CN2832624Y

CN2832624Y - Walking apparatus of bionic mechanical horse

Info

Publication number: CN2832624Y
Application number: CN 200520093022
Authority: CN
Inventors: 张华�
Original assignee: Shenyang Ligong University
Current assignee: Shenyang Ligong University
Priority date: 2005-10-28
Filing date: 2005-10-28
Publication date: 2006-11-01
Anticipated expiration: 2015-10-28

Abstract

The utility model relates to a walking apparatus of a bionic mechanical horse, which comprises horseshoes, lower legs, a connecting frame rod, thighs, an eccentric shaft, a swinging rod, a rolling barrel, an output shaft, a speed reducing box and a turning motor. The apparatus is composed of a front and a back mechanisms having the same structure, is connected by a rotating shaft through front and back chassis and uses a link mechanism to imitate the walking process of a horse. The eccentric shaft on the rolling barrel rotates around the center of the rolling barrel; the eccentric shaft drives horse legs to elevate and stride through the swinging rod and causes the center of gravity of the mechanical horse to forwards move to walk through the matching function of four legs; the mechanical horse turns by that a leading screw in the rolling barrel changes the eccentricity distance of the eccentric shaft, the pace ranges of the left legs and the right legs of the horse are different, the center of gravity of the mechanical horse is caused to offset towards the side which the mechanical horse strides with a short distance, thereby, the whole body deflects towards the side so as to realize turn. The utility model has the advantages of simple structure, flexible and stable walking process, good continuity, convenient articles carry, low cost, etc. The utility model is suitable for the transmission of articles in dangerous and harmful occasions or the satisfaction of the need of recreation for people in park amusement places.

Description

A kind of running gear of simulated mechanical horse

Technical field

The utility model belongs to Robotics, particularly a kind of running gear of simulated mechanical horse.

Background technology

At present, the research-and-development activity of simulated mechanical horse is at home and abroad all paid much attention to, and all is widely used in every field, as the rescue of taking precautions against natural calamities, and transmits article etc. in the occasion of danger, can also be people's amusement use at the park recreation ground.But the traveling gear of existing mechanical horse is more complicated also, and also there are problems such as walking is discontinuous and dumb in the manufacturing cost height.The invention provides a kind of simple in structure, walking flexibly, transmit that article are convenient, cost is low, can also be for the running gear of the employed simulated mechanical horse of recreation ground.

The utility model content

The purpose of this utility model is in order to solve the technical matterss such as traveling gear complexity of existing simulated mechanical horse, a kind of simple in structure, running gear flexible, that transmit the simulated mechanical horse that article are convenient, cost is low of walking is provided, is applicable to the dangerous needs that are harmful to occasion transmission article or use for people's amusement at the park recreation ground.

The utility model comprises water chestnut, shank, side link, thigh, front chassis, eccentric shaft, swing arm, front side plate, anchor shaft, top board, motor, rear chassis, S. A., pin, axle sleeve, cylinder, output shaft, drop-gear box, barrel, the turning motor, gear pair and leading screw, the running gear of emulation mechanical horse is made up of front and back two-part structure identical mechanism, and connect by S. A. by the chassis, front and back, the two ends of side link are connected with the front chassis hinge with shank respectively, water chestnut is arranged on the lower end of shank, one end of thigh is connected with the shank hinge by bearing pin, the other end of thigh is connected on the axle sleeve by pin hinge, axle sleeve is fixed on the swing arm, swing arm is arranged on the anchor shaft, anchor shaft can slide in the groove of swing arm, anchor shaft is fixed on the side plate of front chassis, eccentric shaft is arranged in the axle sleeve, eccentric shaft can rotate in axle sleeve, eccentric shaft is arranged on the cylinder, cylinder is separately positioned on the two ends of reduction gearbox output shaft, drop-gear box and motor are separately fixed on the chassis, front and back, motor is connected with the gear of drop-gear box by coupler, be provided with the turning motor in the cylinder, the turning motor is connected and fixed by coupler and gear pair and leading screw, eccentric shaft is connected and fixed by feed screw nut and leading screw, and top board is fixed on two side plates on chassis, front and back.

The utlity model has simple in structure, walking flexibly steadily, continuity is good, transmit that article are convenient, low cost and other advantages, is applicable to that dangerous harmful occasion transmits article or at the needs of park recreation ground for people's amusement use.

Description of drawings

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

Fig. 2 is a side-looking structural representation of the present utility model;

Fig. 3 is the structural representation of the utility model cylinder;

Among the figure: 1 water chestnut, 2 shanks, 3 side links, 4 thighs, 5 front chassis, 6 eccentric shafts, 7 swing arms, 8 front side plates, 9 anchor shafts, 10 top boards, 11 motors, 12 rear chassis, 13 S. A.s, 14 pins, 15 axle sleeves, 16 cylinders, 17 output shafts, 18 drop-gear boxs, 19 barrels, 20 turning motors, 21 gear pairs, 22 leading screws.

The specific embodiment

Further specify organization plan of the present utility model and working process in conjunction with example.

As shown in the figure, a kind of running gear of simulated mechanical horse comprises water chestnut 1, shank 2, side link 3, thigh 4, front chassis 5, eccentric shaft 6, swing arm 7, front side plate 8, anchor shaft 9, top board 10, motor 11, rear chassis 12, S. A. 13, pin 14, axle sleeve 15, cylinder 16, output shaft 17, drop-gear box 18, barrel 19, turning motor 20, gear pair 21, leading screw 22.

The running gear of emulation mechanical horse is made up of front and back two-part structure identical mechanism, and is connected by S. A. by the chassis, front and back, is convenient to mechanical horse and turns flexibly when walking.As shown in Figure 1, the two ends of side link 3 are connected with front chassis 5 hinges with shank 2 respectively, and water chestnut 1 is arranged on the lower end of shank 2, and connect by pin hinge, and are steady when making walking.One end of thigh 4 is connected with shank 2 hinges by bearing pin.As shown in Figure 2, the other end of thigh 4 is connected on the axle sleeve 15 by pin 14 hinges, and axle sleeve 15 is fixed on the swing arm 7.As shown in Figure 1, swing arm 7 is arranged on the anchor shaft 9, and anchor shaft 9 is fixed on the front side plate 8 of front chassis 5, and anchor shaft 9 can slide in the guide groove of swing arm 7.As shown in Figure 1, 2, motor 11 and drop-gear box 18 are separately fixed on the forward and backward chassis (5,12), and motor 11 is connected and fixed by the gear in coupler and the drop-gear box 18, is fixed with cylinder 16 respectively on the two ends of the output shaft 17 of drop-gear box 18.Eccentric shaft 6 on the cylinder 16 is arranged in the axle sleeve 15, and eccentric shaft 6 can rotate in axle sleeve 15.As shown in Figure 3, turning motor 20 is arranged in the barrel 19 by electric machine support, turning motor 20 is connected and fixed with leading screw 22 by coupler and gear pair 21, leading screw 22 passes output shaft 17 and is arranged in the barrel 19, cylinder 16 rotates with output shaft 17, eccentric shaft 6 is connected and fixed by feed screw nut and leading screw 22, can regulate the width between centers of eccentric shaft 6 and cylinder 16 axis of revolutions by rotational lead screw 22.Top board 10 is fixed on two front side plates 8 of front chassis 5.

Working process of the present utility model is: simulated mechanical horse is the same with the quadruped walking manner in other land, knee is to front curve during its foreleg walking, retreat then knee bending backward, can know that by analysis horse is in the middle of walking process, landing of left front leg of horse and right rear leg be synchronous, and left back leg and RAT then are synchronous.The utility model is the walking process that imitates horse with connecting rod mechanism, output shaft 17 on the drop-gear box 18 drives cylinder 16 and rotates, eccentric shaft 6 on the cylinder 16 rotates around the center of cylinder 16, eccentric shaft 6 drives lifting and taking a step of horse legs by swing arm 7, and the mating reaction by four legs makes the center of gravity of mechanical horse move forward walking.

The turning of mechanical horse is the eccentric distance that changes eccentric shaft 6 by leading screw 22 fork-like farm tools used in ancient China in the rotary drum 16, the stride that mechanical horse left and right sides leg is taken a step inconsistent (two legs of homonymy is consistent), the center of gravity of mechanical horse is moved to the little lateral deviation of taking a step, realize turning thereby whole length is changeed to this lateral deviation.

Claims

1, a kind of running gear of simulated mechanical horse, it is characterized in that, comprise water chestnut, shank, side link, thigh, front chassis, eccentric shaft, swing arm, front side plate, anchor shaft, top board, motor, rear chassis, S. A., pin, axle sleeve, cylinder, output shaft, drop-gear box, barrel, the turning motor, gear pair and leading screw, the running gear of emulation mechanical horse is made up of front and back two-part structure identical mechanism, and connect by S. A. by the chassis, front and back, the two ends of side link are connected with the front chassis hinge with shank respectively, water chestnut is arranged on the lower end of shank, one end of thigh is connected with the shank hinge by bearing pin, the other end of thigh is connected on the axle sleeve by pin hinge, axle sleeve is fixed on the swing arm, swing arm is arranged on the anchor shaft, anchor shaft can slide in the groove of swing arm, anchor shaft is fixed on the side plate of front chassis, eccentric shaft is arranged in the axle sleeve, eccentric shaft can rotate in axle sleeve, eccentric shaft is arranged on the cylinder, cylinder is separately positioned on the two ends of reduction gearbox output shaft, drop-gear box and motor are separately fixed on the chassis, front and back, motor is connected with the gear of drop-gear box by coupler, be provided with the turning motor in the cylinder, the turning motor is connected and fixed by coupler and gear pair and leading screw, eccentric shaft is connected and fixed by feed screw nut and leading screw, and top board is fixed on two side plates on chassis, front and back.