CN102700642B - Quadruped walking machine capable of turning - Google Patents
Quadruped walking machine capable of turning Download PDFInfo
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- CN102700642B CN102700642B CN201210147429.4A CN201210147429A CN102700642B CN 102700642 B CN102700642 B CN 102700642B CN 201210147429 A CN201210147429 A CN 201210147429A CN 102700642 B CN102700642 B CN 102700642B
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- feet walk
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- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000004806 packaging method and process Methods 0.000 claims abstract description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 24
- 229910052742 iron Inorganic materials 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 238000004088 simulation Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
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Abstract
A quadruped walking machine capable of turning comprises a main body support, a quadruped walking mechanism, a turning mechanism, a transmission mechanism, a circuit control mechanism and an external packaging module. A single leg mechanism of the quadruped walking mechanism includes a support plate, a first link rod, a second link rod, a third link rod, a fourth link rod, a rotation shaft disc and a crank. The turning mechanism includes a front rotation platform, a rear rotation platform, a turning motor, a shaft coupling, a screw rod and a threaded pipe. The transmission mechanism includes a front transmission shaft, a rear transmission shaft, a front shaft, a rear shaft, a bevel gear, a universal joint, and a forwarding motor. The circuit control mechanism includes a control switch, a control circuit, and a limit switch. The inventive quadruped walking machine is high in control accuracy and wide in application, can walk forward by four feet and turn flexibly at the same time, provides bumpy experience and high simulation and entertainment effects, enables children to experience horse riding fun, and performs innovations on the movement form of an original walking toy on the market.
Description
Technical field
The present invention relates to a kind of formula four feet walk machinery of turning.
Background technology
On toy for children market, being correlated with at present, it is of a great variety to take class toy for children, but function is not improved.For four feet walk children's ride-on type toy, optimize the design plan of horse leg structure and turning structure, the impact of the parameter of probing into different connecting rods in single leg connecting rod mechanism on single leg toe path of motion, can obtain farthest ride emulation and amusement interest.
Up to the present, on toy for children market, appearance four feet walk is truly taken type toy.Though much take the appearance that type toy has four feet walk, do not there is the essence of four feet walk.Toy foot bottom is provided with wheel, and its front line mode remains wheel minor and moves ahead, and fail to break through the technology barrier that wheel moves ahead, and unrealized four feet walk truly advances.
Therefore a like this formula four feet walk machinery of turning of design and development, can fill up this blank on toy market, and bring great innovation to toy for children market, strengthens the competition in toy for children market, promotes Ge great toy manufacturer to innovate research and development.
Summary of the invention
Lower in order to overcome in present children's ride-on type toy emulation, the present situation that mode of motion is comparatively single, the invention provides a kind of turned formula four feet walk machinery with high emulation.
The formula four feet walk machinery of turning of the present invention, it is characterized in that: comprise main body rack, four feet walk mechanism, turning mechanism, transmission device, circuit control mechanism, outer packaging module, described main body rack comprises front carriage, posterior bracket, described front carriage is connected by connecting pin with described posterior bracket, and described front carriage, the left and right sides of posterior bracket arrange respectively mounting hole;
Single leg mechanism of described four feet walk mechanism comprises stay bearing plate, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, rotating shaft dish and crank, and the upper end of described stay bearing plate is hinged in the different loci of described rotating shaft dish by first connecting rod, second connecting rod respectively; Described second connecting rod and described third connecting rod one end are hinged, and one end of described rotating shaft dish and the 4th described connecting rod is hinged, and the other end of described third connecting rod, described the 4th connecting rod is hinged on described crank jointly;
Described turning mechanism comprises front rotation platform, rear rotation platform, turning motor, coupler, screw mandrel, threaded line pipe, and the upper and lower two-layer iron plate riveted joint that described front rotation platform, rear rotation platform are equipped with surface bearing by centre respectively forms; Described turning motor is bolted on the upper strata iron plate of described front rotation platform; One end of described screw mandrel is connected with described turning motor by described coupler, and the other end coordinates with the threaded line pipe described in being fixed on; Lower floor's iron plate of described front rotation platform, rear rotation platform is screwed onto on described front carriage, posterior bracket by nut respectively; Described threaded line pipe is fixed on the upper strata iron plate of described rear rotation platform;
Described transmission device comprises front propeller shaft, rear propeller shaft, front axle, rear axle, finishing bevel gear cuter, universal-joint, the motor that advances, and described transmission device is positioned at described main body rack below, and the described motor that advances is connected with described rear propeller shaft by described finishing bevel gear cuter; Described front propeller shaft is connected by described universal-joint with described rear propeller shaft; Described front axle, rear axle are arranged on respectively in described mounting hole, and described crank is installed respectively at described front axle, rear axle two ends;
Described circuit control mechanism comprises master cock, control path, limit switch, and described limit switch is arranged on described posterior bracket, and described master cock is controlled the running of the described motor that advances, described turning motor by described control path.
Further, described rotating shaft dish is triangular in shape.
Further, described first connecting rod, second connecting rod, the 4th connecting rod are hinged on respectively the place, three summits of described rotating shaft dish.
Further, in the mounting hole of described front carriage both sides, install in the mounting hole of same front axle, described posterior bracket both sides same rear axle is installed.
Further, described front axle, rear axle are connected with described front propeller shaft, rear propeller shaft by finishing bevel gear cuter respectively.
Further, described turning motor is controlled described front carriage, the angle between posterior bracket by rotating.
Further, 4 single leg mechanism symmetries of described four feet walk mechanism are arranged on the both sides of described main body rack, and two single leg mechanisms of diagonal position are with entering with moving back.
Further, described single leg mechanism adopts 8 linkages.
Further, described outer packaging module comprises network, head of the horse, horse hair, length, and described network is individually fixed on front carriage, posterior bracket, and described head of the horse, length, horse hair are separately fixed on described network successively.
During use, user opens master cock after mixing up rotating speed, the motor entry into service of advancing, and by finishing bevel gear cuter by transmission of power to rear propeller shaft, the stressed rotation of rear propeller shaft, by finishing bevel gear cuter, power is reached to rear axle again, rear axle rotates the crank of posterior bracket both sides is rotated, and drives two single leg mechanism motions below; When rear propeller shaft rotates, the finishing bevel gear cuter matching by another one is delivered to front axle by power by universal-joint, and front axle rotates and drives the crank at front axle two ends to rotate, thereby drives two single leg mechanism motions above; The motion that four feet walk mechanism is orderly, advances whole fuselage; When advancing, by master cock, control the rotation of turning driven by motor screw mandrel, by changing the distance between turning motor and threaded line pipe, and in the combined action of connecting pin and universal-joint, regulate the angle between front carriage, posterior bracket, thereby realize, turn; When turning, due to the characteristic of universal-joint, onward impulse still can be realized by rear axle the transmission to front axle; In turning process, after front carriage and limit switch touch, control path is controlled turning motor and is quit work.
The invention has the beneficial effects as follows: be convenient to test operation and processing, mode accuracy is high, widely applicable; Can when advancing, four feet walk turn flexibly; When four feet walk moves ahead, have the sense of jolting, emulation is strong, recreational height; The enjoyment that children is experienced ride, experiences good life; Mode of motion to original walking toy on market is reformed breakthrough; Filled up the blank of this type toy on toy for children market.
Accompanying drawing explanation
Fig. 1 is front view of the present invention
Fig. 2 is upward view of the present invention
Fig. 3 is the schematic diagram of turning mechanism of the present invention
The specific embodiment
Below in conjunction with accompanying drawing, further illustrate the present invention
With reference to accompanying drawing:
The formula four feet walk machinery of turning of the present invention, comprise main body rack 1, four feet walk mechanism 2, turning mechanism 3, transmission device 4, circuit control mechanism, outer packaging module, described main body rack 1 comprises front carriage 11, posterior bracket 12, described front carriage 11 is connected by connecting pin 13 with described posterior bracket 12, and described front carriage 11, the left and right sides of posterior bracket 12 arrange respectively mounting hole;
Single leg mechanism of described four feet walk mechanism 2 comprises stay bearing plate 21, first connecting rod 22, second connecting rod 23, third connecting rod 24, the 4th connecting rod 25, rotating shaft dish 26 and crank 27, and the upper end of described stay bearing plate 21 is hinged in the different loci of described rotating shaft dish 26 by first connecting rod 22, second connecting rod 23 respectively; Described second connecting rod 23 is hinged with described third connecting rod 24 one end, and described rotating shaft dish 26 is hinged with one end of the 4th described connecting rod 25, and the other end of described third connecting rod 24, the 4th described connecting rod 25 is hinged on described crank 27 jointly;
Described turning mechanism 3 comprises front rotation platform 31, rear rotation platform 32, turning motor 33, coupler 34, screw mandrel 35, threaded line pipe 36, and the upper and lower two-layer iron plate riveted joint that described front rotation platform 31, rear rotation platform 32 are equipped with surface bearing by centre respectively forms; Described turning motor 33 is bolted on the upper strata iron plate of described front rotation platform 31; One end of described screw mandrel 35 is connected with described turning motor 33 by described coupler 34, and the other end coordinates with the threaded line pipe 36 described in being fixed on; Described front rotation platform 31, lower floor's iron plate of rear rotation platform 32 are screwed onto on described front carriage 31, posterior bracket 32 by nut respectively; Described threaded line pipe 36 is fixed on the upper strata iron plate of described rear rotation platform 32;
Described transmission device 4 comprises front propeller shaft 41, rear propeller shaft 42, front axle 43, rear axle 44, finishing bevel gear cuter 45, universal-joint 46, motor 47 advances, described transmission device 4 is positioned at described main body rack 1 below, and the described motor 47 that advances is connected with described rear propeller shaft 42 by described finishing bevel gear cuter 45; Described front propeller shaft 41 is connected by described universal-joint 46 with described rear propeller shaft 42; Described front axle 43, rear axle 44 are arranged on respectively in described mounting hole, and described crank 27 is installed respectively at described front axle 43, rear axle 44 two ends;
Described circuit control mechanism comprises master cock, control path, limit switch, described limit switch is arranged on described posterior bracket 12, and described master cock is controlled the running of the described motor that advances, described turning motor 33 by described control path.
Further, described rotating shaft dish 26 is triangular in shape.
Further, described first connecting rod 22, second connecting rod 23, the 4th connecting rod 25 are hinged on respectively the place, three summits of described rotating shaft dish 26.
Further, in the mounting hole of described front carriage 11 both sides, install in the mounting hole of same front axle 43, described posterior bracket 12 both sides same rear axle 44 is installed.
Further, described front axle 43, rear axle 44 are connected with described front propeller shaft 41, rear propeller shaft 42 by finishing bevel gear cuter 45 respectively.
Further, described turning motor 33 is controlled described front carriage 11, the angle between posterior bracket 12 by rotating.
Further, 4 single leg mechanism symmetries of described four feet walk mechanism 2 are arranged on the both sides of described main body rack 1, and two single leg mechanisms of diagonal position are with entering with moving back.
Further, described single leg mechanism adopts 8 linkages.
Further, described outer packaging module comprises network, head of the horse, horse hair, length, and described network is individually fixed on front carriage 11, posterior bracket 12, and described head of the horse, length, horse hair are separately fixed on described network successively.
During use, user opens master cock after mixing up rotating speed, motor 47 entrys into service of advancing, and by finishing bevel gear cuter 45 by transmission of power to rear propeller shaft 42, the stressed rotation of rear propeller shaft 42, by finishing bevel gear cuter 45, power is reached to rear axle 44 again, rear axle 44 rotates the crank 27 of posterior bracket 12 both sides is rotated, and drives two single leg mechanism motions below; When rear propeller shaft 42 rotates, the finishing bevel gear cuter 45 matching by another one is delivered to front axle 43 by power by universal-joint 46, and front axle 43 rotates and drives the crank 27 at front axle 43 two ends to rotate, thereby drives two single leg mechanism motions above; The motion that four feet walk mechanism 2 is orderly, advances whole fuselage; When advancing, by master cock, control turning motor 33 and drive screw mandrels 35 rotations, by changing the distance between turning motor 33 and threaded line pipe 36, and in the combined action of connecting pin 13 and universal-joint 46, regulate the angle between front carriage 11, posterior bracket 12, thereby realize, turn; When turning, due to the characteristic of universal-joint 46, onward impulse still can be realized by rear axle 44 transmission to front axle 43; In turning process, after front carriage 11 and limit switch touch, control path is controlled turning motor 33 and is quit work.
Content described in this specification sheets embodiment is only enumerating the way of realization of inventive concept; protection scope of the present invention should not be regarded as only limiting to the concrete form that embodiment states, protection scope of the present invention is also and in those skilled in the art, according to the present invention, conceive the equivalent technologies means that can expect.
Claims (9)
1. the formula four feet walk of can turning is mechanical, it is characterized in that: comprise main body rack, four feet walk mechanism, turning mechanism, transmission device, circuit control mechanism, outer packaging module, described main body rack comprises front carriage, posterior bracket, described front carriage is connected by connecting pin with described posterior bracket, and described front carriage, the left and right sides of posterior bracket arrange respectively mounting hole;
Single leg mechanism of described four feet walk mechanism comprises stay bearing plate, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, rotating shaft dish and crank, and the upper end of described stay bearing plate is hinged in the different loci of described rotating shaft dish by first connecting rod, second connecting rod respectively; Described second connecting rod and described third connecting rod one end are hinged, and one end of described rotating shaft dish and the 4th described connecting rod is hinged, and the other end of described third connecting rod, described the 4th connecting rod is hinged on described crank jointly;
Described turning mechanism comprises front rotation platform, rear rotation platform, turning motor, coupler, screw mandrel, threaded line pipe, and the upper and lower two-layer iron plate riveted joint that described front rotation platform, rear rotation platform are equipped with surface bearing by centre respectively forms; Described turning motor is bolted on the upper strata iron plate of described front rotation platform; One end of described screw mandrel is connected with described turning motor by described coupler, and the other end is fixed on described threaded line pipe; Lower floor's iron plate of described front rotation platform, rear rotation platform is screwed onto on described front carriage, posterior bracket by nut respectively; Described threaded line pipe is fixed on the upper strata iron plate of described rear rotation platform;
Described transmission device comprises front propeller shaft, rear propeller shaft, front axle, rear axle, finishing bevel gear cuter, universal-joint, the motor that advances, and described transmission device is positioned at described main body rack below, and the described motor that advances is connected with described rear propeller shaft by described finishing bevel gear cuter; Described front propeller shaft is connected by described universal-joint with described rear propeller shaft; Described front axle, rear axle are arranged on respectively in described mounting hole, and described crank is installed respectively at described front axle, rear axle two ends;
Described circuit control mechanism comprises master cock, control path, limit switch, and described limit switch is arranged on described posterior bracket, and described master cock is controlled the running of the described motor that advances, described turning motor by described control path.
2. the formula four feet walk machinery of turning as claimed in claim 1, is characterized in that: described rotating shaft dish is triangular in shape.
3. the formula four feet walk machinery of turning as claimed in claim 2, is characterized in that: described first connecting rod, second connecting rod, the 4th connecting rod are hinged on respectively the place, three summits of described rotating shaft dish.
4. the formula four feet walk machinery of turning as claimed in claim 1, is characterized in that: in the mounting hole of described front carriage both sides, install in the mounting hole of same front axle, described posterior bracket both sides same rear axle is installed.
5. the formula four feet walk machinery of turning as claimed in claim 4, is characterized in that: described front axle, rear axle are connected with described front propeller shaft, rear propeller shaft by finishing bevel gear cuter respectively.
6. the formula four feet walk machinery of turning as claimed in claim 1, is characterized in that: described turning motor is controlled described front carriage, the angle between posterior bracket by rotating.
7. the formula four feet walk machinery of turning as claimed in claim 1, it is characterized in that: 4 single leg mechanism symmetries of described four feet walk mechanism are arranged on the both sides of described main body rack, and two single leg mechanisms of diagonal position is with entering with moving back.
8. the formula four feet walk machinery of turning as claimed in claim 7, is characterized in that: described single leg mechanism adopts 8 linkages.
9. the formula four feet walk of turning as claimed in claim 1 is mechanical, it is characterized in that: described outer packaging module comprises network, head of the horse, horse hair, length, described network is individually fixed on front carriage, posterior bracket, and described head of the horse, length, horse hair are separately fixed on described network successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210147429.4A CN102700642B (en) | 2012-05-14 | 2012-05-14 | Quadruped walking machine capable of turning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210147429.4A CN102700642B (en) | 2012-05-14 | 2012-05-14 | Quadruped walking machine capable of turning |
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| Publication Number | Publication Date |
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| CN102700642A CN102700642A (en) | 2012-10-03 |
| CN102700642B true CN102700642B (en) | 2014-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210147429.4A Expired - Fee Related CN102700642B (en) | 2012-05-14 | 2012-05-14 | Quadruped walking machine capable of turning |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103148314B (en) * | 2013-03-06 | 2014-11-26 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN104008698B (en) * | 2014-05-23 | 2016-02-10 | 天津商业大学 | The four-footed walking robot of multi-connecting-rod mechanism composition |
| CN104712879B (en) * | 2015-03-18 | 2017-10-27 | 中国计量学院 | Larger service load can be born and the inwall of different-diameter pipeline is applicable from walking dolly |
| CN107010133A (en) * | 2017-04-19 | 2017-08-04 | 应夏英 | A kind of robot of town road with buffer unit |
| CN107298137B (en) * | 2017-05-22 | 2023-04-07 | 广东职业技术学院 | Lying type walking robot |
| CN108001553B (en) * | 2017-11-20 | 2019-09-24 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
| CN110126939A (en) * | 2019-06-25 | 2019-08-16 | 福州大学 | A kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4840242A (en) * | 1988-03-03 | 1989-06-20 | Chih Liu P | Convertible animal toy |
| CN101380978A (en) * | 2008-08-08 | 2009-03-11 | 山东科技大学 | Shrimp-shaped six-wheel mobile robot |
| CN202879641U (en) * | 2012-05-14 | 2013-04-17 | 浙江工业大学 | Four-footed walking machine capable of swerving |
-
2012
- 2012-05-14 CN CN201210147429.4A patent/CN102700642B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4840242A (en) * | 1988-03-03 | 1989-06-20 | Chih Liu P | Convertible animal toy |
| CN101380978A (en) * | 2008-08-08 | 2009-03-11 | 山东科技大学 | Shrimp-shaped six-wheel mobile robot |
| CN202879641U (en) * | 2012-05-14 | 2013-04-17 | 浙江工业大学 | Four-footed walking machine capable of swerving |
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| CN102700642A (en) | 2012-10-03 |
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