CN207311653U - The sufficient Bionic crab robot of one kind eight - Google Patents
The sufficient Bionic crab robot of one kind eight Download PDFInfo
- Publication number
- CN207311653U CN207311653U CN201721069872.9U CN201721069872U CN207311653U CN 207311653 U CN207311653 U CN 207311653U CN 201721069872 U CN201721069872 U CN 201721069872U CN 207311653 U CN207311653 U CN 207311653U
- Authority
- CN
- China
- Prior art keywords
- rack
- connecting rod
- robot
- crank
- crank axle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
It the utility model is related to the sufficient Bionic crab robot of one kind eight, including rack, motor, crank axle, linkage, control system and four left side foots, four right side foots.Rack peripheral hardware is all around respectively equipped with four motors, the motor of the left and right sides respectively with a crank axis connection, each crankshaft rotation connects a linkage, and the linkage connects four foots of the side respectively, and eight foots move band mobile robot overall structure walking at the same time.The utility model mechanism and control is simple, movement flexibly, the advance retroversion that can realize robot, passability it is good.
Description
Technical field
The sufficient Bionic crab robot of one kind eight is the utility model is related to, is specifically before one kind can be controlled by control system
Into eight biped robots of retrogressing, belong to robot field.
Background technology
With the continuous development of robot technology, the application field of walking robot is more and more wider.Go out from actual viewpoint
Hair, walking movement truly have the incomparable distinctive feature of wheel machine.It utilizes isolated ground supports rather than wheel machine
Required continuous ground supports, can be in uneven region with stationary mode walking or obstacle avoidance in a non contact fashion.
Technology is difficult to use the sufficient walking robot of simple mechanism, simple power source drive eight at present, while can guarantee that movement
When rack it is steady.
Utility model content
The purpose of this utility model is to overcome deficiencies of the prior art, there is provided the sufficient Bionic crab of one kind eight
Robot, it is simple in structure, stable movement.The advance of Bionic crab robot is realized in the adjusting turned to using four micromachines
Retreat and turn to.
The utility model is achieved through the following technical solutions：
The sufficient Bionic crab robot of one kind eight, including rack and be arranged on the left of rack four left side foots, be arranged on
Four right side foots on the right side of rack a, it is characterised in that rotary shaft rack, institute are respectively arranged at left and right sides of the rack upper surface
The top for stating rotary shaft rack sets up a shaft, and the front and rear sides of the rotary shaft rack bottom are respectively arranged a crank axle, Mei Gesuo
State crank axle to be driven by a motor being arranged on the outside of it, also, each crank axle includes two cranks；
The left side foot, right side foot are each described respectively by one group of linkage being arranged in the rack and crank axis connection
One crank of linkage and crank axle connects.
Further, each link mechanism includes first connecting rod, second connecting rod, third connecting rod, wherein, described the
One end of one connecting rod and the middle part of left side foot or right side foot are hinged, and a crank of the other end and the crank axle is rotatablely connected；
One end of the second connecting rod is hinged with the rack, and the middle part of the other end and the first connecting rod is rotatablely connected；Described 3rd
One end of connecting rod and the top of left side foot or right side foot are hinged, and the other end is hinged with the shaft at the top of the rotary shaft rack.
Further, described eight sufficient Bionic crab robots further include the control system being arranged in rack.
Further, the control system includes microcontroller, driver and power supply, and microcontroller is located at frame lower.Will be single
Piece machine control panel is placed in frame lower, can so reduce the height of C.G. of robot, strengthens the robust motion of robot.
Further, the driver and power supply are located at the top of rack.
Further, the motor and control system communicate to connect, the motor can be controlled by control system rotating speed and
Rotation direction, realizes moving forward and backward for robot.
The utility model has the advantages that：The sufficient Bionic crab robot of the eight of the utility model, structure and control are simple, movement
Flexibly, steadily, it can realize that advance retroversion, the passability of robot are good, cost is small, and production efficiency is high.
Brief description of the drawings
Fig. 1 is the structure diagram of the eight sufficient Bionic crab robots of the utility model.
Fig. 2 is the top view of the eight sufficient Bionic crab robots of the utility model.
Fig. 3 is the front view of the eight sufficient Bionic crab robots of the utility model.
Fig. 4 is the foot schematic diagram of the eight sufficient Bionic crab robots of the utility model.
Fig. 5 is the crank axle schematic diagram of the eight sufficient Bionic crab robots of the utility model.
Embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below in conjunction with the accompanying drawings to this practicality
New to be described in detail, following embodiments are the explanations to the utility model, and the utility model is not limited to following reality
Apply example.
As shown in Figure 1, 2, 3, the eight of the utility model sufficient Bionic crab robots, including rack 1, to be arranged in rack 1 left
Four of side left side foots 3, four right side foots 4 for being arranged in the right side of rack 1, and be arranged in rack 1 motor 5, control system
System.
A rotary shaft rack 12 is respectively arranged at left and right sides of 1 upper surface of rack, the top of rotary shaft rack 12 sets up a shaft
13, the front and rear sides of 12 bottom of rotary shaft rack are respectively arranged a crank axle 2, and each crank axle 2 is arranged on its outside by one
Motor 5 be driven, also, each crank axle 2 includes two cranks.Left side foot 3, right side foot 4 pass through one group of setting respectively
Linkage in rack 1 is connected with crank axle 2, and each linkage is connected with a crank of crank axle 2.
The link mechanism for giving a left side foot 3 exemplary Fig. 4, it can be seen from the figure that each link mechanism bag
Include：First connecting rod 9, second connecting rod 10, third connecting rod 11, wherein, one end and the middle part of left side foot 3 of first connecting rod 9 are hinged, separately
One end and the crank rotation connection of crank axle 2 (concrete structure of crank axle 2 is as shown in Figure 5)；One end of second connecting rod 10
Hinged with rack 1, the middle part of the other end and first connecting rod 9 is rotatablely connected；One end of third connecting rod 11 and the top of left side foot 3 are cut with scissors
Connect, the other end and the shaft 13 at the top of rotary shaft rack 12 are hinged.
As shown in figure 5, each crank axle 2 includes two cranks 21, each crank 21 is rotated with a first connecting rod 9 to be connected
Connect, each crank axle 2 is rotatably supported in rack 1 by the supported hole 22 at left and right sides of it.
The sufficient Bionic crab robot of the eight of the utility model, its control system can use microcontroller to control, including monolithic
Machine 8, driver 6, battery tray 7.Wherein driver 6 and battery tray 7 are located at 1 top of rack, and lower the center of gravity height, strengthens robot
Robust motion.Microcontroller 8 is located at the lower part of rack 1.Motor 5 can control rotating speed and steering by microcontroller 8, realize machine
People's moves forward and backward.
The sufficient Bionic crab machine man-hour of the eight of the utility model, four motors 5 of arrangement all around of rack 1, often
A motor respectively 5 drives a crank axle 2 to rotate, and each crank axle 2 drives two groups respectively by two cranks 21 arranged thereon
Link mechanism acts, and then drives left side foot 3, right side foot 4 to move by link mechanism, motor 5 controls rotating speed by microcontroller 8
And steering, realize moving forward and backward for robot.
More than, be only the utility model preferred embodiment, the utility model protection scope be not limited thereto, it is any
The people for being familiar with the technology is appreciated that the conversion or replacement expected in the scope disclosed by the utility model, should all cover in this reality
Within new scope, therefore, the scope of protection of the utility model should be subject to the protection domain of claims.
Claims (6)
1. the sufficient Bionic crab robot of one kind eight, including rack and be arranged on the left of rack four left side foots, be arranged on machine
Four right side foots on the right side of frame, it is characterised in that a rotary shaft rack is respectively arranged at left and right sides of the rack upper surface, it is described
The top of rotary shaft rack sets up a shaft, and the front and rear sides of the rotary shaft rack bottom are respectively arranged a crank axle, each described
Crank axle is driven by a motor being arranged on the outside of it, also, each crank axle includes two cranks；Institute
Left side foot, right side foot are stated respectively by one group of linkage being arranged in the rack and crank axis connection, each company
One crank of linkage and crank axle connects.
2. according to claim 1 eight sufficient Bionic crab robots, it is characterised in that each link mechanism includes
First connecting rod, second connecting rod, third connecting rod, wherein, one end and the middle part of left side foot or right side foot of the first connecting rod are hinged,
One crank of the other end and the crank axle is rotatablely connected；One end of the second connecting rod is hinged with the rack, the other end
It is rotatablely connected with the middle part of the first connecting rod；One end of the third connecting rod and the top of left side foot or right side foot are hinged, separately
One end is hinged with the shaft at the top of the rotary shaft rack.
3. according to claim 1 eight sufficient Bionic crab robots, it is characterised in that described eight sufficient Bionic crab robots
Further include the control system being arranged in rack.
4. according to claim 3 eight sufficient Bionic crab robots, it is characterised in that the control system includes monolithic
Machine, driver and power supply, the microcontroller are located at the lower part of the rack.
5. according to claim 4 eight sufficient Bionic crab robots, it is characterised in that the driver and power supply are located at machine
The top of frame.
6. according to the sufficient Bionic crab robot of claim 3 to 5 any one of them eight, it is characterised in that the motor and control
System communication connection processed, the rotating speed and rotation direction of the control system control motor, realizes the front and rear of robot and turns to and transport
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721069872.9U CN207311653U (en) | 2017-08-24 | 2017-08-24 | The sufficient Bionic crab robot of one kind eight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721069872.9U CN207311653U (en) | 2017-08-24 | 2017-08-24 | The sufficient Bionic crab robot of one kind eight |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207311653U true CN207311653U (en) | 2018-05-04 |
Family
ID=62433203
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721069872.9U Expired - Fee Related CN207311653U (en) | 2017-08-24 | 2017-08-24 | The sufficient Bionic crab robot of one kind eight |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207311653U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110613940A (en) * | 2018-06-20 | 2019-12-27 | 雍万聪 | Bionic robot toy |
| CN111674531A (en) * | 2020-06-01 | 2020-09-18 | 哈尔滨工程大学 | Bionic machine crab single motor control two crab leg motion structure |
| CN114572322A (en) * | 2021-12-15 | 2022-06-03 | 常州机电职业技术学院 | Bionic sea crab robot |
| CN114735107A (en) * | 2022-05-16 | 2022-07-12 | 江苏科技大学 | Crab-imitating robot and control method thereof |
| CN114735106A (en) * | 2022-04-15 | 2022-07-12 | 河海大学 | Walking mechanism of crab robot |
-
2017
- 2017-08-24 CN CN201721069872.9U patent/CN207311653U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110613940A (en) * | 2018-06-20 | 2019-12-27 | 雍万聪 | Bionic robot toy |
| CN111674531A (en) * | 2020-06-01 | 2020-09-18 | 哈尔滨工程大学 | Bionic machine crab single motor control two crab leg motion structure |
| CN111674531B (en) * | 2020-06-01 | 2022-02-11 | 哈尔滨工程大学 | Bionic machine crab single motor control two crab leg motion structure |
| CN114572322A (en) * | 2021-12-15 | 2022-06-03 | 常州机电职业技术学院 | Bionic sea crab robot |
| CN114735106A (en) * | 2022-04-15 | 2022-07-12 | 河海大学 | Walking mechanism of crab robot |
| CN114735106B (en) * | 2022-04-15 | 2023-03-14 | 河海大学 | Walking mechanism of crab robot |
| CN114735107A (en) * | 2022-05-16 | 2022-07-12 | 江苏科技大学 | Crab-imitating robot and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180504 Termination date: 20180824 |