CN215245198U - Multi-foot mechanical transmission structure - Google Patents
Multi-foot mechanical transmission structure Download PDFInfo
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- CN215245198U CN215245198U CN202121496033.1U CN202121496033U CN215245198U CN 215245198 U CN215245198 U CN 215245198U CN 202121496033 U CN202121496033 U CN 202121496033U CN 215245198 U CN215245198 U CN 215245198U
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Abstract
A multi-foot mechanical transmission structure comprises a chassis, legs, a steering module and a reversing pull rod are rotatably arranged on the chassis, and a power unit and a steering driving unit are further arranged on the chassis; the two sides of the power unit are respectively provided with an output shaft, and the output shafts respectively input power to the legs at the same side and the steering module through the power transmission module; the steering driving unit is connected with a steering transmission shaft, and power is input to the steering module through the steering transmission shaft; the steering module comprises two output hinged supports, a first pull rod and a second pull rod are hinged to the two output hinged supports respectively, the first pull rod is hinged to the outermost leg of the same side of the steering module, the second pull rod is hinged to one end of the reversing pull rod, the other end of the reversing pull rod is hinged to a third pull rod, and the third pull rod is hinged to the two legs, close to the inner side, of the same side of the steering module. The utility model discloses a mechanical structure transmission, the one set of transmission system in each of the left and right sides can make both sides syntropy or reverse motion, realizes the effect of going forward and retreating and pivot turn.
Description
Technical Field
The utility model belongs to the technical field of bionical machinery, concretely relates to polypod mechanical transmission structure.
Background
The current multi-foot walking machine mostly adopts a plurality of driving element of computer control to walk, and the structure is complicated, and energy loss is big, and the multi-foot machine that adopts many connecting rods mostly can only advance and retreat, and unable effectual completion turns to the operation, and the fluctuation is great from top to bottom in the motion process, and the motion form is single moreover, can not carry out pivot turning motion.
Disclosure of Invention
In view of the above problem, the utility model provides a polypod mechanical transmission structure adopts the mechanical structure transmission, and one set of transmission system in each of the left and right sides can make both sides syntropy or reverse motion, realizes the effect of advancing to retreat and turn in situ.
The utility model adopts the technical proposal that:
a multi-foot mechanical transmission structure comprises a chassis, legs, a steering module and a reversing pull rod are rotatably arranged on the chassis, and a power unit and a steering driving unit are further arranged on the chassis;
the two sides of the power unit are respectively provided with an output shaft, and the output shafts respectively input power to the legs at the same side and the steering module through the power transmission module;
the steering driving unit is connected with a steering transmission shaft, and power is input to the steering module through the steering transmission shaft;
the steering module comprises two output hinged supports, a first pull rod and a second pull rod are hinged to the two output hinged supports respectively, the first pull rod is hinged to the outermost leg of the same side of the steering module, the second pull rod is hinged to one end of the reversing pull rod, the other end of the reversing pull rod is hinged to a third pull rod, and the third pull rod is hinged to the two legs, close to the inner side, of the same side of the steering module.
Furthermore, a gear shifting mechanism is arranged in the power unit, or two motors are arranged in the power unit, so that the rotation directions of the two sides are the same or opposite.
Furthermore, a gear shifting mechanism is arranged in the steering driving unit, or two motors are arranged in the steering driving unit, so that the rotating directions of the two sides are the same or opposite.
Furthermore, a connecting rod mechanism used for simulating the up-and-down movement of the leg part when the animal walks is arranged in the leg.
Furthermore, the power unit is connected with a gear transmission mechanism through a shaft, an eccentric wheel is fixed at the power output end of the gear transmission mechanism, the eccentric wheel is connected with a steering pull rod, and the steering pull rod is hinged on the steering module.
Furthermore, the combination of the steering tie rod and the eccentric wheel can be replaced by a crank-rocker mechanism which realizes the same function.
The utility model discloses beneficial effect:
1. the utility model discloses a mechanical structure transmission, simple structure is steady reliable, and the fault rate is low.
2. The utility model discloses the one set of transmission system in each side can make both sides syntropy or reverse motion, realizes going forward the effect of retreating and pivot turn, and the motion form is abundanter.
3. The utility model discloses a quick return mechanism is in the quick return state when the leg lifts up, has prolonged the length of time that all legs contacted ground simultaneously in a motion cycle, makes the motion more steady.
Drawings
Fig. 1 is a schematic view (front side) of the overall structure of the present invention;
fig. 2 is a schematic view (bottom surface) of the overall structure of the present invention;
fig. 3 is a schematic view of the steering module and the power unit of the present invention.
Reference numerals: 1-a chassis; 2-a leg; 3-a steering module; 4-eccentric wheel; 5-a steering tie rod; 6-a power unit; 7-a first pull rod; 8-a second pull rod; 9-a reversing pull rod; 10-a third pull rod; 11-a steering transmission shaft; 12-a steering drive unit; 13-a power transmission module; 14-gear drive.
Detailed Description
The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.
Examples
As shown in fig. 1 to 3, a multi-foot mechanical transmission structure comprises a chassis 1, legs 2, a steering module 3 and a reversing pull rod 9 are rotatably mounted on the chassis 1, and a power unit 6 and a steering driving unit 12 are further arranged on the chassis 1;
two output shafts are respectively arranged at two sides of the power unit 6, and the output shafts respectively input power to the legs 2 (used for lifting legs and moving back and forth) and the steering module 3 (used for swinging the steering module 3) at the same side through the power transmission module 13;
the steering driving unit 12 is connected with a steering transmission shaft 11, and inputs power to the steering module 3 (for steering the steering module 3) through the steering transmission shaft 11;
the steering module 3 comprises two output hinged supports which are respectively hinged with a first pull rod 7 and a second pull rod 8, the first pull rod 7 is hinged to the leg 2 at the outermost end of the same side of the steering module 3, the second pull rod 8 is hinged to one end of a reversing pull rod 9, the other end of the reversing pull rod 9 is hinged with a third pull rod 10, and the third pull rod 10 is hinged to the two legs 2 at the same side of the steering module 3.
Two motors are arranged in the power unit 6 and the steering driving unit 12 respectively to realize the same or opposite rotation directions of the two sides.
A connecting rod mechanism for simulating the up-and-down movement of the legs of the animal when the animal walks is arranged in the legs 2.
The power unit 6 is connected with a gear transmission mechanism 14 through a shaft, an eccentric wheel 4 is fixed at the power output end of the gear transmission mechanism 14, the eccentric wheel 4 is connected with a steering pull rod 5, and the steering pull rod 5 is hinged on the steering module 3 (so that the power unit 6 drives the steering module 3 to swing).
In another embodiment, the described combination of steering linkage 5 and eccentric 4 can also be replaced by a crank-rocker mechanism that performs the same function.
The utility model discloses the theory of operation:
the utility model discloses an outside output power of power pack 6, through eccentric wheel 4, turning to pull rod 5 and driving and turn to the swing of module 3, turn to module 3 through first pull rod 7, second pull rod 8, switching-over pull rod 9, third pull rod 10 drives the swing of leg 2, the swing that turns to module 3 has the snap-back characteristic, make 2 liftoff instant states that are in of leg, the output shaft of power pack 6 both sides is rotatory to can changing, make the direction of motion of both sides leg 2 the same or opposite, when 2 directions of motion of leg are the same, the polypody machinery gos forward or retreats, when 2 directions of motion of leg are opposite, the polypody machinery is turned in situ.
Claims (6)
1. A multi-foot mechanical transmission structure is characterized by comprising a chassis (1), wherein legs (2), a steering module (3) and a reversing pull rod (9) are rotatably arranged on the chassis (1), and a power unit (6) and a steering driving unit (12) are further arranged on the chassis (1);
two output shafts are respectively arranged on two sides of the power unit (6), and the output shafts respectively input power to the legs (2) on the same side and the steering module (3) through a power transmission module (13);
the steering driving unit (12) is connected with a steering transmission shaft (11), and power is input to the steering module (3) through the steering transmission shaft (11);
turn to module (3) and contain two output hinged-supports, articulate respectively and have first pull rod (7) and second pull rod (8), first pull rod (7) articulate again to turn to on leg (2) of module (3) homonymy outermost end, second pull rod (8) articulate to the one end of switching-over pull rod (9), switching-over pull rod (9) other end articulates there is third pull rod (10), third pull rod (10) articulate to turn to on two legs (2) that module (3) homonymy leaned on in.
2. A multi-foot mechanical transmission structure according to claim 1, characterized in that the power unit (6) is internally provided with a gear shifting mechanism or internally provided with two motors to realize the same or opposite rotation directions of the two sides.
3. A multi-foot mechanical transmission structure according to claim 1, characterized in that the steering driving unit (12) is internally provided with a gear shifting mechanism or internally provided with two motors to realize the same or opposite rotation directions of the two sides.
4. A multi-legged mechanical transmission according to claim 1, characterised in that inside the legs (2) there are linkages for simulating the up and down movement of the legs of the animal when walking.
5. A multi-foot mechanical transmission structure as claimed in claim 1, characterized in that the power unit (6) is connected with a gear transmission mechanism (14) through a shaft, an eccentric wheel (4) is fixed at the power output end of the gear transmission mechanism (14), the eccentric wheel (4) is connected with a steering pull rod (5), and the steering pull rod (5) is hinged on the steering module (3).
6. A multi-legged mechanical transmission according to claim 5, characterised in that the combination of steering tie-rods (5) and eccentric wheels (4) can also be replaced by a crank-rocker mechanism performing the same function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121496033.1U CN215245198U (en) | 2021-07-02 | 2021-07-02 | Multi-foot mechanical transmission structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121496033.1U CN215245198U (en) | 2021-07-02 | 2021-07-02 | Multi-foot mechanical transmission structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215245198U true CN215245198U (en) | 2021-12-21 |
Family
ID=79486327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121496033.1U Active CN215245198U (en) | 2021-07-02 | 2021-07-02 | Multi-foot mechanical transmission structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215245198U (en) |
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2021
- 2021-07-02 CN CN202121496033.1U patent/CN215245198U/en active Active
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