An octopod scorpionoid robot

Abstract

The application discloses an eight-legged scorpion-imitating robot, which comprises a trunk unit, a step foot unit, a front claw unit and a tail unit. The trunk unit adopts a sandwich structure, is divided into an upper cover plate and a bottom plate, and is internally provided with a main control board and a storage battery. The step foot unit is divided into eight groups and symmetrically arranged on both sides of the trunk. The front claw unit is symmetrically arranged at the front end of the trunk. The tail unit is connected to the rear end of the trunk. The sensing unit is provided with a temperature and humidity sensor, a vibration sensor and a photosensitive sensor, which are respectively arranged around the upper cover plate of the trunk. The eight-legged scorpion-imitating robot has high flexibility, and the trunk unit and the front claw unit are improved, so that the eight-legged scorpion-imitating robot can better simulate the behavior dynamics of a real scorpion, and through the sensing unit, the eight-legged scorpion-imitating robot can make more real feedback to external stimulation, and has high human-computer interaction and playability.

Description

Technical Field

[0001] This invention relates to a novel toy that is close to nature, specifically to an eight-legged scorpion-like robot. Background Technology

[0002] Existing scorpion toys include plush toys, plastic models, and assembly toys, but they are all limited to having a resemblance to real animals in appearance. They have low mobility and interactivity, cannot achieve a high degree of cooperation with people, and can only perform a limited number of actions and reactions.

[0003] Research has found that with the rapid development of internet technology, teenagers' understanding of the animal kingdom is largely limited to images and videos on online media. Apart from some pets that can be kept as pets, they rarely have the opportunity to come into contact with real dangerous animals, and their knowledge of the habits and abilities of wild animals is relatively lacking. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide an eight-legged scorpion-like robot that is highly flexible and can imitate the various behaviors and stress responses of scorpions in nature. Teenagers can learn about various aspects of scorpions, broaden their horizons and expand their knowledge while interacting and having fun with it.

[0005] To solve at least one of the aforementioned technical problems, according to one aspect of the present invention, an eight-legged scorpion-like robot is provided, comprising:

[0006] The torso unit is connected by a sandwich structure and a linkage self-locking device; it has a built-in main control board and a battery, and the torso unit can rotate freely within the angle of the rear end of the torso.

[0007] The walking unit is divided into eight groups and symmetrically placed on both sides of the torso, with intervals on each side. The walking unit is used to perform walking and turning movements.

[0008] The forecheil unit consists of two forecheil units, symmetrically distributed at the front end of the body. The forecheil units are used to perform attack and grasping actions.

[0009] The tail unit is connected to the rear end of the torso and is used to perform actions such as thrusting forward during an attack.

[0010] The sensing unit includes a temperature and humidity sensor, a vibration sensor, and a photosensitive sensor, which are distributed around the torso cover plate. The sensing unit is used to execute the stress response group.

[0011] According to an embodiment of the present invention, an eight-legged scorpion-like robot may optionally include a linkage self-locking device comprising:

[0012] The limiting rod 143 is installed at one end at the fixing screws 146 on both sides of the torso base plate 10, and at the other end at the fixing screws 147 on both sides of the base plate 12.

[0013] The structure has a self-locking pin 14, which is installed below the connection between the base plate 10 and the base plate 12. The pin seat 141 is placed horizontally at the rear end of the base plate 12, and the pin seat 140 is placed horizontally at the front end of the base plate 10 and aligned with the pin seat 141. The pin 142 is placed inside the pin seat 141. The left end of the elastic rope 151 is connected to the pin 142, and the right end is fixed to the fixing screw 145. The right end of the non-elastic rope 152 is connected to the pin 142, and the left end passes through the limiting screw 148, the limiting screw 149 and the tail in sequence, and is fixed to the tail pin 44.

[0014] According to an embodiment of the present invention, an eight-legged scorpion-like robot may optionally include:

[0015] Servo motor 20 is installed between the upper cover plate 11 and the base 10;

[0016] The movement foot is connected to the other end of the servo motor 20.

[0017] According to an embodiment of the present invention, an eight-legged scorpion-like robot may optionally include:

[0018] A cross bracket 21 connects a servo motor 20 and a servo motor 22. The cross bracket 21 rotates horizontally under the drive of the servo motors 20 and 22.

[0019] Leg joint 23 is connected to servo motor 22 at one end and servo motor 24 at the other end. Leg joint 23 can rotate vertically under the drive of servo motor 22.

[0020] The toe 25 is mounted on the servo motor 24, and the toe 25 rotates vertically under the drive of the servo motor 24;

[0021] According to an embodiment of the present invention, an eight-legged scorpion-like robot may optionally include the forechell unit comprising:

[0022] Servo motor 30 is connected to the upper cover plate 11 and the front 45° inclined edge of the base 10;

[0023] A cross bracket 31 connects a servo motor 30 and a servo motor 32. The cross bracket 31 rotates horizontally under the drive of the servo motor 30.

[0024] A cross bracket 33 connects a servo motor 32 to an opening / closing clamp. The cross bracket 33 rotates vertically under the drive of the servo motor 32.

[0025] The opening and closing clamps are connected to the cross bracket 33.

[0026] According to an embodiment of the present invention, an eight-legged scorpion-like robot may optionally include the opening and closing pincers comprising:

[0027] Servo motor 340 is connected to Z-shaped auxiliary clamp 342 and cross bracket 33 at both ends and fixed inside the clamp body 341;

[0028] Z-shaped auxiliary clamp 342 is mounted on servo motor 340, and the Z-shaped auxiliary clamp 342 rotates horizontally under the drive of servo motor 340.

[0029] According to an embodiment of the present invention, an eight-legged scorpion-like robot may optionally include a tail unit comprising:

[0030] Servo motor 40 is mounted at the end of base 10 and connected to straight U-bracket 41 on the side. Servo motor 40 is used to drive the tail section to rotate vertically.

[0031] A straight U-shaped bracket 41 connects servo motors 40 and servo motors 420 at both ends;

[0032] Tail section 430, with servo motors 420 and 421 connected at both ends;

[0033] Tail section 431, with servo motors 421 and 422 connected at both ends;

[0034] Tail section 432, with servo motors 422 and 423 connected at both ends;

[0035] Tail section 433, with servo motors 423 and 424 connected at both ends;

[0036] The tail needle 44 is connected to the servo motor 424 at its rear end. The tail needle rotates vertically under the drive of the servo motor 424 and is used to perform actions such as thrusting forward during an attack.

[0037] Beneficial effects

[0038] Compared with the prior art, the present invention has at least the following beneficial effects:

[0039] (1) An eight-legged scorpion-like robot of the present invention has a linkage self-locking device designed in the body unit. When the tail is raised and driven forward, it can rotate upward within a certain angle, which helps to highly imitate the posture of the rear abdomen raised in the attack mode of a real scorpion.

[0040] (2) The present invention provides an eight-legged scorpion-like robot with a front pincer unit servo motor and a Z-shaped rod structure design. Under the drive of the servo motor, the Z-shaped pincers can achieve controllable speed opening and closing, which helps to imitate the opening and closing shape of a real scorpion during the gripping process.

[0041] (3) An eight-legged scorpion-like robot of the present invention has a front claw unit connected to the body by two servo motors, which has degrees of freedom in both horizontal and vertical directions, and can flexibly realize the actions of lifting, pressing down and opening and closing the two front claws at will, making it more similar to the actions of a real scorpion.

[0042] (4) The present invention provides an eight-legged scorpion-like robot, the tail unit of which is composed of six servo motors, four tail segments and one tail needle connected together. It has degrees of freedom in two planar directions, can highly reproduce the posture of a scorpion when defending, attacking, hibernating and moving, and has diversified functions. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

[0044] Figure 1 The diagram shown is a structural schematic of an eight-legged scorpion-like robot according to the present invention.

[0045] Figure 2 The diagram shown is a schematic diagram of the torso unit structure of the present invention;

[0046] Figure 3 The diagram shown is a schematic diagram of the walking leg unit structure of the present invention;

[0047] Figure 4 The diagram shown is a schematic diagram of the anterior chelate unit structure of the present invention;

[0048] Figure 5 The diagram shown is a schematic diagram of the tail unit structure of the present invention; Detailed Implementation

[0049] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. For ease of description, the accompanying drawings show only the parts relevant to the invention, not all structures. The schematic diagrams are merely examples and should not be construed as limiting the scope of protection of the present invention.

[0050] Combination Figures 1 to 5 An eight-legged scorpion-like robot includes a trunk unit 1, a walking leg unit 2, a front claw unit 3, a tail unit 4, and a sensing unit 5. The trunk unit 1 is the main body of the eight-legged scorpion-like robot. The walking leg units 2 are arranged in four groups on one side, spaced apart on both sides of the trunk unit 1. The front claw units 3 are symmetrically distributed at the front end of the trunk unit 1. The tail unit 4 is located in the middle of the rear end of the trunk unit 1. The sensing units 5 are distributed around the top cover of the trunk unit 1.

[0051] Combination Figure 2The torso unit 1 adopts a sandwich structure, consisting of an upper cover plate 11 and an upper cover plate 13, which are connected by a hinge 144. One end of the limiting rod 143 is installed at the fixing screws 146 on both sides of the torso base plate 10, and the other end is installed at the fixing screws 147 on both sides of the base plate 12. The design incorporates a self-locking pin 14, installed below the connection between the base plate 10 and the base plate 12. Pin seat 141 is positioned laterally at the rear end of the base plate 12, and pin seat 140 is positioned laterally at the front end of the base plate 10, aligned with pin seat 141. Pin 142 is placed inside pin seat 141 and fixed to fixing screw 145 with elastic rope 151. A non-elastic rope 152 is used to connect the right end of pin 142 and pass through limiting screw 148, limiting screw 149, and the tail end sequentially, fixing it to the tail pin 44. When the tail end is raised and driven forward, the non-elastic rope 152 pulls pin 142 out of pin seat 140, achieving the open state of the linkage self-locking device. When the tail end is retracted, the elastic rope 151 pulls pin 142 back to pin seat 140, achieving self-locking of the linkage self-locking device.

[0052] Combination Figure 3 The walking leg unit 2 consists of 8 groups, with four groups spaced apart on both sides of the torso unit 1. Each leg is connected to the torso unit 1 by a servo motor 20. The leg unit 20 consists of a servo motor 20, a cross support 21, a servo motor 22, a leg joint 23, a servo motor 24, and a toe 25. The servo motor 20 drives the legs to swing in the horizontal plane, while the servo motors 23 and 25 drive the legs to rotate in the vertical plane. With the cooperation of the three servo motors, the legs can swing up, down, left, and right, thereby enabling the eight-legged scorpion-like robot to move forward, backward, and turn left and right.

[0053] Combination Figure 4 The front chelicerae units 3, consisting of two units, are symmetrically distributed at the front end of the body unit 1 and connected to the upper cover plate 11 and the 45° oblique edge at the front end of the base 10 via servo motors 30. The components include servo motors 30, cross brackets 31, servo motors 32, cross brackets 33, and opening and closing pincers. Driven by servo motors 30 and 32, the front chelicerae can have degrees of freedom in both horizontal and vertical directions, enabling free lifting, pressing down, and opening and closing actions. In the opening and closing pincers, servo motor 340 is fixed inside the pincer body 341, and Z-shaped auxiliary pincers 342 are connected to servo motor 340, with one end passing through the opening in the side wall of the pincer body and exposed on the outside. Driven by servo motor 340, the Z-shaped auxiliary pincers can open and close freely.

[0054] Combination Figure 5The tail unit 4 is connected to the torso unit 1 via a servo motor 40. It is subsequently composed of five servo motors (servo motor 420, servo motor 421, servo motor 422, servo motor 423 and servo motor 424), four tail segments (tail segment 430, tail segment 431, tail segment 432 and tail segment 433), and a tail needle 44. The servo motors 40 and 420 are connected by a straight U-shaped bracket 41. Driven by the six servo motors, the tail unit has degrees of freedom in both planar directions, which can highly reproduce the posture of a scorpion in defense, attack, hibernation and movement, and has multiple functions.

[0055] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A biomimetic scorpion robot, characterized in that, include: The torso unit (1) adopts a sandwich structure and is divided into an upper cover plate A (11), an upper cover plate B (13), a bottom plate A (10), and a bottom plate B (12). The upper cover plate A (11) and the upper cover plate B (13) are connected by a hinge (144). The bottom plate A (10) and the bottom plate B (12) are connected by a linkage self-locking device. The linkage self-locking device includes: a limit rod (143), one end of which is installed on the fixing screws A (146) on both sides of the torso bottom plate A (10), and the other end is installed on the fixing screws B (147) on both sides of the bottom plate B (12); and a structural self-locking pin (14), which is installed on the bottom plate A (10). Below the connection between the base plate B (12) and the bottom plate B (10), pin seat A (140) is placed horizontally at the rear end of the base plate A (10), pin seat B (141) is placed horizontally at the front end of the base plate B (12) and aligned with pin seat A (140), pin (142) is placed inside pin seat B (141), the left end of the elastic rope is connected to pin (142), the right end is fixed at fixing screw C (145), the right end of the non-elastic rope is connected to pin (142), and the left end passes through limiting screw A (148), limiting screw B (149) and the tail unit in sequence, and is fixed on the tail pin (44) at the end of the tail unit; the torso unit (1) has a built-in main control board and a storage battery; The walking leg unit (2) includes eight sets of walking legs, symmetrically placed on both sides of the torso, with intervals on each side. One set of walking legs is connected to the torso unit (1) via a servo motor A (20). The set of walking legs includes a cross bracket A (21) connecting the servo motor A (20) and the servo motor B (22). Then, the leg joint A (23), the servo motor C (24), and the toe (25) are connected in sequence. The other walking legs are connected in the same way. The front chelicerae unit (3) includes a left front chelicerae and a right front chelicerae. The left front chelicerae is connected to the torso unit (1) via a servo motor D (30). The left front chelicerae includes a cross bracket B (31) connecting the servo motor D (30) and the servo motor E (32). The servo motor E (32) is connected to the opening and closing clamp via a cross bracket C (33). The right front chelicerae has the same structure as the left front chelicerae and is symmetrically installed at the front end of the torso unit (1). Tail unit (4): installed at the rear end of base plate B (12); one end of servo F (40) is connected to the body and the other end is connected to the tail section assembly.

2. The biomimetic scorpion robot according to claim 1, characterized in that, The opening and closing clamps include: Servo G (340) is connected at both ends to Z-shaped sub-clamps (342) and cross brackets C (33), and is fixed inside the clamp body (341); The Z-shaped sub-clamp (342) is connected at one end to the servo motor G (340), and the other end is exposed through the opening in the side wall of the clamp body (341).

3. The biomimetic scorpion robot according to claim 1, characterized in that, The tail segment group includes: A straight U-shaped bracket (41) is connected to servo motors F (40) and H (420) at both ends. Tail section A (430) is connected to servo motors H (420) and J (421) at both ends. Tail section B (431) is connected to servo motor J (421) and servo motor K (422) at both ends. Tail section C (432) is connected to servo motors K (422) and L (423) at both ends; Tail section D (433) is connected to servo motors L (423) and M (424) at both ends. The tail needle (44) is connected to the servo motor M (424) at its rear end.

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