A mechanical bionic horse

Abstract

A kind of mechanical bionic horse relates to handicraft model technical field, including horse body, horse head, horse foreleg, horse hind leg and horse tail;The inner side of horse body is fixedly provided with motor, driven wheel one is installed on the output shaft of motor, the abdominal position of horse body is respectively provided with first rotating shaft and second rotating shaft, first rotating shaft is provided with driven wheel one, hind leg driving wheel and driving wheel two that rotate with shaft, driven wheel one and driving wheel one transmission cooperation, second rotating shaft is provided with driven wheel two and foreleg driving wheel that rotate with shaft, driven wheel two and driving wheel two transmission cooperation;Horse foreleg includes foreleg, foreleg and front hoof, foreleg driving wheel drives foreleg, foreleg and front hoof in horse foreleg by multiple connecting rod assembly to do bionic movement;Horse hind leg includes hind leg, hind leg and hind hoof, hind leg driving wheel drives hind leg, hind leg and hind hoof in horse hind leg by multiple connecting rod assembly to do bionic movement.

Description

Technical Field

[0001] This utility model belongs to the field of craft model technology, and in particular relates to a mechanical bionic horse. Background Technology

[0002] Bionic machines are machines designed and manufactured by imitating the morphology, structure, and control principles of living organisms, resulting in more concentrated functions, higher efficiency, and biological characteristics.

[0003] Currently, the biomimetic effect of the mechanical bionic horses on display needs improvement, and the mechanical structure of the bionic horses is relatively complex and not simplified enough. Utility Model Content

[0004] To enhance the biomimetic effect and simplify the structure, this invention provides a mechanical biomimetic horse. This invention achieves biomimetic walking well through a multi-link mechanism set on the horse's front and hind legs. The multi-link structure is simple and easy to implement.

[0005] The technical solution provided by this utility model is: a mechanical bionic horse, including a horse body, a horse head, horse forelegs, horse hind legs, and a horse tail; the horse forelegs are hinged to the front side of the horse body, and the horse hind legs are hinged to the rear side of the horse body; a motor is fixedly installed on the inner side of the horse body, and a drive wheel is installed on the output shaft of the motor; a first rotating shaft and a second rotating shaft are respectively installed on the belly of the horse body; the first rotating shaft is equipped with a driven wheel, a hind leg drive wheel, and a drive wheel that rotate with the shaft; the driven wheel is in transmission cooperation with the drive wheel, and the diameter of the driven wheel is larger than the diameter of the drive wheel, so that the process of power being transmitted from the drive wheel to the driven wheel can play a deceleration role; the second rotating shaft is equipped with a driven wheel that rotates with the shaft. Wheel 2 and the front leg drive wheel are coupled together. The driven wheel 2 is connected to the driving wheel 2. The diameter of the driven wheel 2 is the same as that of the driving wheel 2, so that the front leg drive wheel and the hind leg drive wheel rotate at the same speed, thus making the stride frequency of the horse's front and hind legs the same. The horse's front leg includes the foreleg, foreleg, and forehoof, which are sequentially hinged. The front leg drive wheel drives the foreleg, foreleg, and forehoof in a biomimetic motion through a multi-link assembly. The horse's hind leg includes the hind leg, hind leg, and hindhoof, which are sequentially hinged. The hind leg drive wheel drives the hind leg, hind leg, and hindhoof in a biomimetic motion through a multi-link assembly.

[0006] A further technical solution is as follows: the multi-link assembly on the horse's foreleg includes a foreleg drive link, a foreleg bending link, and a forehoof bending link. The two ends of the foreleg drive link are respectively hinged to the foreleg drive wheel and the foreleg thigh. The two ends of the foreleg bending link are respectively hinged to the middle front part of the foreleg drive link and the rear side of the foreleg. The two ends of the forehoof bending link are respectively hinged to the front lower side of the foreleg thigh and the forehoof. The biomimetic movement of the foreleg is as follows: the foreleg drive wheel rotates in a circle, driving the foreleg drive link to move, realizing the forward and backward movement of the foreleg thigh; the foreleg drive link drives the foreleg bending link to move, realizing the bending movement of the foreleg; the foreleg bending link drives the forehoof bending link to move, realizing the bending movement of the forehoof.

[0007] The multi-link assembly on the horse's hind leg includes a hind leg drive link, a hind lower leg bending link, and a hind hoof bending link. The two ends of the hind leg drive link are hinged to the hind leg drive wheel and the hind thigh, respectively. The two ends of the hind lower leg bending link are hinged to the middle and rear of the hind leg drive link and the front of the hind lower leg, respectively. The two ends of the hind hoof bending link are hinged to the lower rear of the hind thigh and the hind hoof, respectively. The biomimetic movement of the hind leg is as follows: the hind leg drive wheel rotates in a circle, driving the hind leg drive link to move, thus achieving the forward and backward movement of the hind thigh; the hind leg drive link drives the hind lower leg bending link to move, thus achieving the bending movement of the hind lower leg; and the hind lower leg bending link drives the hind hoof bending link to move, thus achieving the bending movement of the hind hoof.

[0008] A further technical solution is: the horse's head is hinged to the front side of the horse's body, and a horse head bending crank is set between the horse's head and the horse's foreleg. The upper end of the horse head bending crank is hinged to the horse's head, and the lower end of the horse head bending crank is hinged to the horse's foreleg, so as to realize the up and down movement of the horse's head during the forward and backward movement of the horse's foreleg.

[0009] A further technical solution is as follows: the horse's tail is hinged to the rear of the horse's body, and a tail swing arm 1, a tail torsion spring connecting rod, and a tail swing arm 2 are set between the horse's tail and the hind legs. The tail torsion spring connecting rod is installed on the hind legs, and the lower end of the tail torsion spring connecting rod abuts against the tail swing arm 1. The tail swing arm 1 is fixedly set to the hind legs, and the upper end of the tail torsion spring connecting rod is hinged to the lower end of the tail swing arm 2. The upper end of the tail swing arm 2 is hinged to the horse's tail; thus, the horse's tail can move up and down during the forward and backward movements of the hind legs.

[0010] A further technical solution is as follows: The bionic mechanical horse also includes horse wings and a wing-flashing crank-connecting rod structure. The horse wings include two cross-hinged wing flaps, the hinge shafts of which are fixedly connected to the horse body. The two wing flaps can flap relative to the horse body. A wing torsion spring is provided at the lower end of the two wing flaps, and the lower ends of the two wing flaps are respectively connected to the two ends of the wing torsion spring. When the wing torsion spring is pushed up, the horse wings open; when the wing torsion spring is pulled down, the horse wings close. The wing-flashing crank-connecting rod structure includes a wing-flashing cam, a wing-flashing crank arm, and a wing-flashing connecting rod. The wing-flashing crank arm is inserted into the central hole of the wing torsion spring. The drive wheel has a stop block. During the rotation of the drive wheel, the stop block can push the wing-flashing cam, thereby driving the wing-flashing crank arm to swing up and down, and then driving the wing torsion spring to move up and down, realizing the flapping of the two wing flaps.

[0011] A further technical solution is that the motor, the front leg drive wheel, and the rear leg drive wheel are all located inside the horse's body; the multi-link assembly on the front leg is located inside the front leg, and the multi-link assembly on the rear leg is located inside the rear leg.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] 1. This utility model achieves biomimetic linkage between the thigh, lower leg and hoof by setting a multi-link structure on the horse's foreleg and hind leg respectively. The structure of this utility model is very simple and clear, and the design is very reasonable.

[0014] 2. Based on the biomimetic linkage of the horse's forelegs and hind legs, this utility model adds linkage of the horse's head, tail, and wings, creating a more vivid biomimetic effect.

[0015] 3. The multi-link assembly, driving component, driven component, etc. of this utility model are all located inside the horse's body and are not exposed to the outside, which shows that the design is reasonable and the biomimetic effect is better. Attached Figure Description

[0016] Figure 1 This is an appearance view of the utility model.

[0017] Figure 2 Half-sectional view of this utility model.

[0018] Figure 3 Half-sectional view of this utility model.

[0019] Figure 4 Half-sectional view of this utility model.

[0020] Figure 5 Half-sectional view of this utility model.

[0021] Figure 6 This is a rear view of the horse's wing in this utility model.

[0022] In the diagram: 1. Horse head; 2. Horse body; 3. Foreleg; 4. Foreleg; 5. Foreleg; 6. Hind leg; 7. Hind leg; 8. Hind leg; 9. Horse tail; 10. Horse wing; 11. Foreleg drive linkage; 12. Foreleg bending linkage; 13. Foreleg bending linkage; 14. Motor; 15. Drive wheel one; 16. Driven wheel one; 17. Hind leg drive wheel; 18. Drive wheel two; 19. Driven wheel two; 20. Foreleg drive wheel; 21. Hind leg drive linkage; 22. Hind leg bending linkage; 23. Hind leg bending linkage; 24. Tail swing support arm one; 25. Tail torsion spring linkage; 26. Tail swing support arm two; 27. Horse head bending crank; 28. Stop block; 29. ​​Wing flapping cam; 30. Wing flapping crank arm; 31. Wing flapping linkage; 32. Wing torsion spring; 33. Center hole. Detailed Implementation

[0023] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0024] like Figure 1-5 As shown, this embodiment includes a horse body 2, a horse head, horse forelegs, horse hind legs, and horse tail 9. The horse forelegs are hinged to the front side of the horse body 2, and the horse hind legs are hinged to the rear side of the horse body 2. A motor 14 is fixedly installed on the inner side of the horse's body 2. A drive wheel 15 is mounted on the output shaft of the motor 14. A first rotating shaft and a second rotating shaft are respectively installed on the belly of the horse's body 2. The first rotating shaft is equipped with a driven wheel 16, a hind leg drive wheel 17, and a drive wheel 18 that rotate with the shaft. The three have the same rotational angular velocity. The driven wheel 16 is in transmission cooperation with the drive wheel 15. The diameter of the driven wheel 16 is larger than the diameter of the drive wheel 15. The process of power being transmitted from the drive wheel 15 to the driven wheel 16 plays a deceleration role. The second rotating shaft is equipped with a driven wheel 19 and a front leg drive wheel 20 that rotate with the shaft. The two have the same rotational angular velocity. The driven wheel 19 is in transmission cooperation with the drive wheel 18. The diameter of the driven wheel 19 is the same as the diameter of the drive wheel 18. This makes the front leg drive wheel 20 and the hind leg drive wheel 17 rotate at the same speed, thus making the stride frequency of the horse's front and hind legs the same.

[0025] The horse's forelegs consist of the fore thigh 3, foreleg 4, and forehoof 5, which are sequentially hinged. The foreleg drive wheel 20 drives the fore thigh 3, foreleg 4, and forehoof 5 in biomimetic motion via a multi-link assembly. The multi-link assembly on the horse's forelegs includes a foreleg drive link 11, a foreleg bending link 12, and a forehoof bending link 13. The two ends of the foreleg drive link 11 are respectively hinged to the foreleg drive wheel 20 and the fore thigh 3. The two ends of the foreleg bending link 12 are respectively hinged to the middle front part of the foreleg drive link 11 and the rear side of the foreleg 4. The two ends of the forehoof bending link 13 are respectively hinged to the front lower side of the fore thigh 3 and the forehoof 5. The process of the front leg bionic movement is as follows: the front leg drive wheel 20 rotates in a circle, driving the front leg drive link 11 to move, realizing the forward and backward movement of the front thigh 3; the front leg drive link 11 drives the front lower leg bending link 12 to move, realizing the bending movement of the front lower leg 4; the front lower leg bending link 12 drives the front hoof bending link 13 to move, realizing the bending movement of the front hoof 5.

[0026] Figures 2-5 This is a half-sectional view of the present invention. Only the multi-link structure of one front leg can be seen in the figure. The multi-link structure of the other front leg is the same. The difference is that the connection position of the front leg drive link 11 on the front leg drive wheel 20 is different. The difference in the connection position makes the two front legs exhibit a "one in front and one behind" walking state when the front leg drive wheel 20 rotates.

[0027] The horse's hind legs include the hind thigh 6, hind lower leg 7, and hind hoof 8, which are sequentially hinged. The hind leg drive wheel 17 drives the hind thigh 6, hind lower leg 7, and hind hoof 8 to perform biomimetic motion through a multi-link assembly. The multi-link assembly on the hind legs includes a hind leg drive link 21, a hind lower leg bending link 22, and a hind hoof bending link 23. The two ends of the hind leg drive link 21 are respectively hinged to the hind leg drive wheel 17 and the hind thigh 6. The two ends of the hind lower leg bending link 22 are respectively hinged to the middle and rear part of the hind leg drive link 21 and the front side of the hind lower leg 7. The two ends of the hind hoof bending link 23 are respectively hinged to the rear lower side of the hind thigh 6 and the hind hoof 8. The process of bionic movement of the hind legs is as follows: the hind leg drive wheel 17 rotates in a circle, driving the hind leg drive link 21 to move, realizing the forward and backward movement of the hind thigh 6; the hind leg drive link 21 drives the hind lower leg bending link 22 to move, realizing the bending movement of the hind lower leg 7; the hind lower leg bending link 22 drives the hind hoof bending link 23 to move, realizing the bending movement of the hind hoof 8.

[0028] Similarly, Figures 2-5This is a half-sectional view of the present invention. Only the multi-link structure of one hind leg can be seen in the figure. The multi-link structure of the other hind leg is the same. The difference is that the connection position of the hind leg drive link 21 on the hind leg drive wheel 17 is different. The difference in the connection position makes the two hind legs exhibit a "one in front and one behind" walking state when the hind leg drive wheel 17 rotates.

[0029] As can be seen from the above, this utility model achieves a good biomimetic linkage between the thigh, lower leg and hoof by setting a multi-link structure on the horse's foreleg and hind leg respectively. The structure of this utility model is very simple and clear, and the design is very reasonable.

[0030] The horse head 1 is hinged to the front side of the horse body 2. A horse head bending crank 27 is set between the horse head 1 and the horse's foreleg. The upper end of the horse head bending crank 27 is hinged to the horse head 1, and the lower end of the horse head bending crank 27 is hinged to the horse's foreleg, so that the horse head 1 can move up and down during the forward and backward movement of the horse's foreleg.

[0031] The horse tail 9 is hinged to the rear side of the horse body 2. A tail swing arm 1 24, a tail torsion spring connecting rod 25, and a tail swing arm 26 are provided between the horse tail 9 and the horse's hind legs. The tail torsion spring connecting rod 25 is installed on the horse's hind legs. The lower end of the tail torsion spring connecting rod 25 abuts against the tail swing arm 1 24. The tail swing arm 1 24 is fixedly set to the horse's hind legs. The upper end of the tail torsion spring connecting rod 25 is hinged to the lower end of the tail swing arm 26. The upper end of the tail swing arm 26 is hinged to the horse tail 9. Thus, the horse tail 9 can move up and down during the forward and backward movement of the horse's hind legs.

[0032] like Figure 5 and 6 As shown, the bionic horse also includes horse wings 10 and a wing-flapping crank-connecting rod structure. The horse wings include two cross-hinged wing flaps, the hinge shafts of which are fixedly connected to the horse body 2. The two wing flaps can flap relative to the horse body 2. A wing torsion spring 32 is provided at the lower end of the two wing flaps, and the lower ends of the two wing flaps are respectively connected to the two ends of the wing torsion spring 32. When the wing torsion spring 32 is pushed up, the horse wings 10 open; when the wing torsion spring 32 is pulled down, the horse wings 10 close. The wing-flapping crank-connecting rod structure includes a wing-flapping cam 29, a wing-flapping crank arm 30, and a wing-flapping connecting rod 31, all three of which are bent into... Figure 5 In the state shown, the inflection point of the wing-flashing linkage 31 and the wing-flashing curved arm 30 is hinged to the horse body 2. The wing-flashing curved arm 30 is inserted into the center hole 33 of the wing torsion spring 32. The drive wheel 15 has a stop block 28. During the rotation of the drive wheel 15, the stop block 28 can push the wing-flashing cam 29, thereby driving the wing-flashing curved arm 30 to swing up and down, and then driving the wing torsion spring 32 to move up and down, realizing the flapping of the two wings.

[0033] Based on the biomimetic linkage of the horse's forelegs and hind legs, this utility model adds linkage of the horse's head, tail, and wings, creating a more vivid biomimetic effect.

[0034] The motor 14, the front leg drive wheel, and the rear leg drive wheel are all located inside the horse body 2; the multi-link assembly on the front leg is located inside the front leg, and the multi-link assembly on the rear leg is located inside the rear leg.

[0035] The multi-link assembly, driving component, driven component, etc. of this utility model are all located inside the horse's body and are not exposed to the outside, which shows that the design is reasonable and the biomimetic effect is better.

Claims

1. A mechanical bionic horse, characterized in that: Includes the horse's body (2), head (1), forelegs, hind legs, and tail (9); The horse's forelegs are hinged to the front of the horse's body (2), and the horse's hind legs are hinged to the rear of the horse's body (2); A motor (14) is fixedly installed on the inner side of the horse body (2). A drive wheel (15) is installed on the output shaft of the motor (14). A first rotating shaft and a second rotating shaft are respectively installed on the belly of the horse body (2). A driven wheel (16), a hind leg drive wheel (17) and a drive wheel (18) are installed on the first rotating shaft. The driven wheel (16) is in a transmission cooperation with the drive wheel (15). A driven wheel (19) and a front leg drive wheel (20) are installed on the second rotating shaft. The driven wheel (19) is in a transmission cooperation with the drive wheel (18). The horse's forelegs include the fore thigh (3), fore lower leg (4), and fore hoof (5). The fore thigh (3), fore lower leg (4), and fore hoof (5) are connected in sequence. The foreleg drive wheel (20) drives the fore thigh (3), fore lower leg (4), and fore hoof (5) in the horse's forelegs to perform biomimetic movements through a multi-link assembly. The hind legs of a horse include the hind thigh (6), the hind lower leg (7) and the hind hoof (8). The hind thigh (6), the hind lower leg (7) and the hind hoof (8) are connected in sequence. The hind leg drive wheel (17) drives the hind thigh (6), the hind lower leg (7) and the hind hoof (8) in the hind legs to perform biomimetic movements through a multi-link assembly.

2. The mechanical bionic horse according to claim 1, characterized in that: The multi-link assembly on the horse's foreleg includes a foreleg drive link (11), a foreleg bending link (12), and a forehoof bending link (13). The two ends of the foreleg drive link (11) are respectively hinged to the foreleg drive wheel (20) and the foreleg thigh (3). The two ends of the foreleg bending link (12) are respectively hinged to the middle front part of the foreleg drive link (11) and the rear side of the foreleg (4). The two ends of the forehoof bending link (13) are respectively hinged to the front lower side of the foreleg thigh (3) and the forehoof (5). The multi-link assembly on the hind leg of the horse includes a hind leg drive link (21), a hind lower leg bending link (22), and a hind hoof bending link (23). The two ends of the hind leg drive link (21) are respectively hinged to the hind leg drive wheel (17) and the hind thigh (6). The two ends of the hind lower leg bending link (22) are respectively hinged to the middle and rear part of the hind leg drive link (21) and the front side of the hind lower leg (7). The two ends of the hind hoof bending link (23) are respectively hinged to the rear lower side of the hind thigh (6) and the hind hoof (8).

3. The mechanical bionic horse according to claim 1, characterized in that: The horse head (1) is hinged to the front side of the horse body (2). A horse head bending crank (27) is set between the horse head (1) and the horse's foreleg. The upper end of the horse head bending crank (27) is hinged to the horse head (1), and the lower end of the horse head bending crank (27) is hinged to the horse's foreleg.

4. The mechanical bionic horse according to claim 1, characterized in that: The horse tail (9) is hinged to the rear side of the horse body (2). A tail swing arm one (24), a tail torsion spring connecting rod (25) and a tail swing arm two (26) are provided between the horse tail (9) and the horse's hind legs. The tail torsion spring connecting rod (25) is installed on the horse's hind legs. The lower end of the tail torsion spring connecting rod (25) abuts against the tail swing arm one (24). The tail swing arm one (24) is fixedly set to the horse's hind legs. The upper end of the tail torsion spring connecting rod (25) is hinged to the lower end of the tail swing arm two (26). The upper end of the tail swing arm two (26) is hinged to the horse tail (9).

5. A mechanical bionic horse according to claim 1, characterized in that: The bionic mechanical horse also includes horse wings (10) and a wing-flapping crank-connecting rod structure. The horse wings (10) include two cross-hinged wing flaps. The hinge shaft of the wing flaps is fixedly connected to the horse body (2). The two wing flaps can flap relative to the horse body (2). A wing torsion spring (32) is provided at the lower end of the two wing flaps. The lower ends of the two wing flaps are respectively connected to the two ends of the wing torsion spring (32). The wing-flapping crank-connecting rod structure includes a wing-flapping cam (29) and a wing flap. The movable crank arm (30) and the wing fanning linkage (31) are inserted into the center hole (33) of the wing torsion spring (32). The drive wheel (15) has a stop block (28). During the rotation of the drive wheel (15), the stop block (28) can push the wing fanning cam (29), thereby driving the wing fanning crank arm (30) to swing up and down, and then driving the wing torsion spring (32) to move up and down, thus realizing the fanning of the two wings.

6. A mechanical bionic horse according to claim 1, characterized in that: The motor (14), the front leg drive wheel, and the rear leg drive wheel are all located inside the horse body (2); the multi-link assembly on the front leg is located inside the front leg, and the multi-link assembly on the rear leg is located inside the rear leg.

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