Bionic robot experiment machine

Abstract

The embodiment of the utility model discloses a bionic robot experiment machine, and relates to the technical field of robot teaching aids. The bionic robot experiment machine comprises a rack, a first leg connecting rod, a second leg connecting rod, a foot, a first driving assembly, a second driving assembly and a third driving assembly, the first driving assembly is installed on the rack and connected with the first leg connecting rod, the second leg connecting rod is rotationally connected with the first leg connecting rod, and the third driving assembly is installed on the rack and connected with the second leg connecting rod. The second driving assembly is installed on the first leg connecting rod, the foot is rotationally connected with the second leg connecting rod, the third driving assembly is installed on the second leg connecting rod, the second driving assembly and the first leg connecting rod are detachable, the second driving assembly is a synchronous belt assembly or a bevel gear assembly, and the third driving assembly and the second leg connecting rod are detachable. The third driving assembly is a connecting rod assembly or a ball screw assembly, and the second driving assembly and the third driving assembly are arranged to replace different driving modes, so that the driving modes are diversified, and the teaching ductility is improved.

Description

Technical Field

[0001] This utility model relates to the field of robot teaching aids technology, and in particular to a biomimetic robot experimental machine. Background Technology

[0002] As a typical teaching vehicle for mechanical design, control engineering, and bionics in the new engineering education, the reconfigurability and teaching adaptability of the drive components of biomimetic robots directly affect the effectiveness of experimental teaching. Current teaching biomimetic robots generally adopt fixed drive component designs, resulting in rigid driving methods and insufficient teaching flexibility. Utility Model Content

[0003] Therefore, it is necessary to provide a biomimetic robot experimental machine, which aims to solve the technical problem that current teaching biomimetic robots generally adopt a fixed drive component design and a fixed drive method, resulting in insufficient teaching extensibility.

[0004] This utility model provides a biomimetic robot experimental machine, which includes: a frame, a first leg link, a second leg link, a foot, a first drive assembly, a second drive assembly, and a third drive assembly. The first drive assembly is mounted on the frame and connected to the first leg link, and is used to drive the first leg link to rotate. The second leg link is rotatably connected to the first leg link, and the second drive assembly is mounted on the first leg link and is used to drive the second leg link to rotate. The foot is rotatably connected to the second leg link. The third drive assembly is mounted on the second leg link and is used to drive the foot to rotate. The second drive assembly is detachable from the first leg link, and the second drive assembly is a synchronous belt assembly or a bevel gear assembly. The third drive assembly is detachable from the second leg link, and the third drive assembly is a link assembly or a ball screw assembly.

[0005] In one embodiment, the timing belt assembly includes a first drive motor, a first timing pulley, a second timing pulley, and a timing belt. The first drive motor is fixed to the first leg link, the output shaft of the first drive motor is fixed to the first timing pulley, the second timing pulley is fixed to the second leg link, and the timing belt surrounds the first timing pulley and the second timing pulley.

[0006] In one embodiment, the timing belt assembly further includes a tensioner mounted on the first leg link and used to tension the timing belt.

[0007] In one embodiment, the bevel gear assembly includes a second drive motor, a fixed plate, a mounting plate, a first bevel gear, and a second bevel gear. The second drive motor is fixed to the fixed plate, the fixed plate is fixed to the mounting plate, the mounting plate is fixed to the first leg connecting rod, the second drive motor is fixed to the first bevel gear, the second bevel gear is rotatably connected to the mounting plate and meshes with the first bevel gear, and the second bevel gear is fixed to the second leg connecting rod.

[0008] In one embodiment, the linkage assembly includes a third drive motor, a mounting base, a first connector, and a second connector. The third drive motor is fixed to the mounting base, the mounting base is fixed to the second leg linkage, the third drive motor is fixed to the first connector, the first connector is rotatably connected to the second connector, and the second connector is rotatably connected to the foot.

[0009] In one embodiment, the ball screw assembly includes a fourth drive motor, a screw, and a transmission component. The fourth drive motor is rotatably connected to the second leg connecting rod and fixedly connected to the screw. The screw is threadedly connected to the transmission component, and the transmission component is rotatably connected to the foot.

[0010] In one embodiment, the biomimetic robot experimental machine further includes a control component mounted on the frame and used to control the experimental machine.

[0011] In one embodiment, the biomimetic robot experimental machine further includes an energy component mounted on the frame and used to power the experimental machine.

[0012] Implementing the embodiments of this utility model will have the following beneficial effects:

[0013] The biomimetic robot experimental machine of this invention comprises a first drive assembly mounted on the frame, connected to a first leg link, and used to drive the first leg link to rotate. A second leg link is rotatably connected to the first leg link, and a second drive assembly mounted on the first leg link, used to drive the second leg link to rotate. The foot is rotatably connected to the second leg link. A third drive assembly mounted on the second leg link, used to drive the foot to rotate. The second drive assembly is detachable from the first leg link and can be a synchronous belt assembly or a bevel gear assembly. The third drive assembly is detachable from the second leg link and can be a link assembly or a ball screw assembly. By setting different drive methods for the second and third drive assemblies, the drive methods become more diverse, thereby improving the extensibility of teaching. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] in: Figure 1 This is an isometric schematic diagram of a biomimetic robot experimental machine in one embodiment.

[0016] Figure 2 for Figure 1 A magnified view of part A in the bionic robot experimental machine shown.

[0017] Figure 3 This is an isometric schematic diagram of a biomimetic robot experimental machine in one embodiment.

[0018] Figure 4 for Figure 3 A magnified schematic diagram of part B in the bionic robot experimental machine shown.

[0019] Figure 5 This is an isometric schematic diagram of a biomimetic robot experimental machine in one embodiment.

[0020] Figure 6 for Figure 5 A magnified schematic diagram of part C in the bionic robot experimental machine shown.

[0021] Figure label:

[0022] 1. Frame; 2. First leg link; 3. Second leg link; 4. Foot; 5. First drive assembly;

[0023] 6. Second drive assembly; 61. First drive motor; 62. First synchronous pulley; 63. Second synchronous pulley; 64. Synchronous belt; 65. Tensioner; 66. Second drive motor; 67. Fixing plate; 68. Mounting plate; 69. First bevel gear; 691. Second bevel gear;

[0024] 7. Third drive assembly; 71. Third drive motor; 72. Mounting base; 73. First connector; 74. Second connector; 75. Fourth drive motor; 76. Lead screw; 77. Transmission component;

[0025] 8. Control components; 9. Energy components. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0029] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0030] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.

[0031] Please combine them together Figures 1 to 6 The biomimetic robot experimental machine provided by this utility model will now be described.

[0032] The biomimetic robot experimental machine includes a frame 1, a first leg link 2, a second leg link 3, a foot 4, a first drive assembly 5, a second drive assembly 6, and a third drive assembly 7. The first drive assembly 5 is mounted on the frame 1 and is connected to the first leg link 2, driving the first leg link 2 to rotate. The second leg link 3 is rotatably connected to the first leg link 2. The second drive assembly 6 is mounted on the first leg link 2 and drives the second leg link 3 to rotate. The foot 4 is rotatably connected to the second leg link 3. The third drive assembly 7 is mounted on the second leg link 3 and drives the foot 4 to rotate. The second drive assembly 6 is detachable from the first leg link 2 and is either a synchronous belt 64 assembly or a bevel gear assembly. The third drive assembly 7 is detachable from the second leg link 3 and is either a link assembly or a ball screw 76 assembly.

[0033] Understandably, the first drive assembly 5 of the bionic robot experimental machine is mounted on the frame 1. The first drive assembly 5 is connected to the first leg link 2 and is used to drive the first leg link 2 to rotate. The second leg link 3 is rotatably connected to the first leg link 2. The second drive assembly 6 is mounted on the first leg link 2 and is used to drive the second leg link 3 to rotate. The foot 4 is rotatably connected to the second leg link 3. The third drive assembly 7 is mounted on the second leg link 3 and is used to drive the foot 4 to rotate. The second drive assembly 6 is detachable from the first leg link 2. The second drive assembly 6 is a synchronous belt 64 assembly or a bevel gear assembly. The third drive assembly 7 is detachable from the second leg link 3. The third drive assembly 7 is a link assembly or a ball screw 76 assembly. By setting different drive methods for the second drive assembly 6 and the third drive assembly 7, the diversity of drive methods is made, thereby improving the extensibility of teaching.

[0034] It should be noted that the frame 1 has a connection interface, which allows the first drive assembly 5 to be fixedly installed. The second drive assembly 6 can be replaced with a timing belt 64 assembly or a bevel gear assembly, and the third drive assembly 7 can be replaced with a connecting rod assembly or a ball screw 76 assembly, allowing for free switching of the drive mode and direct observation of transmission efficiency.

[0035] In this embodiment, the second driving component 6 and the third driving component 7 have multiple driving methods;

[0036] In one implementation, such as Figure 1 and Figure 2 As shown, the second drive assembly 6 is a synchronous belt assembly 64, and the third drive assembly 7 is a linkage assembly. The synchronous belt assembly 64 includes a first drive motor 61, a first synchronous pulley 62, a second synchronous pulley 63, and a synchronous belt 64. The first drive motor 61 is fixed to the first leg linkage 2, and the output shaft of the first drive motor 61 is fixed to the first synchronous pulley 62. The second synchronous pulley 63 is fixed to the second leg linkage 3, and the synchronous belt 64 surrounds the first synchronous pulley 62 and the second synchronous pulley 63. The linkage assembly includes a third drive motor 71, a mounting base 72, a first connecting member 73, and a second connecting member 74. The third drive motor 71 is fixed to the mounting base 72, and the mounting base 72 is fixed to the second leg linkage 3. The third drive motor 71 is fixed to the first connecting member 73, and the first connecting member 73 is rotatably connected to the second connecting member 74. The second connecting member 74 is rotatably connected to the foot 4.

[0037] Specifically, the first drive component 5 can be a motor. The motor drives the first leg link 2, the second leg link 3, the third drive component 7, and the foot 4 to rotate. The first drive motor 61 drives the first synchronous pulley 62 to rotate, the first synchronous pulley 62 drives the synchronous belt 64 to move, the synchronous belt 64 then drives the second synchronous pulley 63 to rotate, the second synchronous pulley 63 drives the second leg link 3 to rotate, the second leg link 3 drives the third drive component 7 and the foot 4 to rotate. Then, the third drive motor 71 drives the first connecting member 73 to rotate, the first connecting member 73 drives the second connecting member 74 to move, the second connecting member 74 then drives the foot 4 to rotate. The first drive component 5, the synchronous belt 64 component, and the link component work together to enable the bionic robot experimental machine to walk.

[0038] Furthermore, the synchronous belt 64 assembly also includes a tensioner 65, which is mounted on the first leg link 2 and used to tension the synchronous belt 64. By setting the tensioner 65, the synchronous belt 64 may loosen after prolonged use, and the tensioner 65 can tighten the synchronous belt 64, thereby improving the stability of the synchronous belt 64 in transmission with the first synchronous pulley 62 and the second synchronous pulley 63.

[0039] In yet another implementation, such as Figure 3 and Figure 4 As shown, the second drive assembly 6 is a bevel gear assembly, and the third drive assembly 7 is a ball screw assembly 76. The bevel gear assembly includes a second drive motor 66, a fixed plate 67, a mounting plate 68, a first bevel gear 69, and a second bevel gear 691. The second drive motor 66 is fixed to the fixed plate 67, which is fixed to the mounting plate 68. The mounting plate 68 is fixed to the first leg connecting rod 2. The second drive motor 66 is fixed to the first bevel gear 69. The second bevel gear 691 is rotatably connected to the mounting plate 68 and meshes with the first bevel gear 69. The second bevel gear 691 is fixed to the second leg connecting rod 3. The ball screw assembly 76 includes a fourth drive motor 75, a screw 76, and a transmission component 77. The fourth drive motor 75 is rotatably connected to the second leg connecting rod 3 and fixedly connected to the screw 76. The screw 76 is threadedly connected to the transmission component 77, which is rotatably connected to the foot 4.

[0040] Specifically, the first drive component 5 can be a motor. The motor drives the first leg link 2, the second drive component 6, the second leg link 3, the third drive component 7, and the foot 4 to rotate. Then, the second drive motor 66 drives the first bevel gear 69 to rotate, the first bevel gear 69 drives the second bevel gear 691 to rotate, the second bevel gear 691 drives the second leg link 3 to rotate, the second leg link 3 drives the ball screw 76 component and the foot 4 to rotate. Next, the fourth drive motor 75 drives the screw 76 to rotate, the screw 76 drives the transmission component 77 to move, and the transmission component 77 then drives the foot 4 to rotate. The first drive component 5, the bevel gear component, and the ball screw 76 component work together to enable the bionic robot experimental machine to walk.

[0041] In another implementation, such as Figure 5 and Figure 6 As shown, the second drive assembly 6 is a bevel gear assembly, and the third drive assembly 7 is a connecting rod assembly. The bevel gear assembly includes a second drive motor 66, a fixing plate 67, a mounting plate 68, a first bevel gear 69, and a second bevel gear 691. The second drive motor 66 is fixed to the fixing plate 67, which is fixed to the mounting plate 68. The mounting plate 68 is fixed to the first leg connecting rod 2. The second drive motor 66 is fixed to the first bevel gear 69. The second bevel gear 691 is rotatably connected to the mounting plate 68 and meshes with the first bevel gear 69. The second bevel gear 691 is fixed to the second leg connecting rod 3. The connecting rod assembly includes a third drive motor 71, a mounting base 72, a first connecting member 73, and a second connecting member 74. The third drive motor 71 is fixed to the mounting base 72, which is fixed to the second leg connecting rod 3. The third drive motor 71 is fixed to the first connecting member 73, which is rotatably connected to the second connecting member 74. The second connecting member 74 is rotatably connected to the foot 4.

[0042] Specifically, the first drive component 5 can be a motor. The motor drives the first leg link 2, the second drive component 6, the second leg link 3, the third drive component 7, and the foot 4 to rotate. Then, the second drive motor 66 drives the first bevel gear 69 to rotate, the first bevel gear 69 drives the second bevel gear 691 to rotate, the second bevel gear 691 drives the second leg link 3 to rotate, the second leg link 3 drives the ball screw 76 component and the foot 4 to rotate. Next, the third drive motor 71 drives the first connecting member 73 to rotate, the first connecting member 73 drives the second connecting member 74 to move, and the second connecting member 74 then drives the foot 4 to rotate. The first drive component 5, the bevel gear component, and the link component work together to enable the bionic robot experimental machine to walk.

[0043] In one embodiment, such as Figure 1As shown, the bionic robot experimental machine also includes a control component 8, which is mounted on the frame 1 and used to control the experimental machine. The control component 8 is electrically connected to the first drive component 5, the second drive component 6, and the third drive component 7. By changing the control parameters of the control component 8, the movement of the first drive component 5, the second drive component 6, and the third drive component 7 can be controlled.

[0044] In one embodiment, continue as follows Figure 1 As shown, the bionic robot experimental machine also includes an energy component 9, which is mounted on the frame 1 and used to power the experimental machine. The energy component 9 is electrically connected to the control component 8, the first drive component 5, the second drive component 6, and the third drive component 7, so that the energy component 9 can evenly distribute the power output to the entire machine.

[0045] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Therefore, any equivalent variations made in accordance with the claims of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A biomimetic robot experimental machine, characterized in that, The biomimetic robot experimental machine includes: a frame, a first leg link, a second leg link, a foot, a first drive assembly, a second drive assembly, and a third drive assembly. The first drive assembly is mounted on the frame and connected to the first leg link, driving the first leg link to rotate. The second leg link is rotatably connected to the first leg link, and the second drive assembly is mounted on the first leg link, driving the second leg link to rotate. The foot is rotatably connected to the second leg link. The third drive assembly is mounted on the second leg link and drives the foot to rotate. The second drive assembly is detachable from the first leg link, and the second drive assembly is a synchronous belt assembly or a bevel gear assembly. The third drive assembly is detachable from the second leg link, and the third drive assembly is a link assembly or a ball screw assembly.

2. The bionic robot experimental machine according to claim 1, characterized in that, The synchronous belt assembly includes a first drive motor, a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The first drive motor is fixed to the first leg link, the output shaft of the first drive motor is fixed to the first synchronous pulley, the second synchronous pulley is fixed to the second leg link, and the synchronous belt surrounds the first synchronous pulley and the second synchronous pulley.

3. The bionic robot experimental machine according to claim 2, characterized in that, The timing belt assembly also includes a tensioner mounted on the first leg link and used to tension the timing belt.

4. The bionic robot experimental machine according to claim 1, characterized in that, The bevel gear assembly includes a second drive motor, a fixed plate, a mounting plate, a first bevel gear, and a second bevel gear. The second drive motor is fixed to the fixed plate, the fixed plate is fixed to the mounting plate, the mounting plate is fixed to the first leg connecting rod, the second drive motor is fixed to the first bevel gear, the second bevel gear is rotatably connected to the mounting plate and meshes with the first bevel gear, and the second bevel gear is fixed to the second leg connecting rod.

5. The bionic robot experimental machine according to claim 1, characterized in that, The linkage assembly includes a third drive motor, a mounting base, a first connector, and a second connector. The third drive motor is fixed to the mounting base, the mounting base is fixed to the second leg linkage, the third drive motor is fixed to the first connector, the first connector is rotatably connected to the second connector, and the second connector is rotatably connected to the foot.

6. The bionic robot experimental machine according to claim 1, characterized in that, The ball screw assembly includes a fourth drive motor, a screw, and a transmission component. The fourth drive motor is rotatably connected to the second leg connecting rod and fixedly connected to the screw. The screw is threadedly connected to the transmission component, and the transmission component is rotatably connected to the foot.

7. The biomimetic robot experimental machine according to claim 1, characterized in that, The biomimetic robot experimental machine also includes a control component, which is mounted on the frame and used to control the experimental machine.

8. The bionic robot experimental machine according to claim 1, characterized in that, The biomimetic robot experimental machine also includes an energy component, which is installed on the frame and used to power the experimental machine.

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