CN207743899U - A kind of bidirectional drive with compound foot bearing - Google Patents
A kind of bidirectional drive with compound foot bearing Download PDFInfo
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- CN207743899U CN207743899U CN201820050159.8U CN201820050159U CN207743899U CN 207743899 U CN207743899 U CN 207743899U CN 201820050159 U CN201820050159 U CN 201820050159U CN 207743899 U CN207743899 U CN 207743899U
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Abstract
The utility model is related to a kind of bidirectional drives with compound foot bearing, including：First piezoelectric vibrator, the second piezoelectric vibrator, the first support leg, the second support leg, third support leg, the first foot bearing, crus secunda bearing and three-leg support, wherein：Two piezoelectric vibrators connect, and support leg is arranged in piezoelectric vibrator lower surface, and foot bearing is connected to support leg free end.Apply alternating voltage respectively on two piezoelectric vibrator and brings it about cyclic bending deformation, drive wherein bipod bearing close to each other or separate, the material of different coefficients of friction is in contact with working face respectively on foot bearing, to make foot bearing generate different displacements, the final displacement for realizing driver.The utility model realizes bi-directional drive, and has the advantages that the service life that simple in structure, maintenance cost is low, the requirement to working face is relatively low and extends piezoelectric ceramics in driver.
Description
Technical field
The utility model belongs to Piezoelectric Driving field, and in particular to a kind of bidirectional drive with compound foot bearing.
Background technology
Traditional driver has the characteristics that impulse stroke is big, movement velocity is fast and bearing capacity is big, but legacy drive
Bulky and Motion Resolution rate is not high.It is contemporary with scientific technological advance, micromachine, accurate measurement and biologic medical are all
To mini drive, more stringent requirements are proposed, it is desirable that mini drive must realize small size and high-precision.New micro drive
Dynamic device is mainly driven using marmem, magnetostriction materials, electrostriction material and piezoelectric ceramics.Wherein, it presses
Electric drive mini drive has the advantages that positioning accuracy height, fast response time, electromagnetism interference, small power consumption and driving force are big,
Existing piezoelectric actuator mainly has the driving of looper type and two class of inertial drive, but this two quasi-drivers structure is complex, more
Easily is lost by component and is not easy to replace for operating environment requirements height with working face rigid contact.
Invention content
It is complex in order to solve current piezoelectric actuator structure, mostly with working face rigid contact, to operating environment requirements
The problem of component is not easy to replace easily is lost, it is proposed that a kind of bidirectional drive with compound foot bearing, the bidirectional drive in height
By the first piezoelectric vibrator, the second piezoelectric vibrator, the first support leg, the second support leg and third support leg, the first foot bearing, second
Foot bearing and three-leg support composition；Wherein described first piezoelectric vibrator and the second piezoelectric vibrator are pasted onto by piezoelectric sheet material
It is constituted on Rectangular Elastic matrix, first piezoelectric vibrator is connect with the second piezoelectric vibrator, first support leg, the second support
Leg and third support leg be identical rectangular tab component and have certain elasticity, and first support leg one end is arranged in the
One piezoelectric vibrator lower surface, the other end are free end, and second support leg one end is connected to the first piezoelectric vibrator and the second pressure
Lower surface, the other end between electric tachometer indicator are free end, and third support leg one end is connected under second piezoelectric vibrator one end
Surface, the other end are free end, and the first foot bearing, crus secunda bearing and three-leg support are all cylindrical member, described
First foot bearing is combined by the first low friction coefficient materials and the first high coefficient of friction material, and the crus secunda bearing is by two
Identical low friction coefficient materials are combined, and the three-leg support is identical as the first foot bearing size, structure and material, described
The free end of first support leg is connect with the first foot bearing and the first high coefficient of friction material of the first foot bearing is arranged in second
The free end of support leg side, second support leg is connect with crus secunda bearing, the free end of the third support leg and the
Three-leg support connects and the high coefficient of friction material of three-leg support is arranged in the second support leg side.Driver is placed on work
Make in plane, the first foot bearing, crus secunda bearing and three-leg support are contacted with working face.In two piezoelectric vibrator
The upper alternating voltage that applies respectively brings it about cyclic bending deformation, drives wherein adjacent bipod bearing close to each other or mutually remote
From.In foot bearing moving process, for foot bearing by the frictional force opposite with moving direction, frictional force makes foot bearing and support leg
Certain twisting occurs, the material of different coefficients of friction on foot bearing is promoted to be in contact respectively with working face, to make foot bearing
Different displacements is generated, the final displacement for realizing driver.Positive mobile working principle schematic such as Fig. 2 of the driver
It is shown：The driver crus secunda bearing and the left half-sections of three-leg support are respectively the second low friction coefficient materials and third
High coefficient of friction material, right half-sections are respectively the second low friction coefficient materials and third low friction coefficient materials, work as piezoelectricity
When oscillator is not powered on, driver is in nature, and support leg and foot bearing do not twist, as shown in Fig. 2 (a)；When the second pressure
When electric tachometer indicator energization generates concave change shape, crus secunda bearing and three-leg support is driven to be located remotely from each other, works at the same time plane generation
Frictional force makes the support leg at the second piezoelectric vibrator both ends and foot bearing that certain twisting occur, and causes the of crus secunda bearing upper left side
The third low friction coefficient materials on right side are contacted with working face on two low friction coefficient materials and three-leg support, at this time crus secunda
Bearing and three-leg support generate equal skidding distance, as shown in Fig. 2 (b)；When piezoelectric vibrator, which is powered, generates convex deformation, band
Dynamic crus secunda bearing and three-leg support are close to each other, and the direction that working face generates at this time changes, the second pressure
The support leg and foot bearing of electric tachometer indicator both sides generate certain negative direction twisting respectively, cause second on the right side of crus secunda bearing low
Third high coefficient of friction material on the left of friction coefficient material and three-leg support is contacted with working face, at this time crus secunda bearing
Skidding distance is significantly greater than the skidding distance of three-leg support, as shown in Fig. 2 (c)；When the second piezoelectric vibrator turns again to balance
A working cycles are completed when position, as shown in Fig. 2 (d).In a cycle of the second piezoelectric vibrator energization cyclic bending deformation
It is interior, drive crus secunda bearing and three-leg support to be located remotely from each other or close to each other, when crus secunda bearing and three-leg support are mutual
When separate, bipod bearing generates equal sliding, and when crus secunda bearing and three-leg support close to each other, crus secunda bearing
Larger sliding occurs, therefore a step-length to the right is will produce in a power cycles inner driver.In the second piezoelectric vibrator
It is acted on down by alternating voltage, which realizes positive stepper drive.The reverse movement operation principle of the driver is illustrated
Figure is as shown in Figure 3：The left half-sections of driver the first foot bearing are respectively the first low friction coefficient materials, and right half-sections are
First high coefficient of friction material, when piezoelectric vibrator is not powered on, driver is in nature, and support leg and foot bearing are not turned round
It is dynamic, as shown in Fig. 3 (a)；When the first piezoelectric vibrator, which is powered, generates concave change shape, drive the first foot bearing and crus secunda bearing mutual
Separate, working at the same time the frictional force of plane generation makes the support leg at the first piezoelectric vibrator both ends and foot bearing that certain twisting occur,
Cause the second low-friction coefficient material on right side on the first low friction coefficient materials and crus secunda bearing of the first foot bearing upper left side
Material is contacted with working face, and the first foot bearing and crus secunda bearing generate equal skidding distance at this time, as shown in Fig. 3 (b)；Work as pressure
When electric tachometer indicator energization generates convex deformation, drive the first foot bearing and crus secunda bearing close to each other, working face generates at this time
Direction changes, and the support leg and foot bearing of the first piezoelectric vibrator both sides generate certain negative direction twisting respectively,
Cause the first high coefficient of friction material on the right side of the first foot bearing and the second low friction coefficient materials on the left of crus secunda bearing with
Working face contacts, and the skidding distance of crus secunda bearing is significantly greater than the skidding distance of the first foot bearing at this time, as shown in Fig. 3 (c)；
A working cycles are completed when the first piezoelectric vibrator turns again to equilbrium position, as shown in Fig. 3 (d).In the first piezoelectric vibrator
In a cycle of energization cyclic bending deformation, the first foot bearing and crus secunda bearing is driven to be located remotely from each other or close to each other, when
When first foot bearing and crus secunda bearing are located remotely from each other, bipod bearing generates equal sliding, and when the first foot bearing and second
When foot bearing is close to each other, larger sliding occurs for crus secunda bearing, therefore will produce one in a power cycles inner driver
A step-length to the left.In the case where the first piezoelectric vibrator is acted on by alternating voltage, which realizes reversed stepper drive.Cause
This, when the second piezoelectric vibrator is acted on by alternating voltage, which realizes forward drive；When the first piezoelectric vibrator is handed over
When time variant voltage acts on, which realizes reverse drive.The utility model realizes bi-directional drive, and with simple in structure, dimension
Protect requirement at low cost, to working face it is relatively low and extend driver in piezoelectric ceramics service life the advantages of.
To achieve the goals above, the present invention uses following technical scheme：
1. a kind of bidirectional drive with compound foot bearing of the utility model is shaken by the first piezoelectric vibrator, the second piezoelectricity
Son, the first support leg, the second support leg and third support leg, the first foot bearing, crus secunda bearing and three-leg support composition；Its
Described in the first piezoelectric vibrator and the second piezoelectric vibrator be pasted onto on Rectangular Elastic matrix and constituted by piezoelectric sheet material, described
One piezoelectric vibrator is connect with the second piezoelectric vibrator, and first support leg, the second support leg and third support leg are identical square
Shape sheet members and have certain elasticity, first support leg one end is arranged in the first piezoelectric vibrator lower surface, the other end
For free end, second support leg one end is connected to lower surface between the first piezoelectric vibrator and the second piezoelectric vibrator, another
End be free end, third support leg one end be connected to the second piezoelectric vibrator lower surface, the other end be free end, described first
Foot bearing, crus secunda bearing and three-leg support are all cylindrical member, and the first foot bearing is by the first low-friction coefficient material
Material and the first high coefficient of friction material are combined, and the crus secunda bearing is combined by two identical low friction coefficient materials,
The three-leg support is identical as the first foot bearing size, structure and material, free end and the first foot of first support leg
Bearing connects and the first high coefficient of friction material of the first foot bearing is arranged in the second support leg side, second support leg
Free end is connect with crus secunda bearing, and the free end of the third support leg is connect with three-leg support and the height of three-leg support
Friction coefficient material is arranged in the second support leg side.
When work, driver is placed on working face, the first foot bearing, crus secunda bearing and three-leg support
It is contacted with working face.Apply alternating voltage respectively on two piezoelectric vibrator and bring it about cyclic bending deformation, drives it
In adjacent bipod bearing it is close to each other or be located remotely from each other.In foot bearing moving process, foot bearing is by opposite with moving direction
Frictional force, frictional force makes foot bearing and support leg that certain twisting occur, promotes the material of different coefficients of friction on foot bearing
It is in contact respectively with working face, to make foot bearing generate different displacements, the final displacement for realizing driver.The driving
The positive mobile working principle schematic of device is as shown in Figure 2：The left half of the driver crus secunda bearing and three-leg support
It is respectively the second low friction coefficient materials and third high coefficient of friction material, right half-sections are respectively the second low-friction coefficient
Material and third low friction coefficient materials, when piezoelectric vibrator is not powered on, driver is in nature, and support leg and foot bearing are not
It twists, as shown in Fig. 2 (a)；When the second piezoelectric vibrator, which is powered, generates concave change shape, crus secunda bearing and third foot branch are driven
Seat is located remotely from each other, and works at the same time the frictional force of plane generation and the support leg at the second piezoelectric vibrator both ends and foot bearing is made to occur centainly
Twisting causes the third low friction system on right side on the second low friction coefficient materials and three-leg support of crus secunda bearing upper left side
Number material is contacted with working face, and crus secunda bearing and three-leg support generate equal skidding distance at this time, as shown in Fig. 2 (b)；
When piezoelectric vibrator, which is powered, generates convex deformation, drive crus secunda bearing and three-leg support close to each other, working face produces at this time
Raw direction changes, and the support leg and foot bearing of the second piezoelectric vibrator both sides generate certain negative direction and turn round respectively
It is dynamic, cause the third high coefficient of friction material on the left of the second low friction coefficient materials and the three-leg support on the right side of crus secunda bearing
It is contacted with working face, the skidding distance of crus secunda bearing is significantly greater than the skidding distance of three-leg support at this time, such as Fig. 2 (c) institutes
Show；A working cycles are completed when the second piezoelectric vibrator turns again to equilbrium position, as shown in Fig. 2 (d).It shakes in the second piezoelectricity
In a cycle of sub- energization cyclic bending deformation, crus secunda bearing and three-leg support is driven to be located remotely from each other or close to each other,
When crus secunda bearing and three-leg support are located remotely from each other, bipod bearing generates equal sliding, and when crus secunda bearing and the
When three-leg support is close to each other, larger sliding occurs for crus secunda bearing, therefore will produce in a power cycles inner driver
One step-length to the right.In the case where the second piezoelectric vibrator is acted on by alternating voltage, which realizes positive stepper drive.It should
The reverse movement operation principle schematic diagram of driver is as shown in Figure 3：The left half-sections of driver the first foot bearing are respectively
One low friction coefficient materials, right half-sections are the first high coefficient of friction material, and when piezoelectric vibrator is not powered on, driver is in certainly
Right state, support leg and foot bearing do not twist, as shown in Fig. 3 (a)；When the first piezoelectric vibrator, which is powered, generates concave change shape,
The first foot bearing and crus secunda bearing is driven to be located remotely from each other, working at the same time the frictional force of plane generation makes the first piezoelectric vibrator both ends
Support leg and foot bearing certain twisting occurs, cause the first low friction coefficient materials and crus secunda of the first foot bearing upper left side
Second low friction coefficient materials on right side are contacted with working face on bearing, and the first foot bearing and crus secunda bearing generate equal at this time
Skidding distance, as shown in Fig. 3 (b)；When piezoelectric vibrator, which is powered, generates convex deformation, the first foot bearing and crus secunda bearing are driven
Close to each other, the direction that working face generates at this time changes, the support leg and foot branch of the first piezoelectric vibrator both sides
Seat generates certain negative direction twisting respectively, causes the first high coefficient of friction material on the right side of the first foot bearing and crus secunda bearing
Second low friction coefficient materials in left side are contacted with working face, and the skidding distance of crus secunda bearing is significantly greater than the first foot branch at this time
The skidding distance of seat, as shown in Fig. 3 (c)；A working cycles are completed when the first piezoelectric vibrator turns again to equilbrium position, such as
Shown in Fig. 3 (d).In a cycle of the first piezoelectric vibrator energization cyclic bending deformation, the first foot bearing and crus secunda are driven
Bearing is located remotely from each other or close to each other, and when the first foot bearing and crus secunda bearing are located remotely from each other, bipod bearing generates equal
Sliding, and when the first foot bearing and crus secunda bearing close to each other, larger sliding occurs for crus secunda bearing, therefore at one
Power cycles inner driver will produce a step-length to the left.In the case where the first piezoelectric vibrator is acted on by alternating voltage, the driving
Device realizes reversed stepper drive.Therefore, when the second piezoelectric vibrator is acted on by alternating voltage, which realizes positive drive
It is dynamic；When the first piezoelectric vibrator is acted on by alternating voltage, which realizes reverse drive.The utility model realizes two-way
Driving, and with simple in structure, maintenance cost is low, the requirement to working face is relatively low and extends the use of piezoelectric ceramics in driver
The advantages of service life.
Description of the drawings
Fig. 1 is a kind of bidirectional drive structural schematic diagram with compound foot bearing of the utility model.
Fig. 2 is a kind of bidirectional drive forward drive process schematic with compound foot bearing of the utility model.
Fig. 3 is a kind of bidirectional drive reverse drive process schematic with compound foot bearing of the utility model.
Specific implementation mode
Referring to FIG. 1, FIG. 2 and FIG. 3, a kind of bidirectional drive with compound foot bearing of the utility model is by the first piezoelectricity
Oscillator 1, the second piezoelectric vibrator 2, the first support leg 3, the second support leg 4, third support leg 5, the first foot bearing 6, crus secunda branch
Seat 7 and three-leg support 8 are constituted, wherein：
2. first piezoelectric vibrator, 1 and second piezoelectric vibrator 2 is pasted onto by piezoelectric sheet material on Rectangular Elastic matrix
It constitutes, first piezoelectric vibrator 1 is connect with the second piezoelectric vibrator 2, first support leg 3, the second support leg 4 and third branch
Support leg 5 is identical rectangular tab component and has certain elasticity, and described first support leg, 3 one end is arranged in the first piezoelectricity and shakes
Sub 1 lower surface, the other end are free end, and described second support leg, 4 one end is connected to the first piezoelectric vibrator 1 and the second piezoelectric vibrator
Lower surface, the other end between 2 are free end, and described 5 one end of third support leg is connected to 2 lower surface of the second piezoelectric vibrator, another
One end is free end, and the first foot bearing 6, crus secunda bearing 7 and three-leg support 8 are all cylindrical member, described first
Foot bearing 6 is combined by the first low friction coefficient materials 61 and the first high coefficient of friction material 62, the crus secunda bearing 7 by
Two identical low friction coefficient materials 71 are combined, the three-leg support 8 and 6 size of the first foot bearing, structure and material phase
Together, the free end of first support leg 3 is connect and the first high coefficient of friction material of the first foot bearing 6 with the first foot bearing 6
62 are arranged in 4 side of the second support leg, and the free end of second support leg 4 is connect with crus secunda bearing 7, the third support
The free end of leg 5 is connect with three-leg support 8 and the third high coefficient of friction material 81 of three-leg support 8 is arranged in the second support
4 side of leg.
When work, driver is placed on working face, the first foot bearing, crus secunda bearing and three-leg support
It is contacted with working face.Apply alternating voltage respectively on two piezoelectric vibrator and bring it about cyclic bending deformation, drives it
In adjacent bipod bearing it is close to each other or be located remotely from each other.In foot bearing moving process, foot bearing is by opposite with moving direction
Frictional force, frictional force makes foot bearing and support leg that certain twisting occur, promotes the material of different coefficients of friction on foot bearing
It is in contact respectively with working face, to make foot bearing generate different displacements, the final displacement for realizing driver.The driving
The positive mobile working principle schematic of device is as shown in Figure 2：The left half of the driver crus secunda bearing and three-leg support
It is respectively the second low friction coefficient materials and third high coefficient of friction material, right half-sections are respectively the second low-friction coefficient
Material and third low friction coefficient materials, when piezoelectric vibrator is not powered on, driver is in nature, and support leg and foot bearing are not
It twists, as shown in Fig. 2 (a)；When the second piezoelectric vibrator, which is powered, generates concave change shape, crus secunda bearing and third foot branch are driven
Seat is located remotely from each other, and works at the same time the frictional force of plane generation and the support leg at the second piezoelectric vibrator both ends and foot bearing is made to occur centainly
Twisting causes the third low friction system on right side on the second low friction coefficient materials and three-leg support of crus secunda bearing upper left side
Number material is contacted with working face, and crus secunda bearing and three-leg support generate equal skidding distance at this time, as shown in Fig. 2 (b)；
When piezoelectric vibrator, which is powered, generates convex deformation, drive crus secunda bearing and three-leg support close to each other, working face produces at this time
Raw direction changes, and the support leg and foot bearing of the second piezoelectric vibrator both sides generate certain negative direction and turn round respectively
It is dynamic, cause the third high coefficient of friction material on the left of the second low friction coefficient materials and the three-leg support on the right side of crus secunda bearing
It is contacted with working face, the skidding distance of crus secunda bearing is significantly greater than the skidding distance of three-leg support at this time, such as Fig. 2 (c) institutes
Show；A working cycles are completed when the second piezoelectric vibrator turns again to equilbrium position, as shown in Fig. 2 (d).It shakes in the second piezoelectricity
In a cycle of sub- energization cyclic bending deformation, crus secunda bearing and three-leg support is driven to be located remotely from each other or close to each other,
When crus secunda bearing and three-leg support are located remotely from each other, bipod bearing generates equal sliding, and when crus secunda bearing and the
When three-leg support is close to each other, larger sliding occurs for crus secunda bearing, therefore will produce in a power cycles inner driver
One step-length to the right.In the case where the second piezoelectric vibrator is acted on by alternating voltage, which realizes positive stepper drive.It should
The reverse movement operation principle schematic diagram of driver is as shown in Figure 3：The left half-sections of driver the first foot bearing are respectively
One low friction coefficient materials, right half-sections are the first high coefficient of friction material, and when piezoelectric vibrator is not powered on, driver is in certainly
Right state, support leg and foot bearing do not twist, as shown in Fig. 3 (a)；When the first piezoelectric vibrator, which is powered, generates concave change shape,
The first foot bearing and crus secunda bearing is driven to be located remotely from each other, working at the same time the frictional force of plane generation makes the first piezoelectric vibrator both ends
Support leg and foot bearing certain twisting occurs, cause the first low friction coefficient materials and crus secunda of the first foot bearing upper left side
Second low friction coefficient materials on right side are contacted with working face on bearing, and the first foot bearing and crus secunda bearing generate equal at this time
Skidding distance, as shown in Fig. 3 (b)；When piezoelectric vibrator, which is powered, generates convex deformation, the first foot bearing and crus secunda bearing are driven
Close to each other, the direction that working face generates at this time changes, the support leg and foot branch of the first piezoelectric vibrator both sides
Seat generates certain negative direction twisting respectively, causes the first high coefficient of friction material on the right side of the first foot bearing and crus secunda bearing
Second low friction coefficient materials in left side are contacted with working face, and the skidding distance of crus secunda bearing is significantly greater than the first foot branch at this time
The skidding distance of seat, as shown in Fig. 3 (c)；A working cycles are completed when the first piezoelectric vibrator turns again to equilbrium position, such as
Shown in Fig. 3 (d).In a cycle of the first piezoelectric vibrator energization cyclic bending deformation, the first foot bearing and crus secunda are driven
Bearing is located remotely from each other or close to each other, and when the first foot bearing and crus secunda bearing are located remotely from each other, bipod bearing generates equal
Sliding, and when the first foot bearing and crus secunda bearing close to each other, larger sliding occurs for crus secunda bearing, therefore at one
Power cycles inner driver will produce a step-length to the left.In the case where the first piezoelectric vibrator is acted on by alternating voltage, the driving
Device realizes reversed stepper drive.Therefore, when the second piezoelectric vibrator is acted on by alternating voltage, which realizes positive drive
It is dynamic；When the first piezoelectric vibrator is acted on by alternating voltage, which realizes reverse drive.The utility model realizes two-way
Driving, and with simple in structure, maintenance cost is low, the requirement to working face is relatively low and extends the use of piezoelectric ceramics in driver
The advantages of service life.
Claims (1)
1. a kind of bidirectional drive with compound foot bearing, including：First piezoelectric vibrator (1), the second piezoelectric vibrator (2),
One support leg (3), the second support leg (4) and third support leg (5), it is characterised in that further include the first foot for realizing bi-directional drive
Bearing (6), crus secunda bearing (7) and three-leg support (8)；Wherein described first piezoelectric vibrator (1) and the second piezoelectric vibrator (2)
It is pasted onto on Rectangular Elastic matrix and is constituted by piezoelectric sheet material, first piezoelectric vibrator (1) connects with the second piezoelectric vibrator (2)
It connects, first support leg (3), the second support leg (4) and third support leg (5) are identical rectangular tab component and have one
Fixed elasticity, described first support leg (3) one end is arranged in the first piezoelectric vibrator (1) lower surface, the other end is free end, described
Second support leg (4) one end is connected to lower surface between the first piezoelectric vibrator (1) and the second piezoelectric vibrator (2), the other end is
Free end, described third support leg (5) one end is connected to the second piezoelectric vibrator (2) one end lower surface, the other end is free end, institute
It is cylindrical member, the first foot bearing (6) to state the first foot bearing (6), crus secunda bearing (7) and three-leg support (8) all
Be combined by the first low friction coefficient materials (61) and the first high coefficient of friction material (62), the crus secunda bearing (7) by
Two identical low friction coefficient materials (71) are combined, the three-leg support (8) and first foot bearing (6) size, structure and
Material identical, the free end of first support leg (3) is connect with the first foot bearing (6) and the first of the first foot bearing (6) is high
Friction coefficient material (62) is arranged in the second support leg (4) side, free end and the crus secunda bearing of second support leg (4)
(7) it connects, the free end of the third support leg (5) is connect with three-leg support (8) and the third height of three-leg support (8) rubs
It wipes coefficient material (81) and is arranged in the second support leg (4) side.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820050159.8U CN207743899U (en) | 2018-01-12 | 2018-01-12 | A kind of bidirectional drive with compound foot bearing |
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| CN201820050159.8U CN207743899U (en) | 2018-01-12 | 2018-01-12 | A kind of bidirectional drive with compound foot bearing |
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| CN207743899U true CN207743899U (en) | 2018-08-17 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107959439A (en) * | 2018-01-12 | 2018-04-24 | 吉林大学 | A kind of bidirectional drive with compound foot bearing |
| CN109353424A (en) * | 2018-09-17 | 2019-02-19 | 南京航空航天大学 | A kind of leg formula hopping robot and its control method based on Piezoelectric Driving |
-
2018
- 2018-01-12 CN CN201820050159.8U patent/CN207743899U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107959439A (en) * | 2018-01-12 | 2018-04-24 | 吉林大学 | A kind of bidirectional drive with compound foot bearing |
| CN109353424A (en) * | 2018-09-17 | 2019-02-19 | 南京航空航天大学 | A kind of leg formula hopping robot and its control method based on Piezoelectric Driving |
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Effective date of registration: 20201110 Address after: Room 704a-1, Huigu building, 1357 Jinhu Road, high tech Zone, Changchun City, Jilin Province Patentee after: CHANGCHUN SHANGYUAN TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: 130012 Changchun Qianjin Street, Jilin, No. 2699 Patentee before: Jilin University |