Crab walking structure

Abstract

The utility model discloses a crab walking structure which comprises a main bottom plate, a body front plate and a body rear plate are arranged on the two sides of the main bottom plate, an eccentric disc and a crab arm connecting rod are arranged on the body front plate and the body rear plate, a crab claw connecting rod is arranged at one end of the crab arm connecting rod, a driving connecting rod is arranged on the eccentric disc, and the driving connecting rod is arranged on the driving connecting rod. The driving connecting rod is matched with the crab claw connecting rod, a rocker arm rod is arranged on the driving connecting rod, one end of the rocker arm rod is matched with the corresponding front body plate or the corresponding rear body plate, an output shaft is arranged between eccentric discs of the front body plate and the rear body plate, stepping motors are arranged at the two ends of the main bottom plate, and the motor driver is matched with the stepping motors. An input shaft is arranged at the output end of the stepping motor, a driving gear is arranged on the input shaft, a driven gear is arranged on the output shaft, the structure is ingenious and reasonable, the manufacturing cost is low, and motion control is simpler, more convenient and more efficient.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic machinery, and more specifically, to a crab walking structure. Background Art

[0002] Bionic machinery has always been a hot research topic at home and abroad. Excellent mechanical structures can improve people's living and industrial standards, and the bionic crab walking structure is a structure that can control the movement of the eight legs of the bionic crab with only two motors.

[0003] There are various types of bionic crabs at home and abroad, but most of them have a common problem - complex structure. This problem is particularly prominent on crab claws: it is well known that there are at least three joints on a crab claw, and crabs have eight legs. If each joint is controlled by a servo, the control difficulty and cost will increase significantly. A simple, reliable and convenient mechanical structure is urgently needed. Utility Model Content

[0004] In view of the problems existing in the prior art, the utility model provides a crab walking structure to solve the technical problems mentioned in the background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a crab walking structure, comprising a main bottom plate, a body front plate and a body rear plate are provided on both sides of the main bottom plate, both ends of the body front plate and the body rear plate are rotatably connected with an eccentric disk and a crab arm connecting rod, the other end of the crab arm connecting rod is rotatably connected with a crab claw connecting rod, the eccentric disk is rotatably connected with a driving connecting rod, the other end of the driving connecting rod is rotatably connected with the middle part of the crab claw connecting rod, the middle part of the driving connecting rod is rotatably connected with a rocker arm, and the other end of the rocker arm is rotatably connected with the corresponding body front plate or body rear plate;

[0006] An output shaft is provided between the eccentric discs of the front plate and the rear plate of the body, a motor driver is provided on the main bottom plate, stepper motors are provided at both ends of the main bottom plate, the motor driver cooperates with the stepper motor, a coupling is provided at the output end of the stepper motor, an input shaft is provided on the coupling, a driving gear is provided on the input shaft, a driven gear is provided on the output shaft, and the driving gear cooperates with the driven gear.

[0007] The utility model is further configured such that motor mounting base plates are provided at both ends of the main base plate, the stepper motor is arranged on the motor mounting base plate, a motor mounting vertical plate is provided at one end of the motor mounting base plate, a connecting plate is provided at the other end of the motor mounting vertical plate, and the connecting plate is fixedly connected to the rear plate of the body.

[0008] The utility model is further configured that a bearing seat mounting plate is fixedly connected between the rear plate of the body and the front plate of the body, and a bearing seat is fixedly connected on the bearing seat mounting plate.

[0009] The utility model is further configured such that cylindrical roller bearings are provided at both ends of the bearing seat, the front plate of the body and the rear plate of the body, the output shaft cooperates with the bearing seat through the cylindrical roller bearings, and the crab arm connecting rod rotates with the corresponding front plate of the body or the rear plate of the body through the cylindrical roller bearings.

[0010] The utility model is further configured such that deep groove ball bearings are provided on the eccentric disk, the front plate of the body, the rear plate of the body and the driving connecting rod, the driving connecting rod and the rocker arm are rotationally matched through the deep groove ball bearing, the driving connecting rod is rotationally matched with the eccentric disk through the deep groove ball bearing, and the rocker arm is rotationally matched with the corresponding front plate of the body or the rear plate of the body through the deep groove ball bearing.

[0011] The utility model is further configured that the eccentric disk is provided with a slotted spherical cylindrical head screw, and the eccentric disk is fixed to the output shaft through the slotted spherical cylindrical head screw.

[0012] The utility model is further configured that the rear plate of the body is provided with an inner ring cylindrical roller bearing without retaining edges, the input shaft cooperates with the rear plate of the body through the inner ring cylindrical roller bearing without retaining edges, and a common flat key is provided below the input shaft.

[0013] The utility model is further configured that sleeves are provided at both ends of the output shaft.

[0014] The utility model is further configured that the driving connecting rod is provided with a hexagon socket head shoulder screw, and is connected to the crab claw connecting rod through the hexagon socket head shoulder screw.

[0015] The utility model is further configured that the crab claw connecting rod is provided with a hexagonal cap nut and is connected to the crab arm connecting rod through the hexagonal cap nut.

[0016] Compared with the prior art, the utility model provides a crab walking structure, which has the following beneficial effects:

[0017] The utility model forms a walking leg structure through the cooperation of a crab arm connecting rod, a crab claw connecting rod, a driving connecting rod and a rocker arm rod, and supports eight groups of leg structures through the cooperation of two groups of front body plates and rear body plates to form a symmetrical walking structure. The transmission structure is formed by the cooperation of an output shaft, a motor driver, a stepper motor, a coupling, an input shaft, a driving gear and a driven gear. The four leg structures on one side can be driven to walk by one stepper motor, and the walking structure can be realized by controlling the transmission structure formed by the cooperation of two stepper motors. The design structure is ingenious and reasonable, the transmission efficiency is high, the production cost is low, and the structural principle is simpler. Secondly, during the operation, only a simple program needs to be input to control the rotation speed of the two stepper motors to realize various controls of the bionic crab movement, which facilitates the writing of program codes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a front structural diagram of a crab walking structure in the utility model;

[0019] Figure 2 This is a schematic diagram of the left side structure of the crab walking structure in the utility model;

[0020] Figure 3 This is an exploded view of the matching structure of the crab claw connecting rod and the eccentric disc in the utility model;

[0021] Figure 4 This is an exploded view of the matching structure of the output shaft and the eccentric disc in the utility model;

[0022] Figure 5 This is a schematic diagram of the axonometric structure of a crab walking structure in the utility model;

[0023] Figure 6 It is a schematic diagram of the structure when the crab claw connecting rod of the front plate of the body moves outward in the utility model;

[0024] Figure 7 It is a schematic diagram of the structure when the crab claw connecting rod of the front plate of the body moves inwards in the utility model.

[0025] In the figure: 1. main base plate; 2. body front plate; 3. body rear plate; 4. eccentric disc; 5. crab arm connecting rod; 6. crab claw connecting rod; 7. driving connecting rod; 8. rocker arm; 9. output shaft; 10. motor driver; 11. stepper motor; 12. coupling; 13. input shaft; 14. driving gear; 15. driven gear; 16. motor mounting base plate; 17. motor mounting vertical plate; 18. connecting plate; 19. bearing seat mounting plate; 20. bearing seat; 21. cylindrical roller bearing; 22. deep groove ball bearing; 23. slotted spherical large cylindrical head screw; 24. inner ring cylindrical roller bearing without flange; 25. ordinary flat key; 26. sleeve; 27. hexagon socket cylindrical head shoulder screw; 28. hexagonal cap nut. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0028] In the present invention, unless otherwise specified, directions such as "up" and "down" are usually used in reference to the directions shown in the drawings, or in reference to the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "left" and "right" are usually used in reference to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directions are not used to limit the present invention.

[0029] See also Figure 1-7 A crab walking structure comprises a main bottom plate 1, wherein a front body plate 2 and a rear body plate 3 are provided on both sides of the main bottom plate 1, and both ends of the front body plate 2 and the rear body plate 3 are rotatably connected with an eccentric disk 4 and a crab arm connecting rod 5, and the other end of the crab arm connecting rod 5 is rotatably connected with a crab claw connecting rod 6, and a driving connecting rod 7 is rotatably connected on the eccentric disk 4, and the other end of the driving connecting rod 7 is rotatably connected with the middle part of the crab claw connecting rod 6, and a rocker arm rod 8 is rotatably connected in the middle part of the driving connecting rod 7, and the other end of the rocker arm rod 8 is rotatably connected with the corresponding front body plate 2 or rear body plate 3;

[0030] An output shaft 9 is provided between the eccentric disc 4 of the front body plate 2 and the rear body plate 3, a motor driver 10 is provided on the main base plate 1, stepper motors 11 are provided at both ends of the main base plate 1, the motor driver 10 cooperates with the stepper motor 11, a coupling 12 is provided at the output end of the stepper motor 11, an input shaft 13 is provided on the coupling, a driving gear 14 is provided on the input shaft 13, a driven gear 15 is provided on the output shaft 9, and the driving gear 14 cooperates with the driven gear 15.

[0031] In this embodiment, when the equipment is working, under the support of the main base plate 1, a total of eight leg structures are supported by the front plate 2 and the rear plate 3 of the body at both ends, and the eccentric disc 4 of the driving equipment is driven to rotate, so that the eccentric disc 4 drives the driving connecting rod 7 to move, and the rocker arm rod 8 will limit the movement of the driving connecting rod 7, so that the driving connecting rod 7 can stably drive the crab claw connecting rod 6 to move, push or pull the crab claw connecting rod 6 to move outward and inward, and the crab claw connecting rod 6 is connected to the corresponding front plate 2 or the rear plate 3 of the body through the crab arm connecting rod 5, and makes appropriate movements according to the push of the driving connecting rod 7. The supporting discs of the front plate 2 and the rear plate 3 of the body are in opposite states, so that when the crab claw connecting rod 6 on the front plate 2 of the body moves outward, the crab claw connecting rod 6 on the rear plate 3 of the body will move inward, and when the crab claw connecting rod 6 on the front plate 2 of the body moves inward, the crab claw connecting rod 6 on the rear plate 3 of the body will move outward, and the two are alternating.

[0032] More specifically, the motor driver 10 and the stepper motor 11 are supported by the main base plate 1, and the stepper motors 11 at both ends are controlled by the motor driver 10 to work, so that the stepper motor 11 drives the input shaft 13 to rotate through the coupling 12, and the input shaft 13 drives the driving gear 14 to rotate. Through the cooperation of the driving gear 14 and the driven gear 15, the input shaft 13 drives the output shafts 9 at both ends to rotate, and the eccentric disks 4 at both ends are driven to rotate through the output shaft 9, so as to control the movement of the eight crab claw connecting rods 6, and by controlling the synchronous rotation of the two groups of stepper motors 11, the lateral movement of the equipment can be realized, and by adjusting the speed of the stepper motor 11 to make a difference in the rotation speed of the two groups of stepper motors 11, the rotation of the equipment can be realized to complete the walking.

[0033] See also Figure 3-Figure 5 As a further implementation of the main base plate: motor mounting base plates 16 are provided at both ends of the main base plate 1, the stepper motor 11 is arranged on the motor mounting base plate 16, a motor mounting vertical plate 17 is provided at one end of the motor mounting base plate 16, and a connecting plate 18 is provided at the other end of the motor mounting vertical plate 17, and the connecting plate 18 is fixedly connected to the back plate 3 of the body.

[0034] Specifically, the stepper motor 11 is installed by cooperating with the motor mounting base plate 16 and the motor mounting vertical plate 17 to keep the motor working stably, and the main base is stably fixed to the body rear plate 3 by extending the motor mounting base plate 16, the motor mounting vertical plate 17 and the connecting plate 18.

[0035] Please refer to Figure 3-Figure 5 As a further implementation of the main bottom plate: a bearing seat mounting plate 19 is fixedly connected between the body rear plate 3 and the body front plate 2, and a bearing seat 20 is fixedly connected to the bearing seat mounting plate 19.

[0036] Specifically, the body rear plate 3 and the body front plate 2 are fixed together through the connection of the bearing seat mounting plate 19, so that the body rear plate 3 and the body front plate 2 are stably connected to the main base plate 1, and the bearing seat 20 is supported by the bearing seat mounting plate 19, and the input shaft 13 and the output shaft 9 are effectively supported by the bearing seat 20 to ensure the stability of the cooperation between the equipment.

[0037] Please refer to Figure 2-Figure 5 As a further implementation of the bearing seat: cylindrical roller bearings 21 are provided on both ends of the bearing seat 20, the front plate 2 of the body and the rear plate 3 of the body, the output shaft 9 is matched with the bearing seat 20 through the cylindrical roller bearings 21, and the crab arm connecting rod 5 is rotatably matched with the corresponding front plate 2 or rear plate 3 of the body through the cylindrical roller bearings 21.

[0038] Specifically, the output shaft 9 and the bearing seat 20, and the crab arm connecting rod 5 and the front plate 2 and the rear plate 3 of the body are all rotatably connected through cylindrical roller bearings 21. The cylindrical roller bearings 21 can withstand greater pressure to ensure smooth and stable rotation.

[0039] Please refer to Figure 2-Figure 5 As a further implementation of the driving connecting rod: deep groove ball bearings 22 are provided on the eccentric disk 4, the front plate 2 of the body, the rear plate 3 of the body and the driving connecting rod 7, the driving connecting rod 7 and the rocker arm 8 are rotatably matched through the deep groove ball bearing 22, the driving connecting rod 7 is rotatably matched with the eccentric disk 4 through the deep groove ball bearing 22, and the rocker arm 8 is rotatably matched with the corresponding front plate 2 or rear plate 3 of the body through the deep groove ball bearing 22.

[0040] Specifically, the deep groove ball bearing 22 provides a smaller bearing structure, which can ensure more precise rotational coordination, making the rotation between the drive connecting rod 7, the rocker arm 8, and the eccentric disc 4 smoother, and the deep groove ball bearings 22 on the eccentric discs 4 at both ends of the same output shaft 9 are distributed at an angle of 180°, so that there is an angle difference of 180° between the eccentric discs 4 between the front plate 2 of the body and the rear plate 3 of the body.

[0041] Please refer to Figure 2-Figure 4 As a further implementation of the eccentric disc: a slotted spherical cylindrical head screw 23 is provided on the eccentric disc 4, and the eccentric disc 4 is fixed to the output shaft 9 through the slotted spherical cylindrical head screw 23.

[0042] Specifically, the eccentric disks 4 are stably fixed to each other through the fixing of the slotted spherical large cylindrical head screws 23 .

[0043] Please refer to Figure 4As a further implementation of the body rear plate: an inner ring cylindrical roller bearing 24 without a flange is provided on the body rear plate 3, the input shaft 13 cooperates with the body rear plate 3 through the inner ring cylindrical roller bearing 24 without a flange, and a common flat key 25 is provided below the input shaft 13.

[0044] Specifically, the input shaft 13 and the body rear plate 3 are smoothly matched through the inner ring non-ribbed cylindrical roller bearing 24, and the position of the input shaft 13 is ensured to be stable through the common flat key 25, so that the input shaft 13 can stably perform transmission work.

[0045] Please refer to Figure 4 As a further implementation of the output shaft: sleeves 26 are provided at both ends of the output shaft 9.

[0046] Specifically, a sleeve 26 is provided at the outer end of the cylindrical roller bearing 21 , which can ensure stable fit between the bearing and the output shaft 9 when matched with the output shaft 9 .

[0047] Please refer to Figure 3 As a further implementation of the driving connecting rod: the driving connecting rod 7 is provided with a hexagon socket head cylindrical shoulder screw 27, and is connected to the crab claw connecting rod 6 through the hexagon socket head cylindrical shoulder screw 27.

[0048] Specifically, the driving connecting rod 7 is connected to the crab claw connecting rod 6 through the hexagon socket head shoulder screw 27, so that the cooperation between the crab claw connecting rod 6 and other mechanisms is stable.

[0049] Please refer to Figure 3 As a further implementation of the crab claw connecting rod: the crab claw connecting rod 6 is provided with a hexagonal cap nut 28 and is connected to the crab arm connecting rod 5 through the hexagonal cap nut 28.

[0050] Specifically, the crab claw connecting rod 6 is connected to the crab arm connecting rod 5 through the hexagonal cap nut 28, so that the cooperation between the crab claw connecting rod 6 and other mechanisms is stable.

[0051] In summary, when the overall equipment is in use (or running):

[0052] When the device is in use, the motor driver 10 and the stepper motor 11 are supported by the main base plate 1, and the stepper motors 11 at both ends are controlled by the motor driver 10 to work, so that the stepper motor 11 drives the input shaft 13 to rotate through the coupling 12, and the input shaft 13 drives the driving gear 14 to rotate, and the cooperation of the driving gear 14 and the driven gear 15 makes the input shaft 13 drive the output shafts 9 at both ends to rotate, and the eccentric disks 4 at both ends are driven to rotate through the output shaft 9, so that the eccentric disk 4 drives the driving connecting rod 7 to move, and the rocker arm rod 8 limits the movement of the driving connecting rod 7, so that the driving connecting rod 7 can stably drive the crab claw connecting rod 6 to move, and push or pull the crab claw connecting rod 6 to move outward and inward. The crab claw connecting rod 6 is connected to the corresponding front plate 2 or rear plate 3 of the body through the crab arm connecting rod 5, and makes appropriate movements according to the push of the driving connecting rod 7. The supporting disc of the rear plate 3 of the body is in the opposite state, and the deep groove ball bearing 22 makes the cooperation between the driving connecting rod 7 and the crab claw connecting rod 6 in the opposite state, so that when the crab claw connecting rod 6 on the front plate 2 of the body moves outward, the crab claw connecting rod 6 on the rear plate 3 of the body will move inward, and when the crab claw connecting rod 6 on the front plate 2 of the body moves inward, the crab claw connecting rod 6 on the rear plate 3 of the body will move outward, and the two are alternating, thereby controlling the activities of the eight crab claw connecting rods 6, and by controlling the two groups of stepper motors 11, the stepper motors 11 at both ends rotate in opposite directions at the same speed, so that the lateral walking of the equipment can be realized, and the speed of the stepper motor 11 is adjusted to make the speed difference of the two groups of stepper motors 11, so that the rotation of the equipment can be realized, and the speed difference can be adjusted to change the rotation amplitude, so as to realize the functions of moving forward, backward, turning, and turning around on the spot of the bionic crab, and complete walking.

[0053] In all the schemes mentioned above, the connection between two parts can be selected according to actual conditions by welding, bolt and nut matching connection, bolt or screw connection or other well-known connection methods, which are not described here one by one. In the above, all fixed connections are preferably welded. Although the embodiments of the utility model have been shown and described, it can be understood by ordinary technicians in this field that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the utility model. The scope of the utility model is defined by the attached claims and their equivalents.

Claims

1. A crab walking structure, comprising a main bottom plate (1), characterized in that: A body front plate (2) and a body rear plate (3) are provided on both sides of the main bottom plate (1); both ends of the body front plate (2) and the body rear plate (3) are rotatably connected to an eccentric disk (4) and a crab arm connecting rod (5); the other end of the crab arm connecting rod (5) is rotatably connected to a crab claw connecting rod (6); a driving connecting rod (7) is rotatably connected to the eccentric disk (4); the other end of the driving connecting rod (7) is rotatably connected to the middle part of the crab claw connecting rod (6); the middle part of the driving connecting rod (7) is rotatably connected to a rocker arm (8); the other end of the rocker arm (8) is rotatably connected to the corresponding body front plate (2) or body rear plate (3); An output shaft (9) is provided between the eccentric discs (4) of the front body plate (2) and the rear body plate (3); a motor driver (10) is provided on the main base plate (1); stepper motors (11) are provided at both ends of the main base plate (1); the motor driver (10) cooperates with the stepper motor (11); a coupling (12) is provided at the output end of the stepper motor (11); an input shaft (13) is provided on the coupling; a driving gear (14) is provided on the input shaft (13); a driven gear (15) is provided on the output shaft (9); the driving gear (14) cooperates with the driven gear (15).

2. A crab walking structure according to claim 1, characterized in that: Motor mounting base plates (16) are provided at both ends of the main base plate (1), the stepper motor (11) is arranged on the motor mounting base plate (16), a motor mounting vertical plate (17) is provided at one end of the motor mounting base plate (16), and a connecting plate (18) is provided at the other end of the motor mounting vertical plate (17), and the connecting plate (18) is fixedly connected to the body rear plate (3).

3. A crab walking structure according to claim 2, characterized in that: A bearing seat mounting plate (19) is fixedly connected between the body rear plate (3) and the body front plate (2), and a bearing seat (20) is fixedly connected to the bearing seat mounting plate (19).

4. A crab walking structure according to claim 3, characterized in that: Cylindrical roller bearings (21) are provided on both ends of the bearing seat (20), the front plate (2) and the rear plate (3) of the body; the output shaft (9) is engaged with the bearing seat (20) via the cylindrical roller bearings (21); and the crab arm connecting rod (5) is rotationally engaged with the corresponding front plate (2) or rear plate (3) of the body via the cylindrical roller bearings (21).

5. The crab walking structure according to claim 3 is characterized in that: The eccentric disk (4), the body front plate (2), the body rear plate (3) and the driving connecting rod (7) are all provided with deep groove ball bearings (22); the driving connecting rod (7) and the rocker arm (8) are rotationally engaged via the deep groove ball bearings (22); the driving connecting rod (7) is rotationally engaged with the eccentric disk (4) via the deep groove ball bearings (22); and the rocker arm (8) is rotationally engaged with the corresponding body front plate (2) or body rear plate (3) via the deep groove ball bearings (22).

6. The crab walking structure according to claim 1 is characterized in that: The eccentric disk (4) is provided with a slotted spherical cylindrical head screw (23), and the eccentric disk (4) is fixed to the output shaft (9) via the slotted spherical cylindrical head screw (23).

7. The crab walking structure according to claim 3 is characterized in that: The body rear plate (3) is provided with an inner ring cylindrical roller bearing (24) without retaining edges, the input shaft (13) is matched with the body rear plate (3) via the inner ring cylindrical roller bearing (24), and a common flat key (25) is provided below the input shaft (13).

8. The crab walking structure according to claim 1 is characterized in that: Sleeves (26) are provided at both ends of the output shaft (9).

9. The crab walking structure according to claim 1, characterized in that: The driving connecting rod (7) is provided with a hexagon socket head cylindrical shoulder screw (27) and is connected to the crab claw connecting rod (6) via the hexagon socket head cylindrical shoulder screw (27).

10. The crab walking structure according to claim 9, characterized in that: The crab claw connecting rod (6) is provided with a hexagonal cap nut (28) and is connected to the crab arm connecting rod (5) via the hexagonal cap nut (28).

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