CN204701678U - A kind of imitative worm running gear - Google Patents
A kind of imitative worm running gear Download PDFInfo
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- CN204701678U CN204701678U CN201520309254.1U CN201520309254U CN204701678U CN 204701678 U CN204701678 U CN 204701678U CN 201520309254 U CN201520309254 U CN 201520309254U CN 204701678 U CN204701678 U CN 204701678U
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- cylinder body
- car
- push rod
- cars
- running gear
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Abstract
The utility model relates to a kind of imitative worm running gear, and it comprises: a car, No. two cars, stop mechanism, turning mechanisms.A car is connected with piston push rod by link with No. two cars, piston push rod and a car are geo-stationary, cylinder body and No. two cars are geo-stationary, and the relative motion of a car and No. two cars changes into the relative motion between piston push rod and cylinder body.Stop mechanism comprises: arm of action, S. A. 1, brake push rod, cylinder body 2, slide block, S. A. 1, S. A. 2, brake shoes, rear wheel; Turning mechanism comprises: the near front wheel, S. A. 3, the front axle of car, turn to pull bar, cylinder body 3, cylinders rotation shaft, revolving bar.The utility model running gear can realize advance, retrogressing, turning motion, and device orbit period is short, and speed is fast, stable movement, power foot.
Description
Technical field
The utility model relates to a kind of imitative worm running gear, specifically, what relate to is imitative vermicular movement device based on hydraulic actuating cylinder and piston relative motion.
Background technology
In recent years, bio-robot becomes the focus of research both at home and abroad gradually, correlative study has obtained certain progress, the robot of wriggling move mode also becomes the direction of people's research, be CN02160678.0 (the memory alloy driven wriggling minicar of Shape-based interpolation by name) if China Patent Publication No. is the CN1803409 minitype creepage robot of bullet coupling (Shape-based interpolation by name is just memory alloy driven /) and China Patent Publication No., these two patents are all that Shape-based interpolation is memory alloy driven, substantially can complete the basic exercise of microrobot.
But the distortion of marmem needs the process heating, cool, from being heated to cooling, then this often needs the regular hour to heating, the inevitable like this moving velocity that inevitably limit robot.In addition this application of marmem, be more applied on the relatively little device of the such power of microrobot, under power is an inevitable problem equally.
Utility model content
The purpose of this utility model is for deficiency above-mentioned in prior art, proposes a kind of vermicular movement device based on hydraulic actuating cylinder and piston relative motion principle, makes that its kinematic velocity is fast, power foot, has the function of advances, retrogressing, turning.
The utility model is achieved through the following technical solutions, and imitates worm running gear comprise based on hydraulic principle: a car, No. two cars, stop mechanism, turning mechanisms.A car is connected with piston push rod by link with No. two cars, piston push rod and a car are geo-stationary, cylinder body 1 and No. two cars are geo-stationary, and the relative motion of a car and No. two cars changes into the relative motion between piston push rod and cylinder body.
Described stop mechanism, comprising: arm of action, S. A. 1, brake push rod, cylinder body 2, slide block, S. A. 1, S. A. 2, brake shoes, rear wheel; The piston of brake push rod right-hand member matches with cylinder body 2, can in cylinder body 2 sway, left end is connected by S. A. 2 with slide block, slide block can rotate around S. A. 2, be placed in arm of action groove, left side and groove surface are fitted simultaneously, and combination there will not be interference like this; Arm of action is connected with a car body by S. A. 1, and can rotate around S. A. 1, and arm of action lower end is connected mutually with brake shoes.Be provided with stop mechanism above each rear wheel, the stop mechanism of same car body is identical, motion conditions is completely the same.
Described turning mechanism, comprising: the near front wheel, S. A. 3, the front axle of car, turn to pull bar, cylinder body 3, cylinders rotation shaft, revolving bar; Front axle is connected by S. A. 3 with revolving bar, and revolving bar and front vehicle wheel are connected; Turn to the piston of pull bar right-hand member to coordinate with cylinder body 3, can move up and down in cylinder body 3; Cylinder body 3 is connected with a car body by cylinders rotation shaft, and cylinder body 3 can rotate around cylinders rotation shaft.Each front vehicle wheel installs a turning mechanism.
Beneficial effect
The utility model proposes a kind of imitative worm running gear based on oil cylinder in hydraulic efficiency pressure system and piston relative motion principle.This utility model structure is simple, is easy to realize; Relative motion between a car and No. two cars, is converted into the relative motion between piston rod and cylinder body, such that whole mechanism kinematic speed is fast, stable movement, power foot; Utilize the stop mechanism of wheel, one of them car body can be fixed by actv., another car body be moved, such reciprocal motion, complete wriggling process; In addition not only can advance, retreat, can also turning motion be carried out.
Accompanying drawing explanation
Fig. 1: imitative worm running gear overall situation schematic diagram
Fig. 2: stop mechanism schematic diagram
Fig. 3: turning mechanism schematic diagram
In figure: 1. a car No. 2. car body 3. links 4. No. two car 5. piston push rod 6. cylinder body 1 7. No. two car bodies No. 8. car front-wheels No. 9. car turning mechanisms No. 10. car rear wheels No. 11. car stop mechanisms 12. No. two car front-wheels 13. No. two car turning mechanisms 14. No. two car rear wheels 15. No. two car stop mechanism 16. arm of action 17. S. A. 1 18. brake push rod 19. cylinder bodies 2 No. 20. back axle 21. slide block 22. S. A. 2 23. brake shoes 24. S. A.s 3 No. 25. front axle 26. rotating sliding bar 27. cylinder body 3 28. cylinder body rotating shaft 29. revolving bars No. 30. right wheels
Cylinder body is double acting cylinder body, is divided into A chamber and B chamber.
Detailed description of the invention
As shown in Figure 1, the utility model comprises: car (1), No. two cars (4), stop mechanism (11), turning mechanism (9).A described car (1), comprising: car body (2), car front-wheel (8) a pair, No. one back wheels of vehicle (10) a pair; No. two described cars (4) comprising: No. two car bodies (7), cylinder body 1 (6), piston push rod (5) No. two car front-wheels (12) a pair, No. two back wheels of vehicle (14) a pair; A car body (2) and No. two car bodies (7) are arranged on an axletree (20), (25) and No. two car axletrees respectively, and a car body (2) is connected with piston push rod (5) by link (3); Link (19) has certain toughness, and that can carry out to a certain degree is bending; Piston push rod (5) right-hand member piston matches with cylinder body 1 (6), can in cylinder body 1 (6) sway.
As shown in Figure 2, described stop mechanism (11), comprising: arm of action (16), S. A. 1 (17), brake push rod (18), cylinder body 2 (19), slide block (21), S. A. 1 (17), S. A. 2 (22), brake shoes (23), rear wheel (10); The piston of brake push rod (18) right-hand member matches with cylinder body 2 (19), can in cylinder body 2 (19) sway, left end is connected by S. A. 2 (22) with slide block (21), slide block (21) can around S. A. 2 (22) rotation within the specific limits, be placed in arm of action (16) groove simultaneously, left side and groove surface are fitted, and combination there will not be interference like this; Arm of action (16) is connected with a car body (2) by S. A. 1 (17), and can rotate within the specific limits around S. A. 1 (17), arm of action (16) lower end is connected mutually with brake shoes (23).Be provided with stop mechanism above each rear wheel, the stop mechanism of same car body is identical, motion conditions is completely the same.
As shown in Figure 3, described turning mechanism (9), comprising: the near front wheel (8), S. A. 3 (24), the front axle (25) of car, turn to pull bar (26), cylinder body 3 (27), cylinders rotation shaft (28), revolving bar (29); Front axle (25) is connected by S. A. 3 (23) with revolving bar (29), and revolving bar (25) and front vehicle wheel (8) are connected; Turn to the piston of pull bar (26) right-hand member to coordinate with cylinder body 3 (27), can move up and down in cylinder body 3 (27); Cylinder body 3 (27) is connected with car body (2) by cylinders rotation shaft (28), and can rotate in cylinders rotation shaft (28) certain limit.Each front vehicle wheel installs a turning mechanism.
In the utility model, stop mechanism braking principle (for the stop mechanism of a back wheels of vehicle (10) (11))
Cylinder body 2 (18) B chamber oil-feed, during the oil return of A chamber, brake push rod (18) level is to left movement, slide block (21) connects to turn to be with to be slided, impetus bar (16) clickwise certain angle, arm of action (16) drives brake shoes (22) to contact with rear wheel (10), B chamber hydraulic fluid pressure raises, brake shoes (23) and rear wheel (10) friction force increase, time to a certain degree, rear wheel (10) cannot rotate, and a car (1) is static;
Cylinder body 2 (18) A chamber oil-feed, during the oil return of B chamber, brake push rod (18) moves right, induced effect bar (16) conter clockwise turns over certain angle, brake shoes (22) is separated with rear wheel (10) wall, rear wheel (10) can freely rotate, and now stop mechanism is in relaxed state.The braking principle of the rear wheel (14) of No. two cars (4) is identical with it.
Sense of motion controls:
(suppose that two car body mass are identical here, and the resistance that the friction force on during wheel stationary and ground advances much larger than wheel.)
Straight line moves to left motion (being divided into four steps here):
The first step: piston push rod (5) right-hand member piston is in cylinder body 1 (6) right-hand member, under the stop mechanism (15) of rear wheel (14) is in braking mode, No. two cars (4) cannot be moved; In a relaxed state, a car (1) can to left movement at stop mechanism (11) place of rear wheel (10).
Second step: cylinder body 1 (6) B chamber fuel feeding, the oil return of A chamber, piston push rod (5) moves to left, a car body (2) is made to be subject to direction power left, a car (1) moves to left, when piston is in cylinder body (1) left end, the stop motion of a car (1).
3rd step: the stop mechanism (11) of trailing wheel (10) is started working, be in braking mode, car (1) cannot free motion, trailing wheel (14) stop mechanism (15) is in relaxed state, and No. two cars (4) only can to left movement.
4th step: cylinder body 1 (6) A chamber fuel feeding, during the oil return of B chamber, under the effect of hydraulic oil, cylinder body 1 (6) can only move to left, and drives No. two cars to move to left, an orbit period of finishing device.
Straight line moves to right motion similarly.
Turning motion (turning mechanism (9) for a car front-wheel (8))
Cylinder body 3 (27) B chamber oil-feed, during the oil return of A chamber, under the effect of hydraulic oil, turn to pull bar (26) upward movement, simultaneously cylinder body 3 (27) is around cylinders rotation shaft (28) clickwise certain angle, and revolving bar (29) cw turns over certain angle, band motor car wheel (8) bend to right to, do compound motion with device straight line to left movement, device completes the motion that bends to right simultaneously; Cylinder body 3 (26) A chamber oil-feed, during the oil return of B chamber, under the effect of hydraulic oil, pull bar (26) is turned to move downward, simultaneously cylinder body 3 (27) is around cylinders rotation shaft (28) left-hand revolution certain angle, and driven rotary bar (28) conter clockwise turns over certain angle, band motor car wheel (8) left-handed turning to, do compound motion with device straight line to left movement, device completes turning motion left simultaneously.
Off front wheel (30) motion principle similarly, is only that direction is contrary, and the oil-feed of A chamber, off front wheel (30) is turned right, the oil-feed of B chamber, and off front wheel (29) turns left.
Claims (4)
1. an imitative worm running gear, comprise: a car (1), No. two cars (4), stop mechanism (11), turning mechanism (9), it is characterized in that: a car (1) is connected with piston push rod (5) by link (3) with No. two cars (4), piston push rod (5) and a car (1) are geo-stationary, cylinder body 1 (6) and No. two cars (4) are geo-stationary, and the relative motion of a car (1) and No. two cars (4) changes into the relative motion between piston push rod and cylinder body.
2. one according to claim 1 imitates worm running gear, it is characterized in that: be provided with identical stop mechanism above each rear wheel, stop mechanism (11) comprising: arm of action (16), S. A. 1 (17), brake push rod (18), cylinder body 2 (19), slide block (21), S. A. 2 (22), brake shoes (23), rear wheel (10); The piston of brake push rod (18) right-hand member matches with cylinder body 2 (19), can in cylinder body 2 (19) sway, left end is connected by S. A. 2 (22) with slide block (21), slide block (21) can rotate around S. A. 2 (22), be placed in arm of action (16) groove simultaneously, left side and groove surface are fitted, arm of action (16) is connected with a car body (2) by S. A. 1 (17), and can rotate around S. A. 1 (17), arm of action (16) lower end is connected mutually with brake shoes (23).
3. one according to claim 1 imitates worm running gear, it is characterized in that: each front vehicle wheel installs a turning mechanism, turning mechanism (9) comprising: the near front wheel (8), S. A. 3 (24), front axle (25), turn to pull bar (26), cylinder body 3 (27), cylinders rotation shaft (28), revolving bar (29); Front axle (25) is connected by S. A. 3 (24) with revolving bar (29), revolving bar (29) and front vehicle wheel (8) are connected, the piston of pull bar (26) right-hand member is turned to coordinate with cylinder body 3 (27), can move up and down in cylinder body 3 (27), cylinder body 3 (27) is connected with a car body (2) by cylinders rotation shaft (28), and cylinder body 3 (27) can rotate around cylinders rotation shaft (28).
4. one according to claim 1 imitates worm running gear, it is characterized in that: link (3) has certain toughness, can there is certain bending under stress condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520309254.1U CN204701678U (en) | 2015-05-12 | 2015-05-12 | A kind of imitative worm running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520309254.1U CN204701678U (en) | 2015-05-12 | 2015-05-12 | A kind of imitative worm running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204701678U true CN204701678U (en) | 2015-10-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520309254.1U Expired - Fee Related CN204701678U (en) | 2015-05-12 | 2015-05-12 | A kind of imitative worm running gear |
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| Country | Link |
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| CN (1) | CN204701678U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859732A (en) * | 2015-05-12 | 2015-08-26 | 西北工业大学 | Worming moving device |
| CN113086236A (en) * | 2021-06-09 | 2021-07-09 | 北京安达维尔航空设备有限公司 | Foldable storage type multi-machine type universal traction rod |
-
2015
- 2015-05-12 CN CN201520309254.1U patent/CN204701678U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859732A (en) * | 2015-05-12 | 2015-08-26 | 西北工业大学 | Worming moving device |
| CN113086236A (en) * | 2021-06-09 | 2021-07-09 | 北京安达维尔航空设备有限公司 | Foldable storage type multi-machine type universal traction rod |
| CN113086236B (en) * | 2021-06-09 | 2021-09-03 | 北京安达维尔航空设备有限公司 | Foldable storage type multi-machine type universal traction rod |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151014 Termination date: 20160512 |