A bionic crawling mechanism

Abstract

The utility model relates to bionic technology field especially is a kind of bionic crawling mechanism, including drive module, support and at least one pair of crawling mechanism, drive module is equipped in support, each pair of crawling mechanism includes two groups of space crank structure and two connecting rods, two groups of space crank structure respectively with two connecting rods one-to-one corresponding cooperation;The outside end of two groups of space crank structure is in low position and undertakes support;Space crank structure includes the inner crank, fulcrum and outer crank connected in order from inside to outside, and one end of connecting rod is drivenly connected with the output end of drive module;The inner end of inner crank is drivenly connected with the middle part of connecting rod, and fulcrum is rotatably connected with support;Drive module drives inner crank movement via connecting rod, to drive outer crank movement.The utility model adds connecting rod transmission between inner crank and drive module to drive inner crank to make elliptic cone movement or approximate elliptic cone movement, and the up-and-down fluctuation amplitude when crawling is reduced, and crawling efficiency is higher, and stability is better.

Description

Technical Field

[0001] This utility model relates to the field of bionics technology, and in particular to a bionic crawling mechanism. Background Technology

[0002] Currently, existing biomimetic walking toys or biomimetic crawling devices fall into two main directions. One direction involves setting up a servo motor for each joint for independent control. For example, Chinese patent application number 202211277368.3 discloses a quadrupedal biomimetic mechanical lizard. The advantage of this approach is that there are fewer restrictions on motion design, allowing for a wide range of movements. However, this approach is very costly, and since the movements between multiple joints are inherently interconnected, it becomes algorithmic, making control very complex. The other direction involves connecting multiple links, such as in application number 2013. Chinese patent document 20219669.0 discloses a linkage-type quadrupedal crawling robot. The problem with this is that there are many linkages, the structure is complex, and the range of motion of the linkages is large. It is difficult to enclose all the linkages in the shell, so many linkages extend out of the body, resulting in a decrease in the biomimetic effect. Moreover, these linkages have a certain height. It is okay for biomimicry of some quadrupeds or hexapods with relatively high legs, but it is difficult for biomimicry of some ground-crawling animals. Even if all the linkages can be enclosed in the shell, the product will be relatively large, making it impossible to miniaturize the product.

[0003] To address the aforementioned issues, the inventor filed a Chinese patent application (application number 202510987922.4) on July 17, 2025, describing a biomimetic crawling device. The device includes a support frame, a drive unit, and at least one pair of crawling mechanisms. Each pair of crawling mechanisms includes two sets of spatial crank structures. The movements of the two sets of spatial crank structures have a phase difference, with the outer ends of the two sets of spatial crank structures alternately positioned at a lower level to support the support frame. Each spatial crank structure includes an inner crank, a first fulcrum, and an outer crank connected in sequence. The drive unit drives the inner crank to perform conical motion. The first fulcrum is rotatably connected to the support frame. The inner crank is translatably positioned inside the support frame, and the outer crank is translatably positioned outside the support frame. While this patent overcomes the aforementioned technical problems in the prior art, in practice and production, the inventor discovered that the vertical fluctuation amplitude of the support frame during crawling is still not ideal. Further reducing the vertical fluctuation amplitude and improving crawling stability are the technical problems encountered by the inventor.

[0004] Therefore, the defects are very obvious, and a solution is urgently needed. Utility Model Content

[0005] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide a biomimetic crawling mechanism.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A biomimetic crawling mechanism includes a drive module, a support frame, and at least one pair of crawling mechanisms. The drive module is mounted on the support frame. Each pair of crawling mechanisms includes two sets of spatial crank structures and two connecting rods. The two sets of spatial crank structures are respectively matched with the two connecting rods. The outer ends of the two sets of spatial crank structures are positioned low to support the support frame. The spatial crank structure includes an inner crank, a fulcrum, and an outer crank connected sequentially from the inside to the outside. One end of the connecting rod is driven to the output end of the drive module. The inner end of the inner crank is driven to the middle of the connecting rod, and the fulcrum is rotatably connected to the support frame. The drive module drives the inner crank to move via the connecting rod, thereby driving the outer crank to move.

[0008] Furthermore, the drive module includes a driver and a transmission assembly. The driver is mounted on the bracket, and the transmission assembly is set on the bracket. The transmission assembly has a rotating component. The driver drives the rotating component to rotate via the transmission assembly. One end of the connecting rod is rotatably connected to the eccentric position of the rotating component. The end of the connecting rod away from the rotating component is suspended from a rocker arm of the bracket or slidably connected to a slide rail of the bracket. The rotating component and the connecting rod form a crank-rocker mechanism or a crank-slider mechanism.

[0009] Furthermore, a drive shaft is provided at an eccentric position on the side of the rotating component, and one end of the connecting rod is rotatably connected to the drive shaft. There are two pairs of crawling mechanisms. When each pair of crawling mechanisms is driven by one rotating component, the two drive shafts are distributed on both sides of one rotating component, and one rotating component drives the connecting rods on both sides to move. Alternatively, when each pair of crawling mechanisms is driven by two rotating components, the two drive shafts are distributed on both sides of the two rotating components, and the two rotating components drive the corresponding connecting rods to move. Each pair of crawling mechanisms is driven by the rotating components of two sets of drive modules, and the transmission components of the two sets of drive modules are located between the two pairs of crawling mechanisms.

[0010] Furthermore, the transmission assembly is located between the two pairs of crawling mechanisms, and the outer end of the outer crank is provided with crawling feet; in the two pairs of crawling mechanisms, the two crawling feet on the same side have a phase difference, and the two crawling feet on opposite sides have the same phase.

[0011] Furthermore, the inner end of the inner crank is provided with relevant nodes, and the middle part of the connecting rod is provided with a drive hole. The joint is inserted into the drive hole to form a rotational and sliding connection.

[0012] Furthermore, the support includes a first base and a second base rotatably connected to the first base, a pair of crawling mechanisms are disposed on the first base, and another pair of crawling mechanisms are disposed on the second base. The transmission assembly is divided into two parts and disposed on the first base and the second base respectively. The transmission assembly has a pair of front and rear connecting gears, and the meshing teeth of the pair of front and rear connecting gears are located at the rotation axis of the first base and the second base.

[0013] Furthermore, the bracket also includes a swing waist connecting rod and a fixed shaft. One end of the swing waist connecting rod is provided with a movable hole, and the fixed shaft passes through the movable hole. There is a movable gap between the inner wall of the movable hole and the fixed shaft. The fixed shaft is located on one side of the rotation axis of the first seat and the second seat. The fixed shaft is set on the first seat or the second seat. Correspondingly, the other end of the swing waist connecting rod is located on the second seat or the first seat and is driven by the eccentric shaft of the rotating part on the same side.

[0014] Furthermore, the first or second seat is provided with a driving device, which drives the first and second seats to rotate relative to each other.

[0015] Furthermore, the first or second seat is equipped with a sensor, and the sensor signal is connected to the control module; the relative rotational position of the first and second seats and the phase of the crawling mechanism during crawling are detected by the sensor, and then the drive device and drive module are controlled to achieve coordinated action.

[0016] Furthermore, the fulcrum has a flat hole, and the bracket is provided with a limiting shaft. The limiting shaft extends into the flat hole, and there is a space for movement between the inner wall of the flat hole and the outer wall of the limiting shaft. The limiting shaft restricts the rotation of the joint in its circumferential direction.

[0017] The beneficial effects of this utility model are as follows: By adding a connecting rod transmission between the inner crank and the drive module to drive the inner crank to make elliptical cone motion or approximately elliptical cone motion, compared with the drive module directly driving the inner crank to make conical motion, this application further reduces the vertical fluctuation amplitude during crawling, has better crawling stability, and makes the spatial crank structure have good working stability and occupy less space. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the first embodiment of the present utility model.

[0019] Figure 2 This is a schematic diagram of the internal structure of the first embodiment of the present invention.

[0020] Figure 3 This is a three-dimensional structural diagram of the first embodiment of the hidden bracket of this utility model.

[0021] Figure 4 This is a three-dimensional structural diagram of the rotating component and a pair of crawling mechanisms of this utility model.

[0022] Figure 5 This is a three-dimensional structural diagram of the spatial crank structure of this utility model.

[0023] Figure 6 This is a horizontal sectional view of the first embodiment of the present invention.

[0024] Figure 7 This is a longitudinal sectional view of the present invention.

[0025] Figure 8 This is a cross-sectional view of the flat hole and the limiting shaft of this utility model.

[0026] Figure 9 This is a schematic diagram of the internal structure of the second embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Drive module; 2. Support; 3. Crawling mechanism; 4. Spatial crank structure; 5. Connecting rod; 7. Slide rail; 8. Slider; 9. Inner crank; 10. Fulcrum; 11. Outer crank; 12. Joint; 13. Driver; 14. Transmission assembly; 15. Rotating component; 16. Drive shaft; 17. First seat; 18. Second seat; 19. Front and rear connecting gears; 20. Swinging connecting rod; 21. Fixed shaft; 22. Movable hole; 23. Limit cap; 24. Flat hole; 25. Limit shaft; 26. Adapter position; 27. Swinging guide arc segment; 28. Adapter structure; 29. ​​Tail; 30. Crawling foot. Detailed Implementation

[0029] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0030] like Figures 1 to 8As shown, in the first embodiment, the present invention provides a biomimetic crawling mechanism, which includes a drive module 1, a support 2, and at least one pair of crawling mechanisms 3. The drive module 1 is mounted on the support 2. Each pair of crawling mechanisms 3 includes two sets of spatial crank structures 4 and two connecting rods 5. The two sets of spatial crank structures 4 are respectively matched with the two connecting rods 5. The outer ends of the two sets of spatial crank structures 4 are in a low position to support the weight of the support 2 and its components. The spatial crank structure 4 includes an inner crank 9, a fulcrum 10, and an outer crank 11 connected sequentially from the inside to the outside. One end of the connecting rod 5 is driven to the output end of the drive module 1. The inner end of the inner crank 9 is driven to the middle of the connecting rod 5. Preferably, the inner end of the inner crank 9 is driven to the middle of the connecting rod 5. The middle part of the linkage 9 is rotated and slidably connected (rotation and sliding); the fulcrum 10 is rotatedly connected to the support 2; the drive module 1 drives the inner crank 9 to make elliptical cone motion or approximately elliptical cone motion via the connecting rod 5, thereby driving the outer crank 11 to also make elliptical cone motion or approximately elliptical cone motion, and the outer crank 11 extends out of the support 2; specifically, the angle between the inner crank 9 and the outer crank 11 is an obtuse angle; the fulcrum 10 can be a ball joint; the rotational and sliding connection between the inner end of the inner crank 9 and the middle part of the connecting rod 5 means that while the inner end of the inner crank 9 rotates relative to the middle part of the connecting rod 5, the inner end of the inner crank 9 can also make adaptive sliding within a preset range in the middle part of the connecting rod 5, so as to ensure that the connecting rod 5 can drive the inner crank 9 to make elliptical cone motion or approximately elliptical cone motion.

[0031] Preferably, the actions of the two sets of spatial crank structures 4 have a 180° phase difference, and the outer ends of the two sets of spatial crank structures 4 take turns being in the lower position to bear the weight of the support 2 and its upper components, so that the bionic crawling mechanism can crawl normally. Of course, the actions of the two sets of spatial crank structures 4 can also have the same phase, and the outer ends of the two sets of spatial crank structures 4 move synchronously and bear the weight of the support 2 and its upper components, so that the bionic crawling mechanism can crawl normally.

[0032] In practical applications, the outer ends of the two sets of spatial crank structures 4 of each pair of crawling mechanisms 3 (the ends of the outer crank 11) support the bracket 2. When the drive module 1 drives each pair of crawling mechanisms 3 to work, the drive module 1 drives the connecting rod 5 to move. The moving connecting rod 5 drives the inner crank 9 to make elliptical cone motion or approximately elliptical cone motion. The fulcrum 10 serves as the linkage fulcrum for the inner crank 9 and the outer crank 11 to move together, so that the outer crank 11 also makes elliptical cone motion or approximately elliptical cone motion. Since the actions of the two sets of spatial crank structures 4 have a phase difference, the outer ends of the spatial crank structures 4 take turns being in the low position to support the bracket 2 and can push the bracket 2 forward or backward, so that the bionic crawling mechanism crawls forward or backward. This utility model is an optimization and improvement based on the Chinese patent application document with application number 202510987922.4, which describes a biomimetic crawling device. This utility model adds a connecting rod 5 between the inner crank 9 and the drive module 1 to drive the inner crank 9 to make elliptical cone motion or approximately elliptical cone motion. Compared with the drive module 1 directly driving the inner crank 9 to make conical motion, this application further reduces the vertical fluctuation amplitude during crawling, and has higher crawling efficiency and better stability.

[0033] In this first embodiment, the drive module 1 includes a driver 13 and a transmission assembly 14. The driver 13 is mounted on the bracket 2, and the transmission assembly 14 is driven on the bracket 2. The transmission assembly 14 has a rotating member 15 rotatably connected to the bracket 2. The driver 13 drives the rotating member 15 to rotate via the transmission assembly 14. One end of the connecting rod 5 is rotatably connected to the eccentric position of the rotating member 15. The bracket 2 is provided with a rocker arm or a slide rail 7. The end of the connecting rod 5 away from the rotating member 15 is suspended from the rocker arm of the bracket 2 or slidably connected to the slide rail 7 of the bracket 2. The rotating member 15 and the connecting rod 5 form a crank-rocker mechanism or a crank-slider mechanism. Specifically, the rotating member 15 is disc-shaped, and the end of the connecting rod 5 away from the rotating member 15 is provided with a slider 8. The slider 8 is slidably connected to the slide rail 7 and can reciprocate on the slide rail 7. Specifically, in this embodiment, the slider 8 is a metal shaft that passes through the connecting rod 5.

[0034] In practical applications, the driver 13 drives the transmission component 14 to drive the transmission, and the transmission component 14 drives the rotating part 15 to rotate. Since the end of the connecting rod 5 away from the rotating part 15 is suspended from a rocker arm of the bracket 2 or slidably connected to the slide rail 7 of the bracket 2, the rotating part 15 and the connecting rod 5 form a crank-rocker mechanism or a crank-slider mechanism. Therefore, the movable crank-rocker mechanism or crank-slider mechanism can drive the inner crank 9 to perform elliptical cone motion or approximately elliptical cone motion, so that the outer crank 11 also performs elliptical cone motion or approximately elliptical cone motion, thereby enabling this bionic crawling mechanism to crawl forward or backward.

[0035] In this first embodiment, a drive shaft 16 is provided at an eccentric position on the side of the rotating member 15, and one end of the connecting rod 5 is rotatably connected to the drive shaft 16. There are two pairs of crawling mechanisms 3. When each pair of crawling mechanisms 3 is driven by a rotating member 15, the two drive shafts 16 are respectively distributed on both sides of the rotating member 15, and the rotating member 15 drives the connecting rods 5 on both sides to move. Preferably, the two drive shafts 16 are distributed at a 180° interval on both sides of the rotating member 15. The rotating member 15 and the drive shaft 16 are integrally constructed. Alternatively, shaft holes are provided at eccentric positions on both sides of the rotating member 15, and the two shaft holes are distributed at a 180° interval on the outer periphery of the side of the rotating member 15. One end of the drive shaft 16 is tightly fitted into the corresponding shaft hole, and one end of the connecting rod 5 is rotatably connected to the drive shaft 16. This structural design ensures that the movements of the two sets of spatial crank structures 4 in each pair of crawling mechanisms 3 have a 180° phase difference. The outer ends of the two sets of spatial crank structures 4 (the outer ends of the outer cranks 11) alternately bear the support 2 in the lower position and can push the support 2 forward or backward, enabling this bionic crawling mechanism to crawl forward or backward.

[0036] like Figure 9 As shown, in the second embodiment, when each pair of crawling mechanisms 3 is driven by two rotating parts 15, the two rotating parts 15 are coaxially arranged. There are two pairs of crawling mechanisms 3 and two sets of drive modules 1. Two drive shafts 16 are distributed on both sides of the two rotating parts 15. The two rotating parts 15 drive the corresponding connecting rods 5 to move. Each pair of crawling mechanisms 3 is driven by the rotating parts 15 of the two sets of drive modules 1. The transmission components 14 of the two sets of drive modules 1 are located between the two pairs of crawling mechanisms 3. In the two pairs of crawling mechanisms 3, the transmission components 14 of one set of drive modules 1 are respectively driven and connected to the two connecting rods 5 on the same side. The two sets of drive modules 1 are controlled by a control module and work independently according to a set program. Photoelectric switches, etc., can be set at appropriate positions. A position sensor is used to detect the position of the two sets of crawling mechanisms 3, and then control the phase difference between the two sets of crawling mechanisms 3 to achieve various different actions. Preferably, the drive shafts 16 of the two sets of drive modules 1 are driven to rotate by controlling the transmission components 14 of the two drive modules 1, so that the drive shafts 16 of the two rotating components 15 are on the side away from each other and 180° apart. At this time, the walking effect is the best. Alternatively, the spatial crank structure 4 on one side of the crawling mechanism 3 can crawl while the spatial crank structure 4 on the other side of the crawling mechanism 3 remains stationary to achieve turning, etc. The rotating component 15 and the drive shaft 16 are integrally constructed, or the side away from each other of the two rotating components 15 is provided with shaft holes, one end of the drive shaft 16 is tightly fitted into the corresponding shaft hole, and one end of the connecting rod 5 is rotatably connected to the drive shaft 16.

[0037] In this first embodiment, the transmission component 14 is located between two pairs of crawling mechanisms 3, and the transmission component 14 is drivenly connected to the two pairs of crawling mechanisms 3 respectively; the outer end of the outer crank 11 is provided with crawling feet 30; specifically, the crawling feet 30 are set at an angle to the outer crank 11; in the two pairs of crawling mechanisms 3, the two crawling feet 30 on the same side have a 180° phase difference, and the two crawling feet 30 on opposite sides have the same phase. This structural design makes the left front crawling foot 30 and the right rear crawling foot 30 have the same phase, and the right front crawling foot 30 and the left rear crawling foot 30 have the same phase, that is, the left front crawling foot 30 and the right rear crawling foot 30 crawl synchronously, and the right front crawling foot 30 and the left rear crawling foot 30 crawl synchronously, so that this bionic crawling mechanism can stably crawl and move close to the ground / near the ground.

[0038] In this first embodiment, a node 12 is provided at the inner end of the inner crank 9, and a drive hole is provided in the middle of the connecting rod 5. The joint 12 is inserted into the drive hole to form a rotational and sliding connection; specifically, the joint 12 can be a ball joint. In practical applications, the movable connecting rod 5 drives the joint 12 to rotate and slide within the drive hole, and causes the inner crank 9 to perform elliptical conical motion or approximately elliptical conical motion.

[0039] Specifically, the joint 12 is rotatably and slidably connected to the middle position of the connecting rod 5. Compared with the drive module 1 directly driving the inner crank 9 to make conical motion, this application can reduce the vertical fluctuation range by half.

[0040] In this first embodiment, the transmission component 14 is a transmission gear set, the rotating component 15 is a crawling drive gear meshing with the transmission gear set, and the driver 13 is used to drive the transmission gear set to rotate. Specifically, the driver 13 can be a motor. In practical applications, the driver 13 drives the transmission gear set to rotate, the rotating transmission gear set acts as a deceleration mechanism and drives the crawling drive gear to rotate, and the rotating crawling drive gear drives the two sets of spatial crank structures 4 to perform a crawling action with a 180° phase difference. Due to the arrangement of the spatial crank structure 4, it is possible to achieve deceleration transmission while simultaneously driving the crawling drive gear to rotate through the transmission gear set, achieving two functions in one device and simplifying the structure of the transmission component 14.

[0041] In this first embodiment, the bracket 2 includes a first base 17 and a second base 18 rotatably connected to the first base 17. A pair of crawling mechanisms 3 are disposed on the first base 17, and another pair of crawling mechanisms 3 are disposed on the second base 18. The transmission assembly 14 is divided into two parts and disposed on the first base 17 and the second base 18 respectively. The transmission assembly 14 has a pair of front and rear connecting gears 19, and the meshing teeth of the pair of front and rear connecting gears 19 are located at the rotation axis of the first base 17 and the second base 18. Specifically, the center distance of the pair of front and rear connecting gears 19 is greater than the standard center distance of the transmission gear set. This structural design allows the two gears of a pair of front and rear connecting gears 19 to shift relative to each other when the first seat 17 and the second seat 18 swing back and forth. This does not affect the normal meshing and transmission of the two gears, so that the relative swinging of the first seat 17 and the second seat 18 and the meshing and transmission of the transmission gear set do not affect each other. The transmission gear set will not be jammed due to the relative swinging of the first seat 17 and the second seat 18, thus enabling this bionic crawling mechanism to bend or swing stably.

[0042] In this first embodiment, the bracket 2 further includes a swing waist connecting rod 20 and a fixed shaft 21. One end of the swing waist connecting rod 20 is provided with a movable hole 22, and the fixed shaft 21 passes through the movable hole 22. There is a movable gap between the inner wall of the movable hole 22 and the fixed shaft 21. The fixed shaft 21 is located on one side of the rotation axis of the first seat 17 and the second seat 18. The fixed shaft 21 is provided on the first seat 17 or the second seat 18. Correspondingly, the other end of the swing waist connecting rod 20 is located on the second seat 18 or the first seat 17 and is driven by the eccentric shaft of the rotating member 15 on the same side.

[0043] During the movement of link 5 (the movement of link 5 is roughly the translation and oscillation of the end of link 5 near the rotating member 15), link 5 will drive the oscillating link 20 to make an adaptive movement and push and pull the fixed shaft 21 back and forth through the movable hole 22, so that the fixed shaft 21 oscillates back and forth around the rotation axis located between the first seat 17 and the second seat 18, thereby causing the first seat 17 and the second seat 18 to swing back and forth relative to each other.

[0044] Specifically, a limiting cap 23 is detachably installed at the top of the fixed shaft 21. The limiting cap 23 is used to limit the swing link 20 on the fixed shaft 21 to prevent the swing link 20 from separating from the fixed shaft 21. Alternatively, the fixed shaft 21 and the limiting cap 23 can be made into one piece, i.e., a shaft with a nail head.

[0045] In this third embodiment, the first seat 17 or the second seat 18 is provided with a driving device, which drives the first seat 17 and the second seat 18 to rotate relative to each other. During the crawling process of this bionic crawling mechanism, the driving device drives the first seat 17 and the second seat 18 to rotate relative to each other, so as to realize that the bionic crawling mechanism can crawl and bend and swing at the same time.

[0046] In this third embodiment, a sensor is provided on the first seat 17 or the second seat 18, and the sensor signal is connected to the control module. The control module is located on the first seat 17 or the second seat 18. The control module controls the drive device and drive module 1 to achieve coordinated operation based on the relative rotational position of the first seat 17 and the second seat 18 detected by one sensor and the phase of the crawling mechanism 3 during crawling detected by another sensor. In practical applications, the control module controls the drive device and drive module 1 to achieve coordinated operation based on the results detected by the sensors regarding the relative rotational position of the first seat 17 and the second seat 18 and the phase of the crawling mechanism 3 during crawling, ensuring that the bionic crawling mechanism can perform actions such as crawling and reciprocating bending simultaneously.

[0047] In this first embodiment, the fulcrum 10 has a flat hole 24, and the bracket 2 is provided with a limiting shaft 25. The limiting shaft 25 extends into the flat hole 24, and there is a space for movement between the inner wall of the flat hole 24 and the outer wall of the limiting shaft 25. The limiting shaft 25 restricts the rotation of the joint 12 in its circumferential direction. The inner crank 9 is movably disposed within the bracket 2, and the outer crank 11 is movably disposed outside the bracket 2. The limiting shaft 25 restricts the points on the spatial crank structure 4 to only perform translational motion. In practical applications, when the inner crank 9 and the outer crank 11 perform elliptical conical motion or approximately elliptical conical motion, the fulcrum 10 is located at the axis of the limiting shaft 25. Due to the cooperation between the limiting shaft 25 and the flat hole 24, the points on the spatial crank structure 4 can only perform translational motion, thus enabling crawling motion.

[0048] Specifically, the side wall of the support 2 is provided with a transition position 26, the fulcrum 10 is rotatably disposed at the transition position 26, and the limiting shaft 25 is disposed at the transition position 26. In practical applications, the fulcrum 10 moves at the transition position 26 to serve as a linkage fulcrum for the inner crank 9 and the outer crank 11 to perform elliptical conical motion or approximately elliptical conical motion, and can restrict the axial movement of the spatial crank structure 4.

[0049] Specifically, the control module includes a circuit board and a power supply. The power supply and driver 13 are both electrically connected to the circuit board. The circuit board is equipped with an MCU, a microcontroller unit (MCU), also known as a single-chip microcomputer or a microcontroller.

[0050] Specifically, the support 2 is made of plastic and is a contoured shell; the first base 17 includes a front half back shell and a front half bottom shell assembled with the front half back shell, and the second base 18 includes a rear half back shell and a rear half bottom shell assembled with the rear half back shell. A tail 29 is provided at the rear end of the second base 18. During the reciprocating swinging of the first base 17 and the second base 18, the tail 29 will follow the reciprocating swinging of the second base 18 to achieve a tail-wagging effect, which provides a good simulation of crawling.

[0051] Specifically, the inner wall of the front end of the second seat 18 extends outward to form a swing guide segment 27, which extends into the first seat 17 and is slidably connected to the inner wall of the first seat 17. The center of the swing guide segment 27 is on the rotation axis of the first seat 17 and the second seat 18. There is a swing space between the rear end face of the first seat 17 and the front end face of the second seat 18. The middle part of the swing guide segment 27 is rotatably connected to the middle part of the first seat 17 via a transition structure 28. The transition structure 28 includes a transition hole and a transition shaft rotatably connected to the transition hole. The transition hole is located in the middle part of the swing guide segment 27 or the middle part of the first seat 17. Correspondingly, the transition shaft is located in the middle part of the first seat 17 or the middle part of the swing guide segment 27. The rotational engagement between the adapter shaft and the adapter hole ensures a secure connection between the first seat 17 and the second seat 18, while also guaranteeing the stability of their relative swing.

[0052] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A biomimetic crawling mechanism, characterized in that: The system includes a drive module (1), a support (2), and at least one pair of crawling mechanisms (3). The drive module (1) is mounted on the support (2). Each pair of crawling mechanisms (3) includes two sets of spatial crank structures (4) and two connecting rods (5). The two sets of spatial crank structures (4) are respectively matched with the two connecting rods (5). The outer ends of the two sets of spatial crank structures (4) are in a low position to support the support (2). The spatial crank structure (4) includes an inner crank (9), a fulcrum (10), and an outer crank (11) connected sequentially from the inside to the outside. One end of the connecting rod (5) is driven to the output end of the drive module (1). The inner end of the inner crank (9) is driven to the middle of the connecting rod (5). The fulcrum (10) is rotatably connected to the support (2). The drive module (1) drives the inner crank (9) to move via the connecting rod (5), thereby driving the outer crank (11) to move.

2. The biomimetic crawling mechanism according to claim 1, characterized in that: The drive module (1) includes a driver (13) and a transmission assembly (14). The driver (13) is mounted on the bracket (2), and the transmission assembly (14) is mounted on the bracket (2). The transmission assembly (14) has a rotating part (15). The driver (13) drives the rotating part (15) to rotate via the transmission assembly (14). One end of the connecting rod (5) is rotatably connected to the eccentric position of the rotating part (15). The end of the connecting rod (5) away from the rotating part (15) is suspended from a rocker arm of the bracket (2) or slidably connected to a slide rail (7) of the bracket (2). The rotating part (15) and the connecting rod (5) form a crank-rocker mechanism or a crank-slider mechanism.

3. The biomimetic crawling mechanism according to claim 2, characterized in that: A drive shaft (16) is provided at an eccentric position on the side of the rotating part (15). One end of the connecting rod (5) is rotatably connected to the drive shaft (16). There are two pairs of crawling mechanisms (3). When each pair of crawling mechanisms (3) is driven by one rotating part (15), the two drive shafts (16) are distributed on both sides of one rotating part (15), and one rotating part (15) drives the connecting rods (5) on both sides to move. Alternatively, when each pair of crawling mechanisms (3) is driven by two rotating parts (15), the two drive shafts (16) are distributed on both sides of the two rotating parts (15), and the two rotating parts (15) drive the corresponding connecting rods (5) to move. Each pair of crawling mechanisms (3) is driven by the rotating parts (15) of two sets of drive modules (1), and the transmission components (14) of the two sets of drive modules (1) are located between the two pairs of crawling mechanisms (3).

4. The biomimetic crawling mechanism according to claim 3, characterized in that: The transmission assembly (14) is located between the two pairs of crawling mechanisms (3), and the outer end of the outer crank (11) is provided with crawling feet (30); in the two pairs of crawling mechanisms (3), the two crawling feet (30) on the same side have a phase difference, and the two crawling feet (30) on opposite sides have the same phase.

5. The biomimetic crawling mechanism according to claim 1, characterized in that: The inner end of the inner crank (9) is provided with a node (12), and the middle part of the connecting rod (5) is provided with a drive hole. The joint (12) is inserted into the drive hole to form a rotational and sliding connection.

6. A biomimetic crawling mechanism according to claim 4 or 5, characterized in that: The bracket (2) includes a first seat (17) and a second seat (18) rotatably connected to the first seat (17). A pair of crawling mechanisms (3) are disposed on the first seat (17) and another pair of crawling mechanisms (3) are disposed on the second seat (18). The transmission assembly (14) is divided into two parts and disposed on the first seat (17) and the second seat (18) respectively. The transmission assembly (14) has a pair of front and rear connecting gears (19), and the meshing teeth of the pair of front and rear connecting gears (19) are located at the rotation axis of the first seat (17) and the second seat (18).

7. A biomimetic crawling mechanism according to claim 6, characterized in that: The bracket (2) also includes a swing waist connecting rod (20) and a fixed shaft (21). One end of the swing waist connecting rod (20) is provided with a movable hole (22). The fixed shaft (21) passes through the movable hole (22). There is a movable gap between the inner wall of the movable hole (22) and the fixed shaft (21). The fixed shaft (21) is located on one side of the rotation axis of the first seat (17) and the second seat (18). The fixed shaft (21) is located on the first seat (17) or the second seat (18). Correspondingly, the other end of the swing waist connecting rod (20) is located on the second seat (18) or the first seat (17) and is driven by the eccentric shaft of the rotating part (15) on the same side.

8. A biomimetic crawling mechanism according to claim 6, characterized in that: The first seat (17) or the second seat (18) is provided with a driving device, which drives the first seat (17) and the second seat (18) to rotate relative to each other.

9. A biomimetic crawling mechanism according to claim 8, characterized in that: The first seat (17) or the second seat (18) is equipped with a sensor, and the sensor signal is connected to the control module. The sensor detects the relative rotational position of the first seat (17) and the second seat (18) and the phase of the crawling mechanism (3) during crawling, and then controls the drive device and drive module (1) to achieve coordinated action.

10. A biomimetic crawling mechanism according to claim 1, characterized in that: The fulcrum (10) has a flat hole (24), and the bracket (2) is provided with a limiting shaft (25). The limiting shaft (25) extends into the flat hole (24), and there is a space for movement between the inner wall of the flat hole (24) and the outer wall of the limiting shaft (25). The limiting shaft (25) restricts the rotation of the joint (12) in its circumferential direction.

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