CN218488395U

CN218488395U - Bionic crab robot

Info

Publication number: CN218488395U
Application number: CN202222581020.5U
Authority: CN
Inventors: 梁海泓; 朱伟枝; 黎志勇; 巫文燕; 欧恒君; 张惪盛; 黄嘉勇
Original assignee: Guangdong Polytechnic College
Current assignee: Guangdong Polytechnic College
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2023-02-17
Anticipated expiration: 2032-09-27

Abstract

The utility model discloses a bionic crab robot, which comprises a trunk part, wherein a plurality of leg components are respectively arranged at the symmetrical positions of the two sides of the trunk part, the leg components comprise a first transmission component, a crab leg lower limb and a crab leg upper limb, the first transmission component is arranged on the trunk part, the crab leg upper limb is connected with the first transmission component, and the crab leg lower limb is connected with the crab leg upper limb; the plurality of forceps and chela assemblies are sequentially arranged at the front end of the trunk part and comprise a second transmission assembly and a crab forceps part, the second transmission assembly is arranged at the front end of the trunk part, and the crab forceps part is connected with the second transmission assembly; wherein, the leg components can drive the trunk to move forwards and backwards, leftwards and rightwards or rotate leftwards and rightwards. The utility model discloses a first transmission assembly drive crab leg upper limbs fore-and-aft swing from top to bottom, through first transmission assembly drive crab leg low limbs horizontal hunting, first transmission assembly can remove by one of them shank subassembly of individual drive to improve the flexibility of shank subassembly.

Description

Bionic crab robot

Technical Field

The utility model relates to a polypody walking robot field especially relates to a bionical crab robot.

Background

The motion trail of the multi-legged walking robot is usually a series of discrete foot print motions, and an optimal support point can be selected on the ground which can be reached, so that the multi-legged walking robot has strong adaptability to rugged terrain and small damage degree to the environment. The motion trail of the wheeled and tracked robots is a continuous motion trail, and in rugged terrains, the robot often contains rocks, soil, sand, even cliffs, steep slopes and other obstacles, so that the continuous path for stably supporting the robot is very limited, which means that the wheeled and tracked robots are not suitable for the terrains.

In the military field, the multi-foot walking robot can help military to carry out dangerous mine sweeping tasks and reconnaissance tasks, and due to the movement characteristics of the multi-foot walking robot which are all suitable for all terrains, a plurality of tasks which cannot be completed by the wheeled robot can be completed. In the commercial field, the multi-legged walking robot has the functions of carrying, obstacle avoidance, monitoring, entertainment, science popularization and the like, and has application prospects of search, rescue, detection and the like in severe environments. However, the existing multi-legged walking robot has some disadvantages, for example, compared with arthropods in the nature, the mobility of the bionic multi-legged walking robot has a great difference, for example, the bionic multi-legged walking robot is not flexibly matched with crab legs, the motion of the crab legs cannot be controlled independently or forceps are not provided, so that the multi-legged walking robot is unstable when moving, and the adaptability of the multi-legged walking robot to the environment is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a bionical crab robot with comparatively ripe traveling system gets system with clamp.

The bionic crab robot comprises a body part, wherein a plurality of leg components are respectively arranged at symmetrical positions on two sides of the body part, the leg components comprise a first transmission component, a crab leg lower limb and a crab leg upper limb, the first transmission component is mounted on the body part, the crab leg upper limb is connected with the first transmission component, and the crab leg lower limb is connected with the crab leg upper limb; the forceps and chela assemblies are sequentially arranged at the front end of the body part and comprise a second transmission assembly and a crab forceps part, the second transmission assembly is mounted at the front end of the body part, and the crab forceps part is connected with the second transmission assembly; the leg component can drive the trunk part to rotate front and back, left and right or left and right, and the second transmission component can drive the crab pincer part to open and close to clamp an object.

According to the utility model discloses bionical crab robot has following technological effect at least:

the utility model discloses a first transmission assembly drive crab leg upper limbs fore-and-aft swing from top to bottom, through first transmission assembly drive crab leg low limbs horizontal hunting, first transmission assembly can remove by one of them shank subassembly of individual drive to improve the flexibility of shank subassembly. The first transmission component can drive the same side leg component to move synchronously, so that the trunk part can perform different states consisting of different actions, such as: different walking modes such as forward, backward, transverse and rotary. The utility model discloses a second drive assembly drive crab pincers portion opens and shuts for crab pincers portion can open and shut and press from both sides the hindrance article of getting the road surface, thereby improves the stability that trunk and shank subassembly removed, thereby improves the utility model discloses adaptability to the environment.

According to some embodiments of the utility model, be located the trunk is left the leg assembly is a leg assembly, no. two leg assemblies and No. three leg assemblies respectively, a leg assembly No. two leg assemblies with No. three leg assemblies all include a plurality of first transmission assembly crab leg lower limbs with crab leg upper limbs.

According to some embodiments of the present invention, the leg assembly on the right side of the trunk is a fourth leg assembly, a fifth leg assembly and a sixth leg assembly, and the fourth leg assembly, the fifth leg assembly and the sixth leg assembly each include a plurality of the first transmission assembly, the lower leg of the crab leg and the upper leg of the crab leg.

According to some embodiments of the utility model, first transmission assembly includes the fixed frame of first steering wheel, second steering wheel, first fixed frame and second, first fixed frame is equipped with the mounting groove, the fixed frame of second passes through the mounting groove with the position is placed in the first fixed frame joint formation, first steering wheel install in place in the position, the second steering wheel install in place in the position.

According to some embodiments of the present invention, the first transmission assembly further comprises a third steering gear, the first steering gear is connected to the trunk portion, the second steering gear is connected to the upper crab leg limb, and the upper crab leg limb is connected to the lower crab leg limb through the third steering gear.

According to some embodiments of the present invention, the crab claw portion includes a left pincers claw portion, a right pincers claw portion, a first gear portion and a second gear portion, the left pincers claw portion with first gear portion integrated into one piece, the right pincers claw portion with second gear portion integrated into one piece, the first gear portion with the second gear portion meshes.

According to some embodiments of the utility model, the second transmission assembly includes two at least fourth steering engines and two at least fifth steering engines, the fourth steering engine is used for controlling crab pincers portion opens and shuts and gets the article, the fifth steering engine is used for controlling crab pincers portion horizontal hunting.

According to the utility model discloses a some embodiments still include the ultrasonic wave module, the ultrasonic wave module install in on the trunk, the ultrasonic wave module can detect the obstacle and control the trunk avoids the obstacle.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

Additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a bionic crab robot according to an embodiment of the present invention;

fig. 2 is a bottom view of the bionic crab robot shown in fig. 1;

FIG. 3 is a front view of the bionic crab robot shown in FIG. 1;

FIG. 4 is a schematic structural view of the jaw assembly shown in FIG. 1;

FIG. 5 is a side view of the forceps and jaw assembly shown in FIG. 1;

fig. 6 is an assembly schematic view of the first and second fixing frames.

Reference numerals:

the body part 100, the lower leg 110, the upper leg 120, the first leg assembly 130, the second leg assembly 140, the third leg assembly 150, the fourth leg assembly 160, the fifth leg assembly 170 and the sixth leg assembly 180;

a first steering engine 200, a second steering engine 210, a first fixed frame 220, a mounting groove 221, a second fixed frame 230 and a third steering engine 240;

a left forceps part 300, a right forceps part 310, a first gear part 320, a second gear part 330, a fourth steering gear 340, and a fifth steering gear 350;

an ultrasound module 400.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

Referring to fig. 1 to 6, a bionic crab robot according to an embodiment of the present invention includes a trunk 100 and a plurality of jaw assemblies. As shown in fig. 1, 2 and 3, a plurality of leg units are provided at opposite positions on the left and right sides of the trunk 100, respectively, and the leg units can drive the trunk 100 to move forward and backward, and leftward and rightward, or to rotate leftward and rightward. The leg assembly comprises a first transmission assembly, a crab leg lower limb 110 and a crab leg upper limb 120, the first transmission assembly is connected with the trunk portion 100, one end of the crab leg upper limb 120 is connected with the first transmission assembly, and the other end of the crab leg upper limb 120 is connected with the crab leg lower limb 110. Specifically, the first transmission assembly can drive the upper leg 120 to swing back and forth and/or up and down, and the first transmission assembly can drive the lower leg 110 to swing left and right. The utility model discloses a first drive assembly drives crab leg upper limbs 120 and crab leg lower limbs 110 respectively and swings towards not equidirectional, can remove one of them shank subassembly of individual drive through setting up first drive assembly to flexibility when improving the shank subassembly and removing. As shown in fig. 4 and 5, a plurality of forceps assemblies are sequentially disposed at the front end of the trunk portion 100, and each forceps assembly includes a second transmission assembly and a crab claw portion, the second transmission assembly is mounted at the front end of the trunk portion 100, the crab claw portion is connected to the second transmission assembly, and the second transmission assembly can drive the crab claw portion to open and close so as to clamp small objects on a road surface.

In some embodiments of the present invention, as shown in fig. 1 and 2, for convenience of description of the following structures, the leg assemblies on the left side of the trunk 100 are respectively referred to as a first leg assembly 130, a second leg assembly 140, and a third leg assembly 150, and the leg assemblies on the right side of the trunk 100 are respectively referred to as a fourth leg assembly 160, a fifth leg assembly 170, and a sixth leg assembly 180. No. one leg subassembly 130, no. two leg subassembly 140 and No. three leg subassembly 150 all include the first transmission assembly of a plurality of, crab leg lower limbs 110 and crab leg upper limbs 120, and No. four leg subassembly 160, no. five leg subassembly 170 and No. six leg subassembly 180 all include the first transmission assembly of a plurality of, crab leg lower limbs 110 and crab leg upper limbs 120. The specific steps of the bionic crab robot for walking forwards or backwards are as follows: when the bionic crab robot finishes moving forwards or backwards, the bionic crab robot is in an initial state, the second leg component 140, the fourth leg component 160 and the sixth leg component 180 are lifted and swing forwards or backwards for a specified angle, then the second leg component 140, the fourth leg component 160 and the sixth leg component 180 are synchronously put down respectively by keeping the angle unchanged, and finally the second leg component 140, the fourth leg component 160 and the sixth leg component 180 are respectively swung back to return to the original angles; meanwhile, the first leg assembly 130, the third leg assembly 150 and the fifth leg assembly 170 are respectively lifted and swung forwards or backwards for a designated angle, then the first leg assembly 130, the third leg assembly 150 and the fifth leg assembly 170 are laid down, and the bionic crab robot is moved forwards or backwards and then returns to the initial state by respectively swinging back the first leg assembly 130, the third leg assembly 150 and the fifth leg assembly 170, so that the command of moving forwards or backwards is completed. The transverse walking steps of the bionic crab robot are as follows: when the bionic crab robot finishes moving leftwards or rightwards, the bionic crab robot is in an initial state, the fourth leg component 160, the fifth leg component 170 and the sixth leg component 180 are lifted and swung leftwards or rightwards by a designated angle, then the fourth leg component 160, the fifth leg component 170 and the sixth leg component 180 are synchronously put down respectively with the angle kept unchanged, and finally the fourth leg component 160, the fifth leg component 170 and the sixth leg component 180 are respectively swung backwards to return the original angles; meanwhile, the first leg assembly 130, the second leg assembly 140 and the third leg assembly 150 are respectively lifted up and swing to the right or left by a designated angle, then the first leg assembly 130, the second leg assembly 140 and the third leg assembly 150 are synchronously put down respectively while keeping the angle unchanged, and finally the first leg assembly 130, the second leg assembly 140 and the third leg assembly 150 are respectively swung back, so that the bionic crab robot returns to the initial state after moving to the left or the right, and the command of moving to the left or the right is completed. When the bionic crab robot rotates leftwards, the bionic crab robot is in an initial state, firstly, the bionic crab robot respectively lifts the first leg component 130 and the third leg component 150 and swings forwards for a specified angle, the fifth leg component 170 lifts and swings backwards for a specified angle, then, the first leg component 130, the third leg component 150 and the fifth leg component 170 are put down, and then, the first leg component 130, the third leg component 150 and the fifth leg component 170 are swung backwards to return to the original angles; meanwhile, second leg assembly 140, fourth leg assembly 160 and sixth leg assembly 180 are lifted up, second leg assembly 140 is swung forwards by a specified angle, fourth leg assembly 160 and sixth leg assembly 180 are swung backwards by a specified angle, then second leg assembly 140, fourth leg assembly 160 and sixth leg assembly 180 are lowered down, then second leg assembly 140, fourth leg assembly 160 and sixth leg assembly 180 are swung backwards, and finally the bionic crab robot returns to the initial state and completes the leftward rotation. When the bionic crab robot rotates rightwards, the bionic crab robot is in an initial state, firstly the bionic crab robot respectively lifts the fourth leg component 160 and the sixth leg component 180 and swings forwards by a specified angle, the second leg component 140 lifts and swings backwards by a specified angle, then the second leg component 140, the fourth leg component 160 and the sixth leg component 180 are put down, and then the second leg component 140, the fourth leg component 160 and the sixth leg component 180 are swung backwards to return to the original angles; simultaneously, the first leg assembly 130, the third leg assembly 150 and the fifth leg assembly 170 are respectively lifted, the fifth leg assembly 170 is swung forwards by a designated angle, the first leg assembly 130 and the third leg assembly 150 are swung backwards by a designated angle, then the first leg assembly 130, the third leg assembly 150 and the fifth leg assembly 170 are put down, then the first leg assembly 130, the third leg assembly 150 and the fifth leg assembly 170 are swung back, and therefore the bionic crab robot finally returns to the initial state and completes right rotation.

In the further embodiment of the utility model, as shown in fig. 6, the first transmission assembly includes first steering wheel 200, second steering wheel 210, the fixed frame 220 of first and second 230, and the fixed frame 220 of first is equipped with mounting groove 221, and the fixed frame 230 of second is connected with the fixed frame 220 of first through mounting groove 221 and is formed and puts the position, and first steering wheel 200 is installed in putting the position, and second steering wheel 210 is installed in putting the position. In order to facilitate the installation of the first steering engine 200 and the second steering engine 210, the first fixing frame 220 and the second fixing frame 230 are connected to form a placing position, so that the first steering engine 200 and the second steering engine 210 are tightly connected to form a first transmission assembly, the space volume required by the first transmission assembly is saved, and the first transmission assembly is compact in structure.

In some embodiments of the present invention, as shown in fig. 1, the first transmission assembly further includes a third steering gear 240, the first steering gear 200 is connected to the trunk portion 100, the second steering gear 210 is connected to the upper crab leg limb 120, and the upper crab leg limb 120 is connected to the lower crab leg limb 110 through the third steering gear 240. The first steering engine 200 is used for controlling the upper limbs 120 of the crab legs to rotate in the front-back direction, and the second steering engine 210 is used for controlling the crab legs to rotate in the vertical direction, so that the upper limbs 120 of the crab legs are driven to move in the vertical direction.

In a further embodiment of the present invention, as shown in fig. 1, 2, 4 and 5, the crab claw portion includes a left claw portion 300, a right claw portion 310, a first gear portion 320 and a second gear portion 330. The left and right clamping

jaw portions

300 and 310 are integrally formed with the first gear portion 320, the right clamping jaw portion 310 and the second gear portion 330, and the first gear portion 320 and the second gear portion 330 are engaged with each other so that when the second transmission unit controls the first gear portion 320 to rotate left and right, the second gear portion 330 rotates in synchronization with each other, and the left and right clamping

jaw portions

300 and 310 open or close. By providing the first gear part 320 in mesh with the second gear part 330, the number of second transmission components is saved.

In some embodiments of the present invention, as shown in fig. 1, 3 and 5, the second transmission assembly includes at least two fourth steering engines 340 and at least two fifth steering engines 350, and there may be two fourth steering engines 340 and five fifth steering engines 350. The fourth steering engine 340 on the left side is connected with the first gear part 320, the fourth steering engine 340 on the right side is connected with the second gear part 330, and the fifth steering engine 350 is used for controlling the crab pincer part to swing left and right. The first gear part 320 is controlled to rotate left and right by the fourth steering gear 340, so that the second gear part 330 is driven to rotate left and right, and the left and

right forceps parts

300 and 310 are opened or closed. The fourth steering engine 340 controls the second gear 330 to rotate left and right, so as to drive the first gear 320 to rotate left and right, and open or close the left forceps part 300 and the right forceps part 310. Through setting up fourth steering wheel 340 control crab pincers portion accessible open and shut mode clamp get tiny article to supplementary leg assembly removes.

In the utility model discloses a further embodiment, as shown in fig. 1, still include ultrasonic module 400 and control system, control system can control the operation of first transmission subassembly and second transmission subassembly, and ultrasonic module 400 is installed on trunk 100, and control system is connected with ultrasonic module 400 electricity, and ultrasonic module 400 can detect the obstacle and send information to control system, and control system controls trunk 100 and avoids the obstacle to make bionic crab robot possess automatic obstacle avoidance function. The control system can comprise a MEGA 2560 control plate and a steering engine control plate, so that each leg component in the bionic crab robot can be controlled to move independently, and the flexibility of matching of each leg component of the bionic crab robot is improved.

In the description herein, references to the description of the term "some embodiments" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A bionic crab robot is characterized by comprising:

the body part (100), a plurality of leg components are respectively arranged at symmetrical positions on two sides of the body part (100), each leg component comprises a first transmission component, a crab leg lower limb (110) and a crab leg upper limb (120), the first transmission components are mounted on the body part (100), the crab leg upper limbs (120) are connected with the first transmission components, and the crab leg lower limbs (110) are connected with the crab leg upper limbs (120);

the forceps and chela assemblies are sequentially arranged at the front end of the trunk part (100) and comprise a second transmission assembly and a forceps part, the second transmission assembly is mounted at the front end of the trunk part (100), and the forceps part is connected with the second transmission assembly;

the leg assembly can drive the body part (100) to rotate back and forth, left and right or left and right, and the second transmission assembly can drive the crab pincer parts to open and close to clamp objects.

2. A bionic crab robot as claimed in claim 1, wherein: the leg components positioned on the left side of the trunk portion (100) are a first leg component (130), a second leg component (140) and a third leg component (150), and the first leg component (130), the second leg component (140) and the third leg component (150) respectively comprise a plurality of first transmission components, crab leg lower limbs (110) and crab leg upper limbs (120).

3. A bionic crab robot as claimed in claim 1, wherein: the leg components positioned on the right side of the trunk portion (100) are a fourth leg component (160), a fifth leg component (170) and a sixth leg component (180), and the fourth leg component (160), the fifth leg component (170) and the sixth leg component (180) comprise a plurality of first transmission components, the crab leg lower limbs (110) and the crab leg upper limbs (120).

4. A bionic crab robot as claimed in claim 2 or claim 3, wherein: the first transmission assembly comprises a first steering engine (200), a second steering engine (210), a first fixing frame (220) and a second fixing frame (230), wherein the first fixing frame (220) is provided with a mounting groove (221), the second fixing frame (230) is connected with the first fixing frame (220) through the mounting groove (221) to form a placing position, the first steering engine (200) is installed in the placing position, and the second steering engine (210) is installed in the placing position.

5. The bionic crab robot according to claim 4, wherein the bionic crab robot comprises: the first transmission assembly further comprises a third steering engine (240), the first steering engine (200) is connected with the trunk portion (100), the second steering engine (210) is connected with the crab leg upper limbs (120), and the crab leg upper limbs (120) are connected with the crab leg lower limbs (110) through the third steering engine (240).

6. A bionic crab robot as claimed in claim 1, wherein: the crab claw portion includes a left claw portion (300), a right claw portion (310), a first gear portion (320), and a second gear portion (330), the left claw portion (300) and the first gear portion (320) are integrally formed, the right claw portion (310) and the second gear portion (330) are integrally formed, and the first gear portion (320) and the second gear portion (330) are engaged with each other.

7. The bionic crab robot according to claim 6, wherein: the second transmission assembly comprises at least two fourth steering engines (340) and at least two fifth steering engines (350), the fourth steering engines (340) are used for controlling the crab pincer parts to open and close to clamp the object, and the fifth steering engines (350) are used for controlling the crab pincer parts to swing left and right.

8. A bionic crab robot as claimed in claim 1, wherein: the ultrasonic imaging device further comprises an ultrasonic module (400), wherein the ultrasonic module (400) is installed on the body part (100), and the ultrasonic module (400) can detect obstacles and control the body part (100) to avoid the obstacles.