CN103317962B - Take turns in the footpath that straightens based on rocker slider tandem compound - Google Patents
Take turns in the footpath that straightens based on rocker slider tandem compound Download PDFInfo
- Publication number
- CN103317962B CN103317962B CN201310234304.XA CN201310234304A CN103317962B CN 103317962 B CN103317962 B CN 103317962B CN 201310234304 A CN201310234304 A CN 201310234304A CN 103317962 B CN103317962 B CN 103317962B
- Authority
- CN
- China
- Prior art keywords
- lever
- connecting plate
- tandem compound
- rocker slider
- rotating shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to a kind of footpath that straightens based on rocker slider tandem compound mechanism takes turns. Does it comprise a main connecting plate, a connecting plate, a motor, driving gear, an a n driven gear and n identical rocker slider tandem compound mechanism, wherein . Described main connecting plate and connecting plate are circular slab, parallel fixing formation wheel hub with one heart, described n rocker slider tandem compound mechanism is circumferentially uniformly distributed and is radially arranged on wheel hub along wheel hub, the inner location and installation of described rocker slider tandem compound mechanism is on wheel hub, and connect motor by n driven gear and driving gear, and the envelope of outer end circle forms profile. Originally straighten footpath wheel change diameter range large, realize and owe to drive, obstacle climbing ability is strong, and control is simple, and reliability is high.
Description
Technical field
What the present invention relates to is a kind of wheel of variable-diameter, especially a kind of based on rocker slider tandem compound mechanismStraighten footpath wheel.
Background technology
It is a kind of by stretching and the bending change that realizes diameter straightening footpath wheel. Generally comprise and straighten footpath driver element, becomeDiameter gear unit, executing agency.
Straightening footpath wheel is that one can adapt to multiple Different Ground environment (as the hard surfacing such as asphalt road, cement road, sandBeach, the soft terrains such as meadow, can Crossing ditch and step); Because straightening footpath wheel, this can realize variable diameter, so canMinimizing parking space (as search and rescue robot, moon craft, mars exploration car etc., when loading, straighten footpath to take turns in case of bending,Save space, arrival is stretched behind destination, realizes obstacle detouring, the functions such as detection). Diameter-variable wheel can be widely used in military, civilianThe walking mechanism of full-region vehicle, mobile robot and various special equipment mobile platforms, as search and rescue robot, exploration machinePeople, space are maked an inspection tour probe vehicles etc.
According to the available data of grasping at present, in order to make diameter-variable wheel Neng highway, soft terrain, marsh, beachWith better walking in the different geographical such as sand ground, people have designed diversified wheel, such as leg formula wheel, Athey wheel etc., thisA little designs are different from the contact conditions on ground, make them can only adapt to specific surface condition, or adaptability to groundNot good. Conventionally these wheels are realized and are straightened footpath and need multiple motors to drive, or provide power with hydraulic cylinder, or electric drive andHydraulic-driven provides power together, and energy consumption is larger, and efficiency is low.
Summary of the invention
The object of the invention is to be the defect existing for prior art, provide a kind of control convenient, reliability is high, OKWalking the footpath that straightens based on rocker slider tandem compound mechanism that efficiency is high, energy consumption is low takes turns.
For achieving the above object, the design that the present invention adopts is: of the present invention based on rocker slider tandem compound mechanismStraighten footpath wheel, comprise main connecting plate, connecting plate, motor, driving gear, a n identical driven gear and n identical rocking barSlide block tandem compound mechanism etc.,. In the middle of main connecting plate and connecting plate, circumferentially evenly fix peace along the center of connecting plateN identical rotating shaft of dress, fixedly mounts respectively n driven gear on rotating shaft, shake driven gear top respectively fixed installationBar slide block tandem compound mechanism, makes mechanism become as a whole; Motor is responsible for outputting power, is fixedly mounted on main connecting plate anti-Face, driving gear is fixedly mounted on motor shaft, and n driven gear is separately fixed at and the rotation that is arranged on main connecting plate frontOn axle, and driving gear engages with driven gear. Realize gear drive. Driving lever, machine in rocker slider tandem compound mechanismFrame, realized action bending and that stretch by lever by mutual motion, make the variable diameter of wheel.
In the time that driving gear turns clockwise, the driven gear driven rotary axle being engaged with is rotated counterclockwise, and makes drivenThe driving lever of gear top rotates together with rotating shaft, and the bearing inner race of frame end is fixed on rotating shaft, and bearing outer ring is solidFix on frame end, and asessory shaft one end is fixed in frame, its other end is fixed on connecting plate, when rotating shaft is rotatedFrame is fixed. The relative frame of driving lever turns an angle, and can drive hingedly with it to be rotated successively by lever, makes rocker sliderTandem compound winding machine flexure operation; In the time that driving gear is rotated counterclockwise, the driven gear driven rotary axle being engaged withClockwise rotate, driving lever rotated round about relative to frame, drive with it hinged by lever successively round aboutRotate, make rocker slider tandem compound winding machine stretching; When rocker slider tandem compound, mechanism is bent to extreme positionTime, this straightens footpath wheel diameter minimum, good stability, and in the time that rocker slider tandem compound mechanism extends to extreme position, this mechanismBecome oar formula wheel, the speed of travel is fast, and efficiency is high, and obstacle climbing ability strengthens greatly.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of based on rocker slider tandem compound mechanism straighten footpath wheel, comprise a main connecting plate, connecting plate,Individual motor, driving gear, an a n driven gear and n identical rocker slider tandem compound mechanism, wherein, its spyLevy and be: described main connecting plate and connecting plate are circular slab, parallel fixing formation wheel hub with one heart, a described n rocker sliderTandem compound mechanism is circumferentially uniformly distributed and is radially arranged on wheel hub along wheel hub, described rocker slider tandem compound mechanismInner location and installation, on wheel hub, and connects motor by n driven gear and driving gear, and the envelope of outer end circle forms and takes turnsWide.
Described in the middle of main connecting plate and connecting plate, along main connecting plate center, be circumferentially uniformly distributed n of fixed installationIdentical rotating shaft, the end of rotating shaft and main connecting plate, connecting plate are matched in clearance, form revolute pair; Motor fixed installationIn main connecting plate outside, driving gear is by being fixedly mounted on connecting plate inner side with motor shaft matched in clearance, and n measure-alikeDriven gear be fixedly mounted on respectively on n rotating shaft and with driving gear and engage, realize gear drive; N identical shakingBar slide block tandem compound mechanism passes through respectively rotating shaft location and installation in driven gear inner side, in rocker slider tandem compound mechanismA driving lever adjacent with driven gear, a frame end is arranged on respectively on rotating shaft, in bearing by a bearingCircle and rotating shaft matched in clearance, form revolute pair, and meanwhile, frame is stretched out an asessory shaft of inner upper fixed installation, asessory shaftThe other end is fixedly mounted on connecting plate, and while making to rotate rotating shaft rotation, a driving lever rotates, and frame is fixed.
The structure of described main connecting plate is: there is centre bore at the center of main connecting plate, this centre bore and motor assembling, initiativelyGear and motor shaft are matched in clearance, and are fixedly mounted on motor shaft by key; The circumference that is X1 along radius on main connecting plateUniform installing hole 1 in direction, the rotating shaft identical with n coordinates respectively, forms revolute pair, and driven tooth is installed respectively on rotating shaftWheel, makes driving gear engage with driven gear, realizes the transmission of gear train.
The structure of described connecting plate is: uniform installing hole 2 on the circumference that is X2 along radius on connecting plate, and respectively with nIdentical rotating shaft matched in clearance, forms revolute pair, is uniformly distributed installing hole 3 on connecting plate along radius on the circumference that is X3, pointThe asessory shaft identical with n is not matched in clearance, and one end of asessory shaft is fixed on connecting plate.
The structure of described rocker slider tandem compound mechanism (15) is: an end of driving lever (13) and frame (8) are passed throughRotating shaft (7) is hinged; It is upper that driving lever (13) is fixedly mounted on rotating shaft (7), a bearing (6) and rotating shaft in frame (8)(7) matched in clearance, form revolute pair, frame (8) the other end and a velamen lever 4(9) fork be hinged by pin, initiativelyThe external part of bar (13) and a velamen lever 1(12) fork end hinged; Frame (8) stretch out outer end end with by lever 4(9)Fork end is hinged; By lever 4(9) a middle part and a velamen lever 1(12) middle part by pin hinged, by lever 4(9) stretchGo out end with a velamen lever 3(10) fork end hinged; By lever 1(12) another medial end portions with by lever 3(10) anotherMedial end portions by pin hinged, by lever 1(12) external part and a velamen lever 2(11) end hinged; By lever 3(10) another middle part with by lever 2(11) the other end be hinged by pin.
When described rotating shaft rotates, frame relative rotation axi is fixed, and driving lever (13) relative rotation axi rotates; Driving leverRotate relative to frameTime, rotated with respect to driving lever by lever 4, by lever 1 with respect to being rotated by lever 4, passiveBar 3 is with respect to being rotated by lever 1, realize the flexure operation of slider-rocker mechanism. In like manner, the relative frame of driving lever is with on the contraryDirection rotationTime, counter-rotated with respect to driving lever by lever 4, by lever 1 with respect to being counter-rotated by lever 4，By lever 3 with respect to being counter-rotated by lever 1, realize the stretching of rocker slider tandem compound mechanism.
The type of drive of described rocker slider tandem compound mechanism drives for owing, and motor drives by gear train simultaneouslyIndividual identical rocker slider tandem compound winding machine bending and stretching, extension.
The extreme angles of described rocker slider tandem compound mechanism is、、With> 0 o'clock, driving lever and passiveThe line of bar 3 ends and the angle of frame are, should be case of bending by the footpath wheel that straightens based on rocker slider tandem compound mechanism;When the extreme angles of rocker slider tandem compound mechanism、、WithForTime, driving lever with by lever 3(10) endLine and the angle of frame be, should be extended configuration by the footpath wheel that straightens based on rocker slider tandem compound mechanism.
The present invention compared with prior art, has following outstanding feature and significant advantage: adopt rocker slider machineThe tandem compound mechanism of structure, has saved initiatively bending joint. Eight identical rocker slider tandem compound mechanisms simultaneously bending andStretching, extension realizes diameter and changes, from the past to straighten footpath mode different, the footpath mode that straightens is in the past to use camber of spring, spring leafStacked contraction etc., and this straightens the bending by rocker slider tandem compound mechanism of footpath wheel and stretching, extension and realizes diameter and change, walkingTrafficability characteristic is good, and obstacle performance power is strong, and wheel efficiency is high, and speed is fast, and has realized and owed type of drive. In a word, novelty of the present invention is straightFootpath changes greatly, controls simple and convenient.
Brief description of the drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation that stretches and be bent to extreme position in Fig. 1.
Fig. 3 is the front view of main connecting plate in Fig. 1.
Fig. 4 is the front view of main connecting plate in Fig. 1.
Fig. 5 is the mounting structure schematic diagram of single rocker slider tandem compound mechanism and main connecting plate in Fig. 1.
Fig. 6 is the front view of single rocker slider tandem compound mechanism in Fig. 1.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, the invention will be further described.
Embodiment mono-:
Referring to Fig. 1-Fig. 6, this straightens footpath wheel based on rocker slider tandem compound mechanism, comprise a main connecting plate (2),A connecting plate (14), a motor (1), a driving gear (3), a n driven gear (4) and n identical rocker sliderTandem compound mechanism (15), wherein, it is characterized in that: described main connecting plate (2) and connecting plate (14) are circular slab,Parallel fixing formation wheel hub with one heart, described n rocker slider tandem compound mechanism (15) is circumferentially uniformly distributed and footpath along wheel hubTo being arranged on wheel hub, the inner location and installation of described rocker slider tandem compound mechanism (15) is on wheel hub, and it is individual to pass through nDriven gear (4) and driving gear (3) connect motor (1), and the envelope of outer end circle forms profile.
Embodiment bis-: the present embodiment and embodiment mono-are basic identical, and special feature is as follows:
Described rocker slider tandem compound mechanism, in the middle of main connecting plate (2) and connecting plate (14), along main connecting plate(2) center, is circumferentially uniformly distributed, n identical rotating shaft (7) of fixed installation, the end of rotating shaft (7) and main connecting plate (2),Connecting plate (14) is matched in clearance, forms revolute pair; Motor (1) is fixedly mounted on main connecting plate (2) outside, driving gear (3)By being fixedly mounted on connecting plate (2) inner side with motor shaft matched in clearance, n measure-alike driven gear (4) is fixing respectivelyBe arranged on n rotating shaft (7) and engage with driving gear (3), realizing gear drive; N identical rocker slider series connection groupClose mechanism (15) and pass through respectively rotating shaft (7) location and installation in driven gear (4) inner side, rocker slider tandem compound mechanism (15)In a driving lever (13) adjacent with driven gear (4), a frame (8) end is arranged on respectively by a bearing (6)Rotating shaft (7) is upper, and bearing (6) inner ring and rotating shaft (7) matched in clearance form revolute pair, and meanwhile, frame (8) is stretched out on the innerFixedly mount an asessory shaft (5), it is upper that the other end of asessory shaft (5) is fixedly mounted on connecting plate (14), makes to rotate rotating shaft(7) while rotation, a driving lever (13) rotates, and frame (8) is fixing. The structure of described main connecting plate (2) is: main connecting plate(2) there is centre bore (16) at center, this centre bore (16) and motor (1) assembling, and driving gear (3) is matched in clearance with motor shaft,And be fixedly mounted on motor shaft by key; Uniform installing hole 1(17-on the circumferencial direction that main connecting plate (2) is upper is X1 along radius24), the rotating shaft (7) identical with n coordinates respectively, forms revolute pair, and driven gear (4) is installed respectively on rotating shaft (7), makesDriving gear (3) engages with driven gear (4), realizes the transmission of gear train.
The structure of described connecting plate (14) is: uniform installing hole 2 on the circumference that connecting plate (14) is upper is X2 along radius(25-32), rotating shaft (7) matched in clearance identical with n respectively, forms revolute pair, and connecting plate (14) is above X3 along radiusOn circumference, be uniformly distributed installing hole 3(33-40), the asessory shaft (5) identical with n is matched in clearance respectively, makes asessory shaft (5)One end is fixed on connecting plate (14).
The structure of described rocker slider tandem compound mechanism (15) is: an end of driving lever (13) and frame (8) are passed throughRotating shaft (7) is hinged; It is upper that driving lever (13) is fixedly mounted on rotating shaft (7), a bearing (6) and rotating shaft in frame (8)(7) matched in clearance, form revolute pair, frame (8) the other end and a velamen lever 4(9) fork be hinged by pin, initiativelyThe external part of bar (13) and a velamen lever 1(12) fork end hinged; Frame (8) stretch out outer end end with by lever 4(9)Fork end is hinged; By lever 4(9) a middle part and a velamen lever 1(12) middle part by pin hinged, by lever 4(9) stretchGo out end with a velamen lever 3(10) fork end hinged; By lever 1(12) another medial end portions with by lever 3(10) anotherMedial end portions by pin hinged, by lever 1(12) external part and a velamen lever 2(11) end hinged; By lever 3(10)Another middle part with by lever 2(11) the other end be hinged by pin.
Embodiment tri-: the present embodiment is identical with embodiment mono-, and special feature is as follows:
Take turns in this footpath that straightens based on rocker slider tandem compound mechanism, comprises main connecting plate (2), connecting plate (14), motor(1), bearing (6), driving gear (3), rocker slider tandem compound mechanism (15) that driven gear (4) is identical with 8 etc. Fig. 1Shown in: described bar slide block tandem compound mechanism (15) is between main connecting plate (2) and connecting plate (14), along main connecting plate(2) center is circumferentially uniformly distributed. In the middle of main connecting plate (2) and connecting plate (14), along main connecting plate center, circumferentially evenly divideCloth, fixedly mounts 8 identical rotating shafts (7), and the end of rotating shaft (7) and main connecting plate (2), connecting plate (14) are that join in gapClose, form revolute pair; Motor (1) is fixedly mounted on main connecting plate (2) reverse side, and driving gear (3) is by joining with motor shaft gapClose and be fixedly mounted on connecting plate (2) front, it is upper that 8 measure-alike driven gears (4) are fixedly mounted on respectively rotating shaft (7),Engage with driving gear (3), realize gear drive; 8 identical rocker slider tandem compound mechanisms (15) are respectively by rotationAxle (7) is fixedly mounted on driven gear (4) top, driving lever (13) and driven tooth in rocker slider tandem compound mechanism (15)Wheel (4) is adjacent, and it is upper that frame end is arranged on respectively rotating shaft (7) by bearing (6), bearing (6) inner ring and rotating shaft (7) gapCoordinate, form revolute pair, meanwhile, frame external part fixed installation asessory shaft (5), the other end of asessory shaft (5) is fixedly mounted onConnecting plate (14) is upper, and when rotating shaft (7) is rotated, driving lever (13) rotates, and frame is fixed.
Shown in Fig. 3, there is centre bore hole (16) at main connecting plate (2) center, centre bore (16) and motor (1) assembling, motor shaftWith driving gear (3) matched in clearance, be fixedly mounted on motor shaft. On the circumferencial direction that main connecting plate (2) is upper is X1 along radiusUniform hole (17-24), the rotating shaft identical with 8 (7) coordinates respectively, forms revolute pair, installs respectively driven on rotating shaft (7)Gear (4), makes driving gear (3) engage with driven gear (4), realizes the transmission of gear train.
Shown in Fig. 4, uniform installing hole 2(25-32 on the circumference that connecting plate (14) is upper is X2 along radius), respectively with 8 phasesSame rotating shaft (7) matched in clearance, forms revolute pair, on the circumference that connecting plate (14) is upper is X3 along radius, is uniformly distributed installing hole3(33-40), the asessory shaft identical with 8 (5) is matched in clearance respectively, makes the end of asessory shaft (5) be fixed on connecting plate (14)On.
Shown in Fig. 5,6, the end of driving lever (13) is connected by rotating shaft (7) with frame (8), the fixing peace of driving lever (13)Be contained in rotating shaft (7) upper, the bearing (6) in frame (8) and rotating shaft (7) matched in clearance, form revolute pair, its other end withBy lever 4(9) connect by pin, its external part with by lever 1(12) end hinged; The external part of frame (8) and passiveBar 4(9) end hinged; By lever 4(9) the other end with by lever 1(12) be connected its external part and passive by pinBar 3(10) end hinged; By lever 1(12) the other end with by lever 3(10) be connected its external part and quilt by pinLever 2(11) end hinged; By lever 3(10) the other end with by lever 2(11) the other end be connected by pin.When rotating shaft (7) rotation, frame (8) relative rotation axi (7) is fixing, and driving lever (13) relative rotation axi (7) rotates. Driving lever(13) rotate relative to frame (8)Time, by lever 4(9) rotate with respect to driving lever (13), by lever 1(12) and with respect to quiltLever 4(9) rotation, by lever 3(10) and with respect to by lever 1(12) rotation, realize the curved of slider-rocker mechanism (15)Bent action. In like manner, driving lever (13) rotates in the opposite direction relative to frame (8)Time, by lever 4(9) with respect to driving lever(13) reverse rotation, by lever 1(12) and with respect to by lever 4(9) reverse rotation, by lever 3(10) and with respect to by lever1(12) reverse rotation, realize the stretching of rocker slider tandem compound mechanism (15). Described rocker slider tandem compoundThe type of drive of mechanism drives for owing, and motor (1) drives by gear train simultaneouslyIndividual identical rocker slider tandem compoundMechanism (15) realizes bending and stretches. The extreme angles of described rocker slider tandem compound 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 based on rocker slider stringThe footpath wheel that straightens of connection combined mechanism is case of bending; When the extreme angles of rocker slider tandem compound mechanism (15)、、WithForTime, driving lever (13) with by lever 3(10) line of end and the angle of frame (8) be, should be sliding based on rocking barThe footpath wheel that straightens of piece tandem compound mechanism is extended configuration.
Claims (7)
1. take turns in the footpath that straightens based on rocker slider tandem compound mechanism, comprises a main connecting plate (2), a connecting plate(14) a, motor (1), a driving gear (3), a n driven gear (4) and n identical rocker slider tandem compound machineStructure (15), wherein n >=3, is characterized in that: described main connecting plate (2) and connecting plate (14) are circular slab, parallel fixing with one heartForm wheel hub, described n rocker slider tandem compound mechanism (15) is circumferentially uniformly distributed and is radially arranged on wheel hub along wheel hubUpper, the inner location and installation of described rocker slider tandem compound 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 forms profile; The structure of described main connecting plate (2) is: mainThere is centre bore (16) at connecting plate (2) center, this centre bore (16) and motor (1) assembling, and driving gear (3) is gap with motor shaftCoordinate, and be fixedly mounted on motor shaft by key; Uniform installing hole on the circumferencial direction that main connecting plate (2) is upper is X1 along radius1 (17-24), the rotating shaft (7) identical with n coordinates respectively, forms revolute pair, and rotating shaft is installed respectively driven gear on (7)(4), driving gear (3) is engaged with driven gear (4), realize the transmission of gear train.
2. take turns in the footpath that straightens based on rocker slider tandem compound mechanism according to claim 1, it is characterized in that: in main companyIn the middle of fishplate bar (2) and connecting plate (14), along main connecting plate (2) center, be circumferentially uniformly distributed n identical revolving of fixed installationRotating shaft (7), the end of rotating shaft (7) and main connecting plate (2), connecting plate (14) they are matched in clearance, form revolute pair; Motor (1)Be fixedly mounted on main connecting plate (2) outside, driving gear (3) is by being fixedly mounted on main connecting plate with motor shaft matched in clearance(2) inner side, n measure-alike driven gear (4) is fixedly mounted on respectively n rotating shaft (7) above and nibbles with driving gear (3)Close, realize gear drive; N identical rocker slider tandem compound mechanism (15) exists by rotating shaft (7) location and installation respectivelyDriven gear (4) inner side, the driving lever (13) in rocker slider tandem compound mechanism (15) is adjacent with driven gear (4),It is upper that frame (8) end is arranged on respectively rotating shaft (7) by a bearing (6), and join in bearing (6) inner ring and rotating shaft (7) gapClose, form revolute pair, meanwhile, frame (8) is stretched out an asessory shaft of inner upper fixed installation (5), and the other end of asessory shaft (5) is solidIt is upper that Dingan County is contained in connecting plate (14), and while making to rotate rotating shaft (7) rotation, a driving lever (13) rotates, and frame (8) is fixing.
3. take turns in the footpath that straightens based on rocker slider tandem compound mechanism according to claim 1, it is characterized in that: describedThe structure of connecting plate (14) is: uniform installing hole 2 (25-32) on the circumference that connecting plate (14) is upper is X2 along radius, and respectively with nIdentical rotating shaft (7) matched in clearance, forms revolute pair, on the circumference that connecting plate (14) is upper is X3 along radius, is uniformly distributed installationHole 3 (33-40), the asessory shaft (5) identical with n is matched in clearance respectively, makes one end of asessory shaft (5) be fixed on connecting plate(14) on.
4. take turns in the footpath that straightens based on rocker slider tandem compound mechanism according to claim 1, it is characterized in that: describedThe structure of rocker slider tandem compound mechanism (15) is: an end of driving lever (13) and frame (8) are by rotating shaft (7) hingeConnect; It is upper that driving lever (13) is fixedly mounted on rotating shaft (7), the bearing (6) in frame (8) and rotating shaft (7) matched in clearance,Form revolute pair, the fork of frame (8) the other end and a velamen lever 4 (9) is hinged by pin, the stretching out of driving lever (13)End is hinged with the fork end of a velamen lever 1 (12); Frame (8) stretch out outer end with hinged by the fork end of lever 4 (9); QuiltOne middle part of lever 4 (9) and velamen lever 1 (12) middle part are hinged by pin, by the external part of lever 4 (9) and a velamenThe fork end of lever 3 (10) is hinged; By another medial end portions of lever 1 (12) with passed through pin by another medial end portions of lever 3 (10)Follow closely hinged, hinged by the end of the external part of lever 1 (12) and a velamen lever 2 (11); By lever 3 (10) another middle part withThe other end by lever 2 (11) is hinged by pin.
According to claim 4 based on rocker slider tandem compound mechanism straighten footpath wheel, it is characterized in that: described in shakeThe type of drive of bar slide block tandem compound mechanism (15) drives for owing, and motor (1) drives n individual identical by gear train simultaneouslyRocker slider tandem compound mechanism (15) realizes bending and stretches.
6. take turns in the footpath that straightens based on rocker slider tandem compound mechanism according to claim 4, it is characterized in that: describedWhen rotating shaft (7) rotation, frame (8) relative rotation axi (7) is fixing, and driving lever (13) relative rotation axi (7) rotates; Driving lever(13), when the angle of rotating relative to frame (8) is A °, be B ° by lever 4 (9) with respect to the angle of driving lever (13) rotation, passiveBar 1 (12) is with respect to being C ° by the angle of lever 4 (9) rotation, by lever 3 (10) with respect to by the angle of lever 1 (12) rotationFor D °, realize the flexure operation of slider-rocker mechanism (15); In like manner, driving lever (13) rotates in the opposite direction relative to frame (8)Angle while being A °, be B ° by lever 4 (9) with respect to the angle of driving lever (13) reverse rotation, by lever 1 (12) with respect to quiltThe angle of lever 4 (9) reverse rotations is C °, with respect to being D ° by the angle of lever 1 (12) reverse rotation, real by lever 3 (10)The stretching of existing rocker slider tandem compound mechanism (15).
7. take turns in the footpath that straightens based on rocker slider tandem compound mechanism according to claim 6, it is characterized in that, rocking bar is slidingThe extreme angles of piece tandem compound mechanism (15) is A °, B °, C ° and D ° while being all greater than 0 °, driving lever (13) with by lever 3 (10)The angle of the line of end and frame (8) is a, should be case of bending by the footpath wheel that straightens based on rocker slider tandem compound mechanism;In the time being 0 ° for extreme angles A ° of rocker slider tandem compound mechanism (15), B °, C ° and D °, driving lever (13) with by lever 3(10) angle of the line of end and frame (8) is 0 °, should be stretching, extension by the footpath wheel that straightens based on rocker slider tandem compound mechanismState.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310234304.XA CN103317962B (en) | 2013-06-14 | 2013-06-14 | Take turns in the footpath that straightens based on rocker slider tandem compound |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310234304.XA CN103317962B (en) | 2013-06-14 | 2013-06-14 | Take turns in the footpath that straightens based on rocker slider tandem compound |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103317962A CN103317962A (en) | 2013-09-25 |
| CN103317962B true CN103317962B (en) | 2016-05-25 |
Family
ID=49187138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310234304.XA Expired - Fee Related CN103317962B (en) | 2013-06-14 | 2013-06-14 | Take turns in the footpath that straightens based on rocker slider tandem compound |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103317962B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909361B (en) * | 2018-07-08 | 2021-10-01 | 徐纯纯 | Telescopic arc rod wheel walking vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774331A (en) * | 2010-03-04 | 2010-07-14 | 北京邮电大学 | Vehicle wheel with variable wheel diameter |
| 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| KR20120071187A (en) * | 2010-12-22 | 2012-07-02 | 삼성테크윈 주식회사 | Wheel and vehicle having the same |
-
2013
- 2013-06-14 CN CN201310234304.XA patent/CN103317962B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774331A (en) * | 2010-03-04 | 2010-07-14 | 北京邮电大学 | Vehicle wheel with variable wheel diameter |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103317962A (en) | 2013-09-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101503044A (en) | Motor hydraulic swing reducing wheel carrier for diameter-variable wheel | |
| CN101491995B (en) | Elastic helical wheel rack suitable of variable diameter wheel | |
| CN101954836A (en) | Diameter-variable wheel for automatically adapting to road surface | |
| CN101774331B (en) | Vehicle wheel with variable wheel diameter | |
| CN103359151B (en) | Steering-by-wire steering wheel for vehicle device | |
| CN103273977A (en) | Passive self-adaption deformable continuous track type mobile robot platform | |
| CN103317962B (en) | Take turns in the footpath that straightens based on rocker slider tandem compound | |
| CN107089098A (en) | A kind of spherical tire and include the steering structure of the spherical tire | |
| CN103818492B (en) | A kind of wheel leg compound carrying robot | |
| CN105324292A (en) | Double pinion steering gear with an electric motor | |
| CN103600631B (en) | A kind of amphibious wheel mechanism based on eccentric paddle mechanism | |
| CN205891045U (en) | Omnidirectional movement platform and power universal wheel thereof | |
| CN205226353U (en) | Parking mechanism and vehicle | |
| CN105711329A (en) | Transformable wheel based on cam pair | |
| CN101954834B (en) | Combined spring variable-diameter wheel carrier for variable-diameter wheel | |
| CN102825973B (en) | Ball spacing type repeated folding-unfolding wheel locking and unlocking mechanism | |
| CN102887181A (en) | Swinging arm drive device for tracked robot | |
| CN1186175C (en) | Dual-roller walking unit for robot | |
| CN201971063U (en) | Four-wheel steering mechanism of a wheel type train | |
| TWI592319B (en) | Retractable suspension system | |
| CN103342138A (en) | Wheel caterpillar band moving device and wheel caterpillar band thereof | |
| CN202659832U (en) | Linear driving mechanism capable of realizing limit angle rotation of rotating component | |
| CN102167100B (en) | Reverse-quadrilateral bisectional track robot | |
| CN205950771U (en) | A drive mechanism for realizing robot head left and right rocking moves | |
| CN202827911U (en) | Elastic reset mechanism and self-balancing two-wheel vehicle steering gear thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20200614 |