CN105751248A - Head and neck structure for bionic hydraulic four-legged mechanical dinosaur - Google Patents

Head and neck structure for bionic hydraulic four-legged mechanical dinosaur Download PDF

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Publication number
CN105751248A
CN105751248A CN201610301661.7A CN201610301661A CN105751248A CN 105751248 A CN105751248 A CN 105751248A CN 201610301661 A CN201610301661 A CN 201610301661A CN 105751248 A CN105751248 A CN 105751248A
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China
Prior art keywords
head
joint
neck joint
dinosaur
cylinder
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Application number
CN201610301661.7A
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Chinese (zh)
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CN105751248B (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 CN201610301661.7A priority Critical patent/CN105751248B/en
Publication of CN105751248A publication Critical patent/CN105751248A/en
Application granted granted Critical
Publication of CN105751248B publication Critical patent/CN105751248B/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

Abstract

The invention relates to a head and neck structure for a bionic hydraulic four-legged mechanical dinosaur. The head and neck structure is provided with a head joint, an upper neck joint and a lower neck joint, wherein an upper jaw and a lower jaw are arranged at the front end of the head joint; the lower jaw of the head is connected with a head servo hydraulic cylinder; a dinosaur mouth is opened and closed under the driving of the head servo hydraulic cylinder; the upper neck joint is connected to the head joint and the lower neck joint through a front rotation shaft and a rear rotation shaft; the lower neck joint is connected onto a dinosaur body through the rotation shafts; the upper neck joint and the lower neck joint are respectively connected with servo hydraulic cylinders; swinging and pitching movements of a mechanism are realized through the driving of the servo hydraulic cylinders; the head joint is connected with the lower neck joint through a transmission link rod, so as to realize the linkage of the lower neck joint and the head joint. The head and neck structure provided by the invention is novel in design, practical, and low in the complexity of a head power system; the head structure is provided with dinosaur eyes which can blink, so as to be vivid; the head and neck structure provided by the invention has many degrees of freedom of head and neck, so as to be flexible to swing; as the hydraulic system is adopted for driving, the head and neck structure is high in efficiency and control accuracy.

Description

Bionical hydraulic pressure four-footed machine dinosaur incidence structure
Technical field
The present invention relates to a kind of quadruped robot, especially a kind of four-footed machine dinosaur incidence structure.
Background technology
Robot is the technology of a multi-crossed disciplines, relate to Machine Design, computer, sensor, automatically control, man-machine interaction, bionics etc..Robot is widely used, including machinery, electronics, automobile, housekeeping, video display, amusement etc..The bionical hydraulic pressure four-footed machinery dinosaur of the design, adopts mechanical designing technique, bionics technology, hydraulic control technology, sensor technology, intelligent control technology etc., it is possible to realize the motion feature of dinosaur, as walked, shakes the head, open one's mouth, wag the tail.Bionical dinosaur is widely used, particularly in some theme parks and some public places of entertainment etc..
Existing four-leg bionic machine dinosaur, it is common to there is problems of, the head mechanism design of dinosaur, degree of freedom is few, it is impossible to makes it rotate flexibly and swing, affects the stability of dinosaur travelling control.It is generally adopted motor to drive, controls system complex.Overall construction design and true dinosaur surface unlike, impact is viewed and admired and application.
Accordingly, it would be desirable to structurally carry out excellent brand-new design with in control system bionical hydraulic pressure four-footed machine dinosaur.
Summary of the invention
The technical problem to be solved in the present invention is by bionical hydraulic pressure four-footed machinery probably tap, neck structure are carried out brand-new design, solves bionical dinosaur incidence, afterbody degree of freedom few, swings dumb;Solve bionical dinosaur surface not true to nature, do not reach bandwagon effect problem, bionical dinosaur stability problem, solve incidence drive system problem etc., and a kind of bionical hydraulic pressure four-footed machine dinosaur incidence structure is provided,
For achieving the above object, the technical scheme is that a kind of bionical hydraulic pressure four-footed machine dinosaur incidence structure, there is joint of head, upper neck joint, lower neck joint, joint of head front end is provided with the upper jaw, lower jaw, described head lower jaw connects head servo hydraulic cylinder, is realized the opening and closing of dinosaur face by head servo Driven by Hydraulic Cylinder;Described upper neck joint is connected to joint of head and lower neck joint by former and later two turn axles, lower neck joint is connected on dinosaur trunk by turn axle, upper neck joint, lower neck joint connect servo hydraulic cylinder respectively, driven by servo hydraulic cylinder and realize the waving of mechanism, pitching motion, described joint of head and lower neck joint are connected by kinematic link, it is achieved the linkage of lower neck joint and joint of head;The upper jaw of described head is provided with two eye structure, and two eye structure connect motor, realize blinking of eyes under the control of motor.
Described eye structure is made up of upper eyelid structure and eyeball, described upper eyelid structure is made up of half arc upper eyelid structure and conisphere shape eyeball sphere structure, described upper eyelid structure is connected on motor by shaft coupling, rotates around conisphere shape eyeball sphere structure under the drive of motor.
Described joint of head is made up of square shape frame structure, the described upper jaw and lower jaw are made up of half grand shape framework respectively, described upper jaw rear end is connected by connecting plate and square shape frame structure are fixing, lower jaw rear end is rotationally connected by bearing pin and connecting plate, and by bending shape panel articulating head servo hydraulic cylinder, head servo hydraulic cylinder and the first free bearing being fixed on square framework structure floor are rotationally connected;Described square shape frame structure rear end face connects folds connecting rod by the first through hole cylinder is fixing, and folds connecting rod rear end is connected kinematic link by axle.
Described upper neck joint is made up of bent frame structure, bent frame structure front end face is provided with the second through hole cylinder that symmetrical two are vertical, rear end face is provided with the first vertical through hole cylinder, and the first vertical through hole cylinder is provided with folding shape connecting rod, and folding shape connecting rod is provided with the first support free bearing;Vertical the second through hole cylinder in described upper neck joint front end two and the first through hole cylinder of joint of head rear end are connected by axle and realize a vertical revolute pair;The symmetrical vertical third through-hole cylinder of first through hole cylinder of described upper neck joint rear end face and lower neck joint front end face two is connected by rotating shaft and realizes another revolute pair.
Described lower neck joint is made up of trapezoidal shape frame structure, trapezoidal shape frame structure front end is provided with bending connecting plate, bending connecting plate is provided with through hole, the through hole of bending connecting plate is connected with the axle being arranged on kinematic link, trapezoidal shape frame structure side is provided with a surface plate, and plane is provided with the second free bearing, and trapezoidal shape frame structure rear end face is provided with horizontal through hole cylinder, horizontal through hole cylinder connects planar linkage, and planar linkage is provided with the second support free bearing;Second free bearing connects the first servo hydraulic cylinder afterbody, first servo hydraulic cylinder piston end supports free bearing with first on the folding shape connecting rod being arranged on upper neck joint rear end face through hole cylinder and is connected, first servo hydraulic cylinder, by driving folding shape connecting rod, makes neck joint swing around rotating shaft under the effect of motive force;Joint of head is by under the driving of kinematic link, relative to upper neck joint around axle opposing oscillatory;Free bearing on described dinosaur body connects the second servo-hydraulic afterbody, second servo hydraulic cylinder piston end supports free bearing with second on the planar linkage on the horizontal through hole cylinder being arranged on lower neck joint rear end and is connected, and the second servo-hydraulic realizes swinging up and down of head and neck by driving planar linkage.
The invention has the beneficial effects as follows:
Bionical hydraulic pressure four-footed machine dinosaur provided by the invention has advantage highlighted below:
(1) incidence is made up of 4 movable joints, adds the pliability of the comprehensive swing of dinosaur neck, motility, and the bionical dinosaur motion made is got up more natural, true to nature, also additionally is able to increase the stability of dinosaur.
(2) head construction arranges two eyes that can blink, and bionical effect is more prominent, and practicality is higher.
(3) in dinosaur incidence, arrange servo hydraulic cylinder promote, the type of drive of linkage transmission, the dinosaur head made and cervical region 1 just can realize the linkage in two joints under the promotion of a hydraulic cylinder, so design simple in construction, decrease the complexity of incidence system, control simple.
(4) this dinosaur adopts HYDRAULIC CONTROL SYSTEM, and control accuracy is high, and efficiency is high.
Accompanying drawing explanation
The bionical hydraulic pressure four-footed machine dinosaur incidence structural upright structural representation of Fig. 1 present invention;
Machine dinosaur head structural representation in Fig. 2 present invention;
The upper neck joint structural representation of machine dinosaur in Fig. 3 present invention;
Neck joint structural representation under machine dinosaur in Fig. 4 present invention;
Fig. 5 present invention bionical hydraulic pressure four-footed machine dinosaur incidence structural upright top view.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the present invention done a step explanation.
As shown in Figures 1 to 5, a kind of bionical hydraulic pressure four-footed machine dinosaur incidence structure, joint of head 001, upper neck joint 002, lower neck joint 003, the upper jaw 1, lower jaw 2, kinematic link 5, motor 11.
Joint of head 001 front end is provided with the upper jaw 1, lower jaw 2, and head lower jaw 2 connects head servo hydraulic cylinder 3, is driven the opening and closing realizing dinosaur face by head servo hydraulic cylinder 3.Upper neck joint 002 is connected to joint of head 001 and lower neck joint 003 by former and later two turn axles, lower neck joint 003 is connected on dinosaur trunk by turn axle, upper neck joint 002, lower neck joint 003 connect servo hydraulic cylinder respectively, driven by servo hydraulic cylinder and realize the waving of mechanism, pitching motion, described joint of head 001 and lower neck joint 003 are connected by kinematic link 5, it is achieved the linkage of lower neck joint 003 and joint of head 001;The upper jaw 1 of described head is provided with two eye structure, and two eye structure connect motor, realize blinking of eyes under the control of motor.
Eye structure is made up of upper eyelid structure and eyeball, described upper eyelid structure is made up of half arc upper eyelid structure 12 and conisphere shape eyeball sphere structure 13, described upper eyelid structure 12 is connected on motor 11 by shaft coupling, rotates around conisphere shape eyeball sphere structure 13 under the drive of motor 11.
Mechanism's design of the bionical dinosaur of the present invention and true dinosaur surface have significantly high similarity, and head mechanism is designed with Driven by Hydraulic Cylinder and connection-rod linkage combines, it is achieved a hydraulic cylinder controls the linkage in two joints.The maxillar part of head sets up separately and is equipped with two eyes, and two eyes can realize blinking of eyes under the control of motor.
As shown in Figure 2, joint of head 001 is made up of square shape frame structure 16, the upper jaw 1 and lower jaw 2 are made up of half grand shape framework respectively, square shape frame structure 16 bottom surface arranges a surface plate, surface plate is provided with the first free bearing 20, thereafter end face is provided with through hole cylinder 4, what be connected with through hole cylinder 4 is a folds connecting rod 18, folds connecting rod 18 end is provided with a through hole 19, folds connecting rod 18 end through hole 19 is connected with the axle being arranged on kinematic link 5, lower jaw 2 rear end is provided with bending shape panel 15, and bending shape panel 15 is provided with a free bearing.The upper jaw 1 rear end is connected by connecting plate 14 is fixing with quadra structure 16, lower jaw 2 rear end is rotationally connected by bearing pin and connecting plate 14, and by bending shape panel 15 articulating head servo hydraulic cylinder 3, head servo hydraulic cylinder 3 and the first free bearing 20 being fixed on square frame structure 16 bottom surface are rotationally connected;Folds connecting rod 18 rear end is connected kinematic link 5 by axle.
Cylinder body afterbody and first free bearing 20 of head servo hydraulic cylinder 3 are hinged, and the free bearing on the downside of the piston end of head servo hydraulic cylinder 3 and bending shape panel 15 is hinged.Head servo hydraulic cylinder 15, by driving the bending shape panel 15 of lower jaw 2 rear end, realizes the opening and closing of dinosaur mouth.The upper jaw 1 of head and lower jaw 2 side are respectively equipped with first and second through hole 21,22, under the connection of bearing pin, forming a revolute pair, the upper jaw 1 and the lower jaw 2 that realize head under the effect of head servo hydraulic cylinder 3 rotate around revolute pair, to realize the opening and closing of described dinosaur face.
As shown in Figure 3, upper neck joint 002 is arranged by bent frame structure and forms, bent frame structure front end face is provided with the second through hole cylinder 23 that symmetrical two are vertical, rear end face is provided with the first vertical through hole cylinder 4, the first through hole cylinder 4 that rear end face is vertical is provided with a folding shape connecting rod 26, and folding shape connecting rod 26 is provided with the first support free bearing 27.
Vertical the second through hole cylinder 23 in the upper neck joint 002 front end two first through hole cylinder 4 vertical with head rear end one is connected by axle 17 and realizes a vertical revolute pair.The symmetrical vertical third through-hole cylinder 28 of the first vertical through hole cylinder 4 of upper neck joint 002 rear end face and upper neck joint 002 front end face two is connected by rotating shaft and realizes another revolute pair.
As shown in Figure 4, lower neck joint 003 is arranged by trapezoidal shape frame structure and forms, trapezoidal shape frame structure front end is provided with two third through-hole cylinders 28 of symmetry, trapezoidal shape frame structure front end is provided with a bending connecting plate 29, bending connecting plate is provided with a through hole, the axle that the through hole of bending connecting plate 29 and is arranged on kinematic link 5 is connected, trapezoidal shape frame structure side is provided with a surface plate 30, plane is provided with the second free bearing 31, trapezoidal shape back-end framework face is provided with a horizontal through hole cylinder 8, through hole cylinder place, trapezoidal shape back-end framework face is provided with a planar linkage 32, planar linkage is provided with the second support free bearing 33.
The lower vertical through hole 28 of neck joint 003 front end face two and upper neck joint 002 rear end face the first through hole cylinder 4 are connected by rotating shaft 17 and form a revolute pair swung, the revolute pair that lower neck joint 003 trailing flank one horizontal through hole cylinder 8 is rotated by rotating shaft formation about one in mating connection with two horizontal through hole cylinders on dinosaur body.
First servo hydraulic cylinder 7 afterbody is connected on the second free bearing 31 on lower neck joint 003 side, and the first servo hydraulic cylinder 7 piston end supports free bearing 27 with first on the folding shape connecting rod 26 being arranged on upper neck joint 002 rear end face through hole cylinder and is connected.First servo hydraulic cylinder 7, by driving folding shape connecting rod 26, makes joint of head 001 around rotating shaft 24 under the effect of motive force, swings;Joint of head 001 by under the driving of kinematic link 5 around axle 17 opposing oscillatory.Second servo-hydraulic 9 afterbody is connected on the free bearing on dinosaur body, and the second servo hydraulic cylinder 9 piston end is connected with the second free bearing 33 on the plane body of planar linkage 32 one end being arranged on lower neck joint 003 rear end face through hole cylinder.Second servo-hydraulic 9 realizes swinging up and down of head and neck by driving planar linkage 32.

Claims (5)

1. a bionical hydraulic pressure four-footed machine dinosaur incidence structure, there is joint of head (001), upper neck joint (002), lower neck joint (003), joint of head (001) front end is provided with the upper jaw 1, lower jaw 2, it is characterized in that: described lower jaw 2 connects head servo hydraulic cylinder 3, driven the opening and closing realizing dinosaur face by head servo hydraulic cylinder 3;Described upper neck joint (002) is connected to joint of head (001) and lower neck joint (003) by former and later two turn axles, lower neck joint (003) is connected on dinosaur trunk by turn axle, upper neck joint (002), lower neck joint (003) connects servo hydraulic cylinder respectively, driven by servo hydraulic cylinder and realize waving of mechanism, pitching motion, described joint of head (001) and lower neck joint (003) are connected by kinematic link (5), realize the linkage of lower neck joint (003) and joint of head (001);The upper jaw (1) of described head is provided with two eye structure, and two eye structure connect motor (11), realize blinking of eyes under the control of motor (11).
2. bionical hydraulic pressure four-footed machine dinosaur incidence structure according to claim 1, it is characterized in that: described eye structure is made up of upper eyelid structure and eyeball, described upper eyelid structure is made up of half arc upper eyelid structure (12) and conisphere shape eyeball sphere structure (13), described upper eyelid structure (12) is connected on motor (11) by shaft coupling, rotates around conisphere shape eyeball sphere structure (13) under the drive of motor (11).
3. bionical hydraulic pressure four-footed machine dinosaur incidence structure according to claim 1, it is characterized in that: described joint of head (001) is made up of square shape frame structure (16), the described upper jaw (1) and lower jaw (2) are made up of half grand shape framework respectively, the described upper jaw (1) rear end is connected by connecting plate (14) and square shape frame structure (16) are fixing, lower jaw (2) rear end is rotationally connected by bearing pin and connecting plate (14), and by bending shape panel (15) articulating head servo hydraulic cylinder (3), head servo hydraulic cylinder (3) and the first free bearing (20) being fixed on square framework structure floor are rotationally connected;Described square shape frame structure (16) rear end face connects folds connecting rod (18) by the first through hole cylinder (4) is fixing, and folds connecting rod (18) rear end is connected kinematic link (5) by axle.
4. bionical hydraulic pressure four-footed machine dinosaur incidence structure according to claim 1, it is characterized in that: described upper neck joint (002) is made up of bent frame structure, bent frame structure front end face is provided with the second through hole cylinder (23) that symmetrical two are vertical, rear end face is provided with the first vertical through hole cylinder (4), the first vertical through hole cylinder (4) is provided with folding shape connecting rod (26), and folding shape connecting rod (26) is provided with the first support free bearing (27);First through hole cylinder (4) of vertical the second through hole cylinder (23) in described upper neck joint (002) front end two and joint of head (001) rear end is connected by axle (17) and realizes a vertical revolute pair;The symmetrical vertical third through-hole cylinder (28) of first through hole cylinder (4) of described upper neck joint (002) rear end face and lower neck joint (003) front end face two is connected by rotating shaft and realizes another revolute pair.
5. bionical hydraulic pressure four-footed machine dinosaur incidence structure according to claim 1, it is characterized in that: described lower neck joint (003) is made up of trapezoidal shape frame structure, trapezoidal shape frame structure front end is provided with bending connecting plate (29), bending connecting plate (29) is provided with through hole, the through hole of bending connecting plate (29) is connected with the axle being arranged on kinematic link 5, trapezoidal shape frame structure side is provided with a surface plate (30), plane is provided with the second free bearing (31), trapezoidal shape frame structure rear end face is provided with horizontal through hole cylinder (8), horizontal through hole cylinder (8) connects planar linkage (32), planar linkage (32) is provided with the second support free bearing (33);Second free bearing (31) is upper connects the first servo hydraulic cylinder (7) afterbody, first servo hydraulic cylinder (7) piston end supports free bearing (27) with first on folding shape connecting rod (26) being arranged on upper neck joint (002) rear end face through hole cylinder (4) and is connected, first servo hydraulic cylinder (7), by driving folding shape connecting rod (26), makes neck joint (002) swing around rotating shaft (24) under the effect of motive force;Under the joint of head (001) driving by kinematic link (5), relative to upper neck joint (002) around axle (17) opposing oscillatory;Free bearing on described dinosaur body connects the second servo-hydraulic (9) afterbody, second servo hydraulic cylinder (9) piston end supports free bearing (33) with second on the planar linkage (32) on the horizontal through hole cylinder (8) being arranged on lower neck joint (003) rear end and is connected, and the second servo-hydraulic (9) realizes swinging up and down of head and neck by driving planar linkage (32).
CN201610301661.7A 2016-05-09 2016-05-09 Bionical hydraulic pressure four-footed machine dinosaur incidence structure Expired - Fee Related CN105751248B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107351060A (en) * 2017-07-10 2017-11-17 上海理工大学 A kind of bionic machine department of human head and neck flexible structure
CN109866236A (en) * 2019-04-22 2019-06-11 扬州哈工科创机器人研究院有限公司 A kind of emulation water sports robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5306199A (en) * 1989-02-08 1994-04-26 Salvatore Locricchio Manually actuated toy dinosaur structure and method
CN2469962Y (en) * 2001-03-27 2002-01-09 邱源荣 Multifunction dinosaur toy
US20070021032A1 (en) * 2003-01-14 2007-01-25 Disney Enterprises, Inc. Skeletal support structure and skin for an animatronic figure
CN202822766U (en) * 2012-07-30 2013-03-27 周志昌 Motor-driven robot eyelids
CN103963867A (en) * 2014-04-25 2014-08-06 中科宇博(北京)文化有限公司 Biomimetic mechanical dinosaur

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5306199A (en) * 1989-02-08 1994-04-26 Salvatore Locricchio Manually actuated toy dinosaur structure and method
CN2469962Y (en) * 2001-03-27 2002-01-09 邱源荣 Multifunction dinosaur toy
US20070021032A1 (en) * 2003-01-14 2007-01-25 Disney Enterprises, Inc. Skeletal support structure and skin for an animatronic figure
CN202822766U (en) * 2012-07-30 2013-03-27 周志昌 Motor-driven robot eyelids
CN103963867A (en) * 2014-04-25 2014-08-06 中科宇博(北京)文化有限公司 Biomimetic mechanical dinosaur

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107351060A (en) * 2017-07-10 2017-11-17 上海理工大学 A kind of bionic machine department of human head and neck flexible structure
CN107351060B (en) * 2017-07-10 2020-07-14 上海理工大学 Bionic robot head and neck flexible structure
CN109866236A (en) * 2019-04-22 2019-06-11 扬州哈工科创机器人研究院有限公司 A kind of emulation water sports robot

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