CN211844683U - Bionic robot - Google Patents
Bionic robot Download PDFInfo
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- CN211844683U CN211844683U CN202021694646.1U CN202021694646U CN211844683U CN 211844683 U CN211844683 U CN 211844683U CN 202021694646 U CN202021694646 U CN 202021694646U CN 211844683 U CN211844683 U CN 211844683U
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Abstract
The utility model relates to a bionic robot, which comprises a frame and a leg part arranged on the frame; the leg part comprises a base body, a thigh part, a shank part, an up-down driving mechanism and a front-back driving mechanism; the bottom end of the thigh component is hinged on the base body; a lower leg part, the top end of which is hinged on the top end of the upper leg part, and the bottom end of which is used for contacting the ground; the upper and lower driving mechanism is arranged on the base body and connected with the lower leg part, and can drive the lower leg part to rotate relative to the thigh part and force the thigh part to rotate relative to the base body, so that the thigh part and the lower leg part can jointly simulate leg lifting action and leg falling action; and the front and rear driving mechanism is connected with the base body and can drive the base body to drive the thigh component, the shank component and the up-down driving mechanism to rotate forwards or backwards together. The bionic robot is simple in structure, easy to install and disassemble and low in cost, and solves the problem that the bionic robot is not suitable in similar scenes such as education, teaching and student practice.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to bionic robot.
Background
With the continuous development of science and technology, in order to improve the adaptability to the environment and expand the activity space of human beings on the rugged and uneven ground such as the sea bottom, the north pole, the mining area, the planet, the marsh and the like, the robot is required to have high flexible operation performance. The bionic robot taking the spiders as reference has stronger adaptability in the rugged complex environment, so the bionic robot is widely concerned by the research field.
At present, the bionic spider leg simulated by the existing bionic robot has a complex structure, is difficult to install and disassemble, has complex related knowledge and control principle, is high in cost, and is not beneficial to demonstration and learning practice.
SUMMERY OF THE UTILITY MODEL
In order to solve the above-mentioned whole or partial problem, the utility model aims to provide a bionic robot, its simple structure, the installation with disassemble easily, with low costs, solved and did not have the available problem of suitable mechanical type spider in similar scenes such as education and teaching and student's practice.
A bionic robot comprises a frame and leg parts arranged on the frame;
the leg part comprises a base body, a thigh part, a shank part, an up-down driving mechanism and a front-back driving mechanism;
the bottom end of the thigh component is hinged on the base body;
the top end of the shank component is hinged to the top end of the thigh component, and the bottom end of the shank component is used for contacting the ground;
the upper and lower driving mechanism is arranged on the base body, is connected with the lower leg part, and can drive the lower leg part to rotate relative to the thigh part and force the lower leg part to rotate relative to the base body, so that the upper leg part and the lower leg part can jointly simulate leg lifting action and leg falling action;
the front and rear driving mechanism is connected with the base body and can drive the base body to drive the thigh component, the shank component and the up-down driving mechanism to rotate forwards or backwards together.
Further, the up-and-down driving mechanism comprises a connecting rod and a first steering engine arranged on the base body, wherein one end of the connecting rod is fixed on an output shaft of the first steering engine, and the other end of the connecting rod is hinged with the middle part of the shank component.
Furthermore, be equipped with first pivot between thigh part and the base member be equipped with the second pivot between thigh part and the shank part be equipped with the third pivot between connecting rod and the shank part, first pivot, second pivot, third pivot and the output shaft four of first steering wheel are parallel, just distance between first pivot and the second pivot equals the distance of third pivot and the output shaft of first steering wheel.
Further, the connecting rod is parallel to the thigh part, and the distance between the first rotating shaft and the second rotating shaft is larger than the distance between the third rotating shaft and the second rotating shaft, but smaller than the distance from the third rotating shaft to the shank part.
And the first steering engine is connected to a first rotating piece on the base body, and an idle mounting hole is formed in the first rotating piece.
Furthermore, the lower leg part is in a ladder shape, the lower leg part is composed of two parallel strip bodies, and two ends of each strip body are respectively hinged with the base body and the lower leg part.
Further, the front and rear driving mechanism is a second steering engine.
Further, the base body comprises a U-shaped component, and the second steering engine is arranged in the U-shaped component and connected with the U-shaped component through an output shaft of the second steering engine.
And the second adaptor is used for connecting the second steering engine to the base body, and an idle mounting hole is formed in the second adaptor.
According to the above technical scheme, the utility model discloses a bionic robot has reduced the quantity of drive arrangement and part for it is with low costs and the structure also becomes simple, is convenient for install and disassemble at education and teaching and learning practice in-process, and has effectively solved the problem that does not have the fit in similar scenes such as education and teaching and student practice, has effectively promoted the development in the education and teaching and the learning practice in bionic robot field.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the figure:
fig. 1 is a schematic perspective view of a bionic robot of the present invention;
fig. 2 is a three-dimensional schematic view of a mechanical spider leg of the bionic robot of the present invention;
fig. 3 is a schematic structural view of a mechanical spider leg of the bionic robot of the present invention;
in the drawings, the same reference numerals are used for the same. The figures are not drawn to scale.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be further described below with reference to the drawings in the embodiments of the present application.
Fig. 1 schematically shows the utility model discloses a bionic robot. As shown in fig. 1, the biomimetic robot 200 includes a frame 80 and legs disposed on the frame 80, but in order to reduce the cost and meet the requirement of clear demonstration, the present embodiment preferably uses four legs, and the legs are the mechanical spider legs 100. The bionic robot 200 can be better applied to education and learning practices in the field of bionic machines by means of the mechanical spider legs 100.
Fig. 2 is a schematic perspective view of a mechanical spider leg 100 of the biomimetic robot of the present invention; fig. 3 is a schematic structural diagram of the mechanical spider leg 100 of the bionic robot of the present invention. As shown in fig. 2 and 3, the mechanical spider leg 100 includes a base 50, a thigh member 10, an up-down driving mechanism 30, and a front-rear driving mechanism 40. Wherein the lower end of the thigh member 10 is hinged to the base 50 and can be pivoted up and down about the hinge position. The upper end of the lower leg member 20 is hinged to the upper end of the upper leg member 10, while the lower end thereof is adapted to contact the ground. The lower leg member 20 can be rotated relative to the upper leg member 10 so as to bring the bottom end of the lower leg member 20 into and out of contact with the ground. The up-down driving mechanism 30 is provided on the base 50 and connected to the lower leg member 20, and is capable of driving the lower leg member 20 to rotate relative to the upper leg member 10 and forcing the upper leg member 10 to rotate relative to the base 50, so that the upper leg member 10 and the lower leg member 20 can collectively simulate leg raising and leg lowering motions of a spider leg. The front-rear drive mechanism 40 is connected to the base 50 and can drive the base 50 to rotate forward or backward together with the thigh member 10, the shank member 20 and the up-down drive mechanism 30.
When the mechanical spider leg 100 works, the up-down driving mechanism 30 drives the lower leg part 20 to be far away from the ground, and after the lower leg part 20 is separated from the ground, the front-back driving mechanism 40 drives the base body 50 and drives the upper leg part 10, the lower leg part 20 and the up-down driving mechanism 30 to move forwards together. After the lower leg part 20 is contacted with the ground, the front and rear driving mechanism 40 drives the base body 50 and drives the upper leg part 10, the lower leg part 20 and the up-down driving mechanism 30 to move backwards together to complete the action of kicking the legs backwards so as to match with other mechanical spider legs 100 to complete the crawling action.
Above-mentioned mechanical type spider leg 100 has reduced the quantity of drive arrangement and part for it is with low costs and the structure also becomes simple, is convenient for install and disassemble at education and teaching and study practice in-process, and has effectively solved the problem that does not have suitable mechanical type spider leg 100 to use in similar scenes such as education and teaching and student's practice, has effectively promoted the development in the education and teaching and study practice in robot field.
In the present embodiment, the up-down driving mechanism 30 may be a hydraulic system, but considering that the hydraulic system is too expensive in terms of size reduction and is likely to pollute the environment, it is recommended that the up-down driving mechanism 30 includes a link 31 and a first steering gear 32 provided on the base 50, which is not likely to pollute the environment and is preferably low in cost. As a preferred embodiment of the driving mechanism 30, one end of the connecting rod 31 is fixed on the output shaft of the first steering engine 32, and the other end thereof is hinged with the middle part of the lower leg member 20, so that the first steering engine 32 can drive the lower leg member 20 to rotate relative to the upper leg member 10 by the connecting rod 31.
In the present embodiment, a first rotation shaft is provided between the thigh member 10 and the base 50, a second rotation shaft is provided between the thigh member 10 and the lower leg member 20, and a third rotation shaft is provided between the link 31 and the lower leg member 20. The first rotating shaft, the second rotating shaft, the third rotating shaft and the output shaft of the first steering engine 32 are parallel, so that the thigh part 10 and the shank part 20 can only move in the same plane, and the first steering engine 32 can reliably and smoothly drive the thigh part 10 and the shank part 20 to simulate leg lifting action and leg falling action by means of the connecting rod 31. Preferably, the connecting rod 31 is parallel to the thigh part 10, and the distance between the first rotating shaft and the second rotating shaft is larger than the distance between the third rotating shaft and the second rotating shaft, but smaller than the distance between the third rotating shaft and the lower leg part 20, which ensures that the first steering engine 320 can drive the thigh part 10 and the lower leg part 20 to imitate leg raising action and leg falling action more reliably and smoothly by means of the connecting rod 31.
In this embodiment, the mechanical spider leg 100 further includes a first interface 60 for coupling the first interface 32 to the base 50. The first adapter 60 may be optionally L-shaped or U-shaped. The first adapter 60 may be provided with a mounting hole for receiving a tool, so that one can mount and dismount the model crawler 200 at different angles and at different positions as required.
In the present embodiment, although the front-rear drive mechanism 40 may be selected as the hydraulic system, it is suggested that the front-rear drive mechanism 40 is preferably a second steering engine which is less likely to be contaminated and which is low in cost, because the hydraulic system is too expensive in terms of downsizing and is likely to pollute the environment.
In this embodiment, the base 50 includes a U-shaped member, and the second steering engine is disposed in the U-shaped member and connected to the U-shaped member through its output shaft, and the U-shaped member has a protective effect on the second steering engine and facilitates connection of the mechanical spider leg 100 to other components of the crawler model 200.
In this embodiment, the mechanical spider leg 100 further comprises a second adaptor 70 for connecting a second steering engine to the base 50. The second adaptor 70 may be optionally L-shaped or U-shaped. The second adapter 70 may have spare mounting holes, and one may choose different positions and orientations to mount other components of the crawler model 200 as desired.
To sum up, the utility model discloses bionic robot 200 can solve present mechanical type spider leg 100 structure complicacy, with high costs, is not convenient for disassemble and assemble, hardly is applied to the problem in daily education and teaching and the student's practice process.
In the description of the present application, it is to be understood that the terms "front", "back", "inside", "outside", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily make changes or variations within the technical scope of the present invention, and such changes or variations should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims. The technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present invention is not limited to the particular embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (9)
1. A bionic robot is characterized by comprising a frame and leg parts arranged on the frame;
the leg part comprises a base body, a thigh part, a shank part, an up-down driving mechanism and a front-back driving mechanism;
the bottom end of the thigh component is hinged on the base body;
the top end of the shank component is hinged to the top end of the thigh component, and the bottom end of the shank component is used for contacting the ground;
the upper and lower driving mechanism is arranged on the base body, is connected with the lower leg part, and can drive the lower leg part to rotate relative to the thigh part and force the lower leg part to rotate relative to the base body, so that the upper leg part and the lower leg part can jointly simulate leg lifting action and leg falling action;
the front and rear driving mechanism is connected with the base body and can drive the base body to drive the thigh component, the shank component and the up-down driving mechanism to rotate forwards or backwards together.
2. The bionic robot as claimed in claim 1, wherein the up-down driving mechanism comprises a connecting rod and a first steering engine arranged on the base body, wherein one end of the connecting rod is fixed on an output shaft of the first steering engine, and the other end of the connecting rod is hinged with the middle part of the shank component.
3. The bionic robot as claimed in claim 2, wherein a first rotating shaft is arranged between the thigh part and the base body, a second rotating shaft is arranged between the thigh part and the shank part, a third rotating shaft is arranged between the connecting rod and the shank part, and the first rotating shaft, the second rotating shaft, the third rotating shaft and the output shaft of the first steering engine are parallel.
4. The biomimetic robot of claim 3, wherein the link is parallel to the thigh member, and a spacing between the first and second axes is greater than a spacing between the third and second axes, but less than a spacing from the third axis to the thigh member.
5. The bionic robot as claimed in any one of claims 2 to 4, further comprising a first adaptor for connecting the first steering engine to the base body, wherein the first adaptor is provided with an idle mounting hole.
6. The biomimetic robot according to any one of claims 1 to 4, wherein the lower leg member is in a ladder shape, and the lower leg member is composed of two parallel bars, and both ends of each bar are hinged to the base and the lower leg member, respectively.
7. The biomimetic robot according to any one of claims 1-4, wherein the front-back drive mechanism is a second steering engine.
8. The biomimetic robot of claim 7, wherein the base comprises a U-shaped member, and the second steering engine is disposed within the U-shaped member and connected to the U-shaped member via its output shaft.
9. The bionic robot as claimed in claim 8, further comprising a second adaptor for connecting the second steering engine to the substrate, wherein the second adaptor is provided with an idle mounting hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021694646.1U CN211844683U (en) | 2020-08-14 | 2020-08-14 | Bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021694646.1U CN211844683U (en) | 2020-08-14 | 2020-08-14 | Bionic robot |
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| Publication Number | Publication Date |
|---|---|
| CN211844683U true CN211844683U (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021694646.1U Active CN211844683U (en) | 2020-08-14 | 2020-08-14 | Bionic robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056878A (en) * | 2022-07-07 | 2022-09-16 | 浙江工业大学 | Multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis |
| CN115070819A (en) * | 2022-05-31 | 2022-09-20 | 北京电子科技职业学院 | Bionic detector |
-
2020
- 2020-08-14 CN CN202021694646.1U patent/CN211844683U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070819A (en) * | 2022-05-31 | 2022-09-20 | 北京电子科技职业学院 | Bionic detector |
| CN115056878A (en) * | 2022-07-07 | 2022-09-16 | 浙江工业大学 | Multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis |
| CN115056878B (en) * | 2022-07-07 | 2023-10-31 | 浙江工业大学 | Multifunctional bionic spider capable of realizing negative pressure climbing based on gait analysis |
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