CN102310892A

CN102310892A - Bionic limb robot

Info

Publication number: CN102310892A
Application number: CN2010102977944A
Authority: CN
Inventors: 邹章效
Original assignee: Individual
Current assignee: Individual
Priority date: 2010-09-26
Filing date: 2010-09-26
Publication date: 2012-01-11

Abstract

A limb is a general name of hands, feet, arms and legs. A bionic limb refers to a mechanical limb which is developed simulating the functions of the limb of an organism in living environments. A robot formed by the bionic limb is a bionic limb robot. The bionic limb robot is a three rural device, an agriculture machine and a robot. The foot of the bionic limb robot consists of a robot body, a crank, a guide sleeve (sliding sleeve), a connecting rod and other components. A schematic diagram shows that the bionic limb moves one step each time the crank (crank handle) rotates 360 DEG anticlockwise, namely that after the crank handle rotates 360 DEG, the whole bionic limb returns to a position in which the bionic limb is when the crank is in a 0 DEG, the whole bionic limb moves one step forward, and both the feet of the bionic limb almost fall on the ground. The distance between the gravity center of the robot and the ground is constant when the bionic limb robot runs, and the whole robot cannot shake up and down like a real cow and horse. The bionic limb robot can be used in the operation of agriculture, engineering, traffic and the like.

Description

Bionical limb robot

Limb is the general designation of hand, pin, arm, leg.The mechanical limb of copying the function of biological limb and developing is called bionical limb, and the robot that is assembled by bionical limb and other other part should be bionical limb robot.

Have the comparison of animals and human beings class degree of freedom in realm of nature production living environment of limb.

Living in the biology of occurring in nature, go to influence them if not people or its natural enemy, is very untrammeled.No matter on land, aloft, on the water in the water, not the place that they can not go, their work life relies on is they oneself.But human just different, the people in the city makes things convenient for, and living facilities are complete, and working equipment is provided by boss, the more stable freedom of work life.Vast farmers, the people of three agricultural middle school productive lifes, productive life will receive the influence of natural environment, the tool of production, and productive life all will be by equipment, and the adhesion that has of life production facility is not deposited all and is a problem.Fishes and shrimps not as good as in the water fly in the air, walk on the ground.Some people can not do whatever, snows, and freezes and more to have had no idea, and the possessor has car to the greatest extent, but wheel will skid, and has crossed not ditch, has crossed not the ridge.Unlike natural animals, oneself digs the room, and the road is gone away arbitrarily, not all right can also flying.So a lot of peasants in order to survive, will go out to do manual work every year, go home to go again after year before year, he (she) life produce not as good as some animal leisurely and carefree because the life tool of production not, can not be self-sufficient, can not adapt to local natural conditions.

Bionical limb is exactly to copy the function of the limb that certain biology had and the mechanical limb developed in living environment.

The just bionical limb robot of machine that bionical limb is formed.Present robot mostly has only each pass to save three motors; And computer control to be arranged; Major part all is wheeled, does not walk, single action power, down ground, simple and practical, non-slip robot, does not also reach simple and easy practical peasant with getting the robot of affording to use.What the author developed is exactly to make every effort to and the biological robot of being made up of the bionical limb of identity function, and the supporting Work machine that meets the handy instrument of each item production operation life activity demand of ability, is called bionical limb robot.

Technical field under the bionical limb robot

Bionical limb robot is agriculture-countryside-farmer's a equipment, is field machine, also is robot.

Background technology

In the history of China 5,000-year and down, it is exactly that the foreigner also hangs in discipline that the thing Chinese oneself that do not say so are arranged, and that is exactly the period of Three Kingdoms " Wooden ox and gliding horse "; The vehicle that this is wonderful have been used the painstaking effort of much human, and a lot of colleges and universities are also in research; But do not have people's successful development so far, the people does not work it out the machine that four pin can be walked, and why obtains the concern of long-term much human; Reason is very simple, and " wanting richness repairs the roads earlier ", the road is exactly traffic; Any biology is a purpose with existence all, does not have the convenience of traffic, what is meant by the existence biological and people.Need not the vehicle on road---Wooden ox and gliding horse, appearance did not then also occur so far, had been fantastically certainly.

Be some extracts of selecting from relevant vehicle development in " foreign agricultural machinery of 1977 the 5th phases of scientific and technical literature press Chongqing branch " below.

" evidence both domestic and external, in the middle of the decades since the nineteen twenty-four, the wheeled or tractive property of continuously tracked vehicle on various soil do not have very big improvement." " U.S. is studied various feasible traveling geaies in the sixties in order to study the vehicle that on the moon, goes.Walking mechanism (bionical limb a kind of) is exactly wherein a kind of." " reason that vehicle becomes the transport establishment of common application is not necessarily its efficient height, and possibly be to become more readily available the reason of allowing that it rolls in the above ...”

What the U.S. prepared celestial body so far is not the walking machine of its sixties research, but the wheeled locomotive of cardan wheel is arranged.Explain that walking machine (bionical limb) is not ground into merit.Singly be not the U.S., Germany has just invented when the World War I and walking Rammstein occurred, but still is expired patent of invention so far.The a lot of countries in west all also at the various forms of robots of research development, have had for a long time.Also there are many institution of higher learning in China in research.People want to develop the handy vehicle, just can extend in all direction to the car in any place of thinking without the road.All there is every year a day nonirrigated farmland to freeze; The world of ice and snow is all arranged, and the roadlock traffic congestion often takes place, and is ordinary affair; It is next that nobody develops the vehicle that can cross over mountain after mountain exactly; The stopped by neither wind or rain vehicle that can try by hook to seek does not yet have, and the productive life operation that also has the peasant to use is still few with machine, and the vehicle of strong man's type ant class of the sort of all-weather does not also have.

Summary of the invention: develop a kind of have picture like with the machinery of the performance of the leg of biology, be called " bionical limb ", see: bionical limb structural representation.Form by other part such as body, bent axle, guide pin bushing (sliding sleeve), connecting rod.Power is imported into by the spindle nose that crank spindle stretches out bionical limb body; The crank of bent axle is rotated around the spindle centerline of bent axle; The bionical limb of the swing before and after thereby drivening rod is done up and down in guide pin bushing; By the bionical limb robot that four bionical limbs are formed, supporting upward some other has just become the bionical limb robot that can move in way less ground like other parts such as transmission shaft, retarder, direction machine.Also have similarly the four limbs that China ancestor just has " Wooden ox and gliding horse ", just " the bionical limb robot " of four legs.The bionical limb robot as " snake " row of many limbs.There is the bionical limb robot of the picture centipede of a lot of limbs on the two sides.Can use the bionical limb robot of " wing " (also being biological limb) flying bird type as " bird ".Can go into the extra large bionical limb robot that also can go on the sandy beach or the like all is one of content.

Description of drawings

" bionical limb structural representation " explained: this bionical limb is made up of body, bent axle, guide pin bushing (sliding sleeve), connecting rod etc.Body is round outside but spuare inside, and the body skid of top and the bottom, outside dress bearing and complete machine is dynamically connected, and the type that has during work is perpendicular to ground.Inside is square hole, the middle through hole that two punchings are arranged up and down, upper surface hole dress bent axle, the transverse axis of following face dress guide pin bushing (sliding sleeve); The centre is a connecting rod, on have on the crank that is contained in bent axle in hole, garden, the bottom body of rod passes the slotted hole of guide pin bushing (sliding sleeve), the outer handle of bent axle has the spindle nose of the external force accepted; When not landing below the connecting rod, drivening rod swing when spindle nose rotates, and when landing below the connecting rod; When spindle nose rotated, single bionical limb on the ground that only stands in can rock back and forth, and bionical limb is exactly leverage; Intersection point is exactly a fulcrum on connecting rod and the guide pin bushing transverse axis, the junction of connecting rod and bent axle, and the crank of bent axle is exactly a stress point; Rotate spindle nose, the body of limb will swing, the general structure and the overview that receives the external force operation of the one leg of Here it is bionical limb robot.

" (crank) conter clockwise three-sixth turn of bent axle; bionical limb stride one the step scheme drawing " explain: we see in " bionical limb structural representation "; The crank of bent axle is above main shaft; The line of centers of crank is on the line of centers of main shaft and in same plane, and perpendicular to ground level, connecting rod also is in perpendicular to ground-surface state.The centerline of line of centers and main shaft that makes crank when the spindle nose of our turning crankshaft is in same horizontal surface; And crank is in the left side (being exactly the side that crank turns to the people in " bionical limb structural representation "); As being decided to be this seat of on the left side 0 degree state in " a step scheme drawing is striden in the three-sixth turn of bent axle conter clockwise, bionical limb ".Crank always changes around the spindle centerline of bent axle during work; When turning over 90 degree, crank left-handed turning (be exactly upwards) arrives 180 when spending; The line of centers of crank is in again on the same plane parallel with ground level with the spindle centerline of bent axle; The crank center line forwards the right to from the left side of the spindle centerline of bent axle, if pin is equipped with in the connecting rod lower end of bionical limb, this pin turns over 180 when spending at crank so; It still stands on the point on the ground not moving, and the organism of certain distance forward.Next crank will change downwards, and the pin of bionical limb will advance body to the right to left back top earthward; When turning over 90 degree, crank will upwards change, because instantaneous 90 degree that turn over of the outer power of body and self-gravity action; Like this crank below crankshaft axis again from turning right to the left side; Crank makes a circle 360 degree, and the strong attitude of whole bionical limb is the same with the original position when 0 spends, whole bionical limb body forward one go on foot.

By on can know bionical limb robot in when operation, under the mechanokinetic effect, crank 360 its pin when spending that turn around are almost always stepped on the ground; Compare with people or biofacies; The time that the pin of bionical limb robot falls to the ground is also longer compared with biology, and the pin of connecting rod lower end we can say that also the pin of bionical limb nearly all drops on the ground; So machine the time is stable in operation, is in operation and can fall through and fall down.In addition; Can shake up and down during someone courage scheming device operation; This is the design-calculated problem; Can make the running orbit of the pin of bionical limb during design is straight line parallel to the ground on it, and be in operation machine center and ground-surface distance of just bionical limb robot is constant, and complete machine is can the same shake up and down with the genuine oxen and horses.

The specific embodiment:

Bionical limb robot is the brand new tool of production, its through performance, off-road capability, antiskid capability, energy-saving and cost-reducing degree, also has its skill upgrading, change of dynasties and mutation thereof all machineries before being to compare.Everything all is the author's understanding, and we can say does not have other people that such understanding can be arranged, and all embodiments are my statement of one party to a dispute.

1 will make people can understand performance and the purposes and the development prospect thereof of bionical limb robot.Certainly mainly be leader's resolution.

2 will have the person property of the research and development of certain scale, tissue and plan.

3 also will have certain security system, and machinery is open-and-shut machinery, and the expert understands at a glance, otherwise be exactly empty be exactly to exhaust the people and drain the treasury.

Purposes: just say one, improve the productive life living environment.

Water is a big problem of China, but the total water of not determining of China, if get up the snowy water layer lamination of raining; Build big and small reservoir everywhere, reservoir can have the various ways purposes, have be exactly in migrate; The more stock of usefulness is rained and is intake, day non-irrigated water outlet.Certainly also have more better use.Also want the orogenetic dash that keeps out the wind when constructing a reservoir, build the environment of various micrclimates, improve the productive life living environment, whether can also change wind direction and give and let the many wind of aqueous vapor come in, let too big few of wind, little is bigger more favourable to wind-powered electricity generation.Certainly above a lot of historical archives and the qualifications and record of service of effort require will have many people's effort.The bionical limb robot of " this ox stream horse " type that big and small purposes is different can play much in the orogenetic that constructs a reservoir and very big effect.

Claims

1. bionical limb is mainly by body, bent axle, and connecting rod, guide pin bushing (sliding sleeve) is formed.Body is round outside but spuare inside, and Wai Yuan is equipped with bearing in top and the bottom, can in machine, rotate.Interior side is processed with through hole up and down, last hole dress bent axle (wherein have and stretch out the spindle nose that outer garden can connect love external force), the transverse axis of following hole dress T type guide pin bushing (sliding sleeve).One on connecting rod has on the crank that is contained in bent axle in hole, garden, and next head is contained in the straight hole of guide pin bushing (sliding sleeve), and be equipped with by bulb bonded assembly pin the bottom of connecting rod.

2. like four upright bionical limbs of " Wooden ox and gliding horse " robot, power passes to transmission shaft by propulsion source, and the front and back of transmission shaft are connected with the retarder of twin shaft head; Two spindle noses of front reduction gear connect two the bionical limbs in front, and two spindle noses of back retarder connect back two bionical limbs, and the bionical limb and the retarder of front and back are connected on the front and back support; Front and back support is connected by two sleeves, is connected by bearing between the sleeve, and two supports can relatively rotate; Because the body of bionical limb is a bearing with being connected of support, connecting rod is a bulb with being connected of pin, so four limbs can link in twos; The interlock of four pin has just had direction.Not of uniform size, what purposes was different just can succeed in developing like " Wooden ox and gliding horse " robot.

3. bionical limb increases and decreases different parts in addition, bionical limb by the change of holding position, the profile that changes other parts of bionical limb and moving capable performance and the purposes that material can both change bionical limb robot.Bionical limb robot can be made toy fully, but the parts material in addition that has will change.Seemingly the type of striking is processed in the connecting rod bottom of " Wooden ox and gliding horse " robot, but the bionical limb robot of submerged type just can be made by the belly of dress sealing, hollow, liftable pressure regulation in the centre.Like four bionical limbs of " Wooden ox and gliding horse " robot preceding two with back two heads relatively by dress; And 4 all are assemblied on the same horizontal surface; The second from left right two interlocks that only link, left connecting rod link that right connecting rod links and usefulness be light firm flexible material, be to make the bionical limb robot that can fly.Whether twinned a lot of bionical limb can both obtain power and form " snake " the robot of row from the pot wheel is paid.