The invention relates to a four-foot crawling mechanism which comprises a driving mechanism, a main body supporting frame and two sets of parallel double-foot mechanisms, and each double-foot mechanism comprises a rotating shaft rotationally installed on the main body supporting frame and two walking foot structures installed at the two ends of the rotating shaft respectively; the walking foot structure comprises a main crank, an auxiliary crank and a walking foot. One end of each main crank is fixedly connected to the rotating shaft, the other end of each main crank is rotationally connectedwith the corresponding walking foot, one end of each auxiliary crank is rotationally connected to the main body supporting frame, the other end of each auxiliary crank is rotationally connected to thecorresponding walking foot, and the two main cranks of the double-foot mechanism form a 180-degree phase difference on the rotating shaft. The driving mechanism drives the two rotating shafts to rotate synchronously in the same direction, and the two main cranks located on the same side of the two rotating shafts form a 180-degree phase difference in the rotating process of the rotating shafts. The four-foot crawling mechanism is simple in structure, stable in movement and stable in walking.
本发明涉及一种四足爬行机构,包括驱动机构、主体支撑架、以及两组相互平行设置的双足机构,所述双足机构包括可转动安装在主体支撑架上的旋转轴、以及分别安装在旋转轴两端的两个行走足结构;所述行走足结构包括主曲柄、副曲柄以及行走足,所述主曲柄一端固定连接在旋转轴上、另一端与行走足转动连接,所述副曲柄一端可转动的连接在主体支撑架上、另一端可转动的连接在行走足上,所述双足机构的两个主曲柄在旋转轴上呈180°相位差;所述驱动机构驱动两个旋转轴同步且同向转动,且旋转轴转动过程中位于两根旋转轴同侧的两个主曲柄呈180°相位差。本发明涉及的四足爬行机构结构简单,运动稳定,行走平稳。
Four-foot crawling mechanism
一种四足爬行机构
2020-05-19
Patent
Electronic Resource
Chinese
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