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Single-power four-foot walking mechanism

A walking mechanism, single-power technology, applied in the design and production of teaching aids and walking robots, bionic walking robots, toys, can solve the problems of a large number of rods and complicated assembly, and achieve a simplified leg mechanism, convenient assembly, and easy processing. Effect

Active Publication Date: 2012-08-08
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is that the existing quadruped walking motion mechanism has a large number of rods and complicated assembly.

Method used

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  • Single-power four-foot walking mechanism
  • Single-power four-foot walking mechanism
  • Single-power four-foot walking mechanism

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Embodiment Construction

[0025] The present invention will be further described with reference to the accompanying drawings.

[0026] Monodynamic quadruped walking mechanisms such as figure 1 As shown, it includes left leg L1, right leg L2, body L3, and trailer L4.

[0027] The hole in the upper middle of the left third rod 20 and the A-end hole of the left leg connecting rod 2 are connected together by a pivot pin 37 in the left middle.

[0028] The upper middle hole of the left six rod 30 and the B end hole of the left leg connecting rod 2 are connected together by the left middle second turning pin 38 .

[0029] The slot of the left crank 15 is matched with the left leg transmission shaft 6, and is axially fixed by the top wire.

[0030] The upper middle hole of the right third rod 45 and the C end hole of the right leg connecting rod 12 are connected together by a right middle pivot pin 39 .

[0031] The upper middle hole of the right sixth rod 56 and the D end hole of the right leg connecting ...

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Abstract

The invention discloses a single-power four-foot walking mechanism which comprises a left side leg (L1), a right side leg (L2), a body (L3) and a towing carriage (L4), wherein a clamping slot in a left crank (15) of the left side leg (L1) is matched with a left side leg drive shaft (6) and axially fixed through top threads; a clamping slot in a right crank (41) of the left side leg (L2) is matched with a right side leg drive shaft (13) and axially fixed through top threads; a bracket (65) on the towing carriage (L4) is connected with a body second connecting piece (11) of the body (L3) through a towing carriage connecting pin (64), thereby completing the assembly of the mechanism; and a motor (8) drives a first rotating shaft (4) and a second rotating shaft (13) through a synchronous belt(7), thereby driving the legs to move, and further realizing the movement. Leg rods at each side are arranged in two layers, thereby simplifying the leg mechanism and facilitating the assembly and machining. The single-power four-foot walking mechanism can be used for making toys and teaching aids, and designing walking robots.

Description

technical field [0001] The invention relates to a single-power quadruped walking mechanism, in particular to a bionic walking robot, which realizes the walking and movement of quadrupeds on the ground. The invention can be applied to the design and manufacture of toys, teaching aids and walking robots. Background technique [0002] Walking robots have the advantages of flexible movement and strong ground adaptability, so they have attracted more and more attention of researchers. Conventional walking robots have many degrees of freedom in their legs, and their structure and control are complex. The single-degree-of-freedom walking mechanism uses a series of linkage mechanisms to couple the motion of the four feet together, and controls the motion law of the four feet through a motor to realize walking. Public No. CN2370926Y, discloses a mechanical horse, each horse leg is composed of a plane eight-bar mechanism, four groups of plane eight-bar mechanism share a crank and ha...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/028A63H11/18
Inventor 田耀斌姚燕安
Owner BEIJING JIAOTONG UNIV