Four-leg walking robot with single power leg mechanism

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...

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