CN209479804U - A kind of mobile robot of patch type piezoelectric driving - Google Patents
A kind of mobile robot of patch type piezoelectric driving Download PDFInfo
- Publication number
- CN209479804U CN209479804U CN201821868919.2U CN201821868919U CN209479804U CN 209479804 U CN209479804 U CN 209479804U CN 201821868919 U CN201821868919 U CN 201821868919U CN 209479804 U CN209479804 U CN 209479804U
- Authority
- CN
- China
- Prior art keywords
- wheel
- patch type
- fixed plate
- type piezoelectric
- galianconism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The utility model discloses a kind of mobile robots of patch type piezoelectric driving, include patch type piezoelectric oscillator, two wheels, two fixed plates, two elastic webbings and crawler belt.Respectively there is an arc-shaped actuation head at the both ends of patch type piezoelectric oscillator, and upper and lower side is equipped with clamping end.Patch type piezoelectric oscillator is fixed between two fixed plates, the shaft of two wheels is stuck in the open slot of two fixed board ends, two elastic webbings are respectively fitted over the two sides of two rotation shaft of wheel, in tensional state, so that the outer propeller hub of two wheels offsets with the actuation head at piezoelectric vibrator both ends respectively.When work, piezoelectric vibrator is motivated, and the arc-shaped actuation head in both ends, which generates, turns to identical elliptic motion, is driven two vehicle wheel rotations by friction, and then drive crawler belt, is realized moveable robot movement.
Description
Technical field
The utility model relates to the shiftings that piezoelectric actuating and mobile robot field more particularly to a kind of patch type piezoelectric drive
Mobile robot.
Background technique
Lunar rover is the indispensable master tool of lunar exploration, for traveling mode, mostly based on wheeled and crawler type.Month
Ball vehicle has the characteristics that obstacle climbing ability is strong, sedimentation is small, tractive force is big, in analysis lunar soil chemical component and collects thickness of soil
Information etc. plays important function.
Lunar gravitation is tellurian 1/6th, and this low gravitation can allow the molecule suspension stay longer time.
If actuation motor has the risk of lunar dust entrance using electromagnetic motor driver.Once motor rotation blockage, excessive electric current can make line
Circle fever, there is the possibility for burning coil and electric machine controller.In addition, the complexity of its transmission mechanism, weight also counteract greatly
Application in lunar surface detection.
Piezoelectric actuating is the micron-sized elliptic motion of surface particle generation in stator actuation head, and passes through rubbing action reality
Now determine the movement transmitting between mover.When due to piezoelectric actuator work, the opposite sliding of micron order between stator and mover can be shelled
From the molecule for entering contact interface, alleviate and get rid of constraint of the lunar dust to actuator stall；It directly drives without driver
Structure is conducive to lightweight and miniaturization.
In existing some piezoelectric actuating lunar rover scheme (publication numbers: CN101964600；CN105429508；
CN105490582 in), piezoelectric vibrator is directly contacted with metal track.Normal pressure between the two is the tensioning by metal track
Degree is adjusted, and the flexible deformation of metal track is small, and there is certain difficulties for the searching of best precompression.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of patch for defect involved in background technique
The mobile robot of plate piezoelectric driving.
The utility model uses following technical scheme to solve above-mentioned technical problem:
A kind of mobile robot of patch type piezoelectric driving, comprising patch type piezoelectric oscillator, the first wheel, the second wheel,
First fixed plate, the second fixed plate, first elastic webbing and second elastic webbing；
The patch type piezoelectric oscillator includes metallic matrix, the first clamping end and the second clamping end；
The metallic matrix includes the first actuation head, the second actuation head and walking beam；
The walking beam is cuboid, includes two end faces in the side of front and back four up and down and left and right；The first actuation head,
Second actuation head includes to make moved end and connecting pin, wherein makees moved end in arc surfaced, connecting pin is in planar；Described first makees
Move head, the connecting pin of the second actuation head is connected with the walking beam or so two end faces respectively；
First clamping end, the second clamping end are separately positioned on the centre of the walking beam upper side, downside, and
The mounting hole perpendicular to walking beam leading flank is equipped on one clamping end, the second clamping end；
The walking beam upper side, downside are posted at the peak swing of metallic matrix N rank bending vibration modes for producing
The piezoelectric ceramic piece of raw bending vibration, the N are even number, are the bending vibration orders of preset operation mode；Before the walking beam
The piezoelectric ceramic piece for generating longitudinal vibration is posted at the node of metallic matrix longitudinal vibration mode in side；
The piezoelectric ceramic piece for generating bending vibration, the piezoelectric ceramic piece for generating longitudinal vibration are along its thickness direction pole
Change；The piezoelectric ceramic piece of bending vibration is generated from upper side to downside surface polarization, then generate the piezoelectric ceramic piece of longitudinal vibration from trailing flank to
Front side surface polarization；
First fixed plate, the second fixed plate are in crosswise, comprising first long-armed, second long-armed, the first galianconism and
Second galianconism；Described first is long-armed, second long-armed on same straight line, and end is equipped with open slot along its length；Institute
State the first galianconism, the end of the second galianconism is equipped with boss, and be respectively equipped on the boss of the first galianconism, the second galianconism and described
First clamping end, the corresponding fixation hole of the second clamping end upper installing hole；
The patch type piezoelectric oscillator passes through the fixation of its first clamping end upper installing hole, first the first galianconism of fixed plate
Hole, second the first galianconism of fixed plate fixation hole be fixed by bolts it is connected so that the first clamping end is fixed on the first fixed plate
The boss of first galianconism, second the first galianconism of fixed plate boss between；Patch type piezoelectric oscillator passes through on its second clamping end
Mounting hole, the fixation hole of first the second galianconism of fixed plate, second the second galianconism of fixed plate fixation hole be fixed by bolts it is connected,
So that the second clamping end is fixed between the boss of the boss of first the second galianconism of fixed plate, second the second galianconism of fixed plate；
First wheel, the second wheel include inner wheel hub, outer wheel hub, shaft and several spokes, wherein the lubrication groove
Hub, outer wheel hub are annular in shape, are arranged concentrically；Several spokes are uniformly mounted between inner wheel hub, outer wheel hub, spoke one end
It is connected with inner wheel hub, the other end and outer wheel hub are connected；The shaft and inner wheel hub rotation connection, enable inner wheel hub is opposite to turn
Axis is freely rotated, and shaft is equipped with symmetrical first annular groove, second annular groove in inner wheel hub two sides；
First annular groove, the second annular groove of first rotation shaft of wheel are respectively placed in first fixed plate first
In the long-armed open slot of long-armed open slot, the second fixed plate first, dimensional slip hinge is formed；The of second rotation shaft of wheel
One annular groove, second annular groove are respectively placed in the long-armed open slot of first fixed plate second, the second fixed plate second
In long-armed open slot, dimensional slip hinge is formed；
The first elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing,
Two elastic webbings cover in the first rotation shaft of wheel, the second rotation shaft of wheel, are in tensional state, so that the appearance of the first wheel outer wheel hub
First actuation head of face and patch type piezoelectric oscillator offsets, the outer surface of the second wheel outer wheel hub and patch type piezoelectric oscillator
Two actuation heads offset.
As a kind of further prioritization scheme of mobile robot of patch type piezoelectric driving of the utility model, the vibration
The piezoelectric ceramic piece for generating longitudinal vibration is also posted at the node of metallic matrix longitudinal vibration mode in the trailing flank of beam.
As a kind of further prioritization scheme of mobile robot of the utility model patch type piezoelectric driving, described first
In wheel, the second wheel, shaft and inner wheel hub are rotatablely connected by way of clearance fit.
As a kind of further prioritization scheme of mobile robot of the utility model patch type piezoelectric driving, described first
In wheel, the second wheel, shaft and inner wheel hub are rotatablely connected by bearing.
As a kind of further prioritization scheme of mobile robot of the utility model patch type piezoelectric driving, described first
Wheel, the second wheel include four spokes.
As a kind of further prioritization scheme of mobile robot of patch type piezoelectric driving of the utility model, also comprising carrying out
Band, first wheel, the second wheel are connected by the crawler haulage.Crawler belt makes robotic movement power more preferably, more holds
Easy across obstacle.
As a kind of further prioritization scheme of mobile robot of patch type piezoelectric driving of the utility model, crawler belt is used
Metal material is made.
The utility model compared with the prior art by using the above technical solution, has following technical effect that
1. using Piezoelectric Driving, the opposite sliding of the micron order of patch type piezoelectric oscillator and runner can be removed into contact circle
Constraint of the lunar dust to actuator stall is alleviated and got rid of to the molecule in face.
2. directly driving without transmission mechanism, be conducive to lightweight and miniaturization.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the mobile robot of patch type piezoelectric driving of the utility model；
Fig. 2 is the schematic diagram that piezoelectric ceramic piece applies electric signal in the utility model patch type piezoelectric oscillator；
Fig. 3 is the structural schematic diagram of the first fixed plate of the utility model；
Fig. 4 is the structural schematic diagram that inner wheel hub, outer wheel hub, spoke match in the first wheel of the utility model；
Fig. 5 is the structural schematic diagram of shaft in the first wheel of the utility model；
Fig. 6 is the first actuation of patch type piezoelectric oscillator head in the utility model, the second actuation head surface particle generation ellipse
The schematic diagram of movement；
Fig. 7 is the schematic diagram that patch type piezoelectric oscillator drives the first wheel, the second wheel in the utility model.
In figure, 1- patch type piezoelectric oscillator, 1.1- metallic matrix, 1.1- the first actuation head, 1.2- walking beam, 1.3- first
Clamping end, 1.4- are used to generate the piezoelectric ceramic piece of bending vibration, and 1.5- is used to generate the piezoelectric ceramic piece of longitudinal vibration, and 2- first is fixed
Plate, the open slot on 2.1- the first fixed plate first is long-armed, the boss on 2.2- the second galianconism of the first fixed plate, the first vehicle of 3-
Wheel, the outer wheel hub of the first wheel of 3.1-, the spoke of the first wheel of 3.2-, the inner wheel hub of the first wheel of 3.3-, the first wheel of 3.4-
Shaft, the second wheel of 4-, 5- elastic webbing, 6- crawler belt.
Specific embodiment
The technical solution of the utility model is described in further detail with reference to the accompanying drawing:
The utility model can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.
On the contrary, it is thorough and complete to these embodiments are provided so that the disclosure, and this reality will be given full expression to those skilled in the art
With novel range.In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, including patch type pressure the utility model discloses a kind of mobile robot of patch type piezoelectric driving
Electric tachometer indicator, the first wheel, the second wheel, the first fixed plate, the second fixed plate, first elastic webbing and second elastic webbing.
As shown in Fig. 2, patch type piezoelectric oscillator includes metallic matrix, the first clamping end and the second clamping end；Metallic matrix
Include the first actuation head, the second actuation head and walking beam.
Walking beam is cuboid, includes two end faces in the side of front and back four up and down and left and right；First actuation head, the second actuation
Head is comprising making moved end and connecting pin, wherein makees moved end in arc surfaced, connecting pin is in planar；First actuation head, the second actuation
The connecting pin of head is connected with walking beam or so two end faces respectively.
First clamping end, the second clamping end are separately positioned on the centre of walking beam upper side, downside, and the first clamping
The mounting hole perpendicular to walking beam leading flank is equipped on end, the second clamping end.
Walking beam upper side, downside post curved for generating at the peak swing of metallic matrix N rank bending vibration modes
The piezoelectric ceramic piece of vibration, N are even number, are the bending vibration orders of preset operation mode；The leading flank of walking beam is in Metal Substrate
The piezoelectric ceramic piece for generating longitudinal vibration is posted at the node of body longitudinal vibration mode.
For generating the piezoelectric ceramic piece of bending vibration, the piezoelectric ceramic piece for generating longitudinal vibration polarizes along its thickness direction.
The piezoelectric ceramic piece of bending vibration is generated from upper side to downside surface polarization, then generates the piezoelectric ceramic piece of longitudinal vibration from trailing flank to front side
Surface polarization；
As shown in figure 3, the first fixed plate, the second fixed plate are in crosswise, comprising it is first long-armed, second long-armed, first
Galianconism and the second galianconism；First is long-armed, second long-armed on same straight line, and end is equipped with open slot along its length；
First galianconism, the second galianconism end be equipped with boss, and be respectively equipped on the boss of the first galianconism, the second galianconism and first folder
Hold end, the corresponding fixation hole of the second clamping end upper installing hole.
Patch type piezoelectric oscillator passes through its first clamping end upper installing hole, the fixation hole of first the first galianconism of fixed plate, the
The fixation hole of two the first galianconism of fixed plate be fixed by bolts it is connected so as to be fixed on the first fixed plate first short for the first clamping end
The boss of arm, second the first galianconism of fixed plate boss between；Patch type piezoelectric oscillator by its second clamping end upper installing hole,
The fixation hole of first the second galianconism of fixed plate, second the second galianconism of fixed plate fixation hole be fixed by bolts it is connected so that
Two clamping ends are fixed between the boss of the boss of first the second galianconism of fixed plate, second the second galianconism of fixed plate.
As shown in figure 4, the first wheel, the second wheel include inner wheel hub, outer wheel hub, shaft and several spokes, wherein interior
Wheel hub, outer wheel hub are annular in shape, are arranged concentrically；Several spokes are uniformly mounted between inner wheel hub, outer wheel hub, spoke one end and
Inner wheel hub is connected, the other end and outer wheel hub are connected；Shaft and inner wheel hub rotation connection, enable inner wheel hub with respect to shaft freedom
Rotation, and shaft is equipped with symmetrical first annular groove, second annular groove in inner wheel hub two sides, as shown in Figure 5.
First annular groove, the second annular groove of first rotation shaft of wheel are respectively placed in that the first fixed plate first is long-armed to be opened
In the long-armed open slot of mouth slot, the second fixed plate first, dimensional slip hinge is formed；The first annular groove of second rotation shaft of wheel,
Second annular groove is respectively placed in the long-armed open slot of the long-armed open slot of the first fixed plate second, the second fixed plate second,
Form dimensional slip hinge.
First elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing, the second bullet
Property band cover in the first rotation shaft of wheel, the second rotation shaft of wheel, be in tensional state so that the outer surface of the first wheel outer wheel hub and
First actuation head of patch type piezoelectric oscillator offsets, the outer surface of the second wheel outer wheel hub and patch type piezoelectric oscillator second are made
Dynamic head offsets.
The piezoelectric ceramics for generating longitudinal vibration is also posted at the node of metallic matrix longitudinal vibration mode in the trailing flank of walking beam
Piece.
In first wheel, the second wheel, shaft and inner wheel hub can be rotatablely connected by way of clearance fit, can also be with
It is rotatablely connected by bearing.
The number of the middle spoke of first wheel, the second wheel is preferably four.
The utility model can also include crawler belt, and the first wheel, the second wheel are connected by crawler haulage.Crawler belt makes machine
Device human action power more preferably, is more easier across obstacle.Crawler belt is made of metal material.
The invention also discloses a kind of working methods of the mobile robot of patch type piezoelectric driving, comprising following
Process:
As shown in fig. 6, applying the first signal to all piezoelectric ceramic pieces for generating bending vibration, to all vertical for generating
The piezoelectric ceramic piece of vibration applies second signal, and the first signal, second signal differ pi/2 on time phase, so that patch type pressure
With the single order longitudinal vibration and N rank bending vibration of pi/2 phase difference in electric tachometer indicator generation time, so that the first actuation head, the second actuation
Head upper surface particle, which generates, turns to identical elliptic motion a little；First actuation head, the second actuation head drive respectively further through friction
Dynamic first wheel, the second wheel rotate in same direction, as shown in Figure 7.
By changing the sequencing of the time phase difference of the first signal, second signal, change the first actuation head, the second work
The steering of dynamic head upper surface particle elliptic motion a little, and then change the direction of the first wheel, the second vehicle wheel rotation.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in the utility model fields
Justice.It should also be understood that those terms such as defined in the general dictionary should be understood that with upper with the prior art
The consistent meaning of meaning hereinafter, and unless defined as here, will not with idealization or meaning too formal come
It explains.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
The utility model processed, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done,
It should be included within the scope of protection of this utility model.
Claims (7)
1. a kind of mobile robot of patch type piezoelectric driving, which is characterized in that comprising patch type piezoelectric oscillator, the first wheel,
Second wheel, the first fixed plate, the second fixed plate, first elastic webbing and second elastic webbing；
The patch type piezoelectric oscillator includes metallic matrix, the first clamping end and the second clamping end；
The metallic matrix includes the first actuation head, the second actuation head and walking beam；
The walking beam is cuboid, includes two end faces in the side of front and back four up and down and left and right；The first actuation head, second
Actuation head includes to make moved end and connecting pin, wherein makees moved end in arc surfaced, connecting pin is in planar；The first actuation head,
The connecting pin of second actuation head is connected with the walking beam or so two end faces respectively；
First clamping end, the second clamping end are separately positioned on the centre of the walking beam upper side, downside, and the first folder
It holds end, be equipped with the mounting hole perpendicular to walking beam leading flank on the second clamping end；
The walking beam upper side, downside post curved for generating at the peak swing of metallic matrix N rank bending vibration modes
The piezoelectric ceramic piece of vibration, the N are even number, are the bending vibration orders of preset operation mode；The leading flank of the walking beam
The piezoelectric ceramic piece for generating single order longitudinal vibration is posted at the node of metallic matrix single order longitudinal vibration mode；
The piezoelectric ceramic piece for generating bending vibration, the piezoelectric ceramic piece for generating longitudinal vibration polarize along its thickness direction；
The piezoelectric ceramic piece of bending vibration is generated from upper side to downside surface polarization, then generates the piezoelectric ceramic piece of longitudinal vibration from trailing flank to front side
Surface polarization；
First fixed plate, the second fixed plate are in crosswise, include first long-armed, second long-armed, the first galianconism and second
Galianconism；Described first is long-armed, second long-armed on same straight line, and end is equipped with open slot along its length；Described
One galianconism, the second galianconism end be equipped with boss, and be respectively equipped on the boss of the first galianconism, the second galianconism and described first
Clamping end, the corresponding fixation hole of the second clamping end upper installing hole；
The patch type piezoelectric oscillator passes through its first clamping end upper installing hole, the fixation hole of first the first galianconism of fixed plate, the
The fixation hole of two the first galianconism of fixed plate be fixed by bolts it is connected so as to be fixed on the first fixed plate first short for the first clamping end
The boss of arm, second the first galianconism of fixed plate boss between；Patch type piezoelectric oscillator by its second clamping end upper installing hole,
The fixation hole of first the second galianconism of fixed plate, second the second galianconism of fixed plate fixation hole be fixed by bolts it is connected so that
Two clamping ends are fixed between the boss of the boss of first the second galianconism of fixed plate, second the second galianconism of fixed plate；
First wheel, the second wheel include inner wheel hub, outer wheel hub, shaft and several spokes, wherein the inner wheel hub,
Outer wheel hub is annular in shape, is arranged concentrically；Several spokes are uniformly mounted between inner wheel hub, outer wheel hub, spoke one end and
Inner wheel hub is connected, the other end and outer wheel hub are connected；The shaft and inner wheel hub rotation connection, enable inner wheel hub with respect to shaft
It is freely rotated, and shaft is equipped with symmetrical first annular groove, second annular groove in inner wheel hub two sides；
It is long-armed that first annular groove, the second annular groove of first rotation shaft of wheel are respectively placed in first fixed plate first
Open slot, in the long-armed open slot of the second fixed plate first, form dimensional slip hinge；First ring of second rotation shaft of wheel
It is long-armed that connected in star, second annular groove are respectively placed in the long-armed open slot of first fixed plate second, the second fixed plate second
Open slot in, formed dimensional slip hinge；
The first elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing, the second bullet
Property band cover in the first rotation shaft of wheel, the second rotation shaft of wheel, be in tensional state so that the outer surface of the first wheel outer wheel hub and
First actuation head of patch type piezoelectric oscillator offsets, the outer surface of the second wheel outer wheel hub and patch type piezoelectric oscillator second are made
Dynamic head offsets.
2. the mobile robot of patch type piezoelectric driving according to claim 1, which is characterized in that after the walking beam
The piezoelectric ceramic piece for generating longitudinal vibration is also posted at the node of metallic matrix longitudinal vibration mode in side.
3. the mobile robot of patch type piezoelectric driving according to claim 1, which is characterized in that first wheel,
In second wheel, shaft and inner wheel hub are rotatablely connected by way of clearance fit.
4. the mobile robot of patch type piezoelectric driving according to claim 1, which is characterized in that first wheel,
In second wheel, shaft and inner wheel hub are rotatablely connected by bearing.
5. the mobile robot of patch type piezoelectric driving according to claim 1, which is characterized in that first wheel,
Second wheel includes four spokes.
6. the mobile robot of patch type piezoelectric driving according to claim 1 or 2, which is characterized in that it also include crawler belt,
First wheel, the second wheel are connected by the crawler haulage.
7. the mobile robot of patch type piezoelectric driving according to claim 6, which is characterized in that crawler belt uses metal material
Material is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821868919.2U CN209479804U (en) | 2018-11-14 | 2018-11-14 | A kind of mobile robot of patch type piezoelectric driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821868919.2U CN209479804U (en) | 2018-11-14 | 2018-11-14 | A kind of mobile robot of patch type piezoelectric driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209479804U true CN209479804U (en) | 2019-10-11 |
Family
ID=68115834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821868919.2U Withdrawn - After Issue CN209479804U (en) | 2018-11-14 | 2018-11-14 | A kind of mobile robot of patch type piezoelectric driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209479804U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334794A (en) * | 2018-11-14 | 2019-02-15 | 南京航空航天大学 | A kind of mobile robot and its working method of patch type piezoelectric driving |
-
2018
- 2018-11-14 CN CN201821868919.2U patent/CN209479804U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334794A (en) * | 2018-11-14 | 2019-02-15 | 南京航空航天大学 | A kind of mobile robot and its working method of patch type piezoelectric driving |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8091823B2 (en) | Flapping apparatus with large flapping angles | |
| CN106175957B (en) | Fixed structure for electric cleaning apparatus drive device | |
| JP2005094957A5 (en) | ||
| TWI361747B (en) | Concentric joint mechanism capable of rotating in multiple degrees of freedom | |
| CN109334794A (en) | A kind of mobile robot and its working method of patch type piezoelectric driving | |
| CN209479804U (en) | A kind of mobile robot of patch type piezoelectric driving | |
| US20050066705A1 (en) | Arm assembly for a crash test dummy | |
| CN103264382B (en) | Wheel-arm-hybrid obstacle surmounting robot with radial telescopic wheels | |
| CN110450180B (en) | Flexible driving rigidity variable differential coupling robot finger device | |
| US20180281913A1 (en) | Robotic Eel | |
| CN104964613B (en) | Use the four axle steering wheels that piezoelectric vibrator drives | |
| CN109466652A (en) | A kind of multiple degrees of freedom trunk mechanism suitable for biped robot | |
| CN103516251A (en) | Vertical-bending-twisting compound rotary type ultrasonic motor piezoelectric vibrator | |
| CN109850005A (en) | Rack gear auxiliary type electrically powered steering apparatus using same | |
| JPH0287981A (en) | Piezoelectric actuator | |
| CN105539793B (en) | Cruise and the interchangeable bionic machine fishtail fin angle varying mechanism of charge mode | |
| CN103507631B (en) | Vibration energy storing device and vibration energy storage rickshaw | |
| CN103746601A (en) | Paster transducer cylinder traveling wave piezoelectric supersonic motor vibrator | |
| CN111572816A (en) | Surface-mounted traveling wave type piezoelectric driving wheel type mobile robot and working method thereof | |
| CN203293183U (en) | Wheel-arm hybrid type obstacle crossing robot provided with radial telescopic wheels | |
| KR101749572B1 (en) | Structure of robot joint and robot having the same | |
| CN207534802U (en) | Rotation system | |
| CN203596763U (en) | Longitudinal-bending-torsional composite rotary supersonic wave motor piezoelectric oscillator | |
| JPS63262068A (en) | Vibration wave motor | |
| CN102005967B (en) | Single drive micro piezoelectric motor for controlling steering with frequency |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20191011 Effective date of abandoning: 20230623 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20191011 Effective date of abandoning: 20230623 |