CN113291390A - Multi-foot step type high-trafficability traction robot cow - Google Patents
Multi-foot step type high-trafficability traction robot cow Download PDFInfo
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- CN113291390A CN113291390A CN202110793383.2A CN202110793383A CN113291390A CN 113291390 A CN113291390 A CN 113291390A CN 202110793383 A CN202110793383 A CN 202110793383A CN 113291390 A CN113291390 A CN 113291390A
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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
Abstract
The invention discloses a multi-foot striding type high-trafficability traction robot, which comprises a rack (1), an A group of striding devices (2), a B group of striding devices (3), a steering system (4), a power system (5), a control system (6) and the like. The power system adopts an in-line engine to drive a hydraulic pump station to provide energy for the movement of the whole machine, the whole machine adopts hydraulic transmission, a control system is responsible for the coordination control of all parts, each group of stepping devices comprises three legs and three feet, the three feet are distributed in an isosceles triangle shape in a horizontal plane, the legs and the feet of each group of stepping devices are respectively driven by an independent moving mechanism and a leg lifting and placing mechanism, the uniform speed advance of the whole machine is realized through A, B alternate stepping movement of the two groups of legs and feet, the machine can hang various farm implements to complete various field tasks, has high trafficability and can turn around in situ, and when the ground is fluctuated, the three feet land to ensure that the whole machine stably and reliably lands to prevent overturning.
Description
Technical Field
The invention relates to the field of power machinery of agricultural machinery, in particular to a multi-foot stride type high-trafficability traction robot.
Background
The tractor is the most common agricultural power machine, and different agricultural operation projects can be completed by using the tractor to pull or hang different agricultural machines. The tractor is divided into a wheel tractor, a crawler tractor and a boat type according to the structure of the walking device; the power of the in-line engine can be divided into a small tractor, a medium tractor and a large tractor, the small tractor has small turning radius and good maneuverability, but the operation efficiency is low, and the device is mainly suitable for flat land blocks with small area; the large tractor has high production efficiency, but large turning radius, and is mainly suitable for flat land with large area.
At present, tractors generally have the problems of low ground clearance and poor trafficability, even so-called high-ground-clearance tractors, the ground clearance does not exceed 1m, and the requirements of middle and later period field management on power machinery of high-stalk crops such as tobacco and corn are difficult to meet, so that the middle and later period field management is mainly completed manually; secondly, the tractor has poor maneuverability, can not turn around in situ and turn around, and usually needs to reserve longer ground heads at two ends of a land mass for turning around the tractor, so that the planting area of crops is reduced, and the land utilization rate is reduced; secondly, the tractor has poor adaptability, is only suitable for the land with flat ground and is not suitable for the slope or hilly ground with rugged ground. The existence of the problems seriously restricts the mechanization of the whole process of agricultural production, so that the development of a power machine with high maneuverability and high throughput is an urgent problem to be solved, and the power machine not only can meet the requirements of turning around and steering in situ, but also can adapt to the rugged sloping field and hilly environment.
Therefore, the multi-foot stride type high-trafficability traction machine cattle is provided, different agricultural machines are suspended by the machine, the field management requirements of high-pole crops in the middle and later periods can be met, the defects of a tractor are overcome, and the multi-foot stride type high-trafficability traction machine cattle has an important effect on realizing whole-course mechanization of agriculture.
Disclosure of Invention
The invention provides a multi-foot striding type high-trafficability traction robot which is characterized by being high in ground clearance, good in trafficability, capable of turning around and turning in situ, capable of walking on a rugged slope or hilly environment with the gradient not exceeding 20 degrees, capable of completing different agricultural operation projects, capable of overcoming the defects of a tractor and effectively improving the whole-process mechanization degree of agricultural production.
The invention comprises a machine cattle skeleton, a stepping device, a steering system, a power system, a control system and the like.
The multi-foot stride type high-trafficability traction robot is realized by the following technical scheme: the weight of the whole machine is borne by A, B two groups of striding devices, each group of striding devices comprises three square supporting legs and three feet, the three feet are distributed in an isosceles triangle in the horizontal plane, each group of striding devices is respectively driven by a respective independent moving mechanism and a leg lifting and placing mechanism, the group A striding devices enable the three feet of the group A to land first through the moving mechanism and the leg lifting and placing mechanism when walking, the weight of the whole machine is supported, the three feet of the group B sequentially lift, cross obstacles forwards and then fall and land, the three feet of the group B support the weight of the whole machine, the three feet of the group A sequentially lift, cross obstacles forwards and the three feet of the group A fall and land, the weight of the whole machine is supported through the leg feet of A, B two groups of striding devices, the leg lifting and the leg forwards alternately, the uniform speed forward movement of the whole machine is realized, for safety and stability, a plurality of rows cross between the left and the right of each group of leg feet, a certain span is also arranged between the front leg and the rear leg, so that at any moment, at least one group of legs of the whole machine lands, the gravity center of the whole machine is always positioned in a triangle formed by three landed legs, and the static stability of the towing machine cattle can be realized no matter how the ground fluctuates through the schemes of alternately lifting, moving forwards to cross obstacles and landing by three legs of A, B two groups of stepping devices, so that the safety and the stability of the whole machine are ensured.
The multi-foot stride type high-trafficability traction robot cattle is further characterized in that: the mechanical ox skeleton consists of an upper mechanical ox skeleton and a lower mechanical ox skeleton, the upper mechanical ox skeleton is positioned on the upper part of the lower mechanical ox skeleton, the upper mechanical ox skeleton and the lower mechanical ox skeleton are hinged with a supporting sleeve through a vertical rotating shaft, a power system is installed on the upper mechanical ox skeleton and comprises an in-line engine and a hydraulic pump station, the hydraulic pump station is driven by the in-line engine to provide power for movement of each part, a steering system is installed between the upper mechanical ox skeleton and the lower mechanical ox skeleton and is driven by a steering hydraulic cylinder, the steering hydraulic cylinder is hinged between the upper mechanical ox skeleton and the lower mechanical ox skeleton, and the upper mechanical ox skeleton and the lower mechanical ox skeleton can relatively rotate for a certain angle in the horizontal plane through the steering hydraulic cylinder to control and adjust the stepping moving direction of the traction mechanical ox.
The machine ox skeleton is characterized in that: all install 4 back shafts on last machine ox skeleton and the lower machine ox skeleton, every back shaft all installs the wheel that rolls through self-aligning roller bearing, and the wheel that rolls is divided equally into about two sets of, the wheel that rolls of upper and lower machine ox skeleton left and right sides nest respectively in the spout of upper and lower slider left and right sides, last machine ox skeleton and last slider, down all articulated between machine ox skeleton and the lower slider have a slider to move the pneumatic cylinder, under the drive of last slider removal pneumatic cylinder, the relative machine ox skeleton of going up of slider can the back-and-forth movement, under the drive of slider removal pneumatic cylinder, the relative machine ox skeleton of lower slider can the back-and-forth movement down.
The leg lifting mechanism is characterized in that: the upper sliding block and the lower sliding block are respectively provided with a group of leg lifting mechanisms, each group of leg lifting mechanism consists of a front double-rocker mechanism and a rear double-rocker mechanism, each double-rocker mechanism comprises two rocker shafts, two rockers and a square leg connecting rod, the upper rocker shaft and the lower rocker shaft are respectively arranged at the front end and the rear end of each sliding block through a self-aligning roller bearing and a self-aligning roller bearing seat, the inner ends of the upper rocker shaft and the lower rocker shaft are connected with the upper rocker shaft and the lower rocker shaft through spline pins, the outer ends of the upper rocker shaft and the lower rocker shaft are hinged with the square leg connecting rods through cylindrical pin shafts, square legs and feet are arranged on the square leg connecting rods, the number of the legs arranged on the square leg connecting rods at the front end and the rear end of each group of stepping devices is different, one end of each group of leg lifting mechanisms is provided with a single leg foot, the other end of each group of stepping devices is provided with two leg feet, the two legs are arranged in bilateral symmetry, the leg lifting mechanisms of each group of stepping devices are driven by a leg lifting hydraulic cylinder, one end of each leg lifting cylinder is hinged with the sliding block, the other end of the swing arm on one rocker shaft, the inner end of the swing arm is connected and installed on the rocker shaft through a spline, in order to reduce the number of leg lifting and placing hydraulic cylinders, the double-rocker mechanism at the front end and the double-rocker mechanism at the rear end are driven by the same leg lifting hydraulic cylinder, the swing arm of the double-rocker mechanism at the front end is connected with the swing arm of the double-rocker mechanism at the rear end through a connecting rod, so that the front leg and the rear leg connected on the same sliding block are lifted synchronously and fall synchronously, and move back and forth synchronously along with the sliding block to cross an obstacle.
When the multi-foot striding type high-trafficability traction robot cattle walks linearly, the sliding blocks on the upper and lower robot cattle skeletons move along the same linear direction, A, B the leg feet of the two groups of striding devices move forward along the same direction in sequence, when the control system finds that the actual motion direction of the traction robot cattle deviates from the target direction, the control system sends out a control command after lifting the A group of leg feet, the A group of striding devices deflect a certain angle to the target direction through a steering hydraulic cylinder and then move forward in a striding mode to land the feet, then the leg feet of the B group of striding devices are lifted, the striding forward moves to land the feet, if the motion direction at the moment is consistent with the target direction, the control system sends out a command after the A group of striding devices lift the leg feet, the A group of striding devices return through the steering hydraulic cylinder, after the motion directions of the two groups of striding devices coincide, the striding forward moves again, and when the control system finds that the actual motion direction deviates from the target motion direction, the control process is repeated to realize automatic deviation correction.
When the robot turns clockwise in situ, the control system sends a control instruction after lifting the A group of legs, the A group of stepping devices deflect a certain angle in the clockwise direction through the steering hydraulic cylinder and then fall on the feet to land, then the control system lifts the B group of stepping devices and then deflects the B group of stepping devices the same angle in the clockwise direction through the steering hydraulic cylinder and lands the feet, if the movement direction is different from the target direction, the process is repeated again until the rotation angle meets the requirement, A, B two groups of stepping devices alternately stride to walk straight, and the process when the robot turns anticlockwise in situ and the clockwise turning process are the same except that the rotation direction is different.
Has the positive and beneficial effects that: the invention solves the problems that the prior tractor has low ground clearance, poor trafficability, large turning radius and poor maneuverability, can not turn around and turn around on site and can not work in rugged sloping fields or hilly environments, overcomes the defects of the tractor, and provides powerful technical support for field management of high-stalk crops in the middle and later periods and work in rugged sloping fields or hilly environments.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view (front view) of the robotic frame and steering system of the present invention;
FIG. 3 is a schematic structural view (left side view) of the robotic frame and steering system of the present invention;
FIG. 4 is a schematic structural diagram of the group A stepping device of the present invention;
FIG. 5 is a schematic structural view of the group B step device of the present invention (with the powertrain and control system removed).
In the figure, the following steps are carried out: 1. a robotic bovine skeleton; group A of stepping devices; group B of stepping devices; 4. a steering system; 5. a power system; 6. a control system; 101. a robotic ox skeleton is arranged; 102. mounting a machine on a ox skeleton; 103. erecting a rotating shaft; 104. a support sleeve; 105. a support shaft; 106. a self-aligning roller bearing; 107 rolling wheels; 201. a lower slider; 202. a lower slider moving hydraulic cylinder; 203. a leg-lifting hydraulic cylinder; 204. a lower rocker shaft; 205. an upper rocker shaft; 206. a rocker; 207. swinging arms; 208. a lower connecting rod; 209. a square leg connecting rod; 210. a square leg; 211. a round foot; 301. an upper sliding block; 302. an upper sliding block moving hydraulic cylinder; 303. a leg raising hydraulic cylinder; 304. a lower rocker shaft; 305. an upper rocker shaft; 306. a rocker; 307. swinging arms; 308. an upper connecting rod; 309. a square leg connecting rod; 310. a square leg; 401. a steering hydraulic cylinder; 402. steering arm, 403, cylindrical pin; 501. an inline engine; 502. and a hydraulic pump station.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in figure 1, the robot comprises a robot cattle skeleton (1), a group A of stepping devices (2), a group B of stepping devices (3), a steering system (4), a power system (5), a control system (6) and the like.
As shown in figures 2 and 3, the machine cattle frame (1) of the invention is a foundation and a frame of the whole machine, other parts are directly or indirectly arranged on the machine cattle frame (1), the machine cattle frame (1) comprises a lower machine cattle frame (101) and an upper machine cattle frame (102), an upright rotating shaft (103) is fixedly arranged on the upper machine cattle frame (102), a supporting sleeve (104) is fixedly arranged on the lower machine cattle frame (101), the upper machine cattle frame is hinged with the lower machine cattle frame through the upright rotating shaft (103) and the supporting sleeve (104), a steering mechanism (4) is arranged between the upper machine cattle frame and the lower machine cattle frame, steering power is derived from a steering hydraulic cylinder (401), one end of the steering hydraulic cylinder is hinged on the lower machine cattle frame (101) through a cylinder body, the other end of the steering hydraulic cylinder is hinged on a steering swing arm (402) through a piston rod, the inner end of the steering swing arm (402) is connected and arranged on the upright rotating shaft (103) of the upper machine cattle frame through a spline, the upper machine bracket is fixed with the vertical rotating shaft by a nut, and the upper machine bracket can rotate a certain angle relative to the lower machine bracket by the telescopic reciprocating motion of the steering oil cylinder so as to control and adjust the advancing direction during stepping; in addition, supporting shafts (105) are respectively installed on the left side and the right side of the upper robot frame and the lower robot frame, rolling wheels (107) are installed on the supporting shafts (105) through self-aligning roller bearings (106), an upper sliding block (301) is nested on the rolling wheels of the upper robot frame through a self sliding groove, a lower sliding block (201) is nested on the rolling wheels of the lower robot frame through a self sliding groove, and the rolling wheels installed on the upper robot frame and the lower robot frame respectively guide the sliding motion of the upper sliding block and the lower sliding block;
as shown in fig. 4 and 5, the lower robotic ox frame and the upper robotic ox frame are respectively provided with a group a of stepping devices (2) and a group B of stepping devices (3), each group of stepping devices is composed of a moving mechanism and a leg lifting mechanism, the group a moving mechanism on the lower robotic ox frame comprises a lower robotic ox frame (101), a supporting shaft (105), a self-aligning roller bearing (106), a rolling wheel (107), a lower sliding block (201) and a lower sliding block moving hydraulic cylinder (202), the moving mechanism on the group B of the upper robotic ox frame comprises an upper robotic ox frame (102), a supporting shaft (105), a self-aligning roller bearing (106), a rolling wheel (107), an upper sliding block (301) and an upper sliding block moving hydraulic cylinder (302), one end of the lower sliding block moving hydraulic cylinder (202) is hinged with the lower robotic ox frame (101), and the other end is hinged with the lower sliding block (201), similarly, one end of an upper sliding block moving hydraulic cylinder (302) is hinged with an upper machine ox frame (102), and the other end of the upper sliding block moving hydraulic cylinder is hinged with an upper sliding block (301);
as shown in fig. 4 and 5, the front end and the rear end of the lower sliding block and the upper sliding block are respectively provided with a group a leg lifting mechanism and a group B leg lifting mechanism, the leg lifting and releasing mechanism adopts a double-rocker mechanism, two rocker shafts are arranged up and down, the lengths of the two rockers are equal to form a parallelogram mechanism, the leg lifting mechanism of the group a stepping device is driven by a leg lifting hydraulic cylinder (203), the leg lifting mechanism comprises a front double-rocker mechanism and a rear double-rocker mechanism, the double-rocker mechanism is arranged at the front end and the rear end of the lower sliding block (201) through a lower rocker shaft (204), an upper rocker shaft (205), a self-aligning roller bearing and a self-aligning roller bearing seat, the lower rocker shaft (204) at the front end is provided with a rocker (206) and two swing arms (207), the rocker (206) is arranged on the lower rocker shaft (204) in the middle, the swing arms (207) are arranged on the lower rocker shaft (204) in the left-right symmetry, the upper rocker shaft (206) at the front end is only provided with a rocker (206) at the center, a swing arm (207) is arranged at one side of a rocker (206) arranged in the center of an upper rocker shaft (205) at the rear end, the structure of a lower rocker shaft at the rear end is the same as that of an upper rocker shaft of a front double-rocker mechanism, the front double-rocker mechanism and the rear double-rocker mechanism are connected through a lower connecting rod (208), the front end of the lower connecting rod (208) is hinged with a swing arm (207) on the lower rocker shaft at the front end, the rear end of the lower connecting rod (208) is hinged with the swing arm (207) on the upper rocker shaft at the rear end, one end of a lower leg lifting hydraulic cylinder (203) is hinged with a lower sliding block, the other end of the lower connecting rod is hinged with the other swing arm (207) on the lower rocker shaft at the front end, a square support leg connecting rod (209) of each group of double-rocker mechanism is hinged at the outer ends of the upper rocker and the lower rocker, square support legs (210) and feet (211) are arranged on the square support leg connecting rods (209), the lengths of the upper rocker and the lower rockers are equal to form a parallelogram, so that the square support legs are always vertical to the ground when the ground;
the front legs and the rear legs connected to one sliding block form a group, the lifting and falling of each group of feet are controlled by a leg lifting mechanism arranged on the sliding block, each group of feet are lifted synchronously and fall synchronously, and move forwards and backwards synchronously along with the sliding block, three feet of the same group are distributed in an isosceles triangle shape in a horizontal plane, when the whole machine moves forwards, the feet of the group A land first to support the weight of the whole machine, the feet of the group B are lifted, move forwards across an obstacle and land on the feet, the feet of the group A are lifted again to move forwards across the obstacle and land on the feet, the weight of the whole machine is supported, the uniform speed of the whole machine is realized by the alternative forward movement of the two groups of feet A, B, each group of legs transversely cross multiple rows, a certain span is also arranged between the front and rear feet, the scheme of three feet land ensures that the height of the ground is changed in any way, the whole machine can stably and reliably land, prevent the overturning and ensure the safety and stability of the whole machine;
when the robot turns clockwise in situ, the control system sends a control command after lifting the A group of legs, the A group of stepping devices deflect a certain angle in the clockwise direction through the steering hydraulic cylinder (401), the legs fall to the ground, then the control system enables the B group of stepping devices to deflect the same angle in the clockwise direction through the steering hydraulic cylinder (401) after lifting the legs of the B group of stepping devices, the legs fall to the ground, if the moving direction is different from the target direction, the process is repeated again until the robot walks linearly after the rotating angle meets the composite requirement, and the process when the robot turns counterclockwise in situ and the process when the robot turns clockwise in situ are the same except that the rotating direction.
The above examples are only intended to illustrate the preferred embodiments of the system of the present invention, and the present invention can be implemented by electric power transmission or mechanical transmission in addition to the hydraulic transmission scheme, but the present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention within the knowledge of those skilled in the art should be covered within the technical scope of the system claimed.
Claims (4)
1. A multi-legged striding type high-throughput tractor cow, comprising: the robot cattle comprises a robot cattle framework (1), a group A stepping device (2), a group B stepping device (3), a steering system (4), a power system (5), a control system (6) and the like. The mechanical cattle frame (1) comprises a lower mechanical cattle frame (101) and an upper mechanical cattle frame (102), wherein an upright rotating shaft (103) is designed on the upper mechanical cattle frame (102), a support sleeve (104) is designed on the lower mechanical cattle frame (101), the upper mechanical cattle frame is hinged with the lower mechanical cattle frame through the upright rotating shaft (103) and the support sleeve (104), the upper and lower mechanical cattle frames can rotate around the upright rotating shaft by a certain angle, a power system (5) is installed on the upper mechanical cattle frame (101), the power system comprises an in-line engine (501) and a hydraulic pump station (502), the in-line engine (501) drives the hydraulic pump station (502) to provide power for the whole machine, and a control system (6) comprises a hydraulic control part and an electric control part and is responsible for controlling the coordinated actions of all the parts;
the A group of the stepping devices (2) are arranged on a lower machine cattle frame (101), the B group of the stepping devices (3) are arranged on an upper machine cattle frame (102), the A group of the stepping devices and the B group of the stepping devices are similar in structure principle, each group of the stepping devices comprises a moving mechanism and a leg lifting mechanism, the moving mechanism and the leg lifting mechanism of each group are respectively driven by a moving hydraulic cylinder and a leg lifting hydraulic cylinder, the moving mechanism comprises a sliding block, a supporting shaft, a rolling wheel and a moving hydraulic cylinder, the lower machine cattle frame (101) and the upper machine cattle frame (102) are respectively provided with 4 supporting shafts (105), the 4 supporting shafts (105) are symmetrically arranged on the left side and the right side of the 4 supporting shafts (105), each supporting shaft (105) is provided with the rolling wheel (107) through a self-aligning roller bearing (106), and the lower sliding block (201) is nested on the rolling wheel (107) of the lower machine cattle frame through a self sliding chute, the upper sliding block (301) is nested on a rolling wheel (107) of an upper machine cattle framework through a sliding groove of the upper sliding block, the lower moving hydraulic cylinder (202) drives the lower sliding block (201) and the A group of stepping devices to move back and forth relative to the lower machine cattle framework, and the upper moving hydraulic cylinder (302) drives the upper sliding block (301) and the B group of stepping devices to move back and forth relative to the upper machine cattle framework.
2. The multi-legged strided high throughput tractor cow of claim 1, wherein: the leg lifting mechanism of the A group of stepping devices is driven by a lower leg lifting hydraulic cylinder (203), the leg lifting mechanism comprises a front double-rocker mechanism and a rear double-rocker mechanism, the double-rocker mechanisms are arranged at the front end and the rear end of a lower sliding block through a lower rocker shaft (204), an upper rocker shaft (205), a self-aligning roller bearing and a self-aligning roller bearing seat, a rocker (206) and two swing arms (207) are arranged on the lower rocker shaft (204) at the front end, the rocker (206) is arranged on the lower rocker shaft in the middle, the swing arms (207) are symmetrically arranged on the lower rocker shaft in the left-right direction, the upper rocker shaft at the front end is only provided with one rocker (206) in the center, one side of the rocker (206) is provided with one swing arm (207) in the center of the upper rocker shaft (205) at the rear end, the lower rocker shaft at the rear end has the same structure as the upper rocker shaft at the front end, and the, the front end of a lower connecting rod (208) is hinged with a swing arm (206) on a front-end lower rocker shaft, the rear end of the lower connecting rod (208) is hinged with a swing arm (207) on a rear-end upper rocker shaft, one end of a lower leg lifting hydraulic cylinder (203) is hinged with a lower sliding block (201), the other end of the lower leg lifting hydraulic cylinder is hinged with another swing arm (207) on the front-end lower rocker shaft, a square supporting leg connecting rod (209) of each group of double-rocker mechanisms is hinged at the outer ends of an upper rocker and a lower rocker, square supporting legs (210) and round feet (211) are installed on the square supporting leg connecting rods (209), the lengths of the upper rocker and the lower rocker are equal, a parallelogram is formed, and the square supporting legs are ensured to be always vertical to the ground when being landed.
3. The multi-legged strided high throughput tractor cow of claim 2, wherein:
the steering system (4) is characterized in that steering power is derived from a steering hydraulic cylinder (401), the steering hydraulic cylinder (401) is installed between an upper machine cattle frame (102) and a lower machine cattle frame (101), one end of the steering hydraulic cylinder is hinged to the lower machine cattle frame (101), the other end of the steering hydraulic cylinder is hinged to the outer end of a steering arm (402), the inner end of the steering arm (402) is connected and installed on a vertical rotating shaft (103) through a spline, and the upper machine cattle frame (102) can rotate a certain angle relative to the lower machine cattle frame (101) through the telescopic reciprocating motion of the steering hydraulic cylinder (401); used for controlling and adjusting the advancing direction during the striding.
4. The multi-legged strided high throughput tractor cow of claim 3, wherein:
the front square leg connecting rod (209) and the rear square leg connecting rod (210) of each group of leg lifting mechanism are provided with square legs (210) and circular feet (211) which are different in number, one side is provided with a single leg foot, the other side is provided with a left leg foot and a right leg foot, the left leg foot and the right leg foot are arranged symmetrically left and right, three leg feet arranged on each sliding block form a group, the lifting and falling of each group of feet are controlled by the leg lifting mechanism arranged on the sliding block, therefore, each group of leg feet synchronously lift and fall, and move forwards and backwards along with the sliding block synchronously to cross an obstacle, the three feet in the same group cross a plurality of rows left and right, have a certain span forwards and backwards, are distributed in an isosceles triangle shape, when the robot walks, the feet in the group A land first to support the weight of the whole robot, the legs in the group B lift and move forwards and land across the obstacle, then the feet in the group B land to support the weight of the whole robot, the feet in the group A lift and move forwards and cross the obstacle forwards alternately, the group of the two groups of leg feet A, B to realize the uniform speed forward of the whole robot, by adopting the three-foot landing scheme, the landing can be stably and reliably realized no matter how the height of the ground fluctuates, the overturning is prevented, and the safety and the stability of the whole machine are ensured.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110793383.2A CN113291390B (en) | 2021-07-13 | 2021-07-13 | Multi-foot striding type high-trafficability traction robot cattle |
| ZA2022/07636A ZA202207636B (en) | 2021-07-13 | 2022-07-11 | Multi-leg striding high-trafficability tractive cattle-like machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110793383.2A CN113291390B (en) | 2021-07-13 | 2021-07-13 | Multi-foot striding type high-trafficability traction robot cattle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113291390A true CN113291390A (en) | 2021-08-24 |
| CN113291390B CN113291390B (en) | 2022-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110793383.2A Active CN113291390B (en) | 2021-07-13 | 2021-07-13 | Multi-foot striding type high-trafficability traction robot cattle |
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| Country | Link |
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| CN (1) | CN113291390B (en) |
| ZA (1) | ZA202207636B (en) |
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| CN103144694A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Pivot-steering mechanism of quadruped bio-robot |
| CN106585761A (en) * | 2016-12-23 | 2017-04-26 | 哈尔滨工程大学 | Horse-imitating gait planar connection rod type quadruped walking robot |
| CN107258225A (en) * | 2017-08-08 | 2017-10-20 | 湖南电气职业技术学院 | Semi-automatic fruit harvesting machine suitable for paddy-field-working |
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2021
- 2021-07-13 CN CN202110793383.2A patent/CN113291390B/en active Active
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2022
- 2022-07-11 ZA ZA2022/07636A patent/ZA202207636B/en unknown
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6260862B1 (en) * | 1998-02-11 | 2001-07-17 | Joseph C. Klann | Walking device |
| CN101746431A (en) * | 2010-02-03 | 2010-06-23 | 常爱军 | Four-foot walking robot through rigidly transmitting driving power by internal-combustion engine |
| CN103144694A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Pivot-steering mechanism of quadruped bio-robot |
| CN106585761A (en) * | 2016-12-23 | 2017-04-26 | 哈尔滨工程大学 | Horse-imitating gait planar connection rod type quadruped walking robot |
| CN107258225A (en) * | 2017-08-08 | 2017-10-20 | 湖南电气职业技术学院 | Semi-automatic fruit harvesting machine suitable for paddy-field-working |
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| ZA202207636B (en) | 2023-03-29 |
| CN113291390B (en) | 2022-07-19 |
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