CN103317962A - Diameter-changing wheel based on rocker sliding block series combination - Google Patents
Diameter-changing wheel based on rocker sliding block series combination Download PDFInfo
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- CN103317962A CN103317962A CN201310234304XA CN201310234304A CN103317962A CN 103317962 A CN103317962 A CN 103317962A CN 201310234304X A CN201310234304X A CN 201310234304XA CN 201310234304 A CN201310234304 A CN 201310234304A CN 103317962 A CN103317962 A CN 103317962A
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Abstract
The invention relates to a diameter-changing wheel based on rocker sliding block series combination. The diameter-changing wheel comprises a main connecting plate, a connecting plate, a motor, a driving gear, n driven gears and n same rocker sliding block series combination mechanisms, wherein n>=3. The main connecting plate and the connecting plate are both circular plates, are concentric and are fixed parallelly to form a hub. The n rocker sliding block series combination mechanisms are distributed evenly along the circumferential direction of the hub and arranged on the hub radially. The inner ends of the rocker sliding block series combination mechanisms are located on the hub and connected with the motor through the n driven gears and the driving gear, and enveloping circles of the outer ends of the rocker sliding block series combination mechanisms form an outline. The diameter-changing wheel is large in diameter changing range, achieves underactuation and is good in obstacle crossing ability, simple to control and high in reliability.
Description
Technical field
What the present invention relates to is a kind of wheel of variable-diameter, and take turns in especially a kind of footpath that straightens based on rocker slider series combination mechanism.
Background technology
It is a kind of by stretching and the crooked change that realizes diameter straightening the footpath wheel.Generally comprise and straighten the footpath driver element, straighten the footpath gear unit, actuating unit.
Straighten footpath wheel and be and a kind ofly can adapt to multiple Different Ground environment (such as hard surfacings such as bituminous road, cement roads, sandy beach, the soft terrains such as meadow can Crossing ditch and step); Can realize variable diameter because this straightens the footpath wheel, (such as search and rescue robot, moon craft, mars exploration car etc., straighten the footpath wheel during loading and be in case of bending so can reduce parking space, save the space, stretch after arriving the destination, realize obstacle detouring, the functions such as detection).Diameter-variable wheel can be widely used in the traveling gear of military, civilian full-region vehicle, mobile robot and various special equipment mobile platforms, makes an inspection tour probe vehicles etc. such as search and rescue robot, exploration robot, space.
According to the available data of grasping at present, can on the different geographicals such as highway, soft terrain, marsh, beach and sand ground, better walk in order to make diameter-variable wheel, people have designed diversified wheel, such as leg formula wheel, Athey wheel etc., these designs are different from the contact conditions on ground, so that it is not they can only adapt to specific surface condition, perhaps good to the comformability on ground.Common these wheels realize straightening the footpath needs a plurality of motor-driven, perhaps provides power with hydraulic actuating cylinder, and perhaps electricity driving and hydraulic-driven provide power together, and energy consumption is larger, and efficient is low.
Summary of the invention
The objective of the invention is to be the defective that exists for prior art, provide a kind of and control conveniently, reliability is high, travel efficiency is high, energy consumption is low based on rocker slider series combination mechanism straightens the footpath wheel.
For achieving the above object, the design that the present invention adopts is: take turns in the footpath that straightens based on rocker slider series combination mechanism of the present invention, comprise main connecting panel, connecting panel, motor, driving gear, a n identical driven gear and n identical rocker slider series combination mechanism etc.
In the middle of main connecting panel and the connecting panel, center along connecting panel circumferentially evenly fixedly mounts n identical S. A., fixedly mount respectively n driven gear on the S. A., the driven gear top fixedly mounts respectively rocker slider series combination mechanism, makes mechanism become as a whole; Motor is responsible for outputting power, is fixedly mounted on main connecting panel reverse side, and driving gear is fixedly mounted on the motor shaft, n driven gear be separately fixed at the S. A. that is installed in main connecting panel front on, and driving gear and driven gear engagement.Realize gear transmission.Driving lever in the rocker slider series combination mechanism, frame, realized action crooked and that stretch by lever by mutual motion, make the variable diameter of wheel.
When the driving gear clickwise, the driven gear driven rotary axle left-hand revolution that is engaged with, the driving lever of driven gear top is rotated with S. A., the bearing inner ring of frame end is fixed on the S. A., outside race is fixed on the frame end, and asessory shaft one end is fixed on the frame, and its other end is fixed on the connecting panel so that S. A. when rotating frame fix.The relative frame of driving lever turns an angle, and can drive hingedly with it to be rotated successively by lever, makes rocker slider series combination winding machine flexure operation; When the driving gear left-hand revolution, the driven gear driven rotary axle that is engaged with clockwise rotates, driving lever is rotated round about relative to frame, drive and hingedly with it to be rotated round about successively by lever, make rocker slider series combination winding machine stretching; When rocker slider series combination mechanism was bent to end position, it is minimum that this straightens the footpath wheel diameter, good stability, and when rocker slider series combination mechanism extended to end position, this mechanism became oar formula wheel, and the speed of travel is fast, and efficient is high, and obstacle climbing ability strengthens greatly.
According to the foregoing invention design, the present invention adopts following technical proposals:
Take turns in a kind of footpath that straightens based on rocker slider series combination mechanism, comprises a main connecting panel, a connecting panel, a motor, driving gear, an a n driven gear and n identical rocker slider series combination mechanism, wherein
It is characterized in that: described main connecting panel and connecting panel are circular slab, concentric parallel fixedly formation wheel hub, described n rocker slider series combination mechanism circumferentially evenly distributes and radially is installed on the wheel hub along wheel hub, the inner location and installation of described rocker slider series combination mechanism is on wheel hub, and by n driven gear and driving gear connection motor, and the envelope of outer end circle consists of profile.
Described in the middle of main connecting panel and connecting panel, along main connecting panel center, circumferentially evenly distribute, n identical S. A. of fixed installation, the end of S. A. and main connecting panel, connecting panel are free-running fits, consist of revolute pair; Motor is fixedly mounted on the main connecting panel outside, and driving gear is by being fixedly mounted on the connecting panel inboard with the motor shaft free-running fit, and n measure-alike driven gear is fixedly mounted on respectively on n the S. A. and with driving gear and meshes, and realizes gear transmission; N identical rocker slider series combination mechanism is inboard at driven gear by the S. A. location and installation respectively, a driving lever in the rocker slider series combination mechanism is adjacent with driven gear, a frame end is installed in respectively on the S. A. by a bearing, bearing inner ring and S. A. free-running fit, form revolute pair, simultaneously, frame is stretched out asessory shaft of inner upper fixed installation, the other end of asessory shaft is fixedly mounted on the connecting panel, so that the rotation S. A. is when rotating, a driving lever rotates, and frame is fixed.
The structure of described main connecting panel is: there is centre hole at the center of main connecting panel, this centre hole and motor assembling, and driving gear and motor shaft are free-running fits, and are fixedly mounted on the motor shaft by key; Be uniform mounting hole 1 on the circumferencial direction of X1 along radius on the main connecting panel, the S. A. identical with n cooperates respectively, forms revolute pair, and driven gear is installed respectively on the S. A., makes the engagement of driving gear and driven gear, the transmission of realization train of gears.
The structure of described connecting panel is: be uniform mounting hole 2 on the circumference of X2 along radius on the connecting panel, respectively with the individual identical S. A. free-running fit of n, consist of revolute pair, be even distributing installation hole 3 on the circumference of X3 along radius on the connecting panel, the asessory shaft identical with n is free-running fit respectively, and an end of asessory shaft is fixed on the connecting panel.
The structure of described rocker slider series combination mechanism (15) is: an end of driving lever (13) and frame (8) are hinged by S. A. (7); Driving lever (13) is fixedly mounted on the S. A. (7), bearing (6) on the frame (8) and S. A. (7) free-running fit, form revolute pair, frame (8) the other end and a velamen lever 4(9) fork be hinged the external part of driving lever (13) and a velamen lever 1(12 by pin) fork end hinged; Frame (8) stretch out the outer end end with by lever 4(9) fork end hinged; By lever 4(9) a middle part and a velamen lever 1(12) middle part by pin hinged, by lever 4(9) external part and a velamen lever 3(10) fork end hinged; By lever 1(12) another medial end portions with by lever 3(10) another medial end portions by pin hinged, by lever 1(12) external part and a velamen lever 2(11) the end hinged; By lever 3 (10) another the middle part with by lever 2(11) the other end be hinged by pin.
During described S. A. rotation, the frame relative rotation axi is fixed, and driving lever (13) relative rotation axi rotates; The relative frame rotation of driving lever
The time, rotated with respect to driving lever by lever 4
, by lever 1 with respect to being rotated by lever 4
, by lever 3 with respect to being rotated by lever 1
, the flexure operation of realization slider-rocker mechanism.In like manner, the relative frame of driving lever is rotated in the opposite direction
The time, by lever 4 with respect to the driving lever contrarotation
, by lever 1 with respect to by lever 4 contrarotations
, by lever 3 with respect to by lever 1 contrarotation
, realize the stretching of rocker slider series combination mechanism.
The type of drive of described rocker slider series combination mechanism drives for owing, and namely motor drives simultaneously by train of gears
Individual identical rocker slider series combination winding machine bending and stretching, extension.
The extreme angles of described rocker slider series combination mechanism is
,
,
With
0 o'clock, driving lever with by the angle of the line of lever 3 ends and frame be
, should be case of bending based on the footpath wheel that straightens of rocker slider series combination mechanism; Extreme angles when rocker slider series combination mechanism
,
,
With
For
The time, driving lever with by lever 3(10) line of end and the angle of frame be
, should be extended configuration based on the footpath wheel that straightens of rocker slider series combination mechanism.
The present invention has following outstanding characteristics and significant advantage compared with prior art: adopt the series combination mechanism of slider-rocker mechanism, saved initiatively bending joint.Eight simultaneously crooked and stretching, extensions of identical rocker slider series combination mechanism realize vary in diameter, from in the past straighten the footpath mode different, the footpath mode that straightens in the past is to use deflection of spring, the stacked contraction of spring leaf etc., wheel passes through the bending of rocker slider series combination mechanism and stretches the realization vary in diameter and this straightens directly, the walking crossing ability is good, and obstacle performance power is strong, and travel efficiency is high, speed is fast, and has realized owing type of drive.In a word, the present invention is novel, and vary in diameter is large, controls simple and convenient.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation that stretches and be bent to end position among Fig. 1.
Fig. 3 is the front view of main connecting panel among Fig. 1.
Fig. 4 is the front view of main connecting panel among Fig. 1.
Fig. 5 is the mounting structure schematic diagram of single rocker slider series combination mechanism and main connecting panel among Fig. 1.
Fig. 6 is the front view of single rocker slider series combination mechanism among Fig. 1.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing and preferred embodiment.
Embodiment one:
Referring to Fig. 1-Fig. 6, take turns in this footpath that straightens based on rocker slider series combination mechanism, comprise a main connecting panel (2), a connecting panel (14), a motor (1), a driving gear (3), a n driven gear (4) and n identical rocker slider series combination mechanism (15), wherein
It is characterized in that: described main connecting panel (2) and connecting panel (14) are circular slab, concentric parallel fixedly formation wheel hub, described n rocker slider series combination mechanism (15) is along the circumferential evenly distribution of wheel hub and radially be installed on the wheel hub, the inner location and installation of described rocker slider series combination mechanism (15) is on wheel hub, and by n driven gear (4) and driving gear (3) connection motor (1), and the envelope of outer end circle consists of profile.
Embodiment two: the present embodiment and embodiment one are basic identical, and special feature is as follows:
Described rocker slider series combination mechanism, in the middle of main connecting panel (2) and connecting panel (14), along main connecting panel (2) center, circumferentially evenly distribute, n identical S. A. (7) of fixed installation, the end of S. A. (7) and main connecting panel (2), connecting panel (14) are free-running fits, consist of revolute pair; Motor (1) is fixedly mounted on main connecting panel (2) outside, driving gear (3) is by being fixedly mounted on connecting panel (2) inboard with the motor shaft free-running fit, n measure-alike driven gear (4) is fixedly mounted on respectively n S. A. (7) upward and meshes the realization gear transmission with driving gear (3); N identical rocker slider series combination mechanism (15) passes through respectively S. A. (7) location and installation in driven gear (4) inboard, driving lever (13) in the rocker slider series combination mechanism (15) is adjacent with driven gear (4), a frame (8) end is installed in respectively on the S. A. (7) by a bearing (6), bearing (6) inner ring and S. A. (7) free-running fit, form revolute pair, simultaneously, frame (8) is stretched out an inner upper fixed installation asessory shaft (5), the other end of asessory shaft (5) is fixedly mounted on the connecting panel (14), so that rotation S. A. (7) is when rotating, a driving lever (13) rotates, and frame (8) is fixing.The structure of described main connecting panel (2) is: there is centre hole (16) at main connecting panel (2) center, this centre hole (16) and motor (1) assembling, and driving gear (3) is free-running fit with motor shaft, and is fixedly mounted on the motor shaft by key; Main connecting panel (2) is upper to be uniform mounting hole 1(17-24 on the circumferencial direction of X1 along radius), the S. A. (7) identical with n cooperates respectively, form revolute pair, driven gear (4) is installed respectively on the S. A. (7), make driving gear (3) and driven gear (4) engagement, realize the transmission of train of gears.
The structure of described connecting panel (14) is: connecting panel (14) is upper to be uniform mounting hole 2(25-32 on the circumference of X2 along radius), respectively with individual identical S. A. (7) free-running fit of n, consist of revolute pair, connecting panel (14) is upper to be even distributing installation hole 3(33-40 on the circumference of X3 along radius), the asessory shaft (5) identical with n is free-running fit respectively, and an end of asessory shaft (5) is fixed on the connecting panel (14).
The structure of described rocker slider series combination mechanism (15) is: an end of driving lever (13) and frame (8) are hinged by S. A. (7); Driving lever (13) is fixedly mounted on the S. A. (7), bearing (6) on the frame (8) and S. A. (7) free-running fit, form revolute pair, frame (8) the other end and a velamen lever 4(9) fork be hinged the external part of driving lever (13) and a velamen lever 1(12 by pin) fork end hinged; Frame (8) stretch out the outer end end with by lever 4(9) fork end hinged; By lever 4(9) a middle part and a velamen lever 1(12) middle part by pin hinged, by lever 4(9) external part and a velamen lever 3(10) fork end hinged; By lever 1(12) another medial end portions with by lever 3(10) another medial end portions by pin hinged, by lever 1(12) external part and a velamen lever 2(11) the end hinged; By lever 3(10) another the middle part with by lever 2(11) the other end be hinged by pin.
Embodiment three: the present embodiment is identical with embodiment one, and special feature is as follows:
This is based on the footpath wheel of straightening of rocker slider series combination mechanism, comprises main connecting panel (2), connecting panel (14), motor (1), bearing (6), driving gear (3), rocker slider series combination mechanism (15) that driven gear (4) is identical with 8 etc.Shown in Figure 1: described bar slide block series combination mechanism (15) is between main connecting panel (2) and connecting panel (14), along the circumferentially evenly distribution of center of main connecting panel (2).In the middle of main connecting panel (2) and the connecting panel (14), along main connecting panel center, circumferentially evenly distribute, fixedly mount 8 identical S. A.s (7), the end of S. A. (7) and main connecting panel (2), connecting panel (14) are free-running fits, consist of revolute pair; Motor (1) is fixedly mounted on main connecting panel (2) reverse side, driving gear (3) is by being fixedly mounted on connecting panel (2) front with the motor shaft free-running fit, 8 measure-alike driven gears (4) are fixedly mounted on respectively on the S. A. (7), with driving gear (3) engagement, realize gear transmission; 8 identical rocker slider series combination mechanisms (15) are fixedly mounted on driven gear (4) top by S. A. (7) respectively, driving lever (13) in the rocker slider series combination mechanism (15) is adjacent with driven gear (4), the frame end is installed in respectively on the S. A. (7) by bearing (6), bearing (6) inner ring and S. A. (7) free-running fit, form revolute pair, simultaneously, frame external part fixed installation asessory shaft (5), the other end of asessory shaft (5) is fixedly mounted on the connecting panel (14), so that S. A. (7) is when rotating, driving lever (13) rotates, and frame is fixed.
Shown in Figure 3, there is centre hole hole (16) at main connecting panel (2) center, centre hole (16) and motor (1) assembling, and motor shaft and driving gear (3) free-running fit is fixedly mounted on the motor shaft.Main connecting panel (2) is upper to be uniform hole (17-24) on the circumferencial direction of X1 along radius, the S. A. (7) identical with 8 cooperates respectively, form revolute pair, driven gear (4) is installed respectively on the S. A. (7), make driving gear (3) and driven gear (4) engagement, realize the transmission of train of gears.
Shown in Figure 4, connecting panel (14) is upper to be uniform mounting hole 2(25-32 on the circumference of X2 along radius), S. A. (7) free-running fit identical with 8 respectively, consist of revolute pair, connecting panel (14) is upper to be even distributing installation hole 3(33-40 on the circumference of X3 along radius), the asessory shaft (5) identical with 8 is free-running fit respectively, and the end of asessory shaft (5) is fixed on the connecting panel (14).
Shown in Fig. 5,6, the end of driving lever (13) is connected by S. A. (7) with frame (8), driving lever (13) is fixedly mounted on the S. A. (7), bearing (6) on the frame (8) and S. A. (7) free-running fit, form revolute pair, its the other end with by lever 4(9) be connected by pin, its external part with by lever 1(12) the end hinged; The external part of frame (8) with by lever 4(9) the end hinged; By lever 4(9) the other end with by lever 1(12) be connected by pin, its external part with by lever 3(10) the end hinged; By lever 1(12) the other end with by lever 3(10) be connected by pin, its external part with by lever 2(11) the end hinged; By lever 3(10) the other end with by lever 2(11) the other end be connected by pin.During S. A. (7) rotation, frame (8) relative rotation axi (7) is fixing, and driving lever (13) relative rotation axi (7) rotates.Relatively frame (8) rotation of driving lever (13)
The time, by lever 4(9) rotate with respect to driving lever (13)
, by lever 1(12) and with respect to by lever 4(9) rotation
, by lever 3(10) and with respect to by lever 1(12) rotation
, the flexure operation of realization slider-rocker mechanism (15).In like manner, the relative frame (8) of driving lever (13) is rotated in the opposite direction
The time, by lever 4(9) with respect to driving lever (13) contrarotation
, by lever 1(12) and with respect to by lever 4(9) contrarotation
, by lever 3(10) and with respect to by lever 1(12) contrarotation
, realize the stretching of rocker slider series combination mechanism (15).The type of drive of described rocker slider series combination mechanism drives for owing, and namely motor (1) drives simultaneously by train of gears
Individual identical rocker slider series combination mechanism (15) realizes crooked and stretches.The extreme angles of described rocker slider series combination mechanism (15) is
,
,
With
0 o'clock, driving lever (13) with by lever 3(10) line of end and the angle of frame (8) be
, should be case of bending based on the footpath wheel that straightens of rocker slider series combination mechanism; Extreme angles when rocker slider series combination mechanism (15)
,
,
With
For
The time, driving lever (13) with by lever 3(10) line of end and the angle of frame (8) be
, should be extended configuration based on the footpath wheel that straightens of rocker slider series combination mechanism.
Claims (8)
1. take turns in the footpath that straightens based on rocker slider series combination mechanism, comprise a main connecting panel (2), a connecting panel (14), a motor (1), a driving gear (3), a n driven gear (4) and n identical rocker slider series combination mechanism (15), wherein
It is characterized in that: described main connecting panel (2) and connecting panel (14) are circular slab, concentric parallel fixedly formation wheel hub, described n rocker slider series combination mechanism (15) is along the circumferential evenly distribution of wheel hub and radially be installed on the wheel hub, the inner location and installation of described rocker slider series combination mechanism (15) is on wheel hub, and by n driven gear (4) and driving gear (3) connection motor (1), and the envelope of outer end circle consists of profile.
2. take turns in the footpath that straightens based on rocker slider series combination mechanism according to claim 1, it is characterized in that: in the middle of main connecting panel (2) and connecting panel (14), along main connecting panel (2) center, circumferentially evenly distribute, n identical S. A. (7) of fixed installation, the end of S. A. (7) and main connecting panel (2), connecting panel (14) are free-running fits, consist of revolute pair; Motor (1) is fixedly mounted on main connecting panel (2) outside, driving gear (3) is by being fixedly mounted on connecting panel (2) inboard with the motor shaft free-running fit, n measure-alike driven gear (4) is fixedly mounted on respectively n S. A. (7) upward and meshes the realization gear transmission with driving gear (3); N identical rocker slider series combination mechanism (15) passes through respectively S. A. (7) location and installation in driven gear (4) inboard, driving lever (13) in the rocker slider series combination mechanism (15) is adjacent with driven gear (4), a frame (8) end is installed in respectively on the S. A. (7) by a bearing (6), bearing (6) inner ring and S. A. (7) free-running fit, form revolute pair, simultaneously, frame (8) is stretched out an inner upper fixed installation asessory shaft (5), the other end of asessory shaft (5) is fixedly mounted on the connecting panel (14), so that rotation S. A. (7) is when rotating, a driving lever (13) rotates, and frame (8) is fixing.
3. take turns in the footpath that straightens based on rocker slider series combination mechanism according to claim 1, it is characterized in that: the structure of described main connecting panel (2) is: there is centre hole (16) at main connecting panel (2) center, this centre hole (16) and motor (1) assembling, driving gear (3) is free-running fit with motor shaft, and is fixedly mounted on the motor shaft by key; Main connecting panel (2) is upper to be uniform mounting hole 1(17-24 on the circumferencial direction of X1 along radius), the S. A. (7) identical with n cooperates respectively, form revolute pair, driven gear (4) is installed respectively on the S. A. (7), make driving gear (3) and driven gear (4) engagement, realize the transmission of train of gears.
4. take turns in the footpath that straightens based on rocker slider series combination mechanism according to claim 1, it is characterized in that: the structure of described connecting panel (14) is: connecting panel (14) is upper to be uniform mounting hole 2(25-32 on the circumference of X2 along radius), respectively with individual identical S. A. (7) free-running fit of n, consist of revolute pair, connecting panel (14) is upper to be even distributing installation hole 3(33-40 on the circumference of X3 along radius), the asessory shaft (5) identical with n is free-running fit respectively, and an end of asessory shaft (5) is fixed on the connecting panel (14).
5. according to claim 1 based on the rocker slider series combination: take turns in the footpath that straightens of mechanism, and it is characterized in that: the structure of described rocker slider series combination mechanism (15) is: an end of driving lever (13) and frame (8) are hinged by S. A. (7); Driving lever (13) is fixedly mounted on the S. A. (7), bearing (6) on the frame (8) and S. A. (7) free-running fit, form revolute pair, frame (8) the other end and a velamen lever 4(9) fork be hinged the external part of driving lever (13) and a velamen lever 1(12 by pin) fork end hinged; Frame (8) stretch out the outer end end with by lever 4(9) fork end hinged; By lever 4(9) a middle part and a velamen lever 1(12) middle part by pin hinged, by lever 4(9) external part and a velamen lever 3(10) fork end hinged; By lever 1(12) another medial end portions with by lever 3(10) another medial end portions by pin hinged, by lever 1(12) external part and a velamen lever 2(11) the end hinged; By lever 3(10) another the middle part with by lever 2(11) the other end be hinged by pin.
6. take turns in the footpath that straightens based on rocker slider series combination mechanism according to claim 1, and it is characterized in that: during described S. A. (7) rotation, frame (8) relative rotation axi (7) is fixing, and driving lever (13) relative rotation axi (7) rotates; Relatively frame (8) rotation of driving lever (13)
The time, by lever 4(9) rotate with respect to driving lever (13)
, by lever 1(12) and with respect to by lever 4(9) rotation
, by lever 3(10) and with respect to by lever 1(12) rotation
, the flexure operation of realization slider-rocker mechanism (15).In like manner, the relative frame (8) of driving lever (13) is rotated in the opposite direction
The time, by lever 4(9) with respect to driving lever (13) contrarotation
, by lever 1(12) and with respect to by lever 4(9) contrarotation
, by lever 3(10) and with respect to by lever 1(12) contrarotation
, realize the stretching of rocker slider series combination mechanism (15).
7. take turns in the footpath that straightens based on rocker slider series combination mechanism according to claim 5, and it is characterized in that: the type of drive of described rocker slider series combination mechanism (15) drives for owing, and namely motor (1) drives simultaneously by train of gears
Individual identical rocker slider series combination mechanism (15) realizes crooked and stretches.
8. take turns in the footpath that straightens based on rocker slider series combination mechanism according to claim 6, it is characterized in that, the extreme angles of rocker slider series combination mechanism (15) is
,
,
With
0 o'clock, driving lever (13) with by lever 3(10) line of end and the angle of frame (8) be
, should be case of bending based on the footpath wheel that straightens of rocker slider series combination mechanism; Extreme angles when rocker slider series combination mechanism (15)
,
,
With
For
The time, driving lever (13) with by lever 3(10) line of end and the angle of frame (8) be
, should be extended configuration based on the footpath wheel that straightens of rocker slider series combination mechanism.
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| CN201310234304.XA CN103317962B (en) | 2013-06-14 | 2013-06-14 | Take turns in the footpath that straightens based on rocker slider tandem compound |
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|---|---|---|---|
| CN201310234304.XA CN103317962B (en) | 2013-06-14 | 2013-06-14 | Take turns in the footpath that straightens based on rocker slider tandem compound |
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| CN103317962B CN103317962B (en) | 2016-05-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909361A (en) * | 2018-07-08 | 2018-11-30 | 胡俊 | A kind of flexible arc bar wheel moving trolley |
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| JPH0930480A (en) * | 1995-07-18 | 1997-02-04 | Kinji Inoue | Continuously variable transmission for bicycle |
| US20080245258A1 (en) * | 2007-04-06 | 2008-10-09 | General Electric Company | Pressure-balanced electric motor wheel drive for a pipeline tractor |
| CN101774331A (en) * | 2010-03-04 | 2010-07-14 | 北京邮电大学 | Vehicle wheel with variable wheel diameter |
| KR20120071187A (en) * | 2010-12-22 | 2012-07-02 | 삼성테크윈 주식회사 | Wheel and vehicle having the same |
| CN102954314A (en) * | 2012-11-21 | 2013-03-06 | 北京石油化工学院 | Pipeline robot dragging mechanism |
| CN103009918A (en) * | 2012-12-20 | 2013-04-03 | 中国矿业大学 | Variable-diameter driving wheel |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909361A (en) * | 2018-07-08 | 2018-11-30 | 胡俊 | A kind of flexible arc bar wheel moving trolley |
| CN108909361B (en) * | 2018-07-08 | 2021-10-01 | 徐纯纯 | Telescopic arc rod wheel walking vehicle |
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| CN103317962B (en) | 2016-05-25 |
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