The invention discloses a leg and foot walking device with variable scaling and a scaling conversion method. The leg and foot walking device comprises a machine body assembly and a connecting rod assembly. The machine body assembly is used for installing the driver and the connecting rod assembly. The connecting rod assembly comprises a thigh module, a shank module, a long connecting rod, a short connecting rod and a non-linear transmission module, the length of the thigh module and the length of the shank module can be adjusted according to a certain non-linear proportional relation, and therefore scaling is adjusted while the scaling characteristic is guaranteed. According to the leg-foot walking device, the scaling ratio can be adjusted without disassembling the leg-foot walking device and replacing parts, the energy utilization efficiency can be improved, the peak power requirement is reduced, and control can be easily achieved on the basis that walking stability is guaranteed.
本发明公开一种可变缩放比例的腿足行走装置及缩放比例变换方法,包括机体总成和连杆总成。机体总成用于安装驱动器和连杆总成。连杆总成包括大腿模块、小腿模块、长连杆、短连杆和非线性传动模块,其中大腿模块和小腿模块的长度能够按照一定的非线性比例关系进行调整,进而保证缩放特性的同时进行缩放比例的调整。本发明无需对腿足行走装置进行拆卸和更换零部件即可实现缩放比例的调整,能够提高能量的利用效率,降低峰值功率需求,并且能够在保证步行稳定的基础上易于控制。
Variable-scaling leg and foot walking device and scaling conversion method
一种可变缩放比例的腿足行走装置及缩放比例变换方法
2023-08-01
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Foot type walking robot and energy conversion method thereof
European Patent Office | 2016
|European Patent Office | 2022
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