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Omnidirectional quadruped walking mobile device based on hybrid connected mechanism

A hybrid mechanism, mobile device technology, applied in the direction of motor vehicles, transportation and packaging, can solve problems such as joint sealing difficulties, inability to completely solve problems, etc., to reduce failure rates, improve reliability and environmental adaptability, possibility reduced effect

Inactive Publication Date: 2011-01-19
EAST CHINA JIAOTONG UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the actual harsh environment, the sealing of joints is a very difficult issue, so this method cannot completely solve the problem, and brings another problem

Method used

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  • Omnidirectional quadruped walking mobile device based on hybrid connected mechanism
  • Omnidirectional quadruped walking mobile device based on hybrid connected mechanism
  • Omnidirectional quadruped walking mobile device based on hybrid connected mechanism

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Embodiment Construction

[0016] The present invention will be further described in conjunction with accompanying drawings.

[0017] Omnidirectional quadruped walking mobility devices such as figure 1 As shown, it includes: frame, drive motor and four leg mechanisms with symmetrical structure.

[0018] Such as figure 1 , 2 As shown, the present invention uses a unique structural design to solve the problems that the exposed joint drivers of the conventional quadruped walking device are easily damaged in the application environment and that the quadruped walking device is difficult to achieve omnidirectional walking.

[0019] Technical scheme of the present invention:

[0020] Each leg mechanism consists of 5 links and is equipped with 3 drive motors, see figure 1 The driving motor 2 drives the connecting rod 5 to rotate, and drives the entire leg mechanism plane to rotate; the driving motor 3 and the driving motor 4 jointly drive the end point of the leg mechanism to move in the plane of the leg me...

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Abstract

The invention discloses a quadruped walking mobile device used for target searching and transport operation under the conditions of complex terrains such as ruins and the like and narrow spaces. The invention aims to design a quadruped walking robot which is suitable for severe environment and comprises a centrosymmetric stand and four serial-parallel hybrid 3-DOF leg mechanisms which are connected with the stand. Each leg mechanism component consists of a connecting rod, a rotational joint, a drive motor and a coupling, the output shaft of each motor is connected with a driving connecting rod through each coupling, all the driving connecting rods are arranged on a same plane, and a transmissin pair is formed between each connecting rod vertical to the stand and the stand; two motors are fixed on each rotational connecting rod to drive two driving connecting rods of a plane five-rod mechanism and convert turnover motion of the motors to plane motion of each foot end, and three-motor input realizes 3-DOF motion output of each foot end. The four leg mechanisms coordinately move to realize actual omnidirectional walking output of the quadruped walking mobile device. The device integrates application places of quadruped walking motion and is a novel outdoor unmanned operation general mobile platform mechinery.

Description

technical field [0001] The invention is an all-round four-legged walking mobile platform, which relates to a mobile device used for exploring, searching for targets and transporting in ruins and other complex terrains during sudden disasters. Background technique [0002] In recent years, various geological disasters have occurred frequently, such as the sudden Wenchuan earthquake, etc. Rescue work needs to be carried out immediately. However, how to quickly find the trapped people under the ruins and how to quickly deliver materials to fixed points are the first problems to be faced in the implementation of rescue. , so there is an urgent need for a mobile device that can be easily carried and implemented in this complex environment. [0003] At present, there are two common ways to search for targets after disasters: 1. Rescue personnel or use police dogs to search for trapped people; 2. Use search robots to search. Among them, the first search method is the most common a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 槐创锋刘平安平学成黄志刚
Owner EAST CHINA JIAOTONG UNIVERSITY
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