CN214930214U - Running gear and bionic elephant robot - Google Patents
Running gear and bionic elephant robot Download PDFInfo
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- CN214930214U CN214930214U CN202120489383.9U CN202120489383U CN214930214U CN 214930214 U CN214930214 U CN 214930214U CN 202120489383 U CN202120489383 U CN 202120489383U CN 214930214 U CN214930214 U CN 214930214U
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Abstract
The utility model provides a walking mechanism and a bionic elephant robot, which comprises a hip joint component, a thigh component, a shank component and a foot component, wherein the head end hangers of the hip joint component are movably connected with the thigh component, and the tail end hangers of the hip joint component are movably connected with the thigh component; one end of the thigh component close to the third hanging lug is movably connected with the hip joint component, one end of the thigh component far away from the third hanging lug is movably connected with the shank component, and the third hanging lug on the thigh component is connected with the hip joint; one end of the shank member close to the fourth hanging lug is movably connected with the thigh member, one end of the shank member far away from the fourth hanging lug is movably connected with the foot member, and the fourth hanging lug on the shank member is movably connected with the thigh member; the foot component comprises a foot joint and a sole, the sole is fixedly connected with the foot joint, a fifth suspension loop on the foot joint is movably connected with the shank component through a third hydraulic cylinder, so that the walking mechanism swings like a real elephant, the body action of the bionic robot approaches to the real elephant, and the appearance of an observer is more real.
Description
Technical Field
The utility model relates to a bionic robot technical field especially relates to a running gear and bionic elephant robot.
Background
At present, the research aiming at the bionic robot in China is mostly in the aspect of hydraulic drive no-load, the research on the structural design and gait simulation of the bionic robot is almost blank, the Boston power invents the control theory of virtual legs, inverted pendulum and force feedback, and the virtual leg theory effectively simplifies the control difficulty of the robot; the inverted pendulum model enhances the stability of the robot foot drop point; the force feedback control theory can help designers to reasonably distribute supporting force, so that the robot is more stable.
The giant elephant robot in the south Temple of France is 12 meters in height, 8 meters in width and 50 tons in weight, is driven by an engine with 450 horsepower, can bear 49 tourists at the speed of 1-3 kilometers per hour and can visit along the Luwa river bank for 45 minutes, can give out howls in the visiting process, and can spray water mist at the nose, is made of wood and metal, can move in a mechanical mode of gears, crankshafts, motors, cables and the like, and can control local movement of the giant elephant robot by arranging a control rod or a control theory, but the giant elephant robot cannot walk directly through four legs and can only move by means of vehicle-mounted tires of a base, and the legs can only swing in an empty manner, so that the giant elephant robot has a relatively mechanical overall appearance, It is stiff and does not provide a sense of reality to the viewer.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a running gear and bionical elephant robot has solved the whole impression of current ornamental type elephant and has compared machinery and stiff, can't give the problem of an observer's sense of reality, through designing running gear for bionical robot's physique action is close to true elephant, makes the observer's impression truer.
In order to achieve the above object, the technical solution of the present invention is specifically realized as follows:
the utility model discloses an aspect discloses a walking mechanism, which comprises a hip joint component, a thigh component, a shank component and a foot component, wherein the hip joint component respectively extends a head end hanging lug and a tail end hanging lug along the head end and the tail end in the length direction, the head end hanging lug of the hip joint component is movably connected with the thigh component, and the tail end hanging lug of the hip joint component is movably connected with the thigh component through a first hydraulic cylinder; a third hanging lug is arranged on the thigh member, one end of the thigh member close to the third hanging lug is movably connected with the hip joint member, one end of the thigh member far away from the third hanging lug is movably connected with the shank member, and the third hanging lug on the thigh member is movably connected with a tail end hanging lug of the hip joint through a first hydraulic cylinder; a fourth hanging lug is arranged on the shank member, one end of the shank member close to the fourth hanging lug is movably connected with the thigh member, one end of the shank member far away from the fourth hanging lug is movably connected with the foot member, and the fourth hanging lug on the shank member is movably connected with the thigh member through a second hydraulic cylinder; the foot component comprises a foot joint and a sole, the sole is fixedly connected with the foot joint, a fifth suspension loop is arranged on the foot joint, and the fifth suspension loop on the foot joint is movably connected with the shank component through a third hydraulic cylinder.
Further, the outer cover of the thigh component is provided with a thigh-shaped shell matched with the thigh component, and the thigh-shaped shell is made of glass fiber reinforced plastics.
Furthermore, a lower leg type shell matched with the lower leg member is covered outside the lower leg member, and the lower leg type shell is made of glass fiber reinforced plastics.
Further, the foot member is externally covered with a foot-shaped shell matched with the foot member, and the foot-shaped shell is made of glass fiber reinforced plastics.
The utility model discloses another aspect discloses a bionic elephant robot, including four running gear, body component, head component, ear component, trunk component and tail component as before, wherein, the body component comprises main body frame and rib component, and a plurality of rib component equidistant is fixed in the upper end of main body frame, four running gear according to the distribution of four legs of real elephant and be fixed in the lower extreme of body component; the head component is movably connected with the body component; the two ear components are symmetrically arranged at two sides of the head component and are driven by a first motor; the trunk component is fixedly connected with the head component and is driven by a plurality of second motors; the tail member is fixedly connected with one end of the body member, which is opposite to the head member, and is driven by a third motor.
Furthermore, the bionic elephant robot further comprises ivory members, and the two ivory members are symmetrically arranged on two sides of the head member.
Further, the rib members are seven.
Further, the head member is connected to the body member by a universal joint cross.
Further, the trunk member is driven by seven second motors.
The beneficial technical effects are as follows:
1. the utility model discloses a walking mechanism, which comprises a hip joint component, a thigh component, a shank component and a foot component, wherein the hip joint component respectively extends a head end hanging lug and a tail end hanging lug along the head end and the tail end in the length direction, the head end hanging lug of the hip joint component is movably connected with the thigh component, and the tail end hanging lug of the hip joint component is movably connected with the thigh component through a first hydraulic cylinder; a third hanging lug is arranged on the thigh component, one end of the thigh component close to the third hanging lug is movably connected with the hip joint component, one end of the thigh component far away from the third hanging lug is movably connected with the shank component, and the third hanging lug on the thigh component is connected with a tail end hanging lug of the hip joint through a first hydraulic cylinder; a fourth hanging lug is arranged on the shank member, one end of the shank member close to the fourth hanging lug is movably connected with the thigh member, one end of the shank member far away from the fourth hanging lug is movably connected with the foot member, and the fourth hanging lug on the shank member is movably connected with the thigh member through a second hydraulic cylinder; the foot component comprises a foot joint and a sole, the sole is fixedly connected with the foot joint, a fifth suspension loop is arranged on the foot joint, the fifth suspension loop on the foot joint is movably connected with the shank component through a third hydraulic cylinder, so that the walking mechanism swings like a real elephant, the problem that the existing ornamental type elephant is mechanical and stiff in overall appearance and cannot provide a sense of reality for an observer is solved, and the body action of the bionic robot is close to the real elephant by designing the walking mechanism, so that the appearance of the observer is more real;
2. in the utility model, the body member comprises a main body frame and rib members, a plurality of rib members are fixed at the upper end of the main body frame at equal intervals, four walking mechanisms are fixed at the lower end of the body member according to the distribution of four legs of a real elephant, the body member refers to the elephant skeleton, the rib members can well support the skin, and the bionic elephant robot is more convenient to manufacture;
3. in the utility model, the two ear components are symmetrically arranged at the two sides of the head component and driven by the first motor; the trunk component is fixedly connected with the head component and is driven by a plurality of second motors; the tail component is fixedly connected with one end, opposite to the head component, of the body component and driven by the third motor, and the ear component, the trunk component and the tail component are respectively and independently driven by the motors, so that the bionic elephant robot can achieve combined swinging of different parts, and the sense of reality of the bionic elephant robot is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiments will be briefly described below.
Fig. 1 is a schematic structural view of a traveling mechanism according to the present invention;
fig. 2 is a schematic view of the overall structure of a bionic elephant robot according to the present invention;
fig. 3 is a top view of the bionic elephant robot according to the present invention;
fig. 4 is a schematic structural diagram of a main body frame in a bionic elephant robot according to the present invention.
The artificial limb comprises a hip joint component 1, a head end suspension loop 11, a tail end suspension loop 12, a first hydraulic cylinder 13, a thigh component 2, a third suspension loop 21, a second hydraulic cylinder 22, a shank component 3, a fourth suspension loop 31, a foot component 4, a foot joint 41, a sole 42, a fifth suspension loop 411, a body component 5, a body component 51, a main body frame 52, a rib component 6, a head component 7, an ear component 8, an elephant nose component and a tail component 9.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The utility model discloses an aspect discloses a running gear, see fig. 1, running gear includes hip joint component 1, thigh component 2, shank component 3 and foot component 4, wherein, head end hangers 11 and tail end hangers 12 extend respectively from the head and tail both ends on the length direction of hip joint component 1, head end hangers 11 of hip joint component 1 are movably connected with thigh component 2, tail end hangers 12 of hip joint component 1 are movably connected with thigh component 2 through first pneumatic cylinder 13; a third hanging lug 21 is arranged on the thigh component 2, one end of the thigh component 2 close to the third hanging lug 21 is movably connected with the hip joint component 1, one end of the thigh component 2 far away from the third hanging lug 21 is movably connected with the shank component 3, and the third hanging lug 21 on the thigh component 2 is movably connected with a tail end hanging lug 12 of the hip joint 1 through a first hydraulic cylinder 13; a fourth hanging lug 31 is arranged on the lower leg member 3, one end of the lower leg member 3 close to the fourth hanging lug 31 is movably connected with the thigh member 2, one end of the lower leg member 3 far away from the fourth hanging lug 31 is movably connected with the foot member 4, and the fourth hanging lug 31 on the lower leg member 3 is movably connected with the thigh member 2 through a second hydraulic cylinder 22; the foot component 4 comprises a foot joint 41 and a sole 42, the sole 42 is fixedly connected with the foot joint 41, the foot joint 41 is provided with a fifth suspension loop 411, and the fifth suspension loop 411 on the foot joint 41 is movably connected with the lower leg component 3 through a third hydraulic cylinder 32.
As a preferred embodiment of the present invention, the outer part of the thigh member 2 is covered with a thigh-shaped shell adapted to the thigh member 2, and the thigh-shaped shell is made of glass fiber reinforced plastic and is close to the thickness of the thigh of the real elephant leg; the outer part of the shank component 3 is covered with a shank-shaped shell matched with the shank component 2, and the shank-shaped shell is made of glass fiber reinforced plastics and is close to the shank of a real elephant leg in thickness; the foot member 4 is externally covered with a foot shell fitted to the foot member 4, which is made of glass fiber reinforced plastic and is close to the thickness of the foot of a real elephant leg.
The utility model discloses a running gear accessible is adjusted the parameter of first pneumatic cylinder, second pneumatic cylinder and third pneumatic cylinder for the running gear of three joint legs can swing like true elephant, increases the sense of reality of bionical elephant robot.
In another aspect of the present invention, there is disclosed an elephant generating robot, referring to fig. 2 and 3, a bionic elephant robot comprising four walking mechanisms, a body member 5, a head member 6, ear members 7, a trunk member 8 and a tail member 9 as described above, wherein the body member 5 is composed of a main body frame 51 and rib members 52, the structure of the main body frame 51 is shown in fig. 4, the structural shape of the main body frame 51 is similar to the body part of a real elephant and is composed of aluminum alloy frames, seven rib members 52 are fixed at the upper end of the main body frame 51 at equal intervals, the rib members 52 refer to the specific structure of the bone of the elephant, the rib members 52 can play a role of supporting a skin, the bionic elephant is more convenient to manufacture, the four walking mechanisms are fixed at the lower end of the main body frame 51 according to the distribution of four legs of the real elephant, and specifically, the hip joint component 1 is fixedly connected with the lower end of the main body frame 51; the head component of the bionic elephant robot is movably connected with the body component through a cross-axle universal coupling; the two ear components 7 of the bionic elephant robot are symmetrically arranged on two sides of the head component 6 and driven by a first motor and a speed reducer, and the root parts of ears swing back and forth when passing through the speed reducer; the trunk component 8 of the bionic robot is fixedly connected to the head component 6 and driven by seven second motors, the trunk component 8 is divided into two sections, and 3 steel wire ropes are arranged on each section at equal intervals along the circumferential direction; a tail component 9 of the bionic elephant robot is fixedly connected to one end, opposite to the head component 6, of the body component 5 and driven by a third motor to swing; the ear component 7, the trunk component 8 and the tail component 9 are respectively and independently driven by the motor, so that the bionic elephant robot can realize combined swing of different parts, and the reality sense of the bionic elephant robot is greatly increased.
As a preferred embodiment of the present invention, the bionic elephant robot further comprises ivory members which are fixedly installed at both sides of the head member 6 and have a shape similar to that of an ivory of a real elephant.
The utility model discloses a running gear makes running gear swing like true elephant with the structural design of three joint legs, is applied to bionical elephant robot with running gear, greatly increased bionical elephant robot's sense of reality for bionical robot improves viewer's true impression when carrying out amusement or exhibition.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above embodiments are only intended to describe the preferred embodiments of the present invention, but not to limit the scope of the present invention, and various modifications and improvements made by the technical solutions of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (9)
1. A travel mechanism, comprising:
the hip joint component (1) is provided with a head end hanging lug (11) and a tail end hanging lug (12) which extend from the head end and the tail end of the hip joint component (1) along the length direction respectively, the head end hanging lug (11) of the hip joint component (1) is movably connected with the thigh component (2), and the tail end hanging lug (12) of the hip joint component (1) is movably connected with the thigh component through a first hydraulic cylinder (13);
the thigh component (2) is provided with a third hanging lug (21), one end, close to the third hanging lug (21), of the thigh component (2) is movably connected with the hip joint component (1), one end, far away from the third hanging lug (21), of the thigh component (2) is movably connected with a shank component (3), and the third hanging lug (21) on the thigh component (2) is movably connected with a tail end hanging lug (12) of the hip joint component (1) through a first hydraulic cylinder (13);
the shank component (3) is provided with a fourth suspension loop (31), one end, close to the fourth suspension loop (31), of the shank component (3) is movably connected with the thigh component (2), one end, far away from the fourth suspension loop (31), of the shank component (3) is movably connected with the foot component (4), and the fourth suspension loop (31) on the shank component (3) is movably connected with the thigh component (2) through a second hydraulic cylinder (22);
the foot component (4) comprises a foot joint (41) and a sole (42), the sole (42) is fixedly connected with the foot joint (41), a fifth suspension loop (411) is arranged on the foot joint (41), and the fifth suspension loop (411) on the foot joint (41) is movably connected with the lower leg component (3) through a third hydraulic cylinder (32).
2. A running gear according to claim 1, characterised in that the outer mantle of the thigh member (2) is provided with a thigh shell adapted to the thigh member (2), said thigh shell being made of glass fibre reinforced plastic.
3. A running gear according to claim 1, characterised in that the outer part of the lower leg member (3) is covered with a lower leg shell adapted to the lower leg member (3), said lower leg shell being made of glass fibre reinforced plastic.
4. A walking mechanism according to claim 1, characterized in that the foot member (4) is externally covered with a foot shell adapted to the foot member (4), said foot shell being made of glass fibre reinforced plastic.
5. A bionic elephant robot, characterized by comprising:
four running gears according to any one of claims 1 to 4;
the trunk component (5) is composed of a main body frame (51) and rib components (52), a plurality of rib components (52) are fixed at the upper end of the main body frame (51) at equal intervals, and the four walking mechanisms are fixed at the lower end of the trunk component (5) according to the distribution of four legs of a real elephant;
a head member (6), said head member (6) being movably connected to said body member (5);
the ear components (7) are symmetrically arranged at two sides of the head component (6) and driven by a first motor;
the trunk component (8) is fixedly connected with the head component (6) and driven by a plurality of second motors;
the tail component (9) is fixedly connected with one end, opposite to the head component (6), of the body component (5), and the tail component (9) is driven by a third motor.
6. A biomimetic elephant robot as claimed in claim 5, further comprising ivory members, two of said ivory members being symmetrically disposed on either side of said head member (6).
7. A biomimetic elephant robot according to claim 5, wherein said rib members (52) are seven.
8. A biomimetic elephant robot according to claim 5, wherein said head member (6) is connected to said body member (5) by a cross-axle universal coupling.
9. A biomimetic elephant robot as claimed in claim 5, wherein said elephant nose member (8) is driven by seven second motors.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120489383.9U CN214930214U (en) | 2021-03-08 | 2021-03-08 | Running gear and bionic elephant robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120489383.9U CN214930214U (en) | 2021-03-08 | 2021-03-08 | Running gear and bionic elephant robot |
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| CN214930214U true CN214930214U (en) | 2021-11-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022734A (en) * | 2021-03-08 | 2021-06-25 | 常州龙源智能机器人科技有限公司 | Running gear and bionic elephant robot |
| CN117341858A (en) * | 2023-11-02 | 2024-01-05 | 西安理工大学 | Bionic elephant robot |
-
2021
- 2021-03-08 CN CN202120489383.9U patent/CN214930214U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022734A (en) * | 2021-03-08 | 2021-06-25 | 常州龙源智能机器人科技有限公司 | Running gear and bionic elephant robot |
| CN117341858A (en) * | 2023-11-02 | 2024-01-05 | 西安理工大学 | Bionic elephant robot |
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