CN102795275B - Bionic mechanical dinosaur - Google Patents
Bionic mechanical dinosaur Download PDFInfo
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- CN102795275B CN102795275B CN201210301761.1A CN201210301761A CN102795275B CN 102795275 B CN102795275 B CN 102795275B CN 201210301761 A CN201210301761 A CN 201210301761A CN 102795275 B CN102795275 B CN 102795275B
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Abstract
The invention discloses a bionic mechanical dinosaur, comprising a trunk part as well as a head part, a neck part, a tail part and four mechanical legs which are connected to the trunk part. First mechanical joints are respectively arranged on the head part, the neck part and the tail part for realizing the rotation of the neck part and the tail part. Each mechanical leg comprises a hip joint, a thigh joint and a crus joint which are connected in sequence, and the hip joint, the thigh joint and the crus joint comprise second mechanical joints for changing angles between the each mechanical leg and the trunk part, between the hip joint and the thigh joint and between the thigh joint and the crus joint. According to the bionic mechanical dinosaur, the hip joints are added to the legs, and the neck part and the tail part can rotate in all directions, therefore, during walking, the center of gravity can be adjusted by mutual matching of leftward incline and rightward incline of the trunk part, shaking the head and swaying the tail, therefore, the walking stability of the large-scale four-feet bionic mechanical dinosaur is greatly improved.
Description
Technical field
The present invention relates to quadruped robot, be specifically related to biomimetic mechanical dinosaur.
Background technology
Robotics is the new and high technology developed rapidly in recent decades, it combines machinery, microelectronics and computing machine, automatically control, sensor and the multi-disciplinary newest research results such as information processing and artificial intelligence, is the typical carriers of electromechanical integration technology.Large-scale four-leg bionic machinery dinosaur is a kind of important application of four feet walking robot, is widely used in the field such as amusement, video display.
The basic demand of large-scale four-leg bionic machinery dinosaur to possess the leg joint consistent with actual dinosaur joint, can realize leg action advanced in years flexibly; Neck, tail and face all can realize moving freely simultaneously.Therefore, the large-scale four-leg bionic machinery dinosaur realizing above-mentioned functions be actually a multivariate, close coupling, non-linear and time the complex dynamical systems that becomes.
As everyone knows, walking stability is difficult point and the core of quadruped robot development, and stability determines the success or failure of quadruped robot development.At present, although can by installing all kinds of sensing equipment, such as gyroscope, banking inclinometer, center of gravity sensor improve gait stability, also do not reach desirable effect.For real dinosaur, because the weight of head-tail is larger, in the process of walking, the adjustment of center of gravity not only realizes by the cooperation of four limbs, meanwhile, the left and right inclination of body and shake the head, cooperatively interacting of wagging the tail also play very important effect, therefore, for large-scale four-leg bionic machinery dinosaur, the design of physical construction is most important, especially the structure of leg joint and head and neck, caudal articular process.
Current quadruped robot does not all consider the impact of head-tail weight on walking stability, some defects below its physical construction ubiquity:
(1) leg joint only has large leg joint and calf joint two degree of freedom, and this structure can only realize lifting leg, fall leg action, and body can not be made to roll, and cannot assist to carry out stability adjustment;
(2) head and neck and afterbody only have one degree of freedom at the most, mainly under static state realize pitching motion.Can not realize omnibearingly shaking the head, wagging the tail, to assist to carry out stability adjustment.
In view of this, need to be optimized design to the physical construction of large-scale four-leg bionic machinery dinosaur, make it have structure simple, lightweight, the action of Various Complex can be realized, and conveniently carry out centre of gravity adjustment, thus improve the walking stability of large-scale four-leg bionic machinery dinosaur.
Summary of the invention
Technical matters to be solved by this invention solves the physical construction how simplifying large-scale four-leg bionic machinery dinosaur, improves the problem of walking stability.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is to provide a kind of biomimetic mechanical dinosaur, comprise trunk and be connected to the head and neck on described trunk, afterbody and four pedipulators, described head and neck and afterbody are respectively equipped with the first mechanical joint realizing neck and afterbody all-direction rotation, each described pedipulator comprises the hip joint connected successively, large leg joint and calf joint, described hip joint, large leg joint and calf joint comprise for changing pedipulator and trunk respectively, second mechanical joint of hip joint and large leg joint and large angle between leg joint and calf joint.
In such scheme, described first mechanical joint comprises neck first support and neck second support, described neck first support is fixed with neck first motor and neck rotating shaft, the axes normal of described neck first motor and described neck rotating shaft but non-intersect, and the motor shaft of described neck first motor is fixed with for connecting face or lengthening the attaching parts of foot piece; Described neck second support is fixed with neck second motor, the axis being parallel of described neck second motor and described neck rotating shaft, described neck axis of rotation is arranged on described neck second support, and one end of described neck rotating shaft is fixed with neck first gear after passing described second support; The axis of described first, second motor of neck is mutually vertical, and the motor shaft of described neck second motor is provided with neck second gear, first, second gears meshing of described neck.
In such scheme, described head and neck also comprises the 3rd mechanical joint realizing face opening and closing, described 3rd mechanical joint comprises lower jaw portion and rotates the maxilla portion be arranged in described lower jaw portion, described lower jaw portion is fixed with mouth servomotor, the output shaft of described mouth servomotor is fixed with lower jaw first gear, described maxilla portion is fixed with maxilla first gear, described maxilla first gear and described lower jaw first gears meshing; Described lower jaw portion is fixed by described attaching parts and described neck first support.
In such scheme, described second mechanical joint comprises pedipulator first support and pedipulator second support, described pedipulator first support comprises first, second side plate and leg servomotor, first, second side plate described be arranged in parallel, described leg servomotor is fixed between first, second side plate described, and the mouth of described leg servomotor is fixedly connected with a worm screw; One end of described pedipulator second support is fixed with leg rotating shaft, one end of first, second side plate described rotates the two ends being arranged on described leg rotating shaft respectively, the middle part of described leg rotating shaft is fixed with leg worm gear, described leg worm gear and described worm mesh; Described large leg joint is parallel with the leg shaft axis of calf joint, and the axis direction of respective leg servomotor is arranged along the longitudinal direction of pedipulator; The leg shaft axis of described hip joint is vertical with the leg shaft axis of described large leg joint, and leg servomotor axis in hip joint is towards the inside of described trunk.
In such scheme, described leg worm gear has a shaft sleeve part and a teeth portion, and described teeth portion is fan-shaped incomplete worm gear, and is connected with described shaft sleeve part by fan-shaped connecting portion, the thickness of described fan-shaped connecting portion is less than the thickness of teeth portion, and is circumferentially laid with multiple through hole.
In such scheme, the two ends of described leg rotating shaft are respectively equipped with antifriction-bearing box, the both sides of described antifriction-bearing box are respectively equipped with first and second baffle plate, and one end of first, second side plate described to be set on described antifriction-bearing box and by first, second baffle plate axial limiting described.
In such scheme, one end of first, second side plate described has an arcuate projections, the other end has an arc-shaped recess portion suitable with described arcuate projections, the side of described arcuate projections is provided with a rectangular projections, and described leg servomotor is obliquely installed and is fixed on described rectangular projections.
In such scheme, the leg servomotor in described large leg joint and calf joint is all arranged in below the leg worm gear of corresponding joint.
In such scheme, described trunk comprises the trunk support forming trunk profile and the bearing support be fixed on described trunk support, described bearing support comprises left front, right front, left back, right back square box, described left front, right front, left back, right back square box one side is uncovered, and it is uncovered in outward direction, described left front, right front square box is fixedly connected with by front rod, and described left back, right back square box is fixedly connected with by rear connecting rod; Described left front, left back square box is fixedly connected with by upper left, lower-left pipe link, and the front end of upper left pipe link is positioned on the end face of left front square box, rear end is positioned at the leading flank top of left back square box, the front end of lower-left pipe link is positioned on the trailing flank of left front square box, and rear end is positioned on the bottom surface of left back square box; Described right front, right back square box is fixedly connected with by upper right, bottom right pipe link, and the front end of upper right pipe link is positioned on the end face of right front square box, rear end is positioned at the leading flank top of right back square box, the front end of bottom right pipe link is positioned on the trailing flank of right front square box, and rear end is positioned on the bottom surface of right back square box.
In such scheme, described trunk support comprises middle part fixed support and is fixed on the forward and backward toroidal frame of fixed support front and back end, described middle part, the upper and lower end of described forward and backward toroidal frame connects respectively by upper and lower curved pipe, and on described upper and lower curved pipe, compartment of terrain is fixed with multiple ring pipe from front to back.
The present invention, leg adds hip joint, and neck and afterbody can all-direction rotations, thus in the process of walking, by the left and right inclination of body and can shake the head, cooperatively interacting of wagging the tail carry out centre of gravity adjustment, substantially increase the walking stability of large-scale four-leg bionic machinery dinosaur.
In addition, each mechanical joint in pedipulator, utilizes plank frame to replace case structure, compact conformation, simple, greatly reduce overall weight, and transmission device have employed worm-and-wheel gear, has self-locking performance, improve the service life of corresponding servomotor.
Accompanying drawing explanation
Fig. 1 is biomimetic mechanical dinosaur perspective view provided by the invention;
Fig. 2 is the perspective view of the first mechanical joint in the present invention;
Fig. 3 is the first mechanical joint decomposition texture schematic diagram shown in Fig. 1;
Fig. 4 is the neck first supporting structure schematic diagram in the present invention;
Fig. 5 is the neck second supporting structure schematic diagram in the present invention;
Fig. 6 is the 3rd mechanical joint structural representation in the present invention;
Fig. 7 is the pedipulator structural representation in the present invention;
Fig. 8 is the second mechanical joint structural representation in the present invention;
Fig. 9 is the inner structure schematic diagram of the second mechanical joint in the present invention;
Figure 10 is the second mechanical joint lateral plan in the present invention;
Figure 11 is the pedipulator first supporting structure schematic diagram in the present invention;
Figure 12 is the pedipulator second supporting structure schematic diagram in the present invention;
Figure 13 is the pedipulator second bracket assembled schematic diagram in the present invention;
Figure 14 is the leg gear structure schematic diagram in the present invention;
Figure 15 is the trunk structural representation in the present invention;
Figure 16 is the trunk supporting structure schematic diagram in the present invention;
Figure 17 is the support bracket structure schematic diagram in the present invention.
Detailed description of the invention
Biomimetic mechanical dinosaur provided by the invention, there is structure simple, compact, volume is little, the advantage such as lightweight, the most important thing is that leg adds hip joint, neck and afterbody can all-direction rotations, thus in the process of walking, by the left and right inclination of body and can shake the head, cooperatively interacting of wagging the tail carry out centre of gravity adjustment, substantially increase the walking stability of large-scale four-leg bionic machinery dinosaur.Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Fig. 1 is the perspective view of biomimetic mechanical dinosaur provided by the invention, and as shown in Figure 1, biomimetic mechanical dinosaur comprises trunk 1 and is connected to head and neck 2, afterbody 3 and four pedipulators 4 on trunk 1.
Head and neck 2 and afterbody 1 are respectively equipped with the first mechanical joint 10 realizing neck and afterbody all-direction rotation, the all-direction rotation of neck and afterbody can be completed by the first mechanical joint 10, realize shake the head, function of wagging the tail.
As shown in Figure 2 and Figure 3, the first mechanical joint 10 in the present invention comprises neck first support 110 and neck second support 120, and neck first support 110 is fixed with neck rotating shaft 150, and the two ends of neck rotating shaft 150 are rotated and are arranged on neck second support 120.Neck first support 110 is fixed with neck first motor 130, neck second support 120 is fixed with neck second motor 140, neck first motor 130 is reducing motor with neck second motor 140 and axis is mutually vertical but non-intersect, simultaneously the motor shaft of neck second motor 140 and the axis being parallel of neck rotating shaft 150.Be fixed with neck first gear 151 after one end of neck rotating shaft 150 passes the second support 120, the motor shaft of neck second motor 140 is provided with neck second gear 152, and first, second gear 151,152 of neck engages each other.
The structure of neck first support 110 as shown in Figure 4, is made up of the first U-board 111 and the first connecting panel 112.First U-board 111 comprises stripe board 113, lower stripe board 114 and is connected to the first rear stripe board 115 of stripe board 113 and lower stripe board 114 right-hand member, first connecting panel 112 is fixed in the middle part of the aft end face of stripe board 115 after first, the free end semicircular in shape of the first connecting panel 112, and be provided with first through hole 116.One first runs through through hole 117 along upper and lower to running through upper stripe board 113 and lower stripe board 114 is arranged, and first runs through the axes normal of through hole 117 and the first through hole 116 but non-intersect.
Again see Fig. 2, neck first motor 130 is fixed on the end face of the upper stripe board 113 of neck first support 110 by flange connection, the output shaft of neck first motor 130 is inserted into first and runs through in through hole 17, the motor shaft that attaching parts 118 is sleeved on neck first motor 130 is connected by key, attaching parts 118 is arranged between stripe board 113 and lower stripe board 114, for neck connecting rod or the afterbody connecting rod of fixing biomimetic mechanical dinosaur.
The structure of neck second support 120 as shown in Figure 5, is made up of the second U-board 121 and the second connecting panel 122.Second U-board 121 comprises left stripe board 123, right stripe board 124 and is connected to the second rear stripe board 125 of left stripe board 123 and right stripe board 124 rear end, the rear end of right stripe board 124 extends back formation second connecting panel 122, the rearward end semicircular in shape of the second connecting panel 122 and be provided with the second through hole 126, the front end semicircular in shape of left stripe board 123 and right stripe board 124, second runs through through hole 127 runs through left stripe board 123 along left and right direction and right stripe board 124 is arranged, the second axis being parallel running through through hole 127 and the second through hole 126.
On the right side of the fixing stripe board 125 in the second rear of neck second motor 140, the output shaft of neck second motor 140 is fixing with neck second gear 152 after passing the second through hole 126, first connecting panel 112 is arranged between left stripe board 123, right stripe board 124, neck rotating shaft 150 is through the first through hole 116 and fixed by key connection mode and neck first support 110, and the two ends of neck rotating shaft 150 are each passed through second on neck second support 120 and run through through hole 127 formation and be rotationally connected.One end of neck rotating shaft 150 pass second run through through hole 127 after fixing with neck first gear 151, first, second gear 151,152 of neck engages each other.
When neck first motor 130 rotates, drive attaching parts 118 to run through through hole 117 around first and rotate, realize hunt or the left and right yaw of mechanical dinosaur; When neck second motor 140 rotates, neck rotating shaft 150 is driven to rotate by neck second gear 152 and neck first gear 151 engaged transmission, because neck rotating shaft 150 and neck first support 110 are connected and fixed by key, therefore, neck first support 110 is rotated around neck rotating shaft 150, realizes neck pitching or the afterbody pitching motion of mechanical dinosaur.
In addition, left and right two parts are as shown in Figure 3 equal in weight, the barycenter of whole first mechanical joint in pitch plane drops on the axis of neck rotating shaft 150, like this, when control system carries out stability controlling calculation, whole first mechanical joint can be reduced to particle, is convenient to control system and calculates centroid position in real time.
Head and neck 2 also comprises the 3rd mechanical joint 50 realizing face opening and closing, as shown in Figure 6,3rd mechanical joint 50 comprises maxilla portion 51 and lower jaw portion 52, lower jaw portion 52 is fixed with mouth servomotor 53, the output shaft of mouth servomotor 53 is fixed with lower jaw first gear 54, maxilla portion 52 is fixed with maxilla first gear 55, lower jaw first gear 54 engages with maxilla first gear 55, and lower jaw portion 52 is fixed by the attaching parts 118 on connecting rod and neck first support 110.
As shown in Figure 7, comprise the hip joint 20 connected successively, large leg joint 30 and calf joint 40 from top to bottom, the lower end of calf joint 40 is fixed with yielding rubber pad 50 to the structure of pedipulator 4.Hip joint 20, large leg joint 30 and calf joint 40 comprise the second mechanical joint 5 for changing pedipulator 4 and trunk 1, hip joint 20 and large leg joint 30 and large angle between leg joint 30 and calf joint 40 respectively, the angle between pedipulator 4 and trunk 1 can be changed by hip joint 20, realize left and right inclination; Hip joint 20 and large leg joint 30 and large angle between leg joint 30 and calf joint 40 can be changed by large leg joint 30 and calf joint 40, complete pedipulator lift leg, fall leg action, realizes walking function.
The structure of the second mechanical joint is as shown in Fig. 8, Fig. 9, Figure 10, and the second mechanical joint comprises pedipulator first support 210 and pedipulator second support 220.The structure of pedipulator first support 210 as shown in figure 11, comprise first, second side plate 211,212 and leg servomotor 213, first, second side plate 211,212 be arranged in parallel, leg servomotor 213 is fixed between first, second side plate 211,212, leg servomotor 213 is reducing motor, and its mouth is fixedly connected with a worm screw 214.The lower end of pedipulator second support 220 is fixed with a leg rotating shaft 221, the upper end of pedipulator second support 220 is provided with the mounting hole be connected with adjacent segment, the two ends of leg rotating shaft 221 are rotated respectively and are arranged on first, second side plate 211,212, the middle part of leg rotating shaft 221 is fixed with leg worm gear 222, and leg worm gear 222 engages with worm screw 214.When leg servomotor 213 rotates, leg worm gear 222 is driven to rotate by worm screw 214, because leg worm gear 222 and the second support 220 are fixed, therefore, pedipulator second support 220 rotates with the rotation of servomotor 213, makes the angle between pedipulator first support 210 and pedipulator second support 220 increase or reduce.
Again see Figure 12, Figure 13, Figure 12 is the structural representation of pedipulator second support in the present invention, and Figure 13 is the decomposition texture schematic diagram of the support of pedipulator second shown in Figure 12.The lower end of pedipulator second support 220 is provided with the first breach 227, and leg worm gear 222 is positioned at the first breach 227 and is connected by key with leg rotating shaft 221, and meanwhile, leg rotating shaft 221 is also connected with pedipulator second support 220 by key.Be respectively equipped with antifriction-bearing box 223 after pedipulator second support 220 is stretched out at the two ends of leg rotating shaft 221, the both sides of antifriction-bearing box 223 are respectively equipped with first, two baffle plates 224, 225, first baffle plate 224 is in disc-shaped, and second baffle 225 has a disc-shaped baffle body 2251, and the center of baffle body 2251 is provided with an axle sleeve 2252, first, two baffle plates 224, 225 both sides being separately positioned on a sidewall of the first breach 227, first, second side plate 211, the upper end of 212 is set on antifriction-bearing box 223, and the axle sleeve 2252 on second baffle 225 is sleeved on the outer ring of antifriction-bearing box 223 simultaneously, and cover plate 226 is arranged on the outside of second baffle 225, and first, second baffle 224, 225 and cover plate 226 be all fixed on the sidewall of the first breach 227, the first baffle plate 224 carries out axial limiting by the shaft shoulder in leg rotating shaft 221, first, second baffle 224, 225 for preventing first, second side plate 211, 212 moving axially along leg rotating shaft 221, cover plate 226, for the key in shutoff leg rotating shaft 221, prevents key from skidding off, and the inner ring of antifriction-bearing box 223 is then spacing by the trip ring in leg rotating shaft 221.The structure of second baffle 225, can make the thickness of first, second side plate be less than the thickness of antifriction-bearing box, alleviate the weight of first, second side plate.
In order to alleviate mechanical joint weight, the structure of the present invention to leg worm gear 221 is optimized design, and as shown in figure 14, leg worm gear 221 has a shaft sleeve part 2211 and a teeth portion 2212, shaft sleeve part 2211 is for being connected with leg rotating shaft 221, and teeth portion 2212 is for engaging with worm screw 214.Teeth portion 2212 is fan-shaped incomplete worm gear, and be connected with shaft sleeve part 2211 by fan-shaped connecting portion 2213, the thickness of fan-shaped connecting portion 2213 is less than the thickness of teeth portion 2212, and be circumferentially laid with multiple through hole 2214, the teeth portion 2212 formed by fan-shaped incomplete worm gear and through hole 2214 is set, both met operating needs, the weight of leg worm gear 221 can be significantly reduced again.
First, second side plate 211,212 structure is identical, as shown in figure 11, one end of second side plate 212 has an arcuate projections 2121, the other end has an arc-shaped recess portion 2122 suitable with arcuate projections 2121, the side of arcuate projections 2122 is provided with a rectangular portion be obliquely installed 2123, and leg servomotor 213 is obliquely installed and is fixed in rectangular portion 2123.Second side plate 212 and rectangular portion 2123 have through hole 2124, thus further mitigates the weight of the second side plate 212.
For pedipulator 4, the leg shaft axis of large leg joint and calf joint is parallel to each other, the axis direction of leg servomotor is arranged along leg link direction (longitudinal direction of first, second side plate), the leg shaft axis of hip joint is mutually vertical with the leg shaft axis of large leg joint, and the axis of the leg servomotor in hip joint is inner towards body.Leg servomotor in large leg joint and calf joint is all arranged in below the leg gear of corresponding joint, like this, such that the structure of pedipulator is compacter, weight alleviates greatly.
As shown in figure 15, trunk 1 comprises the trunk support 11 forming trunk profile and the bearing support 21 be fixed on trunk support 11, and trunk support 11 is made up of aluminum alloy materials, is mainly used in the epidermis covering dinosaur, bearing support 21 is made up of steel, is mainly used to bear a heavy burden.This design, greatly reduces the weight of dinosaur.
As shown in figure 16, trunk support 11 comprises middle part fixed support 12 and is fixed on the forward and backward toroidal frame 13,14 of fixed support 12 front and back end, middle part, the upper and lower end of forward and backward toroidal frame 13,14 connects respectively by upper and lower curved pipe 15,16, and on upper and lower curved pipe 15,16, compartment of terrain is fixed with multiple ring pipe 17(and sees Figure 15 from front to back).
As shown in figure 17, bearing support 21 comprises left front, right front, left back, right back square box 22,23,24,25, left front, right front, left back, right back square box 22,23,24,25 one side is uncovered, and it is uncovered in outward direction, that is: the uncovered direction of left front, left back square box 22,24 left, to the right, first, second side plate in hip joint is inserted into the corresponding square box internal fixtion of bearing support 21 respectively in the uncovered direction of right front, right back square box 23,25.Left front, right front square box 22,23 is fixedly connected with by front rod 26, and left back, right back square box 24,25 is fixedly connected with by rear connecting rod 27.Left front, left back square box 22,24 is fixedly connected with by upper left, lower-left pipe link 28,29, and the front end of upper left pipe link 28 is positioned on the end face of left front square box 22, rear end is positioned at the leading flank top of left back square box 24, the front end of lower-left pipe link 29 is positioned on the trailing flank of left front square box 22, and rear end is positioned on the bottom surface of left back square box 24.Connection mode between right front, right back square box 23,25 and left front, left back square box 22,24 identical, do not repeat them here.The lateral plan of bearing support 21 is similar trapezoidal, by ANSYS, modeling Analysis is carried out to bearing support 21, fixing wherein 3 connecting portions in the process of modeling, force and moment is concentrated to analyze its deflection by adding respectively on the 4th connecting portion, concentrated force is 700N, moment is 1000Nm, analysis result shows, when Crawl gait, the deflection of leg bearing support 21 when bearing 700 Newton force of striding is 4mm, maximum distortion under twisting action is 0.4mm, and intensity meets the demands.
Large-scale four-leg bionic machinery dinosaur has that volume is large, weight large and the feature of dispersion, and therefore, the design of the trunk that the present invention adopts, both met requirement of strength, and compact conformation, lightweight.
Generally speaking, biomimetic mechanical dinosaur provided by the invention has following outstanding advantage:
(1) add hip joint, thus mechanical dinosaur can left and rightly be rolled, facilitate the adjustment of walking stability.
(2) structure is simple, compact.Pedipulator utilizes plank frame to replace case structure, greatly reduces overall weight.
(3) transmission device of pedipulator have employed worm structure, has self-locking performance, and therefore, under the state of mechanical dinosaur stop motion, each joint can continue to keep original state, keeps stability; And servomotor does not stress, improve the service life of servomotor.
(4) neck and afterbody can omnibearingly rotate, thus are conducive to the stability improving walking.
(5) trunk adopts trunk support and bearing support to combine, and trunk support aluminium alloy, bearing support selects steel, and is optimized design to bearing support, both improves structural strength, alleviates weight again.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn the structural change made under enlightenment of the present invention, and every have identical or close technical scheme with the present invention, all falls within protection scope of the present invention.
Claims (8)
1. biomimetic mechanical dinosaur, comprise trunk and be connected to head and neck, afterbody and four pedipulators on described trunk, it is characterized in that, described head and neck and afterbody are respectively equipped with the first mechanical joint realizing neck and afterbody all-direction rotation, each described pedipulator comprises the hip joint connected successively, large leg joint and calf joint, and described hip joint, large leg joint and calf joint comprise the second mechanical joint for changing pedipulator and trunk, hip joint and large leg joint and large angle between leg joint and calf joint respectively;
Described second mechanical joint comprises:
Pedipulator first support, comprise first, second side plate and leg servomotor, first, second side plate described be arranged in parallel, and described leg servomotor is fixed between first, second side plate described, and the mouth of described leg servomotor is fixedly connected with a worm screw; First, second lateral plate structure is identical, one end of second side plate has an arcuate projections, the other end has an arc-shaped recess portion suitable with arcuate projections, the side of arcuate projections is provided with a rectangular portion be obliquely installed, leg servomotor is obliquely installed and is fixed in rectangular portion, and the second side plate and rectangular portion have through hole;
Pedipulator second support, its one end is fixed with leg rotating shaft, and one end of first, second side plate described rotates the two ends being arranged on described leg rotating shaft respectively, and the middle part of described leg rotating shaft is fixed with leg worm gear, described leg worm gear and described worm mesh;
Described large leg joint is parallel with the leg shaft axis of calf joint, and the axis direction of respective leg servomotor is arranged along the longitudinal direction of pedipulator; The leg shaft axis of described hip joint is vertical with the leg shaft axis of described large leg joint, and leg servomotor axis in hip joint is towards the inside of described trunk;
One end of first, second side plate described has an arcuate projections, the other end has an arc-shaped recess portion suitable with described arcuate projections, the side of described arcuate projections is provided with a rectangular projections, and described leg servomotor is obliquely installed and is fixed on described rectangular projections.
2. biomimetic mechanical dinosaur as claimed in claim 1, it is characterized in that, described first mechanical joint comprises,
Neck first support, it is fixed with neck first motor and neck rotating shaft, the axes normal of described neck first motor and described neck rotating shaft but non-intersect, and the motor shaft of described neck first motor is fixed with for connecting face or lengthening the attaching parts of foot piece;
Neck second support, it is fixed with neck second motor, the axis being parallel of described neck second motor and described neck rotating shaft, described neck axis of rotation is arranged on described neck second support, and one end of described neck rotating shaft is fixed with neck first gear after passing described second support;
The axis of described first, second motor of neck is mutually vertical, and the motor shaft of described neck second motor is provided with neck second gear, first, second gears meshing of described neck.
3. biomimetic mechanical dinosaur as claimed in claim 2, is characterized in that,
Described head and neck also comprises the 3rd mechanical joint realizing face opening and closing, described 3rd mechanical joint comprises lower jaw portion and rotates the maxilla portion be arranged in described lower jaw portion, described lower jaw portion is fixed with mouth servomotor, the output shaft of described mouth servomotor is fixed with lower jaw first gear, described maxilla portion is fixed with maxilla first gear, described maxilla first gear and described lower jaw first gears meshing;
Described lower jaw portion is fixed by described attaching parts and described neck first support.
4. biomimetic mechanical dinosaur as claimed in claim 1, is characterized in that:
Described leg worm gear has a shaft sleeve part and a teeth portion, and described teeth portion is fan-shaped incomplete worm gear, and is connected with described shaft sleeve part by fan-shaped connecting portion, and the thickness of described fan-shaped connecting portion is less than the thickness of teeth portion, and is circumferentially laid with multiple through hole.
5. biomimetic mechanical dinosaur as claimed in claim 1, is characterized in that:
The two ends of described leg rotating shaft are respectively equipped with antifriction-bearing box, and the both sides of described antifriction-bearing box are respectively equipped with first and second baffle plate, and one end of first, second side plate described to be set on described antifriction-bearing box and by first, second baffle plate axial limiting described.
6. biomimetic mechanical dinosaur as claimed in claim 1, is characterized in that:
Leg servomotor in described large leg joint and calf joint is all arranged in below the leg gear of corresponding joint.
7. biomimetic mechanical dinosaur as claimed in claim 1, is characterized in that,
Described trunk comprises the trunk support forming trunk profile and the bearing support be fixed on described trunk support, described bearing support comprises left front, right front, left back, right back square box, described left front, right front, left back, right back square box one side is uncovered, and it is uncovered in outward direction, described left front, right front square box is fixedly connected with by front rod, and described left back, right back square box is fixedly connected with by rear connecting rod; Described left front, left back square box is fixedly connected with by upper left, lower-left pipe link, and the front end of upper left pipe link is positioned on the end face of left front square box, rear end is positioned at the leading flank top of left back square box, the front end of lower-left pipe link is positioned on the trailing flank of left front square box, and rear end is positioned on the bottom surface of left back square box; Described right front, right back square box is fixedly connected with by upper right, bottom right pipe link, and the front end of upper right pipe link is positioned on the end face of right front square box, rear end is positioned at the leading flank top of right back square box, the front end of bottom right pipe link is positioned on the trailing flank of right front square box, and rear end is positioned on the bottom surface of right back square box.
8. biomimetic mechanical dinosaur as claimed in claim 7, is characterized in that,
Described trunk support comprises middle part fixed support and is fixed on the forward and backward toroidal frame of fixed support front and back end, described middle part, the upper and lower end of described forward and backward toroidal frame connects respectively by upper and lower curved pipe, and on described upper and lower curved pipe, compartment of terrain is fixed with multiple ring pipe from front to back.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210301761.1A CN102795275B (en) | 2012-08-22 | 2012-08-22 | Bionic mechanical dinosaur |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210301761.1A CN102795275B (en) | 2012-08-22 | 2012-08-22 | Bionic mechanical dinosaur |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102795275A CN102795275A (en) | 2012-11-28 |
| CN102795275B true CN102795275B (en) | 2015-02-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103129640B (en) * | 2013-03-18 | 2015-06-24 | 哈尔滨工业大学 | Novel six-foot robot |
| CN103192898A (en) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | Biomimetic quadruped robot provided with head and tail balance adjustment devices |
| CN103963867B (en) * | 2014-04-25 | 2016-03-30 | 大连楚云天科技开发有限公司 | Biomimetic mechanical dinosaur |
| CN103950481A (en) * | 2014-04-25 | 2014-07-30 | 中科宇博（北京）文化有限公司 | Mechanical joint and leg structure of bionic mechanical dinosaur |
| CN103950038B (en) * | 2014-04-25 | 2016-03-30 | 大连楚云天科技开发有限公司 | Mechanical joint and biomimetic mechanical dinosaur neck, tail structure |
| CN104875813B (en) * | 2015-05-26 | 2018-04-06 | 上海大学 | A kind of electric drive small-sized bionic quadruped robot |
| CN105729500B (en) * | 2016-05-09 | 2017-08-25 | 上海理工大学 | Bionical hydraulic machine dinosaur tail structure |
| CN105965514B (en) * | 2016-05-09 | 2017-12-26 | 上海理工大学 | Bionical hydraulic pressure four-footed machine dinosaur structure |
| CN107009364A (en) * | 2016-06-22 | 2017-08-04 | 常州恐龙园股份有限公司 | The neck and tail swing mechanism of a kind of dinosaur robot |
| CN108609066B (en) * | 2018-05-09 | 2023-11-14 | 北京理工大学 | Amphibious bionic machine waterfowl |
| CN108583725A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
| CN109733499B (en) * | 2019-01-22 | 2021-06-01 | 北华航天工业学院 | Mechanical structure of bionic dinosaur |
| CN110406354A (en) * | 2019-08-19 | 2019-11-05 | 郑州科林车用空调有限公司 | A kind of completely newly carry on the back sets monoblock type waring and cooling air conditioning system |
| CN111590624B (en) * | 2020-05-26 | 2022-11-15 | 嘉兴职业技术学院 | Bionic walking mechanical animal |
| CN213414006U (en) * | 2020-10-29 | 2021-06-11 | 杭州宇树科技有限公司 | Robot leg structure with compact structure and quadruped robot applying same |
| CN112758210A (en) * | 2021-01-18 | 2021-05-07 | 杭州太希智能科技有限公司 | Multifunctional quadruped robot |
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