CN102951221A - Internally engaged split leg type stepping wheel - Google Patents

Abstract

The invention provides an internal meshing split-leg walking wheel, which belongs to the technical field of bionic machinery. The internal meshing split-legged walking wheel consists of a main shaft, a fixed wheel, a moving wheel, a crank, and a leg rod; The main shafts on both sides of the fixed wheel are respectively connected to two cranks, and the two cranks are in opposite phases and respectively connected to the driving wheels of the two internal gears. The two driving wheels are respectively meshed with the two fixed wheels. The diameters where the legs of the wheels are perpendicular to each other. When in motion, the main shaft drives the two moving wheels to rotate around the fixed wheel, so that each leg rod contacts the ground in turn, resulting in a walking action. The internal meshing split-leg walking wheel simplifies the transmission mechanism of the existing half-turn walking wheel by using the internal meshing transmission. The two legs are separated to avoid the movement interference of the leg rod, so that the length of the leg rod is not limited, and the half-turn can be expanded. The scope of application of the walking wheel.

Description

Interior engagement splits leg formula walking wheel

Technical field

The invention belongs to the bionic mechanical technical field, be specifically related to a kind of interior engagement and split leg formula walking wheel.

Background technology

Utilize half rotation mechanism can consist of walking wheel relatively simple for structure, can be used for cross-country traveling walking robot or walking vehicle, such as the walking mechanism of patent No. ZL200510040830.8 Chinese patent rotary walking wheel and patent No. ZL200910263070.5 Chinese patent double straight rod leg walking wheel.But half rotation mechanism that uses in the above-mentioned patent adopts the external toothing transmission, and its drive disk assembly is more, complicated structure.The present invention has changed complicated external toothing transmission scheme, meshing schemes in proposing; And only split form about two legs with one-level half rotation mechanism, thereby the structure of walking wheel is simplified, and avoided the long restriction of leg, strengthened the practicality of walking wheel.

Summary of the invention

The purpose of this invention is to provide a kind of interior engagement and split leg formula walking wheel, to simplify the transmission device of existing half way around walking wheel, enlarge the field of application of half way around walking wheel.

Interior engagement provided by the present invention splits leg formula walking wheel and comprises frame 1, main shaft 7, the first fixed wheel 5 and the second fixed wheel 15, the first driving wheel 3 and the second driving wheel 11, the first crank 8 and the second crank 13, the first driving wheel axle casing 4 and the second driving wheel axle casing 12, first axis of a movable block 6 and second axis of a movable block 14, the first leg bar 2, the second leg bar 9, the 3rd leg bar 10, the 4th leg bar 16; Described the first fixed wheel 5 is the identical external gears of diameter with the second fixed wheel 15, described the first fixed wheel 5 and the second fixed wheel 15 coaxial-symmetricals also are fixed on the both sides of described frame 1, described main shaft 7 is coaxial with described the first fixed wheel 5 and the second fixed wheel 15, and described main shaft 7 passes from the axial hole of described the first fixed wheel 5 and the second fixed wheel 15; Described the first crank 8 is on the right side of described the first fixed wheel 5, described the second crank 13 is in the left side of described the second fixed wheel 15, the single spin-echo of described the first crank 8 and the second crank 13, one end and the described main shaft 7 of described the first crank 8, the second crank 13 are connected, and the other end of described the first crank 8, the second crank 13 is connected with described first axis of a movable block 6, second axis of a movable block 14 respectively; Described first axis of a movable block 6, second axis of a movable block 14 are connected with described the first driving wheel axle casing 4, the second driving wheel axle casing 12 by bearing respectively, and described the first driving wheel axle casing 4, the second driving wheel axle casing 12 are connected with described the first driving wheel 3, the second driving wheel 11 respectively; Described the first driving wheel 3, the second driving wheel 11 are inner geares, the equal diameters of described the first driving wheel 3, the second driving wheel 11; The diameter of described the first driving wheel 3 is twices of the diameter of described the first fixed wheel 5; Described the first driving wheel 3 and the second driving wheel 11 respectively with described the first fixed wheel 5 and the 15 interior engagements of the second fixed wheel; Described the first leg bar 2, the second leg bar 9 are connected along diametric(al) and described first driving wheel 3 of described the first driving wheel 3, described the 3rd leg bar 10, the 4th leg bar 16 are connected along diametric(al) and described second driving wheel 11 of described the second driving wheel 11, and the diametric(al) of first driving wheel 3 at described the first leg bar 2, the second leg bar 9 places is mutually vertical with the diametric(al) of second driving wheel 11 at described the 3rd leg bar 10, the 4th leg bar 16 places.

The first fixed wheel 5 and the second fixed wheel 15 that coaxial-symmetrical is installed in frame 1 both sides are motionless, main shaft 7 passes from the axial hole of the first fixed wheel 5 and the second fixed wheel 15, be connected respectively at the outside of the first fixed wheel 5 and the second fixed wheel 15 the first crank 8 and the second crank 13 and be installed on the main shaft 7, the single spin-echo of the first crank 8 and the second crank 13 during installation, the first driving wheel 3 and the second driving wheel 11 are fixed with one with the first driving wheel axle casing 4 and the second driving wheel axle casing 12 respectively, and be installed in respectively on the first crank 8 and the second crank 13 by first axis of a movable block 6 and second axis of a movable block 14, the first driving wheel 3 and the second driving wheel 11 respectively with the first fixed wheel 5 and the 15 interior engagements of the second fixed wheel, the first leg bar 2 and the second leg bar 9 are installed in the lateral surface of the first driving wheel 3 along diametric(al), the 3rd leg bar 10 and the 4th leg bar 16 are installed in the lateral surface of the second driving wheel 11 along diametric(al), the first leg bar 2 is mutually vertical with the 4th leg bar 16 place diameters with the 3rd leg bar 10 with the second leg bar 9 place diameters.

Driven by engine main shaft 7 rotates, drive respectively the first driving wheel 3 and 11 rotations of the second driving wheel by the first crank 8 and the second crank 13 again, simultaneously because the interior engagement of the first driving wheel 3 and the second driving wheel 11 and the first fixed wheel 5 and the second fixed wheel 15, and the diameter of the first driving wheel 3 and the second driving wheel 11 equals the twice of the first fixed wheel 5 or the second fixed wheel 15, make the first driving wheel 3 and the second driving wheel 11 produce half cireular frequency of the identical and big or small rotating speed that only has main shaft 7 of rotation direction with main shaft 7, the motion of the first driving wheel 3 and the second driving wheel 11 drives respectively the first leg bar 2, the second leg bar 9 and the 3rd leg bar 10,16 motions of the 4th leg bar, because the 3rd leg bar 10, the 4th leg bar 16 and the first leg bar 2, the second leg bar 9 is vertical, and the single spin-echo of the first driving wheel 3 and the second driving wheel 11 finally produces the walking effect that leg bar and ground alternately contact.

Advantage of the present invention is:

1, simple in structure, interior engaged transmission has been simplified the transmission device of existing half way around walking wheel.

2, two legs split the movement interference of having avoided the leg bar, make the length of leg bar unrestricted, can enlarge the field of application of half way around walking wheel.

Description of drawings

Fig. 1 is the left TV structure schematic diagram of walking wheel of the present invention;

Fig. 2 is the structural representation of facing of walking wheel of the present invention.

Among the figure: 1: frame, 2: the first leg bars, 3: the first driving wheels, 4: the first driving wheel axle casings, 5: the first fixed wheels, 6: the first axis of a movable block, 7: main shaft, 8: the first cranks, 9: the second leg bars, 10: the three leg bars, 11: the second driving wheels, 12: the second driving wheel axle casings, 13: the second cranks, 14: the second axis of a movable block, 15: the second fixed wheels, 16: the four leg bars.

The specific embodiment

The interior engagement of the present invention splits leg formula walking wheel and comprises frame 1, main shaft 7, the first fixed wheel 5 and the second fixed wheel 15, the first driving wheel 3 and the second driving wheel 11, the first crank 8 and the second crank 13, the first driving wheel axle casing 4 and the second driving wheel axle casing 12, first axis of a movable block 6 and second axis of a movable block 14, the first leg bar 2, the second leg bar 9, the 3rd leg bar 10, the 4th leg bar 16.The first fixed wheel 5 is the identical external gears of diameter with the second fixed wheel 15, and the first fixed wheel 5 and the second fixed wheel 15 coaxial-symmetricals are installed in the both sides of frame 1.Main shaft 7 is coaxial with the first fixed wheel 5 and the second fixed wheel 15, and passes from the axial hole of the first fixed wheel 5 and the second fixed wheel 15.The first crank 8 and the second crank 13 are connected on the main shaft 7 in the outside of the first fixed wheel 5 and the second fixed wheel 15 respectively, will guarantee the single spin-echo of the first crank 8 and the second crank 13 during installation.The other end of the first crank 8 is equipped with first axis of a movable block 6, the other end of the second crank 13 is equipped with second axis of a movable block 14, first axis of a movable block 6 and second axis of a movable block 14 are installed on the first driving wheel axle casing 4 and the second driving wheel axle casing 12 with bearing respectively, and the first driving wheel axle casing 4 and the second driving wheel axle casing 12 are connected in respectively on the first driving wheel 3 and the second driving wheel 11.The first driving wheel 3 and the second driving wheel 11 are inner geares, and the diameter of the first driving wheel 3 and the second driving wheel 11 all equals the twice of the diameter of the first fixed wheel 5, the first driving wheel 3 and the second driving wheel 11 respectively with the first fixed wheel 5 and the 15 interior engagements of the second fixed wheel.The first leg bar 2 and the second leg bar 9 are installed in the lateral surface of the first driving wheel 3 along diametric(al), the 3rd leg bar 10 and the 4th leg bar 16 are installed in the lateral surface of the second driving wheel 11 along diametric(al), will guarantee during installation that the first leg bar 2 is mutually vertical with the 4th leg bar 16 place diameters with the 3rd leg bar 10 with the second leg bar 9 place diameters.

Driven by engine main shaft 7 rotates, drive respectively the first driving wheel 3 and 11 rotations of the second driving wheel by the first crank 8 and the second crank 13 again, simultaneously because the interior engagement of the first driving wheel 3 and the second driving wheel 11 and the first fixed wheel 5 and the second fixed wheel 15, and the diameter of the first driving wheel 3 and the second driving wheel 11 equals the twice of the first fixed wheel 5 and the second fixed wheel 15, makes the first driving wheel 3 and the second driving wheel 11 produce half cireular frequency of the identical and big or small rotating speed that only has main shaft 7 of rotation direction with main shaft 7.The motion of the first driving wheel 3 and the second driving wheel 11 drives respectively the first leg bar 2, the second leg bar 9 and the 3rd leg bar 10,16 motions of the 4th leg bar, because the 3rd leg bar 10, the 4th leg bar 16 and the first leg bar 2, the second leg bar 9 are vertical, and the single spin-echo of the first driving wheel 3 and the second driving wheel 11 finally produces the walking effect that leg bar and ground alternately contact.

Claims (1)

1. An internal meshing split-leg walking wheel, characterized in that the walking wheel includes a frame (1), a main shaft (7), a first fixed wheel (5) and a second fixed wheel (15), a first The moving wheel (3) and the second moving wheel (11), the first crank (8) and the second crank (13), the first moving wheel shaft box (4) and the second moving wheel shaft box (12), the first moving wheel shaft (6 ) and the second moving wheel shaft (14), the first leg (2), the second leg (9), the third leg (10), the fourth leg (16); the first fixed wheel (5 ) and the second fixed wheel (15) are external gears with the same diameter, the first fixed wheel (5) and the second fixed wheel (15) are coaxially symmetrical and fixed on both sides of the frame (1), The main shaft (7) is coaxial with the first fixed wheel (5) and the second fixed wheel (15), and the main shaft (7) is driven from the first fixed wheel (5) and the second fixed wheel (15) ) through the axial hole; the first crank (8) is on the right side of the first fixed wheel (5), and the second crank (13) is on the right side of the second fixed wheel (15) On the left side, the phases of the first crank (8) and the second crank (13) are opposite, and one end of the first crank (8) and the second crank (13) are fixedly connected to the main shaft (7), so The other ends of the first crank (8) and the second crank (13) are respectively fixedly connected with the first moving wheel shaft (6) and the second moving wheel shaft (14); the first moving wheel shaft (6), the second The two moving wheel shafts (14) are respectively connected to the first moving wheel shaft box (4) and the second moving wheel shaft box (12) through bearings, and the first moving wheel shaft box (4) and the second moving wheel shaft box (12) They are fixedly connected with the first moving wheel (3) and the second moving wheel (11) respectively; the first moving wheel (3) and the second moving wheel (11) are internal gears, and the first moving wheel (3), the second The diameters of the moving wheels (11) are equal, and the diameter of the first moving wheel (3) is twice the diameter of the first fixed wheel (5); the first moving wheel (3) and the second moving wheel (11) are respectively Engage with the first fixed wheel (5) and the second fixed wheel (15); the first leg (2) and the second leg (9) are along the diameter direction of the first moving wheel (3) Fixedly connected with the first moving wheel (3), the third leg rod (10) and the fourth leg rod (16) are connected with the second moving wheel (11) along the diameter direction of the second moving wheel (11) Fixedly connected, the diameter direction of the first moving wheel (3) where the first leg (2) and the second leg (9) are located is the same as the diameter of the third leg (10) and the fourth leg (16) The diameter directions of the second moving wheel (11) are perpendicular to each other.

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