CN206654114U - A kind of bionical monopodia wheel of adjustable biped bar - Google Patents
A kind of bionical monopodia wheel of adjustable biped bar Download PDFInfo
- Publication number
- CN206654114U CN206654114U CN201720339000.3U CN201720339000U CN206654114U CN 206654114 U CN206654114 U CN 206654114U CN 201720339000 U CN201720339000 U CN 201720339000U CN 206654114 U CN206654114 U CN 206654114U
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- CN
- China
- Prior art keywords
- wheel leg
- bar
- driven
- sufficient
- gear
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Abstract
A kind of bionical monopodia wheel of adjustable biped bar, it includes mounting bracket, hydraulic motor, drive gear, driven gear, eccentric shaft, the active wheel leg of eccentric setting and driven wheel leg, sufficient bar unit.By the driving of hydraulic motor, driven gear is driven to rotate by drive gear, driven gear is fixed in active wheel leg, active wheel leg is driven to rotate, active wheel leg drives driven wheel leg to rotate by jointed shaft, connector and sufficient bar mounting seat, and then rotated with action spot bar, realize walking function.The power that active wheel leg provided by the utility model and driven wheel leg are provided by hydraulic motor, can realize rotary walking, can also realize the equally reciprocal stepping movement of same animal.Meanwhile the servomotor work on sufficient bar unit, by bevel gear set, drive two parapodum bar mounting seats and sufficient bar installation axle to rotate, make two sufficient rods at a certain angle, can or supporting surface narrower in wall etc. exist and walked on the attachment of radian.
Description
Technical field
It the utility model is related to running gear field, more particularly to a kind of bionical monopodia wheel of adjustable biped bar.
Background technology
As science and technology continues to develop, the operation device of various automations continues to bring out, the walking as important component
Device is also updated, to avoid causing running gear use range is limited to ask because the operating mode in each field is different
Topic, there is polypody wheel, but existing polypody wheel construction is complicated, smooth running performance is poor, in high speed traveling, working order
It is poor.
Utility model content
The utility model is in view of the shortcomings of the prior art, there is provided a kind of adjustable bionical monopodia wheel of biped bar.
The utility model is achieved by the following technical solution, there is provided a kind of adjustable bionical monopodia wheel of biped bar.It is wrapped
Include mounting bracket, hydraulic motor, drive gear, driven gear, eccentric shaft, the active wheel leg of eccentric setting and driven wheel leg, sufficient bar,
Sufficient bar rotary shaft, sufficient bar rotating seat, sufficient bar mounting seat, connector, jointed shaft.The active wheel leg and driven wheel leg are eccentrically mounted
On eccentric shaft, it is hinged between the active wheel leg and driven wheel leg by jointed shaft, connector and sufficient bar mounting seat, structure
Into quadric chain, described eccentric shaft one end is fixedly mounted on mounting bracket, and driven tooth is installed with the active wheel leg
Wheel, driven gear are meshed with driving gear, and the driving gear is arranged on and is fixed on the hydraulic motor axle on mounting bracket, institute
Hydraulic motor work is stated, drives pinion rotation, because driven gear is fixed in active wheel leg, and then gear can drive driving wheel
Leg rotate, therefore, pass through the rotation of the active wheel leg and driven wheel leg of eccentric setting so that the sufficient bar around central axis simultaneously
All the time hang, the sufficient bar rotary shaft and sufficient bar rotating seat are in into being symmetricly set on sufficient bar mounting seat both sides, it is middle
Connected by holding screw.
Further, bevel gear, the cone tooth are installed with respectively on the sufficient bar rotary shaft and sufficient bar rotating seat
Wheel is engaged on the bevel gear both sides on servo motor shaft respectively, when servomotor works, by bevel gear, drives two sufficient bars in
Central axis.
Further, the active wheel leg and driven wheel leg are connected on eccentric shaft by bearing.
Further, the eccentric shaft is fixed on mounting bracket by nut.
Further, the containment vessel is fixedly mounted on mounting bracket, protects gear.
The beneficial effects of the utility model are：The utility model provides a kind of adjustable bionical monopodia wheel of biped bar.Pass through liquid
The driving of pressure motor, driven gear is driven to rotate by drive gear, driven gear is fixed in active wheel leg, drives active wheel leg
Rotate, active wheel leg drives driven wheel leg to rotate, and then turn with action spot bar by jointed shaft, connector and sufficient bar mounting seat
It is dynamic, realize walking function, active wheel leg is connected on eccentric shaft with driven wheel leg, forms eccentric group, due to active wheel leg and
Be hinged by jointed shaft and connector and sufficient bar mounting seat between driven wheel leg, so ensure that sufficient bar all the time vertically to
Under.Servomotor work on sufficient bar unit, band dynamic bevel gear rotate, and then drive two parapodum bar mounting seats and the installation of sufficient bar
Bevel gear on axle rotates, and makes two sufficient rods at a certain angle, can or supporting surface narrower in wall etc. the attached of radian be present
And walked on thing.The power that active wheel leg provided by the utility model and driven wheel leg are provided by hydraulic motor, can
Rotary walking is realized, the equally reciprocal stepping movement of same animal can also be realized.
Brief description of the drawings
Fig. 1 is the utility model stereogram；
Fig. 2 is Fig. 1 front view；
Fig. 3 is Fig. 1 right view；
Fig. 4 is Fig. 3 sectional view；
Fig. 5 is driving wheel leg stereogram；
Fig. 6 is driven wheel leg stereogram；
Fig. 7 is sufficient bar unit schematic diagram；
Shown in figure：1.1st, considerable bar, 1.2, rotating seat, 1.3, bevel gear, 1.4, servomotor, 1.5, rotary shaft,
1.6th, holding screw, 1.7, jointed shaft, 1.8, connector, 1.9, sufficient bar mounting seat, 1.10, servomotor mounting seat, 2.1, partially
Mandrel, 2.2, driven wheel leg, 2.3, active wheel leg, 2.4, containment vessel, 2.5, driven gear, 2.6, mounting bracket, 2.7, hydraulic pressure horse
Reach, 2.8, driving gear.
Embodiment
As shown in Figures 1 to 7, the utility model includes 1.1, sufficient bar, and 1.2, rotating seat, 1.3, bevel gear, 1.4, servo
Motor, 1.5, rotary shaft, 1.6, holding screw, 1.7, jointed shaft, 1.8, connector, 1.9, sufficient bar mounting seat, 1.10, servo electricity
Machine mounting seat, 2.1, eccentric shaft, 2.2, driven wheel leg, 2.3, active wheel leg, 2.4, containment vessel, 2.5, driven gear, 2.6, peace
Shelve, 2.7, hydraulic motor, 2.8, driving gear.The utility model is described in detail below in conjunction with the accompanying drawings.
The utility model as shown in Figure 4 is driven by the hydraulic motor 2.7 being fixedly mounted on mounting bracket 2.6, when hydraulic pressure horse
Up to during 2.7 work, the driving gear 2.8 on motor drive shaft rotates, and because driven gear 2.5 engages with driving gear 2.7, therefore leads
The rotation of moving gear 2.8, driven gear 2.5 is driven to rotate, the driven gear 2.5 is fixedly mounted on active wheel leg 2.3, because
This, when driven gear 2.5 rotates, active wheel leg 2.3 starts to rotate.Active wheel leg 2.3 described in the utility model and driven pulley
It is hinged between leg 2.2 by jointed shaft 1.7, connector 1.8 and sufficient bar mounting seat 1.9, forms double leval jib, the driving wheel
Leg 2.3, which rotates, drives driven wheel leg 2.2 to be rotated together around eccentric shaft 2.1, the sufficient bar unit in sufficient bar mounting seat 1.9
Therewith around central axis.
As shown in fig. 7, in sufficient bar unit, mounting seat 1.9 passes through driven pulley 2.2, and mounting seat both sides are separately installed with rotation
Sufficient bar 1.1 is all equipped with axle 1.5 and rotating seat 1.2, rotating seat 1.2 and rotary shaft 1.5, sufficient bar upper end is provided with fastening spiral shell
It is female.To avoid rotary shaft 1.5 and rotating seat 1.2 that axial displacement occurs, in the axial direction tight is provided with its similar one end
Determine screw 1.6, enter to fill by two rotary shafts by marking closely screw 1.6 and be fixedly mounted on seat 1.9 by servomotor mounting seat 1.10
There is servomotor 1.4, horizontal bevel gear is connected with the output shaft of servomotor 1.4, is divided in rotary shaft 1.5 and rotating seat 1.2
The vertical bevel gear 1.3 engaged with horizontal bevel gear is not installed with, and two vertical bevel gears 1.3 are located at horizontal bevel gear two respectively
Side.During work, motor 1.4 drives horizontal bevel gear to rotate, and horizontal bevel gear drives two vertical bevel gears to rotate round about,
Sufficient bar concomitant rotation in two rotary shafts and form angle, be easy to be stuck on attachment, increase the stability of walking.
Bionical effect of the present utility model is that active wheel leg 2.3, driven wheel leg 2.2 and sufficient bar unit form bionical
Sufficient leg, by the revolution of drive device, bionic type gait can be achieved and advance.Active wheel leg structure is as shown in figure 5, driven wheel leg knot
Structure is as shown in Figure 6.
Claims (5)
1. a kind of bionical monopodia wheel of adjustable biped bar, it is characterized in that, it includes mounting bracket, hydraulic motor, drive gear, driven tooth
Wheel, eccentric shaft, the active wheel leg of eccentric setting and driven wheel leg, sufficient bar, sufficient bar rotary shaft, sufficient bar rotating seat, sufficient bar mounting seat,
Connector, jointed shaft;The active wheel leg and driven wheel leg are eccentrically mounted on eccentric shaft, the active wheel leg and driven wheel leg
Between be hinged by jointed shaft, connector and sufficient bar mounting seat, form quadric chain, peace is fixed in described eccentric shaft one end
On mounting bracket, driven gear is installed with the active wheel leg, driven gear is meshed with driving gear, the master
Moving gear is arranged on and is fixed on the hydraulic motor axle on mounting bracket, hydraulic motor work, drives pinion rotation, due to from
Moving gear is fixed in active wheel leg, and then gear can drive active wheel leg to rotate, and therefore, pass through the active wheel leg of eccentric setting
With the rotation of driven wheel leg so that the sufficient bar is around central axis and is in hang all the time, the sufficient bar rotary shaft with
And sufficient bar rotating seat is connected into sufficient bar mounting seat both sides, centre is symmetricly set on by holding screw.
2. a kind of adjustable bionical monopodia wheel of biped bar according to claim 1, it is characterized in that, the sufficient bar rotary shaft with
And bevel gear is installed with sufficient bar rotating seat respectively, the bevel gear is engaged on the bevel gear two on servo motor shaft respectively
Side, when servomotor works, by bevel gear, two sufficient bars are driven around central axis.
3. a kind of adjustable bionical monopodia wheel of biped bar according to claim 1, it is characterized in that, the active wheel leg and from
Driving wheel leg is connected on eccentric shaft by bearing.
4. a kind of adjustable bionical monopodia wheel of biped bar according to claim 1, it is characterized in that, the eccentric shaft passes through spiral shell
Mother is fixed on mounting bracket.
5. a kind of adjustable bionical monopodia wheel of biped bar according to claim 1, it is characterized in that, it is fixed on the mounting bracket
Containment vessel is installed to protect gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720339000.3U CN206654114U (en) | 2017-04-01 | 2017-04-01 | A kind of bionical monopodia wheel of adjustable biped bar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720339000.3U CN206654114U (en) | 2017-04-01 | 2017-04-01 | A kind of bionical monopodia wheel of adjustable biped bar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206654114U true CN206654114U (en) | 2017-11-21 |
Family
ID=60315731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720339000.3U Expired - Fee Related CN206654114U (en) | 2017-04-01 | 2017-04-01 | A kind of bionical monopodia wheel of adjustable biped bar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206654114U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882287A (en) * | 2017-04-01 | 2017-06-23 | 济南大学 | A kind of bionical monopodia wheel of adjustable biped bar |
| CN109591908A (en) * | 2018-12-11 | 2019-04-09 | 北京中航科电测控技术股份有限公司 | A kind of novel leg biped robot joint structure |
-
2017
- 2017-04-01 CN CN201720339000.3U patent/CN206654114U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882287A (en) * | 2017-04-01 | 2017-06-23 | 济南大学 | A kind of bionical monopodia wheel of adjustable biped bar |
| CN109591908A (en) * | 2018-12-11 | 2019-04-09 | 北京中航科电测控技术股份有限公司 | A kind of novel leg biped robot joint structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20171121 Termination date: 20210401 |