CN109018064A - Leg foot type bionic machine mouse - Google Patents
Leg foot type bionic machine mouse Download PDFInfo
- Publication number
- CN109018064A CN109018064A CN201810969962.6A CN201810969962A CN109018064A CN 109018064 A CN109018064 A CN 109018064A CN 201810969962 A CN201810969962 A CN 201810969962A CN 109018064 A CN109018064 A CN 109018064A
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- China
- Prior art keywords
- hind leg
- forelimb
- motor
- leg
- hip
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a kind of leg foot type bionic machine mouse.The bionic machine mouse includes mouse head assembly (1), forelimb component (2), hind leg component (3), waist feature (4), neck-forelimb connection component (5) and tail portion (6)；The hind leg component (3) includes hind leg electric machine support (16), hind leg driving device (13), and the hind leg driving device (13) is mobile for directly driving bionic machine mouse hind leg.The forelimb component (2) includes forelimb electric machine support (27), forelimb driving device (24), forelimb driving device (24) is mobile for directly driving bionic machine mouse forelimb, the mouse head assembly (1) includes mouse head, steering engine I (29) and steering engine II (30), the steering engine I and steering engine II is respectively used to directly drive the mouse head pitching of bionic machine mouse, yaw movement, neck-forelimb connection component (5) is connected with mouse head assembly (1) and forelimb component (2), waist feature (4) and forelimb component (2), hind leg component (3) is connected.Bionic machine mouse of the invention is able to solve the problems such as bionical degree is low, flexibility is not high as a result,.
Description
Technical field
The invention belongs to bio-robot technical fields, and in particular to a kind of leg foot type bionic machine mouse.
Background technique
The system that bio-robot refers to outer shape biological in natural imitation circle, motion principle and behavior, energy
It is engaged in the robot of biological characteristic work.
Contemporary robot needs complete various tasks under non-structure environment: pipeline detection, Fight Fire in Forest, search and rescue explore,
Military surveillance, aerospace etc.；And legged type robot is even more to require than wheeled, caterpillar type robot is higher to complicated landform
Adaptability and obstacle climbing ability.Bionic machine mouse refers to the four-footed platform that mouse is imitated from shape, on movement mechanism, in behavior
System.
Currently, bio-robot is primarily present, adaptive capacity to environment is low, bionical degree is relatively low, minimizes light weight degree not
The problems such as high.In view of the above problems, needing to propose a kind of structure of novel bionic machine mouse.
Summary of the invention
The purpose of the present invention is:, flexibility not high the problems such as low in order to solve the existing bionical degree of bionic machine mouse；It proposes
A kind of novel bionic machine mouse device.
Technical scheme is as follows.
One aspect of the present invention provides a kind of hind leg component for leg foot type bionic machine mouse, including hind leg thigh, after
Primary minimum leg, hind leg foot, hind leg gear shaft, hind leg driving device；The hind leg driving device is for directly driving bionic machine
Mouse hind leg is mobile；
Wherein, the hind leg driving device includes: hind leg hip motor, hind leg knee motor, hind leg electric machine support, hind leg
Hip bevel gearing, hind leg knee bevel gearing；The hind leg knee motor is fixed on the hind leg thigh
In.
Preferably, the hind leg hip motor is connect with the hind leg electric machine support, the hind leg hip motor with it is described
The connection of hind leg hip bevel gearing, the hind leg gear shaft bore tooth with the hind leg thigh, the hind leg hip respectively
Wheel transmission device connection, the hind leg hip motor drive institute by driving the hind leg hip bevel gearing transmission
State the movement of hind leg thigh.
Preferably, the hind leg knee motor is fixed in the hind leg thigh, and the hind leg knee motor passes through described
The transmission of hind leg knee bevel gearing, drives the hind leg shank to move.
Another aspect of the present invention provides a kind of leg foot type bionic machine mouse, comprising: mouse head assembly, forelimb component, waist
Component, neck-forelimb connection component, tail portion, and the hind leg component according to any one of above technical scheme.
Preferably, the mouse head assembly includes that mouse head, steering engine I, steering engine II, the steering engine I and the steering engine II are used respectively
In the driving mouse head pitching, yaw movement.
Preferably, the forelimb component includes: forelimb thigh, forelimb shank drive rod, forelimb shank drive rod, preceding primary minimum
Leg, forelimb foot.
The forelimb driving device is mobile for directly driving bionic machine mouse forelimb；The forelimb driving device includes:
Forelimb hip motor, forelimb knee motor, forelimb electric machine support, forelimb hip bevel gearing, forelimb knee bevel gear
Transmission device.
Preferably, the neck-forelimb connection component is connected with the mouse head assembly and the forelimb component, the waist
Component is connected with the forelimb component, the hind leg component.
Preferably, the waist feature includes: the big bracket of motor, forelimb-hind leg connection frame；The big bracket of the motor and institute
State forelimb-hind leg connection frame articulated connection.
Preferably, the forelimb hip motor, forelimb knee motor are each attached in the big bracket of the motor；The forelimb
Hip motor is driven by the forelimb hip bevel gearing, driving forelimb thigh movement；Forelimb knee motor passes through
The transmission of forelimb knee bevel gearing, driving forelimb shank drive rod movement, forelimb shank drive rod is by driving forelimb
Shank drive rod moves and then realizes the movement of forelimb shank.
Preferably, the hind leg hip motor of the hind leg component is fixed on the big bracket of the motor and the hind leg motor branch
Between frame, the hind leg hip motor is connect with the hind leg electric machine support, the hind leg hip motor and the hind leg hip
Bevel gearing connection, the hind leg gear shaft are filled with the hind leg thigh, the hind leg hip Bevel Gear Transmission respectively
Connection is set, the hind leg hip motor drives the hind leg big by driving the hind leg hip bevel gearing transmission
Leg movement.
The beneficial effects of the present invention are:
(1) present invention has gone out preceding primary minimum, the big structure of hind leg according to the skeletal structure G- Design of rat, and size accords with everywhere
True mouse is closed, the more form of approaching to reality mouse from form；
(2) hind leg of the present invention uses the parallel structure of link-type using series connection fast knot structure, forelimb, and each leg has two
One redundant degree of freedom of a freedom degree and step, can complete a variety of gaits, strong environmental adaptability.
(3) the not big chassis of the present invention, electric machine support high concentration, more lightweight；And hind leg knee motor is solid
It is scheduled in hind leg thigh, keeps driving force transmission efficiency higher.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of leg foot type bionic machine mouse of the present invention.
Fig. 2 is the hind leg component partial enlarged view of leg foot type bionic machine mouse of the present invention.
Fig. 3 is the forelimb component partial enlarged view of leg foot type bionic machine mouse of the present invention.
Wherein, 1- mouse head assembly, 2- forelimb component, 3- hind leg component, 4- waist feature, 5- neck-forelimb connection component,
The tail portion 6-, the big bracket of 7- motor, 8- forelimb-hind leg connection frame, 9- hind leg thigh, 10- hind leg shank, 11- hind leg foot, 12-
Hind leg gear shaft, 13- hind leg driving device, 14- hind leg hip motor, 15- hind leg knee motor, 16- hind leg electric machine support,
17- hind leg hip bevel gearing, 18- hind leg knee bevel gearing, 19- forelimb thigh, 20- forelimb shank drive
Lever, 21- forelimb shank drive rod, 22- forelimb shank, 23- forelimb foot, 24- forelimb driving device, 25- forelimb hip electricity
Machine, 26- forelimb knee motor, 27- forelimb electric machine support, 28- forelimb hip bevel gearing, 29- steering engine I, 30- steering engine
II。
Specific embodiment
Referring to attached drawing 1, leg foot type bionic machine mouse according to the present invention includes: mouse head assembly 1, forelimb component 2, hind leg group
Part 3, waist feature 4, neck-forelimb connection component 5 and tail portion 6.
As shown in Figure 1, mouse head assembly 1 is connected by neck-forelimb connection component 5 with forelimb component 2.Waist feature 4 is wrapped
The big bracket 7 of motor and forelimb-hind leg connection frame 8 are included, the big bracket of motor and forelimb-hind leg connection frame 8 are articulated and connected, realize
The redundant degree of freedom of waist keeps the movement of bionic machine mouse more flexible.The big bracket 7 of motor in forelimb component 2 and waist feature 4
It is connected；Hind leg component 3 is hinged by forelimb-hind leg connection frame 8 and waist feature 4；Tail portion 6 is then connected on hind leg component 3.
As shown in Figure 1, mouse head assembly 1 includes the steering engine I29 and its bracket, driving mouse of mouse head, driving mouse head pitching movement
The steering engine II30 and its bracket of head yawing rotation.In mouse head assembly 1 mouse head be it is hollow, camera and sensor can be placed,
Make machine mouse that there is vision and respond as mouse, while being also more nearly mouse in appearance.The bionical machine of leg foot type
The tail portion 6 of device mouse is with reference to the tail length of true mouse, and selected materials are light, that is, improves light weight degree also in shape and very
Real mouse similarity degree is higher.
In embodiment of above, it will be appreciated by those skilled in the art that the steering engine I29 and steering engine II30 can be now
There is any steering engine of technology.
Referring to attached drawing 2, the hind leg component 3 of leg foot type bionic machine mouse includes hind leg thigh 9, hind leg shank 10, hind leg foot
Portion 11, hind leg gear shaft 12, hind leg driving device 13.
The hind leg driving device 13 include: hind leg hip motor 14, hind leg knee motor 15, hind leg electric machine support 16,
Hip bevel gearing 17, hind leg knee bevel gearing 18.It is big that the hind leg knee motor 15 is fixed on hind leg
In leg 9, the mounting means of the hind leg knee motor 15 had both improved the transmission efficiency of driving force, was also morphologically more nearly
Rat.Hind leg hip motor 14 is fixed between the big bracket 7 of motor and hind leg electric machine support 16, hind leg hip motor 14 and hind leg electricity
Machine support 16 is threadedly coupled, and hind leg hip motor 14 is threadedly coupled with hind leg hip bevel gearing 17.Hind leg gear shaft
12 are connect with hind leg thigh 9, hind leg hip bevel gearing 17 by jackscrew respectively, and hind leg hip motor 14 passes through driving
Hind leg hip bevel gearing 17 is driven, and driving hind leg thigh 9 moves.
Referring to attached drawing 3, the forelimb component 2 of leg foot type bionic machine mouse include forelimb thigh 19, forelimb shank drive rod 20,
Forelimb shank drive rod 21, forelimb shank 22, forelimb foot 23.
The forelimb driving device 24 include: forelimb hip motor 25, forelimb knee motor 26, forelimb electric machine support 27,
Forelimb bevel gear transmission 28.Forelimb hip motor 25, forelimb knee motor 26 are each attached in the big bracket 7 of motor.Forelimb
Hip motor 25 is driven by forelimb hip bevel gearing 28, and driving forelimb thigh 19 moves, forelimb knee motor 26
It is driven by forelimb knee bevel gearing (not shown), driving forelimb shank drive rod 20 moves, forelimb shank
Drive rod 20 is by driving the movement of forelimb shank drive rod 21 to realize that forelimb shank 22 moves.
Although the movement of forelimb calf is also influenced by the movement of forelimb thigh, forelimb shank and forelimb thigh
Angle is controlled by forelimb shank drive rod, and entire movement is also decoupling.
Referring to attached drawing 2 and attached drawing 3, hind leg hip motor 14, the hind leg knee motor 15, forelimb of leg foot type bionic machine mouse
Hip motor 25, forelimb knee motor 26 independently control the movement of four limbs.Although the movement of forelimb shank 22 is also by preceding
The influence that limb thigh 19 moves, but forelimb shank 22 and the angle of forelimb thigh 19 are controlled by forelimb shank drive rod 20, it is whole
A movement is also decoupling.Since four limbs independently move, a variety of gaits may be implemented, improve to complicated landform
Adaptability.The movement of four limbs all uses Bevel Gear Transmission, its advantage is that the service life is long, bearing capacity is high, chemically-resistant and corrosivity
By force, noise reduction and damping performance are good, light-weight.
Referring to attached drawing 1, attached drawing 2 and attached drawing 3, for the low problem of the existing bionical degree of bionic machine mouse, this leg foot type is imitative
Life device mouse has references to the skeletal structure of rat in design；All kinds of parameter comparisons of rat and machine mouse are as follows:
Body is long: machine mouse 202mm, rat 192.5mm；Femur: machine mouse 40mm, rat 36.4mm；Shin bone: machine mouse
40mm, rat 38.7mm；Tail length: machine mouse 200mm, rat 198.6mm.It can be seen that the bionical degree of this leg foot type bionic machine mouse
Height efficiently solves the problems, such as that the bionical degree of bionic machine mouse is low.
In embodiment of above, it will be appreciated by those skilled in the art that the hind leg hip motor 14, hind leg knee electricity
Machine 15, forelimb hip motor 25, forelimb knee motor 26 can use any applicable motor in the prior art, such as exchange
Motor, direct current generator, decelerating motor.In a preferred embodiment, the hind leg hip motor 14, hind leg knee motor
15, forelimb hip motor 25, forelimb knee motor 26, which can use, can be realized the stepper motor or servo motor accurately controlled.
In embodiment of above, it will be appreciated by those skilled in the art that the hind leg hip motor, hind leg knee electricity
The control of machine, forelimb hip motor 25, forelimb knee motor 26 can use any applicable control device in the prior art, all
Such as universal central processing unit, microcontroller, on-site programmable device FPGA, programmable logic controller (PLC) PLC, Yi Jizhuan
Integrated circuit ASIC etc..
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of hind leg component for leg foot type bionic machine mouse, including hind leg thigh (9), hind leg shank (10), hind leg foot
Portion (11), hind leg gear shaft (12), hind leg driving device (13)；The hind leg driving device (13) is for directly driving bionical machine
Device mouse hind leg is mobile；
It is characterized in that, the hind leg driving device (13) include: hind leg hip motor (14), hind leg knee motor (15), after
Limb electric machine support (16), hind leg hip bevel gearing (17), hind leg knee bevel gearing (18)；The hind leg
Knee motor (15) is fixed in the hind leg thigh (9).
2. hind leg component according to claim 1, which is characterized in that the hind leg hip motor (14) and hind leg electricity
Machine support (16) connection, the hind leg hip motor (14) connect with the hind leg hip bevel gearing (17), described
Hind leg gear shaft (12) is connect with the hind leg thigh (9), the hind leg hip bevel gearing (17) respectively, after described
Limb hip motor (14) drives the hind leg thigh (9) by driving hind leg hip bevel gearing (17) transmission
Movement.
3. hind leg component according to claim 1, which is characterized in that the hind leg knee motor (15) be fixed on it is described after
In limb thigh (9), the hind leg knee motor (15) is driven by the hind leg knee bevel gearing (18), drives institute
State hind leg shank (10) movement.
4. a kind of leg foot type bionic machine mouse, comprising: mouse head assembly (1), forelimb component (2), waist feature (4), neck-forelimb
Connection component (5), tail portion (6) and hind leg component according to claim 1-3 (3).
5. leg foot type bionic machine mouse according to claim 4, which is characterized in that the mouse head assembly (1) include mouse head,
Steering engine I (29), steering engine II (30), the steering engine I (29) and the steering engine II (30) are respectively used to drive the mouse head pitching, partially
Boat movement.
6. leg foot type bionic machine mouse according to claim 4, which is characterized in that the forelimb component (2) includes: forelimb
Thigh (19), forelimb shank drive rod (20), forelimb shank drive rod (21), forelimb shank (22), forelimb foot (23)；
The forelimb driving device (24) is mobile for directly driving bionic machine mouse forelimb；Forelimb driving device (24) packet
It includes: forelimb hip motor (25), forelimb knee motor (26), forelimb electric machine support (27), forelimb hip bevel gearing
(28), forelimb knee bevel gearing.
7. leg foot type bionic machine mouse according to claim 6, which is characterized in that the neck-forelimb connection component (5)
It is connected with the mouse head assembly (1) and the forelimb component (2), it is the waist feature (4) and the forelimb component (2), described
Hind leg component (3) is connected.
8. leg foot type bionic machine mouse according to claim 7, which is characterized in that the waist feature (4) includes: motor
Big bracket (7), forelimb-hind leg connection frame (8)；The big bracket of motor (7) hingedly connects with the forelimb-hind leg connection frame (8)
It connects.
9. leg foot type bionic machine mouse according to claim 8, which is characterized in that the forelimb hip motor (25), preceding
Limb knee motor (26) is each attached in the big bracket of the motor (7)；The forelimb hip motor (25) passes through the forelimb hip
Portion's bevel gearing (28) transmission, driving forelimb thigh (19) movement；Forelimb knee motor (26) is bored by forelimb knee
Gear assembly transmission, driving forelimb shank drive rod (20) movement, forelimb shank drive rod (20) pass through primary minimum before driving
Leg drive rod (21) moves and then realizes forelimb shank (22) movement.
10. leg foot type bionic machine mouse according to claim 8 or claim 9, which is characterized in that after the hind leg component (3)
Limb hip motor (14) is fixed between the big bracket of the motor (7) and the hind leg electric machine support (16), the hind leg hip
Motor (14) is connect with the hind leg electric machine support (16), and the hind leg hip motor (14) and the hind leg hip bevel gear pass
Dynamic device (17) connection, the hind leg gear shaft (12) respectively with the hind leg thigh (9), the hind leg hip Bevel Gear Transmission
Device (17) connection, the hind leg hip motor (14) are driven by the driving hind leg hip bevel gearing (17),
The hind leg thigh (9) is driven to move.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810969962.6A CN109018064A (en) | 2018-08-24 | 2018-08-24 | Leg foot type bionic machine mouse |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810969962.6A CN109018064A (en) | 2018-08-24 | 2018-08-24 | Leg foot type bionic machine mouse |
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| CN109018064A true CN109018064A (en) | 2018-12-18 |
Family
ID=64627248
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|---|---|---|---|
| CN201810969962.6A Pending CN109018064A (en) | 2018-08-24 | 2018-08-24 | Leg foot type bionic machine mouse |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110104088A (en) * | 2019-04-28 | 2019-08-09 | 北京理工大学 | Machine mouse leg foot structure based on micro- steering engine |
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