CN109131627A - The imitative sufficient running gear of one kind - Google Patents
The imitative sufficient running gear of one kind Download PDFInfo
- Publication number
- CN109131627A CN109131627A CN201811230640.6A CN201811230640A CN109131627A CN 109131627 A CN109131627 A CN 109131627A CN 201811230640 A CN201811230640 A CN 201811230640A CN 109131627 A CN109131627 A CN 109131627A
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- China
- Prior art keywords
- rack
- chassis
- limb portion
- mechanical
- gear
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of imitative sufficient running gear, including rack and is symmetrically set in the Fang Zu mechanisms of rack two sides, Fang Zu mechanism includes the chassis in rack and the mechanical foot of a pair on chassis, and chassis is rotatably arranged relative to rack；The chassis is equipped with braced frame, it further include the power mechanism in braced frame for driving a pair of mechanical foot staggeredly to swing, the power mechanism includes output motor and the transmission mechanism that matches with output motor, rotating mechanism includes being located at the first drive plate of braced frame two sides and the second drive plate, and the drive rod being cooperatively connected enough with corresponding machinery is respectively equipped on the first drive plate and the second drive plate；Machinery foot includes upper limb portion and lower limb portion, and the upper limb portion is articulated on chassis, further includes for making lower limb portion relative to the telescopic driving mechanism in upper limb portion, driving mechanism includes a pair of of driving mechanisms corresponding with two machinery foots respectively.
Description
Technical field
The present invention relates to delivery vehicle fields, and in particular to a kind of imitative sufficient running gear of delivery vehicle.
Background technique
With the rapid development of economy, but along with the exhaustion of the energy and the deterioration of environment, so energy conservation is got over environmental protection
Paid attention to and become industrial expansion direction by people to get over.The tasks such as general delivery conveying are all complete by automobile at present
At, automobile in the prior art not only energy consumption with higher but also tail gas has higher pollution to environment, some remote
During the scientific investigation in area, need to face in adverse circumstances such as sand ground, muddy ground, snowfield and ice faces, tire is often easy to
It skids, plays great limitation to investigating, and because scarcely populated, investigate team and have to prepare more fuel,
Thus many burdens are brought, manpower and material resources are also consumed, tractor on the market is by increasing itself weight work down on the farm
Make, is otherwise easy tire and skids, not only energy consumption is high for tractor, but also can discharge a large amount of tail gas, especially in greenhouse etc.
Closed environment, it is serious to will cause crop pollution.
Summary of the invention
The invention reside in providing, a kind of energy conservation and environmental protection, cost is low, simplifies suitable for various rough topographys, structure
Imitative foot power car.
In view of the above problems, providing following technical solution: the imitative sufficient running gear of one kind, which is characterized in that including rack
And it is symmetrically set in the Fang Zu mechanism of rack two sides, the Fang Zu mechanism includes the chassis in rack and is set on chassis
The mechanical foot of a pair, the chassis is rotatably arranged relative to rack；The chassis is equipped with braced frame, further includes being set to branch
Power mechanism on support frame frame for driving a pair of mechanical foot staggeredly to swing, the power mechanism include output motor and with it is defeated
The transmission mechanism that motor matches out, the rotating mechanism include being located at the first drive plate of braced frame two sides and second to pass
Moving plate is respectively equipped with the drive rod being cooperatively connected enough with corresponding machinery on first drive plate and the second drive plate；It is described
Mechanical foot includes upper limb portion and lower limb portion, and it further includes for making lower limb portion relative to upper limb that the upper limb portion, which is articulated on chassis,
The telescopic driving mechanism in portion, the driving mechanism includes corresponding a pair of of driving mechanisms with two machinery foots, at one
It is supporting point when swinging backward the end of stroke relative to rack that machinery, which is enough ground, under the driving mechanism driving is corresponding
The elongation of limb portion with ground until offset, at this point, the mechanical foot of another is just being rocked to the end of relative travel, the driving mechanism is driven
It moves corresponding lower limb portion to shrink, the rack is equipped with the steering mechanism turned to for chassis.
In above structure, the first drive plate is shifted to install with the drive shaft on the second drive plate, when motor driven driver
When structure, drive shaft drives mechanical foot, so that mechanical foot dislocation is swung.The principle that two mechanical foots are walked according to foot, when one
Machinery is enough ground when being that supporting point is swung backward relative to rack to stroke-end position, and corresponding lower limb portion is shunk, at this time
The mechanical foot of another is rocked to forward opposite end of travel, and corresponding lower limb portion extends and offsets with ground, passes through setting and turns
Chassis is turned to mechanism, makes mechanical foot that can change direction.It is set on chassis by setting braced frame, when chassis turns
When dynamic, motor and driving mechanism in braced frame can rotate simultaneously, keep drive shaft synchronous with mechanical foot holding.
The present invention is further arranged to, two chassis outer end faces be equipped with gear structure, the rack be equipped with
The rack gears two chassis engagement and rotate in same direction, further include for drive rack sliding driving gear and with driving gear-linked
Steering wheel, tooth sector is equipped between the driving wheel and rack.
In above structure, steering wheel drives the rotation of sliding tooth wheel, and driving gear band turn is to gear, and tooth sector is with movable tooth
Item sliding, two chassis of rack drives rotate in same direction, so that steering wheel controls two chassis and rotates in same direction, to realize steering wheel control
Two are made to rotate in same direction mechanical foot.
The present invention is further arranged to, and the lower limb portion is driven by cylinder.
The present invention is further arranged to, and the drive shaft is equipped with the travel switch for controlling Telescopic-cylinder.
The present invention is further arranged to, and the transmission mechanism is equipped with brake disc and brake compatible with brake disc
Piece, the rack are equipped with the brake pedal for controlling brake block.
The present invention is further arranged to, and the rack is equipped with the accelerator pedal for adjusting output motor power.
In above structure, the power of output motor is increased by accelerator pedal to increase the hunting frequency of mechanical foot, root
According to the different dynamics of stepping on accelerator pedal, the power of output motor is made to obtain different adjustment.
The present invention is further arranged to, and the rack is equipped with dismountable limited block, the end of the limited block and rack gear
Portion two sides offset, to realize the radially fixed of rack gear.
In above structure, when rack gear slides, radial direction also has certain stress, by the way that limited block is arranged, guarantees rack gear
Not because radial displacement is occurred by power in the radial direction, guarantee that rack gear keeps engaging with chassis.
The present invention is further arranged to, and the dead astern of the steering wheel is equipped with seat.
Beneficial effects of the present invention: by imitate foot structure setting can the tires such as sand ground, muddy ground, snowfield and ice face not
Various transports are carried out in applicable road environment.It is especially compared with tractor in the prior art, machinery can be passed through
Foot replaces the tire of machine drawing, not will receive biggish resistance in walking process, not only saves more fuel, and without useless
Gas discharge causes environmental pollution, has reached energy-saving and environment-friendly purpose.Overall construction is very suitable to compared with simplifying and the cost manufactured is low
The production of batch is launched.
Detailed description of the invention
Fig. 1 is schematic view of the front view of the invention；
Fig. 2 is left view structural scheme of mechanism of the invention；
Fig. 3 is that mechanism structure schematic diagram is turned in the present invention；
Figure label meaning: 1- rack；10- gear；101- limited block；111- drives gear；112- steering wheel；113- turns
To gear；12- brake pedal；13- accelerator pedal；The chassis 2-；21- braced frame；The first drive plate of 211-；212- second is driven
Disk；213- brake disc；214- brake block；22- output motor；221- upper limb portion；222- lower limb portion；223- driving mechanism；23- is passed
Motivation structure；24- drive shaft；25- travel switch.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
In conjunction with shown in Fig. 1 to Fig. 3, the imitative sufficient running gear of one kind including rack 1 and is symmetrically set in the imitative of 1 two sides of rack
Sufficient mechanism, Fang Zu mechanism include the chassis 2 in the rack 1 and the mechanical foot of a pair on chassis 2, chassis 2 relative to
Rack 1 is rotatably arranged；It further include the power mechanism for driving a pair of mechanical foot staggeredly to swing, chassis is equipped with braced frame 21,
Braced frame 21 is equipped with output motor 22, further includes the transmission mechanism 23 matched with output motor 22, and output motor 22 is logical
Gear shaft and transmission mechanism engagement rotation are crossed, transmission mechanism 23 includes being located at 21 the first drive plate of two sides 211 of braced frame
With the second drive plate 212, it is respectively equipped on the first drive plate 211 and the second drive plate 212 and is cooperatively connected with corresponding mechanical foot
Drive rod 223；The mechanical foot includes upper limb portion 221 and lower limb portion 222, and upper limb portion 221 is articulated on chassis, passes through cylinder
Drive lower limb portion 222 relative to the scalable setting in upper limb portion 221, cylinder provides power by air compressor machine, and drive shaft 24, which is equipped with, to be used
In the travel switch 25 of control Telescopic-cylinder.It is swung backward for supporting point relative to rack 1 when a machinery is enough ground
When the end of stroke, corresponding travel switch 25 is triggered, the driving mechanism 223 by corresponding lower limb portion 222 elongation until
It offsets with ground, the mechanical foot of another is just being rocked to the end of relative travel at this time, and corresponding travel switch 25 is triggered, drives
Mechanism 223 shrinks corresponding lower limb portion 222.If movement that the lower limb portion 222 of mechanical foot extends and retracts while carrying out, machine
Frame 1 have vibration and cause it is unstable, influence traveling experience make lower limb portion 222 by being provided with frequency conversion mechanism on cylinder
Movement when doing the movement shunk than stretching is postponed, it is ensured that stability and safety in traveling also make mechanical foot
Can be buffered, prevent from damaging, increase service life.
In the present embodiment, the first drive plate 211 is shifted to install with the drive shaft 24 on the second drive plate 212, output motor
When 22 drive transmission device 23, drive shaft 24 swings a pair of mechanical foot dislocation.Make two chassis can by the way that steering mechanism is arranged
It to rotate in same direction, rotate in same direction two pairs of mechanical foots can.Braced frame 21 is arranged to be set on chassis 2, when chassis 2 turns to,
Output motor 22 and driving mechanism 23 in braced frame 21 can be such that drive shaft 24 and mechanical foot keeps with rotating simultaneously
It is synchronous.Two 2 outer end faces of chassis be equipped with gear structure, 1 is equipped with the rack gear for engaging and rotating in same direction with two chassis 2 in rack
10, it further include the steering wheel 112 for sliding driving gear 111 for drive rack 10 and linking with driving gear 111, sliding tooth
Tooth sector 113 is equipped between wheel 111 and rack gear 10.Steering wheel 112 drives driving gear 111 to rotate, and driving gear 111 drives
Tooth sector, tooth sector 113 are slided with carry-over bar 10, and rack gear 10 drives two chassis 2 to rotate in same direction, so that steering wheel 112
It controls two chassis 2 to rotate in same direction, to realize that the control of steering wheel 112 two rotates in same direction mechanical foot.
In the present embodiment, transmission mechanism 23 is equipped with brake disc 213 and brake block 214 compatible with brake disc 213,
Rack 2 is equipped with the brake pedal 12 for controlling brake block 214.Rack is equipped with for adjusting adding for 22 power of output motor
Speed pedal 13 changes the power of output motor 22 by accelerator pedal 13 to adjust the hunting frequency of mechanical foot, adds according to stepping on
The different dynamics of speed pedal 13, makes the power of output motor 22 obtain different adjustment.The output motor 22 is gear motor.
Rack is equipped with dismountable limited block 101, and limited block 101 and the end two sides of rack gear 10 offset, to realize the diameter of rack gear 10
To fixation.When rack gear sliding when, radial direction also has certain stress, by be arranged limited block 101, guarantee rack gear not because by
Power in the radial direction and radial displacement occurs, keep engaging between rack gear and chassis.
In the present embodiment, room for human habitation etc. can be increased on the basis of this running gear, output motor 22 is logical
Storage battery power supply is crossed, the solar battery that large area can be set is used to pass through to storage battery storage electric energy because low energy consumption
Solar energy is converted into electric energy mode and meets daily energy consumption, is suitble to team of delegation to investigate for a long time, meets day
Normal Comfortable Housing Project alleviates the burden for needing to carry a large amount of fuel and generating, reduces the loss of manpower and material resources, can also apply
In being not suitable for human lives remote districts, unmanned delivery's conveying and various tasks are realized by way of remote operation.
In the present embodiment, the dead astern of steering wheel 112 is equipped with seat, can sit down when driving, more comfortably with
Just it saves physical strength and increases traveling experience.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvements and modifications can also be made, above-mentioned hypothesis these
Improvement and modification also should be regarded as protection scope of the present invention.
Claims (8)
1. the imitative sufficient running gear of one kind, which is characterized in that including rack and it is symmetrically set in the Fang Zu mechanisms of rack two sides, it is described
Fang Zu mechanism includes the chassis in rack and the mechanical foot of a pair on chassis, and the chassis can turn relative to rack
Dynamic setting；The chassis is equipped with braced frame, further includes being set in braced frame for driving a pair of mechanical foot staggeredly to swing
Power mechanism, the power mechanism includes output motor and the transmission mechanism that matches with output motor, the rotating machine
Structure includes being located at the first drive plate of braced frame two sides and the second drive plate, on first drive plate and the second drive plate
It is respectively equipped with the drive rod being cooperatively connected enough with corresponding machinery；The mechanical foot includes upper limb portion and lower limb portion, the upper limb
Portion is articulated on chassis, further includes for making lower limb portion relative to the telescopic driving mechanism in upper limb portion, the driving mechanism packet
Include corresponding a pair of of driving mechanisms with two mechanical foots, a machinery be enough ground be supporting point relative to rack backward
When swinging to the end of stroke, the driving mechanism drives corresponding lower limb portion elongation until offseting with ground, at this point, another
Mechanical foot is just being rocked to the end of relative travel, and the driving mechanism drives corresponding lower limb portion to shrink, and the rack is equipped with
The steering mechanism turned to for chassis.
2. according to a kind of mechanical imitative sufficient running gear described in claim 1, which is characterized in that two chassis outer end faces are set
There is gear structure, the rack is equipped with the rack gear for engaging and rotating in same direction with two chassis, further includes sliding for drive rack
It is dynamic to drive gear and the steering wheel with driving gear-linked, tooth sector is equipped between the driving wheel and rack.
3. according to a kind of mechanical imitative sufficient running gear described in claim 1, which is characterized in that driven by cylinder in the lower limb portion
It is dynamic.
4. according to a kind of mechanical imitative sufficient running gear as claimed in claim 3, which is characterized in that the drive shaft is equipped with for controlling
The travel switch of Telescopic-cylinder processed.
5. according to a kind of mechanical imitative sufficient running gear described in claim 1, which is characterized in that the transmission mechanism is equipped with brake
Disk and brake block compatible with brake disc, the rack are equipped with the brake pedal for controlling brake block.
6. a kind of imitative sufficient power car according to claim 1, which is characterized in that the rack is equipped with for adjusting output
The accelerator pedal of power of motor.
7. a kind of imitative sufficient power car according to claim 1, which is characterized in that the rack is equipped with dismountable limit
The end two sides of block, the limited block and rack gear offset, to realize the radially fixed of rack gear.
8. according to a kind of mechanical imitative sufficient running gear as claimed in claim 2, which is characterized in that the dead astern of the steering wheel is equipped with
Seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811230640.6A CN109131627B (en) | 2018-10-22 | 2018-10-22 | Foot-imitating walking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811230640.6A CN109131627B (en) | 2018-10-22 | 2018-10-22 | Foot-imitating walking system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109131627A true CN109131627A (en) | 2019-01-04 |
| CN109131627B CN109131627B (en) | 2020-11-17 |
Family
ID=64809164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811230640.6A Active CN109131627B (en) | 2018-10-22 | 2018-10-22 | Foot-imitating walking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109131627B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110608356A (en) * | 2019-08-20 | 2019-12-24 | 河北地质大学 | Monitoring device based on cloud computing |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6470282A (en) * | 1987-09-11 | 1989-03-15 | Yanmar Agricult Equip | Automatic traveling device for agricultural machine |
| SE9101854L (en) * | 1991-06-17 | 1992-12-18 | Bofors Ab | Body for support of object - has several legs and control equipment reacting to command covering body travel direction, speed, etc. |
| CN1117002A (en) * | 1994-02-20 | 1996-02-21 | 冯建光 | Hydraulic walking vehicle |
| RO114247B1 (en) * | 1993-02-18 | 1999-02-26 | Dima Florentina Sat Moara | Octopodous stepping platform |
| US20080133053A1 (en) * | 2006-11-29 | 2008-06-05 | Honda Motor Co., Ltd. | Determination of Foot Placement for Humanoid Push Recovery |
| CN102963456A (en) * | 2012-12-19 | 2013-03-13 | 叶志彪 | Teaching robot with six feet |
| CN205652232U (en) * | 2016-03-16 | 2016-10-19 | 平湖西技双臂智能机器人有限公司 | Hinder robot more |
| CN106741281A (en) * | 2016-12-13 | 2017-05-31 | 齐鲁工业大学 | A kind of quadruped robot walking mechanism containing linear joint |
-
2018
- 2018-10-22 CN CN201811230640.6A patent/CN109131627B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6470282A (en) * | 1987-09-11 | 1989-03-15 | Yanmar Agricult Equip | Automatic traveling device for agricultural machine |
| SE9101854L (en) * | 1991-06-17 | 1992-12-18 | Bofors Ab | Body for support of object - has several legs and control equipment reacting to command covering body travel direction, speed, etc. |
| RO114247B1 (en) * | 1993-02-18 | 1999-02-26 | Dima Florentina Sat Moara | Octopodous stepping platform |
| CN1117002A (en) * | 1994-02-20 | 1996-02-21 | 冯建光 | Hydraulic walking vehicle |
| US20080133053A1 (en) * | 2006-11-29 | 2008-06-05 | Honda Motor Co., Ltd. | Determination of Foot Placement for Humanoid Push Recovery |
| CN102963456A (en) * | 2012-12-19 | 2013-03-13 | 叶志彪 | Teaching robot with six feet |
| CN205652232U (en) * | 2016-03-16 | 2016-10-19 | 平湖西技双臂智能机器人有限公司 | Hinder robot more |
| CN106741281A (en) * | 2016-12-13 | 2017-05-31 | 齐鲁工业大学 | A kind of quadruped robot walking mechanism containing linear joint |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110608356A (en) * | 2019-08-20 | 2019-12-24 | 河北地质大学 | Monitoring device based on cloud computing |
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| Publication number | Publication date |
|---|---|
| CN109131627B (en) | 2020-11-17 |
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