CN106828651A - A kind of sufficient kinematic robot of deformable wheel - Google Patents
A kind of sufficient kinematic robot of deformable wheel Download PDFInfo
- Publication number
- CN106828651A CN106828651A CN201710047169.6A CN201710047169A CN106828651A CN 106828651 A CN106828651 A CN 106828651A CN 201710047169 A CN201710047169 A CN 201710047169A CN 106828651 A CN106828651 A CN 106828651A
- Authority
- CN
- China
- Prior art keywords
- wheel
- steering wheel
- trunk
- deformable
- leg exercise
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses one kind sufficient kinematic robot of deformable wheel,Including control system and mechanical system,Mechanical system includes trunk,Wheel type motion mechanism and four on the trunk leg exercise mechanisms with the free degree of doing more physical exercises,Wheel type motion mechanism includes the motor of at least one wheel of four wheels and driving installed in mechanical system rear portion,Each leg exercise mechanism includes some steering wheels being serially connected,The output shaft of each steering wheel is mutually perpendicular to,Control system controls each steering wheel to rotate to adjust the pose of each leg exercise mechanism,This passes through the setting of leg exercise mechanism and wheel type motion mechanism,Moved using wheel type motion mechanism when level land is moved,When complicated landform is met with,Switched with realizing the motor pattern between wheel type movement and sufficient formula motion by the leg exercise mechanism pose before and after adjustment,The deformable sufficient kinematic robot motion of wheel is flexible,Strong environmental adaptability,This is invented for quadruped robot technical field.
Description
Technical field
The present invention relates to quadruped robot technical field, more particularly to a kind of sufficient kinematic robot of deformable wheel.
Background technology
With continuing to develop for robot technology, when in face of adverse circumstances and complicated landform, using kinematic robot
To strengthen, its landform is adapted to deformation function and autokinetic movement ability is a kind of developed recently robot technology faster.Compared to wheel
Formula, crawler type or general foot formula kinematic robot, wheel can deformation type robot there is the spy that obstacle climbing ability is strong, movement velocity is high
Point.
To being found after the mobile robot analysis under domestic and international complex environment, the motion of current robot is mainly used
The forms such as ratcheting mechanism, crawler type mechanism, Tui Shi mechanisms and their composite structure.Ratcheting mechanism translational speed quickly, is controlled
System is also simple, but extreme difference is showed in terms of obstacle detouring；Crawler type organizational environment adaptability is very strong, after especially having added swing arm,
But energy consumption is big；Leg formula structure, it is low to environmental requirement because sufficient end and the ground of robot are that point is contacted, thus obstacle climbing ability
By force, but movement velocity is low, structure and control it is all complex；Composite structure, such as carries out leg formula, wheel shoe formula, wheel leg type even
Wheel carries out leg formula, often combines the advantage of its each side, plays each best performance advantage, using also increasingly
Extensively, but its control has certain complexity.
In view of the functional requirement of the mobile-robot system of operation under complex environment, it is badly in need of a kind of four-footed of design deformable
The wheel leg mobile robot that is combined of motion, carry sensor, and can be remotely controlled.
The content of the invention
To solve the above problems, the present invention provides a kind of deformable wheel for moving flexible, strong environmental adaptability and transports enough
Mobile robot.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of sufficient kinematic robot of deformable wheel, including control system and mechanical system, mechanical system include trunk, wheeled fortune
Motivation structure and four on the trunk leg exercise mechanisms with the free degree of doing more physical exercises, wheel type motion mechanism include installing
In the motor of at least one wheel of four wheels and driving at mechanical system rear portion, each leg exercise mechanism includes being serially connected in
Some steering wheels together, the output shaft of each steering wheel is mutually perpendicular to, and control system controls each steering wheel to rotate to adjust each leg exercise
Mechanism's pose is switched with realizing the motor pattern between wheel type movement and sufficient formula motion.
Used as the further improvement of above-mentioned technical proposal, each leg exercise mechanism includes being sequentially connected in series for being fixed together
One steering wheel, the first steering wheel support, the second steering wheel support, the second steering wheel, the 3rd steering wheel and the 3rd steering wheel support, before and after the first steering wheel
Swaying direction install, the second steering wheel swing direction installation, the 3rd steering wheel swing direction install.
Used as the further improvement of above-mentioned technical proposal, four wheels are separately mounted to the two legs portion motion at trunk rear portion
The upper and lower ends of mechanism.
Used as the further improvement of above-mentioned technical proposal, motor has two, is additionally provided with two motors of installation and exists
Two electric machine supports of the trunk rear portion left and right sides, two wheels are connected with two motors respectively, and two wheels turn respectively in addition
It is dynamic to be connected on two the 3rd steering wheel supports at rear portion.
Used as the further improvement of above-mentioned technical proposal, the bottom of each 3rd steering wheel support is provided with slipmat.
Used as the further improvement of above-mentioned technical proposal, trunk is the square plate being made by 3D printing, before trunk
Two middle side parts offer U-shaped otch afterwards, and each leg exercise mechanism is fixedly connected on four edges of trunk.
Used as the further improvement of above-mentioned technical proposal, control system includes master chip, power module, WIFI module, rudder
Machine control port, DC MOTOR CONTROL port, USART, power supply output module, sensor assembly, DC motor driver and journey
Sequence download module.
Used as the further improvement of above-mentioned technical proposal, control system is developed based on ARM, and sensor assembly includes camera
And attitude transducer.
Beneficial effects of the present invention：This deformable sufficient kinematic robot of wheel passes through leg exercise mechanism and wheel type movement machine
The setting of structure, is moved when level land is moved using wheel type motion mechanism, when complicated landform is met with, two anterior leg exercises of trunk
Mechanism stretches vertical with trunk, and then the two leg exercise mechanisms at trunk rear portion put forward, until two leg exercises of front portion
Mechanism lands, and two now anterior leg exercise mechanisms put forward, until trunk reaches horizontal level, then four leg exercise machine
Structure is returned to home position, and completion motor pattern switching, the deformable sufficient kinematic robot of wheel moves flexible, environment and adapts to energy
Power is strong.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is the four-footed motor pattern structural representation of the sufficient kinematic robot of deformable wheel；
Fig. 2 is the wheel type movement mode configuration schematic diagram of the sufficient kinematic robot of deformable wheel.
Specific embodiment
Referring to Figures 1 and 2, the present invention takes turns sufficient kinematic robot, including control system and machinery system for one kind is deformable
System, mechanical system includes trunk 1, wheel type motion mechanism and four on trunk 1 legs with the free degree of doing more physical exercises
Motion, wheel type motion mechanism includes the drive of at least one wheel 7 of four wheels 7 and driving installed in mechanical system rear portion
Dynamic motor 8, each leg exercise mechanism includes some steering wheels being serially connected, and the output shaft of each steering wheel is mutually perpendicular to, control system
Each steering wheel of system control rotates the motor pattern to adjust each leg exercise mechanism pose to realize between wheel type movement and sufficient formula motion
Switching.
By the setting of leg exercise mechanism and wheel type motion mechanism, moved using wheel type motion mechanism when level land is moved,
When complicated landform is met with, two leg exercise mechanisms of the front portion of trunk 1 stretch vertical with trunk 1, then the two of the rear portion of trunk 1
Leg exercise mechanism puts forward, until two leg exercise mechanisms of front portion land, now two anterior leg exercise mechanisms are forward
Pendulum, until trunk 1 reaches horizontal level, then four leg exercise mechanisms are returned to home position, complete motor pattern switching, should
The deformable sufficient kinematic robot motion of wheel is flexible, strong environmental adaptability.
Used as preferred embodiment, each leg exercise mechanism includes being sequentially connected in series the first steering wheel 2, the being fixed together
One steering wheel support 31, the second steering wheel support 32, the second steering wheel 41, the 3rd steering wheel 42 and the 3rd steering wheel support 5, before the first steering wheel 2
Afterwards swaying direction install, the second steering wheel 41 swing direction installation, the swing direction of the 3rd steering wheel 42 install.
Used as preferred embodiment, four wheels 7 are separately mounted to the upper of the two legs portion motion at the rear portion of trunk 1
Lower two ends.
Used as preferred embodiment, motor 8 has two, is additionally provided with two motors 8 of installation at the rear portion of trunk 1
Two electric machine supports 9 of the left and right sides, two wheels 7 are connected with two motors 8 respectively, in addition two wheels 7 company of rotation respectively
It is connected on two the 3rd steering wheel supports 5 at rear portion.
Used as preferred embodiment, the bottom of each 3rd steering wheel support 5 is provided with slipmat 6, and each slipmat 6 is rubber
Slipmat.
Used as preferred embodiment, trunk 1 is the square plate being made by 3D printing, in the front and rear both sides of trunk 1
Portion offers U-shaped otch, and each leg exercise mechanism is fixedly connected on four edges of trunk 1.
As preferred embodiment, control system include master chip, power module, WIFI module, servos control port,
DC MOTOR CONTROL port, USART, power supply output module, sensor assembly, DC motor driver and download program module.
Used as preferred embodiment, control system is fixedly installed on trunk 1, and control system is developed based on ARM, sensing
Device module includes camera and attitude transducer, and attitude transducer is MPU6050 attitude transducers, and the function of control system is main
It is that treatment is acquired to the data of sensor assembly passback, host computer is then radioed to, according to host computer analysis result
Control is coordinated to each steering wheel in leg exercise mechanism and motor 8.
Used as preferred embodiment, the first steering wheel 2 is single shaft steering wheel, and the second steering wheel 41 and the 3rd steering wheel 42 are twin shaft
Steering wheel, two electric machine supports 9 are fixedly installed on the rear portion left and right sides of trunk 1, and two motors 8 are fixed by two electric machine supports 9
Be arranged on the left and right sides at the rear portion of trunk 1, two motors 8 are DC brushless motor, two wheels 7 respectively with two motors
8 drive connections turn into driving wheel, and two wheels 7 are rotatably connected on two the 3rd steering wheel supports 5 at rear portion respectively in addition turns into driven
Wheel.
As preferred embodiment, when the deformable sufficient kinematic robot foot formula of wheel is moved, each leg exercise mechanism
Motion is realized in end using the motion mode of parabolic shape, the robot based on MATLAB in the case of given end orbit
Tool box calculates output angle of each steering wheel at each moment against solution, and the motion of each steering wheel is controlled so that four by control system
Bar leg alternating movement, realizes sufficient formula motion.
During wheel type movement, two wheels 7 being connected with two motors 8 are driving wheel, and two wheels 7 in addition are follower,
By the rotational angle of the second steering wheel 41 adjusting direction of motion during robot wheel type movement.
When needing to be transformed into wheel type movement pattern by sufficient formula motor pattern, four first leg exercise mechanisms stretch and ground
The perpendicular shape in face, then the two leg exercise mechanisms at rear portion swing forward simultaneously, two anterior leg exercise mechanism swing backwards,
Now two driving wheels land, and the two leg exercise mechanism bottoms of straight configuration and front portion recover extremely in the two leg exercise mechanisms at rear portion
Extreme position, that is, complete transfer process.
When needing to arrive sufficient formula motor pattern by wheel type movement pattern switching, two leg exercise mechanisms of front portion first stretch
To with the upright position of trunk 1, the two leg exercise mechanisms at rear portion slowly forward swing, until two leg exercise mechanisms of front portion land,
Two now anterior leg exercise mechanisms slowly forward swing, untill trunk 1 reaches horizontal level, then four leg exercise machines
Structure is returned to initial position simultaneously, that is, complete transfer process.
Certainly, the invention is not limited in above-mentioned implementation method, those of ordinary skill in the art are without prejudice to the present invention
Equivalent variations or replacement can be also made on the premise of spirit, these equivalent deformations or replacement are all contained in the application claim
In limited range.
Claims (8)
1. one kind is deformable takes turns sufficient kinematic robot, it is characterised in that：Including control system and mechanical system, the machinery system
System includes trunk（1）, wheel type motion mechanism and installed in the trunk（1）On four have do more physical exercises the free degree legs fortune
Motivation structure, the wheel type motion mechanism includes the four wheels installed in mechanical system rear portion（7）With drive at least one wheel
（7）Motor（8）, each leg exercise mechanism includes some steering wheels for being serially connected, the output of each steering wheel
Axle is mutually perpendicular to, the control system control each steering wheel to rotate with adjust each leg exercise mechanism pose with realize wheel type movement and
Motor pattern between sufficient formula is moved switches.
2. the deformable sufficient kinematic robot of wheel according to claim 1, it is characterised in that：Each leg exercise mechanism
Including being sequentially connected in series the first steering wheel being fixed together（2）, the first steering wheel support（31）, the second steering wheel support（32）, the second rudder
Machine（41）, the 3rd steering wheel（42）With the 3rd steering wheel support（5）, first steering wheel（2）Swing direction is installed, and described second
Steering wheel（41）Swing direction installation, the 3rd steering wheel（42）Install in swing direction.
3. the deformable sufficient kinematic robot of wheel according to claim 2, it is characterised in that：Four wheels（7）Point
An Zhuan not trunk（1）The upper and lower ends of the two legs portion motion at rear portion.
4. the deformable sufficient kinematic robot of wheel according to claim 2, it is characterised in that：The motor（8）Have
Two, it is additionally provided with motor described in installation two（8）In trunk（1）Two electric machine supports of the rear portion left and right sides（9）, described in two
Wheel（7）Respectively with motor described in two（8）It is connected, in addition wheel described in two（7）Rear portion is rotatably connected on respectively
Two the 3rd steering wheel supports（5）On.
5. the deformable sufficient kinematic robot of wheel according to claim 4, it is characterised in that：Each 3rd steering wheel support
（5）Bottom be provided with slipmat（6）.
6. the deformable sufficient kinematic robot of wheel according to claim 1, it is characterised in that：The trunk（1）It is by 3D
The square plate of printing and making, the trunk（1）Front and rear two middle side part offer U-shaped otch, each leg exercise
Mechanism is fixedly connected on trunk（1）Four edges.
7. the sufficient kinematic robot of deformable wheel according to claim 1~6 any one, it is characterised in that：The control
System processed includes that master chip, power module, WIFI module, servos control port, DC MOTOR CONTROL port, USART, power supply are defeated
Go out module, sensor assembly, DC motor driver and download program module.
8. the deformable sufficient kinematic robot of wheel according to claim 7, it is characterised in that：The control system is based on
ARM is developed, and the sensor assembly includes camera and attitude transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710047169.6A CN106828651B (en) | 2017-01-20 | 2017-01-20 | A kind of sufficient kinematic robot of deformable wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710047169.6A CN106828651B (en) | 2017-01-20 | 2017-01-20 | A kind of sufficient kinematic robot of deformable wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106828651A true CN106828651A (en) | 2017-06-13 |
| CN106828651B CN106828651B (en) | 2019-04-23 |
Family
ID=59120385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710047169.6A Active CN106828651B (en) | 2017-01-20 | 2017-01-20 | A kind of sufficient kinematic robot of deformable wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106828651B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364506A (en) * | 2017-07-12 | 2017-11-21 | 清华大学 | A kind of track combined quadruped robot of foot |
| CN107685786A (en) * | 2017-07-29 | 2018-02-13 | 华南理工大学 | A kind of leg mechanism of quadruped robot |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN108502049A (en) * | 2018-06-26 | 2018-09-07 | 东北大学 | A kind of robot based on wheeled sufficient formula composite chassis |
| CN108622225A (en) * | 2018-06-22 | 2018-10-09 | 吉林大学 | A kind of anthropomorphic robot of wheel type movement |
| CN108638019A (en) * | 2018-05-08 | 2018-10-12 | 浙江大学 | The deformable bionical wheel robot leg of one kind and its control method |
| CN112046662A (en) * | 2020-08-13 | 2020-12-08 | 哈尔滨工业大学（深圳） | Walking-replacing following robot and walking-replacing following method thereof |
| WO2021047680A1 (en) * | 2020-03-27 | 2021-03-18 | 之江实验室 | Reconfigurable foot-type robot having two-foot, four-wheel and four-foot movement modes |
| CN113212589A (en) * | 2021-06-09 | 2021-08-06 | 大连海事大学 | Wheel-foot type robot leg structure |
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
| CN114952884A (en) * | 2022-05-22 | 2022-08-30 | 北京工业大学 | Wheel-foot integrated robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287523A (en) * | 2013-05-06 | 2013-09-11 | 中国科学技术大学 | Composite transformation mobile robot combining elastic foot and wheel type motion mechanism |
| CN105035196A (en) * | 2015-06-26 | 2015-11-11 | 赵姝颖 | Transformable wheeled robot of cubic structure |
| CN105151153A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Wheel-foot hybrid mode hexapod robot moving platform |
| CN105667622A (en) * | 2016-01-14 | 2016-06-15 | 哈尔滨工业大学 | Six-wheel-foot type moving robot with three robot bodies |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
-
2017
- 2017-01-20 CN CN201710047169.6A patent/CN106828651B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287523A (en) * | 2013-05-06 | 2013-09-11 | 中国科学技术大学 | Composite transformation mobile robot combining elastic foot and wheel type motion mechanism |
| CN105035196A (en) * | 2015-06-26 | 2015-11-11 | 赵姝颖 | Transformable wheeled robot of cubic structure |
| CN105151153A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Wheel-foot hybrid mode hexapod robot moving platform |
| CN105667622A (en) * | 2016-01-14 | 2016-06-15 | 哈尔滨工业大学 | Six-wheel-foot type moving robot with three robot bodies |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364506A (en) * | 2017-07-12 | 2017-11-21 | 清华大学 | A kind of track combined quadruped robot of foot |
| CN107364506B (en) * | 2017-07-12 | 2019-08-09 | 清华大学 | A kind of track combined quadruped robot of foot |
| CN107685786B (en) * | 2017-07-29 | 2023-12-01 | 华南理工大学 | Leg mechanism of four-legged robot |
| CN107685786A (en) * | 2017-07-29 | 2018-02-13 | 华南理工大学 | A kind of leg mechanism of quadruped robot |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN108638019A (en) * | 2018-05-08 | 2018-10-12 | 浙江大学 | The deformable bionical wheel robot leg of one kind and its control method |
| CN108622225A (en) * | 2018-06-22 | 2018-10-09 | 吉林大学 | A kind of anthropomorphic robot of wheel type movement |
| CN108502049A (en) * | 2018-06-26 | 2018-09-07 | 东北大学 | A kind of robot based on wheeled sufficient formula composite chassis |
| CN108502049B (en) * | 2018-06-26 | 2023-11-14 | 东北大学 | Robot based on wheeled foot type composite chassis |
| WO2021047680A1 (en) * | 2020-03-27 | 2021-03-18 | 之江实验室 | Reconfigurable foot-type robot having two-foot, four-wheel and four-foot movement modes |
| CN112046662A (en) * | 2020-08-13 | 2020-12-08 | 哈尔滨工业大学（深圳） | Walking-replacing following robot and walking-replacing following method thereof |
| CN113212589A (en) * | 2021-06-09 | 2021-08-06 | 大连海事大学 | Wheel-foot type robot leg structure |
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
| CN114750851B (en) * | 2021-07-12 | 2023-08-01 | 智能移动机器人(中山)研究院 | Variable-structure four-six-foot robot based on steering engine and advancing method thereof |
| CN114952884A (en) * | 2022-05-22 | 2022-08-30 | 北京工业大学 | Wheel-foot integrated robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106828651B (en) | 2019-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106828651A (en) | A kind of sufficient kinematic robot of deformable wheel | |
| CN102180205B (en) | Robot with wheel legs | |
| CN204801920U (en) | 3D prints six sufficient bio -robots | |
| CN101913311B (en) | Multiple motion mode robot and motion mode thereof | |
| CN208340114U (en) | A kind of fighter toy | |
| CN105013182B (en) | Wheel can become born of the same parents' toy robot completely | |
| CN201784421U (en) | Robot with multiple movement modes | |
| CN102431604A (en) | Humanoid robot with function of interchanging double-foot walking with wheeled moving | |
| CN108974172B (en) | Ankle joint and sole of hind limb system of four-foot robot | |
| CN102700642B (en) | Quadruped walking machine capable of turning | |
| CN105752189A (en) | Double-foot humanoid walking robot | |
| CN108639181B (en) | Multi-degree-of-freedom four-foot bionic robot | |
| CN106477340A (en) | A kind of Domestic refuse topples over robot | |
| CN210063193U (en) | Robot running mechanism with mechanical unbalance prevention function | |
| CN202006842U (en) | Wheel-leg robot | |
| CN109018062A (en) | A kind of automatic eight sufficient bio-robot | |
| CN110104087B (en) | Novel wheel foot moving mechanism | |
| CN108238126A (en) | A kind of Lun Zu omnidirectional movings robot | |
| CN103612685B (en) | Leg type rotatable quadruped robot with crawler wheels and driving wheels | |
| CN206934727U (en) | A kind of robot | |
| CN111232086B (en) | Multi-foot crawling device and method based on single motor driving rotating shaft | |
| CN103111076B (en) | Entertainment robot leg mechanism | |
| CN213948623U (en) | Robot with multi-terrain adaptability | |
| CN212738353U (en) | Mechanical leg and robot | |
| CN102830716A (en) | Mechanical joint and neck and tail structures of bionic mechanical dinosaur |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |