CN1398748A - Two-leg walking vehicle - Google Patents
Two-leg walking vehicle Download PDFInfo
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- CN1398748A CN1398748A CN 02122503 CN02122503A CN1398748A CN 1398748 A CN1398748 A CN 1398748A CN 02122503 CN02122503 CN 02122503 CN 02122503 A CN02122503 A CN 02122503A CN 1398748 A CN1398748 A CN 1398748A
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Abstract
The present invention provides a kind of two-leg, four-leg and eight-leg walking machine and belongs to the fields of walking robot and transport machinery. By the mechanical transmission and transformation mechanism, the extending and contracting legs drive the machine to walk one step by one step. The machine may walk through a place where the automobile cannot pass. When a two-leg walking machine is provided with computer and upper limbs, a complete robot is formed. The four-leg walking machine is especially suitable for use in mountainous area, desert and other places without highway. The eight-leg walking machine is designed for heavy operation in mine, well, underwater and marine.
Description
The walking function and the field of transport machinery of affiliated walking robot.
The operation logic of the vehicular transport machinery of the present invention before not proposing is that circumference with the power driving automobile wheel that rotatablely moves is made the circular movement that goes round and begins again, utilizes the radius of rotation of wheel of the bus to contact the generation application force with ground, and propelling vehicle travels forward.When wheel of the bus moves, can only do the straight line motion on horizontal surface.So wheel of the bus can only carry out hauling operation on the slope on the highway of the wide expansion of smooth hard, below 20 °.Its shortcoming: wheel of the bus is the radius of rotation of fixing, and the rotating diameter of wheel of the bus can not be increased and shorten.Wheel of the bus rotates a circle 360 °, effectively utilize angle to be not more than 20 °, wheel of the bus can not be on the slope greater than 20 ° the ladder gradient, wide-angle, intermountain path, paddy field, nonirrigated farmland, desert, grassland, under water, the seabed is engaged in transportation and other operations under water.
Outside above deficiency, according to the walking of people, chicken, duck, horse, pig, ox moving and two limbs, four limbs bony structure, quadrangle can amplify the principle of dwindling, lever can be laborsaving, the principle economizing distance, lift, push away forward, the principle of utilizing vapour pressure, hydraulic pressure, mechanical energy to raise and reduce, invention has designed the traveling gear of tensible, contraction, the walking machine that the cross-country regulator control system replacement wheel of the bus of the reduction that can raise is walked.
Environment need be designed to coventional type, cross-country type two classes in the walking machine stronghold.
The coventional type walking machine: be travel height and the width that utilizes traveling gear fixing, without any mechanism and system, itself is the height and width 100mm---the 200mm of walking directly, promotes walking machine and walks forward with a step 100mm-200mm.
The cross-country type walking machine: crossing over height, is the standing height by the traveling gear walking, adds cross-country regulator control system adjustable height two parts composition.The standing height and width 100mm---the 200mm of the walking of just capable mechanism self use cross-country regulator control system lifting principle again, increase to cross over height 300mm---500mm, and the adaptation scope of design is at the needs of 800mm with interior complex environment walking.
The groundwork of using on the traveling gear.Quadrangle can amplify and dwindles the variation principle
Quadrangle can amplify and dwindles the variation principle: different variations takes place for the different power directions of quadrangle, on tetragonal corresponding angles, an end is the powered point, and the other end is an attachment point, and when the power point changes, quadrangle just changes.
Do experiment one: with equilateral tetragonal diagonal angle ∠ A, a ∠ B, establishing ∠ A is the powered point, and ∠ B is an attachment point, gives ∠ A point an application force up and down, and quadrangle just raises, compresses with the variation of power.Attached experiment scheme drawing 1.
Lever principle be laborsaving, economize distance, lift, push away forward.
Do experiment two: the principle that lever can lift object, push away forward, with lever AB, keep flat on the ground, choosing a bit is fixed in the above object between AB.On the A point, give him a garden arc power, when A point half-twist, AB lever vertical ground, the object between the AB also half-twist is perpendicular to the ground, and at this moment object is previously gone up and is raise, and promotes forward again.Attached experiment scheme drawing 2.
The principle of work of traveling gear
The traveling gear principle of work is to use the working process that the working process that stretches, shrinks replaces automobile crop rotation circular movement.Be with 360 ° of circular movement one weeks of power, be transformed into 180 ° of the stretching, extensions of traveling gear, shrinks a rotate a circle working process of 360 ° of 180 ° a working process replacement of two on-cycles wheel of the bus.Attached structural representation Fig. 3.
The title of traveling gear main parts size and composition
Form by catch bar [1], promotion connecting rod [2], dowel bar [3], contraction pole [4], walking rod [5], walking support bar [6], cramp bar [7], trammel beam [8].Attached structural representation Fig. 6.The structure fabrication of traveling gear main parts size is made into catch bar [1], dowel bar [3], contraction pole [4], walking rod [5], walking support bar [6], trammel beam [8] on the lever of swing arm, resistance arm, fulcrum.The shape of traveling gear main parts size is made
To promote connecting rod [2], contraction pole [4], walking rod [5], trammel beam [8], be made into single-piece, structure form garden tube, flute profile.Attached structural representation Fig. 4.
Catch bar [1], dowel bar [3], walking support bar [6], cramp bar [7] are made into two parts, structure form 1/3 arch garden, garden flute profile.Attached structural representation Fig. 5.Traveling gear structure and composition
Form by power transmission quadrangle, walking quadrangle, supporting quadrangle three parts.Attached structure structural representation Fig. 6.The power transmission quadrangle
Structure: the power arm by the resistance arm of catch bar [1], the power arm that promotes connecting rod [2], dowel bar [3], contraction pole [4] constitutes.
Structure: the pivot pin [24] of the power arm of catch bar [1] and switching mechanism links, and constitutes the powered point of the tetragonal corresponding angles of power transmission.The power arm of the resistance arm of catch bar [1] and contraction pole [4] links, and promotes an end of connecting rod [2] and the power arm limit knot of fulcrum binding, the other end and dowel bar [3].The fulcrum of the fulcrum of dowel bar [3] and contraction pole [4] links.One end of fulcrum shaft and fulcrum binding, the other end and fulcrum vertical shaft [29] link.Forelimb pin power transmission quadrangle fulcrum shaft and front fulcrum vertical shaft [29] link.Hind leg pin power transmission quadrangle fulcrum vertical shaft and rear fulcrum vertical shaft [29] link.The fulcrum of the fulcrum of dowel bar [3] and contraction pole [4] constitutes the tetragonal corresponding angles attachment point of power transmission.
Effect: be that by the resistance arm of catch bar [1], fulcrum is divided into two power through promoting connecting rod [2], passes to the power arm of dowel bar [3] and the power arm of contraction pole [4] with rotate a circle 360 ° a power of power.The walking quadrangle
Structure: constitute by the resistance arm of dowel bar [3], the resistance arm of contraction pole [4], the power arm of walking rod [5], the power arm of walking support bar [6].
Structure: the power arm of the resistance arm of dowel bar [3] and walking rod [5] links, and the power arm of the resistance arm of contraction pole [4] and walking support bar [6] links.The fulcrum of the fulcrum of walking rod [5] and walking support bar [6] links.Fulcrum and fulcrum shaft link, and constitute the powered point of walking quadrangle corresponding angles.
Effect: the walking quadrangle is based on contraction pole [4], walking rod [5].Stretching, shrinking in two cyclic processs, contraction pole [4] plays province's distance, walking rod [5] plays the labour-saving effect.In operational process, make contraction pole [4] economize the power that distance consumes, by laborsaving being replenished of walking rod [5], make laborsaving, economize distance and replenish mutually, utilize mutually, reach balance between two forces, not loss of original power passed to the supporting quadrangle.
The supporting quadrangle
Structure: resistance arm, the resistance arm of walking rod [5], cramp bar [7], trammel beam [8] by walking support bar [6] constitute.
Structure: the power arm of the resistance arm of walking support bar [6] and trammel beam [8] links.The resistance arm of one end of cramp bar [7] and walking rod [5] links, and the fulcrum of the other end and trammel beam [8] links, and constitutes the supporting quadrangle.
Effect: be that two power that walking tetragonal contraction pole [4], walking rod [5] transmit are respectively passed to trammel beam [8] on the one hand, synthetic propelling thrust is with the kiss the earth generation application force of certain degree of dip, balance.Be synthetic power of two power that walking tetragonal contraction pole [4], walking rod [5] are transmitted on the other hand,, raise, step into forward with 180 ° of half garden camber line with 90 ° garden camber lines for dynamic poise device.The working process of traveling gear
The working process of traveling gear, 360 ° of the weeks of will rotatablely moving, be transformed into traveling gear stretching, extension, shrink working process.In stretching process, with the garden Zhou Yundong of power, clickwise moving crooked traveling gear of 180 ° of generations is stretched out earthward with contacting of ground balance with certain inclination angle and to be produced application force, promotes fuselage and walks forward.In contraction process, power is continued the garden Zhou Yundong of rotation, cw continues Rotate 180 °, promotes crooked contraction of traveling gear of stretching, and with 90 ° garden arc curves traveling gear is raise, and steps into forward with 180 ° half garden arc curves.
The stretching process of the traveling gear process of doing work exactly, the anglec of rotation is 180 ° of 180 ° of effectively utilizing angle, is that fuselage is pushed ahead.
The contraction process of traveling gear is with regard to set up procedure.It is traveling gear to be shunk improve 90 ° garden arc curve that the anglec of rotation is 180 °, steps into forward with 180 ° half garden arc curves.The height and the width of the fixing walking of walking machine just are 100mm-200mm, are no more than 200mm.
Cross-country regulator control system frame mode: three kinds of frame modes such as catch bar [1] lifting regulator control system, fulcrum vertical shaft [29] lifting regulator control system, associating lifting regulator control system.
Jacking system up-down mode: vapour pressure, hydraulic pressure, three kinds of structure up-down modes of machinery.Catch bar [1] lifting regulator control system
Structure: constitute by catch bar [1], jacking system.
Structure: catch bar [1] links with the pivot pin [24] of an end binding, the other end and the converting member of the lifting mechanism of jacking system.
Effect: increase the length of catch bar [1], strengthen the walking angle of traveling gear, improve cross-country height, the cross-country height of this structure is 100mm-300mm.Cross-country height raises, and crosses over width and reduces thereupon.
Purposes: catch bar [1] lifting regulator control system can only be used to cross over the walking machine that bottom-to-top-height is 500mm.
Fulcrum vertical shaft [29] lifting regulator control system.
Structure: fulcrum vertical shaft [29], frame [28], jacking system constitute.
Structure: fulcrum vertical shaft [29] links with lifting mechanism one end of jacking system, and lifting mechanism and frame [28] link.
Effect: increase mobile fulcrum vertical shaft [29] position, strengthen the walking angle of traveling gear, improve cross-country height.The cross-country height of this structure is 100mm-300mm, and cross-country height raises, and crosses over width and reduces thereupon.
Purposes: fulcrum vertical shaft [29] lifting regulator control system can only be used to cross over the walking machine that bottom-to-top-height is 500mm.
Associating lifting regulator control system
Form: catch bar [1], fulcrum vertical shaft [29] lifting regulation and control set of systems become.
Effect: simultaneously walking machine is raise by two lifting mechanisms, improve the cross-country height of walking machine.The cross-country height 100mm-500mm of this structure.
Purposes: associating lifting regulator control system, being used in and crossing over bottom-to-top-height is on the walking machine of 800mm.
The purposes of traveling gear, cross-country regulator control system: the acting working process of traveling gear, timeliness angle are 180 °, have improved 160 ° for 20 ° than the effective angle of wheel of the bus.Dead work process, timeliness angle are 180 °, have reduced by 160 ° for 340 ° than the timeliness angle of wheel of the bus.Walking machine is exactly a timeliness angle on-cycle gap of effectively utilizing angle and contraction process to reduce of using stretching process; Utilize the height of cross-country regulator control system lifting, cross over the gradient, paddy field, nonirrigated farmland, desert, grassland of the walking ladder gradient, intermountain path, wide-angle, under water, the seabed can also be engaged in transportation and other operation under water.
To achieve the above object, the present invention has designed coventional type and cross-country type two-leg walking vehicle.
The coventional type two-leg walking vehicle.Form by chain drive, speed change system, horizontal transmission system [16], perpendicular transmission system [18], driving system [21], converting system [38], traveling gear, balancing device [48], guiding mechanism, electrical equipment, anchor fitting [58], two-leg.
Chain drive: slightly
Speed change system: slightly
Horizontal transmission system [16]
Form: connection shaft [10], plane bearing [11], kill car device [12], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], power wheel [17] and form.
Structure: divide left end, right-hand member two parts, left end is identical with the right-hand member structure, left end by connection shaft [10], plane bearing [11], kill car device [12], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], power wheel [17] formation.
Make: castle wheel [13], revolving wheel [14] are made into that semicircle is meshing takes turns.
Structure: the hollow shaft that parts [30] binding, the other end and plane bearing [11] are changed in an end of connection shaft [10] and left-hand rotation links.The hollow shaft of plane bearing [11] is contained in the plane bearing [11].The solid frame that kills car device [12] and plane bearing [11] links.Castle wheel hollow shaft [15] is contained in the castle wheel [13].Compressing spring [22] is contained in the castle wheel hollow shaft [15].The bottom of one end of compressing spring [22] and connection shaft [10] binding, the other end and castle wheel hollow shaft [15] links.One end of castle wheel hollow shaft [15] is contained in the hollow shaft of plane bearing [11], the other end is contained in the hollow shaft of revolving wheel [14].Revolving wheel [14] links with power wheel [17].Plane bearing [11], kill car device [12], castle wheel [13], power wheel [17] and be contained in the fixed body of transmission system.The revolving wheel of right-hand member [14] links with shared power wheel [17].Constitute horizontal transmission system [16].Attached structural representation Fig. 7.
Effect: be after power is separated,, firmly to be controlled at certain working process extremely, be convenient to the guiding of turning the traveling gear foot lever.
Purposes: turn to clutch to kill car system, the biography that is used for walking machine is changed system [38] and transmission system [21].
Perpendicular transmission system [18]
Form: by power wheel [17], driving device [20], power take-off implement [42] is formed.
Structure: by the power wheel [17] of horizontal transmission system [16]; Front end, the rear end of driving device [20]; Power take-off implement [42] constitutes.
Structure: the front end of driving device [20] and power wheel [17] link, and rear end and power take-off implement [42] link, and structure becomes perpendicular transmission system [18].Attached structural representation Fig. 8.
Driving device [20]: chain, gear, V-belt, lever, vapour pressure, six kinds of power drives of hydraulic pressure.
Chain gearing
Form: form by power take-off implement [42], chain, power wheel [17].
Structure: by power take-off implement [42]; Chain [20] front end, rear end; The power wheel [17] of horizontal transmission system [16] constitutes.
Structure: the front end of chain [20] and power take-off implement [42] binding, rear end and power wheel [17] link, and structure becomes chain gearing.Attached structural representation Fig. 8.
Gear system.
Form: power take-off implement [42], gear cluster [20], power wheel [17] are formed.
Structure: power take-off implement [42]; Power arm, resistance arm, the fulcrum shaft of gear cluster [20]; The power wheel [17] of horizontal transmission system [16] constitutes.
Structure: the power arm of the power arm of gear cluster [20] and power take-off implement [42] binding, resistance arm and power wheel [17] links.Gear wheel shaft is that fulcrum shaft is contained in the toothed disc, and gear wheel shaft and frame [28] link, and structure becomes the gear system of perpendicular transmission system [18].Attached structural representation Fig. 8.
The V-wheel drive device
Form: form by power take-off implement [42], V-belt, power wheel [17].
Structure: by power take-off implement [42]; Front end, the rear end of V-belt [20]; The power wheel [17] of horizontal transmission system [16] constitutes.
Structure: the front end of V-belt [20] and power take-off implement [42] binding, rear end and power wheel [17] link, and structure becomes the V-wheel drive device of perpendicular transmission system [18].Attached structural representation Fig. 8.
Rod gear
Rod gear: be divided into the single-stage lever, two kinds of type of drive of lever group.
The single-stage rod gear
Form: form by power take-off implement [42], lever, power wheel [17].
Structure: by power take-off implement [42]; Power arm, resistance arm, the fulcrum shaft of lever [20]; The power wheel [17] of horizontal transmission system [16] constitutes.
Structure: the power arm of lever [20] and power take-off implement [42] link, and resistance arm and power wheel [17] link.Fulcrum and fulcrum shaft link, and fulcrum shaft and frame [28] link, and structure becomes the single-stage rod gear.Attached structural representation Fig. 8.
Lever group driving device
Form: form by power take-off implement [42], lever group [20], power wheel [17].
Structure: power take-off implement [42]; Power arm, resistance arm, the fulcrum shaft of lever group [20]; The power wheel [17] of horizontal transmission system [16] constitutes.
Structure: the power arm of lever group [20] and power take-off implement [42] binding, resistance arm and power wheel [17] link.Fulcrum and fulcrum shaft link, and fulcrum shaft and frame [28] link.Structure becomes lever group driving device.Attached structural representation Fig. 8.
Vapour pressure driving device: slightly
Hydraulic actuator: slightly
Driving system [21]
Form: form by horizontal transmission system [16], perpendicular transmission system [18].
Structure: by the power wheel [17] of horizontal transmission system [16]; In the perpendicular transmission system [18], the front end of driving device [20] constitutes.
Structure: the front end of driving device [20] and power wheel [17] link, and structure becomes driving system [21].Attached structural representation Fig. 9.
Effect: be the power that the circumference with power rotatablely moves, by chain, gear, V-belt, lever, vapour pressure, six kinds of type of drive of hydraulic pressure, be transformed into to converting system that the needed circumference of two-leg walking vehicle rotatablely moves or reciprocating two power of lever.
Purposes: driving system [21] and converting member [23], pivot pin [24] constitutes the converting system of two-leg walking vehicle, uses on two-leg walking vehicle.
Converting system [38] and switching mechanism
Form: form by horizontal transmission system [16], converting member [23], pivot pin [24].
Structure: by left end, the right-hand member of horizontal transmission system [16]; Converting member [23] and left-hand rotation are changed parts [30], are turned right and change parts [31]; Pivot pin [24] and left pivot pin [32], right pivot pin [33] constitute.
Structure: left end binding, the other end and the pivot pin [32] of an end of converting member [30] and horizontal transmission system [16] links.The right-hand member of one end of converting member [31] and horizontal transmission system [16] links, and the other end and pivot pin [33] link.Converting member [23], pivot pin [24] link with the two ends of horizontal transmission system [16], link angle, are 180 ° of the phase dihedral, and structure becomes converting system [38].Attached structural representation Figure 10.
Traveling gear: be foot lever again.
Balancing device [38] is pin again, can manufacture circle, semicircle, ellipse.
Form: sole [25], toe [27] are formed.
Structure: by sole [25] and left end, right-hand member, front end, rear end; The left toe [34] of toe [27], right toe [35], preceding toe [37], auxiliary toe [44] constitute.
Make: sole [25] is six prismatics.∠ A, ∠ B are that an end of 90 ° is a front end, and ∠ D, ∠ E are that an end of 115 °, 112 ° is the rear end.Attached planform signal Figure 11.
Toe [27]: be triangle, fan-shaped.Attached shape and structure signal Figure 12.
Structure: left toe [34], right toe [35], preceding toe [37] link with left end, right-hand member, the front end of sole [25].Auxiliary toe [44] links with the inclined-plane of sole [25] rear end, constitutes at the bottom of the hollow foot, is combined into balancing device [48].
It is 180 ° that left foot assists toe [44] to link angle with left toe [34]; With preceding toe [37], right toe [35] links angle and is respectively 60 °.
It is 180 ° that right crus of diaphragm assists toe [44] to link angle with right toe [35]; Link angle with the left toe of preceding toe [37] [34] and be respectively 60 °.
Auxiliary toe [44] is attached at the left foot that is on the right tilted surface of sole [25] rear end; Be attached at the right crus of diaphragm that is on the left end inclined-plane.Attached structural representation Figure 13.
Left side toe [34], right toe [35], preceding toe [37], auxiliary toe [44] structure form are the leg-of-mutton pawl formula pin that is called.Structure form is the fan-shaped fan-shaped pin that is called.
Effect: a balancing device claims pin again, links a part of weight and the gravity that supports walking machine with traveling gear, guarantees walking machine one leg in the process of walking, instantaneous interior balance and stable.
Purposes: pawl formula business concern operating a porters' service is walked place of skidding easily and the place of comparing hard.Fan-shaped business concern operating a porters' service is walked paddy field, nonirrigated farmland, desert than the place that is easier to fall into pin.
Guiding mechanism: slightly
Electrical equipment: slightly
Anchor fitting [58]
Form: frame [28], fulcrum vertical shaft [29] constitute.
Structure: frame [28] links with fulcrum vertical shaft [29].Attached structural representation Figure 14.
Two-leg
Form: by traveling gear, balancing device [48], overcoat is formed.
Structure: left limb pin is identical with the structure of right limb pin, and left limb pin is by the power arm and the trammel beam [8] of traveling gear catch bar [1], balancing device [48] and sole [25], the upper end of overcoat, lower end formation.
Structure: traveling gear is contained in the overcoat, and trammel beam [8] links with sole [25], and the lower end of overcoat and balancing device [48] link, and structure becomes left limb pin.
The coventional type two-leg walking vehicle
Form: form by converting system [38], two-leg, anchor fitting [58].
Structure: by left end pivot pin [32], the right-hand member pivot pin [23] of converting system [38]; The fulcrum shaft of the power arm of the catch bar of two-leg [1] and dowel bar [3], contraction pole [4]; Anchor fitting [58] fulcrum vertical shaft [29] constitutes.
Structure: the power arm of left limb pin catch bar [1] and pivot pin [32] link, and fulcrum shaft and fulcrum vertical shaft [29] link.The power arm of right limb pin catch bar [1] and pivot pin [33] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and constitute two-leg walking vehicle.
Principle of work: the circumference of power is rotatablely moved through speed change system, driving system is passed to the walking working process that converting system is transformed into two-leg walking vehicle, make two cyclic processs that left limb pin stretches, right limb pin shrinks, promote walking machine walking forward step by step.
Cross-country type two-leg walking vehicle: form by common two-leg type walking machine, cross-country regulator control system.
Cross-country regulator control system: be divided into catch bar [1] lifting regulator control system, fulcrum vertical shaft [29] lifting regulator control system, three kinds of frame modes of associating lifting regulator control system.
Lifting regulation and control type two-leg
Form: form by lifting regulation and control traveling gear, balancing device [48], overcoat.
Structure: left limb pin is identical with right limb leg structure, and left limb pin is by the lifting mechanism and the trammel beam [8] of lifting regulation and control traveling gear; Balancing device [48] and sole [25]; The upper end of overcoat, lower end constitute.
Structure: lifting regulator control system traveling gear is contained in the overcoat, and trammel beam [8] links with sole [25], and the lower end of overcoat and balancing device [48] link, and structure becomes lifting regulation and control type left side limb pin.
Catch bar [1] lifting regulation and control cross-country type two-leg walking vehicle
Form: form by converting system [38], lifting regulation and control type two-leg, anchor fitting [58].
Structure: change parts [30], pivot pin [32] by the left-hand rotation of converting system [38]; Parts [31], pivot pin [33] are changed in right-hand rotation; The fulcrum shaft of the lifting mechanism of two-leg and dowel bar [3], contraction pole [4]; The upper end of overcoat, lower end; The vertical shaft [29] of the fulcrum of anchor fitting [58], frame [28] constitute.
Structure: the lifting mechanism of left limb pin and pivot pin [32] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link.The lifting mechanism of right limb pin and pivot pin [33] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link, and structure becomes catch bar [1] lifting regulation and control cross-country type two-leg walking vehicle.
Fulcrum vertical shaft [29] lifting regulation and control cross-country type two-leg walking vehicle.
Form: form by converting system [38], two-leg, fulcrum vertical shaft [29] lifting regulator control system, anchor fitting [58].
Structure: by left end pivot pin [32], the right-hand member pivot pin [33] of converting system [38]; The fulcrum shaft of the power arm of two-leg catch bar [1] and dowel bar [3], contraction pole [4], the upper end of overcoat; The lifting mechanism of fulcrum vertical shaft [29] lifting regulator control system, the fulcrum vertical shaft [29] of anchor fitting [58], frame [28] constitute.
Structure: the power arm of left limb pin catch bar [1] and pivot pin [32] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the lifting mechanism of fulcrum vertical shaft [29] and frame [28] link, and the upper end of overcoat and frame [28] link.The power arm of right limb pin catch bar [1] and pivot pin [33] link, fulcrum shaft and fulcrum vertical shaft [29] link, the lifting mechanism of fulcrum vertical shaft [29] and frame [28] link, and the upper end of overcoat and frame [28] link, and structure becomes fulcrum vertical shaft [29] lifting regulation and control cross-country type two-leg walking vehicle.
Associating lifting regulation and control cross-country type two-leg walking vehicle.
Form: form by converting system [38], lifting regulation and control type two-leg, fulcrum vertical shaft [29] lifting regulator control system, anchor fitting [58].
Structure: by converting system [38] left end pivot pin [32], right-hand member pivot pin [33]; The fulcrum shaft of lifting regulation and control type two-leg lifting mechanism and dowel bar [3], contraction pole [4], the upper end of overcoat; The lifting mechanism of fulcrum vertical shaft [29] lifting regulator control system, the frame [28] of anchor fitting [58] constitutes.
Structure: the lifting mechanism of left limb pin and pivot pin [32] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the lifting mechanism of fulcrum vertical shaft [29] and frame [28] link, and the upper end of overcoat and frame [28] link.The lifting mechanism of right limb pin and pivot pin [33] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the lifting mechanism of fulcrum vertical shaft [29] and frame [28] link, and the upper end of overcoat and frame [28] link, and structure becomes associating lifting regulation and control cross-country type two-leg walking vehicle.
The principle of work of cross-country type two-leg walking vehicle: the circumference of power is rotatablely moved through speed change system, driving system is passed to the walking working process that converting system is transformed into two-leg walking vehicle, make two cyclic processs that left limb pin stretches, right limb pin shrinks, promote walking machine walking forward step by step, again by cross-country regulator control system adjustable height, improve the leap height of walking machine, adapt to the needs of complex environment in scope of design.
Purposes: two-leg walking vehicle, can carry out special operation in the ladder gradient of certain gradient and scope of design.It can be installed on the robot, becomes a complete walking robot.
Two-leg walking vehicle is compared with the wheel operation has unique advantage.The operation of use wheel, exactly on the same axis that circumference rotatablely moves or on the same rotary system, just the axle that rotatablely moves of straight line go up to be installed two wheels motions, and wheel is can't support frame and vehicle body, the walking of standing is as the support operation logic of motor bike, bicycle.On the axle that same circumference rotatablely moves or on the same rotary system, on the axle that straight line rotatablely moves, the traveling gear of installing two-leg walking vehicle is stood and is walked forward with regard to energy support frame and vehicle body.The advantage of two-leg walking vehicle uniqueness that Here it is.
The shortcoming of two-leg walking vehicle
Two-leg walking vehicle is the walking function of walking robot, also the invention design and installation is imperfect for upper limbs and brain intelligent apparatus, development and use also treat in continuing research, improve its structure and intelligent apparatus, but on can only the slope and the ladder gradient in scope of design, carry out special operation.Traveling gear and wheel of the bus structure, make are different, walking operation logic difference, no matter designed size, during the walking operation, no matter be go up a slope, descending, still the walking on level land all must be moved in dynamic generation, could walk.Compare with wheel of the bus, can not cut off the moving downhill running that carries out.During the walking operation, can only advance, can not retreat, retreat and have only half cycles at most, be exactly 1/2nd steps.What walk is tortuous uneven roads, and turn flexibly guide piece and mechanism must be arranged, and walking machine cuts off power, stops walking immediately, and anti-inertia impulsive force device and mechanism must be arranged.
Description of drawings
Fig. 1 uses quadrangle can amplify and dwindle the variation principle and test scheme drawing on the traveling gear.
Fig. 2 uses the experiment scheme drawing that lever principle can lift, push away forward on the traveling gear.
Fig. 3 is that traveling gear stretches the periodic structure scheme drawing that shrinks two cyclic processs.
Fig. 4, the 5th, traveling gear structure main parts size structure form scheme drawing.
Fig. 6 is the traveling gear structural representation.
Fig. 7 is horizontal transmission system [a 16] structural representation.
Fig. 8 is perpendicular transmission system [18] structural representation.
Fig. 9 is driving system [a 21] structural representation.
Figure 10 is converting system [a 38] structural representation.
Figure 11 is the structure form structural representation of sole [25].
Figure 12 (a) is that the structure form of toe [27] is the triangular structure scheme drawing.
Figure 12 (b) is that the structure form of toe [27] is the sector structure scheme drawing.
Figure 13 is balancing device [a 48] structural representation.
Figure 14 is anchor fitting [a 58] structural representation.
Claims (13)
1, coventional type two-leg walking vehicle, by chain drive, speed change system, horizontal transmission system [16], perpendicular transmission system [18], driving system [21], converting system [38], traveling gear, balancing device [48] guiding mechanism, electrical equipment, anchor fitting [58], two-leg is formed,
Horizontal transmission system [16], by connection shaft [10], plane bearing [11], kill car device [12], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], power wheel [17] is formed, divide left end, right-hand member two parts, left end is identical with the right-hand member structure, left end is by connection shaft [10], plane bearing [11], kill car device [12], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], power wheel [17] constitute, and it is characterized in that an end of connection shaft [10] and left-hand rotation change parts [30] binding, the hollow shaft of the other end of connection shaft [10] and plane bearing [11] links, the hollow shaft of plane bearing [11] is contained in the plane bearing [11], and the solid frame that kills car device [12] and plane bearing [11] links, and castle wheel hollow shaft [15] is contained in the castle wheel [13], compressing spring [22] is contained in the castle wheel hollow shaft [15], one end of compressing spring [22] and connection shaft [10] link, and the bottom of the other end of compressing spring [22] and castle wheel hollow shaft [15] links, and an end of castle wheel hollow shaft [15] is contained in the hollow shaft of plane bearing [11], the other end of castle wheel hollow shaft [15] is contained in the hollow shaft of revolving wheel [14], revolving wheel [14] links with power wheel [17], and plane bearing [11] kills car device [12], castle wheel [13], revolving wheel [14], power wheel [17] is contained in the fixed body of transmission system, and the revolving wheel of right-hand member [14] links with shared power wheel [17], structure becomes horizontal transmission system [16]
Perpendicular transmission system [18], by power wheel [17], driving device [20], power take-off implement [42] is formed, power wheel [17] by horizontal transmission system [16], the front end of driving device [20], the rear end, power take-off implement [42] constitutes, the front end and the power wheel [17] that it is characterized in that driving device [20] link, rear end and power take-off implement [42] link, and structure becomes perpendicular transmission system [18]
Driving system [21], by horizontal transmission system [16], perpendicular transmission system [18] is formed, by the power wheel [17] of horizontal transmission system [16], in the perpendicular transmission system [18], the front end of driving device [20] constitutes, the front end and the power wheel [17] that it is characterized in that driving device [20] link, and structure becomes driving system [21]
Converting system [38], by horizontal transmission system [16], converting member [23], pivot pin [24] is formed, left end by horizontal transmission system [16], right-hand member, parts [30] are changed in the left-hand rotation of converting member [23], parts [31] are changed in right-hand rotation, the left end pivot pin [32] of pivot pin [24], right-hand member pivot pin [33] constitutes, and it is characterized in that an end of parts [30] is changed in left-hand rotation and the left end of horizontal transmission system [16] links, the other end and the pivot pin [32] that turn left to change parts [30] link, the right-hand member that parts [31] and horizontal transmission system [16] are changed in right-hand rotation links, and turns right and changes parts [31] other end and pivot pin [33] binding, converting member [23], pivot pin [24] links with horizontal transmission system [16] left end right-hand member, the binding angle is 180 ° of phase dihedral, and structure becomes driving system [38]
Traveling gear, by catch bar [1], promote connecting rod [2], dowel bar [3], contraction pole [4], walking rod [5], walking support bar [6], cramp bar [7], trammel beam [8] is formed, by catch bar [1], dowel bar [3], contraction pole [4], walking support bar [6], walking rod [5], the power arm of trammel beam [8], resistance arm, fulcrum, fulcrum shaft, cramp bar [7] promotes connecting rod [2] and constitutes, the power arm and the pivot pin [24] that it is characterized in that catch bar [1] link, the power arm of the resistance arm of catch bar [1] and contraction pole [4] links, and the fulcrum of catch bar [1] links with an end that promotes connecting rod [2], promotes the other end of connecting rod [2] and the power arm of dowel bar [3] and links, the power arm of the resistance arm of dowel bar [3] and walking rod [5] links, the power arm of the resistance arm of contraction pole [4] and walking support bar [6], dowel bar [3], contraction pole [4] fulcrum and fulcrum shaft link, one end of fulcrum shaft and fulcrum vertical shaft [29] link, walking rod [5], the fulcrum of walking support bar [6] and fulcrum shaft link, and the power arm of the resistance arm of walking support bar [6] and trammel beam [8] links, the resistance arm of one end of cramp bar [7] and walking rod [5] links, the fulcrum of the other end of cramp bar [7] and trammel beam [8] links, and structure becomes traveling gear
Balancing device [48], by sole [25], toe [27] is formed, by the left end of sole [25], right-hand member, front end, the rear end, the left toe [34] of toe [27], right toe [35], preceding toe [37], auxiliary toe [44] constitutes, and it is characterized in that sole [25] is six prismatics, an end of 90 ° is a front end, and an end of 115 ° is the rear end, left toe [34], right toe [35], preceding toe [37], the front end of auxiliary toe [44] and sole [25], rear end, left end, right-hand member links, and auxiliary toe [44] connects at the bottom of the hollow foot with the inclined-plane of sole [25] rear end, and what auxiliary toe [44] and sole [25] rear end left tilted surface linked is right crus of diaphragm, auxiliary toe [44] is a left foot with the binding of sole [25] rear end right tilted surface
Anchor fitting [58], by frame [28], fulcrum vertical shaft [29] constitutes, and it is characterized in that an end of fulcrum vertical shaft [29] and frame [28] link, and structure becomes the vehicle frame of anchor fitting [58],
Two-leg is by row mechanism, balancing device [48], overcoat is formed, and left limb pin is identical with right limb leg structure, and left limb pin is by traveling gear catch bar [1] and trammel beam [8], the sole [25] of balancing device [48], the upper end of overcoat, the lower end constitutes, and it is characterized in that traveling gear is contained in the overcoat, trammel beam [8] links with sole [25], the lower end of overcoat and balancing device [48] link, and structure becomes left limb pin
The coventional type two-leg walking vehicle, by converting system [38], two-leg, anchor fitting [58] is formed, left end pivot pin [32] by converting system [38], right-hand member pivot pin [33], the power arm of two-leg catch bar [1], the upper end of overcoat, dowel bar [3], the fulcrum shaft of contraction pole [4], the fulcrum vertical shaft [29] of anchor fitting [58], frame [28] constitutes, the power arm and the pivot pin [32] that it is characterized in that left limb pin catch bar [1] link, fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link, and the power arm of right limb pin catch bar [1] and pivot pin [33] link, fulcrum shaft and fulcrum vertical shaft [29] link, the upper end of overcoat and frame [28] link, and structure becomes two-leg walking vehicle
The cross-country type two-leg walking vehicle, by the coventional type two-leg walking vehicle, cross-country regulator control system is formed,
Cross-country regulator control system is divided into catch bar [1] lifting regulator control system, fulcrum vertical shaft [29] lifting regulator control system, and three kinds of frame modes of associating lifting regulator control system,
Catch bar [1] lifting regulator control system, by catch bar [1], lifting regulation and control set of systems becomes, power arm by catch bar [1], the lifting mechanism of lifting regulator control system constitutes, and it is characterized in that an end of lifting mechanism and the power arm of catch bar [1], and the other end of lifting mechanism and pivot pin [24] link, structure becomes catch bar [1] lifting regulator control system
Fulcrum vertical shaft [29] lifting regulator control system, by fulcrum vertical shaft [29], anchor fitting [58], lifting regulation and control set of systems becomes, by fulcrum vertical shaft [29], the frame [28] of anchor fitting [58], the lifting regulation and control are that lifting mechanism constitutes, and it is characterized in that an end of lifting mechanism and fulcrum vertical shaft [29] link, and the other end of lifting mechanism and frame [28] link, structure becomes fulcrum vertical shaft [29] lifting regulator control system
Fulcrum vertical shaft [29] lifting regulator control system, by fulcrum vertical shaft [29], anchor fitting [58], lifting regulation and control set of systems becomes, by fulcrum vertical shaft [29], the frame [28] of anchor fitting [58], the lifting regulation and control are that lifting mechanism constitutes, and it is characterized in that an end and fulcrum vertical shaft [29] Lian Ji of lifting mechanism, and the other end of lifting mechanism and frame [28] link, structure becomes fulcrum vertical shaft [29] lifting regulator control system
Lifting regulation and control type two-leg is by lifting regulation and control type traveling gear, balancing device [48], overcoat is formed, and left limb pin is identical with right limb leg structure, and left limb pin is by the trammel beam [8] of lifting regulation and control type traveling gear, balancing device [48] and sole [25], the upper end of overcoat, the lower end constitutes, and it is characterized in that lifting regulation and control type traveling gear is contained in the overcoat, trammel beam [8] links with sole [25], the lower end of overcoat and balancing device [48] link, and structure becomes left limb pin
Catch bar [1] lifting regulation and control cross-country type two-leg walking vehicle, by converting system [38], lifting regulation and control type two-leg, anchor fitting [58] is formed, left end pivot pin [32] by converting system [38], right-hand member pivot pin [33], the lifting mechanism of two-leg, the upper end of overcoat, dowel bar [3], the fulcrum shaft of contraction pole [4], the fulcrum vertical shaft [29] of anchor fitting [58], frame [28] constitutes, it is characterized in that left limb pin lifting mechanism and pivot pin [32] link, fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link, and right limb pin lifting mechanism and pivot pin [33] link, fulcrum shaft and fulcrum vertical shaft [29] link, the upper end of overcoat and frame [28] link, and structure becomes catch bar [1] rising tune control cross-country type two-leg walking vehicle
Fulcrum vertical shaft [29] lifting regulation and control cross-country type two-leg walking vehicle, by converting system [38], two-leg, fulcrum vertical shaft [29] lifting regulator control system, anchor fitting [58] is formed, left end pivot pin [32] by converting system [38], right-hand member pivot pin [33], the power arm of two-leg catch bar [1], the upper end of overcoat, the lifting mechanism of fulcrum vertical shaft [29] lifting regulator control system, the frame [28] of anchor fitting [58] constitutes, and it is characterized in that the power arm of left limb pin catch bar [1] and pivot pin [32] link, and the upper end of overcoat and frame [28] link, the lifting mechanism of fulcrum vertical shaft [29] and frame [28] link, the power arm of right limb pin catch bar [1] and pivot pin [33] link, and the upper end of overcoat and frame [28] link, and fulcrum vertical shaft [29] lifting mechanism and frame [28] link, structure becomes fulcrum vertical shaft [29] lifting regulation and control cross-country type two-leg walking vehicle
Associating lifting regulation and control cross-country type two-leg walking vehicle, by converting system [38], lifting regulation and control type two-leg, fulcrum vertical shaft [29] lifting regulator control system, anchor fitting [58] is formed, left end pivot pin [32] by converting system [38], right-hand member pivot pin [33], the lifting mechanism of two-leg, the upper end of overcoat, the lifting mechanism of fulcrum vertical shaft [29] lifting regulator control system, the frame [28] of anchor fitting [58] constitutes, the lifting mechanism and the pivot pin [32] that it is characterized in that left limb pin link, and the upper end of overcoat and frame [28] link, and the lifting mechanism of fulcrum vertical shaft [29] and frame [28] link, the lifting mechanism of right limb pin and pivot pin [33] link, the upper end of overcoat and frame [28] link, and fulcrum vertical shaft [29] links with frame [28], and structure becomes associating lifting regulation and control cross-country type two-leg walking vehicle.
2, castle wheel according to claim 1 [13] is characterized in that semicircle is meshing to take turns.
3, revolving wheel according to claim 1 [14] is characterized in that semicircle is meshing to take turns.
4, catch bar according to claim 1 [1] is characterized in that having power arm, resistance arm, the lever of fulcrum.
5, dowel bar [3] is characterized in that having power arm, resistance arm, the lever of fulcrum.
6, contraction pole [4] is characterized in that having power arm, resistance arm, the lever of fulcrum.
7, walking rod [5] is characterized in that having power arm, resistance arm, the lever of fulcrum.
8, walking support bar [6] is characterized in that having power arm, resistance arm, the lever of fulcrum.
9, trammel beam [8] is characterized in that having power arm, resistance arm, the lever of fulcrum.
10, toe according to claim 1 [27] is characterized in that being shaped as triangle.
11, according to claim 1,5 described toes [27], it is characterized in that being shaped as fan-shaped.
12, balancing device according to claim 1 [48] is characterized in that it is 180 ° that left foot assists toe [44] to link angle with left toe [34], and with preceding toe [37], right toe [35] links angle and is respectively 60 °.
13, according to claim 1,12 described balancing devices [48], it is characterized in that it is 180 ° that right crus of diaphragm assists toe [44] to link angle with right toe [35], with preceding toe [37], right toe [34] links angle and divides 60 ° respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02122503 CN1398748A (en) | 2002-05-29 | 2002-05-29 | Two-leg walking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02122503 CN1398748A (en) | 2002-05-29 | 2002-05-29 | Two-leg walking vehicle |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB001291181A Division CN1157309C (en) | 1999-09-28 | 2000-09-28 | Walking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1398748A true CN1398748A (en) | 2003-02-26 |
Family
ID=4745064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02122503 Pending CN1398748A (en) | 2002-05-29 | 2002-05-29 | Two-leg walking vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1398748A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102092429A (en) * | 2011-03-24 | 2011-06-15 | 天津理工大学 | Two-leg walking mechanism |
| CN107054499A (en) * | 2017-04-25 | 2017-08-18 | 胡建令 | A kind of town road robot |
-
2002
- 2002-05-29 CN CN 02122503 patent/CN1398748A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102092429A (en) * | 2011-03-24 | 2011-06-15 | 天津理工大学 | Two-leg walking mechanism |
| CN102092429B (en) * | 2011-03-24 | 2013-03-20 | 天津理工大学 | Two-leg walking mechanism |
| CN107054499A (en) * | 2017-04-25 | 2017-08-18 | 胡建令 | A kind of town road robot |
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