CN1016327B

CN1016327B - Connecting rod-type walking mechanism

Info

Publication number: CN1016327B
Application number: CN 88108967
Authority: CN
Inventors: 谭丙蔚
Original assignee: Individual
Current assignee: Individual
Priority date: 1988-12-29
Filing date: 1988-12-29
Publication date: 1992-04-22
Also published as: CN1043777A

Abstract

The present invention discloses a mechanical leg mechanism capable of vividly converting rotation into the leg movement of walking animals. Each mechanical leg is composed of a five connecting rod mechanism, a four connecting rod mechanism, a crank mechanism, etc.; prime power drives the mechanical legs to make coordinated movement through gear pairs. The present invention can be used for load bearing and traction; the speed per hour can satisfy requirements for engineering vehicles; compared with a wheel type walking mechanism, the present invention has high conversion efficiency (converting prime power into traction force) and favorable pass performance (on complex road surfaces). The present invention provides probability for producing products novel structures in manufacturing industry of toys, puppets, walking mechanisms, agricultural vehicles, traffic vehicles, etc.

Description

Connecting rod-type walking mechanism

The invention belongs to legged walking mechanism.

Present various legged walking mechanism mostly is hydraulic-driven, involves great expense, slow in one's movements, influence widespread use.The wheel type traveling mechanism that is found everywhere now has following weak point:

1. wheel rolls when advancing on the road surface, usually skids " spinning " because of all factors, influences prime power and is converted into propulsive effort or tractive force.

2. the axle of wheel must be entreated between two parties, does not have the through performance the animals such as resembling the oxen and horses.

3. wheel moves in a circle, and is difficult to install certain mechanism additional at wheel and contact position, ground, makes it to climb wall, climbs canopy.

The objective of the invention is to remedy these 3 deficiencies of wheel type traveling mechanism, can change rotation into the walking movement of oxen and horses class animal shank reliably, and economical and practical realization heavy burden, driving and traction, speed per hour can satisfy the requirement of advancing of engineering truck.

Purpose implementation procedure of the present invention is as follows: (seeing accompanying drawing)

Prime motive power drives gear 15 clockwise rotates, and mating gear 14(front and back leg is each one with it) also rotate counterclockwise thereupon.Crank 8, crank 9 connect firmly with gear 14 in the foreleg; Slideway dish 12 is static elements; The crank 13 of band straight slideway connects firmly with crank 7-1; Slide block 11 is set in above two slide grooves running-fit with it, and hinged with bar 10 1 ends; Bar 10 other ends and crank 9 are hinged; The rotation of gear 14 at the uniform velocity is delivered to and crank 8 pivotally attached bars 3 like this, and speed change (because the slideway on the slideway dish is non-circle) reaches and crank 7-1 pivotally attached bar 6.Bar 5 is that rocking bar and bar 6 are hinged, forms four-bar linkage with crank 7-1.Bar 2 one ends are hinged on bar 6 middle parts a bit, and this hinge-point is made non-round variable-speed motion under above said four connecting rods and slideway combined action.Bar 3 is made uniform circular motion with the hinge-point of crank 8.A bit each is hinged with bar 4 in bar 2 and the bar 3, their another end points respectively with the end points of bar 1 and bar 1 in a point articulated composition five-bar mechanism, this is the main body of pedipulator.It under the combined action of the non-round variable-speed motion of bar 2 upper extreme points and bar 3 upper extreme point uniform circular motion, finish leg advanced in years, after move, receive leg, a series of foreleg walking movements resemble the oxen and horses such as move forward, stop over.Back leg does not have members such as crank 13 and 7-1, bar 10, slide block 11, slideway dish 12, crank 9.Bar 6 ends and crank 7-2 in the four-bar linkage are hinged; Bar 3 alternative foreleg bar 2 positions and bar 6 are hinged; And the upper extreme point of bar 2 hinge joint is on fixing pivot pin; Finish under the driving of crank 7-2 stretch one's legs, after move, receive leg, reach walking movement as the back legs of the oxen and horses.

Feature of the present invention is: five-bar mechanism is formed the main body of pedipulator; Four-bar linkage together comes the driving device leg to make walking movement with crank mechanism separately or again; To realize the motion of stopping over of pedipulator foreleg simultaneously with the non-round non-uniform movement that for example special slide block mechanism produces.

Embodiment:

In the model of the present invention, each rod member and crank length, bar middle part hinge-point are as follows apart from the proportional numers of (hereinafter to be referred as the hinge end distance), two pivot centeres distance (hereinafter to be referred as distance of shaft centers) these three contents to the bar two ends: bar 1 is 13; Its hinge end distance is 11 and 2, bar 2 is 13; Its hinge end distance is 7 and 6, bar 3 is 13; Its hinge end distance is 9 and 4, bar 4 is 3, the bar 5 of foreleg is 3, the bar 5 of back leg is 8, bar 6 is 3, crank 7-1 is 1, crank 7-2 and 8 is 1.5, bar 9 is 2, bar 10 is 5.4, the distance of shaft centers of the crank 7-1 of foreleg and crank 8 is 5.4, the bar 2 of back leg and the distance of shaft centers of crank 7-2 are 3.6.Non-slick and sly rail track on the slide rail dish 12 be by bar 2 with the required distance between the moved end point of crank 8 and definite: land when walking at foreleg, the proportional numers of this distance is 5; In the time of will stopping over after foreleg is received the leg reach, its track will guarantee that the speed ratio of crank 8 and crank 7-1 is greater than 1.3.The revolution of gear 14 is that per minute 60 changes.Phase difference between two forelegs or the back leg is 180 °; Phase difference between the leg of front and back is 90 °.The proportional numers of pedipulator walking step pitch is 15.

Characteristics:

1. than wheel type traveling mechanism, bigger (being converted into tractive force by motive power) transformation efficient is arranged.

2. have oxen and horses class animal such pass through performance.

3. install the auxiliary bodies such as electromagnet, sucker, hook additional at the pedipulator hoof, just can pole-climbing, rope climbing, climb wall, climb the perpendicular row such as canopy or face upward row.

4. it is reliable, economical and practical to move.

Accompanying drawing is a structural representation of the present invention.

The drawing reference numeral explanation:

1. the dried bar of leg; 2, go up the leg bar; 3, leg thigh bar; 4, leg chord member; 5, rocking bar; 6, fork; 7-1, crank; 7-2, crank; 8, crank; 9, crank; 10, connecting rod; 11, slide block; 12, slideway dish; 13, straight slideway crank; 14, shank gear; 15, sun gear.

Claims

1, a kind of connecting rod-type walking mechanism, each flower wheel 14 of the front and back leg that one rotor wheel 15 is arranged and be meshed with it, it is characterized in that: the front and back leg is all by a bit respectively hinged with bar 4 in bar 2 and the bar 3, the upper extreme point of bar 2 lower extreme points and bar 1 is hinged, bar 3 lower extreme points and bar 1 top one point articulated composition five-bar mechanism, this is the main body of each pedipulator, the upper extreme point of back leg bar 2 is hinged on fixedly on the pivot pin, bar 3 upper extreme points are hinged on bar 6 middle parts a bit, crank 7-2 by wheel 14 drives, fork 6, rocking bar 5, form four-bar linkage and drive the back leg walking, foreleg bar 2 upper extreme points and bar 6 middle parts one are point articulated, and bar 5 bars 6 are formed four-bar linkage with crank 7-1; Bar 3 upper extreme points are hinged with the crank 8 that wheel 14 drives; The common foreleg that drives is walked, wherein the motion of crank 7-1 is by the slide block 11 on the crank 13 of the band straight slideway that connects firmly with it, hinged with bar 10 1 ends, bar 10 other ends are realized with the transmission of taking turns 14 crank 9 each part of pivotally attached that drive, the straight slideway and having that slide block 11 is set in crank 13 can produce in slideway dish 12 those two slide grooves crank slot and static that foreleg moves like that, when walking, the phase difference between two forelegs or the back leg is 180 °.