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Novel four-footed walker having parallel leg structure

A walker, parallel technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems that have not been found in the application of pure parallel mechanism legs, and achieve the effect of simple structure, high motion precision and easy layout

Active Publication Date: 2012-03-21
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But the structure of the walking mechanism is a series structure
The application of pure parallel mechanism legs in the field of quadruped robots has not yet been retrieved

Method used

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  • Novel four-footed walker having parallel leg structure
  • Novel four-footed walker having parallel leg structure

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Embodiment Construction

[0016] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0017] figure 1 It is a schematic diagram of the structure of the present invention. Such as figure 1 As shown, the present invention mainly includes: a frame 1 and four parallel legs with the same structure.

[0018] Each parallel leg includes a leg frame 2, a first linear actuator 3, a first connector 4, a second linear actuator 5, a second connector 6, a third linear actuator 7, a third connector 8, a T-shaped 9 legs, 10 feet. The leg frame 2 is fixedly connected on the frame, the first connecting member 4 is connected with the leg frame 2 through a hinge, one end of the first linear drive 3 is connected with the first connecting member 4 through a hinge, and the other end is connected with the first connecting member 4 through a hinge. The T-leg 9 is connected; the second connector 6 is connected to the leg frame 2 through a hinge, one...

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Abstract

The invention relates to a novel four-footed walker having a parallel leg structure, which comprises a frame and four parallel legs having same structures, wherein the four parallel legs are mounted under the frame; each of the four parallel legs comprises a leg frame, three linear drivers, three connecting elements, a T-shaped leg and a foot part; a single parallel leg is provided with three branches; during a practical operation, the foot part does a space motion under the driving of the collaborative operation of the three linear drivers; the foot part is in buffering connection and can beused for finishing the processes of buffering, storing energy and recycling within a walking period; the four legs are symmetrically arranged or are arranged along a same direction; and an omni-directional motion of a robot can be realized through a certain tread of the four legs. The novel four-footed walker has the advantages of simple structure, easiness in control, high motion precision, high-speed response capability and high bearing capacity. The novel four-footed walker is suitable for a high-speed and high-load transportation operation and a dangerous circumstance operation under an outdoor complex unstructured terrain condition.

Description

technical field [0001] The invention relates to the technical field of robots in mechanical engineering, in particular to a novel quadruped walker with parallel leg structure. Background technique [0002] High-speed, high-load quadruped walker is a special robot that imitates the movement of quadrupeds. This type of robot can walk stably in complex unstructured environments and can replace humans to complete many dangerous operations. It is widely used in military, mining, and nuclear energy industries. There are many potential application prospects in industries such as planetary surface detection, fire protection and rescue, construction, agriculture and forestry logging, teaching and entertainment. For a long time, quadruped walker technology has been one of the hot research topics in the field of robotics at home and abroad. Compared with the serial leg structure, the application of the parallel leg structure can greatly improve the structural strength and stability of...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 高峰金振林田兴华齐臣坤赵现朝
Owner SHANGHAI JIAO TONG UNIV
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