CN105171736A - Waist simulator of bionic mechanical rat - Google Patents
Waist simulator of bionic mechanical rat Download PDFInfo
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- CN105171736A CN105171736A CN201510570115.9A CN201510570115A CN105171736A CN 105171736 A CN105171736 A CN 105171736A CN 201510570115 A CN201510570115 A CN 201510570115A CN 105171736 A CN105171736 A CN 105171736A
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- waist
- cradle head
- ball
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- bionic machine
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Abstract
The invention discloses a waist simulator of a bionic mechanical rat, and belongs to the technical field of bionic machinery. The waist simulator comprises a movable waist platform (1), globe joints (2), motor push rods (3), linear motors (4), rotary joints (5) and a fixed waist platform (6), wherein the fixed waist platform (6) is connected with a bionic mechanical rat body through bolts; driven by the linear motors (4), the motor push rods (3) drive the movable waist platform (1) to make rotary motion along with the globe joints (5); under the parallel collaborative operation of the three linear motors (4), three degree-of-freedom motion of the movable waist platform (1) can be realized. The waist simulator disclosed by the invention aims to solve the problems that a conventional waist simulator is complicated in structure, large in size, and heavy in weight.
Description
Technical field
The invention belongs to bionic machine technical field, be specifically related to the analogue means of a kind of bionic machine mouse.
Background technology
At " ARat-likeRobotWR-5forAnimalBehaviorResearch " in literary composition, 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 direct current generator, differential case, motor rack, connecting plate and the connector such as bearing, trip bolt; This waist structure, by four DC motor Driver, is linked by gear pair and differential case; Each differential case has the free degree of both direction, differential by two direct current generators, realizes the motion in two free degree directions; Differential case and motor are linked into by motor rack and connecting plate and are integrated, and form the waist structure of bionic machine mouse.
The waist structure of this bionic machine mouse is complicated, and quality is heavy, is difficult to the requirement realizing the lightweight of bionic machine mouse, simplification; This waist structure entirety is square structure, is difficult to the form of approaching to reality mouse; Two groups of differential case frees degree are overlapping, and the actual free degree only has two, and motor utilization rate is not high, causes power supply to waste.
Summary of the invention
The object of the invention is: in order to solve the problem that simulation bionic machine mouse waist structure is complicated, quality is heavy, motor utilization rate is low, propose the waist analogue means of a kind of novel bionic machine mouse;
Technical scheme of the present invention is: the waist analogue means of bionic machine mouse, and it comprises: waist moving platform (1), ball-joint (2), motor push rod (3), linear electric motors (4), cradle head (5), waist silent flatform (6);
Described ball-joint (2) comprising: gripper shoe (21), screw (22), ball cover (23), screw (24), lubricating sleeve (25); Described waist moving platform (1) has screwed hole, it is fixed together by screw (22) and gripper shoe (21), described gripper shoe (21) is fixed together by screw (24) and ball cover (23), described gripper shoe (21) and ball cover (23) inside all have semi spherical arcuate surface, described lubricating sleeve (25) coordinates with gripper shoe (21) and ball cover (23) inner cambered surface, the described sphere of motor push rod (3) front end and the mating spherical surfaces of lubricating sleeve (25);
Described cradle head (5) comprising: cradle head connecting axle (51), bearing (52), bearing (ball) cover (53), screw (54), cradle head frame (55), bolt (56); Described linear electric motors (4) and cradle head connecting axle (51) are bolted, described cradle head connecting axle (51) is fixed in cradle head frame (55) by bearing (52), there is bearing (ball) cover (53) described cradle head frame (55) both sides, described bearing (ball) cover (53) is fixed in cradle head frame (55) by screw (54), and described cradle head frame (55) is bolted and is fixed on above waist silent flatform (6);
Described waist silent flatform (6) and robot body are bolted, under the driving of linear electric motors (4), motor push rod (3) does rectilinear motion, make the sphere of motor push rod (3) front end at lubricating sleeve (25) internal slide, waist moving platform (1) is driven to move with ball-joint (5), cradle head connecting axle (51) relatively rotates joint frame (55) rotation by two bearings (52) simultaneously, under the co-operating in parallel of three linear electric motors (4), the three degree of freedom motion of waist moving platform (1) can be realized.
Mechanism freedom computing formula of the present invention is as follows:
Wherein: M is number of degrees of freedom, d is the exponent number of mechanism, and n is number of components, and g is kinematic pair number, f
ifor the number of degrees of freedom of single kinematic pair.
The invention has the beneficial effects as follows:
(1) the differential gearing structure of original series connection is replaced with parallel-connection structure by the present invention, motor used is reduced to three push-rod electric machines by four direct current generators, the actual free degree brought is increased to three by two, add the utilization ratio of motor, simplify waist structure, reduce waist quality; Meanwhile, the space cavity structure of waist structure institute in parallel can be bionic machine mouse circuit part provides space, increase space efficiency utilization;
(2) the present invention adopts waist structure in parallel, and waist moving platform (1) and waist silent flatform (2) at belly and the hip joint physically well imitating true mouse, can be conducive to the configuration simulation of bionic machine mouse.
Accompanying drawing explanation
Fig. 1 is bionic machine mouse waist structure schematic diagram of the present invention;
Fig. 2 is ball-joint partial structurtes schematic diagram of the present invention;
Fig. 3 is cradle head partial structurtes schematic diagram of the present invention;
Wherein, 1-waist moving platform, 2-ball-joint, 21-gripper shoe, 22-screw, 23-ball cover, 24-screw, 25-lubricating sleeve, 3-motor push rod, 4-linear electric motors, 5-cradle head, 51-cradle head connecting axle, 52-bearing, 53-bearing (ball) cover, 54-screw, 55-cradle head frame, 56-bolt, 6-waist silent flatform
Detailed description of the invention
See accompanying drawing 1, the waist analogue means of bionic machine mouse, it comprises: waist moving platform (1), ball-joint (2), motor push rod (3), linear electric motors (4), cradle head (5), waist silent flatform (6);
See accompanying drawing 2, described ball-joint (2) comprising: gripper shoe (21), screw (22), ball cover (23), screw (24), lubricating sleeve (25); Described waist moving platform (1) has screwed hole, it is fixed together by screw (22) and gripper shoe (21), described gripper shoe (21) is fixed together by screw (24) and ball cover (23), described gripper shoe (21) and ball cover (23) inside all have semi spherical arcuate surface, described lubricating sleeve (25) coordinates with gripper shoe (21) and ball cover (23) inner cambered surface, the described sphere of motor push rod (3) front end and the mating spherical surfaces of lubricating sleeve (25);
See accompanying drawing 3, described cradle head (5) comprising: cradle head connecting axle (51), bearing (52), bearing (ball) cover (53), screw (54), cradle head frame (55), bolt (56); Described linear electric motors (4) and cradle head connecting axle (51) are bolted, described cradle head connecting axle (51) is fixed in cradle head frame (55) by bearing (52), there is bearing (ball) cover (53) described cradle head frame (55) both sides, described bearing (ball) cover (53) is fixed in cradle head frame (55) by screw (54), and described cradle head frame (55) is bolted and is fixed on above waist silent flatform (6);
Described waist silent flatform (6) and robot body are bolted, under the driving of linear electric motors (4), motor push rod (3) does rectilinear motion, make the sphere of motor push rod (3) front end at lubricating sleeve (25) internal slide, waist moving platform (1) is driven to move with ball-joint (5), cradle head connecting axle (51) relatively rotates joint frame (55) rotation by two bearings (52) simultaneously, under the co-operating in parallel of three linear electric motors (4), the three degree of freedom motion of waist moving platform (1) can be realized.
Claims (5)
1. a waist analogue means for bionic machine mouse, comprising: waist moving platform (1), ball-joint (2), motor push rod (3), linear electric motors (4), cradle head (5), waist silent flatform (6), it is characterized in that, described waist silent flatform (6) and bionic machine mouse body are bolted, it has screwed hole, described cradle head (5) is bolted and is fixed together with described waist silent flatform (6), described linear electric motors (4) and described cradle head (5) are bolted fixing, with motor push rod (3) on linear electric motors (4), described motor push rod (3) front end spherical coordinates with described ball-joint (2), described waist moving platform (1) has screwed hole, it is bolted with described ball-joint (2) and coordinates.
2. the waist analogue means of bionic machine mouse according to claim 1, it is characterized in that, described waist analogue means comprises three ball-joints (2), three motor push rods (3), three linear electric motors (4), three cradle heads (5).
3. the waist analogue means of bionic machine mouse according to claim 1, it is characterized in that, described ball-joint (2) comprising: gripper shoe (21), the first screw (22), ball cover (23), the second screw (24), lubricating sleeve (25), described waist moving platform (1) has screwed hole, it is fixed together by described first screw (22) and described gripper shoe (21), described gripper shoe (21) is fixed together by described second screw (24) and described ball cover (23), described gripper shoe (21) and described ball cover (23) inside all have semi spherical arcuate surface, described lubricating sleeve (25) coordinates with described gripper shoe (21) and described ball cover (23) inner cambered surface, the described sphere of motor push rod (3) front end and the mating spherical surfaces of lubricating sleeve (25).
4. the waist analogue means of bionic machine mouse according to claim 1, it is characterized in that, described cradle head (5) comprising: cradle head connecting axle (51), bearing (52), bearing (ball) cover (53), the 3rd screw (54), cradle head frame (55), bolt (56); Described linear electric motors (4) are bolted and are fixed together with cradle head connecting axle (51); Described cradle head connecting axle (51) is fixed on described cradle head frame (55) by described bearing (52), described cradle head frame (55) both sides are provided with described bearing (ball) cover (53), described bearing (ball) cover (53) is fixed on described cradle head frame (55) by described 3rd screw (54), and described cradle head frame (55) is fastened on above waist silent flatform (6) by described bolt (56).
5. a bionic machine mouse, comprises bionic machine mouse body, it is characterized in that, also comprises the waist analogue means described in any one of claim 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510570115.9A CN105171736B (en) | 2015-09-09 | 2015-09-09 | The waist analogue means of bionic machine mouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510570115.9A CN105171736B (en) | 2015-09-09 | 2015-09-09 | The waist analogue means of bionic machine mouse |
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| Publication Number | Publication Date |
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| CN105171736A true CN105171736A (en) | 2015-12-23 |
| CN105171736B CN105171736B (en) | 2018-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510570115.9A Active CN105171736B (en) | 2015-09-09 | 2015-09-09 | The waist analogue means of bionic machine mouse |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247611A (en) * | 2018-01-29 | 2018-07-06 | 河海大学常州校区 | A kind of 3-freedom parallel mechanism control method |
| CN108858134A (en) * | 2018-04-19 | 2018-11-23 | 河海大学常州校区 | A kind of 3-dof parallel robot control method |
| 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 |
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| CN104476566A (en) * | 2014-11-28 | 2015-04-01 | 天津理工大学 | Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint |
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2015
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| US5279176A (en) * | 1992-07-20 | 1994-01-18 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs |
| CN1586806A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool |
| CN1669694A (en) * | 2005-03-31 | 2005-09-21 | 上海交通大学 | Parallel robot edge-coating system with a rotary table |
| CN101249651A (en) * | 2008-04-09 | 2008-08-27 | 东华大学 | Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism |
| CN102248535A (en) * | 2011-07-18 | 2011-11-23 | 燕山大学 | Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive |
| CN102528817A (en) * | 2012-01-13 | 2012-07-04 | 燕山大学 | Three-degree-of-freedom parallel-connection mechanical wrist |
| CN102975195A (en) * | 2012-11-27 | 2013-03-20 | 哈尔滨工程大学 | Mole-imitating excavation robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108247611A (en) * | 2018-01-29 | 2018-07-06 | 河海大学常州校区 | A kind of 3-freedom parallel mechanism control method |
| CN108858134A (en) * | 2018-04-19 | 2018-11-23 | 河海大学常州校区 | A kind of 3-dof parallel robot control method |
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| CN105171736B (en) | 2018-04-03 |
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Inventor after: Shi Qing Inventor after: Li Chang Inventor after: Li Kang Inventor after: Guo Yana Inventor after: Yu Zhangguo Inventor after: Chen Xuechao Inventor after: Huang Qiang Inventor after: Fukuda Toshio Inventor before: Shi Qing Inventor before: Li Chang Inventor before: Guo Yana Inventor before: Huang Qiang Inventor before: Fukuda Toshio |
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