CN104859732A

CN104859732A - Worming moving device

Info

Publication number: CN104859732A
Application number: CN201510244090.3A
Authority: CN
Inventors: 苑龙飞; 郝维敏; 蒋彬; 罗凯
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2015-05-12
Filing date: 2015-05-12
Publication date: 2015-08-26

Abstract

The invention relates to a worming moving device, which comprises a No.1 car, a No.2 car, a brake mechanism and a turning mechanism, wherein the No.1 car and the No.2 car are connected through a connecting component and a piston push rod; the piston push rod is static relatively to the No.1 car; a cylinder is static relatively to the No.2 car; and the relative movement of the No.1 car and the No.2 car is converted into the relative movement between the piston push rod and the cylinder. The brake mechanism comprises an acting rod, a rotating shaft 1, a brake push rod, a cylinder 2, a slide block, a rotating shaft 2, a braking block and back wheels; the turning mechanism comprises a left front wheel of the car, a rotating shaft 3, a front axle, a steering push-pull rod, a cylinder 3, a cylinder rotating shaft and a rotating rod. The moving device has the advantages that the advancing, retreating and turning movement can be realized; the moving period of the device is short; the speed is high; the movement is stable; and the power is sufficient.

Description

A kind of imitative worm running gear

Technical field

The present invention relates to a kind of imitative worm running gear, specifically, what relate to is imitative vermicular movement device based on hydraulic actuating cylinder and piston relative motion.

Background technology

In recent years, bio-robot becomes the focus of research both at home and abroad gradually, correlative study has obtained certain progress, the robot of wriggling move mode also becomes the direction of people's research, be CN02160678.0 (the memory alloy driven wriggling minicar of Shape-based interpolation by name) if China Patent Publication No. is the CN1803409 minitype creepage robot of bullet coupling (Shape-based interpolation by name is just memory alloy driven /) and China Patent Publication No., these two patents are all that Shape-based interpolation is memory alloy driven, substantially can complete the basic exercise of microrobot.

But the distortion of marmem needs the process heating, cool, from being heated to cooling, then this often needs the regular hour to heating, the inevitable like this moving velocity that inevitably limit robot.In addition this application of marmem, be more applied on the relatively little device of the such power of microrobot, under power is an inevitable problem equally.

Summary of the invention

The object of the invention is to for deficiency above-mentioned in prior art, propose a kind of vermicular movement device based on hydraulic actuating cylinder and piston relative motion principle, make that its kinematic velocity is fast, power foot, there is the function of advances, retrogressing, turning.

The present invention is achieved through the following technical solutions, imitates worm running gear comprise based on hydraulic principle: a car, No. two cars, stop mechanism, turning mechanisms.

Described stop mechanism, comprising: arm of action, S. A. 1, brake push rod, cylinder body 2, slide block, S. A. 1, S. A. 2, brake shoes, rear wheel; The piston of brake push rod right-hand member matches with cylinder body 2, can in cylinder body 2 sway, left end is connected by S. A. 2 with slide block, slide block can around S. A. 2 rotation within the specific limits, be placed in arm of action groove simultaneously, left side and groove surface are fitted, and combination there will not be interference like this; Arm of action is connected with a car body by S. A. 1, and can rotate within the specific limits around S. A. 1, and arm of action lower end is connected mutually with brake shoes; Be provided with stop mechanism above each rear wheel, the stop mechanism of same car body is identical, motion conditions is completely the same.

Described turning mechanism, comprising: the near front wheel, S. A. 3, the front axle of car, turn to pull bar, cylinder body 3, cylinders rotation shaft, revolving bar; Front axle is connected by S. A. 3 with revolving bar, and revolving bar and front vehicle wheel are connected; Turn to the piston of pull bar right-hand member to coordinate with cylinder body 3, can move up and down in cylinder body 3; Cylinder body 3 is connected with car body by cylinders rotation shaft, and can rotate in cylinders rotation shaft certain limit.Each front vehicle wheel installs a turning mechanism.

Beneficial effect

The present invention proposes a kind of imitative worm running gear based on oil cylinder in hydraulic efficiency pressure system and piston relative motion principle.This invention structure is simple, is easy to realize; Relative motion between a car and No. two cars, is converted into the relative motion between piston rod and cylinder body, such that whole mechanism kinematic speed is fast, stable movement, power foot; Utilize the stop mechanism of wheel, one of them car body can be fixed by actv., another car body be moved, such reciprocal motion, complete wriggling process; In addition not only can advance, retreat, can also turning motion be carried out.

Accompanying drawing explanation

Fig. 1: imitative worm worm running gear overall situation schematic diagram

Fig. 2: stop mechanism schematic diagram

Fig. 3: turning mechanism schematic diagram

In figure: 1. a car No. 2. car body 3. links 4. No. two car 5. piston push rod 6. cylinder body 1 7. No. two car bodies No. 8. car front-wheels No. 9. car turning mechanisms No. 10. car rear wheels No. 11. car stop mechanisms 12. No. two car front-wheels 13. No. two car turning mechanisms 14. No. two car rear wheels 15. No. two car stop mechanism 16. arm of action 17. S. A. 1 18. brake push rod 19. cylinder bodies 2 No. 20. back axle 21. slide block 22. S. A. 2 23. brake shoes 24. S. A.s 3 No. 25. front axle 26. rotating sliding bar 27. cylinder body 3 28. cylinder body rotating shaft 29. revolving bars No. 30. right wheels

Cylinder body is double acting cylinder body, is divided into A chamber and B chamber.

Detailed description of the invention

As shown in Figure 1, the present invention includes: car (1), No. two cars (4), stop mechanism (11), turning mechanism (9).A described car (1), comprising: car body (2), car front-wheel (8) a pair, No. one back wheels of vehicle (10) a pair; No. two described cars (4) comprising: No. two car bodies (7), cylinder body 1 (6), piston push rod (5) No. two car front-wheels (12) a pair, No. two back wheels of vehicle (14) a pair; A car body (2) and No. two car bodies (7) are arranged on an axletree (20), (25) and No. two car axletrees respectively, and a car body (2) is connected with piston push rod (5) by link (3); Link (19) has certain toughness, and that can carry out to a certain degree is bending; Piston push rod (5) right-hand member piston matches with cylinder body 1 (6), can in cylinder body 1 (6) sway.

As shown in Figure 2, described stop mechanism (11), comprising: arm of action (16), S. A. 1 (17), brake push rod (18), cylinder body 2 (19), slide block (21), S. A. 1 (17), S. A. 2 (22), brake shoes (23), rear wheel (10); The piston of brake push rod (18) right-hand member matches with cylinder body 2 (19), can in cylinder body 2 (19) sway, left end is connected by S. A. 2 (22) with slide block (21), slide block (21) can around S. A. 2 (22) rotation within the specific limits, be placed in arm of action (16) groove simultaneously, left side and groove surface are fitted, and combination there will not be interference like this; Arm of action (16) is connected with a car body (2) by S. A. 1 (17), and can rotate within the specific limits around S. A. 1 (17), arm of action (16) lower end is connected mutually with brake shoes (23).Be provided with stop mechanism above each rear wheel, the stop mechanism of same car body is identical, motion conditions is completely the same.

As shown in Figure 3, described turning mechanism (9), comprising: the near front wheel (8), S. A. 3 (24), the front axle (25) of car, turn to pull bar (26), cylinder body 3 (27), cylinders rotation shaft (28), revolving bar (29); Front axle (25) is connected by S. A. 3 (23) with revolving bar (29), and revolving bar (25) and front vehicle wheel (8) are connected; Turn to the piston of pull bar (26) right-hand member to coordinate with cylinder body 3 (27), can move up and down in cylinder body 3 (27); Cylinder body 3 (27) is connected with car body (2) by cylinders rotation shaft (28), and can rotate in cylinders rotation shaft (28) certain limit.Each front vehicle wheel installs a turning mechanism.

In the present invention, stop mechanism braking principle (for the stop mechanism of a back wheels of vehicle (10) (11))

Cylinder body 2 (18) B chamber oil-feed, during the oil return of A chamber, brake push rod (18) level is to left movement, slide block (21) connects to turn to be with to be slided, impetus bar (16) clickwise certain angle, arm of action (16) drives brake shoes (22) to contact with rear wheel (10), B chamber hydraulic fluid pressure raises, brake shoes (23) and rear wheel (10) friction force increase, time to a certain degree, rear wheel (10) cannot rotate, and a car (1) is static;

Cylinder body 2 (18) A chamber oil-feed, during the oil return of B chamber, brake push rod (18) moves right, induced effect bar (16) conter clockwise turns over certain angle, brake shoes (22) is separated with rear wheel (10) wall, rear wheel (10) can freely rotate, and now stop mechanism is in relaxed state.The braking principle of the rear wheel (14) of No. two cars (4) is identical with it.

Sense of motion controls:

(suppose that two car body mass are identical here, and the resistance that the friction force on during wheel stationary and ground advances much larger than wheel.)

Straight line moves to left motion (being divided into four steps here):

The first step: piston push rod (5) right-hand member piston is in cylinder body 1 (6) right-hand member, under the stop mechanism (15) of rear wheel (14) is in braking mode, No. two cars (4) cannot be moved; In a relaxed state, a car (1) can to left movement at stop mechanism (11) place of rear wheel (10).

Second step: cylinder body 1 (6) B chamber fuel feeding, the oil return of A chamber, piston push rod (5) moves to left, a car body (2) is made to be subject to direction power left, a car (1) moves to left, when piston is in cylinder body (1) left end, the stop motion of a car (1).

3rd step: the stop mechanism (11) of trailing wheel (10) is started working, be in braking mode, car (1) cannot free motion, trailing wheel (14) stop mechanism (15) is in relaxed state, and No. two cars (4) only can to left movement.

4th step: cylinder body 1 (6) A chamber fuel feeding, during the oil return of B chamber, under the effect of hydraulic oil, cylinder body 1 (6) can only move to left, and drives No. two cars to move to left, an orbit period of finishing device.

Straight line moves to right motion similarly.

Turning motion (turning mechanism (9) for a car front-wheel (8))

Cylinder body 3 (27) B chamber oil-feed, during the oil return of A chamber, under the effect of hydraulic oil, turn to pull bar (26) upward movement, simultaneously cylinder body 3 (27) is around cylinders rotation shaft (28) clickwise certain angle, and revolving bar (29) cw turns over certain angle, band motor car wheel (8) bend to right to, do compound motion with device straight line to left movement, device completes the motion that bends to right simultaneously; Cylinder body 3 (26) A chamber oil-feed, during the oil return of B chamber, under the effect of hydraulic oil, pull bar (26) is turned to move downward, simultaneously cylinder body 3 (27) is around cylinders rotation shaft (28) left-hand revolution certain angle, and driven rotary bar (28) conter clockwise turns over certain angle, band motor car wheel (8) left-handed turning to, do compound motion with device straight line to left movement, device completes turning motion left simultaneously.

Off front wheel (30) motion principle similarly, is only that direction is contrary, and the oil-feed of A chamber, off front wheel (30) is turned right, the oil-feed of B chamber, and off front wheel (29) turns left.

Claims

1. an imitative worm running gear, comprise: a car (1), No. two cars (4), stop mechanism (11), turning mechanism (9), it is characterized in that: a car (1) is connected with piston push rod (5) by link (3) with No. two cars (4), piston push rod (5) and a car (1) are geo-stationary, cylinder body 1 (6) and No. two cars (4) are geo-stationary, and the relative motion of a car (1) and No. two cars (4) changes into the relative motion between piston push rod and cylinder body.

2. one according to claim 1 imitates worm running gear, it is characterized in that: be provided with identical stop mechanism above each rear wheel, stop mechanism (11) comprising: arm of action (16), S. A. 1 (17), brake push rod (18), cylinder body 2 (19), slide block (21), S. A. 2 (22), brake shoes (23), trailing wheel (10), the piston of brake push rod (18) right-hand member matches with cylinder body 2 (19), can in cylinder body 2 (19) sway, left end is connected by S. A. 2 (22) with slide block (21), slide block (21) can around S. A. 2 (22) rotation within the specific limits, be placed in arm of action (16) groove simultaneously, left side and groove surface are fitted, arm of action (16) is connected with a car body (2) by S. A. 1 (17), and can rotate within the specific limits around S. A. 2 (17), arm of action (16) lower end is connected mutually with brake shoes (23).

3. one according to claim 1 imitates worm running gear, it is characterized in that: each front vehicle wheel installs a turning mechanism, turning mechanism (9) comprising: the near front wheel (8), S. A. 3 (24), front axle (25), turn to pull bar (26), cylinder body 3 (27), cylinders rotation shaft (28), revolving bar (29); Front axle (25) is connected by S. A. 3 (24) with revolving bar (29), revolving bar (29) and front vehicle wheel (8) are connected, the piston of pull bar (26) right-hand member is turned to coordinate with cylinder body 3 (27), can move up and down in cylinder body 3 (27), cylinder body 3 (27) is connected with a car body (2) by cylinders rotation shaft (28), and can rotate in cylinders rotation shaft (28) certain limit.

4. one according to claim 1 imitates worm running gear, it is characterized in that comprising:

A: piston (5) is in cylinder body 1 (6) right-hand member, under the stop mechanism (15) of rear wheel (14) is in braking mode, stop mechanism (11) place of rear car (10) in a relaxed state, No. two cars (4) cannot be moved, and a car (1) can to left movement.

B: cylinder body 1 (6) B chamber fuel feeding, A chamber oil return piston push rod (5) moves to left, and promotes a car (1) and is moved to the left, when piston is in cylinder body (1) left end, the stop motion of a car (1).

C: the stop mechanism (11) of trailing wheel (10) is started working, be in braking mode, car (1) cannot free motion, and trailing wheel (14) stop mechanism (15) is in relaxed state, and No. two cars (4) can to left movement.

D: cylinder body 1 (6) A chamber fuel feeding, during the oil return of B chamber, under the effect of hydraulic oil, cylinder body 1 (6) moves to left, and drives No. two cars to move to left.

5. the one according to claim 1 or 4 imitates worm running gear, it is characterized in that: advance cycle carries out steps A-B-C-D successively.

6. one according to claim 1 imitates worm running gear, it is characterized in that: link (3) has certain toughness, can there is certain bending under stress condition.