CN206954341U - Limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features - Google Patents
Limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features Download PDFInfo
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- CN206954341U CN206954341U CN201720662480.7U CN201720662480U CN206954341U CN 206954341 U CN206954341 U CN 206954341U CN 201720662480 U CN201720662480 U CN 201720662480U CN 206954341 U CN206954341 U CN 206954341U
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- 230000033001 locomotion Effects 0.000 title claims abstract description 75
- 230000003592 biomimetic effect Effects 0.000 title claims abstract description 59
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 47
- 210000003414 extremity Anatomy 0.000 claims description 142
- 230000009467 reduction Effects 0.000 claims description 22
- 210000003194 forelimb Anatomy 0.000 claims description 10
- 210000000245 forearm Anatomy 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims 2
- 241001465754 Metazoa Species 0.000 abstract description 4
- 210000004556 brain Anatomy 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 230000003542 behavioural effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 241000282326 Felis catus Species 0.000 description 2
- 101100288498 Mus musculus Large1 gene Proteins 0.000 description 2
- 241000283973 Oryctolagus cuniculus Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 241000009328 Perro Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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Abstract
It the utility model is related to biomimetic features technical field, and in particular to a kind of limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features.The utility model aims to solve the problem that the problem of compactedness of limb motion biomimetic features in the prior art and shape are with animal limb shape coincidence.For this purpose, limb motion biomimetic features of the present utility model include frame, the first limbs being connected in frame, the second limbs being connected with the first limbs and the drive device for being connected to the first limbs and the second limbs, the limb motion biomimetic features also include connecting rod, and connecting rod is pivotally connected with the second limbs and drive device respectively.Pass through the technical solution of the utility model, improve dexterity, perfect in shape and function, the structural compactness of limb motion biomimetic features, so as to improve the uniformity of limb motion biomimetic features and true extremity body structures, contribute to the research of biologist, neuroscientist and brain researcher to limbs, realize effective control to limbs behavior.
Description
Technical field
It the utility model is related to biomimetic features technical field, and in particular to a kind of limb motion biomimetic features and including limbs
The bionic machine mouse of motion biomimeticses structure.
Background technology
With the development of biomimetic features technology, biomimetic features reach its maturity in motion with the technology on structural level, especially
Be bio-robot technology it is the most ripe, the energy that the scientific research personnel of electromechanical aspect puts on bio-robot is also maximum,
Bionic machine man-based development also most levels off to perfect, in view of the bio-robot that convergence is perfect, scientific and technical personnel are often by bionical machine
The motion principle of device people is indiscriminately imitated with other bionic animals with planform, for example, bionic machine mouse just apply with it is bionical
Robot similar transmission mechanism and shape and structure.
Although existing bionic machine mouse disclosure satisfy that most basic sight, but in biologist, neuroscientist
And brain researcher is in the motion principle of muroid, behavioral characteristic and interactive mode research, also there is following for bionic machine mouse
Defect：1) because the limbs of bio-robot are longer, therefore the drive device of bio-robot can not embody limb with transmission device
The compactedness of the shorter bionic machine mouse extremity body structures of body；2) bio-robot drive device and transmission mechanism are applied to bionical machine
With device mouse, the structural complexity of bionic machine mouse is added, can not embody the kinematic dexterity of bionic machine mouse limbs；3) imitate
The otherness of the shape and structure and bionic machine mouse extremity body structures of raw robot limb, influence scientific research personnel and bionic machine mouse is handed over
The research of mutual mode.
Therefore, how to design a kind of limb motion biomimetic features suitable for bionic machine mouse have become it is urgently to be resolved hurrily
Problem.
Utility model content
In order to solve above mentioned problem of the prior art, i.e., in order to design a kind of limbs knot suitable for bionic machine mouse
Structure, according to first aspect of the present utility model, there is provided a kind of new limb motion biomimetic features, the limb motion biomimetic features
Including frame, the first limbs being pivotably attached in the frame, the second limbs being pivotally connected with first limbs and it is connected
To the drive device of the first limbs and the second limbs, the drive device can drive the first limbs and the second limb motion, the limb
Body motion biomimeticses structure also includes connecting rod, and the connecting rod is pivotally connected with the second limbs with drive device respectively, for that will drive
The driving force of dynamic device is transferred to the second limbs.Limb motion biomimetic features of the present utility model are compact, perfect in shape and function, motion spirit
It is living and high with the similarity of true extremity body structures, be advantageous to biologist, neuroscientist and brain researcher to limb motion
The research of mode.
In the optimal technical scheme of above-mentioned limb motion biomimetic features, limb motion biomimetic features also include first and slowed down
Device, the first limbs are connected by first deceleration device with drive device.
In the optimal technical scheme of above-mentioned limb motion biomimetic features, drive device includes the first motor, and first
Deceleration device includes the first reduction gearing being engaged with each other and first gear rotary body, the first motor are connected to the first deceleration
Gear simultaneously can drive the first reduction gearing to rotate, and the first limbs are fixed to first gear rotary body or rotated with first gear
Body sets integral.
In the optimal technical scheme of above-mentioned limb motion biomimetic features, limb motion biomimetic features also include second and slowed down
Device, the second limbs are connected by the second deceleration device with drive device.
In the optimal technical scheme of above-mentioned limb motion biomimetic features, drive device also includes the second motor, the
Two deceleration devices include the second reduction gearing being engaged with each other and second gear rotary body, the second motor are connected to second and subtracted
Fast gear simultaneously can drive the second reduction gearing to rotate, and the second limbs are pivotally connected to the non-center of circle position of second gear rotary body
Put.
In the optimal technical scheme of above-mentioned limb motion biomimetic features, the first motor is reducing motor；And/or
Person's first gear rotary body is wildhaber-novikov gear rotary body.
In the optimal technical scheme of above-mentioned limb motion biomimetic features, the second motor is reducing motor；And/or
Person's second gear rotary body is carousel gear rotary body.
In the optimal technical scheme of above-mentioned limb motion biomimetic features, limb motion biomimetic features are bionic machine mouse
Forelimb structure.
In the optimal technical scheme of above-mentioned limb motion biomimetic features, the first limbs are the large arm of bionic machine mouse, the
Two limbs are the forearms of bionic machine mouse.
According to second aspect of the present utility model, a kind of bionic machine mouse is additionally provided, the bionic machine mouse includes first
The limb motion biomimetic features of aspect.
It will be appreciated to those of skill in the art that in the technical solution of the utility model, by being imitated in limb motion
Connecting rod is set between the drive device of raw structure and the second limbs, the connecting rod connects with drive device and the second limbs respectively
Connect, so as to solve the limitation of drive device and deceleration device position in limb motion biomimetic features, for example, drive device with
Deceleration device is not limited solely to be arranged on the connecting portion of the first limbs and the second limbs, can also be arranged on limb motion and imitate
In the frame of raw structure, so as to reduce the structural complexity of limb motion biomimetic features, the fortune of limb motion biomimetic features is improved
Dynamic flexibility.In addition, the structure by setting connecting rod outside limbs, improves the compact of limb motion biomimetic features, makes
Limb motion biomimetic features are more applicable for the limbs of the shorter bionic animal of limbs, in addition, the compound motion in linkage
Compound motion of second limbs with respect to the first limbs can be realized, makes the function of limb motion biomimetic features more perfect.
Further, on the basis of to the structure of limb motion biomimetic features and motion optimization, skill of the present utility model
Also the shape of part in limb motion biomimetic features is optimized for art scheme, for example, in the utility model second aspect
It is circular shape by the end set of the first limbs of machine mouse in bionic machine mouse, the first limbs and biological mouse is improved with this
The similarity of large arm shape, so as to improve scientific research personnel to bionic machine mouse behavioral characteristic and the research level of interactive mode.
In summary, by optimizing to the shape and structure of bionic machine mouse, the structural compactness of bionic machine mouse is improved
With the uniformity of miniaturization, kinematic dexterity and shape and biological mouse limbs shape, biologist, neuroscientist are accelerated
And research progress of the brain researcher to muroid motion principle, behavioral characteristic and interactive mode.
Brief description of the drawings
Fig. 1 is the structural representation of the bionic machine mouse forelimb structure of a preferred embodiment of the present utility model.
Fig. 2 is the stereogram of the forelimb structure of bionic machine mouse shown in Fig. 1.
Fig. 3 is the schematic perspective view of the transmission mechanism of the forelimb structure of bionic machine mouse shown in Fig. 1.
Embodiment
Preferred embodiment of the present utility model described with reference to the accompanying drawings, it should be understood by those skilled in the art that
It is that these embodiments are used only for explaining technical principle of the present utility model, it is not intended that limit protection of the present utility model
Scope, those skilled in the art can make adjustment to it as needed, to adapt to specific application scenario.For example, although
The deceleration device set in this specification is external gear pump deceleration device, but the not only office of the deceleration device in this specification
It is limited to external gear pump deceleration device, the deceleration device in this specification can also be inside engaged gear deceleration device, Huo Zheqi
His non-mechanical reduction gear, this change is without departing from principle of the present utility model and scope.
It should be noted that technical field of mechanical transmission is the utility model is related to, it will be understood by those skilled in the art that this
" connecting rod " in specification is not limited only to rod-like structure, for example, being set in the second reduction gearing in the utility model
Be equipped with two revolute pairs, thus the second reduction gearing in the utility model can be equivalent to be connected with connecting rod " activity is even
Bar ".
In addition, the utility model further relates to bionics technical field, therefore be related in specification of the present utility model
Bionical technics " the first limbs ", " the second limbs ", " large arm ", " forearm ", etc. be to understand for convenience, but it is special not limit its
Structure or shape and its limbs specified, for example, " the first limbs " and " large arm " can be understood as and bionic machine mouse
" thigh " of trunk connection, " the second limbs " and " forearm " can be understood as " shank " not being connected with bionic machine mouse trunk.
Furthermore in description of the present utility model, term " first ", " second " are only used for describing purpose, without being understood that
To indicate or implying relative importance.It should also be noted that, in description of the present utility model, unless otherwise clear and definite regulation
And restriction, term " setting ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected,
Or integral type connection；Can be joined directly together, can also be indirectly connected by intermediary.For those skilled in the art
Speech, can understand concrete meaning of the above-mentioned term in the utility model as the case may be.
As shown in Figure 1 to Figure 3, peace is included according to one embodiment of the present utility model, the forelimb structure of bionic machine mouse
Frame 102 on machine mouse trunk and the first limbs 104 being pivotally connected with frame 102, first limbs 104 are by pacifying
Drive device 108 in frame 102 is driven, and the driving force of drive device 108 is transferred to the second limb by the first limbs 104 again
Body 106.In addition, in order to realize the compound motion of 106 relative first limbs 104 of the second limbs, bionic machine of the present utility model
The forelimb structure of mouse also includes being used for the independent drive device 120 of the second limbs 106 and for by the driving of drive device 120
Power is transferred to the connecting rod 110 of the second limbs 106.Especially, connecting rod 110 of the present utility model is preferably a bent rod,
This bent rod is connected with the second limbs 106, for the driving force of drive device 120 to be transferred into the second limbs 106.This area skill
Art personnel should be understood that is arranged to the shape and structure that bent rod is intended merely to simulate biological mouse limbs by connecting rod 110, is not
Limitation to the shape of connecting rod 110, the i.e. main function of connecting rod 110 are that the driving force of drive device 120 is transferred into second
Limbs 106, therefore, the shape and structure of connecting rod 110 are not limited solely to the bent rod in Fig. 1, and user can consider to connect
On the premise of bar 110 does not produce mechanical interference with miscellaneous part, connecting rod 110 is arranged to other more preferred shape knots
Structure.Equally, one is also not limited to based on this principle, the quantity of connecting rod 110, user can be according to the second limbs 106
Specific movement locus two even more connecting rods 110 being arranged to be connected to each other by connecting rod 110, this adjustment is inclined
From general principle of the present utility model and protection domain.
With continued reference to Fig. 1 to Fig. 3, in order to realize that the rotating speed between drive device 108 and the first limbs 104 matches and torque
Transmit, the utility model is provided with the first deceleration device, the first deceleration device between the first limbs 104 and drive device 108
It is made up of the first reduction gearing 112 being engaged with each other with first gear rotary body 114, wherein, the first reduction gearing 112 and driving
Device 108 is connected, and first gear rotary body 114 is connected with the first limbs 104.Especially, the first gear in the utility model
Rotary body 114 is that integral type is connected with the first limbs 104.But it will be understood by those skilled in the art that integral type connects only
For preferred embodiment of the present utility model, in order to be driven between the limbs 104 of first gear rotary body 114 and first are met
On the basis of, the structural compactness of first gear rotary body 114 and the first limbs 104 is improved, is considered based on this effect, this practicality is new
The connected mode of the limbs 104 of first gear rotary body 114 and first in type can also be the fixation of the compacts such as package assembly
Connected mode, this adjustment is without departing from general principle of the present utility model and protection domain.
Further, first gear rotary body 114 is arranged to semicircle knot with continued reference to Fig. 1 to Fig. 3, the utility model
Structure, the gear teeth coordinated with the first reduction gearing 112 are set in the outer rim of semicircular structure, and the first limbs 104 are in the semicircle
The substantially home position of structure is connected to first gear rotary body 114.It will be understood by those skilled in the art that semicircular structure
First gear rotary body 114 is only a preferred embodiment of the present utility model, is to simulate biological mouse large arm
Shape, consider, semicircular structure can not limit the protection model of the shape and structure of first gear rotary body 114 based on this effect
Enclose, for example, first gear rotary body 114 can also be sector structure, as long as first gear rotary body 114 that is, of the present utility model
Circular shape and edge are provided with the gear teeth and tooth slot structure.Further, the first reducing gear in the utility model
Wheel 112 coordinates with first gear rotary body 114 for external toothing, but the first reduction gearing 112 and the first tooth in the utility model
Wheel rotary body 114 is not limited solely to external toothing cooperation, for example, it is also possible to coordinate for internal messing, can equally realize rotating speed
Matching and the effect for transmitting torque, therefore, this adjustment is without departing from general principle of the present utility model and protection domain.Again
The position of engagement of the reduction gearing 112 of first gear rotary body 114 and first shown in person, Fig. 1 and Fig. 2 and the first limbs 104
All it is exemplary, those skilled in the art can make to it as needed with the link position of first gear rotary body 114
Adjustment, to adapt to specific application scenario.
Preferably, drive device 108 of the present utility model is arranged to stepper motor.On this point, those skilled in the art should
Understand, stepper motor can solve the problems, such as motor driving force deficiency in the prior art, in addition, the controllability of stepper motor and company
Continuous property can be such that the first limbs 104 are waved with the quick response machinery of the second limbs 106, so as to realize that the mechanical action of complexity carrys out mould
Intend the motion of biological mouse limb, therefore, considered based on this effect, there is driving force foot, fast-response and controllability
The alternative stepper motor of the present utility model of variable frequency reducer motor, this replacement is without departing from protection model of the present utility model
Enclose.
With continued reference to Fig. 1 to Fig. 3, for the purposes of realize the rotating speed between drive device 120 and the second limbs 106 match and
The effect of torque transmission, the utility model are provided with the second deceleration device between the second limbs 106 and drive device 120.The
Two deceleration devices are made up of the second reduction gearing 116 being engaged with each other with second gear rotary body 118, wherein, the second reducing gear
Wheel 116 is connected with drive device 120, and second gear rotary body 118 is connected with the second limbs 106.Especially, in the utility model
Second gear rotary body 118 be disc-shaped structure, the outer rim of the disc-shaped structure is provided with to be coordinated with the second reduction gearing 116
The gear teeth.It will be understood by those skilled in the art that the second gear rotary body 118 of disc-shaped structure is only of the present utility model
One preferred embodiment, it is not intended to limit the shape and structure of the utility model second gear rotary body 118, for example, the
Two gear rotary bodies 118 can also be fan-shaped or semicircular structure, as long as second gear rotary body 118 that is, of the present utility model has
There is circular shape and edge is provided with the gear teeth and teeth groove characteristic.Further, the second reduction gearing in the utility model
116 coordinate with second gear rotary body 118 for external toothing, but the second reduction gearing 116 and second gear in the utility model
Rotary body 118 is not limited solely to external toothing cooperation, for example, it is also possible to coordinate for internal messing, can equally realize of rotating speed
Match somebody with somebody and transmit the effect of torque, therefore, ground effect is transmitted based on rotating speed matching and torque and considered, this change is without departing from this reality
With new protection domain.On second gear rotary body 118, it should be pointed out that although depicted as in Fig. 1 to 3 with
First gear rotary body 114 is coaxial, but this is used for the purpose of preferred embodiment that is compact-sized and providing, can realize it
On the premise of respective function, first gear rotary body 114 and second gear rotary body 118 can be non-coaxial structures.
Preferably, independent drive device 120 of the present utility model is arranged to stepper motor.On this point, this area people
Member is it should be understood that stepper motor can solve the problems, such as supersonic motor driving force deficiency in the prior art, in addition, stepper motor
Controllability with continuity can wave the quick response machinery of the second limbs 106, so as to realize that life is simulated in the action of complexity
The motion of thing mouse limb, therefore, consider that there is the frequency conversion of driving force foot, fast-response and controllability based on this effect
The alternative stepper motor of the present utility model of reducing motor, this replacement is without departing from the scope of protection of the utility model.
Further, connecting rod is also included with continued reference to Fig. 1 to Fig. 3, bionic machine mouse forelimb structure of the present utility model
110, one end of connecting rod 110 is pivotally connected to the non-home position of second gear rotary body 118, connecting rod 110 it is another
End be pivotally connected to the second limbs 106, with will pass through the rotation of second gear rotary body 118 pull connecting rod 110 and because
This realizes the rotation of the second limbs 106.Further, because connecting rod 110 is pivotally connected to second gear rotary body 118
Non- home position, so, there are two revolute pairs on second gear rotary body 118, second tooth with two revolute pairs
Wheel rotary body 118 can be equivalent to " movable pivot link ", realize the effect mutually rotated between two revolute pairs.Accordingly
Ground, although specifically depicting second gear rotary body 118 as disc structure in the application, and connecting rod 110 is depicted as
Connecting rod is bent, but this is not restricted, second gear rotary body 118 and connecting rod 110 can be using any suitable
Shape, as long as it can drag connecting rod 110 and moves and therefore make the second limbs when second gear rotary body 118 rotates
106 rotate.
Preferably, Fig. 1 to the first limbs 104 of 3 illustrated embodiments be bionic machine mouse large arm, the second limbs 106 are
The forearm of bionic machine mouse.It will be understood by those skilled in the art that this practicality is illustrated by the forelimb structure of bionic machine mouse
New limb motion biomimetic features, it is only for description is convenient, is not to limb motion biomimetic features of the present utility model
The limitation of application, for example, limb motion biomimetic features of the present utility model can be also used for other animals such as rabbit, cat, dog
Forelimb structure, based on the principle of limb motion biomimetic features of the present utility model, this application is without departing from of the present utility model
Protection domain.
Finally, according to second aspect of the present utility model, the utility model also proposed a kind of bionic machine mouse, and this is bionical
Machine mouse includes the limb motion biomimetic features of first aspect.Similarly, bionic machine mouse is only one of the present utility model
Embodiment, it is not the limitation to bionic machine of the present utility model, for example, bionic machine of the present utility model can also be bionical
Other bionic machines such as machine rabbit, bionic machine cat, bionic machine dog.
So far, combined preferred embodiment shown in the drawings describes the technical solution of the utility model, still, this
Art personnel are it is easily understood that the scope of protection of the utility model is expressly not limited to these embodiments.
On the premise of principle of the present utility model, those skilled in the art can make equivalent change to correlation technique feature
Or replace, the technical scheme after these are changed or replaced it is fallen within the scope of protection of the utility model.
Claims (10)
1. a kind of limb motion biomimetic features, it is characterised in that the limb motion biomimetic features include frame, are pivotally connected to
The second limbs and be connected to first limbs that the first limbs and first limbs in the frame are pivotally connected
With the drive device of second limbs, the drive device can drive first limbs and second limb motion,
The limb motion biomimetic features also include connecting rod, and the connecting rod fills with second limbs and the driving respectively
Put and be pivotally connected, for the driving force of the drive device to be transferred into second limbs.
2. limb motion biomimetic features according to claim 1, it is characterised in that the limb motion biomimetic features also wrap
The first deceleration device is included, first limbs are connected by first deceleration device with the drive device.
3. limb motion biomimetic features according to claim 2, it is characterised in that the drive device includes the first driving
Motor, first deceleration device include the first reduction gearing and the first gear rotary body being engaged with each other, first driving
Motor connection is to first reduction gearing and first reduction gearing can be driven to rotate, and first limbs are fixed to institute
State first gear rotary body or set with the first gear rotary body integral.
4. limb motion biomimetic features according to claim 3, it is characterised in that the limb motion biomimetic features also wrap
The second deceleration device is included, second limbs are connected by second deceleration device with the drive device.
5. limb motion biomimetic features according to claim 4, it is characterised in that the drive device also includes second and driven
Dynamic motor, second deceleration device include the second reduction gearing and the second gear rotary body being engaged with each other, and described second drives
Dynamic motor connection is to second reduction gearing and second reduction gearing can be driven to rotate, and second limbs are pivotally
It is connected to the non-home position of the second gear rotary body.
6. limb motion biomimetic features according to claim 3, it is characterised in that first motor is the electricity that slows down
Machine；And/or the first gear rotary body is wildhaber-novikov gear rotary body.
7. limb motion biomimetic features according to claim 5, it is characterised in that second motor is the electricity that slows down
Machine；And/or the second gear rotary body is carousel gear rotary body.
8. limb motion biomimetic features according to any one of claim 1 to 7, it is characterised in that the limb motion
Biomimetic features are the forelimb structures of bionic machine mouse.
9. limb motion biomimetic features according to claim 8, it is characterised in that first limbs are the bionical machines
The large arm of device mouse, second limbs are the forearms of the bionic machine mouse.
10. a kind of bionic machine mouse, it is characterised in that including the bionical knot of limb motion any one of claim 1 to 9
Structure.
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| CN201720662480.7U CN206954341U (en) | 2017-06-08 | 2017-06-08 | Limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284549A (en) * | 2017-06-08 | 2017-10-24 | 中国科学院自动化研究所 | Limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284549A (en) * | 2017-06-08 | 2017-10-24 | 中国科学院自动化研究所 | Limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features |
| CN107284549B (en) * | 2017-06-08 | 2023-09-12 | 中国科学院自动化研究所 | Limb movement bionic structure and bionic robot mouse comprising same |
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