CN204056037U - The full landform walking device of a kind of hybrid power - Google Patents
The full landform walking device of a kind of hybrid power Download PDFInfo
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- CN204056037U CN204056037U CN201420387945.9U CN201420387945U CN204056037U CN 204056037 U CN204056037 U CN 204056037U CN 201420387945 U CN201420387945 U CN 201420387945U CN 204056037 U CN204056037 U CN 204056037U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 184
- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 230000002457 bidirectional effect Effects 0.000 claims description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 11
- 230000018199 S phase Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000008439 repair process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 241000592274 Polypodium vulgare Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 230000035899 viability Effects 0.000 description 1
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Abstract
The utility model relates to the full landform walking device of a kind of hybrid power, belongs to technical field of transportation means.The utility model comprises eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, folding sunshade umbrella mechanism, seat, base plate, battery; Described seat is positioned at bottom rear, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate, distribute around each gear case transmission mechanism four pedipulator traveling geaies, have eight pedipulator traveling geaies, folding sunshade umbrella mechanism is positioned at above seat, and two batteries are arranged on base plate, is positioned at before two actuating units.The utility model complex-terrain crossing ability is good, and structural principle is simple, reliably, easily repairs, and the overall screw that adopts is installed, and detachably, reduce to take up an area, simple to operate, fuselage design is reasonable, stable, and power adopts manpower and electric power, very environmental protection.
Description
Technical field
The utility model relates to the full landform walking device of a kind of hybrid power, belongs to technical field of transportation means.
Background technology
The mode of motion adopted due to the vehicle such as most of emergency reliefs mainly comprises the methods such as wheeled, crawler type, and since wheel car comes out, it is very failure-free at rigid flat overground locomotion.But the energy consumption travelling hour wheel formula car on uneven ground will increase greatly, and on soft terrain or serious rugged landform, the effect of wheel also will be lost, and mobile efficiency reduces greatly.Crawler makes vehicle body load diatibution on one piece of larger area, be equivalent to a kind of device of paving the way for wheel, and larger propelling thrust can be produced, can walk on soft terrain, thus be unlikely to be embedded, but the manoevreability of crawler on uneven ground is still very poor.And polypody walking machine can on the road surface of injustice stabilized walking, wheel car can be replaced and complete hauling operation in some unstructuredness environment, and in the structure relating to suitable leg, arm merges, staff then can be helped in danger or harsh environment to complete the not completed task of some wheel machines, to improve navigating mate viability.So this kind of polypody walking machine has boundless prospect in many industries, such as troop-carrying and detection, mining, celestial body detecting, education and amusement etc.
Summary of the invention
The technical problems to be solved in the utility model is: the utility model provides a kind of hybrid power full landform walking device, safe and reliable, off-road capability is strong, complete function, to solve convention traffic instrument problem by difficulty under the environment of complex-terrain, inclement condition.
Technical solutions of the utility model are: the full landform walking device of a kind of hybrid power, comprise eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, seat 2, base plate 9, batteries 12; Described seat 2 is positioned at base plate 9 rear portion, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat 2 respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate 9, distribute around each gear case transmission mechanism four pedipulator traveling geaies, have eight pedipulator traveling geaies, battery 12 has identical two pieces, and two pieces of batteries 12 are arranged on base plate 9, is all positioned at before two actuating units;
The structure of described eight pedipulator traveling geaies is identical, and one of them pedipulator traveling gear comprises connecting rod I 3, pedipulator 4, connecting rod II 5, connecting rod III 6, connecting rod IV 7, connecting rod connect part 36, pedipulator traveling gear is the pedipulator traveling gear that list organizes that degree of freedom is, connecting rod I 3, one end of connecting rod III 6 all connects on the side plate 14 that part 36 is arranged on gear case transmission mechanism by connecting rod, one end of connecting rod IV 7 is connected with the gear II 27 on gear case transmission mechanism through the side plate 14 on gear case transmission mechanism, the other end of connecting rod IV 7 and connecting rod III 6 connects part 36 by connecting rod and to be connected with connecting rod II 5 and to form quadric linkage, the place that wherein other end of connecting rod IV 7 is connected with connecting rod II 5 is positioned at one end of connecting rod II 5, the place that the other end of connecting rod III 6 is connected with connecting rod II 5 is positioned at the midway location of connecting rod II 5, the other end of connecting rod II 5 is connected with the middle part of pedipulator 4, one end of pedipulator 4 connects part 36 by connecting rod and is connected with the other end of connecting rod I 3,
The structure of described two gear case transmission mechanisms is identical, and one of them gear case transmission mechanism comprises side plate 14, side plate pedestal 15, gear I 16, safety light 26, gear II 27, gear III 28, gear IV 29, transmission shaft II 37, side plate 14 has two pieces, two blocks of side plates 14 and the one piece of plank be positioned at above two blocks of side plates 14 thereof form the shell of a gear case transmission mechanism, two blocks of side plates 14 are connected by side plate pedestal 15, two blocks of side plates 14 are all arranged on outstanding place, base plate 9 both sides by screw, when installing, screw is screwed in side plate 14 through base plate 9 from the bottom up, gear II 27, gear III 28, gear IV 29 is mutually engaged successively and is arranged between two side plates 14, gear IV 29 is positioned at centre, centered by gear IV 29, the both sides of gear IV 29 respectively have a gear III 28 respectively, two gears II 27 lay respectively at the both sides of gear III 28, safety light 26 is positioned on the plank be provided with of side plate 14 above, between transmission bracket side plate 22 in the actuating unit of gear I 16 on base plate 9, gear IV 29 is connected with one end of transmission shaft II 37, the other end of transmission shaft II 37 coordinates with gear I 16 through the pin-and-hole III 18 on side plate 14 and transmission bracket side plate 22, gear I 16 is engaged with the gear V 31 in actuating unit simultaneously,
The structure of described two actuating units is identical, and one of them actuating unit comprises transmission bracket 10, motor module 11, gear VI 33, foot pedal apparatus, described transmission bracket 10 has two, transmission bracket 10 lays respectively at the right and left of automatically controlled pedal gear, each transmission bracket 10 is made up of two panels transmission bracket side plate 22, every sheet transmission bracket side plate 22 is equipped with pin-and-hole II 19, pin-and-hole V 21, slide rail 23, gear VI 33 is positioned at transmission bracket 10, motor module 11 is positioned at the side of the front end of transmission bracket 10, motor module 11 is provided with transmission shaft I 34, pin I 35, motor module 11 is connected for the power of output motor module 11 by transmission shaft I 34 with gear VI 33, motor module 11 is coordinated with the pin-and-hole V 21 on transmission bracket side plate 22 by pin I 35, the slide rail 23 of transmission shaft I 34 on motor module 11 on transmission bracket side plate 22 slides around pin I 35,
Described foot pedal apparatus is positioned at the rear end of transmission bracket 10, and foot pedal apparatus comprises pedal 13, bearing 30, gear V 31, pedal crank 32; Pedal 13 is enclosed within pedal crank 32, can 360 degree of rotations, gear V 31 and bearing 30 are enclosed within pedal crank 32, pedal crank 32 is through the pin-and-hole II 19 on transmission bracket side plate 22, gear V 31 is engaged with the gear I 16 in gear case transmission mechanism, simultaneously and gear VI 33 occlusion, gear I 16 is also connected with the transmission shaft II 37 in gear case transmission mechanism gear I 16, and power is passed to gear case transmission mechanism by transmission shaft II 37 by actuating unit;
The structure of described two automatically controlled pedal gears is identical, and one of them automatically controlled pedal gear comprises automatically controlled pedal 8, pin-and-hole I 24, and automatically controlled pedal 8 and pin-and-hole I 24 are positioned at the dead ahead of seat 2, and automatically controlled pedal 8 is connected with base plate 9 by the pin-and-hole I 24 on base plate 9; A simple and easy control circuit is inlayed below automatically controlled pedal 8, battery 12, motor module 11 are connected with simple and easy control circuit respectively with automatically controlled pedal gear, signal is sent to simple and easy control circuit by automatically controlled pedal gear, and simple and easy control circuit is followed control signal and the electricity of battery 12 is transported to object motor module 11 being used for realize controlling the full landform walking device of hybrid power.
Described folding sunshade umbrella mechanism is positioned at above seat 2, and folding sunshade umbrella mechanism comprises folding sunshade umbrella 1, seat ceiling 17, folding sunshade umbrella support 20, pin II 38; Described folding sunshade umbrella support 20 to be arranged on base plate 9 between gear case transmission mechanism and actuating unit, pin II 38 on folding sunshade umbrella 1 both sides is connected with the pin-and-hole IV 25 on the folding sunshade umbrella support 20 on base plate 9 both sides, folding sunshade umbrella 1 can be rotated by pin II 38, and seat ceiling 17 is directly welded on the back of seat 2.
The simple and easy control circuit inlayed below described automatically controlled pedal 8 comprises current-limiting resistance R1, current-limiting resistance R2, bidirectional switch S; Battery E1, battery E2 are two pieces of identical batteries 12 in this circuit arrangement, motor M is motor module 11, bidirectional switch S is embedded in automatically controlled pedal 8, the negative pole of battery E1 is connected with one end of motor module 11 with the positive pole of battery E2, the negative pole of the Anode and battery E2 of battery E1 is connected with current-limiting resistance R2 one end with current-limiting resistance R1 respectively, the other end of motor module 11 and bidirectional switch S-phase connect, and the other end of two current-limiting resistance R1, current-limiting resistance R2 is connected with bidirectional switch S.
In the utility model, the circuit theory of simple and easy control circuit is: the structure of two automatically controlled pedal gears is identical, two the simple and easy design on control circuit inlayed below two in two automatically controlled pedal gears automatically controlled pedals 8 are identical, common battery E1 in two simple and easy control circuits, battery E2, and motor M, bidirectional switch S, current-limiting resistance R1, current-limiting resistance R2 then has two covers respectively, when automatically controlled pedal 8 is in horizontality, bidirectional switch S is positioned at center position, now motor module 11 is static, when chaufeur pin step on automatically controlled pedal 8 turn forward time, bidirectional switch S contacts with right-hand member, connect right side circuit, motor module is rotated forward, when chaufeur pin step on automatically controlled pedal 8 tilt backwards time, bidirectional switch S contacts with left end, connect left side circuit, motor module is reversed.When chaufeur simultaneously pin step on automatically controlled pedal turn forward time, two motor modules 11 rotate forward simultaneously, driving mechanical leg walking mechanism moves, walking device is gone ahead, when chaufeur simultaneously pin step on automatically controlled pedal tilt backwards time, two motor modules 11 reverse simultaneously, driving mechanical leg walking mechanism moves, walking device is walked backward, if a chaufeur pin steps on automatically controlled pedal 8 on one side, one of them motor module 11 is only had to rotate, then walking device will be turned to another side, step on 8 one, automatically controlled pedal when chaufeur pin to turn forward, another tilts backwards, now a motor module 11 rotates forward, another motor module 11 reverses, at this moment walking device just can rotate in original place, substantially increase the degree of flexibility of walking device.
Working process of the present utility model is: what the utility model utilized is pedipulator traveling gear that eight structures are simply identical is as the basis of walking, and can use two kinds of power, one is manpower, and another kind is electric power.
When using manpower, need two driver's operation, because all there is a foot pedal apparatus in two actuating units, two chaufeurs are sitting on seat 2, tap pedal 13 driven gear V 31 that tramps with one's feet rotates, thus drive is rotated with the gear I 16 that gear V 31 is engaged mutually, gear I 16 rotates thus drives the transmission shaft II 37 in the gear case transmission mechanism be connected with gear I 16 to rotate, transmission shaft II 37 rotates and drives the gear IV 29 be connected with transmission shaft II 37 to rotate, gear IV 29 rotation driven gear III 28 rotates, gear III 28 rotation driven gear II 27 rotates, gear II 27 rotates thus drives the connecting rod IV 7 be connected with gear II 27 to rotate, after connecting rod IV 7 rotates, drivening rod II 5 rotates thus drivening rod III 6, connecting rod I 3 rotates, thus pedipulator 4 is moved, thus pedipulator traveling gear is moved, the principle process of these eight pedipulator traveling gear motions is the same, when two chaufeurs are pedaled forward or backward simultaneously, the direction of gear-driven turn that relates to is different.When two chaufeurs are pedaled forward or backward simultaneously, walking device entirety moves forwards or backwards, when only having one side chaufeur to pedal forward, machinery can rotate to another side, play the effect of turning, when the direction that two chaufeurs are pedaled is contrary, machinery can accomplish that original place rotates, and embodies alerting ability and the practicality of machinery.
When using driven by power, only need a chaufeur, when motor module 11 rotates, gear VI 33 on transmission shaft I 34 is slided into top by slide rail 23 and is engaged with gear I 16 by two motor modules 11, thus realize the transmission of power, as shown in figure 15, automatically controlled pedal 8 is connected with simple and easy control circuit, when automatically controlled pedal 8 is in horizontality, bidirectional switch S is positioned at center position, now motor module 11 is static, when chaufeur pin step on automatically controlled pedal 8 turn forward time, bidirectional switch S contacts with right-hand member, connect right side circuit, motor module is rotated forward, when chaufeur pin step on automatically controlled pedal 8 tilt backwards time, bidirectional switch S contacts with left end, connect left side circuit, motor module is reversed.Power is passed through gear I 16 by motor module 11, gear IV 29, gear III 28, gear II 27 company of passing to pedipulator traveling gear, this process transmitted is identical with transmittance process when using manpower, when chaufeur simultaneously pin step on automatically controlled pedal turn forward time, two motor modules 11 rotate forward simultaneously, driving mechanical leg walking mechanism moves, walking device is gone ahead, when chaufeur simultaneously pin step on automatically controlled pedal tilt backwards time, two motor modules 11 reverse simultaneously, driving mechanical leg walking mechanism moves, walking device is walked backward, if a chaufeur pin steps on automatically controlled pedal 8 on one side, then walking device will be turned to another side, step on 8 one, automatically controlled pedal when chaufeur pin to turn forward, another tilts backwards, at this moment walking device just can rotate in original place, substantially increase the degree of flexibility of walking device.
When bad weather, the folding sunshade umbrella 1 of putting behind can go to above seat ceiling 17, can realize the function of sunshade or rain cover snow.Every limit has at least two pedipulators to land to ensure the stability of whole walking device in the process of walking.
The beneficial effects of the utility model are:
1, complex-terrain crossing ability is good;
2, structural principle is simple, reliably, easily repairs;
3, the overall screw that adopts is installed, and detachably, reduces to take up an area;
4, simple to operate;
5, fuselage design is reasonable, stable;
6, power adopts manpower and electric power, very environmental protection.
Accompanying drawing explanation
Fig. 1 is front of the present utility model integral structure schematic diagram;
Fig. 2 is the back side of the present utility model integral structure schematic diagram;
Fig. 3 is side of the present utility model integral structure schematic diagram;
Fig. 4 is gear case transmission mechanism cross-sectional view of the present utility model;
Fig. 5 is pedipulator traveling gear schematic diagram of the present utility model;
Fig. 6 is the part-structure schematic diagram of middle part of the present utility model;
Fig. 7 is actuating unit surface structural representation of the present utility model;
Fig. 8 is actuating unit partial top structural representation of the present utility model;
Fig. 9 is folding sunshade umbrella structural representation of the present utility model;
Figure 10 is motor module structural representation of the present utility model;
Figure 11 is foot pedal apparatus structural representation of the present utility model;
Figure 12 is battery structure schematic diagram of the present utility model;
Figure 13 is automatically controlled pedal gear schematic diagram of the present utility model;
Figure 14 is that connecting rod of the present utility model connects part structural representation;
Figure 15 is the schematic circuit diagram of simple and easy control circuit in the utility model.
In Fig. 1-15, each label is: 1-folding sunshade umbrella, 2-seat, 3-connecting rod I, 4-pedipulator, 5-connecting rod II, 6-connecting rod III, 7-connecting rod IV, the automatically controlled pedal of 8-, 9-base plate, 10-transmission bracket, 11-motor module, 12-battery, 13-pedal, 14-side plate, 15-side plate pedestal, 16-gear I, 17-seat ceiling, 18-pin-and-hole III, 19-pin-and-hole II, 20-folding sunshade umbrella support, 21-pin-and-hole V, 22-transmission bracket side plate, 23-slide rail, 24-pin-and-hole I, 25-pin-and-hole IV, 26-safety light, 27-gear II, 28-gear III, 29-gear IV, 30-bearing, 31-gear V, 32-pedal crank, 33-gear VI, 34-transmission shaft I, 35-pin I, 36-connecting rod connects part, 37-transmission shaft II, 38-pin II.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Embodiment 1: as shown in figures 1-15, the full landform walking device of a kind of hybrid power, comprises eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, seat 2, base plate 9, batteries 12; Described seat 2 is positioned at base plate 9 rear portion, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat 2 respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate 9, distribute around each gear case transmission mechanism four pedipulator traveling geaies, have eight pedipulator traveling geaies, battery 12 has identical two pieces, and two pieces of batteries 12 are arranged on base plate 9, is all positioned at before two actuating units;
The structure of described eight pedipulator traveling geaies is identical, and one of them pedipulator traveling gear comprises connecting rod I 3, pedipulator 4, connecting rod II 5, connecting rod III 6, connecting rod IV 7, connecting rod connect part 36, pedipulator traveling gear is the pedipulator traveling gear that list organizes that degree of freedom is, connecting rod I 3, one end of connecting rod III 6 all connects on the side plate 14 that part 36 is arranged on gear case transmission mechanism by connecting rod, one end of connecting rod IV 7 is connected with the gear II 27 on gear case transmission mechanism through the side plate 14 on gear case transmission mechanism, the other end of connecting rod IV 7 and connecting rod III 6 connects part 36 by connecting rod and to be connected with connecting rod II 5 and to form quadric linkage, the place that wherein other end of connecting rod IV 7 is connected with connecting rod II 5 is positioned at one end of connecting rod II 5, the place that the other end of connecting rod III 6 is connected with connecting rod II 5 is positioned at the midway location of connecting rod II 5, the other end of connecting rod II 5 is connected with the middle part of pedipulator 4, one end of pedipulator 4 connects part 36 by connecting rod and is connected with the other end of connecting rod I 3,
The structure of described two gear case transmission mechanisms is identical, and one of them gear case transmission mechanism comprises side plate 14, side plate pedestal 15, gear I 16, safety light 26, gear II 27, gear III 28, gear IV 29, transmission shaft II 37, side plate 14 has two pieces, two blocks of side plates 14 and the one piece of plank be positioned at above two blocks of side plates 14 thereof form the shell of a gear case transmission mechanism, two blocks of side plates 14 are connected by side plate pedestal 15, two blocks of side plates 14 are all arranged on outstanding place, base plate 9 both sides by screw, when installing, screw is screwed in side plate 14 through base plate 9 from the bottom up, gear II 27, gear III 28, gear IV 29 is mutually engaged successively and is arranged between two side plates 14, gear IV 29 is positioned at centre, centered by gear IV 29, the both sides of gear IV 29 respectively have a gear III 28 respectively, two gears II 27 lay respectively at the both sides of gear III 28, safety light 26 is positioned on the plank be provided with of side plate 14 above, between transmission bracket side plate 22 in the actuating unit of gear I 16 on base plate 9, gear IV 29 is connected with one end of transmission shaft II 37, the other end of transmission shaft II 37 coordinates with gear I 16 through the pin-and-hole III 18 on side plate 14 and transmission bracket side plate 22, gear I 16 is engaged with the gear V 31 in actuating unit simultaneously,
The structure of described two actuating units is identical, and one of them actuating unit comprises transmission bracket 10, motor module 11, gear VI 33, foot pedal apparatus, described transmission bracket 10 has two, transmission bracket 10 lays respectively at the right and left of automatically controlled pedal gear, each transmission bracket 10 is made up of two panels transmission bracket side plate 22, every sheet transmission bracket side plate 22 is equipped with pin-and-hole II 19, pin-and-hole V 21, slide rail 23, gear VI 33 is positioned at transmission bracket 10, motor module 11 is positioned at the side of the front end of transmission bracket 10, motor module 11 is provided with transmission shaft I 34, pin I 35, motor module 11 is connected for the power of output motor module 11 by transmission shaft I 34 with gear VI 33, motor module 11 is coordinated with the pin-and-hole V 21 on transmission bracket side plate 22 by pin I 35, the slide rail 23 of transmission shaft I 34 on motor module 11 on transmission bracket side plate 22 slides around pin I 35,
Described foot pedal apparatus is positioned at the rear end of transmission bracket 10, and foot pedal apparatus comprises pedal 13, bearing 30, gear V 31, pedal crank 32; Pedal 13 is enclosed within pedal crank 32, can 360 degree of rotations, gear V 31 and bearing 30 are enclosed within pedal crank 32, pedal crank 32 is through the pin-and-hole II 19 on transmission bracket side plate 22, gear V 31 is engaged with the gear I 16 in gear case transmission mechanism, simultaneously and gear VI 33 occlusion, gear I 16 is also connected with the transmission shaft II 37 in gear case transmission mechanism gear I 16, and power is passed to gear case transmission mechanism by transmission shaft II 37 by actuating unit;
The structure of described two automatically controlled pedal gears is identical, and one of them automatically controlled pedal gear comprises automatically controlled pedal 8, pin-and-hole I 24, and automatically controlled pedal 8 and pin-and-hole I 24 are positioned at the dead ahead of seat 2, and automatically controlled pedal 8 is connected with base plate 9 by the pin-and-hole I 24 on base plate 9; A simple and easy control circuit is inlayed below automatically controlled pedal 8, battery 12, motor module 11 are connected with simple and easy control circuit respectively with automatically controlled pedal gear, signal is sent to simple and easy control circuit by automatically controlled pedal gear, and simple and easy control circuit is followed control signal and the electricity of battery 12 is transported to object motor module 11 being used for realize controlling the full landform walking device of hybrid power.
Embodiment 2: as shown in figures 1-15, the full landform walking device of a kind of hybrid power, comprises eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, seat 2, base plate 9, batteries 12; Described seat 2 is positioned at base plate 9 rear portion, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat 2 respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate 9, distribute around each gear case transmission mechanism four pedipulator traveling geaies, have eight pedipulator traveling geaies, battery 12 has identical two pieces, and two pieces of batteries 12 are arranged on base plate 9, is all positioned at before two actuating units;
The structure of described eight pedipulator traveling geaies is identical, and one of them pedipulator traveling gear comprises connecting rod I 3, pedipulator 4, connecting rod II 5, connecting rod III 6, connecting rod IV 7, connecting rod connect part 36, pedipulator traveling gear is the pedipulator traveling gear that list organizes that degree of freedom is, connecting rod I 3, one end of connecting rod III 6 all connects on the side plate 14 that part 36 is arranged on gear case transmission mechanism by connecting rod, one end of connecting rod IV 7 is connected with the gear II 27 on gear case transmission mechanism through the side plate 14 on gear case transmission mechanism, the other end of connecting rod IV 7 and connecting rod III 6 connects part 36 by connecting rod and to be connected with connecting rod II 5 and to form quadric linkage, the place that wherein other end of connecting rod IV 7 is connected with connecting rod II 5 is positioned at one end of connecting rod II 5, the place that the other end of connecting rod III 6 is connected with connecting rod II 5 is positioned at the midway location of connecting rod II 5, the other end of connecting rod II 5 is connected with the middle part of pedipulator 4, one end of pedipulator 4 connects part 36 by connecting rod and is connected with the other end of connecting rod I 3,
The structure of described two gear case transmission mechanisms is identical, and one of them gear case transmission mechanism comprises side plate 14, side plate pedestal 15, gear I 16, safety light 26, gear II 27, gear III 28, gear IV 29, transmission shaft II 37, side plate 14 has two pieces, two blocks of side plates 14 and the one piece of plank be positioned at above two blocks of side plates 14 thereof form the shell of a gear case transmission mechanism, two blocks of side plates 14 are connected by side plate pedestal 15, two blocks of side plates 14 are all arranged on outstanding place, base plate 9 both sides by screw, when installing, screw is screwed in side plate 14 through base plate 9 from the bottom up, gear II 27, gear III 28, gear IV 29 is mutually engaged successively and is arranged between two side plates 14, gear IV 29 is positioned at centre, centered by gear IV 29, the both sides of gear IV 29 respectively have a gear III 28 respectively, two gears II 27 lay respectively at the both sides of gear III 28, safety light 26 is positioned on the plank be provided with of side plate 14 above, between transmission bracket side plate 22 in the actuating unit of gear I 16 on base plate 9, gear IV 29 is connected with one end of transmission shaft II 37, the other end of transmission shaft II 37 coordinates with gear I 16 through the pin-and-hole III 18 on side plate 14 and transmission bracket side plate 22, gear I 16 is engaged with the gear V 31 in actuating unit simultaneously,
The structure of described two actuating units is identical, and one of them actuating unit comprises transmission bracket 10, motor module 11, gear VI 33, foot pedal apparatus, described transmission bracket 10 has two, transmission bracket 10 lays respectively at the right and left of automatically controlled pedal gear, each transmission bracket 10 is made up of two panels transmission bracket side plate 22, every sheet transmission bracket side plate 22 is equipped with pin-and-hole II 19, pin-and-hole V 21, slide rail 23, gear VI 33 is positioned at transmission bracket 10, motor module 11 is positioned at the side of the front end of transmission bracket 10, motor module 11 is provided with transmission shaft I 34, pin I 35, motor module 11 is connected for the power of output motor module 11 by transmission shaft I 34 with gear VI 33, motor module 11 is coordinated with the pin-and-hole V 21 on transmission bracket side plate 22 by pin I 35, the slide rail 23 of transmission shaft I 34 on motor module 11 on transmission bracket side plate 22 slides around pin I 35,
Described foot pedal apparatus is positioned at the rear end of transmission bracket 10, and foot pedal apparatus comprises pedal 13, bearing 30, gear V 31, pedal crank 32; Pedal 13 is enclosed within pedal crank 32, can 360 degree of rotations, gear V 31 and bearing 30 are enclosed within pedal crank 32, pedal crank 32 is through the pin-and-hole II 19 on transmission bracket side plate 22, gear V 31 is engaged with the gear I 16 in gear case transmission mechanism, simultaneously and gear VI 33 occlusion, gear I 16 is also connected with the transmission shaft II 37 in gear case transmission mechanism gear I 16, and power is passed to gear case transmission mechanism by transmission shaft II 37 by actuating unit;
The structure of described two automatically controlled pedal gears is identical, and one of them automatically controlled pedal gear comprises automatically controlled pedal 8, pin-and-hole I 24, and automatically controlled pedal 8 and pin-and-hole I 24 are positioned at the dead ahead of seat 2, and automatically controlled pedal 8 is connected with base plate 9 by the pin-and-hole I 24 on base plate 9; A simple and easy control circuit is inlayed below automatically controlled pedal 8, battery 12, motor module 11 are connected with simple and easy control circuit respectively with automatically controlled pedal gear, signal is sent to simple and easy control circuit by automatically controlled pedal gear, and simple and easy control circuit is followed control signal and the electricity of battery 12 is transported to object motor module 11 being used for realize controlling the full landform walking device of hybrid power.
Described folding sunshade umbrella mechanism is positioned at above seat 2, and folding sunshade umbrella mechanism comprises folding sunshade umbrella 1, seat ceiling 17, folding sunshade umbrella support 20, pin II 38; Described folding sunshade umbrella support 20 to be arranged on base plate 9 between gear case transmission mechanism and actuating unit, pin II 38 on folding sunshade umbrella 1 both sides is connected with the pin-and-hole IV 25 on the folding sunshade umbrella support 20 on base plate 9 both sides, folding sunshade umbrella 1 can be rotated by pin II 38, and seat ceiling 17 is directly welded on the back of seat 2.
Embodiment 3: as shown in figures 1-15, the full landform walking device of a kind of hybrid power, comprises eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, seat 2, base plate 9, batteries 12; Described seat 2 is positioned at base plate 9 rear portion, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat 2 respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate 9, distribute around each gear case transmission mechanism four pedipulator traveling geaies, have eight pedipulator traveling geaies, battery 12 has identical two pieces, and two pieces of batteries 12 are arranged on base plate 9, is all positioned at before two actuating units;
The structure of described eight pedipulator traveling geaies is identical, and one of them pedipulator traveling gear comprises connecting rod I 3, pedipulator 4, connecting rod II 5, connecting rod III 6, connecting rod IV 7, connecting rod connect part 36, pedipulator traveling gear is the pedipulator traveling gear that list organizes that degree of freedom is, connecting rod I 3, one end of connecting rod III 6 all connects on the side plate 14 that part 36 is arranged on gear case transmission mechanism by connecting rod, one end of connecting rod IV 7 is connected with the gear II 27 on gear case transmission mechanism through the side plate 14 on gear case transmission mechanism, the other end of connecting rod IV 7 and connecting rod III 6 connects part 36 by connecting rod and to be connected with connecting rod II 5 and to form quadric linkage, the place that wherein other end of connecting rod IV 7 is connected with connecting rod II 5 is positioned at one end of connecting rod II 5, the place that the other end of connecting rod III 6 is connected with connecting rod II 5 is positioned at the midway location of connecting rod II 5, the other end of connecting rod II 5 is connected with the middle part of pedipulator 4, one end of pedipulator 4 connects part 36 by connecting rod and is connected with the other end of connecting rod I 3,
The structure of described two gear case transmission mechanisms is identical, and one of them gear case transmission mechanism comprises side plate 14, side plate pedestal 15, gear I 16, safety light 26, gear II 27, gear III 28, gear IV 29, transmission shaft II 37, side plate 14 has two pieces, two blocks of side plates 14 and the one piece of plank be positioned at above two blocks of side plates 14 thereof form the shell of a gear case transmission mechanism, two blocks of side plates 14 are connected by side plate pedestal 15, two blocks of side plates 14 are all arranged on outstanding place, base plate 9 both sides by screw, when installing, screw is screwed in side plate 14 through base plate 9 from the bottom up, gear II 27, gear III 28, gear IV 29 is mutually engaged successively and is arranged between two side plates 14, gear IV 29 is positioned at centre, centered by gear IV 29, the both sides of gear IV 29 respectively have a gear III 28 respectively, two gears II 27 lay respectively at the both sides of gear III 28, safety light 26 is positioned on the plank be provided with of side plate 14 above, between transmission bracket side plate 22 in the actuating unit of gear I 16 on base plate 9, gear IV 29 is connected with one end of transmission shaft II 37, the other end of transmission shaft II 37 coordinates with gear I 16 through the pin-and-hole III 18 on side plate 14 and transmission bracket side plate 22, gear I 16 is engaged with the gear V 31 in actuating unit simultaneously,
The structure of described two actuating units is identical, and one of them actuating unit comprises transmission bracket 10, motor module 11, gear VI 33, foot pedal apparatus, described transmission bracket 10 has two, transmission bracket 10 lays respectively at the right and left of automatically controlled pedal gear, each transmission bracket 10 is made up of two panels transmission bracket side plate 22, every sheet transmission bracket side plate 22 is equipped with pin-and-hole II 19, pin-and-hole V 21, slide rail 23, gear VI 33 is positioned at transmission bracket 10, motor module 11 is positioned at the side of the front end of transmission bracket 10, motor module 11 is provided with transmission shaft I 34, pin I 35, motor module 11 is connected for the power of output motor module 11 by transmission shaft I 34 with gear VI 33, motor module 11 is coordinated with the pin-and-hole V 21 on transmission bracket side plate 22 by pin I 35, the slide rail 23 of transmission shaft I 34 on motor module 11 on transmission bracket side plate 22 slides around pin I 35,
Described foot pedal apparatus is positioned at the rear end of transmission bracket 10, and foot pedal apparatus comprises pedal 13, bearing 30, gear V 31, pedal crank 32; Pedal 13 is enclosed within pedal crank 32, can 360 degree of rotations, gear V 31 and bearing 30 are enclosed within pedal crank 32, pedal crank 32 is through the pin-and-hole II 19 on transmission bracket side plate 22, gear V 31 is engaged with the gear I 16 in gear case transmission mechanism, simultaneously and gear VI 33 occlusion, gear I 16 is also connected with the transmission shaft II 37 in gear case transmission mechanism gear I 16, and power is passed to gear case transmission mechanism by transmission shaft II 37 by actuating unit;
The structure of described two automatically controlled pedal gears is identical, and one of them automatically controlled pedal gear comprises automatically controlled pedal 8, pin-and-hole I 24, and automatically controlled pedal 8 and pin-and-hole I 24 are positioned at the dead ahead of seat 2, and automatically controlled pedal 8 is connected with base plate 9 by the pin-and-hole I 24 on base plate 9; A simple and easy control circuit is inlayed below automatically controlled pedal 8, battery 12, motor module 11 are connected with simple and easy control circuit respectively with automatically controlled pedal gear, signal is sent to simple and easy control circuit by automatically controlled pedal gear, and simple and easy control circuit is followed control signal and the electricity of battery 12 is transported to object motor module 11 being used for realize controlling the full landform walking device of hybrid power.
Described folding sunshade umbrella mechanism is positioned at above seat 2, and folding sunshade umbrella mechanism comprises folding sunshade umbrella 1, seat ceiling 17, folding sunshade umbrella support 20, pin II 38; Described folding sunshade umbrella support 20 to be arranged on base plate 9 between gear case transmission mechanism and actuating unit, pin II 38 on folding sunshade umbrella 1 both sides is connected with the pin-and-hole IV 25 on the folding sunshade umbrella support 20 on base plate 9 both sides, folding sunshade umbrella 1 can be rotated by pin II 38, and seat ceiling 17 is directly welded on the back of seat 2.
The simple and easy control circuit inlayed below described automatically controlled pedal 8 comprises current-limiting resistance R1, current-limiting resistance R2, bidirectional switch S; Battery E1, battery E2 are two pieces of identical batteries 12 in this circuit arrangement, motor M is motor module 11, bidirectional switch S is embedded in automatically controlled pedal 8, the negative pole of battery E1 is connected with one end of motor module 11 with the positive pole of battery E2, the negative pole of the Anode and battery E2 of battery E1 is connected with current-limiting resistance R2 one end with current-limiting resistance R1 respectively, the other end of motor module 11 and bidirectional switch S-phase connect, and the other end of two current-limiting resistance R1, current-limiting resistance R2 is connected with bidirectional switch S.
By reference to the accompanying drawings specific embodiment of the utility model is explained in detail above, but the utility model is not limited to above-described embodiment, in the ken that those of ordinary skill in the art possess, various change can also be made under the prerequisite not departing from the utility model aim.
Claims (3)
1. the full landform walking device of hybrid power, is characterized in that: comprise eight pedipulator traveling geaies, two gear case transmission mechanisms, two automatically controlled pedal gears, two actuating units, seat (2), base plate (9), batteries (12); Described seat (2) is positioned at base plate (9) rear portion, front the right and left that two actuating units and two automatically controlled pedal gears are positioned at seat (2) respectively has one, two gear case transmission mechanisms are positioned at the two ends of base plate (9), distribute around each gear case transmission mechanism four pedipulator traveling geaies, have eight pedipulator traveling geaies, battery (12) has identical two pieces, and two pieces of batteries (12) are arranged on base plate (9), is all positioned at before two actuating units;
The structure of described eight pedipulator traveling geaies is identical, and one of them pedipulator traveling gear comprises connecting rod I (3), pedipulator (4), connecting rod II (5), connecting rod III (6), connecting rod IV (7), connecting rod connect part (36), pedipulator traveling gear is the pedipulator traveling gear that list organizes that degree of freedom is, connecting rod I (3), one end of connecting rod III (6) all connects on the side plate (14) that part (36) is arranged on gear case transmission mechanism by connecting rod, one end of connecting rod IV (7) is connected with the gear II (27) on gear case transmission mechanism through the side plate (14) on gear case transmission mechanism, the other end of connecting rod IV (7) and connecting rod III (6) connects part (36) by connecting rod and to be connected with connecting rod II (5) and to form quadric linkage, the place that wherein other end of connecting rod IV (7) is connected with connecting rod II (5) is positioned at one end of connecting rod II (5), the place that the other end of connecting rod III (6) is connected with connecting rod II (5) is positioned at the midway location of connecting rod II (5), the other end of connecting rod II (5) is connected with the middle part of pedipulator (4), one end of pedipulator (4) connects part (36) by connecting rod and is connected with the other end of connecting rod I (3),
The structure of described two gear case transmission mechanisms is identical, and one of them gear case transmission mechanism comprises side plate (14), side plate pedestal (15), gear I (16), safety light (26), gear II (27), gear III (28), gear IV (29), transmission shaft II (37), side plate (14) has two pieces, two pieces of side plates (14) and the one piece of plank be positioned at above two pieces of side plates (14) thereof form the shell of a gear case transmission mechanism, two pieces of side plates (14) are connected by side plate pedestal (15), two pieces of side plates (14) are all arranged on outstanding place, base plate (9) both sides by screw, when installing, screw is screwed in side plate (14) through base plate (9) from the bottom up, gear II (27), gear III (28), gear IV (29) is mutually engaged successively and is arranged between two side plates (14), gear IV (29) is positioned at centre, centered by gear IV (29), the both sides of gear IV (29) respectively have a gear III (28) respectively, two gears II (27) lay respectively at the both sides of gear III (28), safety light (26) is positioned on the plank be provided with of side plate (14) above, gear I (16) is arranged between the transmission bracket side plate (22) of the actuating unit on base plate (9), gear IV (29) is connected with one end of transmission shaft II (37), the other end of transmission shaft II (37) coordinates with gear I (16) through the pin-and-hole III (18) on side plate (14) and transmission bracket side plate (22), gear I (16) is engaged with the gear V (31) in actuating unit simultaneously,
The structure of described two actuating units is identical, and one of them actuating unit comprises transmission bracket (10), motor module (11), gear VI (33), foot pedal apparatus, described transmission bracket (10) has two, transmission bracket (10) lays respectively at the right and left of automatically controlled pedal gear, each transmission bracket (10) is made up of two panels transmission bracket side plate (22), every sheet transmission bracket side plate (22) is equipped with pin-and-hole II (19), pin-and-hole V (21), slide rail (23), gear VI (33) is positioned at transmission bracket (10), motor module (11) is positioned at the side of the front end of transmission bracket (10), motor module (11) is provided with transmission shaft I (34), pin I (35), motor module (11) is connected for the power of output motor module (11) by transmission shaft I (34) with gear VI (33), motor module (11) is coordinated with the pin-and-hole V (21) on transmission bracket side plate (22) by pin I (35), the slide rail (23) of transmission shaft I (34) on motor module (11) on transmission bracket side plate (22) slides around pin I (35),
Described foot pedal apparatus is positioned at the rear end of transmission bracket (10), and foot pedal apparatus comprises pedal (13), bearing (30), gear V (31), pedal crank (32); Pedal (13) is enclosed within pedal crank (32), can 360 degree of rotations, gear V (31) and bearing (30) are enclosed within pedal crank (32), pedal crank (32) is through the pin-and-hole II (19) on transmission bracket side plate (22), gear V (31) is engaged with the gear I (16) in gear case transmission mechanism, gear I (16) simultaneously and gear VI (33) occlusion, gear I (16) is also connected with the transmission shaft II (37) in gear case transmission mechanism, and power is passed to gear case transmission mechanism by transmission shaft II (37) by actuating unit;
The structure of described two automatically controlled pedal gears is identical, one of them automatically controlled pedal gear comprises automatically controlled pedal (8), pin-and-hole I (24), automatically controlled pedal (8) and pin-and-hole I (24) are positioned at the dead ahead of seat (2), and automatically controlled pedal (8) is connected with base plate (9) by the pin-and-hole I (24) on base plate (9); Inlay a simple and easy control circuit in automatically controlled pedal (8) below, battery (12), motor module (11) are connected with simple and easy control circuit respectively with automatically controlled pedal gear.
2. the full landform walking device of hybrid power according to claim 1, it is characterized in that: described folding sunshade umbrella mechanism is positioned at seat (2) top, and folding sunshade umbrella mechanism comprises folding sunshade umbrella (1), seat ceiling (17), folding sunshade umbrella support (20), pin II (38); Described folding sunshade umbrella support (20) to be arranged on base plate (9) between gear case transmission mechanism and actuating unit, pin II (38) on folding sunshade umbrella (1) both sides is connected with the pin-and-hole IV (25) on the folding sunshade umbrella support (20) on base plate (9) both sides, folding sunshade umbrella (1) can be rotated by pin II (38), and seat ceiling (17) is directly welded on the back of seat (2).
3. the full landform walking device of hybrid power according to claim 1, is characterized in that: the simple and easy control circuit that described automatically controlled pedal (8) below is inlayed comprises current-limiting resistance R1, current-limiting resistance R2, bidirectional switch S; Battery E1, battery E2 are two pieces of identical batteries (12) in this circuit arrangement, motor M is motor module (11), bidirectional switch S is embedded in automatically controlled pedal (8), the negative pole of battery E1 is connected with the positive pole of battery E2 one end with motor module (11), the negative pole of the Anode and battery E2 of battery E1 is connected with current-limiting resistance R2 one end with current-limiting resistance R1 respectively, the other end of motor module (11) and bidirectional switch S-phase connect, and the other end of two current-limiting resistance R1, current-limiting resistance R2 is connected with bidirectional switch S.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420387945.9U CN204056037U (en) | 2014-07-15 | 2014-07-15 | The full landform walking device of a kind of hybrid power |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420387945.9U CN204056037U (en) | 2014-07-15 | 2014-07-15 | The full landform walking device of a kind of hybrid power |
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| CN204056037U true CN204056037U (en) | 2014-12-31 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129449A (en) * | 2014-07-15 | 2014-11-05 | 昆明理工大学 | Hybrid-power all-terrain walking device |
| CN104590419A (en) * | 2015-01-29 | 2015-05-06 | 吉林大学 | Walking mechanism like crab |
| CN104773042A (en) * | 2015-04-03 | 2015-07-15 | 西北工业大学 | Amphibious robot with transformable structure |
| CN106737596A (en) * | 2017-01-11 | 2017-05-31 | 西华大学 | A kind of robot running gear |
| CN108464776A (en) * | 2016-03-16 | 2018-08-31 | 烟台民望机电技术有限公司 | A kind of workshop automatic cleaning equipment |
| CN113120113A (en) * | 2021-03-17 | 2021-07-16 | 北京建筑大学 | Reconfigurable parallel-closed chain connecting rod leg type robot |
-
2014
- 2014-07-15 CN CN201420387945.9U patent/CN204056037U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129449A (en) * | 2014-07-15 | 2014-11-05 | 昆明理工大学 | Hybrid-power all-terrain walking device |
| CN104590419A (en) * | 2015-01-29 | 2015-05-06 | 吉林大学 | Walking mechanism like crab |
| CN104773042A (en) * | 2015-04-03 | 2015-07-15 | 西北工业大学 | Amphibious robot with transformable structure |
| CN108464776A (en) * | 2016-03-16 | 2018-08-31 | 烟台民望机电技术有限公司 | A kind of workshop automatic cleaning equipment |
| CN106737596A (en) * | 2017-01-11 | 2017-05-31 | 西华大学 | A kind of robot running gear |
| CN113120113A (en) * | 2021-03-17 | 2021-07-16 | 北京建筑大学 | Reconfigurable parallel-closed chain connecting rod leg type robot |
| CN113120113B (en) * | 2021-03-17 | 2022-01-07 | 北京建筑大学 | Reconfigurable parallel-closed chain connecting rod leg type robot |
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