CN106737748B - Bionic robot - Google Patents
Bionic robot Download PDFInfo
- Publication number
- CN106737748B CN106737748B CN201710019070.5A CN201710019070A CN106737748B CN 106737748 B CN106737748 B CN 106737748B CN 201710019070 A CN201710019070 A CN 201710019070A CN 106737748 B CN106737748 B CN 106737748B
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- assembly
- motor
- head
- gear
- gear set
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 29
- 238000004088 simulation Methods 0.000 claims abstract description 23
- 238000013519 translation Methods 0.000 claims abstract description 18
- 239000002243 precursor Substances 0.000 claims abstract description 13
- 230000003592 biomimetic effect Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 6
- 238000011160 research Methods 0.000 description 6
- 241000699666 Mus <mouse, genus> Species 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 241000699670 Mus sp. Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention belongs to the field of robots, and particularly provides a bionic robot. The invention aims to solve the problem that the existing bionic robot cannot visually represent the tiny actions of simulated living things. For this purpose, the bionic robot of the invention comprises a head assembly, a precursor assembly connected with the head assembly, a trunk assembly connected with the precursor assembly and a rear drive assembly connected with the trunk assembly, wherein the head assembly comprises a head simulation shell, a rotating assembly connected with the head simulation shell, a swinging assembly connected with the rotating assembly and a translation assembly connected with the swinging assembly, the head simulation shell is used for simulating the head of a living being, the rotating assembly is used for driving the head simulation shell to rotate, the swinging assembly is used for driving the rotating assembly to swing, and the translation assembly is used for pushing and pulling the swinging assembly to move back and forth. With the structure, the bionic robot can visually represent the tiny actions of the simulated living things.
Description
Technical Field
The invention belongs to the field of robots, and particularly provides a bionic robot.
Background
Nowadays, the field of robot research has emerged from fixed-point operation in structural environments, and has evolved to autonomous operation in non-structural environments such as aerospace, interplanetary exploration, marine exploration, underwater cave exploration, military reconnaissance, military attack, military defense, underwater underground pipeline exploration and maintenance, disease inspection and treatment, rescue and relief work, and meanwhile, a bionic robot is one of the essential main means for scientific research work, so that workers engaged in animal nerve research, animal behavior research and animal psychological research are urgent to need a controllable bionic machine device to assist them in relevant work. In addition, future biomimetic robots can be designed into a variety of biological forms that will work in known or unknown environments that are not or hardly reachable by humans.
At present, the existing bionic robot cannot vividly and vividly show the tiny actions of the simulated living beings, so that the gap between the simulated living beings and the real living beings is large, and therefore, the interactive research with the real living beings cannot be carried out.
Accordingly, there is a need in the art for a novel biomimetic robot to address the above-described problems.
Disclosure of Invention
In order to solve the problems in the prior art, namely, in order to solve the problem that the existing bionic robot cannot visually represent the tiny actions of a simulated living being, the invention provides a bionic robot, which comprises a head assembly, a precursor assembly connected with the head assembly, a trunk assembly connected with the precursor assembly and a rear-drive assembly connected with the trunk assembly, wherein the head assembly comprises a head simulation shell, a rotating assembly connected with the head simulation shell, a swinging assembly connected with the rotating assembly and a translation assembly connected with the swinging assembly, the head simulation shell is used for simulating the head structure of the real living being, the rotating assembly is used for driving the head simulation shell to rotate up and down, the swinging assembly is used for driving the rotating assembly to swing left and right, and the translation assembly is used for pushing and pulling the swinging assembly to move back and forth.
In the preferred technical scheme of the bionic robot, the rotating assembly comprises a first motor, a first gear set and a supporting rod, wherein the first gear set is connected with the first motor, the first end of the supporting rod is fixedly connected with the head simulation shell, the second end of the supporting rod is connected with the first gear set, and the first motor drives the first gear set to drive the supporting rod to rotate around the axial direction of the first gear set.
In the preferred technical scheme of the bionic robot, the rotating assembly further comprises a first fixing frame and a first connecting shaft penetrating through the first fixing frame and pivotally connected with the first fixing frame, one end of the first connecting shaft is fixedly connected with the second end of the supporting rod, the other end of the first connecting shaft is fixedly connected with the first gear set, and the first fixing frame is fixedly connected with the swinging assembly.
In the above preferred technical solution of the bionic robot, the swing assembly includes a second motor, a second gear set connected with the second motor, and a connecting plate, a first end of the connecting plate is fixedly connected with the first fixing frame, a second end of the connecting plate is connected with the second gear set, and the second motor drives the second gear set to drive the connecting plate to swing left and right together with the rotating assembly.
In the above preferred technical solution of the bionic robot, the swing assembly further includes a second fixing frame and a second connecting shaft passing through the second fixing frame and pivotally connected to the second fixing frame, one end of the second connecting shaft is fixedly connected to the second end of the connecting plate, the other end of the second connecting shaft is fixedly connected to the second gear set, and the second fixing frame is connected to the translation assembly.
In the above preferred technical solution of the bionic robot, the translation assembly includes a third motor and a fixing plate, the third motor is fixedly disposed on the fixing plate, and the third motor is connected with the second fixing frame and is used for pushing and pulling the swing assembly to move back and forth on the fixing plate.
In the above preferred technical solution of the bionic robot, the head assembly further includes a connecting frame, and two ends of the connecting frame are respectively connected with the fixing plate and the precursor assembly.
In the preferred technical scheme of the bionic robot, the first gear set comprises a first main gear and a first driven gear, the first motor directly drives the first main gear, the first driven gear is meshed with the first main gear, and the first driven gear drives the supporting rod to rotate through the first connecting shaft; and/or the second gear set comprises a second main gear and a second driven gear, the second motor directly drives the second main gear, the second driven gear is meshed with the second main gear, and the second driven gear drives the connecting plate to rotate through the second connecting shaft.
In the above preferred technical solution of the bionic robot, the first motor and the second motor are stepper motors; and/or the third motor is a lead screw motor.
In the above preferred technical solution of the bionic robot, the bionic robot is a bionic robot mouse.
It will be appreciated by those skilled in the art that in a preferred embodiment of the present invention, the bionic robot includes a head assembly, a precursor assembly connected to the head assembly, a torso assembly connected to the precursor assembly, and a rear drive assembly connected to the torso assembly, the head assembly includes a head simulation housing, a rotation assembly connected to the head simulation housing, a swing assembly connected to the rotation assembly, and a translation assembly connected to the swing assembly, the head simulation housing is used for simulating a head structure of a real living being, the rotation assembly is used for driving the head simulation housing to rotate, the swing assembly is used for driving the rotation assembly to swing, and the translation assembly is used for pushing and pulling the swing assembly to move back and forth.
Drawings
FIG. 1 is a schematic overall structure of an embodiment of a bionic robot according to the present invention;
FIG. 2 is an enlarged view of a portion of the head assembly of the biomimetic robot of the present invention;
fig. 3 is another partial enlarged view of the head assembly of the biomimetic robot of the present invention.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention. For example, although described below in connection with biomimetic robotic mice, the teachings of the present invention are clearly applicable to other biomimetic robotic organisms as well. Such modifications do not depart from the basic principles of the invention and are intended to be within the scope of the invention.
It should be noted that, in the description of the present invention, terms such as "center," "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring first to fig. 1 and 2, fig. 1 is a schematic overall structure of an embodiment of a bionic robot according to the present invention; fig. 2 is a partial enlarged view of a head assembly of the bionic robot of the present invention. As shown in fig. 1, the bionic robot includes a head assembly 1, a precursor assembly 2 connected to the head assembly 1, a trunk assembly 3 connected to the precursor assembly 2, and a rear drive assembly 4 connected to the trunk assembly 3. As shown in fig. 2, the head assembly 1 comprises a head simulation shell 11, a rotating assembly 12 connected with the head simulation shell 11, a swinging assembly 13 connected with the rotating assembly 12 and a translation assembly 14 connected with the swinging assembly 13, wherein the head simulation shell 11 is used for simulating the head structure of a real living being, the rotating assembly 12 is used for driving the head simulation shell 11 to rotate, the swinging assembly 13 is used for driving the rotating assembly 12 to swing, and the translation assembly 14 is used for pushing and pulling the swinging assembly 13 to move back and forth. The head assembly further comprises a connecting frame 15, and two ends of the connecting frame 15 are respectively connected with the fixing plate 142 of the translation assembly 14 and the precursor assembly 2. However, it will be appreciated that the skilled person can change the bio-robot to other bio-robot according to different needs, and such changes do not exceed the basic principles of the present invention and therefore will also fall within the scope of the present invention.
With continued reference to fig. 3, fig. 3 is another enlarged partial view of the head assembly of the biomimetic robot of the present invention. As shown in fig. 3, the rotating assembly 12 includes a first motor 121, a first gear set 122 connected to the first motor 121, and a support rod 123, a first end of the support rod 123 is fixedly connected to the head simulation case 11, a second end of the support rod 123 is connected to the first gear set 122, and the first motor 121 drives the first gear set 122 to rotate the support rod 123 around an axial direction of the first gear set 122. Specifically, the rotating assembly 12 further includes a first fixing frame 124 and a first connection shaft 125 passing through the first fixing frame 124 and pivotally connected to the first fixing frame 124, one end of the first connection shaft 125 is fixedly connected to the second end of the support rod 123, and the other end of the first connection shaft 125 passes through the first gear set 122 and is fixedly connected to the first gear set 122. Preferably, in order to increase the stability of the rotating assembly 12, the first fixing frame 124 is an N-type frame, the first gear set 122 is disposed inside the N-type frame, and both ends of the first connecting shaft 125 are pivotally connected to the N-type frame. In addition, it is preferable that the first gear set 122 includes a first main gear 1221 and a first driven gear 1222, the first motor 121 directly drives the first main gear 1221, the first driven gear 1222 is intermeshed with the first main gear 1221, and the first connection shaft 125 passes through a central hole of the first driven gear 1222 and is fixedly connected with the first driven gear 1222. Further, the first motor 121 may be a stepping motor, which is advantageous in that the head raising and lowering actions of the biological mouse can be more vividly simulated by precisely controlling the stepping motor.
With continued reference to fig. 2 and 3, the swing assembly 13 includes a second motor 131, a second gear set 132 connected to the second motor 131, and a connection plate 133, a first end of the connection plate 133 is fixedly connected to the first fixing frame 124, a second end of the connection plate 133 is connected to the second gear set 132, and the second motor 121 drives the second gear set 132 to swing the connection plate 133 about a vertical axis. Specifically, the swing assembly 13 further includes a second mount 134 and a second connection shaft 135 passing through the second mount 134 and pivotally connected to the second mount 134, one end of the second connection shaft 135 is fixedly connected to the second end of the connection plate 133, the other end of the second connection shaft 135 is fixedly connected to the second gear set 132, and the second mount 134 is connected to the translation assembly 14. Preferably, in order to increase the stability of the swing assembly 13, the second fixing frame 134 is an N-type frame, the second gear set 132 is disposed inside the N-type frame, and both ends of the second connection shaft 135 are pivotally connected to the N-type frame. In addition, it is preferable that the second gear set 132 includes a second main gear 1321 and a second driven gear 1322, the second motor 131 directly drives the second main gear 1321, the second driven gear 1322 is engaged with the second main gear 1321, and the second connection shaft 135 passes through a central hole of the second driven gear 1322 and is fixedly connected with the second driven gear 1322. Further, the second motor 121 may be a stepping motor, which is selected to have an advantage in that the movement of the head of the biological mouse to swing left and right can be more vividly simulated by precisely controlling the stepping motor.
Finally, referring to fig. 2 and 3, the translation assembly 14 includes a third motor 141 and a fixed plate 142, the third motor 141 is fixedly disposed on the fixed plate 142, and the third motor 141 is connected to the second fixing frame 134, and is used for pushing and pulling the swing assembly 13 to move on the fixed plate 142. Preferably, the third motor 141 is a screw motor, and the screw motor is in threaded connection with the second fixing frame 134, so that, in order to make the structure of the translation assembly 14 more stable and smooth in the process of pushing and pulling the swing assembly 13, a sliding rail may be disposed on the fixing plate 142 and a stop may be disposed on the sliding rail to limit the movement stroke of the swing assembly 13. In addition, a step motor screw sliding table may be further disposed on the fixing plate 142, so that the swing assembly 13 is more stable in the sliding process, and the action of stretching the head and retracting the brain of the biological mouse can be simulated in an image through controlling the step motor.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.
Claims (7)
1. A bionic robot, which comprises a head component, a precursor component connected with the head component, a trunk component connected with the precursor component and a rear-drive component connected with the trunk component,
the head assembly is characterized by comprising a head simulation shell, a rotating assembly connected with the head simulation shell, a swinging assembly connected with the rotating assembly and a translation assembly connected with the swinging assembly, wherein the head simulation shell is used for simulating a head structure of a real organism, the rotating assembly is used for driving the head simulation shell to rotate up and down, the swinging assembly is used for driving the rotating assembly to swing left and right, and the translation assembly is used for pushing and pulling the swinging assembly to move back and forth;
the swinging assembly comprises a second fixing frame;
the translation assembly comprises a third motor and a fixed plate, wherein the third motor is fixedly arranged on the fixed plate, and is connected with the second fixing frame and used for pushing and pulling the swing assembly to move back and forth on the fixed plate;
a sliding rail is arranged on the fixed plate, and a stop block is arranged on the sliding rail to limit the moving stroke of the swinging assembly;
the third motor adopts a screw motor, and a screw sliding table of the stepping motor is arranged on the fixed plate, so that the swing assembly is more stable in the sliding process;
the rotating assembly comprises a first motor, a first gear set and a supporting rod, wherein the first gear set is connected with the first motor, the first end of the supporting rod is fixedly connected with the head simulation shell, the second end of the supporting rod is connected with the first gear set, and the first motor drives the first gear set so as to drive the supporting rod to rotate around the axial direction of the first gear set;
the rotating assembly further comprises a first fixing frame and a first connecting shaft penetrating through the first fixing frame and pivotally connected with the first fixing frame, one end of the first connecting shaft is fixedly connected with the second end of the supporting rod, the other end of the first connecting shaft is fixedly connected with the first gear set, and the first fixing frame is fixedly connected with the swinging assembly;
the first fixing frame adopts an N-type frame, the first gear set is placed inside the N-type frame, and two ends of the first connecting shaft are both pivotally connected with the N-type frame;
the first gear set comprises a first main gear and a first driven gear, the first motor directly drives the first main gear, the first driven gear is meshed with the first main gear, and the first connecting shaft penetrates through a central hole of the first driven gear and is fixedly connected with the first driven gear.
2. The biomimetic robot of claim 1, wherein the swing assembly comprises a second motor, a second gear set connected with the second motor, and a connecting plate, a first end of the connecting plate is fixedly connected with the first fixing frame, a second end of the connecting plate is connected with the second gear set, and the second motor drives the second gear set to drive the connecting plate to swing left and right together with the rotating assembly.
3. The biomimetic robot of claim 2, wherein the swing assembly further comprises a second connecting shaft passing through and pivotally connected to the second mount, one end of the second connecting shaft being fixedly connected to the second end of the connecting plate, the other end of the second connecting shaft being fixedly connected to the second gear set, the second mount being connected to the translation assembly.
4. A biomimetic robot according to claim 3, wherein the head assembly further comprises a connection frame, both ends of which are connected to the fixing plate and the precursor assembly, respectively.
5. The biomimetic robot of claim 3 or 4, wherein the first gear set comprises a first main gear and a first driven gear, the first motor directly drives the first main gear, the first driven gear is meshed with the first main gear, and the first driven gear drives the support rod to rotate through the first connecting shaft; and/or
The second gear set comprises a second main gear and a second driven gear, the second motor directly drives the second main gear, the second driven gear is meshed with the second main gear, and the second driven gear drives the connecting plate to rotate through a second connecting shaft.
6. The biomimetic robot of claim 5, wherein the first motor and the second motor are stepper motors.
7. The biomimetic robot according to claim 6, wherein the biomimetic robot is a biomimetic robot mouse.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019070.5A CN106737748B (en) | 2017-01-11 | 2017-01-11 | Bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019070.5A CN106737748B (en) | 2017-01-11 | 2017-01-11 | Bionic robot |
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| Publication Number | Publication Date |
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| CN106737748A CN106737748A (en) | 2017-05-31 |
| CN106737748B true CN106737748B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710019070.5A Active CN106737748B (en) | 2017-01-11 | 2017-01-11 | Bionic robot |
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| CN (1) | CN106737748B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901045B (en) * | 2017-10-12 | 2020-07-28 | 中国科学院自动化研究所 | Bionic robot mouse |
| CN109227544A (en) * | 2018-10-24 | 2019-01-18 | 西南交通大学 | A kind of six sufficient trolley full ground anthropomorphic robot of c-type leg |
| CN114833870A (en) * | 2022-06-08 | 2022-08-02 | 北京哈崎机器人科技有限公司 | Head structure and intelligent robot of robot |
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