CN105171736B - The waist analogue means of bionic machine mouse - Google Patents
The waist analogue means of bionic machine mouse Download PDFInfo
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- CN105171736B CN105171736B CN201510570115.9A CN201510570115A CN105171736B CN 105171736 B CN105171736 B CN 105171736B CN 201510570115 A CN201510570115 A CN 201510570115A CN 105171736 B CN105171736 B CN 105171736B
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- waist
- ball
- cradle head
- joint
- electric motors
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Abstract
The invention discloses a kind of waist analogue means of bionic machine mouse, it belongs to bionic machine technical field, and it includes：Waist moving platform (1), ball-joint (2), motor push rod (3), linear electric motors (4), cradle head (5), waist silent flatform (6)；Waist silent flatform (6) is bolted with bionic machine mouse body, under the driving of the linear electric motors (4), the motor push rod (3) drives the waist moving platform (1) to be rotated with the ball-joint (5), under the cooperating in parallel of three linear electric motors (4), the three degree of freedom motion of the waist moving platform (1) can be achieved.Present invention seek to address that the problem of simulation bionic machine mouse waist structure is complicated, volume is big, quality weight.
Description
Technical field
The invention belongs to bionic machine technical field, and in particular to a kind of analogue means of bionic machine mouse.
Background technology
" in the texts of A Rat-like Robot WR-5for Animal Behavior Research " one, author mentions
A kind of structure design and experimental study of bionic machine mouse.The waist mechanism of the bionic machine mouse is by direct current generator, differential gear
The connector such as roller box, motor rack, connecting plate and bearing, trip bolt is formed；The waist structure by four DC motor Drivers,
Linked by gear pair and differential case；Each differential case has the free degree of both direction, passes through two direct current generators
It is differential, realize the motion in two free degree directions；Differential case and motor turn into one by motor rack and connecting plate link
Body, form the waist structure of bionic machine mouse.
The waist structure of the bionic machine mouse is complicated, and quality is heavy, it is difficult to realizes the lightweight of bionic machine mouse, simplifies
It is required that；The waist structure is integrally square structure, it is difficult to the form of approaching to reality mouse；Two groups of differential case free degree weights
Folded, the actual free degree only has two, and motor utilization rate is not high, causes power supply to waste.
The content of the invention
The purpose of the present invention is：It is low in order to solve to simulate complicated bionic machine mouse waist structure, quality weight, motor utilization rate
The problem of, propose a kind of waist analogue means of new bionic machine mouse；
The technical scheme is that：The waist analogue means of bionic machine mouse, it includes：Waist moving platform (1), ball close
Save (2), motor push rod (3), linear electric motors (4), cradle head (5), waist silent flatform (6)；
Described ball-joint (2) includes：Supporting plate (21), screw (22), ball cover (23), screw (24), lubricating sleeve (25)；
Screwed hole is provided with the waist moving platform (1), it is fixed together by screw (22) and supporting plate (21), the supporting plate
(21) it is fixed together by screw (24) and ball cover (23), hemispherical is all provided with inside the supporting plate (21) and ball cover (23)
Cambered surface, the lubricating sleeve (25) coordinate with supporting plate (21) and the internal cambered surface of ball cover (23), the ball of motor push rod (3) front end
Face and the mating spherical surfaces of lubricating sleeve (25)；
The cradle head (5) includes：Cradle head connecting shaft (51), bearing (52), bearing (ball) cover (53), screw
(54), cradle head frame (55), bolt (56)；The linear electric motors (4) are connected with cradle head connecting shaft (51) by bolt
Connect, the cradle head connecting shaft (51) is fixed in cradle head frame (55) by bearing (52), the cradle head machine
There is bearing (ball) cover (53) frame (55) both sides, and the bearing (ball) cover (53) is fixed on cradle head frame (55) by screw (54)
On, the cradle head frame (55), which is bolted, is fixed on waist silent flatform (6) above；
The waist silent flatform (6) is bolted with robot body, under the driving of linear electric motors (4), motor
Push rod (3) moves along a straight line, and makes the sphere of motor push rod (3) front end in lubricating sleeve (25) internal slide, drive waist moving platform
(1) moved with ball-joint (5), while cradle head connecting shaft (51) relatively rotates joint frame (55) by two bearings (52)
Rotate, under the cooperating in parallel of three linear electric motors (4), the three degree of freedom motion of waist moving platform (1) can be achieved.
Mechanism freedom calculation formula of the present invention is as follows：
Wherein：M is number of degrees of freedom, and d is the exponent number of mechanism, and n is number of components, and g is kinematic pair number, fiFor single motion
Secondary number of degrees of freedom.
The beneficial effects of the invention are as follows：
(1) the differential gearing structure of original series connection is replaced with parallel-connection structure by the present invention, and motor used is by four direct currents
Motor is reduced to three push-rod electric machines, and the actual free degree brought increases to three by two, adds the utilization ratio of motor,
Waist structure is simplified, reduces waist quality；Meanwhile waist structure in parallel space cavity structure can be bionic machine
Mouse circuit part provides space, increases space efficiency utilization；
(2) present invention uses waist structure in parallel, and waist moving platform (1) and waist silent flatform (2) can be physically fine
The true mouse of imitation belly and hip joint, be advantageous to the configuration simulation of bionic machine mouse.
Brief description of the drawings
Fig. 1 is the bionic machine mouse waist structure schematic diagram of the present invention；
Fig. 2 is the ball-joint partial structural diagram of the present invention；
Fig. 3 is the cradle head partial structural diagram of the present invention；
Wherein, 1- waists moving platform, 2- ball-joints, 21- supporting plates, 22- screws, 23- ball covers, 24- screws, 25- lubrications
Set, 3- motors push rod, 4- linear electric motors, 5- cradle heads, 51- cradle heads connecting shaft, 52- bearings, 53- bearing (ball) covers, 54-
Screw, 55- cradle heads frame, 56- bolts, 6- waist silent flatforms
Embodiment
Referring to accompanying drawing 1, the waist analogue means of bionic machine mouse, it includes：Waist moving platform (1), ball-joint (2), electricity
Machine push rod (3), linear electric motors (4), cradle head (5), waist silent flatform (6)；
Referring to accompanying drawing 2, described ball-joint (2) includes：Supporting plate (21), screw (22), ball cover (23), screw (24),
Lubricating sleeve (25)；Screwed hole is provided with the waist moving platform (1), it is fixed on one by screw (22) and supporting plate (21)
Rise, the supporting plate (21) is fixed together by screw (24) and ball cover (23), in the supporting plate (21) and ball cover (23)
Portion is all provided with semi spherical arcuate surface, and the lubricating sleeve (25) coordinates with supporting plate (21) and the internal cambered surface of ball cover (23), the motor
The sphere of push rod (3) front end and the mating spherical surfaces of lubricating sleeve (25)；
Referring to accompanying drawing 3, the cradle head (5) includes：Cradle head connecting shaft (51), bearing (52), bearing (ball) cover
(53), screw (54), cradle head frame (55), bolt (56)；The linear electric motors (4) are logical with cradle head connecting shaft (51)
Bolt connection is crossed, the cradle head connecting shaft (51) is fixed in cradle head frame (55) by bearing (52), described turn
There is bearing (ball) cover (53) movable joint frame (55) both sides, and the bearing (ball) cover (53) is fixed on cradle head machine by screw (54)
On frame (55), the cradle head frame (55), which is bolted, is fixed on waist silent flatform (6) above；
The waist silent flatform (6) is bolted with robot body, under the driving of linear electric motors (4), motor
Push rod (3) moves along a straight line, and makes the sphere of motor push rod (3) front end in lubricating sleeve (25) internal slide, drive waist moving platform
(1) moved with ball-joint (5), while cradle head connecting shaft (51) relatively rotates joint frame (55) by two bearings (52)
Rotate, under the cooperating in parallel of three linear electric motors (4), the three degree of freedom motion of waist moving platform (1) can be achieved.
Claims (1)
1. a kind of bionic-mouse, including bionic-mouse body, waist analogue means；The waist analogue means can imitate true mouse
Belly and hip joint；It is characterized in that：
The waist analogue means includes：Waist moving platform (1), ball-joint (2), motor push rod (3), linear electric motors (4), rotation
Joint (5), waist silent flatform (6)；The waist silent flatform (6) is bolted with bionic-mouse body, is provided with screw thread thereon
Hole, the cradle head (5) is bolted to be fixed together with the waist silent flatform (6), the linear electric motors (4) with
The cradle head (5) is bolted fixation, and motor push rod (3), the motor push rod (3) are carried on linear electric motors (4)
Front end spherical and the ball-joint (2) coordinate, and screwed hole is provided with the waist moving platform (1), itself and the ball-joint (2)
It is bolted cooperation；
Described waist analogue means include three ball-joints (2), three motor push rods (3), three linear electric motors (4), three
Cradle head (5)；
Described ball-joint (2) includes：Supporting plate (21), the first screw (22), ball cover (23), the second screw (24), lubricating sleeve
(25)；Screwed hole is provided with the waist moving platform (1), it is fixed by first screw (22) and the supporting plate (21)
Together, the supporting plate (21) is fixed together by second screw (24) with the ball cover (23), the supporting plate
(21) semi spherical arcuate surface, the lubricating sleeve (25) and the supporting plate (21) and the ball and inside the ball cover (23) are all provided with
Cover (23) internal cambered surface to coordinate, the sphere of motor push rod (3) front end and the mating spherical surfaces of lubricating sleeve (25)；
The cradle head (5) includes：Cradle head connecting shaft (51), bearing (52), bearing (ball) cover (53), the 3rd screw
(54), cradle head frame (55), bolt (56)；The linear electric motors (4) are bolted and cradle head connecting shaft
(51) it is fixed together；The cradle head connecting shaft (51) is fixed on the cradle head frame by the bearing (52)
(55) on, cradle head frame (55) both sides are provided with the bearing (ball) cover (53), and the bearing (ball) cover (53) passes through institute
State the 3rd screw (54) to be fixed on the cradle head frame (55), the cradle head frame (55) passes through the bolt
(56) it is fastened on waist silent flatform (6) above；
The connecting shaft (51) of three cradle heads is parallel to the cradle head frame (55) and is provided with bearing (ball) cover
(53) plane；
The waist silent flatform (6) is bolted with the bionic-mouse body, under the driving of linear electric motors (4), motor
Push rod (3) moves along a straight line, and makes the sphere of motor push rod (3) front end in lubricating sleeve (25) internal slide, drive waist moving platform
(1) moved with ball-joint (5), while cradle head connecting shaft (51) relatively rotates joint frame (55) by two bearings (52)
Rotate, under the cooperating in parallel of three linear electric motors (4), realize the three degree of freedom motion of waist moving platform (1).
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 CN105171736A (en) | 2015-12-23 |
| CN105171736B true 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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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107717999B (en) * | 2017-12-29 | 2021-05-14 | 北京理工大学 | Waist simulation device of bionic robot mouse based on multi-link transmission |
| 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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|---|---|---|---|---|
| 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 |
| 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249651B (en) * | 2008-04-09 | 2010-06-09 | 东华大学 | Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism |
| 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 |
| CN104858860B (en) * | 2015-06-01 | 2020-11-03 | 山东理工大学 | Parallel mechanism with two translation and one rotation |
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2015
- 2015-09-09 CN CN201510570115.9A patent/CN105171736B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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| CN105171736A (en) | 2015-12-23 |
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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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