CN105729500B - Bionical hydraulic machine dinosaur tail structure - Google Patents

Bionical hydraulic machine dinosaur tail structure Download PDF

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Publication number
CN105729500B
CN105729500B CN201610300384.8A CN201610300384A CN105729500B CN 105729500 B CN105729500 B CN 105729500B CN 201610300384 A CN201610300384 A CN 201610300384A CN 105729500 B CN105729500 B CN 105729500B
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CN
China
Prior art keywords
afterbody
turning joint
joint
turning
vertical
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Expired - Fee Related
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CN201610300384.8A
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CN105729500A (en
Inventor
宫赤坤
张吉祥
袁立鹏
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Priority to CN201610300384.8A priority Critical patent/CN105729500B/en
Publication of CN105729500A publication Critical patent/CN105729500A/en
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Publication of CN105729500B publication Critical patent/CN105729500B/en
Expired - Fee Related legal-status Critical Current
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/146Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a kind of bionical hydraulic pressure four-footed machine dinosaur tail structure, including the turning joint of afterbody first, the turning joint of afterbody second, the turning joint of afterbody the 3rd, the turning joint of afterbody the 4th, the turning joint of afterbody the 5th, the turning joint of afterbody the 6th, the turning joint of afterbody the 7th, the turning joint of afterbody the 8th, the turning joint of afterbody the 9th, the nine afterbody turning joint from first to last passes sequentially through alternate revolute pair in length and breadth and rotates connection, and it is preceding, afterwards servo hydraulic cylinder is connected between afterbody turning joint, by the driving of servo hydraulic cylinder around revolute pair rotary oscillation.In the present invention, afterbody design freedom is more, flexible swinging;Each joint is designed using plane frame structure, and each joint made interferes small, and swing angle is big;It is equipped with before and after per joint and is mutually perpendicular to revolute pair, the linkage can be achieved above and below each joint of tail, swung;Each articulation structure is similar, symmetrical, and stability is good;Each joint is driven using servo hydraulic cylinder, and motion is efficient, and control accuracy is high.

Description

Bionical hydraulic machine dinosaur tail structure
Technical field
The present invention relates to a kind of robot, especially a kind of bionical hydraulic machine dinosaur tail structure.
Background technology
Robot is the technology of a multi-crossed disciplines, be related to Machine Design, computer, sensor, automatically control, people Machine interaction, bionics etc..Robot is widely used, including machinery, electronics, automobile, housekeeping, video display, amusement etc..Bionical hydraulic pressure Four-footed machinery dinosaur, using mechanical designing technique, bionics technology, hydraulic control technology, sensor technology, intelligent control technology Deng, the motion feature of dinosaur can be realized, such as walk, shake the head, open one's mouth, wag the tail.Bionical dinosaur is widely used, particularly one A little theme parks and some public places of entertainment etc..Now with machine dinosaur tail structure design common problem have, afterbody The free degree is few, and amplitude of fluctuation is small, swings dumb;Though the design of some afterbody chances can realize comprehensive swing, afterbody pendulum Dynamic pliability is poor, and true dinosaur structure differs greatly;General to be driven using motor, control system is complicated, low-response; The limitation of tail structure design has had a strong impact on the overall stability of dinosaur.
The content of the invention
Present invention mainly solves the problem of be that to solve four-leg bionic dinosaur tail structure single, swing dumb, control is multiple It is miscellaneous, the problems such as stability is poor, and a kind of bionical hydraulic machine dinosaur tail structure is provided.
To achieve the above object, the technical scheme is that:A kind of bionical hydraulic pressure four-footed machine dinosaur tail structure, tool Have nine afterbody turning joints, respectively the turning joint of afterbody first, the turning joint of afterbody second, the turning joint of afterbody the 3rd, The turning joint of afterbody the 4th, the turning joint of afterbody the 5th, the turning joint of afterbody the 6th, the turning joint of afterbody the 7th, afterbody the 8th Turning joint, the turning joint of afterbody the 9th, it is characterised in that:The nine afterbody turning joint is from first to last passed sequentially through in length and breadth Alternate revolute pair rotates connection, and is connected with servo hydraulic cylinder between forward and backward afterbody turning joint, passes through servo hydraulic cylinder Driving is around revolute pair rotary oscillation.
The turning joint of afterbody first, the turning joint of afterbody second, the turning joint of afterbody the 3rd, the activity of afterbody the 4th are closed Section, the turning joint of afterbody the 5th, the turning joint of afterbody the 6th, the turning joint of afterbody the 7th, the turning joint of afterbody the 8th are plane Frame structure, wherein:The turning joint of afterbody first, the turning joint of afterbody the 3rd, the turning joint of afterbody the 5th, afterbody the 7th The plane frame structure front end of turning joint is provided with vertical through hole cylinder, and the vertical through hole cylinder is provided with folding shape connecting rod, The folding shape connecting rod is provided with a support free bearing;The turning joint of afterbody first, the turning joint of afterbody the 3rd, afterbody Five turning joints, the plane frame structure rear end of the turning joint of afterbody the 7th are provided with the horizontal through hole cylinder being arranged symmetrically, bottom Provided with another support free bearing;The turning joint of afterbody second, the turning joint of afterbody the 4th, the turning joint of afterbody the 6th, tail The plane frame structure rear end of the turning joint of portion the 8th is provided with the vertical through hole cylinder being arranged symmetrically, and medial surface is provided with a branch Free bearing is supportted, the turning joint of afterbody second, the turning joint of afterbody the 4th, the turning joint of afterbody the 6th, the activity of afterbody the 8th are closed The plane framework front end of section is provided with horizontal through hole cylinder, and horizontal through hole cylinder is provided with plane connecting rod, the plane connecting rod Provided with a support free bearing, upper end is provided with another support free bearing;The turning joint of afterbody the 9th is taper frame structure, The taper framework structure front end is provided with vertical through hole cylinder.
The vertical through hole cylinder of the first turning joint of afterbody front end face is by bearing pin and is arranged on dinosaur body perpendicular Clear opening cylinder is connected, and constitutes vertical revolute pair;Servo hydraulic cylinder afterbody is connected on dinosaur body support free bearing, servo-fluid Pressure cylinder piston end is connected on the support free bearing being located in the folding shape connecting rod of afterbody the first turning joint front end face;The afterbody First turning joint swings under the driving of servo hydraulic cylinder around vertical revolute pair.
The turning joint of afterbody first, the turning joint of afterbody the 3rd, the turning joint of afterbody the 5th, the activity of afterbody the 7th are closed The horizontal through hole cylinder for saving rear end face is connected by bearing pin with the horizontal through hole cylinder for the afterbody turning joint front end face being connected Connect, composition horizontally rotates pair;The turning joint of afterbody second, the turning joint of afterbody the 4th, the turning joint of afterbody the 6th, afterbody The vertical through hole cylinder of 8th turning joint rear end face passes through bearing pin and the vertical circle for the afterbody turning joint front end face being connected Post through hole is connected, and constitutes vertical revolute pair;The turning joint of afterbody first, the turning joint of afterbody the 3rd, afterbody the 5th are lived Four servo hydraulic cylinder afterbodys, four servos are connected on support free bearing on movable joint, the turning joint bottom of afterbody the 7th respectively Hydraulic cylinder piston end is connected to the turning joint of afterbody second, the turning joint of afterbody the 4th, the turning joint of afterbody the 6th, afterbody On support free bearing in the plane connecting rod of 8th turning joint front end face;The turning joint of afterbody second, afterbody the 4th are lived Movable joint, the turning joint of afterbody the 6th, the turning joint of afterbody the 8th are under the driving of servo hydraulic cylinder around horizontally rotating above and below pair Swing;The turning joint of afterbody second, the turning joint of afterbody the 4th, the turning joint of afterbody the 6th, the turning joint of afterbody the 8th Four servo hydraulic cylinder afterbodys are connected on support free bearing on rear inside face respectively, four servo hydraulic cylinder piston ends connect respectively Connect the turning joint of afterbody the 3rd, the turning joint of afterbody the 5th, the turning joint of afterbody the 7th, the folding of the turning joint front end of afterbody the 9th On support free bearing in shape connecting rod;3rd turning joint, the turning joint of afterbody the 5th, the turning joint of afterbody the 7th, tail The turning joint of portion the 9th swings under the driving of servo hydraulic cylinder around vertical revolute pair.
The beneficial effects of the invention are as follows:
(1)Afterbody design freedom is more, flexible swinging;
(2)Each joint is designed using plane frame structure, and each joint made interferes small, and swing angle is big;
(3)It is equipped with before and after per joint and is mutually perpendicular to revolute pair, the connection can be achieved above and below each joint of tail, swung It is dynamic;
(4)Each articulation structure is similar, and symmetrical and scaled successively, resistance to overturning is good;
(5)Each joint is driven using servo hydraulic cylinder, and motion is efficient, and control accuracy is high;
(6)Each joint fluid cylinder pressure is located at the connection linkage between each joint in revolute by driving, to control joint Swing, each joint swing torque made is small, and control is simple, flexibly.
Brief description of the drawings
Fig. 1 is the bionical hydraulic machine dinosaur tail structure schematic perspective view of the present invention;
Fig. 2 is the first articulation structure schematic diagram;
Fig. 3 is second joint structural representation;
Fig. 4 is the 3rd articulation structure schematic diagram;
Fig. 5 is the 4th articulation structure schematic diagram;
Fig. 6 is the 5th articulation structure schematic diagram;
Fig. 7 is the 6th articulation structure schematic diagram;
Fig. 8 is the 7th articulation structure schematic diagram;
Fig. 9 is the 8th articulation structure schematic diagram;
Figure 10 is the 9th articulation structure schematic diagram;
Figure 11 is machine dinosaur caudal articular process swinging structure schematic diagram in the present invention.
Embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Such as Fig. 1, shown in 11, a kind of bionical hydraulic pressure four-footed machine dinosaur tail structure, with nine afterbody turning joints, divides Not Wei the first turning joint of afterbody 1, the second turning joint of afterbody 2, the turning joint 3 of afterbody the 3rd, the turning joint 4 of afterbody the 4th, The turning joint 5 of afterbody the 5th, the turning joint 6 of afterbody the 6th, the turning joint 7 of afterbody the 7th, the turning joint 8 of afterbody the 8th, afterbody 9th turning joint 9.
Nine afterbody turning joints pass sequentially through nine in length and breadth alternate rotary shaft link together.Nine afterbody activities are closed Section respectively by the drivings of nine servo hydraulic cylinders, each turning joint under the driving of servo hydraulic cylinder around each joint rotary shaft And rotate.Each turning joint uses plane frame structure, and plane frame structure front and back ends are provided with one orthogonal turn Dynamic pair.
As shown in Figure 1, 2, the first turning joint of afterbody 1 is plane frame structure, and front end is provided with the first vertical through hole cylinder 29, the first vertical through hole cylinder 29 is weldingly connected by support frame with plane frame structure, is set on the first vertical through hole cylinder 29 There is the first folding shape connecting rod 30, the first folding shape connecting rod 30 is provided with the first support free bearing 31, and plane frame structure rear end is provided with Size is identical, the first level through hole cylinder 28 being arranged symmetrically of central shaft unanimously, and first level through hole cylinder 28 passes through support Frame is welded with plane frame structure and supported;Plane frame structure bottom is provided with the second support free bearing 32.
First vertical through hole cylinder 29 of the front end face of the first turning joint of afterbody 1 is by the first bearing pin 33 with being arranged on dinosaur Through hole cylinder is connected on body, constitutes the first vertical revolute pair 10.The first level of the rear end face of the first turning joint of afterbody 1 is led to Hole cylinder 28 is connected by the second bearing pin 38 with the second horizontal through hole cylinder 35 of the front end face of the second turning joint of afterbody 2, group Into first level revolute pair 11.
The afterbody of the first servo hydraulic cylinder 19 of the first turning joint of afterbody 1 is connected on dinosaur body support free bearing, afterbody The piston end of the first servo hydraulic cylinder 19 of first turning joint 1, which is connected to, is located at the first of the front end face of the first turning joint of afterbody 1 On the first free bearing 31 on support frame in vertical revolute pair 10.The first turning joint of afterbody 1 is in first segment servo hydraulic cylinder 19 Driving under swung around the first vertical revolute pair 10.
Such as Fig. 1, shown in 3, the second turning joint of afterbody 2 is plane frame structure, and plane frame structure front end is provided with second Horizontal through hole cylinder 35, the second horizontal through hole cylinder 35 is welded by support frame and plane frame structure, the second horizontal through hole circle Post 35 is provided with the first plane connecting rod 36, and the first plane connecting rod 36 is provided with the 3rd support free bearing 37;Plane frame structure Rear end is provided with the second vertical through hole cylinder 34, and the second vertical through hole cylinder 34 welds phase by support frame with plane frame structure Even, plane frame structure side is provided with the 4th support free bearing 39.
Second horizontal cylinder through hole 35 of the front end face of the second turning joint of afterbody 2 is lived by the second bearing pin 38 with afterbody first The first level cylindrical hole 28 of the rear end face of movable joint 1 is connected, composition first level revolute pair 11.The activity of afterbody second is closed The the second vertical cylinder through hole 34 for saving 2 rear end faces is erected by the 3rd bearing pin 41 with the 3rd of the front end face of the 3rd turning joint of afterbody 3 Straight cylinder through hole 42 is connected, and constitutes the second vertical revolute pair 12.
The afterbody of the second servo hydraulic cylinder 20 of the second turning joint of afterbody 2, which is connected to, to be located in the first turning joint of afterbody 1 32 on second support free bearing of bottom, the piston end of the second servo hydraulic cylinder 20, which is connected to, is located at the front end of the second turning joint of afterbody 2 On support frame in the revolute in face on the 3rd support free bearing 37;The second turning joint of afterbody 2 is in the second servo hydraulic cylinder 20 Swung up and down under driving around afterbody first level revolute pair 11.
Such as Fig. 1, shown in 4, the turning joint 3 of afterbody the 3rd uses plane frame structure, and plane frame structure front end is provided with the Three vertical through hole cylinders 42, the 3rd vertical through hole cylinder 42 is weldingly connected by support frame and plane frame structure, and the 3rd is vertical Through hole cylinder 42 is provided with the second folding shape connecting rod 43, and 43 provided with the 5th support free bearing 44, plane frame in the second folding shape connecting rod Frame structure rear end is identical provided with size, the 3rd horizontal through hole cylinder 40 being arranged symmetrically of central shaft unanimously, the 3rd horizontal through hole Cylinder 40 is welded by support frame and plane frame structure and supported;Plane frame structure bottom is provided with the 6th support free bearing 45.
3rd vertical through hole cylinder 42 of the front end face of the 3rd turning joint of afterbody 3 is lived by the 3rd bearing pin 41 with afterbody second 3rd vertical through hole cylinder 34 of the rear end face of movable joint 2 is connected, and constitutes the second vertical revolute pair 12.The turning joint of afterbody the 3rd The 4th level that 3rd horizontal through hole cylinder 40 of 3 rear end faces passes through the 4th bearing pin 51 and the front end face of the 4th turning joint of afterbody 4 Through hole cylinder 48 is connected, and composition second horizontally rotates pair 13.
The afterbody of the 3rd servo hydraulic cylinder 21 in the turning joint 3 of afterbody the 3rd, which is connected to, is located at the second turning joint of afterbody 2 On the 4th support free bearing 39 on upper medial surface, the piston end of the 3rd servo hydraulic cylinder 21, which is connected to, is located at the turning joint of afterbody the 3rd On support frame in the revolute of 3 front end faces on the 5th support free bearing 44;The turning joint 3 of afterbody the 3rd is in the 3rd servo hydraulic cylinder Swung under 21 driving around the second vertical revolute pair 12.
Such as Fig. 1, shown in 5, the turning joint 4 of afterbody the 4th is plane frame structure, and plane frame structure front end is provided with the 4th Horizontal through hole cylinder 48, the 4th horizontal through hole cylinder 48 is welded by support frame and plane frame structure and supported, and the 4th level is led to Hole cylinder 48 is provided with the second plane connecting rod 49, and 49 provided with the 7th support free bearing 50 in the second plane connecting rod;Plane framework Structure rear end is provided with the 4th vertical through hole cylinder 46, and the 4th vertical through hole cylinder 46 is welded by support frame and plane frame structure It is connected, plane frame structure side is provided with the 8th support free bearing 47.
4th horizontal through hole cylinder 48 of the front end face of the 4th turning joint of afterbody 4 is lived by the 4th bearing pin 51 and afterbody the 3rd 3rd horizontal through hole cylinder 40 of the rear end face of movable joint 3 is connected, and composition second horizontally rotates pair 13.The turning joint of afterbody the 4th 4th vertical through hole cylinder 46 of 4 rear end faces is the 5th vertical by the 5th bearing pin 53 and the front end face of the 5th turning joint of afterbody 5 Cylindrical hole 54 is connected, and constitutes the 3rd vertical revolute pair 14.
The afterbody of the 4th servo hydraulic cylinder 22 in the turning joint 4 of afterbody the 4th, which is connected to, is located at the activity of afterbody the 3rd pass Save on the support free bearing 45 of 3 upper bottom portions, the piston end of the 4th hydraulic cylinder 22, which is connected to, is located at the second of the front end face of the 4th turning joint 4 Horizontally rotate on the support frame in pair 13 on the 7th support free bearing 50;The turning joint 4 of afterbody the 4th is in the 4th servo hydraulic cylinder 22 Driving under horizontally rotate pair around second and 13 swing up and down.
Such as Fig. 1, shown in 6, the turning joint 5 of afterbody the 5th uses plane frame structure, and plane frame structure front end is provided with the Five vertical through hole cylinders 54, the 5th vertical through hole cylinder 54 is weldingly connected by support frame and plane frame structure, and the 5th is vertical Through hole cylinder 54 is provided with the 3rd folding shape connecting rod 55, and the 3rd folding shape connecting rod 55 is provided with the 9th support free bearing 56, plane frame Frame structure rear end is identical provided with size, the 5th horizontal through hole cylinder 52 being arranged symmetrically of central shaft unanimously, the 5th horizontal through hole Cylinder 52 is welded by support frame and plane frame structure and supported;Plane frame structure bottom is provided with the tenth support free bearing 57.
5th vertical through hole cylinder 54 of the front end face of the 5th turning joint of afterbody 5 is lived by the 5th bearing pin 53 and afterbody the 4th 4th vertical through hole cylinder 46 of the rear end face of movable joint 4 is connected, and constitutes the 3rd vertical revolute pair 14.The turning joint of afterbody the 5th The 6th level that 5th horizontal cylinder through hole 52 of 5 rear end faces passes through the 6th bearing pin 63 and the front end face of the 6th turning joint of afterbody 6 Cylindrical hole 60 is connected, and composition the 3rd horizontally rotates pair 15.
The afterbody of the 5th servo hydraulic cylinder 23 in the turning joint 5 of afterbody the 5th, which is connected to, is located at the turning joint 4 of afterbody the 4th On the 8th support free bearing 47 on upper medial surface, the piston end of the 5th servo hydraulic cylinder 23, which is connected to, is located at the turning joint of afterbody the 5th On support frame in 5 front end faces the 3rd horizontal rotation pair 15 on the 11st support free bearing 62;The turning joint 5 of afterbody the 5th is the 5th Swung under the driving of servo hydraulic cylinder 23 around the 3rd vertical revolute pair 14.
As shown in Fig. 1,7, the turning joint 6 of afterbody the 6th is plane frame structure, and plane frame structure front end is provided with the 6th Horizontal through hole cylinder 60, the 6th through hole cylinder 60 is welded by support frame and plane frame structure and supported, the 6th through hole cylinder 60 The 3rd plane connecting rod 61 is provided with, the 3rd plane connecting rod 61 is provided with the another 11st support free bearing 62;Plane frame structure Rear end is provided with the 6th vertical through hole cylinder 58, and the 6th vertical through hole cylinder 58 welds phase by support frame with plane frame structure Even;Plane frame structure medial surface supports free bearing 59 provided with twelve earthly branches.
6th horizontal through hole cylinder 60 of the front end face of the 6th turning joint of afterbody 6 is lived by the 6th bearing pin 63 and afterbody the 5th 5th horizontal through hole cylinder 52 of the rear end face of movable joint 52 is connected, and composition the 3rd horizontally rotates pair 15, and the activity of afterbody the 6th is closed The 6th vertical through hole cylinder 58 for saving 6 rear end faces is erected by the 7th bearing pin 69 with the 7th of the front end face of the 7th turning joint of afterbody 7 Clear opening cylinder 65 is connected, and constitutes the 4th vertical revolute pair 16.
The afterbody of the 6th servo hydraulic cylinder 24 in the turning joint 6 of afterbody the 6th, which is connected to, is located at the turning joint 5 of afterbody the 5th On tenth support free bearing 57 of upper bottom portion, the piston end of the 6th servo hydraulic cylinder 24, which is connected to, to be located at before the turning joint 6 of afterbody the 6th The 3rd of end face horizontally rotate pair 15 on support frame on the 11st support free bearing 62 on;The turning joint 6 of afterbody the 6th is the 6th Horizontally rotate pair 15 around the 3rd under the driving of servo hydraulic cylinder 24 to swing up and down.
Such as Fig. 1, shown in 8, the turning joint 7 of afterbody the 7th uses plane frame structure, and plane frame structure front end is provided with the Seven vertical through hole cylinders 65, the 7th vertical through hole cylinder 65 is weldingly connected by support frame and plane frame structure, and the 7th is vertical Through hole cylinder 65 is provided with four fold shape connecting rod 66, and four fold shape connecting rod 66 is provided with the 13rd support free bearing 67, plane Frame structure rear end is identical provided with size, the 7th horizontal through hole cylinder 64 being arranged symmetrically of central shaft unanimously, the 7th water through hole Cylinder 64 is welded by support frame and plane frame structure and supported;Plane frame structure bottom is provided with the 14th support free bearing 68.
7th vertical through hole cylinder 65 of the front end face of the 7th turning joint of afterbody 7 is lived by the 7th bearing pin 69 and afterbody the 6th 6th vertical through hole cylinder 58 of the rear end face of movable joint 6 is connected, and constitutes the 4th vertical revolute pair 16.The turning joint of afterbody the 7th The 8th level that 7th horizontal through hole cylinder 64 of 7 rear end faces passes through the 8th bearing pin 75 and the front end face of the 8th turning joint of afterbody 8 Cylindrical hole 72 is connected, and composition the 4th horizontally rotates pair 17.
The afterbody of the 7th servo hydraulic cylinder 25 in the turning joint 7 of afterbody the 7th, which is connected to, is located at the turning joint 6 of afterbody the 6th On twelve earthly branches support free bearing 59 on upper medial surface, the piston end of the 7th servo hydraulic cylinder 25, which is connected to, is located at the activity of afterbody the 7th pass Save on the support frame in the 4th vertical revolute pair 16 of 7 front end faces on the 13rd support free bearing 67;The turning joint 7 of afterbody the 7th exists Swung under the driving of 7th servo hydraulic cylinder 25 around the 4th vertical revolute pair 16.
Such as Fig. 1, shown in 9, the turning joint 8 of afterbody the 8th is plane frame structure, and plane frame structure front end is provided with the 8th Horizontal through hole cylinder 72, the 8th horizontal through hole cylinder 72 is welded by support frame and plane frame structure and supported, and the 8th level is led to Hole cylinder 72 is provided with fourth plane connecting rod 73, and fourth plane connecting rod 73 is provided with the 15th support free bearing 74;Plane frame Frame structure rear end is provided with the 8th vertical through hole cylinder 70, and the 8th vertical through hole cylinder 70 is welded by support frame and plane frame structure Connect connected, plane frame structure sidepiece is provided with the 16th support free bearing 71.
8th horizontal through hole cylinder 72 of the front end face of the 8th turning joint of afterbody 8 is lived by the 8th bearing pin 75 and afterbody the 7th 7th horizontal through hole cylinder 64 of the rear end face of movable joint 7 is connected, and composition the 4th horizontally rotates pair 17.The turning joint of afterbody the 8th 8th vertical through hole cylinder 70 of 8 rear end faces is the 9th vertical by the 9th bearing pin 77 and the front end face of the 9th turning joint of afterbody 9 Through hole cylinder 78 is connected, and constitutes the 5th vertical revolute pair 18.
The afterbody of the 8th servo hydraulic cylinder 26 in the turning joint of afterbody the 8th, which is connected to, to be located in the turning joint 7 of afterbody the 7th On 14th support free bearing 68 of bottom, the piston end of the 8th servo hydraulic cylinder 26, which is connected to, to be located at before the turning joint 8 of afterbody the 8th The 4th of end face horizontally rotate pair 17 on support frame on the 15th support free bearing 74 on;The turning joint 8 of afterbody the 8th is the 8th Horizontally rotate pair 17 around the 4th under the driving of servo hydraulic cylinder 26 to swing up and down.
As shown in Fig. 1,10, the turning joint 9 of afterbody the 9th is taper frame structure, and taper framework structure front end is provided with the 9th Vertical through hole cylinder 78, the 9th vertical through hole cylinder 78 is supported by support frame and taper framework structure welding;9th is vertical logical Hole cylinder 78 is provided with the 5th folding shape connecting rod 79, and the 5th folding shape connecting rod 79 is provided with the 17th support free bearing 80.
9th vertical cylinder through hole 78 of the front end face of the 9th turning joint of afterbody 9 is lived by the 9th bearing pin 77 and afterbody the 8th 8th vertical through hole cylinder 70 of the rear end face of movable joint 8 is connected, and constitutes the 5th vertical revolute pair 18.
The afterbody of the 9th servo hydraulic cylinder 27 in the turning joint 9 of afterbody the 9th, which is connected to, is located at the turning joint 8 of afterbody the 8th On the 16th support free bearing 71 on upper medial surface, the piston end of the 9th servo hydraulic cylinder 27, which is connected to, is located at the activity of afterbody the 9th pass Save on the 17th support free bearing 80 in the 5th folding shape connecting rod 79 in the 5th vertical revolute pair 18 of 9 front end faces;Afterbody Nine turning joints 9 swing under the driving of the 9th servo hydraulic cylinder 27 around the 5th vertical revolute pair 18.

Claims (3)

1. a kind of bionical hydraulic pressure four-footed machine dinosaur tail structure, with nine afterbody turning joints, respectively afterbody first is lived Movable joint (1), the turning joint of afterbody second (2), the turning joint (3) of afterbody the 3rd, the turning joint (4) of afterbody the 4th, afterbody Five turning joints (5), the turning joint (6) of afterbody the 6th, the turning joint (7) of afterbody the 7th, the turning joint (8) of afterbody the 8th, tail The turning joint (9) of portion the 9th, it is characterised in that:The nine afterbody turning joint from first to last passes sequentially through alternate in length and breadth turn Dynamic secondary rotate connects, and is connected with servo hydraulic cylinder between forward and backward afterbody turning joint, is rotated by the driving of servo hydraulic cylinder Dynamic pair rotary oscillation;The turning joint of afterbody first, the turning joint of afterbody second, the turning joint of afterbody the 3rd, afterbody the 4th Turning joint, the turning joint of afterbody the 5th, the turning joint of afterbody the 6th, the turning joint of afterbody the 7th, the turning joint of afterbody the 8th For plane frame structure, wherein:The turning joint of afterbody first (1), the turning joint (3) of afterbody the 3rd, the activity of afterbody the 5th Joint (5), the plane frame structure front end of the turning joint (7) of afterbody the 7th are provided with vertical through hole cylinder, the vertical through hole circle Post is provided with folding shape connecting rod, and the folding shape connecting rod is provided with a support free bearing;The turning joint of afterbody first (1), The turning joint (3) of afterbody the 3rd, the turning joint (5) of afterbody the 5th, the plane frame structure rear end of the turning joint (7) of afterbody the 7th Provided with the horizontal through hole cylinder being arranged symmetrically, bottom is provided with another support free bearing;The turning joint of afterbody second (2), tail The turning joint (4) of portion the 4th, the turning joint (6) of afterbody the 6th, the plane frame structure rear end of the turning joint (8) of afterbody the 8th are set There is a vertical through hole cylinder being arranged symmetrically, medial surface is provided with a support free bearing, the turning joint of afterbody second, afterbody the Four turning joints, the turning joint of afterbody the 6th, the plane framework front end of the turning joint of afterbody the 8th are provided with horizontal through hole cylinder, water Flat through hole cylinder is provided with plane connecting rod, and the plane connecting rod is provided with a support free bearing, plane frame structure upper end Provided with another support free bearing;The turning joint (9) of afterbody the 9th is taper frame structure, the taper framework structure front end Provided with vertical through hole cylinder.
2. bionical hydraulic pressure four-footed machine dinosaur tail structure according to claim 1, it is characterised in that:The afterbody first The vertical through hole cylinder of turning joint (1) front end face is connected by bearing pin with being arranged on dinosaur body vertical through hole cylinder, Constitute vertical revolute pair;Servo hydraulic cylinder afterbody is connected on dinosaur body support free bearing, and servo hydraulic cylinder piston end is connected to It is located on the support free bearing in the folding shape connecting rod of the turning joint of afterbody first (1) front end face;The turning joint of afterbody first (1) swung under the driving of servo hydraulic cylinder around vertical revolute pair.
3. bionical hydraulic pressure four-footed machine dinosaur tail structure according to claim 1, it is characterised in that:The afterbody first Turning joint (1), the turning joint (3) of afterbody the 3rd, the turning joint (5) of afterbody the 5th, afterbody the 7th turning joint (7) rear end face Horizontal through hole cylinder be connected by bearing pin with the horizontal through hole cylinder for the afterbody turning joint front end face being connected, constitute water Flat revolute pair;The turning joint of afterbody second (2), the turning joint (4) of afterbody the 4th, the turning joint (6) of afterbody the 6th, afterbody The vertical through hole cylinder of the 8th turning joint (8) rear end face is vertical by bearing pin and the afterbody turning joint front end face that is connected Cylindrical hole is connected, and constitutes vertical revolute pair;The turning joint of afterbody first (1), the turning joint (3) of afterbody the 3rd, tail Four servo hydraulic cylinders are connected respectively on support free bearing in the turning joint (5) of portion the 5th, afterbody the 7th turning joint (7) bottom Afterbody, four servo hydraulic cylinder piston ends are connected to the turning joint of afterbody second, the turning joint of afterbody the 4th, afterbody the 6th On support free bearing in turning joint, the plane connecting rod of the turning joint front end face of afterbody the 8th;The activity of afterbody second is closed (2), the turning joint (4) of afterbody the 4th, the turning joint (6) of afterbody the 6th, the turning joint (8) of afterbody the 8th are saved in servo hydraulic cylinder Driving under swing up and down around horizontally rotating pair;The turning joint of afterbody second (2), the turning joint (4) of afterbody the 4th, afterbody Four servo-fluids are connected respectively on support free bearing in 6th turning joint (6), afterbody the 8th turning joint (8) rear inside face Cylinder pressure afterbody, four servo hydraulic cylinder piston ends connect respectively the turning joint (3) of afterbody the 3rd, the turning joint (5) of afterbody the 5th, On support free bearing in the turning joint (7) of afterbody the 7th, the folding shape connecting rod of afterbody the 9th turning joint (9) front end;Described Three turning joints (3), the turning joint (5) of afterbody the 5th, the turning joint (7) of afterbody the 7th, the turning joint (9) of afterbody the 9th are being watched Take under the driving of hydraulic cylinder and to be swung around vertical revolute pair.
CN201610300384.8A 2016-05-09 2016-05-09 Bionical hydraulic machine dinosaur tail structure Expired - Fee Related CN105729500B (en)

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