CN206856925U - The four-footed riding device that gear clearance engagement is turned to, chain and crank rocker are driven - Google Patents

Abstract

A kind of four-footed riding device using gear clearance engagement steering, chain and crank rocker transmission, its arrangement are：Energy is converted into mechanical energy mechanism and is connected with forward and backward chain-drive mechanism；Preceding chain-drive mechanism, gear drive, anterior crank and rocker mechanism, anterior left and right leg and return pulley are sequentially connected；Chain-drive mechanism afterwards, rear portion crank and rocker mechanism, the left and right leg in rear portion and return pulley are sequentially connected；Steering mechanism is arranged between front support skeleton and back support skeleton；Head oscillation arrangement of mechanism is anterior in four-footed riding device, is connected with back support skeleton；Connector needed for each mechanism operation is respectively arranged on front support skeleton and back support skeleton.Straight trip and steering procedure middle left and right leg, which intersect to swing, to advance, and there is the action for new line of bowing on head, and simulated effect is good, and stability is high.

Description

The four-footed riding device that gear clearance engagement is turned to, chain and crank rocker are driven

Technical field

It the utility model is related to a kind of four-footed using gear clearance engagement steering, chain and crank rocker transmission and ride dress Put, it is characterized in that can be turned to during riding, four limbs, which intersect to swing, imitates animal walking, belongs to technical field of bio-simulation machinery.

Background technology

At present, existing four-footed riding device, walking is slided using wheeled mostly, acts stiff, existing imitation animal The device imitation effect of walking is poor, and stability is poor.Such as Chinese patent publication No. is：The A of CN 102764506, publication date are： 2012.11.07 patent of invention discloses a kind of imitative quadruped rided and run toy, including provided with main support and front and rear The back member of kinematic link, being used to adjust the head part in direction of running, with head part be connected and be located at located at back member front end Front foot part at back member front position, the rear foot part at back member back-end location, positioned at front foot part and the rear foot The pedal part being connected between part and with back member, the cushion part moved with sprung return above and below back member elastic connection and work Part；Front foot part is provided with the fore wheel structure for doing one-way movement, and rear foot part is provided with and done and fore wheel structure direction of motion identical list To the rear-wheel structure of motion；Front foot part is connected with seat arrangement by front bar attachment structure, and rear foot part and seat arrangement lead to Later bar attachment structure is connected, and is connected between front foot part and rear foot part by front and rear kinematic link, and seat arrangement is done up and down Front foot part and rear foot part is driven to do displacement movement when sprung return moves（Select from 0006 section of its specification）.Its front foot part Comprising left and right two forelegs, rear foot part includes left and right two back legs.During advance, two forelegs together forward or simultaneously Shi Xianghou, two back legs backward, have with the walking process swing of leg order of actual quadruped also while forward or simultaneously Enter, simulation effect is poor；Because of the up and down motion that its design motivation source is cushion, front foot part and the rear foot are delivered to respectively using connecting rod Part, whole device is forward, rear foot support, during traveling, when simultaneously front foot part and rear foot part are put to middle body When dynamic, distance is gradually reduced between front and rear pin, when rider's limbs are made the support that the forward and backward pin of overall deviation of gravity center forms by action During scope, easily tumble, stability is poor.

The content of the invention

In order to overcome the shortcomings of that existing four-footed riding device action is stiff, imitation effect is poor, stability is poor, this practicality is new Type provides that a kind of run time behaviour is various, imitates effect is good, stability is high four-footed riding device.

Technical scheme is used by the utility model solves its technical problem：One kind using gear clearance engagement turn to, Chain and the four-footed riding device of crank rocker transmission（Hereinafter referred to as four-footed riding device）, its arrangement is：Energy is converted into Mechanical energy mechanism is connected with forward and backward chain-drive mechanism；Preceding chain-drive mechanism, gear drive, anterior crank and rocker mechanism are preceding The left and right leg in portion and return pulley are sequentially connected；Chain-drive mechanism afterwards, rear portion crank and rocker mechanism, the left and right leg in rear portion and return pulley connect successively Connect；Steering mechanism is arranged between front support skeleton and back support skeleton；Head oscillation arrangement of mechanism is rided in four-footed and filled Front portion is put, is connected with back support skeleton；Front support skeleton setting nipper wheel drive mechanism, anterior crank and rocker mechanism are preceding The left and right leg in portion and return pulley, the connector needed for steering mechanism's operation；Back support skeleton sets energy to be converted into mechanical energy machine Structure, forward and backward chain-drive mechanism, rear portion crank and rocker mechanism, the left and right leg in rear portion and return pulley, head oscillation mechanism and both sides pedal Required connector；Component protection shell is connected with front support skeleton, back support skeleton.

The energy is converted into mechanical energy mechanism, includes energy source and output revolving shaft.A kind of method is selected to convert energy The mechanical energy rotated for the rotating shaft of four-footed running gear, such as uses battery driven motor, converts electrical energy into the machine of rotating shaft rotation Tool energy, energy caused by people's limb motion can be also converted into the mechanical energy of rotating shaft rotation.Energy is converted into institute of mechanical energy mechanism Need part to be arranged in back support skeleton and ensure rotating shaft rotation without interference.

The forward and backward chain-drive mechanism, each group of chain-drive mechanism include 2 sprocket wheels and 1 chain.Forward and backward Chain conveyer Each selected sprocket wheel of mechanism is drive sprocket, and another is driven sprocket, is connected between drive sprocket and driven sprocket with chain Connect.The rotating shaft of the drive sprocket of forward and backward chain-drive mechanism and above-mentioned energy transformation mechanism is concentric to be connected, preceding Chain conveyer machine Without interference when the driven sprocket of structure is arranged in back support skeleton and ensures the operation of anterior chain-drive mechanism, rear chain-drive mechanism Without interference when driven sprocket is arranged in back support skeleton and ensures rear portion chain-drive mechanism operation.2 are driven when rotating shaft rotates Drive sprocket is rotated together with, and mechanical energy is delivered to the driven chain of forward and backward chain-drive mechanism respectively by forward and backward chain-drive mechanism On wheel, driven sprocket rotation is driven.

The gear drive, including 2 gears.Choose gear be driving gear with preceding chain-drive mechanism from The concentric connection of movable sprocket, driving gear are arranged in back support skeleton and ensure to be arranged in without interference, driven gear during operation Front support skeleton and ensure operation when without interference.Two gear transmission modes are the engaged transmission for existing certain inter-lobe clearance, i.e., When the end face of two gear shaft sides is parallel, two gear axis are away from the half for justifying numerical value sum more than two gear compound graduations and ensure its energy Complete engaged transmission.Two gears use this arrangement, and the effect reached is：It can be completed in the action for ensureing engaged transmission Meanwhile driven gear and front support skeleton can rotate around a central shaft in certain angle, the position of this central shaft is： When two gear faces are parallel, the reference circle crossed at driven gear half width is with crossing cutting for two gear axis lines formation There is a joining in face, and central shaft crosses this joining and vertical with this section.The driven sprocket of preceding chain-drive mechanism drives driving tooth Wheel rotates, and drives driven gear to rotate by gear drive.

The anterior crank and rocker mechanism, rear portion crank and rocker mechanism：Anterior crank and rocker mechanism includes left front leg crank Rocker device and right front leg crank and rocker mechanism, rear portion crank and rocker mechanism includes left back leg crank and rocker mechanism and right rear leg is bent Handle rocker device.Each group of crank and rocker mechanism includes crankshaft, crank, rocking bar balance staff, rocking bar and the part of frame 5, bent Handle rotating shaft is connected with rocking bar balance staff with frame, ensures when rotating shaft and rocking bar are run without interference.Left front leg crank and rocker mechanism and the right side The frame of foreleg crank and rocker mechanism is arranged in front support skeleton, two crankshafts and the concentric connection of driven gear rotating shaft, Two cranks are arranged symmetrically centered on the side of crankshaft end face, and symmetrical centre is crankshaft AnchorPoint.Left front leg crank The rocking bar balance staff of rocker device and right front leg crank and rocker mechanism is concentric, and its rocking bar is respectively the left front leg of four-footed riding device Top and right front leg top, two rocking bars process the axis hole that crank rotates chute and rocking bar balance staff.The rotation of driven gear drives Left front leg crank and rocker mechanism and the operation of right front leg crank and rocker mechanism, its rocking bar produce the action for intersecting and swinging, and imitate animal Left front leg and right front leg intersect swing.After the frame of left back leg crank and rocker mechanism and right rear leg crank and rocker mechanism is arranged in Portion's support frame, the concentric connection of driven sprocket of two crankshafts and rear portion chain-drive mechanism, two cranks are at crankshaft end It is arranged symmetrically centered on the side in face, symmetrical centre is crankshaft AnchorPoint.Left back leg crank and rocker mechanism and right rear leg are bent The rocking bar balance staff of handle rocker device is concentric, and its rocking bar is respectively left upper rear leg and the right rear leg top of four-footed riding device, Two rocking bars process the axis hole that crank rotates chute and rocking bar balance staff.The sprocket wheel of rear portion chain-drive mechanism drives left back leg crank to shake Linkage and the operation of right rear leg crank and rocker mechanism, its rocking bar just produce the action for intersecting and swinging, and imitate the left and right back leg of animal Intersection swing.

The left and right leg in the front portion and return pulley, comprising shield stand, return pulley support, return pulley, return pulley shield, bidirectional component. The rocker bottom of above-mentioned crank and rocker mechanism is sequentially connected with shield stand, return pulley support, bidirectional component and return pulley, bidirectional component Return pulley bidirectional rolling can be made and operating is without interference, return pulley contacts with ground during traveling, before playing support four-footed riding device The effect in portion.When left front leg crank and rocker mechanism and right front leg crank and rocker mechanism are run, two rocking bars intersect band while swing Dynamic return pulley does the circulating rolling relative to front support skeleton forwards, backwards backward, return pulley shield be installed in shield stand protection and Return pulley is blocked so that swing of leg is walked more like animal.

The left and right leg in the rear portion and return pulley, comprising shield stand, return pulley support, return pulley, return pulley shield, one way component. The rocker bottom of above-mentioned crank and rocker mechanism is sequentially connected with shield stand, return pulley support, one way component and return pulley, one way component As unilateral bearing, ratchet etc. can make return pulley one direction roll and operate without interference, return pulley contacts with ground during traveling, Support the effect at four-footed riding device rear portion.Return pulley shield, which is installed in shield stand, protects and blocks return pulley, so that leg is put It is dynamic to be walked more like animal.During left back leg crank and rocker mechanism and right rear leg crank and rocker mechanism operation, rocking bar drives return pulley to intersect Swing, when leg is swung to four-footed riding device rear, return pulley does not rotate, and the reaction force that return pulley is given on ground promotes four-footed Riding device forward motion.

The steering mechanism, include direction bracing wire, axis of orientation, steering column.The both ends of direction bracing wire by component protection shell outside End enter it is internal be connected respectively with the both ends of the horizontal support of front support skeleton upper end, axis of orientation with steering column is concentric matches somebody with somebody Close and rotate, and ensure concentric with Pivot axle described in said gear transmission mechanism.Axis of orientation connects with front support skeleton Connect, steering column is connected with back support skeleton.When one end of pull direction bracing wire, this end bracing wire of stress pulls front support Skeleton and axis of orientation are rotated centered on steering column axle center.

The head oscillation mechanism, includes head oscillation plate, swinging mounting, frid, rack shaft, swing rod.Head oscillation Plate is arranged in the outside of component protection shell, and the both ends of swinging mounting connect with the plate face of head oscillation plate and the plate face of frid respectively Connect, the perpendicular relation of two plate faces, swinging mounting by the connection concentric with rack shaft of the shaft hole of side and operating without interference, Rack shaft is connected with back support skeleton, and one end of swing rod is connected with front support skeleton, and the other end is stretched into the groove of frid. When anterior support frame is rotated centered on axis of orientation axle center, swing rod follows front support skeleton in the horizontal plane with axis of orientation For axis swing, the other end of swing rod slides on the groove of frid, make frid and swinging mounting along rack shaft clockwise or Counter-clockwise swing, wobbling action is produced while the head oscillation plate of the other end of swinging mounting.

The front support skeleton, comprising gear drive driven gear connector, anterior leg crank and rocker mechanism The connector of the connector of frame, steering mechanism's direction shaft coupling piece and head oscillation mechanism.

The back support skeleton, the connector needed for mechanical energy mechanism, forward and backward chain-drive mechanism are converted into comprising energy The connector of driven sprocket, the connector of rear portion crank and rocker mechanism frame, the connector of gear drive driving gear, turn To mechanism steering column connector and both sides pedal connector.

The component protection shell, comprising front component containment vessel, back component containment vessel, front component containment vessel and front portion Support frame is connected, and back component containment vessel is connected with back support skeleton, and both effects are protection inner components.

The beneficial effects of the utility model are, when four-footed riding device is walked, its left and right leg, which intersects to swing, to advance, and turns to When left and right foreleg together turn to, there is the action for new line of bowing on head, vivid, and simulated effect is good；Left and right leg, which intersects, to be swung When, whole device or so height difference changes small, four-footed cross support, and phenomena such as will not producing rollover, stability is high.

Brief description of the drawings

The utility model is further illustrated with reference to the accompanying drawings and examples.

Fig. 1 is the outside drawing of the utility model embodiment.

Fig. 2 is the part explosive view of the utility model embodiment.

Fig. 3 is that the utility model embodiment removes the part explosive view after containment vessel.

Fig. 4 is the mechanical drive principle figure of the utility model embodiment.

Fig. 5 is the transmission mechanism schematic diagram of the utility model embodiment.

Fig. 6 is the utility model embodiment rear portion crank rocker, the left and right leg in rear portion and return pulley mechanism explosive view.

Fig. 7 is the utility model embodiment front support skeleton and steering mechanism's enlarged drawing.

Fig. 8 is Fig. 7 transfers two gear relative position schematic diagram forward.

Fig. 9 is Fig. 7 transfers two gear relative position schematic diagram backward.

Figure 10 is head oscillation structural scheme of mechanism.

In figure, the return pulley of 0101. head oscillation plate, 0102. direction bracing wire, 0103. back component containment vessel 0104. The shield stand 0205. of 0203. controller of shield 0105. pedal, 0201. rack shaft, 0202. battery 0204. The horizontal support 0305. of 0303. frid of front component containment vessel 0301. swinging mounting, 0302. shaft hole 0304. The back support pair skeleton of 0308. steering column of axis of orientation 0306. front support skeleton, 0307. forebay 0309. 0310. back support main framing, 0311. afer bay, 0312. machine shaft, 0313. motor, 0401. anterior crank The right rear leg crank and rocker mechanism of chain-drive mechanism 0404. after chain-drive mechanism 0403. before rocker device 0402. Crank before 0405. gear drive, the 0406. left back rear portion crank and rocker mechanism 0501. of leg crank and rocker mechanism 0407. Driven sprocket after the rear chain 0506. of chain 0505. before driven gear 0504. before the gear shaft 0503. of rotating shaft 0502. Drive chain before drive sprocket 0511. after the driving gear 0510. of 0507. rear crank rotating shaft, 0508. driven gear 0509. The anterior left and right leg of wheel 0512. and the rear portion of return pulley 0513. or so leg and the crank block of 0601. crank of return pulley 0602. The return pulley of 0603. swinging center hole, 0604. chute, 0605. rocking bar, 0606. return pulley support, 0607. return pulley axle 0608. The swing rod of 0609. return pulley bearing 1001..

Embodiment

The technical scheme in the embodiment of the utility model is carried out below in conjunction with brief description of the drawings and embodiment clear Chu, complete description.Obviously, described is only one embodiment of the present utility model, and not all embodiments.

Referring to Fig. 1 to Fig. 3, four-footed riding device shown in the present embodiment：Back component containment vessel（0103）It is fixed on rear portion Support main framing（0309）On, front component containment vessel（0205）It is fixed on front support skeleton（0306）On, front support bone Frame（0306）On axis of orientation（0305）With back support pair skeleton（0309）On steering column（0308）Concentric connection, rear portion Support secondary skeleton（0309）With back support main framing（0310）Connection；Direction bracing wire（0102）Two end portions and front support bone Frame（0306）The horizontal support of upper end（0304）Both ends connect, around positioned at back support main framing（0310）On rack shaft （0201）Extend to back component containment vessel（0103）Outside, head oscillation plate（0101）It is arranged in back component containment vessel （0103）Outside, swinging mounting（0301）Both ends respectively with head oscillation plate（0101）Plate face and frid（0303）Plate Face connects, head oscillation plate（0101）Plate face and frid（0303）The perpendicular relation of plate face, swinging mounting（0301）Pass through side The shaft hole in face（0302）With rack shaft（0201）It is concentric to connect and operate without interference；Each side arrange a pedal （0105）, pedal（0105）It is fixed on back support main framing（0310）Go up and be located at back component containment vessel（0103）Outside； Four return pulley shields（0104）It is separately fixed at the shield stand of four-footed riding device four limbs bottom（0204）On.The present embodiment is adopted It is by battery that energy, which is converted into mechanical energy mechanism,（0202）Electric energy pass through controller（0203）It is delivered to motor（0313） On, convert electrical energy into machine shaft（0312）The mechanical energy of rotation.

Referring to Fig. 3 to Fig. 6, machine shaft（0312）Chain-drive mechanism before the mechanical energy of rotation drives（0402）, rear chain passes Motivation structure（0403）Operation.Preceding chain-drive mechanism（0402）Preceding drive sprocket（0511）With machine shaft（0312）Concentric company Connect, its front idler sproket（0503）With preceding drive sprocket（0511）Pass through preceding chain（0504）Connection.Preceding chain-drive mechanism （0402）, gear drive（0405）, anterior crank and rocker mechanism（0401）It is sequentially connected.Preceding chain-drive mechanism（0402）'s Front idler sproket（0503）With gear drive（0405）Driving gear（0509）Pass through gear shaft（0502）Connection.Gear Transmission mechanism（0405）Driving gear（0509）With driven gear（0508）Axial connecting line level and two gears（0508、0509） The kind of drive is the engaged transmission for existing certain inter-lobe clearance, driven gear（0508）With anterior crank and rocker mechanism（0401）'s Preceding crankshaft（0501）Concentric connection.Chain-drive mechanism afterwards（0403）Rear drive sprocket（0510）With machine shaft （0312）Concentric connection, thereafter driven sprocket（0506）With rear drive sprocket（0510）Pass through rear chain（0505）Connection.Afterwards Chain-drive mechanism（0403）Rear driven sprocket（0506）With rear portion crank and rocker mechanism（0407）Rear crank rotating shaft（0507） Concentric connection.

Anterior crank and rocker mechanism（0401）With rear portion crank and rocker mechanism（0407）Parts arrangement it is identical.With Rear portion crank and rocker mechanism（0407）Exemplified by, rear portion crank and rocker mechanism（0407）Include left back leg crank and rocker mechanism（0406） With right rear leg crank and rocker mechanism（0404）Two parts, each group of crank and rocker mechanism include rear crank rotating shaft（0507）, it is bent Handle（0601）, crank block（0602）, rocking bar（0605）And afer bay（0311）.Rear portion crank and rocker mechanism（0407）In, after Chain-drive mechanism（0403）Rear driven sprocket（0506）With rear crank rotating shaft（0507）Concentric connection；Anterior crank rocker machine Structure（0401）In, gear drive（0405）Driven gear（0508）With preceding crankshaft（0501）Concentric connection.It is left Back leg crank and rocker mechanism（0406）And right rear leg crank and rocker mechanism（0404）Share same rear crank rotating shaft（0507）, two is bent Handle（0601）In rear crank rotating shaft（0507）Symmetrical centered on the side of end face, symmetrical centre is rear crank rotating shaft（0507）Axle center Point, when rear crank rotating shaft（0507）During rotation, the rocking bar of both sides（0605）Do the action for intersecting and swinging.Crank block（0602）Position In crank（0601）And rocking bar（0605）Chute（0604）Between, crank（0601）Crank block is driven during rotation（0602） Rocking bar（0605）Chute（0604）Interior slip, makes rocking bar（0605）Around chute（0604）The swinging center hole on top（0603）It is past Physical pendulum moves.Rear portion crank and rocker mechanism（0407）Afer bay（0311）It is arranged in back support main framing（0310）On, it is anterior Crank and rocker mechanism（0401）Forebay（0307）It is arranged in front support skeleton（0306）On.Rocking bar（0605）Bottom with Shield stand（0204）, return pulley support（0606）It is sequentially connected, return pulley axle（0607）It is installed on return pulley support（0606）On, return pulley Axle（0607）With return pulley（0608）Between install return pulley bearing（0609）.Anterior crank and rocker mechanism（0401）Return pulley bearing （0609）For two-way bearing, rear portion crank and rocker mechanism（0407）Return pulley bearing（0609）For unilateral bearing, unilateral bearing Installation direction is to make rear portion crank and rocker mechanism（0407）Return pulley（0608）It can only be rolled to the anterior direction of four-footed riding device It is dynamic.

Machine shaft（0312）The mechanical energy of rotation is assigned to preceding chain-drive mechanism（0402）And rear chain-drive mechanism （0403）Drive sprocket on, preceding chain-drive mechanism（0402）Preceding drive sprocket（0511）Mechanical energy pass through preceding Chain conveyer machine Structure（0402）, gear drive（0405）, anterior crank and rocker mechanism（0401）It is delivered to anterior left and right leg and return pulley （0512）, anterior crank and rocker mechanism（0401）Rocking bar（0605）Around swinging center hole（0603）Swing and drive return pulley（0608） Relative to front support skeleton（0306）Do rolling forward or backward；Chain-drive mechanism afterwards（0403）Rear drive sprocket （0510）Mechanical energy pass through rear chain-drive mechanism（0403）, rear portion crank and rocker mechanism（0407）It is delivered to the left and right leg in rear portion And return pulley（0513）, due to rear portion return pulley axle（0607）With return pulley（0608）Between the return pulley bearing installed（0609）For one-way shaft Hold, and keep to roll to the anterior direction of four-footed riding device after its installation, when rear portion crank and rocker mechanism（0407）'s Rocking bar（0605）Around swinging center hole（0603）During swing, relative to back support main framing（0310）The rocking bar swung forward （0605）The return pulley of bottom（0608）Rolls forward, opposite rear support main framing（0310）The rocking bar of swing backward（0605）Bottom The return pulley in portion（0608）Do not roll, this return pulley is given on ground（0608）And rocking bar（0605）Reaction force promote four-footed riding device Advance forward.

Referring to Fig. 7 to Fig. 9, direction bracing wire（0102）Both ends pass through back support main framing（0310）The support of front end turns Axle（0201）With front support skeleton（0306）The horizontal support of upper end（0304）Both ends connect respectively, axis of orientation（0305）With Steering column（0308）It is concentric to coordinate rotation.Axis of orientation（0305）With front support skeleton（0306）Connection, steering column（0308） With back support main framing（0310）Connection.Gear drive（0405）Driven gear（0508）It is arranged in front support bone Frame（0306）On, driving gear（0509）It is arranged in back support main framing（0310）On, two gears（0508、0509）Transmission Mode is the engaged transmission for existing certain inter-lobe clearance, i.e., when two gears（0508、0509）When the end face of axle side is parallel, two gears （0508、0509）Distance of shaft centers is more than two gears（0508、0509）The half of reference circle numerical value sum and ensure that it can complete to engage Transmission.Axis of orientation（0305）Axis and two gears（0508、0509）The relation of position be：When two gears（0508、0509） When end face is parallel, driven gear（0508）Reference circle at half width is with crossing two gears（0508、0509）Axial connecting line There are a joining, axis of orientation in the section of formation（0305）Axis cross this joining and vertical with this section.When pull direction is drawn Line（0102）One end when, direction bracing wire（0102）Pull front support skeleton（0306）And axis of orientation（0305）With steering column （0306）Axis centered on rotate, positioned at front support skeleton（0306）On driven gear（0508）Also front support is followed Skeleton（0306）Together rotate, due to axis of orientation（0305）Axle center and two gears（0508、0509）Relative position relation, one When determining to rotate in angle, driven gear（0508）And driving gear（0509）Remain able to ensure engaged transmission.

Referring to Figure 10, swing rod（1001）For a polished rod, its axis and plane-parallel.Swing rod（1001）One end with before Portion's support frame（0306）Connection, the other end and frid（0303）Groove contact.When anterior support frame（0306）With steering column （0308）When being rotated centered on axis, swing rod（1001）Follow front support skeleton（0306）In the horizontal plane with steering column （0308）Axis oscillating, swing rod（1001）The other end in frid（0303）Groove on slide, make frid（0303）And swing Support（0301）Along rack shaft（0201）Swing clockwise or counter-clockwise, swinging mounting（0301）The other end head pendulum Dynamic plate（0101）Produce wobbling action simultaneously.

Claims (8)

1. a kind of four-footed riding device using gear clearance engagement steering, chain and crank rocker transmission, it is characterized in that：Energy turns Mechanical energy mechanism is turned to be connected with forward and backward chain-drive mechanism；Preceding chain-drive mechanism, gear drive, anterior crank rocker machine Structure, anterior left and right leg and return pulley are sequentially connected；Chain-drive mechanism afterwards, rear portion crank and rocker mechanism, the left and right leg in rear portion and return pulley It is sequentially connected；Steering mechanism is arranged between front support skeleton and back support skeleton；Head oscillation arrangement of mechanism is in four-footed Riding device is anterior, is connected with back support skeleton；Front support skeleton sets nipper wheel drive mechanism, anterior crank rocker machine Structure, anterior left and right leg and return pulley, the connector needed for steering mechanism's operation；Back support skeleton sets energy to be converted into machinery Can mechanism, forward and backward chain-drive mechanism, rear portion crank and rocker mechanism, the left and right leg in rear portion and return pulley, head oscillation mechanism and both sides Connector needed for pedal；Component protection shell is connected with front support skeleton, back support skeleton.

2. four-footed riding device according to claim 1, it is characterized in that：Energy be converted into the rotating shaft of mechanical energy mechanism with The concentric connection of driving gear of forward and backward chain-drive mechanism, the driven gear of preceding chain-drive mechanism and the master of gear drive The concentric connection of moving gear, the driven gear of rear chain-drive mechanism and the concentric connection of crankshaft of rear crank rocker device.

3. four-footed riding device according to claim 1, it is characterized in that：Gear drive is certain inter-lobe clearance be present Engaged transmission, i.e., when the end face of two gear shaft sides is parallel, two gear axis are away from more than two gear compound graduations circle numerical value sum Half and ensure that it can complete engaged transmission.

4. four-footed riding device according to claim 1, it is characterized in that：Anterior crank and rocker mechanism and rear portion crank rocker Mechanism includes left and right two groups of crank and rocker mechanisms, and left and right crank and rocker mechanism rocking bar is concentric, and two cranks turn in crank Axial end is arranged symmetrically centered on side, and symmetrical centre is crankshaft axle center.

5. four-footed riding device according to claim 1, it is characterized in that：Anterior return pulley can with bidirectional rolling, rear portion Return pulley installs one way component, ensures that return pulley only rolls to the anterior direction of four-footed running gear.

Before being driven 6. four-footed riding device according to claim 1, steering mechanism are connected with front support skeleton, during steering Portion's support frame, anterior left and right leg and return pulley, anterior crank and rocker mechanism and gear drive driven gear is together with direction Axle rotates centered on axle center, and the reference circle at the driven gear half width of gear drive is linear with crossing two gear shafts Into section have a joining, axis of orientation axial line crosses this joining and vertical with this section.

7. four-footed riding device according to claim 1, the swing rod when energy of head oscillation mechanism operation comes from steering The energy of frid inside groove is given, swing rod is swung in horizontal plane centered on axis of orientation axle center, and head oscillation plate and support are around support Rotating shaft is swung up and down in the plane perpendicular to horizontal plane.

8. four-footed riding device according to claim 1, in the both ends of direction bracing wire are entered by component protection shell outer end Portion is connected with front support skeleton, and go to action is produced using the power of bracing wire is pulled.