CN103939549A

CN103939549A - Conical movement link mechanism

Info

Publication number: CN103939549A
Application number: CN201310023010.2A
Authority: CN
Inventors: 陈伯均
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-01-22
Filing date: 2013-01-22
Publication date: 2014-07-23

Abstract

The invention discloses a mechanical device capable of effectively converting rotation work of various common engines into conical movement work of a connecting rod and belongs to the field of walking type mechanical technology application. A conical movement link mechanism is characterized by comprising a rack, an eccentric shaft, a bearing, the connecting rod and a universal sleeve. The eccentric shaft rotates to drive the bearing mounted on the inclining part of the eccentric shaft and then drive the connecting rod which is bound by the universal sleeve and located in the middle of the eccentric shaft to conduct reciprocating conical swing. The outer end of the connecting rod can be connected with mechanical legs of various models. The connecting rod swings conically to drive the mechanical legs to step forwards periodically.

Description

The moving linkage mechanism of cone

Technical field

The invention belongs to leg line robot technical applications, be specifically related to a kind of connecting rod that can be converted to rotatablely moving and make the moving linkage mechanism of cone that space taper swings, be mainly used in leg line machinery.

Background technique

At present, because wheeled land row traffic machinery has almost developed into summit, in addition its shortcoming is many, the numerous superiority that have less than upper leg line machinery far away, so how various places all use leg line machinery in research both at home and abroad, wherein march at the forefront of the world with the U.S. and Japan again, the U.S. has developed famous experimental being used on battlefield of heavy burden robot dog.

But, even leg line machinery has been applied to the U.S. on battlefield, also could not work out all popular leg line machinery of practicality of a energy consumption and cost and speed now.Because at present on the market and the various artificial muscles in laboratory and hydraulic pressure installation all exist power and the unpractical problem of energy consumption.Compare current various technology, transmission efficiency is the highest, still no more than mechanical transmission.Mechanical rotation movement wants Efficient Conversion to be the capable motion of taking a step of leg, very difficult beyond doubt.And seriously restrict the reason of this problem, and be exactly the mode of the capable motion of taking a step of leg, compared to rotatablely moving, be too special really.Leg line takes a step to move, and wherein also can be divided into many kinds, such as the bent leg step type of animal, the swinging kick step type of insect etc.

The take a step capable machinery of leg of mode of the bent leg of animal, uses pure mechanical component transmission very difficult undoubtedly, and another kind of swinging kick of creeping as the insect mode of taking a step is taken a step than bent leg simply many undoubtedly.The insect mode of lifting leg while advancing of creeping is decomposed, just can find out when insect swinging kick is taken a step, worm leg is to draw circle in worm body one side in fact.---protract---taking a step---lifts leg, and worm leg is with respect to worm body, in fact just can regard one as and be connected to worm connecting rod with it and do taper in worm body side and swing to lift leg.Thus, swing if can be converted into efficiently the taper similar with worm leg by rotatablely moving, that is very with practical value beyond doubt.

The deficiency of above-mentioned all mechanical devices thus, just high in the urgent need to the real efficiency of one now, can be effectively transform the capable motion of taking a step of leg by rotating, and all practical leg line machinery of complete machine speed and energy consumption and power.

Summary of the invention

Object of the present invention, be to provide one can overcome above-mentioned numerous technological deficiency, and the existing wheel machine part of common segment as far as possible, the capable mechanical core drive switching mechanism of taking a step of leg of practicality with low cost, makes up existing land row traffic machinery deficiency in many aspects thus.The present invention especially suitable applications moves in swinging kick step type.

Technical solution of the present invention is as follows:

The moving linkage mechanism of a kind of cone, is made up of frame, bearing, connecting rod, eccentric shaft and several parts of universal cover.It is characterized in that eccentric shaft is fixed on casing by bearing, eccentric shaft is by the bearing being located thereon, and by the constraint of connecting rod one end, connecting rod middle part is connected in universal putting by bearing, and universal cover two ends are strapped on casing by bearing.

The realization of this technological scheme, is that common engine revolution formula power is rotated by eccentric shaft, transmission of power is arranged in to the bearing of reel updip italic, then is delivered to connecting rod after changing rotating power by bearing.Because connecting rod intermediate portion is fettered by universal cover, so connecting rod self can not rotate, only can, along with the constraint of eccentric shaft rotation and universal cover, constantly do taper and swing, thereby drive the mechanical leg being connected on connecting rod outer end, constantly do swinging kick campaign.This mechanism is assembled on frame more, is equipped with power system and installs the mechanical leg of various models additional, just can obtain myriapod worm type leg swinging utility machine.

Because the present invention is from power plant output work, again through the moving linkage mechanism transmission of cone of the present invention, arrive the mechanical leg part of last acting, all adopt pure mechanical drive mode, so its efficiency will be far above the transfer mode such as hydraulic pressure and fax, and this also makes many legs of myriapod worm type machinery have the huge use value on cost and power, can inexpensive fund, easily and easily produce the polypody leg line machinery of the not defeated wheeled traffic machinery of practicality and carrying capacity.

The leg line machinery of mechanism of the present invention manufacturing is compared advantage with prior art and is:

1. be widely used, can replace or partly replace existing wheeled traffic, the far super wheel machine of using scope.

2. simple in structure, working principle is clear, cheap, processes easyly, can conveniently manufacture the high-speed capable machinery of leg of high-power large carrying capacity.

3. the various wheeled areas that have inconvenient traffic such as pair hills and mine, deep-sea etc., and northern snowy district has unrivaled advantage.

4. can be applied to Aero-Space probe vehicles field, and the leg line engineering machinery of the weather regions with complex terrain such as extraterrestrial, deep-sea.

5. adopt the practical leg line machinery of manufacturing of the present invention, can save in a large number soil, must not spend great strength high cost and divert to plough and build hard surfacing highway, urban road can be afforested completely and do not affected traffic.

6. the present invention can be applicable to toy and small-sized and miniature multi-foot robot field after simplifying, and makes up the multiple shortcoming and defect part of existing leg line toy and small-sized miniature multi-foot robot.

7. adopt the leg line machinery of mechanism of the present invention manufacturing, power system braking system and various parts that can general existing wheel machine, must not develop separately, greatly saves research and development and cost of production, cheaply large-scale production.

Brief description of the drawings

Fig. 1 is Figure of description of the present invention and summary diagram.

Fig. 2 is that the present invention is applied to toy and rough schematic view small-sized and microrobot field

In figure, same type part all has same tag.1. the universal cover of casing 2. bearing 3. connecting rod 4. eccentric shaft 5.

Specific implementation method

Cone shown in Fig. 1 moves linkage mechanism, only need the rotary power of common motor to pass through eccentric shaft, by power by being positioned at the bearing on its tiltler, pass to the connecting rod that is held onto middle part by universal cover, making it constantly do periodically taper along with the rotation of eccentric shaft swings, thereby drive outside to be connected in the mechanical leg on connecting rod, constantly do swinging kick and take a step to move.

This mechanism is assembled on frame more, is equipped with power system and installs mechanical leg additional, just can obtain the capable machinery of the legged practical leg of class worm type polypody swinging kick.

Claims

1. the moving linkage mechanism of cone, formed by frame (1), bearing (2), connecting rod (3), eccentric shaft (4) and several parts of universal cover (5), it is characterized in that eccentric shaft (4) is fixed on casing (1) by bearing (2), eccentric shaft (4) is by being located thereon bearing (2), connecting rod (3) one end is fettered, it is upper that connecting rod (3) middle part is connected in universal cover (5) by bearing (2), and universal cover (5) two ends are strapped on casing (1) by bearing (2).

2. according to the moving linkage mechanism of the cone described in claim 1, it is characterized in that the joint of connecting rod (3) and eccentric shaft (4), be designed to not on the straight line in eccentric shaft (4) axle center, connecting rod (3) place straight line has crossing and one-tenth angle relation with eccentric shaft (4) place, axle center straight line.

3. according to the moving linkage mechanism of cone described in claim 1, it is characterized in that connecting rod (3) and universal cover (5) tie point place straight line, with universal cover (5) and the orthogonal intersection point of casing (1) two-end-point place straight line, be designed to eccentric shaft (4) axle center at same straight line.

4. according to the linkage mechanism described in claim 1, it is characterized in that eccentric shaft (4) constraint connecting rod (3) joint, be designed to tilt between eccentric shaft surface of revolution, its DESIGNED FEATURE is place, the inclination position face that the bearing place of constraint connecting rod is housed on eccentric shaft (4), vertical with connecting rod place straight line.

5. according to the moving linkage mechanism of the cone described in claim 1 or 2, it is characterized in that the angle of place, the axle center straight line of connecting rod (3) place straight line and eccentric shaft (4), can need to regulate its angular dimension according to design.

6. according to the moving linkage mechanism of the cone described in claim 1 or 3, it is characterized in that connecting rod (3) needs only its mechanics principle in universal cover (5) and meets described in claim 3, its shape and size can need to regulate according to design.

7. according to the moving linkage mechanism of cone described in claim 1 or 4, it is characterized in that eccentric shaft (4) as long as identical with mechanism described in claim 4 mechanics principle, its size and dimension can need adjusting according to design.

8. move linkage mechanism as above-mentioned according to cone as described in any one in claim, it is characterized in that universal cover (5) that casing (1) fetters with eccentric shaft (4) as long as can meet the mechanics principle of mechanism described in claims 1 to 3 any one, the shape and size of casing (1) can need to adjust according to design.

9. move linkage mechanism as above-mentioned according to cone as described in any one in claim, its feature also comprises that the bearing (2) at each position can be according to design needs, the kind of bearing and size can be adjusted thereupon, especially in the time being applied to toy or small scale robot and microrobot field, also can cancel bearing, substitute bearing simply by virtue of the lubricating function of material own.

10. a leg line machinery, is characterized in that linkage mechanism feature as claimed in any one of claims 1-9 wherein.