CN102951221A - Internally engaged split leg type stepping wheel - Google Patents
Internally engaged split leg type stepping wheel Download PDFInfo
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- CN102951221A CN102951221A CN2012104899277A CN201210489927A CN102951221A CN 102951221 A CN102951221 A CN 102951221A CN 2012104899277 A CN2012104899277 A CN 2012104899277A CN 201210489927 A CN201210489927 A CN 201210489927A CN 102951221 A CN102951221 A CN 102951221A
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- driving wheel
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- leg bar
- crank
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Abstract
The invention provides an internally engaged split leg type stepping wheel, belonging to the technical field of bio-simulation machinery. The internally engaged split leg type stepping wheel comprises a main shaft, fixed wheels, driving wheels, crankshafts and leg rods; the fixed wheels of two external gears are fixedly arranged on a rack; the main shaft is coaxial with the fixed wheels and passes through the fixed wheels; the main shaft at two sides of the fixed wheels is respectively connected with the two crankshafts; the phase positions of the two crankshafts are opposite and the two cranks are respectively connected with the driving wheels of the two internal gears; the two driving wheels are respectively engaged with the two fixed wheels; two leg rods are arranged on each driving wheels along the diameter direction; and the diameters of the leg rods of the two wheels are vertical to each other. When the stepping wheel moves, the main shaft drives the two driving wheels to rotate around the fixed wheels; so that the leg rods are in contact with the ground in sequence to produce stepping action. The internally engaged split leg type stepping wheel provided by the invention simplifies the transmission mechanism with has a semi-rotating stepping wheel by adopting internal engagement and transmission; the movement interference of the leg rods is avoided by adopting split two legs, thus, the length of the leg rods is not limited, and the application range of the semi-rotating stepping wheel can be enlarged.
Description
Technical field
The invention belongs to the bionic mechanical technical field, be specifically related to a kind of interior engagement and split leg formula walking wheel.
Background technology
Utilize half rotation mechanism can consist of walking wheel relatively simple for structure, can be used for cross-country traveling walking robot or walking vehicle, such as the walking mechanism of patent No. ZL200510040830.8 Chinese patent rotary walking wheel and patent No. ZL200910263070.5 Chinese patent double straight rod leg walking wheel.But half rotation mechanism that uses in the above-mentioned patent adopts the external toothing transmission, and its drive disk assembly is more, complicated structure.The present invention has changed complicated external toothing transmission scheme, meshing schemes in proposing; And only split form about two legs with one-level half rotation mechanism, thereby the structure of walking wheel is simplified, and avoided the long restriction of leg, strengthened the practicality of walking wheel.
Summary of the invention
The purpose of this invention is to provide a kind of interior engagement and split leg formula walking wheel, to simplify the transmission device of existing half way around walking wheel, enlarge the field of application of half way around walking wheel.
Interior engagement provided by the present invention splits leg formula walking wheel and comprises frame 1, main shaft 7, the first fixed wheel 5 and the second fixed wheel 15, the first driving wheel 3 and the second driving wheel 11, the first crank 8 and the second crank 13, the first driving wheel axle casing 4 and the second driving wheel axle casing 12, first axis of a movable block 6 and second axis of a movable block 14, the first leg bar 2, the second leg bar 9, the 3rd leg bar 10, the 4th leg bar 16; Described the first fixed wheel 5 is the identical external gears of diameter with the second fixed wheel 15, described the first fixed wheel 5 and the second fixed wheel 15 coaxial-symmetricals also are fixed on the both sides of described frame 1, described main shaft 7 is coaxial with described the first fixed wheel 5 and the second fixed wheel 15, and described main shaft 7 passes from the axial hole of described the first fixed wheel 5 and the second fixed wheel 15; Described the first crank 8 is on the right side of described the first fixed wheel 5, described the second crank 13 is in the left side of described the second fixed wheel 15, the single spin-echo of described the first crank 8 and the second crank 13, one end and the described main shaft 7 of described the first crank 8, the second crank 13 are connected, and the other end of described the first crank 8, the second crank 13 is connected with described first axis of a movable block 6, second axis of a movable block 14 respectively; Described first axis of a movable block 6, second axis of a movable block 14 are connected with described the first driving wheel axle casing 4, the second driving wheel axle casing 12 by bearing respectively, and described the first driving wheel axle casing 4, the second driving wheel axle casing 12 are connected with described the first driving wheel 3, the second driving wheel 11 respectively; Described the first driving wheel 3, the second driving wheel 11 are inner geares, the equal diameters of described the first driving wheel 3, the second driving wheel 11; The diameter of described the first driving wheel 3 is twices of the diameter of described the first fixed wheel 5; Described the first driving wheel 3 and the second driving wheel 11 respectively with described the first fixed wheel 5 and the 15 interior engagements of the second fixed wheel; Described the first leg bar 2, the second leg bar 9 are connected along diametric(al) and described first driving wheel 3 of described the first driving wheel 3, described the 3rd leg bar 10, the 4th leg bar 16 are connected along diametric(al) and described second driving wheel 11 of described the second driving wheel 11, and the diametric(al) of first driving wheel 3 at described the first leg bar 2, the second leg bar 9 places is mutually vertical with the diametric(al) of second driving wheel 11 at described the 3rd leg bar 10, the 4th leg bar 16 places.
The first fixed wheel 5 and the second fixed wheel 15 that coaxial-symmetrical is installed in frame 1 both sides are motionless, main shaft 7 passes from the axial hole of the first fixed wheel 5 and the second fixed wheel 15, be connected respectively at the outside of the first fixed wheel 5 and the second fixed wheel 15 the first crank 8 and the second crank 13 and be installed on the main shaft 7, the single spin-echo of the first crank 8 and the second crank 13 during installation, the first driving wheel 3 and the second driving wheel 11 are fixed with one with the first driving wheel axle casing 4 and the second driving wheel axle casing 12 respectively, and be installed in respectively on the first crank 8 and the second crank 13 by first axis of a movable block 6 and second axis of a movable block 14, the first driving wheel 3 and the second driving wheel 11 respectively with the first fixed wheel 5 and the 15 interior engagements of the second fixed wheel, the first leg bar 2 and the second leg bar 9 are installed in the lateral surface of the first driving wheel 3 along diametric(al), the 3rd leg bar 10 and the 4th leg bar 16 are installed in the lateral surface of the second driving wheel 11 along diametric(al), the first leg bar 2 is mutually vertical with the 4th leg bar 16 place diameters with the 3rd leg bar 10 with the second leg bar 9 place diameters.
Driven by engine main shaft 7 rotates, drive respectively the first driving wheel 3 and 11 rotations of the second driving wheel by the first crank 8 and the second crank 13 again, simultaneously because the interior engagement of the first driving wheel 3 and the second driving wheel 11 and the first fixed wheel 5 and the second fixed wheel 15, and the diameter of the first driving wheel 3 and the second driving wheel 11 equals the twice of the first fixed wheel 5 or the second fixed wheel 15, make the first driving wheel 3 and the second driving wheel 11 produce half cireular frequency of the identical and big or small rotating speed that only has main shaft 7 of rotation direction with main shaft 7, the motion of the first driving wheel 3 and the second driving wheel 11 drives respectively the first leg bar 2, the second leg bar 9 and the 3rd leg bar 10,16 motions of the 4th leg bar, because the 3rd leg bar 10, the 4th leg bar 16 and the first leg bar 2, the second leg bar 9 is vertical, and the single spin-echo of the first driving wheel 3 and the second driving wheel 11 finally produces the walking effect that leg bar and ground alternately contact.
Advantage of the present invention is:
1, simple in structure, interior engaged transmission has been simplified the transmission device of existing half way around walking wheel.
2, two legs split the movement interference of having avoided the leg bar, make the length of leg bar unrestricted, can enlarge the field of application of half way around walking wheel.
Description of drawings
Fig. 1 is the left TV structure schematic diagram of walking wheel of the present invention;
Fig. 2 is the structural representation of facing of walking wheel of the present invention.
Among the figure: 1: frame, 2: the first leg bars, 3: the first driving wheels, 4: the first driving wheel axle casings, 5: the first fixed wheels, 6: the first axis of a movable block, 7: main shaft, 8: the first cranks, 9: the second leg bars, 10: the three leg bars, 11: the second driving wheels, 12: the second driving wheel axle casings, 13: the second cranks, 14: the second axis of a movable block, 15: the second fixed wheels, 16: the four leg bars.
The specific embodiment
The interior engagement of the present invention splits leg formula walking wheel and comprises frame 1, main shaft 7, the first fixed wheel 5 and the second fixed wheel 15, the first driving wheel 3 and the second driving wheel 11, the first crank 8 and the second crank 13, the first driving wheel axle casing 4 and the second driving wheel axle casing 12, first axis of a movable block 6 and second axis of a movable block 14, the first leg bar 2, the second leg bar 9, the 3rd leg bar 10, the 4th leg bar 16.The first fixed wheel 5 is the identical external gears of diameter with the second fixed wheel 15, and the first fixed wheel 5 and the second fixed wheel 15 coaxial-symmetricals are installed in the both sides of frame 1.Main shaft 7 is coaxial with the first fixed wheel 5 and the second fixed wheel 15, and passes from the axial hole of the first fixed wheel 5 and the second fixed wheel 15.The first crank 8 and the second crank 13 are connected on the main shaft 7 in the outside of the first fixed wheel 5 and the second fixed wheel 15 respectively, will guarantee the single spin-echo of the first crank 8 and the second crank 13 during installation.The other end of the first crank 8 is equipped with first axis of a movable block 6, the other end of the second crank 13 is equipped with second axis of a movable block 14, first axis of a movable block 6 and second axis of a movable block 14 are installed on the first driving wheel axle casing 4 and the second driving wheel axle casing 12 with bearing respectively, and the first driving wheel axle casing 4 and the second driving wheel axle casing 12 are connected in respectively on the first driving wheel 3 and the second driving wheel 11.The first driving wheel 3 and the second driving wheel 11 are inner geares, and the diameter of the first driving wheel 3 and the second driving wheel 11 all equals the twice of the diameter of the first fixed wheel 5, the first driving wheel 3 and the second driving wheel 11 respectively with the first fixed wheel 5 and the 15 interior engagements of the second fixed wheel.The first leg bar 2 and the second leg bar 9 are installed in the lateral surface of the first driving wheel 3 along diametric(al), the 3rd leg bar 10 and the 4th leg bar 16 are installed in the lateral surface of the second driving wheel 11 along diametric(al), will guarantee during installation that the first leg bar 2 is mutually vertical with the 4th leg bar 16 place diameters with the 3rd leg bar 10 with the second leg bar 9 place diameters.
Driven by engine main shaft 7 rotates, drive respectively the first driving wheel 3 and 11 rotations of the second driving wheel by the first crank 8 and the second crank 13 again, simultaneously because the interior engagement of the first driving wheel 3 and the second driving wheel 11 and the first fixed wheel 5 and the second fixed wheel 15, and the diameter of the first driving wheel 3 and the second driving wheel 11 equals the twice of the first fixed wheel 5 and the second fixed wheel 15, makes the first driving wheel 3 and the second driving wheel 11 produce half cireular frequency of the identical and big or small rotating speed that only has main shaft 7 of rotation direction with main shaft 7.The motion of the first driving wheel 3 and the second driving wheel 11 drives respectively the first leg bar 2, the second leg bar 9 and the 3rd leg bar 10,16 motions of the 4th leg bar, because the 3rd leg bar 10, the 4th leg bar 16 and the first leg bar 2, the second leg bar 9 are vertical, and the single spin-echo of the first driving wheel 3 and the second driving wheel 11 finally produces the walking effect that leg bar and ground alternately contact.
Claims (1)
1. engagement splits leg formula walking wheel in one kind, it is characterized in that described walking wheel comprises frame (1), main shaft (7), the first fixed wheel (5) and the second fixed wheel (15), the first driving wheel (3) and the second driving wheel (11), the first crank (8) and the second crank (13), the first driving wheel axle casing (4) and the second driving wheel axle casing (12), first axis of a movable block (6) and second axis of a movable block (14), the first leg bar (2), the second leg bar (9), the 3rd leg bar (10), the 4th leg bar (16); Described the first fixed wheel (5) is the identical external gear of diameter with the second fixed wheel (15), described the first fixed wheel (5) and the second fixed wheel (15) coaxial-symmetrical also are fixed on the both sides of described frame (1), described main shaft (7) is coaxial with described the first fixed wheel (5) and the second fixed wheel (15), and described main shaft (7) passes from the axial hole of described the first fixed wheel (5) and the second fixed wheel (15); Described the first crank (8) is on the right side of described the first fixed wheel (5), described the second crank (13) is in the left side of described the second fixed wheel (15), the single spin-echo of described the first crank (8) and the second crank (13), one end of described the first crank (8), the second crank (13) and described main shaft (7) are connected, and the other end of described the first crank (8), the second crank (13) is connected with described first axis of a movable block (6), second axis of a movable block (14) respectively; Described first axis of a movable block (6), second axis of a movable block (14) are connected with described the first driving wheel axle casing (4), the second driving wheel axle casing (12) by bearing respectively, and described the first driving wheel axle casing (4), the second driving wheel axle casing (12) are connected with described the first driving wheel (3), the second driving wheel (11) respectively; Described the first driving wheel (3), the second driving wheel (11) they are inner geares, the equal diameters of described the first driving wheel (3), the second driving wheel (11), and the diameter of described the first driving wheel (3) is the twice of the diameter of described the first fixed wheel (5); Described the first driving wheel (3) and the second driving wheel (11) mesh respectively with in described the first fixed wheel (5) and the second fixed wheel (15); Described the first leg bar (2), the second leg bar (9) are connected along diametric(al) and described first driving wheel (3) of described the first driving wheel (3), described the 3rd leg bar (10), the 4th leg bar (16) are connected along diametric(al) and described second driving wheel (11) of described the second driving wheel (11), and the diametric(al) of first driving wheel (3) at described the first leg bar (2), the second leg bar (9) place is mutually vertical with the diametric(al) of second driving wheel (11) at described the 3rd leg bar (10), the 4th leg bar (16) place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210489927.7A CN102951221B (en) | 2012-11-27 | 2012-11-27 | Internally engaged split leg type stepping wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210489927.7A CN102951221B (en) | 2012-11-27 | 2012-11-27 | Internally engaged split leg type stepping wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102951221A true CN102951221A (en) | 2013-03-06 |
| CN102951221B CN102951221B (en) | 2014-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210489927.7A Expired - Fee Related CN102951221B (en) | 2012-11-27 | 2012-11-27 | Internally engaged split leg type stepping wheel |
Country Status (1)
| Country | Link |
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| CN (1) | CN102951221B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105882782A (en) * | 2016-05-19 | 2016-08-24 | 吉林大学 | Bionic low-vibration walking wheel |
| CN107054493A (en) * | 2017-04-01 | 2017-08-18 | 济南大学 | A kind of adjustable biped bar polypody wheel |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4862980A (en) * | 1988-10-06 | 1989-09-05 | Quest Systems, Inc. | Walking machine |
| JPH07227482A (en) * | 1994-02-21 | 1995-08-29 | Takara Co Ltd | Bipedalism robot |
| JPH10249755A (en) * | 1997-03-14 | 1998-09-22 | Sony Corp | Robot device |
| CN101708745A (en) * | 2009-12-16 | 2010-05-19 | 安徽工业大学 | Double straight rod leg walking wheel |
| CN202138434U (en) * | 2011-05-05 | 2012-02-08 | 西北工业大学 | Simulation jumping mechanism with adjustable jumping degree |
| CN202201079U (en) * | 2011-08-03 | 2012-04-25 | 浙江大学 | Hopping robot based on rotating-disc cylindrical-pin driving mechanism |
-
2012
- 2012-11-27 CN CN201210489927.7A patent/CN102951221B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4862980A (en) * | 1988-10-06 | 1989-09-05 | Quest Systems, Inc. | Walking machine |
| JPH07227482A (en) * | 1994-02-21 | 1995-08-29 | Takara Co Ltd | Bipedalism robot |
| JPH10249755A (en) * | 1997-03-14 | 1998-09-22 | Sony Corp | Robot device |
| CN101708745A (en) * | 2009-12-16 | 2010-05-19 | 安徽工业大学 | Double straight rod leg walking wheel |
| CN202138434U (en) * | 2011-05-05 | 2012-02-08 | 西北工业大学 | Simulation jumping mechanism with adjustable jumping degree |
| CN202201079U (en) * | 2011-08-03 | 2012-04-25 | 浙江大学 | Hopping robot based on rotating-disc cylindrical-pin driving mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 汪永明，余晓流，汪丽芳，汤文成: "轮腿式步行机构设计及其运动仿真", 《现代制造工程》, no. 2, 28 February 2010 (2010-02-28) * |
| 王孝义，梅林林，陈富强，邱支振: "类两足步行机构及其运动几何特征分析与应用", 《机械科学与技术》, vol. 30, no. 6, 30 June 2011 (2011-06-30) * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105882782A (en) * | 2016-05-19 | 2016-08-24 | 吉林大学 | Bionic low-vibration walking wheel |
| CN105882782B (en) * | 2016-05-19 | 2018-01-30 | 吉林大学 | The bionical low walking wheel that shakes |
| CN107054493A (en) * | 2017-04-01 | 2017-08-18 | 济南大学 | A kind of adjustable biped bar polypody wheel |
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| Publication number | Publication date |
|---|---|
| CN102951221B (en) | 2014-10-08 |
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Granted publication date: 20141008 Termination date: 20151127 |