CN1602986A - Bionic insect robot - Google Patents
Bionic insect robot Download PDFInfo
- Publication number
- CN1602986A CN1602986A CN 200410155410 CN200410155410A CN1602986A CN 1602986 A CN1602986 A CN 1602986A CN 200410155410 CN200410155410 CN 200410155410 CN 200410155410 A CN200410155410 A CN 200410155410A CN 1602986 A CN1602986 A CN 1602986A
- Authority
- CN
- China
- Prior art keywords
- insect
- leg
- power transmission
- robot
- installment
- 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
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of biological modelling insect robot, including the substrate and the leg, its characteristic is it is composed by the drive equipment which is symmetrical installed in two sides of the substrate,the chain drive installment, as well as by the torque spring continually blow-out patch, prevention installment and insect's leg department organization,the insect leg which can do quick return motion.The torque spring is coveralled on the drive shaft, an end is the connected with connection blow-out patch, another end connects with the insect's leg.the prevents installment is separately equipped on the connection blow-out patch and the insect leg,the prevention installment limited the torque spring distortion scope.When insect's leg move to separate to the ground, already the compressed torque spring actuates the leg to rotate rapidly, rapidly contactes with the ground for the second time.moved back and forth like this then formes the loudly insect robot crawling movement.
Description
Technical field
The present invention relates to a kind of cross-country bionic insect robot, relate in particular to the elastic leg of quick return.
Background technology
At present, the leg action of bionic insect robot can be divided into basically and lift leg and two parts of leg advanced in years, for adopting motor-driven robot, to rotatablely move on the frame for movement is converted into pendulum and rectilinear motion, will certainly consume very big energy, and mechanical efficiency is greatly reduced.Simultaneously, because the motion frequency of leg is also low, and the interlock of shank also can make volume and size huge, and it is complicated that overall structure can become.
Summary of the invention
The object of the present invention is to provide a kind of suiting to creep in the open air, and can cross the bionic insect robot of multiple open-air barrier easily, its technical solution is achieved in that
A kind of bionic insect robot comprises matrix and leg, it is characterized in that this robot comprises that also symmetry is installed in the drive unit of matrix both sides, chain and sprocket driving device and the shank mechanism with quickreturn characteristics, drive unit is linked in sequence by shaft coupling and power transmission shaft, chain and sprocket driving device and described shank mechanism.
The realization of this technical solution also comprises aforementioned drive unit is designed to be made of drive motors and decelerator, and is connected with power transmission shaft by shaft coupling, bearing.Described chain and sprocket driving device then is made up of sprocket wheel, chain and power transmission shaft; The output suit insect leg of power transmission shaft and install the connecting shaft circle, described shank mechanism with quickreturn characteristics comprises insect leg and connecting shaft circle, and the torsion spring that is sleeved on the power transmission shaft is arranged in the middle of the two,
One termination connecting shaft circle, end then links to each other with the insect leg in addition.In order to limit the relative rotation between power transmission shaft and the insect leg, the elasticity complex scope of control torsion spring is being provided with retention device respectively on the connecting shaft circle He on the insect leg.
Compare with existing simulation insect robot, the beneficial effects of the utility model are, the leg exercise of the requisite fast and flexible of insect robot can be provided, thereby guarantee that bionic insect robot can creep flexibly in the open air, can cross various open-air obstacles easily again.
Description of drawings
Fig. 1 is a vertical view of the present invention.
Fig. 2 is a left side view of the present invention.
Fig. 1 is a specification digest accompanying drawing of the present invention.
Among the figure: 1, the leg 2 of insect, torsion spring 3, power transmission shaft 4, connecting shaft circle 5, bearing
6, the pin 7 of insect, beam 8, sprocket wheel 9, coupled axle-pin 10, drive motors
11, decelerator 12, chain 13, shaft joint 14, block 15, stop screw
The specific embodiment
A kind of bionic insect robot as shown in the figure after a pair of direct current generator and decelerator output uniform rotation, is distributed to the output shaft of six legs through chain and sprocket driving device with transmission, and output shaft is installed on the matrix of robot by bearing.Quick return biography device is being set between output shaft and the leg separately, i.e. suit torsion spring on output shaft, the two ends of torsion spring respectively with output shaft on the connecting shaft circle and the leg that is sleeved on the insect on this be connected, on leg and connecting shaft circle, install block respectively additional and stop screw, relatively rotating between retention device restriction power transmission shaft and the insect leg also limited the deformation range of torsion spring.When leg and ground rigidly connect when touching, torsion spring begins strain, increase gradually along with driving torque, the potential energy of spring also increases gradually, when reaching the scope of block setting, torsion spring stops distortion, axle and leg are through the block transmission that is rigidly connected, the enough big moment that offers leg will make leg begin the ground of slipping away, compressed torsion spring driving leg moment rotates rapidly, grab the racing Zhao process of ground connection again through each the ground connection Zhao accumulation of energy Zhao of the legs and feet ground of slipping away, just formed the insectival crawling process of class.Two drive motors that symmetry is installed on the matrix drive three legs of three legs in the left side and the right respectively, and the run-in synchronism of two motors can realize the rectilinear creeping of robot; And the monolateral driving of the right or left side motor turns to about then can realizing.
Claims (4)
1.[document source] electronic application
2.[the message in-coming date] 2004-11-1
3.[application number]
4.[claim item]
[claim 1]
A kind of bionic insect robot, comprise matrix and leg, it is characterized in that this robot comprises that also symmetry is installed in the drive unit of matrix both sides, chain and sprocket driving device and the shank mechanism with quickreturn characteristics, drive unit is linked in sequence by shaft coupling and power transmission shaft, chain and sprocket driving device and described shank mechanism.
[claim 2]
Bionic insect robot according to claim 1 is characterized in that described drive unit comprises drive motors (10) and decelerator (11), is connected with power transmission shaft (3) by shaft coupling (13), bearing (5).
[claim 3]
Bionic insect robot according to claim 1 and 2 is characterized in that described chain and sprocket driving device is made of the output suit insect pin (6) of power transmission shaft (3) and connecting shaft circle (4) sprocket wheel (8), chain (12) and power transmission shaft (3).
[claim 4]
Bionic insect robot according to claim 1 and 2, it is characterized in that described shank mechanism with quickreturn characteristics comprises insect pin (6), link stopper (14) and connecting shaft circle (4), the torsion spring (2) that is sleeved on the power transmission shaft (3) is arranged between insect pin (6) and connecting shaft circle (4), one end of this spring is connected on the connecting shaft circle (4), and end then is connected with insect pin (6) in addition.
[claim 5]
Bionic insect robot according to claim 4 is characterized in that also being equipped with on the described connecting shaft circle (14) and stops screw, and the insect pin has the yielding rubber cover on (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410155410XA CN1292818C (en) | 2004-11-01 | 2004-11-01 | Bionic insect robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410155410XA CN1292818C (en) | 2004-11-01 | 2004-11-01 | Bionic insect robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1602986A true CN1602986A (en) | 2005-04-06 |
| CN1292818C CN1292818C (en) | 2007-01-03 |
Family
ID=34667302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200410155410XA Expired - Fee Related CN1292818C (en) | 2004-11-01 | 2004-11-01 | Bionic insect robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1292818C (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102049141A (en) * | 2010-10-20 | 2011-05-11 | 徐大为 | Vibrating creeping toy capable of adjusting direction |
| CN101444670B (en) * | 2007-11-26 | 2011-06-22 | 煜日升电子(深圳)有限公司 | Toy extensible member structure and animal toy adopting same |
| CN102963456A (en) * | 2012-12-19 | 2013-03-13 | 叶志彪 | Teaching robot with six feet |
| CN111152192A (en) * | 2020-01-03 | 2020-05-15 | 金陵科技学院 | Bionic robot climbing structure and climbing method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3249796B2 (en) * | 1998-10-09 | 2002-01-21 | 株式会社バンダイ | Walking equipment |
| JP3170251B2 (en) * | 1998-11-30 | 2001-05-28 | 株式会社バンダイ | Walking equipment |
| JP3364457B2 (en) * | 1999-07-05 | 2003-01-08 | 株式会社バンダイ | Walking equipment |
| CN2386858Y (en) * | 1999-07-27 | 2000-07-12 | 大洋玩具工业股份有限公司 | Amusement toy |
| JP3231304B2 (en) * | 2000-02-17 | 2001-11-19 | 株式会社バンダイ | Walking equipment |
| KR20040015429A (en) * | 2002-08-12 | 2004-02-19 | 주식회사 노빈인터내셔날 | Toy Crab Being Operated with Cam Structure |
-
2004
- 2004-11-01 CN CNB200410155410XA patent/CN1292818C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101444670B (en) * | 2007-11-26 | 2011-06-22 | 煜日升电子(深圳)有限公司 | Toy extensible member structure and animal toy adopting same |
| CN102049141A (en) * | 2010-10-20 | 2011-05-11 | 徐大为 | Vibrating creeping toy capable of adjusting direction |
| CN102049141B (en) * | 2010-10-20 | 2012-11-07 | 徐大为 | Vibrating creeping toy capable of adjusting direction |
| CN102963456A (en) * | 2012-12-19 | 2013-03-13 | 叶志彪 | Teaching robot with six feet |
| CN111152192A (en) * | 2020-01-03 | 2020-05-15 | 金陵科技学院 | Bionic robot climbing structure and climbing method thereof |
| CN111152192B (en) * | 2020-01-03 | 2021-07-02 | 金陵科技学院 | Bionic robot climbing structure and climbing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1292818C (en) | 2007-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107776703B (en) | Four-foot bionic walking robot | |
| CN103895030B (en) | The single-DOF-joint mechanism that a kind of pair of Pneumatic artificial muscle drives | |
| CN107128397A (en) | Robot leg sole running gear | |
| CN107569365B (en) | Wrist finger rehabilitation training device with adjustable finger bending angle | |
| CN103991487B (en) | Full Pneumatic vacuum adsorbed wall-climbing robot | |
| CN202943630U (en) | Composite travelling and holding mechanism of patrol robot | |
| CN106726199B (en) | Robot for helping old people and disabled people | |
| CN1602986A (en) | Bionic insect robot | |
| CN202607676U (en) | Finger structure of fruit picking robot dexterous hand | |
| CN101890725A (en) | Embedding driver type active control flexible bionic joint | |
| CN1861031A (en) | Exercising apparatus for recovery of upper limb | |
| CN206885200U (en) | Robot leg sole running gear | |
| CN101486190A (en) | Electromagnetic direct driven robot finger apparatus | |
| CN202429274U (en) | Hip joint of walker | |
| CN211506904U (en) | Wrist-ankle joint structure for rehabilitation teaching simulator | |
| CN206170125U (en) | Shoulder joint assembly of simulate intelligent robot | |
| CN211806126U (en) | Arm mounting seat of intelligent barrier cleaning robot | |
| CN205737776U (en) | A kind of obstacle detouring climbing robot | |
| CN108995727A (en) | A kind of Delta robot of pneumatic muscles driving | |
| CN212601847U (en) | Simulation robot | |
| CN203345144U (en) | Running bicycle based on crank rocker mechanisms | |
| CN2810703Y (en) | Robot capable of dancing | |
| CN215960990U (en) | Portable walking aid for postoperative care of leg bones | |
| CN107028733B (en) | Flexible joint of power-assisted robot | |
| CN2404810Y (en) | Claming sealing driving device of double clamping sealing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |