CN101830252B - Deformable two-foot walking machine - Google Patents

Abstract

The invention relates to a deformable biped walking machine, which mainly includes a front connecting plate, a rear connecting plate, a left front connecting rod, a left rear connecting rod, a right front connecting rod, a right rear connecting rod, a left sole, a right sole, a rudder Machine, universal wheel, fixed rear wheel assembly and swing rear wheel assembly, the upper ends of the four connecting rods are respectively connected with the lower surfaces of the front and rear connecting plates, and the lower ends are respectively connected with the upper surfaces of the left and right soles through the steering gear. The universal wheel is fixed on the middle part of the left front connecting rod, the fixed rear wheel assembly is fixed on the bottom of the right sole, and the swinging rear wheel assembly is fixed on the left sole bottom. The present invention adopts the space parallel mechanism of eight poles and eight pairs, besides realizing the normal walking function, it also has the function of folding and deforming, and becomes a wheeled moving mechanism supported by three wheels after deformation; the present invention is compared with the general series walking mechanism It has better load driving ability, and the volume is reduced, and the moving speed is fast, and it can move quickly on a flat road or pass through a narrow space after deformation.

Description

A deformable biped walking machine

technical field

The invention relates to a walking machine, in particular to a deformable biped walking machine.

Background technique

Walking is the way humans and most animals move. It is a highly automated movement with strong adaptability to the environment. Compared with wheeled, tracked and peristaltic movements, it has broader application prospects. , so the biped walking machine has been a research hotspot in the field of robotics.

Most of the current research on the structure of biped walking machines is based on bionics, that is, through the series connection of steering gear or other types of driving motors to simulate human leg joints to achieve normal walking functions. This kind of biped walking machine was the first to be researched, and many achievements have been made. However, the space requirements for the series arrangement of the driving motors make this kind of biped walking machine generally relatively large in size and single in motion mode. Powerless, and on a flat road, compared with wheeled and crawler-type motion mechanisms, the moving speed is low, and its advantages cannot be brought into play.

Contents of the invention

The purpose of the present invention is to improve the shortcomings of the prior art and provide a deformable biped walking machine with strong load capacity, high speed and high precision, high rigidity and low moment of inertia. The biped walking machine can not only realize normal walking functions, And it can be folded and deformed into a wheeled mobile mechanism.

To achieve the above object, the present invention adopts the following technical solutions:

A deformable biped walking machine, the deformable biped walking machine comprises: a front connecting plate, a rear connecting plate, a left front connecting rod, a left rear connecting rod, a right front connecting rod, a right rear connecting rod, a left sole, a right sole and four steering gears; the two ends of the lower surface of the front connecting plate are provided with connecting pieces, and the upper end of the left front connecting rod is rotatably installed on the connecting piece at the left end of the lower surface of the front connecting plate through a pin , the axial direction of the pin shaft installed on the left end connector on the lower surface of the front connecting plate forms an included angle of 45° with the longitudinal direction of the front connecting plate; the lower end of the left front connecting rod is fixedly connected with the steering gear shaft on a steering gear Together, the steering gear is fixedly mounted on the front end of the upper surface of the left sole, and the axis direction of the steering gear axis of the steering gear is the same as the axis direction of the pin shaft installed on the left end connector on the lower surface of the front connecting plate.

The upper end of the right front connecting rod is rotatably mounted on the connecting piece on the right end of the lower surface of the front connecting plate through a pin shaft, and the axial direction of the pin shaft installed on the right end connecting piece on the lower surface of the front connecting plate is the same as that of the front connecting plate. The longitudinal direction of the connecting plate forms an included angle of 45°; the lower end of the right front connecting rod is fixedly connected with the steering gear shaft on a steering gear, and the steering gear is fixedly installed on the front end of the upper surface of the right sole of the foot. The axial direction of the steering gear shaft is the same as the axial direction of the pin shaft installed on the right end connector on the lower surface of the front connecting plate.

Both ends of the lower surface of the rear connecting plate are provided with connectors, and the upper end of the left rear connecting rod is rotatably mounted on the connector on the left end of the lower surface of the rear connecting plate through a pin shaft. The axial direction of the pin shaft on the left end connector on the lower surface of the rear connecting plate forms an included angle of 45° with the longitudinal direction of the rear connecting plate; the lower end of the left rear connecting rod is fixedly connected with the steering gear shaft on a steering gear, the The steering gear is fixedly installed on the rear end of the upper surface of the left sole, and the steering gear shaft axis direction of the steering gear is the same as the axis direction of the pin shaft installed on the left end connector on the lower surface of the rear connecting plate.

The upper end of the right rear connecting rod is rotatably mounted on the connecting piece on the right end of the lower surface of the rear connecting plate through a pin shaft, and the axis direction of the pin shaft installed on the right end connecting piece on the lower surface of the rear connecting plate is in the same direction as The longitudinal direction of the rear connecting plate forms an included angle of 45°; the lower end of the right rear connecting rod is fixedly connected with the steering gear shaft on a steering gear, and the steering gear is fixedly installed on the rear end of the upper surface of the right sole. The axial direction of the steering gear shaft of the steering gear is the same as the axial direction of the pin shaft installed on the right end connector on the lower surface of the rear connecting plate.

Further, the included angle between the axial direction of the pin shaft installed on the left end connecting piece on the lower surface of the front connecting plate and the axial direction of the pin shaft installed on the right end connecting piece on the lower surface of the front connecting plate is 90° , the angle between the axial direction of the pin shaft installed on the left end connector on the lower surface of the front connecting plate and the axial direction of the pin shaft installed on the left end connecting member on the lower surface of the rear connecting plate is 90°, so The included angle between the axial direction of the pin shaft installed on the left end connector on the lower surface of the rear connecting plate and the axial direction of the pin shaft installed on the right end connector on the lower surface of the rear connecting plate is 90°; The included angle between the axial direction of the pin shaft on the right end connector on the lower surface of the rear connecting plate and the axial direction of the pin shaft installed on the right end connector on the lower surface of the front connecting plate is 90°.

Further, the connecting piece is a groove structure, the bottom surface of the connecting piece is fixedly connected with the left and right ends of the lower surface of the front and rear connecting plates respectively, and pin holes are symmetrically opened on the two side walls of the connecting piece; Said steering gear is all fixedly installed on the upper surface two ends of the left and right soles by the steering gear frame; the steering gear frame is an L-shaped bending surface, and the side wall of the L-shaped steering gear frame is provided with pin holes , the two sides of the bottom surface of the L-shaped rudder frame are provided with downwardly bent bases and upwardly bent fixed wings; , the steering gear is fixedly connected with the steering gear frame through the fixed wing.

Further, the upper and lower ends of the left front, left rear, right front, and right rear connecting rods are ear-plug structures, and pin holes are provided on the ear walls of the plug-in ears; The provided pin hole and the pin hole provided on the two side walls of the connector installed on the left end of the lower surface of the front connecting plate are rotatably installed together through a pin shaft; The pin hole provided on the top is fixedly connected with the steering gear shaft of the steering gear fixedly installed on the front end of the upper surface of the left sole, and the pin hole provided on the side wall of the other ear is connected with the said steering gear shaft installed on the front end of the upper surface of the left sole. The pin holes provided on the side wall of the steering gear frame are rotatably mounted together through a pin shaft.

The pin hole set on the ear wall at the upper end of the left rear connecting rod and the pin hole set on the two side walls of the connecting piece installed on the left end of the lower surface of the rear connecting plate are rotatably mounted together through a pin shaft The pin hole set on the ear side wall at the lower end of the left rear connecting rod is fixedly connected with the steering gear shaft of the steering gear fixedly installed on the rear end of the upper surface of the left sole, and the pin hole set on the other ear side wall The pin hole and the pin hole provided on the side wall of the steering gear frame at the rear end of the upper surface of the left sole are rotatably installed together by a pin shaft.

The pin hole set on the ear wall at the upper end of the right front connecting rod and the pin hole set on the two side walls of the connector installed on the right end of the lower surface of the front connecting plate are rotatably mounted together through a pin shaft; The pin hole set on the ear side wall at the lower end of the right front connecting rod is fixedly connected with the steering gear shaft of the steering gear fixed on the front end of the upper surface of the right foot, and the pin hole set on the other ear side wall It is rotatably installed together with the pin hole provided on the side wall of the steering gear frame that is installed on the front end of the upper surface of the right foot through a pin shaft.

The pin hole set on the ear wall at the upper end of the right rear connecting rod and the pin hole set on the two side walls of the connecting piece installed on the right end of the lower surface of the rear connecting plate are rotatably mounted together through a pin shaft The pin hole set on the ear side wall at the lower end of the right rear connecting rod is fixedly connected with the steering gear shaft of the steering gear fixedly installed on the rear end of the upper surface of the right foot, and the other set on the ear side wall The pin hole and the pin hole provided on the side wall of the steering gear frame installed on the rear end of the upper surface of the right sole are rotatably installed together by a pin shaft.

Further, the left front connecting rod, left rear connecting rod, right front connecting rod and right rear connecting rod are respectively driven by the steering gears connected to their respective lower ends, and all of them can rotate around the respective steering gears within the range of 0° to 180°. turn.

The left front connecting rod, left rear connecting rod, right front connecting rod and right rear connecting rod can respectively rotate within the range of 0° to 180° around the pin shaft installed between their respective upper ends and the connecting piece.

Further, the lengths of the left front link, left rear link, right front link and right rear link are equal; the front and rear connecting plates are parallel to each other, and the upper surfaces of the front and rear connecting plates are at In the same horizontal plane; the left and right soles are parallel to each other, and the upper surfaces of the left and right soles are in the same horizontal plane.

Further, the front end of the right sole is bent downward to form a U-shaped support plate, and the rear end is bent downward to form a curved surface; the front end of the left sole is bent downward to form a U-shaped support plate. There is a gap in the left end, the right part of the rear end face of the left sole is bent downward to form a U-shaped support plate, and the left part of the rear end face is straight.

Further, the middle part of the left front link is fixed with a universal wheel. When the walking machine is deformed, the left front, left rear, right front and right rear links rotate to the point parallel to the surface of the left and right soles. position, the universal wheel is in contact with the ground, and the height of the universal wheel is greater than the vertical height of the left front connecting rod to the ground when the left front connecting rod rotates to a position parallel to the left and right soles.

Further, the rear end of the lower surface of the right sole is provided with a fixed rear wheel assembly, and the fixed rear wheel assembly includes: a motor, a motor frame, a coupling and a rear wheel, and the motor is fixedly installed on the right sole through the motor frame At the rear end of the lower surface, the rear wheel is mounted on the motor through a shaft coupling.

The rear end of the bottom of the left sole is provided with a swing rear wheel assembly, and the swing rear wheel assembly includes: a motor, a steering gear, a rocker, a shaft coupling and a rear wheel, and the left part of the rear end surface of the left sole is straight. There is a notch, and the steering gear is installed at the notch, and the steering gear shaft of the steering gear is perpendicular to the palm of the left foot downward; the front end of the rocker is equipped with a motor, and the rear wheel is installed through a coupling On the motor, the rear end of the rocker is fixedly connected to the steering gear shaft installed on the left steering gear on the rear end surface of the left sole; Rotate within 180°.

Further, the grounding point of the rear wheel is on the same level as the grounding surface of the U-shaped support plates of the left and right soles.

The beneficial effects that the present invention has:

1. The invention takes into account both bipedal walking and wheeled movement, can realize normal walking function, and can also be folded and deformed into a wheeled movement mechanism, which can move at high speed on a flat road and pass through a narrow working space , greatly expanding the working range of the biped walking machine.

2. The present invention adopts a space-parallel mechanism of eight rods and eight pairs, and all driving motors are located in a lower horizontal plane, which has a better load driving capacity than the general series walking mechanism.

3. The invention has strong load capacity, fast moving speed, high precision, high rigidity and low moment of inertia, and provides a new way for realizing the walking function of the biped walking machine.

Description of drawings

Fig. 1 is the structural representation 1 of the present invention;

Fig. 2 is the structural representation 2 of the present invention;

Fig. 3 is the structural representation of connector among the present invention;

Fig. 4 is the schematic view of the structure of the rudder rack in the present invention;

Fig. 5 is the structural representation of left front connecting rod among the present invention;

Fig. 6 is a schematic structural view of the left rear connecting rod in the present invention;

Fig. 7 is a schematic structural view of the right front connecting rod in the present invention;

Fig. 8 is a schematic structural view of the right rear connecting rod in the present invention;

Fig. 9 is a schematic diagram of the connection structure of the left front connecting rod, the connector, the steering gear and the steering gear frame in the present invention;

Fig. 10 is a schematic diagram of the connection structure of the left rear link, the connector, the steering gear and the steering gear frame in the present invention;

Fig. 11 is a schematic diagram of the connection structure of the right front link, connector, steering gear and steering gear frame in the present invention;

Fig. 12 is a schematic diagram of the connection structure of the right rear link, connector, steering gear and steering gear frame in the present invention;

Fig. 13 is a structural representation of the right sole of the present invention;

Fig. 14 is a structural representation of the left sole of the present invention;

Fig. 15 is a schematic diagram of the connection structure between the right foot and the fixed rear wheel assembly in the present invention;

Fig. 16 is a schematic diagram of the connection structure between the left foot sole and the swinging rear wheel assembly in the present invention;

Fig. 17 is a schematic diagram of the walking process of the present invention;

Fig. 18 is a schematic diagram of the folding deformation process of the present invention;

Fig. 19 is a top view of the present invention after being folded and deformed;

Fig. 20 is a bottom view of the present invention after being folded and deformed;

Fig. 21 is a schematic diagram of the present invention for crossing obstacles;

Detailed ways

The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

As shown in Figures 1 and 2, a deformable biped walking machine includes: a front connecting plate 1, a rear connecting plate 2, a left front connecting rod 3, a left rear connecting rod 4, and a right front connecting rod 5 , right rear connecting rod 6, left sole 11, right sole 12 and four steering gears 17,18,19,20; the two ends of front connecting plate 1 lower surface are provided with connector 7,9, the upper end of left front connecting rod 3 It is rotatably installed on the connector 7 on the left end of the lower surface of the front connecting plate 1 through a pin shaft 13. The longitudinal direction of the plate 1 forms an included angle of 45°; the lower end of the left front connecting rod 3 is fixedly connected with the steering gear shaft 25 on a steering gear 17, and the steering gear 17 is fixedly mounted on the front end of the upper surface of the left sole 11, The axis direction of the steering gear shaft 25 of the steering gear 17 is the same as the axis direction of the pin shaft 13 installed on the left end connector 7 on the lower surface of the front connecting plate 1 .

The upper end of the right front connecting rod 5 is rotatably mounted on the connecting piece 9 on the right end of the lower surface of the front connecting plate 1 through a pin shaft 15, and the pin shaft 15 installed on the right end connecting piece 9 on the lower surface of the front connecting plate 1 The axial direction forms an included angle of 45° with the longitudinal direction of the front connecting plate 1; the lower end of the right front connecting rod 5 is fixedly connected with the steering gear shaft 27 on a steering gear 19, and the steering gear 19 is fixedly mounted on the sole of the right foot 12 The front end of the upper surface, the axis direction of the steering gear shaft 27 of the steering gear 19 is the same as the axis direction of the pin shaft 15 installed on the right end connector 9 on the lower surface of the front connecting plate 1 .

The two ends of the lower surface of the rear connecting plate 2 are provided with connectors 8, 10, and the upper end of the left rear connecting rod 4 is rotatably mounted on the connecting member 8 at the left end of the lower surface of the rear connecting plate 2 through a pin shaft 14. Above, the axial direction of the pin shaft 14 installed on the left end connector 8 on the lower surface of the rear connecting plate 2 forms an angle of 45° with the longitudinal direction of the rear connecting plate 2; the lower end of the left rear connecting rod 4 is connected to a steering gear 18 The steering gear shaft 26 on the steering gear is fixedly connected together, the steering gear 18 is fixedly installed on the rear end of the upper surface of the left sole 11, and the steering gear shaft 26 axis direction of the steering gear 18 is the same as that installed under the rear connecting plate 2. The axis directions of the pin shafts 14 on the surface left end connector 8 are the same.

The upper end of the right rear connecting rod 6 is rotatably mounted on the connector 10 on the right end of the lower surface of the rear connecting plate 2 through a pin shaft 16, and the pin 16 installed on the right end connector 10 on the lower surface of the rear connecting plate 2 The axial direction of the rear connecting plate 2 forms an included angle of 45°; the lower end of the right rear connecting rod 6 is fixedly connected with the steering gear shaft 28 on a steering gear 20, and the steering gear 20 is fixedly installed on the right The rear end of the sole 12 upper surface, the axis direction of the steering gear shaft 28 of the steering gear 20 is the same as the axis direction of the pin shaft 16 installed on the right end connector 10 of the lower surface of the rear connecting plate 2 .

The front and rear connecting plates 1, 2 are parallel to each other, and the upper surfaces of the front and rear connecting plates 1, 2 are in the same horizontal plane; the left and right soles 11, 12 are parallel to each other, and the left and right The upper surfaces of soles 11, 12 are in the same horizontal plane.

The left front connecting rod 3, the left rear connecting rod 4, the right front connecting rod 5 and the right rear connecting rod 6 are respectively driven by the steering gear 17, 18, 19, 20 connected to the respective lower ends, and can be driven around the respective steering gear 17, 18 , 19, 20 rotate within the range of 0° to 180°.

The left front connecting rod 3, the left rear connecting rod 4, the right front connecting rod 5 and the right rear connecting rod 6 can respectively wind around the pin shafts 13, 14, 15, 16 installed between the respective upper ends and the connectors 7, 8, 9, 10. Rotation within the range of 0° to 180°.

The included angle between the axial direction of the pin shaft 13 installed on the left end connecting piece 7 on the lower surface of the front connecting plate 1 and the axial direction of the pin shaft 15 installed on the right end connecting piece 9 on the lower surface of the front connecting plate 1 is 90°, the axial direction of the pin shaft 13 installed on the left end connecting piece 7 on the lower surface of the front connecting plate 1 is different from the axial direction of the pin shaft 14 installed on the left end connecting piece 8 on the lower surface of the rear connecting plate 2 The angle between them is 90°, the axial direction of the pin shaft 14 installed on the left end connector 8 on the lower surface of the rear connecting plate 2 is the same as the axis direction of the pin shaft 16 installed on the right end connector 10 on the lower surface of the rear connecting plate 2 The included angle between the axis directions is 90°; the axis direction of the pin shaft 16 installed on the right end connector 10 on the lower surface of the rear connecting plate 2 is the same as the axis direction of the pin shaft 16 installed on the right end connector 9 on the lower surface of the front connecting plate 1 The included angle between the axial directions of pin shafts 15 is 90°.

The middle part of left front connecting rod 3 is fixedly provided with a universal wheel 29, and when this walking machine deformed, four connecting rods 3,4,5,6 rotated to the position parallel with left and right soles 11,12 palm surfaces, ten thousand Wheel 29 is in contact with the ground, and the height of this universal wheel 29 is greater than the vertical height of the left front link 3 to the ground when the left front link 3 rotates to the parallel position with the left and right soles 11,12 palm surfaces.

As shown in Figures 3 to 12, the connectors 7, 8, 9, and 10 are groove-shaped structures, and the bottom surfaces of the connectors are fixedly connected to the left and right ends of the lower surfaces of the front and rear connecting plates 1 and 2 respectively. The two side walls of parts 7, 8, 9, 10 are symmetrically provided with pin holes 71, 81, 91, 101; steering gears 17, 18, 19, 20 are all fixedly installed on the steering gear frame 21, 22, 23, 24 The two ends of the upper surface of the left and right soles of the feet 11,12; the steering frame 21,22,23,24 is an L-shaped bending surface, and There are pin holes 211, 221, 231, 241, and the two sides of the bottom surface of the L-shaped steering rack 21, 22, 23, 24 are provided with downwardly bent bases 212, 222, 232, 242 and upwardly bent The fixed wing 213,223,233,243; steering gear frame 21,22,23,24 is fixed on the upper surface two ends of left and right soles 11,12 by base 212,222,232,242, steering gear 17, 18,19,20 are fixedly connected together with steering rack 21,22,23,24 by fixed wing 213,223,233,243.

The left front connecting rod 3, the left rear connecting rod 4, the right front connecting rod 5 and the right rear connecting rod 6 are equal in length; Ear-inserting structure, the upper end of the left front connecting rod 3 is provided with a pin hole 30 on the wall of the ear-inserting ear, and the pin hole 30 is connected with the pin hole 71 provided on the two side walls of the connector 7 installed on the left end of the lower surface of the front connecting plate 1 Rotatably installed together through a pin shaft 13; pin holes 31, 32 are provided on the ear wall of the ear at the lower end of the left front connecting rod 3, and the pin hole 31 provided on the side wall of one ear is fixedly installed with the ear wall. The steering gear shaft 25 of the steering gear 17 at the front end of the upper surface of the left sole 11 is fixedly connected. The pin holes 211 provided above are rotatably mounted together through a pin shaft.

The pin hole 33 set on the ear wall of the upper end of the left rear connecting rod 4 and the pin hole 81 set on the two side walls of the connector 8 installed on the left end of the lower surface of the rear connecting plate 2 are rotatable through a pin shaft 14 are installed together; the ear wall of the ear at the lower end of the left rear connecting rod 4 is provided with pin holes 34, 35, and the pin hole 34 provided on the side wall of one ear is fixedly installed on the upper surface of the left foot 11. The steering gear shaft 26 of the steering gear 18 at the rear end is fixedly connected, and the pin hole 35 set on the side wall of the other plug ear is installed on the pin hole 35 set on the steering gear frame 22 side wall of the rear end of the left sole 11 upper surface. 221 are rotatably mounted together through a pin shaft.

The pin hole 36 set on the ear wall of the upper end of the right front connecting rod 5 and the pin hole 91 set on the two side walls of the connecting piece 9 on the right end of the lower surface of the front connecting plate 1 are rotatably connected through a pin shaft 15. Installed together; the ear wall of the ear at the lower end of the right front connecting rod 5 is provided with pin holes 37, 38, wherein the pin hole 37 set on the side wall of the ear is fixedly installed on the front end of the upper surface of the right sole 12. The steering gear shaft 27 of the steering gear 19 is fixedly connected, and the pin hole 38 set on the side wall of the other ear insert passes through the pin hole 231 set on the steering gear frame 23 side wall installed on the front end of the upper surface of the right sole 12. A pin shaft is rotatably mounted together.

The pin hole 39 set on the ear wall of the upper end of the right rear connecting rod 6 and the pin hole 101 set on the two side walls of the connector 10 installed on the right end of the lower surface of the rear connecting plate 2 are rotatable through a pin shaft 16 The pin holes 40, 41 are arranged on the ear wall of the ear at the lower end of the right rear connecting rod 6, and the pin hole 40 set on the side wall of the ear is fixedly installed on the upper surface of the right sole 12 with the pin hole 40. The steering gear shaft 28 of the steering gear 20 at the end is fixedly connected, and the pin hole 41 set on the side wall of the other ear is connected with the pin hole 241 set on the steering gear frame 24 side wall installed on the rear end of the upper surface of the right sole 12. are rotatably mounted together by a pin shaft.

As shown in Figures 13 and 14, the front end of the right sole 12 is bent downward to form a U-shaped support plate 42, and the rear end is bent downward to form an arc; the front end of the left sole 11 is bent downward to form a U-shaped support plate 43, There is a notch 44 on the left end of the bend, and the right part of the rear end surface of the left sole 11 is bent downward to form a U-shaped support plate 45. The left part of the rear end surface is straight and set. The straight part is provided with a notch 46 .

As shown in Figures 15 and 16, the rear end of the lower surface of the right sole 12 is provided with a fixed rear wheel assembly, and the fixed rear wheel assembly includes: a motor 47, a motor frame 48, a shaft coupling 49 and a rear wheel 50, and the motor 47 passes through the motor frame 48 is fixedly installed on the rear end of the lower surface of the right sole 12, and the rear wheel 50 is installed on the motor 47 by a coupling 49.

Left sole 11 bottom rear ends are provided with swinging rear wheel assembly, and swinging rear wheel assembly comprises: motor 51, steering gear 52, rocking bar 53, shaft coupling 54 and rear wheel 55, and steering gear 52 is installed on the left side of left sole 11 rear end faces. The notch 46 that is provided with at the straight part of the top, the steering gear shaft of the steering gear 52 is perpendicular to the palm of the left foot 11 and faces downward; the front end of the rocking bar 53 is equipped with a motor 51, and the rear wheel 55 is installed on On this motor 51, the rear end of the rocking bar 53 is fixedly connected with the steering gear shaft of the steering gear 52 at the left notch 46 of the rear end surface of the left sole 11; the rocking bar 53 is driven by the steering gear 52 and can The horizontal plane can rotate within the range of 0° to 180°.

The grounding point of rear wheel 50,55 is on the same level as the grounding surface of the U-shaped support plates 42,43,45 of left and right soles 11,12.

As shown in Figures 1 to 17, during the movement, the upper surface of the left sole 11 and the upper surface of the right sole 12 of the present invention are in the same horizontal plane in the initial state, and the upper surface of the front connecting plate 1 and the rear connecting plate 2 The upper surface of the upper surface is in the same horizontal plane, the four connecting rods 3, 4, 5, and 6 are all perpendicular to the horizontal plane, the rocking bar 53 is placed in parallel on the left side of the lower surface of the left sole 11, and the front end of the rocking bar 53 is located at the front end of the left sole 11 Facing in the notch 44 that the left end edge of the downward bending place offers.

Since the four connecting rods 3, 4, 5, 6 are respectively driven by the steering gears 17, 18, 19, 20 connected to the respective lower ends, they can be in the range of 0° to 180° around the respective steering gears 17, 18, 19, 20 Rotate inside, while four connecting rods 3, 4, 5, 6 can be respectively around the pin shafts 13, 14, 15, 16 installed between their respective upper ends and connectors 7, 8, 9, 10 at 0° to 180° Rotate within the range, so when walking, when the right sole 12 moves forward relative to the left sole 11, the four connecting rods 3, 4, 5, 6 will move forward relative to the front and rear connecting plates 1, 2 and the left and right soles 11 .

As shown in Figures 18, 19, and 20, during deformation, the left sole 11 moves forward relative to the right sole 12, and the front connecting plate 1 and the rear connecting plate 2 move in opposite directions, but the front connecting plate 1 and the rear connecting plate 2 move in opposite directions. The distance between the soles of the feet is constant, and is always in the same horizontal plane; the left sole 11 and the right sole 12 move in opposite directions, but the distance between the left sole 11 and the right sole 12 is constant, and is always in the same horizontal plane; the front connecting plate 1 and the rear connecting plate 2 are close to the plane where the left sole 11 and the right sole 12 are located in the vertical direction. Said rocking bar 53 horizontally rotates 180 ° backwards and expands;

After complete deformation, the left front connecting rod 3, the left rear connecting rod 4, the right front connecting rod 5 and the right rear connecting rod 6 are all parallel to the palm surfaces of the left and right soles 11 and 12. The height of the wheel 29 is greater than the vertical height of the left front connecting rod 3 to the ground when the left front connecting rod 3 rotates to a position parallel to the palm surfaces of the left and right soles 11 and 12, so that the front ends of the left and right soles 11 and 12 are lifted. When the U-shaped support plate 42,43,45 on the left and right soles of the feet 11,12 of the whole walking mechanism leaves the ground under the three-point support of the universal wheel 29 and two rear wheels 50,55, the biped walking machine is folded and deformed into A wheeled moving mechanism.

As shown in Figure 21, when the present invention encounters an obstacle during walking, it can be folded and deformed into a wheeled moving mechanism to pass under the obstacle.

In summary, the embodiment of the present invention only provides an optimal deformable biped walking machine. The technical content and technical features of the present invention have been disclosed above, but those familiar with this technology may still Various replacements and modifications are made without departing from the spirit of the present invention; therefore, the protection scope of the present invention is not limited to the technical content disclosed in the embodiments, so all equivalents made according to the shape, structure and principle of the present invention All changes are within the protection scope of the present invention.

Claims (7)

1. A deformable bipedal walking machine, characterized in that: the deformable bipedal walking machine comprises: a front connecting plate, a rear connecting plate, a left front connecting rod, a left rear connecting rod, a right front connecting rod, a right rear connecting rod , the sole of the left foot, the sole of the right foot and four steering gears; the two ends of the lower surface of the front connecting plate are provided with connectors, and the upper end of the left front connecting rod is rotatably installed under the described front connecting plate through a pin On the connector at the left end of the surface, the axial direction of the pin shaft installed on the connector at the left end of the lower surface of the front connecting plate forms an angle of 45° with the longitudinal direction of the front connecting plate; the lower end of the left front connecting rod is connected to a steering gear The steering gear shaft is fixedly connected together, the steering gear is fixedly installed on the front end of the upper surface of the left sole, and the direction of the steering gear shaft axis of the steering gear is in line with the pin shaft installed on the left end connector on the lower surface of the front connecting plate. The axis direction of the same; The upper end of the right front connecting rod is rotatably mounted on the connecting piece on the right end of the lower surface of the front connecting plate through a pin shaft, and the axial direction of the pin shaft installed on the right end connecting piece on the lower surface of the front connecting plate is the same as that of the front connecting plate. The longitudinal direction of the connecting plate forms an included angle of 45°; the lower end of the right front connecting rod is fixedly connected with the steering gear shaft on a steering gear, and the steering gear is fixedly installed on the front end of the upper surface of the right sole of the foot. The axis direction of the steering gear shaft is the same as the axis direction of the pin shaft installed on the right end connector on the lower surface of the front connecting plate; Both ends of the lower surface of the rear connecting plate are provided with connectors, and the upper end of the left rear connecting rod is rotatably mounted on the connector on the left end of the lower surface of the rear connecting plate through a pin shaft. The axial direction of the pin shaft on the left end connector on the lower surface of the rear connecting plate forms an included angle of 45° with the longitudinal direction of the rear connecting plate; the lower end of the left rear connecting rod is fixedly connected with the steering gear shaft on a steering gear, the The steering gear is fixedly installed on the rear end of the upper surface of the left sole, and the axis direction of the steering gear axis of the steering gear is the same as the axis direction of the pin shaft installed on the left end connector on the lower surface of the rear connecting plate; The upper end of the right rear connecting rod is rotatably mounted on the connecting piece on the right end of the lower surface of the rear connecting plate through a pin shaft, and the axis direction of the pin shaft installed on the right end connecting piece on the lower surface of the rear connecting plate is in the same direction as The longitudinal direction of the rear connecting plate forms an included angle of 45°; the lower end of the right rear connecting rod is fixedly connected with the steering gear shaft on a steering gear, and the steering gear is fixedly installed on the rear end of the upper surface of the right sole. The axis direction of the steering gear shaft of the steering gear is the same as the axis direction of the pin shaft installed on the right end connector on the lower surface of the rear connecting plate; The included angle between the axial direction of the pin shaft installed on the left end connecting piece on the lower surface of the front connecting plate and the axial direction of the pin shaft installed on the right end connecting piece on the lower surface of the front connecting plate is 90°. The included angle between the axial direction of the pin shaft installed on the left end connector on the lower surface of the front connecting plate and the axial direction of the pin shaft installed on the left end connector on the lower surface of the rear connecting plate is 90°. The included angle between the axial direction of the pin shaft on the left end connector on the lower surface of the rear connecting plate and the axial direction of the pin shaft installed on the right end connector on the lower surface of the rear connecting plate is 90°; The included angle between the axial direction of the pin shaft on the right end connector on the lower surface of the board and the axial direction of the pin shaft installed on the right end connector on the lower surface of the front connecting plate is 90°. 2. A deformable biped walking machine according to claim 1, characterized in that: the connecting piece is a groove structure, and the bottom surface of the connecting piece is respectively fixed to the left and right ends of the lower surface of the front and rear connecting plates Connected together, the two side walls of the connector are symmetrically provided with pin holes; The steering gears are all fixedly installed on the two ends of the upper surface of the left and right soles through the steering gear frame; the steering gear frame is an L-shaped bending surface, and the side wall of the L-shaped steering gear frame is provided with a pin holes, the two sides of the bottom surface of the L-shaped rudder frame are provided with downwardly bent bases and upwardly bent fixed wings; At the end, the steering gear is fixedly connected with the steering gear frame through the fixed wing; The upper and lower ends of the left front, left rear, right front, and right rear connecting rods are ear-plug structures, and pin holes are provided on the ear walls of the plug-in ears; The pin hole set on the ear wall at the upper end of the left front connecting rod and the pin hole set on the two side walls of the connector installed on the left end of the lower surface of the front connecting plate are rotatably mounted together through a pin shaft; The pin hole set on the ear side wall at the lower end of the left front connecting rod is fixedly connected with the steering gear shaft of the steering gear fixed on the front end of the upper surface of the left foot, and the pin hole set on the other ear side wall It is rotatably installed together with the pin hole provided on the side wall of the steering gear frame installed on the front end of the upper surface of the left foot through a pin shaft; The pin hole set on the ear wall at the upper end of the left rear connecting rod and the pin hole set on the two side walls of the connecting piece installed on the left end of the lower surface of the rear connecting plate are rotatably mounted together through a pin shaft The pin hole set on the ear side wall at the lower end of the left rear connecting rod is fixedly connected with the steering gear shaft of the steering gear fixedly installed on the rear end of the upper surface of the left sole, and the pin hole set on the other ear side wall The pin hole and the pin hole provided on the side wall of the steering gear frame installed on the rear end of the upper surface of the left sole are rotatably installed together through a pin shaft; The pin hole set on the ear wall at the upper end of the right front connecting rod and the pin hole set on the two side walls of the connector installed on the right end of the lower surface of the front connecting plate are rotatably mounted together through a pin shaft; The pin hole set on the ear side wall at the lower end of the right front connecting rod is fixedly connected with the steering gear shaft of the steering gear fixed on the front end of the upper surface of the right foot, and the pin hole set on the other ear side wall It is rotatably installed together with the pin hole provided on the side wall of the steering gear frame installed on the front end of the upper surface of the right foot through a pin shaft; The pin hole set on the ear wall at the upper end of the right rear connecting rod and the pin hole set on the two side walls of the connecting piece installed on the right end of the lower surface of the rear connecting plate are rotatably mounted together through a pin shaft The pin hole set on the ear side wall at the lower end of the right rear connecting rod is fixedly connected with the steering gear shaft of the steering gear fixedly installed on the rear end of the upper surface of the right foot, and the other set on the ear side wall The pin hole and the pin hole provided on the side wall of the steering gear frame installed on the rear end of the upper surface of the right sole are rotatably installed together by a pin shaft. 3. A deformable biped walking machine according to claim 1 or 2, characterized in that: the lengths of the left front link, the left rear link, the right front link and the right rear link are equal; The front and rear connecting plates are parallel to each other, and the upper surfaces of the front and rear connecting plates are in the same horizontal plane; the left and right soles are parallel to each other, and the upper surfaces of the left and right soles are in the same horizontal plane . 4. A deformable biped walking machine according to claim 3, characterized in that: the front end of the sole of the right foot is bent downward to form a U-shaped support plate, and the rear end is bent downward to form an arc surface; The front end of the sole of the left foot is bent downward to form a U-shaped support plate, and a gap is provided at the left end of the bend. Straight setting, the left part of the rear end surface of the left sole is straight and is provided with a notch. 5. A deformable bipedal walking machine according to claim 4, characterized in that: a universal wheel is fixed in the middle of the left front link. 6. A deformable biped walking machine according to claim 5, characterized in that: the rear end of the lower surface of the right sole is provided with a fixed rear wheel assembly, and the fixed rear wheel assembly includes: a motor, a motor frame , a shaft coupling and a rear wheel, the motor is fixedly mounted on the rear end of the lower surface of the right foot through a motor frame, and the rear wheel is mounted on the motor through a shaft coupling; The rear end of the bottom of the left sole is provided with a swing rear wheel assembly, and the swing rear wheel assembly includes: a motor, a steering gear, a rocker, a coupling and a rear wheel, and the steering gear is installed on the rear end surface of the left sole At the notch provided at the straight part on the left, the steering gear shaft of the steering gear is perpendicular to the palm of the left foot and faces downward; the front end of the rocker is equipped with a motor, and the rear wheel is mounted on the motor through a coupling. On, the rear end of the rocking rod is fixedly connected with the steering gear shaft installed on the left steering gear on the rear end surface of the left sole. 7. A deformable biped walking machine according to claim 6, characterized in that: the ground contact point of the rear wheel is on the same level as the ground contact surfaces of the U-shaped support plates of the left and right soles.

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