CN103301635B - Tail biting simulation dog based on flexible shaft transmission - Google Patents
Tail biting simulation dog based on flexible shaft transmission Download PDFInfo
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- CN103301635B CN103301635B CN201310248308.3A CN201310248308A CN103301635B CN 103301635 B CN103301635 B CN 103301635B CN 201310248308 A CN201310248308 A CN 201310248308A CN 103301635 B CN103301635 B CN 103301635B
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Abstract
The invention discloses a tail biting simulation dog based on flexible shaft transmission, and belongs to the field of mechanical structures. The simulation dog comprises a head structure, a front body structure, a waist structure, a back body structure and a limb structure. Front and back legs of the simulation dog are connected by the flexible shaft transmission, so that motion of the front and back legs can be transmitted and connected stably under the condition that a center distance changes due to the fact that a front body and a back body make a turn or swing; structurally, mechanism coordinated motion is used skillfully, so that the use of a motor is minimized; the front body is connected with the back body by a spherical hinge, so that the simulation dog is simple in structure; a requirement on stable walking when the front body and the back body are under a multi-freedom-degree condition is met; the legs are made of a rubber material, so that the vibration when the toy dog walks is alleviated effectively, and the toy dog becomes soft and lovely; and tail biting motion that a common simulation dog cannot make is achieved, so that the simulation dog is more real and interesting.
Description
Technical field
The invention belongs to mechanical structure field, particularly a kind of tail of stinging based on soft axle transmission emulates dog.
Background technology
In recent years, the research and development of imitative dog series products receive and pursue.Imitative dog series products is widely used, of a great variety, wherein most popular with imitative dog type toy.Imitative dog type toy roughly can be divided into following three classes: 1, low side class: this series products is the profile of simply imitating dog, such as down toy etc.; 2, middle-end class: this series products imitates some simple and single actions or the speciality of dog often, such as, walk, wag its tail, move ear, bark; 3, high-end class: this series products not only imitates the simple motion of dog, also adds control, makes combination of actions, completes complicated action.
From market angle, imitative dog type toy is difficult to meet the need of market.High-end product is mainly company's research and development such as Sony, mainly supplies Europe, the United States, Japan, and the product using toy as location, kind is less, on the high side.Low-end product only imitates dog class profile, and middle end product achieves the motion of dog class, existing just applies simple and mechanical principle, single motor simply drives or simple control principle, original and lack innovation, is difficult to the entertainment requirements meeting people.
The prototype of most toy is based on dog class simple motion and habit, and be generally walking, wag its tail, move ear, bark, pattern innovation is less.Trace it to its cause, be innovation limitation in structure, realize dog class compound action more difficult.
Summary of the invention
For existing issue, the present invention proposes a kind of tail of stinging based on soft axle transmission and emulates dog, can walk, turn, can twist again health, sting the object of the complex combination action of tail to reach realization emulation dog.
A kind of tail of stinging based on soft axle transmission emulates dog, comprise head construction, also comprise forebody construction, waist structure, rear body structure and four limbs structure, wherein, head construction is arranged at one end of forebody construction, the other end of forebody construction connects rear body structure by waist structure, described four limbs structure comprises the first forelimb structure, the second forelimb structure, the first hind leg structure and the second hind leg structure, the first described forelimb structure, the second forelimb vibrational power flow are in the both sides of forebody construction, and the first hind leg structure and the second hind leg vibrational power flow are in the both sides of rear body structure;
First lower box one end of described forebody construction is provided with head holder, and described head holder passes through and is fixedly connected with the first gear, and head holder is also provided with spring; One end of first connecting rod is fixedly connected with the first angular wheel, and by the first slide block and the first lower box matched in clearance; The first described angular wheel is connected with the first gears meshing; First motor is arranged at the bottom of the first lower box by the first motor fixing seat, and the first lower box side is provided with the first crank block, and opposite side is provided with the second crank block, and the output shaft of the first described motor is connected with the first crank block; Second gear is arranged at the inner side of the first lower box, and is fixedly connected with the second crank block, and the second described gear and the second angular wheel are connected with a joggle; The other end of the first described lower box is provided with lumbar support seat; First upper box is arranged at the upper end of the first lower box;
Flexible axle one end of described waist structure connects the second angular wheel, and by the second slide block and the first lower box matched in clearance; One end of universal shaft coupling device is fixedly connected with the other end of first connecting rod, and with lumbar support seat matched in clearance; Ball pivot is arranged between lumbar support seat and the second lower box of rear body structure;
One end of the second connecting rod of described rear body structure is fixedly connected with the other end of universal shaft coupling device by the 3rd gear, and the other end is by the 3rd slide block and the second lower box matched in clearance; The 3rd described gear is connected with the 4th gears meshing; Second motor is fixed on the bottom of the second lower box by the second motor fixing seat, and the output shaft of the second motor is fixedly connected with the 4th gear; The other end of flexible axle is fixedly connected with triconic gear, and by Four-slider and the second lower box matched in clearance, described triconic gear is fixed on the bottom of the second lower box by cone toothholder; The side of the second described lower box is provided with the 3rd crank block, opposite side is provided with four-throw slide block, be provided with the third connecting rod of the 5th gear teeth between crank block and four-throw slide block the 3rd, the 5th described gear is arranged at the inner side of the second lower box and is connected with triconic gear and the 6th gears meshing; 3rd motor is fixedly connected with the 6th gear and is arranged at the outside of the second lower box; Second upper box is arranged at the upper end of the second lower box;
First forelimb structure of described four limbs structure is connected with the first lower box by the first crank block; Second forelimb structure is connected with the first lower box by the second crank block; First hind leg structure is connected with the second lower box by the 3rd crank block; Second hind leg structure is connected with the second lower box by four-throw slide block.
Described first connecting rod, second connecting rod, third connecting rod and flexible axle shape are cuboid.
Matched in clearance is belonged between described head holder and the first lower box.
Matched in clearance is belonged between the first described crank block and the first lower box; Matched in clearance is belonged between second crank block and the first lower box.
Matched in clearance is belonged between described triconic gear and cone toothholder.
Advantage of the present invention:
(1) soft axle transmission: the front and back leg of emulation dog is connected by soft axle transmission, achieve turn at front and back health, to wave when causing centre-to-centre spacing change also can smooth transfer connect before and after the leg object of moving;
(2) number of motors is few: structurally, make use of mechanism's coordinated movement of various economic factors cleverly, the use of motor is reached and minimizes;
(3) ball pivot connects: front and back health is connected by ball pivot, and structure is simple; Achieve the requirement of front and back health steadily walking under multiple degrees of freedom condition;
(4) leg uses elastomeric material: the use of elastomeric material, effectively alleviates vibration during toy dog walking, makes toy dog become soft, lovely simultaneously;
(5) tail action is stung: that stings tail action achieves the common function emulating dog and do not have, and makes emulation dog more true, interesting.
Accompanying drawing explanation
Fig. 1 is the single unit system structure chart of an embodiment of the present invention;
Wherein, 1-head construction; 2-forebody construction; 3-waist structure; Body structure after 4-; 5-four limbs structure;
Fig. 2 is the device cut-away view of an embodiment of the present invention;
Wherein, 501-first forelimb structure; 502-second forelimb structure; 503-first hind leg structure; 504-second hind leg structure;
Fig. 3 is the forebody construction structure drawing of device of an embodiment of the present invention;
Wherein, 201-first lower box; 202-head holder; 203-first gear; 204-spring; 205-first connecting rod; 206-first angular wheel; 207-first motor; 208-first motor fixing seat; 209-first crank block; 210-second crank block; 211-second gear; 212-second angular wheel; 213-lumbar support seat; Second slide block 215; First slide block 216;
Fig. 4 is the upper box structure drawing of device of the forebody construction of an embodiment of the present invention;
Wherein, 214-first upper box;
Fig. 5 is the waist structure structure drawing of device of an embodiment of the present invention;
Wherein, 301-flexible axle; 302-universal shaft coupling device; 303-ball pivot; 401-second lower box;
Fig. 6 is the rear body structure structure drawing of device of an embodiment of the present invention;
Wherein, 402-second connecting rod; 403-the 3rd gear; 404-the 3rd slide block; 405-the 4th gear; 406-second motor; 407-second motor fixing seat; 408-triconic gear; 409-Four-slider; 410-bores toothholder; 411-the 3rd crank block; 412-four-throw slide block; 413-third connecting rod; 414-the 5th gear; 415-the 6th gear; 416-the 3rd motor;
Fig. 7 is the upper box structure drawing of device of the rear body structure of an embodiment of the present invention;
Wherein, 417-second upper box;
Fig. 8 is the Control system architecture block diagram of an embodiment of the present invention;
Fig. 9 is the single chip circuit schematic diagram of an embodiment of the present invention;
Figure 10 is the driving circuit principle figure of an embodiment of the present invention;
Figure 11 is the control procedure schematic diagram of an embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, an embodiment of the present invention is described further.
As depicted in figs. 1 and 2, a kind of tail of stinging based on soft axle transmission emulates dog, comprise head construction 1, also comprise forebody construction 2, waist structure 3, rear body structure 4 and four limbs structure 5, wherein, head construction 1 is arranged at one end of forebody construction 2, the other end of forebody construction 2 connects rear body structure 4 by waist structure 3, described four limbs structure 5 comprises the first forelimb structure 501, second forelimb structure 502, first hind leg structure 503 and the second hind leg structure 504, the first described forelimb structure 501, second forelimb structure 502 is arranged at the both sides of forebody construction 2, first hind leg structure 503 and the second hind leg structure 504 are arranged at the both sides of rear body structure 4,
As shown in Figure 3, first lower box 201 one end of described forebody construction 2 is provided with between head holder 202 described in head holder 202(and the first lower box 201 and belongs to matched in clearance), described head holder 202 passes through and is fixedly connected with the first gear 203, and head holder 202 is also provided with spring 204; One end of first connecting rod 205 is fixedly connected with the first angular wheel 206, and by the first slide block 216 and the first lower box 201 matched in clearance; The first described angular wheel 206 and the first gear 203 are connected with a joggle; First motor 207 is arranged at the bottom of the first lower box 201 by the first motor fixing seat 208, first lower box 201 side is provided with the first crank block 209, opposite side is provided with the second crank block 210, and the output shaft of the first described motor 207 is connected with the first crank block 209; Second gear 211 is arranged at the inner side of the first lower box 201, and is fixedly connected with the second crank block 210, and the second described gear 211 and the second angular wheel 212 are connected with a joggle; The other end of the first described lower box 201 is provided with lumbar support seat 213; As shown in Figure 4, the first upper box 214 is arranged at the upper end of the first lower box 201;
As shown in Figure 5, flexible axle 301 one end of described waist structure 3 connects the second angular wheel 212, and by the second slide block 215 and the first lower box 201 matched in clearance; One end of universal shaft coupling device 302 is fixedly connected with the other end of first connecting rod 205, and with lumbar support seat 213 matched in clearance; Ball pivot 303 is arranged between lumbar support seat 213 and the second lower box 401 of rear body structure 4;
As shown in Figure 6, one end of the second connecting rod 402 of described rear body structure 4 is fixedly connected with the other end of universal shaft coupling device 302 by the 3rd gear 403, and the other end (this end is for connecting emulation dog tail) is by the 3rd slide block 404 and the second lower box 401 matched in clearance; The 3rd described gear 403 and the 4th gear 405 are connected with a joggle; Second motor 406 is fixed on the bottom of the second lower box 401 by the second motor fixing seat 407, and the output shaft of the second motor 406 is fixedly connected with the 4th gear 405; The other end of flexible axle 301 is fixedly connected with triconic gear 408, and by Four-slider 409 and the second lower box 401 matched in clearance, described triconic gear 408 is fixed on the bottom of the second lower box 401 by cone toothholder 410; The side of the second described lower box 401 is provided with the 3rd crank block 411, opposite side is provided with four-throw slide block 412, between the 3rd crank block 411 and four-throw slide block 412, be provided with the third connecting rod 413 of the 5th gear teeth 414, the 5th described gear 414 is arranged at the inner side of the second lower box 401 and is connected with a joggle with triconic gear 408 and the 6th gear 415; 3rd motor 416 is fixedly connected with the 6th gear 415 and is arranged at the outside of the second lower box 401; As shown in Figure 7, the second upper box 417 is arranged at the upper end of the second lower box 401;
As shown in Figure 3 and Figure 6, the first forelimb structure 501 of described four limbs structure 5 is connected with the first lower box 201 by the first crank block 209; Second forelimb structure 502 is connected with the first lower box 201 by the second crank block 210; First hind leg structure 503 is connected with the second lower box 401 by the 3rd crank block 411; Second hind leg structure 504 is connected with the second lower box 401 by four-throw slide block 412.
Described first connecting rod 205, second connecting rod 402, third connecting rod 413 and flexible axle 301 shape are cuboid.Matched in clearance is belonged between the first described crank block 209 and the first lower box 201; Matched in clearance is belonged between second crank block 210 and the first lower box 201.Matched in clearance is belonged between described triconic gear 408 and cone toothholder 410.
Control procedure is as follows:
As shown in Figure 8, in the embodiment of the present invention, 52 series monolithics are adopted to carry out the process of signal, the signal sent by gathering remote control system realizes the control to drive system, as shown in Figure 9, 8052 type single-chip microcomputers are adopted in the embodiment of the present invention, wherein the output of remote control system connects P00 ~ P05 input of 8052 type single-chip microcomputers, P20 ~ P23 output of 8052 type single-chip microcomputers connects drive circuit input, as shown in Figure 10, in the present embodiment, drive circuit adopts ULN2003 model chip, OUT1 ~ OUT3 output of ULN2003 model chip connects the first motor 207 successively, second motor 406, 3rd motor 416.
The walking of realization emulation dog, turning, action that is sub, that sting tail of twisting, specific as follows, as shown in figure 11:
(1) walking and turning
In the embodiment of the present invention, adopt two driving stepper motor, three pairs of gear drives and relevant control realize.
First forelimb structure 501 is by the first motor 207 Direct driver.At the 3rd motor 416 by under a pair gear drive (the 5th gear 414, the 6th gear 415), the first hind leg structure 503, second hind leg structure 504 realizes upper and lower crawl.Meanwhile, the second forelimb structure 502 realizes back and forth taking a step action under the gearing of two pairs of gears (triconic gear 408 and the 5th gear 414, second gear 211 and the second angular wheel 212) and flexible axle (301).During straight line moving, the first motor 207 and the synchronized rotation of the 3rd motor 416, thus realize steadily walking; During turning, controlled the rotating speed of two stepper motors by remote controller, make the first forelimb structure 501 different with the speed of taking a step of the second forelimb structure 502, thus realize turning function
In the embodiment of the present invention, select market can speed governing and widely used stepper motor as the first motor 207, the 3rd motor 416.
(2) twisting body
In the embodiment of the present invention, be connected by ball pivot 303 between lumbar support seat 213 and the second lower box 401 of rear body structure 4, realized the random twisting of health by coordinated movement of various economic factors during walking.Due to the difference of step when foreleg is taken a step, the upper and lower continuously crawl of back leg and the multivariant feature of ball pivot 303, cause front and back health in straight line moving or turning process not in same plane, thus realize the function freely twisted of health.
Utilize the coordination of health before and after when walking, impel health naturally to twist, do not need additional motor to drive.
(3) tail is stung
Utilize stepper motor driven feature, and relevant control, the function of stinging tail is realized when turn-taking.
While turn-taking, second motor 406 is under given control signal effect, turn over certain angle, transmission is coordinated by two pairs of gears (the 3rd gear 403 and the 4th gear 405, first angular wheel 206 and the first gear 203) and universal shaft coupling device 302, tail is swung to and is easy to and the position emulating dog head contact, thus complete the action of stinging this complexity of tail and linking up.
Utilize the second motor 406 under given pulse signal, rotate the feature of special angle, in the embodiment of the present invention, select stepper motor.Stepper motor is digital control motor, and shift pulse signal is become angular displacement by it, namely gives a pulse signal, and stepper motor just rotates an angle, is therefore very suitable for Single-chip Controlling.It is that it is controlled by input pulse signal that stepper motor is different from other maximum features controlling motor, and namely total rotational angle of motor is determined by input pulse number, and the rotating speed of motor is determined by pulse signal frequency.
Claims (5)
1. one kind emulates dog based on the tail of stinging of soft axle transmission, comprise head construction (1), it is characterized in that: also comprise forebody construction (2), waist structure (3), rear body structure (4) and four limbs structure (5), wherein, head construction (1) is arranged at one end of forebody construction (2), the other end of forebody construction (2) connects rear body structure (4) by waist structure (3), described four limbs structure (5) comprises the first forelimb structure (501), second forelimb structure (502), first hind leg structure (503) and the second hind leg structure (504), the first described forelimb structure (501), second forelimb structure (502) is arranged at the both sides of forebody construction (2), first hind leg structure (503) and the second hind leg structure (504) are arranged at the both sides of rear body structure (4),
The first lower box (201) one end of described forebody construction (2) is provided with head holder (202), described head holder (202) passes and is fixedly connected with the first gear (203), head holder (202) is also provided with spring (204); One end of first connecting rod (205) is fixedly connected with the first angular wheel (206), and through the first slide block (216) and the first lower box (201) matched in clearance; Described the first angular wheel (206) and the first gear (203) are connected with a joggle; First motor (207) is arranged at the bottom of the first lower box (201) by the first motor fixing seat (208), first lower box (201) side is provided with the first crank block (209), opposite side is provided with the second crank block (210), and the output shaft of described the first motor (207) is connected with the first crank block (209); Second gear (211) is arranged at the inner side of the first lower box (201), and be fixedly connected with the second crank block (210), described the second gear (211) and the second angular wheel (212) are connected with a joggle; The other end of described the first lower box (201) is provided with lumbar support seat (213); First upper box (214) is arranged at the upper end of the first lower box (201);
Flexible axle (301) one end of described waist structure (3) connects the second angular wheel (212), and through the second slide block (215) and the first lower box (201) matched in clearance; One end of universal shaft coupling device (302) is fixedly connected with the other end of first connecting rod (205), and with lumbar support seat (213) matched in clearance; Ball pivot (303) is arranged between second lower box (401) of lumbar support seat (213) and rear body structure (4);
One end of the second connecting rod (402) of described rear body structure (4) is fixedly connected with the other end of universal shaft coupling device (302) through the 3rd gear (403), and the other end is through the 3rd slide block (404) and the second lower box (401) matched in clearance; The 3rd described gear (403) and the 4th gear (405) are connected with a joggle; Second motor (406) is fixed on the bottom of the second lower box (401) by the second motor fixing seat (407), and the output shaft of the second motor (406) is fixedly connected with the 4th gear (405); The other end of flexible axle (301) is fixedly connected with triconic gear (408), and through Four-slider (409) and the second lower box (401) matched in clearance, described triconic gear (408) is fixed on the bottom of the second lower box (401) by cone toothholder (410); The side of described the second lower box (401) is provided with the 3rd crank block (411), opposite side is provided with four-throw slide block (412), between the 3rd crank block (411) and four-throw slide block (412), be provided through the third connecting rod (413) of the 5th gear (414), the 5th described gear (414) is arranged at the inner side of the second lower box (401) and is connected with a joggle with triconic gear (408) and the 6th gear (415); 3rd motor (416) is fixedly connected with the 6th gear (415) and is arranged at the outside of the second lower box (401); Second upper box (417) is arranged at the upper end of the second lower box (401);
First forelimb structure (501) of described four limbs structure (5) is connected with the first lower box (201) by the first crank block (209); Second forelimb structure (502) is connected with the first lower box (201) by the second crank block (210); First hind leg structure (503) is connected with the second lower box (401) by the 3rd crank block (411); Second hind leg structure (504) is connected with the second lower box (401) by four-throw slide block (412).
2. the tail of stinging based on soft axle transmission according to claim 1 emulates dog, it is characterized in that: described first connecting rod (205), second connecting rod (402), third connecting rod (413) and flexible axle (301) shape are cuboid.
3. the tail of stinging based on soft axle transmission according to claim 1 emulates dog, it is characterized in that: belong to matched in clearance between described head holder (202) and the first lower box (201).
4. the tail of stinging based on soft axle transmission according to claim 1 emulates dog, it is characterized in that: belong to matched in clearance between described the first crank block (209) and the first lower box (201); Matched in clearance is belonged between second crank block (210) and the first lower box (201).
5. the tail of stinging based on soft axle transmission according to claim 1 emulates dog, it is characterized in that: belong to matched in clearance between described triconic gear (408) and cone toothholder (410).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310248308.3A CN103301635B (en) | 2013-06-19 | 2013-06-19 | Tail biting simulation dog based on flexible shaft transmission |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310248308.3A CN103301635B (en) | 2013-06-19 | 2013-06-19 | Tail biting simulation dog based on flexible shaft transmission |
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| Publication Number | Publication Date |
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| CN103301635A CN103301635A (en) | 2013-09-18 |
| CN103301635B true CN103301635B (en) | 2015-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310248308.3A Expired - Fee Related CN103301635B (en) | 2013-06-19 | 2013-06-19 | Tail biting simulation dog based on flexible shaft transmission |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103623588B (en) * | 2013-12-16 | 2016-05-11 | 高箭 | A kind of bionic walking toy |
| CN107393398A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | A kind of feet connecting structure imparted knowledge to students with emulation machine grasshopper |
| CN107393400A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | A kind of limbs assemble method imparted knowledge to students with emulation machine grasshopper |
| CN107393396A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | One kind teaching emulation machine spider |
| CN106492468A (en) * | 2017-01-11 | 2017-03-15 | 深圳市皮皮高机器人有限公司 | A kind of toy machine Canis familiaris L. |
| EP3705237A4 (en) | 2017-10-31 | 2020-12-02 | Sony Corporation | Robot device |
| CN109316758B (en) * | 2018-11-13 | 2023-11-14 | 实丰文化发展股份有限公司 | Electronic four limbs animal toy of bionical turn |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54163132A (en) * | 1978-06-15 | 1979-12-25 | Hiroisa Iwatani | Power switch for moving toy |
| DE19704515C2 (en) * | 1997-02-06 | 2002-02-21 | Andreas Stadlbauer | Mechanical animal replica |
| KR100578342B1 (en) * | 2003-01-03 | 2006-05-11 | 주식회사 메가로보틱스 | Method control for and robot toy type artificial intelligence |
| CN2691669Y (en) * | 2004-04-12 | 2005-04-13 | 岳莉 | New type electric toy possessing four feet walking and quick direction truning function |
| CN2900200Y (en) * | 2006-01-12 | 2007-05-16 | 厦门星星工艺品有限公司 | Animal type handicraft capable of squatting stand and swinging head and tail |
| CN200966920Y (en) * | 2006-09-22 | 2007-10-31 | 广东骅威玩具工艺(集团)有限公司 | Electric toy dog |
| CN202078744U (en) * | 2011-05-13 | 2011-12-21 | 王代囊 | Mechanical animal toy |
| CN102908787A (en) * | 2012-11-16 | 2013-02-06 | 林泽鲁 | Movable toy dog |
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2013
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