CN101797433A

CN101797433A - Bio-robot

Info

Publication number: CN101797433A
Application number: CN200910010358A
Authority: CN
Inventors: 张敏学
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-02-10
Filing date: 2009-02-10
Publication date: 2010-08-11

Abstract

The invention relates to a bio-robot which comprises a machine frame, a driving mechanism, a traveling mechanism and a control mechanism, wherein the driving mechanism, the traveling mechanism and the control mechanism are arranged on the machine frame. The machine frame is provided with a polypod shape-simulating outer casing of which the limbs can drive left and right, e.g. cricket (6 feet), spider (8 feet) and the like, in particular an outer casing simulating the crab. A crankshaft is used for driving the limbs to do simulation motion. A manpower-driving crank link mechanism, an electronic mechanism and a spring mechanism can drive the crankshaft to rotate. The large bio-robot can be ridden by people, and the small toy can be appreciated. The invention is suitable for pleasure grounds and families, and also can be used as physical exercise apparatuses of schools and kindergartens.

Description

Bio-robot

Affiliated technical field

The invention belongs to bio-robot, particularly imitative crab robot.

Background technology

Chinese patent discloses " a kind of bionic animal device " for No. 95234111.5, is to be made of the gear-driven mechanical device in " imitative quadruped drive shell " and the drive shell.

Chinese patent 200420039563.3 discloses a kind of " machine-walking device ", belongs to " body-building travel equipment ".

Chinese patent CN86107799A discloses a kind of " toy horse vehicle ".The transmission mechanism that it adopts is " a two-way sour jujube chain-drive mechanism ".

Robot design principle and example/Jin Guifang write-Beijing Chemical Industry Press, have introduced the mechanical device of two foots and four-footed toy in the professional book that publish in March, 2005.

Above-mentioned mechanical device only is suitable for and drives two foots or four-leg bionic robot motion, the driving of the inapplicable driving that surpasses the bionic animal of four-footed, particularly 6 foots, 8 foot " walking crosswise " toy for animal.

In the kind of bio-robot, also do not have can about walking---walk crosswise, and toy that can be self-contained, manned.

Summary of the invention

The invention provides can about the bio-robot of walking, particularly have the imitative crab robot of imitative crab shell.

The myriopod that can walk crosswise except crab, also has cricket (6 foot), katydid's (6 foot), katydid (6 foot), spider (8 foot), scorpion (4 pairs of pereiopoda) or the like.This class animal moves ahead in the ordinary course of things.

The crab of most kinds is all walked crosswise, and specifically, the invention provides two robotlikes of the same basic design of different driving power---robot that can be self-contained, manned and the robot that is used to view and admire.

In particular, the invention provides manpower directly drive and/or be equipped with battery, motor and electric control gear can about walking robot and clockwork is installed and/or the small scale robot that is used to view and admire of battery, motor, electric control gear.Its common characteristic be equipped with on the frame of robot limbs can about the shell of the imitative myriopod shape that drives, in other words, in the shell of imitative myriopod shape, the mechanical device and/or the electric device of the toy motion that can drive is housed, and the clockwork spring device.

The technical solution used in the present invention is: adorn a rotatable bent axle on frame.Bent axle is made up of main shaft, crank and off-axis.

If what install on the frame is the shell of imitative 6 sufficient animals, bent axle can have 3 or 6 off-axis so, each off-axis can with 2 or 1 moving company of podomere.

If what install on the frame is the shell of imitative 8 sufficient animals, bent axle can have 4 or 8 off-axis so.More polypody can be analogized.

Manpower drives crankshaft rotating, can drive the off-axis rotation with toggle.Electric power or clockwork drive crankshaft rotating, and driving member directly is contained on the main shaft.The bent axle of rotation drives the off-axis rotation; The podomere that the off-axis of rotation drives limbs moves reciprocatingly.Can about in a plurality of podomeres of limbs of reptile of walking, must have two podomeres to become " V " fonts, the foot end then must be done the reciprocating motion with housing " far-near ".These two needs that condition is emulation.If utilize the motion of foot end to come the motion of drive chassis, the foot end also should obtain enough normal pressures of size so.

If the foot end contacts with ground in reciprocating motion all the time, then sufficient end should be equipped with wheel; If this takes turns as driving, friction or external friction formula one-way wheel mechanism in this takes turns and should install additional so; If frame can left and right sides bidirectional-movement, should install two-way controlled one-way wheel mechanism so additional, product is referred to as wheeled bio-robot.

If the foot end is in reciprocating motion, have only half cycle to contact with ground, and half cycle foot end lifts in addition, then product is referred to as the walking bio-robot, this moment, limbs were crank and rocker mechanism, and the movement locus of foot end is horizontal " D " font, if further emulation, then can install fork and lever additional, thereby form the jointed connecting rod mechanism of crank rocker, fork, lever.

The invention has the beneficial effects as follows the new kind that has increased the toy field,, can increase the interest of taking exercises for self-contained formula manually driven bio-robot.

Description of drawings

The present invention is further described below in conjunction with drawings and Examples.

Fig. 1 is a bio-robot, and---imitative polypody reptile---imitates the mechanism kinematic schematic diagram of the self-contained robot of crab.

Fig. 2 is the podomere mechanism kinematic schematic diagram with wheeled bio-robot of driving force.

Fig. 3 is legged bio-robot podomere mechanism kinematic schematic diagram.

Fig. 4 is electronic and/or the mechanism kinematic schematic diagram of clockwork spring driving crankshaft rotating.

Among the figure: 1, saddle; 2, saddle vertical rod; 3, right-hand tread plate; 4, pedal vertical rod; 5, cross tube; 6, sheer pole; 7, joint joint; 8, spring; 9, steel strand wires; 10, the 1st limb; 11, limb joint; 12, the 2nd limb; 13, ratchet wheel; 14, pulley; 15, the 3rd limb; 16, the 4th limb; 17, frame; 18, imitative crab profile housing; 19, imitative crab chela; 20, axle sleeve; 21, the 1st joint; 22, the 2nd joint; 23, imitative crab podomere shell; 24, the 5th limb the 3rd joint; 25, the 6th limb; 26, the 7th limb; 27, the 8th limb; 28, left-hand tread plate; 29, left-hand tread plate vertical rod; 30, support; 31, stand; 32, connecting rod; 33, crank; 34, main shaft; 35, off-axis; 36, locating rack; 37, stage clip; 38, fulcrum shaft; 39, rocking bar; 40, sleeve; 41, podomere; 42, clockwork spring; 43, motor; 44, minor sprocket (small belt pulley); 45, chain (belt); 46, hinge wheel (big belt pulley).

The specific embodiment

In Fig. 1, imitative crab shape housing (18) is housed on the frame (17); The imitative crab podomere that links to each other with imitative crab housing (18) can about drive.

When being sitting in rider on the saddle (1) and stepping left-hand tread plate (29) and right-hand tread plate (3), connecting rod (32) will pump, thereby drives off-axis (35) rotation.Axle sleeve (20) is housed on the off-axis (35), is fixed with steel strand wires (9) on it, by being installed in the pulley (14) on the 2nd joint (22), spur the 3rd joint (24), under the acting in conjunction of spring (8), ratchet wheel (13) is done the reciprocating motion of left and right directions along ground.Because crank (33) is different with the space angle of main shaft (34), thereby make each podomere also different successively, reached the bionic movement of the mechanical podomere of bio-robot in its locus of synchronization.Simultaneously, be connected in the imitative crab podomere on each joint on the mechanical podomere, also movement therewith.

In Fig. 2, if ratchet wheel (13) has the driving force to gantry motion, ratchet wheel (13) must obtain a certain size normal pressure so, just can produce enough frictional force, and ratchet wheel (13) also must be an one-way wheel certainly---only allow wheel to a direction rotation.For this reason, adorn a fulcrum shaft on the suitable position of the 1st joint (21), this fulcrum shaft is installed on the frame by parts such as bearing blocks.One end of the 1st joint (21) and the 2nd joint (22) are connected, the other end is pressed on the interior stage clip (37) of locating rack (36), when crank (33) rotation drives steel strand wires (9), and during by pulley (14) pulling the 2nd joint (24) motion, ratchet wheel (13) saves the leverage of (21) owing to the 1st, thereby obtains a normal pressure.Certainly, if the 3rd joint being of convenient length of (24), ratchet wheel also can obtain the normal pressure that frame gravity passes over by podomere so.Another half cycle of crank-motion, the 3rd joint (24) separate with (2) joint under the effect of spring (8), thus make the 2nd joint with also produce relative reciprocating motion between the 3rd saves.

In Fig. 3, be to move if wish podomere in the mode of walking, the movement locus of the foot end of podomere (41) just should be approximate ellipsoidal or horizontal stroke " D " shape so.Crank and rocker mechanism can be finished this function so.Be installed in the rotation of the driving link main shaft (34) on the frame (17), drive the rotation of crank (33) and off-axis (35), be connected in the joint of the 1st on the axle sleeve (20) (21), under the constraint of rocking bar (39), drive podomere (41) motion by the 2nd joint (22) the 3rd joints (24) that are connected, the movement locus of podomere (41) promptly is the ellipse perpendicular to the ground of 3 dimensions.Sleeve (40) is to regulate sufficient normal pressure of holding with spring (42).

In Fig. 4, drive the main axis rotation of bio-robot motion, can be that motor (43) drives by minor sprocket (44), chain (45), hinge wheel (46).Can certainly use belt transmission.When clockwork spring (47) discharges, also can drive main axis rotation, this is applicable to the driving of miniature toy.

Claims

1. bio-robot of forming by frame and rack-mounted driving mechanism, walking mechanism and operating-controlling mechanism, it is characterized in that: also be equipped with on the frame of this product limbs can about the shell, the particularly shell of imitative crab shape of the imitative myriopod shape that drives.

2. bio-robot according to claim 1 is characterized in that: what drive the limbs side-to-side movement is a plurality of crank and rocker mechanisms.

3. bio-robot according to claim 2 is characterized in that: be equipped with on the bent axle of a plurality of cranks, have 3 off-axis that are connected with the bio-robot limbs at least.

4. bio-robot according to claim 3 is characterized in that: the driving crankshaft rotating can be manually driven linkage and/or motor drive mechanism, and clockwork spring mechanism.

5. bio-robot according to claim 1 is characterized in that: the foot end of wheeled bio-robot limbs is equipped with one-way wheel or two-way controlled one-way wheel.

6. bio-robot according to claim 1 is characterized in that: the mechanical limb of walking bio-robot is the combined mechanism by crank and rocker mechanism and swing-bar mechanism, leverage.