CN203982684U - Four-footed connecting rod travel mechanism - Google Patents
Four-footed connecting rod travel mechanism Download PDFInfo
- Publication number
- CN203982684U CN203982684U CN201420419645.4U CN201420419645U CN203982684U CN 203982684 U CN203982684 U CN 203982684U CN 201420419645 U CN201420419645 U CN 201420419645U CN 203982684 U CN203982684 U CN 203982684U
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- bar
- gear
- rod
- hinged
- connecting rod
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Abstract
The utility model discloses a kind of four-footed connecting rod travel mechanism, the linkage assembly of being located at frame arranged on left and right sides comprises front and rear connecting rods and the forward and backward rocking bar of middle V-arrangement crank, V-arrangement crank front and back, the lower end of rocking bar is hinged in frame, the inner of connecting rod is hinged in the curved bar upper end of V-arrangement crank, the body of rod of connecting rod is hinged in the upper end of rocking bar, the vertical walking rod of arranged outside of connecting rod, walking rod connects the outer end of connecting rod by auxiliary bar; Bar-link drive is located in frame, comprise output shaft, intermediate shaft and input shaft and input gear, neutral gear and output gear, input gear comprises the left and right partial gear of 170 ° that staggers mutual intermittence, and the two ends of described output shaft are the hinge point of left and right V-arrangement crank lower end in frame.The utility model drives crank and rocker mechanism motion by gear assembly, has reduced the complicacy of mechanism in transmission control in certain degree, has increased the dirigibility of mechanism.
Description
(1) technical field:
The utility model relates to mechanical principle member, is specially a kind of four-footed connecting rod travel mechanism that can be used for classroom instruction, also can be used for developing amusement robot toy.
(2) background technology:
Mechanical principle is one of most important specialized core course of mechanical major, for representing more intuitively the content of courses of linkage assembly innovative design, usually adopts some teaching aid aided educations.
Currently used teaching aid, at the aspect such as function, properity Shortcomings, still has and continues to improve and improved space.
(3) utility model content:
Intend from succinct, directly perceived, flexible, portable object, the utility model proposes a kind of four-footed connecting rod travel mechanism.
The technical scheme of the utility model four-footed connecting rod travel mechanism, comprise linkage assembly and bar-link drive, difference is the left side that described linkage assembly is symmetrically set in frame, right both sides, V-arrangement crank in the middle of every side linkage assembly comprises, be symmetrically set in before and after V-arrangement crank before, back link and front, rear rocking bar, before described, the lower end of rear rocking bar is hinged in respectively in frame, before, the inner of back link be hinged in respectively V-arrangement crank before, rear curved bar upper end, before, before the body of rod of back link is hinged in respectively, the upper end of rear rocking bar, before, the outside of back link arrange respectively vertical before, rear walking rod, before described, rear walking rod is respectively by front, before rear auxiliary bar is connected in, the outer end of back link, described bar-link drive is located at frame inside, comprise output shaft, intermediate shaft and input shaft and input gear, neutral gear and the output gear of left and right setting, intermeshing neutral gear and output gear are coaxially installed in respectively on intermediate shaft and output shaft, the input gear being coaxially installed on input shaft comprises the forward and backward partial gear of 170 ° that staggers mutual intermittence, forward and backward partial gear engages with neutral gear and output gear respectively, and the two ends of described output shaft are the lower end of the left and right V-arrangement crank hinge point in frame.
Further design: described auxiliary bar comprises upper, middle and lower extension bar, the two ends of upper extension bar be hinged respectively walking rod upper end and connecting rod outer end, be hinged the respectively body of rod of walking rod upper end and rocking bar of the two ends of meta extension bar, the two ends of the next extension bar be hinged the respectively body of rod of walking rod and the hinge point of rocking bar lower end.
The power of described bar-link drive adopts DC servo motor, and described input shaft connects the rotating shaft of DC servo motor.
The beneficial effects of the utility model:
1, the utility model four-footed connecting rod travel mechanism drives leg exercise by crank and rocker mechanism, thereby can realize the foot motion advanced in years of similar animal.
2, the utility model adopts DC servo motor to drive, and drives crank and rocker mechanism motion by gear assembly, has reduced the complicacy of mechanism in transmission control in certain degree, has increased the dirigibility of mechanism.
(4) brief description of the drawings:
Fig. 1 is the left side perspective view of a kind of embodiment of the utility model.
Fig. 2 is the right side perspective view of Fig. 1 embodiment.
Fig. 3 is the perspective view of crank connecting link driving mechanism in Fig. 1, Fig. 2 embodiment.
Figure number mark: 1, frame; 2, V-arrangement crank; 3, connecting rod; 4, rocking bar; 5, walking rod; 6, output shaft; 7, intermediate shaft; 8, input shaft; 9, input gear; 10, neutral gear; 11, output gear; 12, extension bar; 13, DC servo motor.
(5) embodiment:
Below in conjunction with accompanying drawing illustrated embodiment, the technical solution of the utility model is described further.
The utility model four-footed connecting rod travel mechanism comprises frame 1 (being equivalent to the fuselage of robot), linkage assembly and bar-link drive.
Described frame 1 comprises the left and right riser in both sides and the horizonal base plate that is connected left and right riser bottom, as shown in Figure 1 and Figure 2.
Described linkage assembly is two covers, two cover linkage assemblys are symmetrical arranged on the left and right riser outside respectively at frame 1, V-arrangement crank 2, the front and rear connecting rods 3 that is symmetrically set in V-arrangement crank 2 front and back and forward and backward rocking bar 4 in the middle of every cover linkage assembly comprises, the lower end of described V-arrangement crank 2 is hinged on the corresponding riser of frame 1, the lower end of described forward and backward rocking bar 4 is hinged in respectively on the corresponding riser of frame 1, the inner of front and rear connecting rods 3 is hinged in respectively the forward and backward curved bar upper end of V-arrangement crank 2, and the body of rod of front and rear connecting rods 3 is hinged in respectively the upper end of forward and backward rocking bar 4; Front curved bar, front rod 3 and front rocking bar 4 and rear curved bar, back link 3 and rear rocking bar 4 are formed on forward and backward two pairs of symmetrical toggles of frame 1 one sides, and forward and backward two pairs of symmetrical toggles are in frame 1 symmetria bilateralis setting; The outside of front, rear, left and right connecting rod 3 arranges respectively vertical walking rod 5 (being equivalent to the walking foot of robot), and described walking rod 5 connects corresponding connecting rod 3 outer ends by auxiliary bar respectively; Described auxiliary bar comprises upper, middle and lower extension bar 12, oblique upper extension bar 12 two ends be hinged the respectively upper end of walking rod 5 and the outer end of connecting rod 3, horizontal meta extension bar 12 two ends are hinged respectively in the middle part of the upper end of walking rod 5 and the body of rod of rocking bar 4, be hinged the respectively hinge point of body of rod middle part with rocking bar 4 lower ends of walking rod 5 of horizontal the next extension bar 12 two ends, as shown in Figure 1 and Figure 2.
Described bar-link drive is located on the base plate of frame 1, left, between right riser, mainly by output shaft 6, intermediate shaft 7, input shaft 8, input gear 9, neutral gear 10, output gear 11 and DC servo motor 13 form, described output shaft 6, 8 of intermediate shaft 7 and input shafts are parallel to each other and form space structure and perpendicular to a left side, right riser, described input gear 9 is installed on input shaft 8, input gear 9 is left, right two partial gears, left, the tooth portion of right two partial gears staggers 170 °, described neutral gear 10 is installed on intermediate shaft 7, described output gear 11 is installed on output shaft 6, wherein output gear 11 engages with neutral gear 10, left partial gear engages with neutral gear 10, right partial gear engages with output gear 11, described output shaft 6 and intermediate shaft 7 are installed on riser by bearing, and install on riser by bearing one end of described input shaft 8, and the other end of input shaft 8 connects the rotating shaft of DC servo motor 13, and described DC servo motor 13 is installed on the base plate of frame 1, the two axial ends position of described output shaft 6 is corresponding to the lower end hinge position of left and right V-arrangement crank 2, and the axle head of output shaft 6 stretches out riser and V-arrangement crank 2 is hinged, as shown in Figure 1, Figure 2, Figure 3 shows.
The power transmission of described bar-link drive: DC servo motor 13 is with driven input shaft 8 to rotate, input shaft 8 drives left and right partial gear motion, in the time that left partial gear and neutral gear 10 engage (right partial gear idle running), intermediate shaft 7 rotates, neutral gear 10 drives output gear 11 forwards, finally make output shaft 6 forward outputting powers, pass to the V-arrangement crank 2 of external crank linkage assembly; When left partial gear departs from after engagement, right partial gear and output gear 11 engage (now left partial gear idle running), output gear 11 reverses, and finally makes output shaft 6 outputting power that reverses, and passes to the V-arrangement crank 2 of external crank linkage assembly.
By a left side, right partial gear coordinated with the intermittence of neutral gear 10 and output gear 11, realize back and forth swinging continuously back and forth of V-arrangement crank 2, drivening rod 3 does curvilinear motion, under auxiliary bar is assisted, walking rod 5 links: left front walking rod 5 (leg) is acted in concert with right back walking rod 5 (leg), left back walking rod 5 (leg) is acted in concert with right front walking rod 5 (leg), utilize the curve characteristic of connecting rod 3, in the time that moving straight-line segment in curve, a pair of walking rod 5 (leg) lands motionless, another is in segment of curve to walking rod 5 (leg) and does foot motion advanced in years, thereby can realize the foot motion advanced in years of similar animal.
Claims (3)
1. four-footed connecting rod travel mechanism, comprise linkage assembly and bar-link drive, it is characterized in that: described linkage assembly is symmetrically set in a left side for frame (1), right both sides, V-arrangement crank (2) in the middle of every side linkage assembly comprises, be symmetrically set in before and after V-arrangement crank (2) before, back link (3) and front, rear rocking bar (4), before described, the lower end of rear rocking bar (4) is hinged in respectively in frame (1), before, the inner of back link (3) be hinged in respectively V-arrangement crank (2) before, rear curved bar upper end, before, before the body of rod of back link (3) is hinged in respectively, the upper end of rear rocking bar (4), before, the outside of back link (3) arrange respectively vertical before, rear walking rod (5), before described, rear walking rod (5) is respectively by front, before rear auxiliary bar connects, the outer end of back link (3), described bar-link drive is located in frame (1), comprise a left side, the output shaft (6) that right arranges, intermediate shaft (7) and input shaft (8) and input gear (9), neutral gear (10) and output gear (11), intermeshing neutral gear (10) and output gear (11) are coaxially installed in respectively on intermediate shaft (7) and output shaft (6), coaxially be installed in input gear (9) on input shaft (8) and comprise the left side of 170 ° of staggering mutual intermittence, right partial gear, left, right partial gear engages with neutral gear (10) and output gear (11) respectively, the two ends of described output shaft (6) are left, the hinge point of right V-arrangement crank (2) lower end in frame (1).
2. four-footed connecting rod travel mechanism according to claim 1, it is characterized in that: described auxiliary bar comprises upper, middle and lower extension bar (12), the two ends of upper extension bar (12) be hinged respectively walking rod (5) upper end and connecting rod (3) outer end, be hinged the respectively body of rod of walking rod (5) upper end and rocking bar (4) of the two ends of meta extension bar (12), the two ends of the next extension bar (12) be hinged the respectively body of rod of walking rod (5) and the hinge point of rocking bar (4) lower end.
3. four-footed connecting rod travel mechanism according to claim 1 and 2, is characterized in that: described input shaft (8) connects the rotating shaft of DC servo motor (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420419645.4U CN203982684U (en) | 2014-07-29 | 2014-07-29 | Four-footed connecting rod travel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420419645.4U CN203982684U (en) | 2014-07-29 | 2014-07-29 | Four-footed connecting rod travel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203982684U true CN203982684U (en) | 2014-12-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420419645.4U Expired - Fee Related CN203982684U (en) | 2014-07-29 | 2014-07-29 | Four-footed connecting rod travel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203982684U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106251767A (en) * | 2016-10-31 | 2016-12-21 | 北京交通大学 | A kind of multi link passive walking shows mechanism |
| CN106737596A (en) * | 2017-01-11 | 2017-05-31 | 西华大学 | A kind of robot running gear |
| CN107393399A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | A kind of assemble method imparted knowledge to students with emulation machine spider |
| CN107387706A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | A kind of gear drive imparted knowledge to students with emulation machine grasshopper |
| CN107393407A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | It is a kind of to assemble method of the teaching with emulation machine grasshopper |
| CN107393397A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | Emulation machine grasshopper is used in one kind teaching |
| CN107393400A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | A kind of limbs assemble method imparted knowledge to students with emulation machine grasshopper |
| CN107393396A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | One kind teaching emulation machine spider |
| CN107393398A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | A kind of feet connecting structure imparted knowledge to students with emulation machine grasshopper |
| CN108357583A (en) * | 2018-04-24 | 2018-08-03 | 深圳市娅安科技有限公司 | A kind of robot walking device |
| CN108406846A (en) * | 2018-05-21 | 2018-08-17 | 济宁山云宇内机电科技有限公司 | A kind of foot formula walking intermittent work robot |
| CN109008812A (en) * | 2018-07-20 | 2018-12-18 | 李兆勇 | A kind of old residential area stair step prosthetic appliance |
| CN109849015A (en) * | 2019-03-22 | 2019-06-07 | 上海交通大学 | Polypody pipeline mobile robot device |
-
2014
- 2014-07-29 CN CN201420419645.4U patent/CN203982684U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107393400A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | A kind of limbs assemble method imparted knowledge to students with emulation machine grasshopper |
| CN107393398A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | A kind of feet connecting structure imparted knowledge to students with emulation machine grasshopper |
| CN107393399A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | A kind of assemble method imparted knowledge to students with emulation machine spider |
| CN107387706A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | A kind of gear drive imparted knowledge to students with emulation machine grasshopper |
| CN107393407A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | It is a kind of to assemble method of the teaching with emulation machine grasshopper |
| CN107393397A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | Emulation machine grasshopper is used in one kind teaching |
| CN107393396A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | One kind teaching emulation machine spider |
| CN106251767A (en) * | 2016-10-31 | 2016-12-21 | 北京交通大学 | A kind of multi link passive walking shows mechanism |
| CN106737596A (en) * | 2017-01-11 | 2017-05-31 | 西华大学 | A kind of robot running gear |
| CN108357583A (en) * | 2018-04-24 | 2018-08-03 | 深圳市娅安科技有限公司 | A kind of robot walking device |
| CN108406846A (en) * | 2018-05-21 | 2018-08-17 | 济宁山云宇内机电科技有限公司 | A kind of foot formula walking intermittent work robot |
| CN109008812A (en) * | 2018-07-20 | 2018-12-18 | 李兆勇 | A kind of old residential area stair step prosthetic appliance |
| CN109849015A (en) * | 2019-03-22 | 2019-06-07 | 上海交通大学 | Polypody pipeline mobile robot device |
| CN109849015B (en) * | 2019-03-22 | 2020-11-06 | 上海交通大学 | Multi-foot type pipeline mobile robot device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141203 Termination date: 20150729 |
|
| EXPY | Termination of patent right or utility model |