CN206287149U - Apery machinery head and anthropomorphic robot - Google Patents
Apery machinery head and anthropomorphic robot Download PDFInfo
- Publication number
- CN206287149U CN206287149U CN201621344738.0U CN201621344738U CN206287149U CN 206287149 U CN206287149 U CN 206287149U CN 201621344738 U CN201621344738 U CN 201621344738U CN 206287149 U CN206287149 U CN 206287149U
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- China
- Prior art keywords
- steering wheel
- arm
- pedestal
- apery
- vertical pendulum
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Abstract
The utility model discloses apery machinery head and anthropomorphic robot, belong to robot field.Apery machinery head, including the first steering wheel, the second steering wheel, the first swing arm, the second swing arm, substrate, two shaft universal-joints and pedestal.The two ends of two shaft universal-joints are fixedly connected with substrate with pedestal respectively, and the first steering wheel and the second steering wheel are mounted on substrate, and positioned at the both sides of two shaft universal-joints.First steering wheel is hinged with the first swing arm, and the first swing arm is hinged away from one end of the first steering wheel with pedestal.Second steering wheel is hinged with the second swing arm, and the second swing arm is hinged away from one end of the second steering wheel with pedestal.First steering wheel and the first swing arm, the second steering wheel and the second swing arm cooperate to realize being nodded and hunt action before and after apery machinery head.The apery machinery head and anthropomorphic robot simple structure, kinematic dexterity that the utility model is provided are high.
Description
Technical field
The utility model is related to robot field, in particular to apery machinery head and anthropomorphic robot.
Background technology
Bio-robot refer to according to bionics principle, the superior performance of design such as mimic biology structure, kinetic characteristic
Mechatronic Systems, gradually anti-terrorism is explosion-proof, space probation, rescue and relief work etc. be not suitable for being undertaken by people the environment saliency of task
Go out good application prospect.
Bio-robot mainly has apery, bionical thing and biorobot's three major types.
Anthropomorphic robot refers to that, with mankind's resemblances such as two hands, two foots, head and trunks, can be moved with biped
With the anthropomorphic robot of other classes people's function.Although existing apery machinery head and anthropomorphic robot are with the shape similar to people
State feature and motion mode, but its mechanism structure is complicated, the not high problems demand of kinematic dexterity improves.
Utility model content
The purpose of this utility model is to provide a kind of apery machinery head, and its simple structure, kinematic dexterity are high.
Another object of the present utility model is to provide a kind of anthropomorphic robot, and its simple structure, kinematic dexterity are high.
It is of the present utility model that a kind of technical scheme is provided：
A kind of apery machinery head, including the first steering wheel, the second steering wheel, the first swing arm, the second swing arm, substrate, two axles ten thousand
To section and pedestal.The two ends of two shaft universal-joints are fixedly connected with substrate with pedestal respectively, and the first steering wheel is respectively mounted with the second steering wheel
In on substrate, and positioned at the both sides of two shaft universal-joints.First steering wheel is hinged with the first swing arm, and the first swing arm is away from the first steering wheel
One end is hinged with pedestal.Second steering wheel is hinged with the second swing arm, and the second swing arm is hinged away from one end of the second steering wheel with pedestal.The
One steering wheel and the first swing arm, the second steering wheel and the second swing arm cooperate to realize being nodded and left and right pendulum before and after apery machinery head
Head action.
Further, above-mentioned first swing arm includes the first transversal swinging arm and the first vertical pendulum arm.One end of first transversal swinging arm and the
One end of one vertical pendulum arm is hinged, and the other end of the first transversal swinging arm is hinged with the first steering wheel, the other end and pedestal of the first vertical pendulum arm
It is hinged.Second swing arm includes the second transversal swinging arm and the second vertical pendulum arm, and one end of the second transversal swinging arm is cut with scissors with one end of the second vertical pendulum arm
Connect, the other end of the second transversal swinging arm is hinged with the second steering wheel, the other end of the second vertical pendulum arm is hinged with pedestal.
Further, above-mentioned first transversal swinging arm is connected with the first vertical pendulum arm by oscillating bearing, the second transversal swinging arm and second
Vertical pendulum arm is connected by oscillating bearing.
Further, said base includes support base and support member.Support member is installed on support base, and support member is respectively with
One end of one end of one vertical pendulum arm and the second vertical pendulum arm is hinged.
Further, above-mentioned support member is connected with the first vertical pendulum arm by oscillating bearing.Support member and the second vertical pendulum arm are logical
Cross oscillating bearing connection.
Further, above-mentioned support member is L-shaped.One end of the support member of L-shaped is installed on pedestal, and the other end is respectively with first
Vertical pendulum arm and the second vertical pendulum arm are connected.
Further, aforesaid substrate is provided with camera, and camera is used to gather environmental characteristic.
Further, above-mentioned first steering wheel and the second steering wheel are by bolt and substrate connection.
The utility model also provides another technical scheme：
A kind of anthropomorphic robot.Including body part and apery machinery head.Apery machinery head includes the first steering wheel, second
Steering wheel, the first swing arm, the second swing arm, substrate, two shaft universal-joints and pedestal.The two ends of two shaft universal-joints respectively with substrate and pedestal
It is fixedly connected, the first steering wheel and the second steering wheel are mounted on substrate, and positioned at the both sides of two shaft universal-joints.First steering wheel and
One swing arm is hinged, and the first swing arm is hinged away from one end of the first steering wheel with pedestal.Second steering wheel is hinged with the second swing arm, the second pendulum
Arm is hinged away from one end of the second steering wheel with pedestal.First steering wheel and the first swing arm, the second steering wheel and the second swing arm cooperate
To realize being nodded and hunt action before and after apery machinery head.Apery machinery head is rotated with body part and is connected, to realize
Apery machinery head is rotated relative to body part.
Further, above-mentioned apery machinery head also includes motor, and motor is installed on pedestal, and motor is used
Relatively rotated with body part in pedestal is driven.
Compared to existing technology, the apery machinery head of the utility model offer and the beneficial effect of anthropomorphic robot are：
First steering wheel and the second steering wheel drive the first swing arm and the second swing arm respectively, so that drive two shaft universal-joints to rotate,
And then make apery machinery head movement.The rotation direction difference of the first steering wheel and the second steering wheel, the first swing arm and the second swing arm
Motion mode is also different.First steering wheel and the first swing arm, the second steering wheel and the second swing arm cooperate and realize apery machinery head
Nodded before and after neatly carrying out and moved and hunt motion in portion.Apery machinery head and apery machine that the utility model is provided
People's simple structure, kinematic dexterity is high.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, below will be to be used needed for embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
Other related accompanying drawings are obtained with according to these accompanying drawings.
The structural representation of the apery machinery head that Fig. 1 is provided for the utility model first embodiment；
Fig. 2 is the position and structure schematic diagram of the first swing arm, the second swing arm and pedestal in Fig. 1；
Structural representation of the apery machinery head that Fig. 3 is provided for the utility model first embodiment under new line state；
Structural representation of the apery machinery head that Fig. 4 is provided for the utility model first embodiment under the state of bowing；
Structural representation of the apery machinery head that Fig. 5 is provided for the utility model first embodiment under to left avertence head status
Figure；
Structural representation of the apery machinery head that Fig. 6 is provided for the utility model first embodiment under to right avertence head status
Figure；
The structural representation of the anthropomorphic robot that Fig. 7 is provided for the utility model second embodiment.
Icon：100th, 210- aperies machinery head；The steering wheels of 110- first；The steering wheels of 120- second；The swing arms of 130- first；132-
First transversal swinging arm；134- the first vertical pendulum arms；The swing arms of 140- second；The transversal swinging arms of 142- second；144- the second vertical pendulum arms；150、215-
Pedestal；152nd, 2152- support members；154th, 2154- support bases；The shaft universal-joints of 160- bis-；170- substrates；180- visual recognition lines
System；200- anthropomorphic robots；2156- motors；230- body part.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is clearly and completely described, it is clear that retouched to the technical scheme in the utility model embodiment
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Generally described in accompanying drawing herein and
The component of the utility model embodiment for showing can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiment of the present utility model below to providing in the accompanying drawings is not intended to limit requirement
The scope of the present utility model of protection, but it is merely representative of selected embodiment of the present utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of the utility model protection.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further defined and explained in subsequent accompanying drawing.
In description of the present utility model, it is necessary to explanation, term " on ", " interior ", " outward ", etc. instruction orientation or position
The relation of putting is or the orientation that the utility model product is usually put when using based on orientation shown in the drawings or position relationship
Or position relationship, be for only for ease of description the utility model and simplify and describe, rather than indicate or imply signified device or
Element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the present utility model
System.
Additionally, term " first " and " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively heavy
The property wanted.
In description of the present utility model, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " sets
Put ", " installation ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can mechanically connect, or electrically connect；Can be directly connected to, it is also possible to be indirectly connected with by intermediary,
Can be two connections of element internal.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Below in conjunction with the accompanying drawings, implementation method of the present utility model is elaborated.
First embodiment
Fig. 1 is referred to, a kind of apery machinery head 100, including the first steering wheel 110, the second steering wheel is present embodiments provided
120th, the first swing arm 130, the second swing arm 140, substrate 170, two shaft universal-joints 160 and pedestal 150.The two of two shaft universal-joints 160
End is fixedly connected with substrate 170 with pedestal 150 respectively, and the first steering wheel 110 and the second steering wheel 120 are mounted on substrate 170, and
Positioned at the both sides of two shaft universal-joints 160.First steering wheel 110 is rotated with the first swing arm 130 and is connected, and the first swing arm 130 is away from first
One end of steering wheel 110 is hinged with pedestal 150.Second steering wheel 120 and the second swing arm 140 are rotated and are connected, and the second swing arm 140 is away from the
One end of two steering wheels 120 is hinged with pedestal 150.
The first steering wheel 110 and the second steering wheel 120 are installed on substrate 170 by bolt in the present embodiment, so as to keep
The fixation of the first steering wheel 110 and substrate 170, the second steering wheel 120 and substrate 170.Certainly, in other embodiment of the present utility model
In, the first steering wheel 110 and the second steering wheel 120 can also be fixedly installed on substrate 170 by other means, and the first steering wheel
110 and second the mounting means of steering wheel 120 also need not be completely the same.
First steering wheel 110 and the first swing arm 130, the second steering wheel 120 and the second swing arm 140 cooperate to realize apery machine
Nodded before and after tool head 100 and acted with hunt.
Fig. 2 is referred to, the effect of the first swing arm 130 is under the driving of the first steering wheel 110, to drive substrate 170 to predetermined
Move in direction.It includes the first transversal swinging arm 132 and the first vertical pendulum arm 134, one end of the first transversal swinging arm 132 and the first vertical pendulum arm
134 one end is hinged, and the other end of the first transversal swinging arm 132 is hinged with the first steering wheel 110, the other end of the first vertical pendulum arm 134 with
Pedestal 150 is hinged.
In the present embodiment, the first transversal swinging arm 132 is connected with the first vertical pendulum arm 134 by oscillating bearing.Oscillating bearing is
A kind of spherical bearing, its sliding contact surface is an Internal Spherical Surface and a spherical outside surface, can be arbitrarily angled during motion
Rotary oscillation.Certainly in other embodiment of the present utility model, the first transversal swinging arm 132 can also lead to the first vertical pendulum arm 134
Cross other modes to be hinged, such as two shaft universal-joints 160.
In the present embodiment, the first transversal swinging arm 132 is connected with the output shaft of the first steering wheel 110 by rotating shaft.Certainly at this
In the other embodiment of utility model, the first transversal swinging arm 132 and the first steering wheel 110 can also the companies of rotation in other way
Connect, such as pin bearing pin connection.
The effect of the second swing arm 140 is under the driving of the second steering wheel 120, to drive substrate 170 to be moved to predetermined direction.Its
Including the second transversal swinging arm 142 and the second vertical pendulum arm 144, one end of the second transversal swinging arm 142 is cut with scissors with one end of the second vertical pendulum arm 144
Connect, the other end of the second transversal swinging arm 142 is hinged with the second steering wheel 120, the other end and the pedestal 150 of the second vertical pendulum arm 144 are hinged.
In the present embodiment, the second transversal swinging arm 142 is connected with the second vertical pendulum arm 144 by oscillating bearing.Certainly in this reality
With in new other embodiment, the second transversal swinging arm 142 can also be hinged in other way with the second vertical pendulum arm 144, than
Such as two shaft universal-joints 160.
In the present embodiment, the second transversal swinging arm 142 is connected with the output shaft of the second steering wheel 120 by rotating shaft.Certainly at this
In the other embodiment of utility model, the second transversal swinging arm 142 and the second steering wheel 120 can also the companies of rotation in other way
Connect, such as pin bearing pin connection.
First swing arm 130 is under the driving of the first steering wheel 110, the second swing arm 140 under the driving of the second steering wheel 120, with
Two shaft universal-joints 160 coordinate, and realize the action nodded with hunt before and after apery machinery head 100.
The effect of pedestal 150 is to support and fix substrate 170, including support base 154 and support member 152.Support member 152 is pacified
Loaded on support base 154, support member 152 is hinged with one end of the first vertical pendulum arm 134 and one end of the second vertical pendulum arm 144 respectively.
In the present embodiment, support member 152 is L-shaped.Specifically, one end of the support member 152 of L-shaped is installed on pedestal
150, the other end is connected with the first vertical pendulum arm 134 and the second vertical pendulum arm 144 respectively.
In the present embodiment, the first vertical pendulum arm 134 is connected with pedestal 150 by oscillating bearing.Certainly in the utility model
Other embodiment in, the first vertical pendulum arm 134 can also be hinged in other way with pedestal 150, such as two shaft universal-joints
160。
In the present embodiment, the second vertical pendulum arm 144 is connected with pedestal 150 by oscillating bearing.Certainly in the utility model
Other embodiment in, the second vertical pendulum arm 144 can also be hinged in other way with pedestal 150, such as two shaft universal-joints
160。
Pedestal 150 is provided for the first steering wheel 110, the second steering wheel 120, the first swing arm 130, the second swing arm 140 and substrate 170
Support, and by two shaft universal-joints 160 and oscillating bearing, each part being installed on pedestal 150 can be transported according to predetermined action
It is dynamic.
In the present embodiment, visual identifying system 180 is also equipped with substrate 170.The visual identifying system 180 is set
In the side away from the first steering wheel 110 and the second steering wheel 120.Visual identifying system 180 includes processing unit and two cameras,
Camera is used to gather environmental characteristic, and processing unit is used to that the environmental characteristic that camera is collected to be analyzed and processed.
The apery machinery head 100 that the present embodiment is provided is transported by controlling the swing arm of the first steering wheel 110 and the second steering wheel 120
Dynamic to realize being nodded and hunt before and after control head, wherein Fig. 1 provides apery machinery head 100 and normally loosens shape
Under state, the position relationship between each parts.It is described in detail with hunt with regard to being nodded before and after head individually below.
1. apery machinery head 100 point head status backward
Refer to Fig. 3, the first steering wheel 110 and the second steering wheel 120 drive respectively the first swing arm 130 and the second swing arm 140 to
Upper motion, and then apery machinery head 100 is nodded backward.Specifically, the output shaft of the first steering wheel 110 drives the first yaw
Arm 132, because the first transversal swinging arm 132 is connected with the first vertical pendulum arm 134, so as to the first vertical pendulum arm 134 is produced one it is upward
Tractive force.First vertical pendulum arm 134 is connected with pedestal 150, and the tractive force reacts on two shaft universal-joints 160, so that pedestal
150, and each part being installed on pedestal 150 is rotated up around two shaft universal-joints 160；Similarly understand, the second steering wheel 120 pairs the
Two vertical pendulum arms 144 also produce the upward tractive force, the tractive force further to make pedestal to two shaft universal-joints 160 are acted on
150, and each part being installed on pedestal 150 is rotated up around two shaft universal-joints 160.Realize apery machinery head 100
Nod backward.
2. apery machinery head 100 forward point head status
Refer to Fig. 4, the first steering wheel 110 and the second steering wheel 120 drive respectively the first swing arm 130 and the second swing arm 140 to
Lower motion, and then apery machinery head 100 is nodded forward.Specifically, the output shaft of the first steering wheel 110 drives the first yaw
Arm 132, because the first transversal swinging arm 132 is connected with the first vertical pendulum arm 134, so as to the first vertical pendulum arm 134 is produced one it is downward
Pressure.First vertical pendulum arm 134 is connected with pedestal 150, and the pressure reacts on two shaft universal-joints 160, so that pedestal 150, and
Each part being installed on pedestal 150 is rotated down around two shaft universal-joints 160；Similarly understand, the second the second vertical pendulum of steering wheel 120 pairs
Arm 144 also produces a downward pressure, the pressure to react on two shaft universal-joints 160, further makes pedestal 150, and install
Rotated down around two shaft universal-joints 160 in each part on pedestal 150.Realize nodding forward for apery machinery head 100.
3. apery machinery head 100 yaw state to the left
Fig. 5 is referred to, the first steering wheel 110 drives the first swing arm 130 to move downward, and the second steering wheel 120 drives the second swing arm
140 motions upwards, and then apery machinery head 100 is swung to the left side where the second steering wheel 120.Specifically, the first rudder
The output shaft of machine 110 drives the first transversal swinging arm 132, because the first transversal swinging arm 132 is connected with the first vertical pendulum arm 134, so as to the
One vertical pendulum arm 134 produces a downward pressure.The output shaft of the second steering wheel 120 drives the second transversal swinging arm 142, due to the second horizontal stroke
Swing arm 142 is connected with the second vertical pendulum arm 144, so as to produce a upward tractive force to the second vertical pendulum arm 144.First steering wheel
The tractive force collective effect that 110 pressure for producing and the second steering wheel 120 are produced is in two shaft universal-joints 160, so that pedestal 150,
And each part being installed on pedestal 150 turns left around two shaft universal-joints 160, that is, realize apery machinery head 100 to
Left swing head.
4. apery machinery head 100 yaw state to the right
Fig. 6 is referred to, the first steering wheel 110 drives the first motion upwards of swing arm 130, and the second steering wheel 120 drives the second swing arm
140 move downward, and then apery machinery head 100 is swung to the right where the first steering wheel 110.Specifically, the first rudder
The output shaft of machine 110 drives the first transversal swinging arm 132, because the first transversal swinging arm 132 is connected with the first vertical pendulum arm 134, so as to the
One vertical pendulum arm 134 produces a upward tractive force.The output shaft of the second steering wheel 120 drives the second transversal swinging arm 142, due to second
Transversal swinging arm 142 is connected with the second vertical pendulum arm 144, so as to produce a downward pressure to the second vertical pendulum arm 144.First steering wheel
The pressure collective effect that 110 tractive force for producing and the second steering wheel 120 are produced is in two shaft universal-joints 160, so that pedestal 150,
And each part being installed on pedestal 150 turns right around two shaft universal-joints 160, that is, realize apery machinery head 100 to
Right yaw.
In sum, the apery machinery simple structure of head 100 that the present embodiment is provided, kinematic dexterity is high.
Second embodiment
Fig. 7 is referred to, a kind of anthropomorphic robot 200 is present embodiments provided, it includes body part 230 and apery machinery head
Portion 210.The pedestal 215 of apery machinery head 210 includes support member 2152 and support base 2154, and support member 2152 is installed on support
Seat 2154, support base 2154 and body part 230 are rotated and are connected, to realize the mechanical head 210 of apery relative to 230 turns of body part
It is dynamic.
Apery machinery head 210 also includes motor 2156, and motor 2156 is installed on support base 2154 near body
The one end in body portion 230.In the present embodiment, motor 2156 drives support base 2154 and the phase of body part 230 by Timing Belt
To rotating, certainly, in other embodiment of the present utility model, motor 2156 can also be driven by other means
It is dynamic, such as gear drive.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (10)
1. a kind of apery machinery head, it is characterised in that including the first steering wheel, the second steering wheel, the first swing arm, the second swing arm, base
Plate, two shaft universal-joints and pedestal, the two ends of two shaft universal-joint are fixedly connected with the substrate with the pedestal respectively, described
First steering wheel is mounted on the substrate with second steering wheel, and positioned at the both sides of two shaft universal-joint, described first
Steering wheel is rotated with first swing arm and is connected, and first swing arm is hinged away from one end of first steering wheel with the pedestal,
Second steering wheel is rotated with second swing arm and is connected, the one end and the base of second swing arm away from second steering wheel
Seat is hinged, and first steering wheel cooperates to realize with first swing arm, second steering wheel and second swing arm
State apery machinery head before and after nod and hunt action.
2. apery according to claim 1 machinery head, it is characterised in that first swing arm include the first transversal swinging arm and
First vertical pendulum arm, one end of first transversal swinging arm is hinged with one end of the first vertical pendulum arm, first transversal swinging arm it is another
One end rotates with first steering wheel and is connected, and the other end and the pedestal of the first vertical pendulum arm are hinged；
Second swing arm includes the second transversal swinging arm and the second vertical pendulum arm, one end of second transversal swinging arm and second vertical pendulum
One end of arm is hinged, and the other end of second transversal swinging arm and second steering wheel are rotated and be connected, the second vertical pendulum arm it is another
One end is hinged with the pedestal.
3. apery according to claim 2 machinery head, it is characterised in that first transversal swinging arm and first vertical pendulum
Arm is connected by oscillating bearing, and second transversal swinging arm is connected with the second vertical pendulum arm by oscillating bearing.
4. apery according to claim 2 machinery head, it is characterised in that the pedestal includes support base and support member,
The support member is installed on the support base, support member one end respectively with the first vertical pendulum arm and second vertical pendulum
One end of arm is hinged.
5. apery according to claim 4 machinery head, it is characterised in that the support member is with the first vertical pendulum arm by pass
Bearings are connected, and the support member is connected with the second vertical pendulum arm by oscillating bearing.
6. apery according to claim 5 machinery head, it is characterised in that the support member is L-shaped, the branch of L-shaped
One end of support member is installed on the pedestal, and the other end is connected with the first vertical pendulum arm and the second vertical pendulum arm respectively.
7. apery according to claim 1 machinery head, it is characterised in that the substrate is provided with camera, described to take the photograph
As head is used to gather environmental characteristic.
8. apery according to claim 1 machinery head, it is characterised in that first steering wheel is equal with second steering wheel
It is by bolt and the substrate connection.
9. a kind of anthropomorphic robot, it is characterised in that the apery including body part and as described in any one in claim 1-8
Mechanical head, the apery machinery head is rotated with the body part and is connected, to realize the apery machinery head relative to institute
State body part rotation.
10. robot according to claim 9, it is characterised in that the apery machinery head also includes motor, institute
State motor and be installed on the pedestal, the motor is used to drive the pedestal to be relatively rotated with the body part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621344738.0U CN206287149U (en) | 2016-12-08 | 2016-12-08 | Apery machinery head and anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621344738.0U CN206287149U (en) | 2016-12-08 | 2016-12-08 | Apery machinery head and anthropomorphic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206287149U true CN206287149U (en) | 2017-06-30 |
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ID=59096731
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621344738.0U Expired - Fee Related CN206287149U (en) | 2016-12-08 | 2016-12-08 | Apery machinery head and anthropomorphic robot |
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| Country | Link |
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| CN (1) | CN206287149U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625702A (en) * | 2016-12-08 | 2017-05-10 | 成都炬石科技有限公司 | Humanoid mechanical head and humanoid robot |
-
2016
- 2016-12-08 CN CN201621344738.0U patent/CN206287149U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625702A (en) * | 2016-12-08 | 2017-05-10 | 成都炬石科技有限公司 | Humanoid mechanical head and humanoid robot |
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