CN114715304B - Polymorphic automatic bionic dog - Google Patents
Polymorphic automatic bionic dog Download PDFInfo
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- CN114715304B CN114715304B CN202210286925.1A CN202210286925A CN114715304B CN 114715304 B CN114715304 B CN 114715304B CN 202210286925 A CN202210286925 A CN 202210286925A CN 114715304 B CN114715304 B CN 114715304B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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Abstract
The invention relates to a polymorphic automatic bionic dog, which comprises a body, 3 rotating connecting rods, 3 mechanical feet, 3 height adjusting mechanisms and a motion driving mechanism, wherein each rotating connecting rod is rotatably arranged on the body, each mechanical foot is fixedly arranged on the corresponding rotating connecting rod, the 3 mechanical feet are respectively a left side foot, a right side foot and a rear side foot, each height adjusting mechanism comprises an adjusting cylinder, a connecting arm and a rotating arm, each adjusting cylinder is fixedly arranged on the body, the axial direction of an output shaft of the adjusting cylinder is perpendicular to the axial direction of the rotating connecting rod, each rotating arm is fixedly arranged on the corresponding rotating connecting rod, each connecting arm is respectively hinged with the output shaft of the adjusting cylinder and the rotating arm, each mechanical foot is provided with a roller, and the motion driving mechanism is used for driving the roller corresponding to the rear side foot to rotate. By adopting the scheme, the polymorphic automatic bionic dog is simple in structure and capable of realizing polymorphic conversion.
Description
Technical Field
The invention relates to a polymorphic automatic bionic dog.
Background
The machine which is designed and manufactured by imitating the form, structure and control principle of organisms has more centralized functions, higher efficiency and biological characteristics. The subject of the research on bionic machinery is called bionic mechanics, which is an edge subject formed by the interpenetration and combination of the subjects of biology, biomechanics, medicine, mechanical engineering, control theory, electronic technology and the like in the end of the 60 th century. The main fields of bionic mechanical research are biomechanics, control bodies and robots. By combining the superior structure and physical characteristics of the possible application in biological systems, people can obtain a bionic machine with certain performance more perfect than a system formed in nature.
The bionic dog is a mature bionic organism developed in the existing bionic organisms and used for executing various commands, but the existing bionic dog generally has a complex structure and is too high in production cost.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a polymorphic automatic bionic dog which is simple in structure and can realize polymorphic transformation.
In order to realize the purpose, the invention provides the following technical scheme: the height adjusting mechanism comprises an adjusting cylinder, connecting arms and rotating arms, wherein the adjusting cylinder is fixedly arranged on the body, the axial direction of an output shaft of the adjusting cylinder is perpendicular to the axial direction of the rotating connecting rods, the rotating arms are fixedly arranged on the corresponding rotating connecting rods, the connecting arms are respectively hinged with the output shaft of the adjusting cylinder and the rotating arms, rollers are arranged on the mechanical feet, and the motion driving mechanism is used for driving the rollers corresponding to the rear side feet to rotate.
By adopting the technical scheme, 1, the simplest triangular support surface with better stability is formed by only 3 mechanical feet to simplify the first heavy structure; 2. each mechanical foot realizes movement in a roller rolling mode without controlling the mechanical foot to carry out complicated foot lifting and foot lowering, and the simplification of a second heavy structure is realized; 3.3 mechanical feet are respectively a left side foot, a right side foot and a rear side foot which are bilaterally symmetrical, and the rear side foot is positioned between the left side foot and the right side foot, and in addition, the motion driving mechanism only drives the rear side foot to correspond to the roller, so that the driving control bionic dog has higher advancing stability, and the motion left and right deflection is prevented; 4. rotate the mechanical foot through rotating the connecting rod and install in the health, and height adjusting mechanism adopts actuating cylinder to drive the linking arm in proper order and rotate the connecting rod with rotor arm control and rotate the automatic angular adjustment that realizes mechanical foot and health and change bionic dog's form to realize the more use scenes of polymorphic change adaptation.
The invention is further configured to: each mechanical foot comprises an upper half body, a lower half body and mounting assemblies, each upper half body is connected with a corresponding rotating connecting rod, each idler wheel is mounted on the corresponding lower half body, each upper half body is provided with a cylindrical jack along the left-right direction, each lower half body is provided with a cylindrical plug-in piece inserted into the cylindrical jack, the periphery of each cylindrical plug-in piece is circumferentially provided with a plurality of anti-rotating clamping teeth, each cylindrical jack is internally provided with an anti-rotating clamping groove corresponding to the anti-rotating clamping teeth, and each mounting assembly is used for fixedly connecting the upper half body with the lower half body.
Through adopting above-mentioned technical scheme, the machinery is sufficient again through being divided into half body and lower half body, and half body and lower half body adjustable relative angle down to realize being connected through the cooperation of cylinder jack with the cylinder plug-in components, and guarantee circumferential stability through the joint of preventing changeing the draw-in groove and preventing changeing the latch, later, effectual fixed mounting is carried out to rethread installation component and is used.
The invention is further configured to: each of the mounting assemblies includes a mounting bolt and a mounting nut.
Through adopting above-mentioned technical scheme, simple fixed mounting is realized to the installation component adoption construction bolt and mounting nut.
The invention is further configured to: each connecting arm comprises a first length section body, a first mounting block and a first assembly, each rotating arm comprises a second length section body, a second mounting block and a second assembly, a plurality of first clamping grooves are formed in the first length section body in a arrayed mode along the length direction, each first mounting block is provided with a first clamping tooth used for being inserted into the first clamping groove, each first assembly is used for fixedly mounting the first length section body and the first mounting block, a plurality of second clamping grooves are formed in the second length section body in an arrayed mode along the length direction, each second mounting block is provided with a second clamping tooth used for being inserted into the second clamping groove, each second assembly is used for fixedly mounting the second length section body and the second mounting block, and each first mounting block is hinged to the second mounting block.
Through adopting above-mentioned technical scheme, but the linking arm adopts the first length section body and the first installation piece realization of relative position adjustment to carry out the adjustment of relative position, and in the same way, but the rotor arm adopts the second length section body and the second installation piece realization of relative position adjustment to carry out the adjustment of relative position, constitute the linking arm of different length, the rotor arm, consequently, under the definite condition of adjustment cylinder motion range, the linking arm of different length, the rotor arm combination can carry out the rotation of the relative health of the arm of different scopes, thereby satisfy more extensive application.
The invention is further configured to: each first assembly comprises a first bolt and a first nut, each first length section body is provided with a first long hole in a penetrating mode along the vertical length direction, the length direction of each first long hole extends along the length direction of each first length section body, each first installation block is provided with a first through hole in a penetrating mode along the length direction perpendicular to the first length section bodies, each first bolt is provided with a first long hole and a first through hole in a penetrating mode respectively, each first nut is in threaded connection with the first bolt, the first long holes and the first through holes are located between the head portion of the first bolt and the first nut, each second assembly comprises a second bolt and a second nut, each second length section body is provided with a second long hole in a penetrating mode along the vertical length direction, the length direction of the second long holes extends along the length direction of the second length section bodies, each second installation block is provided with second through holes in a penetrating mode along the length direction perpendicular to the first length section bodies, each second bolt is provided with a second through hole in a penetrating mode, each second nut is in threaded connection with the second bolt, and the head portion of the second through holes are located between the second bolt and the head portion of the second nut.
Through adopting above-mentioned technical scheme, first subassembly adopts first bolt to wear to establish first perforation and first slot hole to with first nut threaded connection, in the same way, the second subassembly adopts the second bolt to wear to establish second perforation and second slot hole, and with second nut threaded connection, realize high strength, convenient installation, very big simplification the structure.
The invention is further configured to: the body is provided with an internal groove which is positioned on the motion tracks of the upper half body, the lower half body and the rollers corresponding to the rear side feet, and the rear side of the body is provided with a traction handle.
Through adopting above-mentioned technical scheme, the setting of built-in groove for when need not to use bionic dog, in adjusting the built-in groove of entering rear side foot, and the accessible pulls the handle and carries out manual control, light more.
The invention is further configured to: each roller comprises a left extension section, a left bolt, a left spring, a middle installation section, a right extension section, a right bolt and a right spring, the left extension section, the middle installation section and the right extension section are sequentially arranged from left to right, each left spring is arranged between the left extension section and the middle installation section in a compression mode, each left extension section is provided with a left through hole in a penetrating mode along the left-right direction, each middle installation section is provided with a left threaded hole, each left bolt penetrates through the left through hole and is in threaded connection with the left threaded hole, each right spring is arranged between the right extension section and the middle installation section in a compression mode, each right extension section penetrates through the right through hole along the left-right direction, each middle installation section is provided with a right threaded hole, and each right bolt penetrates through the right through hole and is in threaded connection with the right threaded hole.
Through adopting above-mentioned technical scheme, the gyro wheel adopts the left side that can go on about the interval adjustment to extend section, middle installation section and the right side and extend the section and realize using the width about the sight adjustment gyro wheel according to the difference to carry out more efficient adaptation.
The invention is further configured to: the front side and the rear side of the body are both provided with detection radars.
Through adopting above-mentioned technical scheme, both sides detect setting up of radar around the health and can carry out the detection of barrier to make advancing more smooth and easy.
The invention is further configured to: be provided with 2 on the health and carry the handle, 2 carry the handle and be bilateral symmetry and set up in health top both sides.
Through adopting above-mentioned technical scheme, 2 settings that carry the handle in health top for the accessible both hands carry out lifting of bionical dog and realize portablely.
The invention is further configured to: the machine loading position is arranged above the body.
Through adopting above-mentioned technical scheme, the setting of dress machine position above the health for can carry out the installation of different equipment will simulate the specific mission of dog.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is an assembly view of an embodiment of the present invention;
FIG. 2 is an assembly view of an embodiment of the present invention;
FIG. 3 is an assembly view of the rollers, mechanical feet, rotating link and height adjustment structure of the present invention;
FIG. 4 is a cross-sectional view of a mechanical foot according to an embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4;
FIG. 6 is an assembly view and a partial enlarged view of the connecting arm and the rotating arm in accordance with the preferred embodiment of the present invention;
FIG. 7 is a sectional view and a partially enlarged view of a swivel arm in accordance with an embodiment of the present invention;
FIG. 8 is a cross-sectional view and a partially enlarged view of a linking arm in accordance with an embodiment of the present invention;
FIG. 9 is a cross-sectional view of a roller in accordance with an embodiment of the present invention;
fig. 10 is an enlarged view of a in fig. 9.
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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1-3, the invention discloses a polymorphic automatic bionic dog, which comprises a body 1, 3 rotating connecting rods 2, 3 mechanical feet 3, 3 height adjusting mechanisms 4 and a motion driving mechanism 5;
wherein, each rotating connecting rod 2 is rotatably mounted on the body 1 through a bearing and the like, the axial direction of each rotating connecting rod 2 is along the left-right direction, and each mechanical foot 3 is fixedly mounted on the corresponding rotating connecting rod 2 through a key connection and the like;
preferably, the 3 pieces of mechanical feet 3 are a left foot 31, a right foot 32 and a rear foot 33, wherein the left foot 31 and the right foot 32 are symmetrically arranged on two sides of the front side of the body 1, and the rear foot 33 is arranged on the rear side of the body 1 and is located between the left foot 31 and the right foot 32;
in addition, each height adjusting mechanism 4 comprises an adjusting cylinder 41, a connecting arm 42 and a rotating arm 43, each adjusting cylinder 41 is fixedly installed on the body 1, the axial direction of the output shaft of the adjusting cylinder 41 is along the front-back direction, each rotating arm 43 is fixedly installed on the corresponding rotating connecting rod 2 in a key connection mode and the like, and each connecting arm 42 is hinged with the output shaft of the adjusting cylinder 41 and the rotating arm 43;
in addition, each mechanical foot 3 is provided with a roller 6;
in addition, the motion driving mechanism 5 adopts a motor, the motor is fixedly arranged on the rear side foot 33, and the roller 6 corresponding to the rear side foot 33 is arranged on the motor to realize rotation control.
Therefore, 1, only 3 mechanical feet 3 are adopted to form the simplest triangular support surface with better stability to simplify the first heavy structure; 2. each mechanical foot 3 realizes motion in a rolling mode of the roller 6, the mechanical foot 3 does not need to be controlled to carry out complicated foot lifting and foot lowering, and the simplification of a second heavy structure is realized; 3.3 mechanical feet 3 are respectively a left foot 31 and a right foot 32 which are bilaterally symmetrical and a rear foot 33 which is positioned at the rear side and between the left foot 31 and the right foot 32, in addition, the motion driving mechanism 5 only drives the rear foot 33 corresponding to the roller 6, so that the driving control bionic dog has higher traveling stability, and the motion left and right deflection is prevented; 4. the mechanical foot 3 is rotatably installed on the body 1 through the rotating connecting rod 2, and the height adjusting mechanism 4 adopts the adjusting cylinder 41 to sequentially drive the connecting arm 42 and the rotating arm 43 to control the rotating connecting rod 2 to rotate so as to realize the automatic angle adjustment of the mechanical foot 3 and the body 1 to change the form of the bionic dog, so that more use scenes with multi-form change and adaptation can be realized.
As shown in fig. 4 to 5, each of the mechanical feet 3 in the present embodiment includes an upper half body 34, a lower half body 35, and a mounting assembly 36, each of the upper half bodies 34 is connected to a corresponding rotating link 2, each of the rollers 6 is mounted to a corresponding lower half body 35, each of the upper half bodies 34 has a cylindrical insertion hole 341 along a left-right direction, each of the lower half bodies 35 has a cylindrical insertion piece 351 inserted into the cylindrical insertion hole 341, a plurality of anti-rotation latches 352 are circumferentially disposed on an outer periphery of each of the cylindrical insertion pieces 351, and correspondingly, an anti-rotation latch slot 342 corresponding to the anti-rotation latch 352 is disposed in each of the cylindrical insertion holes 341, wherein each of the mounting assemblies 36 is used to fixedly connect the upper half body 34 and the lower half body 35.
Therefore, the mechanical foot 3 is divided into the upper half body 34 and the lower half body 35, the relative angle between the upper half body 34 and the lower half body 35 can be adjusted, the cylindrical plug 341 and the cylindrical plug 351 are matched to realize connection, the anti-rotation clamping groove 342 and the anti-rotation clamping tooth 352 are clamped to ensure the circumferential stability, and then the mounting assembly 36 is used for effective fixed mounting, so that the diversity of the use state is further increased.
Preferably, each of the mounting assemblies 36 in this embodiment includes a mounting bolt and a mounting nut, such that the mounting bolt respectively penetrates through the upper half body 34 and the lower half body 35, and the upper half body 34 and the lower half body 35 are locked in the left-right direction by matching with the mounting nut, so as to ensure the stability of use.
The body 1 in this embodiment is provided with the built-in groove 11, the built-in groove 11 is located on the movement tracks of the upper half body 34, the lower half body 35 and the roller 6 corresponding to the rear side foot 33, and the traction handle 12 is arranged on the rear side of the body 1, so that the built-in groove 11 is arranged, when the bionic dog is not needed, the rear side foot 33 is adjusted into the built-in groove 11, and manual control can be performed through the traction handle 12, and the bionic dog is easier to use.
In addition, the front side and the rear side of the body 1 in the embodiment are both provided with the detection radar 13, so that the obstacles on the front side and the rear side of the body 1 can be detected, and the traveling is smoother.
In addition, the body 1 in the embodiment is provided with 2 carrying handles 14, and the 2 carrying handles 14 are arranged on two sides above the body 1 in a bilateral symmetry manner, so that the bionic dog can be lifted by two hands to be portable.
In addition, a loading position 15 is arranged above the body 1 in the embodiment, so that different devices can be installed to specifically task the bionic dog.
As shown in fig. 6 to 8, each connecting arm 42 in this embodiment includes a first length section body 421, a first mounting block 422, and a first assembly 423, each rotating arm 43 includes a second length section body 431, a second mounting block 432, and a second assembly 433, each first length section body 421 is provided with a plurality of first slots 4211 arranged in a length direction, each first mounting block 422 is provided with a first latch 4221 inserted into the first slot 4211, each first assembly 423 is used for fixedly mounting the first length section body 421 and the first mounting block 422, each second length section body 431 is provided with a plurality of second slots 4311 arranged in a length direction, each second mounting block 432 is provided with a second latch 4321 inserted into the second slots 4311, each second assembly 433 is used for fixedly mounting the second length section body 431 and the second mounting block 432, each first mounting block 422 is hinged to the second mounting block 432, therefore, the connecting arm 42 can realize the adjustment of the relative position by using the first length section 421 and the first mounting block 422 which can be adjusted by the relative position, and similarly, the rotating arm 43 can realize the adjustment of the relative position by using the second length section 431 and the second mounting block 432 which can be adjusted by the relative position, so as to form the connecting arm 42 and the rotating arm 43 with different lengths, and therefore, under the condition that the movement range of the adjusting cylinder 41 is determined, the connecting arm 42 and the rotating arm 43 with different lengths can be combined to rotate the mechanical arm relative to the body 1 in different ranges, so as to meet wider application, in addition, the cooperation of the first clamping groove 4211 and the first clamping tooth 4221 can effectively realize the limit of the first length section 421 and the first mounting block 422 along the length direction of the first length section 421, so as to ensure stability, and similarly, the cooperation of the second clamping groove 4311 and the second clamping tooth 4321 can effectively realize the limit of the second length section 431 and the second mounting block 432 along the second length direction of the second length section 431 and the second mounting block 432 The length direction of the segment body 431 is limited, so that the stability is ensured.
Preferably, each of the first assemblies 423 in this embodiment includes a first bolt and a first nut, each of the first length-segment bodies 421 has a first long hole 4212 penetrating in a vertical length direction, a length direction of the first long hole 4212 extends in the length direction of the first length-segment body 421, each of the first mounting blocks 422 has a first through hole 4222 penetrating in the length direction of the first length-segment body 421, each of the first bolts respectively penetrates the first long hole 4212 and the first through hole 4222, each of the first nuts is in threaded connection with the first bolt, the first long hole 4212 and the first through hole 4222 are both located between a head of the first bolt and the first nut, similarly, each of the second assemblies 433 includes a second bolt and a second nut, each of the second length-segment bodies 431 has a second long hole 4312 penetrating in the vertical length direction, and the length direction of the second long hole 4312 extends along the length direction of the second length section body 431, each second mounting block 432 is provided with a second through hole 4322 in a penetrating manner along the length direction perpendicular to the length direction of the first length section body 421, each second bolt is respectively penetrated through the second long hole 4312 and the second through hole 4322, each second nut is in threaded connection with the second bolt, and the second long hole 4312 and the second through hole 4322 are both positioned between the head of the second bolt and the second nut, therefore, the first component 423 adopts the first bolt to penetrate through the first through hole 4222 and the first long hole 4212 and is in threaded connection with the first nut, and similarly, the second component 433 adopts the second bolt to penetrate through the second through hole 4322 and the second long hole 4312 and is in threaded connection with the second nut, so that high-strength and convenient mounting are realized, and the structure is greatly simplified.
As shown in fig. 9 to 10, each of the rollers 6 in the present embodiment includes a left extending section 61, a left bolt 62, a left spring 63, a middle mounting section 64, a right extending section 65, a right bolt 66, and a right spring 67, wherein the left extending section 61, the middle mounting section 64, and the right extending section 65 are sequentially arranged from left to right, each of the left springs 63 is disposed between the left extending section 61 and the middle mounting section 64 in a compressed manner, each of the left extending sections 61 is disposed with a left through hole 611 in a left-right direction, each of the middle mounting sections 64 is disposed with a left threaded hole 641, each of the left bolts 62 is disposed with a left through hole 611 and is in threaded connection with the left threaded hole 641, each of the right springs 67 is disposed between the right extending section 65 and the middle mounting section 64 in a compressed manner, each of the right extending section 65 is disposed with a right through hole 651 in a left-right direction, each of the middle mounting section 64 is disposed with a right threaded hole 642, each of the right bolt 66 is disposed with a right through hole 651, and is in threaded connection with the right through hole 642, and is capable of adjusting the left extending section 61, the left-right mounting section 64, and the middle mounting section 65, and the right mounting section 65, and the roller 6 can be adjusted in a width, and can be adapted according to the situation, thereby achieving more efficient adjustment according to the situation.
Preferably, the number of the left bolts 62 and the number of the right bolts 66 in this embodiment are several, and the bolts are arranged at equal intervals along the circumference of the middle mounting section 64, so that the mounting is more stable.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A polymorphic, automatic biomimetic dog, characterized in that: the device comprises a body, 3 rotating connecting rods, 3 mechanical feet, 3 height adjusting mechanisms and a motion driving mechanism, wherein each rotating connecting rod is rotatably arranged on the body, the axial direction of each rotating connecting rod is along the left-right direction, each mechanical foot is fixedly arranged on the corresponding rotating connecting rod, the 3 mechanical feet are respectively a left foot, a right foot and a rear foot, the left foot and the right foot are arranged on two sides of the front side of the body in a bilateral symmetry manner, the rear foot is arranged on the rear side of the body and is positioned between the left foot and the right foot, each height adjusting mechanism comprises an adjusting cylinder, a connecting arm and a rotating arm, each adjusting cylinder is fixedly arranged on the body, the axial direction of an output shaft of the adjusting cylinder is perpendicular to the axial direction of the rotating connecting rods, each rotating arm is fixedly arranged on the corresponding rotating connecting rod, and each connecting arm is respectively hinged with the output shaft of the adjusting cylinder and the rotating arm, each mechanical foot is provided with a roller, the motion driving mechanism is used for driving the roller corresponding to the rear foot to rotate, each connecting arm comprises a first length section body, a first mounting block and a first assembly, each rotating arm comprises a second length section body, a second mounting block and a second assembly, each first length section body is provided with a plurality of first clamping grooves arranged along the length direction, each first mounting block is provided with a first clamping tooth inserted into the first clamping groove, each first assembly is used for fixedly mounting the first length section body and the first mounting block, each second length section body is provided with a plurality of second clamping grooves arranged along the length direction, each second mounting block is provided with a second clamping tooth inserted into the second clamping groove, and each second assembly is used for fixedly mounting the second length section body and the second mounting block, each first mounting block is hinged with the second mounting block.
2. The polymorphic, self-simulating dog according to claim 1, wherein: each mechanical foot comprises an upper half body, a lower half body and mounting assemblies, each upper half body is connected with a corresponding rotating connecting rod, each roller is mounted on the corresponding lower half body, each upper half body is provided with a cylindrical jack in the left-right direction, each lower half body is provided with a cylindrical plug-in piece inserted into the cylindrical jack, the periphery of each cylindrical plug-in piece is circumferentially provided with a plurality of anti-rotating clamping teeth, each cylindrical jack is internally provided with an anti-rotating clamping groove corresponding to the anti-rotating clamping teeth, and each mounting assembly is used for fixedly connecting the upper half body with the lower half body.
3. The polymorphic, self-simulating dog according to claim 2, wherein: each of the mounting assemblies includes a mounting bolt and a mounting nut.
4. The polymorphic, self-simulating dog according to claim 1, wherein: each first assembly comprises a first bolt and a first nut, each first length section body is provided with a first long hole in a penetrating mode along the vertical length direction, the length direction of each first long hole extends along the length direction of each first length section body, each first installation block is provided with a first through hole in a penetrating mode along the length direction perpendicular to the first length section bodies, each first bolt is provided with a first long hole and a first through hole in a penetrating mode respectively, each first nut is in threaded connection with the first bolt, the first long holes and the first through holes are located between the head portion of the first bolt and the first nut, each second assembly comprises a second bolt and a second nut, each second length section body is provided with a second long hole in a penetrating mode along the vertical length direction, the length direction of the second long holes extends along the length direction of the second length section bodies, each second installation block is provided with second through holes in a penetrating mode along the length direction perpendicular to the first length section bodies, each second bolt is provided with a second through hole in a penetrating mode, each second nut is in threaded connection with the second bolt, and the head portion of the second through holes are located between the second bolt and the head portion of the second nut.
5. The polymorphic, self-simulating dog according to claim 2, wherein: the body is provided with an internal groove which is positioned on the motion tracks of the upper half body, the lower half body and the rollers corresponding to the rear side feet, and the rear side of the body is provided with a traction handle.
6. The polymorphic, self-simulating dog according to claim 1, wherein: each roller comprises a left extension section, a left bolt, a left spring, a middle installation section, a right extension section, a right bolt and a right spring, the left extension section, the middle installation section and the right extension section are sequentially arranged from left to right, each left spring is arranged between the left extension section and the middle installation section in a compression mode, each left extension section is provided with a left through hole in a penetrating mode along the left-right direction, each middle installation section is provided with a left threaded hole, each left bolt penetrates through the left through hole and is in threaded connection with the left threaded hole, each right spring is arranged between the right extension section and the middle installation section in a compression mode, each right extension section penetrates through the right through hole along the left-right direction, each middle installation section is provided with a right threaded hole, and each right bolt penetrates through the right through hole and is in threaded connection with the right threaded hole.
7. The polymorphic, automated biomimetic dog according to claim 1, characterized in that: the front side and the rear side of the body are both provided with detection radars.
8. The polymorphic, automated biomimetic dog according to claim 1, characterized in that: be provided with 2 on the health and carry the handle, 2 carry the handle and be bilateral symmetry and set up in health top both sides.
9. The polymorphic, automated biomimetic dog according to claim 1, characterized in that: and a loading position is arranged above the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210286925.1A CN114715304B (en) | 2022-03-22 | 2022-03-22 | Polymorphic automatic bionic dog |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210286925.1A CN114715304B (en) | 2022-03-22 | 2022-03-22 | Polymorphic automatic bionic dog |
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| CN114715304A CN114715304A (en) | 2022-07-08 |
| CN114715304B true CN114715304B (en) | 2023-03-14 |
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| CN202210286925.1A Active CN114715304B (en) | 2022-03-22 | 2022-03-22 | Polymorphic automatic bionic dog |
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| CN110304167A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Wheel leg composite construction and the compound four-leg bionic robot of wheel leg |
| CN111776106A (en) * | 2020-08-12 | 2020-10-16 | 腾讯科技（深圳）有限公司 | Mechanical leg and wheel type mobile equipment |
| CN212125335U (en) * | 2020-03-09 | 2020-12-11 | 巢湖学院 | Leg structure of bionic polypod mechanical insect |
| CN114084242A (en) * | 2021-12-16 | 2022-02-25 | 武汉科技大学 | Curved surface self-adaptive wheel type wall-climbing robot and working method thereof |
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| US9957002B2 (en) * | 2015-02-01 | 2018-05-01 | Genesis Robotics Llp | Mobile platform |
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| CN109501880A (en) * | 2018-12-18 | 2019-03-22 | 罗厚博 | Single wheel two leg walking robot |
| CN110304168A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Novel wheel leg composite construction and four-leg bionic robot |
| CN110304167A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Wheel leg composite construction and the compound four-leg bionic robot of wheel leg |
| CN212125335U (en) * | 2020-03-09 | 2020-12-11 | 巢湖学院 | Leg structure of bionic polypod mechanical insect |
| CN111776106A (en) * | 2020-08-12 | 2020-10-16 | 腾讯科技（深圳）有限公司 | Mechanical leg and wheel type mobile equipment |
| CN114084242A (en) * | 2021-12-16 | 2022-02-25 | 武汉科技大学 | Curved surface self-adaptive wheel type wall-climbing robot and working method thereof |
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| CN114715304A (en) | 2022-07-08 |
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