CN220640072U - Bread crab bionic robot - Google Patents

Abstract

The utility model discloses a bread crab bionic robot, which relates to the technical field of bionic robots and comprises a lower fixed plate, wherein a supporting column is fixedly arranged above the lower fixed plate, an upper fixed plate is fixedly arranged above the supporting column, a driving motor is arranged on the upper fixed plate, a walking motor is arranged below the lower fixed plate, a driving piece is arranged above the lower fixed plate, a rotating seat is fixedly arranged on the lower fixed plate, a crab leg assembly is movably arranged on the rotating seat, the crab leg assembly is fixedly connected with the driving piece, and a crab leg assembly is arranged above the upper fixed plate.

Description

Bread crab bionic robot

Technical Field

The utility model belongs to the field of bionic robots, and particularly relates to a bread crab bionic robot.

Background

Coconut crabs are one type of living crabs, not only the largest terrestrial crabs, but also the largest terrestrial arthropods. The coconut crab has large size, the male is obviously larger than the female, the shell of the coconut crab is hard, two strong giant chelates are provided, the coconut crab is high in climbing, and the coconut crab is especially good at climbing straight coconut trees, because the coconut crab can be used for peeling hard coconut shells by strong double chelants to eat coconut flesh therein. The coconut crabs have 8 laterally symmetrical feet and a pair of chelating feet (the left chelating is obviously larger than the right chelating), the 1 st pair of feet and the 2 nd pair of feet are strong, the tail ends are claw-shaped and are good for walking and climbing trees; the 3 rd pair is slightly smaller, and the tail end is chelate; pair 4 has substantially degraded. The coconut crab walks in a straight line, unlike other crabs which walk in a transverse direction.

In the coconut picking process, manual picking is adopted in a small-range picking mode, the manual picking mode is time-consuming and labor-consuming, machine picking is adopted in a large-range picking mode, and the cost of the machine picking mode is high.

Disclosure of Invention

The utility model provides a bread crab bionic robot for solve the technical problem that above-mentioned background art provided.

In order to solve the technical problems, the bread crab bionic robot provided by the utility model comprises a lower fixing plate, wherein a supporting column is fixedly arranged above the lower fixing plate, an upper fixing plate is fixedly arranged above the supporting column, a driving motor is arranged on the upper fixing plate, a walking motor is arranged below the lower fixing plate, a driving piece is arranged above the lower fixing plate, a rotating seat is fixedly arranged on the lower fixing plate, a crab leg assembly is movably arranged on the rotating seat, the crab leg assembly is fixedly connected with the driving piece, and a crab leg assembly is arranged above the upper fixing plate.

Preferably, the crab chela assembly comprises an upper chela frame and a lower chela frame, the upper chela frame is rotationally connected with the lower chela frame, one side of the lower chela frame is provided with a speed reduction drive, and the speed reduction drive is fixedly connected with the output end of the driving motor.

Preferably, the speed reduction drive comprises a transmission shaft, the output end of the driving motor is fixedly provided with the transmission shaft, the top end of the transmission shaft is fixedly provided with a first bevel gear, one end of the first bevel gear is meshed with a second bevel gear, the other end of the second bevel gear is fixedly provided with a trundle, and the trundle is meshed with the lower chelate frame.

Preferably, a plurality of racks are machined on the rear side of the lower chelate frame, the racks are equidistantly arranged, and the racks are meshed with the casters.

Preferably, the driving piece comprises a transmission gear and a driven gear, the transmission gear and the driven gear are respectively and fixedly arranged above the lower fixing plate, the transmission gear is fixedly connected with a walking motor, eccentric holes are formed in the driven gear, and the eccentric holes are formed in a plurality of and are equidistantly arranged.

Preferably, the driving piece comprises a rotating shaft, the rotating shaft is rotatably arranged on the rotating seat, one end of the rotating shaft is rotatably provided with a connecting rod, the connecting rod is clamped with the eccentric hole, the other end of the rotating shaft is rotatably provided with a C-shaped frame, the other end of the C-shaped frame is rotatably connected with the rotating seat, and the outer side of the C-shaped frame is rotatably provided with movable legs.

Compared with the prior art, the utility model has the following advantages:

1. according to the bread crab bionic robot, the body structure is optimized while the coconut crab is restored, and the leg and the crab pincers are controlled to finish the action by using the mechanical structure, so that the bread crab bionic robot is simpler and more reliable than a steering engine control multi-joint mode.

2. The bionic robot for bread crabs is innovatively designed on the basis of the same type of multi-foot crawling machinery, has a high-moment shearing function and a gradient crawling function, and can realize the switching between ground crawling and gradient crawling.

3. The bionic robot for bread crabs realizes automation of coconut picking, ensures that agricultural ecology is further visualized and automated, even has the possibility of integral flow, reduces the consumption of manpower and material resources, reduces the workload of a master worker, and simultaneously avoids the loss and waste of financial resources.

Drawings

FIG. 1 is a block diagram of a bread crab bionic robot according to the present utility model;

FIG. 2 is a top view structure diagram of a bread crab bionic robot according to the utility model;

FIG. 3 is a block diagram of crab leg assemblies in the bread crab bionic robot of the utility model;

FIG. 4 is a block diagram of a crab pot assembly in a bread crab bionic robot according to the present utility model;

FIG. 5 is a top view of a crab pot assembly of the bread crab bionic robot of the present utility model;

reference numerals in the drawings: 1. a lower fixing plate; 2. an upper fixing plate; 3. a support column; 4. a rotating seat; 5. a driving member; 6. crab leg components; 7. a driving motor; 8. a crab pot assembly; 9. a connecting rod; 51. a transmission gear; 52. a driven gear; 53. an eccentric hole; 61. a movable leg; 62. a C-shaped frame; 63. a rotating shaft; 81. a transmission shaft; 82. a first helical gear; 83. a second helical gear; 84. casters; 85. c, loading a chelate frame; 86. and (5) placing the chelate frame.

Detailed Description

Referring to fig. 1-5, the present utility model provides a technical solution: the utility model provides a bread crab bionic robot, including lower fixed plate 1, lower fixed plate 1 top fixed mounting support column 3, fixed plate 2 is gone up to support column 3 top fixed mounting, upward installs driving motor 7 on the fixed plate 2, and walking motor is installed to lower fixed plate 1 below, and driving piece 5 is installed to lower fixed plate 1 top, and fixed mounting rotates seat 4 on the lower fixed plate 1, movable mounting crab leg subassembly 6 on the rotation seat 4, crab leg subassembly 6 fixed connection driving piece 5, upward the installation crab of fixed plate 2 top chelate subassembly 8.

Further, the crab claw assembly 8 comprises an upper claw 85 and a lower claw 86, the upper claw 85 and the lower claw 86 are rotatably connected, and one side of the lower claw 86 is provided with a deceleration drive which is fixedly connected with the output end of the driving motor 7.

Further, the speed reduction drive comprises a transmission shaft 81, the output end of the driving motor 7 is fixedly provided with the transmission shaft 81, the top end of the transmission shaft 81 is fixedly provided with a first bevel gear 82, one end of the first bevel gear 82 is meshed with a second bevel gear 83, the other end of the second bevel gear 83 is fixedly provided with a trundle 84, and the trundle 84 is meshed with a lower chelate frame 86.

Further, a plurality of racks are machined on the rear side of the lower bail 86, the racks being equidistantly disposed and engaged with the casters 84.

Further, the driving member 5 comprises a driving gear 51 and a driven gear 52, the driving gear 51 and the driven gear 52 are respectively and fixedly installed above the lower fixing plate 1, the driving gear 51 is fixedly connected with a walking motor, the driven gear 52 is provided with a plurality of eccentric holes 53, and the eccentric holes 53 are equidistantly arranged.

Further, the further driving piece 5 comprises a rotating shaft 63, the further rotating seat 4 is rotatably provided with the rotating shaft 63, one end of the further rotating shaft 63 is rotatably provided with the connecting rod 9, the further connecting rod 9 is clamped with the eccentric hole 53, the other end of the further rotating shaft 63 is rotatably provided with the C-shaped frame 62, the other end of the further C-shaped frame 62 is rotatably connected with the rotating seat 4, and the outer side of the further C-shaped frame 62 is rotatably provided with the movable leg 61.

Working principle:

firstly, a driving gear 51 is driven to rotate by a walking motor, the driving gear 51 drives a connecting rod 9 to rotate along an eccentric hole 53, the connecting rod 9 drives a rotating shaft 63 to move back and forth, and further, a movable leg 61 is driven to move back and forth, so that the function of climbing a tree by bionic coconut crabs is realized;

secondly, driving motor 7 rotates, and driving motor 7 drives transmission shaft 81 and rotates, and the axis of rotation drives first helical gear 82 and rotates, and first helical gear 82 meshes with second helical gear 83, and through the modulus ratio difference, the realization second grade is slowed down, and then increases the output moment of the frame 86 that chelate down, can effectually pick the coconut.

Claims (6)

1. The utility model provides a bread crab bionic robot, includes fixed plate (1), its characterized in that: fixed mounting support column (3) below fixed plate (1), fixed mounting goes up fixed plate (2) above support column (3), install driving motor (7) on going up fixed plate (2), walking motor is installed to fixed plate (1) below down, fixed mounting rotates seat (4) on fixed plate (1) down, movable mounting crab leg subassembly (6) on rotating seat (4), crab leg subassembly (6) fixed connection driving piece (5), crab leg subassembly (8) are installed to last fixed plate (2) top.

2. The bread crab bionic robot according to claim 1, wherein the crab chela assembly (8) comprises an upper chela frame (85) and a lower chela frame (86), the upper chela frame (85) and the lower chela frame (86) are rotatably connected, a deceleration drive is installed on one side of the lower chela frame (86), and the deceleration drive is fixedly connected with an output end of the driving motor (7).

3. The bread crab bionic robot according to claim 2, wherein the deceleration drive comprises a transmission shaft (81), the output end of the driving motor (7) is fixedly provided with the transmission shaft (81), the top end of the transmission shaft (81) is fixedly provided with a first bevel gear (82), one end of the first bevel gear (82) is provided with a second bevel gear (83) in a meshed manner, the other end of the second bevel gear (83) is provided with a trundle (84) in a fixed manner, and the trundle (84) is meshed with a lower chelating frame (86).

4. A bread crab biomimetic robot according to claim 3, wherein a plurality of racks are machined on the rear side of the lower chelant rack (86), a plurality of racks are equidistantly arranged, and the racks are meshed with casters (84).

5. The bread crab bionic robot according to claim 1, wherein the driving piece (5) comprises a transmission gear (51) and a driven gear (52), the transmission gear (51) and the driven gear (52) are fixedly installed above the lower fixing plate (1) respectively, the transmission gear (51) is fixedly connected with a walking motor, eccentric holes (53) are formed in the driven gear (52), and a plurality of eccentric holes (53) are formed in the eccentric holes (53) and are equidistantly arranged.

6. The bread crab bionic robot according to claim 5, wherein the driving member (5) comprises a rotating shaft (63), the rotating shaft (63) is rotatably mounted on the rotating seat (4), one end of the rotating shaft (63) is rotatably mounted with a connecting rod (9), the connecting rod (9) is clamped with the eccentric hole (53), the other end of the rotating shaft (63) is rotatably mounted with a C-shaped frame (62), the other end of the C-shaped frame (62) is rotatably connected with the rotating seat (4), and the outer side of the C-shaped frame (62) is rotatably mounted with a movable leg (61).