The invention provides a leap walking integrated mechanism. The leap walking integrated mechanism comprises a rack, a turbojet engine and four mechanical buffer legs. The mechanical buffer legs are connected to four corners of the rack; each mechanical buffer leg comprises a horizontal driving motor, a fixed bracket, a hip joint driving motor, a knee joint driving motor, a double-drive four-bar mechanism, a magnetorheological damper and a self-adaptive terrain foot; the horizontal driving motor is in transmission connection with the fixing support and rotates and drives the fixing support in the horizontal direction. The hip joint driving motor and the knee joint driving motor are fixed to the two sides of the fixing support and are in transmission connection with the double-drive four-bar mechanism. The double-drive four-bar mechanism is connected with the self-adaptive terrain foot through the magnetorheological damper. According to the leap and walking integrated mechanism, the turbojet engine and the foot type moving system are combined together, so that a robot can fly at a low altitude through the turbojet engine and can land for buffering and walk on the surface through the leg type mechanism, and the detection capacity of the robot on various complex terrains is improved.

    本发明提供一种飞跃行走一体化机构,包括机架、涡喷发动机和四机械缓冲腿;机械缓冲腿连接于机架的四角;每一机械缓冲腿包括水平驱动电机、固定支架、髋关节驱动电机、膝关节驱动电机、双驱四杆机构、磁流变阻尼器和自适应地形足;水平驱动电机与固定支架传动连接并沿水平方向旋转传动固定支架;髋关节驱动电机和膝关节驱动电机固定于固定支架的两侧并与双驱四杆机构传动连接;双驱四杆机构通过磁流变阻尼器连接自适应地形足。本发明的一种飞跃行走一体化机构,将涡喷发动机和足式移动系统结合在一起,使得机器人既可以通过涡喷发动机进行低空飞行又可以通过腿式机构进行落地缓冲和表面行走,提高了机器人对各种复杂地形的探测能力。


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    Title :

    All-in-one leap walking mechanism


    Additional title:

    飞跃行走一体化机构


    Contributors:
    HE JUN (author) / WANG SHUOJIE (author) / SHEN XIANXING (author) / WU KAI (author)

    Publication date :

    2023-08-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B62D MOTOR VEHICLES , Motorfahrzeuge



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