CN203694589U - Four-leg walking mechanism capable of steering - Google Patents

Four-leg walking mechanism capable of steering Download PDF

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Publication number
CN203694589U
CN203694589U CN201420024287.7U CN201420024287U CN203694589U CN 203694589 U CN203694589 U CN 203694589U CN 201420024287 U CN201420024287 U CN 201420024287U CN 203694589 U CN203694589 U CN 203694589U
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CN
China
Prior art keywords
leg
gear
transmission shaft
shaft
sector
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201420024287.7U
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Chinese (zh)
Inventor
吴靖
魏乔乔
陈炟
於辉
Original Assignee
吴靖
魏乔乔
陈炟
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Filing date
Publication date
Application filed by 吴靖, 魏乔乔, 陈炟 filed Critical 吴靖
Priority to CN201420024287.7U priority Critical patent/CN203694589U/en
Application granted granted Critical
Publication of CN203694589U publication Critical patent/CN203694589U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

A four-leg walking mechanism capable of steering is characterized in that a rear body (6) is fixed to one end of a connecting part (7), the other end of the connecting part (7) is hinged to a front body (5), a front left leg (1) and a front right leg (2) are connected through a front transmission shaft (14), a rear left leg (3) and the right left leg (4) are connected through a rear transmission shaft (15), the rear transmission shaft (15) is perpendicularly connected with one end of a main transmission shaft (8) through a pair of bevel gears (13), and the other end of the main transmission shaft (8) is connected with one end of a transmission shaft (9) through a ball-type constant-speed universal joint (12). According to the four-leg walking mechanism capable of steering, the front transmission shaft and the rear transmission shaft are driven through the main transmission shaft and the transmission shaft, the walking legs of a multi-connecting-rod mechanism are driven, the front left leg and the front right leg achieve steering under the action of a steering executing mechanism, autonomous steering of the four-leg walking mechanism is achieved on the basis of the principle of bionics, the function of avoiding barriers is achieved, and the crawling passage capacity is good.

Description

A kind of four-footed walking mechanism turning to
Technical field
The utility model relates to a kind of walking mechanism, relates in particular to a kind of four-footed walking mechanism turning to, and belongs to bionic mechanical technical field.
Background technology
Existing four-footed walking mechanism is simple in structure, scarcely has autonomous turning, does not have the function of avoiding obstacle, creeps not good by performance, and it is not too convenient to use.For example Chinese patent notification number is: CN202715243U, within open day, be: the utility model patent on February 6th, 2013 discloses the quadruped walking mechanism of a kind of machine, four legs under the trunk body frame of machine animal include leg, knee joint, lower leg and pin, upper leg is connecting rod on two back-to-back C shapes, upper end respectively connects sliding chute rod, sliding chute rod outer end is embedded in leg shell chute, inner hinged with triangle goods of furniture for display rather than for use, before the triangle goods of furniture for display rather than for use inferior horn of leg top, front and back is rotatably installed on respectively, back leg axle, kneed disk is rotatably installed on joint axis, limit, the joint axle of axis both sides, joint connects two disks, four lower link upper ends of lower leg are fixed in the front and back lateral margin of disk, bottom is connected with pin.But this apparatus structure is simple, function singleness, does not have the function of avoiding obstacle, creeps not good by performance.
Summary of the invention
The purpose of this utility model is simple in structure for existing four-footed walking mechanism, do not there is the function of avoiding obstacle, creep by the not good defect of performance and deficiency, now provide a kind of rational in infrastructure, there is the function of avoiding obstacle, creep by the good a kind of four-footed walking mechanism turning to of performance.
For achieving the above object, technical solution of the present utility model is: a kind of four-footed walking mechanism turning to, comprise front left-leg, front right-leg, rear left-leg and rear right-leg, front left-leg and front right-leg are arranged on respectively on front body side by side, rear left-leg and rear right-leg are arranged on respectively on rear body side by side, it is characterized in that: on described rear body, fix with one end of connector, the other end of connector is hinged on front body, between front left-leg and front right-leg, be connected by front propeller shaft, between rear left-leg and rear right-leg, be connected by inter-axle shaft, on inter-axle shaft by bevel-gear sett vertical connection of one end with final drive shaft, the other end of final drive shaft is connected with one end of power transmission shaft by ball-type constant velocity cardan joint, the other end of power transmission shaft is also connected by bevel-gear sett and front propeller shaft are vertical, on final drive shaft, be coaxially installed with belt pulley, on belt pulley, be connected with the belt pulley on drive motors by belt.
Described front left-leg and front right-leg are arranged on front body by a boss piece respectively, and the bottom of boss piece is provided with tooth sector, be provided with and turn to executing agency on tooth sector.
The described executing agency that turns to is made up of servomotor, gear, tooth bar, hinge bar and sector gear, servomotor is fixed on front body, on the output shaft of servomotor, gear is installed, wheel and rack is meshed, on tooth bar, the left and right sides is provided with sector gear by hinge bar respectively, and sector gear is meshed with tooth sector.
Described front left-leg, front right-leg, rear left-leg and rear right-leg are respectively multi-link structure, and the bottom of front left-leg, front right-leg, rear left-leg and rear right-leg is respectively arranged with anti-skidding leather packing.
The beneficial effects of the utility model are: the utility model drives front propeller shaft and inter-axle shaft by final drive shaft and power transmission shaft, and drive four to adopt the walking legs of multi-link structures, front left-leg and front right-leg are realized and being turned under the effect that turns to executing agency, rational in infrastructure, reliable and stable, utilize bionic principle to realize the self-steering of four-footed walking mechanism, there is the function of avoiding obstacle, creep good by performance.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation that the utility model turns to executing agency.
Fig. 3 is the structural representation of the utility model front propeller shaft.
In figure: front left-leg 1, front right-leg 2, rear left-leg 3, rear right-leg 4, front body 5, rear body 6, connector 7, final drive shaft 8, power transmission shaft 9, belt pulley 10, belt 11, ball-type constant velocity cardan joint 12, bevel gear 13, front propeller shaft 14, inter-axle shaft 15, tooth sector 16, turn to executing agency 17, servomotor 18, gear 19, tooth bar 20, hinge bar 21, sector gear 22.
The specific embodiment
Below in conjunction with accompanying drawing explanation and the specific embodiment, the utility model is described in further detail:
Referring to Fig. 1 to Fig. 3, a kind of four-footed walking mechanism turning to of the present utility model, comprise front left-leg 1, front right-leg 2, rear left-leg 3 and rear right-leg 4, front left-leg 1 and front right-leg 2 are arranged on respectively on front body 5 side by side, rear left-leg 3 and rear right-leg 4 are arranged on respectively on rear body 6 side by side, on described rear body 6, fix with one end of connector 7, the other end of connector 7 is hinged on front body 5, between front left-leg 1 and front right-leg 2, be connected by front propeller shaft 14, between rear left-leg 3 and rear right-leg 4, be connected by inter-axle shaft 15, on inter-axle shaft 15 by bevel-gear sett 13 vertical connection of one end with final drive shaft 8, the other end of final drive shaft 8 is connected with one end of power transmission shaft 9 by ball-type constant velocity cardan joint 12, the other end of power transmission shaft 9 is also connected with front propeller shaft 14 is vertical by bevel-gear sett 13, on final drive shaft 8, be coaxially installed with belt pulley 10, on belt pulley 10, be connected with the belt pulley on drive motors by belt 11.
Described front left-leg 1 and front right-leg 2 are arranged on front body 5 by a boss piece respectively, and the bottom of boss piece is provided with tooth sector 16, be provided with and turn to executing agency 17 on tooth sector 16.
The described executing agency 17 that turns to is made up of servomotor 18, gear 19, tooth bar 20, hinge bar 21 and sector gear 22, servomotor 18 is fixed on front body 5, gear 19 is installed on the output shaft of servomotor 18, gear 19 is meshed with tooth bar 20, on tooth bar 20, the left and right sides is provided with sector gear 22 by hinge bar 21 respectively, and sector gear 22 is meshed with tooth sector 16.
Described front left-leg 1, front right-leg 2, rear left-leg 3 and rear right-leg 4 are respectively multi-link structure, and the bottom of front left-leg 1, front right-leg 2, rear left-leg 3 and rear right-leg 4 is respectively arranged with anti-skidding leather packing.
Front left-leg 1 of the present utility model and front right-leg 2 are arranged on respectively on front body 5 side by side, rear left-leg 3 and rear right-leg 4 are arranged on respectively on rear body 6 side by side, front left-leg 1, front right-leg 2, rear left-leg 3 and rear right-leg 4 are respectively multi-link structure, and the bottom of front left-leg 1, front right-leg 2, rear left-leg 3 and rear right-leg 4 is respectively arranged with anti-skidding leather packing.Between front left-leg 1 and front right-leg 2, be connected by front propeller shaft 14, between rear left-leg 3 and rear right-leg 4, be connected by inter-axle shaft 15.On rear body 6, fix with one end of connector 7, the other end of connector 7 is hinged on front body 5, has realized being connected between front body 5 and rear body 6 by connector 7.
On inter-axle shaft 15 by bevel-gear sett 13 vertical connection of one end with final drive shaft 8, the other end of final drive shaft 8 is connected with one end of power transmission shaft 9 by ball-type constant velocity cardan joint 12, ball-type constant velocity cardan joint 12 can adapt to the transmission of different angles.The other end of power transmission shaft 9 is also connected with front propeller shaft 14 is vertical by bevel-gear sett 13, on final drive shaft 8, be coaxially installed with belt pulley 10, on belt pulley 10, be connected with the belt pulley on drive motors by belt 11, belt pulley 10 and belt 11 can drive final drive shaft 8 and power transmission shaft 9 synchronously to rotate.
Front left-leg 1 and front right-leg 2 are arranged on front body 5 by a boss piece respectively, the bottom of boss piece is provided with tooth sector 16, on tooth sector 16, be provided with and turn to executing agency 17, turn to executing agency 17 to turn to for driving front left-leg 1 and front right-leg 2 to realize.Turn to executing agency 17 to be formed by servomotor 18, gear 19, tooth bar 20, hinge bar 21 and sector gear 22.Servomotor 18 is fixed on front body 5, and gear 19 is installed on the output shaft of servomotor 18, and gear 19 is meshed with tooth bar 20, and on tooth bar 20, the left and right sides is provided with sector gear 22 by hinge bar 21 respectively, and sector gear 22 is meshed with tooth sector 16.The utility model is rational in infrastructure, reliable and stable, utilizes bionic principle to realize the self-steering of four-footed walking mechanism, has reached the effect of avoiding obstacle that traditional four-footed walking mechanism does not have.

Claims (4)

1. the four-footed walking mechanism that can turn to, comprise front left-leg (1), front right-leg (2), rear left-leg (3) and rear right-leg (4), front left-leg (1) and front right-leg (2) are arranged on respectively on front body (5) side by side, rear left-leg (3) and rear right-leg (4) are arranged on respectively on rear body (6) side by side, it is characterized in that: described rear body (6) one end upper and connector (7) fixes, the other end of connector (7) is hinged on front body (5), between front left-leg (1) and front right-leg (2), be connected by front propeller shaft (14), between rear left-leg (3) and rear right-leg (4), be connected by inter-axle shaft (15), inter-axle shaft (15) is vertical connection of one end with final drive shaft (8) by bevel-gear sett (13) above, the other end of final drive shaft (8) is connected with one end of power transmission shaft (9) by ball-type constant velocity cardan joint (12), the other end of power transmission shaft (9) is also by bevel-gear sett (13) and vertical connection of front propeller shaft (14), on final drive shaft (8), be coaxially installed with belt pulley (10), belt pulley (10) is upper to be connected with the belt pulley on drive motors by belt (11).
2. a kind of four-footed walking mechanism turning to according to claim 1, it is characterized in that: described front left-leg (1) and front right-leg (2) are arranged on front body (5) by a boss piece respectively, the bottom of boss piece is provided with tooth sector (16), is provided with and turns to executing agency (17) on tooth sector (16).
3. a kind of four-footed walking mechanism turning to according to claim 2, it is characterized in that: described in turn to executing agency (17) by servomotor (18), gear (19), tooth bar (20), hinge bar (21) and sector gear (22) form, servomotor (18) is fixed on front body (5), gear (19) is installed on the output shaft of servomotor (18), gear (19) is meshed with tooth bar (20), the upper left and right sides of tooth bar (20) is provided with sector gear (22) by hinge bar (21) respectively, sector gear (22) is meshed with tooth sector (16).
4. a kind of four-footed walking mechanism turning to according to claim 1, it is characterized in that: described front left-leg (1), front right-leg (2), rear left-leg (3) and rear right-leg (4) are respectively multi-link structure, the bottom of front left-leg (1), front right-leg (2), rear left-leg (3) and rear right-leg (4) is respectively arranged with anti-skidding leather packing.
CN201420024287.7U 2014-01-06 2014-01-06 Four-leg walking mechanism capable of steering Expired - Fee Related CN203694589U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420024287.7U CN203694589U (en) 2014-01-06 2014-01-06 Four-leg walking mechanism capable of steering

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420024287.7U CN203694589U (en) 2014-01-06 2014-01-06 Four-leg walking mechanism capable of steering

Publications (1)

Publication Number Publication Date
CN203694589U true CN203694589U (en) 2014-07-09

Family

ID=51045091

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420024287.7U Expired - Fee Related CN203694589U (en) 2014-01-06 2014-01-06 Four-leg walking mechanism capable of steering

Country Status (1)

Country Link
CN (1) CN203694589U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109008812A (en) * 2018-07-20 2018-12-18 李兆勇 A kind of old residential area stair step prosthetic appliance

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109008812A (en) * 2018-07-20 2018-12-18 李兆勇 A kind of old residential area stair step prosthetic appliance

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140709

Termination date: 20150106

EXPY Termination of patent right or utility model