CN106476927B - Multi-foot walking carrying platform - Google Patents
Multi-foot walking carrying platform Download PDFInfo
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- CN106476927B CN106476927B CN201610973932.3A CN201610973932A CN106476927B CN 106476927 B CN106476927 B CN 106476927B CN 201610973932 A CN201610973932 A CN 201610973932A CN 106476927 B CN106476927 B CN 106476927B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
A multi-foot walking carrier platform, the apparatus comprising: four identical first to fourth leg sets (A, B, C, D), a frame (E), a shelf (F) and eight suspension spring assemblies (1). The four same first to fourth leg groups of the multi-foot walking carrying platform are all closed chain link mechanisms, the multi-foot walking carrying platform is driven by a single motor to walk, a goods shelf (F) is used for bearing goods, and an operator controls the walking direction of the multi-foot walking carrying platform through a remote controller to realize goods and materials transportation on complex roads such as mountainous regions. The four same leg groups are symmetrically arranged, so that the stability of platform transportation is ensured, and the platform has better terrain adaptability and maneuverability; meanwhile, the single motor drives the simplified device control system, the operation is simple, and the overall reliability of the device is enhanced.
Description
Technical Field
The invention relates to a multi-foot walking carrying platform, in particular to a multi-foot walking carrying platform which is formed by combining four identical four-foot walking platforms, and ensures the walking stability of the platform and the adaptability to complex ground; each four groups of walking platforms are driven by a single motor, and a closed chain link mechanism is utilized to realize a carrying device for mountain transportation and obstacle crossing.
Background
Closed kinematic chains are applied to the leg mechanisms of a walking carrier platform, each leg mechanism requiring only one motor drive. Compared with an open chain leg mechanism, under the conditions of the same material, external load and speed level, the closed chain link system only bears tension and compression load theoretically, and is mostly a typical two-force rod piece, and the single-leg 5-rod bearing mechanism has good rigidity and stability.
The prior mountain transport mainly takes crawler type and wheel type, such as Chinese patent CN205087046U 'multifunctional crawler type mountain transport vehicle'. Compared with the crawler and wheel type transportation, the leg type moving mechanism has some unique advantages in the aspects of self structure and moving mode, including: the foot-contact type road surface is in discrete point contact with the ground, so that a proper foot-contact point can be selected to adapt to different road surfaces; the knee joint can be lifted to cross vertical obstacles such as steps, walls and the like; the legs occupy a small volume of space and are therefore less likely to snag or get stuck when passing through a brush or gravel pile. These characteristics make the leg moving mechanism more suitable for work in various abominable ground environment, as the mobile platform of detection, transportation or operation etc..
Chinese patent CN201457515U discloses a "mountain transport vehicle operated by walking", which proposes a mountain transport vehicle operated by walking, wherein a rigid frame is sequentially provided with a wagon box, an engine, a gearbox and a direction frame from front to back, the left and right sides under the frame are respectively provided with four half shafts, each half shaft is rigidly connected with a steel wheel through a hub, the engine is connected with the gearbox through a transmission belt and a power clutch, the gearbox provides independent drive for the left and right wheels through a steering clutch so as to realize steering, and a steering clutch controller is arranged on the direction frame. The scheme that arranges is symmetrical with four the same leg groups that this patent adopted, has both guaranteed transportation stability, has improved the quality of transportation goods again to, the design messenger of shank mechanism turns to more nimble, has also improved the adaptability of platform to complicated road surface simultaneously greatly.
Disclosure of Invention
The invention aims to provide a walking carrying platform, which can realize good transportation mobility on the basis of ensuring a light-weight leg mechanism.
The technical scheme of the invention is as follows:
a multi-foot walking carrying platform consists of four identical first to fourth leg groups, a frame, a goods shelf and eight damping spring assemblies; first to fourth leg group and frame realize fixed connection, frame and eight damping spring subassemblies realize fixed connection, goods shelves and damping spring subassembly realize fixed connection.
Each leg mechanism of the multi-foot walking carrying platform is driven by a single motor to walk, a goods shelf bears goods, an operator operates the goods shelf by using a remote controller to control the direction, and mountain transportation is realized.
The goods shelf comprises: left, middle and right compartments.
The frame include: the device comprises a bottom frame, a front frame, a rear frame, a left side frame, a right side frame and eight bull's-eye wheels.
The first leg group is a four-foot walking system and consists of a left walking part, a right walking part, a driving part and a baffle.
In the four leg groups, the rod piece shapes, the mechanical structures and the assembly modes of the second to fourth leg groups and the first leg group are completely the same.
The right walking part and the left walking part of the first leg group have the same rod piece shape, mechanical structure and assembly mode.
The left walking part of the first leg group consists of a left single leg and a right single leg.
In the left walking part of the first leg group, the rod piece shapes, the mechanical structures and the assembly modes of the left single leg and the right single leg are completely the same.
The left single leg include: two first suspension members, two thigh bars, a three-pair bar, a two-pair bar, a shank bar, and a foot end; the foot end comprises three layers: ankle, rubber block and polytetrafluoroethylene block; the drive unit includes: the motor, the fin, two motor bases, crank 1 and crank 2.
Compared with the prior art, the invention has the following beneficial effects:
the invention utilizes the closed kinematic chain to be applied to the leg mechanism of the multi-foot walking carrying platform, and is in discrete point contact with the ground compared with a wheel type transport vehicle, thereby being capable of selecting proper foot points to adapt to different pavements and easily passing through obstacles such as steps, walls, bushes or rubble piles and the like. Meanwhile, the device adopts a scheme that four same leg groups are symmetrically arranged, so that the walking stability is effectively ensured, the adaptability to complex pavements is improved, the device has higher bearing capacity, each leg group is driven by a single motor, and a control system is simplified.
Drawings
FIG. 1 is an overall three-dimensional view of a multi-legged walking carrier platform;
FIG. 2 is a three-dimensional view of a single leg set;
FIG. 3 is a three-dimensional view of the vehicle frame;
FIG. 4 is a three-dimensional view of the shelf;
fig. 5 is a three-dimensional view of the driving part.
FIG. 6 is a three-dimensional view of a unilateral leg set;
FIG. 7 is a three-dimensional view of a single leg;
figure 8 is a three-dimensional view of the foot end.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, a multi-legged walking carrier platform consists of four identical first to fourth leg sets A, B, C, D, a frame E, a shelf F and eight shock absorbing spring assemblies 1. First to fourth leg group A, B, C, D and frame E realize fixed connection, frame E and eight damping spring subassembly 1 realize fixed connection, goods shelves F and damping spring subassembly 1 realize fixed connection.
The four same first to fourth leg groups A, B, C, D of the multi-foot walking carrying platform are driven by a single motor to walk, the goods and materials are carried on the goods shelf F, and the direction is controlled by the operation of an operator by a remote controller to realize mountain transportation.
The first leg group A is a four-foot walking system and is composed of a left walking part A-1, a right walking part A-2, a driving part A-3 and a baffle 2 as shown in figure 2.
The frame E is composed of an underframe E-1, a front frame E-2, a rear frame E-3, a left side frame E-4, a right side frame E-5 and eight bull's-eye wheels 3 as shown in figure 3.
The frame E is a stainless steel pipe frame and is fixedly connected with the first to fourth leg groups A, B, C, D through mounting holes in the left side frame E-4 and the right side frame E-5; the front frame E-2, the rear frame E-3, the left side frame E-4 and the right side frame E-5 of the frame E are fixedly connected with the eight bull-eye wheels 3 through mounting holes.
The left side frame E-4 and the right side frame E-5 of the frame E are fixedly connected with the two bull-eye wheels 3 through mounting holes respectively, stainless steel pipes are arranged on the front frame E-2 and the rear frame E-3 of the frame E, and the stainless steel pipes are fixedly connected with the two bull-eye wheels 3 through the mounting holes.
The shelf F is divided into a left compartment F-1, a middle compartment F-2 and a right compartment F-3 as shown in figure 4.
The goods shelf F is a stainless steel pipe frame, a rod 1F-1-1, a rod 2F-1-2, a rod 3F-3-1 and a rod 4F-3-2 are respectively fixed in the front and the back of the left cabin F-1 and the right cabin F-3, and each of the rod 1, the rod 2, the rod 3 and the rod 4 is respectively fixedly connected with every two of the eight damping spring assemblies 1 through mounting holes.
The first leg group A is a closed chain link mechanism and is driven by a single motor to walk.
As shown in fig. 5, the driving portion a-3 includes: the motor A-3-1, the radiating fin A-3-2, the two motor bases A-3-3, the crank 1A-3-4 and the crank 2A-3-5.
The connection mode of the parts in the driving part is as follows: the motor A-3-1 is fixedly connected with the left motor base A-3-3 and the right motor base A-3-3 through mounting holes in the two sides of the motor, the radiating fin A-3-2 is fixedly connected with the motor A-3-1 through mounting holes in the two ends of the radiating fin A-3-2, and output shafts in the two ends of the motor A-3-1 are fixedly connected with the crank 1A-3-4 and the crank 2A-3-5.
The driving part A-3 drives the crank 1A-3-4 and the crank 2A-3-5 to rotate in a whole circle, so that the walking movement of the left single leg A-1-1 and the right single leg A-1-2 is realized.
As shown in FIG. 6, the left walking part A-1 of the first leg group A is composed of a left single leg A-1-1 and a right single leg A-1-2.
The right walking part A-2 and the left walking part A-1 of the first leg group A are completely the same in rod shape, mechanical structure and assembly mode.
As shown in fig. 7, the left single leg a-1-1 includes: two first suspension members A-1-1-1, two thigh rods A-1-1-2, a three-secondary rod A-1-1-3, a two-secondary rod A-1-1-4, a shank rod A-1-1-5, and a foot end A-1-1-6.
The connection mode of the components in the left single leg A-1-1 is as follows:
the two first hanging parts A-1-1-1 are fixedly connected with the baffle 2; the two thigh rods A-1-1-2, the shank rod A-1-1-5 and the three auxiliary rods A-1-1-3 are triangular rod pieces, and mounting holes are arranged at the positions of three vertex angles; mounting holes at the vertex angles of the two thigh rods A-1-1-2 are respectively in rotary connection with the first hanging piece A-1-1 through an assembly shaft; the vertex angle mounting holes of the two thigh rods A-1-1-2 and the two shank rods A-1-1-5 are rotatably connected through an assembling shaft; the mounting hole at the other vertex angle of the two thigh rods A-1-1-2 and the mounting hole at one vertex angle of the three auxiliary rods A-1-1-3 are rotatably connected through an assembly shaft; the other vertex angle mounting hole of the three auxiliary rods A-1-1-3 is rotatably connected with the mounting hole at the end part of the two auxiliary rods A-1-1-4 through an assembly shaft; the mounting hole at the other end of the two auxiliary rods A-1-1-4 is rotatably connected with the mounting hole at one vertex angle of the shank rod A-1-1-5 through an assembly shaft; the mounting hole at one vertex angle of the shank A-1-1-5 is assembled with the mounting hole at the foot end A-1-1-6 to realize fixed connection.
The vertex angle mounting holes of the three auxiliary rods A-1-2-3 of the right single leg A-1-2 in the left walking part A-1, the vertex angle mounting holes of the three auxiliary rods A-1-1-3 of the left single leg A-1-1 and the mounting holes of the crank 2A-3-5 in the driving part A-3 are rotatably connected through an assembling shaft.
The rod piece shape, the mechanical structure and the assembly mode of the left single leg A-1-1 and the right single leg A-1-2 of the left walking part A-1 of the first leg group A are completely the same.
As shown in fig. 7, the foot end A-1-1-6 of the left single leg A-1-1 comprises three layers: ankle A-1-1-6-1, rubber block A-1-1-6-2 and polytetrafluoroethylene block A-1-1-6-3.
The connection mode of the foot end A-1-1-6 is as follows: the ankle A-1-1-6-1, the rubber A-1-1-6-2 and the polytetrafluoroethylene A-1-1-6-3 are fixedly connected through mounting holes.
Claims (3)
1. A multi-legged walking carrying platform, characterized in that:
a multi-legged walking carrier platform is composed of four identical first to fourth leg groups (A, B, C, D), a carriage (E), a shelf (F) and eight shock-absorbing spring assemblies (1); the first to fourth leg groups (A, B, C, D) are fixedly connected with the frame (E), the frame (E) is fixedly connected with the eight damping spring assemblies (1), and the goods shelf (F) is fixedly connected with the damping spring assemblies (1);
the four identical first to fourth leg sets (A, B, C, D) of the said walking carrying platform are all driven by a single motor to walk;
the first leg group (A) is a four-foot walking system and consists of a left walking part (A-1), a right walking part (A-2), a driving part (A-3) and a baffle (2);
the second to fourth leg groups (B, C, D) are identical in rod shape, mechanical structure and assembly manner to the first leg group (A);
the left walking part (A-1) of the first leg group (A) consists of a left single leg (A-1-1) and a right single leg (A-1-2);
the right walking part (A-2) and the left walking part (A-1) of the first leg group (A) are completely the same in rod shape, mechanical structure and assembly mode;
the first leg group (A) is a closed chain link mechanism and is driven by a single motor to travel;
the drive unit (A-3) includes: the device comprises a motor (A-3-1), a radiating fin (A-3-2), two motor bases (A-3-3), a crank 1(A-3-4) and a crank 2 (A-3-5);
the connection mode of the parts in the driving part is as follows: the motor (A-3-1) is fixedly connected with the left motor base (A-3-3) and the right motor base (A-3-3) through mounting holes on the two sides of the motor, the radiating fins (A-3-2) are fixedly connected with the motor (A-3-1) through mounting holes on the two ends of the motor, and output shafts on the two ends of the motor (A-3-1) are fixedly connected with the crank 1(A-3-4) and the crank 2 (A-3-5);
the driving part (A-3) drives the crank 1(A-3-4) and the crank 2(A-3-5) to rotate in the whole circle, so that the walking motion of the left single leg (A-1-1) and the right single leg (A-1-2) is realized;
the left single leg (A-1-1) comprises: two first suspension members (A-1-1-1), two thigh bars (A-1-1-2), a three-pair bar (A-1-1-3), a two-pair bar (A-1-1-4), a shank bar (A-1-1-5), and a foot end (A-1-1-6);
the connection mode of the components in the left single leg (A-1-1) is as follows:
the two first hanging pieces (A-1-1-1) are fixedly connected with the baffle (2); the two thigh rods (A-1-1-2), the shank rod (A-1-1-5) and the three auxiliary rods (A-1-1-3) are triangular rod pieces, and mounting holes are arranged at the positions of three vertex angles; mounting holes at the vertex angles of the two thigh rods (A-1-1-2) are respectively in rotary connection with the first suspension piece (A-1-1-1) through an assembly shaft; the vertex angle mounting holes of the two thigh rods (A-1-1-2) and the shank rods (A-1-1-5) are rotatably connected through an assembly shaft; the mounting hole at the other vertex angle of the two thigh rods (A-1-1-2) and the mounting hole at one vertex angle of the three auxiliary rods (A-1-1-3) are rotatably connected through an assembly shaft; the other vertex angle mounting hole of the three auxiliary rods (A-1-1-3) is rotatably connected with the end mounting hole of the two auxiliary rods (A-1-1-4) through an assembly shaft; the mounting hole at the other end of the two auxiliary rods (A-1-1-4) is rotatably connected with the mounting hole at one vertex angle of the shank rod (A-1-1-5) through an assembly shaft; a mounting hole at one vertex angle of the shank rod (A-1-1-5) is assembled with a mounting hole at the foot end (A-1-1-6) to realize fixed connection;
the vertex angle mounting holes of the three auxiliary rods (A-1-2-3) of the right single leg (A-1-2) in the left walking part (A-1), the vertex angle mounting holes of the three auxiliary rods (A-1-1-3) of the left single leg (A-1-1) and the mounting holes of the crank 2(A-3-5) in the driving part (A-3) are rotatably connected through an assembling shaft;
the rod piece shapes, the mechanical structures and the assembly modes of the left single leg (A-1-1) and the right single leg (A-1-2) of the left walking part (A-1) of the first leg group (A) are completely the same.
2. A multi-foot walking carrier platform according to claim 1, wherein:
the frame (E) comprises: the device comprises an underframe (E-1), a front frame (E-2), a rear frame (E-3), a left side frame (E-4), a right side frame (E-5) and eight bull's eye wheels (3);
the frame (E) is a stainless steel pipe frame and is fixedly connected with the first to fourth leg groups (A, B, C, D) through mounting holes in the left side frame (E-4) and the right side frame (E-5); the front frame (E-2), the rear frame (E-3), the left side frame (E-4) and the right side frame (E-5) of the frame (E) are fixedly connected with the eight bull-eye wheels (3) through mounting holes;
the left side frame (E-4) and the right side frame (E-5) of the frame (E) are respectively and fixedly connected with the two eyelet wheels (3) through mounting holes, stainless steel pipes are arranged on the front frame (E-2) and the rear frame (E-3) of the frame (E), and the mounting holes are respectively formed to fixedly connect the two eyelet wheels (3);
the shelf (F) comprises: a left cabin (F-1), a middle cabin (F-2) and a right cabin (F-3);
the goods shelf (F) is a stainless steel pipe frame; the rod 1(F-1-1) and the rod 2(F-1-2), the rod 3(F-3-1) and the rod 4(F-3-2) are respectively fixed in front of and behind the left cabin (F-1) and the right cabin (F-3), and each of the rod 1(F-1-1), the rod 2(F-1-2), the rod 3(F-3-1) and the rod 4(F-3-2) is respectively fixedly connected with every two of the eight damping spring assemblies (1) through mounting holes.
3. A multi-foot walking carrier platform according to claim 1, wherein:
the foot end (A-1-1-6) of the left single leg (A-1-1) comprises three layers: ankles (A-1-1-6-1), rubber (A-1-1-6-2) and polytetrafluoroethylene blocks (A-1-1-6-3);
the connection mode of the foot end (A-1-1-6) is as follows: the ankle (A-1-1-6-1), the rubber (A-1-1-6-2) and the polytetrafluoroethylene block (A-1-1-6-3) are fixedly connected through mounting holes.
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| CN201610973932.3A CN106476927B (en) | 2016-11-04 | 2016-11-04 | Multi-foot walking carrying platform |
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| CN201610973932.3A CN106476927B (en) | 2016-11-04 | 2016-11-04 | Multi-foot walking carrying platform |
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| CN106476927A CN106476927A (en) | 2017-03-08 |
| CN106476927B true CN106476927B (en) | 2020-12-18 |
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| CN108773426A (en) * | 2018-04-24 | 2018-11-09 | 哈尔滨工程大学 | Single power source carries the bionical quadruped robot of elastic leg |
| CN108995733B (en) * | 2018-08-07 | 2020-03-24 | 北京交通大学 | Forward and reverse walking multi-foot carrying platform |
| CN108995728B (en) * | 2018-08-07 | 2020-03-24 | 北京交通大学 | High-mobility wheel-foot composite robot |
| CN109178133B (en) * | 2018-08-07 | 2020-08-21 | 北京交通大学 | Variable topology operation dual-mode walking mechanism |
| CN109398522B (en) * | 2018-09-05 | 2020-11-10 | 北京交通大学 | Become topology leg mechanism four-footed platform |
| CN109398524A (en) * | 2018-10-10 | 2019-03-01 | 北京交通大学 | A kind of multi-functional walking carrying platform |
| US11130533B2 (en) * | 2019-01-02 | 2021-09-28 | Taiyuan University Of Science And Technology | Giant gully-crossing vehicles for polar scientific expedition |
| CN111891723B (en) * | 2020-06-20 | 2021-09-14 | 燕山大学 | Walking alternating large-scale transformer transportation platform |
| CN112498515A (en) * | 2020-09-23 | 2021-03-16 | 北京交通大学 | Multi-foot carrying platform capable of walking passively |
| CN114802522B (en) * | 2022-04-24 | 2023-02-10 | 吉林大学 | Modularized attachable leg-foot type walking device and control method |
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| WO2008084480A2 (en) * | 2007-01-12 | 2008-07-17 | Ben-Gurion University Of The Negev Research And Development Authority | A quadruped legged robot driven by linear actuators |
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