A bionic robot

Abstract

The present invention discloses a bionic robot, which relates to the field of manipulators, including a head device, a trunk device, a tail device, a manipulator device and a linkage device; the head device includes a driving assembly and two traction lines, which penetrate the trunk device from front to back and are connected to the tail device; the manipulator device includes four mechanical claws and at least two reinforced contact mechanisms, the linkage device includes two linkage shells and a swing rod, the two sides of the linkage shell are respectively connected to the mechanical claws, at least two reinforced contact mechanisms are respectively movably arranged at two mechanical claws close to the tail device, the trunk device is provided with at least two convex parts, the trunk device is bent and swung to both sides to drive the two convex parts to push the two ends of the swing rod respectively, so that the two ends of the swing rod respectively drive the two reinforced contact mechanisms to contact the ground and release the contact with the ground. A bionic robot of the present invention can be lightweight, and has a higher degree of limb coordination, simple configuration, and lower operation and maintenance costs and energy consumption.

Description

Technical Field

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

[0002] A bionic robot is a robot that imitates living organisms and performs work that is characteristic of living organisms.

[0003] Existing bionic robots usually imitate the crawling movements of animals, and their structures include a head control mechanism, a trunk, and limb drive mechanisms.

[0004] In the related technology, the Chinese invention patent with patent number CN115626230A has a corresponding drive device on each limb. However, this will limit the bionic robot and increase the weight, complexity, operation and maintenance costs and energy consumption of the bionic robot. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a bionic robot that can achieve lightweight, higher body coordination, simple configuration, lower operation and maintenance costs and energy consumption.

[0006] A bionic robot according to an embodiment of the present invention comprises a head device, a trunk device, a tail device, a manipulator device and a linkage device;

[0007] The head device includes a driving assembly and two traction lines, the two traction lines penetrate the trunk device front and back and are connected to the tail device, and the driving assembly drives the ends of the two traction lines to move back and forth in the opposite direction to drive the trunk device to bend and swing alternately to both sides;

[0008] The manipulator device includes four mechanical claws and at least two reinforced contact mechanisms, the linkage device includes two linkage shells and a rocker rod, the two linkage shells are connected to the trunk device in front and back order, the two sides of the linkage shells are respectively connected to the mechanical claws, at least two of the reinforced contact mechanisms are respectively movably arranged on the two mechanical claws close to the tail device, the rocker rod is rotatably arranged on a linkage shell close to the tail device, the trunk device is provided with at least two protrusions, the trunk device bends and swings to both sides to drive the two protrusions to push the two ends of the rocker rod, so that the two ends of the rocker rod respectively drive the two reinforced contact mechanisms to contact the ground and release the contact with the ground.

[0009] A bionic robot according to an embodiment of the present invention has at least the following beneficial effects:

[0010] 1. The present invention makes the head device include a driving component and two traction lines. The two traction lines pass through the trunk device front to back and then are connected to the tail device. The driving component drives the ends of the two traction lines to move back and forth in the opposite direction to drive the trunk device to bend and swing alternately to both sides. It can be understood that when the driving component drives one traction line forward and the other traction line backward, the two traction lines cooperate to pull one side of the tail device to swing in a direction close to the head shell, so that the tail device can drive the trunk device to bend and swing to one side. When the driving component drives the two traction lines to move in the opposite direction, the two traction lines drive the trunk device to bend and swing to the other side, thereby achieving the cooperation of the two traction lines to drive the trunk device to bend and swing alternately to both sides, and then, the alternating bending and swinging movements of the trunk device to both sides are more coherent and smooth.

[0011] 2. The present invention makes the manipulator device include four mechanical claws and at least two reinforced contact mechanisms, the linkage device includes two linkage shells and a swing rod, the two linkage shells are connected to the trunk device in sequence front and back, the mechanical claws are connected to the two sides of the linkage shells respectively, the at least two reinforced contact mechanisms are respectively movably arranged on the two mechanical claws close to the tail device, the swing rod is rotatably arranged on a linkage shell close to the tail device, the trunk device is provided with at least two convex parts, the trunk device is bent and swung to both sides to drive the two convex parts to push the two ends of the swing rod respectively, so that the two ends of the swing rod respectively drive the two reinforced contact mechanisms to contact and release the contact with the ground. It can be understood that the four mechanical claws can support the bionic robot, making the bionic robot more stable on the ground. At the same time, by movably setting the reinforced contact mechanisms on the two mechanical claws close to the tail device, when the trunk device swings During movement, the linkage shell can swing with the torso device, so that the linkage shell can drive the mechanical claw forward when swinging, and at the same time, the torso device drives the convex part to push the end of the swing rod close to the bending direction of the torso device to swing, so that the end of the swing rod close to the bending direction of the torso device drives the reinforcement contact mechanism to contact the ground, so that the reinforcement contact mechanism is reinforced with the ground, and the end of the swing rod away from the bending direction of the torso device releases the contact of the reinforcement contact mechanism with the ground, so that the reinforcement contact mechanism releases the reinforcement of the ground, thereby, the two reinforcement contact mechanisms can alternately release the reinforcement of the ground, and further, at least one reinforcement contact mechanism is in contact with the ground for reinforcement every time the torso device swings, and then the other reinforcement contact mechanism can release the reinforcement of the ground and move forward with the swing of the torso device, so that the reinforcement contact mechanism can support the mechanical claw to move forward and prevent the bionic robot from slipping on the ground.

[0012] 3. The present invention sets a head device, a tail device, a trunk device, a manipulator device and a linkage device. The driving component in the head device can cooperate with the traction line, the tail device, the trunk device, the manipulator device and the linkage device, so that the driving component can synchronously drive the movement of the tail device, the trunk device and the manipulator device, thereby reducing the setting of driving components and achieving lightweight. At the same time, since the tail device, the trunk device and the manipulator device are driven by the same driving component, the bionic robot has a higher degree of limb coordination, simpler configuration, and lower operation and maintenance costs and energy consumption.

[0013] According to a bionic robot of an embodiment of the present invention, a rotating shaft is arranged at the center of the rocker arm, a limiting seat is arranged on the linkage housing, the limiting seat is arranged with a second cavity for accommodating the rotation of the rotating shaft, two clamping parts are arranged in the second cavity, the rotating shaft is arranged with an elastic part, the clamping part cooperates with the elastic part for positioning, and the two convex parts respectively push the two ends of the rocker arm to swing so that the elastic part moves back and forth between the two clamping parts.

[0014] Advantageously, the present invention provides a rotating shaft at the center of the swing rod, a limited position seat is provided on the linkage housing, a second cavity is provided on the limited position seat to accommodate the rotation of the rotating shaft, two clamping parts are provided in the second cavity, the rotating shaft is provided with an elastic member, the clamping part and the elastic member are positioned in cooperation, and the two convex parts respectively push the two ends of the swing rod to swing so that the elastic member moves back and forth between the two clamping parts. It can be understood that when the convex part abuts against the swing rod, the convex part pushes the swing rod to swing, so that the rotating shaft rotates in the second cavity with the swing rod, and the swing rod is pushed by the convex part to squeeze the elastic member to elastically move. The deformation allows the elastic member to move from one clamping portion to another clamping portion. At this time, the movement position of the protrusion reaches the limit, and the elastic member stays on the clamping portion and cooperates with the clamping portion to limit the position, so that when the torso device swings in the opposite direction, during the process from the protrusion moving away from the end of the rocker arm to the end of the other protrusion abutting against the end of the rocker arm, the limiting position of the clamping portion and the elastic member can keep a reinforced contact mechanism in a state of contact and fixation with the ground, thereby preventing the rocker arm from immediately swinging in the opposite direction after the protrusion releases its contact with the rocker arm, causing the reinforced contact mechanism to be separated from the contact and fixation with the ground.

[0015] According to a bionic robot of an embodiment of the present invention, the linkage shell is provided with a plug hole penetrating through a side wall of the linkage shell, the end of the rocker arm is arranged on the inner side of the plug hole, and the plug hole accommodates the protrusion to pass through.

[0016] Advantageously, the present invention provides a plug hole penetrating the side wall of the linkage housing, the end of the rocker arm is arranged on the inner side of the plug hole, and the plug hole accommodates the protrusion to pass through, thereby facilitating the protrusion to enter the linkage housing and abut against the end of the rocker arm.

[0017] According to a bionic robot of an embodiment of the present invention, the mechanical claw includes an arm, a vertical limb and a claw, one end of the arm is connected to the linkage housing, the other end of the arm is connected to the top of the vertical limb, and the claw is arranged at the bottom end of the vertical limb, and the claw is used to abut the ground.

[0018] Advantageously, the present invention makes the mechanical claw include an arm, a vertical limb and a claw, one end of the arm is connected to a linkage housing, the other end of the arm is connected to the top of the vertical limb, the claw is arranged at the bottom of the vertical limb, and the claw is used to abut the ground, so that the claw can be extended downward through the vertical limb, thereby facilitating the mechanical claw to support the torso device to be suspended in the air.

[0019] According to a bionic robot of an embodiment of the present invention, the reinforced contact mechanism includes a translation rod, a lifting rod and a contact reinforcement piece, the translation rod slides horizontally in the arm, the lifting rod slides up and down in the vertical limb, the contact reinforcement piece is arranged at the bottom end of the lifting rod, one end of the translation rod extends into the linkage shell, the other end of the translation rod is provided with a first inclined surface, and the top end of the lifting rod is provided with a second inclined surface, the first inclined surface cooperates with the second inclined surface, and the swing of the rocker rod drives the translation rod to move, so that the translation rod drives the lifting rod to rise and fall.

[0020] The invention is beneficial in that: the reinforcement contact mechanism of the present invention includes a translation rod, a lifting rod and a contact reinforcement piece. The translation rod slides horizontally in the arm, the lifting rod slides up and down in the vertical limb, the contact reinforcement piece is arranged at the bottom end of the lifting rod, one end of the translation rod extends into the linkage shell, the other end of the translation rod is provided with a first inclined plane, and the top end of the lifting rod is provided with a second inclined plane. The first inclined plane cooperates with the second inclined plane, and the swing of the rocker arm drives the translation rod to move, so that the translation rod drives the lifting rod to rise and fall. It can be understood that when the rocker arm swings, the rocker arm pushes the translation rod to move in the direction close to the lifting rod, so that the first inclined plane and the second inclined plane contact, and in the continued movement of the translation rod, the first inclined plane and the second inclined plane guide to drive the lifting rod to descend, so that the lifting rod drives the contact reinforcement piece to contact the ground and squeeze the ground, and then, when the driving component drives the torso device to swing, it can synchronously drive the movement of the reinforcement contact mechanism, so that the action coordination between the reinforcement contact mechanism and the bionic robot is more coordinated.

[0021] According to a bionic robot of an embodiment of the present invention, the lifting rod is provided with a groove, a sleeve plate is provided in the vertical limb, the sleeve plate is sleeved outside the groove, a first spring is also provided in the groove, the bottom end of the first spring abuts against the sleeve plate, the top end of the first spring abuts against the top wall of the groove, and the first spring is used to drive the lifting rod to rise.

[0022] The benefit is that: the present invention provides a groove on the lifting rod, a sleeve plate in the vertical limb, the sleeve plate is sleeved outside the groove, a first spring is also provided in the groove, the bottom end of the first spring abuts against the sleeve plate, the top end of the first spring abuts against the top wall of the groove, the first spring is used to drive the lifting rod to rise, so that when the translation rod squeezes the lifting rod to descend, the lifting rod can cooperate with the sleeve plate to compress the first spring, and when the translation rod is away from the lifting rod, the elastic force generated by the compression of the first spring can drive the lifting rod to rise, so that the lifting rod can drive the contact reinforcement member to leave the ground.

[0023] According to a bionic robot of an embodiment of the present invention, a guide arc portion is provided at one end of the translation rod away from the lifting rod, and an extrusion column is provided at the bottom of the end of the rocker arm, and the extrusion column is used to abut and extrude the guide arc portion.

[0024] Advantageously, the present invention provides a guide arc portion at one end of the translation rod away from the lifting rod, and provides an extrusion column at the bottom of the end of the rocker arm, and the extrusion column is used to abut and extrude the guide arc portion. Therefore, when the end of the rocker arm is close to the translation rod, the extrusion column can cooperate with the guide arc portion for guidance, so that the extrusion column can slide on the guide arc portion more smoothly.

[0025] According to a bionic robot of an embodiment of the present invention, the torso device includes a plurality of connection blocks arranged in sequence, the connection blocks are hinged to each other in sequence to form a front torso, a middle torso and a rear torso, the front torso is hinged to the head device, one of the linkage shells is hinged to the front torso and the middle torso, another of the linkage shells is hinged to the middle torso and the rear torso, and the rear torso is hinged to the tail device.

[0026] Advantageously, the present invention makes the torso device include a plurality of connection blocks arranged in sequence, and the connection blocks are hinged to each other in sequence to form a front torso, a middle torso and a rear torso, the front torso is hinged to the head device, a linkage shell is hinged to the front torso and the middle torso, another linkage shell is hinged to the middle torso and the rear torso, and the rear torso is hinged to the tail device. It can be understood that among the plurality of connection blocks, a part of them are hinged to each other in sequence to form the front torso, the second part is hinged to each other in sequence to form the middle torso, and the last part is hinged to each other in sequence to form the rear torso, so that the plurality of connection blocks can form the three sections of the front torso, the middle torso and the rear torso, thereby facilitating the hinged connection of the two linkage shells between the front torso and the middle torso and between the middle torso and the rear torso, respectively, and further, the connection of the head device, the torso device, the two linkage shells and the tail device can be in one line, so that the swing of the head device, the torso device, the two linkage shells and the tail device is smoother.

[0027] According to a bionic robot of an embodiment of the present invention, the connection block is provided with two threading holes, the two threading holes are respectively located on both sides of the hinge point of the connection block, and the two threading holes respectively accommodate the two traction wires to pass through.

[0028] Advantageously, the present invention provides two threading holes on the connecting block, and the two threading holes are respectively located on both sides of the hinge point of the connecting block. The two threading holes respectively accommodate two traction lines to pass through, so that when the two traction lines are pulled back and forth, the tail device and the entire connecting block can be driven to rotate, ultimately achieving the effect of imitating the swinging of reptiles during their movement.

[0029] According to a bionic robot of an embodiment of the present invention, a swing gap is provided between two adjacent connecting blocks, between the connecting block and the head shell, between the connecting block and the linkage shell, and between the connecting block and the tail device.

[0030] Advantageously, the present invention provides swinging gaps between two adjacent connecting blocks, between the connecting block and the head device, between the connecting block and the linkage shell, and between the connecting block and the tail device, thereby allowing the connecting block, the head device, the linkage shell and the tail device to have space to swing.

[0031] According to a bionic robot of an embodiment of the present invention, the head device also includes a head shell, the head shell has a first cavity for accommodating the drive assembly, the drive assembly includes a drive motor and two first gears, a fixed rod is arranged in the first cavity, the drive motor is fixed on the fixed rod, the two first gears are rotatably arranged on both sides of the drive motor, the drive rod of the drive motor is provided with a second gear, the second gear is meshed with the two first gears, the drive motor drives the two first gears to rotate synchronously, the ends of the two traction lines are respectively connected to the two first gears, the two first gears rotate synchronously to drive the ends of the two traction lines to move back and forth in opposite directions.

[0032] It is beneficial that: in this embodiment, the head device also includes a head shell, the head shell has a first cavity for accommodating the drive assembly, the drive assembly includes a drive motor and two first gears, a fixed rod is provided in the first cavity, the drive motor is fixed on the fixed rod, the two first gears are rotatably arranged on both sides of the drive motor, the drive rod of the drive motor is provided with a second gear, the second gear is meshed with the two first gears, the drive motor drives the two first gears to rotate synchronously, the ends of the two traction lines are respectively connected to the two first gears, the two first gears rotate synchronously to drive the ends of the two traction lines to move back and forth in the opposite direction, it can be understood that the head shell can protect the drive assembly, and at the same time, prevent the drive assembly from leaking out, making the bionic robot more beautiful, in addition, through the second gear meshing transmission with the two first gears, the two first gears can rotate synchronously, at the same time, the ends of the two traction money are respectively connected to the opposite positions on the two first gears, so that when the two first gears rotate synchronously, they can respectively drive one traction line forward and the other traction line backward, and then drive the two traction lines to move in the opposite direction, so that the drive assembly drives the trunk device to alternately bend and swing to both sides in this cycle, simulating the crawling action of reptiles.

[0033] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the structure of a bionic robot according to an embodiment of the present invention;

[0036] Figure 2 for Figure 1 A structural schematic diagram of a bionic robot in a swinging state is shown;

[0037] Figure 3 for Figure 1 A schematic diagram of the structure of the head device shown;

[0038] Figure 4 for Figure 1 A front view is shown;

[0039] Figure 5 for Figure 1 A schematic diagram of the coordinated structure of the trunk device, the manipulator device and the linkage device is shown;

[0040] Figure 6 for Figure 5 A schematic diagram of the matching structure of the swing rod and the reinforced contact mechanism is shown;

[0041] Figure 7 for Figure 5 A schematic diagram of the matching structure of the trunk device, the swing rod and the reinforced contact mechanism is shown;

[0042] Figure 8 for Figure 7 An enlarged view of A is shown;

[0043] Fig. 9 for Figure 5 The schematic diagram of the matching structure of the rotating shaft and the limiting seat is shown.

[0044] Reference numerals: 100-head device, 110-head housing, 130-first cavity, 140-driving assembly, 150-traction line, 160-tail device, 170-trunk device, 180-manipulator device, 190-mechanical claw, 200-reinforced contact mechanism, 210-linkage device, 220-linkage housing, 230-swing rod, 240-convex portion, 250-rotating shaft, 260-limiting seat, 270-second cavity, 280-clamping portion, 290-elastic member, 300-insert Connecting hole, 310-arm, 320-vertical limb, 330-claw, 340-translation rod, 350-lifting rod, 360-contact reinforcement, 370-first inclined plane, 380-second inclined plane, 390-groove, 400-sleeve plate, 410-first spring, 420-connecting block, 430-front trunk, 440-middle trunk, 450-rear trunk, 460-threading hole, 470-drive motor, 480-first gear, 490-fixing rod, 500-second gear. DETAILED DESCRIPTION

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0046] In the description of the present invention, it is necessary to understand that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of first and second, this is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation, connection and connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] A bionic robot according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0050] Reference Figure 1 , the present invention aims to provide an embodiment of a bionic robot.

[0051] Reference Figure 1 and Figure 2 In this embodiment, a bionic robot mainly includes a head device 100, a tail device 160, a trunk device 170, a manipulator device 180 and a linkage device 210, wherein the head device 100, the trunk device 170 and the tail device 160 are connected and arranged in sequence, the linkage device 210 is arranged on the trunk device 170, and the manipulator device 180 is arranged on the linkage device 210.

[0052] Reference Figure 3 For the head device 100, the trunk device 170 and the tail device 160, the head device 100 includes a driving component 140 and two traction lines 150. The two traction lines 150 pass through the trunk device 170 front and back and are connected to the tail device 160. The driving component 140 drives the ends of the two traction lines 150 to move back and forth in the opposite direction to drive the trunk device 170 to bend and swing alternately to both sides.

[0053] It can be understood that when the driving component 140 drives one traction line 150 forward and the other traction line 150 backward, the two traction lines 150 cooperate to pull one side of the tail device 160 to swing in the direction close to the head shell 110, so that the tail device 160 can drive the trunk device 170 to bend and swing to one side. When the driving component 140 drives the two traction lines 150 to move in the opposite direction, the two traction lines 150 drive the trunk device 170 to bend and swing to the other side, thereby achieving the cooperation of the two traction lines 150 to drive the trunk device 170 to bend and swing alternately to both sides, thereby making the alternating bending and swinging of the trunk device 170 to both sides more coherent and smooth.

[0054] Specifically, the trunk device 170 is in the shape of an elongated strip, and the trunk device 170 is extended frontward and rearward.

[0055] In some specific embodiments, the head device 100 also includes a head shell 110, the head shell 110 has a first cavity 130 for accommodating a drive assembly 140, the drive assembly 140 includes a drive motor 470 and two first gears 480, a fixed rod 490 is arranged in the first cavity 130, the drive motor 470 is fixed on the fixed rod 490, the two first gears 480 are rotatably arranged on both sides of the drive motor 470, the drive rod of the drive motor 470 is provided with a second gear 500, the second gear 500 is engaged with the two first gears 480, the drive motor 470 drives the two first gears 480 to rotate synchronously, the ends of the two traction lines 150 are respectively connected to the two first gears 480, the two first gears 480 rotate synchronously to drive the ends of the two traction lines 150 to move back and forth in the opposite direction.

[0056] It can be understood that the head shell 110 can protect the drive component 140 and prevent the drive component 140 from leaking out, making the bionic robot more beautiful. In addition, the second gear 500 is meshed with the two first gears 480 to transmit the two first gears 480 so that the two first gears 480 can rotate synchronously. At the same time, the ends of the two traction wires are respectively connected to the two first gears 480 in opposite directions, so that when the two first gears 480 rotate synchronously, they can respectively drive one traction line 150 forward and the other traction line 150 backward, and then drive the two traction lines 150 to move in the opposite direction. In this way, the drive component 140 drives the trunk device 170 to bend and swing alternately to both sides, simulating the crawling action of reptiles.

[0057] Reference Figure 4 and Figure 5As for the manipulator device 180 and the linkage device 210, the manipulator device 180 includes four mechanical claws 190 and at least two reinforced contact mechanisms 200. The linkage device 210 includes two linkage shells 220 and a swing rod 230. The two linkage shells 220 are connected to the trunk device 170 in sequence front and back. The mechanical claws 190 are connected to the two sides of the linkage shell 220 respectively. The at least two reinforced contact mechanisms 200 are respectively movably arranged on the two mechanical claws 190 close to the tail device 160. The swing rod 230 is rotatably arranged on a linkage shell 220 close to the tail device 160. The trunk device 170 is provided with at least two protrusions 240. The trunk device 170 bends and swings to both sides to drive the two protrusions 240 to push the two ends of the swing rod 230, so that the two ends of the swing rod 230 respectively drive the two reinforced contact mechanisms 200 to contact the ground and release the contact with the ground.

[0058] It can be understood that the four mechanical claws 190 can support the bionic robot, making the bionic robot more stable on the ground. At the same time, by movably setting the reinforcement contact mechanism 200 on the two mechanical claws 190 close to the tail device 160, when the trunk device 170 swings, the linkage shell 220 can swing with the trunk device 170, so that the linkage shell 220 can drive the mechanical claws 190 to move forward when swinging. At the same time, the trunk device 170 drives the convex part 240 to push the end of the swing rod 230 close to the bending direction of the trunk device 170 to swing, so that the end of the swing rod 230 close to the bending direction of the trunk device 170 drives the reinforcement contact mechanism 200 to contact. The reinforcing contact mechanism 200 touches the ground, so that it is reinforced with the ground, and the end of the rocker arm 230 away from the bending direction of the trunk device 170 releases the contact of the reinforcing contact mechanism 200 with the ground, so that the reinforcing contact mechanism 200 releases the reinforcement of the ground, thereby, the two reinforcing contact mechanisms 200 can alternately release the reinforcement of the ground, and then, each time the trunk device 170 swings, at least one reinforcing contact mechanism 200 is in contact with the ground for reinforcement, and then the other reinforcing contact mechanism 200 can release the reinforcement of the ground and move forward with the swing of the trunk device 170, so that the reinforcing contact mechanism 200 can support the mechanical claw 190 to move forward, thereby preventing the bionic robot from slipping on the ground.

[0059] Refer again Figure 2 In some specific embodiments, the torso device 170 includes a plurality of connection blocks 420 arranged in sequence, and the connection blocks 420 are hinged to each other in sequence to form a front torso 430, a middle torso 440 and a rear torso 450, the front torso 430 is hinged to the head device 100, a linkage shell 220 is hinged to the front torso 430 and the middle torso 440, another linkage shell 220 is hinged to the middle torso 440 and the rear torso 450, and the rear torso 450 is hinged to the tail device 160.

[0060] It can be understood that, among the several connecting blocks 420, a part of them are hinged to each other in sequence to form the front torso 430, the second part is hinged to each other in sequence to form the middle torso 440, and the last part is hinged to each other in sequence to form the rear torso 450, so that the several connecting blocks 420 can form three sections of the front torso 430, the middle torso 440 and the rear torso 450, thereby facilitating the two linkage shells 220 to be hinged between the front torso 430 and the middle torso 440 and between the middle torso 440 and the rear torso 450, respectively, and further, the connection of the head device 100, the torso device 170, the two linkage shells 220 and the tail device 160 can be in a line, so that the swing of the head device 100, the torso device 170, the two linkage shells 220 and the tail device 160 is smoother.

[0061] Specifically, the front torso 430 is hinged to the head shell 110 .

[0062] In some specific embodiments, the connecting block 420 is provided with two threading holes 460, and the two threading holes 460 are respectively located on both sides of the hinge point of the connecting block 420, and the two threading holes 460 respectively accommodate two traction lines 150 to pass through, so that when the two traction lines are pulled back and forth, the tail device 160 and the entire connecting block 420 can be driven to rotate, and finally the effect of imitating the swinging of reptiles during movement is achieved.

[0063] In some specific embodiments, a swing gap is provided between two adjacent connecting blocks 420, between the connecting block 420 and the head device 100, between the connecting block 420 and the linkage shell 220, and between the connecting block 420 and the tail device 160, so that the connecting block 420, the head shell 110, the linkage shell 220 and the tail device 160 have room to swing.

[0064] In some specific embodiments, a hinge seat is disposed on the end surface of each connection block 420, and two adjacent connection blocks 420 are hingedly connected via the hinge seat.

[0065] Furthermore, the hinge seat is located in the middle of the end face of the connecting block 420, and the two threading holes 460 are located on both sides of the hinge seat. The two threading holes 460 are equidistant from the hinge seat, so that the two traction lines 150 can be symmetrical along the hinge seat, and further, the two traction lines 150 can pull the connecting block 420 more coordinated.

[0066] In some specific embodiments, the protrusion 240 is disposed on an end surface of the connection block 420 .

[0067] In some specific embodiments, the mechanical claw 190 includes an arm 310, a vertical limb 320 and a claw 330, one end of the arm 310 is connected to the linkage housing 220, the other end of the arm 310 is connected to the top of the vertical limb 320, and the claw 330 is arranged at the bottom end of the vertical limb 320, and the claw 330 is used to abut the ground, so that the claw 330 can be extended downward through the vertical limb 320, thereby facilitating the mechanical claw 190 to support the torso device 170 suspended in the air.

[0068] Reference Figure 6 In some specific embodiments, the reinforced contact mechanism 200 includes a translation rod 340, a lifting rod 350 and a contact reinforcement 360. The translation rod 340 slides horizontally in the arm 310, the lifting rod 350 slides up and down in the vertical limb 320, the contact reinforcement 360 is set at the bottom end of the lifting rod 350, one end of the translation rod 340 extends into the linkage housing 220, the other end of the translation rod 340 is provided with a first inclined surface 370, and the top of the lifting rod 350 is provided with a second inclined surface 380. The first inclined surface 370 cooperates with the second inclined surface 380, and the swing rod 230 swings to drive the translation rod 340 to move, so that the translation rod 340 drives the lifting rod 350 to rise and fall.

[0069] It can be understood that when the swing rod 230 swings, the swing rod 230 pushes the translation rod 340 to move in the direction close to the lifting rod 350, so that the first inclined surface 370 and the second inclined surface 380 contact each other, and during the continued movement of the translation rod 340, the first inclined surface 370 and the second inclined surface 380 guide to drive the lifting rod 350 to descend, so that the lifting rod 350 drives the contact reinforcement 360 to contact the ground and squeeze the ground, and then, when the driving assembly 140 drives the torso device 170 to swing, it can synchronously drive the movement of the reinforcement contact mechanism 200, so that the movement coordination between the reinforcement contact mechanism 200 and the bionic robot is more coordinated.

[0070] In some specific embodiments, the contact reinforcement member 360 may be configured as a suction cup so that the suction cup can be adsorbed on the ground, thereby making the contact reinforcement member 360 more firmly attached to the ground.

[0071] In other embodiments, the contact reinforcement member 360 may also be configured as a rubber block, thereby increasing the friction resistance between the contact reinforcement member 360 and the ground, thereby making the contact reinforcement member 360 and the ground more stable.

[0072] Reference Figure 7 and Figure 8In some specific embodiments, the lifting rod 350 is provided with a groove 390, and a sleeve 400 is provided in the vertical limb 320. The sleeve 400 is sleeved outside the groove 390. A first spring 410 is also provided in the groove 390. The bottom end of the first spring 410 abuts against the sleeve 400, and the top end of the first spring 410 abuts against the top wall of the groove 390. The first spring 410 is used to drive the lifting rod 350 to rise. Therefore, when the translation rod 340 squeezes the lifting rod 350 to descend, the lifting rod 350 can cooperate with the sleeve 400 to compress the first spring 410. When the translation rod 340 is away from the lifting rod 350, the elastic force generated by the compression of the first spring 410 can drive the lifting rod 350 to rise, so that the lifting rod 350 can drive the contact reinforcement 360 to leave the ground.

[0073] In some specific embodiments, a guide arc is provided at one end of the translation rod 340 away from the lifting rod 350, and an extrusion column is provided at the bottom of the end of the rocker arm 230, and the extrusion column is used to abut against and extrude the guide arc. Therefore, when the end of the rocker arm 230 is close to the translation rod 340, the extrusion column can cooperate with the guide arc for guidance, so that the extrusion column can slide on the guide arc more smoothly.

[0074] Reference Fig. 9 In some specific embodiments, a rotating shaft 250 is provided at the center of the swing rod 230, a limiting seat 260 is provided on the linkage housing 220, the limiting seat 260 is provided with a second cavity 270 for accommodating the rotation of the rotating shaft 250, two clamping parts 280 are provided in the second cavity 270, the rotating shaft 250 is provided with an elastic member 290, the clamping part 280 cooperates with the elastic member 290 for positioning, and the two protrusions 240 respectively push the two ends of the swing rod 230 to swing so that the elastic member 290 moves back and forth between the two clamping parts 280.

[0075] It can be understood that when the convex portion 240 abuts against the swing rod 230, the convex portion 240 pushes the swing rod 230 to swing, so that the rotating shaft 250 rotates in the second cavity 270 with the swing of the swing rod 230. After the swing rod 230 is pushed by the convex portion 240, the elastic member 290 is squeezed and elastically deformed, so that the elastic member 290 can move from one clamping portion 280 to another clamping portion 280. At this time, the moving position of the convex portion 240 reaches the limit, and the elastic member 290 stays on the clamping portion 280 and is in contact with the clamping portion 280. The portion 280 cooperates with the limiting function, so that when the trunk device 170 swings in the reverse direction, during the process from the protrusion 240 moving away from the end of the rocker bar 230 to the end of the other protrusion 240 abutting against the end of the rocker bar 230, the limiting function of the clamping portion 280 and the elastic member 290 can keep one reinforced contact mechanism 200 in a state of being in contact and fixed with the ground, thereby preventing the rocker bar 230 from immediately swinging in the reverse direction after the protrusion 240 releases its contact with the rocker bar 230, causing the reinforced contact mechanism 200 to be out of contact and fixed with the ground.

[0076] In some specific embodiments, the linkage housing 220 is provided with a plug-in hole 300 that passes through the side wall of the linkage housing 220, and the end of the rocker arm 230 is arranged on the inner side of the plug-in hole 300. The plug-in hole 300 accommodates the protrusion 240, thereby facilitating the protrusion 240 to enter the linkage housing 220 and abut against the end of the rocker arm 230.

[0077] In this embodiment, a head device 100, a tail device 160, a trunk device 170, a manipulator device 180 and a linkage device 210 are arranged. The driving component 140 in the head device 100 can cooperate with the traction line 150, the tail device 160, the trunk device 170, the manipulator device 180 and the linkage device 210, so that the driving component 140 can synchronously drive the movement of the tail device 160, the trunk device 170 and the manipulator device 180, thereby reducing the arrangement of driving components and achieving lightweight. At the same time, since the tail device 160, the trunk device 170 and the manipulator device 180 are driven by the same driving component 140, the bionic robot has a higher degree of limb coordination, simpler configuration, and lower operation and maintenance costs and energy consumption.

[0078] In the description of this specification, the description with reference to the terms "one embodiment, some embodiments, illustrative embodiments, examples, specific examples or some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0079] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A bionic robot, characterized in that: It includes a head device, a trunk device, a tail device, a manipulator device and a linkage device; The head device includes a driving assembly and two traction lines, the two traction lines penetrate the trunk device front and back and are connected to the tail device, and the driving assembly drives the ends of the two traction lines to move back and forth in the opposite direction to drive the trunk device to bend and swing alternately to both sides; The manipulator device includes four mechanical claws and at least two reinforced contact mechanisms, the linkage device includes two linkage shells and a rocker rod, the two linkage shells are connected to the trunk device in sequence front and back, the two sides of the linkage shells are respectively connected to the mechanical claws, the two reinforced contact mechanisms are respectively movably arranged on the two mechanical claws close to the tail device, the rocker rod is rotatably arranged on a linkage shell close to the tail device, the trunk device is provided with at least two protrusions, the trunk device bends and swings to both sides to drive the two protrusions to push the two ends of the rocker rod, so that the two ends of the rocker rod respectively drive the two reinforced contact mechanisms to contact the ground and release the contact with the ground.

2. A bionic robot according to claim 1, characterized in that: A rotating shaft is provided at the center of the rocker arm, a limiting seat is provided on the linkage housing, a second cavity is provided on the limiting seat to accommodate the rotation of the rotating shaft, two clamping parts are provided in the second cavity, an elastic member is provided on the rotating shaft, the clamping part cooperates with the elastic member for positioning, and the two convex parts respectively push the two ends of the rocker arm to swing so that the elastic member moves back and forth between the two clamping parts.

3. A bionic robot according to claim 1, characterized in that: The linkage housing is provided with an inserting hole penetrating through the side wall of the linkage housing, the end of the swing rod is arranged on the inner side of the inserting hole, and the inserting hole accommodates the protrusion to pass through.

4. A bionic robot according to claim 1, characterized in that: The mechanical claw includes an arm, a vertical limb and a claw, one end of the arm is connected to the linkage housing, the other end of the arm is connected to the top of the vertical limb, and the claw is arranged at the bottom of the vertical limb, and the claw is used to abut the ground.

5. A bionic robot according to claim 4, characterized in that: The reinforced contact mechanism includes a translation rod, a lifting rod and a contact reinforcement piece. The translation rod slides horizontally in the arm, and the lifting rod slides up and down in the vertical limb. The contact reinforcement piece is arranged at the bottom end of the lifting rod. One end of the translation rod extends into the linkage housing. The other end of the translation rod is provided with a first inclined surface, and the top end of the lifting rod is provided with a second inclined surface. The first inclined surface cooperates with the second inclined surface. The swing of the rocker rod drives the translation rod to move, so that the translation rod drives the lifting rod to rise and fall.

6. A bionic robot according to claim 5, characterized in that: The lifting rod is provided with a groove, and a sleeve is provided in the vertical limb. The sleeve is sleeved outside the groove. A first spring is also provided in the groove. The bottom end of the first spring abuts against the sleeve, and the top end of the first spring abuts against the top wall of the groove. The first spring is used to drive the lifting rod to rise.

7. The bionic robot according to claim 1, characterized in that: The torso device includes a plurality of connection blocks arranged in sequence, and the connection blocks are hinged to each other in sequence to form a front torso, a middle torso and a rear torso. The front torso is hinged to the head device, one linkage shell is hinged to the front torso and the middle torso, another linkage shell is hinged to the middle torso and the rear torso, and the rear torso is hinged to the tail device.

8. A bionic robot according to claim 7, characterized in that: The connection block is provided with two threading holes, which are respectively located on both sides of the hinge point of the connection block, and the two threading holes respectively accommodate the two traction wires to pass through.

9. The bionic robot according to claim 7, characterized in that: A swing gap is provided between two adjacent connecting blocks, between the connecting block and the head device, between the connecting block and the linkage housing, and between the connecting block and the tail device.

10. The bionic robot according to claim 1, characterized in that: The head device also includes a head shell, which has a first cavity for accommodating the drive assembly, and the drive assembly includes a drive motor and two first gears. A fixed rod is arranged in the first cavity, and the drive motor is fixed on the fixed rod. The two first gears are rotatably arranged on both sides of the drive motor. The drive rod of the drive motor is provided with a second gear, and the second gear is meshed with the two first gears. The drive motor drives the two first gears to rotate synchronously, and the ends of the two traction lines are respectively connected to the two first gears. The two first gears rotate synchronously to drive the ends of the two traction lines to move back and forth in opposite directions.

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