CN105159312A - A waist simulation device of a bionic robot mouse based on differential gears - Google Patents

A waist simulation device of a bionic robot mouse based on differential gears Download PDF

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Publication number
CN105159312A
CN105159312A CN201510586695.0A CN201510586695A CN105159312A CN 105159312 A CN105159312 A CN 105159312A CN 201510586695 A CN201510586695 A CN 201510586695A CN 105159312 A CN105159312 A CN 105159312A
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CN
China
Prior art keywords
gear
wheel
bevel gear
waist
differential gear
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.)
Pending
Application number
CN201510586695.0A
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Chinese (zh)
Inventor
石青
郭亚娜
李昌
黄强
福田敏男
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Priority to CN201510586695.0A priority Critical patent/CN105159312A/en
Publication of CN105159312A publication Critical patent/CN105159312A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a waist simulation device of a bionic robot mouse based on differential gears. Under the driving of a motor (7), a pinion drives a back differential gear group (8); when two large gears of the back differential gear group (8) turn in the same direction, left and right wagging of the waist portion of the bionic robot mouse with respect to vehicle wheels can be realized; when the two large gears of the back differential gear group (8) turn in different directions, up and down pitching motion of the waist portion of the bionic robot mouse with respect to the vehicle wheels can be realized; and similarly, left and right wagging and up and down pitching motion of the waist portion of the bionic robot mouse with respect to fore limbs can be realized. The waist simulation device is to solve the problems that the simulated waist structure of the bionic robot mouse is low in control precision, and overlong in structure and cannot approximate to the real shape of a mouse well in appearance and the like.

Description

Based on the waist analogue means of the bionic machine mouse of equalizing gear
Technical field
The invention belongs to bio-robot technical field, be specifically related to the waist analogue means of a kind of bionic machine mouse based on equalizing gear.
Background technology
Bio-robot refers to the system of outer shape biological in natural imitation circle, motion principle and behavior, can be engaged in the robot of biological characteristic work.
(" Arat-likerobotforinteractingwithrealrats ", SHI, Qing etc. in non-patent literature 1, Robotica, the 31st volume, 1337-1350 page, in Dec, 2013), author refer to structural design and the experimental study of a kind of bionic machine mouse.The waist mechanism of this bionic machine mouse is made up of two steering wheels, steering wheel frame, connecting rod, slide block and the component such as bearing, trip bolt; Two steering wheels of this waist mechanism are connected by steering wheel frame, respectively as the driving of the pitching of bionic machine mouse and yaw direction; Connecting rod and slide block form other parts of bionic machine mouse waist with cascade, by one of them servo driving, and the bending body action of simulation mouse.
The waist structure of this bionic machine mouse adopts linkage assembly, causes waist structure long, can not the mouse form of good approaching to reality in form; When simulating the upright and bending body of mouse, being assigned with one degree of freedom respectively, adopting a servo driving, causing bionic machine mouse can not well simulate above-mentioned action.
Summary of the invention
The object of the invention is: in order to solve the low problem of simulation bionic machine mouse waist structure control accuracy, propose the waist analogue means of a kind of novel bionic machine mouse.
Technical scheme of the present invention is as follows.
Based on a waist analogue means for the bionic machine mouse of equalizing gear, comprising: upper cover plate, electric machine support web joint, rear differential gear set, left lumbar region-wheel link, bracing frame, right lumbar region-wheel link, lower cover, electric machine support, waist-forelimb link, front differential gear set; Wherein,
Described rear differential gear set and described front differential gear set comprise respectively: bevel gear-gear wheel coupling shaft, gear wheel, bevel gear, bevel gear-bevel gear coupling shaft, described gear wheel and described bevel gear-gear wheel coupling shaft are fixed, and described bevel gear is arranged on described bevel gear-bevel gear coupling shaft two ends; Described rear differential gear set and described front differential gear set are fixed on upper cover plate and lower cover;
Described electric machine support is provided with four motors, the output shaft of each motor is fixed with a pinion wheel; Under the driving of described motor, each pinion wheel drives a bull gear drive of rear differential gear set and described front differential gear set respectively;
When two gear wheels of rear differential gear set turn to identical, bionic machine mouse waist swinging relative to wheel can be realized, when two gear wheels of differential gear set turn to difference, the up and down luffing of bionic machine mouse waist relative to wheel can be realized, in like manner can realize bionic machine mouse waist swinging and upper and lower luffing relative to forelimb.
Preferably, left lumbar region-wheel link and right lumbar region-wheel link link together by support frame as described above; Bevel gear-bevel gear the coupling shaft of described left lumbar region-wheel link and described right lumbar region-wheel link and described rear differential gear set is fixed together.
Preferably, rear differential gear set is fixed on upper cover plate and lower cover by the first flange bearing, described first flange bearing is interference fit with coordinating between upper cover plate and lower cover, described electric machine support has four holes, four motors respectively with these four hole interference fit, output shaft and the pinion wheel of described motor are fixed, described electric machine support is connected with lower cover with upper cover plate, two electric machine supports link together by described electric machine support web joint, and described two waists-forelimb link is connected with the bevel gear-bevel gear coupling shaft of front differential gear set respectively.
Preferably, described rear differential gear set and described front differential gear set also comprise respectively: the second flange bearing, jump ring, differential gear set lid, casing; Described gear wheel and bevel gear-gear wheel coupling shaft are fixed, between the shaft shoulder that described second flange bearing is fixed on bevel gear-bevel gear coupling shaft and casing, the hole of described bevel gear coordinates with bevel gear-gear wheel coupling shaft, end face contacts with the second flange bearing, respectively there are two bevel gears at described bevel gear-bevel gear coupling shaft two ends, outside its bevel gear, each cover has two the second flange bearings, described second flange bearing and bevel gear are fixed on casing by jump ring, described differential gear set lid is fixed on described casing, and device is sealed.
A kind of bionic machine mouse, comprises wheel, forelimb, it is characterized in that, also comprise the waist analogue means according to any one of above technical scheme.
The invention has the beneficial effects as follows:
(1) original linkage assembly is replaced with cascode differential gear mechanism by the present invention, structurally compacter, and in size, more former linkage assembly is shorter, the form of approaching to reality mouse more form;
(2) the present invention has four degree of freedom, adopt four DC motor Driver respectively, make the waist of bionic machine mouse have better flexibility when action, the form that the degree of freedom simultaneously increased makes bionic machine mouse to imitate is abundanter, more the action of approaching to reality mouse.
Accompanying drawing explanation
Fig. 1 is the bionic machine mouse waist structure schematic diagram based on equalizing gear of the present invention;
Fig. 2 is differential gear set partial structurtes schematic diagram of the present invention;
Wherein, 1-upper cover plate, 2-first flange bearing, 3-first bolt, 4-electric machine support web joint, 5-pinion wheel, 6-second bolt, 7-motor, differential gear set after 8-, 9-screw, 10-waist-wheel link is left, 11-bracing frame, 12-waist-wheel link is right, 13-lower cover, 14-electric machine support, 15-jackscrew, 16-waist-forelimb link, differential gear set before 17-, 81-bevel gear-gear wheel coupling shaft, 82-gear wheel, 83-second jackscrew, 84-second flange bearing, 85-bevel gear, 86-jump ring, 87-bevel gear-bevel gear coupling shaft, 88-differential gear set lid, 89-casing, 810-the 3rd bolt
Embodiment
See accompanying drawing 1, based on the waist analogue means of the bionic machine mouse of equalizing gear, it comprises: upper cover plate (1), first flange bearing (2), first bolt (3), electric machine support web joint (4), pinion wheel (5), second bolt (6), motor (7), rear differential gear set (8), screw (9), left lumbar region-wheel link (10), bracing frame (11), right lumbar region-wheel link (12), lower cover (13), electric machine support (14), jackscrew (15), waist-forelimb link (16), front differential gear set (17), left lumbar region-wheel link (10) and right lumbar region-wheel link (12) are linked together by screw (9) by bracing frame (11), left lumbar region-wheel link (10) is fixed together by the first jackscrew (15) and rear differential gear set (8) with right lumbar region-wheel link (12), rear differential gear set (8) is fixed on upper cover plate (1) on lower cover (13) by the first flange bearing (2), wherein the first flange bearing (2) is interference fit with coordinating between upper cover plate (1) and lower cover (13), electric machine support (14) has four holes, four motors (7) respectively with these four hole interference fit, motor (7) is fixed by the first jackscrew (15) and pinion wheel (5), electric machine support (14) is connected with lower cover (13) with upper cover plate (1) by the first bolt (3), two electric machine supports (14) are linked together by the second bolt (6) by electric machine support web joint (4), two waist-forelimb links (16) are connected with front differential gear set (17) respectively by the first jackscrew (15), under the driving of motor (7), differential gear set (8) after pinion wheel drives, when two gear wheels of rear differential gear set (8) turn to identical, bionic machine mouse waist swinging relative to wheel can be realized, when two gear wheels of differential gear set (8) turn to difference, the up and down luffing of bionic machine mouse waist relative to wheel can be realized, in like manner can realize bionic machine mouse waist swinging and upper and lower luffing relative to forelimb,
See accompanying drawing 2, described differential gear set (8,17) comprising: bevel gear-gear wheel coupling shaft (81), gear wheel (82), the second jackscrew (83), the second flange bearing (84), bevel gear (85), jump ring (86), bevel gear-bevel gear coupling shaft (87), differential gear set lid (88), casing (89), the 3rd bolt (810), described gear wheel (82) is fixed by the second jackscrew (83) with bevel gear-gear wheel coupling shaft (81), between the shaft shoulder that described second flange bearing (84) is fixed on bevel gear-bevel gear coupling shaft (87) and casing (89), the hole of described bevel gear (85) coordinates with bevel gear-gear wheel coupling shaft (81), end face contacts with the second flange bearing (84), respectively there are two bevel gears (85) at described bevel gear-bevel gear coupling shaft (87) two ends, the each cover in its bevel gear (85) outside has two the second flange bearings (84), described second flange bearing (84) and bevel gear (85) are fixed on casing (89) by jump ring (86), described differential gear set lid (88) is fixed on casing (89) by the 3rd bolt (810), device is sealed.

Claims (5)

1. based on a waist analogue means for the bionic machine mouse of equalizing gear, comprising: upper cover plate (1), electric machine support web joint (4), rear differential gear set (8), left lumbar region-wheel link (10), bracing frame (11), right lumbar region-wheel link (12), lower cover (13), electric machine support (14), waist-forelimb link (16), front differential gear set (17); It is characterized in that,
Described rear differential gear set (8) and described front differential gear set (17) comprise respectively: bevel gear-gear wheel coupling shaft (81), gear wheel (82), bevel gear (85), bevel gear-bevel gear coupling shaft (87), described gear wheel (82) is fixed with described bevel gear-gear wheel coupling shaft (81), and described bevel gear (85) is arranged on described bevel gear-bevel gear coupling shaft (87) two ends; Described rear differential gear set (8) and described front differential gear set are fixed on upper cover plate (1) with on lower cover (13);
Described electric machine support (14) is provided with four motors (7), the output shaft of each motor (7) is fixed with a pinion wheel (5); Under the driving of described motor (7), each pinion wheel drives a bull gear drive of rear differential gear set (8) and described front differential gear set (17) respectively;
When two gear wheels of rear differential gear set (8) turn to identical, bionic machine mouse waist swinging relative to wheel can be realized, when two gear wheels of differential gear set (8) turn to difference, the up and down luffing of bionic machine mouse waist relative to wheel can be realized, in like manner can realize bionic machine mouse waist swinging and upper and lower luffing relative to forelimb.
2. the waist analogue means of the bionic machine mouse based on equalizing gear according to claim 1, it is characterized in that, left lumbar region-wheel link (10) and right lumbar region-wheel link (12) link together by support frame as described above (11); Described left lumbar region-wheel link (10) is fixed together with the bevel gear-bevel gear coupling shaft of described right lumbar region-wheel link (12) with described rear differential gear set (8).
3. the waist analogue means of the bionic machine mouse based on equalizing gear according to claim 1, it is characterized in that, rear differential gear set (8) is fixed on upper cover plate (1) with on lower cover (13) by the first flange bearing (2), described first flange bearing (2) is interference fit with coordinating between upper cover plate (1) and lower cover (13), described electric machine support (14) has four holes, four motors (7) respectively with these four hole interference fit, the output shaft of described motor (7) and pinion wheel (5) are fixed, described electric machine support (14) is connected with lower cover (13) with upper cover plate (1), two electric machine supports (14) link together by described electric machine support web joint (4), described two waists-forelimb link (16) is connected with the bevel gear-bevel gear coupling shaft of front differential gear set (17) respectively.
4. the waist analogue means of the bionic machine mouse based on equalizing gear according to claim 1, it is characterized in that, described rear differential gear set (8) and described front differential gear set (17) also comprise respectively: the second flange bearing (84), jump ring (86), differential gear set lid (88), casing (89), described gear wheel (82) is fixed with bevel gear-gear wheel coupling shaft (81), between the shaft shoulder that described second flange bearing (84) is fixed on bevel gear-bevel gear coupling shaft (87) and casing (89), the hole of described bevel gear (85) coordinates with bevel gear-gear wheel coupling shaft (81), end face contacts with the second flange bearing (84), respectively there are two bevel gears (85) at described bevel gear-bevel gear coupling shaft (87) two ends, the each cover in its bevel gear (85) outside has two the second flange bearings (84), described second flange bearing (84) and bevel gear (85) are fixed on casing (89) by jump ring (86), described differential gear set lid (88) is fixed on described casing (89), device is sealed.
5. a bionic machine mouse, comprises wheel, forelimb, it is characterized in that, also comprises the waist analogue means according to any one of claim 1-4.
CN201510586695.0A 2015-09-15 2015-09-15 A waist simulation device of a bionic robot mouse based on differential gears Pending CN105159312A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107901045A (en) * 2017-10-12 2018-04-13 中国科学院自动化研究所 Bionic machine mouse
WO2019127995A1 (en) * 2017-12-29 2019-07-04 北京理工大学 Multiple connecting rod transmission-based waist emulating apparatus of bionic mouse

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102343950A (en) * 2011-07-13 2012-02-08 北京交通大学 Pliant four-footed robot with flexible waist and elastic legs
US20120279338A1 (en) * 2009-09-22 2012-11-08 Gm Global Technology Operations, Inc. Rotary series elastic actuator

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120279338A1 (en) * 2009-09-22 2012-11-08 Gm Global Technology Operations, Inc. Rotary series elastic actuator
CN102343950A (en) * 2011-07-13 2012-02-08 北京交通大学 Pliant four-footed robot with flexible waist and elastic legs

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QING SHI 等: ""A Rat-like Robot WR-5 for Animal Behavior Research"", 《PROCEEDINGS OF THE 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS》 *
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107901045A (en) * 2017-10-12 2018-04-13 中国科学院自动化研究所 Bionic machine mouse
CN107901045B (en) * 2017-10-12 2020-07-28 中国科学院自动化研究所 Bionic robot mouse
WO2019127995A1 (en) * 2017-12-29 2019-07-04 北京理工大学 Multiple connecting rod transmission-based waist emulating apparatus of bionic mouse
JP2020524089A (en) * 2017-12-29 2020-08-13 北京理工大学 Waist mimicking device of bionic rat based on multi-connecting rod transmission

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Application publication date: 20151216