CN201056238Y - Bionic walk grade climbing machine for prompt drop movement training - Google Patents
Bionic walk grade climbing machine for prompt drop movement training Download PDFInfo
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- CN201056238Y CN201056238Y CNU2006200218341U CN200620021834U CN201056238Y CN 201056238 Y CN201056238 Y CN 201056238Y CN U2006200218341 U CNU2006200218341 U CN U2006200218341U CN 200620021834 U CN200620021834 U CN 200620021834U CN 201056238 Y CN201056238 Y CN 201056238Y
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Abstract
A speed-drop sports training bionic walking and climbing machine is an bionic walking machine applied to the speed-drop sports training in sand sliding field, grass sliding field, and ski field, and a climbing machine that simulates the human walking mode and uses a small-sized gasoline engine as the power source to transport athletes or equipment to mountaintop. The utility model has concise structure and convenient operation, and overcomes the limitation of huge fund in practical application, thus being more conducive to the development of the present sports. The whole machine is composed of the five parts, namely a walking mechanism assembly, a floating station (4), a down support frame (10), a power part (12), and a control part (13). The utility model is driven by the gasoline engine in the power part (12), realizes the differential steering by the clutch in the control part (13), and keeps the stability of floating station using a cam compensation structure. The driver may sit on the machine to operate the machine by himself.
Description
Affiliated technical field
This design is intended to be applied to small-sized Sand Skiing, grass skating, skiing training, and this machine is to be the climbing machine that propulsion source simulation human body manner of walking is climbed by miniature gasoline engine in the prompt drop place specifically.
Background technology
Along with improving constantly of living standard, increasing people joins in the Nature after working and learning, enjoy to the full outdoor exercises to body and mind bring happy.In the motion, prompt drop sports eventss such as Sand Skiing, grass skating, skiing are subjected to a lot of people's favor out of doors.Sand Skiing, grass skating, skiing are to improve athletic gravitional force earlier with regard to kinematic principle, utilize gravity to make the sportsman produce coasting speed, they all need a kind of transportation device to realize improving this process of gravitional force, promptly to mountain top carriage movement person and relevant equipment.Need very huge fund guarantee but establish a modern skifield, grass skating field or Sand Skiing field, the vehicle equipment of this type games field mostly is cableway, the more than one hundred million easily units of its investment amount, and this is very disadvantageous for the cheap tourist resources of exploitation.
Summary of the invention
In order to achieve the above object, the technical solution adopted in the utility model is to form frame-type lower support frame 10 with square steel tube, be the traveling gear assembly that constitutes by pin 1, bent axle 2, bearing seat 3 below lower support frame 10, be connected with lower support frame 10 by bent axle 2, bearing seat 3.Be the platform 4 that floats above lower support frame 10, the seat is placed on the platform 4 that floats, and is control part 13 in the place ahead at seat, and the rear side at seat is a power pack section 12.
For this equipment is controlled direct of travel by the operator, deliver relevant equipment or in the general gradient, realize manned transportation to the mountain top direction, thereby possess the function of auxiliary Sand Skiing, grass skating, skiing training.This machine can adapt to wheeled moving device in the mountain region the complex-terrain that can't adapt to, and can not rely on the trapped orbit of cableway and so on, having its flexibility and independence can provide necessary transportation equipment for skifield, grass skating field, Sand Skiing field, can directly realize the delivery to the mountain top direction to equipment or people.
Description of drawings
Fig. 1 is the total figure left view of climbing machine
Among the figure: 1. pin 2. bent axles 3. bearing seats 4. platform 5. power-transfer clutchs 6. shift forks 7. mouth main shafts 8. crank spindles that float
Fig. 2 is the total figure front view of climbing machine
Among the figure: 9. retarder 10. lower support framves 11. spark ignition engines 12. power pack sections 13. control parts 14. joysticks
Fig. 3 is the platform front view that floats
Among the figure: 15. cam follower portions, 16. guide pillar seats, 17. sleeve connecting panels, 18. unsteady 22. 23. guide rods of platform skeleton 19. cam 20. cam main shafts, 21. cam crank shafts, 24. sleeve 25.O type circles
Fig. 4 is the front view of bent axle 2
Among the figure: 2 31. 3 32. cranks of 26. 1 27. 2 28. bearing 1 29. axle sleeves, 1 30. bearings, 33. axle sleeves 2
The specific embodiment:
Below in conjunction with accompanying drawing embodiment of the present utility model is described in further detail:
The bionical walking climbing of prompt drop training machine is made up of traveling gear assembly (being made of pin 1, bent axle 2, bearing seat 3), the platform 4 that floats, lower support frame 10, power pack section 12, control part 13 5 major parts.The traveling gear assembly is positioned at the bottommost of machine, and pin 1 has eight, is symmetrically arranged in the both sides of the platform 4 that floats, and the axial angle between the adjacent pin is 90 °.Lower support frame 10 is placed on and floats between platform 4 and the traveling gear assembly, directly links to each other with bearing seat 3, and the platform 4 that floats is positioned at the top of lower support frame 10, and both link to each other by guide pillar seat 16.Power pack section 12 is positioned on the platform 4 that floats, and is made up of spark ignition engine 11 and retarder 9, links to each other with power-transfer clutch 5 by mouth main shaft 7.Control part 13 is made up of joystick 14 and power-transfer clutch 5, and power-transfer clutch 5 has two, is symmetrically arranged in the both sides of mouth main shaft 7, and joystick 14 has two, and symmetry is placed on the both sides, the place ahead, seat of the platform 4 that floats, and joystick 14 links to each other with power-transfer clutch 5 by shift fork 6.The core of machine is made up of with the traveling gear assembly unsteady platform 4.
26S Proteasome Structure and Function to machine each several part assembly of devices is described below respectively below:
1. the traveling gear assembly is positioned at the bottom of machine.The traveling gear assembly is made of pin 1, bent axle 2, bearing seat 3, is crawler body, plays a supportive role again.Its main design parameters is: the step-length L=113mm of pin 1,90 ° of the axial angles of adjacent pin, spindle speed 385rpm, speed of travel 5-10km/h, maximum obstacle climbing ability 80.0mm; Bent axle 2 is a built up crank shaft, 90 ° of the angles of adjacent two cranks.
2. the platform 4 that floats is positioned at the top of traveling gear assembly, and its structure is made up of cam follower portion 15, guide pillar seat 16, sleeve connecting panel 17, the platform skeleton 18 that floats, cam 19, cam main shaft 20, cam crank shaft 21, seat 22.The platform 4 that floats is main portions of machine, and the people is sitting on the seat 22 and drives machine, and four cam 19 symmetries are respectively in the both sides of the platform skeleton 18 that floats, and cam follower portion 15 is close to cam 19.Guide pillar seat 16 has four, be symmetrically distributed in the both sides of the platform skeleton 18 that floats, and between unsteady platform skeleton 18 and lower support frame 10, wherein, the distance of the line of centers of the axis of guide pillar seat 16 and adjacent cam 19 is 165mm, and guide pillar seat 16 is in the outside of cam 19.Sleeve connecting panel 17 also has four, and position and guide pillar seat 16 are overlapping, dead in line.Cam main shaft 20 all is placed on the cam 19 with cam crank shaft 21, and its cam main shaft 20 is positioned at the center of cam 19, and the center that cam crank shaft 21 is positioned at cam 19 is 80mm on the upper side, line of centers and bearing seat 3 line of centers in-lines.The platform skeleton 18 that floats all links to each other with guide pillar seat 16 with lower support frame 10, and the platform skeleton 18 that floats is positioned at guide pillar seat 16 tops, and upper support frame is positioned at guide pillar seat 16 belows.Cam 19 constitutes the cam charging system with cam follower portion 15, cam 19 is close to cam follower portion 15, and cam follower portion 15 is positioned at cam 19 tops, is four, be symmetrically distributed in the both sides of the platform skeleton 18 that floats, the distance between two cam centre line of the same side is 600mm.By the effect of cam charging system, offset the vibration on the vertical direction that bottom fuselage produces, make the platform 4 of floating keep zero vibration of vertical direction with respect to ground.Cam 19 whenever rotates a circle and all can do bit shift compensation four times at vertical direction and unsteady platform 4, this bit shift compensation amount is decided by the displacement of the vertical direction that bottom walking mechanism assembly is produced when advancing, be lower support frame 10 when upwards producing displacement, the cam charging system must make the platform 4 that floats produce onesize displacement with respect to lower support frame 10 in the opposite direction.Popular saying is exactly that how many unsteady platforms 4 lower support frame 10 up moves just on the contrary toward what move down, and so just makes that unsteady platform 4 relative ground displacements are zero, thereby reaches the purpose that reduces platform 4 vibrations of floating, and makes member and goods can not jolted.The frictional damping parts are made of guide rod 23, sleeve 24, O type circle 25, O type circle 25 is between guide rod 23 and sleeve 24, three's central lines, the frictional damping parts have four, be symmetrically distributed in the both sides of the platform skeleton 18 that floats, and on four angle points of lower support frame 10, the distance that is positioned at the frictional damping parts centreline space of homonymy is 930mm.Guide rod 23 adopts free-running fit with sleeve 24 in the frictional damping parts, plays damping vibration attenuation function in the middle of O type circle 25 is positioned at, and thus, the frictional damping parts had both played shock damping action, can play the guiding role again.
3. power pack section 12 is made up of spark ignition engine 11, retarder 9, and the model of spark ignition engine 11 is the ancestor Shen spark ignition engine of ZS168FB, and the type of drive of retarder 9 is a belt-driving, the clutch mode is the tension wheel clutch, and reduction ratio is 20, speed change number of passes: 0,1 ,-1 grade, the change speed gear box engine oil capacity is 95L.The used spark ignition engines 11 of power pack section 12 also can be used the spark ignition engine of other models and brand instead as long as structure is suitable.
4. lower support frame 10 is used for supporting float platform 4 and top people and weight thereof, directly links to each other with bearing seat 3 in the traveling gear assembly, plays the effect of forming a connecting link.
The bionical walking climbing of prompt drop training machine each several part position is formed:
By pin 1, bent axle 2, the traveling gear assembly that bearing seat 3 constitutes is positioned at the bottom of machine, is traveling gear, plays a supportive role again, and lower support frame 10 links to each other with bearing seat 3, is positioned on the traveling gear assembly.The platform 4 that floats is made up of cam follower portion 15, guide pillar seat 16, sleeve connecting panel 17, the platform skeleton 18 that floats, cam 19, cam main shaft 20, cam crank shaft 21, seat 22 9 major parts.The platform 4 that floats links to each other with lower support frame 10 by guide pillar seat 16, and be positioned at lower support frame 10 directly over, both line of centerss are in same plane.Four cam 19 symmetries are respectively in the both sides of the platform skeleton 18 that floats, and cam follower portion 15 is close to cam 19.Guide pillar seat 16 has four, is symmetrically distributed in platform skeleton 18 both sides of floating, and between unsteady platform skeleton 18 and lower support frame 10.Sleeve connecting panel 17 also has four, and position and guide pillar seat 16 are overlapping, dead in line.Cam main shaft 20 all is placed on the cam 19 with cam crank shaft 21, and its cam main shaft 20 is positioned at the center of cam 19, and the center that cam crank shaft 21 is positioned at cam 19 is 80mm on the upper side, line of centers and bearing seat 3 line of centers in-lines.The platform skeleton 18 that floats all links to each other with guide pillar seat 16 with lower support frame 10, and the platform skeleton 18 that floats is positioned at guide pillar seat 16 tops, and upper support frame is positioned at guide pillar seat 16 belows.Power pack section 12 is made up of spark ignition engine 11, retarder 9, and spark ignition engine 11 is above unsteady platform 4 sides, and behind the seat 22, retarder 9 links to each other with power-transfer clutch 5 by mouth main shaft 7 in the front lower place of spark ignition engine 11, and power pack section 12 is propulsions source of this machine.
The work operational process of the bionical walking climbing of prompt drop training machine
Manually boot spark ignition engine 11 by the operator, and with spark ignition engine 11 throttle adjustment to the appropriate location, guarantee spark ignition engine 11 normal operations.Manually advance spark ignition engine 11 with row stop total clutch push rod, this moment spark ignition engine 11 with row stop total power-transfer clutch and be placed in the state that closes, and power-transfer clutch 5 still is in the initial state that closes, power from spark ignition engine 11 via spark ignition engine 11 with row stop total power-transfer clutch, retarder 9, power-transfer clutch 5 and import bent axle 2 into, bent axle 2 drives pin 1 and makes circular movement, thereby make the mode of motion of the pin 1 realization parallel-crank mechanism in the traveling gear assembly, on the go pin 1 contacts with ground to produce and drives friction force, thereby machine is advanced forward.In the motion of walking mechanism assembly, the platform 4 dependence cam compensated part of floating are carried out the bit shift compensation on the vertical direction, make that unsteady platform 4 is zero with respect to the displacement that ground remains vertical direction, machine is when advancing, the people is sitting on the platform 4 that floats machine is driven, following pin 1 is under the drive of bent axle 2, the mode of imitation people walking, have 8 pin below, be symmetrically distributed in the both sides of the platform 4 that floats, adopt parallel-crank mechanism to come the walking action of anthropomorphic dummy's pin, lift → take a step → land → support → lift, consider that equilibrium problem, parallelogram sturcutre must select many assembly to close and could realize.Introducing bent axle 2 is for each pin can not be interfered each other.The platform 4 that floats links to each other with lower support frame 10, and be positioned at the top of lower support frame 10, float platform 4 and traveling gear assembly be connected by cam compensated part (constituting), frictional damping by cam 19, cam follower portion 15 partly (constituting) by guide rod 23, sleeve 24, O type circle 25 realize.By the effect of cam compensated part, offset the vibration on the vertical direction that bottom fuselage produces, make the platform that floats keep zero vibration of vertical direction with respect to ground.Cam 19 whenever rotates a circle and all can do bit shift compensation four times at vertical direction and unsteady platform 4, this bit shift compensation amount is decided by the displacement of the vertical direction that bottom walking mechanism assembly is produced when advancing, be lower support frame 10 when upwards producing displacement, the cam compensated part must make the platform 4 that floats produce onesize displacement with respect to lower support frame 10 in the opposite direction.Popular saying is exactly that how many unsteady platforms 4 lower support frame 10 up moves just on the contrary toward what move down, and so just makes that unsteady platform 4 relative ground displacements are zero, thereby reaches the purpose that reduces platform 4 vibrations of floating, and makes member and goods can not jolted.Turning to of machine by power-transfer clutch 5 controls, power-transfer clutch 5 has two, and the be placed in both sides of power pack section 12 mouth main shafts of symmetry are because the mouth main shaft 7 of power pack section 12 is exported for the axis both-end, correspondingly, this output shaft links to each other with the input shaft of two power-transfer clutchs 5 respectively.By the chimeric and disengagement between the control cat's paw, control the through and off of two ends, left and right sides power transmission, utilize this mode, all be under the state that closes at two power-transfer clutchs 5, when desiring to make machine to turn right, right side clutch 5 disconnected, the left side maintains the original state, stop to advance thereby right side traveling gear assembly is run out of steam, walking mechanism assembly in left side still keeps original travel condition, final machine owing to be subjected to deflecting torque right-hand turning to.When desiring to make machine to turn left in like manner.Desire to stop machine, parking thereby switch that can directly working power part 12 kills engine.
Claims (6)
1. the bionical walking climbing of prompt drop training machine, whole equipment is by the traveling gear assembly, platform (4) floats, lower support frame (10), power pack section (12), control part (13) five parts are formed, it is characterized in that: the traveling gear assembly is positioned at the bottommost of machine, lower support frame (10) is placed between unsteady platform (4) and the traveling gear assembly, link to each other with bearing seat (3), the platform (4) that floats be positioned at lower support frame (10) directly over, both deads in line, power pack section (12) is positioned at unsteady platform (4) side top, control part (13) is made up of joystick (14) and power-transfer clutch (5), power-transfer clutch (5) has two, joystick (14) also has two, symmetry is positioned over the both sides, the place ahead, seat of unsteady platform (4), and logical shift fork (6) links to each other with power-transfer clutch (5).
2. the bionical walking climbing of prompt drop training according to claim 1 machine, it is characterized in that: the traveling gear assembly is made up of pin (1), bent axle (2), bearing seat (3), and integral mechanical structure is a parallelogram sturcutre.
3. the bionical walking climbing of prompt drop training according to claim 1 machine, it is characterized in that: power pack section (12) is made up of spark ignition engine (11) and retarder (9), spark ignition engine (11) is positioned at the platform back side top of floating, behind the seat (22), retarder (9) is connected with power-transfer clutch (5) in spark ignition engine (11) front lower place.
4. the bionical walking climbing of prompt drop training according to claim 1 machine, it is characterized in that: power-transfer clutch (5) is cat's paw's formula power-transfer clutch, have two, symmetry is positioned over the both sides of mouth main shaft (7), one end is inserted in mouth main shaft (7), the other end is inserted in crank spindle (8), and shift fork (6) is placed on an end that links to each other with bent axle (2), and links to each other with joystick (14).
5. the bionical walking climbing of prompt drop training according to claim 1 machine, it is characterized in that: bent axle (2) is a built up crank shaft, axially the angle of adjacent two cranks is 90 °.
6. the bionical walking climbing of prompt drop training according to claim 1 machine, float platform (4) by cam follower portion (15), guide pillar seat (16), sleeve connecting panel (17), platform skeleton (18) floats, cam (19), cam main shaft (20), cam crank shaft (21), seat (22) nine most of compositions, it is characterized in that: four cams (19) symmetry is respectively in the both sides of the platform skeleton (18) that floats, cam follower portion (15) is close to cam (19), guide pillar seat (16) is between unsteady platform skeleton (18) and lower support frame (10), have four, be symmetrically distributed in platform skeleton (18) both sides of floating, and guide pillar seat (16) is in the outside of cam (19), sleeve connecting panel (17) also has four, guide pillar seat (16) dead in line, cam main shaft (20) all is placed on the cam (19) with cam crank shaft (21), its cam main shaft (20) is positioned at the center of cam (19), the center that cam crank shaft (21) is positioned at cam (19) on the upper side, line of centers and bearing seat (3) central lines, the platform skeleton (18) that floats all links to each other with guide pillar seat (16) with lower support frame (10), the platform skeleton (18) that floats is positioned at guide pillar seat (16) top, and lower support frame (10) is positioned at guide pillar seat (16) below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006200218341U CN201056238Y (en) | 2006-10-17 | 2006-10-17 | Bionic walk grade climbing machine for prompt drop movement training |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006200218341U CN201056238Y (en) | 2006-10-17 | 2006-10-17 | Bionic walk grade climbing machine for prompt drop movement training |
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| CN201056238Y true CN201056238Y (en) | 2008-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2006200218341U Expired - Fee Related CN201056238Y (en) | 2006-10-17 | 2006-10-17 | Bionic walk grade climbing machine for prompt drop movement training |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163083A (en) * | 2017-12-22 | 2018-06-15 | 洛阳理工学院 | A kind of walking mechanism |
| CN109442139A (en) * | 2018-12-25 | 2019-03-08 | 南昌大学 | A kind of diameter changing mechanism suitable for pipe robot |
| CN114435507A (en) * | 2022-03-11 | 2022-05-06 | 上海交通大学 | Skating multi-foot robot |
| CN114590338A (en) * | 2022-03-11 | 2022-06-07 | 上海交通大学 | Skating hexapod robot structure |
-
2006
- 2006-10-17 CN CNU2006200218341U patent/CN201056238Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163083A (en) * | 2017-12-22 | 2018-06-15 | 洛阳理工学院 | A kind of walking mechanism |
| CN109442139A (en) * | 2018-12-25 | 2019-03-08 | 南昌大学 | A kind of diameter changing mechanism suitable for pipe robot |
| CN114435507A (en) * | 2022-03-11 | 2022-05-06 | 上海交通大学 | Skating multi-foot robot |
| CN114590338A (en) * | 2022-03-11 | 2022-06-07 | 上海交通大学 | Skating hexapod robot structure |
| CN114435507B (en) * | 2022-03-11 | 2022-12-27 | 上海交通大学 | Skating multi-foot robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |