CN210025318U - Mechanical crab - Google Patents
Mechanical crab Download PDFInfo
- Publication number
- CN210025318U CN210025318U CN201920855864.XU CN201920855864U CN210025318U CN 210025318 U CN210025318 U CN 210025318U CN 201920855864 U CN201920855864 U CN 201920855864U CN 210025318 U CN210025318 U CN 210025318U
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- transmission shaft
- transmission
- rocker
- crab
- rocking handle
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Abstract
The utility model discloses a mechanical crab, the main drive shaft and the auxiliary drive shaft fixed on the frame transmit power through the gear set, the eccentric rocking handle is driven to rotate 360 degrees when the auxiliary drive shaft rotates, the rocking handle drives the rocking bar hinged with the other end of the rocking handle to do reciprocating rotary swing motion, and the eccentric wheel rocking bar mechanisms respectively arranged at the two ends of the same auxiliary drive shaft are arranged 180 degrees different according to the rotation of the rocking handle, and the motion is mutually matched, so that the moving mode of simulating the transverse walking of the crab can be realized; the power transmission of the scheme is simple, and the first rocking handle and the first rocking rod only have rotational freedom, so that the difficulty in installation and control is reduced while the crab walking can be simulated.
Description
Technical Field
The utility model relates to a robot technical field, concretely relates to machine crab.
Background
The research of the crawling toy becomes a popular research field in the robot subject, and the crawling toy can replace people to perform production operation, particularly in severe environments or dangerous places such as search, reconnaissance and the like, and some countries apply the crawling robot to the reality, so that the crawling robot has a very wide prospect. In the prior art, the development and development of crawling robots are mostly based on the principle of bionics, and mechanical structures of construction robots such as motion modes, joints, postures and the like of organisms are simulated, for example, Japanese snake-shaped robots, American NASA machine spiders, American DARPA and iRobot robots which are jointly developed by the company of crab-like robots and the like are provided, wherein the crab robots have a large number of joints, so that the joint freedom degree of the existing research results of the crab robots is high, great difficulty is brought to manufacturing and control, the production cost is high, and the crab robots cannot meet market demands.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a machine crab solves the problem that current crab robot joint degree of freedom is more, power transmission is complicated, the control degree of difficulty is big and manufacturing cost is high.
In order to realize the purpose, the utility model discloses the technical scheme who takes is:
a mechanical crab comprises a frame, a power device and a transmission mechanism;
the transmission mechanism comprises a main transmission shaft, at least four auxiliary transmission shafts and at least two secondary transmission shafts;
the main transmission shaft and the auxiliary transmission shaft are transmission shafts in the horizontal direction, and the second transmission shaft is a vertical transmission shaft;
the main transmission shaft is connected with the power device and is connected with the auxiliary transmission shaft and the second transmission shaft through the intermediate transmission mechanism and drives the auxiliary transmission shaft and the second transmission shaft to rotate;
the frame is a rectangular frame body at least provided with 4 side edges, and the auxiliary transmission shafts are arranged on two opposite side edges of the rectangular frame body in a pairwise opposite mode;
meanwhile, a group of first eccentric wheel rocker mechanisms are respectively arranged at corresponding positions of the side edge of the rack, which is provided with the auxiliary transmission shaft, and each first eccentric wheel rocker mechanism comprises a first rocking handle and a first rocker, each first rocker comprises a rod body, a sliding groove is formed in each rod body along the longitudinal direction of the rod body, and meanwhile, a limiting sliding block penetrating through the sliding groove is arranged on the rack;
the second transmission shaft is arranged at two auxiliary transmission shafts corresponding to one side edge of the rectangular frame body, meanwhile, a group of second eccentric wheel rocker mechanisms are respectively arranged on the machine frame provided with the second transmission shaft, each second eccentric wheel rocker mechanism comprises a second rocking handle, a second rocker and a third rocker, and the middle part of the second rocker and the middle part of the third rocker are hinged to form a pincerlike mechanism comprising a jaw and two pincerlike handles;
one end of the second rocking handle is fixedly connected with the second transmission shaft, the other end of the second rocking handle is hinged with one clamp handle of the clamp-shaped mechanism, and the other clamp handle of the clamp-shaped mechanism is hinged on the rack.
The embodiment of the utility model provides a beneficial effect lies in: the main transmission shaft drives the auxiliary transmission shaft and the second transmission shaft to rotate through the transmission mechanism, the eccentric first rocking handle is driven to rotate for 360 degrees when the auxiliary transmission shaft rotates, and the first rocking handle drives the first rocking rod hinged with the other end of the first rocking handle to do reciprocating rotary swinging motion; the second transmission shaft drives the eccentric second rocking handle to rotate 360 degrees, the other end of the second rocking handle is hinged with one clamp handle of the clamp-shaped mechanism, and the other clamp handle of the clamp-shaped mechanism is hinged on the rack, so that when the second rocking handle rotates, the two clamp handles of the clamp-shaped structure can be combined one by one, crab chela of the crab is simulated, and the crab clamp has the characteristics of lifelike, strong interestingness and strong simulation.
The machine crab can realize the reciprocating swing transverse walking of the simulated crab of the first eccentric wheel rocker mechanism for driving four similar crab legs by means of the matching arrangement of a main transmission shaft transmission and a gear set, and can also be provided with more first eccentric wheel rocker mechanisms.
Further, according to the machine crab, the intermediate transmission mechanism between the main transmission shaft and the auxiliary transmission shaft is any one of cylindrical gear transmission, helical gear transmission, transmission belt or transmission chain, and the intermediate transmission mechanism between the auxiliary transmission shaft and the second transmission shaft is any one of bevel gear transmission, helical gear transmission, worm and worm gear transmission and cylindrical gear crown gear transmission.
Furthermore, the number of the auxiliary transmission shafts of the machine crab is 4-20.
Further, according to the crab machine, the power device is a double-shaft motor, and the output end of the double-shaft motor is connected with the main transmission shaft.
Drawings
FIG. 1 is a front view of a machine crab of the present invention;
FIG. 2 is a top view of the crab-shaped machine of the present invention;
FIG. 3 is a top view of the crown gear for crab-crabbing transmission of the machine of the present invention;
FIG. 4 is a front view of the crab-craving transmission mechanism of the crab-craving machine of the present invention using a crown gear;
FIG. 5 is a front view of the crab-craving transmission mechanism of the crab-craving machine of the present invention using bevel gears;
FIG. 6 is a schematic structural view of a first rocker;
FIG. 7 is a schematic structural view of a second eccentric wheel rocker mechanism;
fig. 8 is a structural schematic diagram of a second rocking handle of the second eccentric wheel rocking bar mechanism, which is a circular body.
Reference numerals in the drawings of the specification include: the device comprises a rack 1, a bearing 2, a main transmission shaft 3, a driving gear 4, an auxiliary transmission shaft 5, a first driven gear 6, a second driven gear 7, a first eccentric wheel rocker mechanism 8, a first rocking handle 8a, a first rocking rod 8b, a second transmission shaft 10, a second eccentric wheel rocker mechanism 11, a second rocking handle 11a, a second rocking rod 11b, a third rocking rod 11c, a sliding groove 13, a limiting sliding block 14 and a double-shaft motor 15.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1: with reference to FIGS. 1, 2, 6 and 7
The scheme provides a mechanical crab which mainly comprises a frame 1, a power device and a transmission mechanism;
wherein the transmission mechanism comprises a main transmission shaft 3, at least four auxiliary transmission shafts 5 and at least two second transmission shafts 10,
the main transmission shaft 3 and the auxiliary transmission shaft 5 are transmission shafts in the horizontal direction, and the second transmission shaft 10 is a vertical transmission shaft;
the main transmission shaft 3 is connected with a power device, and the main transmission shaft 3 is connected with the auxiliary transmission shaft 5 and the second transmission shaft 10 through an intermediate transmission mechanism and drives the auxiliary transmission shaft 5 and the second transmission shaft 10 to rotate;
the frame 1 is a rectangular frame body at least provided with 4 side edges, and the auxiliary transmission shafts 5 are oppositely arranged on two opposite side edges of the rectangular frame body in pairs;
meanwhile, a group of first eccentric wheel rocker mechanisms 8 are respectively arranged at corresponding positions of the side edge of the frame 1 provided with the auxiliary transmission shaft 5, each first eccentric wheel rocker mechanism 8 comprises a first rocking handle 8a and a first rocker 8b, each first rocker 8b comprises a rod body, a sliding groove 13 is arranged on each rod body along the longitudinal direction of the rod body, and meanwhile, a limiting sliding block 14 penetrating through the sliding groove 13 is arranged on the frame 1;
the second transmission shaft 10 is arranged at the two auxiliary transmission shafts 5 corresponding to one side edge of the rectangular frame body, meanwhile, a group of second eccentric wheel rocker mechanisms 11 are respectively arranged on the machine frame 1 at the position of the second transmission shaft 10, the second eccentric wheel rocker mechanisms 11 comprise a second rocking handle 11a, a second rocker 11b and a third rocker 11c,
the middle part of the second rocker 11b is hinged with the middle part of the third rocker 11c to form a pincer-shaped mechanism comprising a jaw and two pincer handles;
one end of a second rocking handle 11a is fixedly connected with the second transmission shaft 10, the other end of the second rocking handle 11a is hinged with one clamp handle of the clamp-shaped mechanism, and the other clamp handle of the clamp-shaped mechanism is hinged on the rack 1.
The crab power transmission and walking working principle of the crab machine is as follows: the power device drives the main transmission shaft 3 to rotate, the main transmission shaft 3 drives the auxiliary transmission shaft 5 and the second transmission shaft 10 to rotate through the transmission mechanism, the eccentric rocking handle I at two ends is driven to rotate by 360 degrees when the auxiliary transmission shaft rotates, the rocking handle I drives the rocking rod I hinged with the other end of the auxiliary transmission shaft to do reciprocating rotary swing motion, and in addition, the eccentric wheel rocking rod mechanisms 8 respectively arranged at two ends of the same auxiliary transmission shaft 5 are arranged according to the rotation difference of the rocking handle I8 a by 180 degrees, so that the eccentric wheel rocking rod mechanisms arranged on the auxiliary transmission shafts at two sides and two ends of the main transmission shaft are mutually matched, and the moving mode of simulating transverse walking of crabs can be realized; the second transmission shaft 10 drives the eccentric second rocking handle 11a to rotate 360 degrees, the other end of the second rocking handle 11a is hinged with one clamp handle of the clamp-shaped mechanism, and the other clamp handle of the clamp-shaped mechanism is hinged on the rack, so that when the second rocking handle 11a rotates, the two clamp handles of the clamp-shaped structure, which are hinged between the middle part of the second rocking rod 11b and the middle part of the third rocking rod 11c, can be driven to be combined one by one, crab chela of the crab is simulated, and the crab chela simulation device has the characteristics of being lifelike, strong in interestingness and strong in simulation.
Example 2: with reference to FIGS. 3, 4 and 5
Compared with the embodiment 1, the difference is that the transmission mechanism between the main transmission shaft 3 and the auxiliary transmission shaft 5 is any one of cylindrical gear transmission, helical gear transmission, transmission belt or transmission chain, and the transmission mechanism between the auxiliary transmission shaft 5 and the second transmission shaft 10 is any one of bevel gear transmission, helical gear transmission, worm and worm gear transmission and cylindrical gear crown gear transmission; a transmission mechanism between the main transmission shaft 3 and the auxiliary transmission shaft 5 specifically selects a cylindrical gear for transmission and is described in detail;
the working principle of the power transmission and walking of the machine crab adopting the transmission mode is as follows:
two ends of the main transmission shaft 3 are respectively and axially fixedly provided with a cylindrical driving gear 4; two sides of the driving gear 4 are respectively provided with at least one auxiliary transmission shaft 5, the auxiliary transmission shafts 5 penetrate through at least two bearings 2 fixed on the rack 1 and are in interference fit with the bearings 2, a first driven gear 6 and a second driven gear 7 are axially and fixedly arranged on the auxiliary transmission shafts 5, the first driven gear 6 close to the driving gear 4 is meshed with the driving gear 4, and the first driven gear 6 on the auxiliary transmission shaft 5 far away from the driving gear 3 in the adjacent auxiliary transmission shafts 5 is meshed with the second driven gear 7 on the auxiliary transmission shaft 5 close to the driving gear 3; two ends of the auxiliary transmission shaft 5 far away from the main transmission shaft 3 are respectively provided with a first eccentric wheel rocker mechanism 8, and the first eccentric wheel rocker mechanisms 8 respectively arranged at two ends of the same auxiliary transmission shaft 5 are arranged by 180 degrees in rotation difference according to a first rocking handle 8 a.
The power device drives the main transmission shaft 3 to rotate, the main transmission shaft 3 drives the driving gears 4 arranged at two ends of the main transmission shaft to rotate, the driving gears 4 drive the first driven gear 6 on the auxiliary transmission shaft 5 close to the main transmission shaft 3 to rotate, so that the first driven gear 6 drives the auxiliary transmission shaft 5 where the first driven gear 6 is located to rotate, the second driven gear 7 fixedly arranged on the auxiliary transmission shaft 5 drives the first driven gear 6 meshed with the first driven gear on the auxiliary transmission shaft 5 adjacent to and away from the main transmission shaft 3 to rotate, the first driven gear 6 on the auxiliary transmission shaft 5 away from the main transmission shaft 3 drives the auxiliary transmission shaft 5 away from the main transmission shaft to rotate, the torque of the main transmission shaft 3 can be transmitted to the auxiliary transmission shaft 5 connected with the first rocker through the gear set transmission, the eccentric first rocker 8a is driven to rotate by 360 degrees when the auxiliary transmission shaft 5 rotates, the first rocker 8a drives the first rocker 8b hinged with the other end of the first, therefore, the first eccentric wheel rocker mechanisms 8 arranged on the auxiliary transmission shafts 5 at two sides and two ends of the main transmission shaft 3 are matched with each other, and the moving mode of simulating transverse walking of crabs can be realized.
The crab walking of the machine is transmitted by the matching of the main transmission shaft 3, the auxiliary transmission shaft 5 and the gear set, when the auxiliary transmission shafts 5 on the two sides of the driving gear 4 are arranged in one, the economic efficiency is better, but the crab shape cannot be better designed, the swing speed of the rocker of the first eccentric wheel cannot be accurately adjusted, when the auxiliary transmission shafts 5 on the two sides of the driving gear 4 are arranged in multiple numbers, the gear set between the auxiliary transmission shafts 5 not only can better adjust the shape of the crabs, but also can play a role of reducing the rotating speed, the arranged first eccentric wheel rocker mechanism 8 (equivalent to crab legs) only keeps one rotational degree of freedom to form a revolute pair, therefore, the machine crab has the advantages of simple power transmission arrangement, convenient installation and processing and obvious reduction of production cost, and the transverse walking and walking direction of the machine crab can be controlled only by controlling the rotation and the steering of the main transmission shaft 3.
As shown in fig. 3 and 4;
the transmission mechanism arranged between the secondary transmission shaft 5 and the secondary transmission shaft 10 is explained in detail by specifically taking cylindrical gear crown gear transmission as an example:
the second transmission shaft 10 is in interference fit with the two bearings 2 fixed on the frame 1, the second driven gear 7 on the auxiliary transmission shaft 5 is meshed with a crown gear integrally arranged on the second transmission shaft 10, so that the transverse auxiliary transmission shaft 5 drives the vertical second transmission shaft 10 to rotate, the second eccentric wheel rocker mechanism 11 is equivalent to crab craps, the power of the main transmission shaft 3 is transmitted to the auxiliary transmission shaft 5 far away from the driving gear 4 as described above, and is not described in detail herein, at this time, the second transmission shaft 10 drives the eccentric second rocker 11a connected with the second transmission shaft to rotate for 360 degrees, the second rocker 11a drives the second rocker 11b hinged with the other end of the second rocker to do reciprocating telescopic swinging motion, and the third rocker 11c hinged with the free end of the second rocker 11b and the frame 1 is matched with the second rocker 11b when doing the motion, so as to form a motion mode similar to the crab craps which can extend, retract and can be opened and closed, if the machine crab is made into a toy form, the manufacturing cost is low, and the machine crab has great prospect in the field of children toys.
The first driven gear 6 and the second driven gear 7 are cylindrical gears or helical gears or the combination of the cylindrical gears and the helical gears, the gear forms belong to the category of plane gears, the transmission between the plane gears can be realized, and particularly, when the first driven gear and the second driven gear are combined, the two meshed gears are of the same type; such as: the driving gear 4 and the driven gear 6 meshed with the driving gear 4 both adopt cylindrical gears or helical gears, and meanwhile, the driven gear 7 II arranged on the auxiliary transmission shaft 5 where the driven gear 6 is located and the driven gear 6 adjacent to the auxiliary transmission shaft 5 far away from the driving shaft 3 can adopt gears which are the same as or different from the driving gear 4.
Example 3: refer to FIG. 2
Compared with the embodiment 2, the difference is that the number of the auxiliary transmission shafts 5 is 4-20, a first eccentric wheel rocker mechanism 8 (equivalent to crab legs) and a second eccentric wheel rocker mechanism 11 (equivalent to crab claws) can be designed in the transverse size range provided by the auxiliary transmission shafts 5, the position adjustment is convenient, the finished product aesthetic feeling can be improved, meanwhile, the speed reduction effect of the transmission gear set between the auxiliary transmission shafts 5 is remarkable, and a common power source can be adopted.
Example 4: refer to FIG. 2
Compared with the embodiment, the difference is that the power device is a double-shaft motor 15, the output end of the double-shaft motor 15 is connected with the main transmission shaft 3, and the motor has different power section models, so that the selection and the installation are convenient, and the subsequent addition of an automatic control device is also convenient. The double-shaft motor is arranged between the main transmission shafts 3, the double-shaft motor can meet the transmission requirement, the layout of the crab machine is more attractive, the layout salience caused by the fact that one end of each main transmission shaft 3 is connected with the motor is avoided, the motor can be hidden in the machine frame 1, the motor is protected, the damage to the motor caused by accidents is reduced, and the service life of the crab machine is prolonged.
As shown in fig. 8: the second rocking handle 11a is arranged to be a round body, the size of the second rocking handle 11a is enlarged, so that an embedded handle formed by the second rocking rod 11b always keeps a larger contact surface with the second rocking handle 11a when swinging, and a pincerlike structure formed by connecting the second rocking rod 11b and the third rocking rod 11c can more stably realize the forward extension and retraction of the simulated crab pincers and a combined running track.
The above description is only an example of the present invention, and the common general knowledge of the known specific structures and characteristics of the embodiments is not described herein. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (5)
1. The utility model provides a machine crab, includes frame (1), power device and drive mechanism, its characterized in that:
the transmission mechanism comprises a main transmission shaft (3), at least four auxiliary transmission shafts (5) and at least two second transmission shafts (10),
the main transmission shaft (3) and the auxiliary transmission shaft (5) are transmission shafts in the horizontal direction, and the second transmission shaft (10) is a vertical transmission shaft;
the main transmission shaft (3) is connected with the power device, and the main transmission shaft (3) is connected with the auxiliary transmission shaft (5) and the second transmission shaft (10) through the middle transmission mechanism and drives the auxiliary transmission shaft (5) and the second transmission shaft (10) to rotate;
the rack (1) is a rectangular frame body at least provided with 4 side edges, and the auxiliary transmission shafts (5) are arranged on two opposite side edges of the rectangular frame body in a pairwise opposite mode;
meanwhile, a group of first eccentric wheel rocker mechanisms (8) are respectively arranged at corresponding positions of the side edge of the rack (1) provided with the auxiliary transmission shaft (5), each first eccentric wheel rocker mechanism (8) comprises a first rocking handle (8a) and a first rocker (8b), each first rocker (8b) comprises a rod body, a sliding groove (13) is formed in each rod body along the longitudinal direction of the rod body, and meanwhile, a limiting sliding block (14) penetrating through the sliding groove (13) is arranged on the rack (1);
the second transmission shaft (10) is arranged at the two auxiliary transmission shafts (5) corresponding to one side edge of the rectangular frame body, meanwhile, a group of second eccentric wheel rocker mechanisms (11) are respectively arranged on the machine frame (1) at the position of the second transmission shaft (10), the second eccentric wheel rocker mechanisms (11) comprise a second rocking handle (11a), a second rocker (11b) and a third rocker (11c),
the middle part of the second rocker (11b) is hinged with the middle part of the third rocker (11c) to form a pincer-shaped mechanism comprising a jaw and two pincer handles;
one end of the second rocking handle (11a) is fixedly connected with the second transmission shaft (10), the other end of the second rocking handle (11a) is hinged with one clamp handle of the clamp-shaped mechanism, and the other clamp handle of the clamp-shaped mechanism is hinged on the rack (1).
2. The machine crab of claim 1, wherein: the intermediate transmission mechanism between the main transmission shaft (3) and the auxiliary transmission shaft (5) is any one of cylindrical gear transmission, helical gear transmission, transmission belt or transmission chain, and the intermediate transmission mechanism between the auxiliary transmission shaft (5) and the second transmission shaft (10) is any one of bevel gear transmission, helical gear transmission, worm and worm gear transmission and cylindrical gear crown gear transmission.
3. A machine crab as claimed in claim 2, wherein: the number of the auxiliary transmission shafts (5) is 4-20.
4. A machine crab as claimed in any one of claims 1 to 3, wherein: the power device is a double-shaft motor (15), and the output end of the double-shaft motor (15) is connected with the main transmission shaft (3).
5. The machine crab of claim 4, wherein: the second rocking handle (11a) is arranged into a circular body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920855864.XU CN210025318U (en) | 2019-06-06 | 2019-06-06 | Mechanical crab |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920855864.XU CN210025318U (en) | 2019-06-06 | 2019-06-06 | Mechanical crab |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210025318U true CN210025318U (en) | 2020-02-07 |
Family
ID=69347034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920855864.XU Expired - Fee Related CN210025318U (en) | 2019-06-06 | 2019-06-06 | Mechanical crab |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210025318U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113968482A (en) * | 2021-09-29 | 2022-01-25 | 四川大学华西医院 | Gear and belt wheel coupled passive clamping mechanism |
-
2019
- 2019-06-06 CN CN201920855864.XU patent/CN210025318U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113968482A (en) * | 2021-09-29 | 2022-01-25 | 四川大学华西医院 | Gear and belt wheel coupled passive clamping mechanism |
| CN113968482B (en) * | 2021-09-29 | 2022-05-17 | 四川大学华西医院 | Gear and belt wheel coupled passive clamping mechanism |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200207 |
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| CF01 | Termination of patent right due to non-payment of annual fee |