CN206170077U - Imitative muscle draw gear of drive ghost model motion - Google Patents
Imitative muscle draw gear of drive ghost model motion Download PDFInfo
- Publication number
- CN206170077U CN206170077U CN201621186149.4U CN201621186149U CN206170077U CN 206170077 U CN206170077 U CN 206170077U CN 201621186149 U CN201621186149 U CN 201621186149U CN 206170077 U CN206170077 U CN 206170077U
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- China
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- support arm
- reel
- gear
- driving
- ghost model
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Abstract
The utility model discloses an imitative muscle draw gear of drive ghost model motion relates to the robotechnology field. An imitative muscle draw gear of drive ghost model motion, includes first support arm and second support arm, articulated between the first side A of first support arm and the first side B of second support arm, articulated department is first pin joint, there is the clearance between the second side A of first support arm and the second side B of second support arm, first support arm and the inside cavity that all sets up of second support arm, the inside motor that sets up of first support arm, the last reel of installing of motor output shaft, set up the flexible traction rope on the reel, flexible traction rope one end is connected with the second support arm. The utility model has the advantages of its simple structure, the motor uses with the flexible band cooperation, produces the traction force like muscle, and the compliance is good, response speed is fast, flexible movements.
Description
Technical field
The utility model is related to robotics, and particularly a kind of imitative muscle traction for driving ghost model motion is filled
Put.
Background technology
Muscle is biologically contractile tissue, is excluded with information transmission, energy transmission, waste, energy supply, passed
Dynamic and self-repair function.After by the stimulation of kinesitherapy nerve signal, generation muscular force will be shunk, drive skeleton motion, no
Deceleration device and actuated element are needed, belongs to unidirectional power apparatus, forms of motion is linear reciprocating.It is exactly all the time researcher
The source of driver inspiration is developed, the mankind are directed to the research work of biological muscles very early.Bionic muscle of the prior art
Structure is all that execution is driven using the mode of steering wheel, and activity is stiff, is acted dumb.
Utility model content
To solve deficiency of the prior art, the utility model provides a kind of imitative muscle for driving ghost model motion and draws
Device, its simple structure, motor is used cooperatively with flexible-belt, produces the tractive force as muscle, and compliance is good, response speed
Hurry up, flexible movements.
The utility model to achieve the above object, is achieved through the following technical solutions：It is a kind of to drive what ghost model moved
Imitative muscle draw-gear, including first support arm and second support arm, the first side A of the first support arm and the first side of second support arm
It is hinged between B, hinged place is the first pin joint, is existed between the second side A of the first support arm and the second side B of second support arm
Gap, cavity is respectively provided with inside the first support arm and second support arm, and the first support arm inside sets motor, and the motor is defeated
Reel is installed on shaft, flexile hauling cable is set on the reel, described flexile hauling cable one end is connected with second support arm.
The flexile hauling cable and second support arm junction to the vertical range between the first pin joint be L1, the flexibility
Pull rope and reel point of contact are L2 to the vertical range between the first pin joint, and L1 is more than or equal to L2.
Reductor is installed, the reel is located on speed reducer output shaft on the motor.
It is hinged by rotating shaft between the first support arm and second support arm.
Height of the height of the first side A of the first support arm more than the second side A.
Height of the height of the first side B of the second support arm more than the second side B.
Back-moving spring is set between the first support arm and second support arm.
Prior art is contrasted, the beneficial effects of the utility model are：
1st, the utility model motor drives second support arm to rotate by flexile hauling cable, imitates muscular movement, overall structure
Simply, simple structure, compliance is good, fast response time, flexible movements；The present apparatus can be the existing model of in the market and ghost
The various cartoons such as sculpture or cloth are occasionally transformed into the robot of intelligent interaction in our service for life, producing various
Emulation interaction robot；Or for the emulated robot manufacture of ectoskeleton animal.
, flexile hauling cable and second support arm junction to the vertical range between the first pin joint be L1, flexile hauling cable
It is L2 with reel point of contact to the vertical range between the first pin joint, L1 is more than or equal to L2, convenient to drive second support arm to rotate, and saves
Shi Shengli, acts submissive.
, first support arm the first side height of the height more than the second side, the height of the first side of the second support arm is big
It is convenient to complete bending work in the height of the second side, it can be ensured that there is gap between first support arm and second support arm.
Brief description of the drawings
Accompanying drawing 1 is the utility model structural representation；
Accompanying drawing 2 is the structural representation of the utility model state one；
Accompanying drawing 3 is the structural representation of the utility model state two.
Label shown in accompanying drawing：1st, first support arm；11st, the first side A；12nd, the second side A；2nd, second support arm；21st, the first side
B；22nd, the second side B；3rd, gap；4th, motor；5th, reel；6th, flexile hauling cable；7th, reductor；8th, rotating shaft.
Specific embodiment
With reference to the drawings and specific embodiments, the utility model is described in further detail.It should be understood that these embodiments are only used for
Illustrate the utility model rather than limit scope of the present utility model.In addition, it is to be understood that reading the utility model instruction
Content after, those skilled in the art can make various changes or modifications to the utility model, and these equivalent form of values equally fall
In scope defined herein.
A kind of imitative muscle draw-gear for driving ghost model motion, including first support arm 1 and second support arm 2, described the
It is hinged between first side A11 of one support arm 1 and the first side B21 of second support arm 2, hinged place is the first pin joint, described first
There is gap 3 between second side A12 of support arm 1 and the second side B22 of second support arm 2, second support arm can be facilitated to do bending fortune
It is dynamic.Cavity is respectively provided with inside the first support arm 1 and second support arm 2, the inside of the first support arm 1 sets motor 4, the motor
Reel 5 is installed on 4 output shafts, flexile hauling cable 6, the one end of the flexile hauling cable 6 and second support arm 2 are set on the reel 5
Connection, flexile hauling cable is wrapped on reel, and motor rotational band movable reel is rotated, so that drive flexile hauling cable to move, it is flexible
Pull rope drive second support arm rotate, complete flexure operation, simple structure, compliance is good, fast response time, flexible movements；When
Second support arm can reset under gravity during motor reversal；The present apparatus can be the existing model of in the market and ghost sculpture
The robot of intelligent interaction is occasionally transformed into in our service for life, producing various imitating etc. various cartoons or cloth
Very interactive robot；Or for the emulated robot manufacture of ectoskeleton animal.
Used as optimization, the flexile hauling cable 6 and the junction of second support arm 2 are to the vertical range between the first pin joint
L1, the flexile hauling cable 6 and the point of contact of reel 5 are L2 to the vertical range between the first pin joint, and L1 is more than or equal to L2, convenient
Second support arm is driven to rotate, it is time saving and energy saving, act submissive.
As optimization, reductor 7 is installed on the motor 4, the reel 5 is located on the output shaft of reductor 7, by setting
Reductor can conveniently adjust motor rotating speed.
As optimization, it is hinged by rotating shaft 8 between the first support arm 1 and second support arm 2, simple structure is easy to process.
As optimization, the height or described second of the height more than the second side A12 of the first side A11 of the first support arm 1
Height of the height of the first side B21 of support arm 2 more than the second side B22, it can be ensured that exist between first support arm and second support arm
Gap, it is convenient to complete bending work.
As optimization, back-moving spring is set, second support arm can be in spring between the first support arm 1 and second support arm 2
In the presence of reset.
Embodiment 1：
A kind of imitative muscle draw-gear for driving ghost model motion, including first support arm 1 and second support arm 2, described the
It is hinged between first side A11 of one support arm 1 and the first side B21 of second support arm 2, hinged place is the first pin joint, described first
It is hinged by rotating shaft 8 between support arm 1 and second support arm 2, simple structure is easy to process.Second side A12 of the first support arm 1
There is gap 3 and the second side B22 of second support arm 2 between, second support arm can be facilitated to do bending motion.The first support arm 1
Be respectively provided with cavity inside second support arm 2, the inside of the first support arm 1 sets motor 4, and volume is installed on the output shaft of the motor 4
Cylinder 5, sets flexile hauling cable 6 on the reel 5, the one end of the flexile hauling cable 6 is connected with second support arm 2, flexile hauling cable
It is wrapped on reel, motor rotational band movable reel is rotated, so as to drive flexile hauling cable to move, flexile hauling cable drives second
Arm rotate, complete flexure operation, simple structure, compliance is good, fast response time, flexible movements.The flexile hauling cable 6 and
The junction of two support arm 2 to the vertical range between the first pin joint be L1, the flexile hauling cable 6 and the point of contact of reel 5 to first
Vertical range between pin joint is L2, and L1 is more than or equal to L2, convenient to drive second support arm to rotate, time saving and energy saving, acts submissive.
Claims (7)
1. the imitative muscle draw-gear that a kind of driving ghost model moves, it is characterised in that：Including first support arm（1）With second
Arm（2）, the first support arm（1）The first side A（11）With second support arm（2）The first side B（21）Between be hinged, hinged place is
First pin joint, the first support arm（1）The second side A（12）With second support arm（2）The second side B（22）Between there is gap
（3）, the first support arm（1）With second support arm（2）Inside is respectively provided with cavity, the first support arm（1）Inside sets motor
（4）, the motor（4）Reel is installed on output shaft（5）, the reel（5）Upper setting flexile hauling cable（6）, the flexibility leads
Messenger（6）One end and second support arm（2）Connection.
2. the imitative muscle draw-gear that a kind of driving ghost model according to claim 1 moves, it is characterised in that：It is described
Flexile hauling cable（6）And second support arm（2）Junction to the vertical range between the first pin joint be L1, the flexile hauling cable
（6）And reel（5）Point of contact is L2 to the vertical range between the first pin joint, and L1 is more than or equal to L2.
3. the imitative muscle draw-gear that a kind of driving ghost model according to claim 1 moves, it is characterised in that：It is described
Motor（4）Upper installation reductor（7）, the reel（5）Positioned at reductor（7）On output shaft.
4. the imitative muscle draw-gear that a kind of driving ghost model according to claim 1 moves, it is characterised in that：It is described
First support arm（1）With second support arm（2）Between pass through rotating shaft（8）It is hinged.
5. the imitative muscle draw-gear that a kind of driving ghost model according to claim 1 moves, it is characterised in that：It is described
First support arm（1）The first side A（11）Height be more than the second side A（12）Height.
6. the imitative muscle draw-gear that a kind of driving ghost model moves according to claim 1 or 5, it is characterised in that：
The second support arm（2）The first side B（21）Height be more than the second side B（22）Height.
7. the imitative muscle draw-gear that a kind of driving ghost model according to claim 1 moves, it is characterised in that：It is described
First support arm（1）With second support arm（2）Between back-moving spring is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621186149.4U CN206170077U (en) | 2016-11-04 | 2016-11-04 | Imitative muscle draw gear of drive ghost model motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621186149.4U CN206170077U (en) | 2016-11-04 | 2016-11-04 | Imitative muscle draw gear of drive ghost model motion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206170077U true CN206170077U (en) | 2017-05-17 |
Family
ID=58683118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621186149.4U Expired - Fee Related CN206170077U (en) | 2016-11-04 | 2016-11-04 | Imitative muscle draw gear of drive ghost model motion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206170077U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818559A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of myoarchitecture of emulated robot |
| CN110421551A (en) * | 2019-08-08 | 2019-11-08 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionical preceding arm mechanism with Muscle tensility performance |
-
2016
- 2016-11-04 CN CN201621186149.4U patent/CN206170077U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818559A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of myoarchitecture of emulated robot |
| CN110421551A (en) * | 2019-08-08 | 2019-11-08 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionical preceding arm mechanism with Muscle tensility performance |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170517 Termination date: 20191104 |