A closed-chain walking leg mechanism

Abstract

The invention discloses a closed-chain type walking leg mechanism, and belongs to the technical field of robot vehicle walking. The walking leg mechanism comprises a first closed-chain mechanism (thighs part) and a second closed-chain mechanism (shanks part), each thigh adopts a crank-swing block mechanism and comprises an installing bracket, a connecting rod, a crank, a sliding block, a motor, a sliding bearing, a rotating shaft, a guide rail, a crank shaft and a connecting rod shaft; each shank adopts a crank-rocker mechanism and comprises a sliding block, a motor, a guide rail, a leg rod, a sliding bearing, a crank shaft, a crank and a connecting rod; and each crank-swing block mechanism of the corresponding thigh is used for controlling up-and-down moving and back-and-forth swinging of the leg rod of the walking leg mechanism, and each crank-rocker mechanism of the corresponding shank is used for controlling extend-retract of the leg rod of the walking leg mechanism. According to the closed-chain type walking leg mechanism, the walking function on a complex roadway can be achieved through synergistic driving of the motors of the thigh parts and the motors of the shank parts; and the closed-chain type walking mechanism can be applied to a walking system of an obstacle-climbing vehicle or a robot.

Description

Technical field: [0001] The invention belongs to the technical field of robot vehicle walking, and in particular relates to a closed-chain walking leg mechanism, which can complete the walking function on complex road surfaces through the coordinated drive of the motor of the thigh part and the motor of the calf part, and can be applied to obstacle-crossing vehicles Or in the walking system of the robot. Background technique: [0002] At present, the leg structure design of walking robots mostly adopts an open-chain mechanism, that is, the rods are connected one by one according to the principle of bionics to form multiple joints, and the rotation angle of each joint is controlled by a steering gear. For the walking leg of the open kinematic chain, although its structure is relatively simple, there are many variables to be controlled, the control program is relatively complicated, and the load of the joint drive motor is large, which is not conducive to increasing the load o...

AI Technical Summary

Problems solved by technology

For the walking leg of the open kinematic chain, although its structure is relatively simple, there are many variables to be controlled, the control program is relatively complicated, and the load of the joint drive motor is large, which is not conducive to increasing the load of the robot, and further improvement is needed

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