CN201015712Y - Bionic mechanical quadruped - Google Patents
Bionic mechanical quadruped Download PDFInfo
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- CN201015712Y CN201015712Y CNU2007200783933U CN200720078393U CN201015712Y CN 201015712 Y CN201015712 Y CN 201015712Y CN U2007200783933 U CNU2007200783933 U CN U2007200783933U CN 200720078393 U CN200720078393 U CN 200720078393U CN 201015712 Y CN201015712 Y CN 201015712Y
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Abstract
The utility model discloses a bionic mechanical four-legged animal. In light of the shortcoming of the prior art that the walking pace and gait of a mechanical horse cannot conform to the real walking process of four-legged animal, the horse leg has only one bending joint and bionic effect is poor, the bionic mechanical four-legged animal provided by the utility model comprises a shell of four-legged animal, a rack in the shell, a braking device, a power device and a walking device; the walking device comprises two forelegs, two hind legs as well as two gearboxes; the power device is a mechanical structure or electrical power structure or has the mechanical structure and the electrical power structure at the same time; the braking device comprises a braking belt as well as a braking sling connected to the braking belt. Compared with the prior art, the utility model has the beneficial effects of good bionic effect and strong recreation fun, etc., moreover, the utility model is mainly used for manufacturing of large-scale recreation machine for riding and also for manufacturing of small electric toy.
Description
Technical field
The utility model relates to a kind of amusement apparatus, particularly relates to a kind ofly being used to make large-scale recreation facility and riding the bionic mechanical quadruped of object for appreciation for the visitor.
Background technology
At present, the existing confession mechanical quadruped of usefulness of travelling on the market mainly is a kind of mechanical quadruped that slides by the vola one-way wheel, and four legs at all can not bionic walking, move singlely, stiff, and rider's impression is less than the sense of movement of walking.
Notification number is CN2370926Y, and the utility model patent of by name " mechanical horse " discloses the mechanical horse that a kind of every horse leg is parallel to same crank by one group of plane eight-linkage mechanism, four groups of plane eight-linkage mechanisms and has certain phase difference.This patented technology has solved the walking problem of mechanical horse, but the paces and the gait of horse walking do not meet quadruped true walking process, and the horse leg has only a flexible joint, bionical weak effect.
The utility model content
The purpose of this utility model is exactly at the deficiencies in the prior art, a kind of bionic mechanical quadruped that drives that can be as the true walking posture of quadruped is provided, also can make the small-sized electric toy, outward appearance can be made the mammiferous form of any four-footed walking, and the limbs structure of different its four limbs of zoomorphism is different.
For achieving the above object, the technical solution of the utility model is as follows:
The bionic mechanical quadruped that the utility model proposes comprises frame, brake apparatus, power set in imitative quadruped shell and the shell, and running gear.
Described running gear comprises two forelegs, two back legs, and two gear-boxes.Described foreleg and back leg include three sections or four sections leg bars, each of every leg section leg bar connects by bearing from top to bottom successively, the junction is the joint, between first section leg bar and the 3rd section leg bar, be connected by connecting rod between second section leg bar and the 4th section leg bar; The leg bar hop count of every leg, the true skeletal structure of the animal that the length of every section leg bar and the bending direction in each joint are all showed with this bionic mechanical quadruped is corresponding, and the particular location of connecting rod two ends on the leg bar decided on the degree of crook and the direction of motion of associated joint.The one section leg bar in the top of every leg is a thigh, and the top of every thigh is connected with a connector bearing respectively, and connector links to each other with frame.One section leg bar below the thigh is a shank, is provided with a V-type lever mechanism on the top of four thighs, and the one end links to each other with shank by connecting rod, and the other end fixedly song is stretched lasso trick; The noose terminal is fixed on the thigh, and song is stretched the other end that lasso trick passes noose terminal and V-type lever mechanism and fixed, and this song is stretched the song that lasso trick is used to control the shank joint and stretched.Connection connecting rod one end place in the V-type lever mechanism of two back legs is provided with a positioner, this positioner can be a screw etc., angle when being used to adjust back leg support ground between 3 at the fulcrum of V-type lever mechanism and the connecting rod two ends can not be as the criterion by the gravity press-bending with back leg.Also be provided with the lasso trick of taking a step on four thighs, the noose terminal is fixed on the connector, and the lasso trick of taking a step passes the noose terminal and thigh is fixed, and this lasso trick of taking a step is used to control moving forward and backward of leg; Song is stretched lasso trick and the lasso trick of taking a step is closed curve.Four songs are stretched lasso trick and are connected and fixed with four pinions respectively, and pinion rotates a circle, and song is stretched lasso trick and finished back and forth movement one time; Four lasso tricks of taking a step are connected and fixed with four gear wheels respectively, and gear wheel rotates a circle, and the lasso trick of taking a step is finished back and forth movement one time.The number of effective actual teeth of gear wheel equals the number of teeth of pinion, and the complete number of teeth of gear wheel is 2 times of the pinion number of teeth; Effective toothed portion of four gear wheels is meshed with four pinions respectively, and gear wheel front end and terminal several teeth need grind off in various degree, specifically are as the criterion so that pinion is rotated a circle; When power transmission shaft rotating speed one regularly, the required time of effective toothed portion of gear wheel and pinion rotation be gear wheel rotate all required times 1/4.With four gear wheels coaxial respectively first and second groups of four gears that combined by gear first and gear second are arranged, its middle gear first is a semi-circle gear, be fixed together with gear second is coaxial, the diameter of gear first is greater than gear second, and effective toothed portion of gear second is positioned at the position that the gear first does not have toothed portion; The have toothed portion and the gear third of gear first mesh, and the complete number of teeth of gear first is 3 * 2 of gear third number of teeth
n(n 〉=0) doubly; Effective toothed portion of gear second is meshed with effective toothed portion of gear fourth, and the complete number of teeth of gear second is 2 of the complete number of teeth of gear fourth
n(n 〉=0) doubly; Gear third and the coaxial fixedly composition of the gear fourth gear third fourth group, the diameter of gear third is less than the gear fourth; The revolution of the gear third fourth group be first and second groups of gears revolution 2
n(n 〉=1) doubly, the diameter sum of gear first and gear third equals the diameter sum of gear second and gear fourth; Gear third fourth group and gear can be rotated for first and second groups swimmingly, and the front end of gear first, gear second, gear fourth and 1 to 2 terminal tooth need grind off in various degree, specifically are as the criterion just to finish the transition engagement.Four gear third B-B fractions not with penta coaxial connection of four gears, four gears penta are related with four legs respectively; Oneself meshes penta while of two gears of related left front leg and left back leg and a gear, and oneself meshes penta while of two gears of related RAT and right rear leg and another gear, and the number of teeth of gear penta is 2 of the own number of teeth of gear
n(n 〉=1) doubly.All gears of related left front leg, left back leg are formed two gear-boxes respectively with all gears of related RAT, right rear leg, fixedly connected with frame.Oneself is fixed in the two ends of same power transmission shaft above-mentioned two gears, and a ratchet is set in the centre of power transmission shaft.
When described bionic mechanical quadruped is horse, donkey etc., the concrete technical scheme of shank is in the described running gear: described foreleg and back leg include four sections leg bars, the shank that each of every leg section leg bar is followed successively by thigh from top to bottom, link to each other with thigh by knee joint, by ankle-joint link to each other with shank sufficient, by the hoof that toe joint and foot link to each other, knee joint, ankle-joint, toe joint place are the bearing connection; Between thigh and foot, be provided with connecting rod between shank and the hoof.The connecting rod two ends all are positioned on the leg bar towards the position of animal afterbody, and an end that is positioned at shank except the shank and the connecting rod between the hoof of two forelegs is positioned on the shank towards the position of animal head, and this is by the direction of motion decision of preceding leg joint; Or the connecting rod two ends all are positioned on the leg bar towards the position of animal head, and an end that is positioned at shank except the shank and the connecting rod between the hoof of two forelegs is positioned on the shank towards the position of animal afterbody, and this is by the direction of motion decision of preceding leg joint.
When described bionic mechanical quadruped is leopard, tiger etc., the concrete technical scheme of shank is in the described running gear: described foreleg and back leg include three sections leg bars, the shank that each of every leg section leg bar is followed successively by thigh from top to bottom, link to each other with thigh by knee joint, by the foot that ankle-joint links to each other with shank, knee joint, ankle are bearing and connect; Between thigh and foot, be provided with connecting rod.The connecting rod two ends all are positioned on the leg bar towards the position of animal afterbody, or the connecting rod two ends all are positioned on the leg bar position towards the animal head.
Described power set are frame for movement, comprise two pedals, chain, transmission device and a flywheel.Pedal is positioned at the shell both sides, about each one, connect by connecting rod therebetween, the mid point of connecting rod links to each other with the chain lower end, the other end of chain links to each other with a spring, this spring is used for pedal step on downwards after, pedal that help moves down and chain playback; Chain and ratchet engagement drive ratchet and rotate when chain moves down.Transmission device comprises driving wheel first and with a flywheel coaxial driven pulley first coaxial with ratchet, pass through belt or chain drive between this driving wheel first and the driven pulley first, the diameter of driving wheel first is bigger than driven pulley first, steps on downwards by pedal and drives ratchet and flywheel rotation; Step on pedal under stopping after, flywheel can also allow this bionic mechanical quadruped walk forward several steps against inertia again.Perhaps described power set are electric structure, comprise motor, power supply, power switch, transmission device and a flywheel.This transmission device comprises driving wheel first and a driven pulley second coaxial with ratchet, one with the coaxial driven pulley first of flywheel and one driving wheel second with motor coaxle, this driving wheel second is one-way wheel; By belt or chain drive, pass through belt or chain drive between driving wheel first and the driven pulley first between driving wheel second and the driven pulley second.Motor drives driven pulley second by driving wheel second and rotates, and driven pulley second drives the driving wheel first and ratchet rotates, and the driving wheel first drives flywheel by the driven pulley first and rotates; After direct current generator quit work, flywheel can also allow this bionic mechanical quadruped walk forward several steps against inertia again.Perhaps described power set comprise above-mentioned frame for movement and electric structure.
Described brake apparatus is similar with habitual bicycle drum brakes, comprises braking belt, the braking lasso trick that is connected with the braking belt, and the braking belt is wrapped in outside the flywheel with arc, and the other end of braking lasso trick is fixed on the shell neck.Be flexible connection between the neck of shell and the body, the head and the neck period of the day from 11 p.m. to 1 a.m when pulling halter rope pull-up shell, just can strain the braking lasso trick, make the braking belt flywheel of tying tight, flywheel is stopped the rotation, drive ratchet and also stop the rotation, oneself also is forced to while two gears stop the rotation, so whole bionic mechanical quadruped stops walking.
This bionic mechanical quadruped also comprises turning device, and this turning device comprises the haulage gear that is positioned at the shell neck, and the turning lasso trick.Head that described shell neck is a shell and neck connecting place link to each other by haulage gear, and case head is rotatable; Haulage gear comprises base and a fork, and the neck of base and shell is fixed, and the head of fork and shell is fixed; One end of fork is by the polyphone of the connector on turning lasso trick and four legs, polyphone is fork-RAT-left back leg-right rear leg-left front leg-fork in proper order, the turning lasso trick is a closed curve, the other end of fork connects a spring, the other end of spring is fixed on the base, and this spring is used to help fork playbacking with base skew back.
Article four, be provided with one or in the connector of leg greater than a vertical spring of placing, and one or greater than the spring of a horizontal positioned; Jolting when the wherein vertical spring of placing is used to cushion this bionic mechanical quadruped walking, the spring of horizontal positioned be used for turn or meet with fault cause cast aside leg outside or interior left-falling stroke after, striding makes leg playback when lifting leg.Fix a spring leaf respectively on the tank wall between four gear wheels of two gear-boxes and four pinions, when gear wheel and pinion, spring leaf is depressed, and pinion can rotate, all the other time spring leaf fix pinion and make it rotatable.Be flexible connection between the neck of shell and the body, be fixed with a spring on the body, the neck of shell contacts with this spring, this spring makes described bionic mechanical quadruped when walking, its head and neck partly produce shake, so that the quadruped walking posture of this bionic mechanical is more lively.
When described power set comprise electric structure, front end at halter rope is provided with a twitch inductor, this is twitched inductor and links to each other with control module, control module links to each other with power switch with power supply, control module also links to each other with the motor lines way switch with motor, and the motor lines way switch is in closure state generally speaking.When this bionic mechanical quadruped of needs by static when walking forward, closed power switch, twitch halter rope then, when halter rope are twitched certain dynamics that reaches, twitch inductor and send a signal to control module, so control module then drives this bionic mechanical quadruped certain distance of advancing for electrical power certain hour, motor; When case head was pulled up braking, the motor lines way switch was disconnected before the braking belt is tied flywheel tight, to cut off power.This control module can also connect a loudspeaker, shouts a shout when this bionic mechanical quadruped walks forward and brakes.
When using mechanical mechanism to use as powered device, the people is sitting on the saddle, bipod steps down on the pedal, two pull halter rope, both feet are firmly stepped on pedal downwards, pedal moves down, the chain that drive is attached thereto moves down, chain drives the individual event gear again and rotates, the driving wheel first that the individual event gear driven is coaxial and two own rotations of gear, the driving wheel first drives the driven pulley first be attached thereto and rotates, and the driven pulley first drives coaxial with it flywheel and rotates, and oneself drives two gears two gears penta that are engaged with respectively separately and rotate, four gears penta drive the coaxial with it gear third fourth group again simultaneously respectively and rotate, when gear fourth and the engagement of gear second, or during third engagement of gear first and gear, first and second groups of rotation of gear, and then drive coaxial with it gear wheel rotation.When the engagement of gear fourth and gear second, the effective toothed portion and the pinion of gear wheel, pinion rotation and was stretched lasso trick by song and was driven each joint march of shank and stretch motion this moment, gear wheel by the lasso trick of taking a step drive leg carry out from after forward stepping movement; When third engagement of gear first and gear, gear wheel rotates, and pinion is motionless, gear wheel by the lasso trick of taking a step drive leg carry out in the past backward step on the step motion; Effective toothed portion of gear wheel drives pinion and just rotates a circle, rotating speed one timing when power transmission shaft, effective toothed portion of gear wheel and pinion rotate the required time be gear wheel rotate all required times 1/4, the time that is to say pinion rotation one circle equal gear wheel rotate a circle time 1/4, song is stretched the required time of lasso trick round trip and is equaled 1/4 of the lasso trick round trip required time of taking a step, that is to say appoint one leg from after the required time that steps forth equal complete forward 1/4 of the step required time that steps of this leg.
Every leg steps a step forward, can regard as by from after step forth and step on the one-period that the step constitutes backward in the past, wherein from after step forth and accounted for for 1/4 cycle, step on the step backward accounted for for 3/4 cycle in the past, described from after step forth and step on cycle ratio that the step respectively accounts for size and the number of teeth relation by each gear between first and second groups of gears and the gear third fourth group in the past backward and be achieved.From four legs, every leg step advanced in years forward has certain phase difference successively, and phase difference was 1/4 cycle; Specifically, exactly in four legs wherein one leg lift from after when stepping forth, its excess-three bar leg all lands and steps on the step backward in the past, thereby keeps all having at any time in four legs three legs to land simultaneously, and then keeps the stability of this bionic mechanical quadruped walking; RAT strode and lifts when right rear leg landed, and left back leg strode and lifts when RAT landed, and left front leg strode and lifts when left back leg landed, and right rear leg strode and lifts when left front leg landed, and four legs circulate successively.Crooked when can both walk as real quadruped in each joint of this bionic mechanical quadruped shank, four legs take a step to advance according to quadruped paces fully by gear control and lasso trick traction.Drive described bionic mechanical quadruped person, drawing by halter rope changes its case head, spurs the turning lasso trick by the haulage gear that is positioned at the shell neck, thereby changes the direct of travel of four legs, reaches very natural turning effect.The rider steps on pedal downwards, and driven gear and flywheel rotate, and this bionic mechanical quadruped is walking forward then, and when the rider packed up both legs, flywheel was rotated further by the inertia driven gear, and this bionic mechanical quadruped can walk on the number step by the inertia of flywheel.Head and the neck of rider by halter rope pull-up shell, thereby tension braking lasso trick, the braking belt flywheel of tying tight stops the rotation flywheel, and oneself is forced to gear stop operating, thus braking.
When the electrification structure is used as powered device, the people is sitting on the saddle, both hands are twitched halter rope and are reached certain dynamics, the twitch inductor will be twitched signal and be passed to control module, so control module is given electrical power, motor then drives driven pulley second by driving wheel second and rotates, and oneself rotates thereupon with coaxial two gears of driven pulley second, driven pulley second drives the driven pulley first by coaxial driving wheel first and rotates, and the flywheel coaxial with the driven pulley first rotates thereupon.Motion process when the motion process after the described bionic mechanical quadruped uses as powered device with use frame for movement is identical.Described bionic mechanical quadruped also can use frame for movement and electric structure to use as powered device simultaneously.
Compared with prior art, the beneficial effects of the utility model are: bionical effect is good, the interest of travelling is strong, be mainly used in the making large amusement machine rides object for appreciation for the people, also can make the small-sized electric toy.
Description of drawings
Fig. 1 is that shank is the cutaway view of the bionic mechanical quadruped foreleg of four sections leg bars.
Fig. 2 is that shank is the cutaway view of the bionic mechanical quadruped back leg of four sections leg bars.
Fig. 3 is that shank is the cutaway view of the bionic mechanical quadruped foreleg of three sections leg bars.
Fig. 4 is that shank is the cutaway view of the bionic mechanical quadruped back leg of three sections leg bars.
Fig. 5 is the schematic diagram that bionic mechanical quadruped thigh is connected with connector.
Fig. 6 is the schematic diagram that bionic mechanical quadruped leg is connected with frame by connector.
Fig. 7 is the vertical view that connector is connected with frame.
Fig. 8 is that song is stretched lasso trick and the connection diagram of take a step lasso trick and pinion and gear wheel.
Fig. 9 is the connection diagram between each gear in the gear-box in the running gear.
Figure 10 is that power set comprise the vertical view that the bionic mechanical quadruped gear-box of frame for movement and electric structure links to each other with transmission device in the power set.
Figure 11 is the vertical view of turning device.
Figure 12 is that power set are the electric elements connection diagram of electric structure.
Figure 13 is the quadruped cutaway view of bionic mechanical that power set comprise frame for movement and electric structure.
Number in the figure is as follows:
1 gear wheel, 2 pinions
3 gear first, 4 gears third
5 gear fourths, 6 gear second
7 gears, penta 8 gears oneself
9 power transmission shafts, 10 songs are stretched lasso trick
11 lasso trick 12 ratchets of taking a step
13 pedals, 14 chains
15 driven pulley first, 16 driving wheel first
17 driven pulley second, 18 driving wheel second
19 motors, 20 power switches
21 toe joints, 22 ankle-joints
23 knee joints, 24 noose terminals
25 thighs, 26 shanks
27 foots, 28 hoof
29 frames, 30 connecting rods
33 braking belts, 34 braking lasso tricks
35 flywheels, 36 shell necks
37 bases, 38 turning lasso tricks
39 connectors, 40 spring leafs
41 twitch inductor 42 control modules
43 motor lines way switch, 44 forks
45 loudspeakers
The specific embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is further described.
As Fig. 1, Fig. 2, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, shown in Figure 13.Choose 16 sections timber respectively as the thigh 25 of four legs of described bionic mechanical quadruped, shank 26, foot 27, hoof 28; Bearing is connected between thigh 25 and the shank 26, and the junction is a knee joint 23, and bearing is connected between shank 26 and the foot 27, and the junction is an ankle-joint 22, enough 27 with hoof 28 between bearing be connected, the junction is a toe joint 21; The top of every thigh 25 is connected with connector 39 bearings respectively, and connector 39 links to each other with frame 29.Between the thigh 25 of two forelegs and two back legs and foot 27, be provided with connecting rod 30, connecting rod 30 two ends lay respectively on knee joint 23 place's thighs 25 and ankle-joint 22 places foot 27 on towards the position of animal afterbody; Between the shank 26 of two back legs and hoof 28, be provided with connecting rod 30, connecting rod 30 two ends lay respectively on ankle-joint 22 place's shanks 26 and toe joint 21 place's hoof 28 on towards the position of animal afterbody; Be provided with connecting rod 30 between the shank 26 of two forelegs and hoof 28, connecting rod 30 two ends lay respectively on ankle-joint 22 place's shanks 26 on the position of animal head and toe joint 21 place's hoof 28 position towards the animal afterbody.Be provided with a V-type lever mechanism 31 on the top of four thighs 25, one end stationary links 30, the other end of connecting rod 30 is fixed on the shank 26 at knee joint 23 places towards the position of animal afterbody, and the other end of V-type lever mechanism 31 fixedly song is stretched lasso trick 10; Noose terminal 24 is fixed on the thigh 25, and song is stretched lasso trick 10 and passed noose terminal 24 and fix with the other end of V-type lever mechanism 31.A screw is fixed at stationary links 30 1 end places in the V-type lever mechanism 31 of two back legs, and promptly positioner 32.Also be provided with the lasso trick 11 of taking a step on four thighs 25, noose terminal 24 is fixed on the connector 39, and it is fixing with thigh 25 that the lasso trick 11 of taking a step passes noose terminal 24.Be provided with a vertical spring of placing and two springs that horizontal parallel is placed in the connector 39.
Four songs are stretched lasso trick 10 and are connected and fixed with four pinions 2 respectively, and four lasso tricks 11 of taking a step are connected and fixed with four gear wheels 1 respectively.The diameter of gear wheel 1 is 120mm, and number of effective actual teeth is 30 teeth, is 1/2 of the complete number of teeth, and the diameter of pinion 2 is 60mm, and the number of teeth is 30 teeth, and effective toothed portion of four gear wheels 1 is meshed with four pinions 2 respectively; On the tank wall between four gear wheels 1 of two gear-boxes and four pinions 2, fix a spring leaf 40 respectively, when gear wheel 1 meshes with pinion 2, spring leaf 40 is depressed, and pinion 2 can rotate, all the other the time spring leaf 40 fix pinion 2 and make it rotatable.With four gear wheels 1 coaxial respectively first and second groups of four gears that combined by gear first 3 and gear second 6 are arranged, its middle gear first 3 is semi-circle gears, with gear second 6 coaxial being fixed together, the diameter of gear first 3 is 90mm, number of effective actual teeth is 30 teeth, and the diameter of gear second 6 is 60mm, and number of effective actual teeth is 20 teeth, be 1/2 of the complete number of teeth, effective toothed portion of gear second 6 is positioned at the position of gear first 3 no toothed portions.Gear first 3 the third 4 engagements of toothed portion and gear are arranged, the diameter of gear the third 4 is 30mm, the number of teeth is 20 teeth; Effective toothed portion of gear second 6 is meshed with effective toothed portion of gear fourth 5, and the diameter of gear fourth 5 is 60mm, and number of effective actual teeth is 20 teeth, is 1/2 of the complete number of teeth; Gear the third 4 and the gear fourth 5 coaxial fixedly composition gear third fourth groups.The revolution of the gear third fourth group is 2 times of first and second groups of revolutions of gear.Four gear third B-B fractions not with penta 7 coaxial connections of four gears, four gears penta 7 are related with four legs respectively; Two gears of related left front leg and left back leg penta 7 simultaneously and oneself 8 engagements of a gear, two gears of related RAT and right rear leg penta 7 simultaneously and oneself 8 engagements of another gear, the diameter of gear penta 7 is 120mm, the number of teeth is 80 teeth, oneself 8 diameter of gear is 30mm, and the number of teeth is 20 teeth.Oneself 8 forms a gear-box two gear wheels 1 of related left front leg, left back leg, two pinions 2, two gear first 3, two gear second 6, two gears the third 4, two gear fourths 5, two gears penta 7 and gear, oneself 8 forms another gear-boxes two gear wheels 1 of related RAT, right rear leg, two pinions 2, two gear first 3, two gear second 6, two gears the third 4, two gear fourths 5, two gears penta 7 and gear, and two gear-boxes are fixedlyed connected with frame 29.Oneself 8 two ends of being fixed in power transmission shaft 9 of above-mentioned two gears are provided with a ratchet 12 in the centre of power transmission shaft 9.
The quadruped power set of this bionic mechanical comprise frame for movement and electric structure simultaneously.Described frame for movement comprises two pedals 13, chain 14 and a flywheel 35, and pedal 13 is positioned at the shell both sides, about each one, connect by connecting rod therebetween, the mid point of connecting rod links to each other with chain 14 lower ends, the other end of chain 14 links to each other with a spring, chain 14 and ratchet 12 engagements; Described electric structure comprises motor 19, power supply, power switch 20 and a flywheel 35; Be provided with driving wheel first 16 and a driven pulley second 17 coaxial with ratchet 12, a driven pulley first 15 coaxial with flywheel 35, with a driving wheel second 18 coaxial with motor 19, this driving wheel second 18 is one-way wheel, by belt or chain drive, pass through belt or chain drive between driving wheel first 16 and the driven pulley first 15 between driving wheel second 18 and the driven pulley second 17; Front end at halter rope is provided with a twitch inductor 41, this is twitched inductor 41 and connects with control module 42, control module 42 is connected with power supply and power switch 20, and control module 42 is also connected with motor 19 and motor lines way switch 43, and control module 42 is also connected with a loudspeaker 45.Can step on downwards by pedal 13 and drive ratchet 12 and flywheel 35 rotations, also can motor 19 drive ratchets 12 and flywheel 35 be rotated by twitching halter rope.
Braking belt 33 is wrapped in outside the flywheel 35 with arc, and braking belt 33 is connected with braking lasso trick 34, and the other end of braking lasso trick 34 is fixed on the shell neck, when the pulling halter rope pull-up case head and the neck period of the day from 11 p.m. to 1 a.m, just can strain braking lasso trick 34; When tension braking lasso trick 34, braking belt 33 flywheel 35 of tying tight stops the rotation flywheel 35, drive ratchet 12 and also stop the rotation, simultaneously two gears oneself 8 also be forced to stop the rotation, thereby braking.
The quadruped case head of this bionic mechanical is rotatable, and the head of shell and neck connecting place are shell neck 36, links to each other by haulage gear; Haulage gear comprises base 37 and a fork 44, and base 37 is fixed with the neck of shell, and fork 44 is fixed with the head of shell; One end of fork 44 is by 39 polyphones of the connector on turning lasso trick 38 and four legs, polyphone is fork 44-RAT-left back leg-right rear leg-left front leg-fork 44 in proper order, turning lasso trick 38 is a closed curve, and the other end of fork 44 connects a spring, and the other end of spring is fixed on the base 37.
After preparing the quadruped brake apparatus of this bionic mechanical, power set, running gear and turning device, put the shell of imitative horse, for flexibly connecting, be fixed with a spring on the body between the neck of shell and the body, the neck of shell contacts with this spring.
As Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, shown in Figure 12.The place identical with embodiment 1 be repeated description no longer, and difference is: choose 12 sections timber respectively as thigh 25, shank 26, the foot 27 of four legs of described bionic mechanical quadruped; Bearing is connected between thigh 25 and the shank 26, and the junction is a knee joint 23, and bearing is connected between shank 26 and the foot 27, and the junction is an ankle-joint 22.Between thigh 25 and foot 27, be provided with connecting rod 30, connecting rod 30 two ends lay respectively on knee joint 23 place's thighs 25 and ankle-joint 22 places foot 27 on towards the position of animal afterbody, the other end that is fixed on the connecting rod 30 of V-type lever mechanism 31 1 ends is fixed on the shank 26 at knee joint 23 places the position towards the animal afterbody.Be provided with two the vertical springs of placing and the spring of a horizontal positioned in the connector 39.
The diameter of gear wheel 1 is 160mm, and number of effective actual teeth is 40 teeth, is 1/2 of the complete number of teeth; The diameter of pinion 2 is 80mm, and the number of teeth is 40 teeth.Gear first 3 is semi-circle gears, and its diameter is 144mm, and number of effective actual teeth is 45 teeth; The diameter of gear second 6 is 112mm, and number of effective actual teeth is 40 teeth, is 1/2 of the complete number of teeth.The diameter of gear the third 4 is 24mm, and the number of teeth is 15 teeth; The diameter of gear fourth 5 is 56mm, and the number of teeth is 40 teeth.The diameter of gear penta 7 is 80mm, and the number of teeth is 60 teeth, and oneself 8 diameter of gear is 40mm, and the number of teeth is 30 teeth.
After preparing the quadruped brake apparatus of this bionic mechanical, power set, running gear and turning device, put the shell of imitative tiger.
The place identical with embodiment 1 be repeated description no longer, difference is: between the thigh 25 of two forelegs and two back legs and foot 27, be provided with connecting rod 30, connecting rod 30 two ends lay respectively on knee joint 23 place's thighs 25 and ankle-joint 22 places foot 27 on towards the position of animal head; Between the shank 26 of two back legs and hoof 28, be provided with connecting rod 30, connecting rod 30 two ends lay respectively on ankle-joint 22 place's shanks 26 and toe joint 21 place's hoof 28 on towards the position of animal head; Be provided with connecting rod 30 between the shank 26 of two forelegs and hoof 28, connecting rod 30 two ends lay respectively on ankle-joint 22 place's shanks 26 on the position of animal afterbody and toe joint 21 place's hoof 28 position towards the animal head.Be provided with a V-type lever mechanism 31 on the top of four thighs 25, one end stationary links 30, the other end of connecting rod 30 is fixed on the shank 26 at knee joint 23 places the position towards the animal head.
The diameter of gear wheel 1 is 100mm, and number of effective actual teeth is 50 teeth, is 1/2 of the complete number of teeth; The diameter of pinion 2 is 50mm, and the number of teeth is 50 teeth.Gear first 3 is semi-circle gears, and its diameter is 240mm, and number of effective actual teeth is 120 teeth; The diameter of gear second 6 is 208mm, and number of effective actual teeth is 100 teeth, is 1/2 of the complete number of teeth.The diameter of gear the third 4 is 20mm, and the number of teeth is 20 teeth; The diameter of gear fourth 5 is 52mm, and the number of teeth is 50 teeth.The diameter of gear penta 7 is 160mm, and the number of teeth is 120 teeth, and oneself 8 diameter of gear is 20mm, and the number of teeth is 15 teeth.
The place identical with embodiment 2 be repeated description no longer, difference is: be provided with connecting rod 30 between thigh 25 and foot 27, connecting rod 30 two ends lay respectively on knee joint 23 place's thighs 25 and ankle-joint 22 places foot 27 on towards the position of animal head, the other end that is fixed on the connecting rod 30 of V-type lever mechanism 31 1 ends is fixed on the shank 26 at knee joint 23 places the position towards the animal head.
Claims (10)
1. a bionic mechanical quadruped comprises frame (29), brake apparatus, power set, running gear in imitative quadruped shell and the shell, it is characterized in that:
(1) described running gear comprises two forelegs, two back legs, and two gear-boxes;
(i) described foreleg and back leg include three sections or four sections leg bars, each of every leg section leg bar connects by bearing from top to bottom successively, the junction is the joint, between first section leg bar and the 3rd section leg bar, be connected by connecting rod (30) between second section leg bar and the 4th section leg bar; The one section leg bar in the top of every leg is thigh (25), and the top of every thigh (25) is connected with a connector (39) bearing respectively, and connector (39) links to each other with frame (29);
(ii) one section leg bar below the thigh (25) is shank (26), is provided with a V-type lever mechanism (31) on the top of four thighs (25), and the one end links to each other with shank (26) by connecting rod (30), and the other end fixedly song is stretched lasso trick (10); Noose terminal (24) is fixed on the thigh (25), and song is stretched the other end that lasso trick (10) passes noose terminal (24) and V-type lever mechanism (31) and fixed, and this song is stretched the song that lasso trick (10) is used to control the shank joint and stretched; Connection connecting rod (30) one end places in the V-type lever mechanism (31) of two back legs are provided with a positioner (32), angle when adjusting back leg support ground between 3 at the fulcrum of V-type lever mechanism (31) and connecting rod (30) two ends can not be as the criterion by the gravity press-bending with back leg; Also be provided with the lasso trick of taking a step (11) on four thighs (25), noose terminal (24) is fixed on the connector (39), and it is fixing with thigh (25) that the lasso trick of taking a step (11) passes noose terminal (24), and this lasso trick of taking a step (11) is used to control moving forward and backward of leg; Song stretches lasso trick (10) and the lasso trick of taking a step (11) is closed curve;
(iii) four songs are stretched lasso trick (10) and are connected and fixed with four pinions (2) respectively, and pinion (2) rotates a circle, and song is stretched lasso trick (10) and finished back and forth movement one time; Four lasso tricks of taking a step (11) are connected and fixed with four gear wheels (1) respectively, and gear wheel (1) rotates a circle, and the lasso trick of taking a step (11) is finished back and forth movement one time;
(iv) the number of effective actual teeth of gear wheel (1) equals the number of teeth of pinion (2), and the complete number of teeth of gear wheel (1) is 2 times of pinion (2) number of teeth, and effective toothed portion of four gear wheels (1) is meshed with four pinions (2) respectively; With four gear wheels (1) coaxial respectively first and second groups of four gears that combined by gear first (3) and gear second (6) are arranged, its middle gear first (3) is a semi-circle gear, with coaxial being fixed together of gear second (6), the diameter of gear first (3) is greater than gear second (6), and effective toothed portion of gear second (6) is positioned at the position of the no toothed portion of gear first (3); The have toothed portion and the gear third (4) of gear first (3) mesh, and the complete number of teeth of gear first (3) is 3 * 2 of gear third (4) number of teeth
n(n 〉=0) doubly; Effective toothed portion of gear second (6) is meshed with effective toothed portion of gear fourth (5), and the complete number of teeth of gear second (6) is 2 of the complete number of teeth of gear fourth (5)
n(n 〉=0) doubly; Gear third (4) and the coaxial fixedly composition of gear fourth (5) the gear third fourth group, the diameter of gear third (4) is less than gear fourth (5); The revolution of the gear third fourth group be first and second groups of gears revolution 2
n(n 〉=1) doubly, the diameter sum of gear first (3) and gear third (4) equals the diameter sum of gear second (6) and gear fourth (5); Four gear third B-B fractions not with penta (7) the coaxial connection of four gears, four gears penta (7) are related with four legs respectively; Penta (7) while of two gears of related left front leg and left back leg and a gear own (8) engagement, penta (7) while of two gears and another gear oneself (8) of related RAT and right rear leg mesh, and the number of teeth of gear penta (7) is 2 of own (8) number of teeth of gear
n(n 〉=1) doubly; All gears of related left front leg, left back leg are formed two gear-boxes respectively with all gears of related RAT, right rear leg, fixedly connected with frame (29); Above-mentioned two gears oneself (8) are fixed in the two ends of same power transmission shaft (9), in the centre of power transmission shaft (9) ratchet (12) are set;
(2) described power set are frame for movement, comprise two pedals (13), chain (14), transmission device and a flywheel (35); Pedal (13) is positioned at the shell both sides, about each one, connect by connecting rod therebetween, the mid point of connecting rod links to each other with chain (14) lower end, the other end of chain (14) links to each other with a spring; Chain (14) and ratchet (12) engagement drive ratchet (12) and rotate; Transmission device comprises driving wheel first (16) and with flywheel (35) coaxial driven pulley first (15) coaxial with ratchet (12), pass through belt or chain drive between this driving wheel first (16) and the driven pulley first (15), the diameter of driving wheel first (16) is bigger than driven pulley first (15), steps on downwards by pedal (13) and drives ratchet (12) and flywheel (35) rotation;
Perhaps described power set are electric structure, comprise motor (19), power supply, power switch (20), transmission device and a flywheel (35); This transmission device comprises driving wheel first (16) and a driven pulley second (17) coaxial with ratchet (12), a driven pulley first (15) coaxial with flywheel (35), with a driving wheel second (18) coaxial with motor (19), this driving wheel second (18) is one-way wheel; By belt or chain drive, pass through belt or chain drive between driving wheel first (16) and the driven pulley first (15) between driving wheel second (18) and the driven pulley second (17); Motor (19) drives driven pulley second (17) by driving wheel second (18) and rotates, and driven pulley second (17) drives driving wheel first (16) and ratchet (12) rotates, and driving wheel first (16) drives flywheel (35) by driven pulley first (15) and rotates;
Perhaps described power set comprise above-mentioned frame for movement and electric structure;
(3) described brake apparatus comprises braking belt (33), the braking lasso trick (34) that is connected with braking belt (33), braking belt (33) is wrapped in outside the flywheel (35) with arc, when tension braking lasso trick (34), braking belt (33) flywheel (35) of tying tight, flywheel (35) is stopped the rotation, drive ratchet (12) and also stop the rotation, two gears oneself (8) also are forced to stop the rotation simultaneously.
2. bionic mechanical quadruped according to claim 1, it is characterized in that: described foreleg and back leg include four sections leg bars, the shank (26) that each of every leg section leg bar is followed successively by thigh (25) from top to bottom, link to each other with thigh (25) by knee joint (23), the foot (27) that links to each other with shank (26) by ankle-joint (22), pass through the hoof (28) that toe joint (21) links to each other with sufficient (27), knee joint (23), ankle-joint (22), toe joint (21) locate to be the bearing connection; Between thigh (25) and foot (27), be provided with connecting rod (30) between shank (26) and the hoof (28); Connecting rod (30) two ends all are positioned on the leg bar towards the position of animal afterbody, and an end that is positioned at shank (26) except the shank (26) and the connecting rod (30) between the hoof (28) of two forelegs is positioned at shank (26) and goes up position towards the animal head; Or connecting rod (30) two ends all are positioned on the leg bar towards the position of animal head, and an end that is positioned at shank (26) except the shank (26) and the connecting rod (30) between the hoof (28) of two forelegs is positioned at shank (26) and goes up position towards the animal afterbody.
3. bionic mechanical quadruped according to claim 1, it is characterized in that: described foreleg and back leg include three sections leg bars, the shank (26) that each of every leg section leg bar is followed successively by thigh (25) from top to bottom, link to each other with thigh (25) by knee joint (23), pass through the foot (27) that ankle-joint (22) links to each other with shank (26), knee joint (23), ankle-joint (22) locate to be the bearing connection; Be provided with connecting rod (30) at thigh (25) and foot between (27), connecting rod (30) two ends all are positioned on the leg bar towards the position of animal afterbody, or connecting rod (30) two ends all are positioned on the leg bar position towards the animal head.
4. according to the arbitrary described bionic mechanical quadruped of claim 1 to 3, it is characterized in that: this bionic mechanical quadruped also comprises turning device, and this turning device comprises the haulage gear that is positioned at shell neck (36), and turning lasso trick (38); Described shell neck (36) is the head and the neck connecting place of shell, links to each other by haulage gear, and case head is rotatable; Haulage gear comprises a base (37) and a fork (44), and base (37) is fixed with the neck of shell, and fork (44) is fixed with the head of shell; One end of fork (44) is contacted by turning lasso trick (38) and the connector (39) on four legs, polyphone is fork (44)-RAT-left back leg-right rear leg-left front leg-fork (44) in proper order, turning lasso trick (38) is a closed curve, the other end of fork (44) connects a spring, and the other end of spring is fixed on the base (37).
5. according to the arbitrary described bionic mechanical quadruped of claim 1 to 3, it is characterized in that: described positioner (32) is a screw.
6. according to the arbitrary described bionic mechanical quadruped of claim 1 to 3, it is characterized in that: be provided with one or in the connector of four legs (39) greater than a vertical spring of placing, and one or greater than the spring of a horizontal positioned.
7. according to the arbitrary described bionic mechanical quadruped of claim 1 to 3, it is characterized in that: on the tank wall between four gear wheels of two gear-boxes (1) and four pinions (2), fix a spring leaf (40) respectively, when gear wheel (1) meshes with pinion (2), spring leaf (40) is depressed, pinion (2) can rotate, all the other the time spring leaf (40) fix pinion (2) and make it rotatable.
8. according to the arbitrary described bionic mechanical quadruped of claim 1 to 3, it is characterized in that: be flexible connection between the neck of shell and the body, the other end of braking lasso trick (34) is fixed on the shell neck, when the head and the neck period of the day from 11 p.m. to 1 a.m of pulling halter rope pull-up shell, just can strain braking lasso trick (34).
9. according to the arbitrary described bionic mechanical quadruped of claim 1 to 3, it is characterized in that: for flexibly connecting, be fixed with a spring on the body between the neck of shell and the body, the neck of shell contacts with this spring.
10. according to the arbitrary described bionic mechanical quadruped of claim 1 to 3, it is characterized in that: when described power set comprise electric structure, front end at halter rope is provided with a twitch inductor (41), this is twitched inductor (41) and connects with control module (42), control module (42) is connected with power supply and power switch (20), and control module (42) is also connected with motor (19) and motor lines way switch (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200783933U CN201015712Y (en) | 2007-02-01 | 2007-02-01 | Bionic mechanical quadruped |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200783933U CN201015712Y (en) | 2007-02-01 | 2007-02-01 | Bionic mechanical quadruped |
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| Publication Number | Publication Date |
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| CN201015712Y true CN201015712Y (en) | 2008-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2007200783933U Expired - Lifetime CN201015712Y (en) | 2007-02-01 | 2007-02-01 | Bionic mechanical quadruped |
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| CN (1) | CN201015712Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102068819A (en) * | 2010-12-14 | 2011-05-25 | 北京交通大学 | Single-power four-foot walking mechanism |
| CN102908787A (en) * | 2012-11-16 | 2013-02-06 | 林泽鲁 | Movable toy dog |
| CN103007541A (en) * | 2013-01-11 | 2013-04-03 | 苏州益童游乐设备有限公司 | Novel hobbyhorse |
| CN105261287A (en) * | 2015-11-05 | 2016-01-20 | 浙江工业职业技术学院 | Mechanical bionic horse demonstration model |
| CN108379848A (en) * | 2018-04-12 | 2018-08-10 | 江南大学 | Four-footed walking sightseeing horse |
-
2007
- 2007-02-01 CN CNU2007200783933U patent/CN201015712Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102068819A (en) * | 2010-12-14 | 2011-05-25 | 北京交通大学 | Single-power four-foot walking mechanism |
| CN102068819B (en) * | 2010-12-14 | 2012-08-08 | 北京交通大学 | Single-power four-foot walking mechanism |
| CN102908787A (en) * | 2012-11-16 | 2013-02-06 | 林泽鲁 | Movable toy dog |
| CN103007541A (en) * | 2013-01-11 | 2013-04-03 | 苏州益童游乐设备有限公司 | Novel hobbyhorse |
| CN105261287A (en) * | 2015-11-05 | 2016-01-20 | 浙江工业职业技术学院 | Mechanical bionic horse demonstration model |
| CN105261287B (en) * | 2015-11-05 | 2017-08-25 | 浙江工业职业技术学院 | A kind of mechanical bionical horse demonstrating model |
| CN108379848A (en) * | 2018-04-12 | 2018-08-10 | 江南大学 | Four-footed walking sightseeing horse |
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Owner name: SUN CHAO Free format text: FORMER OWNER: GAN XIANJUN Effective date: 20090807 |
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Effective date of registration: 20090807 Address after: Guangzhou City, Guangdong Province Jing Yun Lu Fu Yue Street 29, room 602, zip code: 510000 Patentee after: Sun Chao Address before: Chengdu, Sichuan Province, Chenghua District, "Fu Sen US home" 5-4-15, Zip code: 610081 Patentee before: Gan Xianjun |
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