The invention discloses a bionic walking leg mechanism and a special vehicle. The bionic walking leg mechanism comprises a side swing frame, a foot end and a four-bar mechanism installed between the side swing frame and the foot end. The side swing frame is provided with a swing oil cylinder for driving the side swing frame to swing laterally; a first oil cylinder which is vertically arranged and a second oil cylinder which is horizontally arranged are also arranged on the side swing frame; the first oil cylinder and the second oil cylinder are used for driving the four-connecting-rod mechanism to stretch or contract, so that stepping of the swinging phase and forward movement of the vehicle body of the supporting phase are achieved; and a telescopic sleeve and a telescopic oil cylinder for driving the telescopic sleeve to extend or retract are arranged between the four-bar mechanism and the foot end. According to the bionic walking leg mechanism, the bearing capacity can be improved, and further, the efficient and rapid walking capacity is achieved.

    本发明公开了一种仿生步行腿机构及特种车辆。所述仿生步行腿机构包括侧摆架、足端,以及安装在侧摆架和足端之间的四连杆机构;所述侧摆架上装有驱动其侧向摆动的摆动油缸;所述侧摆架上还装有竖向布置的第一油缸和水平布置的第二油缸;所述第一油缸和第二油缸用于驱动所述四连杆机构伸展或收缩,实现摆动相的跨步和支撑相的车体前移;所述四连杆机构与足端之间设有伸缩套和驱动所述伸缩套伸出或缩进的伸缩油缸。本发明的仿生步行腿机构可以提高承载能力,进一步地,具有高效、快速行走能力。


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    Title :

    Bionic walking leg mechanism and special vehicle


    Additional title:

    一种仿生步行腿机构及特种车辆


    Contributors:
    HE QINGHUA (author) / ZHANG DAQING (author) / PENG CHANGFENG (author) / ZHAO YUMING (author) / DONG XINJIAN (author) / LIU XIONG (author) / LIU JIA (author)

    Publication date :

    2022-09-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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