CN203380887U - Multiple-joint bionic machine insect - Google Patents

Multiple-joint bionic machine insect Download PDF

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Publication number
CN203380887U
CN203380887U CN201320412052.0U CN201320412052U CN203380887U CN 203380887 U CN203380887 U CN 203380887U CN 201320412052 U CN201320412052 U CN 201320412052U CN 203380887 U CN203380887 U CN 203380887U
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CN
China
Prior art keywords
gear
bracket
joint
motor
worm
Prior art date
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.)
Expired - Fee Related
Application number
CN201320412052.0U
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Chinese (zh)
Inventor
夏鹏
杨翥翔
陈红印
徐明亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHENZHEN CAS ICOOL ROBOT TECHNOLOGY Co Ltd
Original Assignee
SHENZHEN CAS ICOOL ROBOT TECHNOLOGY Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SHENZHEN CAS ICOOL ROBOT TECHNOLOGY Co Ltd filed Critical SHENZHEN CAS ICOOL ROBOT TECHNOLOGY Co Ltd
Priority to CN201320412052.0U priority Critical patent/CN203380887U/en
Application granted granted Critical
Publication of CN203380887U publication Critical patent/CN203380887U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a multiple-joint bionic machine insect which comprises a waist support, a head support and a tail support, wherein the head support is connected with the front end of the waist support through a horizontal gear; the tail support is connected with the rear end of the waist support through a vertical gear; the horizontal gear is connected with a horizontal swing motor; the vertical gear is connected with a vertical swing motor; clamping wheels are fixed at the bottom of the head support; the clamping wheels comprise two elastic rollers which are horizontally fixed and radially connected; and the rollers are connected with a clamping wheel motor through a transmission gear. According to the multiple-joint bionic machine insect, the problems that in a conventional bionic machine insect, the crawling bionic degree is not high, the number of motors is large, the size and the weight are increased, the bionic function is restrained, and the like are solved.

Description

A kind of multi-joint bionic machine worm
Technical field
The utility model belongs to Intelligent bionic machinery people technical field, is specifically related to a kind of multi-joint bionic machine worm that can creep at fabric face.
Background technology
Bio-robot refers to mimic biology, is engaged in the robot of biological characteristic work, the high bionical action of Intelligent bionic machinery worm needs many joint freedom degrees, each joint needs a motor. and therefore cause cost to rise, volume and weight increases, and even restricts bionic function.
The utility model content
Not high in order to solve the existing bionic machine worm bionical degree of creeping, the volume and weight that number of motors too much causes increases, the problems such as restriction bionic function, and the utility model has designed a kind of Novel bionic machine insect.
The technical scheme that the utility model addresses the above problem is: a kind of multi-joint bionic machine worm, comprise waist bracket, holder,head and bracket at tail part, holder,head is connected with the waist bracket front end by horizontal gear, bracket at tail part is connected with the waist bracket rear end by vertical gear, horizontal gear connects the horizontal hunting motor, vertical gear vertical connecting oscillating motor, the holder,head bottom is clip wheel fixedly, described clip wheel comprises the elastic roller that two levels are fixed and radially connect, and roller connects the clip wheel motor by travelling gear.Its advantage is: can clamp fabric and clothes between the elastic roller of clip wheel mechanism, under the drive of travelling gear and clip wheel motor, vertical or level is creeped.
Described multi-joint bionic machine worm, waist bracket has a plurality of decoration joints that are connected successively with the bracket at tail part outer cover, and the outside, rear end that the front end activity saved is nested in the place ahead decoration joint is decorated at rear.Its advantage is: described holder,head and bracket at tail part are arranged on respectively the waist bracket front and back. and wherein head can be with respect to the bionical swing in waist left and right, afterbody can be with respect to the upper and lower bionical swing of waist. at machine insect when doing bionical yaw, need only to a signal in the vertical oscillation motor, motor passes through the worm and gear deceleration transmission to bracket at tail part, bracket at tail part transmission again saves to the decoration with its flexible connection, other joint of decoration with movable rotation-shaft is given in transmission respectively again, so afterbody motor a plurality of decorations joint simultaneously compared with similar products, not only save motor, and saved space, alleviated weight, cost reduces greatly.
Described multi-joint bionic machine worm, horizontal gear, vertical gear and travelling gear are duplex structure coaxial with worm gear and that be connected as a single entity, and worm gear is connected with motor by worm screw respectively.Its advantage is: clip wheel mechanism, oscillating head mechanism and the mechanism of wagging the tail all use worm-and-wheel gear transmission and deceleration. because the worm and gear speed reducing ratio is large, compact conformation, so relative gear reduction box for like product, number of spare parts greatly reduces, volume and weight reduces greatly, security reliability improves greatly, and cost also decreases.
Described multi-joint bionic machine worm, horizontal gear and sector gear are connected with a joggle, and connect waist bracket by sector gear.Its advantage is: sector gear plays the effect of deceleration.
Described multi-joint bionic machine worm, the decoration joint at two ends is separately fixed on waist and bracket at tail part, and the decoration joint at middle part and waist bracket or bracket at tail part are flexibly connected by rotating shaft.Its advantage is: the decoration joint connected by movable rotation-shaft one support, under the drive of vertical oscillation motor, can imitate peristaltic action.
Described multi-joint bionic machine worm, clip wheel motor, horizontal hunting motor, vertical oscillation motor are connected with controller, and controller connects the bluetooth receiver module.Its advantage is: by bluetooth module, send to machine insect bluetooth receiver module.Pass to single-chip microcomputer by bluetooth module again, then by after the single-chip microcomputer decoding, passing to respectively each motor, the final machine insect simulating crawling on fabric of realization under the cooperatively interacting of three parts.
The purpose of this utility model is exactly for existing bionic machine robot mechanism complexity, realize that cost is high, intelligent degree is not strong, design that a kind of volume is little, lightweight, the Intelligent bionic machinery robot system of low-power consumption, wireless multi-channel, and realize that by this system robot can be at vertical fabric and level ground simulating crawling.
The accompanying drawing explanation
Fig. 1 is the utility model perspective exploded view;
Fig. 2 is the utility model perspective structure schematic diagram;
Fig. 3 is that the utility model head swings schematic diagram;
Fig. 4 is the utility model tail swing schematic diagram;
Fig. 5 is the utility model control principle drawing;
In figure, 1, waist bracket; 2, holder,head; 2-1, front intermediate plate; 2-2, rear jaw; 3, bracket at tail part; 4, horizontal gear; 5, vertical gear; 6, horizontal hunting motor; 7, vertical oscillation motor; 8, clip wheel; 9, travelling gear; 10, clip wheel motor; 11, decorate joint; 12, worm screw, 13, sector gear, 14, upper head capsule; 15, lower head capsule.
The specific embodiment
Below in conjunction with accompanying drawing, structure of the present utility model is explained in detail to explanation, as Fig. 1, a kind of multi-joint bionic machine worm, comprise waist bracket 1, holder,head 2 and bracket at tail part 3, holder,head is connected with the waist bracket front end by horizontal gear 4, bracket at tail part is connected with the waist bracket rear end by vertical gear 5, horizontal gear connects horizontal hunting motor 6, vertical gear vertical connecting oscillating motor 7, waist bracket has a plurality of decoration joints 11 that are connected successively with the bracket at tail part outer cover, and the front end activity that joint is decorated at rear is nested in the outside, rear end that joint is decorated in the place ahead.The holder,head bottom is clip wheel 8 fixedly, and described clip wheel comprises the elastic roller that two levels are fixed and radially connect, and roller connects clip wheel motor 10 by travelling gear 9.Horizontal gear, vertical gear and travelling gear are duplex structure coaxial with worm gear and that be connected as a single entity, and worm gear is connected with motor by worm screw 12 respectively.Horizontal gear and sector gear 13 are connected with a joggle, and connect waist bracket by sector gear.The decoration joint at two ends is separately fixed on waist and bracket at tail part, and the decoration joint at middle part and waist bracket or bracket at tail part are flexibly connected by rotating shaft.Clip wheel motor, horizontal hunting motor, vertical oscillation motor are connected with controller, and controller connects the bluetooth receiver module.
The utility model machine insect comprises three large parts: head, waist and afterbody.Described head comprises the clip wheel mechanism that can creep on fabric, as Fig. 2, the oscillating head mechanism that drive head swings is as Fig. 3, the mechanism of wagging the tail that drives afterbody to swing up and down is as Fig. 4, to play the holder,head of fixation and play the shell of decoration function. described clip wheel mechanism comprises a pair of clip wheel of climbing clothes, one drives the clip wheel motor of clip wheel and worm gear and the worm screw of a set of transmission decelerating effect. and described oscillating head mechanism comprises that a drive head swings worm gear and the worm screw of horizontal hunting motor and a set of transmission decelerating effect. and holder,head is comprised of front intermediate plate 2-1 and two intermediate plates of rear jaw 2-2. and the head decorative shell is comprised of upper head capsule 14 and lower head capsule 15.
The control interface of mobile phone is to go to control the transmission instruction by the people, as Fig. 5, by the Bluetooth of mobile phone module, sends to machine insect bluetooth receiver module.Pass to single-chip microcomputer by bluetooth module again, then clip wheel motor DC motor driving mould is fast, the servo mould of horizontal hunting motor DC is fast and fast three parts of the servo mould of vertical oscillation motor DC by passing to respectively after the single-chip microcomputer decoding.Then, first's direct current generator drives mould to drive soon clip wheel motor, worm and gear and clip wheel, realizes that clip wheel moves under control instruction; The fast level of control oscillating motor of second portion DC servo mould, worm and gear and holder,head, realize that head swings; Third part DC servo mould is controlled vertical oscillation motor, worm and gear and bracket at tail part soon, realizes that afterbody swings up and down.The final machine insect simulating crawling on fabric of realization under the cooperatively interacting of three parts.
Technique scheme has only embodied the optimal technical scheme of technical solutions of the utility model; those skilled in the art have all embodied the principle of utility model to some changes that wherein some part may be made, within belonging to protection domain of the present utility model.

Claims (6)

1. a multi-joint bionic machine worm, comprise waist bracket (1), holder,head (2) and bracket at tail part (3), holder,head is connected with the waist bracket front end by horizontal gear (4), bracket at tail part is connected with the waist bracket rear end by vertical gear (5), horizontal gear connects horizontal hunting motor (6), vertical gear vertical connecting oscillating motor (7), it is characterized in that, the holder,head bottom is clip wheel (8) fixedly, described clip wheel comprises the elastic roller that two levels are fixed and radially connect, roller connects clip wheel motor (10) by travelling gear (9).
2. multi-joint bionic machine worm according to claim 1, is characterized in that, horizontal gear, vertical gear and travelling gear are duplex structure coaxial with worm gear and that be connected as a single entity, and worm gear is connected with motor by worm screw (12) respectively.
3. multi-joint bionic machine worm according to claim 1, is characterized in that, horizontal gear and sector gear (13) are connected with a joggle, and connect waist bracket by sector gear.
4. multi-joint bionic machine worm according to claim 1, is characterized in that, waist bracket has a plurality of decoration joints (11) that are connected successively with the bracket at tail part outer cover, and the outside, rear end that the front end activity saved is nested in the place ahead decoration joint is decorated at rear.
5. multi-joint bionic machine worm according to claim 4, is characterized in that, the decoration joint at two ends is separately fixed on waist and bracket at tail part, and the decoration joint at middle part and waist bracket or bracket at tail part are flexibly connected by rotating shaft.
6. multi-joint bionic machine worm according to claim 1, is characterized in that, clip wheel motor, horizontal hunting motor, vertical oscillation motor are connected with controller, and controller connects the bluetooth receiver module.
CN201320412052.0U 2013-07-11 2013-07-11 Multiple-joint bionic machine insect Expired - Fee Related CN203380887U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320412052.0U CN203380887U (en) 2013-07-11 2013-07-11 Multiple-joint bionic machine insect

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320412052.0U CN203380887U (en) 2013-07-11 2013-07-11 Multiple-joint bionic machine insect

Publications (1)

Publication Number Publication Date
CN203380887U true CN203380887U (en) 2014-01-08

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103915026A (en) * 2014-03-28 2014-07-09 江苏省华茂科教设备有限公司 Bionic electronic helminth model applicable to teaching
CN106132642A (en) * 2014-03-24 2016-11-16 易格斯有限公司 Robots arm and assembling assembly
CN111390930A (en) * 2020-04-17 2020-07-10 苏州昭轩数字科技有限公司 Intelligent protection method and system based on artificial intelligence and clothes climbing robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106132642A (en) * 2014-03-24 2016-11-16 易格斯有限公司 Robots arm and assembling assembly
CN103915026A (en) * 2014-03-28 2014-07-09 江苏省华茂科教设备有限公司 Bionic electronic helminth model applicable to teaching
CN111390930A (en) * 2020-04-17 2020-07-10 苏州昭轩数字科技有限公司 Intelligent protection method and system based on artificial intelligence and clothes climbing robot

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140108

Termination date: 20160711