CN206774095U - A kind of multi-foot robot for being used to impart knowledge to students - Google Patents

Abstract

The utility model discloses a kind of multi-foot robot for being used to impart knowledge to students, belong to aided education field.Including polypody walking combined mechanism and working model combined mechanism, coordinated by the transmission of multiple mechanisms and realize multi-foot walking and demonstration；The various mechanisms such as Spur Gear Driving, toothed belt transmission, crank and rocker mechanism, cam mechanism, incomplete gear mechanism, Chain conveyer, turbine and worm transmission, Bevel Gear Transmission, guide-bar mechanism, offset distance slider-crank mechanism, double-slider mechanism, centric slider-crank mechanism can be shown, it is interesting effectively to strengthen classroom.

Description

A kind of multi-foot robot for being used to impart knowledge to students

Technical field

Aided education field is the utility model is related to, particularly a kind of multi-foot robot for being used to impart knowledge to students.

Background technology

The understanding experiment of mechanical principle course mechanism typically strengthens student to mechanism by mechanism showcase or mechanism model Connection and the perceptual knowledge of motion.Traditional mechanism showcase demonstration mechanism species is more, but bulky is unfavorable for class demonstration, reason By teaching good unification can not be realized with practical teaching；Mechanism model small volume, but demonstration mechanism is more single, and student is to machine The understanding of structure is not comprehensive enough.

Utility model content

Goal of the invention of the present utility model is, in view of the above-mentioned problems, providing a kind of multi-foot robot for being used to impart knowledge to students, its body Product is compact, can demonstrate various mechanism motion, be advantageous to the classroom instruction of theory of mechanics.

To reach above-mentioned purpose, technical scheme is used by the utility model：A kind of multi-foot robot for being used to impart knowledge to students, Multigroup walking component is provided with including robot body, walking component and motor, the body；

The body includes the upper backup pad and lower supporting plate set in separating up and down；The motor is fixed on lower supporting plate Upper surface；

The walking component includes walking axle, the first crank, the second crank, the first rocking bar, the second rocking bar and walking leg, institute State walking axle and lower supporting plate upper surface is arranged on by first bearing seat, the corresponding fixation of first crank and the second crank is expert at Walk axle both ends and outside the left and right sides of lower supporting plate, the first crank and the second crank phase differ 180 °；Described first shakes Movably connection is arranged on upper backup pad side to bar, and is correspondingly arranged at the first crank side；First crank and the first rocking bar Movable end between walking leg, the walking leg and the first crank, the first rocking bar composition crank and rocker mechanism are set；Described second shakes Bar is correspondingly arranged at the second crank side by movably connecting installed in upper backup pad side；Second crank and second Walking leg is set between the movable end of rocking bar, and the walking leg and the second crank, the second rocking bar form crank and rocker mechanism；Adjacent The crank phase of inter-module two first of walking differs 180 °, and two second crank phases differ 180 °, and walking leg can be rotated with crank and connect Tread surface departs from ground；

The walking axle of adjacent walking inter-module selects a walking axle as drive shaft, driving by synchronous band connection Axle passes through gear deceleration group and the motor connection；Gear deceleration group and motor are installed in lower supporting plate upper surface；The tooth Wheel deceleration group includes the input gear and output gear being meshed, and the input gear is connected with motor output end and coaxial line is set Put, output gear is fixed on the driving shaft and is coaxially set with drive shaft；The first chain drum, institute are additionally provided with the drive shaft The second chain drum that upper backup pad upper surface is provided with corresponding first chain drum is stated, chain is provided between the first chain drum and the second chain drum；Institute State the second chain drum and be arranged on first power transmission shaft one end, the first power transmission shaft is horizontally arranged at upper backup pad upper end by second bearing seat Face, the underface or surface of first power transmission shaft are provided with the second driving shaft perpendicular with it, first power transmission shaft with It is driven between second driving shaft by turbine and worm, second driving shaft is horizontally arranged at upper backup pad upper end by 3rd bearing seat Face；

Described second driving shaft one end is provided with the first bevel gear for being coaxial therewith line, its other end connection pendulum guide rod machine Structure；Second driving shaft connects the 3rd power transmission shaft by first bevel gear, and the 3rd power transmission shaft is pacified by the way that fourth bearing seat is horizontal Mounted in upper backup pad upper surface, and it is perpendicular with second driving shaft；3rd power transmission shaft one end sets and is meshed with first bevel gear Second bevel gear, the other end set the 3rd crank；3rd crank connects installation upper backup pad upper end by first connecting rod The double-slider mechanism in face；The double-slider mechanism includes 5th bearing seat, the first slide bar, the second slide bar, the first sliding block, the second cunning Block, first connecting rod and second connecting rod, first slide bar are horizontally arranged at upper backup pad upper surface by 5th bearing seat, and first Slide bar and the 3rd power transmission shaft are perpendicular, and the first sliding block is slidably disposed on the first slide bar and by first connecting rod and the 3rd song The movable end connection of handle；Second slide bar is fixed on the one end of the first slide bar away from the 3rd power transmission shaft, and opposed vertical is arranged on Above two slide bars, the second sliding block is slidably disposed on the second slide bar, and movable connect sets between the first sliding block and the second sliding block Put second connecting rod；

The oscillating guidebar mechanism includes the first riser, the 4th crank, the first guide rod, third connecting rod and swing component, described First riser is vertically set on upper backup pad upper surface, and its plate face and second driving shaft axis perpendicular；Second driving shaft passes through Wear the first riser and connect the 4th crank, described 4th crank one end is vertically fixed on second driving shaft end, and the other end is provided with Limited block；Movably connection is arranged on the first riser top for described swing component one end, and the other end is led by third connecting rod connection first Bar swing component；Swing component is parallel with the first riser, is provided with a long guide hole set along its length among swing component, and described the Limited block on four cranks is correspondingly slidably arranged in long guide hole；First guide rod is horizontally arranged at by 6th bearing seat Supporting plate upper surface；Movable connection third connecting rod, its one end are provided with along its axially arranged U-type groove in the middle part of first guide rod；

Offset distance slide crank is additionally provided between oscillating guidebar mechanism and double-slider mechanism on the upper backup pad upper surface Motivation structure, the offset distance crank slide mechanism include the second riser, the first rotating wheel, the second rotating wheel, the second guide rod, the 4th company Bar and the 5th connecting rod, the second riser are vertically set on upper backup pad upper surface, and its plate face face U-type groove and relative first guide rod Vertically；First rotating wheel and the second rotating wheel are symmetricly set on the second riser upper end, and relative second riser plate face is put down OK, it is connected between the first rotating wheel and the second rotating wheel by rotating shaft；Described fourth link one end bias is rotatably provided in In one rotating wheel, its other end movably connects the second sliding block；Described 5th connecting rod one end bias is rotatably provided in the second rotation On wheel and symmetrical with fourth link eccentric position, the 5th connecting rod other end movably connects the second guide rod；Second guide rod is set It is arranged on immediately below the second rotating wheel and by 7th bearing seat on the second riser, the second guide rod is with respect to upper backup pad upper surface Vertically, the second guide rod is set with respect to the corresponding first guide rod U-type groove in one end of the 5th connecting rod；First guide rod and the second guide rod are coplanar simultaneously Perpendicular, on the first guide rod and the second guide rod relative direction during equal range, the second guide rod can correspond to the first guide rod U of insertion In type groove.

Such scheme demonstrates the cooperation between mechanism driving and different driving-chains by multi-foot robot, with reference to actually giving Student's ocular demonstration so that mechanical principle course explanation more switching is actual and gos deep into；The interest of Students ' Learning can be strengthened.On State the driving-chain in three directions of schemes show：First, motor-gear deceleration group-walking component-walking component；Second, motor- Gear deceleration group-chain-three power transmission shafts of turbine and worm-the-double-slider mechanism-offset distance crank slide mechanism；Third, motor-gear Deceleration group-chain-turbine and worm-oscillating guidebar mechanism；Wherein, second and the 3rd can cooperate between driving-chain.Pass through Action between different driving-chains is it is known that the space transmission situation of different driving-chains, the operating principle of different institutions, and biography Pass direction；Student can be helped to be well understood by the practical application of mechanism.

Preferably, the upper backup pad is additionally provided with the 4th rotary shaft, and the 4th rotary shaft is vertical with respect to upper backup pad Set and be arranged on directly over a walking axle, described 4th rotary shaft one end passes through bevel gear set and walking axis connection, the other end It is connected by shaft coupling with cam；The cam is parallel with respect to upper backup pad and connects cross slides and incomplete tooth respectively Mechanism is taken turns, the cross slides are connected with incomplete gear mechanism；

The cross slides include the 3rd guide rod, the 4th guide rod, the 5th guide rod, the 6th guide rod, the 3rd sliding block, the 7th Bearing block and 8th bearing seat, the 3rd slide bar are horizontally arranged at upper backup pad upper surface by 7th bearing seat, and with institute It is contour to state cam；3rd slide bar one end and cam contour sliding contact, and being capable of the circumferentially slip of opposing cam profile；Described 4th Guide rod is fixed on the 3rd guide rod, and parallel and relative 3rd guide rod in relative upper backup pad upper surface is vertical；3rd sliding block can be slided It is dynamic be arranged on the 4th guide rod and the 5th guide rod on, the 4th guide rod and the 5th perpendicular setting of guide rod；5th guide rod and Six guide rods are fixedly linked, and the 5th guide rod and the 6th guide rod are perpendicular and parallel with upper backup pad upper surface；Described 6th Guide rod is fixed on upper backup pad upper surface by 8th bearing seat, and is connected with incomplete gear mechanism；

The incomplete gear mechanism include the 9th bearing block, the tenth bearing block, the 5th rotary shaft, partial gear and from Moving part；5th rotary shaft is vertically mounted on lower supporting plate by the 9th bearing block, its other end connection partial gear And above upper backup pad；By transmitting band connection between 5th rotary shaft and the 4th rotary shaft；The driven member is in Annular is set, and its inner side sets the two parallel and racks that are oppositely arranged, and the partial gear is arranged among two racks and energy Enough it is meshed；The 6th guide rod is connected along one end of rack setting direction on the driven member, the driven member rack is set Direction and the 6th guide rod diameter parallel；Its other end is provided with guide rod, and is arranged on by guide rod on the tenth bearing block.

Here cam is the demonstration vertical direction motion to heart direct acting roller tappet disc cam mechanism, partial gear with Rack engagement demonstration horizontal motion.Cam mechanism combines with incomplete gear mechanism, forms parallel combined mechanism, two machines Structure cooperation, it is simultaneously mobile in the two directions, finally in crosshead shoe central point output campaign track.In order that two machines The motion of structure is synchronous, and toothed belt transmission is utilized between camshaft and partial gear axle.The combined mechanism, in two two kinds of demonstration While mechanism, predetermined movement locus is exported, understanding of the learner to both mechanisms, and both mechanisms can be deepened The characteristics of.

Preferably, connected between the upper backup pad and lower supporting plate by pillar；The upper backup pad and lower supporting plate For transparent material structure.Here transparent material structure is that plate is made every effort to overcome in transparent material Asia, is advantageous to the observation of mechanism connection key point, Student can be helped to be best understood from the kinetic characteristic of mechanism.

Preferably, the walking leg is triangular structure；Set between first crank and the second crank in 180 degree, it is adjacent Set between first crank of walking component in 180 degree, in 180 degree setting between the second crank of adjacent walking component.Here Enable to walking leg alternately to lift or fall in 180 degree of settings, ensure stability during its walking.

Preferably, including described in three groups walking component, two motors and two gear deceleration groups, walking component are uniform On body, two motors are the first motor and the second motor；First motor and the second motor are all connected with being located at body The walking component in centre position, first motor connect the first crank, and gear deceleration group output gear by gear deceleration group Walking component of the wheel by timing belt connection positioned at body front position；Second motor connects second by gear deceleration group Crank, and walking component of the gear deceleration group output gear by timing belt connection positioned at body back-end location；First electricity Machine is also connected with the chain by gear deceleration group.Two groups of symmetrically arranged power sources are set here, are advantageous to integrated model Power output, and facilitate synchronism output and steadiness between observation of students different dynamic source.

Preferably, the upper backup pad is provided with long through-hole, and the long through-hole corresponds to chain and passed through；Lower relatively, the chain Fagging is set in 45 ° -90 °.Set by chain different angle, realize the power transmission demonstration in different angle, allow student more Transmission situation between understanding Chain conveyer well and paralleling to the axis.

Preferably, the shaft coupling is Hooks coupling universal coupling, and the 4th rotary shaft is set with respect to lower supporting plate in 45 ° -90 ° Put.The transmission situation between non-same axis is demonstrated by the 4th rotary shaft and shaft coupling.

Preferably, the first stand-by motor of the corresponding chain, first stand-by motor are set on the upper backup pad It can be connected by the chain drum installed in its output end with the chain, and form Chain conveyer.Here it can dismantle and connect with chain The first stand-by motor is connect, the drive to chain and its drive mechanism is realized, so can individually demonstrate；It can also realize not simultaneously Driven separately between dynamic chain, convenient display, contrast and observation.

Preferably, corresponded on the upper backup pad and dismountable second stand-by motor is set below shaft coupling, described second Stand-by motor can correspond to the shaft coupling connection.

Due to being had the advantages that using above-mentioned technical proposal, the utility model：

1st, the utility model is compared compact compared with tradition machinery showcase, is easy to carry, and is directly drilled on classroom Show, theory teaching can preferably be combined with practical teaching.

2nd, the utility model enriches compared with mechanism model compared to mechanism species, can show Spur Gear Driving, toothed belt transmission, song Handle rocker device, cam mechanism, incomplete gear mechanism, Chain conveyer, turbine and worm transmission, Bevel Gear Transmission, guide-bar mechanism, partially Away from various mechanisms such as slider-crank mechanism, double-slider mechanism, centric slider-crank mechanisms, it is interesting effectively to strengthen classroom.

3rd, the utility model makes every effort to overcome plate using transparent material Asia and does bottom plate, is advantageous to the observation of mechanism connection key point, energy Student is helped to be best understood from the kinetic characteristic of mechanism.

Brief description of the drawings

Fig. 1 is the utility model structure diagram；

Fig. 2 is the utility model walking mechanism schematic diagram；

Fig. 3 is that the structure of the combined mechanisms such as oscillating guidebar mechanism in Fig. 1, double-slider mechanism, offset distance crank slide mechanism is shown It is intended to；

Fig. 4 is Fig. 3 rearview；

Fig. 5 is the combining structure schematic diagrams such as Fig. 1 cams, cross slides, incomplete gear mechanism；

In accompanying drawing, 1- bodies, 11- lower supporting plates, 12- upper backup pads, 13- long through-holes, 2- walking component, 20- motors, 21- walkings axle, the cranks of 22- first, the cranks of 23- second, the rocking bars of 24- first, the rocking bars of 25- second, 26- walkings leg, 27- first Bearing block, 28- gear deceleration groups, 29- timing belts, the chain drums of 31- second, the power transmission shafts of 32- first, 33- second bearing seats, 34- Two power transmission shafts, 35- 3rd bearings seat, 36- first bevel gears, 37- second bevel gears, the power transmission shafts of 38- the 3rd, 39- fourth bearings Seat, 4- oscillating guidebar mechanisms, the risers of 41- first, the cranks of 42- the 4th, the guide rods of 43- first, 44- third connecting rods, 45- swing components, The long guide holes of 46-, 47- limited blocks, 48-U type grooves, 49- 6th bearings seat, 5- double-slider mechanisms, 51- 5th bearings seat, 52- One slide bar, the slide bars of 53- second, the sliding blocks of 54- first, the sliding blocks of 55- second, the cranks of 56- the 3rd, 57- first connecting rods, 58- second connect Bar, 6- offset distances crank slide mechanism, the risers of 61- second, the rotating wheels of 62- first, the rotating wheels of 63- second, the guide rods of 64- second, 65- Fourth link, the connecting rods of 66- the 5th, 7- cam mechanisms, the rotary shafts of 71- the 4th, 72- cams, 73- bevel gear sets, 74- conveyer belts, 8- cross slides, the guide rods of 81- the 3rd, the guide rods of 82- the 4th, the guide rods of 83- the 5th, the guide rods of 84- the 6th, the sliding blocks of 85- the 3rd, 86- 7th bearings seat, 87- 8th bearings seat, 9- incomplete gear mechanisms, the bearing blocks of 91- the 9th, the bearing blocks of 92- the tenth, 93- 5th rotary shaft, 94- partial gears, 95- driven members, 96- guide rods.

Embodiment

Further illustrated below in conjunction with specific implementation of the accompanying drawing to utility model.

As Figure 1-5, it is the utility model preferred embodiment, multi-foot robot teaching platform, including robot body 1st, walking component 2 and motor 20, body 1 are provided with multigroup walking component 2, and the assembling mechanism for mechanism displaying.Combination Formula mechanism includes the first combined mechanism and the second combined mechanism.

As shown in figure 1, multi-foot robot disclosed herein is Hexapod Robot, and established based on Hexapod Robot for teaching Mechanism platform, specifically for the device that a kind of theory of mechanism is provided to student and is actually combined.It include body 1, The walking component 2 and motor 20 walked enough for robot six, the fabricated structure for mechanism displaying.Hexapod Robot body 1 including in the upper backup pad 12 and lower supporting plate 11 that set is separated up and down, walking component 2 and motor 20 are fixed on lower supporting plate 11 On；Fabricated structure for mechanism displaying is arranged on upper backup pad 12.Upper backup pad 12 and lower supporting plate 11 are transparent material Matter structure；Here transparent material structure is that plate is made every effort to overcome in transparent material Asia, is advantageous to the observation of mechanism connection key point, can help to learn The raw kinetic characteristic for being best understood from mechanism.Upper backup pad 12 connects with the mechanism on lower supporting plate 11 further through transmission mechanism, makes When obtaining Hexapod Robot action, at least three groups of driving-chains are produced, pass through the action and mutual cooperation of structure on driving-chain, Ke Yirang Student recognizes the practical application of mechanism, gears to actual circumstances and expands theory practice.

As shown in Fig. 2 the structural representation for the mechanism on lower supporting plate 11.Three groups of walking components are set here Six foots of 2 composition robots.Component 2 of walking includes walking axle 21, the first crank 22, the second crank 23, the first rocking bar 24, second Rocking bar 25 and walking leg 26, walking axle 21 are arranged on the upper surface of lower supporting plate 11 by first bearing seat 27.First crank 22 Corresponded to the second crank 23 and be fixed on the walking both ends of axle 21 and outside the left and right sides of lower supporting plate 11, the He of the first crank 22 The phase of second crank 23 differs 180 °；Movably connection is arranged on the side of upper backup pad 12 to the one end of first rocking bar 24, and is correspondingly arranged In the side of the first crank 22；Between the movable end of first crank 22 and the first rocking bar 24 set walking leg 26, the walking leg 26 with First crank 22, the first rocking bar 24 form crank and rocker mechanism.Walking leg 26 is triangular structure, the two corners pair of triangular structure Connecting crank and rocking bar are answered, last angle is as the contact point with ground.Second rocking bar 25 is by movably connecting installed in upper branch The side of fagging 12, and it is correspondingly arranged at the side of the second crank 23；Set between the movable end of second crank 23 and the second rocking bar 25 Walking leg 26, the crank 23 of walking leg 26 and second, the second rocking bar 25 form crank and rocker mechanism；Two adjacent walking components 2 Between 22 phases of the first crank differ 180 °, the second 23, crank phase differs 180 °, and walking leg 26 can be rotated with crank and contacted Ground departs from ground.

Three groups of walking components 2 are successively set on the front end, middle part and rear end of the upper surface of lower supporting plate 11, adjacent walking group Walking axle 21 between part 2 is connected by timing belt 29, is selected the walking axle 21 in the middle part of the upper surface of lower supporting plate 11 and is used as driving Axle.Drive shaft is connected by gear deceleration group 28 with motor 20, and gear deceleration group 28 and motor 20 are installed in lower supporting plate 11 Upper surface；Gear deceleration group 28 includes the input gear and output gear being meshed, and input gear is connected with the output end of motor 20 And be coaxially set, output gear is fixed on the driving shaft and is coaxially set with drive shaft.Due between walking component 2 and capable Walk the first crank 22 in component 2, the phase of the second crank 23 differs 180 ° of settings, it can ensure three walking legs 26 and ground Contact, walking leg 26, which constantly rises, to be put down, and remains the supported amount of three walking leg 26 and in order switching, and then realize walking.

As Figure 1-4, the upper surface of upper backup pad 12 is provided with the first combined mechanism, and the first combined mechanism includes Chain conveyer Mechanism, worm-and-wheel gear, bevel gear transmission, oscillating guidebar mechanism 4, double-slider mechanism 5 and offset distance crank slide mechanism 6。

Chain-drive mechanism is including setting the first chain drum (being to draw in figure) on the driving shaft and being arranged on upper backup pad 12 The second chain drum 31 of corresponding first chain drum, is provided with chain on upper surface between the first chain drum and the second chain drum 31.First chain drum and Upper backup pad 12 between second chain drum 31 is provided with long through-hole 13, and the corresponding chain of long through-hole 13 passes through；Chain is relatively lower to be supported Plate 11 is in 60 ° of settings.Set by chain different angle, realize the power transmission demonstration in different angle, make student more preferable Solve the transmission situation between Chain conveyer and parallel axis.Second chain drum 31 is arranged on the one end of the first power transmission shaft 32, the first power transmission shaft 32 are horizontally arranged at the upper surface of upper backup pad 12 by second bearing seat 33.First power transmission shaft 32 is arranged right below mutually hanging down with it Straight second driving shaft 34.The middle part of first power transmission shaft 32 sets worm screw, and the middle part of second driving shaft 34 sets the whirlpool of corresponding worm screw Wheel, form turbine and worm transmission；Second driving shaft 34 is horizontally arranged at the upper surface of upper backup pad 12 by 3rd bearing seat 35.

The one end of second driving shaft 34 is provided with the first bevel gear 36 for being coaxial therewith line, its other end connection oscillating guidebar mechanism 4.Second driving shaft 34 connects the 3rd power transmission shaft 38 by first bevel gear 36, and the 3rd power transmission shaft 38 passes through the water of fourth bearing seat 39 Safety is mounted in the upper surface of upper backup pad 12, and perpendicular with second driving shaft 34.The one end of 3rd power transmission shaft 38 is set and the first cone The second bevel gear 37 that gear 36 is meshed, the other end set the 3rd crank 56.3rd crank 56 is connected by first connecting rod 57 The double-slider mechanism 5 of the upper surface of upper backup pad 12 is installed.Double-slider mechanism 5 includes 5th bearing seat 51, the first slide bar 52, second Slide bar 53, the first sliding block 54, the second sliding block 55, first connecting rod 57 and second connecting rod 58.First slide bar 52 passes through 5th bearing seat 51 are horizontally arranged at the upper surface of upper backup pad 12, and the first slide bar 52 and the 3rd power transmission shaft 38 are perpendicular, and are located at the first power transmission shaft 32 the same sides；First sliding block 54 is slidably disposed on the first slide bar 52 and by the work of the crank 56 of first connecting rod 57 and the 3rd Moved end connects.Second slide bar 53 is fixed on first one end of slide bar 52 away from the 3rd power transmission shaft 38, and opposed vertical is arranged on The top of two slide bar 53.Second sliding block 55 is slidably disposed on the second slide bar 53, between the first sliding block 54 and the second sliding block 55 Movable connection sets second connecting rod 58.

Oscillating guidebar mechanism 4 includes the first riser 41, the 4th crank 42, the first guide rod 43, third connecting rod 44 and swing component 45.First riser 41 is vertically set on the upper surface of upper backup pad 12, and its plate face and the axis perpendicular of second driving shaft 34.Second Power transmission shaft 34 is through the first riser 41 and connects the 4th crank 42, and the one end of the 4th crank 42 is vertically fixed on the end of second driving shaft 34 Portion, the other end are provided with limited block 47.Movably connection is arranged on the top of the first riser 41 to the one end of swing component 45, and the other end passes through the 3rd Connecting rod 44 connects the swing component 45 of the first guide rod 43.Swing component 45 is parallel with the first riser 41, and one along its is provided among swing component 45 The long guide hole 46 that length direction is set, limited block 47 on the 4th crank 42 is corresponding to be slidably arranged in long guide hole 46.First leads Bar 43 is horizontally arranged at the upper surface of upper backup pad 12 by 6th bearing seat 49.The movable connection third connecting rod in the middle part of first guide rod 43 44, its one end is provided with along its axially arranged U-type groove 48.The 52 perpendicular setting of first guide rod 43 and the first slide bar.

Offset distance crank is additionally provided with the upper surface of upper backup pad 12 between oscillating guidebar mechanism 4 and double-slider mechanism 5 Sliding equipment 6.Offset distance crank slide mechanism 6 includes the second riser 61, the first rotating wheel 62, the second rotating wheel 63, the second guide rod 64th, the connecting rod 66 of fourth link 65 and the 5th.Second riser 61 is vertically set on the upper surface of upper backup pad 12, and its plate face face U Simultaneously relative first guide rod 43 is vertical for type groove 48.First rotating wheel 62 and the second rotating wheel 63 are symmetricly set on the upper end of the second riser 61 Portion, and the relative plate face of second riser 61 is parallel, is connected between the first rotating wheel 62 and the second rotating wheel 63 by rotating shaft.4th connects One end bias of bar 65 is rotatably provided in the first rotating wheel 62, and its other end movably connects the second sliding block 55.5th connecting rod 66 One end bias is rotatably provided in the second rotating wheel 63 and symmetrical with the eccentric position of fourth link 65, and the 5th connecting rod 66 is another The second guide rod 64 of the movable connection in end.Second guide rod 64 is arranged on immediately below the second rotating wheel 63 and pacified by 7th bearing seat 86 On the second riser 61, the 64 relative upper surface of upper backup pad 12 of the second guide rod is vertical, 64 relative 5th connecting rod 66 of the second guide rod The corresponding first guide rod 43U type grooves 48 in one end set.First guide rod 43 and the second guide rod 64 are coplanar and perpendicular, the first guide rod 43 With in the relative direction of the second guide rod 64 during equal range, the second guide rod 64 can correspond to the U-type groove 48 for inserting the first guide rod 43 It is interior.

Such scheme demonstrates the cooperation between mechanism driving and different driving-chains by multi-foot robot, with reference to actually giving Student's ocular demonstration so that mechanical principle course explanation more switching is actual and gos deep into；The interest of Students ' Learning can be strengthened.This In driving-chain include：The power transmission shaft 38- double-slider mechanisms 5- of motor 20- gear deceleration groups 28- Chain conveyers-turbine and worm-the three is inclined Away from crank slide mechanism 6, motor 20- gear deceleration groups 28- Chain conveyers-turbine and worm-oscillating guidebar mechanism 4.Here two transmission It can be cooperated between chain, i.e., in both relative directions during equal range, the second guide rod 64 can correspond to insertion first and lead In the U type grooves 48 of bar 43.Here whether the second guide rod 64 can be corresponded in the first guide rod 43U type grooves of insertion 48 between mechanism Transmission situation it is relevant, it is corresponding, and to plug together frequency relevant with the speed of travel of Hexapod Robot；Here student can pass through record The frequency that plugs together of second guide rod 64 and the first guide rod 43 understands walking situation, understands mechanism driving situation, speed is than situation, transmission Efficiency situation etc., these all existing mechanism teaching modes can not be brought.Think mechanism teaching can only single institution explanation, The teaching of more Mechanism Combinations is seldom carried out, or theory can only be explained, can not specifically be demonstrated to student, theory can not gear to actual circumstances Using.And here by the action between different driving-chains it is known that the space of different driving-chains is driven situation, different institutions Operating principle, and direction of transfer；Student can be helped to be well understood by the practical application of mechanism.

As shown in figure 5, the upper surface of upper backup pad 12 is provided with the second combined mechanism, the second combined mechanism includes bevel gear machine Structure, cam mechanism 7, cross slides 8 and incomplete gear mechanism 9.Upper backup pad 12 is provided with the 4th rotary shaft 71, and the 4th Rotary shaft 71 is vertically arranged and is arranged on directly over a walking axle 21 with respect to upper backup pad 12.The one end of 4th rotary shaft 71 passes through cone Gear train 73 is connected with walking axle 21, and the other end is connected by shaft coupling with cam 72.Cam 72 is parallel with respect to upper backup pad 12 And connection cross slides 8 and incomplete gear mechanism 9, cross slides 8 are connected with incomplete gear mechanism 9 respectively.

Cross slides 8 include the 3rd guide rod 81, the 4th guide rod 82, the 5th guide rod 83, the 6th guide rod 84, the 3rd sliding block 85th, 7th bearing seat 86 and 8th bearing seat 87.3rd slide bar is horizontally arranged on upper backup pad 12 by 7th bearing seat 86 End face, and it is contour with cam 72.3rd slide bar one end and the profile sliding contact of cam 72, and being capable of the profile of opposing cam 72 circumference Slide.Specifically, pulley and cam 72 profile sliding contact of the 3rd slide bar by its end.4th guide rod 82 is fixed on the 3rd On guide rod 81, and parallel and relative 3rd guide rod 81 in the relative upper surface of upper backup pad 12 is vertical.3rd sliding block 85 is slidably set On the 4th guide rod 82 and on the 5th guide rod 83, the 83 perpendicular setting of the 4th guide rod 82 and the 5th guide rod.5th guide rod 83 and The one end of six guide rod 84 is fixedly linked, and the 5th guide rod 83 and the 6th guide rod 84 are perpendicular and parallel with the upper surface of upper backup pad 12. 6th guide rod 84 is fixed on the upper surface of upper backup pad 12 by 8th bearing seat 87, and is connected with incomplete gear mechanism 9.

Incomplete gear mechanism 9 includes the 9th bearing block 91, the tenth bearing block 92, the 5th rotary shaft 93, partial gear 94 and driven member 95.5th rotary shaft 93 is vertically mounted on lower supporting plate 11 by the 9th bearing block 91, the connection of its other end Partial gear 94 is simultaneously located at the top of upper backup pad 12.Pass through conveyer belt 74 between 5th rotary shaft 93 and the 4th rotary shaft 71 Connection.Driven member 95 is set in a ring, and its inner side sets the two parallel and racks that are oppositely arranged, and partial gear 94 is arranged on two Among rack and it can be meshed.On driven member 95 the 6th guide rod 84, the tooth of driven member 95 are connected along one end of rack setting direction Article setting direction and the diameter parallel of the 6th guide rod 84；Its other end is provided with guide rod 96, and is arranged on the tenth by guide rod 96 On bearing block 92.

Here cam 72 is to heart direct acting roller tappet disc cam mechanism 7, demonstration vertical direction motion, partial gear 94 engage demonstration horizontal motion with rack.Cam mechanism 7 combines with incomplete gear mechanism 9, forms parallel combination machine Structure, Liang Ge mechanisms cooperation is simultaneously mobile in the two directions, finally in crosshead shoe central point output campaign track.For The motion of Liao Shiliangge mechanisms is synchronous, is driven between the axle of cam 72 and the axle of partial gear 94 using timing belt 29.The combination machine Structure, while Liang Geliangzhong mechanisms are demonstrated, predetermined movement locus is exported, reason of the learner to both mechanisms can be deepened Solution, and the characteristics of both mechanisms.Here the action of combined mechanism and the walking motion of Hexapod Robot are relevant；It is so not single In walking mechanism of the study based on crank and rocker mechanism it is also possible to learn to form other different institutions of driving-chain therewith, Learning organization knowledge, and the driving-chain being made up of mechanism, theory is geared to actual circumstances.

The first combined mechanism is individually demonstrated for convenience, and the first stand-by motor of corresponding chain is set on upper backup pad 12, First stand-by motor can be connected by the chain drum installed in its output end with chain, and form Chain conveyer.Here can be with chain Dismantle and connect the first stand-by motor, realize the drive to chain and its drive mechanism, so can individually demonstrate；Also may be used simultaneously To realize driven separately between motionless chain, convenient display, contrast and observation.

Independent the second combined mechanism of demonstration for convenience, setting below shaft coupling dismountable the correspond on upper backup pad 12 Two stand-by motors, the second stand-by motor 2 can correspond to shaft coupling connection.

Described above is the detailed description for the preferable possible embodiments of the utility model, but embodiment is not limited to Patent claim of the present utility model, the equal change or modification completed under the technical spirit suggested by all the utility model Change, all should belong to the utility model and cover the scope of the claims.

Claims (8)

1. a kind of multi-foot robot for being used to impart knowledge to students, including robot body, walking component and motor, the body are provided with more Group walking component；It is characterized in that：

The body includes the upper backup pad and lower supporting plate set in separating up and down；The motor is fixed on lower supporting plate upper end Face；

The walking component includes walking axle, the first crank, the second crank, the first rocking bar, the second rocking bar and walking leg, the row Walk axle and lower supporting plate upper surface is arranged on by first bearing seat, first crank and the second crank are correspondingly fixed on walking axle Both ends are simultaneously located at outside the left and right sides of lower supporting plate, and the first crank and the second crank phase differ 180 °；First rocking bar can Dynamic connection is arranged on upper backup pad side, and is correspondingly arranged at the first crank side；The work of first crank and the first rocking bar Walking leg is set between moved end, and the walking leg and the first crank, the first rocking bar form crank and rocker mechanism；Second rocking bar leads to Cross movable connection and be arranged on upper backup pad side, and be correspondingly arranged at the second crank side；Second crank and the second rocking bar Movable end between walking leg, the walking leg and the second crank, the second rocking bar composition crank and rocker mechanism are set；Two adjacent rows Walk the crank phase of inter-module first and differ 180 °, the second crank phase differs 180 °, and walking leg can rotate contact ground with crank Or depart from ground；

The walking axle of adjacent walking inter-module is selected a walking axle and led to as drive shaft, drive shaft by synchronous band connection Cross gear deceleration group and the motor connection；Gear deceleration group and motor are installed in lower supporting plate upper surface；The gear subtracts Speed group includes the input gear and output gear being meshed, and the input gear is connected and is coaxially set with motor output end, Output gear is fixed on the driving shaft and is coaxially set with drive shaft；The first chain drum is additionally provided with the drive shaft, it is described Upper backup pad upper surface is provided with the second chain drum of corresponding first chain drum, and chain is provided between the first chain drum and the second chain drum；It is described Second chain drum is arranged on first power transmission shaft one end, and the first power transmission shaft is horizontally arranged at upper backup pad upper end by second bearing seat Face, the underface or surface of first power transmission shaft are provided with the second driving shaft perpendicular with it, first power transmission shaft with It is driven between second driving shaft by turbine and worm, second driving shaft is horizontally arranged at upper backup pad upper end by 3rd bearing seat Face；

Described second driving shaft one end is provided with the first bevel gear for being coaxial therewith line, its other end connection oscillating guidebar mechanism；The Two power transmission shafts connect the 3rd power transmission shaft by first bevel gear, and the 3rd power transmission shaft is horizontally arranged at by fourth bearing seat Supporting plate upper surface, and it is perpendicular with second driving shaft；3rd power transmission shaft one end sets second to be meshed with first bevel gear Bevel gear, the other end set the 3rd crank；3rd crank connects the double of installation upper backup pad upper surface by first connecting rod Slide block mechanism；The double-slider mechanism includes 5th bearing seat, the first slide bar, the second slide bar, the first sliding block, the second sliding block, the One connecting rod and second connecting rod, first slide bar are horizontally arranged at upper backup pad upper surface, the first slide bar by 5th bearing seat Perpendicular with the 3rd power transmission shaft, the first sliding block is slidably disposed on the first slide bar and three-throw by first connecting rod and Movable end connects；Second slide bar is fixed on the one end of the first slide bar away from the 3rd power transmission shaft, and opposed vertical is arranged on the second cunning Above bar, the second sliding block is slidably disposed on the second slide bar, between the first sliding block and the second sliding block movable connection set the Two connecting rods；

The oscillating guidebar mechanism includes the first riser, the 4th crank, the first guide rod, third connecting rod and swing component, and described first Riser is vertically set on upper backup pad upper surface, and its plate face and second driving shaft axis perpendicular；Second driving shaft is through the One riser simultaneously connects the 4th crank, and described 4th crank one end is vertically fixed on second driving shaft end, and the other end is provided with spacing Block；Movably connection is arranged on the first riser top for described swing component one end, and the other end connects the first guide rod by third connecting rod and put Moving part；Swing component is parallel with the first riser, and a long guide hole set along its length is provided among swing component, and the described 4th is bent Limited block on handle is correspondingly slidably arranged in long guide hole；First guide rod is horizontally arranged at upper support by 6th bearing seat Plate upper surface；Movable connection third connecting rod, its one end are provided with along its axially arranged U-type groove in the middle part of first guide rod；

Offset distance crank skate machine is additionally provided with the upper backup pad upper surface between oscillating guidebar mechanism and double-slider mechanism Structure, the offset distance crank slide mechanism include the second riser, the first rotating wheel, the second rotating wheel, the second guide rod, fourth link and 5th connecting rod, the second riser is vertically set on upper backup pad upper surface, and simultaneously relative first guide rod hangs down its plate face face U-type groove Directly；First rotating wheel and the second rotating wheel are symmetricly set on the second riser upper end, and relative second riser plate face is parallel, It is connected between first rotating wheel and the second rotating wheel by rotating shaft；Described fourth link one end bias is rotatably provided in the first rotation On runner, its other end movably connects the second sliding block；Described 5th connecting rod one end bias is rotatably provided in the second rotating wheel And it is symmetrical with fourth link eccentric position, the 5th connecting rod other end movably connects the second guide rod；Second guide rod is arranged on It is arranged on immediately below two rotating wheels and by 7th bearing seat on the second riser, the second guide rod hangs down with respect to upper backup pad upper surface Directly, the second guide rod is set with respect to the corresponding first guide rod U-type groove in one end of the 5th connecting rod；First guide rod and the second guide rod is coplanar and phase Vertically, in the first guide rod and the second guide rod relative direction during equal range, it is U-shaped that the second guide rod can correspond to the first guide rod of insertion In groove.

A kind of 2. multi-foot robot for being used to impart knowledge to students according to claim 1, it is characterised in that：The upper backup pad is also set The 4th rotary shaft is equipped with, the 4th rotary shaft is vertically arranged with respect to upper backup pad and is arranged on directly over a walking axle, described 4th rotary shaft one end is connected by bevel gear set and walking axis connection, the other end by shaft coupling with cam；The cam phase It is parallel to upper backup pad and connect cross slides and incomplete gear mechanism respectively, cross slides and not exclusively Gear mechanism is connected；

The cross slides include the 3rd guide rod, the 4th guide rod, the 5th guide rod, the 6th guide rod, the 3rd sliding block, 7th bearing Seat and 8th bearing seat, the 3rd slide bar are horizontally arranged at upper backup pad upper surface by 7th bearing seat, and with it is described convex Take turns contour；3rd slide bar one end and cam contour sliding contact, and being capable of the circumferentially slip of opposing cam profile；4th guide rod It is fixed on the 3rd guide rod, and parallel and relative 3rd guide rod in relative upper backup pad upper surface is vertical；3rd sliding block is slidably set Put on the 4th guide rod and on the 5th guide rod, the 4th guide rod and the 5th perpendicular setting of guide rod；5th guide rod and the 6th is led Bar one end is fixedly linked, and the 5th guide rod and the 6th guide rod are perpendicular and parallel with upper backup pad upper surface；6th guide rod Upper backup pad upper surface is fixed on by 8th bearing seat, and is connected with incomplete gear mechanism；

The incomplete gear mechanism includes the 9th bearing block, the tenth bearing block, the 5th rotary shaft, partial gear and driven Part；5th rotary shaft is vertically mounted on lower supporting plate by the 9th bearing block, and its other end connection partial gear is simultaneously Above upper backup pad；By transmitting band connection between 5th rotary shaft and the 4th rotary shaft；The driven member is in ring Shape is set, and its inner side sets the two parallel and racks that are oppositely arranged, and the partial gear is arranged among two racks and can It is meshed；On the driven member the 6th guide rod, the driven member rack setting side are connected along one end of rack setting direction To with the 6th guide rod diameter parallel；Its other end is provided with guide rod, and is arranged on by guide rod on the tenth bearing block.

A kind of 3. multi-foot robot for being used to impart knowledge to students according to claim 1, it is characterised in that：The upper backup pad is with Connected between supporting plate by pillar；The upper backup pad and lower supporting plate are transparent material structure.

A kind of 4. multi-foot robot for being used to impart knowledge to students according to claim 1, it is characterised in that：The upper backup pad is provided with Long through-hole, the long through-hole correspond to chain and passed through；The chain is set with respect to lower supporting plate in 45 ° -90 °.

A kind of 5. multi-foot robot for being used to impart knowledge to students according to claim 2, it is characterised in that：The shaft coupling is universal Shaft coupling, the 4th rotary shaft are set with respect to lower supporting plate in 45 ° -90 °.

A kind of 6. multi-foot robot for being used to impart knowledge to students according to claim 1, it is characterised in that：Set on the upper backup pad The first stand-by motor of the corresponding chain is put, first stand-by motor can pass through the chain drum installed in its output end and institute Chain connection is stated, and forms Chain conveyer.

A kind of 7. multi-foot robot for being used to impart knowledge to students according to claim 1, it is characterised in that：It is right on the upper backup pad Answer and dismountable second stand-by motor is set below shaft coupling, second stand-by motor can correspond to the shaft coupling connection.

A kind of 8. multi-foot robot for being used to impart knowledge to students according to claim 1, it is characterised in that：The walking leg is triangle Shape structure.