CN110774278A

CN110774278A - Novel bionic mechanical arm consisting of crankshaft and connecting rod mechanism

Info

Publication number: CN110774278A
Application number: CN201811211846.4A
Authority: CN
Inventors: 张锡林
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-10-01
Filing date: 2018-10-01
Publication date: 2020-02-11

Abstract

A novel bionic mechanical arm consisting of a crankshaft and a connecting rod mechanism relates to bionic machinery, in particular to a bionic mechanical arm capable of simulating walking of animals, and the bionic mechanical arm consists of a large arm, a small arm, a connecting rod, a swing rod, an eccentric wheel, a central shaft, a fixed end, a pin shaft and a mounting seat, wherein a driving device is arranged on the mounting seat, a driving wheel in the driving device is concentric with the central shaft, the central shaft rotates synchronously along with the driving wheel, the driving wheel rotates for a circle, the eccentric wheel also rotates for a circle, and the bionic mechanical arm of the crankshaft and the connecting rod mechanism can complete bionic actions of leg lifting, striding, foot falling and pedaling for one time; two sets of bionic mechanical arms are mounted on a mounting seat, thigh-fixed shaft connecting holes on two thighs are bilaterally and symmetrically hinged to fixed ends on two sides of the mounting seat respectively, two eccentric wheels are mounted on a central shaft, the mounting positions of the two eccentric wheels are different by 180 degrees, the central shaft rotates for a circle, and a left mechanical leg and a right mechanical leg complete actions of lifting, striding, falling and pedaling once and then can be manufactured into a robot capable of walking vertically with two legs.

Description

Novel bionic mechanical arm consisting of crankshaft and connecting rod mechanism

Technical Field

A novel bionic mechanical arm consisting of a crankshaft and a connecting rod mechanism relates to bionic machinery, in particular to a bionic mechanical arm capable of simulating walking of animals.

Background

Bionics is a subject to be engineered to achieve and effectively use animal functions. The bionic machinery is to develop new machinery and new technology or solve the problem of mechanical technology according to the structure and functional principle of animals.

The existing bionic mechanical arm structure for a legged robot is characterized in that the structure of the bionic mechanical arm is based on a rod mechanism and comprises a lifting system, a pushing system, an auxiliary supporting system, a coaction system and a rack; the lifting system mainly comprises a lifting motor and a lifting rod, and the lifting motor is fixedly connected with the rack; the lifting rod is fixedly connected with the lifting motor, and the lifting rod and the lifting motor rotate synchronously; the pushing system mainly comprises a pushing motor, a No. 1 pushing rod and a No. 2 pushing rod, and a pushing motor cylinder is fixedly connected with the rack; the No. 1 push rod is fixedly connected with the push motor, and the push rod and the push motor rotate synchronously; the No. 2 push rod and the No. 1 push rod are in non-fixed connection and can rotate relatively; the auxiliary supporting system mainly comprises a No. 1 supporting rod, a No. 2 supporting rod, a No. 3 supporting rod, a No. 1 long shaft, a No. 4 short shaft and a No. 5 short shaft; the combined action system mainly comprises a No. 1 connecting rod, a No. 2 connecting rod, a foot plate, a No. 1 short shaft, a No. 2 short shaft and a No. 3 short shaft. The bionic mechanical arm consists of a lifting system, a pushing system, an auxiliary supporting system, a combined action system and a rack, and is complex in structure and high in processing difficulty. The transmission efficiency of the action of one motor driving a plurality of parts to finish walking in a striding way is lower, particularly the motion track of the motor is far from the action of walking animals, and the bionic similarity is lower.

Disclosure of Invention

In order to solve the problems in the prior art, the invention discloses a novel bionic mechanical arm consisting of a crankshaft and a connecting rod mechanism. The length of the connecting rod, the size of the crankshaft and the position of the hinge are adjusted, the motion form and the motion track of the connecting rod mechanism can be changed, and the actions of simulating the walking and the motion of the legs of the animal can be realized by adjusting the length of the connecting rod, the size of the crankshaft and the position of the hinge. The invention can simulate the walking action of the legs of the animal, and can simulate the motion form and the track of the upper limbs of the human by adjusting the length of the connecting rod, the size of the crank shaft and the position of the hinge. More importantly, the length of the connecting rod, the size of the crankshaft and the position of the hinge can be determined according to the motion form and the motion track, and the bionic mechanical arm is designed to develop mechanical equipment with animal motion characteristics.

The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a novel bionical arm of constituteing by bent axle and link mechanism comprises big arm 1, forearm 2, connecting rod 3, pendulum rod 4, eccentric wheel 5, center pin 6, stiff end 7, round pin axle 8, mount pad 9, characterized by: the big arm 1 is a connecting rod in a crankshaft and connecting rod mechanism, the big arm 1 is provided with a big arm-fixed shaft connecting hole 11, a big arm-swing rod connecting hole 12, a big arm-small arm connecting hole 13, the small arm 2 is a second connecting rod in the crankshaft and connecting rod mechanism, the small arm 2 is provided with a small arm-big arm connecting hole 21, a small arm-connecting rod connecting hole 22, a connecting rod 3 is a third connecting rod in the crankshaft and connecting rod mechanism, the connecting rod 3 is provided with a connecting rod-swing rod connecting hole 31, a connecting rod-small arm connecting hole 32, the swing rod 4 is a fourth connecting rod in the crankshaft and connecting rod mechanism, the swing rod 4 is provided with a swing rod-big arm connecting hole 41, a swing rod connecting hole 42, a swing rod-crankshaft connecting hole 43, the eccentric wheel 5 is a crankshaft in the crankshaft and connecting rod mechanism, the eccentric wheel 5 is provided with a central hole 51, an eccentric hole 53, the central shaft 6 can rotate relative to the mounting seat 9, the central shaft 6 is provided with a boss 61 matched with a crankshaft and a boss 62 matched with a transmission device, key slots are arranged at the positions of the boss 61 and the boss 62, the fixed end 7 is a fixed point position arranged on the mounting seat 9 and used for mounting the large arm 1, the fixed end 7 is provided with a mounting hole 71 used for mounting a pin shaft 8, the pin shaft 8 is a hinged shaft forming a hinge pair, the mounting seat 9 is a supporting seat used for mounting the central shaft 6 and provided with the fixed end 7, the pin shaft 8 is penetrated into a cross-shaft connecting hole 11 of the large arm 1, then the pin shaft 8 is fixed in the mounting hole 71 on the fixed end 7, so that the large arm 1 and the fixed end 7 are hinged together, then a pin shaft 8 is selected and is penetrated into a large arm-swing rod connecting hole 12 on the large arm 1 and a swing rod-connecting hole 42 on the swing rod 4, the large arm 1 and the swing rod 4 are hinged together, and the large arm 1 and the small arm-small arm connecting In 21, a large arm 1 and a small arm 2 are hinged together, a pin shaft 8 is used for hinging a swing rod-connecting rod connecting hole 42 on a swing rod 4 with a connecting rod-swing rod connecting hole 31 on a connecting rod 3, a connecting rod-small arm connecting hole 32 on the connecting rod 3 is hinged with a small arm-connecting rod connecting hole 22 on the small arm 2 by using the pin shaft 8, a central hole 51 on an eccentric wheel 5 is sleeved on a boss 61 on a central shaft 6 matched with a crankshaft, a flat key is embedded in a key groove 52 of the eccentric wheel 5 and a key groove 62 of the central shaft 6 in an aligned mode, and a swing rod-crankshaft connecting hole 43 on the swing rod 4 is hinged with an eccentric hole 53 on the eccentric wheel 5 by using the pin shaft 8, so that a set of bionic mechanical arm; the driving device 10 is a driver of the bionic mechanical arm, the driving device 10 is matched on the mounting seat 9, a driving wheel 101 in the driving device 10 is concentric with the central shaft 6, the central shaft 6 synchronously rotates along with the driving wheel 101, the driving wheel 101 rotates for a circle, the eccentric wheel 5 also rotates for a circle, and the bionic mechanical arm of the crankshaft and the connecting rod mechanism sequentially completes bionic stepping actions of lifting legs, striding, falling feet and pedaling; two fixed ends 7 which are bilaterally symmetrical are arranged on one mounting seat 9, two sets of bionic mechanical arms are mounted on the same mounting seat 9, large arm-fixed shaft connecting holes 11 on two large arms 1 are hinged to the fixed ends 7 on two sides of the mounting seat 9 in a left-right mode, two shaft platforms 61 matched with a crankshaft are arranged on one central shaft 6, two eccentric wheels 5 are mounted on the same central shaft 6, the mounting positions of the two eccentric wheels 5 are different by 180 degrees, the central shaft 6 rotates for a circle, the left and right sets of bionic mechanical arms complete the actions of lifting legs, striding, dropping feet and pedaling once after just one time, and the bionic mechanical arms simulate the striding walking of animals once.

The invention has the beneficial effects that the novel bionic mechanical arm consisting of the crankshafts and the connecting rod mechanisms adopts the crankshaft connecting rod mechanisms, the bionic mechanical arm consisting of four connecting rods and one crankshaft rotates for a circle, and the connecting rod mechanisms imitate the motion of animal limbs once. The invention has simple structure and good simulation effect, can simulate the gait of human walking, the shape of horse walking or running and the shape and track of human upper limb movement by adjusting the size of the connecting rod and the position of the hinge point. The bionic mechanical arm is used for replacing human beings to carry out simple repetitive work, and has extremely important significance for liberating labor force and improving production efficiency.

Drawings

The invention is further illustrated by the following figures and examples.

Figure 1 schematic diagram of embodiment 1.

Fig. 2 is an exploded view of embodiment 1.

Figure 3 schematic diagram of embodiment 2.

Figure 4 schematic diagram of embodiment 3.

Detailed Description

Embodiment 1, fig. 1 is a schematic view of embodiment 1, and a novel bionic mechanical arm composed of a crankshaft and a link mechanism is composed of a large arm 1, a small arm 2, a connecting rod 3, a swing rod 4, an eccentric wheel 5, a central shaft 6, a fixed end 7, a pin shaft 8 and a mounting seat 9, and is characterized in that: the large arm 1 is a connecting rod in a crankshaft and connecting rod mechanism, the small arm 2 is a second connecting rod in the crankshaft and connecting rod mechanism, the connecting rod 3 is a third connecting rod in the crankshaft and connecting rod mechanism, the oscillating bar 4 is a fourth connecting rod in the crankshaft and connecting rod mechanism, the eccentric wheel 5 is a crankshaft in the crankshaft and connecting rod mechanism, the central shaft 6 is a rotating shaft which is installed on the installation seat 9 through a bearing, the central shaft 6 can rotate relative to the installation seat 9, the fixed end 7 is a fixed point which is arranged on the installation seat 9 and used for installing the large arm 1, the pin shaft 8 is a hinged shaft forming a hinge pair, the installation seat 9 is a supporting seat which is provided with the fixed end 7 and used for installing the central shaft 6, and as shown in figure 1, the connecting rods and the eccentric wheel are hinged together through the pin shaft 8 to form a group of. Fig. 2 is an exploded view of embodiment 1. Describing the connection relationship of the connecting rod, the crankshaft and the hinge in detail, a big arm 1 is provided with a big arm-fixed shaft connecting hole 11, a big arm-swing rod connecting hole 12, a big arm-small arm connecting hole 13, a small arm-big arm connecting hole 21, a small arm-connecting rod connecting hole 22, a connecting rod-swing rod connecting hole 31, a connecting rod-swing rod connecting hole 32, a swing rod 4 is provided with a swing rod-big arm connecting hole 41, a swing rod connecting hole 42, a swing rod-crankshaft connecting hole 43, a central hole 51, an eccentric hole 53 and a key slot 52 are arranged on an eccentric wheel 5, a central shaft 6 is provided with a shaft platform 61 matched with the crankshaft and a shaft platform 62 matched with a transmission device, the shaft platform 61 and the shaft platform 62 are provided with key slots, a fixed end 7 is provided with a mounting hole 71 for mounting a pin shaft 8, the pin shaft 8 is inserted into a cross-shaft connecting hole 11 of the big arm 1, and, the large arm 1 is hinged with the fixed end 7, a pin shaft 8 is selected, the large arm 1 and the swing rod 4 are hinged together by penetrating into a large arm-swing rod connecting hole 12 on the large arm 1 and a swing rod-connecting rod connecting hole 42 on the swing rod 4, the large arm 1 and the small arm 2 are hinged together by penetrating into a large arm-small arm connecting hole 13 on the large arm 1 and a small arm-large arm connecting hole 21 on the small arm 2 by using the pin shaft 8, the swing rod-connecting rod connecting hole 42 on the swing rod 4 and a connecting rod-swing rod connecting hole 31 on the connecting rod 3 are hinged together by using the pin shaft 8, a connecting rod-small arm connecting hole 32 on the connecting rod 3 is hinged together with a small arm-connecting rod connecting hole 22 on the small arm 2 by using the pin shaft 8, a central hole 51 on the eccentric wheel 5 is sleeved on a shaft platform 61 on the central shaft 6 matched with a crankshaft, and a flat key is embedded in alignment, the swing rod-crankshaft connecting hole 43 on the swing rod 4 is hinged with the eccentric hole 53 on the eccentric wheel 5 by a pin shaft 8. The driving device 10 is matched on the mounting seat 9, the driving wheel 101 in the driving device 10 is arranged on the pillow block 62 which is matched with the central shaft 6 and the transmission device, the central shaft 6 and the driving wheel 101 are connected together by a flat key, the driving wheel 101 rotates for a circle, the eccentric wheel 5 also rotates for a circle, and the driving device 10 can drive the bionic mechanical arm of the crankshaft and the connecting rod mechanism to realize the bionic stepping actions of lifting legs, stepping, falling feet and pedaling. In the bionic machinery, the simpler the structure, the higher the simulation degree, and the wider the application prospect. For example, a medical equipment designer can use the rehabilitation training mechanical leg to design a set of rehabilitation training mechanical legs for a patient to help the patient to carry out active and passive walking training.

Embodiment 2 and fig. 3 are schematic views of embodiment 2. Two fixed ends 7 which are bilaterally symmetrical are arranged on one mounting seat 9, two sets of bionic mechanical arms are mounted on the same mounting seat 9, large arm-fixed shaft connecting holes 11 on two large arms 1 are hinged to the fixed ends 7 on two sides of the mounting seat 9 in a left-right mode, two shaft platforms 61 matched with a crankshaft are arranged on one central shaft 6, two eccentric wheels 5 are mounted on the same central shaft 6, the mounting positions of the two eccentric wheels 5 are different by 180 degrees, the central shaft 6 rotates for a circle, and the left set of bionic mechanical arms and the right set of bionic mechanical arms finish the actions of lifting legs, striding, falling feet and pedaling once and once after one time. As shown in figure 3, the robot can simulate the morphological movement of human upright walking to make a robot with two upright legs.

Embodiment 3 shows a novel bionic mechanical arm composed of a crankshaft and a link mechanism in embodiment 1, and an application example of a single group is shown. In embodiment 2, a novel bionic mechanical arm composed of a crankshaft and a link mechanism is introduced, and two groups of bionic mechanical arms are combined together to form an application example of a two-leg upright walking robot.

In practical application, a plurality of sets of bionic mechanical arms can be combined together for use, and the walking mechanical horse composed of four sets of bionic mechanical arms is shown in the embodiment. As shown in fig. 4, four bionic mechanical arms are arranged on the left and right sides of the mounting base 9, the shape of the mounting base 9 is imitated into a horse pattern, each bionic mechanical arm is provided with a driving device, and the four driving devices are controlled by a central controller in a unified manner. The central controller is used as the brain of the bionic robot to command and coordinate the sequential motion of all the bionic mechanical arms and control the walking movement of the four legs to imitate the gait of the horse.

Claims

1. The utility model provides a novel bionical arm of constituteing by bent axle and link mechanism comprises big arm 1, forearm 2, connecting rod 3, pendulum rod 4, eccentric wheel 5, center pin 6, stiff end 7, round pin axle 8, mount pad 9, characterized by: the big arm 1 is a connecting rod in a crankshaft and connecting rod mechanism, the big arm 1 is provided with a big arm-fixed shaft connecting hole 11, a big arm-swing rod connecting hole 12, a big arm-small arm connecting hole 13, the small arm 2 is a second connecting rod in the crankshaft and connecting rod mechanism, the small arm 2 is provided with a small arm-big arm connecting hole 21, a small arm-connecting rod connecting hole 22, a connecting rod 3 is a third connecting rod in the crankshaft and connecting rod mechanism, the connecting rod 3 is provided with a connecting rod-swing rod connecting hole 31, a connecting rod-small arm connecting hole 32, the swing rod 4 is a fourth connecting rod in the crankshaft and connecting rod mechanism, the swing rod 4 is provided with a swing rod-big arm connecting hole 41, a swing rod connecting hole 42, a swing rod-crankshaft connecting hole 43, the eccentric wheel 5 is a crankshaft in the crankshaft and connecting rod mechanism, the eccentric wheel 5 is provided with a central hole 51, an eccentric hole 53, the central shaft 6 can rotate relative to the mounting seat 9, the central shaft 6 is provided with a boss 61 matched with a crankshaft and a boss 62 matched with a transmission device, key slots are arranged at the positions of the boss 61 and the boss 62, the fixed end 7 is a fixed point position arranged on the mounting seat 9 and used for mounting the large arm 1, the fixed end 7 is provided with a mounting hole 71 used for mounting a pin shaft 8, the pin shaft 8 is a hinged shaft forming a hinge pair, the mounting seat 9 is a supporting seat used for mounting the central shaft 6 and provided with the fixed end 7, the pin shaft 8 is penetrated into a cross-shaft connecting hole 11 of the large arm 1, then the pin shaft 8 is fixed in the mounting hole 71 on the fixed end 7, so that the large arm 1 and the fixed end 7 are hinged together, then a pin shaft 8 is selected and is penetrated into a large arm-swing rod connecting hole 12 on the large arm 1 and a swing rod-connecting hole 42 on the swing rod 4, the large arm 1 and the swing rod 4 are hinged together, and the large arm 1 and the small arm-small arm connecting In the space 21, a large arm 1 is hinged with a small arm 2, a swing rod-connecting rod connecting hole 42 on a swing rod 4 is hinged with a connecting rod-swing rod connecting hole 31 on a connecting rod 3 by a pin shaft 8, a connecting rod-small arm connecting hole 32 on the connecting rod 3 is hinged with a small arm-connecting rod connecting hole 22 on the small arm 2 by the pin shaft 8, a central hole 51 on an eccentric wheel 5 is sleeved on a boss 61 on a central shaft 6 matched with a crankshaft, a flat key is embedded in a key groove 52 of the eccentric wheel 5 and a key groove 62 of the central shaft 6 in an aligned mode, and a swing rod-crankshaft connecting hole 43 on the swing rod 4 is hinged with an eccentric hole 53 on the eccentric wheel 5 by the pin shaft 8, so that a bionic mechanical arm consisting of the crankshaft.

2. The novel bionic mechanical leg consisting of the crankshaft and the connecting rod mechanism as claimed in claim 1, which is characterized in that: the driving device 10 is a driver of the bionic mechanical arm, the driving device 10 is matched on the mounting seat 9, a driving wheel 101 in the driving device 10 is concentric with the central shaft 6, the central shaft 6 synchronously rotates along with the driving wheel 101, the driving wheel 101 rotates for a circle, the eccentric wheel 5 also rotates for a circle, and the bionic mechanical arm of the crankshaft and the connecting rod mechanism completes bionic striding actions of lifting legs, striding, falling feet and pedaling in sequence.

3. The novel bionic mechanical leg consisting of the crankshaft and the connecting rod mechanism as claimed in claim 1, which is characterized in that: two fixed ends 7 which are bilaterally symmetrical are arranged on one mounting seat 9, two sets of bionic mechanical arms are mounted on the same mounting seat 9, the large arms and the fixed shaft connecting holes 11 on the two large arms 1 are hinged on the fixed ends 7 on two sides of the mounting seat 9 in a left-right mode, two shaft platforms 61 matched with a crankshaft are arranged on one central shaft 6, two eccentric wheels 5 are mounted on the same central shaft 6, the mounting positions of the two eccentric wheels 5 are different by 180 degrees, the central shaft 6 rotates for a circle, the left and right sets of bionic mechanical arms complete the actions of lifting legs, striding, dropping feet and pedaling once after just one time, and the animal striding walking is simulated once.