A bionic peacock robot device

Abstract

The present invention relates to a bionic peacock robot device, wherein the tail opening mechanism is located at the right rear side of the base, the tail lifting mechanism is located at the left side of the tail opening mechanism, the leg walking mechanism is located at both sides of the base, and the driving mechanism is located at the front end of the base. The present invention is scientifically and reasonably designed, and can realize the mimicry action of the tail opening while lifting when the peacock opens its tail in the real world through the tail opening mechanism and the tail lifting mechanism, thereby improving the motion simulation effect, and realizing intelligent control at the same time, and can be applied to performances, displays, military camouflage and other fields, to achieve the purpose of camouflage and replacing biological beings to perform dangerous operations; at the same time, the device has a simple structure, superior performance, low cost, and a light and firm overall design, and a high degree of automation.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic robots, and in particular relates to a bionic peacock robot device. Background Art

[0002] Bionic robots refer to electromechanical systems with superior performance designed based on the principles of bionics, imitating biological structures and motion characteristics. They have gradually shown good application prospects in environments such as space exploration and disaster relief that are not suitable for humans to undertake tasks.

[0003] At present, the bionic peacock robots available on the market have cumbersome structures and complex loading and unloading. Some of them have difficulty maintaining body balance and cannot achieve the effect of opening the screen from closed to raised at the same time, which cannot meet the mimicry movement requirements of the bionic peacock robots.

[0004] Therefore, it is urgent to develop a new type of bionic peacock robot device to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a bionic peacock robot device to solve the problem of how to achieve the mimicry action of the tail of the peacock bionic robot opening its tail while lifting it up and opening it at the same time, and to achieve intelligent control.

[0006] The present invention solves the technical problem by the following technical solutions:

[0007] A bionic peacock robot device, characterized in that it includes a base and a tail-opening mechanism, a tail-lifting mechanism, a leg-walking mechanism and a driving mechanism installed on the base, the tail-opening mechanism is located at the right rear side of the base, the tail-lifting mechanism is located at the left side of the tail-opening mechanism, the leg-walking mechanism is located on both sides of the base, and the driving mechanism is located at the front end of the base.

[0008] Moreover, the tail opening screen mechanism includes a gear transmission assembly and a planar multi-bar mechanism, the gear transmission assembly includes a first large gear, a second large gear, a first incomplete gear, a second incomplete gear and a first pinion, the first large gear is meshed with the second large gear, the first incomplete gear and the second incomplete gear are respectively coaxial with the first large gear and the second large gear and are commonly connected to a first base frame arranged on the base, the first incomplete gear and the second incomplete gear are meshed and connected to the first pinion, the central axis end of the first pinion extends out of the first base frame and is connected to a first Hooke's hinge, the first Hooke's hinge is connected to the second Hooke's hinge through a piston, and the second Hooke's hinge is connected to the planar multi-bar mechanism through a rotating pair.

[0009] Moreover, the tail lifting mechanism includes a crank slider mechanism, which includes two cranks and a slider commonly connected to the two cranks, and the rear end cranks of the two cranks are connected to the planar multi-rod mechanism through a rotating pair.

[0010] Moreover, the leg walking mechanism includes a third large gear, a fourth large gear, a second small gear, a transmission rod and a first driving motor symmetrically arranged on both sides of the base, the third large gear and the fourth large gear are eccentrically connected to the transmission rod, the central axes of the third large gear and the fourth large gear are connected to the second base frame arranged on the base, the third large gear and the fourth large gear are meshed and connected to the second small gear, the central axis of the second small gear is connected to the second base frame, the central axis of the third large gear on the left side is connected to the first driving motor, the central axes of the fourth large gears on both sides are connected by a connecting rod, and the bottom end of the transmission rod is connected to a walking claw.

[0011] Moreover, the driving mechanism includes a second driving motor, a first bevel gear and a second bevel gear. The second driving motor is installed at the front end of the base through a third base frame. The end of the second driving motor is connected to the first bevel gear, and the first bevel gear is meshingly connected to the second bevel gear. The end of the central axis of the second bevel gear is connected to the front end crank of the crank slider mechanism; the first large gear of the tail screen opening mechanism is coaxially connected to the central axis of the first bevel gear, and the second driving motor drives the rotation of the first large gear and the crank.

[0012] Moreover, an OPENMV main control microcontroller, a Bluetooth module and an intelligent camera module are arranged on the front end surface of the third base frame. The intelligent camera module is connected to the OPENMV main control microcontroller and the Bluetooth module in sequence, and the OPENMV main control microcontroller is connected to the first drive motor and the second drive motor.

[0013] Moreover, the planar multi-rod mechanism includes a tailstock and three intermediate connecting rods, the bottom end of the tailstock is rotatably connected to the base, the top end of the tailstock is rotatably connected to the three intermediate connecting rods respectively, two front end connecting rods are arranged at the front ends of the three intermediate connecting rods, the upper ends of the two front end connecting rods are respectively connected to the upper ends of the intermediate connecting rods on both sides through moving pairs, and the lower ends of the two front end connecting rods are commonly connected to the lower end of the middle intermediate connecting rod through a rotating pair; two rear end connecting rods are arranged at the rear ends of the three intermediate connecting rods, the upper ends of the two rear end connecting rods are commonly connected to the upper end of the middle intermediate connecting rod through a moving pair, and the lower ends of the two rear end connecting rods are respectively connected to the lower ends of the intermediate connecting rods on both sides through moving pairs.

[0014] Moreover, the first base frame is made of aluminum alloy, and the first large gear, the second large gear, the first incomplete gear, the second incomplete gear and the first small gear are made of nylon.

[0015] Moreover, the second base frame is made of aluminum alloy, and the third large gear, the fourth large gear and the two small gears are made of nylon.

[0016] Moreover, the third base frame is made of aluminum alloy, the crank slider mechanism is made of epoxy plate, and the first and second bevel gears are made of nylon.

[0017] The advantages and beneficial effects of the present invention are:

[0018] 1. The bionic peacock robot device of the present invention can realize the mimicry action of the peacock spreading its tail in the real world by lifting and opening its tail through the tail opening mechanism and the tail lifting and lowering mechanism, thereby improving the motion simulation effect and realizing intelligent control. It can be applied to performances, displays, military camouflage and other fields to achieve the purpose of camouflage and replacing biological entities to perform dangerous operations.

[0019] 2. The bionic peacock robot device of the present invention has a simple structure, superior performance, simple loading and unloading, low product cost, light and firm overall design, and a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 Another structural schematic diagram of the present invention;

[0022] Figure 3 It is a rear view of the present invention;

[0023] Figure 4 It is the right side view of the present invention.

[0024] Description of Reference Numerals

[0025] 1-the second large gear, 2-the second incomplete gear, 3-the first base, 4-the first Hooke's hinge, 5-the connecting rod, 6-the piston, 7-the second Hooke's hinge, 8-the planar multi-bar mechanism, 9-the base, 10-the first incomplete gear, 11-the first large gear, 12-the first small gear, 13-the moving pair, 14-the front connecting rod, 15-the middle connecting rod, 16-the rotating pair, 17-the rear end crank, 18-the second base, 19-the slider, 20-the first driving motor, 21-the second bevel gear, 22-the first bevel gear, 23-the second driving motor, 24-the smart camera module, 25-OPENMV main control microcontroller, 26-the third base, 27-the front crank, 28-the reinforcement plate, 29-the walking claw, 30-the transmission rod, 31-the third large gear, 32-the second small gear, 33-the fourth large gear, 34-the tailstock, 35-the rear end connecting rod. DETAILED DESCRIPTION

[0026] The present invention is further described in detail below through specific examples. The following examples are only illustrative and not restrictive, and the protection scope of the present invention cannot be limited thereto.

[0027] In the present invention, based on the body size and the angle of the peacock's tail opening in the real world, the working parameters of each mechanism are determined, and the size and structure of each part are designed, and mechanical calculation and simulation are performed to obtain the kinematic parameters through software;

[0028] A bionic peacock robot device, the innovation of which lies in: comprising a base 9 and a tail-opening mechanism, a tail-lifting mechanism, a leg-walking mechanism and a driving mechanism installed on the base, the tail-opening mechanism is located at the right rear side of the base, the tail-lifting mechanism is located at the left side of the tail-opening mechanism, the leg-walking mechanism is located on both sides of the base, and the driving mechanism is located at the front end of the base.

[0029] The tail opening mechanism includes a gear transmission assembly and a planar multi-bar mechanism 8, wherein the gear transmission assembly includes a first large gear 11, a second large gear 1, a first incomplete gear 10, a second incomplete gear 2 and a first pinion 12, wherein the first large gear is meshed with the second large gear, the first incomplete gear and the second incomplete gear are coaxial with the first large gear and the second large gear respectively and are commonly connected to a first base frame 3 provided on the base, the first incomplete gear and the second incomplete gear are meshed and connected to the first pinion, the central axis end of the first pinion extends out of the first base frame and is connected to a first Hooke's hinge 4, the first Hooke's hinge is connected to a second Hooke's hinge 7 via a piston 6, and the second Hooke's hinge is connected to the planar multi-bar mechanism via a rotating pair.

[0030] In the present invention, the rotation angle of the first and second incomplete gears is 110°.

[0031] The tail lifting and lowering mechanism includes a crank slider mechanism, which includes two cranks and a slider 19 connected to the two cranks. The rear end crank 17 of the two cranks is connected to the planar multi-rod mechanism through a rotating pair. When the slider in the crank slider mechanism is at the leftmost and rightmost ends of the stroke, the tail feathers composed of the planar multi-rod mechanism can be vertically 90° when lifted and downwardly offset 20° when lowered.

[0032] The leg walking mechanism includes a third large gear 31, a fourth large gear 33, a second small gear 32, a transmission rod 30 and a first drive motor 20 symmetrically arranged on both sides of the base. The third large gear and the fourth large gear are eccentrically connected to the transmission rod, and the central axes of the third large gear and the fourth large gear are connected to the second base frame 18 set on the base. The third large gear and the fourth large gear are meshed and connected with the second small gear, and the central axis of the second small gear is connected to the second base frame. The central axis of the third large gear on the left is connected to the first drive motor, and the central axes of the fourth large gears on both sides are connected by a connecting rod 5. The bottom end of the transmission rod is connected to a walking claw 29, and a reinforcing plate 28 is provided between the walking claw and the bottom of the transmission rod.

[0033] The driving mechanism includes a second driving motor 23, a first bevel gear 21 and a second bevel gear 22. The second driving motor is installed at the front end of the base through a third base frame 26. The end of the second driving motor is connected to the first bevel gear, and the first bevel gear is meshingly connected to the second bevel gear. The end of the central axis of the second bevel gear is connected to the front end crank 27 of the crank slider mechanism; the first large gear of the tail screen opening mechanism is coaxially connected to the central axis of the first bevel gear, and the second driving motor drives the rotation of the first large gear and the crank.

[0034] An OPENMV main control microcontroller 25, a Bluetooth module and an intelligent camera module 24 are arranged on the front end surface of the third base frame. The intelligent camera module is connected to the OPENMV main control microcontroller and the Bluetooth module in sequence, and the OPENMV main control microcontroller is connected to the first drive motor and the second drive motor.

[0035] The planar multi-bar mechanism includes a tail stock 34 and three intermediate connecting rods 15, the bottom end of the tail stock is rotatably connected to the base, the top end of the tail stock is rotatably connected to the three intermediate connecting rods respectively, two front end connecting rods 14 are arranged at the front ends of the three intermediate connecting rods, the upper ends of the two front end connecting rods are respectively connected to the upper ends of the intermediate connecting rods on both sides through a moving pair 13, and the lower ends of the two front end connecting rods are commonly connected to the lower end of the middle intermediate connecting rod through a rotating pair 16; two rear end connecting rods 35 are arranged at the rear ends of the three intermediate connecting rods, the upper ends of the two rear end connecting rods are commonly connected to the upper end of the middle intermediate connecting rod through a moving pair, and the lower ends of the two rear end connecting rods are respectively connected to the lower ends of the intermediate connecting rods on both sides through a moving pair, and the leftmost and rightmost connecting rods of the tail feathers constituted by the planar multi-bar mechanism can be unfolded to both sides by a maximum of 110°, that is, the maximum opening angle reaches 220°.

[0036] The first base frame is made of aluminum alloy, and the first large gear, the second large gear, the first incomplete gear, the second incomplete gear and the first small gear are made of nylon; the second base frame is made of aluminum alloy, and the third large gear, the fourth large gear and the second small gear are made of nylon. The overall device is highly practical, low cost, high strength and strong stability.

[0037] The working principle of the present invention is:

[0038] The mobile phone starts the second drive motor through the Bluetooth module, which drives the first bevel gear to rotate at a speed of 6r / min (36° / s) in the horizontal direction, and the second bevel gear meshing with it rotates accordingly, thereby driving the crank to rotate 180° from the horizontal direction, driving the slider to move horizontally to the left from the rightmost end, and lifting the tail feathers composed of the planar multi-bar mechanism from the lowest point to the highest point. When the crank continues to rotate 180°, the slider moves horizontally to the right from the leftmost end, and the tail feathers composed of the planar multi-bar mechanism are pulled down from the highest point to the lowest point, thereby realizing the lifting and lowering movement of the tail seat;

[0039] The first large gear coaxial with the first motor and the first bevel gear and the first incomplete gear rotate clockwise at 6r / min (36° / s), and the second large gear meshing with the first large gear rotates counterclockwise, driving the second incomplete gear coaxial with it to rotate counterclockwise, thereby making the first small gear meshing with the first incomplete gear and the second incomplete gear rotate 110° counterclockwise first, and then clockwise 110°; the first small gear drives the first Hooke's hinge to rotate 110° counterclockwise first, and then clockwise 110°, and through the piston transmission, the second Hooke's hinge at the other end rotates 110° counterclockwise first, and then clockwise 110°; at the same time, the tail feathers composed of the planar multi-rod mechanism are driven to spread out 110° to both sides, so that the maximum opening angle reaches 220°, and then each converges 110° to the middle, thereby realizing the opening and closing movement of the peacock's tail feathers.

[0040] In addition, the smart camera module can identify colors within a certain range in front. For example, if red or blue is detected within a range of 20 to 30 cm, a color stimulation signal will be given to the OPENMV main control microcontroller. The OPENMV main control microcontroller drives the first drive motor and the second drive motor to work, thereby realizing the robot's screen opening and walking.

[0041] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A bionic peacock robot device, Features: It includes a base and a tail opening mechanism, a tail lifting mechanism, a leg walking mechanism and a driving mechanism installed on the base, wherein the tail opening mechanism is located at the right rear side of the base, the tail lifting mechanism is located at the left side of the tail opening mechanism, the leg walking mechanism is located at both sides of the base, and the driving mechanism is located at the front end of the base; The tail opening screen mechanism includes a gear transmission assembly and a planar multi-bar mechanism, the gear transmission assembly includes a first large gear, a second large gear, a first incomplete gear, a second incomplete gear and a first pinion, the first large gear is meshed with the second large gear, the first incomplete gear and the second incomplete gear are coaxial with the first large gear and the second large gear respectively and are commonly connected to a first pedestal provided on the base, the first incomplete gear and the second incomplete gear are meshed and connected to the first pinion, the central axis end of the first pinion extends out of the first pedestal and is connected to a first Hooke's hinge, the first Hooke's hinge is connected to a second Hooke's hinge through a piston, and the second Hooke's hinge is connected to the planar multi-bar mechanism through a revolute pair; The tail lifting mechanism comprises a crank slider mechanism, the crank slider mechanism comprises two cranks and a slider commonly connected to the two cranks, and the rear end cranks of the two cranks are connected to the planar multi-rod mechanism through a revolute pair; The planar multi-rod mechanism includes a tailstock and three intermediate connecting rods, the bottom end of the tailstock is rotatably connected to the base, the top end of the tailstock is rotatably connected to the three intermediate connecting rods respectively, two front end connecting rods are arranged at the front ends of the three intermediate connecting rods, the upper ends of the two front end connecting rods are respectively connected to the upper ends of the intermediate connecting rods on both sides through moving pairs, and the lower ends of the two front end connecting rods are commonly connected to the lower end of the middle intermediate connecting rod through a rotating pair; two rear end connecting rods are arranged at the rear ends of the three intermediate connecting rods, the upper ends of the two rear end connecting rods are commonly connected to the upper end of the middle intermediate connecting rod through a moving pair, and the lower ends of the two rear end connecting rods are respectively connected to the lower ends of the intermediate connecting rods on both sides through moving pairs.

2. The bionic peacock robot device according to claim 1, Features: The leg walking mechanism includes a third large gear, a fourth large gear, a second small gear, a transmission rod and a first driving motor symmetrically arranged on both sides of the base. The third large gear and the fourth large gear are eccentrically connected to the transmission rod, and the central axes of the third large gear and the fourth large gear are connected to the second base frame arranged on the base. The third large gear and the fourth large gear are meshed and connected with the second small gear, and the central axis of the second small gear is connected to the second base frame. The central axis of the third large gear on the left side is connected to the first driving motor, and the central axes of the fourth large gears on both sides are connected by a connecting rod, and the bottom end of the transmission rod is connected with a walking claw.

3. The bionic peacock robot device according to claim 1, Features: The driving mechanism includes a second driving motor, a first bevel gear and a second bevel gear. The second driving motor is installed at the front end of the base through a third base frame. The end of the second driving motor is connected to the first bevel gear, and the first bevel gear is meshingly connected to the second bevel gear. The end of the central axis of the second bevel gear is connected to the front end crank of the crank slider mechanism; the first large gear of the tail screen opening mechanism is coaxially connected to the central axis of the first bevel gear, and the second driving motor drives the rotation of the first large gear and the crank.

4. The bionic peacock robot device according to claim 3, Features: An OPENMV main control microcontroller, a Bluetooth module and an intelligent camera module are arranged on the front end surface of the third base frame. The intelligent camera module is connected to the OPENMV main control microcontroller and the Bluetooth module in sequence. The OPENMV main control microcontroller is connected to the first drive motor and the second drive motor.

5. The bionic peacock robot device according to claim 1, Features: The first base frame is made of aluminum alloy, and the first large gear, the second large gear, the first incomplete gear, the second incomplete gear and the first small gear are made of nylon.

6. The bionic peacock robot device according to claim 2, Features: The second base frame is made of aluminum alloy, and the third large gear, the fourth large gear and the second small gear are made of nylon.

7. The bionic peacock robot device according to claim 3, Features: The third base frame is made of aluminum alloy, the crank slider mechanism is made of epoxy plate, and the first bevel gear and the second bevel gear are made of nylon.

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