Three-track sliding self-locking moving mechanism

Abstract

A three-track sliding self-locking moving mechanism mainly consists of a frame structure, a control mechanism, a crawling claw mechanism and a driving mechanism; there are two identical left and right crawling claws on three parallel tracks, the crawling claws can move left and right on the tracks, a controllable card plate is provided on the crawling claw, the self-locking hole on the card plate is provided on the middle self-locking track, the card plate can be controlled to three positions: left, middle and right, when in the left position, the self-locking hole clamps the self-locking track, the crawling claw can only move to the left but not to the right; when in the middle position, it is a neutral position, the self-locking hole does not contact the self-locking track, and the crawling claw can move left and right; when in the right position, the self-locking hole clamps the self-locking track, the crawling claw can only move to the right but not to the left; the left and right crawling claws are respectively connected to the driving arm and the lower end of the support arm, and the two crawling claws can be driven to approach or leave by pushing and pulling the driving arm, and in the process of approaching or leaving, the two crawling claws intermittently move to the left or right, thereby realizing the control of the entire mechanism (crawling claw) to move left or right.

Description

Technical Field

[0001] The invention relates to a mechanical moving mechanism, in particular to a three-track sliding self-locking moving mechanism capable of crawling. Background Art

[0002] At present, there are many crawling moving mechanisms on the market, but pole-mounted crawling mechanisms are rare. The existing technology has problems such as complex structure, high cost, and inconvenient operation. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a three-track sliding self-locking moving mechanism. The mechanism imitates the principle of human walking and reptile walking. It adopts three tracks and the familiar driving mode of fitness cycling machine (rowing movement) - reciprocating swing rocker drives two crawling claws to move alternately on three cylindrical tracks to realize the movement of the mechanism.

[0004] The technical solution adopted by the present invention to solve the technical problem is: it is mainly composed of a frame structure, a control mechanism, a crawling claw mechanism, and a driving mechanism, and the structural composition, size and shape of the entire mechanism are symmetrical front and back.

[0005] The rack mechanism is the overall support frame for installing each sub-mechanism of this mechanism, including two track fixing plates, two support tracks, and one self-locking track. The three tracks are all column-shaped and equal in length, parallel to each other, with the self-locking track in the middle, and the two support tracks are symmetrically placed on both sides of the self-locking track. The two ends of the three tracks are fixedly connected by the track fixing plate.

[0006] The driving mechanism is composed of a driving arm, a supporting arm, an arm shaft, and a crawling claw shaft. Both the driving arm and the supporting arm are long rod parts. The driving arm is composed of two long and short mutually perpendicular rods. A through hole is provided at the end of the short rod. The supporting arm is composed of an upper supporting arm and a lower supporting arm. A connecting hole is provided at the lower part of the upper supporting arm and the upper part of the lower supporting arm. The upper supporting arm and the lower supporting arm are fixedly connected by two connecting bolts. The length of the supporting arm can be adjusted by connecting different connecting holes. A through hole is provided at the upper end of the upper supporting arm. This through hole is hinged with the through hole of the short rod of the driving arm by an arm shaft. The driving arm and the supporting arm can rotate around the arm shaft. A driving handle is provided at the upper end of the driving arm. Through holes are provided at the lower ends of the driving arm and the supporting arm, respectively. A crawling claw shaft is installed in the through hole and connected to the crawling claw mechanism below it.

[0007] Crawling claw mechanism: The crawling claw mechanism includes two crawling claws, which have exactly the same structure, size and shape. They are divided into left crawling claw and right crawling claw. Each crawling claw is composed of a crawling claw shaft seat, a crawling claw shaft, a connecting plate and two linear bearings. The crawling claw shaft seat is a front-to-back and left-to-right symmetrical body, with a through slot from left to right, in which a driving arm or a supporting arm is installed. The crawling claw shaft seat is provided with a through hole from front to back, which is coaxial with the through hole at the lower end of the driving arm or the supporting arm, and is hinged by the crawling claw shaft. The driving arm and the supporting arm can rotate around the crawling claw shaft; a slide rod slide hole is provided below the through hole; the slide rod slide hole is transparent from front to back; the crawling claw shaft seat is fixed on the connecting plate, which is a rectangular plate, and the two ends are fixedly connected to the linear bearings by connecting screws. The inner hole of the linear bearing is provided on the supporting track, and the linear bearing can move left and right on the supporting track.

[0008] The control mechanism consists of a card plate, a card plate handle, a self-locking hole, a spring connecting rod, a crawling claw shaft seat, a sliding rod and a spring. The card plate base is a rectangular plate, and a self-locking hole is provided on the plate. The self-locking hole is an oblong hole, and the self-locking hole is arranged on the self-locking track; a card plate connecting block is provided on the front and rear sides of the upper end of the card plate, and a cylindrical through hole in the front and rear directions is provided on the card plate connecting block, a waist-shaped through hole is provided below the cylindrical through hole, and a card plate handle is provided on the right side; the cylindrical through hole on the card plate connecting block is provided on the crawling claw shaft; the waist-shaped through hole on the card plate corresponds to the slide bar slide hole of the crawling claw shaft seat, and a slide bar is installed in the slide bar slide hole of the crawling claw shaft seat. The slide bar is a cylinder, which passes through the waist-shaped through hole front and back, and the upper ends of the springs are connected at both ends. The slide bar can move left and right in the slide bar slide hole under the pull of the spring, and the lower slide in the slide bar slide hole is in the shape of "M", with low middle and left and right sides, which are positioning grooves at the left, middle and right positions of the slide bar, and a spring connecting rod is provided on the side of the lower end of the card plate, and the spring connecting rod is connected to the lower end of the spring.

[0009] The beneficial effects of the present invention are as follows: the fitness cycling machine driving mode is adopted to apply fitness exercise in practical use, so as to enhance the practicability, interest and physical fitness of the mechanism; the manual driving can save electric energy, and the operation is flexible and convenient - the driving stride size, duration and interruption can be adjusted at any time according to the operator's physical condition; three tracks and four sliders (linear bearings) are adopted to make the mechanism move and run smoothly with high safety; the card plate self-locking mechanism is adopted to make the structure simpler and low in cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0011] Figure 1 It is a three-dimensional diagram that expresses the overall structure;

[0012] Figure 2 is the main view;

[0013] Figure 3 yes Figure 2The sectional view cut along AA is the left view;

[0014] Figure 4 yes Figure 3 The sectional view cut along BB is the main view of the cut;

[0015] Figure 5 It is a top view;

[0016] Figure 6 is a perspective view of an embodiment in which the driving arm is pushed to the leftmost position;

[0017] Figure 7 It is a partial cross-sectional view of the spring connection;

[0018] Figure 8 This is an embodiment diagram of the card plate being in the left blocking position;

[0019] Fig. 9 This is a diagram of an embodiment in which the card plate is in the right blocking position;

[0020] Fig.10 This is an embodiment diagram of a card plate in a neutral position;

[0021] Fig.11 It is a front view of an embodiment in which the left and right crawling claw clamps turn in opposite directions (locked movement).

[0022] In the figure, 1. track fixing plate, 2. support track, 3. linear bearing, 4. connecting screw, 5. connecting plate, 6. driving arm, 7. arm shaft, 8. upper support arm, 9. connecting bolt, 10. lower support arm, 11. driving handle, 12. card handle, 13. self-locking track, 14. crawling claw shaft, 15. crawling claw shaft seat, 16. card, 17. spring, 18. slide rod, 19. spring connecting rod, 20. self-locking hole, 21. slide rod slideway hole, 22. waist-shaped through hole, 23. card connecting block. DETAILED DESCRIPTION

[0023] Figures 1 to 5 , Figure 7 It shows the structural composition of the mechanism and the connection and position relationship of the parts. It is mainly composed of a frame structure, a control mechanism, a crawling claw mechanism, and a driving mechanism. The structural composition, size, and shape of the entire mechanism are symmetrical front and back.

[0024] The rack mechanism is the overall support frame for installing each sub-mechanism of the mechanism, and is composed of two track fixing plates 1, two support tracks 2, and a self-locking track 13. The three tracks are all column-shaped and equal in length, parallel to each other, with the self-locking track 13 in the middle, and the two support tracks 2 are symmetrically placed on both sides of the self-locking track 13, and the two ends of the three tracks are fixedly connected by the track fixing plate 1.

[0025] The driving mechanism is composed of a driving arm 6, a supporting arm, an arm shaft, and a crawling claw shaft 14; the driving arm 6 and the supporting arm are both long rod parts, the driving arm 6 is composed of two long and short mutually perpendicular rods, the end of the short rod is provided with a through hole, the supporting arm is composed of an upper supporting arm 8 and a lower supporting arm 10, the lower part of the upper supporting arm 8 and the upper part of the lower supporting arm 10 are provided with connecting holes, and the upper supporting arm 8 and the lower supporting arm 10 are fixedly connected by two connecting bolts 9, and the length of the supporting arm can be adjusted by connecting different connecting holes; the upper end of the upper supporting arm 8 is provided with a through hole, and this through hole is hinged with the through hole of the short rod of the driving arm by the arm shaft; the driving arm 6 and the supporting arm can rotate around the arm shaft. A driving handle 11 is provided at the upper end of the driving arm 6, and through holes are provided at the lower ends of the driving arm 6 and the supporting arm, respectively, and a crawling claw shaft 14 is installed in the through hole, which is connected to the crawling claw mechanism below it.

[0026] Crawling claw mechanism: The crawling claw mechanism includes two crawling claws, which are completely the same in structure, size and shape, and are divided into a left crawling claw and a right crawling claw. Each crawling claw is composed of a crawling claw shaft seat 15, a crawling claw shaft 14, a connecting plate 5, and two linear bearings 3. The crawling claw shaft seat 15 is a front-to-back and left-to-right symmetrical body, and is provided with a through groove from left to right, in which a driving arm 6 or a supporting arm is installed, and a through hole is provided from front to back, which is coaxial with the through hole at the lower end of the driving arm 6 or the supporting arm, and is hinged by the crawling claw shaft 14, so that the driving arm 6 and the supporting arm can rotate around the crawling claw shaft 14; a slide rod slide hole 21 is provided below the through hole; the slide rod slide hole 21 is transparent from front to back; the crawling claw shaft seat 15 is fixed on the connecting plate 5, which is a rectangular plate, and the two ends are fixedly connected to the linear bearing 3 by connecting screws 4, and the inner hole of the linear bearing 3 is provided on the supporting track 2, and the linear bearing 3 can move left and right on the supporting track 2.

[0027] The control mechanism is composed of a card plate 16, a card plate handle 12, a self-locking hole 20, a spring connecting rod 19, a crawling claw shaft seat 15, a sliding rod 18, and a spring 17. The base of the card plate 16 is a rectangular plate, on which a self-locking hole 20 is provided. The self-locking hole 20 is an oblong hole. The self-locking hole 20 is provided on the self-locking track 13. When the card plate 16 is perpendicular to the self-locking track 13, the self-locking hole 20 of the card plate 16 does not contact the self-locking track 13, and the card plate 16 and the crawling claw can move left and right on the self-locking track 13. When the card plate 16 and the self-locking track 13 are inclined, the upper and lower edges of the self-locking hole 20 clamp the self-locking track 13, which can lock the movement of the card plate 16. A card plate connecting block is provided on the front and rear sides of the upper end of the card plate 16, and a cylindrical through hole in the front and rear direction is provided on the card plate connecting block. A waist-shaped through hole 22 is provided below the cylindrical through hole, and a card plate handle 12 is provided on the right side; the cylindrical through hole on the card plate connecting block is provided on the crawling claw shaft 14, and the card plate 16 can be moved up and down. Move the card handle 12, the card plate 16 can rotate left and right around the crawling claw shaft 14, which plays a role in locking the card plate 16 to move; the waist-shaped through hole 22 on the card plate 16 corresponds to the slide rod slide hole 21 of the crawling claw shaft seat 15, and a slide rod 18 is installed in the slide rod slide hole 21 of the crawling claw shaft seat 15. The slide rod 18 is a cylinder that passes through the waist-shaped through hole 22 from front to back, and the two ends are respectively connected to the upper end of the spring 17. The slide rod 18 can move left and right in the slide rod slide hole 21 under the pull of the spring 17. The lower slide track in the slide rod slide hole 21 is in an "M" shape, with the middle and left and right sides low, which are positioning grooves for the left, middle and right positions of the slide rod 18. A spring connecting rod 19 is provided on the side of the lower end of the card plate 16, and the spring connecting rod 19 is connected to the lower end of the spring 17.

[0028] Figure 6 It is a stereoscopic view of an embodiment in which the driving arm 6 is pushed to the leftmost position; it shows the state in which the driving arm 6 is pushed to the leftmost limit position.

[0029] Figure 8 This is an embodiment of the card plate 16 being in the left blocking position, and also represents the position of the card plate 16 when the crawling claw moves to the left: the card plate handle 12 is moved downward, the card plate 16 tilts to the left, the edge of the self-locking hole 20 on the card plate 16 is stuck on the self-locking track 13, and the crawling claw cannot move to the right; at the same time, the spring connecting rod 19 on the card plate 16 drives the spring 17 to move to the left, and the spring 17 pulls the slide bar 18 to the left positioning groove of the slide bar slideway hole 21; when the push-pull drive arm 6 drives the crawling claw to move to the left, the card plate 16 rotates to the right relative to the self-locking track 13, gets rid of the self-locking with the self-locking track 13, and the crawling claw can move to the left. In summary, when the card plate 16 is in the left blocking position, the crawling claw can only move to the left, not to the right.

[0030] Fig. 9This is an embodiment in which the card plate 16 is in the right blocking position; it indicates the position of the card plate 16 when the crawling claw moves to the right: the card plate handle 12 is moved upward, the card plate 16 tilts to the right, the edge of the self-locking hole 20 on the card plate 16 is stuck on the self-locking track 13, and the crawling claw cannot move to the left; at the same time, the spring connecting rod 19 on the card plate 16 drives the spring 17 to move to the right, and the spring 17 pulls the slide bar 18 to the right positioning groove of the slide bar slide hole 21; when the push-pull drive arm 6 drives the crawling claw to move to the right, the card plate 16 rotates to the left relative to the self-locking track 13, gets rid of the self-locking with the self-locking track 13, and the crawling claw can move to the right. In summary, when the card plate 16 is in the right blocking position, the crawling claw can only move to the right, not to the left.

[0031] Fig.10 This is an embodiment in which the card plate 16 is in the neutral position: it means that the card plate 16 is perpendicular to the self-locking track 13, and the slide bar 18 is pulled by the spring 17 to the middle positioning groove of the slide bar slide hole 21; the self-locking hole 20 on the card plate 16 does not contact the self-locking track 13, and the card plate 16 and the crawling claw can move left and right on the self-locking track 13.

[0032] Fig.11 It is a front view of an embodiment in which the left and right crawling claw clamps 16 are turned in opposite directions (locked movement).

[0033] This mechanism has four modes of operation: left movement, right movement, locked movement and neutral state.

[0034] Operation of moving to the left: Move the card handle 12 on the left and right crawling claws downward, and the card plate 16 tilts to the left, such as Figure 8 , Figure 4 As shown, the left and right crawling claws can only move to the left; when the driving arm 6 is pulled to the right, the right crawling claw does not move, and the left crawling claw moves to the left; when the driving arm 6 is pushed to the left, the left crawling claw does not move, and the right crawling claw moves to the left; thereby pushing and pulling the driving arm 6 to drive the entire mechanism to move intermittently to the left.

[0035] Operation of moving to the right: Move the card handle 12 on the left and right crawling claws upward, and the card plate 16 tilts to the right, such as Fig. 9 As shown, the left and right crawling claws can only move to the right; the same principle can be used to push and pull the drive arm 6 to drive the entire mechanism to move intermittently to the right.

[0036] Operation of locking movement: Move the card handle 12 on the left and right crawling claws to make the left and right card plates 16 tilt in opposite directions, and the left and right crawling claws are limited to move in opposite directions, so that the entire mechanism is locked and moved. (such as Fig.11 shown)

[0037] Operation in neutral state: move the card handle 12 on the left and right crawling claws to the middle position, the card 16 is perpendicular to the self-locking track 13, such as Fig.10As shown, the self-locking hole 20 of the card plate does not contact the track, and the left and right crawling claws can move left and right. This state is required in special circumstances, such as maintenance, electric drive, etc.

Claims

1. A three-track sliding self-locking moving mechanism, consisting of a frame structure, a control mechanism, a crawling claw mechanism, and a driving mechanism. The structure, size, and shape of the entire mechanism are symmetrical front and back; its characteristics are: The rack mechanism includes two track fixing plates, two supporting rails, and one self-locking rail; The three tracks are all column-shaped and of equal length and parallel to each other. The self-locking track is in the middle, and the two supporting tracks are symmetrically placed on both sides of the self-locking track. The two ends of the three tracks are fixedly connected by track fixing plates; the driving mechanism is composed of a driving arm, a supporting arm, an arm shaft, and a crawling claw shaft; the driving arm and the supporting arm are both long rod parts, and the driving arm is composed of two long and short mutually perpendicular rods, and a through hole is provided at the end of the short rod, and the supporting arm is composed of an upper supporting arm and a lower supporting arm, and connecting holes are provided at the lower part of the upper supporting arm and the upper part of the lower supporting arm, and the upper supporting arm and the lower supporting arm are fixedly connected by two connecting bolts, and the length of the support arm can be adjusted by connecting different connecting holes; a through hole is provided at the upper end of the upper supporting arm, and this through hole is aligned with the through hole of the short rod of the driving arm It is hinged by an arm shaft; the driving arm and the supporting arm can rotate around the arm shaft; a driving handle is provided at the upper end of the driving arm, and through holes are provided at the lower ends of the driving arm and the supporting arm respectively, in which a crawling claw shaft is installed and connected to the crawling claw mechanism below it; crawling claw mechanism: the crawling claw mechanism includes two crawling claws, which have exactly the same structure, size and shape, and are divided into a left crawling claw and a right crawling claw. Each crawling claw is composed of a crawling claw shaft seat, a crawling claw shaft, a connecting plate, and two linear bearings; the crawling claw shaft seat is a front-to-back and left-to-right symmetrical body, and is provided with a through groove from left to right, in which a driving arm or a supporting arm is installed, and the crawling claw shaft seat is provided with a through hole from front to back, and this through hole is connected to the through hole at the lower end of the driving arm or the supporting arm. Coaxial, hinged by the crawling claw shaft, the driving arm and the supporting arm can rotate around the crawling claw shaft; a slide rod slide hole is provided below the through hole; the slide rod slide hole is transparent front and back; the crawling claw shaft seat is fixed on the connecting plate, the connecting plate is a rectangular plate, and the two ends are fixedly connected to the linear bearing by connecting screws, the inner hole of the linear bearing is arranged on the supporting track, and the linear bearing can move left and right on the supporting track; the control mechanism is composed of a card plate, a card plate handle, a self-locking hole, a spring connecting rod, a crawling claw shaft seat, a slide rod, and a spring; the card plate base is a rectangular plate, and a self-locking hole is provided on the card plate, which is an oblong hole, and the self-locking hole is arranged on the self-locking track; a card plate connecting block is provided on the front and back sides of the upper end of the card plate, and the card plate connection A cylindrical through hole in the front-to-back direction is provided on the block, a waist-shaped through hole is provided below the cylindrical through hole, and a card plate handle is provided on the right side; the cylindrical through hole on the card plate connecting block is provided on the crawling claw shaft; the waist-shaped through hole on the card plate corresponds to the slide rod slide hole of the crawling claw shaft seat, and a slide rod is installed in the slide rod slide hole of the crawling claw shaft seat. The slide rod is a cylinder, which passes through the waist-shaped through hole front and back, and the two ends are respectively connected to the upper end of the spring. The slide rod can move left and right in the slide rod slide hole under the pull of the spring. The lower slide track in the slide rod slide hole is in an "M" shape, with the middle and left and right sides being low, which are the positioning grooves for the left, middle and right positions of the slide rod. A spring connecting rod is provided on the side of the lower end of the card plate, and the spring connecting rod is connected to the lower end of the spring.

Images