CN218751111U

CN218751111U - Bionic crawling robot

Info

Publication number: CN218751111U
Application number: CN202222903578.0U
Authority: CN
Inventors: 朱羽辰; 黎漱琦; 郭玲宏; 许明军; 彭广超
Original assignee: Chengdu Textile College
Current assignee: Chengdu Textile College
Priority date: 2022-11-01
Filing date: 2022-11-01
Publication date: 2023-03-28
Anticipated expiration: 2032-11-01

Abstract

The utility model belongs to the technical field of the robot of crawling, specifically disclose a bionical robot of crawling, it includes casing and a plurality of mechanical leg, is provided with actuating mechanism on the casing, and actuating mechanism includes the motor, and the motor is connected with drive mechanism, and drive mechanism includes pinion and eccentric gear, the output shaft of pinion and motor, pinion and eccentric gear meshing, eccentric gear is connected with the transfer line, and the transfer line rotates and is connected with the slewing mechanism who drives mechanical leg seesaw, and slewing mechanism is connected with the mechanical leg. The utility model discloses set up a motor, drive gear train through the motor and rotate, realize the extension of transfer line and shorten according to the turned position of eccentric wheel to drive slewing mechanism relative motion, realize the walking of robot, alleviateed the weight of device, the flexibility ratio of device is higher, and the synchronism is better.

Description

Bionic crawling robot

Technical Field

The utility model relates to a robot technical field of crawling particularly, relates to a bionical robot of crawling.

Background

The crawling robot has high flexibility, can ensure stable walking capability under the conditions of complex environment and poor road conditions, also has certain obstacle avoidance capability, has small damage to the ground, and can replace human beings to complete tasks of special scenes.

The existing crawling robot needs to use two driving motors to control the mechanical legs to move respectively when acting, the weight of the robot is increased, the robot is heavy when acting, the two motors also need to keep the synchronism of the robot when walking, and the robot is unstable due to poor controllability.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a bionical robot of crawling plans to solve current robot of crawling and adopts two motor control robots to walk in step, increases the weight of device, leads to the relatively poor technical problem of flexibility ratio and stability.

In order to solve the technical problem, the utility model discloses a following technical scheme realizes:

the utility model provides a bionic robot of crawling, includes casing and a plurality of mechanical legs, is provided with actuating mechanism on the casing, and actuating mechanism includes the motor, and the motor is connected with drive mechanism, and drive mechanism includes pinion and eccentric gear, the output shaft of pinion and motor, pinion and eccentric gear meshing, eccentric gear is connected with the transfer line, and the transfer line rotates and is connected with the slewing mechanism who drives mechanical leg seesaw, and slewing mechanism is connected with the mechanical leg.

Preferably, slewing mechanism includes axis of rotation and a plurality of connecting piece, and the axis of rotation setting is on the casing, and the casing includes casing and lower casing, and the one end and the last casing of axis of rotation are connected, and the other end and lower casing are connected, and the connecting piece includes first connecting piece and second connecting piece, and the one end and the transfer line of first connecting piece are connected, and the other end is connected with the second connecting piece, and the second connecting piece is connected with mechanical leg.

Preferably, the axis of rotation is including setting up two square pieces on last casing and last casing, is provided with the bearing in the square piece, and the bearing is connected with the connecting rod, and the one end of connecting rod runs through last casing and is connected with the transfer line, and the other end runs through casing down.

Preferably, the second connecting piece is L-shaped consisting of a short rod and a long rod, one end of the long rod is connected with the connecting rod, and the other end of the long rod and the short rod are connected with the mechanical legs together.

Preferably, the mechanical legs are symmetrically arranged.

The technical scheme of the utility model following beneficial effect has at least:

the utility model comprises a shell, wherein a motor is arranged in the shell, a gear set is driven to rotate by the motor, and a transmission rod drives a first connecting piece and a second connecting piece to swing by taking a rotating shaft as a supporting point, so that the front and back movement of the robot is realized; the extension and the shortening of the transmission rod are realized according to the rotating position of the eccentric gear, so that the robot walks, the weight of the device is reduced, the flexibility of the device is higher, the synchronism is better, the structure is simple, and the control is easy.

Drawings

Fig. 1 is a perspective view of the present invention;

fig. 2 is a left side view of the present invention.

Icon: 1-an eccentric gear; 2-a rotating shaft; 21-square block; 22-a connecting rod; 3-a transmission rod; 4-a first connector; 5-a second connector; 6-mechanical legs; 7-a housing; 71-a lower housing; 72-an upper housing; 8, a motor; 9-pinion.

Detailed Description

Examples

All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.

The present invention will be described in detail with reference to fig. 1 and 2.

The utility model provides a bionical robot of crawling, including casing 7 and a plurality of mechanical leg 6, be provided with actuating mechanism on the casing 7, actuating mechanism includes motor 8, motor 8 is connected with drive mechanism, drive mechanism includes pinion 9 and eccentric gear 1, pinion 9 and motor 8's output shaft, pinion 9 and eccentric gear 1 meshing, eccentric gear 1 is connected with transfer line 3, transfer line 3 rotates and is connected with the slewing mechanism who drives mechanical leg 6 seesaw, slewing mechanism is connected with mechanical leg 6, motor 8 rotates and drives pinion 9 and eccentric gear 1 relative rotation, realize extension and the shortening of transfer line 3 according to the turned position of eccentric wheel 1, thereby drive slewing mechanism relative motion, realize the walking of robot, control mechanical leg 6 through a motor 8, the weight of device has been alleviateed, the synchronism of device operation is higher.

The rotating mechanism comprises a rotating shaft 2 and a plurality of connecting pieces, the rotating shaft 2 is arranged on the shell 7, the shell 7 comprises an upper shell 72 and a lower shell 71, and the interior of the shell is a cavity, so that the rotating mechanism is convenient to maintain, the weight of the device is reduced to a certain extent, and materials are saved; one end and the last casing 72 of axis of rotation 2 are connected, and the other end is connected with casing 71 down, and the connecting piece includes first connecting piece 4 and second connecting piece 5, and the one end and the transfer line 3 of first connecting piece 4 are connected, and the other end is connected with second connecting piece 5, and second connecting piece 5 is connected with mechanical leg 6, and transfer line 3 uses axis of rotation 2 as the strong point, drives first connecting piece 4 and the swing of second connecting piece 5, realizes the seesaw of robot.

The rotating shaft 2 comprises two square blocks 21 arranged on an upper shell 72 and a lower shell 71, a bearing is arranged in each square block 21, the bearing is connected with a connecting rod 22, one end of each connecting rod 22 penetrates through the upper shell 72 to be connected with the transmission rod 3, and the other end of each connecting rod 22 penetrates through the lower shell 71.

Second connecting piece 5 comprises quarter butt and stock and is L shape, and the one end and the connecting rod 22 of stock are connected, and the other end is connected with mechanical leg 6 with the quarter butt jointly, has certain angle between stock and the quarter butt, and is most suitable forming 80 contained angles, and first connecting piece 4 forms the auto-lock with second connecting piece 5 like this, and mechanical leg 6 is hugged closely with ground, keeps the stability in the device motion process.

The mechanical legs 6 are symmetrically arranged, so that the crawling robot is more stable to walk.

The motor 8 is started, the pinion 9 rotates to drive the eccentric gear 1 to rotate, when the protrusion of the eccentric gear 1 moves to the outermost side, the extending state of the transmission rod 3 reaches the longest, the first connecting piece 4 transmits force in the horizontal direction to the second connecting piece 5, an included angle of 80 degrees is formed between the long rod and the short rod of the second connecting piece 5, the second connecting piece 5 and the first connecting piece 4 form a self-locking phenomenon, and then the self-locking phenomenon acts on the mechanical legs 6 to enable the mechanical legs to tightly contact the ground, so that the downward movement of one of the mechanical legs 6 is further realized, and the bionic reptile can stably stand; when the protrusion of the eccentric gear 1 moves to the innermost side, the extending state of the transmission rod 3 is the shortest, the first connecting piece 4 transmits the force in the horizontal direction to the second connecting piece 5, and the force acts on the mechanical leg 6 to enable the mechanical leg 6 to be far away from the ground, so that the upward movement of the other mechanical leg 6 is further realized; when the eccentric gear 1 rotates, the transmission rod 3 takes the square block 21 as a fixed point to realize the swing with a certain amplitude, and the second connecting piece 5 swings along with the swing of the connecting rod 22 to drive the mechanical leg 6 to realize the front-back motion, thereby realizing the normal walking of the bionic reptile.

The above embodiments only represent specific embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, and these all fall into the protection scope of the present invention.

Claims

1. The utility model provides a bionic crawling robot, includes casing (7) and a plurality of mechanical leg (6), be provided with actuating mechanism on casing (7), actuating mechanism includes motor (8), motor (8) are connected with drive mechanism, its characterized in that: the transmission mechanism comprises a pinion (9) and an eccentric gear (1), the pinion (9) is connected with an output shaft of a motor (8), the pinion (9) is meshed with the eccentric gear (1), the eccentric gear (1) is connected with a transmission rod (3), the transmission rod (3) is rotatably connected with a rotating mechanism which drives the mechanical leg (6) to move back and forth, and the rotating mechanism is connected with the mechanical leg (6).

2. The bionic crawling robot according to claim 1, characterized in that the rotating mechanism comprises a rotating shaft (2) and a plurality of connecting pieces, the rotating shaft (2) is arranged on the shell (7), the shell (7) comprises an upper shell (72) and a lower shell (71), one end of the rotating shaft (2) is connected with the upper shell (72), the other end of the rotating shaft is connected with the lower shell (71), the connecting pieces comprise a first connecting piece (4) and a second connecting piece (5), one end of the first connecting piece (4) is connected with the transmission rod (3), the other end of the first connecting piece is connected with the second connecting piece (5), and the second connecting piece (5) is connected with the mechanical leg (6).

3. The bionic crawling robot of claim 2, characterized in that the rotation shaft (2) comprises two square blocks (21) arranged on the upper shell (72) and the lower shell (71), a bearing is arranged in each square block (21), the bearing is connected with a connecting rod (22), one end of each connecting rod (22) penetrates through the upper shell (72) to be connected with the transmission rod (3), and the other end penetrates through the lower shell (71).

4. The bionic crawling robot as claimed in claim 3, characterized in that said second connecting piece (5) is composed of short and long rods in L shape, one end of said long rod is connected with the connecting rod (22), and the other end is connected with the mechanical leg (6) together with the short rod.

5. The biomimetic crawling robot according to claim 1, characterized in that the mechanical legs (6) are symmetrically arranged.