CN109420343A - Mechanical bionic animal - Google Patents
Mechanical bionic animal Download PDFInfo
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- CN109420343A CN109420343A CN201710737385.3A CN201710737385A CN109420343A CN 109420343 A CN109420343 A CN 109420343A CN 201710737385 A CN201710737385 A CN 201710737385A CN 109420343 A CN109420343 A CN 109420343A
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- China
- Prior art keywords
- steering engine
- skeleton
- trunk
- bionic animal
- bionic
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/22—Electric drives
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
Abstract
The present invention relates to a kind of machine emulated animals, including bionic animal trunk, neck component, head assembly and the limbs component being adapted with bionic animal trunk；Head assembly is connected by neck component with bionic animal trunk；Limbs component is symmetrically disposed on bionic animal trunk, limbs component includes thigh skeleton, shank skeleton, sufficient frame, the first steering engine and the second steering engine, one end of thigh skeleton is rotatablely connected by the first steering engine and bionic animal trunk, one end of shank skeleton is rotatablely connected by the other end of the second steering engine and thigh skeleton, and the other end of shank skeleton is fixedly connected with sufficient frame；Thigh skeleton and the swing of shank skeleton are driven with the hip joint and knee joint by the first steering engine and the second steering engine simulated animal and are not interfere with each other, and then make the movement of thigh skeleton and shank skeleton that many attitude be presented, limb action strong flexibility, so that simulated effect is more life-like.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of mechanical bionic animal.
Background technique
With the continuous development of robot technology, robot technology using increasing in the modern life.It is wherein mechanical
Bionic animal plays considerable effect for the teaching of robot course, and the harmony of the limb action of bionic animal connects
Coherence is stronger compared to industrial robot.However, current mechanical bionic animal mechanism is complicated and acts simple, limbs movement width
It spends that limited and flexibility is poor, cannot effectively expand the research project of multi-motion track, be unable to satisfy the needs of teaching；It hinders
The further development of the structure and control theory of mechanical bionic animal.
Summary of the invention
Based on this, it is necessary to provide that a kind of structure is simple and the higher mechanical bionic animal of degree of flexibility.
It is a kind of machinery bionic animal, including bionic animal trunk, neck component, head assembly and with the bionic animal
The adaptable limbs component of trunk；The head assembly is connected by the neck component with the bionic animal trunk；Institute
It states limbs component to be symmetrically disposed on the bionic animal trunk, the limbs component includes thigh skeleton, shank skeleton, foot
One end of frame, the first steering engine and the second steering engine, the thigh skeleton is turned by first steering engine and the bionic animal trunk
One end of dynamic connection, the shank skeleton is rotatablely connected by the other end of second steering engine and the thigh skeleton, described
The other end of shank skeleton is fixedly connected with the sufficient frame；First steering engine is for driving the thigh skeleton relative to described
Bionic animal trunk swing, second steering engine is for driving the shank skeleton relative to pendulum before and after the thigh skeleton
It is dynamic, so that the limbs component completes limb action.
The limbs component further includes the first steering engine mounting base and the second steering engine mounting base in one of the embodiments,
First steering engine is fixed on the bottom of the bionic animal trunk by the first steering engine mounting base, and second steering engine is logical
It crosses the second steering engine mounting base and is fixed on the thigh skeleton close to one end of the shank skeleton.
First steering engine has the first output shaft in one of the embodiments, first output shaft and described big
Thigh bone frame is fixedly connected；Second steering engine has the second output shaft, second output shaft and the fixed company of the shank skeleton
It connects.
The limbs component further includes the first linking arm and the second linking arm in one of the embodiments,；Described first
The both ends of linking arm are fixedly linked with first output shaft and the thigh skeleton respectively；The both ends of second linking arm point
It is not fixedly linked with second output shaft and the shank skeleton.
The neck component includes third steering engine, steering wheel in one of the embodiments,；The third steering engine is arranged in institute
The neck location of bionic animal trunk is stated, the steering wheel is fixed on the output shaft of the third steering engine, and the head assembly is set
It is placed on the steering wheel；The third steering engine makes described for driving the steering wheel to rotate relative to the bionic animal trunk
Head assembly does head shaking movement.
The head assembly includes the 4th steering engine, steering engine mounting base and head skeleton, institute in one of the embodiments,
It states the 4th steering engine to be fixed on the steering wheel by the steering engine mounting base, the head skeleton is fixed on the 4th steering engine
On output shaft；4th steering engine is for driving the head skeleton to swing up and down relative to the bionic animal trunk and making institute
It states head skeleton and does nodding action.
4th steering engine and steering wheel setting at an acute angle in one of the embodiments, so that the head skeleton
Deviate the rotation axis of the steering wheel and is inclined to the side far from the bionic animal trunk.
The head assembly further includes eye mould group in one of the embodiments, and the eye mould group includes LED light
At least one of pearl, photoelectric sensor and camera.
The mechanical bionic animal further includes neck shell, head shell and is set to institute in one of the embodiments,
State the artificial animal tail on bionic animal trunk；The neck shell is coated on the neck component, the head shell
It is coated on the head assembly, is equipped with opening on the head shell at the eye mould group.
The bionical biological trunk includes trunk bottom plate, trunk side plate and trunk shell, institute in one of the embodiments,
It is edge-on in the one end of the bottom plate far from the neck component, the trunk bottom plate, the trunk side plate and institute to state trunk side plate
It states trunk shell and is enclosed cavity, battery and circuit board are provided in the cavity.
Machinery bionic animal provided by the invention, is closed by the first steering engine and the hip joint and knee of the second steering engine simulated animal
Section is not interfere with each other with respectively driving the movement of thigh skeleton and the realization swing of shank skeleton；And then make thigh skeleton and
Many attitude, limb action strong flexibility, so that simulated effect is more life-like is presented in the movement of shank skeleton.
Detailed description of the invention
Fig. 1 is the emulation mechanical animals overall structure diagram of an embodiment of the present invention；
Fig. 2 is the decomposition texture schematic diagram that mechanical animals are emulated shown in Fig. 1；
Fig. 3 is the schematic diagram of internal structure that mechanical animals are emulated shown in Fig. 1；
Fig. 4 is the decomposition texture schematic diagram of limbs component shown in Fig. 2 and Fig. 3；
Fig. 5 is the attachment structure schematic diagram of neck component and head assembly shown in Fig. 2 and Fig. 3；
Fig. 6 is the decomposition texture schematic diagram of neck component and head assembly shown in Fig. 5.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
As shown in Figure 1, the mechanical bionic animal of an embodiment of the present invention, including bionic animal trunk 100, neck component
200, head assembly 300 and limbs component 400；Wherein, head assembly 300 passes through neck component 200 and bionic animal trunk
100 are connected；Limbs component 400 and bionic animal trunk 100 are adapted, that is to say, that and it is different for the type of bionic animal,
The quantity and installation site of limbs component 400 can be adaptively adjusted；It should be noted that in the present embodiment, bionic animal
Referring to the animal with even number limbs component 400, limbs component 400 is symmetrically disposed on bionic animal trunk 100, with
Maintain the harmony of machine emulated animal limb movement, it is possible to understand that, it is above-mentioned when machine emulated animal has four legs
Opposite side setting refers to that forelimb is arranged symmetrically in relation to each other, and opposite side is arranged hind leg each other.For example the animal emulated is dog, cat, pig, ox etc.
When animal with four legs, the quantity and artificial animal of above-mentioned limbs component 400 are adapted, and are separately positioned on artificial animal
The four limbs corresponding section of trunk, this is no longer going to repeat them.
As shown in connection with fig. 3, in the above-described embodiment, limbs component 400 include thigh skeleton 440, shank skeleton 480,
One end of sufficient frame 490, the first steering engine 410 and the second steering engine 460, thigh skeleton 440 passes through the first steering engine 410 and bionic animal body
One end of dry 100 rotation connection, shank skeleton 480 is rotatablely connected by the other end of the second steering engine 460 and thigh skeleton 440,
The other end of shank skeleton 480 is fixedly connected with sufficient frame 490；First steering engine 410 is for driving thigh skeleton 440 relative to bionical
100 swing of animal trunk, the second steering engine 460 for driving shank skeleton 480 relative to 440 swing of thigh skeleton,
So that limbs component 400 completes limb action.
Specifically, in above embodiment, since thigh skeleton 440 and shank skeleton 480 pass through the first steering engine 410 respectively
The movement of swing is realized with the second steering engine 460, at this moment, the first steering engine 410 and the second steering engine 460 are closed similar to the hip of animal
Section and knee joint so that thigh skeleton 440 and shank skeleton 480 can not be interfere with each other with multi-angle swing, and then realize thigh
Many attitude, limb action strong flexibility, so that simulated effect is more life-like is presented in the movement of skeleton 440 and shank skeleton 480.
As shown in connection with fig. 4, in some embodiments, limbs component 400 further includes the first steering engine mounting base 430 and second
Steering engine mounting base 450, and then the first steering engine 410 can be fixed on by bionic animal trunk 100 by the first steering engine mounting base 430
Bottom, and the second steering engine 460 is fixed on close to shank skeleton 480 by thigh skeleton 440 by the second steering engine mounting base 450
One end.It should be understood that the first steering engine 410 has the first output shaft 411, the first output shaft 411 and the fixed company of thigh skeleton 440
It connects；Second steering engine 460 has the second output shaft 461, and the second output shaft 461 is fixedly connected with shank skeleton 480.And then it is needing
When adjusting the athletic posture of thigh skeleton 440, the first output shaft 411 rotation of the first steering engine 410, since the first steering engine 410 is solid
It is scheduled on the bottom of bionic animal trunk 100, therefore, thigh skeleton 440 can be swung relative to bionic animal trunk 100；Correspondingly,
The shank skeleton 480 being connected with thigh skeleton 440 is also swung with thigh skeleton 440, and under the driving of the second steering engine 460, is made
Obtaining shank skeleton 480 can swing relative to thigh skeleton 440；Cooperate thigh skeleton 440 relative to 100 He of bionic animal trunk
Swing of the shank skeleton 480 relative to thigh skeleton 440, machine emulated animal can make many attitude, for example squat down, crouch
Ground, lift leg etc. imitate animal posture, keep simulated effect more true to nature.
Specifically, in some embodiments, the first steering engine mounting base 430 has side wall 431 and bottom wall 432, side wall 431
The groove body of a upper opening is enclosed with bottom wall 432, the first steering engine 410 is mounted in the groove body, and passes through side wall 431 toward external-open
If ear 4311 be fixed on the bottom of bionic animal trunk 100.It should be understood that reserving fluted 4312 on side wall 431, make
First output shaft 411 of the first steering engine 410 is exposed to groove 4312 and drives thigh skeleton 440 relative to bionic animal trunk
100 swings.
In some embodiments, limbs component 400 further includes the first linking arm 420 and the second linking arm 470；First connects
The both ends for connecing arm 420 are fixedly linked with the first output shaft 411 and thigh skeleton 440 respectively；Distinguish at the both ends of second linking arm 470
It is fixedly linked with the second output shaft 461 and shank skeleton 480.In present embodiment, one end of the first linking arm 420 has first
Axle sleeve 421, the other end have the first mounting hole 422, and the first axle sleeve 421, which is arranged, to be fixed on the first output shaft 411, pass through first
First linking arm 420 is fixed on thigh skeleton 440 by the connector of mounting hole 422；Correspondingly, the one of the second linking arm 470
End has the second axle sleeve 471, and the other end has the second mounting hole 472, and the second axle sleeve 471, which is arranged, is fixed on the second output shaft 461
On, the second linking arm 470 is fixed on shank skeleton 480 by the connector across the second mounting hole 472.At this point, the first output
When axis 411 and the second output shaft 461 rotate, it can be driven accordingly by the first linking arm 420 and the second linking arm 470 respectively
Thigh skeleton 440 and shank skeleton 480 are swung.
Specifically, thigh skeleton 440 include bottom plate 441 and both side plate 442, the both ends of bottom plate 441 respectively with both side plate 442
Connection, surrounds "U" shaped structure with both side plate.Correspondingly, setting is logical on the side plate 442 fixed with 420 phase of the first linking arm
Hole, the first mounting hole 422 on the position of the through-hole and the first linking arm 420 is opposite, so that connector can pass through the first peace
First linking arm 420 is fixedly connected by dress hole 422 with through-hole with side plate 442.It should be noted that connector can be screw or
The pin feature of bolt one kind, may also mean that welding is formed by connection structure, that is to say, that the first linking arm 420 can be with
It is integrally formed with thigh skeleton 440, thigh skeleton 440 can also be connected to by the first output shaft 411 by the first linking arm 420
On, in order to the installation and removal of thigh skeleton 440 and the first steering engine 410, consequently facilitating maintenance, connects moreover, passing through first
Lead to the hole site setting on arm 420 on first mounting hole 422 and side plate 442, can be connected to side plate for the first linking arm 420
442 different location, and then being adapted to property adjusts the assembled position of the first steering engine 410 and thigh skeleton 440, and it is more to meet emulation
The needs of kind animal.
It should be understood that shank skeleton 480 can use structure identical with thigh skeleton 440, i.e. shank skeleton 480
Including bottom plate 481 and both side plate 482, the both ends of bottom plate 481 are connect with both side plate 482 respectively, surround "U" shaped knot with both side plate
Structure, this is no longer going to repeat them.
It should be noted that the side plate of thigh skeleton 440 is equipped with the first axle sleeve location hole 4421 in above embodiment,
The side plate of shank skeleton 480 is equipped with the second axle sleeve location hole 4821.When first linking arm 420 and thigh skeleton 440 connect, the
The first axle sleeve 421 on one linking arm 420 is located in the first axle sleeve location hole 4421, the second linking arm 470 and shank skeleton
When 480 connection, the second axle sleeve 471 on the second linking arm 470 is located in the second axle sleeve location hole 4821.Pass through the first axle sleeve
Location hole 4421 can quickly by the first mounting hole 422 on the first linking arm 420 and the through-hole alignment on thigh skeleton 440,
To improve the assembly efficiency of the first linking arm 420 and thigh skeleton 440；Correspondingly, can by the second axle sleeve location hole 4821
With quickly by the second mounting hole 472 on the second linking arm 470 and the through-hole alignment on shank skeleton 480, to improve second
The assembly efficiency of linking arm 470 and shank skeleton 480,.
In some embodiments, it is opened on the bottom plate 441 of thigh skeleton 440 and respectively on the bottom plate 481 of shank skeleton 480
Equipped with connecting hole, so that the second steering engine mounting base 450 to be mounted on thigh skeleton 440, specifically, the second steering engine mounting base
450 are equipped with first connecting portion 451 in the opposite place of connecting hole on the bottom plate of thigh skeleton 440, by first connecting portion 451 and even
It connects the connection in hole and the second steering engine mounting base 450 is fixed on the bottom plate of thigh skeleton 440.Correspondingly, sufficient frame 490 and shank
The side that skeleton 480 connects is equipped with second connecting portion 491, second connecting portion 491 and the connecting hole on the bottom plate of shank skeleton 480
It is connected and sufficient frame 490 is fixed on shank skeleton 480.
In above embodiment, sufficient frame 490 includes supporting element 492 and foot plate 493, and supporting element 492 is fixed on foot plate
On 493, second connecting portion 491 is set to the top of supporting element 492.Specifically, in the present embodiment, supporting element 492 is in inverted " u "
Font.
In conjunction with shown in Fig. 5 and Fig. 6, in some embodiments, neck component 200 includes third steering engine 203, steering wheel 204；
The neck location of bionic animal trunk 100 is arranged in third steering engine 203, and steering wheel 204 is fixed on the output shaft of third steering engine 203
On, head assembly 300 is set on steering wheel 204；Third steering engine 203 is for driving steering wheel 204 relative to bionic animal trunk 100
It rotates and head assembly 300 is made to do head shaking movement.Specifically, third steering engine 203 is fixed on bionic animal body by mounting rack 202
On dry 100, so that third steering engine 203 drives steering wheel 204 to rotate by the output shaft of third steering engine 203, and then it is mounted on steering wheel
Head assembly 300 on 204 rotates relative to bionic animal trunk 100 and emulates effect of shaking the head.
In some embodiments, head assembly 300 includes the 4th steering engine 305, steering engine mounting base 306 and head skeleton
302, the 4th steering engine 305 is fixed on steering wheel 204 by steering engine mounting base 306, and head skeleton 302 is fixed on the 4th steering engine 305
Output shaft 305a on；4th steering engine 305 swing up and down for drive head skeleton 302 relative to bionic animal trunk 100 and
Head skeleton 302 is set to do nodding action.Specifically, steering engine mounting base 306 includes first clamping plate 306a, second clamping plate 306b and company
Fishplate bar 306c, first clamping plate 306a and second clamping plate 306b are arranged in parallel in the both ends of connecting plate 306c, and in first clamping plate
Between 306a and second clamping plate 306b formed installation the 4th steering engine 305 space, the 4th steering engine 305 far from output shaft 305a one
Side 305b is fixed between first clamping plate 306a and second clamping plate 306b.Connecting plate 306c is fixedly connected with steering wheel 204,
When three steering engines 203 rotate steering wheel 204, steering engine mounting base 306 drives the 4th steering engine 305 to rotate around the output shaft of third steering engine 203,
And then 305 drive head skeleton 302 of the 4th steering engine is cooperated to swing up and down movement, head assembly 300 can be relative to bionic animal
The action that trunk 100 shakes the head, nods, so realize head assembly 300 and neck component 200 synchronous coordination movement and
Various postures are presented, so that the headwork for imitating animal is more life-like.
As shown in figure 5, in some embodiments, the 4th steering engine 305 and the setting at an acute angle of steering wheel 204, such as the 4th rudder
Angle ∠ M between machine 305 and steering wheel 204 is 30 °, so that head skeleton 302 deviates the rotation axis of steering wheel 204 and is inclined to remote
Side from bionic animal trunk 100, closer to the neck construction of artificial animal.
In some embodiments, there are head skeleton 302 frame body 302a and two ear 302b, two ear 302b to set respectively
In the two sides of frame body 302a, to connect the output shaft 305a of the 4th steering engine 305.Specifically, the output shaft 305a of the 4th steering engine 305
It is socketed with connecting rod 307, connecting rod 307 is fixed therein on an ear 302b, and then when the rotation of the 4th steering engine 305, drives head bone
Frame 302 is swung.It, can also be with it should be noted that head skeleton 302 can be the integral structure as made of plate cutting and bending
It is to there are multiple components to be connected with each other, this is not restricted；Wherein frame body 302a can be adapted to according to the shape of artificial animal
Property is arranged to certain shape or structure, and this is no longer going to repeat them.
In some embodiments, head assembly 300 further includes eye mould group, and eye mould group includes LED lamp bead, photoelectric transfer
At least one of sensor and camera.It should be understood that eye mould group is fixed on head skeleton 302 by mounting plate 304,
Specifically, eye mould group is fixed on frame body 302a by mounting plate 304.As shown in Figure 3, Figure 5 and Figure 6, eye module includes
The situation of LED lamp bead 303, LED lamp bead 303 are mounted on mounting plate 304, and are located at are adapted with artificial animal body accordingly
Eye locations.It should be noted that passing through photoelectric sensor when eye mould group includes photoelectric sensor and/or camera
And/or the photoelectric sensing information and image information of camera acquisition can be used as limbs component 400, head assembly 300 and neck
The reference that component 200 acts carries out avoiding barrier, adjusts athletic posture or carries out the simulation such as climbing, so that machine emulated dynamic
Object can adjust motion profile and posture according to environment, keep simulated effect more true to nature.
It should be understood that in some embodiments, as shown in Fig. 2, mechanical bionic animal further include neck shell 201,
Head shell 301 and the artificial animal tail 500 on bionic animal trunk 100；Neck shell 201 is coated on neck group
On part 200, head shell 301 is coated on head assembly 300.Make emulated animal that there is genuiner shape, improves emulation
The ornamental value of animal, to obtain more true experience.In present embodiment, it is equipped at eye mould group on head shell 301
Be open 301a, so that eye mould group can form the eye of artificial animal by opening 301a.
As shown in connection with fig. 3, in some embodiments, bionical biological trunk includes trunk bottom plate 103, trunk side plate 105
And trunk shell, trunk side plate 105 are edge-on in the one end of trunk bottom plate 103 far from neck component 200, trunk bottom plate 103, trunk
Side plate 105 and trunk shell are enclosed cavity, and battery 104 and circuit board are provided in cavity.Wherein, circuit board includes installation
Control panel 109 on trunk bottom plate 103 and the terminal plate 107 positioned at emulation biological trunk back, terminal plate 107 are equipped with
Multiple interfaces 108, in order to each component automatically controlled port be connected, improve detachability, and can by distinct interface 108 into
Row multiple functions are expanded, so that machine emulated animal can carry out the imitation of many animals posture.In the present embodiment, trunk
The top of side plate 105 opens up card slot 106, is fixed on bionic animal trunk so that the card of root 501 of artificial animal tail 500 is set
On 100.Trunk shell may include upper housing 101 and lower case 102, and upper housing 101 and lower case 102 snap onto trunk respectively
Above and below bottom plate 103, the shell being provided separately is easily installed, and can be directed to different artificial animal quick-replaceables,
To realize the profile simulation effect of different animals.
It should be noted that in above embodiment, limbs component 400 and neck component 200 and artificial animal trunk
Connection, can be installed accordingly according to the structure of artificial animal trunk；Such as limbs component 400 and neck component 200 are divided
It is not installed on the lower surface and upper surface of trunk bottom plate 103, specifically, the first steering engine 410 is solid by the first steering engine mounting base 430
It is scheduled on the lower surface of trunk bottom plate 103, third steering engine 203 is fixed on the upper surface of trunk bottom plate 103 by mounting rack 202.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. it is a kind of machinery bionic animal, including bionic animal trunk, neck component, head assembly and with the bionic animal body
Do adaptable limbs component；The head assembly is connected by the neck component with the bionic animal trunk；It is described
Limbs component is symmetrically disposed on the bionic animal trunk, which is characterized in that the limbs component includes thigh skeleton, shank
Skeleton, sufficient frame, the first steering engine and the second steering engine, one end of the thigh skeleton pass through first steering engine and the bionic animal
Trunk rotation connection, one end of the shank skeleton is rotated by the other end of second steering engine and the thigh skeleton to be connected
It connects, the other end of the shank skeleton is fixedly connected with the sufficient frame；First steering engine is for driving the thigh skeleton phase
For the bionic animal trunk swing, second steering engine is for driving the shank skeleton relative to the thigh
Frame swing, so that the limbs component completes limb action.
2. machinery bionic animal according to claim 1, which is characterized in that the limbs component further includes the first steering engine peace
Dress seat and the second steering engine mounting base, first steering engine are fixed on the bionic animal trunk by the first steering engine mounting base
Bottom, second steering engine is fixed on the thigh skeleton close to the shank skeleton by the second steering engine mounting base
One end.
3. machinery bionic animal according to claim 1, which is characterized in that first steering engine has the first output shaft,
First output shaft is fixedly connected with the thigh skeleton；Second steering engine has the second output shaft, second output
Axis is fixedly connected with the shank skeleton.
4. machinery bionic animal according to claim 3, which is characterized in that the limbs component further includes the first linking arm
With the second linking arm；The both ends of first linking arm are fixedly linked with first output shaft and the thigh skeleton respectively；
The both ends of second linking arm are fixedly linked with second output shaft and the shank skeleton respectively.
5. machinery bionic animal according to claim 1, which is characterized in that the neck component includes third steering engine, rudder
Disk；The neck location of the bionic animal trunk is arranged in the third steering engine, and the steering wheel is fixed on the third steering engine
On output shaft, the head assembly is set on the steering wheel；The third steering engine is for driving the steering wheel relative to described
Bionic animal trunk rotates and the head assembly is made to do head shaking movement.
6. machinery bionic animal according to claim 5, which is characterized in that the head assembly includes the 4th steering engine, rudder
Machine mounting base and head skeleton, the 4th steering engine are fixed on the steering wheel by the steering engine mounting base, the head
Skeleton is fixed on the output shaft of the 4th steering engine；4th steering engine is for driving the head skeleton relative to described imitative
Lively object trunk swings up and down and the head skeleton is made to do nodding action.
7. machinery bionic animal according to claim 6, which is characterized in that the 4th steering engine and the steering wheel are at an acute angle
Setting, so that the head skeleton deviates the rotation axis of the steering wheel and is inclined to the side far from the bionic animal trunk.
8. machinery bionic animal according to claim 1, which is characterized in that the head assembly further includes eye mould group,
The eye mould group includes at least one of LED lamp bead, photoelectric sensor and camera.
9. machinery bionic animal according to claim 8, which is characterized in that the machinery bionic animal further includes neck shell
Body, head shell and the artificial animal tail on the bionic animal trunk；The neck shell is coated on the neck
On parts, the head shell is coated on the head assembly, is equipped at the eye mould group on the head shell
Opening.
10. -9 described in any item mechanical bionic animals according to claim 1, which is characterized in that the bionical biological trunk packet
Include trunk bottom plate, trunk side plate and trunk shell, edge-on one in the bottom plate far from the neck component of the trunk side plate
End, the trunk bottom plate, the trunk side plate and the trunk shell be enclosed cavity, be provided in the cavity battery and
Circuit board.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710737385.3A CN109420343A (en) | 2017-08-24 | 2017-08-24 | Mechanical bionic animal |
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| CN201710737385.3A CN109420343A (en) | 2017-08-24 | 2017-08-24 | Mechanical bionic animal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110141875A (en) * | 2019-06-19 | 2019-08-20 | 广西本博科技有限公司 | A kind of intelligent bionic animal system and application method |
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