CN104129449A - Hybrid-power all-terrain walking device - Google Patents
Hybrid-power all-terrain walking device Download PDFInfo
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- CN104129449A CN104129449A CN201410334188.3A CN201410334188A CN104129449A CN 104129449 A CN104129449 A CN 104129449A CN 201410334188 A CN201410334188 A CN 201410334188A CN 104129449 A CN104129449 A CN 104129449A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 185
- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 230000002457 bidirectional effect Effects 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 5
- 230000008439 repair process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 241000592274 Polypodium vulgare Species 0.000 description 2
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- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 238000002834 transmittance Methods 0.000 description 1
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Abstract
The invention relates to a hybrid-power all-terrain walking device, and belongs to the technical field of vehicles. The walking device disclosed by the invention comprises eight mechanical leg walking mechanisms, two gear case transmission mechanisms, two electric control pedal mechanisms, two power mechanisms, a folded sunshade mechanism, a chair, a bottom plate and batteries, wherein the chair is positioned at the back of the bottom plate, the two power mechanisms and the two electric control pedal mechanisms are respectively positioned in front of the chair and on the left side and the right side of the chair, the two gear case transmission mechanisms are positioned at both ends of the bottom plate, every four mechanical leg walking mechanisms are distributed around each gear case transmission mechanism, the total number of the mechanical leg walking mechanisms is eight, the folded sunshade mechanism is positioned above the chair, and the two batteries are mounted on the bottom plate and are positioned in front of the two power mechanisms. The passing-through ability of the walking device disclosed by the invention on complicated terrains is good, the structure principle is simple and reliable, the walking device is easy to repair, and the whole walking device is mounted through screws, so that the walking device can be dismounted; and the floor space is reduced, the operation is simple, the design of a machine body is reasonable, the operation is stable, and the power of the walking device adopts man power and electric power, so that the walking device is quite environmentally friendly.
Description
Technical field
The present invention relates to the full landform walking device of a kind of hybrid power, belong to technical field of transportation means.
Background technology
The methods such as that the mode of motion adopting due to the vehicle such as most of emergency reliefs mainly comprises is wheeled, crawler type, since wheel car comes out, it is failure-free very in rigid flat motion on the ground.But the energy consumption of the hour wheel of travelling on uneven ground formula car will increase greatly, and in soft terrain or serious rugged landform, the effect of wheel also will be lost, and mobile efficiency reduces greatly.Crawler is distributed on a larger area vehicle body load, be equivalent to a kind of device of paving the way for wheel, and can produce larger propelling thrust, can on soft terrain, walk, thereby be unlikely to be embedded, but the manoevreability of crawler on uneven ground is still very poor.And polypody walking machine can be on uneven road surface stabilized walking, can replace wheel car and complete the hauling operation in some unstructuredness environment, and in the structure that relates to suitable leg, arm fusion, can help staff in danger or harsh environment, to complete the not completed task of some wheel machines, to improve navigating mate viability.Such as, so this class polypody walking machine has boundless prospect in many industries, troop-carrying and detection, mining, celestial body detecting, education and amusement etc.
Summary of the invention
The technical problem to be solved in the present invention is: the invention provides the full landform walking device of a kind of hybrid power, safe and reliable, off-road capability is strong, complete function, with solve the conventional vehicle under the environment of complex-terrain, inclement condition by difficult problem.
Technical solution of the present invention is: the full landform walking device of a kind of hybrid power, comprises eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, seat 2, base plate 9, battery 12; Described seat 2 is positioned at base plate 9 rear portions, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat 2 respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate 9, four pedipulator traveling geaies distribute around each gear case transmission mechanism, have eight pedipulator traveling geaies, battery 12 has identical two, and two batteries 12 are arranged on base plate 9, be all positioned at two actuating units before;
The structure of described eight pedipulator traveling geaies is identical, and one of them pedipulator traveling gear comprises that connecting rod I 3, pedipulator 4, connecting rod II 5, connecting rod III 6, connecting rod IV 7, connecting rod connect part 36, pedipulator traveling gear is the pedipulator traveling gear that single group degree of freedom is, connecting rod I 3, one end of connecting rod III 6 all connects part 36 by connecting rod and is arranged on the side plate 14 on gear case transmission mechanism, one end of connecting rod IV 7 is connected with the gear II 27 on gear case transmission mechanism through the side plate 14 on gear case transmission mechanism, the other end of connecting rod IV 7 and connecting rod III 6 by connecting rod connect part 36 be connected with connecting rod II 5 form quadric linkage, the place that wherein other end of connecting rod IV 7 is connected with connecting rod II 5 is positioned at one end of connecting rod II 5, the place that the other end of connecting rod III 6 is connected with connecting rod II 5 is positioned at the midway location of connecting rod II 5, the other end of connecting rod II 5 is connected with the middle part of pedipulator 4, one end of pedipulator 4 connects part 36 by connecting rod and is connected with the other end of connecting rod I 3,
The structure of described two gear case transmission mechanisms is identical, and one of them gear case transmission mechanism comprises that side plate 14, side plate connect post 15, gear I 16, safety light 26, gear II 27, gear III 28, gear IV 29, transmission shaft II 37, side plate 14 has two, two blocks of side plates 14 and be positioned at two blocks of side plates 14 plank above and form the shell of a gear case transmission mechanism, two blocks of side plates 14 connect post 15 by side plate and are connected, two blocks of side plates 14 are all arranged on outstanding place, base plate 9 both sides by screw, when installation, screw is screwed in side plate 14 through base plate 9 from the bottom up, gear II 27, gear III 28, gear IV 29 is mutually interlock and being arranged between two side plates 14 successively, in the middle of gear IV 29 is positioned at, centered by gear IV 29, respectively there is respectively a gear III 28 on the both sides of gear IV 29, two gear II 27 lay respectively at the both sides of gear III 28, safety light 26 is positioned on the plank being provided with above of side plate 14, between transmission bracket side plate 22 in the actuating unit of gear I 16 on base plate 9, gear IV 29 is connected with one end of transmission shaft II 37, the other end of transmission shaft II 37 coordinates with gear I 16 through the pin-and-hole III 18 on side plate 14 and transmission bracket side plate 22, gear I 16 simultaneously with actuating unit in 31 interlocks of gear V,
The structure of described two actuating units is identical, and one of them actuating unit comprises transmission bracket 10, motor module 11, gear VI 33, foot pedal apparatus, described transmission bracket 10 has two, transmission bracket 10 lays respectively at the right and left of automatically controlled pedal gear, each transmission bracket 10 is made up of two transmission bracket side plates 22, on every transmission bracket side plate 22, be equipped with pin-and-hole II 19, pin-and-hole V 21, slide rail 23, gear VI 33 is positioned at transmission bracket 10, motor module 11 is positioned at the side of the front end of transmission bracket 10, motor module 11 is provided with transmission shaft I 34, pin I 35, motor module 11 is connected for the power of output motor module 11 with gear VI 33 by transmission shaft I 34, motor module 11 coordinates with the pin-and-hole V 21 on transmission bracket side plate 22 by pin I 35, on the slide rail 23 of transmission shaft I 34 on motor module 11 on transmission bracket side plate 22, slide around pin I 35,
Described foot pedal apparatus is positioned at the rear end of transmission bracket 10, and foot pedal apparatus comprises pedal 13, bearing 30, gear V 31, pedal crank 32; Pedal 13 is enclosed within on pedal crank 32, can rotate by 360 degree, gear V 31 and bearing 30 are enclosed within on pedal crank 32, pedal crank 32 is through the pin-and-hole II 19 on transmission bracket side plate 22, gear I 16 interlocks in gear V 31 and gear case transmission mechanism, 16 while and 33 interlocks of gear VI of gear I, gear I 16 is also connected with the transmission shaft II 37 in gear case transmission mechanism, and actuating unit passes to gear case transmission mechanism by power by transmission shaft II 37;
The structure of described two automatically controlled pedal gears is identical, and one of them automatically controlled pedal gear comprises automatically controlled pedal 8, pin-and-hole I 24, and automatically controlled pedal 8 and pin-and-hole I 24 are positioned at the dead ahead of seat 2, and automatically controlled pedal 8 is connected with base plate 9 by the pin-and-hole I 24 on base plate 9; Below automatically controlled pedal 8, inlaying a simple and easy control circuit, battery 12, motor module 11 and automatically controlled pedal gear are connected respectively with simple and easy control circuit, signal is sent to simple and easy control circuit by automatically controlled pedal gear, and simple and easy control circuit is followed control signal the electric weight of battery 12 is transported on motor module 11 for realizing the object of controlling the full landform walking device of hybrid power.
Described folding sunshade umbrella mechanism is positioned at seat 2 tops, and folding sunshade umbrella mechanism comprises folding sunshade umbrella 1, seat ceiling 17, folding sunshade umbrella support 20, pin II 38; Described folding sunshade umbrella support 20 is arranged on base plate 9 between gear case transmission mechanism and actuating unit, pin II 38 on folding sunshade umbrella 1 both sides is connected with the pin-and-hole IV 25 on the folding sunshade umbrella support 20 on base plate 9 both sides, folding sunshade umbrella 1 can rotate by pin II 38, and seat ceiling 17 is directly welded on the back of seat 2.
The simple and easy control circuit that is inlaying described automatically controlled pedal 8 belows comprises current-limiting resistance R1, current-limiting resistance R2, bidirectional switch S; In this circuit, battery E1, battery E2 are two identical batteries 12, motor M is motor module 11, bidirectional switch S is embedded in automatically controlled pedal 8, the positive pole of the negative pole of battery E1 and battery E2 is connected with one end of motor module 11, the negative pole of the Anode and battery E2 of battery E1 is connected with current-limiting resistance R2 one end with current-limiting resistance R1 respectively, the other end of motor module 11 is connected with bidirectional switch S, and the other end of two current-limiting resistance R1, current-limiting resistance R2 is connected with bidirectional switch S.
In the present invention, the circuit theory of simple and easy control circuit is: the structure of two automatically controlled pedal gears is identical, two simple and easy control circuit designs that is inlaying two automatically controlled pedal 8 belows in two automatically controlled pedal gears are identical, common battery E1 in two simple and easy control circuits, battery E2, and motor M, bidirectional switch S, current-limiting resistance R1, current-limiting resistance R2 has respectively two covers, when automatically controlled pedal 8 is during in horizontality, bidirectional switch S is positioned at center position, now motor module 11 is static, in the time that chaufeur pin is stepped on automatically controlled pedal 8 and is turned forward, bidirectional switch S contacts with right-hand member, connect right side circuit, make motor module forward, in the time that chaufeur pin is stepped on automatically controlled pedal 8 and is receded, bidirectional switch S contacts with left end, connect left side circuit, make motor module reversion.When chaufeur is when simultaneously pin is stepped on automatically controlled pedal and turned forward, two motor modules 11 forward simultaneously, the motion of driving mechanical leg walking mechanism, walking device is gone ahead, when chaufeur is when simultaneously pin is stepped on automatically controlled pedal and receded, two motor modules 11 reverse simultaneously, the motion of driving mechanical leg walking mechanism, walking device is walked backward, if a chaufeur pin is stepped on automatically controlled pedal 8 on one side, only have one of them motor module 11 to rotate, walking device will be turned to another side, stepping on 8 one, automatically controlled pedal when chaufeur pin turns forward, another recedes, now motor module 11 forwards, another motor module 11 reverses, at this moment walking device just can rotate in original place, greatly improve the degree of flexibility of walking device.
Working process of the present invention is: utilization of the present invention be eight identical pedipulator traveling geaies simple in structure as the bases of walking, can use two kinds of power, one is manpower, another kind is electric power.
In the time using manpower, need two driver's operation, because all there is a foot pedal apparatus in two actuating units, two chaufeurs are sitting on seat 2, the tap pedal 13 driven gear V 31 that tramp with one's feet are rotated, rotate with the gear I 16 of gear V 31 phase interlocks thereby drive, thereby gear I 16 is rotated the transmission shaft II 37 driving in the gear case transmission mechanism being connected with gear I 16 and is rotated, transmission shaft II 37 is rotated and is driven the gear IV 29 being connected with transmission shaft II 37 to rotate, gear IV 29 rotation driven gear III 28 are rotated, gear III 28 rotation driven gear II 27 are rotated, thereby gear II 27 is rotated and is driven the connecting rod IV 7 being connected with gear II 27 to rotate, thereby connecting rod IV 7 is rotated drivening rod II 5 afterwards and is rotated drivening rod III 6, connecting rod I 3 is rotated, thereby pedipulator 4 is moved, thereby pedipulator traveling gear is moved, the principle process of these eight pedipulator traveling gear motions is the same, in the time that two chaufeurs are pedaled simultaneously forward or backward, the gear-driven direction turning relating to is different.In the time that two chaufeurs are pedaled simultaneously forward or backward, walking device entirety moves forwards or backwards, in the time only having one side chaufeur to pedal forward, machinery can rotate to another side, play the effect of turning, in the time of opposite direction that two chaufeurs are pedaled, machinery can be accomplished original place rotation, embodies mechanical alerting ability and practicality.
In the time using driven by power, only need a chaufeur, in the time that motor module 11 rotates, two motor modules 11 slide into top and 16 interlocks of gear I by slide rail 23 by the gear VI 33 in transmission shaft I 34, thereby realize the transmission of power, as shown in figure 15, automatically controlled pedal 8 is connected with simple and easy control circuit, when automatically controlled pedal 8 is during in horizontality, bidirectional switch S is positioned at center position, now motor module 11 is static, in the time that chaufeur pin is stepped on automatically controlled pedal 8 and is turned forward, bidirectional switch S contacts with right-hand member, connect right side circuit, make motor module forward, in the time that chaufeur pin is stepped on automatically controlled pedal 8 and is receded, bidirectional switch S contacts with left end, connect left side circuit, make motor module reversion.Power is passed through gear I 16 by motor module 11, gear IV 29, gear III 28, gear II 27 company's of passing to pedipulator traveling geaies, the process of this transmission with use transmittance process when manpower identical, when chaufeur is when simultaneously pin is stepped on automatically controlled pedal and turned forward, two motor modules 11 forward simultaneously, the motion of driving mechanical leg walking mechanism, walking device is gone ahead, when chaufeur is when simultaneously pin is stepped on automatically controlled pedal and receded, two motor modules 11 reverse simultaneously, the motion of driving mechanical leg walking mechanism, walking device is walked backward, if a chaufeur pin is stepped on automatically controlled pedal 8 on one side, walking device will be turned to another side, stepping on 8 one, automatically controlled pedal when chaufeur pin turns forward, another recedes, at this moment walking device just can rotate in original place, greatly improve the degree of flexibility of walking device.
The in the situation that of bad weather, the folding sunshade umbrella 1 of putting behind can go to seat ceiling 17 tops, can realize the function of sunshade or rain cover snow.Every limit has at least two pedipulators to land to ensure the stability of whole walking device in the process of walking.
The invention has the beneficial effects as follows:
1, complex-terrain crossing ability is good;
2, structural principle is simple, reliable, easily repairs;
3, entirety adopts screw to install, detachable, reduces to take up an area;
4, simple to operate;
5, fuselage design is reasonable, stable;
6, power adopts manpower and electric power, very environmental protection.
Brief description of the drawings
Fig. 1 is front of the present invention integral structure schematic diagram;
Fig. 2 is the back side of the present invention integral structure schematic diagram;
Fig. 3 is side of the present invention integral structure schematic diagram;
Fig. 4 is gear case transmission mechanism cross-sectional view of the present invention;
Fig. 5 is pedipulator traveling gear schematic diagram of the present invention;
Fig. 6 is the part-structure schematic diagram of middle part of the present invention;
Fig. 7 is actuating unit part construction profile schematic diagram of the present invention;
Fig. 8 is actuating unit part plan structure schematic diagram of the present invention;
Fig. 9 is folding sunshade umbrella structural representation of the present invention;
Figure 10 is motor module structural representation of the present invention;
Figure 11 is foot pedal apparatus structural representation of the present invention;
Figure 12 is battery structure schematic diagram of the present invention;
Figure 13 is automatically controlled pedal gear schematic diagram of the present invention;
Figure 14 is that connecting rod of the present invention connects part structural representation;
Figure 15 is the schematic circuit diagram of simple and easy control circuit in the present invention.
In Fig. 1-15, each label is: 1-folding sunshade umbrella, 2-seat, 3-connecting rod I, 4-pedipulator, 5-connecting rod II, 6-connecting rod III, 7-connecting rod IV, the automatically controlled pedal of 8-, 9-base plate, 10-transmission bracket, 11-motor module, 12-battery, 13-pedal, 14-side plate, 15-side plate connects post, 16-gear I, 17-seat ceiling, 18-pin-and-hole III, 19-pin-and-hole II, 20-folding sunshade umbrella support, 21-pin-and-hole V, 22-transmission bracket side plate, 23-slide rail, 24-pin-and-hole I, 25-pin-and-hole IV, 26-safety light, 27-gear II, 28-gear III, 29-gear IV, 30-bearing, 31-gear V, 32-pedal crank, 33-gear VI, 34-transmission shaft I, 35-pin I, 36-connecting rod connects part, 37-transmission shaft II, 38-pin II.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Embodiment 1: as shown in Fig. 1-15, the full landform walking device of a kind of hybrid power, comprises eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, seat 2, base plate 9, battery 12; Described seat 2 is positioned at base plate 9 rear portions, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat 2 respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate 9, four pedipulator traveling geaies distribute around each gear case transmission mechanism, have eight pedipulator traveling geaies, battery 12 has identical two, and two batteries 12 are arranged on base plate 9, be all positioned at two actuating units before;
The structure of described eight pedipulator traveling geaies is identical, and one of them pedipulator traveling gear comprises that connecting rod I 3, pedipulator 4, connecting rod II 5, connecting rod III 6, connecting rod IV 7, connecting rod connect part 36, pedipulator traveling gear is the pedipulator traveling gear that single group degree of freedom is, connecting rod I 3, one end of connecting rod III 6 all connects part 36 by connecting rod and is arranged on the side plate 14 on gear case transmission mechanism, one end of connecting rod IV 7 is connected with the gear II 27 on gear case transmission mechanism through the side plate 14 on gear case transmission mechanism, the other end of connecting rod IV 7 and connecting rod III 6 by connecting rod connect part 36 be connected with connecting rod II 5 form quadric linkage, the place that wherein other end of connecting rod IV 7 is connected with connecting rod II 5 is positioned at one end of connecting rod II 5, the place that the other end of connecting rod III 6 is connected with connecting rod II 5 is positioned at the midway location of connecting rod II 5, the other end of connecting rod II 5 is connected with the middle part of pedipulator 4, one end of pedipulator 4 connects part 36 by connecting rod and is connected with the other end of connecting rod I 3,
The structure of described two gear case transmission mechanisms is identical, and one of them gear case transmission mechanism comprises that side plate 14, side plate connect post 15, gear I 16, safety light 26, gear II 27, gear III 28, gear IV 29, transmission shaft II 37, side plate 14 has two, two blocks of side plates 14 and be positioned at two blocks of side plates 14 plank above and form the shell of a gear case transmission mechanism, two blocks of side plates 14 connect post 15 by side plate and are connected, two blocks of side plates 14 are all arranged on outstanding place, base plate 9 both sides by screw, when installation, screw is screwed in side plate 14 through base plate 9 from the bottom up, gear II 27, gear III 28, gear IV 29 is mutually interlock and being arranged between two side plates 14 successively, in the middle of gear IV 29 is positioned at, centered by gear IV 29, respectively there is respectively a gear III 28 on the both sides of gear IV 29, two gear II 27 lay respectively at the both sides of gear III 28, safety light 26 is positioned on the plank being provided with above of side plate 14, between transmission bracket side plate 22 in the actuating unit of gear I 16 on base plate 9, gear IV 29 is connected with one end of transmission shaft II 37, the other end of transmission shaft II 37 coordinates with gear I 16 through the pin-and-hole III 18 on side plate 14 and transmission bracket side plate 22, gear I 16 simultaneously with actuating unit in 31 interlocks of gear V,
The structure of described two actuating units is identical, and one of them actuating unit comprises transmission bracket 10, motor module 11, gear VI 33, foot pedal apparatus, described transmission bracket 10 has two, transmission bracket 10 lays respectively at the right and left of automatically controlled pedal gear, each transmission bracket 10 is made up of two transmission bracket side plates 22, on every transmission bracket side plate 22, be equipped with pin-and-hole II 19, pin-and-hole V 21, slide rail 23, gear VI 33 is positioned at transmission bracket 10, motor module 11 is positioned at the side of the front end of transmission bracket 10, motor module 11 is provided with transmission shaft I 34, pin I 35, motor module 11 is connected for the power of output motor module 11 with gear VI 33 by transmission shaft I 34, motor module 11 coordinates with the pin-and-hole V 21 on transmission bracket side plate 22 by pin I 35, on the slide rail 23 of transmission shaft I 34 on motor module 11 on transmission bracket side plate 22, slide around pin I 35,
Described foot pedal apparatus is positioned at the rear end of transmission bracket 10, and foot pedal apparatus comprises pedal 13, bearing 30, gear V 31, pedal crank 32; Pedal 13 is enclosed within on pedal crank 32, can rotate by 360 degree, gear V 31 and bearing 30 are enclosed within on pedal crank 32, pedal crank 32 is through the pin-and-hole II 19 on transmission bracket side plate 22, gear I 16 interlocks in gear V 31 and gear case transmission mechanism, 16 while and 33 interlocks of gear VI of gear I, gear I 16 is also connected with the transmission shaft II 37 in gear case transmission mechanism, and actuating unit passes to gear case transmission mechanism by power by transmission shaft II 37;
The structure of described two automatically controlled pedal gears is identical, and one of them automatically controlled pedal gear comprises automatically controlled pedal 8, pin-and-hole I 24, and automatically controlled pedal 8 and pin-and-hole I 24 are positioned at the dead ahead of seat 2, and automatically controlled pedal 8 is connected with base plate 9 by the pin-and-hole I 24 on base plate 9; Below automatically controlled pedal 8, inlaying a simple and easy control circuit, battery 12, motor module 11 and automatically controlled pedal gear are connected respectively with simple and easy control circuit, signal is sent to simple and easy control circuit by automatically controlled pedal gear, and simple and easy control circuit is followed control signal the electric weight of battery 12 is transported on motor module 11 for realizing the object of controlling the full landform walking device of hybrid power.
Embodiment 2: as shown in Fig. 1-15, the full landform walking device of a kind of hybrid power, comprises eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, seat 2, base plate 9, battery 12; Described seat 2 is positioned at base plate 9 rear portions, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat 2 respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate 9, four pedipulator traveling geaies distribute around each gear case transmission mechanism, have eight pedipulator traveling geaies, battery 12 has identical two, and two batteries 12 are arranged on base plate 9, be all positioned at two actuating units before;
The structure of described eight pedipulator traveling geaies is identical, and one of them pedipulator traveling gear comprises that connecting rod I 3, pedipulator 4, connecting rod II 5, connecting rod III 6, connecting rod IV 7, connecting rod connect part 36, pedipulator traveling gear is the pedipulator traveling gear that single group degree of freedom is, connecting rod I 3, one end of connecting rod III 6 all connects part 36 by connecting rod and is arranged on the side plate 14 on gear case transmission mechanism, one end of connecting rod IV 7 is connected with the gear II 27 on gear case transmission mechanism through the side plate 14 on gear case transmission mechanism, the other end of connecting rod IV 7 and connecting rod III 6 by connecting rod connect part 36 be connected with connecting rod II 5 form quadric linkage, the place that wherein other end of connecting rod IV 7 is connected with connecting rod II 5 is positioned at one end of connecting rod II 5, the place that the other end of connecting rod III 6 is connected with connecting rod II 5 is positioned at the midway location of connecting rod II 5, the other end of connecting rod II 5 is connected with the middle part of pedipulator 4, one end of pedipulator 4 connects part 36 by connecting rod and is connected with the other end of connecting rod I 3,
The structure of described two gear case transmission mechanisms is identical, and one of them gear case transmission mechanism comprises that side plate 14, side plate connect post 15, gear I 16, safety light 26, gear II 27, gear III 28, gear IV 29, transmission shaft II 37, side plate 14 has two, two blocks of side plates 14 and be positioned at two blocks of side plates 14 plank above and form the shell of a gear case transmission mechanism, two blocks of side plates 14 connect post 15 by side plate and are connected, two blocks of side plates 14 are all arranged on outstanding place, base plate 9 both sides by screw, when installation, screw is screwed in side plate 14 through base plate 9 from the bottom up, gear II 27, gear III 28, gear IV 29 is mutually interlock and being arranged between two side plates 14 successively, in the middle of gear IV 29 is positioned at, centered by gear IV 29, respectively there is respectively a gear III 28 on the both sides of gear IV 29, two gear II 27 lay respectively at the both sides of gear III 28, safety light 26 is positioned on the plank being provided with above of side plate 14, between transmission bracket side plate 22 in the actuating unit of gear I 16 on base plate 9, gear IV 29 is connected with one end of transmission shaft II 37, the other end of transmission shaft II 37 coordinates with gear I 16 through the pin-and-hole III 18 on side plate 14 and transmission bracket side plate 22, gear I 16 simultaneously with actuating unit in 31 interlocks of gear V,
The structure of described two actuating units is identical, and one of them actuating unit comprises transmission bracket 10, motor module 11, gear VI 33, foot pedal apparatus, described transmission bracket 10 has two, transmission bracket 10 lays respectively at the right and left of automatically controlled pedal gear, each transmission bracket 10 is made up of two transmission bracket side plates 22, on every transmission bracket side plate 22, be equipped with pin-and-hole II 19, pin-and-hole V 21, slide rail 23, gear VI 33 is positioned at transmission bracket 10, motor module 11 is positioned at the side of the front end of transmission bracket 10, motor module 11 is provided with transmission shaft I 34, pin I 35, motor module 11 is connected for the power of output motor module 11 with gear VI 33 by transmission shaft I 34, motor module 11 coordinates with the pin-and-hole V 21 on transmission bracket side plate 22 by pin I 35, on the slide rail 23 of transmission shaft I 34 on motor module 11 on transmission bracket side plate 22, slide around pin I 35,
Described foot pedal apparatus is positioned at the rear end of transmission bracket 10, and foot pedal apparatus comprises pedal 13, bearing 30, gear V 31, pedal crank 32; Pedal 13 is enclosed within on pedal crank 32, can rotate by 360 degree, gear V 31 and bearing 30 are enclosed within on pedal crank 32, pedal crank 32 is through the pin-and-hole II 19 on transmission bracket side plate 22, gear I 16 interlocks in gear V 31 and gear case transmission mechanism, 16 while and 33 interlocks of gear VI of gear I, gear I 16 is also connected with the transmission shaft II 37 in gear case transmission mechanism, and actuating unit passes to gear case transmission mechanism by power by transmission shaft II 37;
The structure of described two automatically controlled pedal gears is identical, and one of them automatically controlled pedal gear comprises automatically controlled pedal 8, pin-and-hole I 24, and automatically controlled pedal 8 and pin-and-hole I 24 are positioned at the dead ahead of seat 2, and automatically controlled pedal 8 is connected with base plate 9 by the pin-and-hole I 24 on base plate 9; Below automatically controlled pedal 8, inlaying a simple and easy control circuit, battery 12, motor module 11 and automatically controlled pedal gear are connected respectively with simple and easy control circuit, signal is sent to simple and easy control circuit by automatically controlled pedal gear, and simple and easy control circuit is followed control signal the electric weight of battery 12 is transported on motor module 11 for realizing the object of controlling the full landform walking device of hybrid power.
Described folding sunshade umbrella mechanism is positioned at seat 2 tops, and folding sunshade umbrella mechanism comprises folding sunshade umbrella 1, seat ceiling 17, folding sunshade umbrella support 20, pin II 38; Described folding sunshade umbrella support 20 is arranged on base plate 9 between gear case transmission mechanism and actuating unit, pin II 38 on folding sunshade umbrella 1 both sides is connected with the pin-and-hole IV 25 on the folding sunshade umbrella support 20 on base plate 9 both sides, folding sunshade umbrella 1 can rotate by pin II 38, and seat ceiling 17 is directly welded on the back of seat 2.
Embodiment 3: as shown in Fig. 1-15, the full landform walking device of a kind of hybrid power, comprises eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, seat 2, base plate 9, battery 12; Described seat 2 is positioned at base plate 9 rear portions, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat 2 respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate 9, four pedipulator traveling geaies distribute around each gear case transmission mechanism, have eight pedipulator traveling geaies, battery 12 has identical two, and two batteries 12 are arranged on base plate 9, be all positioned at two actuating units before;
The structure of described eight pedipulator traveling geaies is identical, and one of them pedipulator traveling gear comprises that connecting rod I 3, pedipulator 4, connecting rod II 5, connecting rod III 6, connecting rod IV 7, connecting rod connect part 36, pedipulator traveling gear is the pedipulator traveling gear that single group degree of freedom is, connecting rod I 3, one end of connecting rod III 6 all connects part 36 by connecting rod and is arranged on the side plate 14 on gear case transmission mechanism, one end of connecting rod IV 7 is connected with the gear II 27 on gear case transmission mechanism through the side plate 14 on gear case transmission mechanism, the other end of connecting rod IV 7 and connecting rod III 6 by connecting rod connect part 36 be connected with connecting rod II 5 form quadric linkage, the place that wherein other end of connecting rod IV 7 is connected with connecting rod II 5 is positioned at one end of connecting rod II 5, the place that the other end of connecting rod III 6 is connected with connecting rod II 5 is positioned at the midway location of connecting rod II 5, the other end of connecting rod II 5 is connected with the middle part of pedipulator 4, one end of pedipulator 4 connects part 36 by connecting rod and is connected with the other end of connecting rod I 3,
The structure of described two gear case transmission mechanisms is identical, and one of them gear case transmission mechanism comprises that side plate 14, side plate connect post 15, gear I 16, safety light 26, gear II 27, gear III 28, gear IV 29, transmission shaft II 37, side plate 14 has two, two blocks of side plates 14 and be positioned at two blocks of side plates 14 plank above and form the shell of a gear case transmission mechanism, two blocks of side plates 14 connect post 15 by side plate and are connected, two blocks of side plates 14 are all arranged on outstanding place, base plate 9 both sides by screw, when installation, screw is screwed in side plate 14 through base plate 9 from the bottom up, gear II 27, gear III 28, gear IV 29 is mutually interlock and being arranged between two side plates 14 successively, in the middle of gear IV 29 is positioned at, centered by gear IV 29, respectively there is respectively a gear III 28 on the both sides of gear IV 29, two gear II 27 lay respectively at the both sides of gear III 28, safety light 26 is positioned on the plank being provided with above of side plate 14, between transmission bracket side plate 22 in the actuating unit of gear I 16 on base plate 9, gear IV 29 is connected with one end of transmission shaft II 37, the other end of transmission shaft II 37 coordinates with gear I 16 through the pin-and-hole III 18 on side plate 14 and transmission bracket side plate 22, gear I 16 simultaneously with actuating unit in 31 interlocks of gear V,
The structure of described two actuating units is identical, and one of them actuating unit comprises transmission bracket 10, motor module 11, gear VI 33, foot pedal apparatus, described transmission bracket 10 has two, transmission bracket 10 lays respectively at the right and left of automatically controlled pedal gear, each transmission bracket 10 is made up of two transmission bracket side plates 22, on every transmission bracket side plate 22, be equipped with pin-and-hole II 19, pin-and-hole V 21, slide rail 23, gear VI 33 is positioned at transmission bracket 10, motor module 11 is positioned at the side of the front end of transmission bracket 10, motor module 11 is provided with transmission shaft I 34, pin I 35, motor module 11 is connected for the power of output motor module 11 with gear VI 33 by transmission shaft I 34, motor module 11 coordinates with the pin-and-hole V 21 on transmission bracket side plate 22 by pin I 35, on the slide rail 23 of transmission shaft I 34 on motor module 11 on transmission bracket side plate 22, slide around pin I 35,
Described foot pedal apparatus is positioned at the rear end of transmission bracket 10, and foot pedal apparatus comprises pedal 13, bearing 30, gear V 31, pedal crank 32; Pedal 13 is enclosed within on pedal crank 32, can rotate by 360 degree, gear V 31 and bearing 30 are enclosed within on pedal crank 32, pedal crank 32 is through the pin-and-hole II 19 on transmission bracket side plate 22, gear I 16 interlocks in gear V 31 and gear case transmission mechanism, 16 while and 33 interlocks of gear VI of gear I, gear I 16 is also connected with the transmission shaft II 37 in gear case transmission mechanism, and actuating unit passes to gear case transmission mechanism by power by transmission shaft II 37;
The structure of described two automatically controlled pedal gears is identical, and one of them automatically controlled pedal gear comprises automatically controlled pedal 8, pin-and-hole I 24, and automatically controlled pedal 8 and pin-and-hole I 24 are positioned at the dead ahead of seat 2, and automatically controlled pedal 8 is connected with base plate 9 by the pin-and-hole I 24 on base plate 9; Below automatically controlled pedal 8, inlaying a simple and easy control circuit, battery 12, motor module 11 and automatically controlled pedal gear are connected respectively with simple and easy control circuit, signal is sent to simple and easy control circuit by automatically controlled pedal gear, and simple and easy control circuit is followed control signal the electric weight of battery 12 is transported on motor module 11 for realizing the object of controlling the full landform walking device of hybrid power.
Described folding sunshade umbrella mechanism is positioned at seat 2 tops, and folding sunshade umbrella mechanism comprises folding sunshade umbrella 1, seat ceiling 17, folding sunshade umbrella support 20, pin II 38; Described folding sunshade umbrella support 20 is arranged on base plate 9 between gear case transmission mechanism and actuating unit, pin II 38 on folding sunshade umbrella 1 both sides is connected with the pin-and-hole IV 25 on the folding sunshade umbrella support 20 on base plate 9 both sides, folding sunshade umbrella 1 can rotate by pin II 38, and seat ceiling 17 is directly welded on the back of seat 2.
The simple and easy control circuit that is inlaying described automatically controlled pedal 8 belows comprises current-limiting resistance R1, current-limiting resistance R2, bidirectional switch S; In this circuit, battery E1, battery E2 are two identical batteries 12, motor M is motor module 11, bidirectional switch S is embedded in automatically controlled pedal 8, the positive pole of the negative pole of battery E1 and battery E2 is connected with one end of motor module 11, the negative pole of the Anode and battery E2 of battery E1 is connected with current-limiting resistance R2 one end with current-limiting resistance R1 respectively, the other end of motor module 11 is connected with bidirectional switch S, and the other end of two current-limiting resistance R1, current-limiting resistance R2 is connected with bidirectional switch S.
By reference to the accompanying drawings specific embodiments of the invention are explained in detail above, but the present invention is not limited to above-described embodiment, in the ken possessing those of ordinary skill in the art, can also under the prerequisite that does not depart from aim of the present invention, makes various variations.
Claims (3)
1. the full landform walking device of hybrid power, is characterized in that: comprise eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, seat (2), base plate (9), battery (12); Described seat (2) is positioned at base plate (9) rear portion, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat (2) respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate (9), four pedipulator traveling geaies distribute around each gear case transmission mechanism, have eight pedipulator traveling geaies, battery (12) has identical two, and it is upper that two batteries (12) are arranged on base plate (9), be all positioned at two actuating units before;
The structure of described eight pedipulator traveling geaies is identical, and one of them pedipulator traveling gear comprises that connecting rod I (3), pedipulator (4), connecting rod II (5), connecting rod III (6), connecting rod IV (7), connecting rod connect part (36), pedipulator traveling gear is the pedipulator traveling gear that single group degree of freedom is, connecting rod I (3), one end of connecting rod III (6) all connects part (36) by connecting rod and is arranged on the side plate (14) on gear case transmission mechanism, one end of connecting rod IV (7) is connected with the gear II (27) on gear case transmission mechanism through the side plate (14) on gear case transmission mechanism, the other end of connecting rod IV (7) and connecting rod III (6) by connecting rod connect part (36) be connected with connecting rod II (5) form quadric linkage, the place that wherein other end of connecting rod IV (7) is connected with connecting rod II (5) is positioned at one end of connecting rod II (5), the place that the other end of connecting rod III (6) is connected with connecting rod II (5) is positioned at the midway location of connecting rod II (5), the other end of connecting rod II (5) is connected with the middle part of pedipulator (4), one end of pedipulator (4) connects part (36) by connecting rod and is connected with the other end of connecting rod I (3),
The structure of described two gear case transmission mechanisms is identical, and one of them gear case transmission mechanism comprises that side plate (14), side plate connect post (15), gear I (16), safety light (26), gear II (27), gear III (28), gear IV (29), transmission shaft II (37), side plate (14) has two, two blocks of side plates (14) and be positioned at two blocks of side plates (14) plank above and form the shell of a gear case transmission mechanism, two blocks of side plates (14) connect post (15) by side plate and are connected, two blocks of side plates (14) are all arranged on outstanding place, base plate (9) both sides by screw, when installation, screw is screwed in side plate (14) through base plate (9) from the bottom up, gear II (27), gear III (28), gear IV (29) is mutually interlock and being arranged between two side plates (14) successively, in the middle of gear IV (29) is positioned at, centered by gear IV (29), respectively there is respectively a gear III (28) on the both sides of gear IV (29), two gear II (27) lay respectively at the both sides of gear III (28), safety light (26) is positioned on the plank being provided with above of side plate (14), gear I (16) is arranged between the transmission bracket side plate (22) of the actuating unit on base plate (9), gear IV (29) is connected with one end of transmission shaft II (37), the other end of transmission shaft II (37) coordinates with gear I (16) through the pin-and-hole III (18) on side plate (14) and transmission bracket side plate (22), gear I (16) simultaneously with actuating unit in gear V (31) interlock,
The structure of described two actuating units is identical, and one of them actuating unit comprises transmission bracket (10), motor module (11), gear VI (33), foot pedal apparatus, described transmission bracket (10) has two, transmission bracket (10) lays respectively at the right and left of automatically controlled pedal gear, each transmission bracket (10) is made up of two transmission bracket side plates (22), on every transmission bracket side plate (22), be equipped with pin-and-hole II (19), pin-and-hole V (21), slide rail (23), gear VI (33) is positioned at transmission bracket (10), motor module (11) is positioned at the side of the front end of transmission bracket (10), motor module (11) is provided with transmission shaft I (34), pin I (35), motor module (11) is connected for the power of output motor module (11) with gear VI (33) by transmission shaft I (34), motor module (11) coordinates with the pin-and-hole V (21) on transmission bracket side plate (22) by pin I (35), the slide rail (23) of transmission shaft I (34) on motor module (11) on transmission bracket side plate (22) is upper to slide around pin I (35),
Described foot pedal apparatus is positioned at the rear end of transmission bracket (10), and foot pedal apparatus comprises pedal (13), bearing (30), gear V (31), pedal crank (32); Pedal (13) is enclosed within on pedal crank (32), can rotate by 360 degree, gear V (31) and bearing (30) are enclosed within on pedal crank (32), pedal crank (32) is through the pin-and-hole II (19) on transmission bracket side plate (22), gear I (16) interlock in gear V (31) and gear case transmission mechanism, gear I (16) while and gear VI (33) interlock, gear I (16) is also connected with the transmission shaft II (37) in gear case transmission mechanism, and actuating unit passes to gear case transmission mechanism by power by transmission shaft II (37);
The structure of described two automatically controlled pedal gears is identical, one of them automatically controlled pedal gear comprises automatically controlled pedal (8), pin-and-hole I (24), automatically controlled pedal (8) and pin-and-hole I (24) are positioned at the dead ahead of seat (2), and automatically controlled pedal (8) is connected with base plate (9) by the pin-and-hole I (24) on base plate (9); Inlaying a simple and easy control circuit in automatically controlled pedal (8) below, battery (12), motor module (11) and automatically controlled pedal gear are connected respectively with simple and easy control circuit.
2. the full landform walking device of hybrid power according to claim 1, it is characterized in that: described folding sunshade umbrella mechanism is positioned at seat (2) top, and folding sunshade umbrella mechanism comprises folding sunshade umbrella (1), seat ceiling (17), folding sunshade umbrella support (20), pin II (38); It is upper between gear case transmission mechanism and actuating unit that described folding sunshade umbrella support (20) is arranged on base plate (9), pin-and-hole IV (25) on the folding sunshade umbrella support (20) on the pin II (38) on folding sunshade umbrella (1) both sides and base plate (9) both sides is connected, folding sunshade umbrella (1) can be by pin II (38) rotation, and seat ceiling (17) is directly welded on the back of seat (2).
3. the full landform walking device of hybrid power according to claim 1, is characterized in that: the simple and easy control circuit that is inlaying described automatically controlled pedal (8) below comprises current-limiting resistance R1, current-limiting resistance R2, bidirectional switch S; In this circuit, battery E1, battery E2 are identical two batteries (12), motor M is motor module (11), bidirectional switch S is embedded in automatically controlled pedal (8), the positive pole of the negative pole of battery E1 and battery E2 is connected with one end of motor module (11), the negative pole of the Anode and battery E2 of battery E1 is connected with current-limiting resistance R2 one end with current-limiting resistance R1 respectively, the other end of motor module (11) is connected with bidirectional switch S, and the other end of two current-limiting resistance R1, current-limiting resistance R2 is connected with bidirectional switch S.
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| CN104986245A (en) * | 2015-07-27 | 2015-10-21 | 湖州市千金宝云机械铸件有限公司 | Stable mobile robot |
| CN105667630A (en) * | 2016-03-24 | 2016-06-15 | 重庆大学 | Robot leg walking mechanism and four-leg robot of robot leg walking mechanism |
| CN105818881A (en) * | 2016-03-24 | 2016-08-03 | 重庆大学 | Connecting rod mechanism bionic mechanical leg and four-foot robot with same |
| CN108674514A (en) * | 2018-05-23 | 2018-10-19 | 深圳市睿科智联科技有限公司 | Take turns robot leg |
| CN110316276A (en) * | 2019-07-27 | 2019-10-11 | 南京蹑波物联网科技有限公司 | A kind of shape walking apparatus of bionical legged type robot |
| CN110584961A (en) * | 2019-09-05 | 2019-12-20 | 河海大学常州校区 | Walking-aid robot |
| CN110755238A (en) * | 2019-10-29 | 2020-02-07 | 河海大学常州校区 | Walking-aid robot |
| CN115649319A (en) * | 2022-11-21 | 2023-01-31 | 成都理工大学 | Bionic mechanical ant search and rescue robot |
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| CN110584961A (en) * | 2019-09-05 | 2019-12-20 | 河海大学常州校区 | Walking-aid robot |
| CN110755238A (en) * | 2019-10-29 | 2020-02-07 | 河海大学常州校区 | Walking-aid robot |
| CN115649319A (en) * | 2022-11-21 | 2023-01-31 | 成都理工大学 | Bionic mechanical ant search and rescue robot |
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