The invention relates to the field of bionics, and discloses a four-foot bionic mechanical lizard which comprises a trunk, a head, a tail, four feet, an X-axis linear guide rail and a Y-axis linear guide rail, the head, the tail and the four feet are all connected with the trunk, each foot comprises a steering engine, the steering engines are connected with a main transmission shaft, the main transmission shaft is connected with an external meshing cylindrical gear, and the external meshing cylindrical gear is connected with an auxiliary transmission shaft. The outer meshing cylindrical gear is connected with a crank rocker under the cooperation of the inner meshing cylindrical gear, sliding blocks are arranged on the X-axis linear guide rail and the Y-axis linear guide rail, the back faces of the sliding block on the X-axis and the sliding block on the Y-axis are matched with each other and connected through nuts, and the crank rocker is connected with the sliding block on the Y-axis linear guide rail. The design of a four-foot bionic mechanical lizard is formed in a crank and rocker mechanism connection mode, main transmission is achieved through an inner meshing cylindrical gear and a crank and rocker mechanism, and the requirement of simulating four-foot linear climbing is met through cooperation of transmission and the mechanisms. The four-footed bionic mechanical lizard provided by the invention can realize a climbing gait like a lizard in nature.

    本申请涉及仿生学领域,公开了一种四足仿生机械蜥蜴,包括躯干、头部、尾部、四个足部以及X轴、Y轴直线导轨,所述头部、尾部以及四个足部均连接躯干,每个足部均包括舵机,所述舵机连接主传动轴,主传动轴连接外啮合圆柱齿轮,外啮合圆柱齿轮在内啮合圆柱齿轮的配合下连接曲柄摇杆,X轴、Y轴直线导轨上均设置有滑块,X轴上的滑块与Y轴上的滑块背面相互配合并用螺母连接,柄摇杆连接设置于Y轴直线导轨上的滑块。本发明运用曲柄摇杆机构连接的方式形成四足仿生机械蜥蜴的设计,主要传动通过内啮合圆柱齿轮和曲柄摇杆机构,通过传动与机构的配合进而达到模仿四足直线爬走的要求。本发明四足仿生机械蜥蜴能够实现像自然界中蜥蜴的爬走步态。


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    Title :

    Four-footed bionic mechanical lizard


    Additional title:

    一种四足仿生机械蜥蜴


    Contributors:
    ZHAO LU (author) / YANG YUCHAO (author) / LIU LIYAN (author) / YU ZIJIE (author) / CHENG YUNZHE (author)

    Publication date :

    2023-01-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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