CN110153997A - Mechanical horse head movement bionic system - Google Patents
Mechanical horse head movement bionic system Download PDFInfo
- Publication number
- CN110153997A CN110153997A CN201910459651.XA CN201910459651A CN110153997A CN 110153997 A CN110153997 A CN 110153997A CN 201910459651 A CN201910459651 A CN 201910459651A CN 110153997 A CN110153997 A CN 110153997A
- Authority
- CN
- China
- Prior art keywords
- master controller
- movement
- horse
- mouth
- bionical
- 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.)
- Pending
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of mechanical horse head movement bionic system, comprising: handle, master controller, the first actuating mechanism and the second actuating mechanism.After the handle physical drives, digital signal is converted by physical signal and is transferred to master controller；The master controller receives the digital signal of handle transmitting, is transferred to servo controller by communication controller after operation and controls the first actuating mechanism, or directly controls the second actuating mechanism.Mechanical horse head movement bionic system of the present invention participates in displaying of travelling, and increases bionical effect, and enhancing spectators' perception experience considerably increases the ornamental value of bionical horse equipment, embodies heavy mechanical equipment in the ultimate attainment performance in fine movement field.
Description
Technical field
The present invention relates to a kind of mechanical horse head movement bionic systems.
Background technique
With the continuous development of robot technology, robot technology using increasing in the modern life.Especially exist
Large-scale text trip and industry of travelling, large-scale bionic animal start to introduce, especially bionical horse.
And the pictograph degree of bionical horse, need the measure of precision of equipment shape to be cooperated, especially bionical head of the horse portion
Design, is even more important.
In the prior art, the casting that bionical head of the horse portion is integrally formed, does not have driving structure, and bionical head of the horse does not have five
Official's variation, makes tourist lack entertainment, and the further application needs of large-scale literary trip and industry of travelling are not achieved.
Summary of the invention
The casting that bionical head of the horse portion is integrally formed does not have driving structure in the prior art according to set forth above, up to not
The technical issues of being needed to large-scale literary trip and the further application for industry of travelling, and a kind of bionical system of mechanical horse head movement is provided
System.The present invention mainly utilizes handle, master controller and specifically drives building block, thus realization mechanical horse head eye,
The bionical linkage of ear, mouth, nose, tongue etc..
The technological means that the present invention uses is as follows:
A kind of mechanical horse head movement bionic system, comprising:
Handle after physical drives, converts digital signal for physical signal and is transferred to master controller；
Master controller receives the digital signal of handle transmitting, and servo controller is transferred to after operation and controls the first movement machine
Structure, or directly control the second actuating mechanism；
First actuating mechanism includes left eye rotating mechanism, right eye rotating mechanism, left eye turnover mechanism, right eye tipper
Structure, left eye blink mechanism, right eye blink mechanism, left ear rotating mechanism and auris dextra rotating mechanism；
Second actuating mechanism includes left ear swing mechanism, auris dextra swing mechanism, tongue telescoping mechanism, nose tilting machine
Structure, nostril expanding mechanism, upper lip turnover mechanism, lower lip turnover mechanism, mouth open/close mechanism, the sound equipment system for imitating horse sounding
It unites and for imitating the snorting spray system of horse.
Further, bionical horse eye closing movement is specifically, the right drive rod when operation handle is pushed forward, by the physical line of handle
Journey is converted into digital signal x, and then by CAN communication bus, digital signal x is sent to master controller, master controller according to
Pre- to plant algorithm: y=(x/L1) × (L2 × b), wherein L1 is the total range of handle, and L2 is eyelid total kilometres, and b is servo-system deceleration
Than；It obtains servo motor turnning circle y, digital signal y is then sent to servo controller, servo by CAN communication bus
Digital signal y is converted to current signal driving servo motor rotation by controller, and then control left eye blink mechanism and right eye blink
Eye mechanism completes eye closing movement.
Further, bionical horse-eye eyeball or so movement specifically, when right drive rod of operation handle or so push when, by hand
Physics stroke is converted digital signal x by handle, and then by CAN communication bus, digital signal x is sent to master controller, main
Controller plants algorithm: y=(x/L1) × (L2 × b) according to pre-, and wherein L1 is the total range of handle, and L2 is eye rotation total kilometres, b
For servo-system reduction ratio；It obtains servo motor turnning circle y, digital signal y is sent to by CAN communication bus then and is watched
Controller is taken, digital signal y is converted to current signal driving servo motor and rotated by servo controller, and then controls left eye rotation
Mechanism and right eye rotating mechanism complete the movement of eyes left-right rotation.
Bionical horse-eye eyeball rotates upwardly and downwardly movement specifically, when operation handle presses specified eyes key 1 time, and master controller is received
To after actuation of keys signal, servo controller is transmitted signals to by CAN communication bus, after servo controller receives order,
Servo motor rotation, left eye turnover mechanism and right eye turnover mechanism are driven according to preset stroke, eyes is completed and turns up and down
Movement.
Further, bionical horse opens one's mouth to shut up movement specifically, when pushing before and after the left drive rod of operation handle, by hand
Physics stroke is converted digital signal x by handle, and then by CAN communication bus, digital signal x is sent to master controller, main
Controller plants algorithm: y=(x/L1) × (L2/s) according to pre-, wherein L1 is the total range of handle, and L2 is mouth oil cylinder total kilometres, s
For oil cylinder speed parameter；It obtains solenoid valve actuation time y, separately has inductive proximity switches as redundancy safeguard procedures, when mouth
When opening to amplitude peak and being closed completely, corresponding inductive proximity switches movement, signal is fed directly to master controller, interrupts main control
The movement of opening one's mouth to shut up of bionical horse mouth open/close mechanism is completed in output of the device to solenoid valve.
Further, bionical horse lip motion is specifically, when left drive rod of operation handle or so pushes, and handle is by object
Reason stroke is converted into digital signal x, and then by CAN communication bus, digital signal x is sent to master controller, master controller
Algorithm: y=(x/L1) × (L2/s) is planted according to pre-, wherein L1 is the total range of handle, and L2 is electric cylinders total kilometres, and s is electric cylinders speed
Parameter；It obtains electric cylinders actuation time y, separately has inductive proximity switches as redundancy safeguard procedures, after lip overturning, corresponding inductance
Close to switch motion, signal is fed directly to master controller, interrupts output of the master controller to solenoid valve, completes bionical horse back lip and turn over
The lip rotary movement of rotation mechanism and lower lip turnover mechanism.
Further, bionical horse tongue action presses specified tongue key 1 time specifically, working as operation handle, master controller
After receiving actuation of keys signal, master controller first determines whether the inductance switch in place of opening one's mouth of mouth open/close mechanism acts, mouth
After the mouth expansion action condition of bar open/close mechanism meets, master controller drives electric cylinders movement, and master controller is according to preset time t
Periodically, driving electric cylinders are then started to shrink afterwards, and inductance switch movement, master controller receive signal in place after driving electric cylinders are shunk
Afterwards, tongue telescoping mechanism acts, and judges that 1 movement of tongue terminates.
Further, bionical horse nose movement presses specified nose key 1 time specifically, working as operation handle, master controller
Electric cylinders movement is directly driven after receiving actuation of keys signal, then according to preset time t timing, then starts to shrink electric cylinders afterwards,
Nose tilts mechanism and completes 1 movement.
Specifically, when operation handle presses specified nostril key 1 time, it is dynamic that master controller receives key for bionical horse nostril movement
Electric cylinders movement is directly driven after making signal, then according to preset time t timing, then starts to shrink electric cylinders, nostril dilator afterwards
Structure completes 1 movement.
Further, bionical horse ear wobbling action is swung key 1 time specifically, pressing specified ear when operation handle,
Master controller directly drives electric cylinders movement after receiving actuation of keys signal, when then determining that electric cylinders are stretched out according to preset time t 1
Long, t2 determines that electric cylinders retract duration, and t3 determines electric cylinders Hui Zhongwei duration, and left ear swing mechanism and auris dextra swing mechanism are completed 1 time
Movement.
Bionical horse ear rotational action rotates key 1 time specifically, pressing specified ear when operation handle, and master controller is received
To after actuation of keys signal, servo controller is transmitted signals to by CAN communication bus, servo controller receives straight after order
Driving servo motor rotation is connect, then determines that just turn-taking several and duration, x2 and t2 of motor determines motor according to preset value x1 and t1
Reverse coil number and duration, x3 and t3 determine that motor returns middle position circle number and duration, and left ear rotating mechanism and auris dextra rotating mechanism complete 1
Secondary movement.
Further, bionical horse audio movement presses specified audio key 1 time specifically, working as operation handle, master controller
After receiving actuation of keys signal, order is reached by sound system by CAN communication bus and RS485 communications protocol, plays 1 phase
Answer audio.
For bionical horse spray action specifically, when operation handle is pressed specified spraying key 1 time, it is dynamic that master controller receives key
After making signal, order is reached by servo controller by CAN communication bus, servo controller is with according to the specified order received and in advance
If the time, specified electromagnetism valve events duration is controlled, the spray action of 1 designated position is completed.
Further, bionical neigh ring composite move presses specified whinny key 1 time specifically, working as operation handle, master control
After device processed receives actuation of keys signal, first determine whether mouth open/close mechanism mouth whether closed state, left eye blink mechanism and
Whether whether eyes open state, five see and playback state in right eye blink mechanism；After condition meets, start to execute whinny program,
Mouth open/close mechanism control first is opened one's mouth, and starts to stick out one's tongue under the control of tongue telescoping mechanism after opening one's mouth in place, while
Under the control of upper lip turnover mechanism and lower lip turnover mechanism, upper lower lip turns up, and tongue reaches choana expanding mechanism control
Nostril starts to expand, while nose tilts mechanism controls nose and tilts, and plays whinny audio, audio under sound system control
It plays rear nose nostril and starts to shrink return, while mist is sprayed in nostril under spray system control, while tongue shrinks return,
Mouth starts to be closed after tongue playbacks completely, and after mouth is completed to be closed, whinny program is completed.
Compared with prior art, mechanical horse head movement bionic system of the present invention, can pass through handle and master
Controller drives left eye rotating mechanism, right eye rotating mechanism, left eye turnover mechanism, right eye turnover mechanism, left eye blink mechanism, the right side
Eye blink mechanism, left ear rotating mechanism, auris dextra rotating mechanism, left ear swing mechanism, auris dextra swing mechanism, tongue telescoping mechanism,
Nose tilt mechanism, nostril expanding mechanism, upper lip turnover mechanism, lower lip turnover mechanism, mouth open/close mechanism, for imitate horse hair
The sound system of sound and for imitating the snorting spray system of horse executes eyes left-right rotation respectively, eyes are rotated upwardly and downwardly, blinked
Eye, ear rotates and are swung, tongue is flexible, nose tilting, nostril expansion, the overturning of upper lower lip, mouth opening and closing etc. are a series of imitates
Lively to make, sound system is used to imitate animal vocalization, and spraying system imitates animal and breathes；When by movement to each executing agency
Between and the control of movement range etc. the composite moves such as realize the whinny of horse, yawn, breathe, to realize the letter in bionical head of the horse portion
List is precisely controlled, and system stability is high, bionical effect image matching Du Genggao.
Mechanical horse head movement bionic system of the present invention participates in displaying of travelling, and increases bionical effect, enhances spectators
Perception experience, considerably increases the ornamental value of bionical horse equipment, embodies heavy mechanical equipment in the ultimate attainment of fine movement field
It plays.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is mechanical horse head movement bionic system schematic diagram of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.It is real to the description of at least one exemplary embodiment below
It is merely illustrative on border, never as to the present invention and its application or any restrictions used.Based on the reality in the present invention
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts all belongs to
In the scope of protection of the invention.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to exemplary embodiments of the present invention.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be clear that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.Technology known for person of ordinary skill in the relevant, side
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention: the noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under its device or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection scope.
As shown in Figure 1, the present invention provides a kind of mechanical horse head movement bionic systems, comprising: handle, master controller,
First actuating mechanism and the second actuating mechanism.After the handle physical drives, digital signal is converted by physical signal and is transferred to
Master controller；The master controller receives the digital signal of handle transmitting, is transferred to servo control by communication controller after operation
Device processed controls the first actuating mechanism, or directly controls the second actuating mechanism；First actuating mechanism include left eye rotating mechanism,
Right eye rotating mechanism, left eye turnover mechanism, right eye turnover mechanism, left eye blink mechanism, right eye blink mechanism, left ear rotating mechanism
With auris dextra rotating mechanism；Second actuating mechanism includes left ear swing mechanism, auris dextra swing mechanism, tongue telescoping mechanism, nose
Head tilt mechanism, nostril expanding mechanism, upper lip turnover mechanism, lower lip turnover mechanism, mouth open/close mechanism, for imitating horse sounding
Sound system and for imitating the snorting spray system of horse.
And master controller tilts mechanism, nose with left ear swing mechanism, auris dextra swing mechanism, tongue telescoping mechanism, nose
Bore expansion mechanism, upper lip turnover mechanism, lower lip turnover mechanism, mouth open/close mechanism, sound system and spray system and inductance
Close loop control circuit is constituted close to switch and Hall synchronous sensor.
Servo controller is the same as left eye rotating mechanism, right eye rotating mechanism, left eye turnover mechanism, right eye turnover mechanism, left eye
Blink mechanism, right eye blink mechanism, left ear rotating mechanism and auris dextra rotating mechanism constitute close loop control circuit.
Eyelid is closed when operator's right handles are pushed forward, and the amplitude of being pushed forward corresponds to eyelid closure degree；Bionical horse eye closing movement tool
Body is, when the right drive rod of operation handle is pushed forward, converts digital signal x for the physics stroke of handle, then passes through CAN communication
Digital signal x is sent to master controller by bus, and master controller plants algorithm: y=(x/L1) × (L2 × b) according to pre-, wherein L1
For the total range of handle, L2 is eyelid total kilometres, and b is servo-system reduction ratio；It obtains servo motor turnning circle y, then will count
Word signal y is sent to servo controller by CAN communication bus, and digital signal y is converted to current signal and driven by servo controller
Dynamic servo motor rotation, and then left eye blink mechanism and right eye blink mechanism are controlled, complete eye closing movement.
Eyes left-right rotation when operator's right handles or so push, left and right promotion amplitude correspond to the journey of eyes left-right rotation
Degree；Physics stroke is turned handle specifically, when right drive rod of operation handle or so pushes by bionical horse-eye eyeball or so movement
Digital signal x is turned to, then by CAN communication bus, digital signal x is sent to master controller, master controller is planted according to pre-
Algorithm: y=(x/L1) × (L2 × b), wherein L1 is the total range of handle, and L2 is eye rotation total kilometres, and b is servo-system deceleration
Than；It obtains servo motor turnning circle y, digital signal y is then sent to servo controller, servo by CAN communication bus
Digital signal y is converted to current signal driving servo motor rotation by controller, and then controls left eye rotating mechanism and right eye turn
Motivation structure completes the movement of eyes left-right rotation；
Operator presses respective keys 1 time, rotation 1 time of directing one's eyes downward；Bionical horse-eye eyeball rotates upwardly and downwardly movement specifically, working as
Operation handle presses specified eyes key 1 time, after master controller receives actuation of keys signal, by CAN communication bus by signal
It is sent to servo controller, after servo controller receives order, servo motor rotation, left eye are driven according to preset stroke
Turnover mechanism and right eye turnover mechanism complete eyes and rotate upwardly and downwardly movement.
It is pushed before and after operator's left handle, the opening and closing of corresponding mouth, the amplitude of promotion corresponds to mouth opening and closing degree；It is bionical
Horse opens one's mouth to shut up movement specifically, when pushing before and after the left drive rod of operation handle, converts number for physics stroke for handle
Digital signal x is sent to master controller, master controller plants algorithm: y according to pre- then by CAN communication bus by word signal x
=(x/L1) × (L2/s), wherein L1 is the total range of handle, and L2 is mouth oil cylinder total kilometres, and s is oil cylinder speed parameter；It obtains
Solenoid valve actuation time y separately has inductive proximity switches as redundancy safeguard procedures, when mouth is flared to amplitude peak and closes completely
When conjunction, corresponding inductive proximity switches movement, signal is fed directly to master controller, interrupts output of the master controller to solenoid valve, complete
At the movement of opening one's mouth to shut up of bionical horse mouth open/close mechanism.
Operator's left handle or so pushes, and the opening and closing of corresponding lip, the amplitude of promotion corresponds to lip opening and closing degree；It is bionical
For horse lip motion specifically, when left drive rod of operation handle or so pushes, physics stroke is converted digital signal by handle
Digital signal x is sent to master controller, master controller plants algorithm: y=(x/ according to pre- then by CAN communication bus by x
L1) × (L2/s), wherein L1 is the total range of handle, and L2 is electric cylinders total kilometres, and s is electric cylinders speed parameter；When obtaining electric cylinders movement
Between y, separately have inductive proximity switches as redundancy safeguard procedures, after lip overturning, corresponding inductive proximity switches movement, signal is straight
It picks to master controller, interrupts output of the master controller to solenoid valve, complete bionical horse back lip turnover mechanism and lower lip tipper
The lip rotary movement of structure.
Operator's respective keys 1 time, corresponding tongue is 1 time flexible；Bionical horse tongue action is specifically, when operation handle is pressed
Specified tongue key 1 time, after master controller receives actuation of keys signal, master controller first determines whether opening one's mouth for mouth open/close mechanism
Whether inductance switch acts in place, and after the mouth expansion action condition of mouth open/close mechanism meets, master controller drives electric cylinders dynamic
Make, master controller then starts to shrink driving electric cylinders, inductance is opened in place after driving electric cylinders contraction according to preset time t timing afterwards
Pass movement, after master controller receives signal, the movement of tongue telescoping mechanism judges that 1 movement of tongue terminates.
Operator's respective keys 1 time, corresponding nose is 1 time flexible；Bionical horse nose movement is specifically, when operation handle is pressed
Specified nose key 1 time, master controller directly drives electric cylinders movement after receiving actuation of keys signal, then according to preset time t
Periodically, electric cylinders are then started to shrink afterwards, and nose tilts mechanism and completes 1 movement.
Operator's respective keys 1 time, corresponding nostril is 1 time flexible；Bionical horse nostril movement is specifically, when operation handle is pressed
Specified nostril key 1 time, master controller directly drives electric cylinders movement after receiving actuation of keys signal, then according to preset time t
Periodically, electric cylinders are then started to shrink afterwards, and nostril expanding mechanism completes 1 movement.
Operator presses respective keys 1 time, and corresponding ear swing 1 time；Bionical horse ear wobbling action is specifically, work as
Operation handle is pressed specified ear and is swung key 1 time, and master controller directly drives electric cylinders movement after receiving actuation of keys signal, so
Determine that electric cylinders stretch out duration according to preset time t 1 afterwards, t2 determines that electric cylinders retract duration, and t3 determines electric cylinders Hui Zhongwei duration, left ear
Swing mechanism and auris dextra swing mechanism complete 1 movement.
Operator presses respective keys 1 time, rotation 1 time before and after ear；Bionical horse ear rotational action is specifically, when operation
Handle is pressed specified ear and is rotated key 1 time, after master controller receives actuation of keys signal, by CAN communication bus by signal
Be sent to servo controller, direct drive servovalve motor rotates after servo controller receives order, then according to preset value x1 and
T1 determines that motor is just turn-taked several and duration, and x2 and t2 determine motor reversal circle number and duration, x3 and t3 determine motor return in position circle
Several and duration, left ear rotating mechanism and auris dextra rotating mechanism complete 1 movement.
Operator presses respective keys 1 time, and corresponding audio plays 1 time；Bionical horse audio movement is specifically, work as operation handle
It presses specified audio key 1 time, after master controller receives actuation of keys signal, passes through CAN communication bus and RS485 communications protocol
Order is reached into sound system, plays 1 corresponding audio；
Operator presses respective keys 1 time, and corresponding position is 1 time spraying；Bionical horse spray action is specifically, work as operation handle
It presses specified spraying key 1 time, after master controller receives actuation of keys signal, order is reached by servo by CAN communication bus
Controller, servo controller is with controlling specified electromagnetism valve events duration, completing 1 time according to the specified order and preset time received
The spray action of designated position.
Operator presses respective keys " whinny " 1 time, and corresponding head major organs carry out 1 teamwork；Bionical neigh
Ring composite move presses specified whinny key 1 time specifically, working as operation handle, first after master controller receives actuation of keys signal
First judge mouth open/close mechanism mouth whether closed state, left eye blink mechanism and right eye blink mechanism in eyes whether open
State, five see the state that whether playbacks.
After condition meets, start to execute whinny program, mouth open/close mechanism control first is opened one's mouth, started after opening one's mouth in place
It sticks out one's tongue under the control of tongue telescoping mechanism, while under the control of upper lip turnover mechanism and lower lip turnover mechanism, upper and lower mouth
Cheilectropion, tongue reaches a choana expanding mechanism control nostril and starts to expand, while nose tilts mechanism controls nose and tilts,
And whinny audio is played under sound system control, audio plays rear nose nostril and starts to shrink return, while being in spray
System controls lower nostril and sprays mist, while tongue shrinks return, and mouth starts to be closed after tongue playbacks completely, when mouth completion is closed
After conjunction, whinny program is completed, and entire whinny movement is coherent orderly.
Mechanical horse head movement bionic system of the present invention, including the analysis of data acquisition module, communication module, data
Module and action executing module etc.；Data acquisition module include: 3 be closely located to switch, 1 pair of Hall synchronous sensor, 1 set watch
Dress system and 1 set of man-machine interactive system；Communication module includes: 1 servo-system data communication equipment and 1 multi-protocol data interaction
Device；Data analysis module includes: 4 master controllers and 1 servo system controller；Action executing module includes 7 electronic straight
Row mechanism, 8 servo motors, 2 hydraulic straight trip mechanisms, sound system, spraying system and biomimetic features part etc..
The present invention passes through the algorithm being implanted into master controller in advance or man-machine interactive system, data to be executed pass through
Communication module is sent to servo controller, or directly realizes the continuous or bionical movement of single step by electric control loop；8 servos
Motor and 7 Electric Actuator and 2 hydraulic actuators execute eyes left-right rotation respectively, eyes rotate upwardly and downwardly, blink, ear
It rotates and swings, a series of bionical movements such as tongue is flexible, nose tilting, nostril expansion, the overturning of upper lower lip, mouth opening and closing,
Sound system is used to imitate animal vocalization, and spraying system imitates animal and breathes；By algorithm to the actuation time of each executing agency
The composite moves such as the whinny of horse is realized, yawns, breathes with controlling for movement range etc..
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of mechanical horse head movement bionic system characterized by comprising
Handle after physical drives, converts digital signal for physical signal and is transferred to master controller；
Master controller receives the digital signal of handle transmitting, and servo controller is transferred to after operation and controls the first actuating mechanism, or
Directly control the second actuating mechanism；
First actuating mechanism include left eye rotating mechanism, right eye rotating mechanism, left eye turnover mechanism, right eye turnover mechanism,
Left eye blink mechanism, right eye blink mechanism, left ear rotating mechanism and auris dextra rotating mechanism；
Second actuating mechanism include left ear swing mechanism, auris dextra swing mechanism, tongue telescoping mechanism, nose tilt mechanism,
Nostril expanding mechanism, upper lip turnover mechanism, lower lip turnover mechanism, mouth open/close mechanism, the sound system for imitating horse sounding
With for imitating the snorting spray system of horse.
2. mechanical horse head movement bionic system according to claim 1, which is characterized in that
Bionical horse eye closing movement converts number for the physics stroke of handle specifically, the right drive rod when operation handle is pushed forward
Digital signal x is sent to master controller, master controller plants algorithm according to pre- then by CAN communication bus by signal x:
Y=(x/L1) × (L2 × b),
Wherein L1 is the total range of handle, and L2 is eyelid total kilometres, and b is servo-system reduction ratio；
It obtains servo motor turnning circle y, digital signal y is then sent to servo controller, servo by CAN communication bus
Digital signal y is converted to current signal driving servo motor rotation by controller, and then control left eye blink mechanism and right eye blink
Eye mechanism completes eye closing movement.
3. mechanical horse head movement bionic system according to claim 1, which is characterized in that
Bionical horse-eye eyeball or so movement is specifically, when right drive rod of operation handle or so pushes, by handle by physics stroke
It is converted into digital signal x, then by CAN communication bus, digital signal x is sent to master controller, master controller is according to pre-
Plant algorithm:
Y=(x/L1) × (L2 × b),
Wherein L1 is the total range of handle, and L2 is eye rotation total kilometres, and b is servo-system reduction ratio；
It obtains servo motor turnning circle y, digital signal y is then sent to servo controller, servo by CAN communication bus
Digital signal y is converted to current signal driving servo motor rotation by controller, and then controls left eye rotating mechanism and right eye turn
Motivation structure completes the movement of eyes left-right rotation；
Bionical horse-eye eyeball rotates upwardly and downwardly movement specifically, pressing specified eyes key 1 time when operation handle, master controller receive by
After key action signal, servo controller is transmitted signals to by CAN communication bus, after servo controller receives order, according to
Preset stroke driving servo motor rotation, left eye turnover mechanism and right eye turnover mechanism, completion eyes rotate upwardly and downwardly dynamic
Make.
4. mechanical horse head movement bionic system according to claim 1, which is characterized in that
Bionical horse opens one's mouth to shut up movement specifically, when pushing before and after the left drive rod of operation handle, by handle by physics stroke
It is converted into digital signal x, then by CAN communication bus, digital signal x is sent to master controller, master controller is according to pre-
Plant algorithm:
Y=(x/L1) × (L2/s),
Wherein, L1 is the total range of handle, and L2 is mouth oil cylinder total kilometres, and s is oil cylinder speed parameter；
It obtains solenoid valve actuation time y, separately has inductive proximity switches as redundancy safeguard procedures, when mouth is flared to amplitude peak
When with being closed completely, corresponding inductive proximity switches movement, signal is fed directly to master controller, interrupts master controller to solenoid valve
Output, completes the movement of opening one's mouth to shut up of bionical horse mouth open/close mechanism.
5. mechanical horse head movement bionic system according to claim 1, which is characterized in that
For bionical horse lip motion specifically, when left drive rod of operation handle or so pushes, handle converts physics stroke to
Digital signal x is sent to master controller, master controller plants algorithm according to pre- then by CAN communication bus by digital signal x:
Y=(x/L1) × (L2/s),
Wherein L1 is the total range of handle, and L2 is electric cylinders total kilometres, and s is electric cylinders speed parameter；
It obtains electric cylinders actuation time y, separately has inductive proximity switches as redundancy safeguard procedures, after lip overturning, corresponding inductance
Close to switch motion, signal is fed directly to master controller, interrupts output of the master controller to solenoid valve, completes bionical horse back lip and turn over
The lip rotary movement of rotation mechanism and lower lip turnover mechanism.
6. mechanical horse head movement bionic system according to claim 4, which is characterized in that
For bionical horse tongue action specifically, when operation handle presses specified tongue key 1 time, master controller receives actuation of keys letter
After number, master controller first determines whether the inductance switch in place of opening one's mouth of mouth open/close mechanism acts, the mouth of mouth open/close mechanism
After portion's expansion action condition meets, master controller drives electric cylinders movement, and master controller is then opened afterwards according to preset time t timing
To begin to shrink driving electric cylinders, inductance switch acts in place after driving electric cylinders contraction, after master controller receives signal, tongue telescoping mechanism
Movement, judges that 1 movement of tongue terminates.
7. mechanical horse head movement bionic system according to claim 1, which is characterized in that
Specifically, when operation handle presses specified nose key 1 time, master controller receives actuation of keys letter for bionical horse nose movement
Electric cylinders movement is directly driven after number, then according to preset time t timing, then starts to shrink electric cylinders afterwards, it is complete that nose tilts mechanism
It is acted at 1 time；
Specifically, when operation handle presses specified nostril key 1 time, master controller receives actuation of keys letter for bionical horse nostril movement
Electric cylinders movement is directly driven after number, then according to preset time t timing, then starts to shrink electric cylinders afterwards, nostril expanding mechanism is complete
It is acted at 1 time.
8. mechanical horse head movement bionic system according to claim 1, which is characterized in that
Bionical horse ear wobbling action is swung key 1 time specifically, pressing specified ear when operation handle, master controller receive by
Electric cylinders movement is directly driven after key action signal, then determines that electric cylinders stretch out duration according to preset time t 1, t2 determines that electric cylinders contract
Duration is returned, t3 determines electric cylinders Hui Zhongwei duration, and left ear swing mechanism and auris dextra swing mechanism complete 1 movement；
Bionical horse ear rotational action rotates key 1 time specifically, pressing specified ear when operation handle, master controller receive by
After key action signal, servo controller is transmitted signals to by CAN communication bus, servo controller directly drives after receiving order
Then dynamic servo motor rotation determines that just turn-taking several and duration, x2 and t2 of motor determines motor reversal according to preset value x1 and t1
Circle number and duration, x3 and t3 determine that motor returns middle position circle number and duration, and left ear rotating mechanism and auris dextra rotating mechanism are completed 1 time and moved
Make.
9. mechanical horse head movement bionic system according to claim 1, which is characterized in that
Specifically, when operation handle presses specified audio key 1 time, master controller receives actuation of keys letter for bionical horse audio movement
After number, order is reached by sound system by CAN communication bus and RS485 communications protocol, plays 1 corresponding audio；
For bionical horse spray action specifically, when operation handle is pressed specified spraying key 1 time, master controller receives actuation of keys letter
After number, order is reached by servo controller by CAN communication bus, servo controller with according to the specified order that receives and it is default when
Between, specified electromagnetism valve events duration is controlled, the spray action of 1 designated position is completed.
10. mechanical horse head movement bionic system according to claim 1, which is characterized in that
For bionical neigh ring composite move specifically, when operation handle presses specified whinny key 1 time, it is dynamic that master controller receives key
After making signal, first determine whether mouth open/close mechanism mouth whether closed state, left eye blink mechanism and right eye blink mechanism in
State that whether eyes open state, whether five sights playback；
After condition meets, start to execute whinny program, mouth open/close mechanism control first is opened one's mouth, started after opening one's mouth in place in tongue
It sticks out one's tongue under the control of head telescoping mechanism, while under the control of upper lip turnover mechanism and lower lip turnover mechanism, outside upper lower lip
It turning over, tongue reaches a choana expanding mechanism control nostril and starts to expand, while nose tilts mechanism controls nose and tilts, and
Sound system control is lower to play whinny audio, and audio plays rear nose nostril and starts to shrink return, while in spray system control
It makes lower nostril and sprays mist, while tongue shrinks return, mouth starts to be closed after tongue playbacks completely, when mouth is completed to be closed
Afterwards, whinny program is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910459651.XA CN110153997A (en) | 2019-05-30 | 2019-05-30 | Mechanical horse head movement bionic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910459651.XA CN110153997A (en) | 2019-05-30 | 2019-05-30 | Mechanical horse head movement bionic system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110153997A true CN110153997A (en) | 2019-08-23 |
Family
ID=67630256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910459651.XA Pending CN110153997A (en) | 2019-05-30 | 2019-05-30 | Mechanical horse head movement bionic system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110153997A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722581A (en) * | 2019-10-29 | 2020-01-24 | 大连木牛流马机器人科技有限公司 | Large-scale tour performance bionic robot |
| CN112829687A (en) * | 2019-11-25 | 2021-05-25 | 奥迪股份公司 | Biomimetic device, vehicle comprising same and method for same |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002066155A (en) * | 2000-08-28 | 2002-03-05 | Sente Creations:Kk | Emotion-expressing toy |
| KR20090022875A (en) * | 2007-08-31 | 2009-03-04 | 연세대학교 산학협력단 | Face robot for giving expression |
| CN103190822A (en) * | 2013-03-25 | 2013-07-10 | 王金友 | Electric curtain body driving system and driving method thereof |
| CN105501767A (en) * | 2016-02-03 | 2016-04-20 | 福建龙马环卫装备股份有限公司 | Hydraulic lifter garbage truck cover plate turnover control system |
| CN106422345A (en) * | 2016-12-10 | 2017-02-22 | 袁正华 | Driving mechanism for bionic animal nose |
| CN207669301U (en) * | 2017-12-26 | 2018-07-31 | 欢乐飞（上海）机器人有限责任公司 | A kind of robot head structure of tongue strip expression |
| CN207901168U (en) * | 2018-01-09 | 2018-09-25 | 深圳勇艺达机器人有限公司 | A kind of robot architecture with remote control control |
| CN208302177U (en) * | 2018-03-21 | 2019-01-01 | 汕头市益尔乐玩具有限公司 | A kind of cartoon animals toy that can be spraying |
-
2019
- 2019-05-30 CN CN201910459651.XA patent/CN110153997A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002066155A (en) * | 2000-08-28 | 2002-03-05 | Sente Creations:Kk | Emotion-expressing toy |
| KR20090022875A (en) * | 2007-08-31 | 2009-03-04 | 연세대학교 산학협력단 | Face robot for giving expression |
| CN103190822A (en) * | 2013-03-25 | 2013-07-10 | 王金友 | Electric curtain body driving system and driving method thereof |
| CN105501767A (en) * | 2016-02-03 | 2016-04-20 | 福建龙马环卫装备股份有限公司 | Hydraulic lifter garbage truck cover plate turnover control system |
| CN106422345A (en) * | 2016-12-10 | 2017-02-22 | 袁正华 | Driving mechanism for bionic animal nose |
| CN207669301U (en) * | 2017-12-26 | 2018-07-31 | 欢乐飞（上海）机器人有限责任公司 | A kind of robot head structure of tongue strip expression |
| CN207901168U (en) * | 2018-01-09 | 2018-09-25 | 深圳勇艺达机器人有限公司 | A kind of robot architecture with remote control control |
| CN208302177U (en) * | 2018-03-21 | 2019-01-01 | 汕头市益尔乐玩具有限公司 | A kind of cartoon animals toy that can be spraying |
Non-Patent Citations (4)
| Title |
|---|
| INTERNI设计时代: "机械龙马2015年返回法国的表演视频", 《HTTPS://V.QQ.COM/X/PAGE/S0180L1BER3.HTML，腾讯视频》 * |
| 中新视频: "黄金周接近尾声"龙马精神"西安引围观", 《HTTPS://V.QQ.COM/X/PAGE/Q07340BAOUJ.HTML，腾讯视频》 * |
| 北京法语联盟: "法国机械龙马", 《HTTPS://V.QQ.COM/X/PAGE/Z0350NMY129.HTML，腾讯视频》 * |
| 机械美学: "【拟态之美】卖萌无罪，南特机械岛新机械巨兽：龙马"", 《机械美学微信公众号》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722581A (en) * | 2019-10-29 | 2020-01-24 | 大连木牛流马机器人科技有限公司 | Large-scale tour performance bionic robot |
| CN112829687A (en) * | 2019-11-25 | 2021-05-25 | 奥迪股份公司 | Biomimetic device, vehicle comprising same and method for same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110153997A (en) | Mechanical horse head movement bionic system | |
| JP2006289508A (en) | Robot device and its facial expression control method | |
| EP1711241A2 (en) | Computing environment that produces realistic motions for an animatronic figure | |
| KR20170083091A (en) | Integrated user environments | |
| CN106354256B (en) | A kind of control method for movement of virtual reality | |
| US20210205999A1 (en) | Systems and methods for optical performance captured animated figure with real-time reactive projected media | |
| CN102416265A (en) | Transformers robot toy and method | |
| CN107803018A (en) | Game playing by machine system based on Chinese chess | |
| CN105427365A (en) | Animation implementation method, system and animation updating method | |
| WO1991013664A1 (en) | Process and device for animating motor-driven puppets and the like | |
| CN106215427A (en) | Can the first visual angle model racing car control loop of remote control | |
| CN206883648U (en) | Robot | |
| CN104369192A (en) | Recreation simulation robot | |
| CN203750179U (en) | Quadruped voice interaction intelligent toy | |
| CN206045398U (en) | Interactive intelligent toy animals | |
| CN105955488B (en) | A kind of method and apparatus of operation control terminal | |
| CN110181517A (en) | A kind of double remote operating training method based on virtual clamp | |
| KR20200120394A (en) | Development of an Android-based multi-purpose robot platform device | |
| WO2018041711A1 (en) | Interactive control device | |
| CN108145701A (en) | One kind is used for TPE or the bionical application on human skin guest-meeting robot internal drive unit skeleton structure of silica gel | |
| CN109129422A (en) | Multi-functional modular robot head | |
| KR20110043866A (en) | Driving device of doll eyelid | |
| CN209335619U (en) | Multi-functional modular robot head | |
| US20210299881A1 (en) | Systems and methods to control an entertainment figure | |
| DE202005001923U1 (en) | Toy in form of robot has torso, head mounted on torso, legs jointed to torso arms jointed to torso, at least one with upper and lower arms jointed together; at least one body part can be moved using remote controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190823 |
|
| RJ01 | Rejection of invention patent application after publication |