A bionic peacock

Abstract

The present invention relates to a bionic peacock, belonging to the field of bionic machinery. The bionic peacock includes a trunk, a tail, a right wing, a left wing, a head and neck mechanism, a right leg, a left leg, a right foot, and a left foot; the head and neck mechanism and the tail are respectively mounted on the front and back of the trunk; the left and right wings are completely symmetrical structures; the left and right legs are completely symmetrical structures; the left leg includes a leg mounting frame, a third servo, a thigh component, an intermediate joint, a calf component, a fourth servo, and an ankle motor connector; the leg mounting frame is mounted below the trunk; the third and fourth servo drives the thigh component and the calf component to rotate respectively when the third and fourth servo drives rotate; the left and right feet are completely symmetrical structures; the left foot includes a fifth servo and a footplate; the screw of the fifth servo is connected to the ankle motor connector; when the fifth servo drives the ankle motor connector to swing left and right. The present invention can integrate functions such as squatting, walking, spreading the tail, spreading wings, raising the head, and voice control, realizing the display of the peacock's movements and living habits.

Description

Technical Field

[0001] The present invention relates to the field of bionic machinery, in particular to a bionic peacock. Background Art

[0002] The mechanical structure of existing bionic peacocks consists of six parts: feet, legs, torso, tail, wings, and head and neck. Its main functions are squatting, walking, spreading wings, spreading the tail, and raising its head. Walking and squatting are both achieved by the leg servos driving the different leg structures to move to different positions. However, it lacks adaptive mechanisms and balancing devices, and its center of gravity must be adjusted to a fixed position to maintain balance. It cannot adapt to different and complex terrains and can only walk on smooth, horizontal surfaces without obstacles. If external forces (such as wind) act on it, it is prone to tipping over. Moreover, existing bionic peacocks lack steering mechanisms and can only walk in a straight line, unable to turn autonomously. Spreading wings, spreading the tail, and raising the head are achieved by screw motors, but the screw travel is long and takes up a lot of space. Summary of the Invention

[0003] In order to solve the problems existing in the above-mentioned prior art, the present invention provides a bionic peacock, which is designed according to bionic mechanics and realizes the display of the peacock's movements and real life habits by designing and controlling the mechanical structure.

[0004] The specific technical solutions of the present invention are as follows:

[0005] A bionic peacock, comprising a trunk, a tail, a right wing, a left wing, a head and neck mechanism, a right leg, a left leg, a right foot, and a left foot;

[0006] The head and neck mechanism and the tail are respectively mounted on the front and rear of the trunk; the left wing and the right wing are completely symmetrical structures, and are respectively mounted on the left and right sides of the trunk;

[0007] The left leg and the right leg are completely symmetrical structures; the left leg includes a leg mounting frame, a third servo, a thigh member, a middle joint, a calf member, a fourth servo and an ankle motor connecting piece; the leg mounting frame is mounted below the torso; the third servo is mounted on the leg mounting frame, the two thigh members are arranged in parallel, the upper end of the front thigh member is threadedly connected to the screw of the third servo, and the upper end of the rear thigh member is mounted on the bottom end of the leg mounting frame through a shaft; the lower ends of the two thigh members and the upper ends of the two calf members are respectively mounted on the middle joint through shafts; the fourth servo is mounted on the ankle motor connecting piece, the lower end of the front calf member is threadedly connected to the screw of the fourth servo, and the lower end of the rear calf member is mounted on the ankle motor connecting piece through a shaft; when the third servo and the fourth servo rotate, they respectively drive the thigh member and the calf member to rotate;

[0008] The left foot and the right foot have completely symmetrical structures; the left foot includes a fifth servo and a footplate; the fifth servo is installed on the footplate, and the screw of the fifth servo is connected to the ankle motor connector; when the fifth servo rotates, it drives the ankle motor connector to swing left and right.

[0009] Furthermore, the tail includes a skeleton, a tail connecting rod, a left sector gear, a right sector gear, a first servo, a second servo and a lower mounting frame; the skeleton is a hinged multi-bar mechanism, and the two sides of the skeleton are respectively connected to the left sector gear and the right sector gear through the tail connecting rod; the left sector gear and the right sector gear are symmetrically installed on one side of the U-shaped frame and are meshed and connected; the first servo is installed on the other side of the U-shaped frame; the screw of the first servo is connected to the center of the left sector gear or the right sector gear, and the first servo drives the skeleton to open and close through the left sector gear and the right sector gear; the two ends of the U-shaped frame are connected to the two ends of the screw of the second servo on the lower mounting frame, and the second servo drives the U-shaped frame to rotate; the lower mounting frame is installed above the torso.

[0010] Furthermore, the skeleton is composed of a long tail skeleton rod, a short tail skeleton rod and a slider; multiple long tail skeleton rods are coaxially connected to the end center of the U-shaped frame through their ends, and adjacent long tail skeleton rods are connected by two cross-arranged short tail skeleton rods, and the lower end of the short tail skeleton rod is fixedly connected to the long tail skeleton rod, and the upper end is slidably connected to the long tail skeleton rod through the slider.

[0011] Furthermore, the right wing includes a wing frame, a fixed flange and a spiral mechanism; the wing frame is a multi-rod mechanism with a flexible component, and the two connecting rods at the bottom end of the wing frame are hinged to the fixed flange and the spiral mechanism respectively, and the spiral mechanism drives the wing frame to contract and expand; the fixed flange is installed at one end of the spiral mechanism, and the spiral mechanism is installed on the torso.

[0012] Furthermore, the spiral mechanism is composed of a movable flange, a front connecting piece of the second body wing, a first screw motor and a rear connecting piece of the second body wing; the fixed flange and the first screw motor are respectively fixed on the rear connecting piece of the second body wing; the first screw motor is connected to the front connecting piece of the second body wing through a screw, and a connecting rod at the bottom end of the wing frame is hingedly connected to the movable flange, and the movable flange is threadedly connected to the screw; the front connecting piece of the second body wing and the rear connecting piece of the second body wing are respectively fixed on the torso.

[0013] Furthermore, the head and neck mechanism includes a head, a head and neck connecting piece, a neck, a neck bracket, a second screw motor and a motor frame; the head is connected to the neck through the head and neck connecting piece; one end of the neck, the motor frame and the two neck brackets are connected through an axis; the other end of the neck is connected to the two neck brackets; the second screw motor is connected to the bottom end of the neck, and the screw of the second screw motor is threadedly connected to the free end center of the motor frame.

[0014] Furthermore, the neck is a parallelogram structure consisting of a small neck plug-in, a motor neck connector, a head and neck connecting rod and a large neck plug-in; the two sides of the front and rear ends of the head and neck connector are respectively connected to the small neck plug-in through shafts, the two small neck plug-ins at the front end are respectively connected to the large neck plug-in through the head and neck connecting rod, and the two small neck plug-ins at the rear end are respectively connected to the motor neck connector through the head and neck connecting rod; the two motor neck connectors, the motor frame and the upper center of the two neck brackets are connected through a rear short steel shaft; the two large neck plug-ins are connected to the upper ends of the two neck brackets through a front short steel shaft.

[0015] Further, the trunk includes a front crossbar connector, a first body wing front connector, front and rear crossbar connectors, and a first body wing rear connector;

[0016] The torso includes a support structure consisting of two sets of front cross bar connectors, the first body wing front connectors, the front and rear cross bar connectors and the first body wing rear connectors; in the support structure, the front cross bar connectors and the first body wing rear connectors are respectively installed at the front and rear ends of the front and rear cross bar connectors; the first body wing front connector is installed on the side of the front cross bar connector.

[0017] Furthermore, the torso further includes an oblique interface, a body leg connection, a flat interface, an oblique rod connection, a body battery connection, and a body tail connection; two sets of the support structures are symmetrically arranged on the left and right sides of the center line of the bionic peacock; the front and rear ends of the two front and rear crossbar connections are respectively connected by a front crossbar and a rear crossbar; the two first body wing rear connection parts are connected by the body battery connection;

[0018] Two diagonal rod connecting pieces are symmetrically arranged between the front cross bar and the rear cross bar; the two ends of the diagonal rod connecting piece are respectively sleeved on the front cross bar and the rear cross bar; the oblique interface piece is sleeved on the diagonal rod connecting piece, and the outer side of the oblique interface piece is connected to the flat interface piece through the body leg connecting piece; the upper part of the flat interface piece is sleeved on the front and rear cross bar connecting pieces; the body tail connecting piece is installed in the upper center of the flat interface piece.

[0019] Furthermore, the left foot also includes a hind toe, a big toe, a little toe and a foot connecting rod; the hind toe is installed on the rear part of the foot plate through the foot connecting rod in an interference fit manner, and the big toe and the little toe are respectively installed on the front part of the foot plate through the foot connecting rod in an interference fit manner.

[0020] Beneficial effects of the present invention:

[0021] The present invention is a bionic peacock designed based on bionic mechanics. It can integrate functions such as squatting, walking, spreading tails, spreading wings, raising head, and voice control. It is easy to operate and can realize the display of peacock's movements, postures, and living habits, and can effectively realize the popular science education of animal knowledge.

[0022] The present invention utilizes a three-degree-of-freedom, seven-bar mechanism to achieve leg movement. The leg structure, composed of two parallelogram mechanisms, effectively supports the bionic peacock's weight while also improving its stability. A degree of freedom is also provided at the base of the leg structure to control the tilt angle of the entire leg structure, thereby maintaining the peacock's balance during walking. Furthermore, third and fourth servos are located within the legs, controlling the peacock's leg movement and balance during walking while also effectively reducing torque and lowering its center of gravity.

[0023] The present invention uses a combination of a sector gear and a hinged multi-bar mechanism to achieve the tail's unfolding and retracting functions. It also employs an eight-bar mechanism with flexible components and a screw mechanism to achieve the bionic peacock's wing-folding and unfolding functions. The head and neck mechanism of the present invention utilizes a six-bar mechanism, with the rational placement of the second screw motor, to enable simultaneous pitching and rolling movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an axonometric view of the entire bionic peacock of the present invention;

[0025] Figure 2 Schematic diagram of the trunk structure in the present invention;

[0026] Figure 3 Schematic diagram of the tail structure in the present invention;

[0027] Figure 4 Schematic diagram of the wing structure of the present invention;

[0028] Figure 5 Schematic diagram of the head and neck structure in the present invention;

[0029] Figure 6 Schematic diagram of the leg structure of the present invention;

[0030] Figure 7 is a schematic diagram of the foot structure of the present invention;

[0031] Figure 8Schematic diagram of the voice control structure of the present invention.

[0032] 100, torso; 101, front crossbar connector; 102, first body wing front connector; 103, front and rear crossbar connector; 104, oblique interface; 105, body leg connector; 106, flat interface; 107, oblique rod connector; 108, first body wing rear connector; 109, body battery connector; 110, body tail connector; 200, tail; 201, long tail skeleton rod; 202, short tail skeleton rod; 203, slider; 204, tail connecting rod; 205, left sector gear; 206, right sector gear; 207, first servo; 208, upper mounting bracket; 209, second servo; 210, crossbar; 211, lower mounting bracket; 212, limit block; 300, right wing; 301, wing skeleton; 302, fixed flange; 303, movable flange; 30 4. Second body wing front connector; 305. First screw motor; 306. Second body wing rear connector; 400. Left wing; 500. Head and neck mechanism; 501. Head; 502. Head and neck connector; 503. Small neck plug-in; 504. Motor neck connector; 505. Neck bracket; 506. Second screw motor; 507. Head and neck connecting rod; 508. Large neck plug-in; 509. Motor frame ; 600, right leg; 700, left leg; 701, leg mounting frame; 702, third servo; 703, thigh component; 704, middle joint; 705, calf component; 706, fourth servo; 707, ankle motor connector; 800, right foot; 900, left foot; 901, hind toe; 902, fifth servo; 903, foot plate; 904, big toe; 905, little toe; 906, foot connecting rod. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the technical solution of the present application, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0034] The terms "up", "down", "left", "right", "front", and "back" in this application are based on the positional relationships shown in the accompanying drawings. The corresponding positional relationships may vary depending on the drawings, and should not be construed as limiting the scope of protection.

[0035] In the present invention, the terms "installed," "connected," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, integral connection, mechanical connection, electrical connection, or mutual communication. They may be directly connected or indirectly connected through an intermediate medium. They may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0036] This embodiment describes a bionic peacock that can realize multiple functions such as raising its head, spreading its wings, spreading its tail, squatting, and walking.

[0037] like Figure 1 As shown, the bionic peacock is mainly composed of a torso 100, a tail 200, a right wing 300, a left wing 400, a head and neck mechanism 500, a right leg 600, a left leg 700, a right foot 800 and a left foot 900. The head and neck mechanism 500 and the tail 200 are respectively installed in the front and back of the torso 100, the left wing 400 and the right wing 300 are respectively installed on the left and right sides of the torso 100, the left leg 700 and the right leg 600 are respectively installed on the left and right sides of the lower part of the torso 100, and the left foot 900 and the right foot 800 are respectively installed at the bottom of the left leg 700 and the right leg 600.

[0038] like Figure 2 As shown, the torso 100 includes a front crossbar connector 101, a first body wing front connector 102, a front and rear crossbar connector 103, an oblique interface 104, a body leg connector 105, a flat interface 106, an oblique rod connector 107, a first body wing rear connector 108, a body battery connector 109 and a body tail connector 110.

[0039] The front crossbar connector 101 is mounted above the front end of the front and rear crossbar connectors 103, the first body wing rear connector 108 is mounted above the rear end of the front and rear crossbar connectors 103, the first body wing front connector 102 is mounted on the side of the front crossbar connector 101, the first body wing front connector 102 and the first body wing rear connector 108 are used to install the wing structure, and the front crossbar connector 101 and the front and rear crossbar connectors 103 are used to install the head and neck mechanism 500. The trunk 100 includes two sets of support structures consisting of the front crossbar connector 101, the first body wing front connector 102, the front and rear crossbar connectors 103, and the first body wing rear connector 108, which are arranged symmetrically along the centerline of the bionic peacock. The front and rear ends of the left and right front and rear crossbar connectors 103 are connected by the front and rear crossbars respectively, and the two first body wing rear connectors 108 are connected by the body battery connector 109, which can be used to install batteries. Two diagonal rod connectors 107 are symmetrically arranged relative to the center line of the bionic peacock between the front crossbar and the rear crossbar, and the two ends of the diagonal rod connector 107 are respectively sleeved on the front crossbar and the rear crossbar. In the present embodiment, the diagonal rod connector 107 includes two diagonal rods, and the oblique interface member 104 is sleeved on the two diagonal rods. The two oblique rods can ensure that the oblique interface member 104 does not rotate around the oblique rods at will. The outer side of the oblique interface member 104 is bolted to the body leg connector 105, and the body leg connector 105 is used to install the leg structure. The outer end of the body leg connector 105 is bolted to the flat interface member 106, and the top of the flat interface member 106 is sleeved on the two crossbars of the front and rear crossbar connectors 103. The upper center of the flat interface member 106 is connected to the body tail connector 110 through a double steel shaft, and the body tail connector 110 is used to install the tail 200. The parts that are connected by the steel shaft in the trunk 100 of the present embodiment are all reinforced with transition fit.

[0040] like Figure 3 As shown, the tail 200 includes a long tail skeleton rod 201, a short tail skeleton rod 202, a slider 203, a tail connecting rod 204, a left fan gear 205, a right fan gear 206, a first servo 207, an upper mounting frame 208, a second servo 209, a cross bar 210, a lower mounting frame 211 and a limit block 212.

[0041] Multiple long tail skeleton rods 201 are connected to the center of the ends of the U-shaped frame via coaxial end bolts. Adjacent long tail skeleton rods 201 are connected by two cross-arranged short tail skeleton rods 202. The lower ends of the short tail skeleton rods 202 are fixedly connected to the long tail skeleton rods 201, and the upper ends are slidably connected to the long tail skeleton rods 201 via sliders 203. Thus, the long tail skeleton rods 201, short tail skeleton rods 202 and sliders 203 form a hinged multi-bar mechanism, serving as the skeleton of the tail 200. The lower portions of the long tail skeleton rods 201 on the left and right sides of the skeleton are connected to the left sector gear 205 and the right sector gear 206 respectively via tail connecting rods 204. The left sector gear 205 and the right sector gear 206 are symmetrically mounted on one side of the U-shaped frame and meshed with each other. A first servo 207 is mounted on the other side of the U-shaped frame via an upper mounting bracket 208. The screw of the first servo 207 is connected to the center of the left sector gear 205 or the right sector gear 206. The ends of the U-shaped frame are connected to the ends of the screw of the second servo 209. The second servo 209 is mounted on a lower mounting bracket 211. The lower mounting bracket 211 is attached to the body and tail connector 110 on the torso 100 via two crossbars 210. Limiting blocks 212 are respectively connected between the lower mounting bracket 211 and the body and tail connector 110 to achieve fixed position and prevent collision between the lower mounting bracket 211 and the torso 100.

[0042] The rotation of the first servo 207 drives the meshing rotation of the left and right sector gears 205 and 206. This rotation is transmitted to the tail frame via the tail connecting rod 204, enabling the linkage between the various rods to open and close the peacock's tail. The rotation of the second servo 209 drives the U-shaped frame, upper mounting frame 208, and other components to raise and lower the peacock's tail. These two combined actions realize the peacock's tail's unfolding function.

[0043] The right wing 300 and the left wing 400 are completely symmetrical structures. In this embodiment, the right wing 300 is used as an example to illustrate the wing structure. Figure 4As shown, the right wing 300 includes a wing frame 301, a fixed flange 302, a movable flange 303, a front connecting piece 304 for the body wing, a first screw motor 305, and a rear connecting piece 306 for the second body wing. The wing frame 301 is a multi-bar mechanism with flexible components, such as the eight-bar mechanism used in this embodiment. The two connecting rods at the bottom of the wing frame 301 are hingedly connected to the fixed flange 302 and the movable flange 303, respectively. The fixed flange 302 and the first screw motor 305 are respectively fixed to the rear connecting piece 306 for the second body wing via bolts. The first screw motor 305 is connected to the front connecting piece 304 for the second body wing via a screw, and the movable flange 303 is threaded onto the screw. The first screw motor 305, the movable flange 303, the front connecting piece 304 for the second body wing, and the rear connecting piece 306 for the second body wing form a spiral mechanism. The second body wing front connecting member 304 and the second body wing rear connecting member 306 are respectively fixed to the first body wing front connecting member 102 and the first body wing rear connecting member 108 on the trunk 100 by means of bolts.

[0044] The first screw motor 305 rotates to move the movable flange 303 forward and backward along the screw, thereby realizing the contraction and expansion of the wing frame 301, thereby realizing the peacock's wing-spreading function.

[0045] Head and neck mechanism 500 Figure 5 As shown, the head 501 includes a head and neck connector 502, a small neck plug-in 503, a motor neck connector 504, a neck bracket 505, a second screw motor 506, a head and neck connecting rod 507, a large neck plug-in 508, and a motor bracket 509. The head 501 is connected to the neck via the head and neck connector 502. The neck is a parallelogram structure consisting of the small neck plug-in 503, the motor neck connector 504, the head and neck connecting rod 507, and the large neck plug-in 508. The front and rear ends of the head and neck connector 502 are connected to the small neck plug-in 503 via shafts. The two small neck plug-ins 503 at the front are connected to the large neck plug-in 508 via the head and neck connecting rod 507, while the two small neck plug-ins 503 at the rear are connected to the motor neck connector 504 via the head and neck connecting rod 507. A short rear steel shaft connects the upper centers of the two motor neck connectors 504, the motor bracket 509, and the two neck brackets 505. The two large neck inserts 508 are connected to the upper ends of the two neck brackets 505 via a short front steel shaft. The upper portion of the neck brackets 505 is mounted on the front crossbar connector 101 of the trunk 100 via an upper crossbar, while the lower portion is mounted on the front and rear crossbar connectors 103 of the trunk 100 via a lower crossbar. The second screw motor 506 is bolted to the bottom end of the motor neck connector 504, and the free end of the motor bracket 509 is threadedly connected to the screw of the second screw motor 506.

[0046] In this embodiment, the head 501 may be formed by steel wire to reduce the weight of the head and neck mechanism 500 .

[0047] The second screw motor 506 rotates the screw, causing one end of the motor frame 509 to move along the screw, and the motor frame 509 as a whole rotates around the rear short steel shaft. At the same time, the motor neck connector 504 also rotates under the push-pull action of the second screw motor 506, and then the motor neck connector 504 drives the neck to rotate, realizing the pitch function of the head and neck mechanism 500, thereby realizing the head-raising function of the bionic peacock.

[0048] The right leg 600 and the left leg 700 are completely symmetrical structures. In this embodiment, the leg structure is described using the left leg 700 as an example. The leg structure of this embodiment is a hollow reinforced structure, which can ensure structural strength and reduce the weight of the leg structure.

[0049] like Figure 6 As shown, the left leg 700 includes a leg mounting frame 701, a third servo 702, a thigh member 703, a middle joint 704, a shank member 705, a fourth servo 706, and an ankle motor connector 707. The left leg 700 is mounted below the body leg connector 105 via the leg mounting frame 701. The third servo 702 is mounted on the side of the leg mounting frame 701, with its screw passing through the middle of the front of the leg mounting frame 701. The ends of the thigh members 703 have a U-shaped structure. The two thigh members 703 are arranged in parallel. The U-shaped structure at the upper end of the front thigh member 703 is threadedly connected to the ends of the screw of the third servo 702. The upper end of the rear thigh member 703 is mounted to the bottom end of the leg mounting frame 701 via a short steel shaft. The lower ends of the two thigh members 703 and the upper ends of the two shank members 705 are respectively mounted to the middle joint 704 via short steel shafts. The fourth servo 706 is mounted on the ankle motor connector 707. Each end of the calf member 705 has a U-shaped structure. The U-shaped structure at the lower end of the front calf member 705 is threadedly connected to the ends of the screw of the fourth servo 706. The lower end of the rear calf member 705 is mounted on both sides of the ankle motor connector 707 via a short steel shaft. The ankle motor connector 707 is used to connect to the left foot 900.

[0050] The third and fourth steering gears 702 and 706 act as power sources, driving the thigh member 703 and the calf member 705 to rotate, thereby closing and opening the legs. The peacock squat function can be achieved by closing and opening the right leg 600 and the left leg 700 at the same time.

[0051] The right foot 800 and the left foot 900 are completely symmetrical structures. This embodiment is described using the left foot 900 as an example. Figure 7As shown, the left foot 900 includes a hind toe 901, a fifth servo 902, a footplate 903, a big toe 904, a little toe 905, and a foot connecting rod 906. The fifth servo 902 is mounted on the footplate 903. The ends of the screw of the fifth servo 902 are connected to the ankle motor connector 707 on the left leg 700. Rotation of the screw of the fifth servo 902 drives the ankle motor connector 707 to swing left and right, thereby achieving the left and right swing of the bionic peacock ankle. The hind toe 901 is attached to the rear of the footplate 903 via the foot connecting rod 906 with an interference fit. The big toe 904 and little toe 905 are each attached to the front of the footplate 903 via the foot connecting rod 906 with an interference fit. In this embodiment, two big toes 904 are symmetrically mounted on either side of the little toe 905. The foot connecting rod 906 is a double-link structure.

[0052] The fifth servo 902, acting as a power source, rotates to cause the ankle to swing left and right, thereby enabling the bionic peacock to steer. As the ankle of the right leg 600 rotates, the left leg 700 closes and lifts, tilting the entire body of the bionic peacock outward and shifting its center of gravity to the midline, maintaining balance supported only by the right leg 900. The raised left leg 700 is then lowered, and the fifth servo 902 at the ankle of the right leg 600 rotates back to its original position. This interlaced movement of the left and right legs 700, along with the right and left feet 800 and 900, enables the bionic peacock to walk.

[0053] In this embodiment, the controller can control the respective actions of the first servo 207, the second servo 209, the first screw motor 305, the second screw motor 506, the third servo 702, the fourth servo 706 and the fifth servo 902. In the controller, various functions that the bionic peacock can achieve can be preset. During operation, the controller controls each servo and each screw motor to perform corresponding actions according to the selected function. In addition, a voice control chip can also be set in the controller. The voice control chip can use the LU-ASR01 voice recognition module, such as Figure 8 As shown, the LU-ASR01 voice recognition module can be used to input action instructions to the controller, and the controller notifies the corresponding drive module, bus, etc. to control the action of the screw motor and servo.

[0054] In addition, the various components of the bionic peacock in this embodiment can be made by 3D printing, with high production precision and light overall weight.

[0055] Although the principles of the present invention have been described in detail above in conjunction with the preferred embodiments of the present invention, those skilled in the art should understand that the above embodiments are merely illustrative of the present invention and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute a limitation on the scope of the present invention. Without departing from the spirit and scope of the present invention, any obvious changes such as equivalent transformations and simple substitutions based on the technical solution of the present invention fall within the scope of protection of the present invention.

Claims

1. A bionic peacock, characterized in that: The bionic peacock comprises a trunk (100), a tail (200), a right wing (300), a left wing (400), a head and neck mechanism (500), a right leg (600), a left leg (700), a right foot (800) and a left foot (900); The head and neck mechanism (500) and the tail (200) are respectively mounted on the front and rear of the trunk (100); the left wing (400) and the right wing (300) are completely symmetrical structures, and are respectively mounted on the left and right sides of the trunk (100); The left leg (700) and the right leg (600) are completely symmetrical structures; the left leg (700) includes a leg mounting frame (701), a third servo (702), a thigh component (703), an intermediate joint (704), a calf component (705), a fourth servo (706) and an ankle motor connector (707); the leg mounting frame (701) is mounted below the trunk (100); the third servo (702) is mounted on the leg mounting frame (701), and the two thigh components (703) are arranged in parallel, the upper end of the front thigh component (703) is threadedly connected to the screw of the third servo (702), and the upper end of the rear thigh component (703) is threadedly connected to the screw of the third servo (702). The lower end of the two thigh members (703) and the upper ends of the two shank members (705) are respectively mounted on the middle joint (704) through shafts; the fourth servo (706) is mounted on the ankle motor connector (707), the lower end of the front shank member (705) is threadedly connected to the screw of the fourth servo (706), and the lower end of the rear shank member (705) is mounted on the ankle motor connector (707) through a shaft; when the third servo (702) and the fourth servo (706) rotate, they respectively drive the thigh member (703) and the shank member (705) to rotate; The left foot (900) and the right foot (800) are completely symmetrical structures; the left foot (900) includes a fifth servo (902) and a foot plate (903); the fifth servo (902) is installed on the foot plate (903), and the screw of the fifth servo (902) is connected to the ankle motor connector (707); when the fifth servo (902) rotates, it drives the ankle motor connector (707) to swing left and right.

2. The bionic peacock according to claim 1, characterized in that: The tail (200) comprises a skeleton, a tail connecting rod (204), a left sector gear (205), a right sector gear (206), a first steering gear (207), a second steering gear (209) and a lower mounting frame (211); the skeleton is a hinged multi-bar mechanism, and both sides of the skeleton are connected to the left sector gear (205) and the right sector gear (206) through the tail connecting rod (204); the left sector gear (205) and the right sector gear (206) are symmetrically mounted on one side of the U-shaped frame and meshed with each other; the first steering gear (207) is mounted On the other side of the U-shaped frame; the screw of the first steering gear (207) is connected to the center of the left sector gear (205) or the right sector gear (206), and the first steering gear (207) drives the skeleton to open and close through the left sector gear (205) and the right sector gear (206); the two ends of the U-shaped frame are connected to the two ends of the screw of the second steering gear (209) on the lower mounting frame (211), and the second steering gear (209) drives the U-shaped frame to rotate; the lower mounting frame (211) is installed above the trunk (100).

3. The bionic peacock according to claim 2, characterized in that: The skeleton is composed of a long tail skeleton rod (201), a short tail skeleton rod (202) and a slider (203); a plurality of the long tail skeleton rods (201) are coaxially connected to the end center of the U-shaped frame through their ends, and adjacent long tail skeleton rods (201) are connected through two cross-arranged short tail skeleton rods (202), and the lower ends of the short tail skeleton rods (202) are fixedly connected to the long tail skeleton rods (201), and the upper ends are slidably connected to the long tail skeleton rods (201) through the slider (203).

4. The bionic peacock according to claim 1, characterized in that: The right wing (300) includes a wing frame (301), a fixed flange (302) and a spiral mechanism; the wing frame (301) is a multi-rod mechanism with a flexible component, and the two connecting rods at the bottom end of the wing frame (301) are hinged to the fixed flange (302) and the spiral mechanism respectively, and the spiral mechanism drives the wing frame (301) to contract and expand; the fixed flange (302) is installed at one end of the spiral mechanism, and the spiral mechanism is installed on the trunk (100).

5. The bionic peacock according to claim 4, characterized in that: The spiral mechanism is composed of a movable flange (303), a second body wing front connecting piece (304), a first screw motor (305) and a second body wing rear connecting piece (306); the fixed flange (302) and the first screw motor (305) are respectively fixed on the second body wing rear connecting piece (306); the first screw motor (305) is connected to the second body wing front connecting piece (304) through a screw, a connecting rod at the bottom end of the wing frame (301) is hingedly connected to the movable flange (303), and the movable flange (303) is threadedly connected to the screw; the second body wing front connecting piece (304) and the second body wing rear connecting piece (306) are respectively fixed on the trunk (100).

6. The bionic peacock according to claim 1, characterized in that: The head and neck mechanism (500) includes a head (501), a head and neck connector (502), a neck, a neck bracket (505), a second screw motor (506) and a motor frame (509); the head (501) is connected to the neck via the head and neck connector (502); one end of the neck, the motor frame (509) and the two neck brackets (505) are connected via an axis; the other end of the neck is connected to the two neck brackets (505); the second screw motor (506) is connected to the bottom end of the neck, and the screw of the second screw motor (506) is threadedly connected to the free end center of the motor frame (509).

7. The bionic peacock according to claim 6, characterized in that: The neck is a parallelogram structure consisting of a small neck plug-in (503), a motor neck connector (504), a head and neck connecting rod (507) and a large neck plug-in (508); the two sides of the front and rear ends of the head and neck connector (502) are respectively connected to the small neck plug-in (503) through shafts, the two small neck plug-ins (503) at the front end are respectively connected to the large neck plug-in (508) through the head and neck connecting rod (507), and the two small neck plug-ins (503) at the rear end are respectively connected to the motor neck connector (504) through the head and neck connecting rod (507); the two motor neck connectors (504), the motor frame (509) and the upper centers of the two neck brackets (505) are connected through a rear short steel shaft; and the two large neck plug-ins (508) are connected to the upper ends of the two neck brackets (505) through a front short steel shaft.

8. The bionic peacock according to claim 1, characterized in that: The trunk (100) includes a front crossbar connector (101), a first body wing front connector (102), front and rear crossbar connectors (103) and a first body wing rear connector (108); The trunk (100) includes a support structure consisting of two sets of front crossbar connectors (101), the first body wing front connector (102), the front and rear crossbar connectors (103) and the first body wing rear connector (108); in the support structure, the front crossbar connector (101) and the first body wing rear connector (108) are respectively installed at the front and rear ends of the front and rear crossbar connectors (103); the first body wing front connector (102) is installed on the side of the front crossbar connector (101).

9. The bionic peacock according to claim 8, characterized in that: The trunk (100) further comprises an oblique interface member (104), a body leg connection member (105), a flat interface member (106), an oblique rod connection member (107), a body battery connection member (109) and a body tail connection member (110); two sets of the support structures are symmetrically arranged on the left and right sides of the center line of the bionic peacock; the front and rear ends of the two front and rear crossbar connection members (103) are connected by a front crossbar and a rear crossbar respectively; the two first body wing rear connection members (108) are connected by the body battery connection member (109); Two oblique rod connecting pieces (107) are symmetrically arranged between the front cross bar and the rear cross bar; the two ends of the oblique rod connecting piece (107) are respectively sleeved on the front cross bar and the rear cross bar; the oblique interface piece (104) is sleeved on the oblique rod connecting piece (107), and the outer side of the oblique interface piece (104) is connected to the flat interface piece (106) through the body leg connecting piece (105); the upper part of the flat interface piece (106) is sleeved on the front and rear cross bar connecting pieces (103); and the body tail connecting piece (110) is installed at the upper center of the flat interface piece (106).

10. The bionic peacock according to claim 1, characterized in that: The left foot (900) further includes a hind toe (901), a big toe (904), a little toe (905) and a foot connecting rod (906); the hind toe (901) is installed on the rear part of the foot plate (903) in an interference fit manner through the foot connecting rod (906), and the big toe (904) and the little toe (905) are installed at intervals on the front part of the foot plate (903) in an interference fit manner through the foot connecting rod (906).

Images