Biped walking four-bar mechanism

Abstract

The invention relates to a biped walking four-bar mechanism which comprises two parallel moving feet, two connecting bars, three motors and four universal joints, wherein the two moving feet and the two connecting bars are connected through the four universal joints to form a monocycle closed-type parallel four-bar mechanism; the two moving feet are respectively provided with the motors which areparallel to the moving feet, and when one moving foot steps on the ground, the motor on the moving foot drives the other moving foot to rotate around the moving foot, so that the two moving feet moveup and down alternately to move forward; the motors on the two moving feet work synchronously, and the lifted moving foot can rotate around the rotating axis thereof, so that supporting plates remainin downward positions; and the third motor is perpendicularly arranged at the end of any connecting bar, which is in connection with one moving foot, and the connecting bar is driven by the third motor to rotate by taking the moving foot as an axis, so as to drive the other moving foot to laterally move. Accordingly, the biped walking four-bar mechanism achieves the effect of three-degree-of-freedom motion and the function of adjusting a detection attitude, and solves the problem that the simple four-bar travel mechanism fails to serve the function of non-linear motion.

Description

technical field [0001] The invention relates to a three-degree-of-freedom biped moving mechanism, in particular to a biped walking four-bar mechanism. Background technique [0002] At present, the movement modes of the mobile mechanism that have been designed include wheel type, leg type, crawler type, etc., so as to adapt to the mobile function in various environments. However, these mechanisms are relatively large in size and complex in structure. [0003] The bipedal walking mechanism has the advantages of high degree of automation, rich dynamic systems, and good dynamic characteristics; and the moving mode is similar to human walking, dexterous and light, and has good adaptability to the walking environment. Walk on unstructured complex surfaces. At present, the walking mechanism as a whole is still dominated by series mechanisms. According to the data description of "Application of Parallel Leg Mechanism in Quadruped / Biped Reconfigurable Walking Robots" published in ...

AI Technical Summary

Problems solved by technology

The walking posture of the existing mobile mechanism is relatively simple, the overall flexibility of the mechanism is not high, and the mobile function and the detection function are usually two independent modules, which need to be controlled separately, which is relatively complicated, and has high requirements for the working position and posture. When the mobile mechanism is overturned, it is difficult to restore the original posture, which will cause difficulties for the walking ability of the mobile mechanism and the continued normal operation of the observation and detection device

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