CN211592760U

CN211592760U - Six-foot bionic mechanical dog

Info

Publication number: CN211592760U
Application number: CN202020099661.5U
Authority: CN
Inventors: 李振武
Original assignee: Heze University
Current assignee: Heze University
Priority date: 2020-01-10
Filing date: 2020-01-10
Publication date: 2020-09-29
Anticipated expiration: 2030-01-10

Abstract

The utility model relates to the field of mechanical dogs, in particular to a hexapod bionic mechanical dog, which comprises a body, a motor bracket, a first articulated shaft, a second articulated shaft, a third articulated shaft and a fourth articulated shaft, the middle part of the bottom end of the machine body is fixedly connected with a bottom bracket, the top end of the bottom bracket is fixedly connected with a motor through a motor bracket, the front end of the motor is fixedly connected with an output shaft, the output shaft is fixedly connected with a driving gear, the driving gear is meshed with a driven gear which penetrates through and is fixed with a driving shaft, the front side and the rear side of the driving shaft are respectively and fixedly connected with an inner crank with symmetrical centers, the outer end part of the inner crank is fixedly connected with a crank connecting shaft, crank connecting axle outside end fixedly connected with outer crank, outer crank outside end fixedly connected with axis of rotation, the utility model provides a walking is stable and the bionical mechanical dog that the ability is good is strideed across simultaneously can not appear disturbing between the different legs.

Description

Six-foot bionic mechanical dog

Technical Field

The utility model relates to a machinery dog field, concretely relates to hexapod bionic machinery dog.

Background

The bionic robot has a very wide application prospect in various industries such as military transportation, submarine exploration, mining, planet exploration, wheelchair for disabled people, education, entertainment and the like, and the multi-legged walking robot technology is one of the research hotspots in the field of robots at home and abroad. When the walking device is in a rugged and complex environment, the all-mechanical hexapod walking machine can exert the passing ability which the wheel type device does not have, and the all-mechanical hexapod walking machine directly crosses the obstacle by means of the lifting and falling actions of the self walking device or exerts the self excellent adaptability to avoid the obstacle which cannot pass through.

The bionic mechanical dog in the prior art has the phenomena of unstable walking, interference among different legs and the like, and the crossing capability is not particularly good.

To the problem, the utility model designs a six sufficient bionic mechanical dog.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects of the prior art, the utility model provides a hexapod bionic mechanical dog. The bionic mechanical dog solves the problems as much as possible, thereby providing the bionic mechanical dog which is stable in walking, does not generate interference among different legs and has good crossing capability.

The utility model discloses a following technical scheme realizes:

a hexapod bionic mechanical dog comprises a body, a motor support, a first articulated shaft, a second articulated shaft, a third articulated shaft and a fourth articulated shaft, wherein the middle part of the bottom end of the body is fixedly connected with a bottom support, the top end of the bottom support is fixedly connected with a motor through the motor support, the front end of the motor is fixedly connected with an output shaft, the output shaft is fixedly connected with a driving gear, the driving gear is meshed with a driven gear, the driven gear penetrates through and is fixedly connected with a driving shaft, the front side and the rear side of the driving shaft are respectively and fixedly connected with an inner crank with central symmetry, the outer side end of the inner crank is fixedly connected with a crank connecting shaft, the outer side end of the crank connecting shaft is fixedly connected with an outer crank, the outer side end of the outer crank is fixedly connected with a rotating shaft, the upper end of the middle leg is provided with a sliding chute, a sliding block is connected in the sliding chute in a sliding way, the middle part of the sliding block is rotatably connected with a first fixed shaft, the inner side end of the first fixed shaft is fixedly connected with the middle parts of the front side and the rear side of the machine body, the front side, the rear side, the left side and the right side of the machine body are respectively provided with a second fixed shaft, the second fixed shaft is rotatably connected with a front leg, the upper end of the front leg is hinged with one end of a cross bar through a first hinged shaft, the other end of the cross bar is rotatably connected on the crank connecting shaft, the upper end of the front leg is also hinged with one end of a rocker through a second articulated shaft, the other end of the rocker is hinged with an upper rocking connecting rod through a third articulated shaft, the upper end of the upper rocking connecting rod is rotatably connected with a third fixed shaft, the third fixed shaft is fixedly connected to the left side and the right side of the front side and the rear side of the machine body, the lower end of the upper swing connecting rod is hinged to a lower swing connecting rod through a fourth hinged shaft, and the lower swing connecting rod is rotatably connected to the middle of the right side of the front leg.

Preferably, the motor is electrically connected with a power supply.

Preferably, the upper side of the middle part of the machine body is provided with a connecting hole, and the driving shaft penetrates through and is rotatably connected to the connecting hole.

Preferably, the rotating shaft is rotatably connected with a rotating connecting hole formed in the upper portion of the middle leg.

Preferably, two sets of horizontal pole one end of homonymy all rotate to be connected on the crank connecting axle around, and two sets of horizontal poles crisscross the setting.

Preferably, the middle part of the right side of the front leg is provided with an installation shaft, and the lower end of the lower swing connecting rod is rotatably connected to the installation shaft.

The utility model has the advantages that: four groups of front legs and two groups of middle legs which are arranged on the front side and the rear side are driven by a motor, an inner crank and an outer crank to do walking motion, and meanwhile, cross rods on the two sides are driven by a crank connecting shaft to do reciprocating motion, so that the front legs have a crossing function, and the front legs and the middle legs on the left side and the right side are arranged in a staggered manner, so that interference is avoided, and the motion can be normally performed.

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 description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a top perspective view of the present invention;

fig. 3 is a bottom end perspective view of the present invention;

fig. 4 is a partial view of the inner crank and its connecting parts of the present invention.

In the figure: 1-body, 2-bottom bracket, 3-motor bracket, 4-motor, 5-output shaft, 6-drive gear, 7-driven gear, 8-drive shaft, 9-inner crank, 10-crank connecting shaft, 11-outer crank, 12-rotating shaft, 13-limiting block, 14-middle leg, 1401-sliding chute, 15-sliding block, 16-first fixing shaft, 17-second fixing shaft, 18-front leg, 19-first hinging shaft, 20-cross bar, 21-second hinging shaft, 22-rocking bar, 23-third hinging shaft, 24-up-rocking connecting rod, 25-third fixing shaft, 26-fourth hinging shaft and 27-down-rocking connecting rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1 to 4, a hexapod bionic mechanical dog is characterized in that: comprises a machine body 1, a motor bracket 3, a first articulated shaft 19, a second articulated shaft 21, a third articulated shaft 23 and a fourth articulated shaft 26, wherein the middle part of the bottom end of the machine body 1 is fixedly connected with a bottom bracket 2, the top end of the bottom bracket 2 is fixedly connected with a motor 4 through the motor bracket 3, the front end of the motor 4 is fixedly connected with an output shaft 5, the output shaft 5 is fixedly connected with a driving gear 6, the driving gear 6 is in gear engagement with a driven gear 7, the driven gear 7 penetrates through and is fixedly connected with a driving shaft 8, the front side and the rear side of the driving shaft 8 are respectively and fixedly connected with inner cranks 9 with central symmetry, the outer end parts of the inner cranks 9 are fixedly connected with crank connecting shafts 10, the outer ends of the crank connecting shafts 10 are fixedly connected with outer cranks 11, the outer end, the upper end of the middle leg 14 is provided with a sliding chute 1401, the sliding chute 1401 is connected with a sliding block 15 in a sliding manner, the middle part of the sliding block 15 is rotatably connected with a first fixing shaft 16, the inner side end of the first fixing shaft 16 is fixedly connected with the middle parts of the front side and the rear side of the machine body 1, the front side and the rear side of the machine body 1 are respectively provided with a second fixing shaft 17, the second fixing shaft 17 is rotatably connected with a front leg 18, the upper end of the front leg 18 is hinged with one end of a cross rod 20 through a first hinge shaft 19, the other end of the cross rod 20 is rotatably connected with a crank connecting shaft 10, the upper end of the front leg 18 is also hinged with one end of a rocker 22 through a second hinge shaft 21, the other end of the rocker 22 is hinged with an upper rocking connecting rod 24 through a third hinge shaft 23, the upper end of the upper rocking connecting rod 24 is.

Specifically, 4 electric connection of motor has the power, and 1 middle part upside of fuselage is equipped with the connecting hole, and drive shaft 8 runs through and rotate to be connected on this connecting hole, and the rotation connecting hole that 14 upper portions of leg were equipped with in the rotation axis 12 rotation connection, and the equal rotation of two sets of horizontal poles 20 one end of front and back homonymy is connected on crank connecting axle 10, and the crisscross setting of two sets of horizontal poles 20, and 18 right side middle parts of forelegs are provided with the installation axle, and the rotation of rocking connecting rod 27 lower extreme is.

In the utility model, when the device is used, the power of the motor 4 is switched on, the motor 4 drives the output shaft 5 and the driving gear 6 to rotate at the moment, the driving gear 6 drives the driven gear to rotate, the driving shaft 8 rotates and drives the inner cranks 9 with bilateral central symmetry to rotate at the moment, the inner cranks 9 on the front and the back sides drive the outer cranks 11 to rotate through the crank connecting shaft 10, because the outer ends of the outer cranks 11 are fixedly connected with the rotating shaft 12, the rotating shaft 12 is rotatably connected with the middle leg 14, the rotating shaft 12 is fixedly connected with the limiting block 13 on the outer side of the middle leg, the upper end of the middle leg 14 is provided with the chute 1401, the chute 1401 is internally connected with the slide block 15, the middle part of the slide block 15 is rotatably connected with the first fixed shaft 16, the inner ends of the first fixed shaft 16 are fixedly connected with the middle, the second fixed shaft 17 is rotatably connected with a front leg 18, the upper end of the front leg 18 is hinged with one end of a cross rod 20 through a first hinged shaft 19, the other end of the cross rod 20 is rotatably connected on a crank connecting shaft 10, the upper end of the front leg 18 is hinged with one end of a rocker 22 through a second hinged shaft 21, the other end of the rocker 22 is hinged with an upper rocking connecting rod 24 through a third hinged shaft 23, the upper end of the upper rocking connecting rod 24 is rotatably connected with a third fixed shaft 25, the third fixed shaft 25 is fixedly connected on the left and right sides of the front and back of the machine body 1, the lower end of the upper rocking connecting rod 24 is hinged with a lower rocking connecting rod 27 through a fourth hinged shaft 26, the lower rocking connecting rod 27 is rotatably connected in the middle part of the right side of the front leg 18, one end of two groups of cross rods 20 on the same side in front and back are rotatably connected on the crank connecting shaft 10, and, the front leg 18 comprises an upper front leg and a lower front leg, and a self-locking mechanism is arranged at the knee joint and driven by an upper swing connecting rod 24 to slide downwards and lock the lower leg of the front leg so as to enable the lower leg and the upper leg to be in the same straight line. And the rear legs on the same side also ensure that the upper legs and the lower legs of the rear legs on the same side are kept on the same straight line by the same action, and the middle legs on the other side also swing forwards and backwards at the same time, so that the ground is supported and driven to advance by three legs at the same time. When the front leg upper leg swings to the rear swing limit position, the front leg upper leg starts to swing from the rear swing limit position to the front swing limit position, the knee joint self-locking mechanism starts to slide upwards under the driving of the upper swing connecting rod 24 and unlocks the front leg lower leg, so that the front leg lower leg can touch an obstacle in the front swing process and can freely swing backwards by taking the knee joint connecting part as an axis, and the function of the barrier during walking is realized. Similarly, the rear leg on the same side also unlocks the lower leg of the rear leg by the same action, and the middle leg on the other side swings forwards in a state of leaving the ground under the drive of the inner crank 9, so that the function of a barrier during walking is also realized. Because of the design that the angles of the inner cranks 9 on the two sides are different by 180 degrees, the front leg, the middle leg and the rear leg part on the other side run in opposite motions.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A hexapod bionic mechanical dog, which is characterized in that: comprises a machine body (1), a motor support (3), a first articulated shaft (19), a second articulated shaft (21), a third articulated shaft (23) and a fourth articulated shaft (26), wherein the middle part of the bottom end of the machine body (1) is fixedly connected with a bottom support (2), the top end of the bottom support (2) is fixedly connected with a motor (4) through the motor support (3), the front end of the motor (4) is fixedly connected with an output shaft (5), the output shaft (5) is fixedly connected with a driving gear (6), the driving gear (6) is engaged with a driven gear (7), the driven gear (7) penetrates through and is fixed with a driving shaft (8), the front side and the rear side of the driving shaft (8) are respectively and fixedly connected with an inner crank (9) with central symmetry, the outer end of the inner crank (9) is fixedly connected with a crank connecting shaft (10), and the outer end of the crank, the outer side end of the outer crank (11) is fixedly connected with a rotating shaft (12), the rotating shaft (12) is rotatably connected with a middle leg (14), the rotating shaft (12) is fixedly connected with a limiting block (13) at the outer side of the middle leg, the upper end of the middle leg (14) is provided with a sliding chute (1401), the sliding chute (1401) is internally and slidably connected with a sliding block (15), the middle part of the sliding block (15) is rotatably connected with a first fixing shaft (16), the inner side end of the first fixing shaft (16) is fixedly connected with the middle parts of the front side and the rear side of the machine body (1), the front side and the rear side and the left side and the right side of the machine body (1) are respectively provided with a second fixing shaft (17), the second fixing shaft (17) is rotatably connected with a front leg (18), the upper end of the front leg (18) is, preceding leg (18) upper end still articulates through second articulated shaft (21) has rocker (22) one end, rocker (22) other end articulates through third articulated shaft (23) has and shakes connecting rod (24), it is connected with third fixed axle (25) to shake connecting rod (24) upper end rotation, third fixed axle (25) fixed connection is controlled in fuselage (1) front and back both sides, it has down through fourth articulated shaft (26) articulated to shake connecting rod (24) lower extreme, shake connecting rod (27) and rotate down and connect in preceding leg (18) right side middle part.

2. The hexapod biomimetic mechanical dog according to claim 1, wherein: the motor (4) is electrically connected with a power supply.

3. The hexapod biomimetic mechanical dog according to claim 1, wherein: the upper side of the middle part of the machine body (1) is provided with a connecting hole, and the driving shaft (8) penetrates through and is rotatably connected to the connecting hole.

4. The hexapod biomimetic mechanical dog according to claim 1, wherein: the rotating shaft (12) is rotatably connected with a rotating connecting hole formed in the upper portion of the middle leg (14).

5. The hexapod biomimetic mechanical dog according to claim 1, wherein: one end of each of the two groups of cross rods (20) on the same side of the front and the back is rotatably connected to the crank connecting shaft (10), and the two groups of cross rods (20) are arranged in a staggered manner.

6. The hexapod biomimetic mechanical dog according to claim 1, wherein: the middle part of the right side of the front leg (18) is provided with an installation shaft, and the lower end of the lower rocking connecting rod (27) is rotatably connected to the installation shaft.