CN108972581A - A kind of bio-robot Steerring in situ device - Google Patents

Abstract

The invention discloses a kind of bio-robot Steerring in situ device, including the first fixed plate, the upper surface of first fixed plate is opened up there are two card slot, the lower surface of the card slot inner wall and the upper surface of fixture block overlap, the outer surface of the fixture block is fixedly connected with the inner surface of the first non-slip mat, the upper surface of the fixture block is fixedly connected with the bottom end of first rotating shaft, the outer surface of the first rotating shaft is socketed with first bearing, the first bearing is connected to the lower surface of fixed plate, the upper surface of the fixed plate is connected with second bearing, the present invention passes through the roller that is fixedly mounted in fixing seat bottom end, it may be implemented to move back and forth the present apparatus in one direction, and the active force for passing through cylinder, the second slide bar can be made to slide in spacing collar, wheel bottom surface can be thus enabled to contact, coming for another direction thus may be implemented Return is dynamic, to realize the quick steering operation of the present apparatus.

Description

A kind of bio-robot Steerring in situ device

Technical field

The present invention relates to bio-robot fields, and in particular to a kind of bio-robot Steerring in situ device.

Background technique

The robot that bio-robot refers to mimic biology, is engaged in biological characteristic work, at present in western countries, machinery is doted on Object is all the fashion, in addition, imitative sparrow robot can serve as the task of environmental monitoring, has a wide development prospect, and 21 The mankind will enter aging society in century, develop the wretched insufficiency that " anthropomorphic robot " will make up young labour, solve aged Change the social concerns such as home services and the medical treatment of society, and new industry can be opened up, creates new job opportunity.

But structure is complicated for existing bio-robot Steerring in situ device, it is inconvenient for operation, cause with bio-robot its He is also very inconvenient in the connection of component, and also without damping device on transfer, it is easy to because of damaged in collision, seriously The service life of device is influenced, and movement gets up to be also very inconvenient.

Summary of the invention

The purpose of the present invention is to provide a kind of board for teaching mathematics of quick drafting function curve, to solve above-mentioned background skill Structure is complicated for the existing bio-robot Steerring in situ device proposed in art, inconvenient for operation, cause with bio-robot other The connection of component is also very inconvenient, and also without damping device on transfer, it is easy to because of damaged in collision, serious shadow The service life of loud device, and move the problem of being also very inconvenient of getting up.

To achieve the above object, the present invention provides the following technical solutions, a kind of bio-robot Steerring in situ device, including First fixed plate, the upper surface of first fixed plate are opened up there are two card slot, the lower surface of the card slot inner wall and fixture block Upper surface overlap joint, the outer surface of the fixture block is fixedly connected with the inner surface of the first non-slip mat, the upper surface of the fixture block and the The bottom end of one shaft is fixedly connected, and the outer surface of the first rotating shaft is socketed with first bearing, and the first bearing is connected to solid The lower surface of fixed board, the upper surface of the fixed plate are connected with second bearing, and the inner surface of the second bearing is socketed with second The bottom end of shaft, second shaft is fixedly connected with rotating electric machine.

Further, it is preferred that the top of second shaft is fixedly connected with the lower surface of first bevel gear, and described One bevel gear is meshed with two second bevel gears respectively, and the another side of the second bevel gear and one end of third shaft are solid Fixed connection, the outer surface of second shaft are socketed with 3rd bearing, and the lower surface of the 3rd bearing passes through the first fixed block It is fixedly connected with the upper surface of fixed plate.

Further, it is preferred that the other end of the third shaft is fixedly connected with one end of threaded post, the threaded post Outer surface thread be connected with thread barrel, the thread barrel is connected to the one side of baffle, the one side of the baffle and second The another side of fixed block is fixedly connected, and the one side of second fixed block is fixedly connected with the another side of fixture, described The one side of fixture is fixedly connected with the second non-slip mat, and the lower surface of the baffle is fixedly connected with the upper surface of sliding block, described The lower surface of sliding block and the lower surface of sliding slot inner wall overlap, and the sliding slot is provided with the upper surface of fixed plate.

Further, it is preferred that the first fixed board ends have been respectively fixedly connected with the first abutment sleeve, and described first Fixed vertical bar is slidably connected in abutment sleeve, two fixed vertical bar top surfaces pass through the first abutment sleeve and the fixed company of limit plate It connects, the fixed vertical bar bottom end is fixedly connected with the second fixed plate, fixed between second fixed plate and the first abutment sleeve Equipped with the first damping spring, the first damping spring covers on fixed vertical bar.

Further, it is preferred that second fixed plate bottom surface is symmetrically fixedly connected with link block, two link block bottom ends It is fixedly connected with the first slide bar, multiple sliding blocks are slidably connected on first slide bar, sliding block bottom end is fixedly connected with thread bush Cylinder, the screw shell are slidably connected with threaded rod, and described threaded rod one end is connected by bearing and the rotation of the first vertical supporting rod, The threaded rod other end passes through the second vertical supporting rod and is fixedly connected with motor, first vertical supporting rod and the second vertical supporting rod Top is fixedly connected with the first slide bar bottom surface, and first vertical supporting rod and the second vertical supporting rod bottom end are inserted respectively into sleeve It is interior, rubber layer is pasted on the sleeve lining, the sleeve bottom end is fixedly connected with supporting box top surface, the screw shell Bottom end is connect by connecting rod with Positioning rollers, and the Positioning rollers and trapezoid block inclined-plane slide, the trapezoid block bottom end and branch Support cabinet is fixedly connected, the section of first slide bar and sliding block be it is rectangular, be fixed with non-slip rubber set on the motor.

Further, it is preferred that damping cavity is formed between first fixed plate and the second fixed plate, in damping cavity Equipped with multiple opposite elastic shock attenuation items, accommodating chamber is formed between each pair of opposite elastic shock attenuation item, is equipped in the accommodating chamber Elastic ball, the upper and lower ends of elastic ball are respectively connected with the second damping spring, one end of second damping spring and damping cavity Cavity wall connection, guide sleeve is arranged with outside second damping spring, one end of the guide sleeve and the cavity wall of damping cavity are solid Fixed connection, the other end of the guide sleeve are fixedly connected with elastic ball, and the elastic shock attenuation item and elastic ball are using plastics Material is made, and the side wall of the lateral wall and elastic shock attenuation item of the elastic ball leans, the elastic shock attenuation camber.

Further, it is preferred that the shape of the card slot is T shape, and the shape of the fixture block is T shape, second shaft Positioned at the middle part of fixed plate, the first bevel gear is located between two second bevel gears, and the shape of the fixture is semicircle, The shape of second non-slip mat is semicircle, and the threaded post is located at the lower section of the second fixed block, and the spiral shell of two threaded posts Line direction is identical, and the rotating electric machine and motor and PLC controller are electrical.

Further, it is preferred that the supporting box bottom end is fixedly connected with fixing seat, and multiple rollers are equipped in fixing seat Son is fixedly connected on the supporting box inner top surface there are two spacing collar, is fixedly connected with connection between two spacing collars Plate slidably connects the second slide bar in two spacing collars respectively, and second top end of sliding rod bottom end is fixedly connected with Two abutment sleeves, horizontal sliding has shaft in two the second abutment sleeves, and the both ends of the shaft is pierced by supporting box two sides respectively Wall and wheel rotation connect, and the shaft and supporting box side wall contact position are equipped with rubber ring, and rubber ring is fixed on supporting box On side wall, the shaft top surface is fixedly connected with cylinder output, and the cylinder is fixedly mounted on connecting plate bottom surface.

Compared with prior art, the beneficial effects of the present invention are:

1, the present invention may be implemented to move back and forth the present apparatus in one direction by the roller being fixedly mounted in fixing seat bottom end, And by the active force of cylinder, the second slide bar can be made to slide in spacing collar, can thus enable wheel bottom Moving back and forth for another direction thus may be implemented in face contact, to realize the quick steering operation of the present apparatus.

2, the present invention utilizes bullet by being provided with the first damping spring, elastic shock attenuation item, elastic ball and the second damping spring Property shock absorption strip and elastic ball active force can extenuate the first fixed plate send out shake when the power that generates, the present apparatus can be greatly improved The service life of whole device can be effectively guaranteed in resistance to compression damping effect in this way.

3, the present invention is by rotation threaded rod, thus slide Positioning rollers on trapezoid block, it is entire so as to adjust The height of device, and the rotation of the second shaft is driven by rotation rotating electric machine, so that baffle be driven to move left and right drive second Fixed plate moves left and right, the second fixed plate move left and right drive fixture move left and right so that by other connecting components its He clamps connecting component, so that other connecting components are not easy to shake.

4, the present invention drives fixture block rotation by the first non-slip mat of rotation, allows fixture block by card slot clamping and can be with It is detached from card slot, so that improving the fixed effect of other connecting components, can be used for the fixation of different parts, It is also easier in disassembly, save the working time.

5, the present invention is moved left and right, so that baffle exists by setting sliding block so that baffle moves left and right band movable slider It is more stable and will not rotate when moving left and right, by the way that sliding slot is arranged, so that sliding block is more stable when moving left and right.

6, the present invention is by the second non-slip mat of setting, to improve the stability of other connecting components and other interconnecting pieces Part is not easy to be detached from between two fixtures, and structure of the invention is compact, and design is rationally, practical.

Detailed description of the invention

Fig. 1 is a kind of schematic diagram of bio-robot Steerring in situ device structure of the present invention.

Fig. 2 is partial enlarged view at A in a kind of Fig. 1 of bio-robot Steerring in situ device structure of the present invention.

Fig. 3 is partial enlarged view at B in a kind of Fig. 1 of bio-robot Steerring in situ device structure of the present invention.

Fig. 4 is part-structure section view in a kind of Fig. 1 of bio-robot Steerring in situ device structure of the present invention.

Fig. 5 is part-structure side view in a kind of Fig. 1 of bio-robot Steerring in situ device structure of the present invention.

Fig. 6 is part-structure sectional view in a kind of Fig. 1 of bio-robot Steerring in situ device structure of the present invention.

Fig. 7 is a kind of square control schematic diagram of bio-robot Steerring in situ device structure of the present invention.

In figure: the first fixed plate 1, card slot 2, fixture block 3, the first non-slip mat 4, first rotating shaft 5, first bearing 6, fixed plate 7, Second bearing 8, the second shaft 9, rotating electric machine 10, first bevel gear 11, second bevel gear 12, third shaft 13,3rd bearing 14, the first fixed block 15, threaded post 16, thread barrel 17, baffle 18, the second fixed block 19, fixture 20, the second non-slip mat 21, cunning Block 22, the first abutment sleeve 24, fixed vertical bar 25, limit plate 26, the second fixed plate 27, the first damping spring 28, connects sliding slot 23 Connect block 29, the first slide bar 30, sliding block 31, screw shell 32, threaded rod 33, the first vertical supporting rod 34, the second vertical supporting rod 35, electricity Machine 36, sleeve 37, rubber layer 38, Positioning rollers 39, trapezoid block 40, supporting box 41, damping cavity 42, elastic shock attenuation item 43, Accommodating chamber 44, elastic ball 45, the second damping spring 46, guide sleeve 47, fixing seat 48, roller 49, spacing collar 50, connecting plate 51, the second slide bar 52, the second abutment sleeve 53, shaft 54, rubber ring 55, wheel 56, cylinder 57.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Fig. 1-7 is please referred to, the present invention provides a kind of technical solution: a kind of bio-robot Steerring in situ device, including the One fixed plate 1, the upper surface of first fixed plate 1 are opened up there are two card slot 2, the lower surface of 2 inner wall of card slot and fixture block 3 Upper surface overlap joint, the outer surface of the fixture block 3 is fixedly connected with the inner surface of the first non-slip mat 4, the upper surface of the fixture block 3 It is fixedly connected with the bottom end of first rotating shaft 5, the outer surface of the first rotating shaft 5 is socketed with first bearing 6, the first bearing 6 It is connected to the lower surface of fixed plate 7, the upper surface of the fixed plate 7 is connected with second bearing 8, the interior table of the second bearing 8 Surface cover is connected to the second shaft 9, and the bottom end of second shaft 9 is fixedly connected with rotating electric machine 10.

Further, the top of second shaft 9 is fixedly connected with the lower surface of first bevel gear 11, first cone Gear 11 is meshed with two second bevel gears 12 respectively, the another side of the second bevel gear 12 and the one of third shaft 13 End is fixedly connected, and the outer surface of second shaft 9 is socketed with 3rd bearing 14, and the lower surface of the 3rd bearing 14 passes through the One fixed block 15 is fixedly connected with the upper surface of fixed plate 7.

Further, the other end of the third shaft 13 is fixedly connected with one end of threaded post 16, the threaded post 16 Outer surface thread be connected with thread barrel 17, the thread barrel 17 is connected to the one side of baffle 18, the side of the baffle 18 Face is fixedly connected with the another side of the second fixed block 19, the one side of second fixed block 19 and the another side of fixture 20 It is fixedly connected, the one side of the fixture 20 is fixedly connected with the second non-slip mat 21, the lower surface of the baffle 18 and sliding block 22 Upper surface be fixedly connected, the lower surface of the lower surface of the sliding block 22 and 23 inner wall of sliding slot overlaps, and the sliding slot 23 is provided with The upper surface of fixed plate 7.

Further, 1 both ends of the first fixed plate have been respectively fixedly connected with the first abutment sleeve 24, first positioning Fixed vertical bar 25 is slidably connected in sleeve 24, it is solid with limit plate 26 that two 25 top surfaces of fixed vertical bar pass through the first abutment sleeve 24 Fixed connection, fixed 25 bottom end of vertical bar are fixedly connected with the second fixed plate 27, second fixed plate 27 and the first positioning sleeve The first damping spring 28 is fixed between cylinder 24, the first 28 sets of damping spring is on fixed vertical bar 25.

Further, 27 bottom surface of the second fixed plate is symmetrically fixedly connected with link block 29, two 29 bottom ends of link block It is fixedly connected with the first slide bar 30, multiple sliding blocks 31 are slidably connected on first slide bar 30,31 bottom end of sliding block is fixedly connected There is screw shell 32, the screw shell 32 is slidably connected with threaded rod 33, and described 33 one end of threaded rod passes through bearing and first The rotation connection of vertical supporting rod 34,33 other end of threaded rod passes through the second vertical supporting rod 35 and is fixedly connected with motor 36, described First vertical supporting rod 34 and 35 top of the second vertical supporting rod are fixedly connected with 30 bottom surface of the first slide bar, first vertical supporting rod 34 It is inserted respectively into sleeve 37 with 35 bottom end of the second vertical supporting rod, is pasted with rubber layer 38, the set on 37 inner wall of sleeve 37 bottom ends of cylinder are fixedly connected with 41 top surface of supporting box, and 32 bottom end of screw shell is connected by connecting rod and Positioning rollers 39 It connects, the Positioning rollers 39 are slided with 40 inclined-plane of trapezoid block, and 40 bottom end of trapezoid block is fixedly connected with supporting box 41, described The section of first slide bar 30 and sliding block 31 be it is rectangular, be fixed with non-slip rubber set on the motor 36.

Further, damping cavity 42 is formed between first fixed plate 1 and the second fixed plate 27, in damping cavity 42 Equipped with multiple opposite elastic shock attenuation items 43, accommodating chamber 44, the accommodating chamber are formed between each pair of opposite elastic shock attenuation item 43 Elastic ball 45 is equipped in 44, the upper and lower ends of elastic ball 45 are respectively connected with the second damping spring 46, second damping spring 46 One end connect with the cavity wall of damping cavity 42, guide sleeve 47, the guide sleeve 47 are arranged with outside second damping spring 46 One end be fixedly connected with the cavity wall of damping cavity 42, the other end of the guide sleeve 47 is fixedly connected with elastic ball 45, described Elastic shock attenuation item 43 and elastic ball 45 are made of the lateral wall and elastic shock attenuation item 43 of the elastic ball 45 using plastic material Side wall lean, 43 camber of elastic shock attenuation item.

Further, the shape of the card slot 2 is T shape, and the shape of the fixture block 3 is T shape, and second shaft 9 is located at The middle part of fixed plate 7, the first bevel gear 11 are located between two second bevel gears 12, and the shape of the fixture 20 is semicircle The shape of shape, second non-slip mat 21 is semicircle, and the threaded post 16 is located at the lower section of the second fixed block 19, and two spiral shells The hand of spiral of line column 16 is identical, and the rotating electric machine 10 and motor 36 and PLC controller are electrical.

Further, 41 bottom end of supporting box is fixedly connected with fixing seat 48, and multiple rollers are equipped in fixing seat 48 Son 49 is fixedly connected on 41 inner top surface of supporting box there are two spacing collar 50, fixed between two spacing collars 50 to connect It is connected to connecting plate 51, slidably connects the second slide bar 52,52 top of the second slide bar in two spacing collars 50 respectively Bottom end is fixedly connected with the second abutment sleeve 53, and horizontal sliding has shaft 54, the shaft 54 in two the second abutment sleeves 53 Both ends are pierced by 41 two sidewalls of supporting box respectively and the rotation of wheel 56 connects, the shaft 54 and 41 side wall contact position of supporting box Equipped with rubber ring 55, rubber ring 55 is fixed on 41 side wall of supporting box, and 54 top surface of shaft is fixed with 57 output end of cylinder Connection, the cylinder 57 are fixedly mounted on 51 bottom surface of connecting plate.

Working principle:

The present invention in use, because 41 bottom end of supporting box is fixedly connected with fixing seat 48, is equipped in fixing seat 48 The present apparatus may be implemented in this way and moved along a direction for multiple rollers 49, easy to operate simple, and be turned to When, it only can need to control starting cylinder 57, because 54 top surface of shaft is fixedly connected with 57 output end of cylinder, in this way It is mobile can to make wheel 56, to support ground, can thus change another direction and carry out the mobile present apparatus, when again Direction is needed replacing, this is to be again started up cylinder 57, and the wheel 56 for being in this way supports ground, moved far from ground, roller 49 It is dynamic.

It is equipped with because forming damping cavity 42 between the first fixed plate 1 and the second fixed plate 27, in damping cavity 42 multiple Opposite elastic shock attenuation item 43 forms accommodating chamber 44 between each pair of opposite elastic shock attenuation item 43, is equipped with elasticity in accommodating chamber 44 Ball 45, the upper and lower ends of elastic ball 45 are respectively connected with the second damping spring 46, one end of the second damping spring 46 and damping cavity 42 cavity wall connection, the second damping spring 46 are arranged with guide sleeve 47, one end of guide sleeve 47 and the cavity wall of damping cavity 42 outside It is fixedly connected, the other end of guide sleeve 47 is fixedly connected with elastic ball 45, so present apparatus damping effect can be effectively improved, is guaranteed The service life is longer for whole device.

In the height for needing to adjust whole device, it is only necessary to rotate clockwise motor 36, can thus make threaded rod 33 Rotation, so that screw shell 32 be made to slide on threaded rod 33, such chance slides Positioning rollers 39 along trapezoid block 40, this Sample comes out the first vertical supporting rod 34 and the second vertical supporting rod 35 by sliding in sleeve 37, so that whole device height becomes Height is easy to use, in rotating electric machine 36 counterclockwise, so that it may so that device returns to initial position.

The top of second shaft 9 is fixedly connected with the lower surface of first bevel gear 11, by the way that first bevel gear 11 is arranged, from And make the rotation of first bevel gear 11 that two second bevel gears 12 be driven to rotate, first bevel gear 11 respectively with two second cone teeth Wheel 12 is meshed, by the way that second bevel gear 12 is arranged, so that the rotation of second bevel gear 12 drives third shaft 13 to rotate, the The right side of two bevel gears 12 is fixedly connected with the left end of third shaft 13, by the way that third shaft 13 is arranged, so that third The rotation of shaft 13 drives threaded post 16 to rotate, and the outer surface of the second shaft 9 is socketed with 3rd bearing 14, the following table of 3rd bearing 14 Face is fixedly connected by the first fixed block 15 with the upper surface of fixed plate 7, by the way that the first fixed block 15 is arranged, so that first Bearing 6 will not rotate and more stable.

The right end of third shaft 13 is fixedly connected with the left end of threaded post 16, by the way that threaded post 16 is arranged, so that spiral shell The rotation of line column 16 drives thread barrel 17 to move left and right, and threaded post 16 is located at the lower section of the second fixed block 19, and two threaded posts 16 Hand of spiral it is identical, the outer surface thread of threaded post 16 is connected with thread barrel 17, by be arranged thread barrel 17 so that spiral shell Line cylinder 17, which moves left and right, drives baffle 18 to move left and right, and baffle 18, which moves left and right, drives the second fixed block 19 to move left and right, screw thread Cylinder 17 is connected to the left side of baffle 18, and the left side of baffle 18 is fixedly connected with the right side of the second fixed block 19, by setting The second fixed block 19 is set, drives fixture 20 to move left and right so that the second fixed block 19 moves left and right, allows to other Connecting component clamps and loosens, and facilitates connection, the left side of the second fixed block 19 is fixedly connected with the right side of fixture 20, fixture 20 shape is semicircle, and the shape of the second non-slip mat 21 is semicircle, and it is anti-skidding that the left side of fixture 20 is fixedly connected with second Pad 21, by the way that the second non-slip mat 21 is arranged, so that other connecting components is made to be not easy to be detached from between two fixtures 20, baffle 18 Lower surface is fixedly connected with the upper surface of sliding block 22, by the way that sliding block 22 is arranged, so that baffle 18 moves left and right band movable slider 22 move left and right, so that baffle 18 is more stable when moving left and right and will not rotate, by the way that sliding slot 23 is arranged, so that sliding Block 22 is more stable when moving left and right, and the lower surface of sliding block 22 and the lower surface of 23 inner wall of sliding slot overlap, and sliding slot 23 is provided with The upper surface of fixed plate 7.

In use, driving the second shaft 9 to rotate forward by rotation rotating electric machine 10, the second shaft 9, which rotates forward, drives the first cone tooth Wheel 11 rotates forward, and first bevel gear 11, which rotates forward, drives second bevel gear 12 to rotate forward, and second bevel gear 12, which rotates forward, drives third shaft 13 It rotating forward, third shaft 13, which rotates forward, drives threaded post 16 to rotate forward, and threaded post 16, which rotates forward, drives two thread barrels 17 mobile to opposite face, Thread barrel 17 drives baffle 18 mobile to opposite face to opposite face is mobile, and baffle 18 drives the second fixed plate 7 to opposite face is mobile Mobile to opposite face, the second fixed plate 7 drives fixture 20 mobile to opposite face to opposite face is mobile, when other connecting components not It needs fixed when needing to overhaul, the reversion of the second shaft 9 is driven by rotation rotating electric machine 10, the second shaft 9 inverts so that two Fixture 20 is mobile to mutually separate side, drives fixture block 3 to rotate by the first non-slip mat 4 of rotation, fixture block 3 rotates so that fixture block 3 It can be detached from from card slot 2, fixed device can be removed, it is convenient and practical.

Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc. With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this Within the protection scope of invention.

Claims (8)

1. a kind of bio-robot Steerring in situ device, including the first fixed plate (1), it is characterised in that: first fixed plate (1) upper surface is opened up there are two card slot (2), and the lower surface of card slot (2) inner wall and the upper surface of fixture block (3) overlap, institute The outer surface for stating fixture block (3) is fixedly connected with the inner surface of the first non-slip mat (4), the upper surface of the fixture block (3) with first turn The bottom end of axis (5) is fixedly connected, and the outer surface of the first rotating shaft (5) is socketed with first bearing (6), the first bearing (6) It is connected to the lower surface of fixed plate (7), the upper surface of the fixed plate (7) is connected with second bearing (8), the second bearing (8) inner surface is socketed with the second shaft (9), and the bottom end of second shaft (9) is fixedly connected with rotating electric machine (10).

2. a kind of bio-robot Steerring in situ device according to claim 1, it is characterised in that: second shaft (9) top is fixedly connected with the lower surface of first bevel gear (11), and the first bevel gear (11) is bored with two second respectively Gear (12) is meshed, and the another side of the second bevel gear (12) is fixedly connected with one end of third shaft (13), described The outer surface of second shaft (9) is socketed with 3rd bearing (14), and the lower surface of the 3rd bearing (14) passes through the first fixed block (15) it is fixedly connected with the upper surface of fixed plate (7).

3. a kind of bio-robot Steerring in situ device according to claim 2, it is characterised in that: the third shaft (13) the other end is fixedly connected with the one end of threaded post (16), and the outer surface thread of the threaded post (16) is connected with thread barrel (17), the thread barrel (17) is connected to the one side of baffle (18), the one side and the second fixed block of the baffle (18) (19) another side is fixedly connected, the fixed company of the one side of second fixed block (19) and the another side of fixture (20) It connects, the one side of the fixture (20) is fixedly connected with the second non-slip mat (21), the lower surface of the baffle (18) and sliding block (22) upper surface is fixedly connected, and the lower surface of the sliding block (22) and the lower surface of sliding slot (23) inner wall overlap, the sliding slot (23) it is provided with the upper surface of fixed plate (7).

4. a kind of bio-robot Steerring in situ device according to claim 1, it is characterised in that: first fixed plate (1) both ends have been respectively fixedly connected with the first abutment sleeve (24), are slidably connected in first abutment sleeve (24) fixed perpendicular Bar (25), two fixed vertical bar (25) top surfaces pass through the first abutment sleeve (24) and are fixedly connected with limit plate (26), the fixation Vertical bar (25) bottom end is fixedly connected with the second fixed plate (27), between second fixed plate (27) and the first abutment sleeve (24) It is fixed with the first damping spring (28), the first damping spring (28) covers on fixed vertical bar (25).

5. a kind of bio-robot Steerring in situ device according to claim 2, it is characterised in that: second fixed plate (27) bottom surface is symmetrically fixedly connected with link block (29), and two link block (29) bottom ends are fixedly connected with the first slide bar (30), institute It states and is slidably connected on the first slide bar (30) multiple sliding blocks (31), sliding block (31) bottom end is fixedly connected with screw shell (32), institute It states screw shell (32) to be slidably connected with threaded rod (33), described threaded rod (33) one end passes through bearing and the first vertical supporting rod (34) rotation connection, threaded rod (33) other end passes through the second vertical supporting rod (35) and is fixedly connected with motor (36), described First vertical supporting rod (34) and the second vertical supporting rod (35) top are fixedly connected with the first slide bar (30) bottom surface, first support Vertical bar (34) and the second vertical supporting rod (35) bottom end are inserted respectively into sleeve (37), are pasted with rubber on sleeve (37) inner wall Glue-line (38), sleeve (37) bottom end are fixedly connected with supporting box (41) top surface, and screw shell (32) bottom end passes through Connecting rod is connect with Positioning rollers (39), and the Positioning rollers (39) and trapezoid block (40) inclined-plane slide, the trapezoid block (40) Bottom end is fixedly connected with supporting box (41), and the section of first slide bar (30) and sliding block (31) is rectangular, the motor (36) non-slip rubber set is fixed on.

6. a kind of bio-robot Steerring in situ device according to claim 1 or 4, it is characterised in that: described first is solid Damping cavity (42) are formed between fixed board (1) and the second fixed plate (27), multiple opposite elasticity are equipped in damping cavity (42) Shock absorption strip (43) forms accommodating chamber (44) between each pair of opposite elastic shock attenuation item (43), and bullet is equipped in the accommodating chamber (44) Property ball (45), the upper and lower ends of elastic ball (45) are respectively connected with the second damping spring (46), second damping spring (46) One end is connect with the cavity wall of damping cavity (42), and guide sleeve (47), the guiding are arranged with outside second damping spring (46) One end of set (47) is fixedly connected with the cavity wall of damping cavity (42), and the other end of the guide sleeve (47) and elastic ball (45) are solid Fixed connection, the elastic shock attenuation item (43) and elastic ball (45) are made of using plastic material, outside the elastic ball (45) Side wall and the side wall of elastic shock attenuation item (43) lean, elastic shock attenuation item (43) camber.

7. -3 and 5 described in any item a kind of bio-robot Steerring in situ device according to claim 1, it is characterised in that: institute The shape for stating card slot (2) is T shape, and the shape of the fixture block (3) is T shape, and second shaft (9) is located in fixed plate (7) Portion, the first bevel gear (11) are located between two second bevel gears (12), and the shape of the fixture (20) is semicircle, institute The shape of the second non-slip mat (21) is stated as semicircle, the threaded post (16) is located at the lower section of the second fixed block (19), and two The hand of spiral of threaded post (16) is identical, and the rotating electric machine (10) and motor (36) and PLC controller are electrical.

8. a kind of bio-robot Steerring in situ device according to claim 5, it is characterised in that: the supporting box (41) bottom end is fixedly connected with fixing seat (48), is equipped in fixing seat (48) multiple rollers (49), the supporting box (41) There are two being fixedly connected on inner top surface spacing collar (50), connecting plate (51) are fixedly connected between two spacing collars (50), It is slidably connected respectively the second slide bar (52) in two spacing collars (50), the second slide bar (52) top bottom end is fixed It is connected with the second abutment sleeve (53), there is shaft (54) horizontal sliding in two the second abutment sleeves (53), the shaft (54) Both ends are pierced by supporting box (41) two sidewalls respectively and wheel (56) rotation connects, the shaft (54) and supporting box (41) side Wall contact position is equipped with rubber ring (55), and rubber ring (55) is fixed on supporting box (41) side wall, shaft (54) top surface with Cylinder (57) output end is fixedly connected, and the cylinder (57) is fixedly mounted on connecting plate (51) bottom surface.