CN2298847Y

CN2298847Y - Walking mechanism of bionic leg

Info

Publication number: CN2298847Y
Application number: CN 97214390
Authority: CN
Inventors: 李广岭
Original assignee: Individual
Current assignee: Individual
Priority date: 1997-05-05
Filing date: 1997-05-05
Publication date: 1998-12-02
Anticipated expiration: 2007-05-05

Abstract

The utility model relates to a walking mechanism of bionic legs, which solves the problem that the existing bionic animal legs have the phenomenon of dragging legs. The walking mechanism of bionic legs is composed of a motor, a speed reducer, a chainwheel, a crank shaft and walking legs; the crank shaft is connected with a transmission shaft by the chain mechanism of the chainwheel; both ends of the crank shaft are provided with cams; the cams are provided with cam grooves; floating shafts are arranged in the cam grooves; the walking legs are moving sheathed on the floating shafts; the floating shafts are moving connected with the guide rod of the sliding groove of a machine body. The utility model can not drag legs when walked, and the walking track conforms to the requirement of a straight line. The utility model has the advantages of vivid image and reasonable structure, and can be used as a bionic device.

Description

A kind of bionic leg walking mechanism

The utility model relates to the bionic leg walking mechanism that a kind of two legs that solve in the bionic device that imitates animal walking drag leg phenomenon to take place when walking.

At present in the bionic mechanical device of imitation animal walking, bionic animal two legs ubiquity when walking and is dragged leg phenomenon, make the distortion of bionic animal image, and in the quadric chain of selecting for use, the running orbit of its two leg often all is a ship shape, it is more straight promptly to wind up, and lower edge is oblong, can not satisfy the requirement of bionic animal footprint walking.

The purpose of this utility model is to overcome deficiency of the prior art and provides a kind of and make two legs in the bionic mechanical device can propose the leg leg motion that falls when walking, and its footprint walking is the bionic leg walking mechanism of flat trajectory motion, reaches the purpose that makes the bionic animal lifelike image.

The purpose of this utility model is achieved in that by motor, decelerator, the sprocket wheel that is provided with on the reducer output shaft, form with being installed on the crank shaft and by sprocket wheel and chain-drive crank shaft by the walking leg that crank shaft drives, crank shaft is connected with power transmission shaft by the sprocket wheel link chain mechanism again, and pair of cams respectively is housed at this two ends, on cam, have cam path, in cam path, be provided with floating axle, one end kink of walking leg is on floating axle, floating axle flexibly connects with guide rod again, and guide rod is mounted in the sliding tray on the body and can moves up and down along sliding tray

The utlity model has walking the time do not drag leg, run trace meet straight line requirement, lifelike image, rational in infrastructure, novel unique, meet advantage such as bionics requirement.

The utility model is described in further detail below in conjunction with accompanying drawing.

Fig. 1 is a structural representation of the present utility model.

Fig. 2 is a structure side view of the present utility model.

As shown in Figure 1, the utility model is by motor 1, decelerator 2, the sprocket wheel 3 that is provided with on the reducer output shaft, by the sprocket wheel on it, chain is connected with sprocket wheel 3 and drives the crank shaft 4 of its rotation and be installed on the crank shaft and by the walking leg 5 that crank shaft drives and forms, crank shaft 4 is connected with power transmission shaft by the sprocket wheel chain again, and the pair of cams 8 that respectively is equipped with at this two ends, on cam, have cam path, in cam path, be provided with floating axle 7, one end kink of walking leg is on floating axle 7, floating axle 7 flexibly connects with guide rod 6 again, and guide rod 6 is mounted in the sliding tray on the body and can moves up and down along sliding tray.

Cam 8 described in the figure can be designed to clamping plate type double cam mechanism, promptly the every end at power transmission shaft is equipped with two rolling discs, correspondence has identical cam path on two rolling discs, make in the cam path of floating axle 7 between two rolling discs and move, and make the walking leg an end kink on the floating axle between two rolling discs 7.

Motor 1 drives crank shaft 4 and rotates through decelerator 2, sprocket wheel 3, make walking leg 5 around floating axle 7 swings, work the effect of taking a step, to move by second level sprocket wheel again and reach power transmission shaft by crank shaft 4, because of pair of cams 8 respectively being housed at this two ends, when power transmission shaft rotates, cam rotates, cam path drives floating axle 7 and is subjected to guide rod 6 constraint drive walking legs 5 to carry leg up and down and moves, matching with crank shaft 4 simultaneously makes the footprint of going to the bottom do the flat trajectory motion, thereby drags the leg problem when having solved the walking of bionic animal two legs.

Claims

1, a kind of bionic leg walking mechanism, by motor (1), decelerator (2), the sprocket wheel that is provided with on the reducer output shaft (3), by the sprocket wheel on it, chain is connected with sprocket wheel (3) and drives the crank shaft (4) of its rotation and be installed on the crank shaft and by the walking leg (5) that crank shaft drives and forms, it is characterized in that: crank shaft (4) is connected with power transmission shaft by the sprocket wheel chain again, and the pair of cams (8) that respectively is equipped with at this two ends, on cam, have cam path, in cam path, be provided with floating axle (7), one end kink of walking leg is on floating axle (7), floating axle (7) flexibly connects with guide rod (6) again, and guide rod (6) is mounted in the sliding tray on the body and can moves up and down along sliding tray.

2, a kind of bionic leg walking mechanism according to claim 1, it is characterized in that: described cam (8) can be a kind of clamping plate type double cam mechanism, promptly the every end at power transmission shaft is equipped with two rolling discs, correspondence has identical cam path on two rolling discs, make in the cam path of floating axle (7) between two rolling discs and move, and make the walking leg an end kink on the floating axle between two rolling discs 7.