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All-wheel drive walking mechanism of biomimetic six-wheeled leg

A traveling mechanism and full-drive technology, applied in the field of traveling machinery, can solve the problems of complex control logic of sensors, and achieve the effects of easy programming, improved geometric passability, and flexible steering process.

Inactive Publication Date: 2013-06-26
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to overcome the problem that many sensors and complex control logic are used in the prior art, and to provide a bionic six-wheel leg full-drive walking mechanism

Method used

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  • All-wheel drive walking mechanism of biomimetic six-wheeled leg
  • All-wheel drive walking mechanism of biomimetic six-wheeled leg
  • All-wheel drive walking mechanism of biomimetic six-wheeled leg

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Experimental program
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Embodiment Construction

[0027] The present invention is described in detail below in conjunction with accompanying drawing:

[0028] refer to figure 1 , the bionic six-wheel-leg full-drive walking mechanism of the present invention is composed of a wheel-leg walking mechanical part and a control part. The wheel-leg walking mechanical part includes a front frame 1, a rear frame 9, a middle degree of freedom joint device, and six wheel legs , Six drive assemblies.

[0029] The middle degree of freedom joint device is fixedly installed in the middle of the front end base plate of the rear frame 9. The width of the rear portion of the front frame 1 is smaller than the width of the rear frame 9, so it can be inserted between the openings at the front end of the rear frame 9, and the middle part is adopted. The connecting rod 23 in the degree of freedom joint device connects the two in rotation, the front left drive assembly is installed on the front left of the front frame 1 and is fixedly connected with...

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Abstract

The invention discloses an all-wheel drive walking mechanism of a biomimetic six-wheeled leg and aims to solve the problem that a plurality of sensors and complex control logic are adopted by the prior art. The all-wheel drive walking mechanism of the biomimetic six-wheeled leg comprises a front automobile frame, a back automobile frame, a middle freedom degree junction device, wheel legs and driving combination bodies. The wheel legs are a front left wheel leg, a middle left wheel leg, a back left wheel leg, a back right wheel leg, a middle right wheel leg and a front right wheel leg, and the driving combination bodies are a front left driving combination body, a middle left driving combination body, a back left driving combination body, a back right driving combination body, a middle right driving combination body and a front right driving combination body. The middle freedom degree junction device is installed on the middle position of a front base plate of the back automobile frame, the back end of the front automobile frame is connected with the front end of the back automobile frame in a rotating mode, and the front left driving combination body and the front right driving combination body are installed on the left position and the right position in front of the front automobile frame and are connected with the two front wheel legs, and the middle left driving combination body, the back left driving combination body, the back right driving combination body and the middle right driving combination body are installed on four corners of the back automobile frame and are connected with the other wheel legs.

Description

technical field [0001] The invention relates to a walking machine belonging to the application field of bionic robots, more precisely, the invention relates to a bionic six-wheel-leg six-motor fully-driven walking mechanism. Background technique [0002] For a long time, the rolling of a wheel has been considered the simplest and most natural form of exercise, but in recent years more and more people have begun to pay attention to the "leg" locomotion machine. Obviously, compared to wheels, legs have a great advantage in overcoming obstacles. It is a well-known fact that there are no ready-made hard roads in nature, and the actions of animals are completely off-road behaviors, and there are no wheels or rotating joints in the animal locomotion system itself. As M.G. Bekker, a famous soil-vehicle mechanics research expert, said: "The reason why the wheel has become a commonly used transportation mechanism is not necessarily because of its high efficiency, but may be because ...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 洪哲浩周平章李静宋承斌
Owner JILIN UNIV
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