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Twelve-degree-of-freedom four-footed walker with hybrid leg structure

A degree of freedom, walker technology, applied in motor vehicles, transportation and packaging, etc., can solve the problem of not considering shock and impact, the response time is difficult to meet the high speed and high bearing capacity of walkers, etc., to improve bearing capacity and flexibility. performance, simple structure, and the effect of improving driving force and movement speed

Active Publication Date: 2012-03-28
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This patent does not take into account the shock and impact between the foot and the ground during walking, and the driving force and response time of the driving motor are difficult to meet the high-speed and high-bearing-capacity requirements of the walker when it is working in the field

Method used

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  • Twelve-degree-of-freedom four-footed walker with hybrid leg structure
  • Twelve-degree-of-freedom four-footed walker with hybrid leg structure

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Embodiment Construction

[0015] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0016] figure 1 It is a schematic diagram of the structure of the present invention. like figure 1 As shown, the present invention mainly includes: a frame 1 and four hybrid legs with symmetrical structures.

[0017] The hybrid legs include: a first linear driver 2, a leg frame 3, a front swing link 4, a second linear driver 5, a rear swing link 6, a third linear driver 7, a connecting rod 8, a shank 9 and a foot Section 10. The two ends of the first linear driver 2 are respectively connected to the leg frame 3 and the frame 1 through hinges, the two ends of the leg frame 3 are respectively connected to the frame 1 through hinges, and the three ends of the front swing rod 4 are respectively connected to each other through The hinge is connected with the leg frame 3, one end of the second linear driver 5 and the shank 9, and the other end o...

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Abstract

The invention provides a twelve-degree-of-freedom four-footed walker with a hybrid leg structure. The twelve-degree-of-freedom four-footed walker comprises a rack and four hybrid legs which are symmetrical in structure; each hybrid leg comprises three straight-line drivers, a leg rack, a front swing rod, a back swing rod, a connection rod, shanks and feet; each hybrid leg is provided with three driving degrees of freedom; the first straight-line driver drives the whole leg to carry out side swing movement; and the second straight-line driver and the third straight-line driver are capable of cooperatively driving the feet to carry out plane parallel movement output in the plane of a leg mechanism. The feet are connected through buffering so that vibration absorption, energy storage and reutilization can be finished in a striding period. Four legs of the leg rack are symmetrically or equidirectionally distributed and the whole body is provided with twelve degrees of freedom, so that an omnibearing movement of a robot can be realized through a certain tread output. The twelve-degree-of-freedom four-footed walker provided by the invention is simple in structure, easy to control and high in kinematic accuracy, has a high-speed response capability and a high bearing capability, and is applicable to high-speed and high-load transportation work and dangerous environment work under complicated non-structure topographic conditions in the wild.

Description

technical field [0001] The invention relates to a quadruped walker with a 12-degree-of-freedom mixed-leg structure, which is used for high-speed, high-load transportation operations and dangerous environment operations under complex non-structural terrain conditions in the field, and belongs to the technical field of robots in mechanical engineering. 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...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 高峰田兴华金振林齐臣坤郭为忠
Owner SHANGHAI JIAO TONG UNIV
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