A multi-joint bionic mechanical mantis based on a pulley-link mechanism

Abstract

The present invention discloses a multi-joint bionic mechanical mantis based on a pulley-link mechanism, bionic-related fields, including a base, at least four groups of limb structures are installed on both sides of the base, an upper body, the upper body is rotatably installed on the side ends of the base, the upper body is connected to a driving source installed on the base, two symmetrically arranged receiving plates, the receiving plates are installed on the upper body through universal couplings, a second connecting piece is rotatably installed on the upper body, a first transmission plate is hinged on the receiving plate, the first transmission plate is connected to a lifting structure installed on the upper body, a first-level arm, the first-level arm is rotatably installed on the receiving plate, the first-level arm is connected to a driving source installed on the first-level arm, a second arm is rotatably installed on one end of the first-level arm away from the receiving plate, and a fourth transmission plate parallel to the first-level arm and rotatably connected to the second-level arm is provided at the bottom of the first-level arm.

Description

Technical Field

[0001] The present invention relates to the fields of robotics and bionic machinery, in particular to a multi-joint bionic mechanical mantis based on a pulley-link mechanism. Background Art

[0002] This bionic mantis is designed to fit in with the theme of nature and harmony, allowing people to marvel at the ingenuity and complexity of the mechanical structure while also being reminded of the wonders and diversity of natural creatures.

[0003] At present, it is difficult for mechanical structures to be as flexible as animals. Humans still have a lot to learn from animals to inspire people's awe of nature and deepen their connection with nature.

[0004] The current bionic mantis only imitates the mantis's appearance, but does not imitate its demeanor and movements. For example:

[0005] First, when a mantis captures its prey, its second and third arms are in an extended state. The first arm exerts force alone to clamp the prey, and the second and third arms and the forward leaning of the body press the prey to the ground. Most existing mantises extend the first, second, and third arms simultaneously, which makes them too rigid and unable to effectively imitate the mantis's demeanor.

[0006] Second, the mantis's forelimbs can be flipped in opposite directions to adjust the angle at which it captures prey;

[0007] 3. The movement logic of the mantis's limbs is that the left front leg and the right hind leg move synchronously, and the right front leg and the sitting hind leg move synchronously.

[0008] To this end, we propose a multi-joint bionic mechanical mantis based on a pulley-link mechanism. Summary of the Invention

[0009] The purpose of the present invention is to provide a multi-joint bionic mechanical mantis based on a pulley-link mechanism to solve the problems raised in the above background technology.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a multi-joint bionic mechanical mantis based on a pulley-link mechanism, comprising:

[0011] A base body, with at least four groups of limb structures mounted on both sides of the base body;

[0012] an upper body, the upper body being rotatably mounted on a side end of the base body and connected to a driving source mounted on the base body;

[0013] Two symmetrically arranged receiving plates, the receiving plates being mounted on the upper body via a universal coupling, the upper body being rotatably mounted with a second connecting member, the receiving plates being hingedly connected to a first transmission plate, the first transmission plate being connected to a lifting structure mounted on the upper body;

[0014] A primary arm, wherein the primary arm is rotatably mounted on the receiving plate, the primary arm is connected to a driving source mounted on the primary arm, a secondary arm is rotatably mounted on one end of the primary arm away from the receiving plate, a fourth transmission plate parallel to the primary arm and rotatably connected to the secondary arm is provided at the bottom of the primary arm, a third transmission plate is vertically and slidably mounted on the receiving plate, a second transmission plate is rotatably mounted on the end of the third transmission plate, an end of the second transmission plate away from the third transmission plate is rotatably connected to the primary arm, and a middle portion of the second transmission plate is rotatably connected to the fourth transmission plate;

[0015] The third-level arm is hinged to one end of the second-level arm away from the first-level arm.

[0016] Preferably, the limb structure includes a first driving member fixedly mounted on both sides of the base, a first connecting member is mounted on the first driving member, a sixth driving member is fixed on the side of the first connecting member away from the first driving member, and a leg body is mounted on the sixth driving member.

[0017] Preferably, the first connecting member is coaxially fixed to a transmission rod rotatably mounted on the base;

[0018] Two U-shaped plates are further provided on the inner side of the base body, and the two U-shaped plates are in opposite directions. A guide groove is provided inside the base body, and the U-shaped plates are slidably connected to the guide groove via a guide block fixed at the bottom;

[0019] A first rack is symmetrically provided on one side of the U-shaped plate away from the other U-shaped plate, the first rack being engaged with two third gears rotatably mounted on the base, and the two third gears are respectively connected to two transmission rods on one side through a second transmission belt;

[0020] A second rack is provided on one opposite side of the two U-shaped plates. The two second racks are engaged with a fourth gear rotatably mounted on the base, and the fourth gear is connected to a drive motor.

[0021] Preferably, a second gear is rotatably mounted on the base, the second gear is connected to the fourth gear via a third transmission belt, and incomplete gears cooperating with the second gear are rotatably mounted on both sides of the second gear;

[0022] A support plate is fixedly mounted in the base, a motor is fixedly mounted on the support plate, and an output shaft of the motor is connected to the rotating shafts of the two incomplete gears via a first transmission belt.

[0023] Preferably, the lifting structure includes a rack plate, with limit bars fixedly installed on both sides of the rack plate, the rack plate and the limit bars slide in a cross groove provided on the upper body, and the rack plate is rotatably connected to the first transmission plate;

[0024] A first gear meshing with the rack plate is rotatably mounted on the back of the upper body.

[0025] Preferably, a worm gear is coaxially fixed on the rotating shaft of the upper body, and the worm gear is engaged with a worm rotatably mounted on the base.

[0026] Preferably, the upper body includes a support body, a head is fixedly mounted on the support body, a sliding portion integrally formed therewith is provided on the front of the support body, the cross slot is opened in the sliding portion, a mounting plate is fixed to the bottom of the support body, the receiving plate is mounted on the mounting plate through a universal coupling, and a driving portion is fixed to the bottom of the mounting plate.

[0027] Compared with the prior art, the present invention has the following advantages: the present invention simulates the movement of various parts of the mantis, the rotation and pitch of the chest, and focuses on realizing the waving movement of the forelegs, which is manifested in the folding and stretching, opening and closing of the two forelegs, and the ability to change the pitch angle with the chest;

[0028] Secondly, the movement of the limbs of the lower body in the present invention adopts the synchronous movement of the left forelimb and the rear right limb, and the synchronous movement of the front right limb and the rear left limb to simulate the cross-limb synchronous movement of the mantis when walking. It represents the human spirit of constant exploration of nature. Most common movements of the mantis can be realized through reasonable programming. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 for Figure 1 Schematic diagram of the structure of the upper and middle body;

[0031] Figure 3 for Figure 2 Structural breakdown diagram.

[0032] Figure 4 for Figure 1 Schematic diagram of the structure of the middle and lower body;

[0033] Figure 5 It is a structural schematic diagram of the support plate and the base in the present invention.

[0034] Figure 6 for Figure 5 Schematic diagram of the structure inside the matrix;

[0035] Figure 7 It is a structural schematic diagram of the transmission rod and the leg body in the present invention.

[0036] Figure 8 for Figure 6 Plan of the central structure;

[0037] Figure 9 for Figure 3 Enlarged view of point A in the middle.

[0038] In the figure: 1. body cover; 2. base; 3. leg body; 4. first connecting member; 5. first driving member; 6. upper body; 7. second driving member; 8. cross groove; 9. rack plate; 10. limiting bar; 11. first gear; 12. first transmission plate; 13. receiving plate; 14. second connecting member; 15. limiting groove; 16. primary arm; 17. second transmission plate; 18. third transmission plate; 19. limiting block; 20. fourth transmission plate; 21. secondary arm; 22. third arm; 23. transmission rod; 24. support plate; 25. guide groove; 26. motor; 27. first transmission belt; 28. incomplete gear; 29. ​​second gear; 30. second transmission belt; 31. third gear; 32. guide block; 33. U-shaped plate; 34. third transmission belt; 35. fourth gear; 36. universal joint. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] See also Figure 1-9 The present invention provides a technical solution: a multi-joint bionic mechanical mantis based on a pulley-link mechanism, comprising a base 2, at least four groups of limb structures being installed on both sides of the base 2.

[0041] The upper body 6 is rotatably mounted on the side end of the base 2 , and the upper body 6 is connected to a driving source mounted on the base 2 . The driving source is two second driving members 7 fixedly mounted on the body cover 1 .

[0042] A worm gear is coaxially fixed to the rotating shaft of the upper body 6 , and the worm gear is engaged with a worm rotatably mounted on the base 2 .

[0043] Furthermore, the worm is coaxially fixed to the output shaft of the second driving member 7;

[0044] When the second driving member 7 is working, it drives the worm to rotate, and when the worm rotates, it drives the worm wheel to rotate, and the rotation of the worm wheel drives the upper body 6 to tilt forward and backward;

[0045] As is known to all, when the worm drives the worm wheel to rotate, the worm applies self-locking to the worm wheel, thereby reducing the load on the first driving member 5 and ensuring a stable state of the upper body 6 at any angle;

[0046] Among them, since the force on the rotation connection of the upper body 6 is very large when the upper body 6 leans forward and extends the front claws, the cooperation between the worm wheel and the worm can greatly improve its stability and greatly reduce the load of the second driving member 7;

[0047] It should be noted that this embodiment is not shown in the figure.

[0048] Two symmetrically arranged receiving plates 13 are installed on the upper body 6 through a universal coupling 36. A second connecting member 14 is rotatably installed on the upper body 6. A first transmission plate 12 is hinged on the receiving plate 13, and the first transmission plate 12 is connected to the lifting structure installed on the upper body 6.

[0049] The lifting structure includes a rack plate 9, with limit bars 10 fixedly installed on both sides of the rack plate 9. The rack plate 9 and the limit bars 10 slide in the cross slot 8 provided on the upper body 6. The rack plate 9 is rotatably connected to the first transmission plate 12.

[0050] A first gear 11 meshing with the rack plate 9 is rotatably mounted on the back of the upper body 6 .

[0051] Furthermore, a seventh driving member is fixed to one side of the upper body 6, and the output shaft of the seventh driving member is coaxially fixed to the first gear 11;

[0052] When the seventh driving member is working, it drives the first gear 11 to rotate. When the first gear 11 rotates, it drives the rack plate 9 to rise or fall vertically through the combination with the rack plate 9. When the rack plate 9 rises, the two receiving plates 13 are driven to flip in opposite directions through the second connecting member 14. When the rack plate 9 rises and falls, the two receiving plates 13 are driven to flip relative to each other through the second connecting member 14.

[0053] A primary arm 16 is rotatably mounted on the receiving plate 13, and the primary arm 16 is connected to a driving source mounted on the primary arm 16, which is a third driving member. A secondary arm 21 is rotatably mounted on one end of the primary arm 16 away from the receiving plate 13, and a fourth transmission plate 20 is provided at the bottom of the primary arm 16, which is parallel to the primary arm 16 and rotatably connected to the secondary arm 21. A third transmission plate 18 is vertically and slidably mounted on the receiving plate 13, and a second transmission plate 17 is rotatably mounted on the end of the third transmission plate 18. The end of the second transmission plate 17 away from the third transmission plate 18 is rotatably connected to the primary arm 16, and the middle part of the second transmission plate 17 is rotatably connected to the fourth transmission plate 20;

[0054] The tertiary arm 22 is hinged to one end of the secondary arm 21 away from the primary arm 16 .

[0055] Furthermore, the secondary arm 21 is hingedly connected to an electric push rod, and the movable rod of the electric push rod is rotatably connected to the tertiary arm 22;

[0056] In another embodiment of the present invention, both ends of the primary arm 16 are provided with assembly grooves, and pulleys are rotatably mounted in the assembly grooves. The two pulleys are connected by a toothed belt, and a pulley located near the secondary arm 21 is connected to the rotating shaft of the tertiary arm 22 via a belt. A fourth driving member for driving the pulleys to rotate is also mounted on the receiving plate 13;

[0057] When the fourth driving member is working, it drives one of the pulleys to rotate, thereby driving the other pulley to rotate through the toothed belt. When the other pulley rotates, it drives the three-stage arm 22 to flip through the belt, thereby realizing the extension and retraction of the three-stage arm 22;

[0058] The base 2 is detachably mounted with a body cover 1 via bolts;

[0059] Among them, when the third driving member is working, it drives the primary arm 16 to rotate around one end thereof, and when the primary arm 16 flips, the third transmission plate 18 is driven to rise upright through the second transmission plate 17, and when the third transmission plate 18 rises, the angle of the second transmission plate 17 is changed, so as to pull the secondary arm 21 to flip through the fourth transmission plate 20, so as to realize that when the primary arm 16 flips, the secondary arm 21 is driven to flip synchronously therewith, so as to simulate the stretching action of the mantis's front claws. The principle is that the second transmission plate 17, the fourth transmission plate 20, the primary arm 16, and the secondary arm 21 form a parallelogram structure. When the primary arm 16 flips, the parallelogram is deformed under the action of the second transmission plate 17, and the secondary arm 21 is pulled to flip through the deformation, thereby causing the primary arm 16 and the secondary arm 21 to move synchronously;

[0060] The universal coupling 36 is connected to the fifth driving member fixed to the bottom of the upper body 6. When the fifth driving member is in operation, the universal coupling 36 drives the receiving plate 13 and the parts mounted on the receiving plate 13 to rotate as a whole, so as to adjust the angle of the two receiving plates 13. In addition, during the lifting operation, the universal coupling 36 also drives the two first transmission plates 12 to rise or fall, so that the cooperation between the first transmission plates 12 and the second connecting member 14 drives the two receiving plates 13 to flip in relative or opposite directions, so as to adjust the inclination angle of the receiving plates 13.

[0061] The upper body 6 is driven to adjust by the second driving member 7 so as to adjust the pitch angle of the upper body 6;

[0062] The motion simulation of the mantis's upper body was obtained through the above motion state;

[0063] The receiving plate 13 is provided with a limiting groove 15, and a limiting block 19 is slidably installed in the limiting groove 15, and the limiting block 19 is fixed to the third transmission plate 18;

[0064] It should also be noted that the universal coupling 36 in the present invention is an application of the existing technology and will not be elaborated on here.

[0065] The limb structure includes a first driving member 5 fixedly mounted on both sides of the base 2, a first connecting member 4 is mounted on the first driving member 5, a sixth driving member is fixed to the side of the first connecting member 4 away from the first driving member 5, and the leg body 3 is mounted on the sixth driving member.

[0066] Furthermore, when the first driving member 5 is working, it drives the first connecting member 4 to rotate, and when the sixth driving member is working, it drives the leg body 3 to rotate, so as to realize the limb movement of the mantis.

[0067] The first connecting member 4 is coaxially fixed to a transmission rod 23 rotatably mounted on the base 2;

[0068] Two U-shaped plates 33 are further provided on the inner side of the base 2. The two U-shaped plates 33 are in opposite directions. A guide groove 25 is provided inside the base 2. The U-shaped plates 33 are slidably connected to the guide groove 25 via a guide block 32 fixed at the bottom.

[0069] A first rack is symmetrically provided on one side of the U-shaped plate 33 away from the other U-shaped plate 33 , and the first rack is engaged with two third gears 31 rotatably mounted on the base 2 , and the two third gears 31 are respectively connected to the two transmission rods 23 on one side via a second transmission belt 30 ;

[0070] A second rack is provided on one opposite side of the two U-shaped plates 33 . The two second racks are engaged with a fourth gear 35 rotatably mounted on the base 2 . The fourth gear 35 is connected to a driving motor.

[0071] A second gear 29 is rotatably mounted on the base 2. The second gear 29 is connected to the fourth gear 35 via a third transmission belt 34. Incomplete gears 28 cooperating with the second gear 29 are rotatably mounted on both sides.

[0072] A support plate 24 is fixedly mounted in the base 2 , and a motor 26 is fixedly mounted on the support plate 24 . The output shaft of the motor 26 is connected to the rotating shafts of the two incomplete gears 28 via a first transmission belt 27 .

[0073] Furthermore, when the motor 26 is working, the output shaft drives the two incomplete gears 28 to rotate synchronously in the same direction through the first transmission belt 27;

[0074] The incomplete gear 28 of the present invention includes a first incomplete gear and a second incomplete gear. The first and second incomplete gears are rotatably mounted on both sides of the second gear 29. When the first incomplete gear is engaged with the second gear 29, the second incomplete gear is disengaged from the second gear 29. When the first incomplete gear rotates, it drives the second gear 29 to rotate. When the first incomplete gear is disengaged from the second gear 29, the second incomplete gear is engaged with the second gear 29, so as to drive the second gear 29 to rotate in the opposite direction through the second incomplete gear.

[0075] Among them, the first incomplete gear drives the second gear 29 to rotate a certain number of times in one direction, and then the second incomplete gear drives the second gear 29 to rotate the same number of times in the opposite direction;

[0076] It should also be noted that the number of revolutions of the second gear 29 depends on the transmission ratio between the incomplete gear and the second gear 29. The specific transmission ratio is not specifically limited in this application and can be selected according to actual production.

[0077] For further information, see Figure 8 When the driving motor is working, the fourth gear 35 is driven to rotate clockwise or counterclockwise. When the fourth gear 35 rotates, it drives the two U-shaped plates 33 to move relative or oppositely by cooperating with the second rack.

[0078] The third gear 31 in the present invention includes a first gear, a second gear, a third gear, and a fourth gear;

[0079] In the present invention, the transmission rod 23 includes A1, A2, A3, and A4. A1 is connected to the second gear through the second transmission belt 30, A2 is connected to the second gear through the second transmission belt 30, A3 is connected to the fourth gear through the second transmission belt 30, and A4 is connected to the third gear through the second transmission belt 30.

[0080] The U-shaped plate 33 includes a first U-shaped plate and a second U-shaped plate. The first U-shaped plate meshes with the first gear and the second gear, and the second U-shaped plate meshes with the third gear and the fourth gear. When the first U-shaped plate and the second U-shaped plate move relative to each other, the first gear and the third gear rotate in the same direction, and the second gear and the fourth gear rotate in the same direction, thereby making A1 and A4 rotate in the same direction, and A3 and A2 rotate in the same direction. When the two U-shaped plates 33 reciprocate relative to or in the opposite direction, A1, A2, A3, and A4 are driven to rotate back and forth in a crosswise manner. The rotation of the transmission rod 23 drives the first connecting member 4 to move back and forth, and the cooperation with the sixth driving member simulates the limb movement of a mantis when walking.

[0081] It should also be noted that the above-mentioned action drives the left front limb and the rear right limb to move synchronously, and the front right limb and the rear left limb to move synchronously.

[0082] The upper body 6 includes a support body, a head is fixedly mounted on the support body, a sliding portion integrally formed therewith is provided on the front of the support body, the cross slot 8 is opened in the sliding portion, a mounting plate is fixed to the bottom of the support body, the receiving plate 13 is mounted on the mounting plate through a universal coupling 36, a driving portion is fixed to the bottom of the mounting plate, and the driving portion is connected to the second driving member 7.

[0083] In summary, the present invention simulates the movement of various parts of the mantis, including the rotation and pitch of the thorax. The present invention focuses on achieving the waving movement of the forelegs, which is manifested in the folding and stretching, opening and closing of the two forelegs, and the ability to change the pitch angle with the thorax.

[0084] Secondly, the movement of the limbs of the lower body in the present invention adopts the synchronous movement of the left forelimb and the rear right limb, and the synchronous movement of the front right limb and the rear left limb to simulate the cross-limb synchronous movement of the mantis when walking. It represents the human spirit of constant exploration of nature. Most common movements of the mantis can be realized through reasonable programming.

[0085] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0086] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-joint bionic mechanical mantis based on a pulley-link mechanism, characterized in that: include: A base body (2), with at least four groups of limb structures mounted on both sides of the base body (2); An upper body (6), the upper body (6) being rotatably mounted on a side end of the base (2), and the upper body (6) being connected to a driving source mounted on the base (2); Two symmetrically arranged receiving plates (13), the receiving plates (13) being mounted on the upper body (6) via a universal coupling (36), a second connecting member (14) being rotatably mounted on the receiving plate (13), a first transmission plate (12) being hingedly connected to the second connecting member (14), and the first transmission plate (12) being connected to a lifting structure mounted on the upper body (6); A primary arm (16), the primary arm (16) is rotatably mounted on the receiving plate (13), the primary arm (16) is connected to a driving source mounted on the primary arm (16), a secondary arm (21) is rotatably mounted on one end of the primary arm (16) away from the receiving plate (13), a fourth transmission plate (20) is provided at the bottom of the primary arm (16) and is parallel to the primary arm and rotatably connected to the secondary arm (21), a third transmission plate (18) is vertically and slidably mounted on the receiving plate (13), a second transmission plate (17) is rotatably mounted on the end of the third transmission plate (18), an end of the second transmission plate (17) away from the third transmission plate (18) is rotatably connected to the primary arm (16), and a middle portion of the second transmission plate (17) is rotatably connected to the fourth transmission plate (20); A tertiary arm (22), the tertiary arm (22) is hinged to one end of the secondary arm (21) away from the primary arm (16).

2. The multi-joint bionic mechanical mantis based on a pulley-link mechanism according to claim 1, characterized in that: The limb structure comprises a first driving member (5) fixedly mounted on both sides of a base (2), a first connecting member (4) being mounted on the first driving member (5), a sixth driving member being fixed on a side of the first connecting member (4) away from the first driving member (5), and a leg body (3) being mounted on the sixth driving member.

3. The multi-joint bionic mechanical mantis based on a pulley-link mechanism according to claim 2, characterized in that: The first connecting member (4) is coaxially fixed to a transmission rod (23) rotatably mounted on the base (2); Two U-shaped plates (33) are further provided on the inner side of the base (2), and the two U-shaped plates (33) are in opposite directions. A guide groove (25) is provided inside the base (2), and the U-shaped plates (33) are slidably connected to the guide groove (25) via a guide block (32) fixed at the bottom. A first rack is symmetrically provided on one side of the U-shaped plate (33) away from the other U-shaped plate (33), the first rack being meshed with two third gears (31) rotatably mounted on the base (2), and the two third gears (31) are respectively connected to two transmission rods (23) on one side via a second transmission belt (30); A second rack is provided on opposite sides of the two U-shaped plates (33), and the two second racks are engaged with a fourth gear (35) rotatably mounted on the base (2), and the fourth gear (35) is connected to a drive motor.

4. The multi-joint bionic mechanical mantis based on a pulley-link mechanism according to claim 3, characterized in that: A second gear (29) is rotatably mounted on the base (2), the second gear (29) is connected to the fourth gear (35) via a third transmission belt (34), and incomplete gears (28) cooperating therewith are rotatably mounted on both sides of the second gear (29); A support plate (24) is fixed in the base (2), a motor (26) is fixedly mounted on the support plate (24), and an output shaft of the motor (26) is connected to the rotating shafts of the two incomplete gears (28) via a first transmission belt (27).

5. The multi-joint bionic mechanical mantis based on a pulley-link mechanism according to claim 2, characterized in that: The lifting structure includes a rack plate (9), and limit bars (10) are fixedly installed on both sides of the rack plate (9). The rack plate (9) and the limit bars (10) are slidably installed in a cross groove (8) provided on the upper body (6), and the rack plate (9) is rotatably connected to the first transmission plate (12); A first gear (11) is rotatably mounted on the back of the upper body (6) and is meshed with the rack plate (9).

6. The multi-joint bionic mechanical mantis based on a pulley-link mechanism according to claim 2, characterized in that: A worm gear is coaxially fixed on the rotating shaft of the upper body (6), and the worm gear is engaged with a worm rotatably mounted on the base body (2).

7. The multi-joint bionic mechanical mantis based on a pulley-link mechanism according to claim 5, characterized in that: The upper body (6) includes a support body, a head is fixedly mounted on the support body, a sliding portion integrally formed with the support body is provided on the front of the support body, the cross slot (8) is opened in the sliding portion, a mounting plate is fixed to the bottom of the support body, the receiving plate (13) is mounted on the mounting plate via a universal coupling (36), and a driving portion is fixed to the bottom of the mounting plate.

Images