Four-leg walking robot with single power leg mechanism

A walking robot, a single-power technology, applied in the direction of motor vehicles, transportation and packaging, etc., can solve the problems of inability to adjust the height and step distance of the legs, limit the passing performance and scope of application of the mechanism, and achieve the reduction of the number of drive motors and the improvement of the ground Passability and application range, and the effect of simplifying the control algorithm

Active Publication Date: 2014-08-13
BEIJING JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the gait of the mechanism is fixed, and the height and step distance of the leg lift ca

Method used

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  • Four-leg walking robot with single power leg mechanism
  • Four-leg walking robot with single power leg mechanism
  • Four-leg walking robot with single power leg mechanism

Examples

Experimental program
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Embodiment Construction

[0021] The present invention will be further described below in conjunction with accompanying drawing.

[0022] Such as figure 1 As shown, the quadruped walking robot with single power leg mechanism includes carrier A, b to e group leg mechanisms.

[0023] Such as figure 2 As shown, the carrying frame A includes: guardrail frame A-1, frame steel plate A-2 and traction front bar A-3, and the connection method is as follows: two frame steel plates A-2 are respectively welded on both sides of the guardrail frame A-1 At the bottom, the traction front bar A-3 fits with the guardrail through the end collar, and is fixed with the guardrail frame A-1.

[0024] Groups b and c of leg mechanisms B and C and groups d and e of leg mechanisms D and E are the front and rear legs of the quadruped robot, respectively, with single-power leg mechanisms, and the joints face opposite directions. The connection relationship between the groups b to e of the leg mechanisms and the carrier frame A...

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Abstract

The invention provides a four-leg walking robot with a single power leg mechanism. The four-leg walking robot comprises a carrying rack (A), and b-e groups of leg mechanisms (B, C, D, E), wherein a single group of leg mechanisms only need one driving motor, and walking movement of the mechanisms can be realized by virtue of whole-circle rotation of the motor; by virtue of regulating the phase difference of upper and lower cranked rod pieces, namely b-e fourth rod pieces (B-4, C-4, D-4, E-4), the adjustment of foot end tracks can be finished, the leg raising height and step-through distance of the four-leg walking robot are changed, and the ground trafficability is improved. The mechanism can be used in the fields of celestial body detection, materiel carrying, military reconnaissance and the like.

Description

technical field [0001] The invention relates to a quadruped walking mechanism, in particular to a bionic walking robot with a single-power leg mechanism. By adjusting the phase of a crank rod in the leg mechanism, the track of the foot end is changed to enhance the ground adaptability of the walking mechanism. Background technique [0002] Compared with wheeled and tracked ground mobile robots, walking robots have good ground adaptability. The legs of existing walking robots are mostly open-chain mechanisms, which are independently driven by multiple joints. After gait planning, the mobile walking is realized. To complete a walking gait, multiple motors need to be driven cooperatively. This type of walking robot has a simple structure, but requires a complex and perfect control system, the rigidity of the leg mechanism is poor, and the energy consumption is relatively large. [0003] Another type of quadruped walking robot is driven by a few degrees of freedom, and the legs...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 姚燕安阮强武建昫
Owner BEIJING JIAOTONG UNIV
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