combined action system four systems; Described elevator system mainly comprises No. 2 lifting motors and lifting arm, and described No. 2 lifting motors are fixedly connected with lower floor adapter plate by screw; Described lifting arm is fixedly connected with No. 2 lifting motors by retarder, flange, both synchronous axial system;
Described moving system mainly comprises No. 2 pushing motors, No. 1 catch bar and No. 2 catch bars; Described No. 2 pushing motors are fixed on lower floor's adapter plate by screw; Described No. 1 catch bar is fixedly connected with No. 2 pushing motors by retarder, flange, both synchronous axial system; Described No. 2 catch bars are connected with No. 1 catch bar on-fixed by bearing, roller bearing end cap, and both can relatively rotate;
Described auxiliary shoring system mainly comprises No. 6 minor axises, No. 7 minor axises, No. 1 major axis, No. 2 major axis, No. 1 strut bar, No. 2 strut bars and No. 3 strut bars; The weld together of described No. 7 minor axises and lower floor's adapter plate, is fixedly connected with; Described No. 1 strut bar is connected with No. 7 minor axis on-fixeds by bearing, roller bearing end cap, and both can rotate relatively; Described No. 6 minor axises are connected with No. 1 strut bar on-fixed by bearing, roller bearing end cap, and both can rotate relatively; Described No. 1 major axis is fixedly connected with No. 3 strut bars with No. 2 strut bars by screw with No. 2 major axis;
Described combined action system mainly comprises No. 3 pipe links, No. 4 pipe links, sole, No. 3 minor axises, No. 4 minor axises and No. 5 minor axises; Described No. 3 pipe links are connected with No. 2 major axis on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; Described No. 3 minor axises and No. 3 pipe link weld togethers, be fixedly connected with, and No. 3 minor axises are connected with No. 2 catch bar on-fixeds by bearing, roller bearing end cap simultaneously, and both can relatively rotate; Described No. 4 pipe links are connected with No. 1 major axis on-fixed by bearing, roller bearing end cap, and both can relatively rotate; Described No. 4 minor axises, No. 5 minor axises are fixedly connected with sole respectively by screw, and No. 4 minor axises, No. 5 minor axises are connected with No. 3 pipe links, No. 4 pipe link on-fixeds respectively by bearing, roller bearing end cap simultaneously, can relatively rotate between the two.
2. imitative dinosaur robot according to claim 1, is characterized in that No. 1 pipe link, No. 2 pipe links and lower floor adapter plate being connected by No. 1 strut bar, No. 2 strut bars and No. 3 strut bars.
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| CN201520498494.0U CN204750348U (en) | 2015-07-10 | 2015-07-10 | Imitative dinosaur robot |
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| CN201520498494.0U CN204750348U (en) | 2015-07-10 | 2015-07-10 | Imitative dinosaur robot |
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| CN204750348U true CN204750348U (en) | 2015-11-11 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890760A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Simulated dinosaur robot |
| CN105729500A (en) * | 2016-05-09 | 2016-07-06 | 上海理工大学 | Tail part structure of bionic hydraulic dinosaur robot |
| CN106314590A (en) * | 2016-09-19 | 2017-01-11 | 南宁邃丛赋语科技开发有限责任公司 | Interactive intelligent robot toy based on built-in distance sensor |
| CN106314591A (en) * | 2016-09-19 | 2017-01-11 | 南宁邃丛赋语科技开发有限责任公司 | Multi-mode intelligent human-simulated movement mechanism |
| CN106314589A (en) * | 2016-09-19 | 2017-01-11 | 南宁邃丛赋语科技开发有限责任公司 | Electrically-operated mechanism type intelligent walking mechanical leg |
| CN106379437A (en) * | 2016-09-19 | 2017-02-08 | 南宁邃丛赋语科技开发有限责任公司 | Walking type transport robot |
| CN106379438A (en) * | 2016-09-19 | 2017-02-08 | 南宁邃丛赋语科技开发有限责任公司 | Single servo motor driven movement mechanism |
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2015
- 2015-07-10 CN CN201520498494.0U patent/CN204750348U/en not_active Withdrawn - After Issue
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890760A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Simulated dinosaur robot |
| CN105729500A (en) * | 2016-05-09 | 2016-07-06 | 上海理工大学 | Tail part structure of bionic hydraulic dinosaur robot |
| CN105729500B (en) * | 2016-05-09 | 2017-08-25 | 上海理工大学 | Bionical hydraulic machine dinosaur tail structure |
| CN106314590A (en) * | 2016-09-19 | 2017-01-11 | 南宁邃丛赋语科技开发有限责任公司 | Interactive intelligent robot toy based on built-in distance sensor |
| CN106314591A (en) * | 2016-09-19 | 2017-01-11 | 南宁邃丛赋语科技开发有限责任公司 | Multi-mode intelligent human-simulated movement mechanism |
| CN106314589A (en) * | 2016-09-19 | 2017-01-11 | 南宁邃丛赋语科技开发有限责任公司 | Electrically-operated mechanism type intelligent walking mechanical leg |
| CN106379437A (en) * | 2016-09-19 | 2017-02-08 | 南宁邃丛赋语科技开发有限责任公司 | Walking type transport robot |
| CN106379438A (en) * | 2016-09-19 | 2017-02-08 | 南宁邃丛赋语科技开发有限责任公司 | Single servo motor driven movement mechanism |
| CN106314590B (en) * | 2016-09-19 | 2018-11-23 | 扬州市君睿创智工业设计有限公司 | A kind of interactive intelligent robot toy based on built-in range sensor |
| CN106314591B (en) * | 2016-09-19 | 2018-12-25 | 泾县麦蓝网络技术服务有限公司 | A kind of multi-modal intelligent apery movement mechanism |
| CN106379438B (en) * | 2016-09-19 | 2019-01-01 | 江苏德瑞博新能源汽车制造有限公司 | A kind of movement mechanism of single servo motor driving |
| CN106379437B (en) * | 2016-09-19 | 2019-01-04 | 绍兴龙飞针织有限公司 | A kind of walking transportation robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151111 Effective date of abandoning: 20171117 |