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Walking device and walking system and method for walking device

A technology of walking device and walking system, applied in the field of walking system and walking device of walking device, can solve the problems of complex structure and other problems.

Active Publication Date: 2021-09-17
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to adapt to different terrain requirements or sports requirements, the current development direction of the motion platform is the multi-modal direction. The walking drive system generally adopts the accumulation of multiple sets of motion modules, and its structure is relatively complicated.

Method used

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  • Walking device and walking system and method for walking device
  • Walking device and walking system and method for walking device
  • Walking device and walking system and method for walking device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] Such as Figure 1 to Figure 3 As shown, the walking system used for the walking device includes outriggers, and the outriggers include a linkage mechanism 4 and a drive rotation device 3 for driving the linkage mechanism 4 to expand and contract;

[0056] The link mechanism 4 is provided with a wheel frame 7 for installing the traveling wheel 5; it also includes a cylinder 2, and in both the cylinder part and the piston rod part of the cylinder 2, one of them is fixedly connected with the wheel frame 7, A connector 8 is fixed on the other;

[0057] The connecting piece 8 is provided with a rotating shaft, and the cylinder 2 can rotate around the rotating shaft;

[0058] The rotating shaft on the connecting member 8 is parallel to the rotating shaft axis on the link mechanism 4;

[0059] A locking piece is also provided on the connecting piece 8, and the locking piece is used to realize the rotation locking of the cylinder 2 relative to the rotating shaft.

[0060] In...

Embodiment 2

[0067] This embodiment is further optimized and refined on the basis of embodiment 1:

[0068] As a specific implementation of the link mechanism 4, it is set as follows: the link mechanism 4 includes a third link 43, a first link 41 and a second link 42, and the first link 41 and the second link 42 are all It is hingedly connected to different positions in the length direction of the third connecting rod 43 through a rotating shaft;

[0069] The driving device 3 is a joint driving motor connected to the first connecting rod 41 or the second connecting rod 42 . When the connecting rod mechanism 4 is applied to the walking device, the joint driving motor, as a low inertia, high response electric driving force source, can be installed on the frame 1, such as the driving and rotating device 3 is connected with the first connecting rod 41 , the second connecting rod 42 is hingedly connected with the frame 1, so that the four-bar linkage mechanism 4 is formed by the frame 1, the f...

Embodiment 3

[0071] This embodiment is further optimized and refined on the basis of embodiment 1:

[0072] To be more complete, in order to reduce the load of the running device when it runs autonomously, it is configured to: further include an air source device for providing a compressed air source for the cylinder 2, and the air source device is a compressed gas cylinder. When this solution is used in practice, the compressed gas cylinder provides compressed gas for the cylinder 2 through the gas circuit and corresponding gas circuit components, so that the pneumatic system including the gas source device and the cylinder 2 carried on the walking device has a light weight and a good structure. simple features.

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Abstract

The invention discloses a walking device and a walking system and method for the walking device, and belongs to the technical field of motion devices.The walking system comprises a supporting leg, and the supporting leg comprises a connecting rod mechanism, a rotation driving device used for driving the connecting rod mechanism to stretch out and draw back; a wheel carrier arranged on the connecting rod mechanism; an air cylinder; and a rotating shaft arranged on a connecting part, wherein the air cylinder can rotate around the rotating shaft; wherein the rotating shaft on the connecting part is parallel to the axis of the rotating shaft on the connecting rod mechanism; and the connecting part is also provided with a locking part. The walking device is based on the walking system, and the walking method is the walking method of the walking device. By the adoption of the technical scheme, the bearing capacity and the response speed of the walking device can be optimized, meanwhile, the structure is simple, and the walking device can well adapt to bumpy road conditions.

Description

technical field [0001] The invention relates to the technical field of sports devices, in particular to a walking device, a walking system and a method for the walking device. Background technique [0002] In tasks such as bomb disposal and demining, earthquake rescue, mine disaster search and rescue, and jungle operations, the terrain environment is complex and the operating conditions are difficult. The traditional operating method is usually directly operated by personnel, which often causes casualties and huge losses. At the same time, field operations need to carry With a large number of instruments and equipment, the task load is heavy, and the personnel load capacity is limited, so the traditional operation method greatly limits the benefit of a single task. [0003] Take the existing walking robot as an example. In the prior art, mobile devices that can operate autonomously are widely used to perform various tasks. , these mobile devices are gradually replacing trad...

Claims

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Application Information

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IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 张雷徐小军徐海军邹腾安张湘
Owner NAT UNIV OF DEFENSE TECH
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