CN1398749A - Four-leg walking vehicle - Google Patents
Four-leg walking vehicle Download PDFInfo
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- CN1398749A CN1398749A CN 02122504 CN02122504A CN1398749A CN 1398749 A CN1398749 A CN 1398749A CN 02122504 CN02122504 CN 02122504 CN 02122504 A CN02122504 A CN 02122504A CN 1398749 A CN1398749 A CN 1398749A
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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, and 100mm---200mm walks forward with a step to promote walking machine.
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
Catch bar [1], dowel bar [3], contraction pole [4], walking rod [5], walking support bar [6], trammel beam [8] are made into 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 four-leg walking vehicle.
Coventional type four-leg walking vehicle: form by chain drive, speed change system, preceding transmission system [16], perpendicular transmission system [18], back transmission system [19], driving system [21], preceding switching mechanism [36], back switching mechanism [39], converting system [38], traveling gear, balancing device [48], guiding mechanism, electrical equipment, anchor fitting [58], four-leg.
Chain drive: slightly
Speed change system: slightly
Preceding transmission system [16]
Preceding transmission system [16]: turning to clutch brake system and guiding clutch is two kinds of makes.
Turn to clutch brake system:
Form: connection shaft [10], plane bearing [11], brake gear [12], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], power wheel [17] are formed.
Structure: 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], and brake gear [12], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [16], power wheel [17] constitutes.
Make: castle wheel [13], revolving wheel [14] are made semi-circle gear.
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].Brake gear [12] links with the solid frame of plane bearing [11].Castle wheel hollow shaft [15] is contained in the castle wheel [13].Compressing spring [22] is contained in the castle wheel hollow shaft [15], and the bottom of an 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], brake gear [12], castle wheel [13], revolving wheel [14], power wheel [17] are contained in the fixed body of transmission system.The revolving wheel of right-hand member [14] links with shared power wheel [17], and transmission system [16] turned to brake clutch system before structure became.Attached structural representation Fig. 7.
Guiding clutch system
Form: by cross-bearing [40], axle [10], plane bearing [11], revolving wheel [14], castle wheel [13], compressing spring [22], power wheel [17] are formed.
Structure: divide left end, right-hand member two parts, left end is identical with the right-hand member structure.Left end is by cross-bearing [40], axle [10], and plane bearing [11], revolving wheel [14], castle wheel [13], compressing spring [22], power wheel [17] constitutes.
Structure: an end of cross-bearing [40] and converting member [30] binding, the other end and axle [10] link.Axle [10] is contained in plane bearing [11], compressing spring [22], the castle wheel [13].The solid frame of one end of compressing spring [22] and castle wheel [13] binding, the other end and plane bearing [11] links.Revolving wheel [14] links with power wheel [17].Plane bearing [11], compressing spring [22], castle wheel [13], revolving wheel [14], power wheel [17] are contained in the fixed body of transmission system.The revolving wheel of right-hand member [14] links with shared power wheel [17], transmission system [16] guiding clutch system before structure becomes, attached structural representation Fig. 8.
Perpendicular transmission system [18]
Perpendicular transmission system [18]: be divided into through-coupling, two kinds of makes of guiding clutch transmission.
The through-coupling device
Form: form by power take-off implement [42], driving device [20], power wheel [17].
Constitute: by power take-off implement [42]; In the driving device [20], front end, the rear end of preceding driving device [41]; Front end, the rear end of back driving device [43]; The rear power wheel [17] of the preceding power wheel [17] of preceding transmission system [16], back transmission system [19] constitutes.
Structure: the front end of preceding driving device [41] and preceding power wheel [17] binding, rear end and power take-off implement [42] link.The front end of back driving device [43] and rear power wheel [17] binding, rear end and power take-off implement [42] link.Structure becomes the through-coupling device of perpendicular transmission system [18], attached structural representation Fig. 9.
Driving device [20]: be divided into chain, gear, V-belt, lever, transmission shaft, vapour pressure, seven kinds of drivings device of hydraulic pressure.
The guiding clutch transmission
Form: form by transmission shaft [10], castle wheel [13], revolving wheel [14], compressing spring [22], cross-bearing [40], power wheel [17].
Structure: sub-headend, rear end two parts, front end is identical with the back end structure.Front end is by transmission shaft [10], and castle wheel [13] revolves to pass and takes turns [14], compressing spring [22], and cross-bearing [40], the preceding power wheel [17] of preceding transmission system [16] constitutes.
Structure: an end of transmission shaft [10] and power take-off implement [42] binding, the other end and revolving wheel [14] link.One end and the preceding power wheel [17] of cross-bearing [40] axle links, the other end is contained in the hollow shaft of castle wheel [13].The hollow shaft of castle wheel [13] is contained in the compressing spring [22], and the other end of castle wheel [13] hollow shaft is contained in the hollow shaft of revolving wheel [14].The solid frame binding of one end of compressing spring [22] and cross-bearing [40], the other end and castle wheel [13] link, and the transmission shaft of rear end [10] links with power take-off implement [42], and structure becomes the guiding clutch transmission of perpendicular transmission system [16].Attached structural representation Figure 10.
Chain gearing
Form: form by power take-off implement [42], driving device [20], power wheel [17].
Structure: by power take-off implement [42]; In the driving device [20], front end, the rear end of preceding chain device [41]; Front end, the rear end of rear chain device [43]; The rear power wheel [17] of the preceding power wheel [17] of transmission system [16], back transmission system [19] constitutes.
Structure: the front end of preceding chain device [41] and preceding power wheel [17] binding, rear end and power take-off implement [42] link.The front end of rear chain device [43] and power take-off implement [42] binding, rear end and rear power wheel [17] link, and structure becomes the chain gearing of perpendicular transmission system [18].Attached structural representation Fig. 9.
Gear system
Form: form by power take-off implement [42], driving device [20], power wheel [17], frame [28].
Structure: by power take-off implement [42]; In the driving device [20], power arm, the resistance arm of nipper Wheels group arrangement [41], fulcrum shaft; Power arm, resistance arm, the fulcrum shaft of backgear group device [43]; The preceding power wheel [17] of preceding transmission system [16], the rear power wheel [17] of back transmission system [19]; The frame [28] of anchor fitting [58] constitutes.
Structure: the power arm of an end of power take-off implement [42] gear and the power arm binding of nipper wheels [41], the other end and backgear group [43] links.The power arm of the resistance arm of nipper wheels [41] and preceding power wheel [17] links, and the power arm of the resistance arm of backgear group [43] and rear power wheel [17] links.The gear wheel shaft of nipper wheels [41], backgear group [43] 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. 9.
The V-wheel drive device
Form: form by power take-off implement [42], driving device [20], power wheel [17].
Structure: by the skin of power take-off implement [42] for wheel; In the driving device [20], front end, the rear end of preceding V-belt [41]; Front end, the rear end of Vee formation band [43]; The rear power wheel [17] of the preceding power wheel [17] of preceding transmission system [16], back transmission system [19] constitutes.
Structure: the skin of the front end of preceding V-belt [41] and preceding power wheel [17] binding, rear end and power take-off implement [42] links for wheel.The skin of the front end of Vee formation band [43] and power take-off implement [42] links for wheel binding, rear end and rear power wheel [17], and structure becomes the V-wheel drive device of perpendicular transmission system [18].Attached structural representation Fig. 9.
The single-stage rod gear
Form: form by power take-off implement [42], driving device [20], power wheel [17], anchor fitting [58].
Structure: by power take-off implement [42]; In the driving device [20], power arm, resistance arm, the fulcrum shaft of preceding transmission leverage [42]; Power arm, resistance arm, the fulcrum shaft of back transmission levers device [43]; The rear power wheel [17] of the preceding power wheel [17] of preceding transmission system [16], back transmission system [19]; Anchor fitting [58] frame [28] constitutes.
Structure: the power arm of preceding transmission levers [41] and power take-off implement [42] binding, resistance arm and preceding power wheel [17] link.Fulcrum and fulcrum shaft link, and fulcrum shaft and frame [28] link.The power arm of back transmission levers [43] and power take-off implement [42] binding, resistance arm and rear power wheel [17] link.Fulcrum and fulcrum shaft link, and fulcrum shaft and frame [28] link, and structure becomes the list of perpendicular transmission system [18] to give rod gear.Attached structural representation Fig. 9.
Lever group driving device
Form: form by power take-off implement [42], driving device [20], power wheel [17], anchor fitting [58].
Structure: by power take-off implement [42]; In the driving device [20], the power arm of preceding transmission levers group, resistance arm, fulcrum shaft; The power arm of back transmission levers group, resistance arm, fulcrum shaft; The rear power wheel [17] of the preceding power wheel [17] of preceding transmission system [16], back transmission system [19]; The frame [28] of anchor fitting [58] constitutes.
Structure: the power arm of preceding transmission levers group [41] and power take-off implement [42] binding, resistance arm and preceding power wheel [17] link.Fulcrum lower fulcrum axle links, and fulcrum shaft and frame [28] link.The power arm of back transmission levers group [43] and power take-off implement [42] binding, resistance arm and rear power wheel [17] link.Fulcrum and fulcrum shaft link, and fulcrum shaft and frame [28] link, and structure becomes the lever group driving device of perpendicular transmission system [18].Attached structural representation Fig. 9.
Back transmission system [19]
Back transmission system [19]: be divided into that to turn to clutch brake system and guiding clutch be two kinds of makes.
Turn to clutch brake system
Form: form by connection shaft [10], plane bearing [11], brake gear [12], castle wheel [13], revolving wheel [14], castle wheel hollow [15], compressing spring [22], power wheel [17].
Structure: divide left end, right-hand member two partly, left end is identical with the structure of right-hand member.Left end is by connection shaft [10], plane bearing [11], and brake gear [12], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], power wheel [17] constitutes.
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].Brake gear [12] links with the solid frame of plane bearing [11].Castle wheel hollow shaft [15] is contained in the castle wheel [13], and compressing spring [22] is contained in the castle wheel hollow shaft [15], and the bottom of an 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], brake gear [12], revolving wheel [14], power wheel [17] are contained in the fixed body of transmission system.The revolving wheel of right-hand member [14] is taken turns [17] and is linked with power is shared, structure becomes the clutch brake that turns to of back transmission system [19] to be.Attached structural representation Figure 11.
Guiding clutch system
Form: form by connection shaft [10], plane bearing [11], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], power wheel [17].
Structure: divide left end, right-hand member two partly, left end is identical with the right-hand member structure.Left end is by connection shaft [10], plane bearing [11], and castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], preceding transmission system [17] constitutes.
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].Castle wheel hollow shaft [15] is contained in the castle wheel [13], and an 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].Compressing spring [22] is contained in the castle wheel hollow shaft, and the bottom of an end of compressing spring [22] and connection shaft [10] binding, the other end and castle wheel hollow shaft [15] links.Revolving wheel [14] links with power wheel [17].Plane bearing [11], castle wheel [13], revolving wheel [14], power wheel [17] are contained in the fixed body of transmission system.The revolving wheel of right-hand member [14] links with shared power wheel [17], and structure becomes the guiding clutch system of back transmission system [19].Attached structural representation Figure 12.
Driving system [21]
Form: form by preceding transmission system [16], perpendicular transmission system [18], back transmission system [19].
Structure: by the preceding power wheel [17] of preceding transmission system [16]; In the perpendicular transmission system [18], the front end of preceding driving device [41]; The rear end of back driving device [43]; The rear power wheel [17] of back transmission system [19] constitutes.
Structure: the front end of preceding driving device [41] and preceding power wheel [17] link, and the rear end of back driving device [43] and rear power wheel [17] link, and structure becomes driving system [21].Attached structural representation Figure 13.
Forelimb switching mechanism [36]
Form: preceding transmission system [16], converting member [23], pivot pin [24] are formed.
Structure: by left end, the right-hand member of preceding transmission system [16]; The left-hand rotation of converting member [23] is changed parts [30], is turned right and change parts [31]; The left end pivot pin [32] of pivot pin [24], right-hand member pivot pin [33] constitute.
Structure: turn left to change an end of parts [30] and left end binding, the other end and the pivot pin [32] of preceding transmission system [16] and link.An end of parts [31] is changed in right-hand rotation and right-hand member binding, the other end and the pivot pin [33] of preceding transmission system [16] links.Turn left to change parts [30], pivot pin [32]; Parts [31] are changed in right-hand rotation, pivot pin [33] links with the two ends of preceding transmission system [16], and the binding angle is 180 ° of phase dihedral, and structure becomes forelimb switching mechanism [36], attached structural representation Fig. 7.
Hind leg switching mechanism [39]
Form: form by back transmission system [19], converting member [23], pivot pin [24].
Structure: by left end, the right-hand member of back transmission system [19]; The left-hand rotation of converting member [23] is changed parts [30], is turned right and change parts [31]; The left pivot pin [32] of pivot pin [24], right pivot pin [33] constitute.
Structure: left end binding, the other end and pivot pin [32] binding of turning left to change an end with the back transmission system [19] of parts [30].Right-hand member binding, the other end and pivot pin [33] binding of an end with the back transmission system [19] of parts [31] is changed in right-hand rotation.Turn left to change parts [30], pivot pin [32]; Parts [31] are changed in right-hand rotation, pivot pin [33] links with transmission system [19] two ends, back, and the binding angle is 180 ° of phase dihedral, and structure becomes hind leg switching mechanism [39].Attached structural representation Figure 11.
Converting system [38]
Form: form by forelimb switching mechanism [36], perpendicular transmission system [18], hind leg switching mechanism [39].
Structure: by converting member [23], the pivot pin [24] of forelimb switching mechanism [36]; Preceding power wheel [17]; The converting member [23] of hind leg switching mechanism [39], pivot pin [24]; Rear power wheel [17]; In the perpendicular transmission system [18], the rear end of the front end of preceding driving device [41], back driving device [43] constitutes.
Structure: the rear end and the rear power wheel [17] of the front end of preceding driving device [41] and preceding power wheel [17] binding, back driving device [43] link.The converting member [23] of forelimb switching mechanism [36], pivot pin [24]; Hind leg switching mechanism [39] converting member [23], pivot pin [24] link with the front end rear end of perpendicular transmission system [18], and the binding angle is 180 ° of phase dihedral, and structure becomes converting system [38].Attached structural representation Figure 14.
Traveling gear: be foot lever again.Balancing device [48]
Balancing device [48]: be pin again, can make garden shape, Ban Yuan, ellipse garden shape.
Form: form by sole [25], toe [27].
Make: sole [25] is six prismatics, ∠ A, and ∠ B, an end that is 90 ° is a front end, ∠ D, ∠ E are that an end of 115 ° is the rear end, attached planform signal Figure 15.
Toe [27]: be triangle, fan-shaped, attached planform signal Figure 16.
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.
Structure: left toe [34], the left end of preceding toe of right toe [35] [37] and sole [25], right-hand member, front end links.Auxiliary toe [44] connects at the bottom of the hollow foot with the inclined-plane of sole [25] rear end.Auxiliary toe [44] is attached at the right crus of diaphragm that is on the left tilted surface of sole [25] rear end; Being attached on the right tilted surface of rear end is left foot, and it is 180 ° that left foot assists toe [44] to link angle with left toe [34]; Link angle with preceding toe [37], right toe [35] and be respectively 60 °.It is 180 ° that right crus of diaphragm assists toe [44] to link angle with right toe [35]; Link angle with preceding toe [37], left toe [34] and be respectively 60 °.The balancing device [48] that left side toe [34], right toe [35], preceding toe [37], auxiliary toe [44] structure form are triangular structures is called pawl formula pin, and the balancing device of sector structure [48] is called fan-shaped pin.Attached structural representation Figure 17.
Effect: a balancing device [48] and traveling gear link a part of weight and the gravity that supports walking machine, guarantee that walking machine is expert in the step process, the balance in instantaneous 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]
Anchor fitting [58]: form by vehicle frame and vehicle body
Vehicle frame: by frame [28], fulcrum vertical shaft [29] is formed.
Structure: fulcrum vertical shaft [29] links with frame [28], and structure becomes the vehicle frame part of anchor fitting [58].Attached structural representation Figure 18.
Four-leg
Form: by traveling gear, balancing device [48] overcoat is formed.
Structure: two-leg, back two-leg four parts before dividing, structure is identical, and left limb pin is by power arm, trammel beam, balancing device [48] and the sole [25] of the catch bar [17] of traveling gear; The upper end of overcoat, the lower end structure.
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 four-leg walking vehicle
Form: by converting system [38], four-leg, anchor fitting [58] is formed.
Structure: by left end pivot pin [32], the right-hand member pivot pin [33] of converting system [38]; The power arm of the catch bar of four-leg [1], the fulcrum shaft of dowel bar [3], contraction pole [4]; The upper end of overcoat, the fulcrum vertical shaft [29] of anchor fitting [58], frame [28] constitute.Attached model prototype structural representation Figure 19.
Structure: the power arm of forelimb left side limb pin catch bar [1] 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 power arm of preceding right limb pin catch bar [1] and pivot pin [33] link, and fulcrum shaft and fulcrum shaft [29] link, and the upper end of overcoat and frame [28] link.The power arm of the left limb pin catch bar in back [1] and pivot pin [32] link, and fulcrum shaft and fulcrum shaft [29] link, and the upper end of overcoat and frame [28] link.The power arm of the right limb pin catch bar in back [1] 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 the coventional type four-leg walking vehicle.Attached structural representation Figure 20.
Principle of work: be that circumference with power rotatablely moves through speed change system, driving system is passed to the walking working process that converting system is transformed into four-leg walking vehicle, four-leg walking vehicle diagonal angle two-leg is stretched, two cyclic processs that the diagonal angle two-leg shrinks, promote walking machine step by step to moving ahead the step.
Cross-country type four-leg walking vehicle: form by coventional type four-leg walking vehicle, 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 makes of associating lifting regulator control system.
Lifting regulation and control type four-leg
Form: lifting regulation and control type running mechanism, balancing device [48], overcoat are formed.
Structure: divide forelimb two-leg, hind leg two-leg four partly, structure is identical.Left side limb pin is by lifting mechanism, the trammel beam [8] of lifting regulation and control running mechanism, balancing device [48] and sole [25]; The upper end of overcoat, lower end constitute.
Structure: lifting regulator control system running mechanism 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 four-leg walking vehicle
Form: converting system [38], lifting regulation and control type four-leg, anchor fitting [58] are formed.
Structure: by left end pivot pin [32], the right-hand member pivot pin [33] of converting system [38]; The fulcrum shaft of the lifting mechanism of lifting regulation and control type four-leg and dowel bar [3], contraction pole [4]; The upper end of overcoat; The fulcrum vertical shaft [29] of anchor fitting [58], frame [28] constitute.
Structure: preceding left limb pin lifting mechanism and pivot pin [32] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link.Preceding right limb pin lifting mechanism and pivot pin [33] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link.Left limb pin lifting mechanism in back and pivot pin [32] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link.Right limb pin lifting mechanism in back 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 four-leg walking vehicle.
Fulcrum vertical shaft [29] lifting regulation and control cross-country type four-leg walking vehicle
Form: converting system [38], four-leg, fulcrum vertical shaft [29] lifting regulator control system, anchor fitting [58] are formed.
Structure: in converting system [38], the left end pivot pin [32] of forelimb switching mechanism, right-hand member pivot pin [33]; The left end pivot pin [32] of hind leg pin switching mechanism, right-hand member pivot pin [33]; The fulcrum shaft of the power arm of four-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 frame [28] of anchor fitting [58], fulcrum vertical shaft [29] constitute.
Structure: the power arm of preceding left limb pin catch bar [1] and pivot pin [32] link, and fulcrum shaft and fulcrum vertical shaft [29] 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 power arm of preceding right limb pin catch bar [1] 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 fulcrum vertical shaft [29] lifting mechanism and frame [28] link.The power arm of the left limb pin catch bar in back [1] and pivot pin [32] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link, and fulcrum vertical shaft [29] links with frame [28].The power arm of the right limb pin catch bar in back [1] 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 fulcrum vertical shaft [29] links with frame [28].Structure becomes fulcrum vertical shaft [29] lifting regulation and control cross-country type four-leg walking vehicle.
Associating lifting regulation and control cross-country type four-leg walking vehicle
Form: form by converting system [38], lifting regulation and control type four-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 lifting regulation and control type four-leg lifting mechanism and dowel bar [3], contraction pole [4], the upper end of overcoat; The found a state lifting mechanism of [29] lifting regulator control system of fulcrum; The frame [28] of anchor fitting [58] constitutes.
Structure: preceding left limb pin, lifting mechanism 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.Preceding right limb pin lifting mechanism 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.Left limb pin lifting mechanism in back 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.Right limb pin lifting mechanism in back and pivot pin [33] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the lifting mechanism of fulcrum vertical shaft 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 four-leg walking vehicle.
The principle of work of cross-country type four-leg walking vehicle: be that circumference with power rotatablely moves through speed change system, driving system is passed to the walking working process that switching mechanism is transformed into four-leg walking vehicle, the diagonal angle two-leg of four-leg walking vehicle is stretched, two cyclic processs that the diagonal angle two-leg shrinks, promote walking machine walking forward step by step, by cross-country regulator control system adjustable height, improve the leap height of walking machine again, adapt to needs at the scope of design complex environment.
Purposes: four-leg walking vehicle, it can be on the slope of scope of design, the ladder gradient, the intermountain path, the paddy field, the nonirrigated farmland, transport on the grassland and other operations in the desert.On the highway of smooth more matter, hang trailer and can carry out the heavy type transportation.Be specially adapted to the mountain area, hills, desert, rural area do not have the place of highway to use.
The four-leg walking vehicle shortcoming
Four-leg walking vehicle is the stronger Transport Machinery of a kind of off-road capability and other Work machines, traveling gear and wheel of the bus structure, the make difference, walking operation logic difference, no matter designed size is during the walking operation, no matter be the upward 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 power and carry out downhill running.Walking can only be advanced during operation, can not retreat, and retreats and has only half cycles at most, is exactly 1/2nd steps, walking be tortuous uneven roads, must have to change guide piece and mechanism flexibly.Walking machine cuts off power, stops walking immediately, and the device and the mechanism of anti-inertia impulsive force 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 lever principle can lift the experiment scheme drawing that pushes 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 be preceding transmission system [16] turn to the clutch brake structural representation.
Fig. 8 is the guiding clutch structure scheme drawing of preceding transmission system [16].
Fig. 9 is perpendicular transmission system [18] through-coupling structural representation.
Figure 10 is perpendicular transmission system [18] guiding clutch drive mechanism scheme drawing.
Figure 11 is that back transmission system [19] turns to the clutch brake structural representation.
Figure 12 is back transmission system [a 19] guiding clutch structure scheme drawing.
Figure 13 is driving system [a 21] structural representation.
Figure 14 is converting system [a 38] structural representation.
Figure 15 is sole [a 25] structure form structural representation.
Figure 16 (a) toe [27] structure form is the triangular structure scheme drawing.
Figure 16 (b) is that toe [27] structure form is the sector structure scheme drawing.
Figure 17 is balancing device [a 48] structural representation.
Figure 18 is anchor fitting [a 58] structural representation.
Figure 19 is a four-leg model prototype shape assumption diagram.
Figure 20 is the four-leg walking vehicle structural representation.
Claims (13)
1, coventional type four-leg walking vehicle, by chain drive, speed change system, preceding transmission system [16], perpendicular transmission system [18], back transmission system [19], driving system [21], forelimb switching mechanism [36], hind leg switching mechanism [39], converting system [38], traveling gear, balancing device [48], guiding mechanism, electrical equipment, anchor fitting [58], four-leg is formed
Before transmission system [16], be divided into and turn to clutch brake system, the guiding clutch is two kinds of makes,
Turn to clutch brake system, by connection shaft [10], plane bearing [11], brake gear [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 partly, left end is identical with the right-hand member structure, left end is by connection shaft [10], plane bearing [11], brake gear [12], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], power wheel [17] constitutes, and an end that it is characterized in that connection shaft [10] changes parts [30] with left-hand rotation and links the hollow shaft binding of the other end of connection shaft [10] and plane bearing [11], the hollow shaft of plane bearing [11] is contained in the plane bearing [11], brake gear [12] links with the solid frame of plane bearing [11], and castle wheel hollow shaft [15] is contained in the castle wheel [13], and compressing spring [22] is contained in the castle wheel hollow shaft [15], one end of compressing spring [22] and connection shaft [10] link, 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], and 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 }, plane bearing [11], brake gear [12] castle wheel [13], revolving wheel [14], power wheel [17] is contained in the fixed body of transmission system, the revolving wheel of right-hand member [14] links with shared power wheel [17], and the clutch brake that turns to of transmission system [16] was before structure became
Guiding clutch system, by cross-bearing [40], axle [10], plane bearing [11], castle wheel [13], revolving wheel [14], compressing spring [22], power wheel [17] is formed, and divides left end, right-hand member two parts, left end is identical with the right-hand member structure, and left end is by cross-bearing [40], axle [10], plane bearing [11], castle wheel [13], revolving wheel [14], compressing spring [22], power wheel [17] constitutes, parts [30] binding is changed in the end and the left-hand rotation that it is characterized in that cross-bearing [40], the other end of cross-bearing [40] links with axle [10], and axle [10] is contained in plane bearing [11], compressing spring [22], in the castle wheel [13], one end of compressing spring [22] and castle wheel [13] link, and the solid frame of the other end of compressing spring [22] and plane bearing [11] links, and revolving wheel [14] links with power wheel [17], plane bearing [11], compressing spring [22], castle wheel [13], revolving wheel [14], power wheel [17] is contained in the fixed body of transmission system, the revolving wheel of right-hand member [14] links with shared power wheel [17], the guiding clutch system of transmission system [16] before structure becomes
Perpendicular transmission system [18] divides the through-coupling device, two kinds of makes of guiding clutch transmission,
The through-coupling device, by power take-off implement [42], driving device [20], power wheel [17] is formed, by power take-off implement [42], in the driving device [20], the front end of preceding driving device [41], the rear end, the front end of back driving device [43], rear end, the preceding power wheel [17] of preceding transmission system [16], the rear power wheel [17] of back transmission system [19] constitutes, and it is characterized in that the front end of preceding driving device [41] and preceding power wheel [17] link, and rear end and power take-off implement [42] link, the front end of back driving device [43] and power take-off implement [42] link, rear end rear power wheel [17] links, and structure becomes the through-coupling device of perpendicular transmission system [18]
Driving device [20] is divided into chain, gear, and the V-belt, lever, transmission shaft, vapour pressure, seven kinds of drivings device of hydraulic pressure,
The guiding clutch transmission, by transmission shaft [10], castle wheel [13], revolving wheel [14], compressing spring [22], cross-bearing [40], power wheel [17] is formed, sub-headend, the rapid two parts in back, front end is identical with the back end structure, front end is by transmission shaft [10], castle wheel [13], revolving wheel [14], compressing spring [22], cross-bearing [40], the preceding power wheel [17] of preceding transmission system [16] constitutes, and it is characterized in that an end of transmission shaft [10] and power take-off implement [42] link, the other end of transmission shaft [10] and revolving wheel [14] link, one end and the preceding power wheel [17] of cross-bearing [40] axle link, and the other end of cross-bearing [40] is contained in the hollow shaft of castle wheel [13], and the hollow shaft of castle wheel [13] is contained in the compressing spring [22], the other end of the hollow shaft of castle wheel [13] is contained in the hollow shaft of revolving wheel [14], the solid frame of one end of compressing spring [22] and cross-bearing [40] links, and the other end of compressing spring [22] and castle wheel [13] link, and the transmission shaft of rear end [10] links with power take-off implement [42], structure becomes the guiding clutch transmission of perpendicular transmission system [16]
Back transmission system [19] is divided into and turns to clutch brake system, and the guiding clutch is two kinds of makes,
Turn to clutch brake system, by connection shaft [10], plane bearing [11], brake gear [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], brake gear [12], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], power wheel [17] constitutes, and an end that it is characterized in that connection shaft [10] changes parts [30] with left-hand rotation and links the hollow shaft binding of the other end of connection shaft [10] and plane bearing [11], the hollow shaft of plane bearing [11] is contained in the plane bearing [11], brake gear [12] links with the solid frame of plane bearing [11], and castle wheel hollow shaft [15] is contained in the castle wheel [13], and compressing spring [22] is contained in the castle wheel hollow shaft [15], one end of compressing spring [22] and connection shaft [10] link, 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], and the other end of castle wheel hollow shaft [15] is contained in the hollow shaft of revolving wheel [14], { 17} links revolving wheel [14] with power wheel, plane bearing [11], brake gear [12] castle wheel [13], revolving wheel [14], power wheel [17] is contained in the fixed body of transmission system, the revolving wheel of right-hand member [14] links with shared power wheel [17], and the clutch brake that turns to of transmission system [16] was before structure became
Guiding clutch system, by connection shaft [10], plane bearing [11], 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], castle wheel [13], revolving wheel [14], castle wheel hollow shaft [15], compressing spring [22], power wheel [17] constitutes, parts [30] binding is changed in the end and the left-hand rotation that it is characterized in that connection shaft [10], the hollow shaft of the other end of connection shaft [10] and plane bearing [11] links, and the hollow shaft of plane bearing [11] is contained in the plane bearing [11], and castle wheel hollow shaft [15] is contained in the castle wheel [13], one end of castle wheel hollow shaft [15] is contained in the hollow shaft of plane bearing [11], the other end of clutch bye axle [15] is contained in hollow the assisting of revolving wheel [14], and an 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, revolving wheel [14] links with power wheel [17], plane bearing [11], castle wheel [13], revolving wheel [14], power wheel [17] is contained in the fixed body of transmission system, the revolving wheel of right-hand member [14] links with shared power wheel [17], and structure becomes the guiding clutch system of back transmission system [19]
Driving system [21], by preceding transmission system [16], perpendicular transmission system [18], back transmission system [19] is formed, by the preceding power wheel [17] of preceding transmission system [16], in the perpendicular transmission system [18], the front end of preceding driving device [41], the rear end of back driving device [43], the rear power wheel [17] of back transmission system [19] constitutes, and it is characterized in that the front end of preceding driving device [41] and preceding power wheel [17] link, and the rear end of back driving device [43] and rear power wheel [17] link, structure becomes driving system [21]
Forelimb switching mechanism [36], by preceding transmission system [16], converting member [23], pivot pin [24] is formed, by the left end of preceding 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 preceding transmission system [16] links, the other end and the pivot pin [32] that turn left to change parts [30] link, an end of parts [31] is changed in right-hand rotation and the right-hand member of preceding transmission system [16] links, and the other end and the pivot pin [33] that changes parts [31] of turning right links, and turns right and changes parts [30], pivot pin [32], parts [31] are changed in right-hand rotation, and pivot pin [33] links with the two ends of preceding transmission system [16], and the binding angle is 180 ° of phase dihedral, structure becomes forelimb switching mechanism [36]
Hind leg switching mechanism [39], by back transmission system [19], converting member [33], pivot pin [24] is formed, by the left end of back transmission system [19], 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 back transmission system [19] links, the other end and the pivot pin [32] that turn left to change parts [30] link, the right-hand member binding of an end with the back transmission system [19] of parts [31] is changed in right-hand rotation, and the other end and the pivot pin [33] that changes parts [31] of turning right links, and turns left to change parts [30], pivot pin [32], parts [31] are changed in right-hand rotation, and pivot pin [33] links with the two ends of back transmission system [19], and the binding angle is 180 ° of phase dihedral, structure becomes hind leg switching mechanism [39]
Converting system [38], by forelimb switching mechanism [36], perpendicular transmission system [18], hind leg switching mechanism [39] is formed, by the converting member [23] of forelimb switching mechanism [36], pivot pin [24], preceding power wheel [17], the converting member [23] of hind leg switching mechanism [39], pivot pin [24], rear power wheel [17], in the perpendicular transmission system [18], the front end of preceding driving device [41], the rear end of back driving device [43] constitutes, the front end and the preceding power wheel [17] that it is characterized in that preceding driving device [41] link, the rear end of back driving device [43] and rear power wheel [17] link, the converting member [23] of forelimb switching mechanism [36], pivot pin [24], the converting member [23] of hind leg switching mechanism [39], the front end of pivot pin [24] and perpendicular transmission system [18], the rear end links, and the binding angle is 180 ° of phase dihedral, structure becomes converting 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], trammel beam [8], the power arm of walking rod [5], 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 power transmission 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], axle help toe [44] to constitute, 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],
Four-leg, by traveling gear, balancing device [48], overcoat is formed, and is divided into forelimb two-leg, hind leg two-leg four parts, and structure is identical, left side limb pin is by traveling gear catch bar [1] and trammel beam [8], balancing device [48] and sole [25], the upper end of overcoat, the lower end constitutes, it is characterized in that traveling gear is contained in the overcoat, trammel beam [8] links with sole [25], and the lower end of overcoat and balancing device [48] link, structure becomes left limb pin
Coventional type four limbs business concern operating a porters' service machine, by converting system [38], four-leg, anchor fitting [58] is formed, by the left end pivot pin [32] of converting system [38], right-hand member pivot pin [33], the power arm of the catch bar of four-leg [1], dowel bar [3], the fulcrum shaft of contraction pole [4], the upper end of overcoat, the fulcrum vertical shaft [29] of anchor fitting [58], frame [28] constitutes, and the power arm of left limb pin catch bar [1] and pivot pin [32] link before it is characterized in that, fulcrum shaft and fulcrum vertical shaft [29] link, the upper end of overcoat and frame [28] link, the power arm of preceding right limb pin catch bar [1] and pivot pin [33] link, and fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link, the power arm of the left limb pin catch bar in back [1] and pivot pin [32] link, fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link, and the power arm of the right limb pin catch bar in back [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 four-leg walking vehicle
The cross-country type four-leg walking vehicle, by the coventional type four-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 makes of associating lifting regulator control system,
Lifting regulation and control type four-leg, lifting regulation and control type running mechanism, balancing device [48], overcoat is formed, divide the forelimb two-leg, hind leg two-leg four parts, structure is identical, left side limb pin is by the lifting mechanism of lifting regulation and control running mechanism, trammel beam [8], balancing device [48] and sole [25], the upper end of overcoat, the lower end constitutes, it is characterized in that lifting regulator control system running mechanism is contained in the overcoat, trammel beam [8] links with sole [25], the lower end of overcoat and balancing device [48] link, structure becomes lifting regulation and control type left side limb pin, catch bar [1] lifting regulation and control cross-country type four-leg walking vehicle, converting system [38], lifting regulation and control type four-leg, anchor fitting [58] is formed, by the left end pivot pin [32] of converting system [38], right-hand member pivot pin [33], the lifting mechanism of lifting regulation and control type four-leg and dowel bar [3], the fulcrum shaft of contraction pole [4], the upper end of overcoat, the fulcrum vertical shaft [29] of anchor fitting [58], frame [28] constitutes, left limb pin lifting mechanism and pivot pin [32] link before it is characterized in that, fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link, and preceding right limb pin lifting mechanism and pivot pin [33] link, fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link.Left limb pin lifting mechanism in back and pivot pin [32] link, fulcrum shaft and fulcrum vertical shaft [29] link, the upper end of overcoat and frame [28] link, right limb pin lifting mechanism in back 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] lifting regulation and control cross-country type four-leg walking vehicle
Fulcrum vertical shaft [29] lifting regulation and control cross-country type four-leg walking vehicle, converting system [38], four-leg, fulcrum vertical shaft [29] lifting regulator control system, anchor fitting [58] is formed, forelimb switching mechanism left end pivot pin [32] by converting system [38], right-hand member pivot pin [33], hind leg pin switching mechanism left end pivot pin [32], right-hand member pivot pin [33], the power arm of four-leg catch bar [1] and dowel bar [3], the fulcrum shaft of 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], fulcrum vertical shaft [29] constitutes, the power arm and the pivot pin [32] that it is characterized in that left fore pin catch bar [1] link, fulcrum shaft and fulcrum vertical shaft [29] link, 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 fore pin catch bar [1] and pivot pin [33] link, fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link fulcrum vertical shaft [29] lifting mechanism and frame [28] links, and the power arm and the pivot pin [32] of the left limb pin catch bar in back [1] link, the power arm of the right limb pin catch bar in back [1] and pivot pin [33] link, fulcrum shaft and fulcrum vertical shaft [29] link, and the upper end of overcoat and frame [28] link, and fulcrum vertical shaft [29] links with frame [28], structure becomes fulcrum vertical shaft [29] lifting regulation and control cross-country type four-leg walking vehicle
Associating lifting regulation and control cross-country type four-leg walking vehicle, by converting system [38], lifting regulation and control type four-leg, fulcrum vertical shaft [29] lifting regulator control system, anchor fitting [58] is formed, by converting system [38] left end pivot pin [32], right-hand member pivot pin [33], lifting regulation and control type four-leg lifting mechanism and dowel bar [3], the fulcrum shaft of contraction pole [4], the upper end of overcoat, the found a state lifting mechanism of [29] lifting regulator control system of fulcrum, the frame [28] of anchor fitting [58] constitutes, left limb pin before it is characterized in that, lifting mechanism and pivot pin [32] link, fulcrum shaft and fulcrum vertical shaft [29] link, the lifting mechanism of fulcrum vertical shaft [29] and frame [28] link, the upper end of overcoat and frame [28] link, preceding right limb pin lifting mechanism 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 left limb pin lifting mechanism in back and pivot pin [32] 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 right limb pin lifting mechanism in back and pivot pin [33] link, fulcrum shaft and fulcrum vertical shaft [29] link, the lifting mechanism of fulcrum vertical shaft 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 four-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 02122504 CN1398749A (en) | 2002-05-29 | 2002-05-29 | Four-leg walking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02122504 CN1398749A (en) | 2002-05-29 | 2002-05-29 | Four-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 |
|---|---|
| CN1398749A true CN1398749A (en) | 2003-02-26 |
Family
ID=4745065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02122504 Pending CN1398749A (en) | 2002-05-29 | 2002-05-29 | Four-leg walking vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1398749A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147948A (en) * | 2021-04-13 | 2021-07-23 | 太原科技大学 | Foot mechanism of walking polar region scientific investigation robot |
-
2002
- 2002-05-29 CN CN 02122504 patent/CN1398749A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147948A (en) * | 2021-04-13 | 2021-07-23 | 太原科技大学 | Foot mechanism of walking polar region scientific investigation robot |
| CN113147948B (en) * | 2021-04-13 | 2022-04-26 | 太原科技大学 | Foot mechanism of walking polar region scientific investigation robot |
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