技术领域technical field
本发明涉及一种仿生机器人，具体涉及一种仿生机器人柔性尾部机构。The invention relates to a bionic robot, in particular to a flexible tail mechanism of a bionic robot.
背景技术Background technique
随着科学技术的发展，机器人的应用也越来越广泛，仿生机器人作为机器人发展应用的一个学科，也越来越受到人们的重视，发展也越来越快。With the development of science and technology, the application of robots is becoming more and more extensive. As a subject of the development and application of robots, bionic robots have also received more and more attention from people, and their development has become faster and faster.
仿生机器人尾部作为其中仿生机器人的一个重要组成部分，其机构关节的特征、驱动方式、关节自由度等对机器人的稳定性起到很重要的影响。目前仿生机器人尾部机构相对存在控制系统复杂，摆动不灵活等问题。The tail of the bionic robot is an important part of the bionic robot. The characteristics of the mechanism joints, the driving mode, and the degree of freedom of the joints have an important impact on the stability of the robot. At present, the tail mechanism of bionic robots has problems such as complex control system and inflexible swing.
发明内容Contents of the invention
本发明是为了解决上述问题而进行的，目的在于提供一种仿生机器人柔性尾部机构。The present invention is made to solve the above problems, and aims to provide a flexible tail mechanism of a bionic robot.
本发明提供了一种仿生机器人柔性尾部机构，具有这样的特征，包括：主活动关节，为圆形结构，通过球形副以及摆动支座与仿生机器人身体连接；以及副活动单元，通过弹簧以及关节连接件与主活动关节连接。The invention provides a flexible tail mechanism of a bionic robot, which has such characteristics, including: a main movable joint, which is a circular structure, connected to the body of the bionic robot through a spherical pair and a swing support; and an auxiliary movable unit, through a spring and a joint The connecting piece is connected with the main movable joint.
在本发明提供的仿生机器人柔性尾部机构中，还可以具有这样的特征：其中，副活动单元包括多个副活动关节，多个副活动关节为大小依次递减并顺次连接的圆形结构。In the flexible tail mechanism of the bionic robot provided by the present invention, it may also have such a feature: wherein, the auxiliary movable unit includes a plurality of auxiliary movable joints, and the plurality of auxiliary movable joints are circular structures successively decreasing in size and sequentially connected.
在本发明提供的仿生机器人柔性尾部机构中，还可以具有这样的特征：其中，主活动关节还具有均匀分布在圆形结构上的弹簧支架定位孔。In the flexible tail mechanism of the bionic robot provided by the present invention, it may also have such a feature: wherein, the main movable joint also has spring support positioning holes evenly distributed on the circular structure.
在本发明提供的仿生机器人柔性尾部机构中，还可以具有这样的特征：其中，连接件，具有连接件本体以及向两侧延伸的延伸段，延伸段的水平方向设置有连接件定位孔与连接件摆动限位孔；十字铰连接件，一端具有与延伸段相匹配的凹槽，所述凹槽的两端的水平方向上设置有摆动定位孔以及圆弧状的凹形通孔；另一端的竖直方向设置有转动定位孔。摆动定位孔与连接件定位孔连接，用于实现尾部的上下摆动；凹形通孔与连接件摆动限位孔连接，用于限制尾部上下摆动的幅度；转动定位孔与主活动关节以及副活动单元连接，用于实现尾部的左右摆动。In the bionic robot flexible tail mechanism provided by the present invention, it can also have such a feature: wherein, the connecting piece has a connecting piece body and an extension section extending to both sides, and the horizontal direction of the extension section is provided with a connecting piece positioning hole and a connecting piece. Part swing limit hole; cross hinge connector, one end has a groove that matches the extension section, and the two ends of the groove are provided with swing positioning holes and arc-shaped concave through holes in the horizontal direction; A rotation positioning hole is arranged in the vertical direction. The swing positioning hole is connected with the positioning hole of the connector to realize the up and down swing of the tail; the concave through hole is connected with the swing limit hole of the connector to limit the amplitude of the tail's up and down swing; the rotation positioning hole is connected with the main movable joint and the auxiliary movable The unit is connected to realize the left and right swing of the tail.
在本发明提供的仿生机器人柔性尾部机构中，还可以具有这样的特征：其中，弹簧通过弹簧支架与弹簧支架定位孔对应连接。In the flexible tail mechanism of the bionic robot provided by the present invention, it may also have such a feature: wherein, the spring is correspondingly connected to the positioning hole of the spring support through the spring support.
在本发明提供的仿生机器人柔性尾部机构中，还可以具有这样的特征：其中，弹簧的弹性系数范围为0-100N/m。In the flexible tail mechanism of the bionic robot provided by the present invention, it may also have such a feature: wherein, the elastic coefficient range of the spring is 0-100N/m.
发明的作用与效果Function and Effect of Invention
根据本发明所涉及的一种仿生机器人柔性尾部机构，因为仿生机器人柔性尾部机构的活动关节为圆形结构，并且大小依次递减，因而该尾部机构结构简单，稳定性好；主活动关节与副活动单元之间，以及各副活动关节之间均通过弹簧以及关节连接件连接，关节连接件连接可以实现尾部的上下左右摆动，且关节连接件上的凹形通孔可以限制尾部上下摆动的幅度，使仿生机器人的摆动更具仿生性；尾部活动为被动自由度，弹簧均匀分布在活动关节上，使得尾部机构稳定性好，尾部靠惯性摆动，靠弹簧实现复位，使得摆动更具柔韧性以及灵活形。只需通过一个外加的步进电机控制主活动关节，就可控制整个尾部的灵活摆动。所以，本发明仿生机器人柔性尾部机构具有结构简单，稳定性好，尾部摆动灵活，系统控制简单的特点。According to the flexible tail mechanism of a bionic robot involved in the present invention, because the movable joints of the flexible tail mechanism of the bionic robot are circular structures, and the sizes are successively reduced, the structure of the tail mechanism is simple and the stability is good; the main movable joint and the auxiliary movable joint The units and the movable joints are connected by springs and joint connectors. The joint connectors can swing the tail up and down. Make the swing of the bionic robot more bionic; the tail movement is a passive degree of freedom, and the springs are evenly distributed on the movable joints, so that the stability of the tail mechanism is good. The tail swings by inertia and resets by springs, making the swing more flexible and flexible shape. The flexible swing of the entire tail can be controlled only by controlling the main movable joint through an additional stepping motor. Therefore, the bionic robot flexible tail mechanism of the present invention has the characteristics of simple structure, good stability, flexible tail swing and simple system control.
附图说明Description of drawings
图1是本发明的实施例中一种仿生机器人柔性尾部机构立体示意图；图2是本发明的实施例中主活动关节结构示意图；Fig. 1 is a three-dimensional schematic diagram of a flexible tail mechanism of a bionic robot in an embodiment of the present invention; Fig. 2 is a structural schematic diagram of a main movable joint in an embodiment of the present invention;
图3是本发明的实施例中弹簧支架结构示意图；Fig. 3 is a schematic view of the structure of the spring support in an embodiment of the present invention;
图4是本发明的实施例中关节连接件结构示意图；Fig. 4 is a schematic structural diagram of a joint connector in an embodiment of the present invention;
图5是本发明的实施例中连接件结构示意图；Fig. 5 is a schematic structural diagram of a connector in an embodiment of the present invention;
图6是本发明的实施例中十字铰连接件结构示意图；Fig. 6 is a schematic structural diagram of a cross hinge connector in an embodiment of the present invention;
图7是本发明的实施例中第一副活动关节结构示意图；以及Fig. 7 is a schematic diagram of the structure of the first secondary movable joint in the embodiment of the present invention; and
图8是本发明的实施例中第五副活动关节结构示意图。Fig. 8 is a schematic diagram of the structure of the fifth movable joint in the embodiment of the present invention.
具体实施方式detailed description
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，以下实施例结合附图对本发明一种仿生机器人柔性尾部机构作具体阐述。In order to make the technical means, creative features, goals and effects of the present invention easy to understand, the following embodiments will specifically illustrate a bionic robot flexible tail mechanism of the present invention in conjunction with the accompanying drawings.
图1是本发明的实施例中一种仿生机器人柔性尾部机构立体示意图。Fig. 1 is a three-dimensional schematic diagram of a flexible tail mechanism of a bionic robot in an embodiment of the present invention.
如图1所示，一种仿生机器人柔性尾部机构100包括主活动关节10、多个弹簧支架20、多个弹簧30、多个关节连接件40、以及副活动单元50。As shown in FIG. 1 , a flexible tail mechanism 100 of a bionic robot includes a main movable joint 10 , a plurality of spring supports 20 , a plurality of springs 30 , a plurality of joint connectors 40 , and a secondary movable unit 50 .
图2是本发明的实施例中主活动关节结构示意图。Fig. 2 is a schematic diagram of the structure of the main movable joint in the embodiment of the present invention.
如图2所示，主活动关节10包括球形副11、摆动支座12、连接铰座13、弹簧支架定位孔14。As shown in FIG. 2 , the main movable joint 10 includes a spherical pair 11 , a swing support 12 , a connecting hinge seat 13 , and a spring support positioning hole 14 .
主活动关节10为圆形结构，内设两个十字交叉状支撑轴，支撑轴交点过圆心。The main movable joint 10 is a circular structure, and two cross-shaped support shafts are arranged inside, and the intersection points of the support shafts pass through the center of the circle.
球形副11设置在主活动关节10靠近机器人身体一侧的圆心处，与仿生机器人身体连接。The spherical pair 11 is arranged at the center of the circle of the main movable joint 10 near the side of the robot body, and is connected with the bionic robot body.
摆动支座12设置在主活动关节10靠近机器人身体一侧，且设置在任意一个支撑轴的两端，与仿生机器人身体连接。The swing support 12 is arranged on the side of the main movable joint 10 close to the robot body, and is arranged on the two ends of any support shaft, and is connected with the bionic robot body.
连接铰座13设置在主活动关节10远离机器人身体一侧的圆心处。The connecting hinge seat 13 is arranged at the center of the circle of the main movable joint 10 away from the robot body side.
弹簧支架定位孔14设置在圆形结构上远离机器人身体的一侧，与多个弹簧支架20中的一个对应连接。在本实施例中，弹簧支架定位孔14的个数为4个，均匀分布在圆形结构中。The spring bracket positioning hole 14 is arranged on the side away from the robot body on the circular structure, and is correspondingly connected with one of the plurality of spring brackets 20 . In this embodiment, the number of spring support positioning holes 14 is four, which are evenly distributed in the circular structure.
图3是本发明的实施例中弹簧支架结构示意图。Fig. 3 is a schematic diagram of the structure of the spring support in the embodiment of the present invention.
如图3所示，弹簧支架20为“T”型结构，水平方向上设置有两个通孔，垂直方向设置有一个通孔。弹簧支架20通过水平方向上的两个通孔与设置在主活动关节10上的多个弹簧支架定位孔14对应连接；通过垂直方向上的通孔与多个弹簧30对应连接。As shown in FIG. 3 , the spring support 20 is a "T"-shaped structure, with two through holes arranged in the horizontal direction and one through hole arranged in the vertical direction. The spring support 20 is correspondingly connected with the plurality of spring support positioning holes 14 provided on the main movable joint 10 through two through holes in the horizontal direction; it is correspondingly connected with the plurality of springs 30 through the through holes in the vertical direction.
弹簧30的弹性系数范围为0-100N/m，使用者可以根据实际情况选择该弹性系数范围内的值。The elastic coefficient range of the spring 30 is 0-100N/m, and the user can select a value within the elastic coefficient range according to the actual situation.
图4是本发明的实施例中关节连接件结构示意图。Fig. 4 is a schematic structural diagram of the joint connector in the embodiment of the present invention.
如图4所示，关节连接件40包括连接件41与两个十字铰连接件42、43。关节连接件40一端与主活动关节10连接，另一端与副活动单元50连接。As shown in FIG. 4 , the joint joint 40 includes a joint 41 and two cross hinge joints 42 , 43 . One end of the joint connector 40 is connected to the main movable joint 10 , and the other end is connected to the auxiliary movable unit 50 .
图5是本发明的实施例中连接件结构示意图。Fig. 5 is a structural schematic diagram of the connector in the embodiment of the present invention.
连接件41，具有连接件本体411以及向两侧延伸的延伸段412，延伸段412的水平方向设置有连接件定位孔4121与连接件摆动限位孔4122。连接件摆动限位孔4122处设置有定位销(图中未标明)。The connector 41 has a connector body 411 and an extension 412 extending to both sides. The extension 412 is provided with a connector positioning hole 4121 and a connector swing limiting hole 4122 in the horizontal direction. A positioning pin (not shown in the figure) is provided at the swing limiting hole 4122 of the connecting piece.
两个十字铰连接件42、43结构以及与连接件41的连接关系均相同，以其中一个为例做详细描述。The structures of the two cross hinge connectors 42 and 43 and the connection relationship with the connector 41 are the same, and one of them is taken as an example to describe in detail.
图6是本发明的实施例中十字铰连接件结构示意图。Fig. 6 is a schematic structural diagram of a cross hinge connector in an embodiment of the present invention.
十字铰连接件42，一端具有与延伸段412相匹配的凹槽421，凹槽421的两端的水平方向上设置有摆动定位孔422以及圆弧状的凹形通孔423；另一端的竖直方向设置有转动定位孔424。The cross hinge connector 42 has a groove 421 matching the extension section 412 at one end, and a swing positioning hole 422 and an arc-shaped concave through hole 423 are arranged on the horizontal direction at both ends of the groove 421; A rotation positioning hole 424 is provided in the direction.
摆动定位孔422与连接件定位孔4121连接，组成一个摆动副，用于实现尾部的上下摆动。The swing positioning hole 422 is connected with the connecting member positioning hole 4121 to form a swing pair for realizing the up and down swing of the tail.
凹形通孔423卡在连接件摆动限位孔4122上的定位销中，用于限制尾部上下摆动的幅度。The concave through hole 423 is stuck in the positioning pin on the swing limiting hole 4122 of the connector, and is used to limit the amplitude of the tail part swinging up and down.
转动定位孔424与连接铰座13连接，组成一个转动副，用于实现尾部的左右摆动。The rotation positioning hole 424 is connected with the connecting hinge seat 13 to form a rotation pair for realizing the left and right swing of the tail.
如图1所示，副活动单元50包括第一副活动关节51、第二副活动关节52、第三副活动关节53、第四副活动关节54以及第五副活动关节55。副活动单元50通过弹簧30以及关节连接件40与主活动关节连接10。As shown in FIG. 1 , the auxiliary movable unit 50 includes a first auxiliary movable joint 51 , a second auxiliary movable joint 52 , a third auxiliary movable joint 53 , a fourth auxiliary movable joint 54 and a fifth auxiliary movable joint 55 . The auxiliary movable unit 50 is connected to the main movable joint 10 through the spring 30 and the joint connecting member 40 .
在本实施例中，第一副活动关节51、第二副活动关节52、第三副活动关节53以及第四副活动关节54的结构相似，大小依次递减，以第一副活动关节51为例做详细描述。In this embodiment, the structures of the first secondary movable joint 51, the second secondary movable joint 52, the third secondary movable joint 53 and the fourth secondary movable joint 54 are similar in structure, and their sizes are successively decreased. Taking the first secondary movable joint 51 as an example Give a detailed description.
图7是本发明的实施例中第一副活动关节结构示意图。Fig. 7 is a schematic diagram of the structure of the first secondary movable joint in the embodiment of the present invention.
如图7所示，第一副活动关节51为圆形结构，两侧均具有连接铰座511与均匀分布的多个弹簧支架定位孔512。As shown in FIG. 7 , the first auxiliary movable joint 51 has a circular structure, and both sides have connecting hinge seats 511 and a plurality of spring bracket positioning holes 512 evenly distributed.
靠近主活动关节10一侧的多个弹簧支架定位孔512通过弹簧支座与多个弹簧40的另一端对应连接。The plurality of spring support positioning holes 512 on the side close to the main movable joint 10 are correspondingly connected to the other ends of the plurality of springs 40 through the spring supports.
靠近主活动关节10一侧的连接铰座511与十字铰连接件43上的转动定位孔连接，形成一个转动副。The connecting hinge seat 511 on the side close to the main movable joint 10 is connected with the rotation positioning hole on the cross hinge connector 43 to form a rotation pair.
第二副活动关节52与第一副活动关节51连接、第三副活动关节53与第二副活动关节52连接，第四副活动关节54与第三副活动关节53连接，连接方式均与第一副活动关节51以及主活动关节10间的连接方式相同。The second auxiliary movable joint 52 is connected with the first auxiliary movable joint 51, the third auxiliary movable joint 53 is connected with the second auxiliary movable joint 52, the fourth auxiliary movable joint 54 is connected with the third auxiliary movable joint 53, and the connection methods are all the same as those of the first auxiliary movable joint. The connection between the secondary movable joint 51 and the main movable joint 10 is the same.
图8是本发明的实施例中第五副活动关节结构示意图。Fig. 8 is a schematic diagram of the structure of the fifth movable joint in the embodiment of the present invention.
如图8所示，第五副活动关节55只在一侧设有连接铰座551与弹簧支架定位孔552。第五副活动关节55的大小最小，以相同的连接方式与第四副活动关节54连接。As shown in FIG. 8 , the fifth auxiliary movable joint 55 is only provided with a connecting hinge seat 551 and a spring bracket positioning hole 552 on one side. The size of the fifth secondary movable joint 55 is the smallest, and is connected with the fourth secondary movable joint 54 in the same connection manner.
仿生机器人柔性尾部机构100的工作过程为：外加一个步进电机(图中未标明)作为控制系统，主活动关节10通过球形副11以及摆动支座12与仿生机器人身体连接；副活动单元20，通过弹簧30以及关节连接件40与主活动关节10连接；第一副活动关节51、第二副活动关节52、第三副活动关节53、第四副活动关节54以及第五副活动关节55，大小依次递减，并顺次连接，连接方式同副活动单元20与主活动关节10之间的连接方式相同。The working process of the bionic robot flexible tail mechanism 100 is: add a stepper motor (not shown in the figure) as the control system, the main movable joint 10 is connected with the bionic robot body through the spherical pair 11 and the swing support 12; the auxiliary movable unit 20, Connect with the main movable joint 10 through the spring 30 and the joint connector 40; the first auxiliary movable joint 51, the second auxiliary movable joint 52, the third auxiliary movable joint 53, the fourth auxiliary movable joint 54 and the fifth auxiliary movable joint 55, The size decreases successively, and they are connected sequentially, and the connection method is the same as the connection method between the auxiliary movable unit 20 and the main movable joint 10 .
通过外加的一个步进电机控制主活动关节10的摆动，靠惯性摆动，靠弹簧实现复位，来依次带动后面副活动单元20中第一副活动关节21、第二副活动关节22、第三副活动关节23、第四副活动关节24以及第五副活动关节25的灵活摆动，实现整个仿生机器人柔性尾部机构100的联动。The swing of the main movable joint 10 is controlled by an additional stepping motor, and the swing is achieved by inertia and reset by a spring, so as to sequentially drive the first secondary movable joint 21, the second secondary movable joint 22, and the third secondary movable joint 20 in the rear secondary movable unit 20. The flexible swing of the movable joint 23 , the fourth pair of movable joints 24 and the fifth pair of movable joints 25 realizes the linkage of the flexible tail mechanism 100 of the bionic robot.
实施例的作用与效果Function and effect of embodiment
根据本发明所涉及的一种仿生机器人柔性尾部机构，因为仿生机器人柔性尾部机构的活动关节为圆形结构，并且大小依次递减，因而该尾部机构结构简单，稳定性好；主活动关节与副活动单元之间，以及各副活动关节之间均通过弹簧以及关节连接件连接，关节连接件连接可以实现尾部的上下左右摆动，且关节连接件上的凹形通孔可以限制尾部上下摆动的幅度，使仿生机器人的摆动更具仿生性；尾部活动为被动自由度，弹簧均匀分布在活动关节上，使得尾部机构稳定性好，尾部靠惯性摆动，靠弹簧实现复位，使得摆动更具柔韧性以及灵活形。只需通过一个外加的步进电机控制主活动关节，就可控制整个尾部的灵活摆动。所以，本发明仿生机器人柔性尾部机构具有结构简单，稳定性好，尾部摆动灵活，系统控制简单的特点。According to the flexible tail mechanism of a bionic robot involved in the present invention, because the movable joints of the flexible tail mechanism of the bionic robot are circular structures, and the sizes are successively reduced, the structure of the tail mechanism is simple and the stability is good; the main movable joint and the auxiliary movable joint The units and the movable joints are connected by springs and joint connectors. The joint connectors can swing the tail up and down. Make the swing of the bionic robot more bionic; the tail movement is a passive degree of freedom, and the springs are evenly distributed on the movable joints, so that the stability of the tail mechanism is good. The tail swings by inertia and resets by springs, making the swing more flexible and flexible shape. The flexible swing of the entire tail can be controlled only by controlling the main movable joint through an additional stepping motor. Therefore, the bionic robot flexible tail mechanism of the present invention has the characteristics of simple structure, good stability, flexible tail swing and simple system control.
上述实施方式为本发明的优选案例，并不用来限制本发明的保护范围。The above embodiments are preferred examples of the present invention, and are not intended to limit the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554971.4ACN107351117B (en) | 2017-07-10 | 2017-07-10 | A kind of bio-robot compliant tail portions mechanism |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554971.4ACN107351117B (en) | 2017-07-10 | 2017-07-10 | A kind of bio-robot compliant tail portions mechanism |
| Publication Number | Publication Date |
|---|---|
| CN107351117Atrue CN107351117A (en) | 2017-11-17 |
| CN107351117B CN107351117B (en) | 2019-11-01 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710554971.4AActiveCN107351117B (en) | 2017-07-10 | 2017-07-10 | A kind of bio-robot compliant tail portions mechanism |
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| CN (1) | CN107351117B (en) |
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|---|---|---|---|---|
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| CN111720663A (en)* | 2020-06-17 | 2020-09-29 | 山东大学 | Modular Pipe Robot Based on Tensioning Integral |
| CN115383732A (en)* | 2022-10-14 | 2022-11-25 | 塞伯睿机器人技术(南京)有限公司 | A wire-driven snake-arm robot |
| CN116691979A (en)* | 2023-05-19 | 2023-09-05 | 中山大学 | Flexible crocodile-like tail structure driven by swing rod |
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| US5498193A (en)* | 1989-02-08 | 1996-03-12 | Locricchio; Salvatore | Manually actuated toy dinosaur structure and method |
| WO2015163491A1 (en)* | 2014-04-21 | 2015-10-29 | 배정빈 | Self-assembly multi-joint dinosaur model |
| CN105729500A (en)* | 2016-05-09 | 2016-07-06 | 上海理工大学 | Tail part structure of bionic hydraulic dinosaur robot |
| CN205363953U (en)* | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN105798896A (en)* | 2016-05-30 | 2016-07-27 | 天津大学 | Variable-stiffness continuous type mechanism based on air pressure locking principle |
| CN105965514A (en)* | 2016-05-09 | 2016-09-28 | 上海理工大学 | Bionic hydraulic four-foot machine dinosaur structure |
| CN106081035A (en)* | 2016-07-05 | 2016-11-09 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN205819522U (en)* | 2016-08-02 | 2016-12-21 | 刘钰 | Staggered form Grazing condition bionic fish tail propulsive mechanism based on linkage |
| CN206066487U (en)* | 2016-08-25 | 2017-04-05 | 广州联维物联网科技有限公司 | Bio-robot tail structure |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5498193A (en)* | 1989-02-08 | 1996-03-12 | Locricchio; Salvatore | Manually actuated toy dinosaur structure and method |
| WO2015163491A1 (en)* | 2014-04-21 | 2015-10-29 | 배정빈 | Self-assembly multi-joint dinosaur model |
| CN205363953U (en)* | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN105729500A (en)* | 2016-05-09 | 2016-07-06 | 上海理工大学 | Tail part structure of bionic hydraulic dinosaur robot |
| CN105965514A (en)* | 2016-05-09 | 2016-09-28 | 上海理工大学 | Bionic hydraulic four-foot machine dinosaur structure |
| CN105798896A (en)* | 2016-05-30 | 2016-07-27 | 天津大学 | Variable-stiffness continuous type mechanism based on air pressure locking principle |
| CN106081035A (en)* | 2016-07-05 | 2016-11-09 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN205819522U (en)* | 2016-08-02 | 2016-12-21 | 刘钰 | Staggered form Grazing condition bionic fish tail propulsive mechanism based on linkage |
| CN206066487U (en)* | 2016-08-25 | 2017-04-05 | 广州联维物联网科技有限公司 | Bio-robot tail structure |
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| CN107813305A (en)* | 2017-11-28 | 2018-03-20 | 常州大学 | A kind of snakelike bio-robot based on flexible concertina joint |
| WO2019104906A1 (en)* | 2017-12-01 | 2019-06-06 | 深圳光启合众科技有限公司 | Bionic flexible structure and robot having same |
| CN109866214A (en)* | 2017-12-01 | 2019-06-11 | 深圳光启合众科技有限公司 | Bionic flexible structure and robot with it |
| CN109866214B (en)* | 2017-12-01 | 2024-05-24 | 佛山顺德光启尖端装备有限公司 | Bionic flexible structure and robot with same |
| CN111720663A (en)* | 2020-06-17 | 2020-09-29 | 山东大学 | Modular Pipe Robot Based on Tensioning Integral |
| CN115383732A (en)* | 2022-10-14 | 2022-11-25 | 塞伯睿机器人技术(南京)有限公司 | A wire-driven snake-arm robot |
| CN116691979A (en)* | 2023-05-19 | 2023-09-05 | 中山大学 | Flexible crocodile-like tail structure driven by swing rod |
| Publication number | Publication date |
|---|---|
| CN107351117B (en) | 2019-11-01 |
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