A quadruped vertebrate bionics teaching aid

Abstract

This invention relates to the field of biomimetic teaching aids, and proposes a quadrupedal vertebrate biomimetic teaching aid, comprising a spine unit, a tail component, and a head component. The spine unit includes a connecting plate, a rotating plate, rotating rods, and connecting shafts. The two ends of the rotating rods are rotatably connected to the connecting plate and the rotating plate, respectively. Three rotating rods located on the same side of the connecting plate are of equal length and arranged in a triangular parallel configuration. The two connecting shafts can drive the tail component and the head component to shake. By setting up the connecting plate, rotating plate, rotating rods, and connecting shafts, and utilizing their mutual cooperation, this invention not only allows for adjustment of the axial distance between the two connecting shafts according to actual needs to meet the positional requirements of the biomimetic animal, but also allows the other connecting shaft to rotate synchronously when one is rotated, thereby shaking the head component and tail component separately. This enriches the morphological variations of the biomimetic teaching aid and enhances its teaching and demonstration effects.

Description

Technical Field

[0001] This invention relates to the field of bionic teaching aids technology, and more particularly to a tetrapod vertebrate bionic teaching aid. Background Technology

[0002] With the development of Chinese society and the gradual enrichment of educational resources, the market size of the teaching aids industry continues to grow, and the demand for high-quality teaching aids still has great potential for growth. Currently, there is still considerable room for improvement in classroom activities related to teaching aid demonstrations.

[0003] A utility model patent with publication number CN216098968U discloses a quadrupedal bionic robot with a flexible spine, comprising a front body, a rear body, and a flexible spine. The front and rear bodies are connected by the flexible spine. It also includes two multi-degree-of-freedom front legs and two multi-degree-of-freedom hind legs. The two multi-degree-of-freedom front legs are mounted on the front body, and the two multi-degree-of-freedom hind legs are mounted on the rear body. The flexible spine includes a motor, a bevel gear pair, a spindle shaft, a spring assembly, and a connecting rod spring assembly. The motor is mounted on the rear body, and an active bevel gear is mounted on the motor's output shaft. One end of the spindle shaft is fixedly connected to the rear body, and a passive bevel gear is fixed to the other end of the spindle shaft. The active and passive bevel gears mesh. A spring is fitted onto the spindle shaft and fixedly connected to the front body. The front and rear bodies are supported by the connecting rod spring assembly and can rotate relative to each other. This utility model has a compact and simple structure, adaptability to complex terrain, and good stability.

[0004] In the above technical solution, in order to mimic the four-legged vertebrate, a flexible spine composed of a motor, bevel gear pair, spinal shaft, spring assembly and connecting rod spring plate is set up. Since the animal's movement is usually accompanied by the coordinated movement of the head and tail, this bionic robot cannot perform linkage display of the animal's head and tail, and requires separate drive adjustment, which cannot meet the current teaching and display needs in the classroom. Summary of the Invention

[0005] In view of this, the present invention proposes a bionic teaching aid for a quadrupedal vertebrate, which uses the spinal unit to drive the head and tail components to shake, demonstrating the linkage of the head, tail and spine of the bionic animal, thus meeting the teaching and demonstration needs of the classroom.

[0006] The technical solution of this invention is implemented as follows: This invention provides a tetrapod vertebrate bionic teaching aid, including a spine unit, a tail component, and a head component. The spine unit includes a connecting plate, a rotating plate, a rotating rod, and a connecting shaft.

[0007] A rotating disk is provided on each side of the connecting disk, and the two are parallel and spaced apart;

[0008] Three rotating rods are provided between the connecting plate and each of the rotating plates. The two ends of the rotating rods are rotatably connected to the connecting plate and the rotating plate, respectively. The three rotating rods located on the same side of the connecting plate are of equal length and arranged in a parallel triangular pattern.

[0009] The connecting shaft is fixedly installed on the side of the rotating disk away from the rotating rod;

[0010] The tail component and the head component are disposed opposite each other at both ends of the spine unit, and the two connecting shafts can drive the tail component and the head component to sway.

[0011] Based on the above technical solutions, preferably, the tail component includes a tail support, a tail eccentric wheel, and a bionic tail, wherein,

[0012] The tail support is rotatably mounted on one of the connecting shafts;

[0013] The tail eccentric wheel is fixedly mounted on the connecting shaft connected to the tail support, and is eccentrically mounted thereto;

[0014] The bionic tail is slidably mounted on the tail support and abuts against the circumference of the tail eccentric wheel. When the connecting shaft is rotated, the bionic tail can slide on the tail support.

[0015] More preferably, the head component includes a head support, a head eccentric shaft, a swing arm, and a bionic head, wherein,

[0016] The head support is rotatably mounted on the connecting shaft that is not connected to the tail support;

[0017] The head eccentric shaft is fixedly mounted on the connecting shaft connected to the head support;

[0018] One end of the swing arm is rotatably mounted on the head support, and an elongated hole is provided inside it; the head eccentric shaft is slidably mounted in the elongated hole.

[0019] The bionic head is fixedly mounted on the pendulum rod.

[0020] More preferably, it also includes a first driving component, which comprises a swing motor and two gears, wherein,

[0021] The swing motor is fixedly mounted on the tail support and / or the head support;

[0022] One of the gears is fixedly mounted on one of the connecting shafts, and the other gear is fixedly mounted on the output end of the swing motor, and the two gears mesh with each other.

[0023] More preferably, it also includes multiple second driving components, each of which includes a walking motor, a transmission mechanism, and a bionic foot, wherein...

[0024] The walking motor is fixedly mounted on the tail support and / or the head support;

[0025] The transmission mechanism is mounted on the output shaft of the walking motor and the bionic foot, and is used to drive the bionic foot to move as the output shaft of the walking motor rotates.

[0026] More preferably, the transmission mechanism includes two first links, two second links, a third link, and a fourth link, wherein,

[0027] One end of the first connecting rod is rotatably mounted on the tail support or the head support, and the two first connecting rods are located on the same side of the tail support or the head support and are arranged in parallel.

[0028] One end of the second link is rotatably mounted on the bionic foot, and the two second links are arranged in parallel.

[0029] The two ends of the third link are respectively rotatably mounted on the two first links and respectively rotatably mounted on the two second links. The third link, the two first links and the tail support or the head support form a parallelogram shape structure. The third link, the two second links and the bionic foot form a parallelogram shape structure.

[0030] One end of the fourth link is fixedly mounted on the walking motor, and the other end is rotatably connected to one of the second links.

[0031] Based on the above technical solutions, preferably, the connecting shaft is arranged in a horizontal direction;

[0032] The bionic tail slides vertically on the tail support, and one end of the bionic tail abuts against the top of the eccentric wheel at the tail.

[0033] More preferably, the rocker arm rotates in a plane perpendicular to the connecting shaft.

[0034] More preferably, four second driving members are provided, respectively disposed opposite to each other on both sides of the tail support and the head support.

[0035] Based on the above technical solution, preferably, multiple spinal units are arranged side by side, and two adjacent connecting shafts in two connected spinal units are fixedly connected. The two connecting shafts located at both ends of the multiple spinal units respectively drive the tail component and the head component to shake.

[0036] The tetrapod-like bionic teaching aid of the present invention has the following advantages over the prior art:

[0037] (1) By setting up a connecting plate, a rotating plate, a rotating rod and a connecting shaft, and utilizing their cooperation, not only can the axial distance between the two connecting shafts be adjusted according to actual needs to meet the body position requirements of the bionic animal, but also the other connecting shaft can be rotated synchronously when one connecting shaft is rotated, so as to shake the head part and the tail part respectively, enriching the shape changes of this bionic teaching aid and improving the teaching and display effect of this bionic teaching aid.

[0038] (2) By setting four second driving components and using four walking motors to drive the four bionic feet respectively, the alternating or synchronous movement of the forelimbs and hindlimbs of this bionic teaching aid can be realized, which not only meets different display needs, but also realizes the automated control of the bionic animal.

[0039] (3) By setting up multiple sets of spinal units, not only can different types of animals be biomimetic, but the variety of physical changes in this biomimetic teaching material can also be enriched. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a perspective view of a tetrapod-like bionic teaching aid according to the present invention;

[0042] Figure 2 This is a three-dimensional view of the vertebral unit in a tetrapod-like bionic teaching aid of the present invention;

[0043] Figure 3 This is a cross-sectional view of the eccentric wheel at the tail of a tetrapod bionic teaching aid according to the present invention;

[0044] Figure 4 This is a three-dimensional view of the bionic tail in a tetrapod-like bionic teaching aid of the present invention;

[0045] Figure 5 This is a perspective view of the eccentric wheel at the tail of a tetrapod bionic teaching aid according to the present invention;

[0046] Figure 6 This is a cross-sectional view of the eccentric axis of the head in a tetrapod bionic teaching aid according to the present invention;

[0047] Figure 7 This is a perspective view of the eccentric axis of the head in a tetrapod vertebrate bionic teaching aid according to the present invention;

[0048] Figure 8 This is a three-dimensional view of the bionic head in a tetrapod vertebrate bionic teaching aid according to the present invention;

[0049] Figure 9 This is a perspective view of the first driving component in a tetrapod vertebrate bionic teaching aid of the present invention.

[0050] Figure 10 This is a perspective view of the second driving component in a tetrapod vertebrate bionic teaching aid according to the present invention;

[0051] Figure 11 This is a perspective view of the transmission mechanism in a tetrapod vertebrate bionic teaching aid according to the present invention.

[0052] The components include: 1. Spine unit; 11. Connecting disc; 12. Rotating disc; 13. Rotating rod; 14. Connecting shaft; 2. Tail assembly; 21. Tail support; 22. Tail eccentric wheel; 23. Bionic tail; 3. Head assembly; 31. Head support; 32. Head eccentric shaft; 33. Swing rod; 34. Bionic head; 301. Long slot; 4. First driving component; 41. Swing motor; 42. Gear; 5. Second driving component; 51. Walking motor; 52. Transmission mechanism; 521. First connecting rod; 522. Second connecting rod; 523. Third connecting rod; 524. Fourth connecting rod; 53. Bionic foot. Detailed Implementation

[0053] The technical solutions of this invention will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0054] like Figure 1-11 As shown, the present invention provides a tetrapod vertebrate bionic teaching aid, comprising a spine unit 1, a tail component 2, a head component 3, a first drive component 4, and a second drive component 5.

[0055] The vertebral unit 1 is used to simulate the spine of a vertebrate. The vertebral unit 1 includes a connecting plate 11, a rotating plate 12, rotating rods 13, and a connecting shaft 14. A rotating plate 12 is arranged on each side of the connecting plate 11, parallel and spaced apart. Three rotating rods 13 are arranged between the connecting plate 11 and each rotating plate 12, with both ends of the rotating rods 13 rotatably connected to the connecting plate 11 and the rotating plate 12 respectively. The three rotating rods 13 on the same side of the connecting plate 11 are of equal length and arranged in a triangular pattern. A connecting shaft 14 is fixedly installed on the side of the rotating plate 12 away from the rotating rods 13. Figure 2 As shown, when the right connecting shaft 14 is rotated, the right rotating disk 12 can be rotated. With the cooperation of the three rotating rods 13, the rotation of the rotating disk 12 can be transmitted to the connecting disk 11, so that the connecting disk 11 rotates synchronously. Similarly, the left rotating disk 12 and the left connecting shaft 14 are rotated synchronously. At the same time, since the rotating rods 13 are rotatably connected to the connecting disk 11 and the rotating disk 12, when one connecting shaft 14 rotates synchronously with the other connecting shaft 14, one connecting shaft 14 can move radially relative to the other connecting shaft 14, enriching the positional changes of the simulated animal.

[0056] Tail component 2 and head component 3 are used to simulate the tail and head of an animal, respectively. Tail component 2 and head component 3 are set opposite to each other at both ends of the spine unit 1, and the two connecting shafts 14 can drive tail component 2 and head component 3 to shake. That is, when one of the connecting shafts 14 is rotated, tail component 2 and head component 3 can be driven to shake synchronously to reflect the coordinated shaking of the head and tail during animal activities, which enriches the shape changes of this bionic teaching aid and improves the teaching and display effect of this bionic teaching aid.

[0057] like Figures 3-5 As shown, the tail component 2 includes a tail support 21, a tail eccentric wheel 22, and a bionic tail 23. The tail support 21 is rotatably mounted on one of the connecting shafts 14. The tail eccentric wheel 22 is fixedly mounted on the connecting shaft 14 connected to the tail support 21 and is eccentrically mounted thereon. The bionic tail 23 is slidably mounted on the tail support 21 and abuts against the circumference of the tail eccentric wheel 22. When the connecting shaft 14 is rotated, the tail eccentric wheel 22 rotates, thereby driving the bionic tail 23 to slide on the tail support 21, thus achieving the effect of the spine moving to make the tail component 2 sway.

[0058] Specifically, it is preferable that the connecting shaft 14 is arranged horizontally; the bionic tail 23 slides vertically on the tail support 21, and one end of the bionic tail 23 abuts against the top of the circumference of the tail eccentric wheel 22, such as... Figure 3 As shown, when the connecting shaft 14 drives the tail eccentric wheel 22 to rotate, the bionic tail 23 can slide in the vertical direction, thereby realizing the swaying of the bionic tail 23.

[0059] like Figures 6-8 The head component 3 includes a head support 31, a head eccentric shaft 32, a swing arm 33, and a bionic head 34. The head support 31 is rotatably mounted on a connecting shaft 14 that is not connected to the tail support 21. The head eccentric shaft 32 is fixedly mounted on the connecting shaft 14 that is connected to the head support 31. One end of the swing arm 33 is rotatably mounted on the head support 31, and an elongated hole 301 is provided inside it. The head eccentric shaft 32 is slidably mounted in the elongated hole 301. The bionic head 34 is fixedly mounted on the swing arm 33. When the connecting shaft 14 rotates, it can drive the head eccentric shaft 32 to rotate eccentrically. Then, the sliding cooperation between the head eccentric shaft 32 and the elongated hole 301 drives the swing arm 33 to swing back and forth, thereby realizing the shaking of the bionic head 34.

[0060] Specifically, such as Figure 8 As shown, it is preferable to allow the swing arm 33 to rotate in a plane perpendicular to the connecting shaft 14. That is, when the connecting shaft 14 rotates, it can not only drive the bionic tail 23 to swing up and down, but also drive the bionic head 34 to swing left and right, thereby meeting the needs of classroom demonstration.

[0061] The first driving component 4 is used to drive the connecting shaft 14 to rotate. The first driving component 4 includes a swing motor 41 and two gears 42. The swing motor 41 is fixedly mounted on the tail support 21 and / or the head support 31; one gear 42 is fixedly mounted on one of the connecting shafts 14, and the other gear 42 is fixedly mounted on the output end of the swing motor 41, and the two gears 42 mesh with each other. Figure 9 As shown, when the swing motor 41 is started, the two gears 42 drive the connecting shaft 14 to rotate, thereby causing the bionic head 34 and bionic tail 23 to swing.

[0062] The second driving component 5 is used to simulate animal legs. Multiple second driving components 5 are provided. Each second driving component 5 includes a walking motor 51, a transmission mechanism 52, and bionic feet 53. The walking motor 51 is fixedly mounted on the tail support 21 and / or the head support 31. The transmission mechanism 52 is mounted on the output shaft of the walking motor 51 and the bionic feet 53, driving the bionic feet 53 to move with the rotation of the output shaft of the walking motor 51. When the walking motor 51 is started, the transmission mechanism 52 drives the bionic feet 53 to move, thus realizing the movement of the teaching aid to simulate animal walking. Specifically, four second driving components 5 are preferably provided, respectively positioned opposite each other on both sides of the tail support 21 and the head support 31. The four walking motors 51 drive the four bionic feet 53 respectively, allowing the four bionic feet 53 to move alternately or synchronously, thereby simulating the diversity of animal walking postures.

[0063] The transmission mechanism 52 includes two first connecting rods 521, two second connecting rods 522, a third connecting rod 523, and a fourth connecting rod 524. One end of each first connecting rod 521 is rotatably mounted on the tail support 21 or the head support 31, and the two first connecting rods 521 are located on the same side of the tail support 21 or the head support 31 and are arranged in parallel. One end of each second connecting rod 522 is rotatably mounted on a bionic foot 53, and the two second connecting rods 522 are arranged in parallel. Both ends of the third connecting rod 523 are rotatably mounted on the two first connecting rods 521 and the two second connecting rods 522, respectively. The third connecting rod 523, the two first connecting rods 521, and the tail support 21 or the head support 31 together form a parallelogram shape. One end of the fourth connecting rod 524 is fixedly mounted on the walking motor 51, and the other end is rotatably connected to one of the second connecting rods 522. Figure 11 As shown, when the walking motor 51 is started, it can drive the fourth link 524 to rotate, which in turn drives the second link 522 connected to it to rotate. Finally, the principle of parallel sides of a parallelogram is used to drive the bionic foot 53 to take a step. At the same time, the first link 521 and the second link 522 can respectively simulate the thigh and calf of an animal, improving the accuracy of bionics.

[0064] like Figure 1 As shown, multiple spine units 1 can be arranged side by side, and two adjacent connecting shafts 14 in two connected spine units 1 can be fixedly connected. The two connecting shafts 14 located at both ends of multiple spine units 1 can drive the tail component 2 and the head component 3 to shake. The arrangement of multiple spine units 1 can not only increase the length of this bionic teaching aid, but also expand its spine deformation range, which is conducive to enriching the body position diversity of this bionic teaching aid.

[0065] The working principle of the tetrapod vertebrate bionic teaching aid of the present invention is as follows:

[0066] When the swing motor 41 is started, the transmission of two gears 42 drives one connecting shaft 14 to rotate. With the cooperation of the rotating rod 13, the rotating disk 12, and the connecting disk 11, the other connecting shaft 14 can be driven to rotate synchronously. Thus, the head eccentric shaft 32 and the tail eccentric wheel 22 respectively drive the bionic tail 23 and the bionic head 34 to swing. When the walking motor 51 is started, the transmission mechanism 52 can also drive the bionic foot 53 to step, thus realizing the movement of this bionic teaching aid. During this period, the four bionic feet 53 can be moved synchronously or alternately by the start time of the four walking motors 51 to simulate the running and walking posture of animals. The animal's sitting, lying down, or bending posture can also be simulated by adjusting the distance between the axes of the two connecting shafts 14.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tetrapod-like bionic teaching aid, characterized in that: It includes a spine unit (1), a tail component (2), and a head component (3). The spine unit (1) includes a connecting plate (11), a rotating plate (12), a rotating rod (13), and a connecting shaft (14). A rotating disk (12) is provided on each side of the connecting disk (11), and the two are parallel and spaced apart; Three rotating rods (13) are provided between the connecting disk (11) and each of the rotating disks (12). The two ends of the rotating rods (13) are rotatably connected to the connecting disk (11) and the rotating disk (12) respectively. The three rotating rods (13) located on the same side of the connecting disk (11) are of equal length and are arranged in parallel in a triangular shape. The connecting shaft (14) is fixedly provided on the side of the rotating disk (12) away from the rotating rod (13). The tail component (2) and the head component (3) are disposed opposite to each other at both ends of the spine unit (1); The tail component (2) includes a tail support (21), a tail eccentric wheel (22), and a bionic tail (23). The tail support (21) is rotatably mounted on one of the connecting shafts (14). The tail eccentric wheel (22) is fixedly mounted on the connecting shaft (14) connected to the tail support (21) and is eccentrically mounted thereon. The bionic tail (23) is slidably mounted on the tail support (21) and abuts against the circumference of the tail eccentric wheel (22). When the connecting shaft (14) is rotated, the bionic tail (23) can slide on the tail support (21). The head component (3) includes a head support (31), a head eccentric shaft (32), a swing arm (33), and a bionic head (34). The head support (31) is rotatably mounted on the connecting shaft (14) that is not connected to the tail support (21). The head eccentric shaft (32) is fixedly mounted on the connecting shaft (14) that is connected to the head support (31). One end of the swing arm (33) is rotatably mounted on the head support (31), and an elongated hole (301) is provided inside it. The head eccentric shaft (32) is slidably mounted in the elongated hole (301). The bionic head (34) is fixedly mounted on the swing arm (33). It also includes a first driving component (4), which includes a swing motor (41) and two gears (42). The swing motor (41) is fixedly mounted on the tail support (21) and / or the head support (31). One gear (42) is fixedly mounted on one of the connecting shafts (14), and the other gear (42) is fixedly mounted on the output end of the swing motor (41), and the two gears (42) mesh with each other. When the swing motor (41) is started, the connecting shaft (14) is driven to rotate by the transmission of the two gears (42), thereby driving the bionic head (34) and the bionic tail (23) to swing. Multiple spinal units (1) are arranged side by side. Two adjacent connecting shafts (14) in two connected spinal units (1) are fixedly connected. The two connecting shafts (14) located at both ends of the multiple spinal units (1) respectively drive the tail component (2) and the head component (3) to shake.

2. The tetrapod vertebrate bionic teaching aid as described in claim 1, characterized in that: It also includes multiple second drive components (5), each of which includes a walking motor (51), a transmission mechanism (52), and a bionic foot (53). The walking motor (51) is fixedly mounted on the tail support (21) and / or the head support (31); The transmission mechanism (52) is mounted on the output shaft of the walking motor (51) and the bionic foot (53), and is used to drive the bionic foot (53) to move as the output shaft of the walking motor (51) rotates.

3. The tetrapod vertebrate bionic teaching aid as described in claim 2, characterized in that: The transmission mechanism (52) includes two first links (521), two second links (522), a third link (523), and a fourth link (524), wherein, One end of the first connecting rod (521) is rotatably mounted on the tail support (21) or the head support (31), and the two first connecting rods (521) are located on the same side of the tail support (21) or the head support (31) and are arranged in parallel. One end of the second link (522) is rotatably mounted on the bionic foot (53), and the two second links (522) are arranged in parallel; The two ends of the third link (523) are respectively rotatably mounted on the two first links (521) and respectively rotatably mounted on the two second links (522). The third link (523), the two first links (521) and the tail support (21) or the head support (31) form a parallelogram shape structure. The third link (523), the two second links (522) and the bionic foot (53) form a parallelogram shape structure. One end of the fourth link (524) is fixedly mounted on the walking motor (51), and the other end is rotatably connected to one of the second links (522).

4. The tetrapod vertebrate bionic teaching aid as described in claim 1, characterized in that: The connecting shaft (14) is arranged in a horizontal direction; The bionic tail (23) slides vertically on the tail support (21), and one end of the bionic tail (23) abuts against the top of the circumference of the tail eccentric wheel (22).

5. The tetrapod vertebrate bionic teaching aid as described in claim 4, characterized in that: The swing arm (33) rotates in a plane perpendicular to the connecting shaft (14).

6. The tetrapod vertebrate bionic teaching aid as described in claim 2, characterized in that: The second drive unit (5) is provided in four parts, which are respectively arranged opposite to each other on both sides of the tail support (21) and the head support (31).

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