“走路!”

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简介:“走路!”

关于:我们的孙子让我很忙!

我设计,3 d印刷和组装of rolling and walking mechanisms, but never a rolling AND walking mechanism, so "Walk N' Roll!" is my first attempt at a walking and rolling "transformer" mechanism.

Two cams control when the mechanism rolls and walks, and the same two cams create the walking motion for the four legs. Each leg contains a "one way" wheel that allows each wheel to roll when the leg moves from back to front and lock when the leg moves from front to back. This allows the model to walk forward. By simply reversing the polarity of the battery, the model will roll backwards then walk forwards.

像往常一样,我可能忘记了一个或两个文件,或者谁知道还有什么,所以如果您有任何疑问,请随时提问,因为我确实犯了很多错误。

Designed using Autodesk Fusion 360, sliced using Cura 4.12.1, and 3D printed in TPU and PLA on Ultimaker S5s.

One final note, I receive no compensation in any form for the design, parts and/or materials used in this model.

Supplies

  • Soldering iron and solder.
  • 厚的氰基丙烯酸酯胶。
  • Double sided tape.

Step 1: Parts

I acquired the following parts:

  • One "uxcell 16mm DC 6V 60RPM Speed Torque Gear Box Electric Motor for Robot".
  • 一个3.7V 1200mAh锂电池(https://www.adafruit.com/product/258)。
  • One JST PH 2-Pin Cable (https://www.adafruit.com/product/3814).
  • Four 9.2mm lengths of 2mm diameter music wire (used as leg wheel axles).

除非另有说明,否则我3D以.15mm的高度在PLA中打印以下零件,填充填充物为20%,没有支持。

  • 一只“手臂,左.stl”。
  • 一只“手臂,右.stl”。
  • Two "Axle, Cam.stl".
  • 四个“轴,腿”。
  • One "Cam, Left.stl".
  • 一个“ cam,right.stl”。
  • 一个“底盘base.stl”。
  • 一个“底盘,左.stl”。
  • One "Chassis, Right.stl".
  • One "Gear and Axle, Wheel (2m 12t).stl".
  • One "Gear, Cam (1m 48t).stl".
  • 一个“齿轮,电动机(1m 12t,2m 12t).stl”。
  • Two "Gear, Wheel (2m 12t).stl".
  • 一条“腿,左,front.stl”。
  • 一条“腿,左,后.stl”。
  • One "Leg, Right, Front.stl".
  • 一条“腿,右,后.stl”。
  • Two "Wheel Well, Left.stl".
  • 两个“轮子好,右.stl”。
  • TPU筏上的TPU中的四个“ Wheel,foot.stl”。
  • TPU筏上的TPU中的四个“ Wheel.stl”。

This is a high precision print and assembly model using at times very small parts and in very tight spaces. Prior to assembly, test fit and trim, file, sand, etc. all parts as necessary for smooth movement of moving surfaces, and tight fit for non moving surfaces. Depending on you printer, your printer settings and the colors you chose, more or less trimming, filing and/or sanding may be required. Carefully file all edges that contacted the build plate to make absolutely certain that all build plate "ooze" is removed and that all edges are smooth. I used small jewelers files and plenty of patience to perform this step.

该模型还使用螺纹组件,因此M8 x 1.125 TAP和DIE将在必要时有助于进行线程清洁。

附件

Step 2: Chassis Base Assembly.

To assemble the chassis base, I performed the following steps:

  • 从JST连接器上滑动电线,穿过“底盘base.stl”的小隧道。
  • 将电动机压入底座组件,然后将电线焊接到电动机上,以使电动机从电动机的电动机轴端观察时顺时针旋转。
  • 按下“齿轮,电动机(1m 12t,2m 12t).stl”到电动机轴上。

步骤3:底盘左组件。

To assemble the chassis left side, I performed the following steps:

  • 将“手臂,左.stl”放入“底盘,左.stl”中,使左臂销面向向外。
  • Positioned "Cam, Left.stl" on the left chassis assembly such that the left arm pin was inside the left cam slot.
  • 按下一个“轴,cam.stl”,然后通过左底盘组件的外部通过凸轮(一小点胶水可能有助于保留这些组件)。
  • 按下“齿轮,凸轮(1m 48t).stl”到凸轮轴上(一小点胶水可以帮助保留这些组件)。

步骤4:底盘右组件。

为了组装右侧,我执行了以下步骤:

  • Placed "Arm, Right.stl" into "Chassis, Right.stl" such that the right arm pin faced outward.
  • 将“凸轮,右.Stl”放在右机箱组件上,使得右臂销在右凸轮插槽内。
  • Pressed the remaining "Axle, Cam.stl" through the outside of the right chassis assembly through the cam (a small dot of glue may assist in retaining these components).

步骤5:腿部组件。

要组装腿,我执行了以下步骤:

  • Positioned one "Wheel, Leg.stl" into "Wheel Well, Left.stl", secured in place with one of the 9.2mm by 2mm axles, and made certain the wheel rotated in the wheel well with ease.
  • 将组件粘在“腿,左,front.stl”上。
  • Repeated the previous two steps with "Leg, Left, Rear.stl".
  • 使用“ Wheel,好,右.Stl”,使用“腿,右侧,右,右,后.stl”重复前三个步骤。

步骤6:最终组装。

对于最终组装,我执行了以下步骤:

  • Carefully aligned the right cam axle with the cam axle, the cams, and the left and right chassis assemblies, I pressed the chassis side assemblies onto the base assembly.
  • Positioned the left front leg assembly and one "Wheel.stl" on the chassis assembly making certain the pin on the left front leg was in the slot in the left arm, secured in place with one "Axle, Leg.stl", then made certain the wheel and leg rotated freely.
  • Repeated the previous step for the right front leg assembly.
  • 将“齿轮,车轮(2m 12t).stl”放在底盘组件中。
  • 将左后腿组件放在底盘组件上,使左后腿组件上的销钉确定在左臂的插槽中。
  • Positioned one "Wheel.stl" on the chassis assembly centered over the left rear leg and secured it and the left rear leg assembly to the chassis assembly with one "Axle, Leg.stl", then made certain the wheel and leg rotated freely.
  • Pressed "Gear and Axle, Wheel (2m 12t).stl" onto the wheel gear (a small dot of glue may assist in retaining these components).
  • Slid the remaining "Gear, Wheel (2m 12t).stl" through the right chassis and pressed it into the wheel gear and axle (a small dot of glue may assist in retaining these components).
  • 将右后腿组件放在底盘组件上,使右后腿组件上的销钉确定在右臂的插槽中。
  • 将剩余的“ Wheel.stl”放在底盘上的底盘组件上,将其固定在右后腿上,并将右后腿组件固定到底盘组件上,其余的“ Axle,Leg.stl”,然后使轮子和腿旋转一定自由。

组装完成后,我使用双面胶带将电池固定在底盘上。然后,我将电池插入了JST连接器,然后将其关闭!

这就是我3D打印和组装的“步行n'卷!”的方式。

I hope you enjoyed it!

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    10条评论

    0
    Gzumwalt

    回复8 days ago

    非常感谢您的ctstarkdesigns,我非常感谢它!

    And you are very welcome!

    格雷格

    0
    PhilipJ1

    11 days ago

    Wow. This is very cool!

    0
    Gzumwalt

    回复11天前

    Thank you PhilipJ1, I had a lot of fun with this one!

    格雷格

    0
    JohnW51

    11 days ago

    Nice design. I love it!

    0
    Gzumwalt

    回复11天前

    非常感谢Johnw51,很高兴您喜欢它!

    格雷格

    您的头脑充满了机械链接和关节的精湛............................................

    0
    Gzumwalt

    回复14天前

    非常感谢您的jegatheesan.soundarapandian,我很高兴您喜欢这个模型!

    格雷格

    0
    randofo

    15 days ago

    Another amazing mechanism! You are on a (walk and) roll lately!

    0
    Gzumwalt

    回复15 days ago

    嗨,Randofo!

    Many, many thanks, and thanks for the opportunity to publish on Instructables!

    步行n'卷!!!!!!!:)

    格雷格