CN104058015B - A kind of heavy burden jump device of motorized shifting gear five-rod - Google Patents
A kind of heavy burden jump device of motorized shifting gear five-rod Download PDFInfo
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- CN104058015B CN104058015B CN201410299484.4A CN201410299484A CN104058015B CN 104058015 B CN104058015 B CN 104058015B CN 201410299484 A CN201410299484 A CN 201410299484A CN 104058015 B CN104058015 B CN 104058015B
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Abstract
The invention discloses a kind of heavy burden jump device of motorized shifting gear five-rod. By driving mechanism, operating-controlling mechanism, transmission mechanism, hopping mechanism composition. The motion of operating-controlling mechanism manipulation hopping mechanism; Driving mechanism provides power using engine as power source; Transmission mechanism adopts Gear-Five, for hopping mechanism provides periodically and fulminant speed and energy. Wherein in Gear-Five, be installed with spring, the energy of realizing when starting the energy storage in early stage and landing discharges. Skyborne balance and landing steadily when ensureing to jump, hopping mechanism adopts double-legged skeleton and fore arc rubber blanket is installed and is synchronized with the movement, and rubber blanket is used for cushioning absorbing as sole. Jump device mobility is good, has the strong ability that adapts to complicated rugged topography; Kinematic dexterity is large, can realize vertical jump in succession operation, for complex environment provides transport capacity; Also can be used as a kind of novel extreme sport equipment.
Description
Technical field
The present invention relates to a kind of heavy burden jump device, specifically, relate to a kind of motorized shifting gear five barsThe heavy burden jump device of mechanism.
Background technology
Along with the reinforcement of the work such as geological exploration, forest protection, rescue and relief work, even to extreme sport requirementRaising, existing manned loading mobile equipment is also not enough to satisfy the demands completely. So existing market stillNeed to have suitable manned loading mobile equipment can adapt to non-structured, unknown working environment completes respectivelyKind complexity, highly difficult, even dangerous travel task. Scientific research personnel is scrutinizing someAfter structure, motion mode and the control mode of animal body system, various bionical machines are designed fineDevice people, some feature and the instinct of imitating animal complete some special action and task.
The mechanical body part that jumps is bouncing mechanism. Bouncing mechanism can roughly be divided into and utilizes elastic force, inertiaThe bouncing mechanism of the power springs such as power, aerodynamic force, combustion power. Hopping robot again can be by its bounce motionThe difference of mechanism is divided into general flip-over type and the large class of bionical great-jump-forward two.
Bionical great-jump-forward is to obtain inspiration from the jump action of nature animal, imitates the limb motion of animalStructure or the machine of developing by animal jumping mechanism. As machine cricket, machine kangaroo, mechanical horse etc.Their feature is that the free degree is many, motion flexibly, adaptable to environment, but its jumping needsMulti-joint collaborative work, realizes stable motion difficulty larger. Except the U.S. and Japan, also there is other state at presentThe research institution of family is in the research of carrying out related content, but research purpose and mode are different. The bullet of the U.S.Jumping research institution's research purpose is to be mainly space probation and Military Application service, and Japan biases toward machinePet and intelligent robotic toy.
Aspect hopping robot research, CWRU of the U.S. develops a kind of real with inflation artificial-muscleThe machine cricket of existing bounce motion; State aviation NASA jet power laboratory and California technologyInstitute's joint research and development goes out a kind of frog shape spring machine, to solve a difficult problem for celestial body surface obstacle detouring in space exploration. MassachusettsThe Institute of Technology and Tokyo polytechnical university are respectively at a kind of imitative kangaroo of pneumatic control of research and single leg of imitative dogJump machine mould. Boston utility companies is that the robot dog of AUS development is exactly the representative in this field.
In existing disclosed document, manned loading equipment is to be all applicable to general road conditions road substantially both at home and abroadFace situation. As patent CN2263614 " a kind of Multifunction carrying hand cart ", be a kind of wheel-type hand carts and for carryThe device of thing; Patent CN2268663 " a kind of Caterpillar carrier ", is a kind of track structure, is applicable toMulti-form ladder. Existing loading equipment is all only applicable to general road, in without road surface situation, as sandThe areas such as ground, hilly and mountainous land, marshland, loading equipment is slightly inadequate. According in bionics to kangaroo healthResearch, find that jump machine is stronger to ground adaptive capacity, jump machine does not need continuous smooth roadFace, as long as there is suitable foothold, can easily advance; Soft for having ladder obstacle, ditch, groundSituation under, also can continuous operation; The stored energy mechanism of jump machinery utilization itself can improve energy effectivelyUtilization rate.
Summary of the invention
The deficiency existing for fear of prior art, the present invention proposes a kind of motorized shifting gear five-rodHeavy burden jump device. Jump device has the strong ability that adapts to complicated rugged topography; Kinematic dexterity is large,Consume energy low, and have initiatively function of shock insulation.
The technical solution adopted for the present invention to solve the technical problems is: comprise operating-controlling mechanism, driving mechanism, biographyActuation mechanism, hopping mechanism, described operating-controlling mechanism comprises handlebar, instrument board, vehicle seat, back seat, leading frame, vehicle frame, exhaustPipe, handlebar and instrument board are arranged on leading frame, are positioned at vehicle seat front portion, and leading frame, vehicle seat and back seat are by carFrame and blast pipe support;
Described driving mechanism comprises fuel tank, carburetor, and storage battery, engine, fuel tank is fixed on below-seat,Engine is arranged on Vehicular body front, and carburetor, storage battery are fixed between fuel tank and engine;
Described transmission mechanism comprise hinge wheel, minor sprocket, chain, crank, connecting rod, tooth bar, gear wheel,Pinion, front axle, rear axle, sector gear, front axle is with rear axle by the parallel installation of link, and minor sprocket is solidFix on engine output shaft, hinge wheel is arranged on crank axle, and minor sprocket and hinge wheel be by chain drive,Crank is connected to the crank axle other end, and crank and connecting rod one end are hinged, and the other end and the tooth bar of connecting rod are connected,Gear wheel is fixed on the middle part of front axle, and coaxially install the both sides that two pinions are positioned at gear wheel, twoPinion engages with two sector gears that are arranged on rear axle, and tooth bar engages with gear wheel, and gear wheel drivesFront axle rotates, and driving pinion engages rotation, the rotation of sector gear drive rear axle, realization with sector gearThe power transmission of transmission mechanism;
Described hopping mechanism is two parts that structure is identical, and symmetry is arranged on the both sides of transmission mechanism, jumpsMechanism is made up of front large leg support, little leg support, rear large leg support, connecting rod, pin skeleton, rubber blanket, spring;Front large leg support and front axle one end are connected, and the front large leg support other end and shank frame one end are hinged, rear large leg support and rear axleOne end is connected, and the rear large leg support other end and connecting rod one end are hinged, another of the other end of little leg support and connecting rodHold hingedly, and be connected with pin skeleton one end, rubber blanket and the pin skeleton other end are installed by bolt, springTwo ends are connected in respectively the pin joint place of front large leg support and little leg support and the pin joint of rear large leg support and connecting rodPlace, for accumulation of energy, release.
Rubber blanket is arcuate structure, is used for cushioning absorbing as sole.
Beneficial effect
The heavy burden jump device of a kind of motorized shifting gear five-rod that the present invention proposes. By driving mechanism,Operating-controlling mechanism, transmission mechanism, hopping mechanism composition; The motion of operating-controlling mechanism control hopping mechanism; Driving mechanismProvide power using engine as power source; Transmission mechanism adopts sprocket wheel chain, crank connecting link and rack-and-pinionInstall and connect, for hopping mechanism provides periodically and fulminant speed and energy. Wherein, in driverIn structure, add spring, realize the energy absorption when starting the energy storage in early stage and landing. Jump device mobilityGood, there is the strong ability that adapts to complicated rugged topography. Due to basing oneself upon of wheeled or caterpillar type robot motionPoint must be continuous, and it must face the nearly all point in the worst landform. And legged type robot motionFoothold is discrete, can on the ground arriving, select the optimum strong point, to the adaptability of complex-terrainStronger, can and cross over larger obstacle by soft terrain, and also also very little to the destructiveness of environment.
Jump device kinematic dexterity is large, has initiatively function of shock insulation. Legged type robot has multiple frees degree, permitsDedicate oneself to body and sufficient movement locus decoupling zero, so even if ground is uneven, but the motion of its health still can tenDivide steadily.
The speed that jump device advances on uneven ground is also very fast, if wheeled vehicle is 5～8km/h, and crawler beltCar is 8～16km/h, and sufficient formula device can be up to 56km/h.
The present invention's device adaptive faculty that jumps is strong, and can realize vertical jump in succession, and adapt to the operation of different road surfaces, forComplex environment provides transport capacity; Also can be used as a kind of novel extreme sport equipment.
Brief description of the drawings
Below in conjunction with drawings and embodiments, the heavy burden of a kind of motorized shifting gear five-rod of the present invention is jumpedThe device that jumps is described in further detail.
Fig. 1 is the heavy burden jump device schematic diagram of the motorized shifting gear five-rod of the present invention.
Fig. 2 is the present invention's jump apparatus structure front view that bears a heavy burden.
Fig. 3 is the bear a heavy burden transmission mechanism schematic diagram of jump device of the present invention.
Fig. 4 is the bear a heavy burden hopping mechanism schematic diagram of jump device of the present invention.
Fig. 5 is the present invention's jump device energy storage take-off view of bearing a heavy burden.
Fig. 6 is the bear a heavy burden view of prancing of jump device of the present invention.
Fig. 7 is the bear a heavy burden view that lands of jump device of the present invention.
In figure:
1. rear large leg support 8. connecting rods of handlebar 2. instrument board 3. carburetor 4. storage battery 5. vehicle seat 6. back seat 7.9. front large leg support 13. engine 14. vehicle frame 15. blast pipes of pin skeleton 10. rubber blanket 11. shank frame 12.16. leading frame 17. fuel tank 18. spring 19. hinge wheel 20. chain 21. minor sprocket 22. tooth bar 23. cranks24. connecting rod 25. gear wheel 26. pinion 27. front axle 28. rear axle 29. sector gears
Detailed description of the invention
The present embodiment is a kind of heavy burden jump device of motorized shifting gear five-rod.
Consult Fig. 1～Fig. 4, the present embodiment heavy burden jump device by operating-controlling mechanism, driving mechanism, transmission mechanism,Hopping mechanism composition, operating-controlling mechanism is by handlebar 1, instrument board 2, vehicle seat 5, back seat 6, blast pipe 15, dragonThe headstock 16, vehicle frame 14 form, and handlebar and instrument board are arranged on leading frame and are positioned at vehicle seat front portion, and handlebar 1 is logicalCross bolt and be arranged on leading frame 16, instrument board 2 is installed between handlebar 1. Tap frame, vehicle seat and back seatSupported by vehicle frame 14 and blast pipe 15.
Driving mechanism is made up of fuel tank 17, carburetor 3, storage battery 4, engine 13, and engine 13 provides movingPower, engine 13 is fixed on Vehicular body front and installs by bolt and vehicle frame 14, and engine 13 is provided with aboveBlast pipe 15, for damping noise reduction, the other end of blast pipe 15 extends to back seat 6. The fixing peace of fuel tank 17Be contained in below vehicle seat 5, carburetor 3, storage battery 4 are fixedly mounted between fuel tank 17 and engine 13.
The transmission mechanism of the present embodiment comprises hinge wheel 19, minor sprocket 21, chain 20, crank 23, connecting rod24, tooth bar 22, gear wheel 25, pinion 26, front axle 27, rear axle 28, sector gear 29, front axle 27By the parallel installation of link, minor sprocket 21 is fixed on engine 13 output shafts with rear axle 28, as movingThe input of power, hinge wheel 19 is arranged on crank axle, and minor sprocket 21 passes through chain 20 with hinge wheel 19Transmission, crank 23 is connected to the crank axle other end, and crank 23 is hinged with connecting rod 24 one end, connecting rod 24The other end is fixedly connected with tooth bar 22, and gear wheel 25 is fixedly mounted on the middle part of front axle 27, and two littleGear 26 is fixed on the both sides of gear wheel 25, and coaxial-symmetrical installs, two pinions 26 be arranged on afterTwo sector gears 29 on axle 28 engage, and tooth bar 22 engages with gear wheel 25, before gear wheel 25 drivesAxle 27 rotates, and driving pinion 26 engages rotation with sector gear 29, and sector gear 29 drives rear axle28 rotate, and realize the power transmission of transmission mechanism.
In the present embodiment, hopping mechanism is two, and two identical hopping mechanism symmetries of structure are arranged on driverThe both sides of structure; Hopping mechanism is by front large leg support 12, shank frame 11, rear large leg support 7, connecting rod 8, pin boneFrame 9, rubber blanket 10, spring 18 form; Front large leg support 12, rear large leg support 7 and connecting rod 8 are thin plateShape rod member, is evenly distributed with loss of weight circular hole on lamellar rod member, rod member edges at two ends is taking straight-bar width as diameterSemicircular arc, front large leg support 12 is successively decreased according to rod member length with rear large leg support 7 width, connecting rod 8 is wideDegree bar. Shank frame 11 two ends are the thin plate with installing hole, and centre is cylindrical bar. Front large leg support 12 one end are logicalCross bolt and front axle 27 one end are connected, by receiving the power of front axle 27, front large leg support 12 is rotated, frontLarge leg support 12 other ends and shank frame 11 one end are hinged, and rear large leg support 7 is connected with rear axle 28 one end, rear largeLeg support 7 other ends and connecting rod 8 one end are hinged, the other end hinge of the other end of shank frame 11 and connecting rod 8Connect, and be fixedly connected with pin skeleton 9 one end, rubber blanket 10 is installed by bolt with pin skeleton 9. Spring18 two ends are connected in respectively the pin joint place of front large leg support 12 and shank frame 11 and rear large leg support 7 and are connectedThe pin joint place of bar 8, for accumulation of energy, release. In hopping mechanism, the installation connected mode of each part has formedThe five-rod of closed loop. Skyborne balance and landing steadily when ensureing to jump, hopping mechanism adopts both feetSkeleton 9 is synchronized with the movement, and the rubber blanket 10 that is arranged on double-legged skeleton 9 front portions is arcuate structure, uses as soleIn buffering absorbing.
As shown in Figure 5, jump device is in the time of energy storage take-off state, and hinge wheel 19 is accepted from engine 13Power, is rotated counterclockwise, thereby drives crank 23 to rotate, and tooth bar 22 is moved forward. Now, gear wheel25 are rotated counterclockwise, and drive front axle 27 to be rotated counterclockwise and the clockwise rotating of sector gear 29. Front axle 27Rotate front large leg support 12 is produced to a counterclockwise moment, it is rotated counterclockwise, front large leg support 12And the angle between shank frame 11 reduces. Sector gear 29 clockwise rotates, and rear axle 28 is clockwise rotated,Rear large leg support 7 is produced to a clockwise moment, rear large leg support 7 is clockwise rotated, rear large leg support 7 withAngle between connecting rod 8 reduces. Now, spring 18, in extended state, has been realized accumulation of energy process, forTake-off provides energy. Rubber blanket 10 in ground contact state.
As shown in Figure 6, jump device is in the time prancing state, and spring 18 releases energy and in compressive state,Front large leg support 12 all increases with the angle of connecting rod 8 with angle and the rear large leg support 7 of shank frame 11. Meanwhile,Pin skeleton 9 departs from ground with rubber blanket 10, and jump device soars. Jump device soars in process, by behaviourThe swing of vertical personnel control realizes the adjustment of whole device center of gravity.
As shown in Figure 7, jump device is in the time landing state, and pin skeleton 9 contacts with ground with rubber blanket 10,Between pin skeleton 9 and connecting rod 8, shank frame 11, relatively rotate, make front large leg support 12 and little leg supportAngle between angle between 11 and rear large leg support 7 and connecting rod 8 reduces gradually; Meanwhile, spring 18 byGradually stretch, whole device stops falling on the ground, and enters next jump process.
Claims (2)
1. a heavy burden jump device for motorized shifting gear five-rod, is characterized in that: comprise manipulation machineStructure, driving mechanism, transmission mechanism, hopping mechanism, described operating-controlling mechanism comprise handlebar, instrument board, vehicle seat,Back seat, leading frame, vehicle frame, blast pipe, handlebar and instrument board are arranged on leading frame, are positioned at vehicle seat front portion,Tap frame, vehicle seat and back seat are supported by vehicle frame and blast pipe;
Described driving mechanism comprises fuel tank, carburetor, and storage battery, engine, fuel tank is fixed on below-seat,Engine is arranged on Vehicular body front, and carburetor, storage battery are fixed between fuel tank and engine;
Described transmission mechanism comprise hinge wheel, minor sprocket, chain, crank, connecting rod, tooth bar, gear wheel,Pinion, front axle, rear axle, sector gear, front axle is with rear axle by the parallel installation of link, and minor sprocket is solidFix on engine output shaft, hinge wheel is arranged on crank axle, and minor sprocket and hinge wheel be by chain drive,Crank is connected to the crank axle other end, and crank and connecting rod one end are hinged, and the other end and the tooth bar of connecting rod are connected,Gear wheel is fixed on the middle part of front axle, and coaxially install the both sides that two pinions are positioned at gear wheel, twoPinion engages with two sector gears that are arranged on rear axle, and tooth bar engages with gear wheel, and gear wheel drivesFront axle rotates, and driving pinion engages rotation, the rotation of sector gear drive rear axle, realization with sector gearThe power transmission of transmission mechanism;
Described hopping mechanism is two parts that structure is identical, and symmetry is arranged on the both sides of transmission mechanism, jumpsMechanism is made up of front large leg support, little leg support, rear large leg support, connecting rod, pin skeleton, rubber blanket, spring;Front large leg support and front axle one end are connected, and the front large leg support other end and shank frame one end are hinged, rear large leg support and rear axleOne end is connected, and the rear large leg support other end and connecting rod one end are hinged, another of the other end of little leg support and connecting rodHold hingedly, and be connected with pin skeleton one end, rubber blanket and the pin skeleton other end are installed by bolt, springTwo ends are connected in respectively the pin joint place of front large leg support and little leg support and the pin joint of rear large leg support and connecting rodPlace, for accumulation of energy, release.
2. the heavy burden jump device of motorized shifting gear five-rod according to claim 1, its featureBe: rubber blanket is arcuate structure, is used for cushioning absorbing as sole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410299484.4A CN104058015B (en) | 2014-06-27 | 2014-06-27 | A kind of heavy burden jump device of motorized shifting gear five-rod |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410299484.4A CN104058015B (en) | 2014-06-27 | 2014-06-27 | A kind of heavy burden jump device of motorized shifting gear five-rod |
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| CN104058015A CN104058015A (en) | 2014-09-24 |
| CN104058015B true CN104058015B (en) | 2016-05-18 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059412A (en) * | 2015-08-14 | 2015-11-18 | 西北工业大学 | Bionic hopping robot driven by internal combustion engine |
| CN105966482B (en) * | 2016-06-12 | 2018-05-22 | 重庆大学 | Multi link hopping mechanism |
| CN105966483A (en) * | 2016-06-13 | 2016-09-28 | 西北工业大学 | Gear five-rod jumping ankle joint based on hydraulic driving |
| CN108836583B (en) * | 2018-05-17 | 2020-01-14 | 西北工业大学 | Active and passive ankle joint prosthesis with variable-rod-length gear five-rod mechanism |
| CN113120106B (en) * | 2021-05-17 | 2022-02-22 | 哈尔滨工业大学 | Combustion and explosion driven rigid-flexible coupling frog-imitating robot |
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| CN101941477A (en) * | 2009-07-10 | 2011-01-12 | 西北工业大学 | Energy-stored adjustable gear-five-bar bionic bouncing mechanism |
| CN101941476A (en) * | 2009-07-10 | 2011-01-12 | 西北工业大学 | Asymmetrical gear six-rod bionic bouncing mechanism |
| CN102050165A (en) * | 2010-12-31 | 2011-05-11 | 南京航空航天大学 | Motor drive-based robot vertical bounce mechanism |
| CN202320570U (en) * | 2011-12-08 | 2012-07-11 | 浙江大学 | Jumping robot based on two-mass model structure |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7168513B2 (en) * | 2004-02-27 | 2007-01-30 | The Regents Of The University Of California | Dynamic legged robot |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101941477A (en) * | 2009-07-10 | 2011-01-12 | 西北工业大学 | Energy-stored adjustable gear-five-bar bionic bouncing mechanism |
| CN101941476A (en) * | 2009-07-10 | 2011-01-12 | 西北工业大学 | Asymmetrical gear six-rod bionic bouncing mechanism |
| CN102050165A (en) * | 2010-12-31 | 2011-05-11 | 南京航空航天大学 | Motor drive-based robot vertical bounce mechanism |
| CN202320570U (en) * | 2011-12-08 | 2012-07-11 | 浙江大学 | Jumping robot based on two-mass model structure |
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