CN104354785A - Bionic crab robot - Google Patents
Bionic crab robot Download PDFInfo
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- CN104354785A CN104354785A CN201410581468.4A CN201410581468A CN104354785A CN 104354785 A CN104354785 A CN 104354785A CN 201410581468 A CN201410581468 A CN 201410581468A CN 104354785 A CN104354785 A CN 104354785A
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- module
- connecting rod
- stepping motor
- pincers
- chela
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/25—Gearing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
- Y10S901/36—Actuating means
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of mechanical-electrical integration and particularly relates to a bionic crab robot. The invention mainly solves the problems of complicated structure, longer drive chain and bad system rigidity of an existing crab robot. The bionic crab robot is composed of a foot motion system, a pincers system, a connecting system and a control system, wherein the foot motion system comprises a bottom plate, and two sets of four-foot motion mechanisms which are respectively mounted at symmetrical positions at the front part and the rear part of the bottom plate; the pincers system comprises a rack, two pincers main bodies are respectively mounted at symmetrical positions on the left side and the right side of the rack, and each pincers main body is composed of a fixing frame, a motor frame, a swinging steering engine, two connecting buckles, a tray, a grabbing steering engine, two key-shaped rack bars, two claw bars and two connecting bars; the control system is composed of a top plate, a main controller, a power supply voltage stabilizing chip, an infrared receiving module, a stepper motor driving module, a steering engine driving module, an eye lamp and an infrared remote controller.
Description
Technical field
The invention belongs to electromechanical integration technology area, be specifically related to a kind of Bionic crab robot.
Background technology
Crab robot is the product that bionics is applied to practice.Application number is the modular mechanical crab of 200710072364.0, and it is made up of trunk and eight walking legs, and every walking leg is all composed in series by front end, middle-end and end three modular constructions, and trunk is connected by adapter plate with walking leg.Each modular construction comprises DC servo motor, transmission device and transmission joint block, DC servo motor drive transmission device, transmission device connects transmission joint block, transmit joint block and drive front end, middle-end and end three modular constructions, thus realize different gait and the action of mechanical crab.But the walking leg complex structure of this modular mechanical crab, eight walking legs need 24 DC servo motor altogether, and do not clamp chela, can not imitate the behavior act of crab completely.Paper " design and implimentation of Bionic crab robot " delivered by 12nd phase in 2009 " machinery and electronics " magazine, paper adopts Alclad innovation standard member, design a kind of Bionic crab robot, this Bionic crab robot is formed primarily of 6 legs, 2 chelas; Every bar leg has 2 joints, and each joint is driven by 1 servomotor, can realize the actions such as the advance of crab, retrogressing, turning; Every chela has 3 joints, is driven respectively, can realize the functions such as the pickup of crab, carrying by 3 servomotors.But the leg of this Bionic crab robot, chela driving chain are longer, and system rigidity is poor, still have more remote from practical engineering application.
Summary of the invention
There is complex structure, driving chain is longer, system rigidity is poor problem mainly for existing crab robot in the present invention, provides a kind of Bionic crab robot.
The present invention is the technical scheme taked that solves the problem:
A kind of Bionic crab robot, by sufficient kinematic scheme, pincers chela system, connected system and control system four part composition, described sufficient kinematic scheme comprises base plate, in the symmetric position at pan front and rear portion, a set of four-footed kinematic mechanism is respectively installed, often overlap four-footed kinematic mechanism by stepping motor of walking, final gear, two transmission gears, four transmission foots, two baffle plates and top board composition, two baffle plates are arranged on the end of base plate, walking stepping motor is arranged on base plate, mounting of roof plate is expert at the top of stepping motor, final gear is arranged on centre between two baffle plates and final gear is connected with the output shaft of walking stepping motor, two transmission gears to be arranged between two baffle plates and to be symmetrically distributed in the left and right sides of final gear, two transmission gears all with final gear gears meshing, a transmission foot is respectively installed in the both sides, front and back of each transmission gear, transmission foot extends to the outside of baffle plate, each transmission foot is by foot, first connecting rod, second connecting rod and third connecting rod composition, one end of first connecting rod is arranged on the middle and upper part of baffle plate, the other end of first connecting rod is connected with the upper end of foot, one end of second connecting rod is connected with the end face of transmission gear, the other end of second connecting rod is connected with the middle and upper part of foot, one end of third connecting rod is arranged on the middle and lower part of baffle plate, the other end of third connecting rod is connected with the middle part of second connecting rod,
Described pincers chela system comprises tooth bar, in the left and right sides symmetric position of tooth bar, a pincers chela main body is respectively installed, each pincers chela main body is by fixed mount, motor rack, swing steering engine, two Connection Cards, pallet, capture steering wheel, two key-type ratch, two claw bars and two connecting rod compositions, fixed mount is connected with the rear portion of tooth bar, motor rack is arranged on the outer end of fixed mount, swing steering engine is arranged on motor rack, the output shaft of swing steering engine is connected with fixed mount, two Connection Card symmetrical the upper side and lower side being arranged on pallet respectively, the side of Connection Card is connected with motor rack, the opposite side of Connection Card is connected with pallet, capturing steering wheel is arranged on pallet, two key-type ratch are also arranged on pallet, in the front end of each key-type ratch, a claw bar is respectively installed, the middle part of each claw bar is connected with one end of a connecting rod, the other end of connecting rod is connected with pallet, the round plate of described key-type ratch is provided with half-turn tooth, the half-turn tooth of two key-type ratch is symmetrical arranged and is connected with a joggle, be connected with the output shaft capturing steering wheel near the key-type ratch capturing steering wheel side, the outer end of described claw bar is provided with chela tooth, the chela tooth of two claw bars is symmetrical arranged,
Described connected system by be elevated stepping motor, lifting driving gear, guide rod frame and guide rod form, lifting stepping motor and lifting driving gear are all arranged on the top of two baffle plates near pincers chela system one end, near pincers symmetrical position, chela system side, a guide rod frame is respectively installed in the outside of baffle plate, the opposite side of guide rod frame extends to the inside of corresponding side fixed mount, install a guide rod in the outer end of each guide rod frame, described guide rod passes vertically through guide rod frame and the fixed mount of corresponding side simultaneously;
Described control system is by top board, master controller, power supply voltage stabilizing chip, infrared receiving module, driving stepper motor module, servo driving module, eyes lamp and Infrared remote controller composition, master controller is arranged on the top of top board, power supply voltage stabilizing chip and infrared receiving module are arranged on the middle part of top board, driving stepper motor module and servo driving module are arranged on the bottom of top board, in the symmetric position of each fixed mount the inner, an eyes lamp is respectively installed, power supply voltage stabilizing chip respectively with master controller, infrared receiving module, driving stepper motor module, servo driving module, eyes lamp, walking stepping motor, lifting stepping motor, swing steering engine with crawl steering wheel be connected by power lead, infrared receiving module is connected by data line with master controller, master controller respectively with driving stepper motor module, servo driving module is connected by control line with eyes lamp, driving stepper motor module respectively with walking stepping motor be elevated stepping motor and be connected by control line, servo driving module respectively with swing steering engine with capture steering wheel and be connected by control line, Infrared remote controller is used for sending signal to infrared receiving module, infrared receiving module to receive signal transmission after the signal of Infrared remote controller to master controller, master controller by signal transmission to driving stepper motor module, servo driving module and eyes lamp, after driving stepper motor module receives signal, control lines walks the anglec of rotation and the speed of stepping motor, and then by walking driving stepper motor foot walking and turn to, driving stepper motor module also controls the anglec of rotation and the speed of lifting stepping motor after receiving signal, and then the lifting of lifting driving stepper motor pincers chela system, servo driving module controls the anglec of rotation and the speed of swing steering engine after receiving signal, and then swing steering engine drives swinging of pincers chela system, servo driving module also controls the anglec of rotation and the speed that capture steering wheel after receiving signal, and then capture the crawl of servo driving claw bar, eyes lamp controls the light on and off of eyes lamp after receiving signal.
Compared with prior art, the present invention drives eight steps, the fundamental operatioies such as the transverse direction that can realize Bionic crab is walked, turn to by control 2 walking driving stepper motor gear crank rocker mechanism; Control 1 lifting steering wheel, driven wheel tooth bar mechanism realizes the integral elevating of pincers chela, controls 1 swing steering engine and drives pincers chela to swing, controls 1 capture the two Oscillating linkage realization of servo driving two partial gear clamp chela clamping, unclamp, the action such as attack.The motions such as the present invention can make crab robot complete flexibly to advance by the coordinated movement of various economic factors of foot, retreat, turning, and stably can move flexibly on the road surface of sandstone, hollow, features such as also can carrying out grasp handling in kind, have that drive configuration is simple, ensuring smooth transmission, high, the bionical degree of power transmission efficiency are high, easy to maintenance; Pincers chela system can realize, is elevated, swings and captures action in kind.Therefore have compared with the present invention and ball, wheeled, rail mounted robot move flexibly, accuracy, to the extensive comformability of road conditions and to aspects such as the omnibearing crawls of material object, there is plurality of advantages, it has the several functions such as carrying, performance and amusement, this robot also can be used as carrier detection platform simultaneously, for the detection under extreme engineering specifications and search and rescue.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the present invention's foot kinematic scheme block diagram;
Fig. 3 is the birds-eye view of the present invention's foot kinematic scheme;
Fig. 4 is the front elevation of the present invention's foot kinematic scheme;
Fig. 5 is the front section view of the present invention's foot kinematic scheme;
Fig. 6 is final gear structural representation of the present invention;
Fig. 7 is transmission gear structural representation of the present invention;
Fig. 8 is transmission gear front of the present invention semisectional view;
Fig. 9 is the block diagram that the present invention clamps chela system;
Figure 10 is the birds-eye view that the present invention clamps chela system;
Figure 11 is the front elevation that the present invention clamps chela system;
Figure 12 is the left view that the present invention clamps chela system;
Figure 13 is the structural representation of motor rack of the present invention;
Figure 14 is the structural representation of Connection Card of the present invention;
Figure 15 is the structural representation of pallet of the present invention;
Figure 16 is the structural representation of claw bar of the present invention;
Figure 17 is the birds-eye view of connected system of the present invention;
Figure 18 is the right elevation of connected system of the present invention;
Figure 19 is the structural representation of guide rod frame of the present invention;
Figure 20 is the birds-eye view of control system of the present invention;
Figure 21 is control system schematic diagram of the present invention.
Detailed description of the invention
Embodiment 1
A kind of Bionic crab robot, by sufficient kinematic scheme, pincers chela system, connected system and control system four part composition, as Figure 1-Figure 8, symmetrical structure centered by described sufficient kinematic scheme, now be analyzed as follows for left sufficient main body drive system: sufficient kinematic scheme comprises base plate 1, in the symmetric position of base plate 1 front and rear, a set of four-footed kinematic mechanism is respectively installed, often overlap four-footed kinematic mechanism by stepping motor 2 of walking, final gear 3, two transmission gears 4, four transmission foots 5, two baffle plates 6 and top board 27 form, two baffle plates 6 are arranged on the end of base plate 1, walking stepping motor 2 is arranged on base plate 1, top board 27 is arranged on the top of walking stepping motor 2, final gear 3 is arranged on centre between two baffle plates 6 and final gear 3 is connected with the output shaft of walking stepping motor 2, two transmission gears 4 to be arranged between two baffle plates 6 and to be symmetrically distributed in the left and right sides of final gear 3, two transmission gears 4 all with final gear 3 gears meshing, a transmission foot 5 is respectively installed in the both sides, front and back of each transmission gear 4, transmission foot 5 extends to the outside of baffle plate 6, each transmission foot 5 is by foot 7, first connecting rod 8, second connecting rod 9 and third connecting rod 10 form, one end of first connecting rod 8 is arranged on the middle and upper part of baffle plate 6, the other end of first connecting rod 8 is connected with the upper end of foot 7, one end of second connecting rod 9 is connected with the end face of transmission gear 4, the other end of second connecting rod 9 is connected with the middle and upper part of foot 7, one end of third connecting rod 10 is arranged on the middle and lower part of baffle plate 6, the other end of third connecting rod 10 is connected with the middle part of second connecting rod 9,
Visible final gear 3, transmission gear 4, transmission foot 5, constitute the left side foot kinematic scheme of Bionic crab robot, the walking main shaft of stepping motor 2 and the endoporus of final gear 3 adopt transition fit, and logical holding screw of installing ensures that the main shaft of walking stepping motor 2 rotates with identical cireular frequency with final gear 3, final gear 3 and two symmetrical transmission gears 4 by gears meshing, by the torque obtained from walking stepping motor 2 steadily, be delivered evenly to two transmission gears 4, transmission gear 4 axle is through baffle plate 6, make transmission gear 4 axial restraint, the tapped bore processing a M3 respectively symmetrical apart from 8mm place, axle center in two axial end of transmission gear 4, left end face and second connecting rod 9 adopt pin connection mode to be connected, the middle part of second connecting rod 9 adopts pin connection mode to be connected with third connecting rod 10 one end, the other end and the baffle plate 6 of third connecting rod 10 adopt pin connection mode to be connected, first connecting rod 8 one end also adopts pin connection mode to be connected with baffle plate 6 simultaneously, the other end of first connecting rod 8 adopts pin connection mode to be connected with foot 7, such transmission gear 4, foot 7, first connecting rod 8, second connecting rod 9, third connecting rod 10 forms transmission foot 5 jointly, wherein transmission gear 4, second connecting rod 9, third connecting rod 10 forms gear crank rocker mechanism, final gear 3 rotarily drives gear crank rocker mechanism, second connecting rod 9 is made to draw foot 7 walking, simultaneously one end of foot 7 to be pulled on baffle plate 6 by first connecting rod 8 thus to ensure that foot 7 does the walking of periodic regularity, turn to,
As shown in Fig. 9-Figure 16, described pincers chela system comprises tooth bar 11, in the left and right sides symmetric position of tooth bar 11, a pincers chela main body is respectively installed, each pincers chela main body is by fixed mount 12, motor rack 13, swing steering engine 14, two Connection Cards 15, pallet 16, capture steering wheel 17, two key-type ratch 18, two claw bars 19 and two connecting rods 20 form, fixed mount 12 is connected with the rear portion of tooth bar 11, motor rack 13 is arranged on the outer end of fixed mount 12, swing steering engine 14 is arranged on motor rack 13, the output shaft of swing steering engine 14 is connected with fixed mount 12, two Connection Card 15 symmetrical the upper side and lower side being arranged on pallet 16 respectively, the side of Connection Card 15 is connected with motor rack 13, the opposite side of Connection Card 15 is connected with pallet 16, capturing steering wheel 17 is arranged on pallet 16, two key-type ratch 18 are also arranged on pallet 16, in the front end of each key-type ratch 18, a claw bar 19 is respectively installed, the middle part of each claw bar 19 is connected with one end of a connecting rod 20, the other end of connecting rod 20 is connected with pallet 16, the round plate of described key-type ratch 18 is provided with half-turn tooth 21, the half-turn tooth 21 of two key-type ratch 18 is symmetrical arranged and is connected with a joggle, be connected with the output shaft capturing steering wheel 17 near the key-type ratch 18 capturing steering wheel 17 side, the outer end of described claw bar 19 is provided with chela tooth 22, the chela tooth 22 of two claw bars 19 is symmetrical arranged,
In pincers chela system, the main shaft of swing steering engine 14 is connected with fixed mount 12 through motor rack 13, and swing steering engine 14 can do reciprocal 45 degree of rotary motions relative to fixed mount 12; Connection Card 15 to be fixed with bolts on motor rack 13, simultaneously also with bolts fixing with pallet 16, pallet 16 is fixed with bolts with crawl steering wheel 17, capture steering wheel 17 main shaft to be connected with key-type ratch 18 through pallet 16 hole, pallet 16 adopts pin to connect to connect respectively at key-type ratch 18, connecting rod 20, and claw bar 19 is with bolts with key-type ratch 18, connecting rod 20 respectively.Pallet 16, key-type ratch 18, claw bar 19, connecting rod 20 connect and compose double rocker mechanism.Two key-type ratch 18, in half-turn tooth 21 position engaged transmission, form the motion that hand of rotation is contrary, drive the two-part double rocker mechanism in pincers chela left and right respectively, realize the synchronous backward motion of two claw bars 19 in left and right, realize the clamping of Ao's pincers, unclamp action;
As shown in Figure 17-Figure 19, described connected system is by being elevated stepping motor 23, lifting driving gear 24, guide rod frame 25 and guide rod 26 form, lifting stepping motor 23 and lifting driving gear 24 are all arranged on the top of two baffle plates 6 near pincers chela system one end, near pincers symmetrical position, chela system side, a guide rod frame 25 is respectively installed in the outside of baffle plate 6, the opposite side of guide rod frame 25 extends to the inside of corresponding side fixed mount 12, in the outer end of each guide rod frame 25, a guide rod 26 is installed, described guide rod 26 passes vertically through guide rod frame 25 and the fixed mount 12 of corresponding side simultaneously,
The lifting stepping motor 23 be fixed on robot two side baffle plate 6 provides power, and lifting stepping motor 23 drives the lifting driving gear 24 be fixed on output shaft, is fixed between lifting driving gear 24 and lifting stepping motor 23 axle by holding screw; Tooth bar 11 is connected and fixed by bolt and the fixed mount 12 in pincers chela system, and tooth bar 11 carries out rack and pinion engagement with lifting driving gear 24 simultaneously, is the straight line up-and-down movement of tooth bar 11 by the convert rotational motion of lifting driving gear 24; Left and right guide rod frame 25 be all connected by screw be fixed on sufficient kinematic scheme baffle plate on 6; The stomidium of left and right guide rod frame 25 penetrates left and right guide rod 26 respectively, and left and right guide rod 26 is bolted on fixed mount 12.Left and right guide rod 26 fixing in pincers chela system can only in the stomidium of left and right guide rod frame 25 upper and lower straight-line motion, then achieved the dipping and heaving clamping the relatively sufficient kinematic scheme of chela system by the engaged transmission of rack-and-gear;
As shown in Figure 20-Figure 21, described control system is by top board 27, master controller 28, power supply voltage stabilizing chip 29, infrared receiving module 30, driving stepper motor module 31, servo driving module 32, eyes lamp 33 and Infrared remote controller 34 form, master controller 28 is arranged on the top of top board 27, power supply voltage stabilizing chip 29 and infrared receiving module 30 are arranged on the middle part of top board 27, driving stepper motor module 31 and servo driving module 32 are arranged on the bottom of top board 27, in the symmetric position of each fixed mount 12 the inner, an eyes lamp 33 is respectively installed, power supply voltage stabilizing chip 29 respectively with master controller 28, infrared receiving module 30, driving stepper motor module 31, servo driving module 32, eyes lamp 33, walking stepping motor 2, lifting stepping motor 23, swing steering engine 14 with crawl steering wheel 17 be connected by power lead, infrared receiving module 30 is connected by data line with master controller 28, master controller 28 respectively with driving stepper motor module 31, servo driving module 32 is connected by control line with eyes lamp 33, driving stepper motor module 31 respectively with walking stepping motor 2 be elevated stepping motor 23 and be connected by control line, servo driving module 32 respectively with swing steering engine 14 with capture steering wheel 17 and be connected by control line, Infrared remote controller 34 is for sending control signal to infrared receiving module 30, after infrared receiving module 30 receives the control signal of Infrared remote controller 34, control signal is passed to master controller 28, the control command of the different attitude of Bionic crab is stored in master controller 28, master controller 28 according to control command by signal transmission to driving stepper motor module 31, servo driving module 32 and eyes lamp 33, after driving stepper motor module 31 receives signal, control lines walks the anglec of rotation and the speed of stepping motor 2, and then driven the walking of foot 7 by walking stepping motor 2 and turned to, driving stepper motor module 31 also controls the anglec of rotation and the speed of lifting stepping motor 23 after receiving signal, and then lifting stepping motor 23 drives the lifting of pincers chela system, servo driving module 32 controls the anglec of rotation and the speed of swing steering engine 14 after receiving signal, and then swing steering engine 14 drives swinging of pincers chela system, servo driving module 32 also controls the anglec of rotation and the speed that capture steering wheel 17 after receiving signal, and then capture the crawl that steering wheel 17 drives claw bar 19, the light on and off of eyes lamp lamp 33 are controlled after eyes lamp lamp 33 receives signal.By infrared remote-control device, the control signal of execution is transferred to master controller 28.Master controller 28 respectively control lines is walked the transverse directions that stepping motor 2 drives final gear 3 to drive transmission foot 5 to realize Bionic crab and is walked, the fundamental operation such as to turn to.Control lifting stepping motor 23 and drive lifting driving gear 24, tooth bar 11 gear motion, realize the lifting action of pincers chela system.Control swing steering engine 14 realizes pincers chela entire system and swings, and controls to capture steering wheel 17 and drives the clamping of two key-type ratch 18 realization pincers chela systems, unclamps action.
Bionic crab robot ambulation program of the present invention mainly adopts program loop to scan, and walks stepping motor 2 by master controller 28 control lines, realizes the various walkings of Bionic crab robot.Program is as follows:
The main master controller of Bionic crab robot 28 cycles are that the PWM ripple of 20ms goes to control swing steering engine 14, capture steering wheel 17, realizing swing steering engine 14 by regulating the dutycycle of PWM to go, capturing the change of the different corner of steering wheel 17, thus realize left rotation and right rotation, the grasping movement of pincers chela system.Program is as follows:
Claims (1)
1. a Bionic crab robot, it is characterized in that by sufficient kinematic scheme, pincers chela system, connected system and control system four part composition, described sufficient kinematic scheme comprises base plate (1), in the symmetric position of base plate (1) front and rear, a set of four-footed kinematic mechanism is respectively installed, often overlap four-footed kinematic mechanism by stepping motor of walking (2), final gear (3), two transmission gears (4), four transmissions foot (5), two baffle plates (6) and top board (27) composition, two baffle plates (6) are arranged on the end of base plate (1), walking stepping motor (2) is arranged on base plate (1), top board (27) is arranged on the top of walking stepping motor (2), final gear (3) is arranged on centre between two baffle plates (6) and final gear (3) is connected with the output shaft of walking stepping motor (2), two transmission gears (4) to be arranged between two baffle plates (6) and to be symmetrically distributed in the left and right sides of final gear (3), two transmission gears (4) all with final gear (3) gears meshing, transmission foot (5) is respectively installed in the both sides, front and back of each transmission gear (4), transmission foot (5) extends to the outside of baffle plate (6), each transmission foot (5) is by foot (7), first connecting rod (8), second connecting rod (9) and third connecting rod (10) composition, one end of first connecting rod (8) is arranged on the middle and upper part of baffle plate (6), the other end of first connecting rod (8) is connected with the upper end of foot (7), one end of second connecting rod (9) is connected with the end face of transmission gear (4), the other end of second connecting rod (9) is connected with the middle and upper part of foot (7), one end of third connecting rod (10) is arranged on the middle and lower part of baffle plate (6), the other end of third connecting rod (10) is connected with the middle part of second connecting rod (9),
Described pincers chela system comprises tooth bar (11), in the left and right sides symmetric position of tooth bar (11), a pincers chela main body is respectively installed, each pincers chela main body is by fixed mount (12), motor rack (13), swing steering engine (14), two Connection Cards (15), pallet (16), capture steering wheel (17), two key-type ratch (18), two claw bars (19) and two connecting rod (20) compositions, fixed mount (12) is connected with the rear portion of tooth bar (11), motor rack (13) is arranged on the outer end of fixed mount (12), swing steering engine (14) is arranged on motor rack (13), the output shaft of swing steering engine (14) is connected with fixed mount (12), two Connection Cards (15) respectively symmetry are arranged on the upper side and lower side of pallet (16), the side of Connection Card (15) is connected with motor rack (13), the opposite side of Connection Card (15) is connected with pallet (16), capturing steering wheel (17) is arranged on pallet (16), two key-type ratch (18) are also arranged on pallet (16), in the front end of each key-type ratch (18), a claw bar (19) is respectively installed, the middle part of each claw bar (19) is connected with one end of a connecting rod (20), the other end of connecting rod (20) is connected with pallet (16), the round plate of described key-type ratch (18) is provided with half-turn tooth (21), the half-turn tooth (21) of two key-type ratch (18) is symmetrical arranged and is connected with a joggle, be connected with the output shaft capturing steering wheel (17) near the key-type ratch (18) capturing steering wheel (17) side, the outer end of described claw bar (19) is provided with chela tooth (22), the chela tooth (22) of two claw bars (19) is symmetrical arranged,
Described connected system is by being elevated stepping motor (23), lifting driving gear (24), guide rod frame (25) and guide rod (26) composition, lifting stepping motor (23) and lifting driving gear (24) are all arranged on the top of two baffle plates (6) near pincers chela system one end, near pincers symmetrical position, chela system side, a guide rod frame (25) is respectively installed in the outside of baffle plate (6), the opposite side of guide rod frame (25) extends to the inside of corresponding side fixed mount (12), a guide rod (26) is installed in the outer end of each guide rod frame (25), described guide rod (26) passes vertically through guide rod frame (25) and the fixed mount (12) of corresponding side simultaneously,
Described control system is by top board (27), master controller (28), power supply voltage stabilizing chip (29), infrared receiving module (30), driving stepper motor module (31), servo driving module (32), eyes lamp (33) and Infrared remote controller (34) composition, master controller (28) is arranged on the top of top board (27), power supply voltage stabilizing chip (29) and infrared receiving module (30) are arranged on the middle part of top board (27), driving stepper motor module (31) and servo driving module (32) are arranged on the bottom of top board (27), the symmetric position inner at each fixed mount (12) respectively installs an eyes lamp (33), power supply voltage stabilizing chip (29) respectively with master controller (28), infrared receiving module (30), driving stepper motor module (31), servo driving module (32), eyes lamp (33), walking stepping motor (2), lifting stepping motor (23), swing steering engine (14) is connected by power lead with crawl steering wheel (17), infrared receiving module (30) is connected by data line with master controller (28), master controller (28) respectively with driving stepper motor module (31), servo driving module (32) is connected by control line with eyes lamp (33), driving stepper motor module (31) respectively with walking stepping motor (2) be elevated stepping motor (23) and be connected by control line, servo driving module (32) respectively with swing steering engine (14) with capture steering wheel (17) and be connected by control line, Infrared remote controller (34) is for sending signal to infrared receiving module (30), infrared receiving module (30) to receive signal transmission after the signal of Infrared remote controller (34) to master controller (28), master controller (28) by signal transmission to driving stepper motor module (31), servo driving module (32) and eyes lamp (33), after driving stepper motor module (31) receives signal, control lines walks the anglec of rotation and the speed of stepping motor (2), and then driven the walking of foot (7) by stepping motor (2) of walking and turned to, driving stepper motor module (31) also controls the anglec of rotation and the speed of lifting stepping motor (23) after receiving signal, and then lifting stepping motor (23) drives the lifting of pincers chela system, the anglec of rotation and the speed of swing steering engine (14) is controlled after servo driving module (32) receives signal, and then swing steering engine (14) drives swinging of pincers chela system, servo driving module (32) also controls the anglec of rotation and the speed that capture steering wheel (17) after receiving signal, and then capture the crawl that steering wheel (17) drives claw bar (19), the light on and off of eyes lamp (33) are controlled after eyes lamp (33) receives signal.
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| CN201410581468.4A CN104354785B (en) | 2014-10-27 | 2014-10-27 | A kind of Bionic crab robot |
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| CN201410581468.4A CN104354785B (en) | 2014-10-27 | 2014-10-27 | A kind of Bionic crab robot |
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