CN87207890U - Toy walking mechanism capable of imitating quadruped - Google Patents
Toy walking mechanism capable of imitating quadruped Download PDFInfo
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- CN87207890U CN87207890U CN 87207890 CN87207890U CN87207890U CN 87207890 U CN87207890 U CN 87207890U CN 87207890 CN87207890 CN 87207890 CN 87207890 U CN87207890 U CN 87207890U CN 87207890 U CN87207890 U CN 87207890U
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- rhaeboscelia
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Abstract
The utility model relates to a toy walking mechanism capable of imitating quadruped. The upper leg, the middle leg and the lower leg of each leg are connected through shafts; two toggle wheels mounted serially, a front and a rear crooked leg hooks, lever and a displacement device of a lever connecting rod mechanism are arranged on a toy body, and the lever respectively makes the upper legs of the front and rear legs wobble and the middle legs stretch and bend through the two toggle wheels and the crooked leg hooks; the upper legs and the lower legs of the front legs and the rear legs are respectively provided with connecting rods; plates of the toggle wheels hypo-dispersion have 6-18 pieces. When the toggle wheels turn, the action of the rear legs of the left (or right) side leads 1/4 wheel plate angle of the forelegs, and the left (or right) action leads 1/2 wheel plate angle of the right (or left) action. The utility model is provided with the electric gas part for ensuring the four legs to touch the ground. The utility model has the advantages of novel structure, lifelike action and stable walking.
Description
The utility model belongs to toy, particularly simulates the actuation mechanism of walking of quadrupeds toy.
The walking mechanism of present toy for animal all is designed to straight-bar shape leg, and is regardless of the upper, middle and lower leg, left front leg and right rear leg during walking, RAT and the motion of left back leg same-phase.Two back legs land all the time and support, and two forelegs are then reciprocally keeping a leg to land all the time; Another leg is with regard to unsettled reach, reaches the three legs state that lands, and make body reach balance, and side do not fallen.When two legs of offside are squatted backward, promote toy and move ahead, drive a back leg simultaneously and slide on the ground.The walking mechanism of this toy is different fully with actual quadrupeds walking, thus not true to nature during walking, nature, and can make children to the image of actual animal leg with constitute and produce vague understanding.
The purpose of this utility model provides a kind of toy walking mechanism that resembles the actual quadrupeds.It has four legs, and every leg all is divided into and between upper, middle and lower leg and they movable axis is set all and does the joint.By drive and leverage, the quadrupeds toy is when walking, and except that the rule reciprocation cycle motion according to left back leg → left front leg → right rear leg → RAT, and every leg is finished swing and stretching, extension in motion separately.This walking mechanism also has the electrical control part of stretching one's legs and can both land at dump state four limbs guaranteeing.
The running gear of this simulation quadrupeds comprises power supply, housing, reducing gear, before two, on the back, neutralization is leg down, two in series be installed in the perpendicular rotating shaft of body on turning wheel, two groups be contained in versatilely on the body before, back rhaeboscelia hook, and mainly by turning wheel and before, before back rhaeboscelia hook can make respectively, on the back leg swing and before, the gearshift that leg stretches in the back, it comprise be installed in respectively turning wheel and before, before Intermittent Contact between the back rhaeboscelia hook or the flexible connection, on the back leg leverage mechanism and be positioned at above or below this lever before, leg lever connecting rod actuation gear in the back.Turning wheel is the wheel of a band swinging plate, and general swinging plate has 18 of 6-.When turning wheel rotates, drive swinging plate and promote leg leverage mechanism on earlier, promote leg lever connecting rod actuation gear in then.During leg leverage mechanism action, last leg rotates around fixed point on corresponding one, promotes the rhaeboscelia hook and goes out of lock with middle leg lever connecting rod actuation gear, and under spring action, in making, following leg is curved in the wrong.Stir wheel plate with before, in the back leg effect lever connecting rod mechanism effect down, in down leg stretch.When turning wheel rotates, swinging plate continuously with last leg leverage and the effect of middle leg lever connecting rod mechanism, make to reach simulation quadrupeds walking states.A left side (or right) rear flank leg action is moved leading 1/4 wheel plate angle than foreleg, i.e. 360 °/n of angle, and a left side (or right) side leading right (or left side) side is moved 360 °/n of 1/2 wheel plate angle, and n is the wheel plate number.
Described in detail below with reference to accompanying drawing.
Fig. 1 represents the floor map of simulation quadrupeds toy walking mechanism side of the present utility model.
Middle leg began curved axonometric drawing of bending after Fig. 2 represented walking mechanism of the present utility model.
After Fig. 3 represents that upward leg moves forward after the walking mechanism, the axonometric drawing that leg stretches in the back.
Fig. 4 represents walking mechanism, in the back leg stretch that back back goes up that leg is struck that wheel is stirred and the front upper leg reach after, before stretching in the axonometric drawing of leg.
Fig. 5 and Fig. 6 represent walking mechanism of the present utility model behind the power cutoff switch, the electrical control figure that four legs are all stretched.
The walking mechanism of simulation quadrupeds, ［ 1 ' ］ ［ 13 ' ］ of going up before and after it in leg lever ［ 1 ］ ［ 13 ］ are the forward and backward leg of going up, be connected with leg ［ 2 ］ ［ 14 ］ in the front and back by movable axis ［ 24 ］ ［ 29 ］, before and after in leg ［ 2 ］ ［ 14 ］ by movable axis ［ 26 ］ ［ 31 ］ with before, back down leg ［ 3 ］ ［ 15 ］ connects.Forward and backward go up leg ［ 1 ' ］ ［ 13 ' ］ with before, the back is down between the leg ［ 3 ］ ［ 15 ］, be equipped with forward and backward in leg connecting rod ［ 7 ］ ［ 18 ］.Be connected with forward and backward sole ［ 68 ］ ［ 69 ］ by movable axis ［ 66 ］ ［ 67 ］ in forward and backward leg lower end down.The upper end of leg is flexibly connected by leg connecting rod ［ 8 ］ ［ 19 ］ in the middle leg lever connecting rod mechanism in forward and backward, sees Fig. 1～4.
Before, leg leverage mechanism comprises and is installed in body movable axis ［ 25 ］ on the back, ［ 30 ］ before on, leg lever ［ 1 ］ on the back, ［ 13 ］, it is with movable axis ［ 25 ］, ［ 30 ］ for the center with before being divided into its effect, back moving arm ［ 1 " ］ ［ 13 " ］ and aforesaid before, leg on the back ［ 1 ' ］, ［ 13 ' ］ each and one one end is fixed on the body and the other end and moving arm ［ 1 " ］, ［ spring that the arm of 13 " ］ is connected.Before, ［ 1 " ］, ［ the arm end of 13 " ］ is slidingly connected with swinging plate ［ 23 ' ］ respectively back moving arm.Before, leg on the back ［ 1 ' ］, the shank of ［ 13 ' ］ be respectively with preceding, back rhaeboscelia hook ［ 4 ］, and the hook end Intermittent Contact of ［ 16 ］ connects, and it is respectively with preceding, leg ［ 2 ］ in the back, leg connecting rod in ［ 14 ］ and the front and back ［ 7 ］ and ［ 18 ］ flexible connection.
Line between the axle center of leg lever shaft ［ 30 ］ and turning wheel ［ 23 ］ on the back, line between Fig. 1 dotted line and front upper leg lever shaft ［ 25 ］ and turning wheel ［ 23 ］ axle center, angle between Fig. 1 dotted line, its general formula: 180 °-K when n is even number (360 °)/(n)-(360 °)/(n) * 1/4; When n is odd number: 180 °-K (360 °)/(n)-(360 °)/(n) * 1/4-(360 °)/(n) * 1/2.Wherein K is and relevant constant K=-1,0 ,+1 is installed.Be made as category-A when K=0, K=± 1 is a category-B.This angle has guaranteed that the action of a left side or right side rear moves leading 1/4 wheel plate angle (360 °)/(n °) than foreleg.
So when clockwise rotating, see Fig. 1 at turning wheel ［ 23 ］.Stir wheel plate ［ 23 ' ］ and the upward moving arm of leg lever ［ 13 ］ ［ 13 " ］ interaction; ［ 13 " ］ are counterclockwise rotated to make moving arm of back, turning wheel ［ 23 ］ turns over a wheel plate angle, i.e. 360 °/n, reach and move terminating point after the leg leverage is gone up in the back, be i.e. state shown in the double dot dash line among Fig. 1.Angle is the α angle between at this moment above-mentioned line and swinging plate ［ 23 ' ］.(360°)/(2n) ＜α＜ (360°)/(n) 。When turning wheel ［ 23 ］ continues to turn over the β angle, stir leg lever connecting rod mechanism effect in wheel plate ［ 23 ' ］ and the back, make in the back, leg ［ 14 ］ ［ 15 ］ stretches down.Stretching a little is state shown in the solid line among Fig. 1.When stir wheel plate ［ 23 ' ］ promote moving arm 13 " ］ to after move terminating point before during the γ angle, when promptly stirring wheel plate ［ 23 ' ］ and turning over line α-γ angle.On the back leg lever back go up leg arm and back rhaeboscelia hook ［ 16 ］ instantaneous contact and make simultaneously its with the back in leg lever connecting rod mechanism break away from, make in the back, leg ［ 14 ］ ［ 15 ］ begins curved bending down, promptly curved initial point in the wrong.In β+γ, finish whole rhaeboscelias and the time less than (360 °)/(n).
As shown in Figure 2, back rhaeboscelia hook ［ 16 ］, the upper end at the back of its hook-type is installed on the body movable axis ［ 33 ］, the top free end of its hook links to each other with the spring ［ 22 ］ that one one end is fixed on the body, the bottom of its hook is provided with the flanging perpendicular with its plane ［ 50 ］, and the inboard vertically establish stop bit convex shoulder ［ 54 ］, go up said back, middle leg gearshift contains also that its arm promoted flanging ［ 50 ］ when one leg ［ 13 ' ］ rotated on the back.Make in the back leg stretch position-limit mechanism in the wrong, comprise pair of interacting convex shoulder ［ 54 ］ and at the flanging ［ 55 ］ of back rhaeboscelia lever end on the rhaeboscelia hook of back.Turning wheel ［ 23 ］ clockwise rotates, and ［ 13 " ］ make the back go up leg lever ［ 13 ］ and rotate counterclockwise around axle ［ 30 ］ to stir wheel plate ［ 23 ' ］ promotion moving arm.The arm of leg on the back ［ 13 ' ］ promotes flanging ［ 50 ］ when swinging plate turns over line α-γ angle, promptly curved when bending point after flanging ［ 55 ］ the disengaging effect of rhaeboscelia hook ［ 16 ］ epirelief door leaf ［ 54 ］ and back rhaeboscelia lever ［ 17 ］.Make leg lever connecting rod actuation gear action in the back.
Leg lever connecting rod actuation gear in the back comprises the back rhaeboscelia lever ［ 17 ］ that is installed on the body movable axis ［ 32 ］.One end instantaneous being slidingly connected of plate ［ 23 ' ］ that can be struck, the front portion of the other end has moving fulcrum ［ 37 ］ and the back leg connecting rod ［ 19 ］ of going up to be connected, there is a flanging vertical with its plane ［ 55 ］ its end near the lever ［ 17 ］ of moving fulcrum ［ 37 ］, and going back bolt between movable axis ［ 32 ］ and fulcrum ［ 37 ］ has one one end to be fixed on spring ［ 21 ］ on the body.
Be installed in the back rhaeboscelia lever ［ 17 ］ on the body movable axis ［ 32 ］, under spring ［ 21 ］ effect, clockwise rotate around axle ［ 32 ］, leg connecting rod in the drive ［ 19 ］ moves downward, leg ［ 14 ］ changes counterclockwise around axle ［ 29 ］ in after promoting, in leg ［ 14 ］ and the back under leg connecting rod ［ 18 ］ acting in conjunction, back leg ［ 15 ］ down clockwise rotates around axle ［ 31 ］, makes rhaeboscelia and moves in the back.
When turning wheel turns over the γ angle again, be that swinging plate is when turning over line α angle, back moving arm 13 " ］ and swinging plate ［ 23 ' ］ break away from; in spring ［ 20 ］ effect down; the leg lever clockwise rotates around axle ［ 30 ］ the back on; drive curved in the wrong under leg ［ 14 ］ ［ 15 ］ move forward, ［ 13 " ］ are met next wheel plate and are reached Fig. 3 state up to moving arm.At this moment, stir wheel plate ［ 23 ' ］ and promote back rhaeboscelia lever ［ 17 ］ around axle ［ 32 ］ commentaries on classics counterclockwise, drive the back and go up leg connecting rod ［ 19 ］ upwards, leg ［ 14 ］ changes clockwise around axle ［ 29 ］ in after making, in the back in leg ［ 14 ］ and the back leg connecting rod ［ 18 ］ acting in conjunction down the back down leg ［ 15 ］ around the counterclockwise commentaries on classics of axle ［ 31 ］, the do action of stretching one's legs.
Turning wheel ［ 23 ］ rotated the β angle again, promptly stirred wheel plate ［ 23 ' ］ and turned over line alpha+beta angle.Swinging plate ［ 23 ' ］ promotes back rhaeboscelia lever ［ 17 ］ and forwards to counterclockwise around axle ［ 32 ］, convex shoulder ［ 54 ］ on the flanging ［ 55 ］ of rhaeboscelia lever ［ 17 ］ end and the rhaeboscelia hook ［ 16 ］ is again on the hook, after finishing the action of stretching one's legs, stir wheel plate ［ 23 ' ］ and rhaeboscelia lever ［ 17 ］ disengaging effect.Leg lever ［ 13 ］ wheel ［ 23 ］ that continues to be struck promotes on the back, and back leg stretches shifting movement afterwards.As Fig. 4.
After back leg was finished above action, foreleg began rhaeboscelia, reach, and the action of stretching one's legs, Fig. 4 foreleg is being done the action of stretching one's legs.
As Fig. 4, preceding rhaeboscelia hook ［ 4 ］ is that a bar portion is installed in the lever on the body movable axis ［ 28 ］, the rod end of its upper boom is connected with the spring ［ 12 ］ that an end is fixed on the body, its upper pole part has an edge convex shoulder ［ 64 ］ with respect to preceding rhaeboscelia bar thick stick ［ 5 ］, its other end has the flanging perpendicular with its plane ［ 60 ］, on before said, middle leg gearshift also contains its arm promotion flanging ［ 60 ］ when front upper leg ［ 1 ' ］ rotates, leg is stretched position-limit mechanism in the wrong in before making, comprise pair of interacting on preceding rhaeboscelia hook ［ 4 ］ convex shoulder ［ 64 ］ and at the flanging ［ 65 ］ of preceding rhaeboscelia lever ［ 5 ］ end.
Leg lever connecting rod actuation gear comprises preceding rhaeboscelia lever ［ 5 ］ on the movable axis ［ 27 ］ that is installed in body in before said, the one end can with stir wheel plate ［ 23 ' ］ and be slidingly connected off and on.And its other end front portion has moving fulcrum ［ 53 ］ to be connected with compensation link ［ 9 ］, also has one with its flexible connection be installed in compensating lever ［ 6 ］, the other end of compensating lever ［ 6 ］ and front upper leg connecting rod ［ 8 ］ flexible connection on the body movable axis ［ 34 ］.Be provided with in the end of this end one with its plane flanging ［ 65 ］ vertically upward, and bolt has one one end to be fixed on spring ［ 11 ］ on the body between moving fulcrum ［ 53 ］ and movable axis ［ 27 ］.
Rhaeboscelia lever ［ 5 ］ rotates counterclockwise around axle ［ 27 ］ before stirring wheel plate ［ 23 ' ］ promotion, compensation link ［ 9 ］ is moved downward, compensating lever ［ 6 ］ clockwise rotates around axle ［ 34 ］, front upper leg connecting rod ［ 8 ］ moves upward, before in leg ［ 2 ］ rotate counterclockwise around axle ［ 24 ］, preceding down leg ［ 3 ］ clockwise rotates around axle ［ 26 ］ under leg ［ 2 ］ and preceding middle leg connecting rod ［ 7 ］ acting in conjunction in preceding.The do action of stretching one's legs.When swinging plate ［ 23 ' ］ turned over line alpha+beta angle, the convex shoulder ［ 64 ］ on the flanging ［ 65 ］ of preceding rhaeboscelia lever ［ 5 ］ end and the rhaeboscelia hook ［ 4 ］ was again on the hook.Swinging plate ［ 23 ' ］ and rhaeboscelia lever ［ 5 ］ disengaging effect.The end of stretching one's legs.
Front upper leg ［ 1 ' ］ is before moving to terminating point, the flanging ［ 60 ］ of rhaeboscelia hook ［ 4 ］ before its arm promotes, leg is stretched position-limit mechanism disengaging effect in the wrong in before making, and the convex shoulder ［ 64 ］ on the promptly preceding rhaeboscelia hook ［ 4 ］ breaks away from the flanging ［ 65 ］ of preceding rhaeboscelia lever ［ 5 ］.Leg lever connecting rod mechanism action in before making, middle leg ［ 2 ］ before making, preceding leg ［ 3 ］ down are respectively around axle ［ 24 ］, and ［ 26 ］ are curved bends moving arm ［ 1 " ］ before swinging plate ［ 23 ' ］ promotes.When turning over line α angle, front upper leg ［ 1 ' ］ drives curved preceding middle leg ［ 2 ］ of bending and preceding leg ［ 3 ］ down and does the reach that bends one's legs under spring ［ 10 ］ effect.
A left side, the right side constitutes identical.An aforementioned said left side, right side line angle is all got category-A or category-B, and then left, the right side turning wheel is installed potential difference (360 °)/(2n) on axle, if left and right sides line angle is got category-A and category-B respectively, then left, the right side turning wheel is installed non-angular on axle poor.Guaranteed that like this a left side (or right) side leading right (or left side) side moves 1/2 wheel plate angle (360 °)/(n).
After finishing the action of stretching one's legs, the flanging ［ 65 ］ ［ 55 ］ of forward and backward rhaeboscelia lever ［ 5 ］ ［ 17 ］ under the effect of spring ［ 11 ］ ［ 21 ］, abuts against on the convex shoulder ［ 64 ］ ［ 54 ］ of front and back rhaeboscelia hooks ［ 4 ］ ［ 16 ］.Making fulcrum ［ 36 ］ ［ 37 ］ is fixing point.When leg on the front and back ［ 1 ' ］ ［ 13 ' ］ turns to when vertical with the body horizontal plane around axle ［ 25 ］ ［ 30 ］.Leg connecting rod on the front and back ［ 8 ］ ［ 19 ］ is a section of axle ［ 25 ］ ［ 30 ］ ray.Can produce the curved compensating action of bending like this, promptly leg is when stretching, and the most straight, leg is the most curved when the front and back leg is vertical with body, and leg stretches again when curved bend, thereby makes smooth running.
The said electrical control mechanism of stretching one's legs, as Fig. 5, comprise that one is positioned at the travelling gear of stirring on the wheel shaft ［ 80 ］ ［ 70 ］ and is positioned on the body movable axis one pinion ［ 11 ］ with travelling gear ［ 70 ］ engagement, a control disk ［ 72 ］ of making by the Copper Foil printed panel, also have two to contact copper sheet ［ 73 ］ ［ 74 ］ with power switch two utmost points communicate respectively, and control disk ［ 72 ］ and contact interactional mechanism between the copper sheet ［ 73 ］ ［ 74 ］ so that toy reaches the leg straight configuration before stopping to walk about.Said mechanism comprise control disk ［ 72 ］ Copper Foil one side upper edge radius and the non-erosion Copper Foil that encloses the erosion groove ［ 75 ］ of the uniform radiation insulating properties of a part and inboard near circle respectively with contact copper sheet ［ 73 ］ ［ 74 ］ contact point ［ 76 ］ ［ 77 ］ and act on mutually.
Said travelling gear ［ 70 ］ is 1:(n with pinion ［ 71 ］ gearratio)/(m), m is the pinion swinging plate angle number that corresponding travelling gear ［ 70 ］ turns over that circles, promptly generally be carved with 4m bar groove on (360 ° of m)/(n) disk, the central angle of groove width is less than ［ 360 °-4n(β+γ) ］/4m in the design.This is for stopcock ［ 90 ］ if back any one leg in 4 legs also reaches and do not stretch, power supply is by contact copper sheet ［ 73 ］, contact point ［ 76 ］, control disk ［ 72 ］, contact point ［ 77 ］, contact copper sheet 74 continues to send electricity to motor, falls in the erosion groove ［ 75 ］ of insulating properties of disk ［ 72 ］ up to the contact point ［ 76 ］ of contact copper sheet ［ 73 ］, promptly correspondingly finishes the action of stretching one's legs.Erosion groove ［ 5 ］ plays the effect of cutting off the electricity supply, and can guarantee that like this four legs stretch when not using.
The another kind of variation of electric control system of the present invention is that electric control system is positioned between turning wheel ［ 25 ］ and the body.This part comprises that one is installed in the control disk ［ 81 ］ of stirring the Copper Foil printed panel system on the wheel shaft ［ 80 ］ and contacts copper ［ 82 ］ with external power switch two extremely links to each other respectively with 2, and control disk ［ 81 ］ and contact interactional mechanism between the copper sheet ［ 82 ］ ［ 83 ］ ［ 83 ］.Said mechanism be printed panel Copper Foil one side radius near the erosion groove ［ 84 ］ of the uniform radiation spacer insulator effect of a circumference part and inboard non-erosion copper-foil conducting electricity respectively with contact copper sheet ［ 82 ］, the contact point of ［ 83 ］ ［ 85 ］, the interaction of ［ 86 ］.See Fig. 6.
The utlity model has the same rule of actual quadrupeds walking, it is rational in infrastructure, move true to nature, the translation of walking.
Claims (3)
1, a kind of walking mechanism of simulating quadrupeds comprises power supply, motor, housing, reduction gearing mechanism, before two, leg on the back, middle leg and following leg, it is characterized in that also having two in series be installed in the perpendicular rotating shaft of body on turning wheel [23], two groups be installed in versatilely on the body before, back rhaeboscelia hook [4], [16], and mainly by turning wheel [23] and before, back rhaeboscelia hook [4], [16] can make respectively before, on the back leg swing and before, leg is stretched gearshift in the wrong in the back, it comprise be installed in respectively turning wheel [23] and before, back rhaeboscelia hook [4], the Intermittent Contact between [16] or be slidingly connected before, on the back leg leverage and be positioned at the upper end of leverage or the bottom before, leg lever connecting rod mechanism in the back, before said, on the back, in, flexibly connect between the following leg, and preceding, on the back leg and before, the back down is equipped with connecting rod [7] respectively between the leg, [18], said before, the leg leverage comprises and is installed in body movable axis [25] on the back, [30] before on, leg lever [1] on the back, [13], it is with movable axis [25], [30] for the center or with its effect be divided into before and after moving arm [1 "], [13 "] and before, leg on the back [1 '], [13 '] and each one one end are fixed on the body and the other end and moving arm [1 "]; [and the spring that the arm of 13 "] is connected [10], [20], preceding, back moving arm [1 "]; [the arm end of 13 "] is slidingly connected with swinging plate [23 '] respectively, and is preceding, leg on the back [1 '], the shank of [13 '] is respectively with preceding, back rhaeboscelia hook [4], the instantaneous contact of the flanging of [16] connects, and it is respectively with preceding, the back in leg [2], [14] and before; Leg connecting rod [7] and [18] flexibly connect in the back, leg lever connecting rod actuation gear comprises the preceding rhaeboscelia lever [5] that is installed on the body movable axis [27] in before said, the one end with stir wheel plate [23 '] and be slidingly connected, and its other end front portion has moving fulcrum [53] to be connected with compensation link [9], also has a compensating lever [6] that is installed in compensation link [9] flexible connection on the body movable axis [34], the other end of compensating lever [6] and front upper leg connecting rod [8] flexibly connect, in addition, be provided with in end near the lever [5] of moving fulcrum [53] one with the perpendicular flanging [65] in its plane, going back bolt on the lever [5] between fulcrum [53] and the movable axis [27] has one one end to be fixed on spring [11] on the body; Leg lever connecting rod actuation gear comprises that being installed in body movable axis [32] goes up back rhaeboscelia lever [17] in the said back, the one end can with stir wheel plate [23 '] and intermittently be slidingly connected, the front portion of the other end has moving fulcrum [37] and back to go up leg connecting rod [19] flexible connection, there is a flanging vertical with its plane [55] its end near the lever [17] of moving fulcrum [37], and going back bolt between movable axis [32] and fulcrum [37] has one one end to be fixed on spring [21] on the body.The back end of said back rhaeboscelia hook [16] is installed on the body movable axis [33], the top free end of hook links to each other with the spring [22] that one one end is fixed on the body, the bottom of its hook is provided with the flanging vertical with its plane [50] and goes up the edge stop bit convex shoulder [54] that leg one side is provided with respect to the back, said back go up the leg gearshift also contain when one leg [13 '] rotates on the back its arm promote flanging [50] make in leg stretch position-limit mechanism in the wrong, comprise the convex shoulder [54] and the back flanging [55] of rhaeboscelia lever [17] end on the rhaeboscelia hook of a pair of synergistic back, rhaeboscelia hook [4] before said, its bar portion is installed on the movable axis on the body [28], and the rod end of upper boom is connected with the spring [12] that one one end is fixed on the body, upper pole part is provided with an edge convex shoulder [64] with respect to preceding rhaeboscelia bar bar [5], its other end have one with the perpendicular flanging [60] in its plane, on before said, in the leg gearshift also contain before one its arm promotes flanging [60] and makes when front upper leg [1 '] rotates in leg stretch position-limit mechanism in the wrong, comprise the convex shoulder [64] on a pair of synergistic preceding rhaeboscelia hook [4] and the flanging [65] of preceding rhaeboscelia lever [5] end.Said turning wheel is evenly equipped with and stirs wheel plate [23 '] is 6～18, under lever or the effect of lever connecting rod mechanism, a left side (or right) rear flank leg action than foreleg move leading 1/4 wheel plate angle (360 °/n), i.e. 360 °/4n, a left side (or right) side leading right (or left side) side is moved 1/2 wheel plate angle, and wherein n is the wheel plate number.
2, the walking mechanism of simulation quadrupeds toy according to claim 1, it is characterized in that in addition electrical control part of stretching one's legs, comprise that one is positioned at the travelling gear of stirring on the wheel shaft ［ 80 ］ ［ 70 ］ and is positioned at a pinion ［ 71 ］ that meshes with travelling gear ［ 70 ］ on the body movable axis.A control disk ［ 72 ］ of making by the Copper Foil printed panel, also have two to contact copper sheet ［ 73 ］ ［ 74 ］ with power switch two utmost points communicate respectively, and control disk ［ 72 ］ with contact interactional mechanism between the copper sheet, said mechanism comprise the Copper Foil one side upper edge radius of control disk ［ 72 ］ and the non-erosion Copper Foil of the erosion groove ［ 75 ］ of the uniform radiation insulating properties of close circumferential section and inboard respectively with contact copper sheet ［ 73 ］ ［ 74 ］ contact point ［ 76 ］ ［ 77 ］ and act on mutually.Travelling gear and pinion drive are than being 1:(n)/(m), m is the pinion swinging plate angle number that corresponding travelling gear ［ 70 ］ turns over that circles, and promptly is carved with 4m bar groove on 360 ° of m/n control disks.
3, walking mechanism according to claim 1 and 2, it is characterized in that the action of a said assurance left side or right side rear moves leading 1/4 wheel plate angle than foreleg, should make the back go up line and the front upper leg lever shaft ［ 25 ］ between the axle center of leg lever shaft ［ 30 ］ and turning wheel ［ 23 ］ and stir angle between the line between the axle center of wheel plate ［ 23 ］, its general formula:
Be 180 °-K (360 °)/(n)-(360 °)/(n) * 1/4, wherein n is an even number;
Or 180 °-K (360 °)/(n)-(360 °)/(n) * 1/4-(360 °)/(n) * 1/2, wherein n is an odd number
K installs relevant constant with turning wheel in the formula, and K can get: K=-1,0 ,+1.
Be category-A when K=0, K=± 1 o'clock is a category-B.
A said left side (or right) side action leading right (or left side) side is moved 1/2 wheel plate angle, be that the left and right sides part constitutes when identical left and right sides line angle and all gets category-A or all get category-B, the left and right sides is stirred the installation potential difference of wheel plate on axle and is (360 °)/(2n), when the left and right sides binding clip was got category-A and category-B respectively, left and right sides thumb wheel plate was poor in axle installation non-angular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87207890 CN87207890U (en) | 1987-05-09 | 1987-05-09 | Toy walking mechanism capable of imitating quadruped |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87207890 CN87207890U (en) | 1987-05-09 | 1987-05-09 | Toy walking mechanism capable of imitating quadruped |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN87207890U true CN87207890U (en) | 1988-05-25 |
Family
ID=4823264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 87207890 Ceased CN87207890U (en) | 1987-05-09 | 1987-05-09 | Toy walking mechanism capable of imitating quadruped |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN87207890U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1306188C (en) * | 2001-01-01 | 2007-03-21 | 熊介良 | 'Menneimasi pendulum arm' and stalking mechanical leg |
| CN102068819A (en) * | 2010-12-14 | 2011-05-25 | 北京交通大学 | Single-power four-foot walking mechanism |
-
1987
- 1987-05-09 CN CN 87207890 patent/CN87207890U/en not_active Ceased
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1306188C (en) * | 2001-01-01 | 2007-03-21 | 熊介良 | 'Menneimasi pendulum arm' and stalking mechanical leg |
| CN102068819A (en) * | 2010-12-14 | 2011-05-25 | 北京交通大学 | Single-power four-foot walking mechanism |
| CN102068819B (en) * | 2010-12-14 | 2012-08-08 | 北京交通大学 | Single-power four-foot walking mechanism |
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| CE01 | Termination of patent right |