CN202686559U - Bionic mechanical dinosaur - Google Patents
Bionic mechanical dinosaur Download PDFInfo
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- CN202686559U CN202686559U CN 201220419818 CN201220419818U CN202686559U CN 202686559 U CN202686559 U CN 202686559U CN 201220419818 CN201220419818 CN 201220419818 CN 201220419818 U CN201220419818 U CN 201220419818U CN 202686559 U CN202686559 U CN 202686559U
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Abstract
The utility model discloses a bionic mechanical dinosaur which comprises a trunk, a head and neck part, a tail part and four mechanical legs, wherein the head and neck part, the tail part and the four mechanical legs are connected with the trunk. The head and neck part and the tail part are respectively provided with first mechanical joints which achieve rotation of a neck part and the tail part, each mechanical leg comprises a hip joint, a thigh joint and a crus joint, wherein each hip joint, each thigh joint and each crus joint are connected in sequence, and the hip joints, the thigh joints and the crus joints comprise second mechanical joints which are used for changing angles between the mechanical legs and the trunk, between the hip joints and the thigh joints, and between the thigh joints and the crus joints. The bionic mechanical dinosaur is additionally provided with the hip joints, the neck part and the tail part can be rotated all around, so that during walking processes, center of gravity can be adjusted by means of the fact that left inclination and right inclination of the trunk are matched with head shaking and tail swinging, and walking stability of the large four-footed bionic mechanical dinosaur is greatly improved.
Description
Technical field
The utility model relates to quadruped robot, is specifically related to the bionic mechanical dinosaur.
Background technology
Robotics is a new and high technology that develops 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 fields such as amusement, video display.
The basic demand of large-scale four-leg bionic machinery dinosaur is to possess the shank joint consistent with actual dinosaur joint, can realize flexibly stepping the leg action; Neck, tail and face all can be realized moving freely simultaneously.The large-scale four-leg bionic machinery dinosaur of therefore, realizing above-mentioned functions be actually a multivariate, close coupling, non-linear and the time complex dynamical systems that becomes.
As everyone knows, walking stability is difficult point and the core of quadruped robot development, and stability has determined the success or failure of quadruped robot development.At present, although can be by all kinds of sensing equipments be installed, for example 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 does not only depend on the cooperation of four limbs to realize, simultaneously, the left and right inclination of body and cooperatively interacting of shaking the head, wag 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 shank joint and head and neck, caudal articular process.
Current quadruped robot is not all considered head-tail weight to the impact of walking stability, the following defectives of its physical construction ubiquity:
(1) the shank joint only has large leg joint and two degree of freedom of calf joint, and this structure can only realize lifting leg, the leg that falls action, and body is rolled, and can't assist to carry out stability and regulate;
(2) head and neck and afterbody only have one degree of freedom at the most, mainly are under static state to realize the pitching action.Can not realize omnibearingly shaking the head, wagging the tail, to assist to carry out stability adjusting.
In view of this, need to be optimized design to the physical construction of large-scale four-leg bionic machinery dinosaur, it is simple in structure that it is had, lightweight, can realize the action of Various Complex, and conveniently carry out centre of gravity adjustment, thereby improve the walking stability of large-scale four-leg bionic machinery dinosaur.
The utility model content
Technical problem to be solved in the utility model is to solve physical construction how to simplify 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 scheme that the utility model adopts provides a kind of bionic mechanical dinosaur, comprise trunk and be connected to head and neck on the described trunk, afterbody and four pedipulators, be respectively equipped with the first mechanical joint of realizing neck and afterbody all-direction rotation on described head and neck and the afterbody, the described pedipulator of each bar comprises the hip joint that connects successively, large leg joint and calf joint, described hip joint, large leg joint and calf joint comprise respectively for changing pedipulator and trunk, the second mechanical joint of angle between hip joint and large leg joint and large leg joint and the calf joint.
In such scheme, described the first mechanical joint comprises neck the first support and neck the second support, be fixed with neck the first motor and neck rotating shaft on described neck the first support, described neck the first motor is vertical but non-intersect with the axis of described neck rotating shaft, and is fixed with on the motor shaft of described neck the first motor for the attaching parts that connects face or lengthening foot piece; Be fixed with neck the second motor on described neck the second support, described neck the second motor is parallel with the axis of described neck rotating shaft, described neck rotating shaft is rotated and is arranged on described neck the second support, and an end of described neck rotating shaft is fixed with neck the first gear after passing described the second support; The axis of described first, second motor of neck is mutually vertical, and the motor shaft of described neck the second motor is provided with neck the second gear, first, second gear engagement of described neck.
In such scheme, described head and neck also comprises the 3rd mechanical joint of realizing the face opening and closing, described the 3rd mechanical joint comprises lower jaw section and rotates the maxilla section be arranged in the described lower jaw section, be fixed with the mouth servomotor in the described lower jaw section, be fixed with lower jaw the first gear on the output shaft of described mouth servomotor, be fixed with maxilla the first gear in the described maxilla section, described maxilla the first gear and the engagement of described lower jaw the first gear; Described lower jaw section is fixed by described attaching parts and described neck the first support.
In such scheme, described the second mechanical joint comprises pedipulator the first support and pedipulator the second support, described pedipulator the first support comprises first, second side plate and shank servomotor, described first, second side plate be arranged in parallel, described shank servomotor is fixed between described first, second side plate, worm screw of the mouth captive joint of described shank servomotor; One end of described pedipulator the second support is fixed with the shank rotating shaft, one end of described first, second side plate rotates respectively the two ends that are arranged on described shank rotating shaft, the middle part of described shank rotating shaft is fixed with the shank worm gear, described shank worm gear and described worm mesh; The shank shaft axis of described large leg joint and calf joint is parallel, and the axis direction of shank servomotor separately is along vertical setting of pedipulator; The shank shaft axis of described hip joint is vertical with the shank shaft axis of described large leg joint, and the shank servomotor axis in the hip joint is towards the inside of described trunk.
In such scheme, described shank worm gear has a shaft sleeve part and a tooth section, and described tooth section 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 tooth section, and the edge circumferentially is laid with a plurality of through holes.
In such scheme, the two ends of described shank 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 an end of described first, second side plate is set on the described antifriction-bearing box and passes through described first, second baffle plate axial limiting.
In such scheme, one end of described first, second side plate has an arc salient, the other end have one with the suitable arc-shaped recess section of described arc salient, one side of described arc salient is provided with a rectangle salient, and described shank servomotor is obliquely installed and is fixed on the described rectangle salient.
In such scheme, the shank servomotor in described large leg joint and the calf joint all is arranged in the shank worm gear below of corresponding joint.
In such scheme, described trunk comprises the trunk support that consists of the trunk profile and is fixed on bearing support on the 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 single face is uncovered, and uncovered direction outwardly, described left front, right front square box is by the front rod captive joint, and described left back, right back square box is by the rear connecting rod captive joint; Described left front, left back square box is by upper left, lower-left pipe link captive joint, and the front end of upper left pipe link is positioned on the end face of left front square box, the 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 the rear end is positioned on the bottom surface of left back square box; Described right front, right back square box is by upper right, bottom right pipe link captive joint, and the front end of upper right pipe link is positioned on the end face of right front square box, the 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 the 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 the forward and backward toroidal frame that is fixed on fixed support front and back end, described middle part, the upper and lower end of described forward and backward toroidal frame connects by upper and lower curved pipe respectively, on the described upper and lower curved pipe from front to back the compartment of terrain be fixed with a plurality of ring pipes.
The utility model, shank has increased hip joint, and neck and afterbody can all-direction rotations, thereby in the process of walking, left and right inclination that can be by body and cooperatively interacting of shaking the head, wag the tail are carried out centre of gravity adjustment, have greatly improved the walking stability of large-scale four-leg bionic machinery dinosaur.
In addition, each mechanical joint in the pedipulator utilizes plank frame to replace case structure, and compact conformation, simple greatly reduces overall weight, and transmission device adopted worm-and-wheel gear, has self-locking performance, has improved the service life of corresponding servomotor.
Description of drawings
The bionic mechanical dinosaur perspective view that Fig. 1 provides for the utility model;
Fig. 2 is the perspective view of the first mechanical joint in the utility model;
Fig. 3 is the first mechanical joint decomposition texture scheme drawing shown in Figure 1;
Fig. 4 is neck the first supporting structure scheme drawing in the utility model;
Fig. 5 is neck the second supporting structure scheme drawing in the utility model;
Fig. 6 is the 3rd mechanical joint structural representation in the utility model;
Fig. 7 is the pedipulator structural representation in the utility model;
Fig. 8 is the second mechanical joint structural representation in the utility model;
Fig. 9 is the inner structure scheme drawing of the second mechanical joint in the utility model;
Figure 10 is the second mechanical joint lateral plan in the utility model;
Figure 11 is pedipulator the first supporting structure scheme drawing in the utility model;
Figure 12 is pedipulator the second supporting structure scheme drawing in the utility model;
Figure 13 is pedipulator the second bracket assembled scheme drawing in the utility model;
Figure 14 is the shank gear structure scheme drawing in the utility model;
Figure 15 is the trunk structural representation in the utility model;
Figure 16 is the trunk supporting structure scheme drawing in the utility model;
Figure 17 is the support bracket structure scheme drawing in the utility model.
The specific embodiment
The bionic mechanical dinosaur that the utility model provides, have simple in structure, compact, volume is little, the advantage such as lightweight, the most important thing is that shank has increased hip joint, neck and afterbody can all-direction rotations, thereby in the process of walking, left and right inclination that can be by body and cooperatively interacting of shaking the head, wag the tail are carried out centre of gravity adjustment, have greatly improved the walking stability of large-scale four-leg bionic machinery dinosaur.Below in conjunction with the drawings and specific embodiments the utility model is made detailed explanation.
The perspective view of the bionic mechanical dinosaur that Fig. 1 provides for the utility model, as shown in Figure 1, the bionic mechanical dinosaur comprises trunk 1 and is connected to head and neck 2, afterbody 3 and four pedipulators 4 on the trunk 1.
Be respectively equipped with the first mechanical joint 10 of realizing neck and afterbody all-direction rotation on head and neck 2 and the afterbody 1, can finish the all-direction rotation of neck and afterbody by the first mechanical joint 10, realize shaking the head, wagging the tail function.
Such as Fig. 2, shown in Figure 3, the first mechanical joint 10 in the utility model comprises neck the first support 110 and neck the second support 120, be fixed with neck rotating shaft 150 on neck the first support 110, the two ends of neck rotating shaft 150 are rotated and are arranged on neck the second support 120.Be fixed with neck the first motor 130 on neck the first support 110, be fixed with neck the second motor 140 on neck the second support 120, neck the first motor 130 is reducing motor with neck the second motor 140 and axis is mutually vertical but non-intersect, and the motor shaft of neck the second motor 140 is parallel with the axis of neck rotating shaft 150 simultaneously.One end of neck rotating shaft 150 is fixed with neck the first gear 151 after passing the second support 120, and the motor shaft of neck the second motor 140 is provided with neck the second gear 152, first, second gear 151 of neck, 152 intermeshing.
The structure of neck the first support 110 is comprised of the first U-shaped plate 111 and the first connecting panel 112 as shown in Figure 4.The first U-shaped plate 111 comprises stripe board 113, lower stripe board 114 and is connected to stripe board 113 and the first rear stripe board 115 of lower stripe board 114 right-hand members, the first connecting panel 112 is fixed on the aft end face middle part of the first rear stripe board 115, 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 and arranges to running through upper stripe board 113 and lower stripe board 114 along upper and lower, and first to run through through hole 117 vertical but non-intersect with the axis of the first through hole 116.
Again referring to Fig. 2, neck the first motor 130 is fixed on by flange connection on the end face of upper stripe board 113 of neck the first support 110, the output shaft of neck the first motor 130 is inserted into first to be run through in the through hole 17, attaching parts 118 is sleeved on the motor shaft of neck the first motor 130 and by key and is connected, attaching parts 118 is arranged between stripe board 113 and the lower stripe board 114, is used for fixedly neck connecting rod or the afterbody connecting rod of bionic mechanical dinosaur.
The structure of neck the second support 120 is comprised of the second U-shaped plate 121 and the second connecting panel 122 as shown in Figure 5.The second U-shaped plate 121 comprises left stripe board 123, right stripe board 124 and is connected to left stripe board 123 and the second rear stripe board 125 of right stripe board 124 rear ends, the rear end of right stripe board 124 extends back and forms the 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 and right stripe board 124 along left and right direction and arranges, and second to run through through hole 127 parallel with the axis of the second through hole 126.
Neck the second motor 140 is fixed on the right side of the second rear stripe board 125, the output shaft of neck the second motor 140 passes behind the second through hole 126 and neck the second gear 152 is fixed, the first connecting panel 112 is arranged between left stripe board 123, the right stripe board 124, the first through hole 116 and fixing with neck the first support 110 by the key connection mode is passed in neck rotating shaft 150, and the two ends of neck rotating shaft 150 are passed respectively second on neck the second support 120 and run through through hole 127 formation and be rotationally connected.One end of neck rotating shaft 150 passes second and fixes with neck the first gear 151 after running through through hole 127, first, second gear 151 of neck, 152 intermeshing.
When neck the first motor 130 rotated, driving attaching parts 118 ran through through hole 117 around first and rotates, and realizes hunt or the left and right sides yaw of mechanical dinosaur; When neck the second motor 140 rotates, driving neck rotating shaft 150 by neck the second gear 152 and neck the first gear 151 engaged transmission rotates, because neck rotating shaft 150 and neck the first support 110 is connected and fixed by key, therefore, neck the first support 110 is rotated around neck rotating shaft 150, realize neck pitching or the afterbody pitching action of mechanical dinosaur.
In addition, left and right two parts as shown in Figure 3 are equal in weight, the barycenter of whole the first mechanical joint in pitch plane drops on the axis of neck rotating shaft 150, like this, when control system is carried out stability control calculating, whole the first mechanical joint can be reduced to particle, is convenient to control system and calculates in real time centroid position.
Head and neck 2 also comprises the 3rd mechanical joint 50 of realizing the face opening and closing, as shown in Figure 6, the 3rd mechanical joint 50 comprises maxilla section 51 and lower jaw section 52, be fixed with mouth servomotor 53 in the lower jaw section 52, be fixed with lower jaw the first gear 54 on the output shaft of mouth servomotor 53, be fixed with maxilla the first gear 55 in the maxilla section 52, lower jaw the first gear 54 and 55 engagements of maxilla the first gear, lower jaw section 52 is fixing by the attaching parts 118 on connecting rod and neck the first support 110.
The structure of pedipulator 4 comprises the hip joint 20 that connects successively, large leg joint 30 and calf joint 40 from top to bottom as shown in Figure 7, and the lower end of calf joint 40 is fixed with yielding rubber pad 50.Hip joint 20, large leg joint 30 and calf joint 40 comprise respectively for the second mechanical joint 5 that changes angle between pedipulator 4 and trunk 1, hip joint 20 and large leg joint 30 and large leg joint 30 and the calf joint 40, can change angle between pedipulator 4 and the trunk 1 by hip joint 20, realize left and right inclination; Can change angle between hip joint 20 and large leg joint 30 and large leg joint 30 and the calf joint 40 by large leg joint 30 and calf joint 40, finish pedipulator lift leg, the leg that falls action, the realization walking function.
The structure of the second mechanical joint such as Fig. 8, Fig. 9, shown in Figure 10, the second mechanical joint comprise pedipulator the first support 210 and pedipulator the second support 220.The structure of pedipulator the first support 210 as shown in figure 11, comprise first, second side plate 211,212 and shank servomotor 213, first, second side plate 211,212 be arranged in parallel, shank servomotor 213 is fixed between first, second side plate 211,212, shank servomotor 213 is reducing motor, worm screw 214 of its mouth captive joint.The lower end of pedipulator the second support 220 is fixed with a shank rotating shaft 221, the upper end of pedipulator the second support 220 is provided with the mounting hole that is connected with adjacent segment, the two ends of shank rotating shaft 221 are rotated respectively and are arranged on first, second side plate 211,212, the middle part of shank rotating shaft 221 is fixed with shank worm gear 222, shank worm gear 222 and worm screw 214 engagements.When shank servomotor 213 rotates, driving shank worm gear 222 by worm screw 214 rotates, because shank worm gear 222 and the second support 220 are fixing, therefore, pedipulator the second support 220 rotates with the rotation of servomotor 213, angle between pedipulator the first support 210 and pedipulator the second support 220 is increased or reduces.
Referring to Figure 12, Figure 13, Figure 12 is the structural representation of pedipulator the second support in the utility model again, and Figure 13 is the decomposition texture scheme drawing of pedipulator the second support shown in Figure 12.The lower end of pedipulator the second support 220 is provided with the first breach 227, and shank worm gear 222 is positioned at the first breach 227 and is connected by key with shank rotating shaft 221, and simultaneously, key also is connected shank rotating shaft 221 support 220 and is connected with pedipulator.The two ends of shank rotating shaft 221 are respectively equipped with antifriction-bearing box 223 after stretching out pedipulator the second support 220, the both sides of antifriction-bearing box 223 are respectively equipped with first, two baffle plates 224,225, the first baffle plate 224 is disc-shaped, 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 are separately positioned on the both sides of a sidewall of the first breach 227, first, the second side plate 211,212 upper end is set on the antifriction-bearing box 223, and the axle sleeve on the second baffle 225 2252 is sleeved on the outer ring of antifriction-bearing box 223 simultaneously, cover plate 226 is arranged on the outside of second baffle 225, first, second baffle 224,225 and cover plate 226 all be fixed on the sidewall of the first breach 227, the first baffle plate 224 carries out axial limiting by the shaft shoulder in the shank rotating shaft 221, first, second baffle 224,225 are used for preventing first, the second side plate 211,212 moving axially along shank rotating shaft 221, the key that cover plate 226 is used in the shutoff shank rotating shaft 221, prevent that key from skidding off, the inner ring of antifriction-bearing box 223 is then spacing by the trip ring in the shank rotating shaft 221.The structure of second baffle 225 can make the thickness of first, second side plate less than the thickness of antifriction-bearing box, has alleviated the weight of first, second side plate.
In order to alleviate mechanical joint weight, the utility model is optimized design to the structure of shank worm gear 221, and as shown in figure 14, shank worm gear 221 has a shaft sleeve part 2211 and a tooth section 2212, shaft sleeve part 2211 is used for being connected with shank rotating shaft 221, and tooth section 2212 is used for and worm screw 214 engagements.Tooth section 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 tooth section 2212, and along circumferentially being laid with a plurality of through holes 2214, the tooth section 2212 that forms by fan-shaped incomplete worm gear and through hole 2214 is set, both satisfy operating needs, can greatly alleviate again the weight of shank worm gear 221.
First, second side plate 211,212 structures are identical, as shown in figure 11, one end of the second side plate 212 has an arc salient 2121, the other end have one with the suitable arc-shaped recess section 2122 of arc salient 2121, one side of arc salient 2122 is provided with a rectangular portion that is obliquely installed 2123, and shank servomotor 213 is obliquely installed and is fixed on the rectangular portion 2123.Have through hole 2124 on the second side plate 212 and the rectangular portion 2123, thereby further alleviated the weight of the second side plate 212.
For pedipulator 4, the shank shaft axis of large leg joint and calf joint is parallel to each other, the axis direction of shank servomotor arranges along leg link direction (first, second side plate vertically), the shank shaft axis of hip joint is mutually vertical with the shank shaft axis of large leg joint, and the axis of the shank servomotor in the hip joint is inner towards body.Shank servomotor in large leg joint and the calf joint all is arranged in the shank gear below of corresponding joint, like this, so that the structure of pedipulator is compacter, weight alleviates greatly.
As shown in figure 15, trunk 1 comprises the trunk support 11 that consists of the trunk profile and is fixed on bearing support 21 on the trunk support 11, and trunk support 11 is made by aluminum alloy materials, is mainly used in covering the epidermis of dinosaur, bearing support 21 is made by 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 the forward and backward toroidal frame 13,14 that is fixed on fixed support 12 front and back ends, middle part, forward and backward toroidal frame 13,14 upper and lower end connect by upper and lower curved pipe 15,16 respectively, on the upper and lower curved pipe 15,16 from front to back the compartment of terrain be fixed with a plurality of ring pipe 17(and see Figure 15).
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 single faces are uncovered, and uncovered direction outwardly, that is: left front, left back square box 22,24 uncovered direction are left, right front, right back square box 23,25 uncovered direction to the right, first, second side plate in the hip joint is inserted into respectively in the corresponding square box of bearing support 21 fixing.Left front, right front square box 22,23 is by front rod 26 captive joints, and left back, right back square box 24,25 is by rear connecting rod 27 captive joints.Left front, left back square box 22,24 is by upper left, lower- left pipe link 28,29 captive joints, and the front end of upper left pipe link 28 is positioned on the end face of left front square box 22, the 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 the rear end is positioned on the bottom surface of left back square box 24.Connection mode between right front, the 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 bearing support 21 is carried out modeling Analysis, fixing wherein 3 connecting portions in the process of modeling, concentrate force and moment to analyze its deflection by on the 4th connecting portion, adding respectively, concentrated force is 700N, moment is 1000Nm, analysis result shows, in Crawl gait, the deflection of leg bearing support 21 in the situation of bearing 700 Newton force of striding is 4mm, maximum distortion under the twisting action is 0.4mm, meets the demands in intensity.
Large-scale four-leg bionic machinery dinosaur has the advantages that volume is large, weight large and disperse, and therefore, requirement of strength had both been satisfied in the design of the trunk that the utility model adopts, and compact conformation, lightweight.
Generally speaking, the bionic mechanical dinosaur that provides of the utility model has following outstanding advantage:
(1) increases hip joint, thereby mechanical dinosaur can left and rightly be rolled, made things convenient for the adjusting of walking stability.
(2) simple in structure, compact.Pedipulator utilizes plank frame to replace case structure, greatly reduces overall weight.
(3) transmission device of pedipulator has adopted worm structure, has self-locking performance, and therefore, under the state of mechanical dinosaur stop motion, original state can be continued to keep in each joint, keeps stability; And servomotor does not stress, and has improved the service life of servomotor.
(4) neck and afterbody can omnibearingly rotate, thereby are conducive to improve the stability of walking.
(5) trunk adopts trunk support and bearing support to combine, trunk support aluminium alloy, and bearing support is selected steel, and bearing support is optimized design, has both improved structural strength, has alleviated again weight.
The utility model is not limited to above-mentioned preferred forms, and anyone should learn the structural change of making under enlightenment of the present utility model, every with the utlity model has identical or close technical scheme, all fall within the protection domain of the present utility model.
Claims (10)
1. bionic mechanical dinosaur, comprise trunk and be connected to head and neck, afterbody and four pedipulators on the described trunk, it is characterized in that, be respectively equipped with the first mechanical joint of realizing neck and afterbody all-direction rotation on described head and neck and the afterbody, the described pedipulator of each bar comprises the hip joint that connects successively, large leg joint and calf joint, and described hip joint, large leg joint and calf joint comprise respectively for the second mechanical joint that changes angle between pedipulator and trunk, hip joint and large leg joint and large leg joint and the calf joint.
2. bionic mechanical dinosaur as claimed in claim 1 is characterized in that, described the first mechanical joint comprises,
Neck the first support, be fixed with neck the first motor and neck rotating shaft on it, described neck the first motor is vertical but non-intersect with the axis of described neck rotating shaft, and is fixed with on the motor shaft of described neck the first motor for the attaching parts that connects face or lengthening foot piece;
Neck the second support, be fixed with neck the second motor on it, described neck the second motor is parallel with the axis of described neck rotating shaft, described neck rotating shaft is rotated and is arranged on described neck the second support, and an end of described neck rotating shaft is fixed with neck the first gear after passing described the second support;
The axis of described first, second motor of neck is mutually vertical, and the motor shaft of described neck the second motor is provided with neck the second gear, first, second gear engagement of described neck.
3. bionic mechanical dinosaur as claimed in claim 2 is characterized in that,
Described head and neck also comprises the 3rd mechanical joint of realizing the face opening and closing, described the 3rd mechanical joint comprises lower jaw section and rotates the maxilla section be arranged in the described lower jaw section, be fixed with the mouth servomotor in the described lower jaw section, be fixed with lower jaw the first gear on the output shaft of described mouth servomotor, be fixed with maxilla the first gear in the described maxilla section, described maxilla the first gear and the engagement of described lower jaw the first gear;
Described lower jaw section is fixed by described attaching parts and described neck the first support.
4. bionic mechanical dinosaur as claimed in claim 1 is characterized in that, described the second mechanical joint comprises:
Pedipulator the first support, comprise first, second side plate and shank servomotor, described first, second side plate be arranged in parallel, and described shank servomotor is fixed between described first, second side plate, worm screw of the mouth captive joint of described shank servomotor;
Pedipulator the second support, the one end is fixed with the shank rotating shaft, and an end of described first, second side plate rotates respectively the two ends that are arranged on described shank rotating shaft, and the middle part of described shank rotating shaft is fixed with the shank worm gear, described shank worm gear and described worm mesh;
The shank shaft axis of described large leg joint and calf joint is parallel, and the axis direction of shank servomotor separately is along vertical setting of pedipulator; The shank shaft axis of described hip joint is vertical with the shank shaft axis of described large leg joint, and the shank servomotor axis in the hip joint is towards the inside of described trunk.
5. bionic mechanical dinosaur as claimed in claim 4 is characterized in that:
Described shank worm gear has a shaft sleeve part and a tooth section, and described tooth section 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 tooth section, and along circumferentially being laid with a plurality of through holes.
6. bionic mechanical dinosaur as claimed in claim 4 is characterized in that:
The two ends of described shank 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 an end of described first, second side plate is set on the described antifriction-bearing box and passes through described first, second baffle plate axial limiting.
7. bionic mechanical dinosaur as claimed in claim 4 is characterized in that:
One end of described first, second side plate has an arc salient, the other end have one with the suitable arc-shaped recess section of described arc salient, one side of described arc salient is provided with a rectangle salient, and described shank servomotor is obliquely installed and is fixed on the described rectangle salient.
8. bionic mechanical dinosaur as claimed in claim 4 is characterized in that:
Shank servomotor in described large leg joint and the calf joint all is arranged in the shank gear below of corresponding joint.
9. bionic mechanical dinosaur as claimed in claim 1 is characterized in that,
Described trunk comprises the trunk support that consists of the trunk profile and is fixed on bearing support on the 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 single face is uncovered, and uncovered direction outwardly, described left front, right front square box is by the front rod captive joint, and described left back, right back square box is by the rear connecting rod captive joint; Described left front, left back square box is by upper left, lower-left pipe link captive joint, and the front end of upper left pipe link is positioned on the end face of left front square box, the 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 the rear end is positioned on the bottom surface of left back square box; Described right front, right back square box is by upper right, bottom right pipe link captive joint, and the front end of upper right pipe link is positioned on the end face of right front square box, the 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 the rear end is positioned on the bottom surface of right back square box.
10. bionic mechanical dinosaur as claimed in claim 9 is characterized in that,
Described trunk support comprises middle part fixed support and the forward and backward toroidal frame that is fixed on fixed support front and back end, described middle part, the upper and lower end of described forward and backward toroidal frame connects by upper and lower curved pipe respectively, on the described upper and lower curved pipe from front to back the compartment of terrain be fixed with a plurality of ring pipes.
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| CN 201220419818 CN202686559U (en) | 2012-08-22 | 2012-08-22 | Bionic mechanical dinosaur |
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| CN 201220419818 CN202686559U (en) | 2012-08-22 | 2012-08-22 | Bionic mechanical dinosaur |
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| CN202686559U true CN202686559U (en) | 2013-01-23 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102795275A (en) * | 2012-08-22 | 2012-11-28 | 中科宇博（北京）文化有限公司 | Bionic mechanical dinosaur |
| CN104890760A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Simulated dinosaur robot |
| CN106005334A (en) * | 2016-07-05 | 2016-10-12 | 杭州畅动智能科技有限公司 | Bionic robotic fish |
| CN106114785A (en) * | 2016-07-05 | 2016-11-16 | 杭州畅动智能科技有限公司 | The floating control method with dive with bionic machine fish and fish |
| CN106143853A (en) * | 2016-07-05 | 2016-11-23 | 杭州畅动智能科技有限公司 | Bionic machine fish |
-
2012
- 2012-08-22 CN CN 201220419818 patent/CN202686559U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102795275A (en) * | 2012-08-22 | 2012-11-28 | 中科宇博（北京）文化有限公司 | Bionic mechanical dinosaur |
| CN102795275B (en) * | 2012-08-22 | 2015-02-25 | 中科宇博（北京）文化有限公司 | Bionic mechanical dinosaur |
| CN104890760A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Simulated dinosaur robot |
| CN106005334A (en) * | 2016-07-05 | 2016-10-12 | 杭州畅动智能科技有限公司 | Bionic robotic fish |
| CN106114785A (en) * | 2016-07-05 | 2016-11-16 | 杭州畅动智能科技有限公司 | The floating control method with dive with bionic machine fish and fish |
| CN106143853A (en) * | 2016-07-05 | 2016-11-23 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN106114785B (en) * | 2016-07-05 | 2018-05-01 | 杭州畅动智能科技有限公司 | The floating control method with dive with bionic machine fish and fish |
| CN106005334B (en) * | 2016-07-05 | 2019-01-11 | 杭州畅动智能科技有限公司 | Bionic machine fish |
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