A human-operated legged walking vehicle
A walking vehicle and leg-type technology, which is applied in the field of human-operated leg-type walking vehicles, can solve the problems of single configuration, weak obstacle-crossing ability and load-carrying capacity, and inability to fully utilize the leg-type structure, so as to achieve easy operation, good rigidity, The effect of strong load-carrying capacity and ground-through performance
Active Publication Date: 2016-04-06
BEIJING JIAOTONG UNIV
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Problems solved by technology
However, the leg structure of this walking mechanism is single and requires the use of auxiliary wheels to maintain balance, which cannot give full play to the advantages of the leg structure and cannot adapt to unstructured environments.
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[0025] The present invention will be further described below in conjunction with accompanying drawing.
[0026] A human-operated legged walking vehicle, such as figure 1 As shown, it includes an obstacle overcoming mechanism (A), a bearing mechanism (B), a vehicle frame (C) and a steering mechanism (D).
[0027] The connection relationship between the control mechanism (D), the obstacle-over-obstacle mechanism (A) and the vehicle frame (C): the rotating shaft (D-4) of the control mechanism (D) passes through the upper platform of the vehicle body (C-3), and the connecting plate 1 (19) is welded up and down to the middle of the rotating shaft (D-4) through the fixing block (1), and the end of the rotating shaft (D-4) is axially fixed to the lower platform of the car body (C-3) by welding the fixing block (2) ; The obstacle-crossing mechanism (A) is connected to the control mechanism (D) through the connecting plate 1 (19), and the driver changes the relative position of the ob...
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Disclosed is a manpower-operated leg type walking vehicle comprising an obstacle crossing mechanism (A), a bearing mechanism (B), a frame (C) and an operation mechanism (D). A left leg and a right leg of the obstacle crossing mechanism (A) match with two sides of a connection plate 1 respectively, the obstacle crossing mechanism (A) is fixedly connected with the operation mechanism (D), in the bearing mechanism (B), legs of the first group and the second group match with two sides of a connection plate 3 respectively, legs of the third group and the fourth group match with two sides of a connection plate 4 respectively, the connection plate 3 and the connection plate 4 are fixedly connected via the connection plate 2, and the bearing mechanism (B) and the frame (C) are fixedly connected. Via an intelligent bionic control program and motors on the obstacle crossing mechanism (A) and the bearing mechanism (B), a walking state of the manpower-operated leg type walking vehicle is achieved, and turning of the manpower-operated leg type walking vehicle is realized by operating the operation mechanism (D) by manpower. Obstacle crossing performance of a machine is improved effectively, and the manpower-operated leg type walking vehicle can serve as a transportation means instead of walking and an auxiliary tool in an urban environment.
Description
technical field [0001] The invention relates to a human-operated legged walking vehicle, in particular to a robot device capable of improving obstacle-crossing performance, realizing steering through manual control, and being used for walking in complex terrain. Background technique [0002] Chinese patent CN102068819A discloses a "single-power quadruped walking mechanism". The legs on one side are arranged in two layers, and the front and rear legs share a crank. The mechanism has a simple structure and can realize quadruped walking. However, the leg structure of this walking mechanism is single and requires the help of auxiliary wheels to maintain balance, which cannot give full play to the advantages of the leg structure, cannot adapt to unstructured environments, and has weak obstacle-surmounting and carrying capacity. Contents of the invention [0003] The problem to be solved by the present invention is to provide a legged walker with high obstacle-surmounting perfor...
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IPC IPC(8): B62D57/032
Inventor 姚燕安马千里赵顺卿武建昫
Owner BEIJING JIAOTONG UNIV