CN216067453U - Steering mechanism for bionic snake-shaped robot - Google Patents
Steering mechanism for bionic snake-shaped robot Download PDFInfo
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- CN216067453U CN216067453U CN202122335286.7U CN202122335286U CN216067453U CN 216067453 U CN216067453 U CN 216067453U CN 202122335286 U CN202122335286 U CN 202122335286U CN 216067453 U CN216067453 U CN 216067453U
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- bevel gear
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- 230000007246 mechanism Effects 0.000 title claims abstract description 114
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 89
- 230000007306 turnover Effects 0.000 abstract description 14
- 230000000670 limiting effect Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model discloses a steering mechanism for a bionic snake-shaped robot, which comprises a steering mechanism shell, a differential device and a turnover device, wherein the differential device and the turnover device are both arranged in the steering mechanism shell, the differential device and the turnover device are respectively arranged at two ends of the steering mechanism shell, and the output ends of the differential device and the turnover device extend out of the steering mechanism shell.
Description
Technical Field
The utility model belongs to the technical field of bionic robots, and particularly relates to a steering mechanism for a bionic snake-shaped robot.
Background
The bionic robot is an electromechanical system with excellent performance designed according to the bionics principle, and is mainly a humanoid robot, a bionic robot and a biological robot.
In recent years, with the rapid development of the bionic technology, the application of the bionic technology in the robot field is more and more extensive, and the bionic robot is more and more intelligent. In the aspect of emergency rescue, China focuses on developing earthquake relief robots, fire rescue robots, flood rescue robots, mine disaster relief robots and the like, and the examples of the emergency rescue robots manufactured by using the bionics principle are few.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a steering mechanism for a bionic snake-shaped robot, which can simulate the motion form of a snake-shaped animal.
The technical scheme adopted by the utility model is as follows:
a steering mechanism for a bionic snake-shaped robot comprises a steering mechanism shell, a differential device and a turnover device, wherein the differential device and the turnover device are both installed in the steering mechanism shell, the differential device and the turnover device are respectively installed at two ends of the steering mechanism shell, and output ends of the differential device and the turnover device extend out of the steering mechanism shell.
Through setting up the steering mechanism shell, make differential gear and turning device install in the steering mechanism shell, the output of differential gear stretches out the steering mechanism shell and is used for being connected with other mechanisms rotation, and turning device's output stretches out the steering mechanism shell and is used for being connected with other mechanisms, and turning device's output shaft and steering mechanism shell rotate and are connected.
The differential device comprises a first steering engine, a first gear transmission assembly, a second steering engine, a second gear transmission assembly, a first bevel gear, a bevel gear shaft, a gear mounting rack and a rotating rack, wherein the first steering engine and the second steering engine are both arranged in a steering mechanism shell, output shafts of the first steering engine and the second steering engine are arranged in parallel, face opposite directions and are respectively positioned on two sides of the steering mechanism shell in the length direction; the first gear transmission assembly comprises a first transmission wheel, a second transmission wheel, a third transmission wheel, a second bevel gear and a first steering engine output gear, the first steering engine output gear is fixedly arranged on a first steering engine output shaft, the first transmission wheel is meshed with the first steering engine output gear, the second transmission wheel is meshed with the first transmission wheel, the third transmission wheel is meshed with the second transmission wheel, rotating shafts of the first transmission wheel, the second transmission wheel and the third transmission wheel are parallel to the first steering engine output shaft and are respectively and rotatably connected to steering mechanism shells at corresponding positions, the second bevel gear and the third transmission wheel are fixed on the same rotating shaft, the second bevel gear is meshed with the first bevel gear, the first bevel gear is fixed on a bevel gear shaft, and the bevel gear shaft is perpendicular to the rotating shaft of the second bevel gear; the second gear transmission assembly comprises a fourth transmission wheel, a fifth transmission wheel, a sixth transmission wheel, a third bevel gear and a second steering engine output gear, the second steering engine output gear is fixedly arranged on a second steering engine output shaft, the fourth transmission wheel is meshed with the second steering engine output gear, the fifth transmission wheel is meshed with the fourth transmission wheel, the sixth transmission wheel is meshed with the fifth transmission wheel, rotating shafts of the fourth transmission wheel, the fifth transmission wheel and the sixth transmission wheel are parallel to the second steering engine output shaft and are respectively and rotatably connected to steering mechanism shells at corresponding positions, the third bevel gear and the sixth transmission wheel are fixed on the same rotating shaft, the third bevel gear is meshed with the first bevel gear, and the axes of the third bevel gear and the second bevel gear are collinear; one end of the gear mounting rack is rotatably connected with the first bevel gear, the other end of the gear mounting rack is rotatably connected with the second bevel gear, the bevel gear shaft is rotatably connected onto the gear mounting rack, and the bevel gear shaft penetrates through the gear mounting rack and is fixedly connected with the rotating rack positioned above the gear mounting rack.
The first steering gear output gear is arranged on a first steering gear output shaft and used for driving the rotation of the first steering gear output shaft, and the rotation of the first steering gear output gear is sequentially transmitted to a second bevel gear through a driving wheel by arranging the first steering gear and a second steering gear; second steering wheel output gear installs on second steering wheel output shaft, a rotation for transmitting second steering wheel output shaft, through setting up second gear drive subassembly, make the rotation of second steering wheel output gear, transmit the third bevel gear for in proper order through the drive wheel, second bevel gear and third bevel gear mesh with first bevel gear respectively, the one end at corresponding pivot is all fixed to every drive wheel, the other end of pivot is rotated and is connected on the steering mechanism shell, and stretch out the steering mechanism shell, make the pivot inject on the steering mechanism shell through the thrust ring, break away from the steering mechanism shell after preventing the pivot from rotating.
When the rotation direction and the rotation speed of the second bevel gear and the third bevel gear are the same, the first bevel gear, the second bevel gear and the third bevel gear are in a locking state, the first bevel gear drives the first bevel gear, the second bevel gear, the third bevel gear, the bevel gear shaft, the gear mounting rack and the rotating rack to integrally rotate along with the rotating shafts of the second bevel gear and the third bevel gear, and the rotating rack swings up and down.
When the second bevel gear and the third bevel gear have the same rotation rate and opposite rotation directions, the second bevel gear and the third bevel gear drive the first bevel gear to rotate, the first bevel gear rotates to enable the bevel gear shaft fixedly connected with the first bevel gear to rotate, and the rotating frame fixedly connected to the bevel gear shaft also rotates.
Further, the turnover device comprises a third steering engine, a first output shaft, a seventh transmission wheel and a seventh rotating flange, the third steering engine is arranged in the shell of the steering mechanism, the output shaft of the third steering engine is perpendicular to the output shaft of the first steering engine and the bevel gear shaft, the output gear of the third steering engine is meshed with the seventh transmission wheel, one end of the first output shaft is fixedly connected with the seventh transmission wheel, the other end of the first output shaft is rotatably connected with the shell of the steering mechanism and extends out of the shell of the steering mechanism and is fixedly connected with the seventh rotating flange, the first output shaft is parallel to the output shaft of the third steering engine, the seventh rotating flange is used for being connected with other mechanisms, and the other mechanisms can be a rotating frame or a walking mechanism of another adjacent steering mechanism.
Through setting up the third steering wheel, and make third steering wheel output gear install on the output shaft of third steering wheel, provide power for the rotation of third steering wheel output gear, through setting up drive wheel seven, and make drive wheel seven fix on first output shaft, make the rotation of third steering wheel output gear, transmit for the drive wheel seven rather than the meshing, drive wheel seven will rotate and transmit for first output shaft, one of first output shaft position outside the steering mechanism shell is served and is connected the rotating flange, the rotation of first output shaft will drive the rotating flange dish and rotate, the rotating flange dish is as turning device's output.
Specifically, the gear mounting rack is of a U-shaped structure and is provided with two vertical plates and a horizontal plate, one vertical plate is rotationally connected with the second bevel gear, the other vertical plate is rotationally connected with the third bevel gear, a bevel gear shaft is rotationally connected with the horizontal plate, and the bevel gear shaft penetrates through the horizontal plate and is fixedly connected with a rotating rack positioned above the gear mounting rack.
When the rotating direction and the rotating speed of the second bevel gear and the third bevel gear are the same, the first bevel gear, the second bevel gear and the third bevel gear are in a locking state, and the first bevel gear, the second bevel gear, the third bevel gear, the bevel gear shaft, the gear mounting frame and the rotating frame integrally rotate along with the rotating shafts of the second bevel gear and the third bevel gear.
Furthermore, the rotating frame is of an L-shaped structure and is provided with a horizontal plate and a vertical plate, and the horizontal plate of the rotating frame is fixedly connected with the bevel gear shaft.
Through setting up the swivel mount, on the one hand make the swivel mount as differential device's output, on the other hand the swivel mount riser or with running gear rotate the connection, or with adjacent steering mechanism's rotatory ring flange connection, its horizontal plate is connected on corresponding differential device's bevel gear axle, the swivel mount also has the connection function.
Further, the first steering engine and the second steering engine are stacked up and down, and the first steering engine is located below the second steering engine.
Through range upon range of setting from top to bottom first steering wheel and second steering wheel, can practice thrift the inner space of steering mechanism shell, can reduce steering mechanism's weight with the relatively little of steering mechanism shell, overturn more easily.
The utility model has the beneficial effects that:
the utility model can be used for the bionic snake-shaped robot to realize the motions of lifting, falling, overturning and the like, and can help the robot to realize the walking state of animals such as snakes and the like.
Drawings
Fig. 1 is a schematic diagram of the whole mechanical structure of the bionic snake-shaped robot.
Fig. 2 is a schematic structural view of the steering mechanism.
Fig. 3 is a schematic view of the differential device and the tumbling device.
Parts, elements and numbering in the drawings: the sensor comprises a sensor mounting shell 1, a traveling mechanism 2, an intermediate connecting piece 3, a steering mechanism 4, a single chip microcomputer mounting shell 5, a rotating frame 14, a gear mounting rack 15, a steering mechanism shell 16, a first steering engine 17, a second steering engine 18, a third steering engine 19, a rotating flange 20, a second bevel gear 21, a third driving wheel 22, a second driving wheel 23, a first driving wheel 24, a first steering engine output gear 25, a seventh driving wheel 26, a third steering engine output gear 27, a second steering engine output gear 28, a thrust collar 29, a fourth driving wheel 30, a fifth driving wheel 31, a sixth driving wheel 32, a rotating shaft 33, a bevel gear shaft 34, a third bevel gear 35 and a first bevel gear 36.
Detailed Description
The following provides a detailed description of the embodiments of the present invention, and the technical solutions of the present invention are clearly and completely described with reference to the accompanying drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in figure 1, the steering mechanism of the utility model is used for a bionic snake-shaped robot, and the mechanical structure of the whole robot comprises a walking mechanism 2, a steering mechanism 4 and an intermediate connecting piece 3; in this embodiment, the number of the traveling mechanisms 2 is two, the first traveling mechanism and the second traveling mechanism are respectively, the first traveling mechanism is located at the head of the robot, the first traveling mechanism can be used for installing the sensor installation shell 1, different types of sensors can be installed in the sensor installation shell 1, such as an infrared sensor and the like, the second traveling mechanism is located at the tail of the robot, the second traveling mechanism can be used for installing the single chip microcomputer installation shell 5, a single chip microcomputer can be installed in the single chip microcomputer installation shell 5, the movement of the robot can be controlled, and the robot can move back and forth through the two traveling mechanisms 2.
As shown in fig. 2, in the present embodiment, there are two steering mechanisms 4, the two steering mechanisms 4 are located between the two traveling mechanisms 2, the steering mechanism 4 includes a steering mechanism housing 16, a differential device and a turnover device, the differential device and the turnover device are both installed in the steering mechanism housing 16, the differential device is installed on a side close to the first traveling mechanism, and the turnover device is installed on a side close to the second traveling mechanism.
As shown in fig. 3, the differential device includes a first steering engine 17, a first gear transmission assembly, a second steering engine 18, a second gear transmission assembly, a first bevel gear 36, a bevel gear shaft 34, a gear mounting bracket 15 and a rotating bracket 14, wherein the first steering engine 17 and the second steering engine 18 are both installed in the steering mechanism housing 16, and output shafts of the first steering engine 17 and the second steering engine 18 are arranged in parallel and are respectively located on two sides of the steering mechanism housing 16 in the length direction; the first steering engine 17 and the second steering engine 18 are arranged in an up-down stacked mode, the first steering engine 17 is located below the second steering engine 18, the first gear transmission component comprises a first transmission wheel 24, a second transmission wheel 23, a third transmission wheel 22, a second bevel gear 21 and a first steering engine output gear 25, the first steering engine output gear 25 is fixedly installed on a first steering engine output shaft, the first transmission wheel 24 is meshed with the first steering engine output gear 25, the second transmission wheel 23 is meshed with the first transmission wheel 24, the third transmission wheel 22 is meshed with the second transmission wheel 23, rotating shafts 33 of the first transmission wheel 24, the second transmission wheel 23 and the third transmission wheel 22 are parallel to the first steering engine output shaft and are respectively and rotatably connected to the steering mechanism shell 16 at corresponding positions, the second bevel gear 21 and the third transmission wheel 22 are fixed on the same rotating shaft, the second bevel gear 21 is meshed with the first bevel gear 36, the first bevel gear 36 is fixed on a bevel gear shaft 34, the bevel gear shaft 34 is vertically arranged with the rotating shaft of the second bevel gear 21; the second gear transmission component comprises a fourth transmission wheel 30, a fifth transmission wheel 31, a sixth transmission wheel 32, a third bevel gear 35 and a second steering engine output gear 28, the second steering engine output gear is fixedly arranged on a second steering engine output shaft, the fourth transmission wheel 30 is meshed with the second steering engine output gear, the fifth transmission wheel 31 is meshed with the fourth transmission wheel 30, the sixth transmission wheel 32 is meshed with the fifth transmission wheel 31, rotating shafts 33 of the fourth transmission wheel 30, the fifth transmission wheel 31 and the sixth transmission wheel 32 are parallel to the second steering engine output shaft and are respectively and rotatably connected to the steering mechanism shell 16 at corresponding positions, the third bevel gear 35 and the sixth transmission wheel 32 are fixed on the same rotating shaft, and the third bevel gear 35 is meshed with the first bevel gear 36; one end of the gear mounting frame 15 is rotatably connected to the first bevel gear 36, the other end is rotatably connected to the second bevel gear 21, the bevel gear shaft 34 is rotatably connected to the gear mounting frame 15, the bevel gear shaft 34 penetrates through the gear mounting frame 15 to be fixedly connected to the upper rotating frame 14, each driving wheel is fixed to one end of a corresponding rotating shaft 33, the other end of the rotating shaft 33 is rotatably connected to the steering mechanism housing 16 and extends out of the steering mechanism housing 16, the rotating shaft 33 is limited on the steering mechanism housing 16 through the thrust ring 29, and the rotating shaft 33 is prevented from being separated from the steering mechanism housing 16 after being rotated.
When the rotation direction and the rotation speed of the second bevel gear and the third bevel gear are the same, the first bevel gear, the second bevel gear and the third bevel gear are in a locking state, the first bevel gear, the second bevel gear, the third bevel gear, the bevel gear shaft, the gear mounting rack and the rotating rack integrally rotate along with the rotating shafts of the second bevel gear and the third bevel gear, under the limiting action of the first traveling mechanism, the first steering mechanism lifts or falls relative to the first traveling mechanism, and under the common limiting action of the first traveling mechanism and the first steering mechanism, the second steering mechanism lifts or falls relative to the first steering mechanism.
When the second bevel gear and the third bevel gear have the same rotation rate and opposite rotation directions, the second bevel gear and the third bevel gear drive the first bevel gear to rotate, the rotation of the first bevel gear enables the bevel gear shaft fixedly connected with the first bevel gear to rotate, the rotating frame fixedly connected with the bevel gear shaft also rotates, and as the gear mounting frame is rotatably connected with the bevel gear shaft, so that rotation of the bevel gear shaft will not cause rotation of the gear mounting bracket, and by rotating the first bevel gear, the rotating bracket can be caused to rotate correspondingly, under the limiting action of the first travelling mechanism, the first steering mechanism is driven by the rotating frame to swing left and right relative to the first travelling mechanism, under the combined limiting action of the first travelling mechanism and the first steering mechanism, the second steering mechanism is driven by the rotating frame to swing left and right relative to the first steering mechanism.
The gear mounting rack 15 is of a U-shaped structure and is provided with two vertical plates and a horizontal plate, one vertical plate is rotationally connected with the second bevel gear 21, the other vertical plate is rotationally connected with the third bevel gear 35, the bevel gear shaft 34 is rotationally connected with the horizontal plate, and the bevel gear shaft 34 penetrates through the horizontal plate to be fixedly connected with the rotating rack 14 located above the gear mounting rack 15.
The rotating frame 14 is in an L-shaped structure and is provided with a horizontal plate and a vertical plate, the horizontal plate of the rotating frame 14 is fixedly connected with the bevel gear shaft 34, and the vertical plate of the rotating frame 14 is rotatably connected with the first travelling mechanism or fixedly connected with the rotating flange 20 of the adjacent steering mechanism overturning device.
The turnover device comprises a third steering engine 19, a first output shaft, a transmission wheel seven 26 and a rotary flange plate 20, the third steering engine 19 is installed in a steering mechanism shell 16, the output shaft of the third steering engine 19 is perpendicular to the output shaft of the first steering engine and an umbrella gear shaft, a third steering engine output gear 27 is fixedly connected to the output shaft of the third steering engine 19, the third steering engine output gear 27 is meshed with the transmission wheel seven 26, one end of the first output shaft is fixedly connected with the transmission wheel seven 26, the other end of the first output shaft is rotatably connected to the steering mechanism shell 16 and extends out of the steering mechanism shell 16 and is fixedly connected with the rotary flange plate 20, the first output shaft is parallel to the output shaft of the third steering engine 19, and the rotary flange plate 20 is connected with a vertical plate of the rotating frame 14 or connected with a second travelling mechanism.
The rotation of the first output shaft drives the rotary flange plate to rotate, so that the rotary flange plate serves as the output end of the turnover device, and the steering mechanism is turned over relative to the travelling mechanism or the adjacent steering mechanism under the limiting action of the travelling mechanism or the adjacent steering mechanism connected with the steering mechanism through the rotation of the rotary flange plate.
As shown in fig. 1, there are two intermediate connecting members 3, one connecting to the tail end of the first running gear and the other connecting to the head end of the second running gear, the rotating frame 14 of the first steering gear is rotatably connected to the intermediate connecting member 3 of the first running gear, and the rotating flange 20 of the second steering gear is connected to the intermediate connecting member 3 of the second running gear.
Claims (6)
1. The utility model provides a steering mechanism for bionic snakelike robot, its characterized in that includes steering mechanism shell (16), differential gear and turning device, and differential gear and turning device all install in the steering mechanism shell, and differential gear and turning device install respectively at the both ends of steering mechanism shell, and the output of differential gear and turning device all stretches out the steering mechanism shell.
2. The steering mechanism for the bionic snake-shaped robot is characterized in that the differential device comprises a first steering engine (17), a first gear transmission assembly, a second steering engine (18), a second gear transmission assembly, a first bevel gear (36), a bevel gear shaft (34), a gear mounting rack (15) and a rotating rack (14), wherein the first steering engine (17) and the second steering engine (18) are mounted in a steering mechanism shell (16), output shafts of the first steering engine and the second steering engine are arranged in parallel and face opposite directions and are respectively located on two sides of the steering mechanism shell in the length direction;
the first gear transmission component comprises a first transmission wheel (24), a second transmission wheel (23), a third transmission wheel (22), a second bevel gear (21) and a first steering engine output gear (25), the first steering engine output gear is fixedly arranged on a first steering engine output shaft, the first transmission wheel (24) is meshed with the first steering engine output gear, the second transmission wheel (23) is meshed with the first transmission wheel (24), the third transmission wheel (22) is meshed with the second transmission wheel (23), rotating shafts of the first transmission wheel, the second transmission wheel and the third transmission wheel are parallel to the first steering engine output shaft and are respectively and rotatably connected to a steering mechanism shell (16) at a corresponding position through rotating shafts, the second bevel gear (21) and the third transmission wheel (22) are fixed on the same rotating shaft, the second bevel gear (21) is meshed with a first bevel gear shaft (36), and the first bevel gear (36) is fixed on an umbrella shaft (34), the bevel gear shaft is vertically arranged with the rotating shaft of the second bevel gear (21);
the second gear transmission component comprises a fourth transmission wheel (30), a fifth transmission wheel (31), a sixth transmission wheel (32), a third bevel gear (35) and a second steering engine output gear (28), the second steering engine output gear is fixedly arranged on an output shaft of the second steering engine, the fourth transmission wheel (30) is meshed with the second steering engine output gear, the fifth transmission wheel (31) is meshed with the fourth transmission wheel (30), the sixth transmission wheel (32) is meshed with the fifth transmission wheel (31), rotating shafts of the fourth transmission wheel (30), the fifth transmission wheel (31) and the sixth transmission wheel are all parallel to the output shaft of the second steering engine, the third bevel gear (35) and a driving wheel six (32) are fixed on the same rotating shaft, the third bevel gear (35) is meshed with the first bevel gear (36), and the axes of the third bevel gear and the second bevel gear are collinear;
one end of the gear mounting rack (15) is rotatably connected with the first bevel gear (36), the other end of the gear mounting rack is rotatably connected with the second bevel gear (21), the bevel gear shaft (34) is rotatably connected to the gear mounting rack (15), and the bevel gear shaft (34) penetrates through the gear mounting rack (15) and is fixedly connected with the rotating rack (14) located above the gear mounting rack.
3. The steering mechanism for the bionic snake-shaped robot is characterized in that, the turning device comprises a third steering engine (19), a first output shaft, a seventh driving wheel (26) and a rotary flange plate (20), the third steering engine (19) is arranged in the steering mechanism shell (16), an output shaft of the third steering engine is vertically arranged with an output shaft of the first steering engine and an umbrella gear shaft, the output shaft of the third steering engine is fixedly connected with a third steering engine output gear (27), the third steering engine output gear (27) is meshed with a seventh driving wheel (26), one end of the first output shaft is fixedly connected with the seventh driving wheel (26), the other end of the first output shaft is rotatably connected on a steering mechanism shell (16), and the first output shaft and the output shaft of the third steering engine are arranged in parallel, and the first output shaft extends out of a steering mechanism shell (16) and is fixedly connected with a rotating flange plate (20).
4. The steering mechanism for the bionic snake-shaped robot as claimed in claim 3, wherein the gear mounting rack (15) is of a U-shaped structure and has two vertical plates and a horizontal plate, one vertical plate is rotatably connected with the second bevel gear (21), the other vertical plate is rotatably connected with the third bevel gear (35), the bevel gear shaft (34) is rotatably connected with the horizontal plate, and the bevel gear shaft (34) penetrates through the horizontal plate to be fixedly connected with the rotating rack (14) above the gear mounting rack (15).
5. The steering mechanism for the bionic snake-shaped robot as claimed in claim 4, wherein the rotating frame (14) is L-shaped and has a horizontal plate and a vertical plate, and the horizontal plate of the rotating frame (14) is fixedly connected with the bevel gear shaft (34).
6. The steering mechanism for the bionic snake-shaped robot is characterized in that a first steering engine (17) and a second steering engine (18) are arranged in a vertically stacked mode, and the first steering engine (17) is located below the second steering engine (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122335286.7U CN216067453U (en) | 2021-09-26 | 2021-09-26 | Steering mechanism for bionic snake-shaped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122335286.7U CN216067453U (en) | 2021-09-26 | 2021-09-26 | Steering mechanism for bionic snake-shaped robot |
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| Publication Number | Publication Date |
|---|---|
| CN216067453U true CN216067453U (en) | 2022-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122335286.7U Expired - Fee Related CN216067453U (en) | 2021-09-26 | 2021-09-26 | Steering mechanism for bionic snake-shaped robot |
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| CN (1) | CN216067453U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116572227A (en) * | 2023-06-27 | 2023-08-11 | 中国矿业大学 | High-flexibility snake-shaped module for mini-type search and rescue equipment in limited space |
-
2021
- 2021-09-26 CN CN202122335286.7U patent/CN216067453U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116572227A (en) * | 2023-06-27 | 2023-08-11 | 中国矿业大学 | High-flexibility snake-shaped module for mini-type search and rescue equipment in limited space |
| CN116572227B (en) * | 2023-06-27 | 2024-02-23 | 中国矿业大学 | High-flexibility snake-shaped module for mini-type search and rescue equipment in limited space |
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