The invention discloses an integrated reconstruction multi-foot closed chain platform. The platform comprises a right rear leg mechanism (A), a right front leg mechanism (B), a left front leg mechanism (C), a left rear leg mechanism (D) and a trunk (E), each leg group mechanism is driven by a stepping motor; four electric push rods are arranged on the trunk and are rotationally connected with the trunk, so that the pitching posture of the trunk can be realized, and meanwhile, each electric push rod can drive the leg group to reconstruct and deform through a telescopic push rod; the reconstruction deformation of the leg group has two modes, and the closed chain legs can realize supporting and climbing in different modes; multiple reconstruction strategies of the front leg and the rear leg of a single four-foot unit are coupled under single power, reconstruction of the front leg comprises changes of the angle and the length at the same time, high obstacle crossing capacity is achieved, reconstruction of the rear leg conducts angle compensation for deflection of the horizontal angle of the platform, and rapid and efficient walking in the climbing obstacle crossing process is achieved.

    一种一体化重构多足闭链平台,该装置包括:右后腿机构(A)、右前腿机构(B)、左前腿机构(C)、左后腿机构(D)以及躯干(E);每个腿组机构各由一个步进电机驱动;躯干上布置了四个电动推杆,四个电动推杆与躯干转动连接,因此可以实现躯干的俯仰姿态,同时每个电动推杆可以通过伸缩推杆来带动腿组的重构变形;腿组的重构变形有两种模式,在不同模式下闭链腿可以实现支撑和攀爬;将单个四足单元前后四条腿的多种重构策略耦合在单个动力下,前腿的重构同时包含角度与长度的变化,实现高越障能力,后腿的重构针对平台水平角度的偏转进行角度补偿,实现攀爬越障过程中的快速高效行走。


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    Titel :

    Integrated reconstruction multi-foot closed chain platform


    Weitere Titelangaben:

    一种一体化重构多足闭链平台


    Beteiligte:
    WU JIANXU (Autor:in) / LI WENCHENG (Autor:in) / WANG TIANHAO (Autor:in) / YANG HUI (Autor:in) / LI YEZHUO (Autor:in)

    Erscheinungsdatum :

    21.01.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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