CN111590624A - Bionic walking mechanical animal - Google Patents
Bionic walking mechanical animal Download PDFInfo
- Publication number
- CN111590624A CN111590624A CN202010453402.2A CN202010453402A CN111590624A CN 111590624 A CN111590624 A CN 111590624A CN 202010453402 A CN202010453402 A CN 202010453402A CN 111590624 A CN111590624 A CN 111590624A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- sliding
- grabbing
- plate
- sides
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a bionic walking mechanical animal, and particularly relates to the field of walking robots. According to the invention, the first grabbing plate, the second grabbing plate and the tail mechanism are arranged, meanwhile, the arm mechanism imitates a vacuum adsorption device connected with a plurality of first suckers and second suckers arranged on an octopus tentacle to work for grabbing the obstacle, and the counterweight effect of the integral body mechanism is increased through the tail main driving mechanism.
Description
Technical Field
The invention relates to the field of walking robots, in particular to a bionic walking mechanical animal.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves working efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
Traditional robot is mostly simulation human structure, nevertheless owing to gather in the motion and lack the counter weight structure, rocks easily appear walking in rugged road section, influences the motion walking process of mechanical biology to lack frictional force and atress mechanism during arm transport material, the satisfying operation needs that can not be fine.
Disclosure of Invention
In order to overcome the above defects in the prior art, the embodiment of the present invention provides a bionic walking mechanical animal, and the technical problems to be solved by the present invention are: lack counter weight structure at the motion summary, rock easily to appear in rugged road section walking, influence mechanical biology's motion walking process to lack the problem of frictional force and atress mechanism when the arm carried the material.
In order to achieve the purpose, the invention provides the following technical scheme: a bionic walking mechanical animal comprises a trunk mechanism, wherein the top of the trunk mechanism is connected with a head body in a transmission way, the two sides of the head body are fixedly connected with a sound receiving mechanism, one side of the head body is connected with an infrared camera and a high-definition camera, the two sides of the trunk mechanism are connected with a first driving mechanism, the first driving mechanism is connected with an arm mechanism, one side of the arm mechanism is fixedly connected with a fixed seat, the two sides of the inner cavity of the fixed seat are respectively provided with a chute, a slide block is connected in the chute in a sliding way, a slide plate is fixedly connected between the slide blocks at the two sides, one side of the slide plate is fixedly connected with a telescopic rod, the other end of the telescopic rod is fixedly connected with one side of the inner cavity of the fixed seat, the outer side wall of the telescopic rod is, the other end of the connecting rod is fixedly connected with a rotating shaft, a bearing is sleeved on the outer side wall of the rotating shaft, a connecting block is embedded in one side of the bearing, a first hinge mechanism is arranged on one side of the connecting block, the connecting block is hinged to a first grabbing disc through the first hinge mechanism, a plurality of first suckers are arranged at the bottom of the first grabbing disc, a second hinge mechanism is arranged on one side of the first grabbing disc, the first grabbing disc is hinged to a second grabbing disc through the second hinge mechanism, and a plurality of second suckers are arranged at the bottom of the second grabbing disc;
the bottom of the trunk mechanism is provided with a second driving mechanism which is hinged with a leg connecting mechanism, the leg connecting mechanism is provided with a third driving mechanism, the bottom of the leg connecting mechanism is connected with a hydraulic telescopic mechanism, a damping seat is embedded at the bottom of the trunk mechanism, a damping device is fixedly connected at the top of the inner cavity of the damping seat, the bottom of the damper is fixedly connected with a sliding rod, the outer side wall of the sliding rod is sleeved with a sliding sleeve, the outer side wall of the sliding sleeve is embedded with a fixed plate, the two sides of the fixed plate are fixedly connected with the two sides of the inner cavity of the shock absorption seat, the bottom ends of the sliding rods and the hydraulic telescopic rod mechanism are both fixedly connected with a crawler traveling mechanism, one side of the trunk mechanism is provided with a tail main driving mechanism, one side of the tail main driving mechanism is hinged with a tail mechanism, a plurality of direction adjusting motors are arranged between the tail mechanisms, and the tail end of the tail mechanism is fixedly connected with a tail camera.
The infrared camera and the high-definition camera can collect road surface information as the central processing unit, after the central processing unit analyzes and judges road conditions in real time, the second driving mechanism and the third driving mechanism adjust the rotation of the leg connecting mechanism to adjust the angle of the trunk mechanism, simultaneously the tail main driving mechanism adjusts the tail counterweight angle according to the pitching angle of the trunk mechanism, simultaneously the steering motor can adjust the orientation of the multi-section tail part through rotation, after the angle adjustment, the crawler walking structure works to drive the trunk mechanism and the leg connecting mechanism to move forward, when an obstacle exists at the front, the orientation of the leg connecting mechanism can be adjusted through the hydraulic telescopic rod structure to span, simultaneously the arm mechanism can adjust the positions of the first grabbing disc and the second grabbing disc through the rotating shaft, the first hinging mechanism and the second hinging mechanism, when the first grabbing disc and the second grabbing disc are attached to the obstacle, the work of the vacuum adsorption device that a plurality of first sucking discs and second sucking disc that the imitative octopus tentacle of mould set up are connected snatchs the barrier, and increases whole truck mechanism counter weight effect through afterbody main drive mechanism to can move the barrier fast or snatch the transfer thing, improve overall movement stability, effectively satisfy the user demand.
In a preferred embodiment, the first suction cup and the second suction cup are connected with a vacuum suction device, so that the suction effect after grabbing is ensured.
In a preferred embodiment, both sides of the top of the fixing plate are fixedly connected with second springs, and the second springs are fixedly connected with the bottom of the inner cavity of the shock absorption seat, so that the shock resistance is further improved.
In a preferred embodiment, the hydraulic telescopic rod mechanism is connected with the internal hydraulic cylinder through an oil way, so that the orientation position of the trunk is conveniently adjusted.
In a preferred embodiment, the first driving mechanism, the second driving mechanism and the third driving mechanism are all hydraulic driving mechanisms, so that the overhaul and maintenance are convenient.
In a preferred embodiment, the first suction cup and the second suction cup are both vacuum suction cups, so that the suction capacity is ensured.
In a preferred embodiment, the cross-sectional shapes of the sliding rod and the sliding sleeve are circular, so that the sliding stability is improved.
In a preferred embodiment, the first gripping disk and the second gripping disk are both plastic disks, so that the attaching effect is ensured.
1. The invention is provided with the first grabbing plate, the second grabbing plate and the tail mechanism, the infrared camera and the high-definition camera can collect road surface information, the second driving mechanism and the third driving mechanism are used for carrying out angle adjustment on the trunk mechanism, meanwhile, the tail main driving mechanism adjusts the tail counterweight angle, the crawler walking structure works to drive the trunk mechanism and the leg connecting mechanism to move forward, and the leg connecting mechanism is adjusted to move towards the direction to span through the hydraulic telescopic rod structure, meanwhile, the arm mechanism imitates a plurality of vacuum adsorption devices connected with a first sucker and a second sucker arranged on an octopus tentacle to work and grab obstacles, and the counterweight effect of the integral trunk mechanism is increased through the tail main driving mechanism, compared with the prior art, the device can quickly move the barrier or grab the transferred object, improve the overall movement stability and effectively meet the use requirement;
2. according to the invention, the sliding rod, the sliding sleeve and the damper are arranged, the track walking mechanism slides in the sliding sleeve through the bottom sliding rod and is connected with the damper, when the bottom track walking mechanism moves to generate vibration, the sliding rod is stressed to move to extrude the damper and the second springs on two sides, the damper can effectively absorb the vibration of the track walking mechanism, the damage caused by the vibration transmitted to the trunk mechanism is avoided, and the use requirement is met.
Drawings
Fig. 1 is a schematic front view of the present invention.
Fig. 2 is an enlarged view of a portion a of fig. 1 according to the present invention.
FIG. 3 is an enlarged view of portion B of FIG. 1 according to the present invention.
Fig. 4 is an enlarged view of the portion C of fig. 1 according to the present invention.
Fig. 5 is a schematic perspective view of a first catch tray according to the present invention.
Fig. 6 is a perspective view of the fixing base of the present invention.
Fig. 7 is a schematic perspective view of the tail mechanism of the present invention.
The reference signs are: the device comprises a body mechanism 1, a head body 2, a sound collecting mechanism 3, an infrared camera 4, a high-definition camera 5, a first driving mechanism 6, a tail main driving mechanism 7, an arm mechanism 8, a fixed seat 9, a sliding chute 10, a sliding block 11, a sliding plate 12, a telescopic rod 13, a first spring 14, a connecting rod 15, a rotating shaft 16, a bearing 17, a connecting block 18, a first hinging mechanism 19, a first grabbing plate 20, a first sucking disc 21, a second hinging mechanism 22, a second grabbing plate 23, a second sucking disc 24, a second driving mechanism 25, a third driving mechanism 26, a leg connecting mechanism 27, a hydraulic telescopic mechanism 28, a crawler belt walking mechanism 29, a shock absorption seat 30, a damping device 31, a sliding rod 32, a sliding sleeve 33, a second spring 34, a fixed plate 35, a direction adjusting motor 36, a tail mechanism 37 and a tail camera 38.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a bionic walking mechanical animal, which comprises a trunk mechanism 1, wherein the top of the trunk mechanism 1 is in transmission connection with a head body 2, both sides of the head body 2 are fixedly connected with a sound receiving mechanism 3, one side of the head body 2 is connected with an infrared camera 4 and a high-definition camera 5, both sides of the trunk mechanism 1 are connected with first driving mechanisms 6, the first driving mechanisms 6 are connected with arm mechanisms 8, one side of each arm mechanism 8 is fixedly connected with a fixed seat 9, both sides of the inner cavity of the fixed seat 9 are provided with sliding grooves 10, sliding blocks 11 are connected in the sliding grooves 10 in a sliding manner, a sliding plate 12 is fixedly connected between the sliding blocks 11 at both sides, one side of the sliding plate 12 is fixedly connected with a telescopic rod 13, the other end of the telescopic rod 13 is fixedly connected with one side of the inner cavity, the two ends of the first spring 14 are fixedly connected with corresponding positions of the inner cavities of the sliding plate 12 and the fixing seat 9 respectively, the other side of the sliding plate 12 is fixedly connected with a connecting rod 15, the other end of the connecting rod 15 is fixedly connected with a rotating shaft 16, a bearing 17 is sleeved on the outer side wall of the rotating shaft 16, a connecting block 18 is embedded in one side of the bearing 17, a first hinge mechanism 19 is arranged on one side of the connecting block 18, the connecting block 18 is hinged to a first grabbing disc 20 through the first hinge mechanism 19, a plurality of first sucking discs 21 are arranged at the bottom of the first grabbing disc 20, a second hinge mechanism 22 is arranged on one side of the first grabbing disc 20, the first grabbing disc 20 is hinged to a second grabbing disc 23 through the second hinge mechanism 22, and a plurality of second sucking discs 24 are arranged;
the bottom of the body mechanism 1 is provided with a second driving mechanism 25, the second driving mechanism 25 is hinged with a leg connecting mechanism 27, the leg connecting mechanism 27 is provided with a third driving mechanism 26, the bottom of the leg connecting mechanism 27 is connected with a hydraulic telescopic mechanism 28, the bottom of the body mechanism 1 is embedded with a shock absorption seat 30, the top of an inner cavity of the shock absorption seat 30 is fixedly connected with a damping device 31, the bottom of the damping device 31 is fixedly connected with a slide bar 32, the outer side wall of the slide bar 32 is sleeved with a slide sleeve 33, the outer side wall of the slide sleeve 33 is embedded with a fixing plate 35, two sides of the fixing plate 35 are fixedly connected with two sides of the inner cavity of the shock absorption seat 30, the bottom of the slide bar 32 and the bottom of the hydraulic telescopic rod 13 mechanism are both fixedly connected with a crawler walking mechanism 29, one side of the body mechanism 1 is, a plurality of direction adjusting motors 36 are arranged between the tail mechanisms 37, and tail cameras 38 are fixedly connected to the tail ends of the tail mechanisms 37.
The first sucker 21 and the second sucker 24 are connected with a vacuum adsorption device, the hydraulic telescopic rod 13 mechanism is connected with an internal hydraulic cylinder through an oil way, the first driving mechanism 6, the second driving mechanism 25 and the third driving mechanism 26 are hydraulic driving mechanisms, the first sucker 21 and the second sucker 24 are vacuum suckers, the cross sections of the sliding rod 32 and the sliding sleeve 33 are circular, and the first grabbing disc 20 and the second grabbing disc 23 are plastic discs.
As shown in fig. 1 to 7, the embodiment specifically is: the infrared camera 4 and the high-definition camera 5 can collect road information as a central processing unit, after the central processing unit analyzes and judges road conditions in real time, the leg connecting mechanism 27 is adjusted to rotate through the second driving mechanism 25 and the third driving mechanism 26 to adjust the angle of the trunk mechanism 1, the tail main driving mechanism 7 adjusts the tail counterweight angle according to the pitch angle of the trunk mechanism 1, the steering motor 36 can adjust the orientation of multiple sections of tails through rotation, after the angle adjustment, the crawler walking structure works to drive the trunk mechanism 1 and the leg connecting mechanism 27 to move forward, when obstacles exist in the front, the orientation of the leg connecting mechanism 27 can be adjusted through the hydraulic telescopic rod 13 structure to span, and the arm mechanism 8 can adjust the positions of the first grabbing disk 20 and the second grabbing disk 23 through the rotating shaft 16, the first hinging mechanism 19 and the second hinging mechanism 22, when first grabbing dish 20 and second grabbing dish 23 and barrier laminating, the work of the vacuum adsorption device that a plurality of first sucking discs 21 and second sucking disc 24 that imitate octopus tentacle set up are connected snatchs the barrier, and increases whole truck mechanism 1 counter weight effect through afterbody main drive mechanism 7 to can the quick travel barrier or snatch the transfer thing, improve the overall movement stability, effectively satisfy the user demand.
As shown in fig. 1, the embodiment specifically includes: the crawler traveling mechanism 29 slides in the sliding sleeve 33 through the bottom sliding rod 32 and is connected with the damper 31, when the bottom crawler traveling mechanism 29 vibrates, the sliding rod 32 is stressed to move and extrude the damper 31 and the second springs 34 on the two sides, the damper 31 can effectively absorb the vibration of the crawler traveling mechanism 29, the damage caused by the vibration transmitted to the trunk mechanism 1 is avoided, and the use requirement is met.
The working principle of the invention is as follows:
referring to the attached drawings 1-7 of the specification, an infrared camera 4 and a high-definition camera 5 can acquire road information as a central processing unit, a second driving mechanism 25 and a third driving mechanism 26 adjust a leg connecting mechanism 27 to rotate so as to adjust the angle of a trunk mechanism 1, a tail main driving mechanism 7 adjusts the tail counterweight angle according to the pitch angle of the trunk mechanism 1, a direction adjusting motor 36 can adjust the orientation of a plurality of sections of tails through rotation, after the angle adjustment, a crawler walking structure works to drive the trunk mechanism 1 and the leg connecting mechanism 27 to move forward, when an obstacle exists in the front, the leg connecting mechanism 27 can be adjusted through a hydraulic telescopic rod 13 structure to span, and an arm mechanism 8 can adjust the positions of a first grabbing disk 20 and a second grabbing disk 23 through a rotating shaft 16, a first hinging mechanism 19 and a second hinging mechanism 22, when the first grabbing plate 20 and the second grabbing plate 23 are attached to the obstacle, a plurality of vacuum adsorption devices connected with the first sucking discs 21 and the second sucking discs 24 and arranged by imitating octopus tentacles work to grab the obstacle;
referring to the attached drawing 1 of the specification, the crawler belt walking mechanism 29 slides in the sliding sleeve 33 through the bottom sliding rod 32 and is connected with the damper 31, when the bottom crawler belt walking mechanism 29 vibrates, the sliding rod 32 is stressed to move and extrude the damper 31 and the second springs 34 on two sides, the damper 31 can effectively absorb the vibration of the crawler belt walking mechanism 29, the damage caused by the vibration transmitted to the trunk mechanism 1 is avoided, and the use requirement is met.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are related, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (8)
1. A bionic walking mechanical animal comprises a trunk mechanism (1), and is characterized in that: the sound receiving mechanism is characterized in that the top of the trunk mechanism (1) is connected with a head body (2) in a transmission manner, the two sides of the head body (2) are fixedly connected with a sound receiving mechanism (3), one side of the head body (2) is connected with an infrared camera (4) and a high-definition camera (5), the two sides of the trunk mechanism (1) are connected with a first driving mechanism (6), the first driving mechanism (6) is connected with an arm mechanism (8), one side of the arm mechanism (8) is fixedly connected with a fixing seat (9), the two sides of an inner cavity of the fixing seat (9) are respectively provided with a sliding groove (10), the sliding groove (10) is internally provided with a sliding block (11), a sliding plate (12) is fixedly connected between the sliding blocks (11) at two sides, one side of the sliding plate (12) is fixedly connected with a telescopic rod (13), the other end of the telescopic rod, two ends of the first spring (14) are respectively and fixedly connected with the corresponding positions of the inner cavities of the sliding plate (12) and the fixed seat (9), the other side of the sliding plate (12) is fixedly connected with a connecting rod (15), the other end of the connecting rod (15) is fixedly connected with a rotating shaft (16), a bearing (17) is sleeved on the outer side wall of the rotating shaft (16), a connecting block (18) is embedded on one side of the bearing (17), a first hinge mechanism (19) is arranged on one side of the connecting block (18), the connecting block (18) is hinged with a first grabbing disc (20) through the first hinge mechanism (19), a plurality of first suckers (21) are arranged at the bottom of the first grabbing plate (20), a second hinge mechanism (22) is arranged at one side of the first grabbing plate (20), the first grabbing plate (20) is hinged with a second grabbing plate (23) through a second hinge mechanism (22), and a plurality of second sucking discs (24) are arranged at the bottom of the second grabbing plate (23);
the utility model discloses a damping device for the automobile trunk, including truck mechanism (1), truck mechanism (1) bottom is equipped with second actuating mechanism (25), second actuating mechanism (25) articulates there is shank coupling mechanism (27), shank coupling mechanism (27) are equipped with third actuating mechanism (26), shank coupling mechanism (27) bottom is connected with hydraulic telescoping mechanism (28), truck mechanism (1) bottom is inlayed and is equipped with cushion socket (30), cushion socket (30) inner chamber top fixedly connected with damper ware (31), damper ware (31) bottom fixedly connected with slide bar (32), slide bar (32) lateral wall cover is equipped with sliding sleeve (33), sliding sleeve (33) lateral wall is inlayed and is equipped with fixed plate (35), fixed plate (35) both sides and cushion socket (30) inner chamber both sides fixed connection, slide bar (32) bottom and hydraulic telescoping rod (13) mechanism bottom equal fixedly connected with track running gear (29), truck mechanism (1) one side is equipped with afterbody main drive mechanism (7), afterbody main drive mechanism (7) one side articulates there is afterbody mechanism (37), be equipped with a plurality of accent between afterbody mechanism (37) and turn to motor (36), afterbody mechanism (37) terminal fixedly connected with afterbody camera (38).
2. The bionic walking mechanical animal as claimed in claim 1, wherein: the first suction cup (21) and the second suction cup (24) are connected with a vacuum adsorption device.
3. The bionic walking mechanical animal as claimed in claim 1, wherein: the two sides of the top of the fixing plate (35) are fixedly connected with second springs (34), and the second springs (34) are fixedly connected with the bottom of the inner cavity of the shock absorption seat (30).
4. The bionic walking mechanical animal as claimed in claim 1, wherein: and the hydraulic telescopic rod (13) mechanism is connected with the internal hydraulic cylinder through an oil way.
5. The bionic walking mechanical animal as claimed in claim 1, wherein: the first driving mechanism (6), the second driving mechanism (25) and the third driving mechanism (26) are all hydraulic driving mechanisms.
6. The bionic walking mechanical animal as claimed in claim 1, wherein: the first sucking disc (21) and the second sucking disc (24) are both vacuum sucking discs.
7. The bionic walking mechanical animal as claimed in claim 1, wherein: the cross section shapes of the sliding rod (32) and the sliding sleeve (33) are both circular.
8. The bionic walking mechanical animal as claimed in claim 1, wherein: the first grabbing disc (20) and the second grabbing disc (23) are both plastic discs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010453402.2A CN111590624B (en) | 2020-05-26 | 2020-05-26 | Bionic walking mechanical animal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010453402.2A CN111590624B (en) | 2020-05-26 | 2020-05-26 | Bionic walking mechanical animal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111590624A true CN111590624A (en) | 2020-08-28 |
| CN111590624B CN111590624B (en) | 2022-11-15 |
Family
ID=72188750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010453402.2A Active CN111590624B (en) | 2020-05-26 | 2020-05-26 | Bionic walking mechanical animal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111590624B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61271176A (en) * | 1985-05-28 | 1986-12-01 | Mitsubishi Electric Corp | Mobile machine |
| CN102795275A (en) * | 2012-08-22 | 2012-11-28 | 中科宇博（北京）文化有限公司 | Bionic mechanical dinosaur |
| CN105599821A (en) * | 2016-01-06 | 2016-05-25 | 山东优宝特智能机器人有限公司 | Electric driven biomimetic four-leg robot with environment sensing ability and control method |
| US20190091592A1 (en) * | 2017-09-22 | 2019-03-28 | Dash Robotics, Inc. | Physical device simulating the appearance and movement of a two-legged creature |
| CN110104088A (en) * | 2019-04-28 | 2019-08-09 | 北京理工大学 | Machine mouse leg foot structure based on micro- steering engine |
-
2020
- 2020-05-26 CN CN202010453402.2A patent/CN111590624B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61271176A (en) * | 1985-05-28 | 1986-12-01 | Mitsubishi Electric Corp | Mobile machine |
| CN102795275A (en) * | 2012-08-22 | 2012-11-28 | 中科宇博（北京）文化有限公司 | Bionic mechanical dinosaur |
| CN105599821A (en) * | 2016-01-06 | 2016-05-25 | 山东优宝特智能机器人有限公司 | Electric driven biomimetic four-leg robot with environment sensing ability and control method |
| US20190091592A1 (en) * | 2017-09-22 | 2019-03-28 | Dash Robotics, Inc. | Physical device simulating the appearance and movement of a two-legged creature |
| CN110104088A (en) * | 2019-04-28 | 2019-08-09 | 北京理工大学 | Machine mouse leg foot structure based on micro- steering engine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111590624B (en) | 2022-11-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108454718B (en) | Crawler-type passive self-adaptive robot | |
| CN109773742B (en) | Service robot with motion control device | |
| CN106476550A (en) | A kind of wheeled robot chassis | |
| CN106275113B (en) | The joint crawler belt mobile platform mutually compound with wheel and the fire-fighting robot with it | |
| CN205469357U (en) | A multi -functional imitative ant robot for crossing over obstacle | |
| CN107953937A (en) | A kind of structure-improved of stride combined mobile robot running gear | |
| CN104443093A (en) | Unmanned ladder climbing robot | |
| CN104527835B (en) | A kind of wheel changeable robot of leg pattern | |
| CN111976859A (en) | UPS-based parallel-connection wheel-foot mobile robot | |
| CN105216899A (en) | Barrier-surpassing robot | |
| CN102581836A (en) | Mobile robot coordinately driven by multifunctional mechanical arms and wheels | |
| CN112298397B (en) | Wheel-walking robot foot end mechanism suitable for all-terrain road conditions | |
| CN103231748A (en) | Inside and outside reinforced structural type configuration-changeable obstacle crossing robot | |
| CN111590624B (en) | Bionic walking mechanical animal | |
| CN107953938B (en) | Rocker arm type suspension mechanism fixedly connected with walking box body through three points | |
| CN206031544U (en) | Wheel -track transform is removed chassis and is had its fire control detection robot | |
| CN109048844B (en) | Mechanical arm structure and ball picking robot constructed by same | |
| CN113814996B (en) | Intelligent robot | |
| CN115583296A (en) | Self-stabilizing omnidirectional mobile robot and mobile device | |
| CN111086570B (en) | Tetrahedral wheel type robot | |
| CN212637729U (en) | Four-foot crawling robot | |
| CN104942788A (en) | Multifunctional mechanical-arm and wheel cooperated traction mobile robot | |
| CN209938777U (en) | Wheel axle stop gear and robot | |
| CN220500844U (en) | Multifunctional all-terrain carrier platform | |
| CN204844151U (en) | Thing mechanical structure is got to clamping |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |