CN110758588A - Moving and steering method of walking machine and carrying tool - Google Patents
Moving and steering method of walking machine and carrying tool Download PDFInfo
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- CN110758588A CN110758588A CN201810824116.5A CN201810824116A CN110758588A CN 110758588 A CN110758588 A CN 110758588A CN 201810824116 A CN201810824116 A CN 201810824116A CN 110758588 A CN110758588 A CN 110758588A
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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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Abstract
The invention discloses a four-leg walking type walking mode, a method for steering by adjusting the size of left and right steps and a vehicle capable of realizing the movement and steering method. The invention adopts a crank slideway or a crank connecting rod mechanism as four legs, the lower parts of the legs are connected with rotating feet, and the mechanical walking motion is completed through the combined motion of the legs and the feet; the sizes of steps on the left side and the right side of the four-leg walking mechanism are changed by adjusting the fulcrum shafts of the slide ways or the fulcrum shafts of the connecting rods up and down, so that the steering function is realized. The production and application of the four-leg walking type transport machinery become possible, the walking with heavy load on the severe ground can be realized, and simultaneously, the invention provides evidence for the wooden ox and the gliding horse invented by Zhuge Liang in the period of three countries.
Description
Technical Field
The invention discloses a movement and steering method of a walking machine, in particular to a four-leg walking type walking method capable of walking on the ground and a steering method for adjusting the left step and the right step. The invention also discloses a carrier for realizing the movement and steering method.
Background
The history records that the Zhuge Liang invented the four-foot carrier wooden ox and flow horse in the period of three kingdoms; in the next two hundred years, the scientific talent of the south-north China was said to create a wooden ox and a flow horse; unfortunately, both have been lost. Currently, the continuous ground walking machines commonly used by human beings mainly comprise a wheel type, a crawler type, a rolling rod type, an air cushion type and a magnetic suspension type; in addition, the electric toy horse has limited load and complex structure.
Disclosure of Invention
The invention aims to provide a moving and steering method of a walking machine, which enables the production and application of a four-leg walking type transport machine to be possible. Therefore, the invention also provides a vehicle for realizing the movement and steering method.
In order to solve the above problems, the basic concept of the moving and steering method of a walking machine of the present invention is: by utilizing the bionics principle and referring to the walking posture of quadruped animals such as cattle and horses, the gravity center does not move up and down as much as possible, two legs or three legs at opposite angles are grounded to support the gravity center, and the quadruped animals cannot lift off the ground simultaneously; the crank slideway or the crank connecting rod mechanism is adopted as four legs, the lower parts of the legs are connected with rotating feet, and the mechanical walking motion is completed through the combined motion of the legs and the feet; the sizes of steps on the left side and the right side of the four-leg walking mechanism are changed by adjusting the fulcrum shafts of the slide ways or the fulcrum shafts of the connecting rods up and down, so that the steering function is realized.
The basic concept of a vehicle of the present invention is: the four corners of the square frame are respectively provided with a crank shaft, each crank shaft is fixedly provided with an upper chain wheel and sleeved with a leg, the lower part of the leg is sleeved with a lower chain wheel and coaxially and fixedly provided with a rotating foot, the two chain wheels on the same leg are connected together through a chain, the upper end or the middle part of the leg is provided with a chute or a connecting rod, the chute is internally provided with a sliding fulcrum shaft, or the tail end of the connecting rod is connected with a fulcrum shaft, the two fulcrum shafts on the same side are fixedly arranged on a fulcrum seat, and the fulcrum seats on the two sides of the frame can be linked to synchronously move in the opposite direction and.
When the walking robot walks, the crankshafts on the four legs rotate in the same direction one by one, the two legs on the same side have a phase angle of 90 degrees, and the two legs on the opposite angle have a phase angle of 90 degrees, so that the walking robot is of an odd kicking animal type; when walking, the crankshafts on the four legs rotate in pairs in the same direction, and the two opposite-angle legs move simultaneously to form an even kicking animal type. The lower end of the leg moves along an elliptical track under the action of the crank and the slideway or the crank and the connecting rod, an upper chain wheel fixedly arranged on the crank drives a lower chain wheel at the lower part of the leg to rotate through a chain, and a rod-shaped or dumbbell-shaped rotating foot coaxially and fixedly arranged with the lower chain wheel rotates along with the lower chain wheel. The lower end parts of the legs and the rotating feet alternately contact the ground to support the weight, so that the gravity center does not move up and down as much as possible, and the walking and the continuous walking of the legs are realized. The linkage fulcrum seats at the two sides of the adjusting frame move upwards and downwards one to drive the fulcrum shafts sleeved in the slide ways or the fulcrum shafts at the tail ends of the connecting rods to move up and down, so that the step sizes at the left side and the right side of the four-leg walking mechanism are changed, and the steering function is realized.
As a first technical scheme for realizing the basic concept of the carrier, the carrier is provided with crank shafts respectively arranged at four corners of a square frame, each crank shaft is fixedly provided with an upper chain wheel and sleeved with a leg, the lower part of each leg is sleeved with a lower chain wheel and coaxially and fixedly provided with a rotating foot, the rotating foot is rod-shaped or dumbbell-shaped, the two chain wheels on the same leg are connected together through a chain, the upper end of each leg is provided with a sliding chute, a sliding fulcrum shaft is arranged in the sliding chute, the two fulcrum shafts on the same side are fixedly arranged on a fulcrum seat, the top of the frame is provided with a wheel shaft and wound with two pull ropes, the middle parts of the pull ropes are fixed on the wheel shaft, the two ends of each pull rope are respectively fixed on the fulcrum seats on the two sides of the frame, and the two; the pivot seat can be linked, synchronously retrograde and slide up and down by rotating the wheel shaft; each crank shaft is coaxially and fixedly provided with a rocker arm and a driving chain wheel, the two driving chain wheels on the same side are connected together by a chain, the four rocker arms are sleeved on a four-side frame, the four-side frame is a driving part, and the four crank shafts can be driven to rotate in the same direction by pushing the four-side frame; the end of the wheel shaft is provided with a rotary arm and a deflector rod, the frame is provided with a fan-shaped jaw, and the deflector rod enters the fan-shaped jaw to position and lock the wheel shaft.
As an improvement of the first technical solution, the driving part comprises a rotating shaft and a crankshaft sleeved on the square frame, and a driving chain wheel and two crankshafts are respectively and fixedly arranged on the rotating shaft and the crankshaft; four crank shafts are respectively sleeved with a leg, and two driving chain wheels are connected by a chain; the rotating crankshafts can drive the rotating shafts to synchronously rotate through the driving chain wheels and the chains, and the four crankshafts are driven to rotate to drive the four legs to move.
As another improvement of the first technical solution, the driving component includes a crankshaft and two rotating shafts sleeved on the square frame, two driving sprockets are fixedly mounted on the middle rotating shaft, a driving sprocket is fixedly mounted on each of the crankshaft and the other rotating shaft, and the two driving sprockets on the middle rotating shaft are respectively connected with the driving sprocket on the other rotating shaft and the driving sprocket on the crankshaft; when the crankshaft rotates, under the action of the chain wheel and the chain, the four crankshafts fixedly arranged at the end parts of the two rotating shafts are driven to synchronously rotate to drive the four legs to move.
As another improvement of the first technical solution, the middle parts of the four legs are respectively provided with a chute, a sliding fulcrum shaft is arranged in the chute, the two fulcrum shafts on the same side are fixedly arranged on a fulcrum seat, the top of the machine body is provided with a wheel shaft and is wound with two pull ropes, the middle parts of the pull ropes are fixed on the wheel shaft, and the two ends of the pull ropes are respectively fixed on the fulcrum seats on the two sides of the machine body and are wound back through the bottom of the machine body to form a closed rope loop; the pivot seat can be linked and synchronously reversed by rotating the wheel shaft, and can slide up and down.
As a second technical scheme for realizing the basic concept of the carrier, the carrier is provided with crank shafts respectively arranged at four corners of a square frame, each crank shaft is fixedly provided with an upper chain wheel and sleeved with a leg, the lower part of each leg is sleeved with a lower chain wheel and coaxially and fixedly provided with a rotating foot, the rotating foot is rod-shaped or dumbbell-shaped, the two chain wheels on the same leg are connected together through a chain, the upper end of each leg is connected with a connecting rod, the tail end of the connecting rod is connected with a fulcrum shaft, the two fulcrum shafts at the same side are fixedly arranged on a fulcrum seat, the top of the frame is provided with a wheel shaft and wound with two pull ropes, the middle parts of the pull ropes are fixed on the wheel shaft, the two ends of the pull ropes are respectively fixed on the fulcrum seats at the two sides of; the pivot seat can be linked, synchronously retrograde and slide up and down by rotating the wheel shaft; each crank shaft is coaxially and fixedly provided with a rocker arm and a driving chain wheel, the two driving chain wheels on the same side are connected together by a chain, the four rocker arms are sleeved on a four-side frame, the four-side frame is a driving part, and the four crank shafts can be driven to rotate in the same direction by pushing the four-side frame; the end of the wheel shaft is provided with a rotary arm and a deflector rod, the frame is provided with a fan-shaped jaw, and the deflector rod enters the fan-shaped jaw to position and lock the wheel shaft.
As an improvement of the second technical scheme, the middle parts of the four legs are respectively connected with a connecting rod, the tail ends of the connecting rods are connected with fulcrum shafts, the two fulcrum shafts on the same side are fixedly arranged on a fulcrum seat, the top of the frame is provided with a wheel shaft and wound with two pull ropes, the middle parts of the pull ropes are fixed on the wheel shaft, the two ends of the pull ropes are respectively fixed on the fulcrum seats on the two sides of the frame, and the pull ropes are wound back through the bottom of the frame to form a closed rope loop.
The invention relates to a movement and steering method of a walking machine and a carrying tool, which adopt a four-leg stepping walking mode and a method for steering by adjusting the left and right steps, so that the production and application of the four-leg walking type transport machine become possible, the walking with heavy load on the severe ground can be realized, and simultaneously, the invention also provides a corroboration for the wooden ox and the nom invented by Zhuge during the three kingdoms.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a diagrammatic side view of a first embodiment of a vehicle according to the present invention.
FIG. 2 is a diagrammatic top view of a first embodiment of a vehicle according to the present invention.
FIG. 3 is a diagrammatic front view of a first embodiment of a vehicle according to the present invention.
Fig. 4 is a second structural schematic diagram of the driving part.
Fig. 5 is a third structural schematic diagram of the driving part.
Figure 6 is another schematic configuration of the leg.
Figure 7 is a schematic top view of another configuration of a leg.
FIG. 8 is a diagrammatic side view of a second embodiment of a vehicle according to the present invention.
FIG. 9 is a diagrammatic top view of a second embodiment of a vehicle according to the present invention.
FIG. 10 is a schematic illustration of a further construction of a second embodiment of the vehicle according to the invention.
Detailed Description
The moving and steering method of the walking machine is implemented as follows: as can be seen from fig. 1, 2 and 3, the method adopts a crank slideway mechanism or a crank connecting rod mechanism as four legs, and is characterized in that: the lower parts of the legs (2), (37), (26) and (31) are correspondingly connected with rotating feet (1), (36), (28) and (32), and the mechanical walking motion is completed through the combined motion of the legs and the feet; in the whole process, the gravity center does not move up and down as much as possible, two legs or three legs at opposite angles are grounded to support the gravity center, and the two legs or the three legs cannot lift off the ground simultaneously; a rotatable wheel shaft (15) is sleeved on the frame (9), the pulling ropes (13) and (16) are connected with the fulcrum seats (14) and (18), and the fulcrum shafts (41), 40), 19 and (8) of the slide ways or the fulcrum shafts of the connecting rods can be adjusted up and down through rotating the wheel shaft (15), so that the steps on the left side and the right side of the four-leg walking mechanism are changed, and the steering function is realized.
As shown in fig. 1, 2 and 3, a carrier is provided with crank shafts 4, 24, 29 and 38 respectively arranged at four corners of a square frame 9, an upper chain wheel 5 is fixedly arranged on the crank shaft 4 and is sleeved with a leg 2, a lower chain wheel 39 and a rotating foot 1 are coaxially sleeved at the lower part of the leg 2, and the lower chain wheel 39 and the rotating foot 1 are fixedly arranged together; an upper chain wheel 34 is fixedly arranged on the crank shaft 38 and is sleeved with a leg 37, a lower chain wheel 35 and a rotating foot 36 are coaxially sleeved at the lower part of the leg 37, and the lower chain wheel 35 and the rotating foot 36 are fixedly arranged together; the upper chain wheel 21 is fixedly arranged on the crank shaft 24 and is sleeved with a leg 26, the lower part of the leg 26 is coaxially sleeved with a lower chain wheel 27 and a rotating foot 28, and the lower chain wheel 27 and the rotating foot 28 are fixedly arranged together; an upper chain wheel 30 is fixedly arranged on the crank shaft 29 and is sleeved with a leg 31, a lower chain wheel 33 and a rotating foot 32 are coaxially sleeved at the lower part of the leg 31, and the lower chain wheel 33 and the rotating foot 32 are fixedly arranged together; the rotating feet 1, 28, 32 and 36 are rod-shaped or dumbbell-shaped, and two chain wheels on the same leg are connected together through a chain; the upper end of the leg 2 is provided with a chute 12, and a sliding fulcrum shaft 41 is arranged in the chute 12; the upper ends of the legs 26 are provided with sliding grooves 17, and a sliding fulcrum shaft 40 is arranged in the sliding grooves 17; the upper ends of the legs 31 are provided with chutes 20, and the chutes 20 are internally provided with a sliding fulcrum shaft 19; the upper ends of the legs 37 are provided with chutes 7, and the chutes 7 are internally provided with a sliding fulcrum shaft 8; two fulcrum shafts 41 and 40 on the same side are fixedly arranged on one fulcrum seat 14, and two fulcrum shafts 8 and 19 on the other side are fixedly arranged on one fulcrum seat 18; the top of the frame 9 is provided with a wheel shaft 15 and is wound with two pull ropes 13 and 16, the two ends of the pull ropes 13 and 16 are respectively fixed on the fulcrum seats 14 and 18 at the two sides of the frame 9 and are wound back through the bottom of the frame 9 to form a front closed rope loop and a rear closed rope loop; the pivot seats 14 and 18 can be linked, synchronized and retrograde by rotating the wheel shaft 15 and respectively slide up and down; a rocker arm 42 and a driving chain wheel 48 are fixedly arranged on the crank shaft 4, a rocker arm 53 and a driving chain wheel 50 are fixedly arranged on the crank shaft 24, a rocker arm 23 and a driving chain wheel 25 are fixedly arranged on the crank shaft 29, a rocker arm 6 and a driving chain wheel 3 are fixedly arranged on the crank shaft 38, the two driving chain wheels 48 and 50 on the same side are connected together by a chain, and the two driving chain wheels 3 and 25 on the other side are connected together by a chain; the four rocker arms 42, 53, 6 and 23 are all sleeved on a four-side frame 22, the four-side frame 22 is a driving part, and the four crank shafts 4, 24, 29 and 38 can be driven to rotate in the same direction by pushing the four-side frame 22; the end of the wheel shaft 15 is provided with a rotary arm 11 and a deflector rod 10, the frame 9 is provided with a fan-shaped jaw 43, and the deflector rod 10 enters the fan-shaped jaw 43 to position and lock the wheel shaft 15.
As a modified solution of the first technical solution, as shown in fig. 4, the driving part includes a rotating shaft 45 and a crankshaft 44 sleeved on the square frame 9, the rotating shaft 45 is fixedly provided with the driving sprocket 25, and both ends of the driving sprocket are also fixedly provided with the crankshafts 24 and 29; the crankshaft 44 is fixedly provided with the driving chain wheel 3, and both ends of the crankshaft 44 are also fixedly provided with the crankshafts 4 and 38; wherein, the crank shaft 4 is sleeved with the leg 2, the crank shaft 38 is sleeved with the leg 37, the crank shaft 24 is sleeved with the leg 26, and the crank shaft 29 is sleeved with the leg 31; the driving chain wheels 3 and 25 are connected by a chain, the rotating crankshaft 44 drives the driving chain wheel 25 and the rotating shaft 45 to synchronously rotate through the driving chain wheels 3 and the chain, and drives the four crank shafts 24, 29, 4 and 38 to rotate so as to drive the four legs to move.
As another improvement of the first technical solution, as shown in fig. 5, the driving part includes a square frame 9 on which a crankshaft 47, a middle rotating shaft 46 and a rotating shaft 45 are sleeved, wherein two ends of the middle rotating shaft 46 are fixedly provided with crankshafts 4 and 38, and two ends of the rotating shaft 45 are fixedly provided with crankshafts 24 and 29; wherein, the rotating shaft 45 is also fixedly provided with a driving chain wheel 50, the middle rotating shaft is fixedly provided with two driving chain wheels 48 and 52, the crankshaft 47 is fixedly provided with a driving chain wheel 51, the driving chain wheels 51 and 52 are connected together by chains, and the driving chain wheels 48 and 50 are connected together by chains; when the crankshaft 47 rotates, under the action of the chain wheel and the chain, the four crankshafts 4, 38, 24 and 29 fixedly arranged at the end parts of the middle rotating shaft 46 and the rotating shaft 45 are driven to rotate along with the crankshaft, so that the four legs are driven to move.
As a further modification of the first technical means, as shown in fig. 6 and 7, a slide groove 12 is provided in the middle of the leg 2, and a slidable fulcrum shaft 41 is provided in the slide groove 12; the middle part of the leg 26 is provided with a sliding chute 17, and a sliding fulcrum shaft 40 is arranged in the sliding chute 17; (ii) a The middle part of the leg 31 is provided with a chute 20, and the chute 20 is internally provided with a sliding fulcrum shaft 19; the middle part of the leg 37 is provided with a chute 7, and the chute 7 is internally provided with a sliding fulcrum shaft 8; the two fulcrum shafts 41 and 40 on the same side are fixedly arranged on a fulcrum seat 14, and the two fulcrum shafts 8 and 19 on the other side are fixedly arranged on a fulcrum seat 18.
As a second technical solution for realizing the basic concept of the vehicle of the present invention, as shown in fig. 8 and 9, a vehicle is provided with a crankshaft 4, 24, 29, 38 respectively installed at four corners of a square frame 9, an upper sprocket 5 is fixedly installed on the crankshaft 4 and a leg 2 is sleeved on the crankshaft, a lower sprocket 39 and a foot 1 are coaxially sleeved on the lower portion of the leg 2, and the lower sprocket 39 and the foot 1 are fixedly installed together; an upper chain wheel 34 is fixedly arranged on the crank shaft 38 and is sleeved with a leg 37, a lower chain wheel 35 and a rotating foot 36 are coaxially sleeved at the lower part of the leg 37, and the lower chain wheel 35 and the rotating foot 36 are fixedly arranged together; the upper chain wheel 21 is fixedly arranged on the crank shaft 24 and is sleeved with a leg 26, the lower part of the leg 26 is coaxially sleeved with a lower chain wheel 27 and a rotating foot 28, and the lower chain wheel 27 and the rotating foot 28 are fixedly arranged together; an upper chain wheel 30 is fixedly arranged on the crank shaft 29 and is sleeved with a leg 31, a lower chain wheel 33 and a rotating foot 32 are coaxially sleeved at the lower part of the leg 31, and the lower chain wheel 33 and the rotating foot 32 are fixedly arranged together; the rotating feet 1, 28, 32 and 36 are rod-shaped or dumbbell-shaped, and two chain wheels on the same leg are connected together through a chain; the upper end of the leg 2 is connected with a connecting rod 54, and the tail end of the connecting rod 54 is provided with a fulcrum shaft 41; the upper end of the leg 26 is connected with a connecting rod 55, and the tail end of the connecting rod 55 is provided with a fulcrum shaft 40; the upper end of the leg 31 is connected with a connecting rod 56, and the tail end of the connecting rod 56 is provided with a fulcrum shaft 19; the upper end of the leg 37 is connected with a connecting rod 57, and the tail end of the connecting rod 57 is provided with a fulcrum shaft 8; two fulcrum shafts 41 and 40 on the same side are fixedly arranged on one fulcrum seat 14, and two fulcrum shafts 8 and 19 on the other side are fixedly arranged on one fulcrum seat 18; the top of the frame 9 is provided with a wheel shaft 15 and is wound with two pull ropes 13 and 16, the two ends of the pull ropes 13 and 16 are respectively fixed on the fulcrum seats 14 and 18 at the two sides of the frame 9 and are wound back through the bottom of the frame 9 to form a front closed rope loop and a rear closed rope loop; the pivot seats 14 and 18 can be linked, synchronized and retrograde by rotating the wheel shaft 15 and respectively slide up and down; a rocker arm 42 and a driving chain wheel 48 are fixedly arranged on the crank shaft 4, a rocker arm 53 and a driving chain wheel 50 are fixedly arranged on the crank shaft 24, a rocker arm 23 and a driving chain wheel 25 are fixedly arranged on the crank shaft 29, a rocker arm 6 and a driving chain wheel 3 are fixedly arranged on the crank shaft 38, the two driving chain wheels 48 and 50 on the same side are connected together by a chain, and the two driving chain wheels 3 and 25 on the other side are connected together by a chain; the four rocker arms 42, 53, 6 and 23 are all sleeved on a four-side frame 22, the four-side frame 22 is a driving part, and the four crank shafts 4, 24, 29 and 38 can be driven to rotate in the same direction by pushing the four-side frame 22; the end of the wheel shaft 15 is provided with a rotary arm 11 and a deflector rod 10, the frame 9 is provided with a fan-shaped jaw 43, and the deflector rod 10 enters the fan-shaped jaw 43 to position and lock the wheel shaft 15.
As a modification of the second technical means, as shown in fig. 10, a link 54 is connected to the middle of the leg 2, and the end of the link 54 is provided with a fulcrum shaft 41; the middle part of the leg 26 is connected with a connecting rod 55, and the tail end of the connecting rod 55 is provided with a fulcrum shaft 40; the middle part of the leg 31 is connected with a connecting rod 56, and the tail end of the connecting rod 56 is provided with a fulcrum shaft 19; the middle part of the leg 37 is connected with a connecting rod 57, and the tail end of the connecting rod 57 is provided with a fulcrum shaft 8; two fulcrum shafts 41 and 40 on the same side are fixedly arranged on one fulcrum seat 14, and two fulcrum shafts 8 and 19 on the other side are fixedly arranged on one fulcrum seat 18; the top of the frame 9 is provided with a wheel shaft 15 and is wound with two pull ropes 13 and 16, the two ends of the pull ropes 13 and 16 are respectively fixed on the fulcrum seats 14 and 18 at the two sides of the frame 9 and are wound back through the bottom of the frame 9 to form a front closed rope loop and a rear closed rope loop; the pivot seats 14 and 18 can be linked, synchronized and reversed by rotating the wheel shaft 15, and can respectively slide up and down.
Claims (7)
1. A movement and steering method of a walking machine adopts a crank slideway mechanism or a crank connecting rod mechanism as four legs, and is characterized in that: the lower parts of the legs (2), (37), (26) and (31) are correspondingly connected with rotating feet (1), (36), (28) and (32), and the mechanical walking motion is completed through the combined motion of the legs and the rotating feet; in the whole process, the gravity center does not move up and down as much as possible, two legs or three legs at opposite angles are grounded to support the gravity center, and the two legs or the three legs cannot lift off the ground simultaneously; the frame (9) is sleeved with a rotatable wheel shaft (15), the pulling ropes (13) and (16) are connected with the fulcrum seats (14) and (18), and the fulcrum shafts (41), 40), 19 and (8) of the slide ways or the connecting rods can be adjusted up and down through rotating the wheel shaft (15) to change the steps at the left side and the right side of the four-leg walking mechanism, thereby realizing the steering function.
2. A carrier is characterized in that four corners of a square frame (9) are respectively provided with a crank shaft (4), (24), (29) and (38), an upper chain wheel (5) is fixedly arranged on the crank shaft (4) and is sleeved with a leg (2), a lower chain wheel (39) and a rotating foot (1) are coaxially sleeved at the lower part of the leg (2), and the lower chain wheel (39) and the rotating foot (1) are fixedly arranged together; an upper chain wheel (34) is fixedly arranged on the crank shaft (38) and is sleeved with a leg (37), a lower chain wheel (35) and a rotating foot (36) are coaxially sleeved at the lower part of the leg (37), and the lower chain wheel (35) and the rotating foot (36) are fixedly arranged together; an upper chain wheel (21) is fixedly arranged on the crank shaft (24) and is sleeved with a leg (26), a lower chain wheel (27) and a rotating foot (28) are coaxially sleeved at the lower part of the leg (26), and the lower chain wheel (27) and the rotating foot (28) are fixedly arranged together; an upper chain wheel (30) is fixedly arranged on the crank shaft (29) and is sleeved with a leg (31), a lower chain wheel (33) and a rotating foot (32) are coaxially sleeved at the lower part of the leg (31), and the lower chain wheel (33) and the rotating foot (32) are fixedly arranged together; the rotating feet (1), (28), (32) and (36) are rod-shaped or dumbbell-shaped, and two chain wheels on the same leg are connected together through a chain; the upper ends of the legs (2) are provided with chutes (12), and the chutes (12) are internally provided with a sliding fulcrum shaft (41); the upper ends of the legs (26) are provided with sliding chutes (17), and a sliding fulcrum shaft (40) is arranged in the sliding chutes (17); the upper ends of the legs (31) are provided with sliding chutes (20), and the sliding chutes (20) are internally provided with a sliding fulcrum shaft (19); the upper ends of the legs (37) are provided with chutes (7), and the chutes (7) are internally provided with a sliding fulcrum shaft (8); two fulcrum shafts (41) and (40) on the same side are fixedly arranged on one fulcrum seat (14), and two fulcrum shafts (8) and (19) on the other side are fixedly arranged on one fulcrum seat (18); the top of the frame (9) is provided with a wheel shaft (15) and is wound with two pull ropes (13) and (16), the middle parts of the pull ropes (13) and (16) are fixed on the wheel shaft (15), the two ends of the pull ropes (13) and (16) are respectively fixed on fulcrum seats (14) and (18) at the two sides of the frame (9), and are wound back through the bottom of the frame (9) to form a front closed rope loop and a rear closed rope loop; the pivot seats (14) and (18) can be linked, synchronized and retrograde by rotating the wheel shaft (15) and respectively slide up and down; a rocker arm (42) and a driving chain wheel (48) are fixedly arranged on the crank shaft (4), a rocker arm (53) and a driving chain wheel (50) are fixedly arranged on the crank shaft (24), a rocker arm (23) and a driving chain wheel (25) are fixedly arranged on the crank shaft (29), a rocker arm (6) and a driving chain wheel (3) are fixedly arranged on the crank shaft (38), the two driving chain wheels (48) and (50) on the same side are connected together by a chain, and the two driving chain wheels (3) and (25) on the other side are connected together by a chain; the four rocker arms (42), (53), (6) and (23) are sleeved on a four-side frame (22), the four-side frame (22) is a driving part, and the four crank shafts (4), (24), (29) and (38) can be driven to rotate in the same direction by pushing the four-side frame (22); the end part of the wheel shaft (15) is provided with a rotary arm (11) and a deflector rod (10), the rack (9) is provided with a fan-shaped jaw (43), and the deflector rod (10) enters the fan-shaped jaw (43) to position and lock the wheel shaft (15).
3. A vehicle according to claim 2, wherein: the driving part comprises a rotating shaft (45) and a crankshaft (44) which are sleeved on the square frame (9), a driving chain wheel (25) is fixedly arranged on the rotating shaft (45), and crankshafts (24) and (29) are fixedly arranged at two ends of the rotating shaft; the crankshaft (44) is fixedly provided with a driving chain wheel (3), and both ends of the crankshaft are also fixedly provided with crankshafts (4) and (38); wherein the crank shaft (4) is sleeved with the leg (2), the crank shaft (38) is sleeved with the leg (37), the crank shaft (24) is sleeved with the leg (26), and the crank shaft (29) is sleeved with the leg (31); the driving chain wheels (3) and (25) are connected by a chain, the rotating crank shaft (44) drives the driving chain wheels (25) and the rotating shaft (45) to synchronously rotate through the driving chain wheels (3) and the chain, and drives the four crank shafts (24), (29), (4) and (38) to rotate so as to drive the four legs to move.
4. A vehicle according to claim 2, wherein: the driving part comprises a crankshaft (47), a middle rotating shaft (46) and a rotating shaft (45) which are sleeved on a square frame (9), crankshafts (4) and (38) are fixedly arranged at two ends of the middle rotating shaft (46), and crankshafts (24) and (29) are fixedly arranged at two ends of the rotating shaft (45); wherein the rotating shaft (45) is also fixedly provided with a driving chain wheel (50), the middle rotating shaft is fixedly provided with two driving chain wheels (48) and (52), the crankshaft (47) is fixedly provided with a driving chain wheel (51), the driving chain wheels (51) and (52) are connected together by chains, and the driving chain wheels (48) and (50) are connected together by chains; when the crank shaft (47) rotates, under the action of the chain wheel and the chain, the four crank shafts (4), (38), (24) and (29) fixedly arranged at the end parts of the middle rotating shaft (46) and the rotating shaft (45) are driven to rotate along with the crank shafts, so that the four legs are driven to move.
5. A vehicle according to claim 2, wherein: the middle parts of the legs (2) are provided with sliding chutes (12), and the sliding chutes (12) are internally provided with a sliding fulcrum shaft (41); the middle parts of the legs (26) are provided with sliding chutes (17), and the sliding chutes (17) are internally provided with a sliding fulcrum shaft (40); the middle parts of the legs (31) are provided with sliding chutes (20), and the sliding chutes (20) are internally provided with a sliding fulcrum shaft (19); the middle parts of the legs (37) are provided with sliding chutes (7), and the sliding chutes (7) are internally provided with a sliding fulcrum shaft (8); two fulcrum shafts (41) and (40) on the same side are fixedly arranged on one fulcrum seat (14), and two fulcrum shafts (8) and (19) on the other side are fixedly arranged on one fulcrum seat (18).
6. A carrier is characterized in that four corners of a square frame (9) are respectively provided with a crank shaft (4), (24), (29) and (38), an upper chain wheel (5) is fixedly arranged on the crank shaft (4) and is sleeved with a leg (2), a lower chain wheel (39) and a rotating foot (1) are coaxially sleeved at the lower part of the leg (2), and the lower chain wheel (39) and the rotating foot (1) are fixedly arranged together; an upper chain wheel (34) is fixedly arranged on the crank shaft (38) and is sleeved with a leg (37), a lower chain wheel (35) and a rotating foot (36) are coaxially sleeved at the lower part of the leg (37), and the lower chain wheel (35) and the rotating foot (36) are fixedly arranged together; an upper chain wheel (21) is fixedly arranged on the crank shaft (24) and is sleeved with a leg (26), a lower chain wheel (27) and a rotating foot (28) are coaxially sleeved at the lower part of the leg (26), and the lower chain wheel (27) and the rotating foot (28) are fixedly arranged together; an upper chain wheel (30) is fixedly arranged on the crank shaft (29) and is sleeved with a leg (31), a lower chain wheel (33) and a rotating foot (32) are coaxially sleeved at the lower part of the leg (31), and the lower chain wheel (33) and the rotating foot (32) are fixedly arranged together; the rotating feet (1), (28), (32) and (36) are rod-shaped or dumbbell-shaped, and two chain wheels on the same leg are connected together through a chain; the upper ends of the legs (2) are connected with connecting rods (54), and the tail ends of the connecting rods (54) are provided with fulcrum shafts (41); the upper ends of the legs (26) are connected with connecting rods (55), and the tail ends of the connecting rods (55) are connected with fulcrum shafts (40); the upper ends of the legs (31) are connected with connecting rods (56), and the tail ends of the connecting rods (56) are provided with fulcrum shafts (19); the upper ends of the legs (37) are connected with connecting rods (57), and the tail ends of the connecting rods (57) are provided with fulcrum shafts (8); two fulcrum shafts (41) and (40) on the same side are fixedly arranged on one fulcrum seat (14), and two fulcrum shafts (8) and (19) on the other side are fixedly arranged on one fulcrum seat (18); the top of the frame (9) is provided with a wheel shaft (15) and is wound with two pull ropes (13) and (16), the middle parts of the pull ropes (13) and (16) are fixed on the wheel shaft (15), the two ends of the pull ropes (13) and (16) are respectively fixed on fulcrum seats (14) and (18) at the two sides of the frame (9), and are wound back through the bottom of the frame (9) to form a front closed rope loop and a rear closed rope loop; the pivot seats (14) and (18) can be linked, synchronized and retrograde by rotating the wheel shaft (15) and respectively slide up and down; a rocker arm (42) and a driving chain wheel (48) are fixedly arranged on the crank shaft (4), a rocker arm (53) and a driving chain wheel (50) are fixedly arranged on the crank shaft (24), a rocker arm (23) and a driving chain wheel (25) are fixedly arranged on the crank shaft (29), a rocker arm (6) and a driving chain wheel (3) are fixedly arranged on the crank shaft (38), the two driving chain wheels (48) and (50) on the same side are connected together by a chain, and the two driving chain wheels (3) and (25) on the other side are connected together by a chain; the four rocker arms (42), (53), (6) and (23) are sleeved on a four-side frame (22), the four-side frame (22) is a driving part, and the four crank shafts (4), (24), (29) and (38) can be driven to rotate in the same direction by pushing the four-side frame (22); the end part of the wheel shaft (15) is provided with a rotary arm (11) and a deflector rod (10), the rack (9) is provided with a fan-shaped jaw (43), and the deflector rod (10) enters the fan-shaped jaw (43) to position and lock the wheel shaft (15).
7. A vehicle according to claim 6, wherein: the middle parts of the legs (2) are connected with connecting rods (54), and the tail ends of the connecting rods (54) are provided with fulcrum shafts (41); the middle parts of the legs (26) are connected with connecting rods (55), and the tail ends of the connecting rods (55) are provided with fulcrum shafts (40); the middle parts of the legs (31) are connected with connecting rods (56), and the tail ends of the connecting rods (56) are provided with fulcrum shafts (19); the middle parts of the legs (37) are connected with connecting rods (57), and the tail ends of the connecting rods (57) are provided with fulcrum shafts (8); two fulcrum shafts (41) and (40) on the same side are fixedly arranged on one fulcrum seat (14), and two fulcrum shafts (8) and (19) on the other side are fixedly arranged on one fulcrum seat (18); the top of the frame (9) is provided with a wheel shaft (15) and is wound with two pull ropes (13) and (16), the middle parts of the pull ropes (13) and (16) are fixed on the wheel shaft (15), the two ends of the pull ropes (13) and (16) are respectively fixed on fulcrum seats (14) and (18) at the two sides of the frame (9), and are wound back through the bottom of the frame (9) to form a front closed rope loop and a rear closed rope loop; the pivot seats (14) and (18) can be linked, synchronized and retrograde by rotating the wheel shaft (15) and respectively slide up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810824116.5A CN110758588A (en) | 2018-07-25 | 2018-07-25 | Moving and steering method of walking machine and carrying tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810824116.5A CN110758588A (en) | 2018-07-25 | 2018-07-25 | Moving and steering method of walking machine and carrying tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110758588A true CN110758588A (en) | 2020-02-07 |
Family
ID=69326864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810824116.5A Pending CN110758588A (en) | 2018-07-25 | 2018-07-25 | Moving and steering method of walking machine and carrying tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110758588A (en) |
-
2018
- 2018-07-25 CN CN201810824116.5A patent/CN110758588A/en active Pending
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Application publication date: 20200207 |