A variable-rigidity joint multi-legged walking platform comprises a left front leg mechanism (A), a left rear leg mechanism (B), a right rear leg mechanism (C), a right front leg mechanism (D), a trunk (E) and a push rod (F), wherein the left front leg mechanism, the left rear leg mechanism, the right rear leg mechanism and the right front leg mechanism are the same. In particular to a high-maneuverability closed chain leg type walking platform with joints having two rigidity modes. Each group of leg mechanism is driven by a motor; a push rod rotating connecting piece (F-3) in the left push rod mechanism (F) is fixedly connected with a push rod long connecting piece (A-1-1) in the variable stiffness joint part (A-1) through a bolt; in the working process of the push rod, the rotating speed difference is achieved through the two first thigh rods (A-2-1), the gear 1 (A-1-5), the gear 2 (A-1-6) and the gear 3 (A-1-7), and then conversion between the rigidity and the flexibility of the joint can be completed. Compared with an existing walking platform, the terrain adaptability of the walking platform can be improved through changes of the joint rigidity, and energy loss caused by inconsistent traction speeds of the front legs and the rear legs is reduced while vibration reduction is reconstructed in the pitching state.
一种可变刚度关节多足步行平台,该装置包括相同的左前、左后、右后、右前腿机构(A、B、C、D)、躯干(E)和推杆(F)组成;具体讲的是一种关节具有两种刚度模式的高机动性闭链腿式步行平台;每组腿机构各由一个电机驱动;左推杆机构(F)中推杆转动连接件(F‑3)与变刚度关节部(A‑1)中推杆长连接件(A‑1‑1)通过螺栓固定连接;在推杆的工作过程中通过两个第一大腿杆(A‑2‑1)和齿轮1(A‑1‑5)、齿轮2(A‑1‑6)、齿轮3(A‑1‑7)实现转速差,进而可完成关节刚性和柔性的转换。相较于已有的步行平台,可通过关节刚度的变化提高步行平台的地形适应性,在俯仰状态下重构减振的同时减少前后腿足因牵引速度不一致带来的能量损耗。
Variable-rigidity joint multi-foot walking platform
一种可变刚度关节多足步行平台
2025-02-11
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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