WO2017206612A1 - 一种机器人仿生机构及机器人 - Google Patents

一种机器人仿生机构及机器人 Download PDF

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Publication number
WO2017206612A1
WO2017206612A1 PCT/CN2017/081108 CN2017081108W WO2017206612A1 WO 2017206612 A1 WO2017206612 A1 WO 2017206612A1 CN 2017081108 W CN2017081108 W CN 2017081108W WO 2017206612 A1 WO2017206612 A1 WO 2017206612A1
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WO
WIPO (PCT)
Prior art keywords
bionic
fin
robot
connecting rod
driver
Prior art date
Application number
PCT/CN2017/081108
Other languages
English (en)
French (fr)
Inventor
许永昌
盛阁
Original Assignee
深圳市鼎盛智能科技有限公司
Priority date (The priority date 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 date listed.)
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Application filed by 深圳市鼎盛智能科技有限公司 filed Critical 深圳市鼎盛智能科技有限公司
Publication of WO2017206612A1 publication Critical patent/WO2017206612A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
    • A63H13/18—Toy swinging chairs; Rocking-figure toys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Definitions

  • the invention relates to the field of robots, in particular to a robot bionic mechanism and a robot.
  • the bionics organization is an important branch of the robotics field.
  • the bionics organization is the principle of requesting engineering technology solutions from the biological world, and transplants these principles into engineering technology, so that the robots in the robot can imitate various biological actions.
  • the robot does not have a suitable bionic penguin fin fin scheme, and fails to imitate the penguin fin finping process through a suitable bionic mechanism.
  • the robot movement process is relatively dull and the user experience is poor.
  • the main object of the present invention is to provide a robot bionic mechanism and a robot, which aims to solve the problem that the penguin fin flapping process cannot be imitated in the prior art, thereby solving the problem that the robot movement process is relatively dull and the user experience is poor.
  • the present invention provides a robot bionic mechanism comprising a bionic fin fin, a connecting rod, a fixed plate, a driver and a top post, the driver and the top post are mounted on one side of the fixing plate, and the bionic fin fin is fixed.
  • the connecting rod is disposed in the fixing plate and is hinged with the fixing plate, one end of the connecting rod is fixed on the bionic fin fin, and the other end is extended along the length thereof.
  • a guide rail one end of the top post is sleeved with the guide rail, and the other end is connected to the driver, and the driver is used to drive the top post to reciprocate along a length thereof.
  • the driver is composed of a cylinder block and a plug column, and the plug column is enclosed in the cylinder body and is relatively slid, and the top post is integrated with the plug column and passes through the cylinder block.
  • the driver is arranged to be driven by an electromagnet or a pneumatic cylinder and connected to a main control circuit or a pneumatic circuit of the robot.
  • the bionic fin fins are arranged in an elliptical shape.
  • one of the longitudinal ends of the bionic fin fin is a free end, and the other longitudinal end is a connecting end, and the connecting rod is fixed or integrally formed with the connecting end.
  • a baffle is further disposed between the bionic fin fin and the fixed plate, and the baffle is disposed on the front side of the fin fin side to form a concave curved surface to engage with the bionic fin fin.
  • the depth of the concave curved surface completely covers the bionic fin fins.
  • the fixing plate is provided as a stepped plate
  • the bottom plate is provided with a mounting hole
  • the driver is mounted on the bottom plate through the mounting hole.
  • the baffle is provided with a screw post on the back side of the driver, and the fixing plate is fixedly mounted on the back of the baffle by a screw column, and the baffle is provided with a mounting window corresponding to the connecting end of the bionic fin fin.
  • the top plate is integrated into the installation window.
  • the guide rail is provided as an open rail.
  • the present invention also includes a robot including a robot bionic mechanism as described in the outer casing, the outer casing being provided with an opening through which the bionic mechanism is mounted on the robot casing.
  • the robot bionic mechanism and the robot push and pull the connecting rod through the driver, and the connecting rod fixing plate is a fulcrum to become a lever for stimulating the bionic fin fin, and the bionic fin fin is driven to make a circular opening and closing motion with the hinge hole on the fixing plate as a center.
  • the robot is more vivid and cute during the move, improving the user experience.
  • FIG. 1 is a side elevational view of a robot bionic mechanism in accordance with an embodiment of the present invention
  • FIG. 2 is a schematic view showing the socket of the connecting rod and the driver in an embodiment of the present invention
  • FIG. 3 is a schematic view of a robot bionic mechanism in a modified embodiment of the present invention.
  • FIG. 4 is a schematic exploded view of a robot bionic mechanism in a modified embodiment of the present invention.
  • Figure 5 is a schematic view showing the installation of a connecting rod and a fixing plate in a modified embodiment of the present invention
  • Fig. 6 is an assembly diagram of a robot and a robot bionic mechanism according to the present invention.
  • the directional indication is only used to explain in a certain posture (as shown in the drawing)
  • the relative positional relationship between the components under the condition, the activity situation, etc. if the specific posture changes, the directionality indication also changes accordingly.
  • first”, “second”, etc. in the embodiments of the present invention, the description of the "first”, “second”, etc. is used for the purpose of description only, and is not to be construed as an Its relative importance or implicit indication of the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the technical solutions between the various embodiments may be combined with each other, but must be based on the realization of those skilled in the art, and when the combination of the technical solutions is contradictory or impossible to implement, it should be considered that the combination of the technical solutions does not exist. It is also within the scope of protection required by the present invention.
  • the present invention provides a robot bionic mechanism including a bionic fin fin 10, a connecting rod 20, a fixing plate 30, a driver 40, and a top post 43, wherein the driver 40 and the top post 43 as driving ends are mounted on On one side of the fixing plate 30, the bionic fin fin 10 as a driven end is located on the other side of the fixed plate 30.
  • the top of the fixing plate 30 is provided with a through hole 311, and two convex walls 312 extend along the wall of the square through hole 311.
  • the two convex walls 312 are respectively provided with a hinge hole 313.
  • the connecting rod 20 is a long strip type, and the connecting rod 20 is close to the fin.
  • One end of the wing 10 is provided with a hole post 21, and the connecting rod 20 and the fixing plate 30 are hingedly engaged with the fixing hole 30 through the hinge hole 313 and the hole post 21, and are inserted through the through hole 311, and are rotated with the hinge hole 313 as a center relative to the fixing plate.
  • the other end of the connecting rod 20 is provided with a guide rail 22 extending along the longitudinal direction thereof, and the top post 43 is sleeved on the rail 22 of the connecting rod 20.
  • a lever structure is formed, one end of the lever is sleeved with the top post 43 of the driving end (the socket can be sleeved or jacketed), and the other end is fixed to the bionic fin fin 10 of the driven end (fixing can be adopted) Screw connection, bolt and nut connection, snap connection, riveting and integral molding), the driving end drives the driven end to make a circular motion with the hinge hole as the center.
  • the driver 40 is used to drive the top post 43 to reciprocate along its length.
  • the top post 43 is provided with a collar 44.
  • the collar 44 is enclosed by the split ring 441 and the guide pin 442.
  • the guide pin 442 is sleeved with the guide rail 22, and the guide pin 442 moves on the top post 43 along the plug column with respect to the cylinder block, and the movement of the top post 43 is further transmitted to the connecting rod 20.
  • the connecting rod 20 is slid along the guide rail 22, and the linear motion A of the driving end in the vertical direction is transmitted to the driven end, and the bionic fin fin 10 is driven to make a circular opening and closing motion a with the hinge hole as a center.
  • the embodiment of the present invention converts the linear motion of the driver 40 into the circumferential opening and closing motion of the bionic fin fins 10.
  • the linear motion is transmitted to the bionic fin fins 10 through the connecting rod 20, so that the process of imitating the penguin flip fins is vivid and cute, and the user experience is improved.
  • the actuator is comprised of a cylinder block 41 and a plug post 42 that is integral with the plug post 42 and passes through the cylinder block 41.
  • the plug post 42 is closed
  • the cylinder 41 is moved inside the cylinder 41 relative to it.
  • the piston movement is a kind of effective positioning and reciprocating linear motion.
  • the motor in order to provide a suitable reciprocating linear motion power source, the motor can be used as a driving power source by matching the rack and pinion.
  • a plunger type power source it is preferable to apply.
  • the driver 40 is arranged to be driven by an electromagnet or a cylinder, and is connected with the main control circuit or the gas path of the robot, and controls the electromagnet or the opening and closing of the cylinder, the degree of opening and closing, and the opening and closing frequency through signals, so that the performance of the whole simulation process is more vivid. Improve user experience.
  • the bionic fin fins 10 are arranged in an elliptical shape, which can form a good biomimetic effect and have an excellent affinity. Of course, setting it to other shapes can also express corresponding bionic effects, for example, setting a fan-like type, a shell-like type, and the like.
  • connection position of the penguin fin fin and the body a good opening and closing range is obtained, so that the bionic shape is more vivid and delicious, one of the longitudinal ends is set as the free end 12, and the other longitudinal end is set as the connecting end 13, the connecting rod 20
  • the bionic fin-fin connection end is integrally formed with the bionic fin fin; the link 20 can also be fixed to the bionic fin fin 10 by a screw at the connection end 13.
  • the free end 12 mimics the pendulum fin fin tip position with a good swing amplitude. If the connecting rod 20 is disposed at the middle position of the bionic fin fins 10, the other ends are all free ends, and a good swing amplitude cannot be achieved, and the bionic effect is not good enough.
  • a baffle 50 is further disposed between the bionic fin fin 10 and the fixed plate 30, and the baffle 50 is disposed on the side of the fin fin to form a concave curved surface 51 and bionic The fin fins 10 are attached. This creates an extra swing space and improves the bionic effect. Also depending on the actual form of the bionic fin fins 10, the depth of the concave curved surface 51 is set, and the depth of the concave curved surface 51 can be further increased to completely cover the bionic fin fins 10.
  • the bionic mechanism is facilitated for installation and manufacture.
  • the fixing plate 30 is arranged as a stepped plate, the bottom plate 32 is provided with a mounting hole 322, and the driver 40 is connected to the mounting hole 322 by screws, and is mounted on the bottom plate 32.
  • the installation process is simple and convenient, and is finally integrated with the driver 40.
  • a through hole 311 is formed in the middle of the top plate 31.
  • the stepped fixing plate 30 can be integrally manufactured by a basic forming method such as sheet metal stamping, casting, injection molding, etc., and has low manufacturing cost and is simple and convenient.
  • the baffle 50 is provided with a screw post 511 toward the driver side, and the fixing plate 30 is fixedly mounted on the baffle 50 by screws 511, so that it can be conveniently screwed during the installation process.
  • the driver 40, the fixed plate 30 and the baffle 50 are integrally connected.
  • the baffle 50 is provided with a mounting window 512 corresponding to the connecting end 13 of the bionic fin fin 10, and the top plate 31 is integrally engaged in the mounting window 512, which greatly improves the compactness of the structure. In the case of installation without a mounting window, it may be through a sealant or other fixed form, which is not considered in this embodiment.
  • the socket pin 442 and the guide rail 22 can also be further simplified.
  • the guide rail 22 is arranged as an open rail to facilitate the socket installation after the connecting rod 20 passes through the through hole 311, which further simplifies the installation process.
  • the guide rail 22 is firstly fitted on the guide pin 442, and then connected to the hinge hole. The degree of visualization of the installation process is not high enough, and is not considered in the preferred embodiment. .
  • the present invention also provides a robot, as shown in FIG. 6, including a housing 91 for presenting the overall vividness of the robot 90 and the claim 1
  • the robot bionic mechanism 99 of any one of the nine, the outer casing is provided with an opening 92 through which the bionic mechanism 99 is mounted on the outer casing 91, which presents a stylish overallity of birth and improves user expression.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Toys (AREA)

Abstract

一种机器人仿生机构，其包括仿生鳍翅（10）、连杆（20）、固定板（30）、驱动器（40）及顶柱（43）。作为驱动端的驱动器（40）和顶柱（43）安装在固定板（30）一侧，作为从动端的仿生鳍翅（10）位于固定板（30）另一侧。连杆（20）为一长条型，连杆（20）靠近鳍翅（10）一端设有孔柱（21），连杆（20）与固定板（30）铰接。在连杆（20）另一端设有沿其长度方向延伸的导轨（22），顶柱（43）套接在连杆（20）的导轨（22）上。该机器人仿生机构的连杆（20）沿导轨（22）相对滑动，带动仿生鳍翅（10）以固定板（30）上的铰接孔为圆心作开合运动，令机器人在移动过程中更加生动可爱，改善用户体验。

Description

一种机器人仿生机构及机器人
技术领域
本发明涉及机器人领域，特别涉及一种机器人仿生机构及机器人。
背景技术
仿生机构是机器人领域的一个重要分支，仿生机构是向生物界索取工程技术解决方案的原理，并将这些原理移植到工程技术之中，使机器人中的机构模仿着各类生物动作。目前，机器人并没有合适的仿生企鹅鳍翅的方案，未能通过合适的仿生机构模仿企鹅鳍翅拍动过程，机器人移动过程中比较呆板，用户体验较差。
发明内容
本发明的主要目的在于提供一种机器人仿生机构及机器人，旨在解决现有技术中未能模仿企鹅鳍翅拍动过程，从而解决机器人移动过程中比较呆板，用户体验较差。
为了实现上述目的，本发明提供一种机器人仿生机构，包括仿生鳍翅、连杆、固定板、驱动器及顶柱，所述驱动器及顶柱安装在所述固定板一侧，仿生鳍翅位于固定板的另一侧，所述连杆穿设在所述固定板中，并与固定板铰接，所述连杆其中一端固定在所述仿生鳍翅上，另一端设有沿其长度方向延伸的导轨，所述顶柱的一端与所述导轨套接，另一端与所述驱动器连接，所述驱动器用以驱动所述顶柱沿其长度方向往复运动。
优选地，所述驱动器由缸体及塞柱组成，塞柱封闭于缸体内并作相对滑动，所述顶柱与塞柱连成一体并穿过缸体。
优选地，所述驱动器设置为电磁铁或气动缸驱动，并与机器人的主控电路或气路连接。
优选地，所述仿生鳍翅设置成类椭圆型。
优选地，所述仿生鳍翅其中一纵向端为自由端，另一纵向端为连接端，所述连杆与所述连接端固接或一体成型。
优选地，所述仿生鳍翅与固定板之间还设有挡板，该挡板朝鳍翅一侧的正面设置成凹型曲面与仿生鳍翅啮合。
优选地，所述凹形曲面的的深度完全覆盖仿生鳍翅。
优选地，所述固定板设置为一阶梯板，底板设置安装孔，所述驱动器通过安装孔安装在底板上。
优选地，所述挡板朝驱动器一侧的背面设有螺钉柱，所述固定板通过螺钉柱固定安装在挡板背面，所述挡板对应所述仿生鳍翅连接端部位设有安装窗，所述顶板整块卡合在安装窗内。
优选地，所述导轨设置为开口导轨。
本发明还包括一种机器人，包括外壳所述的机器人仿生机构，所述外壳设置有开口，所述仿生机构通过该开口安装在所述机器人外壳上。
本发明机器人仿生机构及机器人通过驱动器推、拉连杆，连杆固定板为支点成为撬动仿生鳍翅的杠杆，带动仿生鳍翅以固定板上的铰接孔为圆心作圆周开合运动，令机器人在移动过程中更加生动可爱，改善用户体验。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1是本发明一实施例中机器人仿生机构侧视示意图；
图2是本发明一实施例中连杆与驱动器的套接示意图；
图3是本发明一改进实施例中机器人仿生机构示意图；
图4是本发明一改进实施例中机器人仿生机构的分解结构示意图；
图5是本发明一改进实施例中连杆与固定板的安装示意图；
图6是本发明涉及的机器人及机器人仿生机构组装图。
附图标号说明：
标号 名称 标号 名称 标号 名称
10 仿生鳍翅 32 底板 442 导向销
20 连杆 311 通孔 51 凹形曲面
30 固定板 312 凸壁 511 螺钉柱
40 驱动器 313 铰接孔 512 安装窗
50 挡板 322 安装孔 90 机器人
12 自由端 41 缸体 91 外壳
13 连接端 42 塞柱 92 开口
21 孔柱 43 顶柱 99 仿生机构
22 导轨 44 套环
31 顶板 441 开口环
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，若本发明实施例中有涉及方向性指示（诸如上、下、左、右、前、后……），则该方向性指示仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、活动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，若本发明实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
参照图1所示，本发明提供一种机器人仿生机构，其包括仿生鳍翅10、连杆20、固定板30、驱动器40及顶柱43，其中，作为驱动端的驱动器40和顶柱43安装在固定板30一侧，作为从动端的仿生鳍翅10位于固定板30另一侧。固定板30顶部设有通孔311，沿方通孔311孔壁延伸出两凸壁312，两凸壁312各设有铰接孔313，该连杆20为一长条型，连杆20靠近鳍翅10一端设有孔柱21，连杆20与固定板30通过铰接孔313和孔柱21用销钉铰接配合，穿设在通孔311中，并以铰接孔313作为圆心相对固定板转动。同时，在连杆20另一端设有沿其长度方向延伸的导轨22，顶柱43套接在连杆20的轨道22上。从而，形成一杠杆结构，杠杆其中一端与驱动端的顶柱43套接（套接可以采用内套接或外套接等方式），另一端与从动端的仿生鳍翅10固接（固接可以采用螺钉连接、螺栓螺母连接、卡合连接、铆接及一体成型等方式），驱动端带动从动端以铰接孔为圆心作圆周运动。
参照图2和图3所示，驱动器40用以驱动所述顶柱43沿其长度方向往复运动，顶柱43设有套环44，套环44由开口环441与导向销442围合而成，通过导向销442与导轨22套接，导向销442在顶柱43上随塞柱一并相对缸体运动，把顶柱43的运动进一步传动至连杆20。通过导轨22，使连杆20沿导轨22滑动，将驱动端在竖直方向的直线运动A传动至从动端，带动仿生鳍翅10以铰接孔为圆心作圆周开合运动a。
通过上述结构，本发明实施例把驱动器40的直线运动转化为仿生鳍翅10的圆周开合动作。在此过程中，通过连杆20将直线运动传动至仿生鳍翅10，令模仿企鹅鳍翅拍动过程生动可爱逼真，改善用户体验。
在一实施例中，为提供往复直线运动的动力源，驱动器由缸体41和塞柱42组成，所述顶柱43与塞柱42连成一体并穿过缸体41，塞柱42封闭在缸体41内并相对其作活塞运动。显然，活塞运动是一种既可以有效限定位置，又可以作往复直线运动的。
当然，为提供合适的往复式直线运动动力源，也可以通过电机搭配齿轮齿条的方式作为驱动动力源。然而出于结构紧凑性的考虑，在本实施例中，优选应用柱塞类动力源。
除了要提供往复式、可限定位置的直线运动的动力源外，在一优选实施例中，还考虑通过把驱动器40设置成可控制的主动元器件，提高仿生机构的可控制性，增加互动体验。例如，驱动器40设置为电磁铁或气缸驱动，并与机器人的主控电路或气路连接，通过信号控制电磁铁或气缸开合、开合程度及开合频率，使整个仿真过程表现更加栩栩如生，提高用户体验效果。
在动作过程中，生动可爱的表现动作最终会传动至仿生鳍翅，那么，模仿鳍翅摆动也需要从形态上达至生动可爱。把仿生鳍翅10设置成类椭圆型，从形态上既能形成良好的仿生效果，又能带来极佳的亲和力。当然，设置成其它形状也能表达出相应的仿生效果，例如，设置类扇形、类贝壳型等。
进一步，仿照企鹅鳍翅与身体的连接位置，获得良好的开合幅度，令仿生形态更加生动可爱，将其中一纵向端设为自由端12，另一纵向端设为连接端13，连杆20在仿生鳍翅连接端与仿生鳍翅一体成型；也可以在连接端13通过螺钉将连杆20固定于仿生鳍翅10。在摆动过程中，自由端12仿照企鹅鳍翅翅尖部位有良好的摆动幅度。如果把连杆20设置在仿生鳍翅10的中间位置，其余两端都为自由端，将不能达到良好的摆动幅度，仿生效果不够好。
为更进一步增大仿生鳍翅10的摆动幅度。参照图4和图5所示，在一较佳实施例中，仿生鳍翅10与固定板30之间还设有挡板50，该挡板50朝鳍翅一侧面设置成凹型曲面51与仿生鳍翅10贴合。因此产生了额外的摆动空间，提高了仿生效果。也根据仿生鳍翅10的实际形态，设置凹形曲面51的深度，甚至可以进一步增加该凹形曲面51的深度，至完全覆盖仿生鳍翅10。
在另一实施例中，为实现仿生机构便于安装制造。将固定板30设置为一阶梯板，底板32设置安装孔322，驱动器40通过螺钉连接安装孔322，安装在底板32上，安装过程简单方便，最终与驱动器40连为一体。在顶板31中间设置通孔311，该阶梯状固定板30可以通过钣金冲压、铸造、注塑等基本成型方式一体制造，制造成本低，简单方便。
同时，考虑到结构的紧凑，挡板50朝驱动器一侧设有螺钉柱511，固定板30通过螺钉柱511用螺钉固定安装在挡板50上，从而在安装过程中，可方便地用螺钉将驱动器40、固定板30和挡板50连成一整体。进而，考虑让结构更紧凑，挡板50对应仿生鳍翅10连接端13部位设有安装窗512，顶板31整块卡合在安装窗512内，大大提高结构的紧凑性。不通过安装窗安装的情况下，可以通过密封胶或其它固定形式，此实施例中不予考虑。
因仿生鳍翅10已经与连杆20连接成一体；而驱动器40、固定板30和挡板50也已经连成一整体。导向销442与导轨22套接安装也可以进一步简化。将导轨22设置为开口导轨，方便连杆20穿过通孔311后的套接安装，更进一步简化了安装过程。当然，也可以采用封闭式导轨，在连杆20安装过程中，先将导轨22套装在导向销442上，然后再与铰接孔连接，安装过程可视化程度不够高，本优选实施例中不予考虑。
为使以上实施方式在生动可爱效果上达至更良好的整体性，本发明还提供一种机器人，参照图6所示，包括用于呈现机器人90整体生动可爱性的外壳91及如权利要求1至9中任一项的机器人仿生机构99，外壳设置有开口92，仿生机构99通过该开口92安装在外壳91上，呈现出生动可爱的整体性，提高了用户体现。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。

Claims (11)

  1. 一种机器人仿生机构，其特征在于，包括仿生鳍翅、连杆、固定板、驱动器及顶柱，所述驱动器及顶柱安装在所述固定板一侧，仿生鳍翅位于固定板的另一侧，所述连杆穿设在所述固定板中，并与固定板铰接，所述连杆其中一端固定在所述仿生鳍翅上，另一端设有沿其长度方向延伸的导轨，所述顶柱的一端与所述导轨套接，另一端与所述驱动器连接，所述驱动器用以驱动所述顶柱沿其长度方向往复运动。
  2. 如权利要求1所述的机器人仿生机构，其特征在于，所述驱动器由缸体及塞柱组成，塞柱封闭于缸体内并作相对滑动，所述顶柱与塞柱连成一体并穿过缸体。
  3. 如权利要求2所述的机器人仿生机构，其特征在于，所述驱动器设置为电磁铁或气动缸驱动，并与机器人的主控电路或气路连接。
  4. 如权利要求1所述的机器人仿生机构，其特征在于，所述仿生鳍翅设置成类椭圆型。
  5. 如权利要求4所述的机器人仿生机构，其特征在于，所述仿生鳍翅其中一纵向端为自由端，另一纵向端为连接端，所述连杆与所述连接端固接或一体成型。
  6. 如权利要求5所述的机器人仿生机构，其特征在于，所述仿生鳍翅与固定板之间还设有挡板，该挡板朝鳍翅一侧的正面设置成凹型曲面与仿生鳍翅啮合。
  7. 如权利要求6所述的机器人仿生机构，其特征在于，所述凹形曲面的的深度完全覆盖仿生鳍翅。
  8. 如权利要求7所述的机器人仿生机构，其特征在于，所述固定板设置为一阶梯板，底板设置安装孔，所述驱动器通过安装孔安装在底板上。
  9. 如权利要求8所述的机器人仿生机构，其特征在于，所述挡板朝驱动器一侧的背面设有螺钉柱，所述固定板通过螺钉柱固定安装在挡板背面，所述挡板对应所述仿生鳍翅连接端部位设有安装窗，所述顶板整块卡合在安装窗内。
  10. 如权利要求1所述的机器人仿生机构，其特征在于，所述导轨设置为开口导轨。
  11. 一种机器人，其特征在于，包括外壳和如权利要求1至10中任一项所述的机器人，所述外壳设置有开口，所述仿生机构通过该开口安装在所述机器人外壳上。
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