CN105173080A - Chinese dragon model capable of flying - Google Patents
Chinese dragon model capable of flying Download PDFInfo
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- CN105173080A CN105173080A CN201510634286.3A CN201510634286A CN105173080A CN 105173080 A CN105173080 A CN 105173080A CN 201510634286 A CN201510634286 A CN 201510634286A CN 105173080 A CN105173080 A CN 105173080A
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- 210000000988 bone and bone Anatomy 0.000 claims abstract description 173
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 210000000867 larynx Anatomy 0.000 claims description 90
- 210000002758 humerus Anatomy 0.000 claims description 75
- 210000003414 extremity Anatomy 0.000 claims description 18
- 210000000078 claw Anatomy 0.000 claims description 13
- 210000001564 haversian system Anatomy 0.000 claims description 13
- 239000004020 conductor Substances 0.000 claims description 11
- 210000001503 joint Anatomy 0.000 claims description 8
- 210000005224 forefinger Anatomy 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 244000139609 Euphoria longan Species 0.000 claims description 2
- 235000000235 Euphoria longan Nutrition 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 9
- 241001529849 Dracocephalum Species 0.000 abstract 1
- 238000005452 bending Methods 0.000 description 18
- 230000006870 function Effects 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 210000003194 forelimb Anatomy 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 101100083338 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) PIC2 gene Proteins 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 101100153168 Arabidopsis thaliana TIC21 gene Proteins 0.000 description 1
- 101100273813 Homo sapiens CDKN1A gene Proteins 0.000 description 1
- 101100202924 Neurospora crassa (strain ATCC 24698 / 74-OR23-1A / CBS 708.71 / DSM 1257 / FGSC 987) tsp-2 gene Proteins 0.000 description 1
- 108700038981 SUMO-1 Proteins 0.000 description 1
- 101100083337 Schizosaccharomyces pombe (strain 972 / ATCC 24843) pic1 gene Proteins 0.000 description 1
- 102100026940 Small ubiquitin-related modifier 1 Human genes 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The invention discloses a Chinese dragon model capable of flying. The Chinese dragon model comprises a dragon head unit, a sectional bone unit, a foot sectional bone unit, a universal rotation joint unit and a circuit control system, wherein the circuit control system comprises a microcomputer controller as well as a universal rotation joint control device, a sectional bone control device and a four-limb control device which are connected with the microcomputer controller; the universal rotation joint control device is connected with a stepping motor which is arranged in the universal rotation joint unit and used for adjusting the gesture of a dragon body, the sectional bone control device is connected with an electric motor generating recoil force, the four-limb control device is connected with stepping motors which are arranged in four limbs and used for controlling stretching, retracting, grabbing and releasing, and the microcomputer controller is further connected with a power supply device, a human-machine interaction device, a sensor device and a main switch. Admiration and worship for the Chinese dragon model are represented in a dynamic manner, the profound effects of the Chinese dragon on Chinese people can be deepened, and the foreigner's negative image of the Chinese dragon is changed.
Description
Technical field
The present invention relates to Intelligent flight device technical field, particularly relate to a kind of China dragon that can soar.
Background technology
The symbol of the Long Shi Chinese nation of China, people generally believe the totem of the Chinese Long Shi Chinese nation, and being the spirit symbol with great ability, is succession and the mark of outstanding history culture, is the affectional tie of faith carrier and national unity.Although people are at drawing, engraving, building, form performance the revering and worshipping China dragon that Competitive Activities etc. are static, can not deepen the profound influence of China dragon to China, can not change abroad to the passiveness image of China dragon.
Summary of the invention
Because the above-mentioned defect of prior art, technical matters to be solved by this invention is to provide a kind of China dragon that can soar, to solve the problem.
For achieving the above object, the invention provides a kind of China dragon that can soar, it is characterized in that: comprise leading unit, joint osteon, pin joint osteon, ten thousand revolve pass unit and circuit control system, described circuit control system comprise microcomputerized controller and be connected with microcomputerized controller ten thousand revolve pass control setup, joint bone control setup and four limbs control setup, described ten thousand revolve close control setup and ten thousand revolve close unit inside for regulating imperial body to advance, left and right, the stepping motor of upper and lower attitude connects, described joint bone control setup with at imperial body, each saves the electrical motor that bone produces recoil and is connected, described four limbs control setup and four limbs internal piloting are stretched in the wrong, the stepping motor of pick-and-place connects, described microcomputerized controller also with supply unit, human-computer interaction device, sensor device is connected with main supply switch, described sensor device comprises vision sensor, hearing transducer.
Further, the longan that described leading unit comprises tap and is arranged on tap, Long Jiao, described leading inside is provided with right larynx squama stepping motor, tap blade motor, larynx squama stepping motor, larynx squama sliding shoe, described larynx squama sliding shoe is connected with larynx scale by larynx squama line, described larynx scale is arranged on leading bottom by larynx squama nail of shipping and reselling on another market, the left and right sides of described tap is respectively arranged with left larynx scale, left larynx squama line, left larynx squama pin and right larynx squama are shipped and resell on another market nail, right larynx scale, right larynx squama line, described left larynx scale rotates pin by left larynx squama and is connected with tap, left larynx squama line is connected with left larynx scale, right larynx scale also rotates pin by right larynx squama and is connected with tap, described right larynx scale, right larynx squama line connects.
Further, described joint osteon comprise joint bone and be fixed on the squama frame saving bone, and be fixed on the multilayer scale of squama frame, the space for saving bone blade motor air-breathing is provided with between multilayer scale, be provided with in joint bone for the tube chamber through gastrostege line and gastrostege thread casing, a blade motor is designed with above its tube chamber, a gastrostege sheet is had below tube chamber, shipped and resell on another market to follow closely by gastrostege and connect gastrostege sheet and joint bone, one end of gastrostege line through the joint bone tube chamber of joint bone, is connected with gastrostege sheet through gastrostege sheet; There is a left gastrostege sheet on the tube chamber left side, and being shipped and resell on another market to follow closely by left gastrostege connects left gastrostege sheet and joint bone, and the adjustment of described left gastrostege sheet rotational steps is by left gastrostege line control, and then revolves the little step motor control of left gastrostege inside closing by ten thousand; Have a right gastrostege sheet on the right of tube chamber, being shipped and resell on another market to follow closely by right gastrostege connects right gastrostege sheet and joint bone, and the adjustment of described right gastrostege sheet rotational steps is by right gastrostege line control, and then revolves the little step motor control of right gastrostege inside closing by ten thousand; One end connecting joint bone spring of joint bone, joint bone spring is used for the attaching parts between connecting joint bone and joint bone.
Further, described pin joint osteon comprises pin joint bone, joint bone stepping motor, humerus, humerus stepping motor, phalanges and phalanges stepping motor, the humerus of bone one end corresponding matching is saved with pin, and save the phalanges of bone other end corresponding matching with pin, humerus elastic ring is had between described pin joint bone and humerus, joint bone sliding shoe is provided with in described joint bone stepping motor, described joint bone sliding shoe is connected by saving bone line with one end dome dish of humerus, the hemisphere shape of the other end projection of described humerus matches with the hemisphere shape of phalanges one end spill, humerus elastic ring is provided with between humerus and phalanges, humerus sliding shoe is provided with in described humerus stepping motor, described humerus sliding shoe is connected by humerus line with one end dome dish of phalanges, the other end of described phalanges has five claws, wherein one end of forefinger claw is rotationally connected proximal phalanx and the formation of phalanges one end by rotating pin, be provided with in described proximal phalanx and phalanges and closely save spring, described proximal phalanx is provided with baffle plate simultaneously, described proximal phalanx and middle phalanx are rotationally connected, and be provided with middle joint spring in middle phalanx and proximal phalanx, middle phalanx is provided with baffle plate simultaneously, described middle phalanx and distal phalanx are rotationally connected, and be provided with in distal phalanx and middle phalanx and far save spring, distal phalanx is provided with baffle plate simultaneously, phalanges stepping motor is set in described phalanges, described phalanges stepping motor drives corresponding phalanges sliding shoe to move by spiral rotating, described phalanges, distal phalanx, joint spring far away, middle phalanx, middle joint spring, proximal phalanx, nearly joint spring is all through phalanges line, described distal phalanx is connected with phalanges sliding shoe by phalanges line.
Further, described ten thousand revolve pass unit comprises sliding stand, gastrostege spool, gastrostege line, gastrostege line cap bag, gastrostege spring, gastrostege sliding damper, gastrostege gear, gastrostege conducting ring, gastrostege adapter plate, gastrostege Compress Spring, gastrostege outer conductor, motor platform, gastrostege inside conductor, the little stepping motor of gastrostege, gastrostege slip push pedal, the large stepping motor of gastrostege and gastrostege miniature gears, described gastrostege outer conductor, gastrostege conducting ring, gastrostege inside conductor, the little stepping motor of gastrostege, gastrostege slip push pedal connects successively, described gastrostege sliding damper connects with gastrostege slip push pedal, described gastrostege spring connects with gastrostege sliding damper, described gastrostege slip push pedal is connected with gastrostege line, described gastrostege gear has installed two identical little stepping motors of gastrostege and gastrostege slip push pedal, described gastrostege line connects gastrostege sliding damper and gastrostege sheet, the spindle nose of the large stepping motor of described gastrostege has gastrostege miniature gears, described gastrostege miniature gears connects with band gastrostege gear.
Further, described gastrostege gear and left gastrostege gear, do relative motion between right gastrostege gear, described gastrostege gear and left gastrostege gear, right gastrostege gear all has two slip push pedals, one end of each slip push pedal is convex, different distances is formed from corresponding several adjacent sliding damper, each sliding damper controls gastrostege sheet respectively, left gastrostege sheet and right gastrostege sheet, adjust corresponding gastrostege sheet, the rotational steps of left gastrostege sheet and right gastrostege sheet, described gastrostege line is the non-stretchable line of softness connecting gastrostege sliding damper and gastrostege sheet, revolving ten thousand the gastrostege spool closing overcoat gastrostege line is also soft non-stretchable gastrostege spool.
Further, described ten thousand stepping motors revolving unit inside, pass are the little stepping motor of gastrostege, the large stepping motor of gastrostege, the little stepping motor of left gastrostege, the large stepping motor of left gastrostege, the little stepping motor of right gastrostege, the large stepping motor of right gastrostege, the stepping motor of described four limbs inside comprises joint bone stepping motor, humerus stepping motor, phalanges stepping motor, and described humerus stepping motor, joint bone stepping motor are multiple.
Further, the stepping motor of described imperial body joint bone inside comprises right larynx squama stepping motor, leading blade motor, larynx squama stepping motor, joint bone blade motor.
Further, one end connecting joint bone spring of the joint bone of described joint osteon, joint bone spring is used for the attaching parts between connecting joint bone and joint bone.
Further, air, from multilayer scale custom-designed gap air-breathing, is discharged gastrostege sheet, left gastrostege sheet and right gastrostege sheet by described blade motor.
The invention has the beneficial effects as follows:
1, China of the present invention imperial model joint bone is connected with saving bone spring with between joint bone, forms pliable and tough body, has joint bone blade motor in joint bone, from scale layer air-breathing, discharge gastrostege sheet or left gastrostege sheet and right gastrostege sheet, form recoil, make Chinese imperial model rapid development strong.
2, the joint bone bone of China of the present invention imperial model pin joint bone is that the semicircular body of convex is connected with the semicircular body of spill with humerus junction, simultaneously, humerus and phalanges junction are also that the semicircular body of convex is connected with the semicircular body of spill, save the control of bone stepping motors and four humerus stepping motors respectively by four, realize three-dimensional rotation.A certain phalanges stepping motor is connected one proximal phalanx only by its phalanges line, closely save spring, middle phalanx, middle joint spring, distal phalanx, is far saved spring, by the control of a certain phalanges stepping motor, realize one bending control only, the control of five stepping motors, the bending control of five pawls can be realized, realize the function grasped, make Chinese imperial model flexible movements.
3, the imperial model of China of the present invention ten thousand revolves the gastrostege gear, left gastrostege gear, the right gastrostege gear that close the inside and can be movable relatively, each gear has two slip push pedals, one end of each push pedal is convex, different distances is formed from corresponding several adjacent sliding damper, each controls gastrostege sheet, left gastrostege sheet and right gastrostege sheet respectively, adjust the rotational steps of corresponding gastrostege sheet, left gastrostege sheet and right gastrostege sheet, make Chinese imperial model attitude flexible.
4, the present invention is respectively to the joint osseous system of the imperial model of China, faucet system, ten thousand revolve pass system, pin joint is while osseous system carries out careful failure-free machine design, domestic " Godson " chip is also adopted to control China's each motive position of imperial model, use intellectual technology to realize dragon and aloft reliably soar flexibly, with dynamic form performance revering and worshipping China dragon, the profound influence of China dragon to China can be deepened, change abroad to the passiveness image of China dragon.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is integrated circuit structured flowchart of the present invention;
Fig. 2 is integrated circuit schematic diagram of the present invention;
Fig. 3 is leading positive view of the present invention;
Fig. 4 is the present invention's tap birds-eye view;
Fig. 5 is the present invention's tap oblique drawing;
Fig. 6 is that the present invention saves bone positive view;
Fig. 7 is that the present invention saves bone left view;
Fig. 8 is that the present invention saves bone oblique drawing;
Fig. 9 is pin of the present invention joint bone part sectional view;
Figure 10 is pin of the present invention joint bone oblique drawing;
Figure 11 is that pass partial cutaway gastrostege outer conductor view is revolved in the present invention ten thousand;
Figure 12 is that the large stepping motor view of pass partial cutaway gastrostege is revolved in the present invention ten thousand;
Figure 13 is that the partial view closed at joint bone is revolved in the present invention ten thousand;
Figure 14 is the imperial body oblique drawing of the present invention's each system composition;
Figure 15 is the imperial body birds-eye view of the present invention's each system composition.
Detailed description of the invention
As shown in Figure 1, the invention provides a kind of China dragon that can soar, it is characterized in that: comprise leading unit, joint osteon, pin joint osteon, ten thousand revolve pass unit and circuit control system, described circuit control system comprise microcomputerized controller and be connected with microcomputerized controller ten thousand revolve pass control setup, joint bone control setup and four limbs control setup, described ten thousand revolve close control setup and ten thousand revolve close unit inside for regulating imperial body to advance, left and right, the stepping motor of upper and lower attitude connects, described joint bone control setup with at imperial body, each saves the electrical motor that bone produces recoil and is connected, described four limbs control setup and four limbs internal piloting are stretched in the wrong, the stepping motor of pick-and-place connects, described microcomputerized controller also with supply unit, human-computer interaction device, sensor device is connected with main supply switch, described sensor device comprises vision sensor, hearing transducer.
As shown in Figure 2, require to send instruction according to programmed instruction by MCU,
First: control joint bone chipset PIC1, the instruction by it controls to drive joint bone motor plate ULN1, ULN2, and then the blade controlling joint bone motor unit M53 ~ M76 rotates, and produces recoil.
Second: control ten thousand and revolve pass chipset PIC2, instruction by it controls driving ten thousand and revolves pass motor plate ULN3, and then stepper motor M77 ~ M82(mono-aspect, pass is revolved in control ten thousand, control ten thousand and revolve the large stepping motor of gastrostege, the large stepping motor of left gastrostege and the large stepping motor of right gastrostege that close inside, realize selecting different joint bones.On the other hand, control ten thousand and revolve the little stepping motor of gastrostege, the little stepping motor of left gastrostege and the little stepping motor of right gastrostege that close inside, realize the size of the rotational steps regulating gastrostege, left gastrostege, right gastrostege on the joint bone of this selection).Revolving pass stepper motor PIC2 by controlling ten thousand, imperial health can be controlled and rise, left and right, advancing and bending attitude.
3rd: control four limbs chipset PIC3, PIC4, instruction by it controls the left ULN4 of forelimb, the right ULN5 of forelimb, the left ULN6 of hind leg, the right ULN7 of hind leg that drive four limbs motor plate, and then controls the left M1 ~ M13 of forelimb, the right M14 ~ M26 of forelimb, the left M27 ~ M39 of hind leg, the right M40 ~ M52 of hind leg of four limbs stepper motor respectively.Thus respectively corresponding drive humerus stepping motor, joint bone stepping motor, phalanges stepping motor, realize that four limbs are flexible, claw can grab the attitude that can hold.
4th: collect dragon related sensor group sen1 with it, the information feed back of sen2, sen3, through A/D converter, be sent to the process of sensor feedback chipset PIC5, deliver to MCU to analyze, according to the analysis requirement of MCU Program instruction, the control command of time update above-mentioned first, second, and third.
To sum up, "Longxin" chip controls above-mentioned four kinds of instructions simultaneously, can realize the various attitudes that China dragon dances in the air aloft.
As shown in Fig. 3,4,5, the principle of work of tap is as follows:
Structural principle:
Have larynx scale 9 below tap 1, larynx scale 9 rotates pin 10 by larynx squama and is connected with tap, has the function of rotation.Larynx squama line 8 forms with larynx scale 9 state be connected through larynx squama sliding shoe 7.Left larynx scale 14 is also connected with tap 1 by left larynx squama rotation pin 16 simultaneously, has the function of rotation.Left larynx squama line 15 forms with left larynx scale 14 state be connected through left larynx squama slide unit stepping motor.Right larynx scale 12 also rotates pin 11 by right larynx squama and is connected with tap, has the function of rotation.Right larynx squama line 13 forms with right larynx scale 12 state be connected through right larynx squama slide unit stepping motor.
Principle of work:
Chip controls group sends signal control larynx squama stepping motor 6, drives larynx squama sliding shoe 7 to move up and down, make larynx squama line 8 be in the state of shrinking or stretching by its screw shaft.Because leading blade motor 5 produces the recoil effect of air, larynx squama line 8 presents the state of tension, and the rotational steps of larynx scale 9 is all the time in the maximum anglec of rotation of current larynx squama sliding shoe 7.When larynx squama sliding shoe 7 moves up, larynx squama line 8 is in contraction state, the rotational steps of larynx scale 9 reduces, at this moment tap will reduce the power risen, when larynx squama sliding shoe 7 moves down, larynx squama line 8, in extended configuration, makes larynx scale 9 form the larger anglec of rotation of amplitude, and at this moment tap will increase the power risen.Equally, chipset sends signal control left larynx squama stepping motor, controls the rotational steps of left larynx scale 14, controls the right attitude of tap.Meanwhile, chipset sends signal control right larynx squama stepping motor 4, controls the rotational steps of right larynx scale 12, controls the left attitude of tap.Control larynx squama stepping motor 6, left larynx squama stepping motor (not marking) and right larynx squama stepping motor 4 simultaneously.
As shown in Fig. 6,7,8, the principle of work of joint bone is as follows:
Structural principle:
Joint bone there are the squama frame 24 being fixed on joint bone 17 and the scale 25 being fixed on squama frame 24, are provided with special space between scale 25 layer by layer, for saving the air-breathing of bone blade motor 23.Tube chamber is had in joint bone, a blade motor 23 is designed with above its tube chamber, a gastrostege sheet 18 is had below tube chamber, gastrostege sheet 18 and joint bone 17 is connected by gastrostege nail 21 of shipping and reselling on another market, devise inside the tube chamber of joint bone and can pass the little gastrostege line 20 of diameter but the larger gastrostege spool 56 of diameter can not be passed, so gastrostege spool 56 is kept off in the inside of joint bone tube chamber, and through gastrostege thread casing 19, it prevents the wearing and tearing of luminal surface, one end of gastrostege line 20 is through the joint bone tube chamber saving bone, through gastrostege sheet 18, form with gastrostege sheet 18 state be connected.Left gastrostege sheet 34 is the same principles with right gastrostege sheet 29.
During work, no matter the ten thousand gastrostege sliding dampers 60 revolving the inside, pass are moved on the left side still on the right by gastrostege slip push pedal 69, because joint bone blade motor 23 produces the recoil effect of air, the recoil that gastrostege sheet 18 is subject to makes the gastrostege line 20 being connected to gastrostege sliding damper 60 and gastrostege sheet 18 be in the state of tension. to sum up, by the stretching, extension of gastrostege line 20 and the control of shortening, the function controlling gastrostege sheet 18 anglec of rotation can be realized.
There is a left gastrostege sheet 34 on the tube chamber left side, and connect left gastrostege sheet 34 and joint bone 17 by left gastrostege nail 33 of shipping and reselling on another market, the adjustment of rotational steps is controlled by left gastrostege line 32, and then revolves the little step motor control of left gastrostege of closing the inside by ten thousand.Have a right gastrostege sheet 29 on the right of tube chamber, connect right gastrostege sheet 29 and joint bone by right gastrostege nail 30 of shipping and reselling on another market, the adjustment of rotational steps is controlled by right gastrostege line 28, and then revolves the little step motor control of right gastrostege of closing the inside by ten thousand.The joint bone spring 22 of one end connection of joint bone, joint bone spring 22 is for the attaching parts between connecting joint bone 17 and joint bone 17.
Principle of work:
During work, chip combination control signal sends instruction and controls joint bone blade motor 23 from scale layer 25 custom-designed gap air-breathing, air is discharged gastrostege sheet 18, left gastrostege sheet 34 and right gastrostege sheet 29.Dragon body is formed by connecting by joint bone spring 22 by many individual identical joint bones 17.The rising attitude of dragon body is controlled by the anglec of rotation of gastrostege sheet 18, and the anglec of rotation of gastrostege sheet 18 is large, and dragon rises relatively just high with it, and the anglec of rotation of gastrostege sheet 18 is little, and dragon rises relatively just low with it.The left and right attitude of dragon body is controlled by left gastrostege sheet 34 and right gastrostege sheet 29, and when the angle of the angle large and right gastrostege sheet 29 of left gastrostege sheet 34 is little, imperial body is close to the right; On the contrary, when the angle of the little and right gastrostege sheet 29 of angle of left gastrostege sheet 34 is large, imperial body is close left; When left gastrostege sheet 34 is the same with the anglec of rotation of right gastrostege sheet 29, imperial figure becomes not keep left the attitude of also not keeping right.
As Fig. 9,10, the principle of pin joint osteon is as follows:
Structural principle:
The end face of pin joint bone 35 is protruding hemisphere shapes, and an end face of humerus 40 is spill hemisphere shapes, saves bone 35 corresponding matching with pin, realizes three-dimensional rotation mutually.The other end of humerus 40 is convex hemisphere shapes, matches with the phalanges 45 of spill hemisphere shape.Have humerus elastic ring 44 between pin joint bone 35 and humerus 40, make it have elastomeric effect, joint bone stepping motor 36 li has joint bone sliding shoe 37, and joint bone line 38 envoy bone sliding shoe 37 forms coupled condition with one end dome dish of humerus 40.By jointly controlling of four joint bone stepping motors 36, realize three-dimensional rotation mutually.It is similar with the connection of humerus 40 that the connection of humerus 40 and phalanges 45 and pin save bone 35.The hemisphere shape of the other end projection of humerus 40 matches with the hemisphere shape of phalanges 45 one end spill, humerus elastic ring 44 is had between humerus 40 and phalanges 45, humerus stepping motor 41 li has humerus sliding shoe 42, and humerus line 43 makes humerus sliding shoe 42 form coupled condition with one end dome dish of phalanges.By jointly controlling of four humerus stepping motors 41, realize three-dimensional rotation mutually.
The other end of phalanges 45 has five claws, now introduce the mechanism of forefinger claw, wherein one end of forefinger claw, this end forms the relation of rotating by rotating pin proximal phalanx 50 and phalanges 45 one end, and have nearly joint spring 51 to keep its extended configuration in proximal phalanx 50 and phalanges 45, proximal phalanx 50 there is baffle plate simultaneously, when ensureing bending, make it bending to the centre of the palm, can not to bending dorsad.Proximal phalanx 50 forms rotation relation with middle phalanx 48 again, and has middle joint spring 49 to keep its extended configuration in middle phalanx 48 and proximal phalanx 50, middle phalanx 48 has baffle plate simultaneously, makes it bending to the centre of the palm, can not to bending dorsad.Middle phalanx 48 and distal phalanx 46 form rotation relation, and have joint spring 47 far away to keep its extended configuration in distal phalanx 46 and middle phalanx 48, distal phalanx 46 have baffle plate simultaneously, make it bending to the centre of the palm, can not to bending dorsad.Phalanges stepping motor 54 in phalanges, pass through spiral rotating, corresponding phalanges sliding shoe 53 is driven to move, phalanges line 52 is through phalanges 45, nearly joint spring 51, proximal phalanx 50, middle joint spring 49, middle phalanx 48, joint spring 47 far away, distal phalanx 46, and phalanges sliding shoe 53 is formed with distal phalanx 46 state be connected.
Principle of work:
When chip combination control signal sends the rotation that instruction one of to control in four joint bone stepping motors 36, the rotating screw axis of its joint bone stepping motor 36 drives its joint bone sliding shoe 37 to move up and down, and envoy's bone sliding shoe 37 and the joint bone line 38 of humerus 40 in coupled condition are also along with joint bone sliding shoe 37 compresses and stretch joint flexible bone circle 39.When save bone sliding shoe 37 upwards time, joint bone line 38 compresses joint flexible bone circle 39, makes humerus 40 bending towards its direction around pin joint bone 35.When saving bone sliding shoe 37 and being downward, due to the elasticity of joint flexible bone circle 39, joint bone line 38 stretches joint flexible bone circle 39, makes humerus 40 save bone 35 around pin and restores to the original state towards its reversing sense.
Humerus 40 is the same with the principle of work of phalanges 45, when chip combination control signal sends the rotation that instruction one of to control in four humerus stepping motors 41, the rotating screw axis of its humerus stepping motor 41 drives its humerus sliding shoe 42 to move up and down, and makes humerus sliding shoe 42 and the humerus line 43 of phalanges 45 in coupled condition also along with humerus sliding shoe 42 compresses and stretch its humerus elastic ring 44.When humerus sliding shoe 42 upwards time, humerus line 43 compresses humerus elastic ring 44 makes phalanges 45 bending towards its direction around humerus 40.When humerus sliding shoe 42 is downward, due to the elasticity of humerus elastic ring 44, humerus line 43 stretches humerus elastic ring 44, and phalanges 45 is restored to the original state towards its reversing sense around humerus 40.
When phalanges stepping motor 54 drives phalanges sliding shoe 53 to move by screw shaft, the phalanges line 52 phalanges sliding shoe 53 and distal phalanx 46 being formed inherent annexation controls the relative constriction stretching, extension of proximal phalanx 50, middle phalanx 48, distal phalanx 46.When phalanges sliding shoe 53 moves up, the contraction of phalanges line 52 makes proximal phalanx 50, middle phalanx 48 and distal phalanx 46 relatively rotate towards the centre of the palm.When phalanges sliding shoe 53 moves down, phalanges line 52 stretches, restorative due to spring inherent between each phalanges, makes proximal phalanx 50, middle phalanx 48 and distal phalanx 46 in extended configuration.Above-mentioned is stretching, extension and the contraction state of a claw.
When five phalanges sliding shoes that five claws are corresponding drive the phalanges line 52 of its correspondence to move up, five claws form the state in the centre of the palm, when five phalanges sliding shoes that five claws are corresponding drive phalanges lines 52 to move down, due to the effect that the elasticity in phalanges is recovered, five claws form the state stretched.
Contact pin joint bone 35, humerus 40 and phalanges 45, control joint bone stepping motor 36, humerus stepping motor 41 and phalanges stepping motor 54 by the instruction of chip controls group 72, can realize the motion of limbs in space.The principle that four limbs are identical, can realize the attitude that four limbs move aloft.
As shown in Figure 11,12,13, ten thousand revolve close principle of work as follows:
Structural principle:
On the one hand, the anglec of rotation of gastrostege sheet 18 is controlled.Chipset sends instruction, successively through gastrostege outer conductor 65, gastrostege conducting ring 62, gastrostege inside conductor 67 controls the little stepping motor 68 of gastrostege, the little stepping motor 68 of gastrostege rotates according to command request, drive gastrostege slip push pedal 69 sway, the end face of the gastrostege slip push pedal 69 contacted with gastrostege sliding damper 60 is convexs, effect is that the summit of convex is contacted with a gastrostege sliding damper 60, make gastrostege sliding damper 60 miles of relative movement maximum, the edge of convex can contact with adjacent several gastrostege sliding dampers 60, move it distance to reduce successively, until mean distance.When little stepping motor 68 clickwise of gastrostege, gastrostege sliding damper 60 is driven to move left by the screw shaft of the little stepping motor 68 of gastrostege, due to the elastic force of gastrostege spring 59, gastrostege sliding damper 60 and adjacent being also moved to the left.When little stepping motor 68 left-hand revolution of gastrostege, drive gastrostege slip push pedal 69 to move right by the screw shaft of the little stepping motor 68 of gastrostege, gastrostege sliding damper 60 also moves right, and causes gastrostege spring 59 to be compressed further.
Gastrostege line 57 connects the softness of gastrostege sliding damper 60 and gastrostege sheet 18 but non-stretchable line, and the gastrostege spool 56 being enclosed within gastrostege line 57 outside the Pass revolving ten thousand is also soft but non-stretchable gastrostege spool 56.Sliding stand 55 has that correspond to can through the little gastrostege line 57 of diameter but can not through the larger gastrostege spool 56 of diameter, so gastrostege spool 56 is kept off in the outside of sliding stand 55, and through gastrostege line cap bag 58, gastrostege line cap bag 58 is the wearing and tearing in order to prevent sliding stand surface.Simultaneously in joint bone 17, devise and can pass the little gastrostege line 57 of diameter but the tube chamber that can not pass the larger gastrostege spool 56 of diameter, so gastrostege spool 56 is kept off in the outside of joint bone tube chamber, and through gastrostege line cap bag 58, prevent the wearing and tearing of luminal surface, one end of gastrostege line 57, through the joint bone tube chamber of joint bone, through gastrostege sheet 18, forms with gastrostege sheet 18 state be connected.During work, gastrostege sliding damper 60 on the left side inside closing is revolved still on the right regardless of ten thousand, due to the recoil effect that the joint bone blade motor 23 in joint bone brings, the recoil that gastrostege sheet 18 is subject to makes the gastrostege line 57 being connected to gastrostege sliding damper 60 and gastrostege sheet 18 be in the state of tension. to sum up, the function controlling gastrostege sheet 18 anglec of rotation can be realized.
On the other hand, different gastrostege sheets 18 is selected.Chipset is according to command request, and control the large stepping motor 70 of gastrostege by electric wire, the spindle nose of the large stepping motor 70 of gastrostege has gastrostege miniature gears 71, and gastrostege miniature gears 71 can drive gastrostege gear 61 to rotate.
Principle of work:
By the instruction that chipset sends, on the one hand, the connection rotating through gastrostege miniature gears 71 of the large stepping motor 70 of gastrostege, drives the rotation being arranged on gastrostege gear 61, realizes selecting the gastrostege sheet 18 inside different joint bone.On the other hand, the little stepping motor 68 of gastrostege drives gastrostege slip push pedal 69 to move, and meanwhile, the gastrostege line 57 be connected with gastrostege slip push pedal 69 also moves, and achieves the function of the rotational steps size of the adjustment gastrostege sheet 18 in certain joint bone.Because the health of dragon is M shape, need, at gastrostege gear 61, two identical little stepping motors 68 of gastrostege and gastrostege slip push pedal 69 have been installed, ensure the function that can control the gastrostege sheet 18 of two joint bones or the rotational steps size of a control gastrostege sheet 18 at one time, realize the attitude that imperial body is bending.Dragon body is the attitude in M, so two joint bones should be had the highest, make this joint bone the highest because recoil is maximum because gastrostege sheet 18 rotational steps of its correspondence is maximum, and the minimum attitude of two other joint bone be make because gastrostege sheet 18 rotational steps is minimum this joint bone because of recoil minimum and minimum, but be continuous print between the highest and minimum, so gastrostege slip push pedal 69 is convexs, it is maximum that its convex summit makes gastrostege sliding damper 60 compress, cause the rotational steps of gastrostege sheet 18 large by gastrostege line 57, thus the joint bone of this some correspondence is the highest.
Simultaneously, inside the Pass revolving ten thousand, not only there is the gastrostege gear 61 of gastrostege group, the little stepping motor 68 of gastrostege, the large stepping motors 70 of gastrostege etc., also have the left gastrostege gear of left gastrostege group, the little stepping motor of left gastrostege, the large stepping motor of left gastrostege etc., the right gastrostege gear of right gastrostege group, the little stepping motor of right gastrostege, the large stepping motor of right gastrostege etc.The size of the gastrostege sheet rotational steps in gastrostege group effector difference joint bone, adjusts height and the advance of imperial body.Left gastrostege sheet in left gastrostege group joint different from right gastrostege group effector bone and the size of right gastrostege sheet rotational steps, adjust the bending attitude of the left and right of imperial body.
In sum, the design advantage of China of the present invention imperial model joint bone, pin joint bone, Wan Xuanguan is as follows:
1, save between bone with joint bone and is connected with save bone spring, form pliable and tough body, have joint bone blade motor in joint bone, from scale layer air-breathing, discharge gastrostege sheet or left gastrostege sheet and right gastrostege sheet, formation recoil, makes Chinese imperial model soar effectively.
2, the joint bone bone of pin joint bone is that the semicircular body of convex is connected with the semicircular body of spill with humerus junction, simultaneously, humerus and phalanges junction are also that the semicircular body of convex is connected with the semicircular body of spill, save the control of bone stepping motors and four humerus stepping motors respectively by four, realize three-dimensional rotation.A certain phalanges stepping motor is connected one proximal phalanx only by its phalanges line, closely save spring, middle phalanx, middle joint spring, distal phalanx, is far saved spring, by the control of a certain phalanges stepping motor, realize one bending control only, the control of five stepping motors, the bending control of five pawls can be realized, realize the function grasped, make Chinese imperial model flexible movements.
3, the gastrostege gear inside Wan Xuanguan, left gastrostege gear, gastrostege gear is had to can be movable relatively, each gear has two slip push pedals, one end of each push pedal is convex, different distances is formed from corresponding several adjacent sliding damper, each controls gastrostege sheet, left gastrostege sheet and right gastrostege sheet respectively, adjust the rotational steps of corresponding gastrostege sheet, left gastrostege sheet and right gastrostege sheet, make Chinese imperial model attitude flexible.
As shown in Figure 14,15, combine joint osseous system, faucet system, ten thousand principle of work of revolving pass system, pin joint osseous system, chip can adopt domestic " Godson " chip, uses intellectual technology, and by chip programming instruction, chipset is according to command request:
The first, control the larynx squama stepping motor of faucet system, left larynx squama stepping motor, right larynx squama stepping motor, and then control the rotational steps of larynx scale, left larynx scale, right larynx scale respectively, the direction of adjustment tap flight and attitude.
Second, control ten thousand and revolve the little stepping motor of gastrostege inside the system of pass and the large stepping motor of gastrostege, the little stepping motor of left gastrostege and the large stepping motor of left gastrostege, the little stepping motor of right gastrostege and the large stepping motor of right gastrostege, control the gastrostege group inside the different joint osseous system saving bone composition respectively, left gastrostege group, the size of the rotational steps of right gastrostege group.The body skyborne advance of Comprehensive Control dragon, up and down and the bending attitude of left and right.
3rd, control joint bone stepping motor, humerus stepping motor, the phalanges stepping motor in the pin joint osseous system of four pin joint bones composition, control the performance flexibly of dragon's paw, comprise dragon's paw and can stretch the function to hold etc.
To sum up each system is under the control of chip combination control, realizes that dragon is bending to soar flexibly aloft.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical personnels in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (10)
1. the China dragon that can soar, it is characterized in that: comprise leading unit, joint osteon, pin joint osteon, ten thousand revolve pass unit and circuit control system, described circuit control system comprise microcomputerized controller and be connected with microcomputerized controller ten thousand revolve pass control setup, joint bone control setup and four limbs control setup, described ten thousand revolve close control setup and ten thousand revolve close unit inside for regulating imperial body to advance, left and right, the stepping motor of upper and lower attitude connects, described joint bone control setup with at imperial body, each saves the electrical motor that bone produces recoil and is connected, described four limbs control setup and four limbs internal piloting are stretched in the wrong, the stepping motor of pick-and-place connects, described microcomputerized controller also with supply unit, human-computer interaction device, sensor device is connected with main supply switch, described sensor device comprises vision sensor, hearing transducer.
2. a kind of China dragon that can soar as claimed in claim 1, it is characterized in that: described leading unit comprises tap (1) and is arranged on the longan (2) on tap (1), Long Jiao (3), described tap (1) inside is provided with right larynx squama stepping motor (4), tap blade motor (5), larynx squama stepping motor (6), larynx squama sliding shoe (7), described larynx squama sliding shoe (7) is connected with larynx scale (9) by larynx squama line (8), described larynx scale (9) is arranged on tap (1) bottom by larynx squama nail (10) of shipping and reselling on another market, the left and right sides of described tap (1) is respectively arranged with left larynx scale (14), left larynx squama line (15), left larynx squama pin (16) and right larynx squama are shipped and resell on another market nail (11), right larynx scale (12), right larynx squama line (13), described left larynx scale (14) is rotated pin (16) by left larynx squama and is connected with tap (1), left larynx squama line (15) is connected with left larynx scale (14), right larynx scale (12) is also rotated pin (11) by right larynx squama and is connected with tap (1), described right larynx scale (12), right larynx squama line (13) connects.
3. a kind of China dragon that can soar as claimed in claim 1, it is characterized in that: described joint osteon comprise joint bone (17) and be fixed on the squama frame (24) saving bone (17), and be fixed on the multilayer scale (25) of squama frame (24), the space for saving bone blade motor (23) air-breathing is provided with between multilayer scale (25), be provided with in joint bone (17) for the tube chamber through gastrostege line (20) and gastrostege thread casing (19), a blade motor (23) is designed with above its tube chamber, a gastrostege sheet (18) is had below tube chamber, by gastrostege ship and resell on another market nail (21) connect gastrostege sheet (18) and save bone (17), one end of gastrostege line (20) is through the joint bone tube chamber saving bone (17), to be connected with gastrostege sheet (18) through gastrostege sheet (18), there is a left gastrostege sheet (34) on the tube chamber left side, by left gastrostege ship and resell on another market nail (33) connect left gastrostege sheet (34) and joint bone (17), the adjustment of described left gastrostege sheet (34) rotational steps is controlled by left gastrostege line (32), and then revolve the little step motor control of left gastrostege of closing the inside by ten thousand, a right gastrostege sheet (29) is had on the right of tube chamber, by right gastrostege ship and resell on another market nail (30) connect right gastrostege sheet (29) and joint bone (17), the adjustment of described right gastrostege sheet (29) rotational steps is controlled by right gastrostege line (28), and then revolve the little step motor control of right gastrostege of closing the inside by ten thousand, one end connecting joint bone spring (22) of joint bone (17), joint bone spring (22) is for the attaching parts between connecting joint bone (17) and joint bone (17).
4. a kind of China dragon that can soar as claimed in claim 1, it is characterized in that: described pin joint osteon comprises pin joint bone (35), joint bone stepping motor (36), humerus (40), humerus stepping motor (41), phalanges (45) and phalanges stepping motor (54), the humerus (40) of bone (35) one end corresponding matching is saved with pin, and save the phalanges (45) of bone (35) other end corresponding matching with pin, humerus elastic ring (44) is had between described pin joint bone (35) and humerus (40), described joint bone stepping motor (36) is inner is provided with joint bone sliding shoe (37), described joint bone sliding shoe (37) is connected by saving bone line (38) with one end dome dish of humerus (40), the hemisphere shape of the other end projection of described humerus (40) matches with the hemisphere shape of phalanges (45) one end spill, humerus elastic ring (44) is provided with between humerus (40) and phalanges (45), described humerus stepping motor (41) is inner is provided with humerus sliding shoe (42), described humerus sliding shoe (42) is connected by humerus line (43) with one end dome dish of phalanges (45), the other end of described phalanges (45) has five claws, wherein one end of forefinger claw is rotationally connected proximal phalanx (50) and the formation of phalanges (45) one end by rotating pin, be provided with in described proximal phalanx (50) and phalanges (45) and closely save spring (51), described proximal phalanx (50) is provided with baffle plate simultaneously, described proximal phalanx (50) and middle phalanx (48) are rotationally connected, and be provided with middle joint spring (49) in middle phalanx (48) and proximal phalanx (50), middle phalanx (48) is provided with baffle plate simultaneously, described middle phalanx (48) and distal phalanx (46) are rotationally connected, and be provided with in distal phalanx (46) and middle phalanx (48) and far save spring (47), distal phalanx (46) is provided with baffle plate simultaneously, phalanges stepping motor (54) is set in described phalanges (45), described phalanges stepping motor (54) drives corresponding phalanges sliding shoe (53) mobile by spiral rotating, described phalanges (45), distal phalanx (46), joint spring (47) far away, middle phalanx (48), middle joint spring (49), proximal phalanx (50), nearly joint spring (51) is all through phalanges line (52), described distal phalanx (46) is connected with phalanges sliding shoe (53) by phalanges line (52).
5. a kind of China dragon that can soar as claimed in claim 1, is characterized in that: described ten thousand revolve pass unit comprises sliding stand (55), gastrostege spool (56), gastrostege line (57), gastrostege line cap bag (58), gastrostege spring (59), gastrostege sliding damper (60), gastrostege gear (61), gastrostege conducting ring (62), gastrostege adapter plate (63), gastrostege Compress Spring (64), gastrostege outer conductor (65), motor platform (66), gastrostege inside conductor (67), the little stepping motor of gastrostege (68), gastrostege slip push pedal (69), the large stepping motor of gastrostege (70) and gastrostege miniature gears (71), described gastrostege outer conductor (65), gastrostege conducting ring (62), gastrostege inside conductor (67), the little stepping motor of gastrostege (68), gastrostege slip push pedal (69) connects successively, described gastrostege sliding damper (60) connects with gastrostege slip push pedal (69), described gastrostege spring (59) connects with gastrostege sliding damper (60), described gastrostege slip push pedal (69) is connected with gastrostege line (57), described gastrostege gear (61) has installed two identical little stepping motors of gastrostege (68) and gastrostege slip push pedal (69), described gastrostege line (57) connects gastrostege sliding damper (60) and gastrostege sheet (18), the spindle nose of the large stepping motor of described gastrostege (70) has gastrostege miniature gears (71), and described gastrostege miniature gears (71) connects with gastrostege gear (61).
6. a kind of China dragon that can soar as claimed in claim 5, it is characterized in that: described gastrostege gear (61) and left gastrostege gear, do relative motion between right gastrostege gear, described gastrostege gear (61) and left gastrostege gear, right gastrostege gear all has two slip push pedals, one end of each slip push pedal is convex, different distances is formed from corresponding several adjacent sliding damper, each sliding damper controls gastrostege sheet (18) respectively, left gastrostege sheet (34) and right gastrostege sheet (29), adjust corresponding gastrostege sheet (18), the rotational steps of left gastrostege sheet (34) and right gastrostege sheet (29), described gastrostege line (57) is the non-stretchable line of softness connecting gastrostege sliding damper (60) and gastrostege sheet (18), revolving ten thousand the gastrostege spool (56) closing overcoat gastrostege line (57) is also soft non-stretchable gastrostege spool.
7. a kind of China dragon that can soar as claimed in claim 1, it is characterized in that: described ten thousand stepping motors revolving unit inside, pass are the little stepping motor of gastrostege (68), the large stepping motor of gastrostege (70), the little stepping motor of left gastrostege, the large stepping motor of left gastrostege, the little stepping motor of right gastrostege, the large stepping motor of right gastrostege, the stepping motor of described four limbs inside comprises joint bone stepping motor (36), humerus stepping motor (41), phalanges stepping motor (54), and described humerus stepping motor (41), joint bone stepping motor (36) are multiple.
8. a kind of China dragon that can soar as claimed in claim 1, is characterized in that: the stepping motor of described leading unit inside comprises left larynx squama stepping motor, right larynx squama stepping motor (4), leading blade motor (5), larynx squama stepping motor (6), joint bone blade motor (23).
9. a kind of China dragon that can soar as claimed in claim 4, it is characterized in that: one end connecting joint bone spring of the joint bone (35) of described joint osteon, joint bone spring is used for the attaching parts between connecting joint bone and joint bone.
10. a kind of China dragon that can soar as claimed in claim 3, it is characterized in that: air, from multilayer scale (25) custom-designed gap air-breathing, is discharged gastrostege sheet (18), left gastrostege sheet (34) and right gastrostege sheet (29) by described blade motor (23).
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| CN1322656A (en) * | 2000-10-28 | 2001-11-21 | 韩锦熙 | Chinese flying dragon |
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| US20100282896A1 (en) * | 2009-05-07 | 2010-11-11 | Disney Enterprises, Inc. | Flying entertainment vehicle |
| CN102861440A (en) * | 2012-10-02 | 2013-01-09 | 王德普 | Dancing dragon and manufacturing method thereof |
| CN205022869U (en) * | 2015-09-30 | 2016-02-10 | 毛忠杰 | Aircraft of china dragon |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02128783A (en) * | 1988-11-08 | 1990-05-17 | Keikichi Itai | Rising dragon |
| CN1322656A (en) * | 2000-10-28 | 2001-11-21 | 韩锦熙 | Chinese flying dragon |
| CN2855490Y (en) * | 2005-11-16 | 2007-01-10 | 黄启玩 | Inflatable driving dragon lamp |
| US20100282896A1 (en) * | 2009-05-07 | 2010-11-11 | Disney Enterprises, Inc. | Flying entertainment vehicle |
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| CN205022869U (en) * | 2015-09-30 | 2016-02-10 | 毛忠杰 | Aircraft of china dragon |
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Inventor after: Li Aojie Inventor after: Li Xia Inventor after: Mao Yan Inventor before: Mao Zhongjie |
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Effective date of registration: 20190506 Address after: 518109 Longhua Street, Longhua District, Shenzhen City, Guangdong Province, Jinglong Community, Heping West Road, Longtengge B Building 3 Unit 205 Patentee after: Shenzhen Zhongshun New Energy Battery Co. Address before: 518109 Building A 607, Longtengge Commercial and Residential Building, South of Heping Road, Longhua Street, Longhua New District, Shenzhen Patentee before: Shenzhen Shun Amperex Technology Limited |