CN206170120U - Spine joint assembly of simulate intelligent robot - Google Patents
Spine joint assembly of simulate intelligent robot Download PDFInfo
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- CN206170120U CN206170120U CN201621127431.5U CN201621127431U CN206170120U CN 206170120 U CN206170120 U CN 206170120U CN 201621127431 U CN201621127431 U CN 201621127431U CN 206170120 U CN206170120 U CN 206170120U
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Abstract
The utility model relates to a spine joint assembly of simulate intelligent robot. The whole spine joint assembly of its characterized in that includes tail bone, top vertebra, in the middle of several vertebra, location about side bend waist motor on hip joint assembly bed frame intermediate bottom bend over around, the motor, set up the location change on tail bone adversion waist motor output shaft and in the middle of passing several in the vertebras universal pitch chain of central other end location on a vertebra of waist motor, one end location about in the tail bone, it changes the waist motor to be provided with in the tail bone, and upper portion is equipped with interior concave spherical surface, and the lower part is equipped with the cell type cardboard, and the wing and front wing about the outer upper portion of tail bone is equipped with all were equipped with the line hole on the three wings before controlling, and the centre of crossing the line hole before the left and right sides of all vertebras between the festival on the three wings all is equipped with compression spring. The utility model discloses have the waist of curving action and also be close with true man with true man no difference, structure, therefore the fidelity is high, nimbly and freely. Its main material adopts aluminum alloy or magnadure or carbonic acid fiber material etc. Light in weight.
Description
Technical field
The present invention relates to robot field, is related specifically to a kind of joint of vertebral column assembly of artificial intelligence robot.
Background technology
It is in the robot field of prior art, many about the structure of joint of vertebral column, but there is common issue：Without the image of Buddha
The such left and right sides of true man's joint of vertebral column bends over to turn waist nimbly and freely before and after bending over, and its structure is differed greatly with true man's joint of vertebral column,
Clumsy volume is big.This allows for accomplishing corresponding with the size of true man's joint of vertebral column, let alone human simulation joint of vertebral column
.How to overcome the shortcomings of existing with prior art, make robot joint of vertebral column corresponding with the size of true man's joint of vertebral column, together
When, again nimbly and freely, there is provided a kind of joint of vertebral column assembly of artificial intelligence robot, this is just into the main research of the present invention
Problem.
The content of the invention
Present invention aim to overcome existing robot joint of vertebral column without the such left and right sides of image of Buddha true man's joint of vertebral column
Bend over to turn waist nimbly and freely before and after bending over, its structure is differed greatly with true man's joint of vertebral column, clumsy volume is big, and fidelity is low to ask
Topic, there is provided a kind of joint of vertebral column is corresponding with the size of true man's joint of vertebral column, nimbly and freely and a kind of high of fidelity emulates intelligence
The joint of vertebral column assembly of energy robot.
To realize the above object, the present invention is achieved through the following technical solutions.A kind of artificial intelligence robot
Joint of vertebral column assembly, it is characterised in that whole joint of vertebral column assembly includes vertebra in the middle of caudal vertebra, top vertebra, several piece, is positioned at hip pass
Left and right sides on section assembly pedestal central dividing plate is bent over motor, motor of bending in front and back, the left/right rotation waist that is positioned in caudal vertebra of setting
Motor, one end are positioned in caudal vertebra and turn on waist motor output shaft and be positioned on the vertebra of top through the Zhui Nei centers other end in the middle of several piece
Universal pitch chain, the caudal vertebra turns waist motor for hollow barrel structure and arranges to be positioned in which, and top is provided with up and down as penetrating
Interior concave spherical surface, turns waist motor output shaft and is upward through interior concave spherical surface hole under, and bottom is provided with grooved clamp, opens on grooved clamp
There is the screw hole corresponding with hip joint assembly pedestal central dividing plate and joint of vertebral column assembly is positioned in order to pass through securing member
On hip joint assembly pedestal central dividing plate, the outer top of caudal vertebra is provided with left and right and front wing, is equipped with line before left and right on three wings
Hole, the left and right sides of wherein front wing cable-through hole are provided with return reed；The structure of each section of the middle vertebra is mutually all hollow structure,
Its top is provided with and is provided with up and down as penetrating bulb for penetrating interior concave spherical surface bottom up and down, and middle vertebra section is provided with left and right in vitro
And front wing, before left and right, on three wings, middle part also is provided with cable-through hole, and the left and right sides of wherein front wing cable-through hole also is provided with return reed, and two
Before the patchhole of next section vertebra return reed, each middle vertebra or so are equipped between the opposite side of piece return reed and cable-through hole
Three-wing-surface is different different with its location from the angle of the centre of sphere line of the centre of sphere and bulb of concave spherical surface in itself,
So it is to reach the purpose of emulation for the curved shape for more meeting true man's spinal column when each vertebra is assembled into spinal column；The top vertebra
For hollow structure its underpart be provided with bulb top be provided with a platform, bulb and upper brace centre be penetrating setting, platform
Middle part is provided with a counterbore platform, and the universal joint that penetrating setting is provided with counterbore platform crosses axis hole and cardan axis fixed disk installation spiral shell
Nail is used to the upper end of universal pitch chain to be positioned at top vertebra by securing member, and the both sides of platform is provided with several screw holes for pacifying
Dress strength vertebral articulations assembly and shoulder joint assembly；In the middle of the caudal vertebra, several piece, the opening diameter of the interior concave spherical surface upper end of vertebra is respectively less than
The diameter of concave spherical surface in itself, will not separate between each vertebra when so each vertebra section is mutually assembled together and come off and can be linked to be one
Individual entirety, energy any direction bends freely each vertebra internode again, and in the middle of the top vertebra, caudal vertebra, several piece, the assembly relation of vertebra is upper
The bulb of one section vertebra is coordinated with the mutual gap of interior concave spherical surface of next section vertebra；The universal pitch chain is led to by several universal joints
Cross jackshaft to be formed by connecting, whole universal pitch chain passes through spinal column center, and upper end is by most going up the fixed disk on a section cardan axis
It is positioned on the counterbore platform in the middle part of the vertebra platform of top, the most next section universal joint in lower end is positioned directly in and turns on waist motor output shaft,
The bulb centre of sphere that the center of each section universal joint is located with which coincides, per the cable-through hole between two section vertebras or so front Three-wing-surface
Centre is provided with a compression spring；Bend over motor, motor of bending in front and back of the left and right sides is positioned at hip joint assembly pedestal
On central dividing plate, left and right sides bends over to be positioned with elevator wheel on motor output shaft, around flexible bracing wire on elevator wheel, bracing wire difference
Its end of cable-through hole and compression spring through all vertebras or so both wings is positioned at the left and right bracing wire positioning of top vertebra upper brace
Kong Zhong；Bend in front and back to be also positioned with elevator wheel on motor output shaft, also around flexible bracing wire on elevator wheel, bracing wire bypasses positioning
Transition wheel on the supporting plate before hip joint assembly pedestal and through all vertebra front wings cable-through hole and its end of compression spring it is fixed
Position is in the front bracing wire location hole of top vertebra upper brace.Whole spinal column is so work：Left side is when bending over, and left side is bent over motor
Bracing wire is loosened in rotary tightening bracing wire simultaneously right side motor rotation of bending over, otherwise on the contrary；When spinal column wants normotopia, side motor of bending over is put
, to normotopia, opposite side motor take-up is to normotopia for line；Before bend over motor take-up of bending over when around, after motor of bending over to bend over when around put
Line, at this moment in the presence of compression spring, spinal column is bent over backward, when normotopia or unwrapping wire or take-up are to normotopia；When turning waist or so
Turn waist motor or turn left or turn right, return reed is begun through from top vertebra in the presence of universal pitch chain transmission power and down passed section by section
Passing power makes vertebra in the middle of each section that certain corner to occur so as to realize that whole spinal column human simulation turns the action of waist, left and right sides bends over,
Bend in front and back, the three degree of freedom concurrently-acting such as left/right rotation waist, curve waist action and true man's zero difference, nimbly and freely.
Further, bend over, bend in front and back in order to increase output torque and for the ease of controlling the above left and right sides, it is left
Three kinds of motors of right-hand rotation waist are with built-in encoder with big retarding than the permanent-magnet alternating current servo motor of decelerator, are in one end
Heart output shaft.
Further, in order to realize big retarding than above-described decelerator can be multi-stage planetary gear speed reducer or
Cycloidal gear speed reducer.
Further, closed using aluminium alloy or magnalium to mitigate the above-described each vertebra section of weight, each motor casing
Gold or carbonic acid fibrous material.
Further, in order to prevent it is various bend over action when compression spring slip away on each section vertebral body on first three wing of left and right
Cable-through hole, cause the stuck impact action of bracing wire, outside the cable-through hole on each section vertebral body on two faces of first three wing of left and right
Enclose and be provided with round boss.
Knowable in technical scheme more than, the present invention has and curves waist action and true man's zero difference, structure also with true man
It is close to, thus fidelity is high, nimbly and freely.Its main material adopts aluminium alloy or magnalium or carbonic acid fibrous material etc., from
And it is lightweight the present invention is had.
In order to the present invention is better described, it is further described with reference to specific embodiment and its accompanying drawing.
Description of the drawings
Fig. 1 is the front view of one embodiment of the invention.
Fig. 2 is the A-A sectional views of Fig. 1.
Fig. 3 is the A direction views of Fig. 1.
Fig. 4 is the B-B sectional views of Fig. 1.
Fig. 5 is the B direction views of Fig. 1.
Fig. 6 is the C-C sectional stretch-out views of Fig. 3.
Fig. 7 is the front view of vertebra in the middle of.
Fig. 8 is the left view of Fig. 7.
Fig. 9 is the top view of Fig. 7.
Figure 10 is the A-A sectional views of Fig. 7.
Figure 11 is the front view of another middle vertebra section.
Figure 12 is the A direction views of Figure 11.
Figure 13 is 12 A-A sectional views.
Figure 14 is the front view of caudal vertebra structure.
Figure 15 is the left view of Figure 14.
Figure 16 is the top view of Figure 14.
Figure 17 is the A-A sectional views of Figure 14.
Figure 18 is the A partial enlarged drawings of Fig. 6.
Figure 19 is the A partial enlarged drawings of Fig. 2.
Figure 20 is the B partial enlarged drawings of Fig. 2.
Figure 21 is the A partial enlarged drawings of Fig. 3.
In figure：1- pushes up vertebra；2- compression springs；Vertebra in the middle of 3-；4- right flanks；5- left wings；6- front wings；7- return reeds；8- tails
Vertebra front wing；9- caudal vertebras left wing；10- caudal vertebra right flanks；The left curved bracing wires of 11-；The right curved bracing wires of 12-；Curved bracing wire before and after 13-；14- caudal vertebras；
15- is in hip joint assembly pedestal；16- pushes up vertebra platform；Bend over before and after 17- elevator wheel；18- transition wheels；19- transition wheel shaft is installed
Frame；Vertebra bulb in the middle of 20-；21- fixed disks；22- counterbore platforms；23- universal joints；24- pushes up vertebra bulb；Vertebra indent ball in the middle of 25-
Face；26- jackshafts；27- turns waist motor；Concave spherical surface in 28- caudal vertebras；29- turns waist motor output shaft；Bend on the right side of 30- motor；
Bend over before and after 31- motor；32- grooved clamps；33- vertebra assemblies；Bend on the left of 34- elevator wheel；Bend on the left of 35- motor；36-
Bend over elevator wheel on right side；37- central dividing plates；38- pad posts；39- left-right and front-back bracing wire location holes；40- reed patchholes；41- shoulders
Joint assembly mounting screw holes；42- cervical vertebra assembly mounting screw holes；43- round boss；44- cable-through holes；45- grooved clamp spiral shells
Nail；46- crosses axis hole；47- reinforcements.
Specific embodiment
Clearly can be seen that from each figure of specific embodiment, the present invention includes caudal vertebra 14, top 1,15 pieces of centres of vertebra
Vertebra 3, the left and right sides being positioned on 15 central dividing plate 37 of hip joint assembly pedestal bend over motor 35,30, motor 31 of bending in front and back, set
Put the left/right rotation waist motor 27, one end being positioned in caudal vertebra 14 and be positioned in caudal vertebra 14 and turn on waist motor output shaft 29 and pass through ten
In five middle vertebras 3, the center other end is positioned at the universal pitch chain on the vertebra 1 of top, and the caudal vertebra 14 turns waist motor for hollow barrel structure
27 settings are positioned in which, and it is penetrating interior concave spherical surface 28 up and down that top is provided with, and turns waist motor output shaft 29 and is upward through indent
28 hole under of sphere, bottom are provided with grooved clamp 32, are provided with and 15 central dividing plate of hip joint assembly pedestal on grooved clamp 32
Screw hole 45 corresponding on 37 is positioned at joint of vertebral column assembly in the middle of hip joint assembly pedestal 15 in order to pass through securing member
On dividing plate 37,14 outer top of caudal vertebra is provided with left and right 9,10 and front wing 8, is equipped with cable-through hole 44 before left and right on three wings 9,10,8,
The left and right sides of wherein 8 cable-through hole 44 of front wing is provided with return reed 7；The structure of 3 each section of the middle vertebra is mutually all hollow knot
Structure, its top are provided with and are provided with up and down as penetrating bulb 20 for penetrating 25 bottom of interior concave spherical surface up and down, and middle vertebra 3 is saved and set in vitro
There are left and right 5,4 and front wing 6, middle part also is provided with cable-through hole 44, wherein a left side for 6 cable-through hole 44 of front wing on 5,4,6 three wings before left and right
Right both sides also are provided with return reed 7, and next section vertebra return is equipped between the opposite side of two panels return reed 7 and cable-through hole 44
The patchhole 40 of reed 7, each middle vertebra 3 or so front 5,4,6 Three-wing-surfaces and in itself the centre of sphere of concave spherical surface 25 and bulb 20 ball
The angle of heart line is different different from its location, is so to more meet when each vertebra is assembled into spinal column
The curved shape of true man's spinal column reaches the purpose of emulation；The top vertebra 1 is provided with 24 top of bulb for hollow structure its underpart and is provided with
The centre of one platform 16, bulb 24 and upper brace 16 is penetrating setting, and the middle part of platform 16 is provided with a counterbore platform 22, counterbore
The universal joint 23 that penetrating setting is provided with platform 22 crosses 21 mounting screw holes of axis hole and cardan axis fixed disk, for by tight
Firmware is positioned at the upper end of universal pitch chain on the vertebra 1 of top, and the both sides of platform 16 is respectively provided with four shoulder joint assembly mounting screw holes
41 and four cervical vertebra assembly mounting screw holes 42, for installing strength vertebral articulations assembly and shoulder joint assembly；The caudal vertebra 14,15
In the middle of section, the opening diameter of 25 upper end of interior concave spherical surface of vertebra 3 is respectively less than the diameter of concave spherical surface 25 in itself（Refer to spinal structure Fig. 7
~ Figure 17）, will not separate between each vertebra when so each vertebra section is mutually assembled together and come off and can be linked to be an entirety, each ridge
Energy any direction bends freely vertebra internode again, and the top vertebra 1, caudal vertebra 14, the assembly relation of 15 middle vertebras 3 are upper one section vertebra
Bulb 20 and it is next section vertebra 25 mutual gap of interior concave spherical surface coordinate；The universal pitch chain is passed through by 16 universal joints
Jackshaft 26 is formed by connecting, and the length of every jackshaft 26 is slightly different, and whole universal pitch chain passes through spinal column center, and upper end passes through
The fixed disk 21 most gone up on a section cardan axis is positioned on the counterbore platform 22 pushed up in the middle part of vertebra platform 16, and lower end is most next to save ten thousand
It is positioned directly in section 23 and turns on waist motor output shaft 29,20 centre of sphere phase of bulb that each center for saving universal joint 23 is located with which
Overlap, per two section vertebras 3 or so before be provided with a compression spring 2 in the middle of cable-through hole 44 between 5,4,6 face of three wings；It is described
Left and right sides motor 35,30, motor 31 of bending in front and back of bending over is positioned on 15 central dividing plate 37 of hip joint assembly pedestal, left and right lateral bending
It is positioned with waist motor output shaft that elevator wheel 34 is bent in left side and right side is bent over elevator wheel 36 respectively, is wound with elevator wheel respectively soft
Property left curved bracing wire 11 and right curved bracing wire 12, two bracing wires are each passed through the cable-through hole 44 of 3 or so both wings 5,4 of all vertebras and pressure
Its end of contracting spring 2 is positioned in the left and right bracing wire location hole 39 of top 1 upper brace 16 of vertebra；Bent on motor output shaft in front and back
It is positioned with, also around flexible curved bracing wire 13 in front and back on elevator wheel, bracing wire is bypassed and is positioned at hip joint
Transition wheel 18 before assembly pedestal 15 on supporting plate is simultaneously positioned through its end of cable-through hole 44 and compression spring 2 of all vertebra front wings
In the front bracing wire location hole 39 of top 1 upper brace 16 of vertebra.Whole spinal column is so work：When left side is bent over, left side is bent over
Bracing wire is loosened in 35 rotary tightening bracing wire of the motor simultaneously right side rotation of motor 30 of bending over, otherwise on the contrary；When spinal column wants normotopia, one is bent over
, to normotopia, opposite side motor take-up is to normotopia for side motor unwrapping wire；Before bend over 31 take-up of motor of bending over when around, after when bending over before and after
Bend over 31 unwrapping wire of motor, at this moment in the presence of compression spring, spinal column is bent over backward, when normotopia or unwrapping wire or take-up are to normotopia；
Turn left/right rotation waist motor 27 or left-hand rotation or right-hand rotation during waist, begin through back from top vertebra 1 in the presence of universal pitch chain transmission power
Position reed 7 down transmits power section by section makes the certain corner of vertebra generation in the middle of each section turn waist so as to realize whole spinal column human simulation
The three degree of freedom concurrently-actings such as action, left and right sides is bent over, bends in front and back, left/right rotation waist, curve waist action and true man's indifference
It is different, nimbly and freely.The above left and right sides bend over motor 35,30, motor 31 of bending in front and back, three kinds of left/right rotation waist motor 27 it is electric
Machine is with built-in encoder with big retarding than the permanent-magnet alternating current servo motor of decelerator, is one end center output shaft.It is described
Decelerator be multi-stage planetary gear speed reducer.Above-described each vertebra section, each motor casing adopt carbonic acid fibrous material.With
44 periphery of cable-through hole on upper described each section vertebral body on two faces of first three wing of left and right is provided with round boss 43.From with
On specific embodiment in understand, the present invention has and curves waist action and true man's zero difference, and structure is also close to true man, thus imitative
Zhen Dugao, nimbly and freely.Its main material adopts carbonic acid fibrous material, thus lightweight.
Specific embodiment enumerated above is only one kind of numerous embodiments, it is impossible to enumerated.It is all according to the present invention
The improvement modification made of protection domain and modification belong to protection scope of the present invention, ought to be protected.
Claims (5)
1. a kind of joint of vertebral column assembly of artificial intelligence robot, it is characterised in that whole joint of vertebral column assembly includes caudal vertebra, top
In the middle of vertebra, several piece vertebra, the left and right sides being positioned on hip joint assembly pedestal central dividing plate bend over motor, motor of bending in front and back, set
Put the left/right rotation waist motor that is positioned in caudal vertebra, one end and be positioned in caudal vertebra and turn on waist motor output shaft and through vertebra in the middle of several piece
The interior center other end is positioned at the universal pitch chain on the vertebra of top, and the caudal vertebra turns the setting of waist motor for hollow barrel structure and is positioned at which
Interior, it is penetrating interior concave spherical surface up and down that top is provided with, and turns waist motor output shaft and is upward through interior concave spherical surface hole under, and bottom sets
There is grooved clamp, on grooved clamp, be provided with the screw hole corresponding with hip joint assembly pedestal central dividing plate, the outer top of caudal vertebra
Left and right and front wing are provided with, cable-through hole before left and right, on three wings, is equipped with, the left and right sides of wherein front wing cable-through hole is provided with return spring
Piece；The structure of each section of the middle vertebra is mutually all hollow structure, and its top is provided with and sets for penetrating interior concave spherical surface bottom up and down
It is up and down penetrating bulb to have, and middle vertebra section is provided with left and right and front wing in vitro, and before left and right, on three wings, middle part also is provided with cable-through hole,
The left and right sides of wherein front wing cable-through hole also is provided with return reed, is equipped between the opposite side of two panels return reed and cable-through hole
The patchhole of next section vertebra return reed, before each middle vertebra or so Three-wing-surface with itself in concave spherical surface the centre of sphere and the ball of bulb
The angle of heart line is different different from its location；The top vertebra is provided with bulb top for hollow structure its underpart
The centre for being provided with a platform, bulb and upper brace is penetrating setting, is provided with a counterbore platform, on counterbore platform in the middle part of platform
The universal joint for being provided with penetrating setting crosses axis hole and cardan axis fixed disk mounting screw holes, and the both sides of platform is provided with several screws
Hole；In the middle of the caudal vertebra, several piece, the opening diameter of the interior concave spherical surface upper end of vertebra is respectively less than the diameter of concave spherical surface in itself, the top
In the middle of vertebra, caudal vertebra, several piece, the assembly relation of vertebra is the interior concave spherical surface mutual gap of the bulb with next section vertebra of upper section vertebra
Coordinate；The universal pitch chain is formed by connecting by jackshaft by several universal joints, and whole universal pitch chain passes through spinal column center, on
Hold and be positioned on the counterbore platform in the middle part of the vertebra platform of top by most going up the fixed disk on a section cardan axis, lower end is most next to save ten thousand
It is positioned directly in section and turns on waist motor output shaft, the bulb centre of sphere that the center of each section universal joint is located with which coincides, often
A compression spring is provided between cable-through hole before two section vertebras or so between Three-wing-surface；The left and right sides bend over motor,
Motor of bending in front and back is positioned on hip joint assembly pedestal central dividing plate, and left and right sides bends over to be positioned with elevator on motor output shaft
Wheel, around flexible bracing wire on elevator wheel, bracing wire is each passed through its end of cable-through hole and compression spring of all vertebras or so both wings
End is positioned in the left and right bracing wire location hole of top vertebra upper brace；Bend in front and back elevator wheel to be also positioned with motor output shaft, roll up
Raise on wheel also around flexible bracing wire, bracing wire bypasses the transition wheel before being positioned at hip joint assembly pedestal on supporting plate and passes through all
Its end of cable-through hole and compression spring of vertebra front wing is positioned in the front bracing wire location hole of top vertebra upper brace.
2. a kind of joint of vertebral column assembly of artificial intelligence robot according to claim 1, it is characterised in that left and right lateral bending
Waist, bend in front and back, three kinds of motors of left/right rotation waist be with built-in encoder with big retarding than decelerator permanent magnetic Ac servo
Motor, is one end center output shaft.
3. the joint of vertebral column assembly of a kind of artificial intelligence robot according to claim 2, it is characterised in that decelerator can
Being multi-stage planetary gear speed reducer or cycloidal gear speed reducer.
4. the joint of vertebral column assembly of a kind of artificial intelligence robot according to claim 1, it is characterised in that each vertebra section,
Each motor casing adopts aluminium alloy or magnalium or carbonic acid fibrous material.
5. a kind of joint of vertebral column assembly of artificial intelligence robot according to claim 1, it is characterised in that each section ridge
Cable-through hole periphery on vertebral body on two faces of first three wing of left and right is provided with round boss.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621127431.5U CN206170120U (en) | 2016-10-16 | 2016-10-16 | Spine joint assembly of simulate intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621127431.5U CN206170120U (en) | 2016-10-16 | 2016-10-16 | Spine joint assembly of simulate intelligent robot |
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| Publication Number | Publication Date |
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| CN206170120U true CN206170120U (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621127431.5U Withdrawn - After Issue CN206170120U (en) | 2016-10-16 | 2016-10-16 | Spine joint assembly of simulate intelligent robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272531A (en) * | 2016-10-16 | 2017-01-04 | 福州幻科机电科技有限公司 | A kind of joint of vertebral column assembly of artificial intelligence robot |
| CN107877491A (en) * | 2017-11-08 | 2018-04-06 | 朱培章 | Mechanical exoskeleton |
| CN108908317A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of flexible joint and flexible mechanical arm of rope driving |
| CN114434424A (en) * | 2022-01-25 | 2022-05-06 | 南京信息工程大学 | Bionic spine mechanism |
-
2016
- 2016-10-16 CN CN201621127431.5U patent/CN206170120U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272531A (en) * | 2016-10-16 | 2017-01-04 | 福州幻科机电科技有限公司 | A kind of joint of vertebral column assembly of artificial intelligence robot |
| CN106272531B (en) * | 2016-10-16 | 2018-07-10 | 福州幻科机电科技有限公司 | A kind of joint of vertebral column assembly of artificial intelligence robot |
| CN107877491A (en) * | 2017-11-08 | 2018-04-06 | 朱培章 | Mechanical exoskeleton |
| CN108908317A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of flexible joint and flexible mechanical arm of rope driving |
| CN114434424A (en) * | 2022-01-25 | 2022-05-06 | 南京信息工程大学 | Bionic spine mechanism |
| CN114434424B (en) * | 2022-01-25 | 2024-01-09 | 南京信息工程大学 | Bionic spine mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20180710 |