CN210707689U - Bionic device for simulating walking of animal - Google Patents
Bionic device for simulating walking of animal Download PDFInfo
- Publication number
- CN210707689U CN210707689U CN201921677515.XU CN201921677515U CN210707689U CN 210707689 U CN210707689 U CN 210707689U CN 201921677515 U CN201921677515 U CN 201921677515U CN 210707689 U CN210707689 U CN 210707689U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- thigh
- shank
- hinged
- driving
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a bionical device for imitating animal walking, including drive arrangement, support and two supporting legs that identical just set up side by side, drive arrangement fixes on the support, each the supporting leg includes crank mechanism, shank and foot, crank mechanism with the support links to each other, the both ends of shank respectively with crank mechanism with shank is articulated, shank is kept away from the one end of shank with the foot is articulated. The advantages are that: the bionic device is started from a bionic angle, focuses on the motion simulation of walking gait of the double feet of the animal, enables the motion to be closer to the walking of the animal in the actual natural world, and achieves the performance purpose by being arranged through appearance decoration and being matched with a general stage display effect.
Description
Technical Field
The utility model relates to a bionic robot field especially relates to a bionic device for imitating animal walking.
Background
At present, the traveling mechanisms are various in types and mainly comprise: the wheel type, the crawler type, the foot type, the friction vibration type and the like mainly adopt a mechanical structure or a hydraulic system for driving and controlling movement, for example, a crank guide rod mechanism simulates a walking mechanism and a gait by utilizing the movement characteristics of a crank and a guide rod to achieve the walking purpose.
The wheel type and crawler type traveling mechanisms have the characteristics that the wheel type has the characteristics of mobility, flexibility and small driving force, but the obstacle crossing capability is poor due to large road surface contact pressure, the crawler type is uniform in bearing, the obstacle crossing performance is better than that of the wheel type, but the body structure is complex, heavy and poor in mobility.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a bionical device for imitating animal walking to solve the aforementioned problem that exists among the prior art.
In order to realize the purpose, the utility model discloses a technical scheme as follows:
the utility model provides a bionical device for imitating animal walking, includes drive arrangement, support and two supporting legs that are the same and set up side by side, drive arrangement fixes on the support, each the supporting leg includes crank mechanism, thigh portion, shank and foot, crank mechanism with the support links to each other, the both ends of thigh portion respectively with crank mechanism with the shank is articulated, the shank is kept away from the one end of thigh portion with the foot is articulated.
Preferably, the crank mechanism comprises a connecting plate, a driving shaft, a connecting rod and a driving rod, the driving shaft penetrates through the connecting plate and is connected with the bracket, the driving shaft is fixedly connected with one end of the connecting rod, the other end of the connecting rod is hinged with one end of the driving rod, and the other end of the driving rod is hinged with the thigh part; the thigh part is hinged with the connecting plate.
Preferably, the thigh part comprises a first thigh connecting rod and a second thigh connecting rod, the shank part comprises a first shank connecting rod and a second shank connecting rod, one end of the first thigh connecting rod is hinged with one end, far away from the connecting rod, of the driving rod, and the other end of the first thigh connecting rod is hinged with the second shank connecting rod; one end of the second thigh connecting rod is hinged with the driving rod, a certain distance is reserved between the hinged point and one end, far away from the connecting rod, of the driving rod, and the other end of the second thigh connecting rod is hinged with one end of the second shank connecting rod.
Preferably, the first thigh link is hinged to the connecting plate, and the hinge point is spaced from both ends of the first thigh link by a certain distance.
Preferably, one end of the first shank link is hinged to the second thigh link, the hinged point is away from one end of the second thigh link, which is far away from the drive rod, by a certain distance, and the ends of the first shank link and the second shank link, which are far away from the thigh, are hinged to the foot.
Preferably, a certain distance is kept between a hinge point of the first thigh connecting rod and the second shank connecting rod and one end, far away from the foot, of the second shank connecting rod.
Preferably, the driving device comprises a motor and a speed reducer, the motor is connected with the speed reducer, and an output shaft of the speed reducer is connected with the driving shaft.
Preferably, the bionic device comprises a controller and a first sensor and a second sensor which are connected with the controller, and the first sensor and the second sensor are respectively connected with the two driving shafts; the motor is connected with the controller.
Preferably, the bionic mechanism comprises a bionic animal shell, and the driving device and the support are arranged inside the shell.
The utility model has the advantages that: the utility model discloses from bionical angle, the action simulation of the biped walking gait of the animal of emphasis, the walking that makes the motion more be close animal in the actual nature is decorated again and is arranged through the outward appearance, is equipped with general stage bandwagon effect, has reached the performance purpose.
Drawings
FIG. 1 is a schematic view of a bionic device with two support legs standing in an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a state that a support leg of the bionic device is lifted up according to an embodiment of the present invention;
FIG. 3 is a schematic view of a support leg of the embodiment of the present invention;
fig. 4 is a schematic view of the state of the bionic device in which two support legs take a step alternately in the embodiment of the present invention;
fig. 5 is a diagram of the foot movement speed according to the embodiment of the present invention.
In the figure: 1. a support; 2. a drive shaft; 3. a connecting rod; 4. a drive rod; 5. a connecting plate; 6. a first thigh link; 7. a second thigh link; 8. a first shank link; 9. a second shank link; 10. a foot part.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are given by way of illustration only.
As shown in fig. 1 to 5, the present embodiment provides a bionic device for simulating walking of an animal, which includes a driving device, a support 1, and two identical support legs arranged in parallel, wherein the driving device is fixed on the support 1, each support leg includes a crank mechanism, a thigh portion, a shank portion, and a foot portion 10, the crank mechanism is connected to the support 1, two ends of the thigh portion are respectively hinged to the crank mechanism and the shank portion, and one end of the shank portion, which is far away from the thigh portion, is hinged to the foot portion 10.
In this embodiment, the crank mechanism includes a connecting plate 5, a driving shaft 2, a connecting rod 3 and a driving rod 4, the driving shaft 2 penetrates through the connecting plate 5 and is connected with the bracket 1, the driving shaft 2 is fixedly connected with one end of the connecting rod 3, the other end of the connecting rod 3 is hinged with one end of the driving rod 4, and the other end of the driving rod 4 is hinged with the thigh; the thigh part is hinged with the connecting plate 5.
In this embodiment, the driving shaft 2 is driven by the speed reducer to rotate, so as to drive the connecting rod 3 to rotate around the driving shaft 2, and the driving rod 4 moves in a vertical plane.
In this embodiment, the thigh portion includes a first thigh link 6 and a second thigh link 7, the shank portion includes a first shank link 8 and a second shank link 9, one end of the first thigh link 6 is hinged to one end of the driving rod 4 away from the connecting rod 3, and the other end of the first thigh link 6 is hinged to the second shank link 9; one end of the second thigh link 7 is hinged to the driving rod 4, the hinged point is away from one end of the driving rod 4 far away from the connecting rod 3 by a certain distance, and the other end of the second thigh link 7 is hinged to one end of the second shank link 9.
In this embodiment, when the driving rod 4 moves, the first thigh link 6 and the second thigh link 7 connected to the driving rod 4 will move under the driving of the driving rod 4, so as to move in the vertical plane.
In this embodiment, one end of the first shank link 8 is hinged to the second thigh link 7, the hinge point is spaced from one end of the second thigh link 7 away from the driving rod 4, and one ends of the first shank link 8 and the second shank link 9 away from the thigh are hinged to the foot 10.
In this embodiment, a hinge point between the first thigh link 6 and the second shank link 9 is spaced from an end of the second shank link 9 away from the foot 10 by a certain distance.
In this embodiment, the driving device includes a motor and a speed reducer, the motor is connected to the speed reducer, and an output shaft of the speed reducer is connected to the driving shaft 2.
In this embodiment, the biomimetic device comprises a controller and a first sensor and a second sensor connected with the controller, wherein the first sensor and the second sensor are respectively connected with the two driving shafts 2; the motor is connected with the controller.
In this embodiment, the bionic mechanism includes a bionic animal shell, and the driving device and the support 1 are disposed inside the shell.
In this embodiment, the bionic device works as follows: the motor drives the reduction gear work, and the output shaft of reduction gear links to each other with drive shaft 2, drives drive shaft 2 and rotates, and drive shaft 2 rotates and drives connecting rod 3 and rotate, and connecting rod 3 rotates and drives actuating lever 4 and take place to remove, and actuating lever 4 drives the thigh portion and removes, and the thigh portion drives the shank and removes, and shank portion drives foot 10 and removes.
As shown in fig. 1 to 4, in the present embodiment, when the bionic device stands on both legs, the two support legs hang down to stand, and the lower surfaces of the feet 10 are flush with the ground. When the single leg of the bionic device is lifted, one supporting leg is started first, the crank mechanism is driven to rotate to the position of the first sensor, the highest position of the lifting leg is at the moment, and the other supporting leg is fixed and used for supporting the bionic device. When the bionic device is in a single-leg stepping state, the crank mechanism is driven to rotate to the position of the first sensor, the highest position of the leg is lifted at the moment, the leg is stepped forwards from the highest position, the other supporting leg simultaneously moves upwards and gradually moves to the position of the second sensor, and the lifting action of the supporting leg is formed. When the bionic device is in a double-leg interactive stepping state, the crank mechanism is driven to rotate to the position of the first sensor, the highest position of the leg is lifted at the moment, the leg is stepped forwards from the position, the other supporting leg moves upwards at the same time and gradually moves to the position of the second sensor to form the lifting action of the supporting leg, the supporting leg is stepped forwards from the position, the other supporting leg is lifted upwards at the same time, the two supporting legs are alternately stepped forwards, and the double-leg interactive stepping state is formed.
In this embodiment, a complete computer program is provided in the controller, and the program can control the start and stop operations of the motor, and can control the signal transmission of the first sensor and the second sensor, so that the first sensor and the second sensor can monitor the operating states of the two support legs at any time. Motion simulation software is arranged in the controller, amplitude of motion speed of the foot 10 is calculated and drawn, and according to a motion speed diagram (shown in figure 5) of the foot 10, the motion speed of the foot 10 is respectively known to be in a state that the foot 10 moves to the rearmost end, namely the support leg is completely retracted, and the motion speed of the foot 10 to the foremost end, namely the support leg is completely extended, and the speed value is zero.
Through adopting the utility model discloses an above-mentioned technical scheme has obtained following profitable effect:
the utility model provides a bionical device for imitating animal walking, this bionical device is followed bionical angle and is set out, and the action simulation of the biped walking gait of the animal of the side emphasis makes the motion action more be close the walking of animal in the actual nature, decorates through the outward appearance again and arranges, is equipped with general stage bandwagon effect, has reached the performance purpose.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be viewed as the protection scope of the present invention.
Claims (9)
1. A biomimetic device for simulating animal walking, comprising: including drive arrangement, support and identical and two supporting legs that set up side by side, drive arrangement fixes on the support, each the supporting leg includes crank mechanism, thigh portion, shank and foot, crank mechanism with the support links to each other, the both ends of thigh portion respectively with crank mechanism with shank is articulated, shank keeps away from the one end of thigh portion with the foot is articulated.
2. The biomimetic device for simulating animal walking according to claim 1, wherein: the crank mechanism comprises a connecting plate, a driving shaft, a connecting rod and a driving rod, the driving shaft penetrates through the connecting plate and is connected with the bracket, the driving shaft is fixedly connected with one end of the connecting rod, the other end of the connecting rod is hinged with one end of the driving rod, and the other end of the driving rod is hinged with the thigh part; the thigh part is hinged with the connecting plate.
3. The biomimetic device for simulating animal walking according to claim 2, wherein: the thigh part comprises a first thigh connecting rod and a second thigh connecting rod, the shank part comprises a first shank connecting rod and a second shank connecting rod, one end of the first thigh connecting rod is hinged with one end, far away from the connecting rod, of the driving rod, and the other end of the first thigh connecting rod is hinged with the second shank connecting rod; one end of the second thigh connecting rod is hinged with the driving rod, a certain distance is reserved between the hinged point and one end, far away from the connecting rod, of the driving rod, and the other end of the second thigh connecting rod is hinged with one end of the second shank connecting rod.
4. A biomimetic device for simulating animal walking according to claim 3, wherein: the first thigh connecting rod is hinged with the connecting plate, and the hinged point is respectively away from two ends of the first thigh connecting rod by a certain distance.
5. The biomimetic device for simulating animal walking according to claim 4, wherein: one end of the first shank connecting rod is hinged to the second thigh connecting rod, a certain distance is reserved between the hinged point and the end, far away from the driving rod, of the second thigh connecting rod, and the ends, far away from the thigh part, of the first shank connecting rod and the second shank connecting rod are hinged to the foot part.
6. The biomimetic device for simulating animal walking according to claim 5, wherein: the hinge point of the first thigh connecting rod and the second shank connecting rod is away from one end, far away from the foot, of the second shank connecting rod by a certain distance.
7. The biomimetic device for simulating animal walking according to claim 6, wherein: the driving device comprises a motor and a speed reducer, the motor is connected with the speed reducer, and an output shaft of the speed reducer is connected with the driving shaft.
8. The biomimetic device for simulating animal walking according to claim 7, wherein: the bionic device comprises a controller, a first sensor and a second sensor, wherein the first sensor and the second sensor are connected with the controller and are respectively connected with two driving shafts; the motor is connected with the controller.
9. The biomimetic device for simulating animal walking according to claim 1, wherein: the bionic mechanism comprises a bionic animal shell, and the driving device and the support are arranged inside the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921677515.XU CN210707689U (en) | 2019-10-09 | 2019-10-09 | Bionic device for simulating walking of animal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921677515.XU CN210707689U (en) | 2019-10-09 | 2019-10-09 | Bionic device for simulating walking of animal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210707689U true CN210707689U (en) | 2020-06-09 |
Family
ID=70963401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921677515.XU Active CN210707689U (en) | 2019-10-09 | 2019-10-09 | Bionic device for simulating walking of animal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210707689U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114954728A (en) * | 2022-06-17 | 2022-08-30 | 武汉科技大学 | Bionic accompanying robot |
-
2019
- 2019-10-09 CN CN201921677515.XU patent/CN210707689U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114954728A (en) * | 2022-06-17 | 2022-08-30 | 武汉科技大学 | Bionic accompanying robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201343082Y (en) | Running mechanism of four-legged walking robot | |
| CN105729458A (en) | Rigid-flexible coupled trunk-shaped continuous robot | |
| CN203819377U (en) | Leg linkage mechanism of four-foot robot | |
| CN103963867B (en) | Biomimetic mechanical dinosaur | |
| CN210707689U (en) | Bionic device for simulating walking of animal | |
| CN110588822B (en) | Bionic wall climbing device | |
| CN103802909A (en) | Leg linkage mechanism of quadruped robot | |
| CN106426117B (en) | The foldable parallel institution and its creep, obstacle-detouring method that bionical starfish moves | |
| CN207328642U (en) | A kind of motor-driven bio-robot of list | |
| CN209274762U (en) | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing | |
| CN103213131B (en) | Robot crus structure capable of imitating human body ankle motions by utilizing pull rods | |
| CN108597350B (en) | Teaching aid for displaying mechanical principle of robot | |
| CN210592210U (en) | Bionic wall climbing device | |
| CN105857435B (en) | The sufficient walking robot of one kind eight | |
| CN110654473B (en) | Bionic foot component | |
| CN201834084U (en) | Leg mechanism of robot | |
| CN211544955U (en) | Six sufficient material transportation device | |
| CN2810703Y (en) | Robot capable of dancing | |
| CN203780647U (en) | Bionic mechanical dinosaur | |
| CN208426642U (en) | A kind of Basket-Shooting Robot | |
| CN109367641B (en) | Eight-foot crawling robot | |
| CN103847821B (en) | A kind of track type climbing-building robot mechanism | |
| CN107697184B (en) | Leg structure of foot type robot | |
| CN107128395B (en) | Movable robot and moving method of movable robot | |
| CN106697098B (en) | Mechanical foot imitating cat claw expansion characteristic |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |