CN114735106B - Walking mechanism of crab robot - Google Patents
Walking mechanism of crab robot Download PDFInfo
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- CN114735106B CN114735106B CN202210400235.4A CN202210400235A CN114735106B CN 114735106 B CN114735106 B CN 114735106B CN 202210400235 A CN202210400235 A CN 202210400235A CN 114735106 B CN114735106 B CN 114735106B
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- worm
- rack
- bionic
- mounting
- legs
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention discloses a walking mechanism of a crab robot, which comprises a rack, wherein a driving assembly is arranged in the center of the rack, driven driving assemblies are respectively arranged on the rack on two sides of the driving assembly, two ends of the rack, namely one side of each driven driving assembly, which is far away from the driving assembly, are respectively provided with a thigh mounting shaft and a supporting rod mounting shaft, and the supporting rod mounting shafts are positioned under the thigh mounting shafts; the crab robot walking mechanism is provided with six bionic legs, each bionic leg is provided with three legs, the three bionic legs on two sides are symmetrically arranged relative to the central shaft of the rack, the three bionic legs on one side are fixedly connected to the driven driving assembly, the driving assembly drives the two driven driving assemblies to rotate towards the same side of the robot relative to the rack, and the phase difference of the rotation of the three bionic legs along with the driven driving assembly is 120 degrees.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a walking mechanism of a crab robot.
Background
The prior crab-imitating walking mechanism adopts a single crankshaft driving connecting rod mechanism to realize the transverse walking of the crabs, but six bionic legs in the mechanism are connected to the same crankshaft, wherein the phase angle difference between four bionic legs at two ends and two bionic legs in the middle is 180 degrees, so that the advancing speed of the mechanism is slow, the motion stability is poor, and the mechanism is not in accordance with the actual motion rule of the crabs; in addition, only one motor of the mechanism drives the crankshaft to rotate through gear transmission, so that the mechanism is limited in power, poor in overall balance and weak in anti-interference capability.
Disclosure of Invention
The invention aims to solve the problems of limited mechanism power, weak anti-interference capability, low advancing speed, poor motion stability and the like in the prior art, and provides a walking mechanism of a crab robot.
In order to solve the technical problem, the invention adopts the following scheme:
a walking mechanism of a crab robot comprises a rack, wherein a driving assembly is arranged in the center of the rack, driven driving assemblies are respectively arranged on the rack on two sides of the driving assembly, two thigh mounting shafts and a supporting rod mounting shaft are respectively arranged on two ends of the rack, namely one side of each driven driving assembly, which is far away from the driving assembly, and the supporting rod mounting shafts are positioned under the thigh mounting shafts; the crab robot walking mechanism comprises six bionic legs, each bionic leg is provided with three bionic legs, the three bionic legs on two sides are symmetrically arranged relative to the central axis of the rack, the three bionic legs on one side are fixedly connected to the driven driving assembly, the driving assembly drives the two driven driving assemblies to rotate relative to the rack towards the same side of the robot, and the phase difference of the three bionic legs rotating along with the driven driving assembly is 120 degrees.
Specifically, the driven driving assembly comprises two large gears and a crankshaft consisting of four cranks, wherein a single crank is provided with three connecting ends, the phase difference between the three connecting ends is 120 degrees, the same connecting ends of two adjacent cranks are fixedly connected through connecting rods, the phase difference between the three connecting rods between the four cranks is 120 degrees, and the two cranks positioned at the two ends of the crankshaft are respectively and fixedly connected with one large gear. The robot can walk in a changing step, and the obstacle crossing function is realized.
Specifically, because the crab walking foot and the link mechanism have motion similarity, the bionic leg adopts a group of single-degree-of-freedom link mechanisms based on the motion trail analysis of the crab walking foot. Each bionic leg comprises a transmission rod, a support rod, a shank and a thigh, wherein one end of the thigh is rotatably connected with one end of the shank, the other end of the thigh is rotatably connected to a thigh mounting shaft of a rack, one end of the transmission rod is rotatably connected to the central position close to the length direction of the shank, the other end of the transmission rod is fixedly connected to a crankshaft, one end of the support rod is rotatably connected to the central position close to the length direction of the transmission rod, and the other end of the support rod is rotatably connected to a support rod mounting shaft of the rack.
The appropriate rod length of each joint of the bionic leg can be obtained through optimization calculation, and finally, the relatively stable speed and the relatively reliable motion radian can be obtained.
Specifically, the active driving assembly comprises a motor, a turbine, a worm and a turbine and worm mounting frame, wherein the turbine and worm mounting frame is fixedly connected to an active driving assembly mounting position of the rack; the vertical rotation of worm is connected at the turbine worm mounting bracket, and the upper end of worm links firmly on the output shaft of motor, and the lower extreme of worm rotates to be connected in turbine worm mounting bracket bottom, and turbine and worm mesh transmission, and coaxial coupling has two pinions in the pivot of installation turbine, and two pinions are located the both sides of turbine respectively, and every pinion is located between the gear wheel of two driven drive assembly with one end to with two gear wheel meshes.
The worm gear can provide a larger transmission ratio to meet the requirement of large torque of the walking mechanism, the motor transmits power to the gear shaft through the worm gear, the gear shaft outputs the power to the large gear through the small gear, the large gear drives the crankshaft to drive the bionic legs to move, the robot can be driven to transversely walk to one side when the motor rotates forwards, the transverse walking of the robot to the other side when the motor is changed to steer, and the transverse walking characteristic of crabs is simulated.
Preferably, in order to provide enough reliable power, the driving assembly comprises two motors and two worms, the two worms are vertically and rotatably connected to the worm and gear mounting frame, the top ends of the two worms are respectively and fixedly connected with the output shaft of one motor, the worm and gear are meshed and connected between the two worms, the two motors are fixedly mounted at the top end of the rack, and the load borne by the single worm can be reduced by the aid of the transmission mode.
Specifically, the two motors synchronously drive the two worms to synchronously rotate to jointly drive the worm wheel to rotate, the worm wheel drives the two small gear wheels to synchronously rotate and respectively drives the large gear wheels of the two driven driving components to rotate, so that the two driven driving components of the crab robot are driven to rotate in the same direction, the driving transmission rods on the two sides enable the shanks to move in the direction under the matching of the thighs, three groups of bionic legs on the two sides sequentially move according to a phase difference of 120 degrees, and only two legs contact the ground at the same time to provide support.
Compared with the prior art, the invention has the following beneficial effects:
the invention designs two driven driving components, which comprise two crankshafts, wherein each crankshaft is provided with three bionic legs, the rotating phase difference of the three bionic legs is 120 degrees, the driving components drive the two crankshafts to rotate in the same direction, three groups of bionic legs on two sides sequentially move according to the 120-degree phase difference, at least one group of bionic legs of a crab robot walking mechanism are supported on the ground at the same time, the three groups of bionic legs alternately move, so that a single bionic leg contacts the ground more times in the same period, more feeding amount is provided, the advancing speed of the robot is improved, the movement connection of the three bionic legs on one side is tighter, the bump in the vertical direction of the robot is reduced, the running stability of the robot is improved, and the actual movement rule of the crab is met; the driving assembly comprises two motors, and the two motors jointly drive the two driven driving assemblies to synchronously rotate through the worm gear mechanism, so that the driving mechanism has enough power, high advancing speed, good overall balance and strong anti-interference capability.
Drawings
FIG. 1 is a schematic view of a driven assembly;
FIG. 2 is a schematic structural view of a crankshaft; a (c)
FIG. 3 is a schematic view of a mounting structure of a single bionic leg on a crankshaft;
FIG. 4 is a schematic view of the installation structure of three bionic legs on a crankshaft at one side of the crab robot;
FIG. 5 is a schematic structural view of a half of the rack;
FIG. 6 is a schematic view of the structure of the complete rack;
FIG. 7 is a schematic structural view of the worm gear mounting bracket;
FIG. 8 is a schematic view of the mounting structure of the worm gear;
FIG. 9 is a schematic view of the attachment of the worm gear mounting bracket to the frame;
FIG. 10 is a schematic view of a transmission configuration;
FIG. 11 is a schematic view of a walking mechanism of the crab robot;
FIG. 12 is a schematic view of a single biomimetic leg configuration;
FIG. 13 is a single bionic leg and foot end trajectory curve;
FIG. 14 is a trajectory of a single biomimetic leg tip along the x-axis;
FIG. 15 is a y-axis motion trajectory of the distal end of a single biomimetic leg;
in the figure: 1-a rack, 2-a pinion, 3-a bull gear, 4-a crank, 5-a support rod, 6-a transmission rod, 7-a shank, 8-a thigh, 9-a worm gear and worm mounting rack, 10-a worm gear, 11-a worm, 12-a motor, 13-a crankshaft, 14-a driving component mounting position, 15-a driven driving component mounting position, 16-a thigh mounting shaft and 17-a support rod mounting shaft.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, a crab robot has two driven driving components, a single driven driving component comprises two large gears 3 and a crankshaft 13 formed by four cranks 4, the single crank 4 has three connecting ends, the phase difference between the three connecting ends is 120 degrees, the same connecting ends of two adjacent cranks are fixedly connected through connecting rods, the phase difference between the three connecting rods between the four cranks is 120 degrees, and the two cranks positioned at the two ends of the crankshaft are respectively and fixedly connected with one large gear.
As shown in fig. 3, the walking mechanism of the crab robot has six bionic legs, three on one side, each bionic leg comprises a transmission rod 6, a support rod 5, a lower leg 7 and a thigh 8, one end of the thigh is rotatably connected with one end of the lower leg, the other end of the thigh is rotatably connected on a thigh mounting shaft 16 of the rack, one end of the transmission rod is rotatably connected at a central position close to the length direction of the lower leg, the other end of the transmission rod is fixedly connected on a crankshaft, one end of the support rod is rotatably connected at a central position close to the length direction of the transmission rod, and the other end of the support rod is rotatably connected on a support rod mounting shaft 17 of the rack.
As shown in fig. 4, the other ends of the support rods of the three bionic legs at one side of the crab robot are all fixedly connected to the crankshaft, the phase difference of the three drive rods is 120 degrees, namely the phase difference of the three bionic legs at one side of the crab robot is 120 degrees, the bionic legs at two sides of the crab robot are symmetrically arranged, and the drive rod 6, the support rod 5, the shank 7 and the thigh are all in rod-shaft structures.
A set of suitable rod lengths in this embodiment is obtained through multiple optimization calculations, as shown in fig. 12, AB is a crank, CD is a support rod, GF is a thigh, EH is a calf, BE is a drive rod, the lengths of the respective portions are optimized as AB =22mm, bd =60mm, BE =150mm, CD =52.5mm, GF =120mm, ef =70mm, EH =140mm, simulation analysis is performed on the leg structure in ADAMS, and a foot end trajectory curve is as shown in fig. 13, and the walking mechanism is contracted from the end of the walking mechanism to the base body from a point a in a clockwise direction; the BC section begins to step forward; the legs of the CD section gradually start falling back; the D end is in contact with the ground, the DA section provides advancing power for the whole body when the leg is in contact with the ground, and finally, a stable speed and a reliable movement radian are obtained.
By taking the reference point E shown in FIG. 12 as a reference point, the displacement variation curve of the point H relative to the point E is obtained through the above simulation, and as shown in FIGS. 14 and 15, it can be known that the span of the walking leg along the X axis is 108mm and the span along the Y axis is 60mm in a complete cycle, and the mechanism is relatively simple in composition and has good bearing capacity.
As shown in fig. 5 and 6, the frame is a symmetrical structure and is formed by assembling two identical structures, the center of the frame forms a driving assembly mounting position 14, two sides of the motor mounting position are respectively a driven driving assembly mounting position 15, the left end and the right end of the frame are respectively provided with a thigh mounting shaft 16 and a supporting rod mounting shaft 17, and the supporting rod mounting shafts are positioned right below the thigh mounting shafts; the big gears at the two ends of the crankshaft are respectively and rotationally connected with the frame at the installation position of the crankshaft.
As shown in fig. 7-11, the driving assembly comprises a worm gear 10, a worm 11 and a worm gear mounting rack 9 driven by a motor 12, two worms are vertically and rotatably connected to the worm gear mounting rack, the top ends of the two worms are respectively fixedly connected with an output shaft of the motor, a worm gear is meshed between the two worms, two pinions 2 are coaxially connected with the worm gear, the two pinions are respectively positioned on two sides of the worm gear, each pinion is positioned between the bull gears of the two driven driving assemblies at the same end and meshed with the two bull gears, the two motors synchronously drive the two worms to synchronously rotate to jointly drive the worm gears to rotate, the worm gears drive the two pinions to synchronously rotate and respectively drive the bull gears of the two driven driving assemblies to rotate, so as to drive the two driven driving assemblies of the crab robot to rotate in the same direction, due to the design of a crankshaft structure, the transmission rods 6 on two sides of the crab robot enable the shanks 7 to move in the direction under the cooperation of the thighs 8, so that the contact point at the lower ends of the shanks 7 carries out regular bionic curve motion, three sets on each side, three sets on two sides of the two sides sequentially move in a 120-simulated phase difference at the same time, and at least one side of the crab robot can continuously move towards one side of the body at the same time.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (4)
1. A walking mechanism of a crab robot is characterized by comprising a rack, wherein a driving component is mounted at the center of the rack, driven driving components are mounted on the rack on two sides of the driving component respectively, each driven driving component comprises two large gears and a crankshaft consisting of four cranks, each crank is provided with three connecting ends, the rotating phase difference between the three connecting ends is 120 degrees, the same connecting ends of two adjacent cranks are fixedly connected through connecting rods, the phase difference between the three connecting rods between the four cranks is 120 degrees, and the two cranks located at two ends of each crankshaft are fixedly connected with one large gear respectively;
two ends of the rack, namely one side of the driven driving component far away from the driving component, are respectively provided with a thigh mounting shaft and a supporting rod mounting shaft, and the supporting rod mounting shafts are positioned under the thigh mounting shafts; the crab robot walking mechanism comprises six bionic legs, each bionic leg comprises three legs, the bionic legs on two sides are symmetrically arranged relative to the central axis of the rack, each bionic leg comprises a transmission rod, a support rod, a shank and a thigh, one end of the thigh is rotatably connected with one end of the shank, the other end of the thigh is rotatably connected to a thigh mounting shaft of the rack, one end of the transmission rod is rotatably connected to the position close to the center of the shank in the length direction, the other end of the transmission rod is fixedly connected to a connecting rod between the same connecting ends of two adjacent cranks of a crankshaft, one end of the support rod is rotatably connected to the position close to the center of the transmission rod in the length direction, and the other end of the support rod is rotatably connected to a support rod mounting shaft of the rack;
three bionic legs on one side are fixedly connected to the driven driving assembly, the driving assembly drives the two driven driving assemblies to rotate towards the same side of the robot relative to the rack, and the phase difference of the three bionic legs rotating along with the driven driving assemblies is 120 degrees.
2. The crab robot walking mechanism according to claim 1, wherein the active driving component comprises a motor, a worm wheel, a worm and a worm wheel and worm mounting rack, the worm wheel and worm mounting rack is fixedly connected to an active driving component mounting position of the frame, the motor is fixedly mounted at the top end of the frame, and an output shaft of the motor is arranged vertically downwards; the vertical rotation of worm is connected at the turbine worm mounting bracket, and the upper end of worm links firmly on the output shaft of motor, and the lower extreme of worm rotates to be connected in turbine worm mounting bracket bottom, and turbine and worm mesh transmission, and coaxial coupling has two pinions in the pivot of installation turbine, and two pinions are located the both sides of turbine respectively, and every pinion is located between the gear wheel of two driven drive assembly of same end to with two gear wheel meshes.
3. The crab robot walking mechanism according to claim 2, wherein the active driving assembly comprises two motors and two worms, the two worms are vertically and rotatably connected to the worm and worm wheel mounting frame, the top ends of the two worms are respectively and fixedly connected with the output shaft of one motor, the worm and wheel are connected between the two worms in a meshed manner, and the two motors are both fixedly mounted at the top end of the frame.
4. The walking mechanism of crab robot as claimed in claim 3, wherein two motors synchronously drive two worms to synchronously rotate, which together drive a turbine to rotate, the turbine drives two pinions to synchronously rotate and respectively drive the gearwheels of two driven driving components to rotate, so as to drive the two driven driving components of crab robot to rotate in the same direction, the driving transmission rods on both sides make the shanks move in the same direction under the cooperation of thighs, and three groups of bionic legs on both sides move sequentially according to a phase difference of 120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210400235.4A CN114735106B (en) | 2022-04-15 | 2022-04-15 | Walking mechanism of crab robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210400235.4A CN114735106B (en) | 2022-04-15 | 2022-04-15 | Walking mechanism of crab robot |
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| Publication Number | Publication Date |
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| CN114735106A CN114735106A (en) | 2022-07-12 |
| CN114735106B true CN114735106B (en) | 2023-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210400235.4A Active CN114735106B (en) | 2022-04-15 | 2022-04-15 | Walking mechanism of crab robot |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH063395U (en) * | 1992-06-25 | 1994-01-18 | 株式会社学習研究社 | Walking toys |
| CN201220106Y (en) * | 2008-04-25 | 2009-04-15 | 梁钟铭 | Bionic toy crab |
| CN104354785A (en) * | 2014-10-27 | 2015-02-18 | 中北大学 | Bionic crab robot |
| CN104590419A (en) * | 2015-01-29 | 2015-05-06 | 吉林大学 | Walking mechanism like crab |
| CN205131423U (en) * | 2015-07-27 | 2016-04-06 | 宜春学院 | 3D prints eight sufficient bionic robot |
| CN207311653U (en) * | 2017-08-24 | 2018-05-04 | 宜春学院 | The sufficient Bionic crab robot of one kind eight |
| CN208915286U (en) * | 2018-10-26 | 2019-05-31 | 武汉理工大学 | Material handling bio-robot |
| CN110562348A (en) * | 2019-09-02 | 2019-12-13 | 吕梁学院 | six-bar mechanism multi-legged robot and modeling method thereof |
| CN110640761A (en) * | 2019-10-16 | 2020-01-03 | 重庆电子工程职业学院 | Bionic walking mechanism and fighting robot |
| CN112849295A (en) * | 2021-03-08 | 2021-05-28 | 吉林大学 | Multiphase three-dimensional cam type bionic foot type robot |
-
2022
- 2022-04-15 CN CN202210400235.4A patent/CN114735106B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH063395U (en) * | 1992-06-25 | 1994-01-18 | 株式会社学習研究社 | Walking toys |
| CN201220106Y (en) * | 2008-04-25 | 2009-04-15 | 梁钟铭 | Bionic toy crab |
| CN104354785A (en) * | 2014-10-27 | 2015-02-18 | 中北大学 | Bionic crab robot |
| CN104590419A (en) * | 2015-01-29 | 2015-05-06 | 吉林大学 | Walking mechanism like crab |
| CN205131423U (en) * | 2015-07-27 | 2016-04-06 | 宜春学院 | 3D prints eight sufficient bionic robot |
| CN207311653U (en) * | 2017-08-24 | 2018-05-04 | 宜春学院 | The sufficient Bionic crab robot of one kind eight |
| CN208915286U (en) * | 2018-10-26 | 2019-05-31 | 武汉理工大学 | Material handling bio-robot |
| CN110562348A (en) * | 2019-09-02 | 2019-12-13 | 吕梁学院 | six-bar mechanism multi-legged robot and modeling method thereof |
| CN110640761A (en) * | 2019-10-16 | 2020-01-03 | 重庆电子工程职业学院 | Bionic walking mechanism and fighting robot |
| CN112849295A (en) * | 2021-03-08 | 2021-05-28 | 吉林大学 | Multiphase three-dimensional cam type bionic foot type robot |
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| CN114735106A (en) | 2022-07-12 |
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