CN204701678U - A kind of imitative worm running gear - Google Patents

Abstract

The utility model relates to a worm-like moving device, which comprises: No. 1 car, No. 2 car, a braking mechanism and a turning mechanism. Car No. 1 and car No. 2 are connected through connecting parts and piston push rods. The piston push rod and car No. 1 are relatively stationary, and the cylinder body and car No. 2 are relatively stationary. The relative motion is transformed into the relative motion between the piston push rod and the cylinder. The braking mechanism includes: action rod, rotating shaft 1, brake push rod, cylinder body 2, slider, rotating shaft 1, rotating shaft 2, brake block, rear wheel; the turning mechanism includes: left front wheel of the car, rotating shaft 3. Front axle, steering push-pull rod, cylinder block 3, cylinder body rotating shaft, rotating rod. The moving device of the utility model can realize forward, backward and turning movements, and the movement period of the device is short, the speed is fast, the movement is stable, and the power is sufficient.

Description

A worm-like motion device

technical field

The utility model relates to a worm-imitating motion device, in particular to a peristaltic-imitation motion device based on the relative motion of a hydraulic cylinder and a piston.

Background technique

In recent years, bionic robots have gradually become a research hotspot at home and abroad. Some progress has been made in related research, and robots with peristaltic movement have also become the direction of people's research. For example, the Chinese Patent Publication No. /elastically coupled miniature peristaltic robot) and Chinese Patent Publication No. CN02160678.0 (named peristaltic miniature vehicle driven by shape memory alloy), these two patents are all driven by shape memory alloy, basically able to complete the miniature robot basic movement.

However, the deformation of the shape memory alloy requires a process of heating and cooling, which often takes a certain amount of time from heating to cooling, and then to heating, which inevitably limits the moving speed of the robot. In addition, this application of shape memory alloys is more widely used in devices with relatively small power such as micro-robots, and insufficient power is also an inevitable problem.

Utility model content

The purpose of this utility model is to solve the above-mentioned shortcomings in the prior art, and propose a peristaltic motion device based on the principle of relative motion between the hydraulic cylinder and the piston, so that the motion speed is fast, the power is sufficient, and it has the functions of forward, backward, and turning.

The utility model is realized through the following technical solutions. The imitating worm movement device based on the hydraulic principle includes: No. 1 car, No. 2 car, a braking mechanism, and a turning mechanism. Car No. 1 and car No. 2 are connected through connecting parts and piston push rods. The piston push rod and car No. 1 are relatively stationary, cylinder 1 and car No. 2 are relatively stationary, and car No. 1 and car No. 2 The relative motion of the piston is converted into the relative motion between the piston push rod and the cylinder.

The brake mechanism includes: an action rod, a rotating shaft 1, a brake push rod, a cylinder body 2, a slider, a rotating shaft 1, a rotating shaft 2, a brake block, and a rear wheel; the piston at the right end of the brake push rod and the The cylinder body 2 cooperates and can move left and right in the cylinder body 2. The left end is connected with the slider through the rotating shaft 2. The slider can rotate around the rotating shaft 2 and is placed in the groove of the action rod at the same time. The left end surface is in contact with the groove surface. Together, there will be no interference in this combination; the action lever is connected with the No. 1 car body through the rotation axis 1, and can rotate around the rotation axis 1, and the lower end of the action lever is firmly connected with the brake block. Braking mechanisms are arranged above each rear wheel, and the braking mechanisms of the same car body are identical, and the motion conditions are completely consistent.

The turning mechanism includes: the left front wheel of the car, the rotating shaft 3, the front axle, the steering push-pull rod, the cylinder block 3, the rotating shaft of the cylinder body, and the rotating rod; the front axle and the rotating rod are connected through the rotating shaft 3, rotate The rod is fixedly connected with the front wheel; the piston at the right end of the steering push-pull rod cooperates with the cylinder body 3 and can move up and down in the cylinder body 3; the cylinder body 3 is connected with the No. The axis of rotation rotates. Each front wheel is fitted with a steering mechanism.

Beneficial effect

The utility model proposes a worm-like motion device based on the relative motion principle of an oil cylinder and a piston in a hydraulic system. The utility model has a simple structure and is easy to implement; the relative motion between the No. 1 car and the No. 2 car is transformed into the relative motion between the piston rod and the cylinder body, which makes the whole mechanism move fast, move smoothly, and have sufficient power; The brake mechanism can effectively fix one of the car bodies, making the other car body move, so that the interactive motion completes the peristalsis process; in addition, it can not only move forward and backward, but also perform turning movements.

Description of drawings

Figure 1: The overall schematic diagram of the worm-like locomotion device

Figure 2: Schematic diagram of the braking mechanism

Figure 3: Schematic diagram of the turning mechanism

In the figure: 1. No. 1 car 2. No. 1 car body 3. Connecting parts 4. No. 2 car 5. Piston push rod 6. Cylinder block 1 7. No. 2 car body 8. No. 1 car front wheel 9. No. 1 car Car turning mechanism 10. Rear wheel of No. 1 car 11. Braking mechanism of No. 1 car 12. Front wheel of No. 2 car 13. Turning mechanism of No. 2 car 14. Rear wheel of No. 2 car 15. Braking mechanism of No. 2 car 16. Function Rod 17. Rotary shaft 1 18. Brake push rod 19. Cylinder body 2 20. No. 1 rear axle 21. Slider 22. Rotary shaft 2 23. Brake block 24. Rotary shaft 3 25. No. 1 front axle 26. Rotation Push-pull rod 27. Cylinder body 3 28. Cylinder body shaft 29. Rotating rod 30. No. 1 right wheel

The cylinders are all double-acting cylinders, which are divided into A cavity and B cavity.

Detailed ways

As shown in Figure 1, the utility model comprises: No. one car (1), No. two car (4), braking mechanism (11), turning mechanism (9). The No. 1 car (1) includes: No. 1 car body (2), a pair of No. 1 car front wheels (8), a pair of No. 1 car rear wheels (10); the No. 2 car (4) ) includes: No. two car body (7), cylinder body 1 (6), piston push rod (5) No. two car front wheel (12) pair, No. two car rear wheel (14) pair; No. one car body (2) and No. two car bodies (7) are installed on No. one axle shaft (20), (25) and No. two car axles respectively, and No. one car body (2) is connected with piston push rod (5) by connecting part (3) ) to be connected; connecting part (19) has certain toughness, can carry out bending to a certain degree; Piston push rod (5) right end piston cooperates with cylinder body 1 (6), can move left and right in cylinder body 1 (6).

As shown in Figure 2, the brake mechanism (11) includes: an action rod (16), a rotating shaft 1 (17), a brake push rod (18), a cylinder body 2 (19), a slide block (21 ), rotating shaft 1 (17), rotating shaft 2 (22), brake block (23), rear wheel (10); the piston at the right end of the brake push rod (18) is matched with the cylinder body 2 (19), and can be The cylinder body 2 (19) moves left and right, and the left end is connected with the slider (21) through the rotation shaft 2 (22). The slider (21) can rotate around the rotation shaft 2 (22) within a certain range, and is placed on the In the groove of the action rod (16), the left end surface fits with the groove surface, so that there will be no interference in the combination; the action rod (16) is connected with the No. Axle 1 (17) rotates within a certain range, and the lower end of the action rod (16) is fixedly connected with the brake block (23). Braking mechanisms are arranged above each rear wheel, and the braking mechanisms of the same car body are identical, and the motion conditions are completely consistent.

As shown in Figure 3, described turning mechanism (9) comprises: the left front wheel (8) of car, rotating shaft 3 (24), front axle (25), turn to push-pull rod (26), cylinder block 3 ( 27), cylinder rotating shaft (28), rotating bar (29); Connect; the piston at the right end of the push-pull rod (26) cooperates with the cylinder body 3 (27), and can move up and down in the cylinder body 3 (27); the cylinder body 3 (27) is connected to the car body ( 2) connected, and can rotate around the cylinder rotating shaft (28) within a certain range. Each front wheel is fitted with a steering mechanism.

In the utility model, the braking principle of the braking mechanism (taking the braking mechanism (11) of a car rear wheel (10) as an example)

Cylinder 2 (18) B cavity enters oil, and when A cavity returns oil, the brake push rod (18) moves horizontally to the left, the slider (21) rotates and slides continuously, and the pushing action rod (16) rotates clockwise for a certain angle , the action rod (16) drives the brake block (22) to contact the rear wheel (10), the pressure of the hydraulic oil in chamber B increases, and the friction between the brake block (23) and the rear wheel (10) increases. To a certain extent, the rear wheel (10) cannot rotate, No. 1 car (1) is stationary;

Cylinder body 2 (18) A cavity enters oil, and when B cavity returns oil, the brake push rod (18) moves to the right, drives the action rod (16) to turn over a certain angle counterclockwise, and the brake block (22) and the rear wheel ( 10) The wall surface is separated, and the rear wheel (10) can rotate freely, and now the brake mechanism is in a relaxed state. The braking principle of the rear wheel (14) of No. two car (4) is identical with it.

Motion Direction Control:

(It is assumed here that the mass of the two cars is the same, and the friction between the wheels and the ground is much greater than the resistance of the wheels when they are stationary.)

Straight line movement to the left (here divided into four steps):

The first step: the piston at the right end of the piston push rod (5) is at the right end of the cylinder body 1 (6), the braking mechanism (15) of the rear wheel (14) is in the braking state, and the No. 2 car (4) cannot move; When the braking mechanism (11) of the rear wheel (10) is in a relaxed state, No. 1 car (1) can move to the left.

Step 2: Cavity B of cylinder 1 (6) supplies oil, chamber A returns oil, and the piston push rod (5) moves to the left, so that the No. Move to the left, when the piston was at the left end of the cylinder body (1), No. 1 car (1) stopped moving.

The third step: the braking mechanism (11) of the rear wheel (10) starts to work and is in a braking state. The No. 1 car (1) cannot move freely, and the braking mechanism (15) of the rear wheel (14) is in a relaxed state. No. car (4) can only move to the left.

Step 4: Cylinder 1 (6) supplies oil to cavity A and returns oil to cavity B. Under the action of hydraulic oil, cylinder 1 (6) can only move to the left, driving No. 2 car to move to the left to complete a part of the device. movement cycle.

A straight line right movement is similar.

Turning motion (taking the turning mechanism (9) of No. 1 front wheel (8) as an example)

Cylinder 3 (27) B cavity enters oil, and when A cavity returns oil, under the action of hydraulic oil, the steering push-pull rod (26) moves upward, and at the same time, cylinder 3 (27) rotates clockwise around the cylinder rotation axis (28) Rotate a certain angle, the rotating rod (29) turns clockwise through a certain angle, and drives the wheel (8) to turn rightward, and simultaneously moves to the left in a straight line with the device to perform a compound motion, and the device completes the rightward turning movement; the cylinder body 3 (26) When oil enters chamber A and returns oil to chamber B, under the action of hydraulic oil, the steering push-pull rod (26) moves downward, and at the same time, the cylinder body 3 (27) rotates counterclockwise at a certain angle around the cylinder body rotation axis (28), driving The rotating rod (28) rotates through a certain angle counterclockwise to drive the wheel (8) to turn to the left. Simultaneously, the compound motion is done with the linear movement of the device to the left, and the device completes the movement of turning to the left.

Right front wheel (30) principle of motion is similar to it, and only direction is opposite, and A cavity enters oil, and right front wheel (30) turns right, and B cavity enters oil, and right front wheel (29) turns left.

Claims (4)

1. A kind of imitation worm motion device, comprising: No. one car (1), No. two car (4), braking mechanism (11), turning mechanism (9), it is characterized in that: No. one car (1) and No. two car No. car (4) is connected with the piston push rod (5) through the connecting part (3), the piston push rod (5) and No. The car (4) is relatively stationary, and the relative motion of No. 1 car (1) and No. 2 car (4) is converted into relative motion between the piston push rod and the cylinder body. 2. A kind of imitation worm motion device according to claim 1, is characterized in that: above each rear wheel all is provided with identical braking mechanism, and braking mechanism (11) comprises: action bar (16), rotating shaft 1 (17), brake push rod (18), cylinder body 2 (19), slide block (21), rotating shaft 2 (22), brake shoe (23), rear wheel (10); brake push rod ( 18) The piston at the right end matches the cylinder body 2 (19), and can move left and right in the cylinder body 2 (19), and the left end is connected with the slider (21) through the rotating shaft 2 (22), and the slider (21) can Rotate around the rotation axis 2 (22), and place it in the groove of the action rod (16) at the same time, the left end surface fits the groove surface, and the action rod (16) is connected with the No. 1 car body (2) through the rotation axis 1 (17) , and can rotate around the rotating shaft 1 (17), and the lower end of the action rod (16) is fixedly connected with the brake block (23). 3. A kind of imitation worm motion device according to claim 1, is characterized in that: each front wheel is all equipped with a turning mechanism, and turning mechanism (9) comprises: left front wheel (8), rotating shaft 3 (24) , front axle (25), steering push-pull rod (26), cylinder body 3 (27), cylinder body rotating shaft (28), rotating rod (29); Front axle (25) and rotating rod (29) pass through rotating shaft 3 (24) are connected, and the rotating rod (29) is fixedly connected with the front wheel (8), and the piston at the right end of the steering push-pull rod (26) cooperates with the cylinder body 3 (27), and can move up and down in the cylinder body 3 (27), Cylinder body 3 (27) is connected with No. 1 vehicle body (2) by cylinder body rotation shaft (28), and cylinder body 3 (27) can rotate around cylinder body rotation shaft (28). 4. A worm-like moving device according to claim 1, characterized in that: the connecting part (3) has a certain toughness, and can be bent to a certain extent under a stress condition.