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Foldable leg mechanism for metamorphic unmanned ground movement system

A technology of a mobile system and a leg mechanism is applied in the field of variable cell unmanned ground mobile systems to achieve the effect of compact structure and improved reliability.

Active Publication Date: 2018-09-21
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] In view of the four problems that need to be solved in the existing situation of the leg mechanism of the existing variable cell unmanned ground mobile system, the present invention provides a leg mechanism for the variable cell unmanned ground mobile system

Method used

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  • Foldable leg mechanism for metamorphic unmanned ground movement system
  • Foldable leg mechanism for metamorphic unmanned ground movement system
  • Foldable leg mechanism for metamorphic unmanned ground movement system

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Embodiment 1

[0053] see figure 1 , a foldable leg mechanism for a variable cell unmanned ground mobile system, including a hip joint mechanism 1, a knee joint mechanism 2, an ankle joint mechanism 3 and a vehicle floor 4, the vehicle floor 4 is fixedly connected to a variable on the frame of the unmanned ground mobile system.

[0054] see Figure 2 to Figure 6 , the hip joint mechanism 1 includes an upper rotation mechanism 11, a middle rotation mechanism 12, a lower rotation mechanism 13, a cross sleeve 14 and a thigh member 15; the upper rotation mechanism 11 includes a first motor 111, a connecting member 112 and a hip joint Connecting plate 113; the first motor 111 is connected to the upper side of the vehicle floor 4; the hip joint connecting plate 113 is connected to the output shaft of the first motor 111 through the connecting member 112, and the hip joint connecting plate 113 is located at the bottom of the vehicle floor 4 underside.

[0055] The connecting member 112 includes ...

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Abstract

The invention discloses a foldable leg mechanism for a metamorphic unmanned ground movement system. The foldable leg mechanism comprises a hip joint mechanism, a knee joint mechanism, an ankle joint mechanism and a vehicle bottom plate. The vehicle bottom plate is fixedly connected onto a vehicle frame of the metamorphic unmanned ground movement system. The hip joint mechanism comprises an upper rotary mechanism, a middle rotary mechanism and a lower rotary mechanism, and the ankle joint mechanism comprises an ankle pitching mechanism and an ankle side swaying mechanism. Each of the upper rotary mechanism, the middle rotary mechanism, the lower rotary mechanism, the knee joint mechanism, the ankle pitching mechanism and the ankle side swaying mechanism is provided with a driving motor, anda thigh component can rotate with three degrees of freedom in a Z1 direction, an X1 direction and a Y1 direction when the six driving motors are in linkage with one another; a shank component can rotate with a degree of freedom in a Y2 direction; a foot bottom plate can rotate with two degrees of freedom in an X3 direction and a Y3 direction. The foldable leg mechanism has the advantage that themetamorphic unmanned ground movement system can advance in diversified modes such as turning and climbing under the control of the harmonic gear stepper motors under complicated road conditions.

Description

technical field [0001] The present invention relates to the technical field of a variable cellular unmanned ground mobile system for switching and reconfiguring between a car state and a humanoid state, in particular, it relates to a foldable leg mechanism for a variable cellular unmanned ground mobile system . Background technique [0002] The variable cell ground mobile system is a mobile vehicle with advanced technology in the cutting-edge research field. Its structure can be deformed and reconfigured to adapt to different driving road surfaces. When on a flat road that is easy to pass, the system can be transformed into a car state for fast driving; when on a non-flat road that is difficult to pass (such as the field, steps, ravines, etc.), the system can be transformed into a human-like state. Walking with strides improves the passability of the road. [0003] After retrieving the existing technical documents, it is found that the prior art has the following character...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 刘俊卢明明刘学成孙磊
Owner HEFEI UNIV OF TECH
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