CN2860973Y

CN2860973Y - Bionic mechanical horse

Info

Publication number: CN2860973Y
Application number: CN 200520093023
Authority: CN
Inventors: 张华�
Original assignee: Shenyang Ligong University
Current assignee: Shenyang Ligong University
Priority date: 2005-10-28
Filing date: 2005-10-28
Publication date: 2007-01-24
Anticipated expiration: 2015-10-28

Abstract

A simulated mechanical horse comprises an electric motor, an eccentric axis, a roller, a speed reduction box, an output axis, a front chassis, a rear chassis, a connecting rod, horseshoes, cruses, thighs and a rocking lever. The simulated mechanical horse is composed of the organs of the front and rear parts with the same structure and connected with the rotating axis by the front and rear chassis, simulating the treading process of the horse by the organ of connecting rod. The output axis at the speed reduction box drives the roller rotating and the eccentric axis drives the uplifting and striding of horse legs by the rocking lever. The barycentre of the mechanical horse moves ahead under the cooperative action of the four legs, and the swerve of the mechanical horse is realized by changing the eccentric distance of the eccentric axis at the roller to enable the striding step differed toward the left and right legs and to make its center of gravity deflect toward the side with small striding. Therefore, the whole body can realize swerve toward the deflection side. This utility model is featured with simple structure, flexible and stable treading, good continuity, convenience for conveying goods and low cost, applicable for conveying goods at dangerous and harmful sites or for the use of people and entertainment at the park carnie.

Description

A kind of simulated mechanical horse

Technical field

The utility model belongs to Robotics, and particularly a kind of simulated mechanical horse is applicable to the needs that dangerous harmful place is transmitted article or used for people's amusement at the park recreation ground.

Background technology

At present, the research-and-development activity of simulated mechanical horse is at home and abroad all paid much attention to, and all is widely used in every field, as the rescue of taking precautions against natural calamities, and transmits article etc. in the occasion of danger, can also be that people's amusement is used at the park recreation ground.But physical construction of existing mechanical horse and control system be more complicated also, and the manufacturing cost height is subjected to certain restriction on using.Problems such as the also existence walking that has is discontinuous and dumb.The invention provides a kind of simple in structure, walking flexibly, the carrying article are convenient, cost is low, can also supply the employed simulated mechanical horse of recreation ground.

The utility model content

The purpose of this utility model is in order to solve technical matterss such as existing simulated mechanical horse cost height, complicated in mechanical structure, a kind of simple in structure, simulated mechanical horse flexible, that the carrying article are convenient, cost is low of walking is provided, is applicable to the dangerous needs that are harmful to place transmission article or use for people's amusement at the park recreation ground.

The utility model comprises motor, bevel pinion, bevel gear, eccentric shaft, cylinder, drop-gear box, output shaft, gear, miniature gears, transmission shaft, front chassis, S. A., rear chassis, connecting rod, water chestnut, shank, thigh, swing arm, anchor shaft, the emulation mechanical horse is made up of front and back two-part structure identical mechanism, and connect by S. A. by the chassis, front and back, motor and drop-gear box are separately fixed on the chassis, front and back, motor is connected and fixed by the bevel pinion of coupler and drop-gear box, bevel gear engagement on bevel pinion and the transmission shaft, be fixed on miniature gears on the transmission shaft and the gear mesh on the output shaft, output shaft is arranged on the drop-gear box by bearing, cylinder is separately fixed on the two ends of output shaft, cylinder is provided with eccentric shaft, the other end of eccentric shaft is arranged in the hole of swing arm, eccentric shaft can rotate in the hole of swing arm, swing arm is arranged on the anchor shaft, anchor shaft is fixed on the side plate of front chassis, anchor shaft can slide in the groove of swing arm, one end of thigh is connected on the swing arm by pin hinge, the other end of thigh is connected with the shank hinge by bearing pin, the two ends of connecting rod are connected with the front chassis hinge with shank respectively, and water chestnut is arranged on the lower end of shank.

The utlity model has simple in structure, walking flexibly steadily, good, convenient, the low cost and other advantages of carrying article of continuity, be applicable to that article are transmitted in dangerous harmful place or at the needs of park recreation ground for people's amusement use.

Description of drawings

Fig. 1 is a structural representation of the present utility model;

Fig. 2 is the structural representation of the utility model ground-engaging element;

Among the figure: 1 motor, 2 bevel pinions, 3 bevel gears, 4 eccentric shafts, 5 cylinders, 6 drop-gear boxs, 7 output shafts, 8 gears, 9 miniature gearss, 10 transmission shafts, 11 front chassis, 12 S. A.s, 13 rear chassis, 14 connecting rods, 15 water chestnuves, 16 shanks, 17 thighs, 18 swing arms, 19 anchor shafts.

The specific embodiment

Further specify organization plan of the present utility model and working process in conjunction with example.

As depicted in figs. 1 and 2, a kind of simulated mechanical horse comprises motor 1, bevel pinion 2, bevel gear 3, eccentric shaft 4, cylinder 5, drop-gear box 6, output shaft 7, gear 8, miniature gears 9, transmission shaft 10, front chassis 11, S. A. 12, rear chassis 13, connecting rod 14, water chestnut 15, shank 16, thigh 17, swing arm 18, anchor shaft 19.

Simulated mechanical horse is made up of front and back two-part structure identical mechanism, and the front and back two-part structure is connected and fixed by S. A. 12 by chassis, front and back (11,13), is convenient to mechanical horse turning walking.The front and back two-part structure is made of chassis, front and back, motor, drop-gear box, cylinder, ground-engaging element respectively, motor 1 and drop-gear box 6 are separately fixed on the chassis, front and back (11,13), motor 1 is connected and fixed by the bevel pinion 2 of coupler and drop-gear box 6, bevel gear 3 engagements on bevel pinion 2 and the transmission shaft 10, be fixed on

miniature gears

9 and 8 engagements of the gear on the output shaft 7 on the transmission shaft 10, transmission shaft 10 and output shaft 7 all are arranged on the drop-gear box 6 by bearing, are fixed with cylinder 5 on the two ends of output shaft 7 respectively.Cylinder 5 is provided with eccentric shaft 4, is provided with turning motor and leading screw in the cylinder 5, and eccentric shaft is fixed on the feed screw nut, can regulate the centre distance of eccentric shaft 4 and cylinder 5 axis of revolutions by rotational lead screw.The other end of eccentric shaft 4 is arranged in the hole of swing arm 18, and eccentric shaft 4 can rotate in the hole of swing arm 18.Swing arm 18 is arranged on the anchor shaft 19, and anchor shaft 19 is fixed on the side plate of front chassis 11, and anchor shaft 19 can slide in the groove of swing arm 18.One end of thigh 17 is connected with swing arm 18 hinges by bearing pin, the other end of thigh 17 is connected with shank 16 hinges by bearing pin, and the two ends of connecting rod 14 are connected with front chassis 11 hinges with shank 16 respectively, and water chestnut 15 is arranged on the lower end of shank 16, and, be convenient to smooth running by the pin hinge connection.

Working process of the present utility model is: simulated mechanical horse is the same with the quadruped walking manner in other land, knee is to front curve during its foreleg walking, retreat then knee bending backward, can know that by analysis horse is in the middle of walking process, landing of left front leg of horse and right rear leg be synchronous, and left back leg and RAT then are synchronous.

The utility model is the walking process that imitates horse with connecting rod mechanism, and by Mechanical Driven, so it is simple in structure, motor 1 drives output shaft 7 by drop-gear box 6 and drives cylinder 5 rotations, eccentric shaft 4 on the cylinder 5 rotates around the center of cylinder 5, eccentric shaft 4 drives lifting and taking a step of horse legs by swing arm 18, and the mating reaction by four legs makes the center of gravity of mechanical horse move forward walking.

The turning of mechanical horse is by changing the eccentric distance of the eccentric shaft 5 on the cylinder 5, the stride that horse left and right sides leg is taken a step inconsistent (two legs of homonymy is consistent), the center of gravity of mechanical horse is moved to the little lateral deviation of taking a step, realize turning thereby whole length is changeed to this lateral deviation.

Claims

1, a kind of simulated mechanical horse, it is characterized in that, comprise motor, bevel pinion, bevel gear, eccentric shaft, cylinder, drop-gear box, output shaft, gear, miniature gears, transmission shaft, front chassis, S. A., rear chassis, connecting rod, water chestnut, shank, thigh, swing arm, anchor shaft, the emulation mechanical horse is made up of front and back two-part structure identical mechanism, and connect by S. A. by the chassis, front and back, motor and drop-gear box are separately fixed on the chassis, front and back, motor is connected and fixed by the bevel pinion of coupler and drop-gear box, bevel gear engagement on bevel pinion and the transmission shaft, be fixed on miniature gears on the transmission shaft and the gear mesh on the output shaft, output shaft is arranged on the drop-gear box by bearing, cylinder is separately fixed on the two ends of output shaft, cylinder is provided with eccentric shaft, the other end of eccentric shaft is arranged in the hole of swing arm, eccentric shaft can rotate in the hole of swing arm, swing arm is arranged on the anchor shaft, anchor shaft is fixed on the side plate of front chassis, anchor shaft can slide in the groove of swing arm, one end of thigh is connected on the swing arm by pin hinge, the other end of thigh is connected with the shank hinge by bearing pin, the two ends of connecting rod are connected with the front chassis hinge with shank respectively, and water chestnut is arranged on the lower end of shank.