CN102795275A - Bionic mechanical dinosaur - Google Patents
Bionic mechanical dinosaur Download PDFInfo
- Publication number
- CN102795275A CN102795275A CN2012103017611A CN201210301761A CN102795275A CN 102795275 A CN102795275 A CN 102795275A CN 2012103017611 A CN2012103017611 A CN 2012103017611A CN 201210301761 A CN201210301761 A CN 201210301761A CN 102795275 A CN102795275 A CN 102795275A
- Authority
- CN
- China
- Prior art keywords
- neck
- joint
- shank
- support
- fixed
- 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.)
- Granted
Links
Images
Abstract
The invention discloses a bionic mechanical dinosaur, comprising a trunk part as well as a head part, a neck part, a tail part and four mechanical legs which are connected to the trunk part. First mechanical joints are respectively arranged on the head part, the neck part and the tail part for realizing the rotation of the neck part and the tail part. Each mechanical leg comprises a hip joint, a thigh joint and a crus joint which are connected in sequence, and the hip joint, the thigh joint and the crus joint comprise second mechanical joints for changing angles between the each mechanical leg and the trunk part, between the hip joint and the thigh joint and between the thigh joint and the crus joint. According to the bionic mechanical dinosaur, the hip joints are added to the legs, and the neck part and the tail part can rotate in all directions, therefore, during walking, the center of gravity can be adjusted by mutual matching of leftward incline and rightward incline of the trunk part, shaking the head and swaying the tail, therefore, the walking stability of the large-scale four-feet bionic mechanical dinosaur is greatly improved.
Description
Technical field
The present invention relates to quadruped robot, be specifically related to the bionic mechanical dinosaur.
Background technology
Robotics is a new and high technology that develops rapidly in recent decades; It combines multi-disciplinary newest research results such as machinery, microelectronics and computing machine, automatic guidance, sensor and information processing and artificial intelligence, is the typical carriers of electromechanical integration technology.Large-scale four-leg bionic machinery dinosaur is a kind of important application of four feet walking robot, is widely used in fields such as amusement, video display.
The basic demand of large-scale four-leg bionic machinery dinosaur is to possess the shank joint consistent with actual dinosaur joint, can realize stepping the leg action flexibly; Neck, tail and face all can be realized moving freely simultaneously.The large-scale four-leg bionic machinery dinosaur of therefore, realizing above-mentioned functions be actually a multivariate, close coupling, non-linear and the time advanced dynamic system that becomes.
As everyone knows, walking stability is the difficult point and the core of quadruped robot development, and stability has determined the success or failure of quadruped robot development.At present, though can be through all kinds of sensing equipments be installed, for example gyroscope, banking inclinometer, center of gravity sensor etc. improve gait stability property, also do not reach desirable effect.For real dinosaur, because the weight of portion is bigger end to end, in the process of walking; The adjustment of center of gravity does not only depend on the cooperation of four limbs to realize, simultaneously, the left and right inclination of body and cooperatively interacting of shaking the head, wag the tail also play important effect; Therefore; For large-scale four-leg bionic machinery dinosaur, the design of physical construction is most important, especially the structure of shank joint and head and neck, caudal articular process.
Current quadruped robot is not all considered end to end portion's weight to the influence of walking stability, some defectives below its physical construction ubiquity:
(1) the shank joint has only big leg joint and two degree of freedom of calf joint, and this structure can only realize lifting leg, the leg that falls action, can not make the body inclination, can't assist to carry out stability and regulate;
(2) head and neck and afterbody have only one degree of freedom at the most, mainly are under static state to realize the pitching action.Can not realize omnibearingly shaking the head, wagging the tail, to assist to carry out stability adjusting.
In view of this, need be optimized design to the physical construction of large-scale four-leg bionic machinery dinosaur, it is simple in structure that it is had; In light weight; Can realize the action of multiple complicacy, and conveniently carry out the center of gravity adjustment, thereby improve the walking stability of large-scale four-leg bionic machinery dinosaur.
Summary of the invention
Technical matters to be solved by this invention is to solve physical construction how to simplify large-scale four-leg bionic machinery dinosaur, improves the problem of walking stability.
In order to solve the problems of the technologies described above; The technical scheme that the present invention adopted provides a kind of bionic mechanical dinosaur; Comprise trunk and be connected head and neck, afterbody and four pedipulators on the said trunk; Be respectively equipped with first mechanical joint of realizing neck and the comprehensive rotation of afterbody on said head and neck and the afterbody; The said pedipulator of each bar comprises bonded assembly hip joint, big leg joint and calf joint successively, and said hip joint, big leg joint and calf joint comprise second mechanical joint that is used to change angle between pedipulator and trunk, hip joint and big leg joint and big leg joint and the calf joint respectively.
In such scheme; Said first mechanical joint comprises neck first support and neck second support; Be fixed with neck first motor and neck rotating shaft on said neck first support; The axis normal of said neck first motor and said neck rotating shaft but non-intersect, and be fixed with the attaching parts that is used to connect face or lengthening foot piece on the motor shaft of said neck first motor; Be fixed with neck second motor on said neck second support; The parallel axes of said neck second motor and said neck rotating shaft; Said neck rotating shaft is rotated and is arranged on said neck second support, and an end of said neck rotating shaft is fixed with neck first gear after passing said second support; The axis of said first, second motor of neck is vertical each other, and the motor shaft of said neck second motor is provided with neck second gear, first, second gear mesh of said neck.
In such scheme; Said head and neck also comprises the 3rd mechanical joint of realizing the face opening and closing; Said the 3rd mechanical joint comprises lower jaw portion and rotates the maxilla portion be arranged in the said lower jaw portion, is fixed with the mouth servomotor in the said lower jaw portion, is fixed with lower jaw first gear on the output shaft of said mouth servomotor; Be fixed with maxilla first gear, said maxilla first gear and said lower jaw first gear mesh in the said maxilla portion; Said lower jaw portion is fixed through said attaching parts and said neck first support.
In such scheme; Said second mechanical joint comprises pedipulator first support and pedipulator second support; Said pedipulator first support comprises first, second side plate and shank servomotor; Said first, second side plate laterally arranges, and said shank servomotor is fixed between said first, second side plate, worm screw of the mouth captive joint of said shank servomotor; One end of said pedipulator second support is fixed with the shank rotating shaft; One end of said first, second side plate rotates the two ends that are arranged on said shank rotating shaft respectively; The middle part of said shank rotating shaft is fixed with the shank worm gear, said shank worm gear and said worm mesh; The shank shaft axis of said big leg joint and calf joint is parallel, and the axis direction of shank servomotor separately is along vertical setting of pedipulator; The shank shaft axis of said hip joint is vertical with the shank shaft axis of said big leg joint, and the shank servomotor axis in the hip joint is towards the inside of said trunk.
In such scheme; Said shank worm gear has a shaft sleeve part and a tooth portion, and said tooth portion is fan-shaped incomplete worm gear, and is connected with said shaft sleeve part through fan-shaped connecting portion; The thickness of said fan-shaped connecting portion is less than the thickness of tooth portion, and the edge circumferentially is laid with a plurality of through holes.
In such scheme; The two ends of said shank rotating shaft are respectively equipped with antifriction-bearing box; The both sides of said antifriction-bearing box are respectively equipped with first and second baffle plate, and an end of said first, second side plate is set on the said antifriction-bearing box and passes through said first, second baffle plate axial limiting.
In such scheme; One end of said first, second side plate has an arc salient; The other end have one with the suitable arc-shaped recess portion of said arc salient; One side of said arc salient is provided with a rectangle salient, and said shank servomotor is obliquely installed and is fixed on the said rectangle salient.
In such scheme, the shank servomotor in said big leg joint and the calf joint all is arranged in the shank worm gear below of corresponding joint.
In such scheme; Said trunk comprises the trunk support that constitutes the trunk profile and is fixed on the bearing support on the said trunk support; Said bearing support comprises left front, right front, left back, right back square box, and said left front, right front, left back, right back square box single face is uncovered, and uncovered direction outwardly; Said left front, right front square box is through the front rod captive joint, and said left back, right back square box is through the rear connecting rod captive joint; Said left front, left back square box is through upper left, left lower connecting rod captive joint; And the front end of upper left pipe link is positioned on the end face of left front square box; The rear end is positioned at the leading flank top of left back square box; The front end of left side lower connecting rod is positioned on the trailing flank of left front square box, and the rear end is positioned on the bottom surface of left back square box; Said right front, right back square box is through upper right, bottom right pipe link captive joint; And the front end of upper right pipe link is positioned on the end face of right front square box; The rear end is positioned at the leading flank top of right back square box; The front end of bottom right pipe link is positioned on the trailing flank of right front square box, and the rear end is positioned on the bottom surface of right back square box.
In such scheme; Said trunk support comprises middle part fixed support and the forward and backward toroidal frame that is fixed on fixed support front and back end, said middle part; The upper and lower end of said forward and backward toroidal frame connects through upper and lower curved pipe respectively, on the said upper and lower curved pipe from front to back the compartment of terrain be fixed with a plurality of ring pipes.
The present invention; Shank has increased hip joint, and neck and afterbody can comprehensively rotate, thereby in the process of walking; Left and right inclination that can be through body and cooperatively interacting of shaking the head, wag the tail are carried out the center of gravity adjustment, have improved the walking stability of large-scale four-leg bionic machinery dinosaur greatly.
In addition, each mechanical joint in the pedipulator utilizes plank frame to replace case structure, and compact conformation, simple greatly reduces overall weight, and transmission device adopted worm-and-wheel gear, has self-locking performance, has improved the service life of corresponding servomotor.
Description of drawings
Fig. 1 is a bionic mechanical dinosaur perspective view provided by the invention;
Fig. 2 is the perspective view of first mechanical joint among the present invention;
Fig. 3 is the first mechanical joint decomposition texture scheme drawing shown in Figure 1;
Fig. 4 is the neck first supporting structure scheme drawing among the present invention;
Fig. 5 is the neck second supporting structure scheme drawing among the present invention;
Fig. 6 is the 3rd mechanical joint structural representation among the present invention;
Fig. 7 is the pedipulator structural representation among the present invention;
Fig. 8 is the second mechanical joint structural representation among the present invention;
Fig. 9 is the inner structure scheme drawing of second mechanical joint among the present invention;
Figure 10 is the second mechanical joint lateral plan among the present invention;
Figure 11 is the pedipulator first supporting structure scheme drawing among the present invention;
Figure 12 is the pedipulator second supporting structure scheme drawing among the present invention;
Figure 13 is the assembling of pedipulator second support among the present invention scheme drawing;
Figure 14 is the shank gear structure scheme drawing among the present invention;
Figure 15 is the trunk structural representation among the present invention;
Figure 16 is the trunk supporting structure scheme drawing among the present invention;
Figure 17 is the bearing support structural representation among the present invention.
The specific embodiment
Bionic mechanical dinosaur provided by the invention has simple in structurely, compact, and volume is little; Advantage such as in light weight; The most important thing is that shank has increased hip joint, neck and afterbody can comprehensively rotate, thereby in the process of walking; Left and right inclination that can be through body and cooperatively interacting of shaking the head, wag the tail are carried out the center of gravity adjustment, have improved the walking stability of large-scale four-leg bionic machinery dinosaur greatly.Below in conjunction with accompanying drawing and specific embodiment the present invention is made detailed explanation.
Fig. 1 is the perspective view of bionic mechanical dinosaur provided by the invention, and is as shown in Figure 1, and the bionic mechanical dinosaur comprises trunk 1 and is connected head and neck 2, afterbody 3 and four pedipulators 4 on the trunk 1.
Be respectively equipped with first mechanical joint 10 of realizing neck and the comprehensive rotation of afterbody on head and neck 2 and the afterbody 1, can accomplish the comprehensive rotation of neck and afterbody, the realization function of shaking the head, wag the tail through first mechanical joint 10.
Like Fig. 2, shown in Figure 3, first mechanical joint 10 among the present invention comprises neck first support 110 and neck second support 120, is fixed with neck rotating shaft 150 on neck first support 110, and the two ends of neck rotating shaft 150 are rotated and are arranged on neck second support 120.Be fixed with neck first motor 130 on neck first support 110; Be fixed with neck second motor 140 on neck second support 120; Neck first motor 130 is reducing motor with neck second motor 140 and axis is vertical but non-intersect each other, simultaneously the motor shaft of neck second motor 140 and the parallel axes of neck rotating shaft 150.One end of neck rotating shaft 150 is fixed with neck first gear 151 after passing second support 120, and the motor shaft of neck second motor 140 is provided with neck second gear 152, and first, second gear 151,152 of neck is meshing with each other.
The structure of neck first support 110 is as shown in Figure 4, is made up of the first U-shaped plate 111 and first connecting panel 112.The first U-shaped plate 111 comprises stripe board 113, following stripe board 114 and is connected stripe board 113 and the first back stripe board 115 of following stripe board 114 right-hand members; First connecting panel 112 is fixed on the aft end face middle part of the first back stripe board 115; The free end semicircular in shape of first connecting panel 112, and be provided with one first through hole 116.One first run through through hole 117 along upper and lower to running through stripe board 113 and following stripe board 114 settings, first runs through the axis normal of the through hole 117 and first through hole 116 but non-intersect.
Again referring to Fig. 2; Neck first motor 130 is fixed on through flange connection on the end face of last stripe board 113 of neck first support 110; The output shaft of neck first motor 130 is inserted into first to be run through in the through hole 17; Attaching parts 118 is sleeved on the motor shaft of neck first motor 130 and through key and is connected, and attaching parts 118 is arranged between stripe board 113 and the following stripe board 114, is used for fixing neck connecting rod or the afterbody connecting rod of bionic mechanical dinosaur.
The structure of neck second support 120 is as shown in Figure 5, is made up of the second U-shaped plate 121 and second connecting panel 122.The second U-shaped plate 121 comprises left stripe board 123, right stripe board 124 and is connected left stripe board 123 and the second back stripe board 125 of right stripe board 124 rear ends; The rear end of right stripe board 124 extends back and forms second connecting panel 122; The rearward end semicircular in shape of second connecting panel 122 and be provided with second through hole 126; The front end semicircular in shape of left side stripe board 123 and right stripe board 124; Second runs through through hole 127 runs through left stripe board 123 and right stripe board 124 settings along left and right direction, and second runs through the parallel axes of the through hole 127 and second through hole 126.
Neck second motor 140 is fixed on the right side of the second back stripe board 125; It is fixing with neck second gear 152 that the output shaft of neck second motor 140 passes second through hole, 126 backs; First connecting panel 112 is arranged between left stripe board 123, the right stripe board 124; First through hole 116 and fixing with neck first support 110 through the key connection mode is passed in neck rotating shaft 150, and the two ends of neck rotating shaft 150 are passed second on neck second support 120 respectively and run through through hole 127 formation and be rotationally connected.One end of neck rotating shaft 150 passes second, and to run through through hole 127 back fixing with neck first gear 151, and first, second gear 151,152 of neck is meshing with each other.
When neck first motor 130 rotated, driving attaching parts 118 ran through through hole 117 around first and rotates, and realizes hunt or the left and right sides yaw of mechanical dinosaur; When neck second motor 140 rotates; Driving neck rotating shaft 150 through neck second gear 152 and neck first gear 151 engaged transmission rotates; Because neck rotating shaft 150 is connected fixing with neck first support 110 through key; Therefore, neck first support 110 is rotated around neck rotating shaft 150, realize neck pitching or the afterbody pitching action of mechanical dinosaur.
In addition; Left and right two parts as shown in Figure 3 are equal in weight; The barycenter of whole first mechanical joint in the pitching plane drops on the axis of neck rotating shaft 150, like this, and when control system is carried out Stability Control calculating; Whole first mechanical joint can be reduced to particle, is convenient to control system and calculates centroid position in real time.
Head and neck 2 also comprises the 3rd mechanical joint 50 of realizing the face opening and closing; As shown in Figure 6, the 3rd mechanical joint 50 comprises maxilla portion 51 and lower jaw portion 52, is fixed with mouth servomotor 53 in the lower jaw portion 52; Be fixed with lower jaw first gear 54 on the output shaft of mouth servomotor 53; Be fixed with maxilla first gear 55 in the maxilla portion 52, lower jaw first gear 54 and 55 engagements of maxilla first gear, lower jaw portion 52 is fixing through the attaching parts 118 that connects on rod member and neck first support 110.
The structure of pedipulator 4 is as shown in Figure 7, comprises from top to bottom bonded assembly hip joint 20, big leg joint 30 and calf joint 40 successively, and the lower end of calf joint 40 is fixed with yielding rubber pad 50.Hip joint 20, big leg joint 30 and calf joint 40 comprise second mechanical joint 5 that is used to change angle between pedipulator 4 and trunk 1, hip joint 20 and big leg joint 30 and big leg joint 30 and the calf joint 40 respectively; Can change the angle between pedipulator 4 and the trunk 1 through hip joint 20, realize left and right inclination; Can change the angle between hip joint 20 and big leg joint 30 and big leg joint 30 and the calf joint 40 through big leg joint 30 and calf joint 40, accomplish pedipulator lift leg, the leg that falls action, the realization walking function.
The structure of second mechanical joint such as Fig. 8, Fig. 9, shown in Figure 10, second mechanical joint comprise pedipulator first support 210 and pedipulator second support 220.The structure of pedipulator first support 210 is shown in figure 11; Comprise first, second side plate 211,212 and shank servomotor 213; First, second side plate 211,212 laterally arranges; Shank servomotor 213 is fixed on first, second side plate 211, between 212, shank servomotor 213 is a reducing motor, worm screw 214 of its mouth captive joint.The lower end of pedipulator second support 220 is fixed with a shank rotating shaft 221; The upper end of pedipulator second support 220 is provided with and adjacent segment bonded assembly mounting hole; The two ends of shank rotating shaft 221 are rotated respectively and are arranged on first, second side plate 211,212; The middle part of shank rotating shaft 221 is fixed with shank worm gear 222, shank worm gear 222 and worm screw 214 engagements.When shank servomotor 213 rotates; Driving shank worm gear 222 through worm screw 214 rotates; Because the shank worm gear 222 and second support 220 are fixing; Therefore, pedipulator second support 220 rotates with the rotation of servomotor 213, angle between pedipulator first support 210 and pedipulator second support 220 is increased or reduces.
Referring to Figure 12, Figure 13, Figure 12 is the structural representation of pedipulator second support among the present invention again, and Figure 13 is the decomposition texture scheme drawing of pedipulator second support shown in Figure 12.The lower end of pedipulator second support 220 is provided with first breach 227, and shank worm gear 222 is positioned at first breach 227 and is connected through key with shank rotating shaft 221, and simultaneously, key also is connected shank rotating shaft 221 with pedipulator second support 220.The two ends of shank rotating shaft 221 are respectively equipped with antifriction-bearing box 223 after stretching out pedipulator second support 220; The both sides of antifriction-bearing box 223 are respectively equipped with first and second baffle plate 224,225; First baffle plate 224 is the disk shape, and second baffle 225 has a disk shape baffle body 2251, and the center of baffle body 2251 is provided with an axle sleeve 2252; First and second baffle plate 224,225 is separately positioned on the both sides of a sidewall of first breach 227; The upper end of first, second side plate 211,212 is set on the antifriction-bearing box 223, and the axle sleeve on the second baffle 225 2252 is sleeved on the outer ring of antifriction-bearing box 223 simultaneously, and cover plate 226 is arranged on the outside of second baffle 225; First, second baffle plate 224,225 and cover plate 226 all are fixed on the sidewall of first breach 227; First baffle plate 224 carries out axial limiting through the shaft shoulder in the shank rotating shaft 221, and first, second baffle plate 224,225 is used to prevent first, second side plate 211,212 along the moving axially of shank rotating shaft 221, and cover plate 226 is used for the key in the shutoff shank rotating shaft 221; Prevent that key from skidding off, the inner ring of antifriction-bearing box 223 is then spacing through the trip ring in the shank rotating shaft 221.The structure of second baffle 225 can make the thickness of the thickness of first, second side plate less than antifriction-bearing box, has alleviated the weight of first, second side plate.
In order to alleviate mechanical joint weight; The present invention has carried out optimal design to the structure of shank worm gear 221, and is shown in figure 14, and shank worm gear 221 has a shaft sleeve part 2211 and a tooth portion 2212; Shaft sleeve part 2211 is used for being connected with shank rotating shaft 221, and tooth portion 2212 is used for and worm screw 214 engagements.Tooth portion 2212 is fan-shaped incomplete worm gear; And be connected with shaft sleeve part 2211 through fan-shaped connecting portion 2213; The thickness of fan-shaped connecting portion 2213 is less than the thickness of tooth portion 2212, and along circumferentially being laid with a plurality of through holes 2214, the tooth portion 2212 that forms through fan-shaped incomplete worm gear and through hole 2214 is set; Both satisfy operating needs, can alleviate the weight of shank worm gear 221 again greatly.
First, second side plate 211,212 structures are identical; Shown in figure 11; One end of second side plate 212 has an arc salient 2121; The other end have one with the suitable arc-shaped recess portion 2122 of arc salient 2121, a side of arc salient 2122 is provided with a rectangular portion that is obliquely installed 2123, shank servomotor 213 is obliquely installed and is fixed on the rectangular portion 2123.Have through hole 2124 on second side plate 212 and the rectangular portion 2123, thereby further alleviated the weight of second side plate 212.
For pedipulator 4; The shank shaft axis of big leg joint and calf joint is parallel to each other; The axis direction of shank servomotor is provided with along leg link direction (first, second side plate vertically); The shank shaft axis of hip joint is vertical each other with the shank shaft axis of big leg joint, and the axis of the shank servomotor in the hip joint is inner towards body.Shank servomotor in big leg joint and the calf joint all is arranged in the shank gear below of corresponding joint, like this, makes that the structure of pedipulator is compact more, weight alleviates greatly.
Shown in figure 15; Trunk 1 comprises the trunk support 11 that constitutes the trunk profile and is fixed on the bearing support 21 on the trunk support 11, and trunk support 11 is processed by aluminum alloy materials, is mainly used in the epidermis that covers dinosaur; Bearing support 21 is processed by steel, mainly is used for bearing a heavy burden.This design greatly reduces the weight of dinosaur.
Shown in figure 16; Trunk support 11 comprises middle part fixed support 12 and the forward and backward toroidal frame 13,14 that is fixed on fixed support 12 front and back ends, middle part; The upper and lower end of forward and backward toroidal frame 13,14 connects through upper and lower curved pipe 15,16 respectively, on the upper and lower curved pipe 15,16 from front to back the compartment of terrain be fixed with a plurality of ring pipes 17 (seeing Figure 15).
Shown in figure 17; Bearing support 21 comprises left front, right front, left back, right back square box 22,23,24,25; Left front, right front, left back, right back square box 22,23,24,25 single faces are uncovered, and uncovered direction outwardly, that is: the uncovered direction of left front, left back square box 22,24 left; The uncovered direction of right front, right back square box 23,25 to the right, first, second side plate in the hip joint is inserted into the corresponding square box internal fixation of bearing support 21 respectively.Left front, right front square box 22,23 is through front rod 26 captive joints, and left back, right back square box 24,25 is through rear connecting rod 27 captive joints.Left front, left back square box 22,24 is through upper left, left lower connecting rod 28,29 captive joints; And the front end of upper left pipe link 28 is positioned on the end face of left front square box 22; The rear end is positioned at the leading flank top of left back square box 24; The front end of left side lower connecting rod 29 is positioned on the trailing flank of left front square box 22, and the rear end is positioned on the bottom surface of left back square box 24.Right front, right back square box 23, the connection mode between 25 are identical with left front, left back square box 22,24, repeat no more at this.The lateral plan of bearing support 21 is similar trapezoidal, through ANSYS bearing support 21 is carried out modeling Analysis, fixing wherein 3 connecting portions in the process of modeling; Through on the 4th connecting portion, adding concentrated force respectively and moment is analyzed its deflection; Concentrated force is 700N, and moment is 1000Nm, and analysis result shows; In the gait of creeping; The deflection of leg bearing support 21 under the situation of bearing 700 newtons of striding is 4mm, and the maximum distortion under the twisting action is 0.4mm, on intensity, meets the demands.
Large-scale four-leg bionic machinery dinosaur has the advantages that volume is big, weight big and disperse, and therefore, requirement of strength had both been satisfied in the design of the trunk that the present invention adopts, and compact conformation, in light weight.
Generally speaking, bionic mechanical dinosaur provided by the invention has following outstanding advantage:
(1) increases hip joint, thereby made the mechanical dinosaur can left and right inclination, made things convenient for the adjusting of walking stability.
(2) simple in structure, compact.Pedipulator utilizes plank frame to replace case structure, greatly reduces overall weight.
(3) transmission device of pedipulator has adopted worm structure, has self-locking performance, and therefore, under the state of mechanical dinosaur stop motion, original state can be continued to keep in each joint, keeps stability; And servomotor does not stress, and has improved the service life of servomotor.
(4) neck and afterbody can omnibearingly rotate, thereby help improving the stability of walking.
(5) trunk adopts trunk support and bearing support to combine, trunk support aluminium alloy, and bearing support is selected steel for use, and bearing support has been carried out optimal design, has both improved structural strength, has alleviated weight again.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn the structural change of under enlightenment of the present invention, making, and every have identical or close technical scheme with the present invention, all falls within protection scope of the present invention.
Claims (10)
1. bionic mechanical dinosaur; Comprise trunk and be connected head and neck, afterbody and four pedipulators on the said trunk; It is characterized in that; Be respectively equipped with first mechanical joint of realizing neck and the comprehensive rotation of afterbody on said head and neck and the afterbody; The said pedipulator of each bar comprises bonded assembly hip joint, big leg joint and calf joint successively, and said hip joint, big leg joint and calf joint comprise second mechanical joint that is used to change angle between pedipulator and trunk, hip joint and big leg joint and big leg joint and the calf joint respectively.
2. bionic mechanical dinosaur as claimed in claim 1 is characterized in that, said first mechanical joint comprises,
Neck first support; Be fixed with neck first motor and neck rotating shaft on it; The axis normal of said neck first motor and said neck rotating shaft but non-intersect, and be fixed with the attaching parts that is used to connect face or lengthening foot piece on the motor shaft of said neck first motor;
Neck second support; Be fixed with neck second motor on it; The parallel axes of said neck second motor and said neck rotating shaft; Said neck rotating shaft is rotated and is arranged on said neck second support, and an end of said neck rotating shaft is fixed with neck first gear after passing said second support;
The axis of said first, second motor of neck is vertical each other, and the motor shaft of said neck second motor is provided with neck second gear, first, second gear mesh of said neck.
3. bionic mechanical dinosaur as claimed in claim 2 is characterized in that,
Said head and neck also comprises the 3rd mechanical joint of realizing the face opening and closing; Said the 3rd mechanical joint comprises lower jaw portion and rotates the maxilla portion be arranged in the said lower jaw portion; Be fixed with the mouth servomotor in the said lower jaw portion; Be fixed with lower jaw first gear on the output shaft of said mouth servomotor, be fixed with maxilla first gear, said maxilla first gear and said lower jaw first gear mesh in the said maxilla portion;
Said lower jaw portion is fixed through said attaching parts and said neck first support.
4. bionic mechanical dinosaur as claimed in claim 1 is characterized in that, said second mechanical joint comprises:
Pedipulator first support; Comprise first, second side plate and shank servomotor; Said first, second side plate laterally arranges, and said shank servomotor is fixed between said first, second side plate, worm screw of the mouth captive joint of said shank servomotor;
Pedipulator second support, the one of which end is fixed with the shank rotating shaft, and an end of said first, second side plate rotates the two ends that are arranged on said shank rotating shaft respectively, and the middle part of said shank rotating shaft is fixed with the shank worm gear, said shank worm gear and said worm mesh;
The shank shaft axis of said big leg joint and calf joint is parallel, and the axis direction of shank servomotor separately is along vertical setting of pedipulator; The shank shaft axis of said hip joint is vertical with the shank shaft axis of said big leg joint, and the shank servomotor axis in the hip joint is towards the inside of said trunk.
5. bionic mechanical dinosaur as claimed in claim 4 is characterized in that:
Said shank worm gear has a shaft sleeve part and a tooth portion, and said tooth portion is fan-shaped incomplete worm gear, and is connected with said shaft sleeve part through fan-shaped connecting portion, and the thickness of said fan-shaped connecting portion is less than the thickness of tooth portion, and along circumferentially being laid with a plurality of through holes.
6. bionic mechanical dinosaur as claimed in claim 4 is characterized in that:
The two ends of said shank rotating shaft are respectively equipped with antifriction-bearing box, and the both sides of said antifriction-bearing box are respectively equipped with first and second baffle plate, and an end of said first, second side plate is set on the said antifriction-bearing box and passes through said first, second baffle plate axial limiting.
7. bionic mechanical dinosaur as claimed in claim 4 is characterized in that:
One end of said first, second side plate has an arc salient; The other end have one with the suitable arc-shaped recess portion of said arc salient; One side of said arc salient is provided with a rectangle salient, and said shank servomotor is obliquely installed and is fixed on the said rectangle salient.
8. bionic mechanical dinosaur as claimed in claim 4 is characterized in that:
Shank servomotor in said big leg joint and the calf joint all is arranged in the shank gear below of corresponding joint.
9. bionic mechanical dinosaur as claimed in claim 1 is characterized in that,
Said trunk comprises the trunk support that constitutes the trunk profile and is fixed on the bearing support on the said trunk support; Said bearing support comprises left front, right front, left back, right back square box; Said left front, right front, left back, right back square box single face is uncovered; And uncovered direction outwardly, and said left front, right front square box is through the front rod captive joint, and said left back, right back square box is through the rear connecting rod captive joint; Said left front, left back square box is through upper left, left lower connecting rod captive joint; And the front end of upper left pipe link is positioned on the end face of left front square box; The rear end is positioned at the leading flank top of left back square box; The front end of left side lower connecting rod is positioned on the trailing flank of left front square box, and the rear end is positioned on the bottom surface of left back square box; Said right front, right back square box is through upper right, bottom right pipe link captive joint; And the front end of upper right pipe link is positioned on the end face of right front square box; The rear end is positioned at the leading flank top of right back square box; The front end of bottom right pipe link is positioned on the trailing flank of right front square box, and the rear end is positioned on the bottom surface of right back square box.
10. bionic mechanical dinosaur as claimed in claim 9 is characterized in that,
Said trunk support comprises middle part fixed support and the forward and backward toroidal frame that is fixed on fixed support front and back end, said middle part; The upper and lower end of said forward and backward toroidal frame connects through upper and lower curved pipe respectively, on the said upper and lower curved pipe from front to back the compartment of terrain be fixed with a plurality of ring pipes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210301761.1A CN102795275B (en) | 2012-08-22 | 2012-08-22 | Bionic mechanical dinosaur |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210301761.1A CN102795275B (en) | 2012-08-22 | 2012-08-22 | Bionic mechanical dinosaur |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102795275A true CN102795275A (en) | 2012-11-28 |
| CN102795275B CN102795275B (en) | 2015-02-25 |
Family
ID=47194638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210301761.1A Expired - Fee Related CN102795275B (en) | 2012-08-22 | 2012-08-22 | Bionic mechanical dinosaur |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102795275B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103129640A (en) * | 2013-03-18 | 2013-06-05 | 哈尔滨工业大学 | Novel six-foot robot |
| CN103192898A (en) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | Biomimetic quadruped robot provided with head and tail balance adjustment devices |
| CN103950481A (en) * | 2014-04-25 | 2014-07-30 | 中科宇博（北京）文化有限公司 | Mechanical joint and leg structure of bionic mechanical dinosaur |
| CN103950038A (en) * | 2014-04-25 | 2014-07-30 | 中科宇博（北京）文化有限公司 | Mechanical joint, and neck and tail structures of bionic mechanical dinosaur |
| CN103963867A (en) * | 2014-04-25 | 2014-08-06 | 中科宇博（北京）文化有限公司 | Biomimetic mechanical dinosaur |
| CN104875813A (en) * | 2015-05-26 | 2015-09-02 | 上海大学 | Electrically-driven small bionic four-leg robot |
| CN105729500A (en) * | 2016-05-09 | 2016-07-06 | 上海理工大学 | Tail part structure of bionic hydraulic dinosaur robot |
| CN105965514A (en) * | 2016-05-09 | 2016-09-28 | 上海理工大学 | Bionic hydraulic four-foot machine dinosaur structure |
| CN107009364A (en) * | 2016-06-22 | 2017-08-04 | 常州恐龙园股份有限公司 | The neck and tail swing mechanism of a kind of dinosaur robot |
| CN108583725A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
| CN108609066A (en) * | 2018-05-09 | 2018-10-02 | 北京理工大学 | Amphibious bionics machine aquatic bird |
| CN109733499A (en) * | 2019-01-22 | 2019-05-10 | 北华航天工业学院 | A kind of mechanical structure of bionical dinosaur |
| CN111590624A (en) * | 2020-05-26 | 2020-08-28 | 嘉兴职业技术学院 | Bionic walking mechanical animal |
| CN112758210A (en) * | 2021-01-18 | 2021-05-07 | 杭州太希智能科技有限公司 | Multifunctional quadruped robot |
| WO2022089541A1 (en) * | 2020-10-29 | 2022-05-05 | 杭州宇树科技有限公司 | Robot leg structure having compact structure and quadruped robot applying same |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2469962Y (en) * | 2001-03-27 | 2002-01-09 | 邱源荣 | Multifunction dinosaur toy |
| CN1956822A (en) * | 2005-03-30 | 2007-05-02 | 提姆查克股份有限公司 | Quadruped walking robot |
| CN102351018A (en) * | 2011-08-11 | 2012-02-15 | 西北工业大学 | Leg joint for quadruped robot |
| CN102530122A (en) * | 2012-03-06 | 2012-07-04 | 北京理工大学 | Leg drive and transmission device for legged mobile platform |
| CN202686559U (en) * | 2012-08-22 | 2013-01-23 | 中科宇博（北京）文化有限公司 | Bionic mechanical dinosaur |
-
2012
- 2012-08-22 CN CN201210301761.1A patent/CN102795275B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2469962Y (en) * | 2001-03-27 | 2002-01-09 | 邱源荣 | Multifunction dinosaur toy |
| CN1956822A (en) * | 2005-03-30 | 2007-05-02 | 提姆查克股份有限公司 | Quadruped walking robot |
| CN102351018A (en) * | 2011-08-11 | 2012-02-15 | 西北工业大学 | Leg joint for quadruped robot |
| CN102530122A (en) * | 2012-03-06 | 2012-07-04 | 北京理工大学 | Leg drive and transmission device for legged mobile platform |
| CN202686559U (en) * | 2012-08-22 | 2013-01-23 | 中科宇博（北京）文化有限公司 | Bionic mechanical dinosaur |
Non-Patent Citations (1)
| Title |
|---|
| 方书明: "大型仿生机械恐龙结构设计及控制系统研究", 《百度文库，北京航空航天大学硕士学位论文》 * |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103129640B (en) * | 2013-03-18 | 2015-06-24 | 哈尔滨工业大学 | Novel six-foot robot |
| CN103129640A (en) * | 2013-03-18 | 2013-06-05 | 哈尔滨工业大学 | Novel six-foot robot |
| CN103192898A (en) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | Biomimetic quadruped robot provided with head and tail balance adjustment devices |
| CN103950481A (en) * | 2014-04-25 | 2014-07-30 | 中科宇博（北京）文化有限公司 | Mechanical joint and leg structure of bionic mechanical dinosaur |
| CN103950038A (en) * | 2014-04-25 | 2014-07-30 | 中科宇博（北京）文化有限公司 | Mechanical joint, and neck and tail structures of bionic mechanical dinosaur |
| CN103963867A (en) * | 2014-04-25 | 2014-08-06 | 中科宇博（北京）文化有限公司 | Biomimetic mechanical dinosaur |
| CN103950038B (en) * | 2014-04-25 | 2016-03-30 | 大连楚云天科技开发有限公司 | Mechanical joint and biomimetic mechanical dinosaur neck, tail structure |
| CN104875813A (en) * | 2015-05-26 | 2015-09-02 | 上海大学 | Electrically-driven small bionic four-leg robot |
| CN105729500B (en) * | 2016-05-09 | 2017-08-25 | 上海理工大学 | Bionical hydraulic machine dinosaur tail structure |
| CN105729500A (en) * | 2016-05-09 | 2016-07-06 | 上海理工大学 | Tail part structure of bionic hydraulic dinosaur robot |
| CN105965514A (en) * | 2016-05-09 | 2016-09-28 | 上海理工大学 | Bionic hydraulic four-foot machine dinosaur structure |
| CN107009364A (en) * | 2016-06-22 | 2017-08-04 | 常州恐龙园股份有限公司 | The neck and tail swing mechanism of a kind of dinosaur robot |
| CN108609066A (en) * | 2018-05-09 | 2018-10-02 | 北京理工大学 | Amphibious bionics machine aquatic bird |
| CN108609066B (en) * | 2018-05-09 | 2023-11-14 | 北京理工大学 | Amphibious bionic machine waterfowl |
| CN108583725A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
| CN109733499A (en) * | 2019-01-22 | 2019-05-10 | 北华航天工业学院 | A kind of mechanical structure of bionical dinosaur |
| CN111590624A (en) * | 2020-05-26 | 2020-08-28 | 嘉兴职业技术学院 | Bionic walking mechanical animal |
| CN111590624B (en) * | 2020-05-26 | 2022-11-15 | 嘉兴职业技术学院 | Bionic walking mechanical animal |
| WO2022089541A1 (en) * | 2020-10-29 | 2022-05-05 | 杭州宇树科技有限公司 | Robot leg structure having compact structure and quadruped robot applying same |
| CN112758210A (en) * | 2021-01-18 | 2021-05-07 | 杭州太希智能科技有限公司 | Multifunctional quadruped robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102795275B (en) | 2015-02-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102795275A (en) | Bionic mechanical dinosaur | |
| US9446514B2 (en) | Lower limb structure for legged robot, and legged robot | |
| US8387726B2 (en) | Legged mobile robot | |
| Wisse | Three additions to passive dynamic walking; actuation, an upper body, and 3D stability | |
| CN202686559U (en) | Bionic mechanical dinosaur | |
| CN106828654B (en) | A kind of four-leg bionic robot | |
| CN103315834B (en) | Wearable lower-limb assistance exoskeleton | |
| CN101570220B (en) | Reversible and amphibious multi-legged robot with variable postures | |
| US11192600B2 (en) | Robot leg | |
| CN101422907B (en) | Under-actuated bipod walking robot hip-joint mechanism | |
| CN101428657A (en) | Propel mechanism of underactuated biped walk robot | |
| US10022860B2 (en) | Rotational driving mechanism in a robot | |
| Lee et al. | Design of a human-like range of motion hip joint for humanoid robots | |
| CN103010330A (en) | Biped walking robot | |
| CN103879467B (en) | The differential mobile robot platform of a kind of passive self adaptation crawler belt deformable rocking bar | |
| Sarkar et al. | 8-DoF biped robot with compliant-links | |
| CN112937717A (en) | Bionic mechanical leg and bionic robot | |
| KR20130014286A (en) | A method for implemenlation of quadruped robot with low power walking | |
| CN103963867B (en) | Biomimetic mechanical dinosaur | |
| JP2013119136A (en) | Legged robot | |
| CN102799184A (en) | Stability control method for rbiomimetic obosaur crawling | |
| CN111017063B (en) | Direct-drive type humanoid biped robot | |
| CN109969284A (en) | Hybrid mechanical leg organization and biped robot | |
| CN102795274A (en) | Mechanical joint and leg structure of bionic mechanical dinosaur | |
| CN102830716A (en) | Mechanical joint and neck and tail structures of bionic mechanical dinosaur |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160318 Address after: 116000 Dalian City, Liaoning province high tech Industrial Park, high street, No. 3, room five, room 505 Patentee after: Dalian Chuyuntian Technology Development Co.,Ltd. Address before: 100190, No. 1, first floor, building 327, Zhongguancun, Beijing, Haidian District Patentee before: ZHONGKE YUBO (BEIJING) CULTURE CO.,LTD. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150225 Termination date: 20210822 |