CN106737748A - Bio-robot - Google Patents
Bio-robot Download PDFInfo
- Publication number
- CN106737748A CN106737748A CN201710019070.5A CN201710019070A CN106737748A CN 106737748 A CN106737748 A CN 106737748A CN 201710019070 A CN201710019070 A CN 201710019070A CN 106737748 A CN106737748 A CN 106737748A
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- Prior art keywords
- motor
- bio
- component
- gear
- robot
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Links
- 238000004088 simulation Methods 0.000 claims abstract description 20
- 230000000712 assembly Effects 0.000 claims abstract description 13
- 238000000429 assembly Methods 0.000 claims abstract description 13
- 239000002243 precursor Substances 0.000 claims abstract description 13
- 239000011664 nicotinic acid Substances 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention belongs to robot field, a kind of bio-robot is specifically provided.Present invention seek to address that existing bio-robot can not visually show the biological tiny action of simulation.For this purpose, bio-robot of the invention includes head assembly, the precursor assemblies being connected with the head assembly, the trunk component being connected with the precursor assemblies and the rear-guard component being connected with the trunk component, the head assembly includes that head simulates shell, with the rotary components that the head simulates cage connection, the wobble component being connected with the rotary components and the translation component being connected with the wobble component, the head simulation shell is used to simulate the head of biology, the rotary components are used to drive the head simulation shell to rotate, the wobble component is used to drive the rotary components to swing, the translation component is movable for wobble component described in push-and-pull.Because with above structure, the bio-robot can visually show the biological tiny action of simulation.
Description
Technical field
The invention belongs to robot field, a kind of bio-robot is specifically provided.
Background technology
Nowadays, the field of robot research is come out of from the Fixed Point Operation under structural environment, to Aero-Space, star
Border exploration, ocean exploration, under water potholing, military surveillance, military strike, military defense, under water underground piping detection and dimension
Repair, disease examination treatment, the AUTONOMOUS TASK aspect development under the non-structure environment such as rescue and relief work, meanwhile, bio-robot is also
One of essential Main Means of research work, are engaged in animal nerve research, animal behavior research and ANIMAL PSYCHE research
Worker aid in them to carry out related work in the urgent need to a kind of controllable bionic machine device.In addition, future is bionical
Robot can be designed to the forms of various biologies, can not or will be difficult to reach in the mankind known to or unknown environment in work
Make.
At present, existing bio-robot can not image, vivo show the biological tiny action that is modeled so that
It is larger with true biological gap, therefore, it is impossible to interact research with true biology.
Correspondingly, this area needs a kind of new bio-robot to solve the above problems.
The content of the invention
In order to solve above mentioned problem of the prior art, being the existing bio-robot of solution can not visually show depanning
Intend biological tiny action, the invention provides a kind of bio-robot, the bio-robot includes head assembly and the head
The precursor assemblies of parts connection and the trunk component of precursor assemblies connection and the rear-guard being connected with the trunk component
Component, the head assembly includes that head simulates rotary components and the rotation of shell and head simulation cage connection
The wobble component of component connection and the translation component being connected with the wobble component, the head simulation shell are used to simulate very
Grow directly from seeds the head construction of thing, and the rotary components are used to drive the head simulation shell to rotate up and down, and the wobble component is used
In driving the rotary components to swing, the translation component is movable for wobble component described in push-and-pull.
In the optimal technical scheme of above-mentioned bio-robot, the rotary components include the first motor and described the
The first gear group and support bar of one motor connection, the first end of the support bar regularly connect with head simulation shell
Connect, the second end of the support bar is connected with the first gear group, first motor drive the first gear group so as to
The support bar is driven to be rotated around the axial direction of the first gear group.
In the optimal technical scheme of above-mentioned bio-robot, the rotary components also include the first fixed mount and pass through
First fixed mount and the first connecting shaft being pivotally connected with first fixed mount, one end of first connecting shaft with
Second end of the support bar is permanently connected, and the other end of first connecting shaft regularly connects with the first gear group
Connect, first fixed mount is permanently connected with the wobble component.
In the optimal technical scheme of above-mentioned bio-robot, the wobble component includes the second motor and described the
The second gear group and connecting plate of two motor connections, the first end of the connecting plate are permanently connected with first fixed mount,
Second end of the connecting plate is connected with the second gear group, and second motor drives the second gear group so as to drive
The connecting plate swings together with the rotary components.
In the optimal technical scheme of above-mentioned bio-robot, the wobble component also includes the second fixed mount and passes through
Second fixed mount and the second connecting shaft being pivotally connected with second fixed mount, one end of second connecting shaft with
Second end of the connecting plate is permanently connected, and the other end of second connecting shaft regularly connects with the second gear group
Connect, second fixed mount is connected with the translation component.
In the optimal technical scheme of above-mentioned bio-robot, the translation component includes the 3rd motor and fixed plate,
3rd motor is fixedly provided in the fixed plate, and the 3rd motor is connected with second fixed mount, for pushing away
The wobble component is drawn to be moved forward and backward in the fixed plate.
In the optimal technical scheme of above-mentioned bio-robot, the head assembly also includes link, the connection
The two ends of frame are connected with the fixed plate and the precursor assemblies respectively.
In the optimal technical scheme of above-mentioned bio-robot, the first gear group includes the first master gear and first
Driven gear, the first master gear described in first motor direct-drive, first driven gear and first master gear
Intermeshing, first driven gear drives the support bar to rotate by first connecting shaft；And/or described
Two gear trains include the second master gear and the second driven gear, and the second master gear described in second motor direct-drive is described
Second driven gear is intermeshed with second master gear, and second driven gear drives institute by second connecting shaft
State connecting plate rotation.
In the optimal technical scheme of above-mentioned bio-robot, first motor and second motor are stepping electricity
Machine；And/or the 3rd motor is spindle motor.
In the optimal technical scheme of above-mentioned bio-robot, the bio-robot is bionic machine mouse.
It will be appreciated to those of skill in the art that in the preferred technical solution of the present invention, the bio-robot bag
Include head assembly and the head assembly connection precursor assemblies and the precursor assemblies connection trunk component and with institute
The rear-guard component of trunk component connection is stated, the head assembly includes that head simulates shell, cage connection is simulated with the head
Rotary components and rotary components connection wobble component and the translation component that is connected with the wobble component, it is described
Head simulation shell is used to simulate the head construction of true biology, and the rotary components are used to drive the head simulation shell to revolve
Turn, the wobble component is used to drive the rotary components to swing, the translation component is used for before and after wobble component described in push-and-pull
It is mobile.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of implementation method of bio-robot of the invention；
Fig. 2 is the partial enlarged drawing of the head assembly of bio-robot of the invention；
Fig. 3 is another partial enlarged drawing of the head assembly of bio-robot of the invention.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little implementation methods are used only for explaining know-why of the invention, it is not intended that limit the scope of the invention.Although for example,
Hereafter it is described with reference to bionic machine mouse, but, it is bionical that technical scheme obviously can also be applied to other
Machine is biological.This change will also fall under the scope of the present invention not departing from general principle of the invention.
It should be noted that in the description of the invention, term " " center ", " on ", D score, "left", "right", " interior ",
" outward " etc. the direction of instruction or the term of position relationship are that, based on direction shown in the drawings or position relationship, this is just for the sake of just
In description, must be with specific orientation, with specific azimuth configuration and behaviour rather than instruction or hint described device or element
Make, therefore be not considered as limiting the invention.Additionally, term " first ", " second ", " the 3rd " are only used for describing purpose,
And it is not intended that indicating or implying relative importance.
In addition it is also necessary to explanation, in the description of the invention, unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary,
Can be two connections of element internal.To those skilled in the art, can as the case may be understand that above-mentioned term exists
Concrete meaning in the present invention.
It is a kind of overall structure signal of implementation method of bio-robot of the invention referring initially to Fig. 1 and Fig. 2, Fig. 1
Figure；Fig. 2 is the partial enlarged drawing of the head assembly of bio-robot of the invention.As shown in figure 1, the bio-robot includes
Head assembly 1 and the head assembly 1 connection precursor assemblies 2 and the precursor assemblies 2 connection trunk component 3 and with
The rear-guard component 4 of the connection of trunk component 3.As shown in Fig. 2 the head assembly 1 includes that head simulates shell 11 and described
Head simulation shell 11 connection rotary components 12 and the rotary components 12 connection wobble component 13 and with the swing
The translation component 14 of the connection of component 13, the head simulation shell 11 is used to simulate the head construction of true biology, the rotation
Component 12 is used to drive the head simulation shell 11 to rotate, and the wobble component 13 is used to drive the rotary components 12 to put
Dynamic, the translation component 14 is movable for wobble component 13 described in push-and-pull.The head assembly also includes link 15, institute
The two ends for stating link 15 are connected 2 with the fixed plate 142 and the precursor assemblies of the translation component 14 respectively.However, it is possible to
Understand, the need for those skilled in the art can be according to difference, the bio-robot is replaced with other bionic machines
Biology, this change will also fall under the scope of the present invention without departing from general principle of the invention.
Referring next to Fig. 3 and with continued reference to Fig. 2, Fig. 3 is another office of the head assembly of bio-robot of the invention
Portion's enlarged drawing.As shown in figure 3, the rotary components 12 include first that the first motor 121 and first motor 121 are connected
Gear train 122 and support bar 123, the first end of the support bar 123 are permanently connected with head simulation shell 11, described
Second end of support bar 123 is connected with the first gear group 122, and first motor 121 drives the first gear group 122
So as to drive the support bar 123 to be rotated around the axial direction of the first gear group 122.Specifically, the rotary components 12
Also include the first fixed mount 124 and through first fixed mount 124 and be pivotally connected with first fixed mount 124 the
One connecting shaft 125, one end of first connecting shaft 125 is permanently connected with the second end of the support bar 123, and described first
The other end of connecting shaft 125 is permanently connected through the first gear group 122 and with the first gear group 122.It is preferred that
Ground, in order to increase the stability of the rotary components 12, first fixed mount 124 uses N-type frame, the first gear group
122 are placed on inside the N-type frame, and the two ends of first connecting shaft 125 are pivotally connected to the N-type frame.In addition, excellent
Selection of land, the first gear group 122 includes the first master gear 1221 and the first driven gear 1222, and first motor 121 is straight
Driving first master gear 1221 is connect, first driven gear 1222 is intermeshed with first master gear 1221, institute
The first connecting shaft 125 is stated through the centre bore of first driven gear 1222 and is fixed with first driven gear 1222
Ground connection.Further, first motor 121 can use stepper motor, and so selection is advantageous in that, by stepping
Being precisely controlled for motor being capable of more lively simulation biology mouse new line and the action bowed.
With continued reference to Fig. 2 and Fig. 3, the wobble component 13 includes that the second motor 131 and second motor 131 are connected
Second gear group 132 and connecting plate 133, the first end of the connecting plate 133 regularly connects with first fixed mount 124
Connect, the second end of the connecting plate 133 is connected with the second gear group 132, second motor 121 drives second tooth
Wheel group 132 swings so as to drive the connecting plate 133 around vertical axis.Specifically, the wobble component 13 also includes that second consolidates
Determine frame 134 and through second fixed mount 134 and the second connecting shaft 135 for being pivotally connected with second fixed mount 134,
One end of second connecting shaft 135 is permanently connected with the second end of the connecting plate 133, second connecting shaft 135
The other end is permanently connected with the second gear group 132, and second fixed mount 134 is connected with the translation component 14.It is excellent
Selection of land, in order to increase the stability of the wobble component 13, second fixed mount 134 uses N-type frame, the second gear group
132 are placed on inside the N-type frame, and the two ends of second connecting shaft 135 are pivotally connected to the N-type frame.In addition, excellent
Selection of land, the second gear group 132 includes the second master gear 1321 and the second driven gear 1322, and second motor 131 is straight
Driving second master gear 1321 is connect, second driven gear 1322 is intermeshed with second master gear 1321, institute
The second connecting shaft 135 is stated through the centre bore of second driven gear 1322 and is fixed with second driven gear 1322
Ground connection.Further, second motor 121 can use stepper motor, and so selection is advantageous in that, by stepping
The action that the head of more lively simulation biology mouse swings to the left and to the right is capable of in being precisely controlled for motor.
Finally referring again to Fig. 2 and Fig. 3, the translation component 14 includes the 3rd motor 141 and fixed plate 142, the 3rd motor
141 are fixedly provided in the fixed plate 142, and the 3rd motor 141 is connected with second fixed mount 134, for pushing away
The wobble component 13 is drawn to be moved in the fixed plate 142.Preferably, the 3rd motor 141 uses spindle motor, described
Spindle motor is threadedly coupled with second fixed mount 134, in order that the translation component 14 is in wobble component 13 described in push-and-pull
During structure more stablize and act it is more smooth, slide rail can be set in the fixed plate 142 and in the cunning
Block is set on rail to limit the shift motion of the wobble component 13.Furthermore it is also possible to set step in the fixed plate 142
Stepper motor leading screw slide unit, so that the wobble component 13 is more stablized in sliding process, by the stepper motor
Control can visually mimic biology mouse stretch head contracting brain action.
So far, combined preferred embodiment shown in the drawings describes technical scheme, but, this area
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
On the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to correlation technique feature, these
Technical scheme after changing or replacing it is fallen within protection scope of the present invention.
Claims (10)
1. a kind of bio-robot, the bio-robot include the precursor assemblies that head assembly and the head assembly connect,
The trunk component being connected with the precursor assemblies and the rear-guard component being connected with the trunk component,
Characterized in that, rotary components of the head assembly including head simulation shell and head simulation cage connection,
The wobble component being connected with the rotary components and the translation component being connected with the wobble component, the head simulate shell
Head construction for simulating true biology, the rotary components are used to drive the head simulation shell to rotate up and down, described
Wobble component is used to drive the rotary components to swing, and the translation component is used to be moved before and after wobble component described in push-and-pull
It is dynamic.
2. bio-robot according to claim 1, it is characterised in that the rotary components include the first motor and institute
The first gear group and support bar of the first motor connection are stated, the first end of the support bar is with head simulation shell regularly
Connection, the second end of the support bar be connected with the first gear group, the first motor driving first gear group from
And drive the support bar to be rotated around the axial direction of the first gear group.
3. bio-robot according to claim 2, it is characterised in that the rotary components also include the first fixed mount and
Through first fixed mount and the first connecting shaft for being pivotally connected with first fixed mount, the one of first connecting shaft
End is permanently connected with the second end of the support bar, and the other end of first connecting shaft is with the first gear group regularly
Connection, first fixed mount is permanently connected with the wobble component.
4. bio-robot according to claim 3, it is characterised in that the wobble component includes the second motor and institute
The second gear group and connecting plate of the second motor connection are stated, the first end of the connecting plate regularly connects with first fixed mount
Connect, the second end of the connecting plate is connected with the second gear group, second motor drive the second gear group so as to
The connecting plate is driven to be swung together with the rotary components.
5. bio-robot according to claim 4, it is characterised in that the wobble component also include the second fixed mount and
Through second fixed mount and the second connecting shaft for being pivotally connected with second fixed mount, the one of second connecting shaft
End is permanently connected with the second end of the connecting plate, and the other end of second connecting shaft is with the second gear group regularly
Connection, second fixed mount is connected with the translation component.
6. bio-robot according to claim 5, it is characterised in that the translation component includes the 3rd motor and fixation
Plate, the 3rd motor is fixedly provided in the fixed plate, and the 3rd motor is connected with second fixed mount, is used for
Wobble component described in push-and-pull is moved forward and backward in the fixed plate.
7. bio-robot according to claim 6, it is characterised in that the head assembly also includes link, described
The two ends of link are connected with the fixed plate and the precursor assemblies respectively.
8. the bio-robot according to any one of claim 4 to 7, it is characterised in that the first gear group includes
First master gear and the first driven gear, the first master gear described in first motor direct-drive, first driven gear
With first master gear intermeshing, first driven gear is by first connecting shaft driving support bar rotation
Turn；And/or
The second gear group includes the second master gear and the second driven gear, the second master described in second motor direct-drive
Gear, second driven gear is intermeshed with second master gear, and second driven gear connects by described second
Spindle drives the connecting plate rotation.
9. bio-robot according to claim 8, it is characterised in that first motor and second motor are steps
Stepper motor；And/or the 3rd motor is spindle motor.
10. bio-robot according to claim 9, it is characterised in that the bio-robot is bionic machine mouse.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019070.5A CN106737748B (en) | 2017-01-11 | 2017-01-11 | Bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019070.5A CN106737748B (en) | 2017-01-11 | 2017-01-11 | Bionic robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737748A true CN106737748A (en) | 2017-05-31 |
| CN106737748B CN106737748B (en) | 2024-01-30 |
Family
ID=58949208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710019070.5A Active CN106737748B (en) | 2017-01-11 | 2017-01-11 | Bionic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737748B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901045A (en) * | 2017-10-12 | 2018-04-13 | 中国科学院自动化研究所 | Bionic machine mouse |
| CN109227544A (en) * | 2018-10-24 | 2019-01-18 | 西南交通大学 | A kind of six sufficient trolley full ground anthropomorphic robot of c-type leg |
| CN114833870A (en) * | 2022-06-08 | 2022-08-02 | 北京哈崎机器人科技有限公司 | Head structure and intelligent robot of robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901045A (en) * | 2017-10-12 | 2018-04-13 | 中国科学院自动化研究所 | Bionic machine mouse |
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| CN109227544A (en) * | 2018-10-24 | 2019-01-18 | 西南交通大学 | A kind of six sufficient trolley full ground anthropomorphic robot of c-type leg |
| CN114833870A (en) * | 2022-06-08 | 2022-08-02 | 北京哈崎机器人科技有限公司 | Head structure and intelligent robot of robot |
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| Publication number | Publication date |
|---|---|
| CN106737748B (en) | 2024-01-30 |
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