CN106882287A - A kind of bionical monopodia wheel of adjustable biped bar - Google Patents
A kind of bionical monopodia wheel of adjustable biped bar Download PDFInfo
- Publication number
- CN106882287A CN106882287A CN201710212253.9A CN201710212253A CN106882287A CN 106882287 A CN106882287 A CN 106882287A CN 201710212253 A CN201710212253 A CN 201710212253A CN 106882287 A CN106882287 A CN 106882287A
- Authority
- CN
- China
- Prior art keywords
- leg
- bar
- driving wheel
- sufficient
- gear
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
A kind of bionical monopodia wheel of adjustable biped bar, it includes mounting bracket, hydraulic motor, drive gear, driven gear, eccentric shaft, the driving wheel leg of eccentric setting and driven pulley leg, sufficient bar unit.By the driving of hydraulic motor, driven gear is driven to rotate by drive gear, driven gear is fixed on driving wheel leg, driving wheel leg is driven to rotate, driving wheel leg drives driven pulley leg to rotate by jointed shaft, connector and sufficient bar mounting seat, and then band action spot bar is rotated, and realizes walking function.The power that the driving wheel leg and driven pulley leg that the present invention is provided are provided by hydraulic motor, can realize rotary walking, it is also possible to realize being moved with the equally reciprocal stepping of animal.Meanwhile, the work of servomotor on sufficient bar unit, by bevel gear set, drives two parapodum bar mounting seats and sufficient bar installation axle to rotate, and makes two sufficient rods at a certain angle, can be wall etc. is narrower or supporting surface exists and walked on the attachment of radian.
Description
Technical field
The present invention relates to running gear field, more particularly to a kind of bionical monopodia wheel of adjustable biped bar.
Background technology
As science and technology is continued to develop, the operation device of various automations is continued to bring out, used as the walking of important component
Device is also updated, to avoid causing running gear to use asking that scope is limited because the operating mode in each field is different
Topic, occurs in that polypody wheel, but existing polypody wheel construction is complicated, and smooth running performance is poor, in high speed traveling, working order
It is poor.
The content of the invention
The present invention is in view of the shortcomings of the prior art, there is provided a kind of adjustable bionical monopodia wheel of biped bar.
The present invention is achieved through the following technical solutions, there is provided a kind of adjustable bionical monopodia wheel of biped bar.It includes peace
Shelve, the driving wheel leg of hydraulic motor, drive gear, driven gear, eccentric shaft, eccentric setting and driven pulley leg, sufficient bar, sufficient bar
Rotary shaft, sufficient bar rotating seat, sufficient bar mounting seat, connector, jointed shaft.The driving wheel leg and driven pulley leg are eccentrically mounted at partially
On heart axle, it is hinged by jointed shaft, connector and sufficient bar mounting seat between the driving wheel leg and driven pulley leg, constitutes four
Linkage, described eccentric shaft one end is fixedly mounted on mounting bracket, and driven gear is installed with the driving wheel leg, from
Moving gear is meshed with driving gear, and the driving gear is arranged on and is fixed on the hydraulic motor axle on mounting bracket, the liquid
Pressure motor works, and drives pinion rotation, and because driven gear is fixed on driving wheel leg, and then gear can drive driving wheel leg to turn
It is dynamic, therefore, by the rotation of the driving wheel leg and driven pulley leg of eccentric setting so that the sufficient bar is around central axis and all the time
In hang, into sufficient bar mounting seat both sides are symmetricly set on, centre passes through for the sufficient bar rotary shaft and sufficient bar rotating seat
Holding screw is connected.
Further, bevel gear, the cone tooth are installed with respectively on the sufficient bar rotary shaft and sufficient bar rotating seat
Wheel is engaged on the bevel gear both sides on servo motor shaft respectively, and when servomotor works, by bevel gear, the sufficient bars of drive two are in
Central axis.
Further, the driving wheel leg and driven pulley leg are connected on eccentric shaft by bearing.
Further, the eccentric shaft is fixed on mounting bracket by nut.
Further, the containment vessel is fixedly mounted on mounting bracket, protects gear.
The beneficial effects of the invention are as follows：The present invention provides a kind of adjustable bionical monopodia wheel of biped bar.By hydraulic motor
Drive, drive driven gear to rotate by drive gear, driven gear is fixed on driving wheel leg, drive driving wheel leg to rotate, it is main
Driving wheel leg drives driven pulley leg to rotate by jointed shaft, connector and sufficient bar mounting seat, and then band action spot bar is rotated, and is realized
Walking function, driving wheel leg is connected on eccentric shaft with driven pulley leg, eccentric group is formed, due to driving wheel leg and driven pulley leg
Between be hinged by jointed shaft and connector and sufficient bar mounting seat, and then ensure that sufficient bar all the time vertically downward.Sufficient bar
Servomotor work on unit, band dynamic bevel gear is rotated, and then is driven in two parapodum bar mounting seats and sufficient bar installation axle
Bevel gear rotates, and makes two sufficient rods at a certain angle, can be on the attachment that wall etc. is narrower or supporting surface has radian
Walking.The power that the driving wheel leg and driven pulley leg that the present invention is provided are provided by hydraulic motor, can realize rotary
Walking, it is also possible to realize being moved with the equally reciprocal stepping of animal.
Brief description of the drawings
Fig. 1 is stereogram of the present invention；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the right view of Fig. 1；
Fig. 4 is the sectional view of Fig. 3；
Fig. 5 is driving wheel leg stereogram；
Fig. 6 is driven pulley leg stereogram；
Fig. 7 is sufficient bar unit schematic diagram；
Shown in figure：1.1st, considerable bar, 1.2, rotating seat, 1.3, bevel gear, 1.4, servomotor, 1.5, rotary shaft, 1.6, tight
Determine screw, 1.7, jointed shaft, 1.8, connector, 1.9, sufficient bar mounting seat, 1.10, servomotor mounting seat, 2.1, eccentric shaft,
2.2nd, driven pulley leg, 2.3, driving wheel leg, 2.4, containment vessel, 2.5, driven gear, 2.6, mounting bracket, 2.7, hydraulic motor,
2.8th, driving gear.
Specific embodiment
As shown in Figures 1 to 7, the present invention includes 1.1, sufficient bar, 1.2, rotating seat, 1.3, bevel gear, 1.4, servomotor,
1.5th, rotary shaft, 1.6, holding screw, 1.7, jointed shaft, 1.8, connector, 1.9, sufficient bar mounting seat, 1.10, servomotor peace
Dress seat, 2.1, eccentric shaft, 2.2, driven pulley leg, 2.3, driving wheel leg, 2.4, containment vessel, 2.5, driven gear, 2.6, mounting bracket,
2.7th, hydraulic motor, 2.8, driving gear.The present invention will be described in detail below in conjunction with the accompanying drawings.
The present invention is driven by the hydraulic motor 2.7 being fixedly mounted on mounting bracket 2.6 as shown in Figure 4, when hydraulic motor 2.7
During work, the driving gear 2.8 on motor drive shaft is rotated, because driven gear 2.5 is engaged with driving gear 2.7, therefore driving tooth
The rotation of wheel 2.8, drives driven gear 2.5 to rotate, and the driven gear 2.5 is fixedly mounted on driving wheel leg 2.3, therefore, when
When driven gear 2.5 is rotated, driving wheel leg 2.3 starts to rotate.Between driving wheel leg 2.3 of the present invention and driven pulley leg 2.2
It is hinged by jointed shaft 1.7, connector 1.8 and sufficient bar mounting seat 1.9, constitutes double leval jib, the driving wheel leg 2.3 is rotated
Driven pulley leg 2.2 is driven to be rotated around eccentric shaft 2.1 together, the sufficient bar unit in sufficient bar mounting seat 1.9 is therewith in
Central axis.
As shown in fig. 7, in sufficient bar unit, mounting seat 1.9 passes through driven pulley 2.2, and mounting seat both sides are separately installed with rotation
Sufficient bar 1.1 is all equipped with axle 1.5 and rotating seat 1.2, rotating seat 1.2 and rotary shaft 1.5, sufficient bar upper end is provided with fastening spiral shell
It is female.There is axial displacement to avoid rotary shaft 1.5 and rotating seat 1.2, its close one end be provided with the axial direction it is tight
Determine screw 1.6, enter to fill by two rotary shafts by marking closely screw 1.6 and fixedly mounted by servomotor mounting seat 1.10 on seat 1.9
There is servomotor 1.4, horizontal bevel gear is connected with the output shaft of servomotor 1.4, divide in rotary shaft 1.5 and rotating seat 1.2
The vertical bevel gear 1.3 engaged with horizontal bevel gear is not installed with, and two vertical bevel gears 1.3 are located at horizontal bevel gear two respectively
Side.During work, motor 1.4 drives horizontal bevel gear to rotate, and horizontal bevel gear drives two vertical bevel gears to rotate round about,
Sufficient bar concomitant rotation in two rotary shafts and form angle, be easy to be stuck on attachment, increase the stability of walking.
Bionical effect of the invention is that driving wheel leg 2.3, driven pulley leg 2.2 and sufficient bar unit constitute bionical sufficient leg,
By the revolution of drive device, it is capable of achieving bionic type gait and advances.Driving wheel leg structure as shown in figure 5, driven pulley leg structure such as
Shown in Fig. 6.
Claims (5)
1. a kind of bionical monopodia wheel of adjustable biped bar, it is characterized in that, it includes mounting bracket, hydraulic motor, drive gear, driven tooth
Wheel, eccentric shaft, the driving wheel leg of eccentric setting and driven pulley leg, sufficient bar, sufficient bar rotary shaft, sufficient bar rotating seat, sufficient bar mounting seat,
Connector, jointed shaft；The driving wheel leg and driven pulley leg are eccentrically mounted on eccentric shaft, the driving wheel leg and driven pulley leg
Between be hinged by jointed shaft, connector and sufficient bar mounting seat, constitute quadric chain, peace is fixed in described eccentric shaft one end
On mounting bracket, driven gear is installed with the driving wheel leg, driven gear is meshed with driving gear, the master
Moving gear is arranged on and is fixed on the hydraulic motor axle on mounting bracket, hydraulic motor work, drives pinion rotation, due to from
Moving gear is fixed on driving wheel leg, and then gear can drive driving wheel leg to rotate；Therefore, by the driving wheel leg of eccentric setting
With the rotation of driven pulley leg so that the sufficient bar is in hang around central axis and all the time, the sufficient bar rotary shaft with
It is middle to be connected by holding screw and sufficient bar rotating seat is into sufficient bar mounting seat both sides are symmetricly set on.
2. a kind of adjustable bionical monopodia wheel of biped bar according to claim 1, it is characterized in that, the sufficient bar rotary shaft with
And bevel gear is installed with respectively on sufficient bar rotating seat, the bevel gear is engaged on the bevel gear two on servo motor shaft respectively
Side, when servomotor works, by bevel gear, drives two sufficient bars around central axis.
3. a kind of adjustable bionical monopodia wheel of biped bar according to claim 1, it is characterized in that, the driving wheel leg and from
Driving wheel leg is connected on eccentric shaft by bearing.
4. a kind of adjustable bionical monopodia wheel of biped bar according to claim 1, it is characterized in that, the eccentric shaft passes through spiral shell
Mother is fixed on mounting bracket.
5. a kind of adjustable bionical monopodia wheel of biped bar according to claim 1, it is characterized in that, the containment vessel fixes peace
On mounting bracket, gear is protected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710212253.9A CN106882287A (en) | 2017-04-01 | 2017-04-01 | A kind of bionical monopodia wheel of adjustable biped bar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710212253.9A CN106882287A (en) | 2017-04-01 | 2017-04-01 | A kind of bionical monopodia wheel of adjustable biped bar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106882287A true CN106882287A (en) | 2017-06-23 |
Family
ID=59181675
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710212253.9A Pending CN106882287A (en) | 2017-04-01 | 2017-04-01 | A kind of bionical monopodia wheel of adjustable biped bar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106882287A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113702396A (en) * | 2021-10-28 | 2021-11-26 | 四川京龙光电科技有限公司 | Visual inspection equipment for LCD screen backlight assembly |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07227482A (en) * | 1994-02-21 | 1995-08-29 | Takara Co Ltd | Bipedalism robot |
| CN103287522A (en) * | 2013-06-17 | 2013-09-11 | 西北工业大学 | Robot bouncing mechanism based on hydraulic drive |
| CN103523111A (en) * | 2013-10-25 | 2014-01-22 | 济南大学 | Multi-foot-wheel traveling mechanism |
| US20140239604A1 (en) * | 2011-08-23 | 2014-08-28 | Innovation Synchronx | Synchronized mechanical robot |
| CN104228993A (en) * | 2014-10-17 | 2014-12-24 | 浙江大学 | Biped robot capable of walking rapidly |
| CN105730551A (en) * | 2016-04-20 | 2016-07-06 | 重庆足步科技有限公司 | Semi-passive dynamic biped walking device with halving upper body |
| CN206654114U (en) * | 2017-04-01 | 2017-11-21 | 济南大学 | A kind of bionical monopodia wheel of adjustable biped bar |
-
2017
- 2017-04-01 CN CN201710212253.9A patent/CN106882287A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07227482A (en) * | 1994-02-21 | 1995-08-29 | Takara Co Ltd | Bipedalism robot |
| US20140239604A1 (en) * | 2011-08-23 | 2014-08-28 | Innovation Synchronx | Synchronized mechanical robot |
| CN103287522A (en) * | 2013-06-17 | 2013-09-11 | 西北工业大学 | Robot bouncing mechanism based on hydraulic drive |
| CN103523111A (en) * | 2013-10-25 | 2014-01-22 | 济南大学 | Multi-foot-wheel traveling mechanism |
| CN104228993A (en) * | 2014-10-17 | 2014-12-24 | 浙江大学 | Biped robot capable of walking rapidly |
| CN105730551A (en) * | 2016-04-20 | 2016-07-06 | 重庆足步科技有限公司 | Semi-passive dynamic biped walking device with halving upper body |
| CN206654114U (en) * | 2017-04-01 | 2017-11-21 | 济南大学 | A kind of bionical monopodia wheel of adjustable biped bar |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113702396A (en) * | 2021-10-28 | 2021-11-26 | 四川京龙光电科技有限公司 | Visual inspection equipment for LCD screen backlight assembly |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206344902U (en) | Single-drive four feet robot mechanism | |
| CN205441017U (en) | Cartoning machine suction box mechanism | |
| CN206654114U (en) | A kind of bionical monopodia wheel of adjustable biped bar | |
| CN206190838U (en) | Symmetry displacement screw rod thrust unit | |
| CN106882287A (en) | A kind of bionical monopodia wheel of adjustable biped bar | |
| CN208612257U (en) | A kind of foot press formula agitating device | |
| CN206335598U (en) | Robot rotary luffing articulation mechanism | |
| CN107470810A (en) | A kind of architectural engineering implement | |
| CN207917894U (en) | A kind of calculator parts large-scale production processing transmission device | |
| CN204053369U (en) | A kind of full-automatic roller bracing frame | |
| CN107435613A (en) | Water wave electricity energy harvester | |
| CN216406833U (en) | 360-degree rotating multifunctional platform for tunnel construction | |
| CN108608447A (en) | A kind of bindiny mechanism for feeding manipulator | |
| CN106409177A (en) | Overwater warning board for entertainment | |
| CN206654113U (en) | A kind of new considerable adjustable biped bar polypody wheel | |
| CN114029677A (en) | Multifunctional linkage welding automatic displacement equipment configured by robot welding | |
| CN206664750U (en) | A kind of adjustable biped bar | |
| CN209774591U (en) | Two-degree-of-freedom platform with 360-degree rotation function | |
| CN208841829U (en) | The upper rotary part of co-extrusion film blowing machine | |
| CN207787773U (en) | A kind of universal perforating device | |
| CN206579735U (en) | A kind of new monopodia bar polypody wheel | |
| CN206520737U (en) | A kind of rotatable multi-rotor aerocraft frame | |
| CN109263987A (en) | A kind of agricultural sowing unmanned plane with spare propeller | |
| CN106828658A (en) | A kind of new considerable adjustable biped bar polypody wheel | |
| CN202557646U (en) | A multidirectional movement device and glass loading machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170623 |
|
| WD01 | Invention patent application deemed withdrawn after publication |