CN1817721A - Quadrilateral walking robot with nine-components and limbs and feet - Google Patents

Abstract

A 9-unit quadrangular robot walking by its legs is disclosed. Its advantages are high slope-climbing power, high walking stability, and high passage ability in natural environment. It can be used for various purposes, such as national defense, military use, astronavigation, science, sea, industry, agriculture, traffic, transportation, etc.

Description

9 parts quadrilateral walking robot with limbs and feet

Technical field:

The present invention relates to robot and automation process equipment, be applied in national defence, military affairs, science, aerospace, ocean, industry, agricultural, traffic, transportation and production and the nonproductive sphere, transportation, delivery, dragging is main high-mobility, multipurpose, wheeled vehicle work machine.

Background technology:

Before this invention, the walking principle of No. 00129118.1 walking machine of Chinese patent: the eccentric center principle of using 0 °, 180 ° of switching mechanism rotation garden round angles, promote left and right sides traveling gear and do to stretch 180 °, shrink working process of 180 ° two circulations and promote fuselage walking forward step by step.Be that arc garden, garden Zhou Yundong in switching mechanism solid is transformed into traveling gear is that the just profound curvilinear motion of the hollow outer half garden arc of limb pin strides across obstacle.

Its shortcoming of walking machine

Limb pin: by traveling gear, the balancing device pin is formed, and by catch bar, promotes connecting rod, dowel bar, walking rod, contraction pole, walking support bar, cramp bar, trammel beam and pin 9 component set-ups, power transmission quadrangle, walking quadrangle, the traveling gear that supporting quadrangle and pin four parts are formed, all parts all are fixed partss, can not regulate and change traveling gear, walking angle in the process of walking, the needs that adapt to open-air complex environment, can not satisfy the needs of automation, on the level and smooth road of hard, descending can not slide energy-saving, no vibration insulating system, shake are big.

Switching mechanism: structure is single, and each switching mechanism has only and designed 0 °, 180 ° two eccentric point and promote left and right sides two-legs and stretches, shrinks two capable forward making a move of the working processs that circulate.When the travel height of traveling gear, when width increases, it is excessive to take over 180 ° of angles, can't dwindle change and take over up and down and increase height, and shake increases up and down.The traveling gear lateral arrangement, the limitation of having only a working process of two-leg circulation, vertically arrange, cause a row left and right sides two-leg to use a switching mechanism, the difficulty that one row can not install a plurality of traveling geaies, during a plurality of traveling gear of many row's designs, each row left and right sides two-leg is used a switching mechanism from installing, and causes baroque difficulty.

The traveling gear transversary

Two traveling geaies about one row has only are formed left and right sides two-leg, about single limb pin circulation, by a limb pin that stretches, part or all gravity weight of supporting walking machine.The scope and the ability of single limb pin supporting can not be propped up bearing type thing and wide type thing.In the process of walking, bear a limb pin of a bearing capacity weight, be easy to be subjected to the obstacle of bent Qu Buping, lack of equilibrium and stable when stretching, extension.

The traveling gear longitudinal construction

Two-leg walking vehicle: use two-leg, the walking of standing, about alternately, by a limb pin that stretches, support whole gravity weight of walking machine.In the process of walking, a limb pin of bearing capacity weight, when running into the bent Qu Buping obstacle above the domain of walk, lack of equilibrium and stable fall down about being easy to, even is fallen down front and back.

Four-leg walking vehicle: use the horizontal walking of four-leg, though four-leg, two-leg lands to circulate and walks, the two-leg walking vehicle balance of walking and stable than standing, and horizontal walking has overcome the defective that has toppled over front and back, but fails to eliminate the danger of swaying style.Remain diagonal angle two-leg and diagonal angle two-leg alternately, by the diagonal angle two-leg that stretches, whole gravity weight of supporting walking machine.In the process of walking, when the diagonal angle two-leg of a bearing capacity weight, a limb pin is subjected to above the domain of walk, and during the obstacle of bent Qu Buping, lack of equilibrium and stable is easy to tilt, even swaying style.

Walking machine with eight limbs: the eight limb pin that application front end four-leg, rear end four-leg are formed, form one group by front end, the corresponding four-leg in rear end and stretch and land and another group four-leg shrinks alternate cycles, horizontal walking.In the process of walking, the four-leg of supporting walking machine gravity weight, monolateral two-leg is subjected to, being easy to cause tilt during the obstacle of bent Qu Buping above the domain of walk.

Summary of the invention: the traveling gear and the pin that the objective of the invention is to overcome above walking machine, 9 parts all are fixed parts, can not regulate and change traveling gear walking angle in the process of walking, the needs that adapt to open-air complex environment, can not satisfy the needs of automation process equipment, walking machine is at walking process, tilt, swaying style, about fall down, fall down front and back, can not deliver heavy thing and wide type thing, travel height in the process of walking, when width increases, exist defective and weak point that shake up and down increases, the present invention is to provide the quadrangle limb pin of whole concertina type structures of 9 parts and local concertina type structure and use switching mechanism more, many is in a rotation garden in all 360 ° with switching mechanism, the eccentric shaft that has designed all setting angles in a plurality of gardens promotes many limbs pin, replace a step pitch with a plurality of step pitches, taking over angle dwindles, the height of walking and width increase, walking robot, in the process of walking, balance all around, take over reduced height up and down, climbable gradient increases, and shake highly reduces up and down, stability and balance are good, carrying capacity increases, and adapts to overlength, super wide heavy hauling operation and other operations.

To achieve the above object, 9 parts quadrilateral walking robot with limbs and feet of the present invention: by chain drive, speed change system, driving system, switching mechanism, turning guide piece and mechanism, electrical equipment, anchor fitting, bearing set, movable blocking device, limb pin installation system, vibration insulating system, the limb pin is formed.

Chain drive: slightly

Speed change system: slightly

Driving system: slightly

Converting member

Half garden eccentric shaft part: by radius eccentric body [7], garden heart connect apertures [1], eccentric shaft [2] is formed.Radius eccentric body [7] is made into strip shape, garden shape.At strip shape, garden shape radius eccentric body [7] straight line center, diameter garden make garden heart connect apertures [1] in the heart.Link an end of eccentric shaft [2] in the garden of the limit of strip shape end, garden shape on week, constitute half garden eccentric shaft part, the end that eccentric shaft [2] does not link is a head end, and the end that half garden eccentric body [7] is gone up making garden heart connect apertures [1] is a tail end.Attached structural representation Fig. 1.

The all eccentric shaft parts in garden: by diameter eccentric body [7], the all connect apertures [3] in garden, eccentric shaft [2] is formed, diameter eccentric body [7] is made into strip shape, garden shape, and on strip shape, garden shape diameter eccentric body [7] central line, an end is made periphery knot hole [3], garden on the diameter, the other end links an end of eccentric shaft [2], the all eccentric shaft parts in formation garden, the end that eccentric shaft [2] does not link is a head end, an end of going up making garden week connect apertures [3] at diameter eccentric body [7] is a tail end.Attached structural representation Fig. 2.

Half garden center shaft spare: by radius eccentric body [7], half garden connect apertures [4], center shaft [5] is formed, radius eccentric body [7] is made into strip shape, garden shape, at strip shape, garden shape radius eccentric body [7] straight line center, the diameter garden links an end of center shaft [5] in the heart, at straight line center edge end, go up in garden week and make half garden connect apertures [4], structure becomes half garden center shaft spare, the end that center shaft [5] does not link, be head end, going up an end of making half garden connect apertures [4] at radius eccentric body [7] is tail end.Attached structural representation Fig. 3.

Bridgeware

The dual-purpose bridgeware: promptly two eccentric shafts [2] are installed on two garden round angles the switching mechanism that constitutes two working processs with horizontal transmission system [9] and are called the dual-purpose bridgeware.By half garden eccentric shaft part, all eccentric shaft parts in garden, half garden center shaft spare, eccentric shaft plane bearing [6] is formed.Eccentric shaft [2] is contained in the plane bearing [6], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden center shaft spare, eccentric shaft [2] head with half garden eccentric shaft part links with all connect apertures [3] tails in the garden of all eccentric shaft part one ends in garden successively, other end eccentric shaft [2] head links with half garden connect apertures [4] tail of half garden center shaft spare, eccentric shaft [2] is forward parallel successively to be attached at same garden on week, garden week setting angle is 180 ° between two eccentric shafts [2], two eccentric shafts [2] are installed in 0 °, on 180 ° of all angles in these gardens, constitute the dual-purpose bridgeware, one end of garden heart connect apertures [1] is a tail end, and an end of center shaft [5] is a head end.Attached structural representation Fig. 4.

With half garden eccentric shaft part, the all eccentric shaft parts in garden, half garden center shaft spare is integrated, and is made into a single piece, by garden heart connect apertures [1], eccentric body [7], eccentric shaft [2], center shaft [5] is formed, and is configured to the dual-purpose bridgeware, one end of garden heart connect apertures [1] is a tail end, and an end of center shaft [5] is a head end.Attached structural representation Fig. 5.

Three use bridgeware: be made up of half garden eccentric shaft part, two of all eccentric shaft parts in garden, half garden center shaft spare, three of plane bearings.Eccentric shaft is contained in the plane bearing, according to half garden eccentric shaft part, all eccentric shaft parts in garden, the sequencing of half garden center shaft spare, garden week connect apertures tail with eccentric spindle nose in half garden and all eccentric shaft part one ends in garden links successively, and half garden connect apertures of other end eccentric shaft and half garden center shaft links.Three eccentric shafts are forward parallel successively to be attached at same garden on week, garden week setting angle is 120 ° between three eccentric shafts, three eccentric shafts are installed on all angles in 0 °, 120 °, 240 ° these gardens, structure becomes three to use bridgeware, one end of garden heart connect apertures is a tail end, and an end of center shaft is a head end.

With half garden eccentric shaft part, three of all off-axis spares in garden, half garden center shaft spare is integrated, and is made into single piece by the garden axle, eccentric body, eccentric shaft, center shaft is formed, and structure becomes the triangle bridgeware, and an end of garden heart connect apertures is a tail end, and an end of center shaft is a tail end.

The four-function bridgeware: by half garden eccentric shaft part, two of all eccentric shaft parts in garden, half garden center shaft spare, [6] four compositions of plane bearing.Eccentric shaft [2] is contained in the plane bearing [6], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden center shaft spare, eccentric shaft [2] head with half garden eccentric shaft part links with all connect apertures [3] tails in the garden of all eccentric shaft part one ends in garden successively, and other end eccentric shaft [2] links with half garden connect apertures [4] tail of half garden center shaft spare.Four eccentric shafts [2] are forward parallel successively to be attached at same garden on week, garden week setting angle is 90 ° between four eccentric shafts [2], four eccentric shafts [2] are installed on all angles in 0 °, 90 °, 180 °, 270 ° these gardens, structure becomes the four-function bridgeware, one end of garden heart connect apertures [1] is a tail end, and an end of center shaft [5] is a head end.Attached structural representation Fig. 6.

With half garden eccentric shaft part, three of all eccentric shaft parts in garden, half garden center shaft spare is integrated, and is made into single piece, by garden heart connect apertures [1], eccentric body [7], eccentric shaft [2], center shaft [5] is formed, and is configured to the four-function bridgeware, one end of garden heart connect apertures [1] is a tail end, and an end of center shaft [5] is a head end.Attached structural representation Fig. 7.

Five use bridgeware: by half garden eccentric shaft part, four of all eccentric shaft parts in garden, half garden center shaft spare, [6] four compositions of plane bearing, eccentric shaft [2] is contained in the plane bearing [6], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden center shaft spare, eccentric shaft [2] head with half eccentric part links with all connect apertures [3] tails in the garden of all eccentric shaft parts in garden successively, other end eccentric shaft [2] head links with garden week connect apertures [3] tail of garden week eccentric shaft part, other end eccentric shaft [2] head links with half garden connect apertures [4] of half garden center shaft spare, five eccentric shafts [2] are forward parallel successively to be attached on the round angle of same garden, garden week the binding angle being installed between five eccentric shafts [2] is 72 °, and five eccentric shafts [2] are installed in 0 °, 72 °, 144 °, 216 °, on 288 ° of all angles in these gardens, structure becomes five to use bridgeware, one end of garden heart connect apertures [1] is a tail end, and an end of center shaft [5] is a head end.Attached structural representation Fig. 8.

With half garden eccentric shaft part, four of all eccentric shaft parts in garden, half garden center shaft spare is integrated, and is made into a single piece, by garden heart connect apertures [1], eccentric body [7], eccentric shaft [2], center shaft [5] is formed.Be configured to five and use bridgeware, an end of garden heart connect apertures [1] is a tail end, and center shaft [5] one ends are head end.Attached structural representation Fig. 9.

Six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares: by three, four, garden week setting angle is 120 ° between the five usefulness bridgeware eccentric shafts [2], 90 °, 72 ° of structure linking methods, with six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60, garden week setting angle is 60 ° between 72 eccentric shafts [2], 45 °, 36 °, 30 °, 24 °, 20 °, 18 °, 15 °, 12 °, 10 °, 9 °, 8 °, 6 °, 5 °, binding is mounted to six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares.

The plane bearing of installing on the bridgeware eccentric shaft according to the design needs, can be installed and plane bearing is not installed or other axle sleeves are installed.

When adopting two, three, four, five usefulness, four, six, eight, the ten limb pin switching mechanisms of two, three, four, five usefulness bridgeware individual constructions, according to the design needs, can design and installation and not design and installation half garden center shaft.

Adopt many of two, three, four, five usefulness bridgewares, structure becomes two, three, four, five many limbs of usefulness pin switching mechanisms, according to the needs of many limbs pin, and a plurality of half garden center bearing pilot bearing and the covers of design and installation.

According to the design needs,, be attached at successively on all angles in same garden two, three, four eccentric shafts; On an eccentric shaft, link the catch bar of two, three, four limb pin and promote connecting rod.

Two limb pin switching mechanisms: by horizontal transmission system, about single form with bridgeware.The garden heart connect apertures tail end of the left end axle center of horizontal transmission system and left bridgeware links, the tail end of the garden heart connect apertures of the right-hand member axle center of horizontal transmission system and right bridgeware links, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, garden week setting angle is that 180 ° of left and right sides eccentric shafts are installed on all angles in 0 ° 180 ° these gardens between the eccentric shaft of the left and right sides, and structure becomes two limb pin switching mechanisms.

Dual-purpose switching mechanism

The switching mechanism of dual-purpose four-leg: by two of dual-purpose bridgewares, horizontal transmission system [9], half garden center bearing pilot bearing and cover [8] are formed.Garden heart connect apertures [1] tail of horizontal transmission system [9] transmission shaft two ends and dual-purpose bridgeware one end is linked, the other end half garden center shaft [5] head is contained in center bearing pilot bearing and the cover [8], overcoat and bearing support link, two ends, left and right sides eccentric shafts [2] are parallel to be attached at same garden on week, the tail end eccentric shaft [2] of dual-purpose bridgeware, about be installed on 0 °, 180 ° these gardens week angle, structure becomes the switching mechanism of dual-purpose four-leg.Annex II four-leg switching mechanism structural representation Figure 10.

Dual-purpose eight limb pin switching mechanisms: by left and right sides dual-purpose switching mechanism each two, horizontal transmission system, about half garden center shaft, bearing and each one in cover form.The structure of pressing the switching mechanism of dual-purpose four-leg links installation method with structure, on the eccentric shaft of first the dual-purpose bridgeware in two ends, the dual-purpose four-leg switching mechanism left and right sides, second dual-purpose bridgeware is each one about link installing, about the head end of second dual-purpose bridgeware eccentric shaft, link half garden center shaft about installation, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides dual-purpose bridgeware, about be installed in 0 °, 180 °, 0 °, on 180 ° of all angles in these gardens, structure becomes 0 °, 180 ° dual-purpose eight limb pin switching mechanisms.

Dual-purpose 12 limb pin switching mechanisms: by left and right sides dual-purpose bridgeware each three, horizontal transmission system, about half garden center shaft, bearing and each one in cover form.The structure of pressing dual-purpose eight limb pin switching mechanisms links installation method with structure, head end at dual-purpose eight two ends, the limb pin switching mechanism left and right sides second dual-purpose bridgeware eccentric shafts, link the 3rd dual-purpose bridgeware about installation, about the head end of the 3rd dual-purpose bridgeware eccentric shaft half garden center shaft link to be installed, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides dual-purpose bridgeware, about be installed in 0 °, 180 °, 0 °, 180 °, 0 °, on 180 ° of all angles in these gardens, structure becomes 0 °, 180 ° dual-purpose 12 limb pin switching mechanisms.

The switching mechanism of many limbs of dual-purpose pin: by many of left and right sides dual-purpose bridgewares, horizontal transmission system, about half garden center shaft, bearing and overlap many and form, the structure of pressing dual-purpose eight limb pin switching mechanisms links installation method with structure, on the half garden center shaft at dual-purpose eight limb pin switching mechanism two ends, need by design, continue to link the structure of left and right sides dual-purpose bridgeware and half garden center shaft, bearing and cover being installed or pressing dual-purpose eight limb pin switching mechanisms, repeat to link, structure becomes 0 °, the switching mechanism of 180 ° of needed many limbs of dual-purpose pin.

Three use switching mechanism

The six limb pin switching mechanisms of three usefulness: by about three usefulness bridgewares each one, horizontal transmission system form.The garden heart connect apertures tail end of the left end axle center of horizontal transmission system and left bridgeware links, the garden heart connect apertures tail end of the right-hand member axle center of horizontal transmission system and right bridgeware links, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed on 0 °, 120 °, 240 ° these gardens week angle, structure becomes 0 °, 120 °, 240 ° three usefulness, six limb pin switching mechanisms.

The 12 limb pin switching mechanisms of three usefulness: by about three usefulness bridgewares each two, horizontal transmission system, about half garden center shaft, bearing and each one or each two in cover form.Structure by the six limb pin switching mechanisms of three usefulness links installation method with structure, head end at three usefulness, six two ends, the limb pin switching mechanism left and right sides first three usefulness bridgeware eccentric shafts, link second three of installation and use bridgeware, head end at second three usefulness bridgeware eccentric shaft, link half garden center shaft is installed, bearing and cover, half garden center shaft is contained in the bearing, in the bearing dress overcoat, overcoat links with solid frame, two ends, left and right sides eccentric shaft parallelly is attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed in 0 °, 120 °, 240 °, 0 °, 120 °, on 240 ° of all angles in these gardens, structure becomes 0 °, 120 °, 240 ° three usefulness, 12 limb pin switching mechanisms.

Structure by the six limb pin switching mechanisms of three usefulness links installation method with structure, head end at three usefulness, six two ends, the limb pin switching mechanism left and right sides first three usefulness bridgeware eccentric shafts, link first half garden center shaft is installed, bearing and cover, on first half garden center shaft, link second three of installation and use bridgeware, head end at second three usefulness bridgeware eccentric shaft, link again second half garden center shaft is installed, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed in 0 °, 120 °, 240 °, 0 °, 120 °, on 240 ° of all angles in these gardens, structure becomes 0 °, 120 °, 240 ° three usefulness, 12 limb pin switching mechanisms.

Three many limbs of usefulness pin switching mechanisms: by about with many of bridgewares, horizontal transmission system, about half garden center shaft, bearing and overlap many and form.Structure by the 12 limb pin switching mechanisms of three usefulness links installation method with structure, on the half garden center shaft at three usefulness, 12 limb pin switching mechanism two ends, need by design, continue to link three usefulness bridgewares and half garden center shaft, bearing and cover about installation, structure becomes 0 °, 120 °, 240 ° three required many limbs of usefulness pin switching mechanisms.

Four-function switching mechanism

Four-function eight limb pin switching mechanisms: by each one of left and right sides four-function bridgeware, horizontal transmission system [9], about half garden center shaft, bearing and each composition of cover [8].Half garden center shaft [5] head is contained in bearing and the cover [8] about garden heart connect apertures [1] the tail binding of horizontal transmission system [9] transmission shaft two ends and left and right sides four-function bridgeware one end, the other end, overcoat links with solid frame, two ends, left and right sides eccentric shafts [2] are parallel to be attached at same garden on week, four-function bridgeware eccentric shaft [2], about be installed on 0 °, 90 °, 180 °, 270 ° these gardens week angle, structure becomes 0 °, 90 °, 180 °, 270 ° four-function eight limb pin switching mechanisms.Four-function eight limb pin switching mechanism structural representation Figure 11.

Four-function 16 limb pin switching mechanisms: by four of left and right sides four-function bridgewares, horizontal transmission system, about half garden center shaft, bearing and each composition of cover.The structure of pressing four-function eight limb pin switching mechanisms links installation method with structure, on half garden center shaft of first the four-function bridgeware in four-function eight two ends, the limb pin switching mechanism left and right sides, link each one of second four-function bridgeware is installed, about the head end of second four-function bridgeware eccentric shaft, link half garden center shaft about installation, bearing and cover, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides four-function bridgeware, about be installed in 0 °, 90 °, 180 °, 270 °, 0 °, 90 °, 180 °, on 270 ° of all angles in these gardens, structure becomes 0 °, 90 °, 180 °, 270 ° four-function 16 limb pin switching mechanisms.

Many limbs of four-function pin switching mechanism: by many of left and right sides four-function bridgewares, horizontal transmission system, half garden center shaft, bearing and overlap many compositions, press the structure and structure linking method of four-function 16 limb pin switching mechanisms, on half garden center shaft of second the four-function bridgeware in four-function 16 two ends, the limb pin switching mechanism left and right sides, need by design, continue to link installation left and right sides four-function bridgeware, half garden center shaft, bearing and overlap many, structure becomes 0 °, 90 °, 180 °, the switching mechanism of 270 ° of needed many limbs of four-function pin.

Five use switching mechanism

The ten limb pin switching mechanisms of five usefulness: by about each one of five usefulness bridgeware, horizontal transmission system, about half garden center shaft, bearing and each composition of cover.Horizontal transmission system transmission shaft two ends with about the garden heart connect apertures binding of five usefulness bridgewares, one end, half garden central shaft heads is contained in center shaft and the cover about the other end, overcoat links with solid frame, left and right sides eccentric shaft is parallel to be attached at same garden on week, about five use the bridgeware eccentric shaft, about be installed on 0 °, 72 °, 144 °, 216 °, 288 ° these gardens week angle, structure becomes 0 °, 72 °, 144 °, 216 °, 288 ° five usefulness, ten limb pin switching mechanisms.

The 20 limb pin switching mechanisms of five usefulness: by about each two of five usefulness bridgewares, horizontal transmission system, about half garden center shaft, bearing and each two composition of cover.Structure by the ten limb pin switching mechanisms of five usefulness links installation method with structure, on half garden center shaft of first the five usefulness bridgeware in five usefulness, ten two ends, the limb pin switching mechanism left and right sides, link each one of second five usefulness bridgeware is installed, about the head end of second five usefulness bridgeware eccentric shaft, about be installed in these gardens week of 0 °, 72 °, 144 °, 216 °, 288 °, 0 °, 144 °, 216 °, 288 ° on the angle, structure becomes 0 °, 72 °, 144 °, 216 °, 288 ° five usefulness, 20 limb pin switching mechanisms.

Five many limbs of usefulness pin switching mechanisms: by about many of five usefulness bridgewares, horizontal transmission system, about half garden center shaft, bearing and overlap many compositions.Structure by the 20 limb pin switching mechanisms of five usefulness links installation method with structure, on half garden center shaft of second the five usefulness bridgeware in five usefulness, 20 two ends, the limb pin switching mechanism left and right sides, need by design, five used bridgeware about the continuation binding was installed, half garden center shaft, bearing and cover, structure become 0 °, 72 °, 144 °, 216 °, 288 ° needed five many limbs of usefulness pin switching mechanisms.

Six, eight, nine, ten, 12,15,18,20,24,30,36,40,60,70 many limbs of dual-purpose pin switching mechanisms: by two, three, four, the structure of five usefulness switching mechanisms links installation method with structure, with six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares, binding is mounted to six, eight, nine, ten, 12,15,18,20,24,30,40,45,60,70 many limbs of dual-purpose pin switching mechanisms.

The radius of rotation of switching mechanism eccentric shaft according to the design needs, is designed to the identical radius of rotation of size, the radius of rotation that size is inequality.

The radius of rotation of switching mechanism eccentric shaft according to the design needs, from the eccentric shaft at horizontal transmission system two ends, increases radius of rotation from inside to outside one by one, otherwise, in the eccentric shaft at horizontal transmission system two ends, outwards dwindle radius of rotation one by one.

The switching mechanism of many limbs pin, the radius of rotation of eccentric shaft is according to the design needs, from the eccentric shaft at horizontal transmission system two ends, and one group of increases from inside to outside, another group is dwindled, and radius of rotation is dwindled in increase so repeatedly.Otherwise from the eccentric shaft at horizontal transmission system two ends, one group is dwindled from inside to outside, and another organizes increase, dwindles the increase radius of rotation so repeatedly.Increase simultaneously from two ends, the horizontal transmission system left and right sides and to dwindle, left end increases, right-hand member dwindles, left end dwindles, right-hand member increases radius of rotation.

Turning guide piece and mechanism:

The using artificial arm directly promotes the guiding mechanism of turning, the walking robot of the guiding of turning, and turning guiding mechanism and handle are directly installed on first group of one row of walking robot limb pin installation system.

Use the pusher arm of turning guide piece and mechanism, the walking robot of the guiding of turning, turning guide piece and mechanism are installed on second group of limb pin of walking robot installation system, and the catch bar of guiding mechanism and first group of one row's limb pin installation system link.

Electrical equipment: slightly

Anchor fitting: slightly

Bearing set: form by preceding left and right sides bearing support and the left and right sides, back bearing support, comprise the fixed bearing device, preceding lift bearing device, back lift bearing device, the height-rise descending branch bearing apparatus in front and back.

The fixed bearing device: by preceding left and right sides fixed support and the left and right sides, back fixed support, shock absorber is that damping spring is formed.Needs are vertical with anchor fitting to be installed preceding fixed support according to designing, vertical bank is installed or the vertical-horizontal installation forward, back fixed support vertical bank is backward installed or the vertical-horizontal installation, about fixing rack structure identical, mode of connection is identical, a preceding support bracket fastened end and anchor fitting link, one end of the preceding support bracket fastened other end and shock absorber links, the other end of shock absorber and fulcrum shaft link, support bracket fastened end in back and anchor fitting link, one end of the support bracket fastened other end in back and shock absorber links, and the other end of shock absorber and fulcrum shaft link, structure fixed bearing device.

Preceding lift bearing device: by preceding left and right sides lifting support, back left and right sides fixed support, shock absorber is formed.Preceding left and right sides lifting support, back left and right sides fixing rack structure is identical, mode of connection is identical, preceding lifting support is made of vertical lift partial sum tilt telescopic part and horizontal telescopic section, the end that can put into extensible member and be the cylinder fluid cylinder is fixed end, the other end of extensible member is movable end, the fixed end of preceding lifting support vertical component and anchor fitting link, the fixed end of the movable end of vertical component and tilt telescopic part or horizontal telescopic section links, the movable end of tilt telescopic part or horizontal telescopic section and an end of shock absorber link, the other end of shock absorber and fulcrum shaft link, back fixed support recedes support bracket fastened end in back and anchor fitting binding is installed, one end of the support bracket fastened other end in back and shock absorber links, and the other end of shock absorber becomes preceding lift bearing device with structure.

Back lift bearing device: by preceding left and right sides fixed support, back left and right sides lifting support shock absorber is formed, preceding left and right sides fixed support, back left and right sides lifting support structure is identical, mode of connection is identical, the fixed support vertical installation of installing or turn forward in the preceding left and right sides with anchor fitting, a preceding support bracket fastened end and anchor fitting link, one end of the preceding support bracket fastened other end and shock absorber links, the other end of shock absorber and fulcrum shaft link, and back lifting support is by the vertical lift part, tilt telescopic part or horizontal telescopic section constitute, the fixed end of the vertical component of back lifting support is vertical with anchor fitting to be linked, and the fixed end of the movable end of back lifting part and inclined lift part links, and the movable end of inclined lift part and an end of shock absorber link, the other end of shock absorber and fulcrum shaft link, and structure becomes the back lift bearing device.

The height-rise descending branch bearing apparatus in front and back: by preceding left and right sides lifting support, back left and right sides lifting support shock absorber is formed, front and back lifting support structure is identical, constitute by vertical lift part tilt telescopic part or horizontal telescopic section, the front and back lifting support forward, recede and install or the level installation, link vertical of fixed end of preceding lifting support vertical lift part with anchor fitting, the fixed end of the movable end of vertical component and tilt telescopic part or horizontal telescopic section links, tilt, one end of the movable end of telescopic section or horizontal telescopic section and shock absorber links, and the other end of shock absorber and fulcrum shaft link.Link vertical of fixed end of back lifting support vertical lift part with anchor fitting, the fixed end of the movable end of vertical lift part and tilt telescopic part or horizontal telescopic section links, the movable end of tilt telescopic part or horizontal telescopic section and an end of shock absorber link, the other end of shock absorber and fulcrum shaft link, height-rise descending branch bearing apparatus before and after structure becomes.

Movable blocking device: slightly

Limb pin installation system: by anchor fitting, bearing set, movable blocking device, switching mechanism, fulcrum shaft is formed.Comprise one group of switching mechanism limb pin installation system, two groups of switching mechanism limb pin installation systems are organized switching mechanism limb pin installation system more.

One group of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation system.

One group of one row's fulcrum shaft limb pin installation system: form by anchor fitting [10], bearing set [12], one group of switching mechanism [13], row's fulcrum shaft [11].The power wheel of one group of switching mechanism [13] and perpendicular transmission system front end link, one group of switching mechanism [13] links with the top position of anchor fitting [10], one end of the lower position of anchor fitting [10] and bearing set [12] links, the other end of bearing set [12] and row's fulcrum shaft link, one group of switching mechanism [13] laterally with vertically vertical installation of anchor fitting [10], one end of left and right sides bearing set [12] or a vertical end tilt to install or vertical installation with the edge, the left and right sides of anchor fitting [10] lower position, the other end of bearing set [12] turns forward and installs or the level installation, one row's fulcrum shaft [11] laterally with vertically vertical installation of anchor fitting [10], the center shaft of fulcrum shaft and switching mechanism, eccentric shaft parallel installation up and down.One group of switching mechanism [13] promptly is installed in anchor fitting [10], bearing set [12], and the top position of row's fulcrum shaft [11] is installed in bearing set [12] again, on the anterior position of row's fulcrum shaft [11].Switching mechanism, perpendicular transmission system, anchor fitting [10], bearing set [12], row's fulcrum shaft [11] links up and down, and structure becomes one group of one row's fulcrum shaft limb pin installation system.Attached one group of one many limbs of row pin installation system structural representation Figure 12.

One group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems, structure by one group of one row's fulcrum shaft limb pin installation system links installation method with structure, on bearing set, backward again horizontal parallel link successively second and third is installed, four, five, six, seven, eight, nine row's fulcrum shaft structures become one group, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems.Attached one group of two many limbs of row pin installation system structural representation Figure 13.

Again according to the design needs, two sections limb pin installation system about row's fulcrum shaft is designed to, left and right sides multistage limb pin installation system, a fulcrum shaft limb pin installation system, how much length of fulcrum shaft determines length according to the limb pin.

When one group of switching mechanism was installed on two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems, switching mechanism still was installed in the last anterior position of anchor fitting, bearing set two, three, four, five, six, seven, eight, nine row's fulcrum shafts.

Two groups of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems

Two group of one row's fulcrum shaft limb pin installation system: by two of anchor fittings, bearing set, perpendicular transmission system, movable blocking device, first group of switching mechanism, second group of switching mechanism, first group of one row's fulcrum shaft, second group of one row's fulcrum shaft formed.The front end of movable blocking device and first anchor fitting rear end link, and the front end of the rear end of movable blocking device and second anchor fitting links.The driving device of the power wheel of first group of switching mechanism and perpendicular transmission system front end links, and the driving device of perpendicular transmission system rear end and the power wheel of second group of switching mechanism link.One, two groups of switching mechanisms are installed in the top position of one, two anchor fitting, and an end of the lower position of anchor fitting and bearing set links, the other end of bearing set and fulcrum shaft binding.First group of switching mechanism laterally vertically is vertically mounted on the top position of first anchor fitting front end with an anchor fitting, second group of switching mechanism laterally vertically is vertically mounted on the top position of two anchor fitting front ends with two anchor fittings.Left and right sides front support bracket is installed in the lower position of anchor fitting front end, and an end of front support bracket or a vertical end tilt to install or vertical installation with the edge, the left and right sides of anchor fitting front end lower position, and the other end of bearing support turns forward and installs or the level installation.Left and right sides rear support bracket is installed in the lower position of anchor fitting rear end, and an end of rear support bracket or a vertical end tilt to install or vertical installation with the edge, the left and right sides of anchor fitting rear end lower position, and the other end of bearing support recedes and installs or the level installation.Row's fulcrum shaft of first group, second group laterally with the vertical vertical installation of anchor fitting, parallel installation about two group of one center shaft of arranging fulcrum shaft and switching mechanism, the eccentric shaft.Two groups of switching mechanisms promptly are installed in the top position of anchor fitting, bearing support, fulcrum shaft; First group of switching mechanism is installed in front support bracket again, on the anterior position of first group of one row's fulcrum shaft; Second group of switching mechanism is installed in rear support bracket, and on the anterior position of second group of one row's fulcrum shaft, structure becomes two group of one row's fulcrum shaft limb pin installation system.

Two group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems: the structure by two group of one row's fulcrum shaft limb pin installation system links installation method with structure, on rear support bracket, again horizontal line link successively install second and third, four, five, six, seven, eight, nine row's fulcrum shafts, structure becomes one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems.

Two group one, two, three, four, five, six, seven, eight, when nine row fulcrum shaft limb pin installation systems and other limb pin installation systems polyphones use, select except that movable blocking device, one, two group of switching mechanism is installed on the same anchor fitting.

Two group of one row, two group one, two row's limb pin installation systems, the rotating speed of the rotating speed of first group of switching mechanism and second group of switching mechanism, slow before being designed to, the back is fast according to the needs that designed use is used, preceding less, back different rotating speeds how.

The limb pin installation system of many group switching mechanism series arrangement

The limb pin installation system of one group of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft series arrangement

Triad one row's fulcrum shaft limb pin installation system: being installed by one group of two row's fulcrum shaft limb pin is three groups, two groups of movable blocking devices, perpendicular two groups of compositions of transmission system.The front end driving device of first group of perpendicular transmission system and the power wheel of first group of switching mechanism link, the driving device of first group of perpendicular transmission system rear end and the driving wheel of second two groups of switching mechanism link, the driving device of the power wheel of second two groups of switching mechanism and second group of perpendicular transmission system front end links, the driving device of second group of perpendicular transmission system rear end and the power wheel of the 3rd three groups of switching mechanisms link, the anchor fitting of first group of activity blocking device front end and first group of one row's fulcrum shaft limb pin installation system links, the anchor fitting of the rear end of first group of activity blocking device and second group of one row's fulcrum shaft limb pin installation system links, the anchor fitting rear end of second group of one row's fulcrum shaft limb pin installation system and the front end of second group of activity blocking device link, the anchor fitting front end of the rear end of second group of activity blocking device and the 3rd group of one row's fulcrum shaft limb pin installation system links, and structure becomes three group of three row's fulcrum shaft limb pin installation system of triad one row's series arrangement.

The limb pin installation system of triad two, three, four, five, six, seven, eight, nine row's fulcrum shaft series arrangement: by one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems, two groups of three groups of activity blocking devices, perpendicular two groups of compositions of transmission system.Arranging the installation of fulcrum shaft limb pin with one group two, three, four, five, six, seven, eight, nine is two groups of three groups of activity blocking devices, two groups of perpendicular transmission systems, structure by triad three row's fulcrum shaft limb pin installation systems links installation method with structure, and structure becomes three group six, nine, 12,15,18,21,27 row's fulcrum shaft limb pin installation systems of triad two, three, four, five, six, seven, eight, nine row's series arrangement.

The limb pin installation system of a plurality of one group of one row's fulcrum shaft series arrangement: one group of one row's fulcrum shaft limb pin installation system organized more, two groups of movable blocking devices, and perpendicular transmission system is organized composition more.One group of one row's fulcrum shaft limb pin installation system organized more, perpendicular transmission system is organized more, according to the design needs, structure by triad three row's fulcrum shaft limb pin installation systems links installation method with structure, on the power wheel of the rear end of the 3rd group of one row's fulcrum shaft limb pin installation system anchor fitting, switching mechanism, continue to link one group of one row's fulcrum shaft limb pin installation system be installed, perpendicular transmission system, movable blocking device, structure becomes many groups one row's limb pin installation systems of a plurality of one group of series arrangement of designing institute needs.

A plurality of one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems: arrange fulcrum shaft limb pin installation systems by one group two, three, four, five, six, seven, eight, nine and organize more, movable lock is installed and is put organize more, and perpendicular transmission system is organized composition more.With one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems are organized more, movable blocking device is organized more, perpendicular transmission system is organized more, according to the design needs, by triad six, nine, 12,15,18,21, the structure of 27 row's fulcrum shaft limb pin installation systems links installation method with structure, at the 3rd group six, nine, 12,15,18,21, the anchor fitting rear end of 27 row's fulcrum shaft limb pin installation systems, on the switching mechanism power wheel, continue to use movable blocking device, perpendicular transmission system links one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems, many rows fulcrum shaft limb pin installation system that structure becomes the designing institute of series arrangement to need.

The limb pin installation system of two groups of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft series arrangement

Three two groups one row's fulcrum shaft limb pin installation systems: by three groups of two group of one row's fulcrum shaft limb pin installation systems, two groups of movable blocking devices, perpendicular two groups of compositions of transmission system.The power wheel of the driving device of first group of perpendicular transmission system front end and the rear end switching mechanism of first two group row's fulcrum shaft limb pin installation system links, the power wheel of the driving device of first group of perpendicular transmission system rear end and the switching mechanism of second two groups one row's fulcrum shaft limb pin installation system front ends links, the power wheel of the rear end switching mechanism of the driving device of second group of perpendicular transmission system front end and second two groups one row's fulcrum shaft limb pin installation systems links, the power wheel of the front end switching mechanism of the driving device of second group of perpendicular transmission system rear end and the 3rd two groups one row's fulcrum shaft limb pin installation systems links, the rear end of the front end of first group of activity blocking device and first two group row's fulcrum shaft limb pin installation system anchor fitting links, the front end of the rear end of first group of activity blocking device and second two groups one row's fulcrum shaft limb pin installation system anchor fittings links, the rear end of the front end of second group of activity blocking device and second two groups one row's fulcrum shaft limb pin installation system anchor fittings links, the front end of the rear end of second group of activity blocking device and the 3rd two groups one row's fulcrum shaft limb pin installation system anchor fittings links, and structure becomes three group of six row's fulcrum shaft limb pin installation system of three two groups one row's series arrangement.

The limb pin installation system of three two groups two, three, four, five, six, seven, eight, nine row's fulcrum shaft series arrangement: arrange three groups of fulcrum shaft limb pin installation systems by two group two, three, four, five, six, seven, eight, nine, two groups of movable blocking devices, perpendicular two groups of compositions of transmission system.Arrange three groups of fulcrum shaft limb pin installation systems with two group two, three, four, five, six, seven, eight, nine, two groups of perpendicular transmission systems, three group of six structure of arranging fulcrum shaft limb pin installation system by three two groups one row's series arrangement links installation method with structure, and structure becomes three group 12,18,24,30,36,42,48,54 of three two groups one row's series arrangement to arrange fulcrum shaft limb pin installation systems.

The limb pin installation system of a plurality of two group of one row's fulcrum shaft series arrangement: organized by two group of one row's fulcrum shaft limb pin installation system, movable blocking device is organized more more, and perpendicular transmission system is organized composition more.Two group of one row's fulcrum shaft limb pin installation system organized more, movable blocking device is organized more, perpendicular transmission system is organized more, according to the design needs, three group of six structure and structure linking method of arranging fulcrum shaft limb pin installation system by three two groups one row's polyphone junction structures, two group of six row's fulcrum shaft limb pin installation system three two groups one row's series arrangement, on the power wheel of the rear end switching mechanism of the 3rd group of anchor fitting, continue with perpendicular transmission system, movable blocking device links two group of one row's fulcrum shaft limb pin installation system, and what structure became a plurality of two group of one row's series arrangement that designing institute needs arranges fulcrum shaft limb pin installation system more many groups.

Arrange the limb pin installation system of fulcrum shaft series arrangement for a plurality of two group two, three, four, five, six, seven, eight, nine: arrange fulcrum shaft limb pin installation systems by two group two, three, four, five, six, seven, eight, nine and organize more, movable blocking device is organized more, and perpendicular transmission system is organized composition more.With two group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems are organized more, movable blocking device is organized more, perpendicular transmission system is organized more, according to the design needs, by three two groups 1 three groups 12 of arranging series arrangement, 18,24,30,36,42, the structure of 48 row's fulcrum shaft limb pin installation systems links installation method with structure, at three two groups 1 three groups 12 of arranging series arrangement, 18,24,30,36,42,48 row's fulcrum shaft limb pin installation systems, the rear end of the 3rd group of anchor fitting, on the power wheel of the 3rd group of rear end switching mechanism, continue with perpendicular transmission system, movable blocking device, link two group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems, structure becomes a plurality of two group two of designing institute needs, three, four, five, six, seven, eight, nine row's series arrangement arranging fulcrum shaft limb pin installation system many groups more.

Many groups switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shafts mix the limb pin installation system of series arrangement

One group of limb pin installation system that mixes series arrangement with a group

A plurality of one group of one row mix the limb pin installation system of series arrangement with a plurality of one group of two row

One group of one row's two limb pin installation system mixes two group of three row's eight limb pin installation system of series arrangement with one group of one row's two limb pin, two row's four-leg installation systems

Eight limb pin installation systems: by one group of one row's two limb pin installation system, one group of one row's two limb pin, two row's four-leg installation systems, movable blocking device is formed.The perpendicular transmission system of one group of one row's two limb pin installation system is removed, with second group of one row's two limb pin, the power wheel that the perpendicular transmission system of two row's four-leg installation systems repacks perpendicular transmission system of double-purpose and first group of one row, two limb pin installation system switching mechanisms into links, the front end of movable blocking device and first group of one row two limb pin installation system anchor fitting rear end link, the rear end of movable blocking device and second group of one row's two limb pin, the front end of two row's four-leg installation system anchor fittings links, and structure becomes to mix two group of three row's eight limb pin installation system of series arrangement.

Needs that use according to designed use again, the structure of system is installed by the two group of three row's eight limb pin that mixes series arrangement linking method is installed with structure, on two group of three row's eight limb pin installation system of first group of mixed system, continue with perpendicular transmission system, movable blocking device link install second and third, four groups mix the two group of three row's eight limb pin installation system of series arrangement or the limb pin installation systems of other structures, what structure became needed mixing series arrangement arranges many limbs pin installation system more many groups.

A plurality of one group of limb pin installation system that mix series arrangement with a plurality of a group: by one one group or a plurality of one group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine row fulcrum shaft limb pin installation systems and one one groups or a plurality of one group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation system series arrangement become the limb pin installation system of one group of mixed system, on first group of hybrid limb pin installation system, continue with perpendicular transmission system, movable blocking device links installs second, three, four, the limb pin installation system of five groups of hybrid limb pin installation systems or other structures, structure become design to use many limbs of row more than many groups pin installation system of needed mixing series arrangement.

A plurality of one group of one row mix the limb pin installation system of series arrangement with a plurality of two group of one row

A plurality of one group of one row's two limb pin installation system mix three group of three row's ten limb pin installation system of series arrangement with two group of one row's four-leg installation system

Ten limb pin installation systems: by one group of one row's two limb pin installation system, two groups of dual-purpose one row's four-leg installation systems, movable blocking device is formed.Repack the perpendicular transmission system of one group of one row's limb pin installation system into double-purpose perpendicular transmission system, the power wheel binding of first group of four-leg switching mechanism in perpendicular transmission system rear end and two groups of dual-purposes, the one row's four-leg installation system, the rear end of the front end of movable blocking device and one group of one row's two limb pin installation system anchor fitting links, the front end of the rear end of movable blocking device and two groups of dual-purpose one row's four-leg installation system anchor fittings links, and structure becomes to mix three group of three row's ten limb pin installation system of series arrangement.

Use needs according to designed use again, link installation method by three group of three row's limb pin installation system structure of mixing series arrangement with structure, arrange on the ten limb pin installation systems at first group of three group three of mixing series arrangement, continue with perpendicular transmission system, movable blocking device binding is installed second and third, four groups of three groups three of mixing series arrangement are arranged ten limb pin installation systems or two group of one row's four-leg installation system, the limb pin installation system of other structures, structure become many limbs of row more than many groups pin installation system of needed mixing series arrangement.

A plurality of-group is mixed the limb pin installation system of series arrangement with a plurality of two groups: by one one group or a plurality of one group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two or three, four, five, six, seven, eight, nine arrange and one two groups or a plurality of two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation system series arrangement become the limb pin installation system of one group of mixed system, on first group of hybrid limb pin installation system, continue with perpendicular transmission system, movable blocking device links installs second, three, four, the limb pin installation system of five groups of hybrid limb pin installation systems or other structures, structure become design to use many limbs of row more than many groups pin installation system of needed mixing series arrangement.

Use needs according to designed use again, will be a plurality of two groups mixes the series arrangement form with a plurality of one, two group, structure becomes needed organize to arrange many limbs pin installation systems more more.

Two groups, two groups of above polyphones, many groups are mixed polyphone, and the rotating speed of many groups switching mechanism that structure becomes is identical, and the original setting angle of eccentric shaft is identical.

Vibration insulating system: comprise seat cushion vibration damping, fulcrum shaft vibration damping, foot's vibration damping, toe vibration damping four parts.

Form by spring steel plate, damper spring and other vibration damping equipment.Spring steel plate, damper spring and other vibration damping equipment general designation shock absorber.

Seat cushion vibration damping: by many groups of shock absorber or a plurality of the composition.One end of shock absorber and mounting link, and the shock absorber other end and frame link, and structure becomes the seat cushion vibration damping.

Fulcrum shaft vibration damping: by many groups of shock absorber or a plurality of the composition.One end of shock absorber and bearing set link, and the other end of shock absorber and fulcrum shaft link, and structure becomes the fulcrum shaft vibration damping.

Foot's vibration damping: by many groups of shock absorber or a plurality of the composition.One end of shock absorber and trammel beam link, and the shock absorber other end and sole end face link, and structure becomes foot's vibration damping.

Toe vibration damping: by many groups of shock absorber or a plurality of the composition.One end of shock absorber and foot plate surface link, and the other end of shock absorber and toe link, and have an end and the foot plate surface of the shock absorber of unidirectional feeder wheel to link, and the axle of the other end of shock absorber and unidirectional feeder wheel links, and structure becomes the toe vibration damping.

Vibration insulating system: according to the needs of designed use use, seat cushion, fulcrum shaft, foot, toe four parts all mounting dampers be integral vibration damping, in four parts on arbitrary part or the arbitrary two local vibration dampings that cry of partly going up mounting dampers, four parts not mounting dampers be no vibration insulating system.

9 parts quadrangle limb pin

Fixed limb pin:, promote connecting rod [17], dowel bar [18], walking rod [19] by catch bar [16], contraction pole [20], cramp bar [21], bearing connecting rod [22], trammel beam [23], pin [24] 9 parts, the power arm, walking arm, supporting arm and pin four parts that constitute leg are formed.The power arm of catch bar [16] and the eccentric shaft of switching mechanism link, the fulcrum of catch bar [16] links with an end that promotes connecting rod [17], promoting the other end of connecting rod [17] and the power arm of dowel bar [18] links, the power arm of the resistance arm of dowel bar [18] and contraction pole [20] links, one end of the resistance arm of contraction pole [20] and bearing connecting rod [22] links, and the middle front end of the fulcrum of the other end of bearing connecting rod [22] and trammel beam [23] and sole [24] links; The power arm of the resistance arm of catch bar [16] and walking rod [19] links, and the power arm of the resistance arm of walking rod [19] and cramp bar [21] links, and the power arm of the resistance arm of cramp bar [21] and trammel beam [23] and the rear end of sole [24] link; The fulcrum of the fulcrum of dowel bar [18] and walking rod [19] links, structure becomes the walking fulcrum of limb pin, the walking fulcrum of limb pin is installed on the fulcrum shaft of bearing set, and the fulcrum shaft of the fulcrum of contraction pole [20] and cramp bar [21] links, and structure becomes the contraction fulcrum of limb pin; Catch bar [16] resistance arm, promote connecting rod [17], the power arm of walking rod [19], the power arm structure of dowel bar [18] becomes the power quadrangle of the limb foot-propelled arm of force, the resistance arm of dowel bar [18], the resistance arm of walking rod [19], the power arm of contraction pole [20], the power arm of cramp bar [21] constitutes the walking quadrangle that the limb business concern operating a porters' service is walked arm: the resistance arm of the resistance arm of cramp bar [21], contraction pole [20], bearing connecting rod [21], the power arm of trammel beam [23], structure become the limb business concern operating a porters' service to walk the supporting quadrangle of arm; Promote the power of connecting rod and dowel bar, catch bar [16] and walking rod [19]] power arm, structure becomes the limb pin hip joint of flexion fixed angle forward, the power arm of the resistance arm of walking rod [19] and cramp bar [21], the resistance arm of dowel bar becomes the limb pin lacquer joint of flexion fixed angle backward with the power arm structure of contraction pole, bearing connecting rod and contraction pole resistance arm, the resistance arm of cramp bar [21] and trammel beam [23] and pin [24], structure become the limb pin ankle-joint of flexion fixed angle forward.Attached fixed limb leg structure signal Figure 14.

Power arm concertina type limb pin: press the structure and the structure of fixed limb pin, catch bar is designed to two ends concertina type parts, the interlude of two ends extensible member is the fulcrum section.Promote connecting rod, catch bar resistance arm, the power arm of dowel bar, the power arm of walking rod are designed to end concertina type parts.Promote the movable end of connecting rod and the fulcrum of catch bar and link, promote the fixed end of connecting rod and the movable end of dowel bar power arm and link, the fulcrum section of the fixed end of dowel bar power arm and dowel bar links; The fulcrum section of the fixed end of catch bar resistance arm and catch bar links, and the movable end of the movable end of catch bar resistance arm and walking rod power arm links, and the fulcrum section of the fixed end of walking rod power arm and walking rod links; The resistance arm of concertina type catch bar promotes connecting rod, the power arm of dowel bar, and it is concertina type that the power arm structure of walking rod becomes the limb foot-propelled arm of force, walking arm, supporting arm are the power arm concertina type limb pin of fixed.

Walking arm concertina type limb pin: press the structure and the structure of fixed limb pin, with the resistance arm of dowel bar, the resistance arm of walking rod, the power arm of contraction pole, the power arm of cramp bar are designed to end concertina type parts.The fulcrum section of the fixed end of walking rod resistance arm and walking rod links, and the movable end of the movable end of walking rod resistance arm and cramp bar power arm links, and the fulcrum section of the fixed end of cramp bar power arm and cramp bar links; The fulcrum section of the fixed end of dowel bar resistance arm and walking rod links, and the movable end of the movable end of dowel bar resistance arm and contraction pole power arm links, and the fulcrum section of the fixed end of contraction pole power arm and contraction pole links; The resistance arm of one end concertina type dowel bar, the resistance arm of walking rod, the power arm of contraction pole, it is fixed that the power arm structure of cramp bar becomes the limb foot-propelled arm of force, and the walking arm is a concertina type, and supporting arm is the walking arm concertina type limb pin of fixed.

Supporting arm concertina type limb pin: press the structure and the structure of fixed limb pin, with the resistance arm of cramp bar, the resistance arm of contraction pole, bearing connecting rod, trammel beam and pin are designed to the concertina type parts.The fulcrum section of the fixed end of cramp bar resistance arm and cramp bar links, and the fixed end of the movable end of cramp bar resistance arm and trammel beam power arm links, and the fixed end alive of trammel beam power arm and the fulcrum section of sole rear end and trammel beam link; The fulcrum section of the fixed end of contraction pole resistance arm and contraction pole links, the movable end of contraction pole resistance arm and the fixed end of bearing connecting rod link, the movable end of bearing connecting rod and the fulcrum of trammel beam and sole be that front end links, it is fixed that structure becomes the power arm of limb pin, walking arm, and supporting arm is the supporting arm concertina type limb pin of concertina type.

Dynamically supported arm concertina type limb pin: press the structure and the structure of power arm concertina type limb pin, with the resistance arm of cramp bar, the resistance arm of contraction pole, bearing connecting rod, the power arm of trammel beam is designed to the concertina type parts; The fulcrum section of the fixed end of cramp bar resistance arm and cramp bar links, and the fixed end of the movable end of cramp bar resistance arm and trammel beam power arm and the rear end of sole link; The fulcrum section of the fixed end of contraction pole resistance arm and contraction pole links, the movable end of contraction pole resistance arm and the fixed end of cramp bar link, the middle front end of the movable end of bearing connecting rod and the fulcrum of trammel beam and sole links, it is concertina type that structure becomes the limb foot-propelled arm of force, the walking arm is a fixed, and supporting arm is the dynamically supported arm concertina type limb pin of concertina type.

Power walking arm concertina type limb pin: press the structure and the structure of power arm concertina type limb pin, the resistance arm of dowel bar, the resistance arm of walking rod, the power arm of contraction pole, the power arm of cramp bar are designed to the concertina type parts; The fulcrum section of the fixed end of dowel bar resistance arm and dowel bar links, the movable end of dowel bar resistance arm and the movable end of contraction pole link, the fulcrum section of the fixed end of contraction pole and contraction pole links, it is concertina type that structure becomes the limb foot-propelled arm of force, walking arm, and supporting arm is the power walking arm concertina type limb pin of fixed.

Full concertina type limb pin: press structure and structure that arm concertina type limb pin is walked in the Lixing, the power arm of the resistance arm of the resistance arm of cramp bar, contraction pole, bearing connecting rod, trammel beam is designed to extensible member.The fulcrum section of the fixed end of cramp bar resistance arm and cramp bar links, the fixed end of the movable end of cramp bar resistance arm and trammel beam power arm links, the movable end of trammel beam power arm and fulcrum section link, the fulcrum section of the fixed end of contraction pole resistance arm and contraction pole links, the movable end of contraction pole resistance arm and the fixed end of bearing connecting rod link, the movable end of bearing connecting rod and the fulcrum of trammel beam link, and it is a concertina type limb pin of concertina type that structure becomes the limb foot-propelled arm of force, walking arm, supporting arm.

Dynamically supported arm mixed type limb pin: press the structure and the structure of fixed limb pin,, promote connecting rod the resistance arm of cramp bar, bearing connecting rod, the power arm of walking rod is designed to the concertina type parts.The fulcrum section of the fixed end of cramp bar resistance arm and cramp bar links, and the movable end of cramp bar resistance arm and trammel beam power arm link, and the fulcrum section of the fixed end of walking rod power arm and walking rod links; The movable end of walking rod power arm and the resistance arm of catch bar link, promoting the movable end of connecting rod and the fulcrum of catch bar links, the fixed end and the dowel bar power arm that promote connecting rod link, the fixed end of bearing connecting rod and the power arm of contraction pole link, the movable end of bearing connecting rod and the supporting of trammel beam link, and structure becomes dynamically supported arm mixed type limb pin.

Walking support arm mixed type limb pin: press the structure and the structure of fixed limb pin, with the resistance arm of walking rod, the power arm of contraction pole, the resistance arm of cramp bar, bearing connecting rod are designed to the concertina type parts.The fulcrum section of the fixed end of walking rod resistance arm and walking rod links, the movable end of walking rod resistance arm and the power arm of cramp bar link, the resistance arm of contraction pole power arm fixed end and dowel bar links, the movable end of contraction pole power arm and the fulcrum of cramp bar link, the fulcrum section of the fixed end of cramp bar resistance arm and cramp bar links, the movable end of cramp bar resistance arm and the power arm of trammel beam link, the fixed end of bearing connecting rod and the resistance arm of contraction pole link, the movable end of contraction pole and the fulcrum of trammel beam link, and structure becomes walking supporting arm mixed type limb pin.

Concertina type, mixing concertina type limb pin hip joint: by the catch bar resistance arm, promote connecting rod, walking rod power arm, dowel bar power arm four parts, the limb foot-propelled arm of force quadrangle that structure becomes, catch bar and walking rod constitute the hip joint of flexion fixed angle, movable adjusting angle forward.

Concertina type, mixing concertina type limb pin lacquer joint: the walking rod resistance arm, the contraction pole power arm, the cramp bar power arm passes; Power bar resistance arm four parts, structure becomes the limb business concern operating a porters' service to walk quadrangle, and walking rod resistance arm and cramp bar constitute the lacquer joint of flexion fixed angle, movable adjusting angle backward.

Concertina type, mixing concertina type limb ankle joint: cramp bar resistance arm, contraction pole resistance arm, bearing connecting rod, trammel beam four block constructions become the supporting arm quadrangle, and cramp bar resistance arm and trammel beam constitute the ankle-joint of flexion fixed angle, movable adjusting angle forward.

Concertina type, mixed type limb pin: constitute the limb pin by catch bar, promotion connecting rod, walking rod, dowel bar, contraction pole, cramp bar, bearing connecting rod, trammel beam, pin.The power arm quadrangle, walking arm quadrangle, three chain quadrangles of supporting arm quadrangle and pin are formed, and limb pin hip joint, lacquer joint, ankle-joint are movable fixed angle, movable adjusting angle.

Concertina type and mixed type limb pin: by catch bar, dowel bar, walking rod, contraction pole, cramp bar, trammel beam, promote connecting rod, bearing connecting rod and pin constitute the catch bar of limb pin, dowel bar, walking rod, contraction pole, cramp bar, trammel beam is a lever construction, promotes connecting rod, and cramp bar is for singly using bar linkage structure.

Promote connecting rod, bearing connecting rod is designed and manufactured into concertina type and two kinds of parts of fixed, and the concertina type parts are designed to one section, two sections, multistage extensible member, and the fixed end and the end of living are forward installed as required and oppositely installed;

Walking rod, fixed link, contraction pole, cramp bar, trammel beam are designed and manufactured into power arm resistance arm fixed parts, power arm concertina type parts, resistance arm concertina type parts, power arm and resistance arm concertina type parts, the concertina type component design is made into one section, two sections, multistage concertina type parts, fixed end and movable end need by the purposes use, forward install and oppositely install;

The limb heel uses according to purposes need be designed and manufactured into lever work limb pin and walking limb pin, mixes and installs and independent the installation;

Pin: by shock absorber, sole, toe, unidirectional feeder wheel is formed.A kind of structure is a mounting dampers not, and sole and trammel beam link, and sole bottom and two install toes and unidirectional feeder wheel, and toe and unidirectional feeder wheel can independently separately be installed and installation simultaneously.Two kinds of structures are sole top mounting dampers, and an end of shock absorber and trammel beam link, and the other end of shock absorber and sole link, and two of sole bottoms link installs toe and unidirectional feeder wheel, and toe and unidirectional feeder wheel can solely be installed separately and install simultaneously.Three kinds of structures are sole tops, toe, mounting dampers on the unidirectional feeder wheel, one end of shock absorber and trammel beam link, the other end of shock absorber and sole link, and two ends with shock absorber in sole bottom link, and the axle of the other end of shock absorber and toe, unidirectional feeder wheel links, toe and unidirectional feeder wheel can independently separately be installed and install simultaneously.Four kinds of structures are toe and unidirectional feeder wheel mounting dampers, and sole and trammel beam link, the sole bottom, two ends that link shock absorber, the axle of the other end of shock absorber and toe and unidirectional feeder wheel links, and toe and unidirectional feeder wheel can independently separately be installed and install simultaneously.

Pin is designed to fixed and concertina type, and the fixed end of concertina type pin is the sole rear end, movable end and sole front end, and the fulcrum design is on the position, middle back of sole front end; On the front and back end of sole, designs fix, flexible, one group two, two groups are a plurality of, organize a plurality of unidirectional feeder wheels more, and unidirectional feeder wheel is designed to fixed and movable telescopic type, and needs are interim to be installed and permanent the installation according to using.

The walking robot of one group of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation system

The walking robot of one group of one row's limb pin installation system

Two walking robot with limbs and feet of one group of one row's two limb pin installation system

Two walking robot with limbs and feet: by perpendicular transmission system one row's fulcrum shaft two limb pin installation systems, promote two on connecting rod, two limb pin are formed.The takeoff output dress of perpendicular transmission system links with the power wheel of switching mechanism, the power arm of left and right sides limb pin links with an end that promotes connecting rod, promoting the other end of connecting rod and the left and right sides eccentric shaft of switching mechanism links, the walking fulcrum of left and right sides limb pin, be installed on the fulcrum shaft of row's fulcrum shaft two limb pin installation systems, structure becomes two walking robot with limbs and feet.

The walking robot of one group of dual-purpose one row's limb pin installation system

The four-leg walking vehicle device people of one group of dual-purpose one row's four-leg installation system

Four-leg walking vehicle device people: by perpendicular transmission system [27], row's fulcrum shaft four-leg installation system [11] promotes [17] four on connecting rod, two compositions of dual-purpose limb pin.To erect transmission system one row's fulcrum shaft four-leg installation system, dual-purpose two limb pin promote four on connecting rod, and the structure of pressing two walking robot with limbs and feet links installation method with structure, and structure becomes four-leg walking vehicle device people.Attached one group of dual-purpose one row's four-leg walking vehicle device people illustrates Figure 15.

One group of dual-purpose, one row's walking robot with limbs and feet: by many limbs of row's fulcrum shaft pin installation system, promote connecting rod six, eight, ten, many, many limbs pin is formed.With row's fulcrum shaft many limbs pin installation system, perpendicular transmission system promotes connecting rod six, eight, ten, many, and many limbs pin links installation method by the structure and the structure of two walking robot with limbs and feet, and structure becomes the many walking robot with limbs and feet of one group of dual-purpose, one row.

Arrange the many walking robot with limbs and feet of many limbs pin installation system with one more than one group

One group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60, the many walking robot with limbs and feet of 70 dual-purposes, one row: by perpendicular transmission system, one group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes, one many limbs of row pin installation system promote connecting rod six, eight, the composition of limb pin more than more than ten.To erect transmission system, one group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes, one many limbs of row pin installation system, promote connecting rod six, eight, more than ten, many limbs pin, structure by one group of dual-purpose, one row's dual-purpose four-leg walking vehicle device people links installation method with structure, and structure becomes one group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60, the many walking robot with limbs and feet of 70 dual-purposes, one row.

The walking robot of one group of switching mechanism two many limbs of row's fulcrum shaft pin installation system structure

One group of dual-purpose two row divides the walking robot of using limb pin installation system

One group of dual-purpose two row divides the four-leg walking vehicle device people who uses the four-leg installation system

Four-leg walking vehicle device people: by perpendicular transmission system, one group of two row's fulcrum shaft two limb pin installation system promotes four on connecting rod, and four-leg is formed.The power take-off implement of perpendicular transmission system and the power wheel of switching mechanism link, the power arm of four-leg connects with an end of the company of promotion, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of four-leg is installed on the fulcrum shaft of two row's fulcrum shafts, two limb pin installation systems, on first row's fulcrum shaft two limb pin are installed, two limb pin are installed on the second series fulcrum shaft, and structure becomes four-leg walking vehicle device people.Attached one group of dual-purpose two row's four-leg walking vehicle device people illustrate Figure 16.

One group of dual-purpose two row is with the walking robot with limb pin installation system

One group of dual-purpose two row is with one group of two row's walking machine with eight limbs device people with the four-leg installation system

Walking machine with eight limbs device people: by one group of two row of perpendicular transmission system fulcrum shaft four-leg installation system, double-purpose promotes four on connecting rod, and eight limb pin are formed.The power take-off implement of perpendicular transmission system and the power wheel of switching mechanism link, and the end that the power arm of four-leg and double-purpose promote connecting rod links.Double-purpose promotes the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of eight limb pin is installed on the fulcrum shaft of two row's fulcrum shaft four-leg installation systems, on first row's fulcrum shaft four-leg is installed, on the second series fulcrum shaft four-leg is installed, structure becomes one group of dual-purpose, two rows with using walking machine with eight limbs device people.

One group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60, the many walking robot with limbs and feet of 70 dual-purposes, three, four, five, six, seven, eight, nine rows: by one group three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, three, four, five, six, seven, eight, nine usefulness promote connecting rod three, four, five, many or single with promoting connecting rod six, eight, ten, many, two on many limbs pin or many compositions.With one group three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, three, four, five, six, seven, eight, nine usefulness promote connecting rod three, four, five, many or single with promoting connecting rod six, eight, ten, many, many limbs pin, by single the using of one group of dual-purpose, one row, one group of dual-purpose two row divides usefulness, one group of dual-purpose two row links installation method with the structure with limb pin installation system walking robot with structure, and structure becomes a group three of other versions, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes three, four, five, six, seven, eight, the many walking robot with limbs and feet of nine rows.

The walking robot of two groups of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems

Two group of one single two group of two row's four-leg walking vehicle device people of row with two limb pin installation systems

Four-leg walking vehicle device people: by two limb pin installation systems of the movable blocking device of two group of one row, turning guide piece and mechanism promote four on connecting rod, and four-leg is formed.Turning guide piece and mechanism are installed on the anchor fitting of two groups of second seriess, two limb pin installation systems, the catch bar of guiding mechanism and two group of first row's two limb pin installation system link, the walking fulcrum of four-leg, be installed on the fulcrum shaft of two group of one row's two limb pin installation system, the two ends, the left and right sides of first row's fulcrum shaft, two limb pin about forelimb are installed, about two limb pin power arm with about promote connecting rod an end link, the other end and the left and right sides, the first group of two limb pin switching mechanism two ends eccentric shaft that promote connecting rod link, the two ends, the left and right sides of second series fulcrum shaft, two limb pin about hind leg are installed, about hind leg the power arm of two limb pin with about promote connecting rod an end link, the other end and the left and right sides, the second group of two limb pin switching mechanism two ends eccentric shaft that promote connecting rod link, and structure becomes two group of two row's four-leg walking vehicle device people.

Two groups of single walking robots of dual-purpose one row with limb pin installation system

Two groups of single two group of two row's walking machine with eight limbs device people of dual-purpose one row with the four-leg installation system

Walking machine with eight limbs device people: by the four-leg installation system of the movable blocking device of two groups of dual-purpose one rows, turning guide piece and mechanism promote eight on connecting rod, and eight limb pin are formed.Turning guide piece and mechanism are installed on the anchor fitting of two groups of second series four-leg installation systems, the catch bar of guiding mechanism and two group of one row's four-leg installation system link, the power arm of limb pin links with an end that promotes connecting rod, the walking fulcrum that the other end of promotion connecting rod and the eccentric shaft of switching mechanism link the limb pin is installed on the fulcrum shaft of two groups of dual-purposes, one row's four-leg installation system, two ends, the left and right sides at first group of one row's fulcrum shaft, forelimb left and right sides four-leg is installed, the eccentric shaft at the promotion connecting rod of left and right sides four-leg power arm and two ends, first group of switching mechanism left and right sides links, the two ends, the left and right sides of second group of one row's fulcrum shaft, hind leg left and right sides four-leg is installed, the eccentric shaft at the promotion connecting rod of the left and right sides dual-purpose two limb foot-propelled arm of forces and two ends, second group of switching mechanism left and right sides links, and structure becomes two groups of dual-purposes, one row's walking machine with eight limbs device people.Annex II group dual-purpose one row's walking machine with eight limbs device people structural representation Figure 17,18.

Two groups of dual-purpose two rows divide the walking robot of using limb pin installation system

Two groups of dual-purpose two rows divide the two group of four row's walking machine with eight limbs device people who uses the four-leg installation system

Walking machine with eight limbs device people: by two groups of dual-purposes, two row's four-leg installation systems, promote eight on connecting rod, eight limb pin are formed.The power arm of limb pin links with an end that promotes connecting rod, promotes the other end of connecting rod and the eccentric shaft of switching mechanism and links, and the walking fulcrum of limb pin is installed on the fulcrum shaft of two groups of dual-purposes, two row's four-leg installation systems.At the two ends, the left and right sides of first group of one row's fulcrum shaft, two limb pin about inboard first row are installed, about the left and right sides eccentric shaft binding of promotion connecting rod and inboard, first group of four-leg switching mechanism two ends of the two limb foot-propelled arm of forces; Two ends, the left and right sides at first group of two row's fulcrum shaft, two limb pin about the second series of the outside are installed, about the promotion connecting rod of the two limb foot-propelled arm of forces and the left and right sides eccentric shaft in the outside, first group of four-leg switching mechanism two ends link, the two ends, the left and right sides of second group of one row's fulcrum shaft, two limb pin about inboard the 3rd row are installed, about the left and right sides eccentric shaft of the promotion connecting rod of the two limb foot-propelled arm of forces and inboard, second group of four-leg switching mechanism two ends link, the two ends, the left and right sides of second group of two row's fulcrum shaft, two limb pin about the 4th row of the outside are installed, about the promotion connecting rod of the two limb foot-propelled arm of forces and the left and right sides eccentric shaft in the outside, second group of four-leg switching mechanism two ends link, structure becomes two group of four row's walking machine with eight limbs device people.

The needs that use according to designed use adopt the form structure of other structures to become two group four of two groups of dual-purposes, two row's fulcrum shaft limb pin installation systems to arrange walking machine with eight limbs device people again.

Two groups of dual-purpose two rows are with the walking robot with limb pin installation system

Two groups of dual-purpose two rows are with two group of four row's 16 walking robot with limbs and feet with the four-leg installation system

16 walking robot with limbs and feet: by two group of two row's four-leg installation system, 16 on dual-purpose eight on connecting rod of promotion or unidirectional promotion connecting rod, 16 limb pin are formed.The power arm of limb pin links with an end that promotes connecting rod, promotes the other end of connecting rod and the eccentric shaft of switching mechanism and links, and the walking fulcrum of limb pin is installed on the fulcrum shaft of two groups of dual-purposes, two row's four-leg installation systems.At the two ends, the left and right sides of first group of one row's fulcrum shaft, the first row left and right sides four-leg is installed, the left and right sides eccentric shaft at the catch bar of left and right sides four-leg power arm and first group of four-leg switching mechanism two ends links; The two ends, the left and right sides of first group of two row's fulcrum shaft, second series left and right sides four-leg is installed, the eccentric shaft at the promotion connecting rod of left and right sides four-leg power arm and first group of four-leg switching mechanism two ends links, and when adopting dual-purpose to promote connecting rod, the power arm of left and right sides four-leg and a row's dual-purpose promotes connecting rod and links.At the two ends, the left and right sides of second group of one row's fulcrum shaft, the 3rd row left and right sides four-leg is installed, the eccentric shaft at the promotion connecting rod of left and right sides four-leg power arm and second group of four-leg switching mechanism two ends links; The two ends, the left and right sides of second group of two row's fulcrum shaft, the 4th row left and right sides four-leg is installed, the eccentric shaft at the promotion connecting rod of left and right sides four-leg power arm and second group of four-leg switching mechanism two ends links, when adopting dual-purpose to promote connecting rod, the power arm of left and right sides four-leg and three rows' dual-purpose promotes connecting rod and links, and structure becomes two groups of dual-purposes, two rows together with 16 walking robot with limbs and feet.

Two groups of dual-purpose two row's branches are used, are used limb pin installation system together, are used for the walking robot philtrum of series arrangement, do not increase turning guide piece and mechanism.During two group of two row of independent use limb pin installation system, must increase turning guide piece and mechanism, one group of one row's limb pin installation system, its structure is, the rear end of the front end of movable blocking device and one group of one row's limb pin installation system anchor fitting links, the front end of movable blocking device rear end and two group of two row's limb pin installation system anchor fitting links, turning guide piece and mechanism are installed on the anchor fitting of two group of two row's limb pin installation system, and the catch bar of guiding mechanism and one group of one row's limb pin installation system link.

Arrange the walking robot of using limb pin installation system with for two group one, two

Two group of one row's two limb pin, 2 two groups two of arranging the four-leg installation systems are arranged six walking robot with limbs and feet

Six walking robot with limbs and feet: by a row two limb pin of two groups of activity blocking devices, two row's four-leg installation systems, turning guide piece and mechanism promote six on connecting rod, and six limb pin are formed.Turning guide piece and mechanism are installed on the anchor fitting of two groups of second series four-legs installations, the catch bar of guiding mechanism and two group of one row's two limb pin installation system link, the power arm of limb pin links with an end that promotes connecting rod, promote the other end of connecting rod and the eccentric shaft of switching mechanism and link, the walking fulcrum of limb pin is installed on the fulcrum shaft of two group of one row, two limb pin, two row's four-leg installation systems.Two ends, the left and right sides at first group of one row's fulcrum shaft, the left limb pin of first row, right limb pin are installed, the eccentric shaft at the promotion connecting rod of the left and right sides limb foot-propelled arm of force and first group of two limb pin switching mechanism two ends links, the two ends, the left and right sides of second group of one row's fulcrum shaft, the left and right four-leg of second series is installed, the eccentric shaft at the promotion connecting rod of left and right sides four-leg power arm and second group of dual-purpose four-leg switching mechanism two ends links, and structure becomes two groups to use two rows, six walking robot with limbs and feet with.

Two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, the many walking robot with limbs and feet of nine rows: by one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, turning guide piece and mechanism, one, two, three, four, five, six, seven, eight, nine usefulness promote many on connecting rod, and many limbs pin is formed.With two groups one by one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, one, two, three, four, five, six, seven, eight, nine usefulness promote many on connecting rod, many limbs pin, use single the branch by two group of one row with two groups of dual-purposes, two rows, two groups of dual-purpose two rows are with using, two group one, the structure that two rows use limb pin system walking robot with links installation method with structure, and structure becomes other multiple structures, multiple two group of using version with, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, the many walking robot with limbs and feet of nine row's fulcrum shafts.

The walking robot of many groups switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation system series arrangement

One, the series arrangement walking robot of two groups of switching mechanism one, two, three, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems

The single walking robot of triad dual-purpose one row with limb pin installation system series arrangement

Single three group of one row's 12 walking robot with limbs and feet of triad dual-purpose one row with four-leg installation system series arrangement

12 walking robot with limbs and feet: by the four-leg installation system of the movable blocking device of triad dual-purpose one row, turning guide piece and mechanism promote 12 on connecting rod, and 12 limb pin are formed.Turning guide piece and mechanism are installed on the anchor fitting of second one group one row's four-leg installation system, and the catch bar of guiding mechanism and first group row's four-leg installation system link.The limb foot-propelled arm of force links with an end that promotes connecting rod, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of limb pin is installed on the fulcrum shaft of triad dual-purpose one row's four-leg installation system, on the fulcrum shaft of first group of dual-purpose, one row's four-leg installation system, a left side is installed at two ends, the left and right sides, right two limb pin, a left side, the promotion connecting rod of the right limb foot-propelled arm of force and the eccentric shaft of first group of switching mechanism link, on the fulcrum shaft of second group of dual-purpose one row's four-leg installation system, a left side is installed at two ends, the left and right sides, right two limb pin, the eccentric shaft that the power arm of left and right sides limb pin promotes connecting rod and second group of switching mechanism links, on the fulcrum shaft of the 3rd group of dual-purpose one row's four-leg installation system, the 3rd a row left side is installed at two ends, the left and right sides, right two limb pin, the eccentric shaft that the power arm of left and right sides limb pin promotes connecting rod and the 3rd group of switching mechanism links, and structure becomes single three group of three row's 12 walking robot with limbs and feet with four-leg installation system series arrangement of triad one row.Annex III group dual-purpose three rows 12 walking robot with limbs and feet signal Figure 19.

Triad dual-purpose two rows divide the walking robot with limb pin installation system series arrangement

Triad dual-purpose two rows divide triad six rows 12 walking robot with limbs and feet with four-leg installation system series arrangement

12 walking robot with limbs and feet: by triad dual-purpose two row's four-leg installation systems, promote 12 on connecting rod, 12 limb pin are formed.The power arm of limb pin links with an end that promotes connecting rod, promotes the other end of connecting rod and the eccentric shaft of switching mechanism and links, and the walking fulcrum of limb pin is installed on the fulcrum shaft of triad dual-purpose two row's fulcrum shaft four-leg installation systems.The inboard left and right two limb pin of first row are installed at the left and right two ends of first group of dual-purpose one row's fulcrum shaft, and the left and right eccentric shaft of the promotion connecting rod of the left and right two limb foot-propelled arm of forces and inboard, first group of four-leg switching mechanism two ends links; The left and right two limb pin in the second series outside are installed at the left and right two ends of first group of dual-purpose two row's fulcrum shaft, and the left and right eccentric shaft in the promotion connecting rod of the left and right two limb foot-propelled arm of forces and the outside, first group of four-leg switching mechanism two ends links.The inboard left and right two limb pin of the 3rd row are installed at the left and right two ends of second group of dual-purpose one row's fulcrum shaft, and the left and right eccentric shaft of the promotion connecting rod of the left and right limb foot-propelled arm of force and inboard, second group of four-leg switching mechanism two ends links; The left and right two limb pin of the 4th exclusive side are installed at the left and right two ends of second group of dual-purpose two row's fulcrum shaft, and the left and right eccentric shaft in the promotion connecting rod of the left and right limb foot-propelled arm of force and the outside, second group of four-leg switching mechanism two ends links.The inboard left and right two limb pin of the 5th row are installed at the left and right two ends of the 3rd group of dual-purpose one row's fulcrum shaft, and the left and right eccentric shaft of the promotion connecting rod of the left and right two limb foot-propelled arm of forces and inboard, the 3rd group of four-leg switching mechanism two ends links; The left and right two ends of the 3rd group of dual-purpose two row's fulcrum shafts, the left and right two limb pin of the 6th exclusive side are installed, the left and right eccentric shaft in the catch bar of the left and right two limb foot-propelled arm of forces and the outside, the 3rd group of four-leg switching mechanism two ends links, and structure becomes three groups six rows ten two walking robot with limbs and feet of triad dual-purpose two row's branches with four-leg installation system series arrangement.

Triad dual-purpose two rows are with the walking robot with limb pin installation system series arrangement

Triad dual-purpose two rows are with the triad six row 20 four-leg walking vehicle device people with four-leg installation system series arrangement

20 four-leg walking vehicle device people: triad dual-purpose two row's four-leg installation systems, dual-purpose promote 12 on connecting rod or single with promoting 24 on connecting rod, and 20 four-legs are formed.The power arm of limb pin links with an end that promotes connecting rod, promotes the other end of connecting rod and the eccentric shaft of switching mechanism and links, and the walking fulcrum of limb pin is installed on the fulcrum shaft of triad dual-purpose two row's fulcrum shaft four-leg installation systems.The first row left and right sides four-leg is installed at the left and right two ends of first group of dual-purpose one row's fulcrum shaft, and the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and first group of four-leg switching mechanism two ends links; The left and right two ends of first group of dual-purpose two row's fulcrum shaft, second series left and right sides four-leg is installed, the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and first group of four-leg switching mechanism two ends links, when adopting dual-purpose to promote connecting rod, the promotion connecting rod of the power arm of left and right sides four-leg and first row's four-leg is chained together.The 3rd row left and right sides four-leg is installed at the left and right two ends of second group of dual-purpose one row's fulcrum shaft, and the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and second group of four-leg switching mechanism two ends links; The left and right two ends of second group of dual-purpose two row's fulcrum shaft, the 4th row left and right sides four-leg is installed, the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and second group of four-leg switching mechanism two ends links, when adopting dual-purpose to promote connecting rod, the promotion connecting rod string of the power arm of left and right sides four-leg and the 3rd row's four-leg together.The left and right two ends of the 3rd group of dual-purpose one row's fulcrum shaft, the 5th row left and right sides four-leg is installed, the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and the 3rd group of four-leg switching mechanism two ends links, the left and right two ends of the 3rd group of dual-purpose two row's fulcrum shafts, the 6th row left and right sides four-leg is installed, the left and right eccentric shaft at the promotion connecting rod of the power arm of four-leg and the 3rd group of four-leg switching mechanism two ends links, when adopting dual-purpose to promote connecting rod, the promotion connecting rod of the power arm of four-leg and the 5th row's four-leg is chained together.Structure becomes triad dual-purpose two rows with the walking robot with four-leg installation system series arrangement.

Triad two row's branches are used, are used limb pin installation system together, are used for the walking robot philtrum of series arrangement, do not increase turning guide piece and mechanism.When independently using one group of two row's limb pin installation system, must increase turning guide piece and mechanism, one group of one row's limb pin installation system, its structure is: the rear end of the front end of movable blocking device and one group of one row's limb pin installation system anchor fitting links, the front end of first group two row of movable blocking device limb pin installation system anchor fitting links, turning guide piece and mechanism are installed on the anchor fitting of first group two row's limb pin installation system, and the catch bar of guiding mechanism and one group of one row's limb pin installation system link.

Three two groups one, two rows use the walking robot of limb pin installation system series arrangement with

Three two groups one row's two limb pin, three two groups six row ten walking machine with eight limbs device people of two row's four-leg installation system series arrangement

Ten walking machine with eight limbs device people: by a row two limb pin, two row's four-leg installation systems of two groups of activity blocking devices, arrange two limb pin, two row's four-leg installation systems for two two groups one, turning guide piece and mechanism promote 18 on connecting rod, and 18 limb pin are formed.Turning guide piece and mechanism are installed on the anchor fitting of first two groups of second series four-leg installation systems, and the catch bar of guiding mechanism and first two group row's two limb pin installation systems link.The power arm of limb pin links with an end that promotes connecting rod, promotes the other end of connecting rod and the eccentric shaft of switching mechanism and links, and the walking fulcrum of limb pin is installed in three two groups one, two rows and uses with on the fulcrum shaft of limb pin installation system.The left and right two limb pin of first row are installed at the left and right two ends of first group of one row's fulcrum shaft, and the left and right eccentric shaft at the promotion connecting rod of the two limb foot-propelled arm of forces and first group of first row two limb pin switching mechanism two ends links; Second series left and right sides four-leg is installed at the left and right two ends of first group of dual-purpose second series fulcrum shaft, and the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and first group of dual-purpose second series four-leg switching mechanism two ends links; The left and right two ends of second group of first row's fulcrum shaft, the left and right two limb pin of the 3rd row are installed, the left and right eccentric shaft at the promotion connecting rod of the two limb foot-propelled arm of forces and second group of first row two limb pin switching mechanism two ends links, the left and right two ends of second group of dual-purpose second series fulcrum shaft, the 4th row left and right sides four-leg is installed, and the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and second group of dual-purpose second series four-leg switching mechanism two ends links; The left and right two ends of the 3rd group of first row's fulcrum shaft, the left and right two limb pin of the 5th row are installed, the left and right eccentric shaft at the promotion connecting rod of the two limb foot-propelled arm of forces and the 3rd group of first row two limb pin switching mechanism two ends links, the left and right two ends of the 3rd group of second series fulcrum shaft, the 6th row left and right sides four-leg is installed, and the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and the 3rd group of second series four-leg switching mechanism two ends links.Structure becomes three two groups one, two rows to use three group of six row ten walking machine with eight limbs device people of limb pin installation system series arrangement with.

A plurality of one, two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, the many walking robot with limbs and feet of row more than many groups of nine many limbs of row's fulcrum shaft pin installation system series arrangement: by a plurality of one, two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, turning guide piece and mechanism, one, two, three, four, five, six, seven, eight, nine usefulness promote many on connecting rod, many compositions of many limbs pin.Use needs according to design, with a plurality of one, two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, turning guide piece and mechanism, one, two, three, four, five, six, seven, eight, nine usefulness promote many on connecting rod, many limbs pin, by single the using of triad dual-purpose one row, the triad dual-purpose two rows divide usefulness, triad two rows are with using, three two groups one, two rows use the structure of the walking robot of limb pin installation system series arrangement with and with structure linking method are installed, structure becomes other multiple structures, multiple a plurality of one of the version of using with, two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, the many walking robot with limbs and feet of row more than many groups of nine many legs of row's fulcrum shaft installation system series arrangement.

Many groups switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shafts mix the walking robot of series arrangement

A plurality of one group of one row mix the walking robot of series arrangement with a plurality of one group of two row

One group of one row's two limb pin installation system and one group of one row's two limb pin, two row's four-leg installation systems mix two group of three row's walking machine with eight limbs device people of series arrangement

Walking machine with eight limbs device people: by the two group of three row's eight limb pin installation system that mixes series arrangement, turning ambition device and mechanism, the limb pin promotes eight on connecting rod, and eight limb pin are formed.Turning guide piece and mechanism are installed on the anchor fitting of second one group two row's six limb pin installation systems, and the catch bar of the guiding of turning and first group of one row's two limb pin installation system link.The power arm of limb pin links with an end that promotes connecting rod, the other end and the switching mechanism that promote connecting rod link, the power arm of limb pin links with an end that promotes connecting rod, the other end and the switching mechanism that promote connecting rod link, and the walking fulcrum of limb pin is installed on the fulcrum shaft of two group of three row's eight limb pin installation system.The two ends, the left and right sides of first group of one row's fulcrum shaft, the first row left and right sides limb pin is installed, the eccentric shaft at the two ends, the left and right sides of the left and right sides limb foot-propelled arm of force and the switching mechanism of first group of two limb pin links, the left side of second group of one row's fulcrum shaft, right two ends, the inboard left side of second series is installed, right limb pin, a left side, promotion connecting rod and second group of switching mechanism left side of the right limb foot-propelled arm of force, two eccentric shafts of inboard, right two ends link, the two ends, the left and right sides of second group of two row's fulcrum shaft, the 3rd a row left side, the outside is installed, right two limb pin, the promotion connecting rod of the left and right sides limb foot-propelled arm of force and second group of switching mechanism left side, four eccentric shafts in the outside, right two ends link, and structure becomes to have two group of three row's walking machine with eight limbs device people of turning guide function.

Use needs according to designed use again, two group of three row's walking machine with eight limbs device people structure by the guide piece of not turning that mixes series arrangement installed linking method with structure, continue with perpendicular transmission system, movable blocking device link install second and third, two group of three row walking machine with eight limbs device people of four groups of guide piecees of not turning that mix series arrangement or the walking robots of other limb pin installation system versions, what structure became mixing series arrangement that designing institute needs arranges many walking robot with limbs and feet more many groups.

A plurality of one group with a plurality of one group of walking robot that mix series arrangement: by one one group or a plurality of one group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine row's fulcrum shafts mix the limb pin installation system of series arrangement, turning guide piece and mechanism, one, two, three, four, five, six, seven, eight, nine usefulness promote many on connecting rod, perpendicular transmission system is organized more, movable blocking device is organized more, and many limbs pin is formed.The structure of mixing two group of three row's walking machine with eight limbs device people of series arrangement by a plurality of one group of one row with a plurality of one group of two row links installation method with structure, and structure becomes to mix the many walking robot with limbs and feet of row more than many groups of series arrangement.

A plurality of one group of one row mix the walking robot of series arrangement with a plurality of two group of one row

A plurality of one group of one row's two limb pin installation system mix three group of three row's ten walking robot with limbs and feet of series arrangement with a plurality of two group of one row's four-leg installation system

Ten walking robot with limbs and feet: by the three group of three row's ten limb pin installation system that mixes series arrangement, turning guide piece and mechanism promote ten on connecting rod, movable blocking device, and ten limb pin are formed.Turning guide piece and mechanism, be installed on the anchor fitting of two group of one row's four-leg installation system, the power arm of limb pin links with an end that promotes connecting rod, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of limb pin is installed on the fulcrum shaft of the three group of three row's ten limb pin installation system that mixes series arrangement.The left side of first group of first row's fulcrum shaft, right two ends, a first row left side is installed, right limb pin, a left side, the promotion connecting rod of the right limb foot-propelled arm of force and first group of one row two limb pin switching mechanism left side, the eccentric shaft at right two ends links, the left side of second group of first row's fulcrum shaft, right two ends, an installation second series left side, right two limb pin, a left side, the promotion connecting rod of the right two limb foot-propelled arm of forces and two group of one row four pin pin switching mechanism left side, the eccentric shaft at right two ends links, second group of second series fulcrum shaft left side, right two ends, the 3rd a row left side is installed, right two limb pin, a left side, promotion connecting rod and second group of second series four-leg switching mechanism left side of the right two limb foot-propelled arm of forces, the eccentric shaft at right two ends links, and structure becomes to mix three group of three row's ten walking robot with limbs and feet of series arrangement.

Use needs according to designed use again, three group of three structure of arranging ten walking robot with limbs and feet by the guide piece of not turning that mixes series arrangement links installation method with structure, continue with perpendicular transmission system, movable blocking device link install second and third, three group of three row's ten walking robot with limbs and feet of four groups of guide piecees of not turning that mix series arrangement or the walking robots of other limb pin mounting structure forms, what structure became mixing series arrangement that designing institute needs arranges many walking robot with limbs and feet more many groups.

Use needs according to designed use again, will be a plurality of two groups mixes the series arrangement form with a plurality of one group, two groups, structure becomes needed organize to arrange many walking robot with limbs and feet more more.

In the limb pin installation system, the converting member of same function in same switching mechanism, repeats to install, repeated usage, and structure becomes the switching mechanism of many many limbs of group pin same functions.

Good effect of the present invention: 9 parts quadrangle walking robots, what adopt is complete flexible complete movable adjustment type limb pin, the hip joint of limb pin, the lacquer joint, ankle-joint, under the promotion of switching mechanism rotary power, regulate fixing walking angle voluntarily, use the walking angle in the auxiliary device adjusting operational process, the travel height of limb pin, be can be at the power arm of limb pin, the walking arm, three positions of supporting arm are carried out the integral body rising and are regulated and the local adjusting that raises, the limb pin is in operational process, can be arbitrary adjusting walking angle, at any time regulate and change travel height and width, complex structure, technical requirements is higher, manufacture difficulty is bigger, cost is higher, the limb pin is in 360 ° of garden weeks, plural a plurality of walking paces are arranged, and the bottom-to-top-height of walking is made up of a plurality of paces height, and the walking step pitch is the sinusoidal garden arc curve of the 360 ° of curves in outer garden, smooth running, shake reduces up and down, and hill climbing ability is strong, and descending can slide and can satisfy automation process equipment needs, being applicable to the rural atmosphere operation of scope of design, is a kind of safety-type communications and transportation machine and other multiduty work machines.

Description of drawings:

Fig. 1, half garden eccentric shaft part structural representation.

Fig. 2, all eccentric shaft part structural representations in garden.

Fig. 3, half garden center shaft spare structural representation.

Fig. 4, dual-purpose bridgeware structural representation.

Fig. 5, dual-purpose bridgeware single piece structural representation.

Fig. 6, four-function bridgeware structural representation.

Fig. 7, four-function bridgeware single piece structural representation.

Fig. 8, five bridgeware structural representation.

Fig. 9, five usefulness bridgeware single piece structural representations.

Figure 10, dual-purpose four-leg switching mechanism structural representation.

Figure 11, four-function eight limb pin switching mechanism structural representations.

Figure 12, one group of one many limbs of row pin installation system structural representation.

Figure 13, one group of two many limbs of row pin installation system structural representation.

Figure 14, fixed limb leg structure scheme drawing.

Figure 15, one group of dual-purpose one row's four-leg walking vehicle device people structural representation.

Figure 16, one group of dual-purpose two row's four-leg walking vehicle device people structural representation.

Figure 17, two groups of dual-purpose two row's walking machine with eight limbs device people structural representations.

Figure 18, two groups of dual-purpose two row's walking machine with eight limbs device people integral structure scheme drawings.

Figure 19, three groups of dual-purpose three rows 12 walking robot with limbs and feet structural representations

Among the figure: all connect apertures 4-half garden connect apertures 5-central shaft 6-plane bearing 7-eccentric body 8-bearings in heart connect apertures 2-eccentric shaft 3-garden, 1-garden and the horizontal power train 10-fixture of cover 9-11-one row's fulcrum shaft 12-supporting arrangement 13-switching mechanism 14-dual-purpose fixture 15-two row's fulcrum shaft 16-catch bar 17-promote the movable locking device of the connecting rod 18-transmission rod 19-walking rod 20-contraction pole 21-cramp bar 22-bearing connecting rod 23-balancing pole 24-pin 25-fixed bar 26-contraction perpendicular power train 28-of connecting rod 27-

Claims (6)

1,9 parts quadrilateral walking robot with limbs and feet: by chain drive, speed change system, driving system, switching mechanism, turning guide piece and mechanism, electrical equipment, anchor fitting, bearing set, movable blocking device, limb pin installation system, vibration insulating system, the limb pin is formed, and it is characterized in that: converting member, half garden eccentric shaft part: by radius eccentric body [7], garden heart connect apertures [1], eccentric shaft [2] is formed, and radius eccentric body [7] is made into strip shape, garden shape, at strip shape, garden shape radius eccentric body [7] straight line center, the diameter garden makes garden heart connect apertures [1] in the heart, at the limit of strip shape end, the garden week of garden shape is gone up an end that links eccentric shaft [2], constitutes half garden eccentric shaft part, the end that eccentric shaft [2] does not link is a head end, and the end that half garden eccentric body [7] is gone up making garden heart connect apertures [1] is a tail end;

The all eccentric shaft parts in garden: by diameter eccentric body [7], the all connect apertures [3] in garden, eccentric shaft [2] is formed, diameter eccentric body [7] is made into strip shape, garden shape, and on strip shape, garden shape diameter eccentric body [7] central line, an end is made periphery knot hole [3], garden on the diameter, the other end links an end of eccentric shaft [2], the all eccentric shaft parts in formation garden, the end that eccentric shaft [2] does not link is a head end, an end of going up making garden week connect apertures [3] at diameter eccentric body [7] is a tail end;

Half garden center shaft spare: by radius eccentric body [7], half garden connect apertures [4], center shaft [5] is formed, radius eccentric body [7] is made into strip shape, garden shape, at strip shape, garden shape radius eccentric body [7] straight line center, the diameter garden links an end of center shaft [5] in the heart, at straight line center edge end, go up in garden week and make half garden connect apertures [4], structure becomes half garden center shaft spare, the end that center shaft [5] does not link, be head end, going up an end of making half garden connect apertures [4] at radius eccentric body [7] is tail end;

Bridgeware

The dual-purpose bridgeware: promptly two eccentric shafts [2] are installed on two garden round angles the switching mechanism that constitutes two working processs with horizontal transmission system [9] and are called the dual-purpose bridgeware, by half garden eccentric shaft part, the all eccentric shaft parts in garden, half garden center shaft spare, eccentric shaft plane bearing [6] is formed, eccentric shaft [2] is contained in the plane bearing [6], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden center shaft spare, eccentric shaft [2] head with half garden eccentric shaft part links with all connect apertures [3] tails in the garden of all eccentric shaft part one ends in garden successively, other end eccentric shaft [2] head links with half garden connect apertures [4] tail of half garden center shaft spare, eccentric shaft [2] is forward parallel successively to be attached at same garden on week, garden week setting angle is 180 ° between two eccentric shafts [2], two eccentric shafts [2] are installed in 0 °, on 180 ° of all angles in these gardens, constitute the dual-purpose bridgeware, an end of garden heart connect apertures [1] is a tail end, and an end of center shaft [5] is a head end;

With half garden eccentric shaft part, the all eccentric shaft parts in garden, half garden center shaft spare is integrated, and is made into a single piece, by garden heart connect apertures [1], eccentric body [7], eccentric shaft [2], center shaft [5] is formed, and is configured to the dual-purpose bridgeware, one end of garden heart connect apertures [1] is a tail end, and an end of center shaft [5] is a head end;

Three use bridgeware: by half garden eccentric shaft part, two of all eccentric shaft parts in garden, half garden center shaft spare, three compositions of plane bearing, eccentric shaft is contained in the plane bearing, according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden center shaft spare, garden week connect apertures tail with eccentric spindle nose in half garden and all eccentric shaft part one ends in garden links successively, half garden connect apertures of other end eccentric shaft and half garden center shaft links, three eccentric shafts are forward parallel successively to be attached at same garden on week, garden week setting angle is 120 ° between three eccentric shafts, three eccentric shafts are installed in 0 °, 120 °, on 240 ° of all angles in these gardens, structure becomes three to use bridgeware, one end of garden heart connect apertures is a tail end, and an end of center shaft is a head end;

With half garden eccentric shaft part, three of all off-axis spares in garden, half garden center shaft spare is integrated, and is made into single piece by the garden axle, eccentric body, eccentric shaft, center shaft is formed, and structure becomes the triangle bridgeware, and an end of garden heart connect apertures is a tail end, and an end of center shaft is a tail end;

Four-function bridgeware: by half garden eccentric shaft part, two of all eccentric shaft parts in garden, half garden center shaft spare, [6] four compositions of plane bearing, eccentric shaft [2] is contained in the plane bearing [6], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden center shaft spare, eccentric shaft [2] head with half garden eccentric shaft part links with all connect apertures [3] tails in the garden of all eccentric shaft part one ends in garden successively, other end eccentric shaft [2] links with half garden connect apertures [4] tail of half garden center shaft spare, and four eccentric shafts [2] are forward parallel successively to be attached at same garden on week, and garden week setting angle is 90 ° between four eccentric shafts [2], four eccentric shafts [2] are installed in 0 °, 90 °, 180 °, on 270 ° of all angles in these gardens, structure becomes the four-function bridgeware, and an end of garden heart connect apertures [1] is a tail end, and an end of center shaft [5] is a head end;

With half garden eccentric shaft part, three of all eccentric shaft parts in garden, half garden center shaft spare is integrated, and is made into single piece, by garden heart connect apertures [1], eccentric body [7], eccentric shaft [2], center shaft [5] is formed, and is configured to the four-function bridgeware, one end of garden heart connect apertures [1] is a tail end, and an end of center shaft [5] is a head end;

Five use bridgeware: by half garden eccentric shaft part, four of all eccentric shaft parts in garden, half garden center shaft spare, [6] four compositions of plane bearing, eccentric shaft [2] is contained in the plane bearing [6], according to half garden eccentric shaft part, the all eccentric shaft parts in garden, the sequencing of half garden center shaft spare, eccentric shaft [2] head with half eccentric part links with all connect apertures [3] tails in the garden of all eccentric shaft parts in garden successively, other end eccentric shaft [2] head links with garden week connect apertures [3] tail of garden week eccentric shaft part, other end eccentric shaft [2] head links with half garden connect apertures [4] of half garden center shaft spare, five eccentric shafts [2] are forward parallel successively to be attached on the round angle of same garden, garden week the binding angle being installed between five eccentric shafts [2] is 72 °, and five eccentric shafts [2] are installed in 0 °, 72 °, 144 °, 216 °, on 288 ° of all angles in these gardens, structure becomes five to use bridgeware, one end of garden heart connect apertures [1] is a tail end, and an end of center shaft [5] is a head end;

With half garden eccentric shaft part, four of all eccentric shaft parts in garden, half garden center shaft spare is integrated, be made into a single piece, by garden heart connect apertures [1], eccentric body [7], eccentric shaft [2], center shaft [5] is formed, be configured to five and use bridgeware, an end of garden heart connect apertures [1] is a tail end, and center shaft [5] one ends are head end;

Six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares: by three, four, garden week setting angle is 120 ° between the five usefulness bridgeware eccentric shafts [2], 90 °, 72 ° of structure linking methods, with six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60, garden week setting angle is 60 ° between 72 eccentric shafts [2], 45 °, 36 °, 30 °, 24 °, 20 °, 18 °, 15 °, 12 °, 10 °, 9 °, 8 °, 6 °, 5 °, binding is mounted to six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares;

The plane bearing of installing on the bridgeware eccentric shaft according to the design needs, can be installed and plane bearing is not installed or other axle sleeves are installed;

When adopting four, six, eight, ten limb pin switching mechanisms of two, three, four, five usefulness bridgeware individual constructions, according to designing needs, can design and installation and not design and installation half garden center shaft;

Adopt many of two, three, four, five usefulness bridgewares, structure becomes the switching mechanism of many limbs pin, according to the needs of many limbs pin, and a plurality of half garden center bearing pilot bearing and the covers of design and installation;

According to the design needs,, be attached at successively on all angles in same garden two, three, four eccentric shafts; On an eccentric shaft, link the catch bar of two, three, four limb pin and promote connecting rod;

Two limb pin switching mechanisms: by horizontal transmission system, about single form with bridgeware, the garden heart connect apertures tail end of the left end axle center of horizontal transmission system and left bridgeware links, the tail end of the garden heart connect apertures of the right-hand member axle center of horizontal transmission system and right bridgeware links, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, garden week setting angle is that 180 ° of left and right sides eccentric shafts are installed on 0 ° 180 ° these gardens week angles between the eccentric shaft of the left and right sides, and structure becomes two limb pin switching mechanisms;

Dual-purpose switching mechanism

Dual-purpose four-leg switching mechanism: by two of dual-purpose bridgewares, horizontal transmission system [9], half garden center bearing pilot bearing and cover [8] are formed, garden heart connect apertures [1] tail of horizontal transmission system [9] transmission shaft two ends and dual-purpose bridgeware one end is linked, the other end half garden center shaft [5] head is contained in center bearing pilot bearing and the cover [8], overcoat and bearing support link, two ends, left and right sides eccentric shafts [2] are parallel to be attached at same garden on week, the tail end eccentric shaft [2] of dual-purpose bridgeware, about be installed on 0 °, 180 ° these gardens week angle, structure becomes the switching mechanism of dual-purpose four-leg;

Dual-purpose eight limb pin switching mechanisms: by each two of left and right sides dual-purpose switching mechanisms, horizontal transmission system, about half garden center shaft, bearing and each composition of cover, the structure of pressing the switching mechanism of dual-purpose four-leg links installation method with structure, on the eccentric shaft of first the dual-purpose bridgeware in two ends, the dual-purpose four-leg switching mechanism left and right sides, second dual-purpose bridgeware is each one about link installing, about the head end of second dual-purpose bridgeware eccentric shaft, link half garden center shaft about installation, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides dual-purpose bridgeware, about be installed in 0 °, 180 °, 0 °, on 180 ° of all angles in these gardens, structure becomes 0 °, 180 ° dual-purpose eight limb pin switching mechanisms;

Dual-purpose 12 limb pin switching mechanisms: by each three of left and right sides dual-purpose bridgewares, horizontal transmission system, about half garden center shaft, bearing and each composition of cover, the structure of pressing dual-purpose eight limb pin switching mechanisms links installation method with structure, second dual-purpose conversion accentric head end at two ends, the dual-purpose eight limb pin switching mechanism left and right sides, link the 3rd dual-purpose bridgeware about installation, about the head end of the 3rd dual-purpose bridgeware eccentric shaft half garden center shaft link to be installed, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides dual-purpose bridgeware, about be installed in 0 °, 180 °, 0 °, 180 °, 0 °, on 180 ° of all angles in these gardens, structure becomes 0 °, 180 ° dual-purpose 12 limb pin switching mechanisms;

The switching mechanism of many limbs of dual-purpose pin: by many of left and right sides dual-purpose bridgewares, horizontal transmission system, about half garden center shaft, bearing and overlap many and form, the structure of pressing dual-purpose eight limb pin switching mechanisms links installation method with structure, on the half garden center shaft at dual-purpose eight limb pin switching mechanism two ends, need by design, continue to link the structure of left and right sides dual-purpose bridgeware and half garden center shaft, bearing and cover being installed or pressing dual-purpose eight limb pin switching mechanisms, repeat to link, structure becomes 0 °, the switching mechanism of 180 ° of needed many limbs of dual-purpose pin;

Three use switching mechanism

The six limb pin switching mechanisms of three usefulness: by about three usefulness bridgewares each one, horizontal transmission system form, the garden heart connect apertures tail end of the left end axle center of horizontal transmission system and left bridgeware links, the garden heart connect apertures tail end of the right-hand member axle center of horizontal transmission system and right bridgeware links, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed on 0 °, 120 °, 240 ° these gardens week angle, structure becomes 0 °, 120 °, 240 ° three usefulness, six limb pin switching mechanisms;

The 12 limb pin switching mechanisms of three usefulness: by about three usefulness bridgewares each two, horizontal transmission system, about half garden center shaft, each one in bearing and cover or each two composition, structure by the six limb pin switching mechanisms of three usefulness links installation method with structure, head end at three usefulness, six two ends, the limb pin switching mechanism left and right sides first three usefulness bridgeware eccentric shafts, link second three of installation and use bridgeware, head end at second three usefulness bridgeware eccentric shaft, link half garden center shaft is installed, bearing and cover, half garden center shaft is contained in the bearing, in the bearing dress overcoat, overcoat links with solid frame, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed in 0 °, 120 °, 240 °, 0 °, 120 °, on 240 ° of all angles in these gardens, structure becomes 0 °, 120 °, 240 ° three usefulness, 12 limb pin switching mechanisms;

Structure by the six limb pin switching mechanisms of three usefulness links installation method with structure, head end at three usefulness, six two ends, the limb pin switching mechanism left and right sides first three usefulness bridgeware eccentric shafts, link first half garden center shaft is installed, bearing and cover, on first half garden center shaft, link second three of installation and use bridgeware, head end at second three usefulness bridgeware eccentric shaft, link again second half garden center shaft is installed, bearing and cover, two ends, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of three usefulness bridgewares, about be installed in 0 °, 120 °, 240 °, 0 °, 120 °, on 240 ° of all angles in these gardens, structure becomes 0 °, 120 °, 240 ° three usefulness, 12 limb pin switching mechanisms;

Three many limbs of usefulness pin switching mechanisms: by about with many of bridgewares, horizontal transmission system, about half garden center shaft, bearing and overlap many and form, structure by the 12 limb pin switching mechanisms of three usefulness links installation method with structure, on the half garden center shaft at three usefulness, 12 limb pin switching mechanism two ends, need by design, continue to link three usefulness bridgewares and half garden center shaft, bearing and cover about installation, structure becomes 0 °, 120 °, 240 ° three required many limbs of usefulness pin switching mechanisms;

Four-function switching mechanism

Four-function eight limb pin switching mechanisms: by each one of left and right sides four-function bridgeware, horizontal transmission system [9], about half garden center shaft, each composition of bearing and cover [8], garden heart connect apertures [1] tail of horizontal transmission system [9] transmission shaft two ends and left and right sides four-function bridgeware one end links, half garden center shaft [5] head is contained in bearing and the cover [8] about the other end, overcoat links with solid frame, two ends, left and right sides eccentric shafts [2] are parallel to be attached at same garden on week, four-function bridgeware eccentric shaft [2], about be installed in 0 °, 90 °, 180 °, on 270 ° of all angles in these gardens, structure becomes 0 °, 90 °, 180 °, 270 ° four-function eight limb pin switching mechanisms;

Four-function 16 limb pin switching mechanisms: by four of left and right sides four-function bridgewares, horizontal transmission system, about half garden center shaft, bearing and each composition of cover, the structure of pressing four-function eight limb pin switching mechanisms links installation method with structure, on half garden center shaft of first the four-function bridgeware in four-function eight two ends, the limb pin switching mechanism left and right sides, link each one of second four-function bridgeware is installed, about the head end of second four-function bridgeware eccentric shaft, link half garden center shaft about installation, bearing and cover, left and right sides eccentric shaft, parallelly be attached at same garden on week, the eccentric shaft of left and right sides four-function bridgeware, about be installed in 0 °, 90 °, 180 °, 270 °, 0 °, 90 °, 180 °, on 270 ° of all angles in these gardens, structure becomes 0 °, 90 °, 180 °, 270 ° four-function 16 limb pin switching mechanisms;

Many limbs of four-function pin switching mechanism: by many of left and right sides four-function bridgewares, horizontal transmission system, half garden center shaft, bearing and overlap many compositions, press the structure and structure linking method of four-function 16 limb pin switching mechanisms, on half garden center shaft of second the four-function bridgeware in four-function 16 two ends, the limb pin switching mechanism left and right sides, need by design, continue to link installation left and right sides four-function bridgeware, half garden center shaft, bearing and overlap many, structure becomes 0 °, 90 °, 180 °, the switching mechanism of 270 ° of needed many limbs of four-function pin;

Five use switching mechanism

The ten limb pin switching mechanisms of five usefulness: by about five usefulness bridgewares each one, horizontal transmission system, about half garden center shaft, bearing and each composition of cover, horizontal transmission system transmission shaft two ends with about the garden heart connect apertures binding of five usefulness bridgewares, one end, half garden central shaft heads is contained in center shaft and the cover about the other end, overcoat links with solid frame, left and right sides eccentric shaft is parallel to be attached at same garden on week, about five use the bridgeware eccentric shaft, about be installed in 0 °, 72 °, 144 °, 216 °, on 288 ° of all angles in these gardens, structure becomes 0 °, 72 °, 144 °, 216 °, 288 ° five usefulness, ten limb pin switching mechanisms;

The 20 limb pin switching mechanisms of five usefulness: by about five usefulness bridgewares each two, horizontal transmission system, about half garden center shaft, bearing and each two composition of cover, structure by the ten limb pin switching mechanisms of five usefulness links installation method with structure, on half garden center shaft of first the five usefulness bridgeware in five usefulness, ten two ends, the limb pin switching mechanism left and right sides, link each one of second five usefulness bridgeware is installed, about the head end of second five usefulness bridgeware eccentric shaft, about be installed in 0 °, 72 °, 144 °, 216 °, 288 °, 0 °, 144 °, 216 °, on all angles in these gardens of 288 °, structure becomes 0 °, 72 °, 144 °, 216 °, 288 ° five usefulness, 20 limb pin switching mechanisms;

Five many limbs of usefulness pin switching mechanisms: by about many of five usefulness bridgewares, horizontal transmission system, about half garden center shaft, bearing and overlap many compositions, structure by the 20 limb pin switching mechanisms of five usefulness links installation method with structure, on half garden center shaft of second the five usefulness bridgeware in five usefulness, 20 two ends, the limb pin switching mechanism left and right sides, need by design, five used bridgeware about the continuation binding was installed, half garden center shaft, bearing and cover, structure become 0 °, 72 °, 144 °, 216 °, 288 ° needed five many limbs of usefulness pin switching mechanisms;

Six, eight, nine, ten, 12,15,18,20,24,30,36,40,60,70 many limbs of dual-purpose pin switching mechanisms: by two, three, four, the structure of five usefulness switching mechanisms links installation method with structure, with six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purpose bridgewares, binding is mounted to six, eight, nine, ten, 12,15,18,20,24,30,40,45,60,70 many limbs of dual-purpose pin switching mechanisms;

The radius of rotation of switching mechanism eccentric shaft according to the design needs, is designed to the identical radius of rotation of size, the radius of rotation that size is inequality;

The radius of rotation of switching mechanism eccentric shaft according to the design needs, from the eccentric shaft at horizontal transmission system two ends, increases radius of rotation from inside to outside one by one, otherwise, in the eccentric shaft at horizontal transmission system two ends, outwards dwindle radius of rotation one by one;

The switching mechanism of many limbs pin, the radius of rotation of eccentric shaft is according to the design needs, from the eccentric shaft at horizontal transmission system two ends, one group of increase from inside to outside, another group is dwindled, and increase so repeatedly and dwindle radius of rotation, otherwise, eccentric shaft from horizontal transmission system two ends, one group is dwindled from inside to outside, and another organizes increase, dwindles the increase radius of rotation so repeatedly, increase simultaneously from two ends, the horizontal transmission system left and right sides and to dwindle, left end increases, right-hand member dwindles, left end dwindles, right-hand member increases radius of rotation;

Turning guide piece and mechanism:

The using artificial arm directly promotes the guiding mechanism of turning, the walking robot of the guiding of turning, and turning guiding mechanism and handle are directly installed on first group of one row of walking robot limb pin installation system;

Use the pusher arm of turning guide piece and mechanism, the walking robot of the guiding of turning, turning guide piece and mechanism are installed on second group of limb pin of walking robot installation system, and the catch bar of guiding mechanism and first group of one row's limb pin installation system link;

Bearing set: form by preceding left and right sides bearing support and the left and right sides, back bearing support, comprise the fixed bearing device, preceding lift bearing device, back lift bearing device, the height-rise descending branch bearing apparatus in front and back;

Fixed bearing device: by preceding left and right sides fixed support and the left and right sides, back fixed support, shock absorber is that damping spring is formed, needs are vertical with anchor fitting to be installed preceding fixed support according to designing, vertical bank is installed or the vertical-horizontal installation forward, back fixed support vertical bank is backward installed or the vertical-horizontal installation, about fixing rack structure identical, mode of connection is identical, a preceding support bracket fastened end and anchor fitting link, one end of the preceding support bracket fastened other end and shock absorber links, the other end of shock absorber and fulcrum shaft link, support bracket fastened end in back and anchor fitting link, one end of the support bracket fastened other end in back and shock absorber links, and the other end of shock absorber and fulcrum shaft link, structure fixed bearing device;

Preceding lift bearing device: by preceding left and right sides lifting support, back left and right sides fixed support, shock absorber is formed, preceding left and right sides lifting support, back left and right sides fixing rack structure is identical, mode of connection is identical, preceding lifting support is made of vertical lift partial sum tilt telescopic part and horizontal telescopic section, the end that can put into extensible member and be the cylinder fluid cylinder is fixed end, the other end of extensible member is movable end, the fixed end of preceding lifting support vertical component and anchor fitting link, the fixed end of the movable end of vertical component and tilt telescopic part or horizontal telescopic section links, the movable end of tilt telescopic part or horizontal telescopic section and an end of shock absorber link, the other end of shock absorber and fulcrum shaft link, back fixed support recedes support bracket fastened end in back and anchor fitting binding is installed, one end of the support bracket fastened other end in back and shock absorber links, and the other end of shock absorber becomes preceding lift bearing device with structure;

Back lift bearing device: by preceding left and right sides fixed support, back left and right sides lifting support shock absorber is formed, preceding left and right sides fixed support, back left and right sides lifting support structure is identical, mode of connection is identical, the fixed support vertical installation of installing or turn forward in the preceding left and right sides with anchor fitting, a preceding support bracket fastened end and anchor fitting link, one end of the preceding support bracket fastened other end and shock absorber links, the other end of shock absorber and fulcrum shaft link, and back lifting support is by the vertical lift part, tilt telescopic part or horizontal telescopic section constitute, the fixed end of the vertical component of back lifting support is vertical with anchor fitting to be linked, and the fixed end of the movable end of back lifting part and inclined lift part links, and the movable end of inclined lift part and an end of shock absorber link, the other end of shock absorber and fulcrum shaft link, and structure becomes the back lift bearing device;

The height-rise descending branch bearing apparatus in front and back: by preceding left and right sides lifting support, back left and right sides lifting support shock absorber is formed, front and back lifting support structure is identical, constitute by vertical lift part tilt telescopic part or horizontal telescopic section, the front and back lifting support forward, recede and install or the level installation, link vertical of fixed end of preceding lifting support vertical lift part with anchor fitting, the fixed end of the movable end of vertical component and tilt telescopic part or horizontal telescopic section links, tilt, one end of the movable end of telescopic section or horizontal telescopic section and shock absorber links, the other end of shock absorber and fulcrum shaft link, link vertical of fixed end of back lifting support vertical lift part with anchor fitting, the fixed end of the movable end of vertical lift part and tilt telescopic part or horizontal telescopic section links, the movable end of tilt telescopic part or horizontal telescopic section and an end of shock absorber link, the other end of shock absorber and fulcrum shaft link, height-rise descending branch bearing apparatus before and after structure becomes;

Limb pin installation system: by anchor fitting, bearing set, movable blocking device, switching mechanism, fulcrum shaft is formed, and comprises one group of switching mechanism limb pin installation system, and two groups of switching mechanism limb pin installation systems are organized switching mechanism limb pin installation system more;

One group of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation system;

One group of one row's fulcrum shaft limb pin installation system: by anchor fitting [10], bearing set [12], one group of switching mechanism [13], one row's fulcrum shaft [11] is formed, the power wheel of one group of switching mechanism [13] and perpendicular transmission system front end link, one group of switching mechanism [13] links with the top position of anchor fitting [10], one end of the lower position of anchor fitting [10] and bearing set [12] links, the other end of bearing set [12] and row's fulcrum shaft link, one group of switching mechanism [13] laterally with vertically vertical installation of anchor fitting [10], one end of left and right sides bearing set [12] or a vertical end tilt to install or vertical installation with the edge, the left and right sides of anchor fitting [10] lower position, the other end of bearing set [12] turns forward and installs or the level installation, one row's fulcrum shaft [11] laterally with vertically vertical installation of anchor fitting [10], the center shaft of fulcrum shaft and switching mechanism, eccentric shaft parallel installation up and down, one group of switching mechanism [13] promptly is installed in anchor fitting [10], bearing set [12], the top position of one row's fulcrum shaft [11], be installed in bearing set [12] again, on the anterior position of one row's fulcrum shaft [11], switching mechanism, perpendicular transmission system, anchor fitting [10], bearing set [12], one row's fulcrum shaft [11] links up and down, and structure becomes one group of one row's fulcrum shaft limb pin installation system;

One group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems, structure by one group of one row's fulcrum shaft limb pin installation system links installation method with structure, on bearing set, backward again horizontal parallel link successively second and third is installed, four, five, six, seven, eight, nine row's fulcrum shaft structures become one group, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems;

Again according to the design needs, two sections limb pin installation system about row's fulcrum shaft is designed to, left and right sides multistage limb pin installation system, a fulcrum shaft limb pin installation system, how much length of fulcrum shaft determines length according to the limb pin;

When one group of switching mechanism was installed on two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems, switching mechanism still was installed in the last anterior position of anchor fitting, bearing set two, three, four, five, six, seven, eight, nine row's fulcrum shafts;

Two groups of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems

Two group of one row's fulcrum shaft limb pin installation system: by two of anchor fittings, bearing set, perpendicular transmission system, movable blocking device, first group of switching mechanism, second group of switching mechanism, first group of one row's fulcrum shaft, second group of one row's fulcrum shaft formed, the front end of movable blocking device and first anchor fitting rear end link, the rear end of movable blocking device and the front end of second anchor fitting link, the driving device of the power wheel of first group of switching mechanism and perpendicular transmission system front end links, the driving device of perpendicular transmission system rear end and the power wheel of second group of switching mechanism link, one, two groups of switching mechanisms, be installed in one, the top position of two anchor fittings, one end of the lower position of anchor fitting and bearing set links, the other end of bearing set and fulcrum shaft link, first group of switching mechanism laterally vertically is vertically mounted on the top position of first anchor fitting front end with an anchor fitting, second group of switching mechanism laterally vertically is vertically mounted on the top position of two anchor fitting front ends with two anchor fittings, left and right sides front support bracket is installed in the lower position of anchor fitting front end, one end of front support bracket or a vertical end tilt to install or vertical installation with the edge, the left and right sides of anchor fitting front end lower position, the other end of bearing support turns forward and installs or the level installation, left and right sides rear support bracket is installed in the lower position of anchor fitting rear end, one end of rear support bracket or a vertical end tilt to install or vertical installation with the edge, the left and right sides of anchor fitting rear end lower position, the other end of bearing support recedes and installs or the level installation, first group, row's fulcrum shaft of second group laterally with vertically vertical installation of anchor fitting, two group of one center shaft of arranging fulcrum shaft and switching mechanism, eccentric shaft parallel installation up and down, two groups of switching mechanisms promptly are installed in anchor fitting, bearing support, the top position of fulcrum shaft; First group of switching mechanism is installed in front support bracket again, on the anterior position of first group of one row's fulcrum shaft; Second group of switching mechanism is installed in rear support bracket, and on the anterior position of second group of one row's fulcrum shaft, structure becomes two group of one row's fulcrum shaft limb pin installation system;

Two group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems: the structure by two group of one row's fulcrum shaft limb pin installation system links installation method with structure, on rear support bracket, again horizontal line link successively install second and third, four, five, six, seven, eight, nine row's fulcrum shafts, structure becomes one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems;

Two group one, two, three, four, five, six, seven, eight, when nine row fulcrum shaft limb pin installation systems and other limb pin installation systems polyphones use, select except that movable blocking device, one, two group of switching mechanism is installed on the same anchor fitting;

Two group of one row, two group one, two row's limb pin installation systems, the rotating speed of the rotating speed of first group of switching mechanism and second group of switching mechanism, slow before being designed to, the back is fast according to the needs that designed use is used, preceding less, back different rotating speeds how;

The limb pin installation system of many group switching mechanism series arrangement

The limb pin installation system of one group of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft series arrangement

Triad one row's fulcrum shaft limb pin installation system: being installed by one group of two row's fulcrum shaft limb pin is three groups, two groups of movable blocking devices, perpendicular two groups of compositions of transmission system, the front end driving device of first group of perpendicular transmission system and the power wheel of first group of switching mechanism link, the driving device of first group of perpendicular transmission system rear end and the driving wheel of second two groups of switching mechanism link, the driving device of the power wheel of second two groups of switching mechanism and second group of perpendicular transmission system front end links, the driving device of second group of perpendicular transmission system rear end and the power wheel of the 3rd three groups of switching mechanisms link, the anchor fitting of first group of activity blocking device front end and first group of one row's fulcrum shaft limb pin installation system links, the anchor fitting of the rear end of first group of activity blocking device and second group of one row's fulcrum shaft limb pin installation system links, the anchor fitting rear end of second group of one row's fulcrum shaft limb pin installation system and the front end of second group of activity blocking device link, the anchor fitting front end of the rear end of second group of activity blocking device and the 3rd group of one row's fulcrum shaft limb pin installation system links, and structure becomes three group of three row's fulcrum shaft limb pin installation system of triad one row's series arrangement;

Triad two, three, four, five, six, seven, eight, the limb pin installation system of nine row's fulcrum shaft series arrangement: by one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems, two groups of three groups of activity blocking devices, perpendicular two groups of compositions of transmission system, with one group two, three, four, five, six, seven, eight, it is two groups of three groups of activity blocking devices that nine row's fulcrum shaft limb pin are installed, two groups of perpendicular transmission systems, structure by triad three row's fulcrum shaft limb pin installation systems links installation method with structure, and structure becomes triad two, three, four, five, six, seven, eight, nine arrange three group six of series arrangement, nine, 12,15,18,21,27 row's fulcrum shaft limb pin installation systems;

The limb pin installation system of a plurality of one group of one row's fulcrum shaft series arrangement: one group of one row's fulcrum shaft limb pin installation system organized more, two groups of movable blocking devices, perpendicular transmission system is organized composition more, one group of one row's fulcrum shaft limb pin installation system organized more, perpendicular transmission system is organized more, according to the design needs, structure by triad three row's fulcrum shaft limb pin installation systems links installation method with structure, rear end at the 3rd group of one row's fulcrum shaft limb pin installation system anchor fitting, continue to link one group of one row of installation fulcrum shaft limb pin installation system on the power wheel of switching mechanism, perpendicular transmission system, movable blocking device, structure become many groups one row's limb pin installation systems of a plurality of one group of series arrangement of designing institute needs;

A plurality of one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems: by one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems are organized more, movable lock is installed and is put many groups, perpendicular transmission system is organized composition more, with one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems are organized more, movable blocking device is organized more, perpendicular transmission system is organized more, according to the design needs, by triad six, nine, 12,15,18,21, the structure of 27 row's fulcrum shaft limb pin installation systems links installation method with structure, at the 3rd group six, nine, 12,15,18,21, the anchor fitting rear end of 27 row's fulcrum shaft limb pin installation systems, on the switching mechanism power wheel, continue to use movable blocking device, perpendicular transmission system links one group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems, many rows fulcrum shaft limb pin installation system that structure becomes the designing institute of series arrangement to need;

The limb pin installation system of two groups of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft series arrangement

Three two groups one row's fulcrum shaft limb pin installation systems: by three groups of two group of one row's fulcrum shaft limb pin installation systems, two groups of movable blocking devices, perpendicular two groups of compositions of transmission system, the power wheel of the driving device of first group of perpendicular transmission system front end and the rear end switching mechanism of first two group row's fulcrum shaft limb pin installation system links, the power wheel of the driving device of first group of perpendicular transmission system rear end and the switching mechanism of second two groups one row's fulcrum shaft limb pin installation system front ends links, the power wheel of the rear end switching mechanism of the driving device of second group of perpendicular transmission system front end and second two groups one row's fulcrum shaft limb pin installation systems links, the power wheel of the front end switching mechanism of the driving device of second group of perpendicular transmission system rear end and the 3rd two groups one row's fulcrum shaft limb pin installation systems links, the rear end of the front end of first group of activity blocking device and first two group row's fulcrum shaft limb pin installation system anchor fitting links, the front end of the rear end of first group of activity blocking device and second two groups one row's fulcrum shaft limb pin installation system anchor fittings links, the rear end of the front end of second group of activity blocking device and second two groups one row's fulcrum shaft limb pin installation system anchor fittings links, the front end of the rear end of second group of activity blocking device and the 3rd two groups one row's fulcrum shaft limb pin installation system anchor fittings links, and structure becomes three group of six row's fulcrum shaft limb pin installation system of three two groups one row's series arrangement;

Three two groups two, three, four, five, six, seven, eight, the limb pin installation system of nine row's fulcrum shaft series arrangement: by two group two, three, four, five, six, seven, eight, three groups of nine row's fulcrum shaft limb pin installation systems, two groups of movable blocking devices, perpendicular two groups of compositions of transmission system, with two group two, three, four, five, six, seven, eight, three groups of nine row's fulcrum shaft limb pin installation systems, two groups of perpendicular transmission systems, three group of six structure of arranging fulcrum shaft limb pin installation system by three two groups one row's series arrangement links installation method with structure, and structure becomes three group 12 of three two groups one row's series arrangement, 18,24,30,36,42,48,54 row's fulcrum shaft limb pin installation systems;

The limb pin installation system of a plurality of two group of one row's fulcrum shaft series arrangement: organize by two group of one row's fulcrum shaft limb pin installation system more, movable blocking device is organized more, perpendicular transmission system is organized composition more, two group of one row's fulcrum shaft limb pin installation system organized more, movable blocking device is organized more, perpendicular transmission system is organized more, according to the design needs, three group of six structure and structure linking method of arranging fulcrum shaft limb pin installation system by three two groups one row's polyphone junction structures, two group of six row's fulcrum shaft limb pin installation system three two groups one row's series arrangement, on the power wheel of the rear end switching mechanism of the 3rd group of anchor fitting, continue with perpendicular transmission system, movable blocking device links two group of one row's fulcrum shaft limb pin installation system, and what structure became a plurality of two group of one row's series arrangement that designing institute needs arranges fulcrum shaft limb pin installation system more many groups;

A plurality of two group two, three, four, five, six, seven, eight, the limb pin installation system of nine row's fulcrum shaft series arrangement: by two group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems are organized more, movable blocking device is organized more, perpendicular transmission system is organized composition more, with two group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems are organized more, movable blocking device is organized more, perpendicular transmission system is organized more, according to the design needs, by three two groups 1 three groups 12 of arranging series arrangement, 18,24,30,36,42, the structure of 48 row's fulcrum shaft limb pin installation systems links installation method with structure, at three two groups 1 three groups 12 of arranging series arrangement, 18,24,30,36,42,48 row's fulcrum shaft limb pin installation systems, the rear end of the 3rd group of anchor fitting, on the power wheel of the 3rd group of rear end switching mechanism, continue with perpendicular transmission system, movable blocking device, link two group two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems, structure becomes a plurality of two group two of designing institute needs, three, four, five, six, seven, eight, nine row's series arrangement arranging fulcrum shaft limb pin installation system many groups more;

Many groups switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shafts mix the limb pin installation system of series arrangement

One group of limb pin installation system that mixes series arrangement with a group

A plurality of one group of one row mix the limb pin installation system of series arrangement with a plurality of one group of two row

One group of one row's two limb pin installation system mixes two group of three row's eight limb pin installation system of series arrangement with one group of one row's two limb pin, two row's four-leg installation systems

Eight limb pin installation systems: by one group of one row's two limb pin installation system, one group of one row's two limb pin, two row's four-leg installation systems, movable blocking device is formed, the perpendicular transmission system of one group of one row's two limb pin installation system is removed, with second group of one row's two limb pin, the power wheel that the perpendicular transmission system of two row's four-leg installation systems repacks perpendicular transmission system of double-purpose and first group of one row, two limb pin installation system switching mechanisms into links, the front end of movable blocking device and first group of one row two limb pin installation system anchor fitting rear end link, the rear end of movable blocking device and second group of one row's two limb pin, the front end of two row's four-leg installation system anchor fittings links, and structure becomes to mix two group of three row's eight limb pin installation system of series arrangement;

Needs that use according to designed use again, the structure of system is installed by the two group of three row's eight limb pin that mixes series arrangement linking method is installed with structure, on two group of three row's eight limb pin installation system of first group of mixed system, continue with perpendicular transmission system, movable blocking device link install second and third, four groups mix the two group of three row's eight limb pin installation system of series arrangement or the limb pin installation systems of other structures, what structure became needed mixing series arrangement arranges many limbs pin installation system more many groups;

A plurality of one group of limb pin installation system that mix series arrangement with a plurality of a group: by one one group or a plurality of one group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine row fulcrum shaft limb pin installation systems and one one groups or a plurality of one group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation system series arrangement become the limb pin installation system of one group of mixed system, on first group of hybrid limb pin installation system, continue with perpendicular transmission system, movable blocking device links installs second, three, four, the limb pin installation system of five groups of hybrid limb pin installation systems or other structures, structure become design to use many limbs of row more than many groups pin installation system of needed mixing series arrangement;

A plurality of one group of one row mix the limb pin installation system of series arrangement with a plurality of two group of one row

A plurality of one group of one row's two limb pin installation system mix three group of three row's ten limb pin installation system of series arrangement with two group of one row's four-leg installation system

Ten limb pin installation systems: by one group of one row's two limb pin installation system, two groups of dual-purpose one row's four-leg installation systems, movable blocking device is formed, repack the perpendicular transmission system of one group of one row's limb pin installation system into double-purpose perpendicular transmission system, the power wheel binding of first group of four-leg switching mechanism in perpendicular transmission system rear end and two groups of dual-purposes, the one row's four-leg installation system, the rear end of the front end of movable blocking device and one group of one row's two limb pin installation system anchor fitting links, the front end of the rear end of movable blocking device and two groups of dual-purpose one row's four-leg installation system anchor fittings links, and structure becomes to mix three group of three row's ten limb pin installation system of series arrangement;

Use needs according to designed use again, link installation method by three group of three row's limb pin installation system structure of mixing series arrangement with structure, arrange on the ten limb pin installation systems at first group of three group three of mixing series arrangement, continue with perpendicular transmission system, movable blocking device binding is installed second and third, four groups of three groups three of mixing series arrangement are arranged ten limb pin installation systems or two group of one row's four-leg installation system, the limb pin installation system of other structures, structure become many limbs of row more than many groups pin installation system of needed mixing series arrangement;

A plurality of one group of limb pin installation system that mix series arrangement with a plurality of two groups: by one one group or a plurality of one group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two or three, four, five, six, seven, eight, nine arrange and one two groups or a plurality of two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation system series arrangement become the limb pin installation system of one group of mixed system, on first group of hybrid limb pin installation system, continue with perpendicular transmission system, movable blocking device links installs second, three, four, the limb pin installation system of five groups of hybrid limb pin installation systems or other structures, structure become design to use many limbs of row more than many groups pin installation system of needed mixing series arrangement;

Use needs according to designed use again, will be a plurality of two groups mixes the series arrangement form with a plurality of one, two group, structure becomes needed organize to arrange many limbs pin installation systems more more;

Two groups, two groups of above polyphones, many groups are mixed polyphone, and the rotating speed of many groups switching mechanism that structure becomes is identical, and the original setting angle of eccentric shaft is identical;

Vibration insulating system: comprise seat cushion vibration damping, fulcrum shaft vibration damping, foot's vibration damping, toe vibration damping four parts;

Form spring steel plate, damper spring and other vibration damping equipment general designation shock absorber by spring steel plate, damper spring and other vibration damping equipment;

The seat cushion vibration damping: by many groups of shock absorber or a plurality of the composition, an end of shock absorber and mounting link, and the shock absorber other end and frame link, and structure becomes the seat cushion vibration damping;

The fulcrum shaft vibration damping: by many groups of shock absorber or a plurality of the composition, an end of shock absorber and bearing set link, and the other end of shock absorber and fulcrum shaft link, and structure becomes the fulcrum shaft vibration damping;

Foot's vibration damping: by many groups of shock absorber or a plurality of the composition, an end of shock absorber and trammel beam link, and the shock absorber other end and sole end face link, and structure becomes foot's vibration damping;

Toe vibration damping: by many groups of shock absorber or a plurality of the composition, one end of shock absorber and foot plate surface link, and the other end of shock absorber and toe link, and have an end and the foot plate surface of the shock absorber of unidirectional feeder wheel to link, the axle of the other end of shock absorber and unidirectional feeder wheel links, and structure becomes the toe vibration damping;

Vibration insulating system: according to the needs of designed use use, seat cushion, fulcrum shaft, foot, toe four parts all mounting dampers be integral vibration damping, in four parts on arbitrary part or the arbitrary two local vibration dampings that cry of partly going up mounting dampers, four parts not mounting dampers be no vibration insulating system;

9 parts quadrangle limb pin

Fixed limb pin: by catch bar [16], promote connecting rod [17], dowel bar [18], walking rod [19], contraction pole [20], cramp bar [21], bearing connecting rod [22], trammel beam [23], pin [24] 9 parts, constitute the power arm of leg, the walking arm, supporting arm and pin four parts are formed, and the power arm of catch bar [16] and the eccentric shaft of switching mechanism link, and the fulcrum of catch bar [16] links with an end that promotes connecting rod [17], promoting the other end of connecting rod [17] and the power arm of dowel bar [18] links, the power arm of the resistance arm of dowel bar [18] and contraction pole [20] links, and an end of the resistance arm of contraction pole [20] and bearing connecting rod [22] links, and the middle front end of the fulcrum of the other end of bearing connecting rod [22] and trammel beam [23] and sole [24] links; The power arm of the resistance arm of catch bar [16] and walking rod [19] links, and the power arm of the resistance arm of walking rod [19] and cramp bar [21] links, and the power arm of the resistance arm of cramp bar [21] and trammel beam [23] and the rear end of sole [24] link; The fulcrum of the fulcrum of dowel bar [18] and walking rod [19] links, structure becomes the walking fulcrum of limb pin, the walking fulcrum of limb pin is installed on the fulcrum shaft of bearing set, and the fulcrum shaft of the fulcrum of contraction pole [20] and cramp bar [21] links, and structure becomes the contraction fulcrum of limb pin; Catch bar [16] resistance arm, promote connecting rod [17], the power arm of walking rod [19], the power arm structure of dowel bar [18] becomes the power quadrangle of the limb foot-propelled arm of force, the resistance arm of dowel bar [18], the resistance arm of walking rod [19], the power arm of contraction pole [20], the power arm of cramp bar [21] constitutes the walking quadrangle that the limb business concern operating a porters' service is walked arm; The resistance arm of the resistance arm of cramp bar [21], contraction pole [20], bearing connecting rod [21], the power arm of trammel beam [23], structure becomes the limb business concern operating a porters' service to walk the supporting quadrangle of arm; Promote the power of connecting rod and dowel bar, catch bar [16] and walking rod [19]] power arm, structure becomes the limb pin hip joint of flexion fixed angle forward, the power arm of the resistance arm of walking rod [19] and cramp bar [21], the resistance arm of dowel bar becomes the limb pin lacquer joint of flexion fixed angle backward with the power arm structure of contraction pole, bearing connecting rod and contraction pole resistance arm, the resistance arm of cramp bar [21] and trammel beam [23] and pin [24], structure become the limb pin ankle-joint of flexion fixed angle forward;

Power arm concertina type limb pin: structure and the structure of pressing fixed limb pin, catch bar is designed to two ends concertina type parts, the interlude of two ends extensible member is the fulcrum section, promote connecting rod, catch bar resistance arm, the power arm of dowel bar, the power arm of walking rod is designed to end concertina type parts, promote the movable end of connecting rod and the fulcrum of catch bar and link, promote the fixed end of connecting rod and the movable end of dowel bar power arm and link, the fulcrum section of the fixed end of dowel bar power arm and dowel bar links; The fulcrum section of the fixed end of catch bar resistance arm and catch bar links, and the movable end of the movable end of catch bar resistance arm and walking rod power arm links, and the fulcrum section of the fixed end of walking rod power arm and walking rod links; The resistance arm of concertina type catch bar promotes connecting rod, the power arm of dowel bar, and it is concertina type that the power arm structure of walking rod becomes the limb foot-propelled arm of force, walking arm, supporting arm are the power arm concertina type limb pin of fixed;

Walking arm concertina type limb pin: structure and the structure of pressing fixed limb pin, resistance arm with dowel bar, the resistance arm of walking rod, the power arm of contraction pole, the power arm of cramp bar is designed to end concertina type parts, the fulcrum section of the fixed end of walking rod resistance arm and walking rod links, and the movable end of the movable end of walking rod resistance arm and cramp bar power arm links, and the fulcrum section of the fixed end of cramp bar power arm and cramp bar links; The fulcrum section of the fixed end of dowel bar resistance arm and walking rod links, and the movable end of the movable end of dowel bar resistance arm and contraction pole power arm links, and the fulcrum section of the fixed end of contraction pole power arm and contraction pole links; The resistance arm of one end concertina type dowel bar, the resistance arm of walking rod, the power arm of contraction pole, it is fixed that the power arm structure of cramp bar becomes the limb foot-propelled arm of force, and the walking arm is a concertina type, and supporting arm is the walking arm concertina type limb pin of fixed;

Supporting arm concertina type limb pin: structure and the structure of pressing fixed limb pin, resistance arm with cramp bar, the resistance arm of contraction pole, bearing connecting rod, trammel beam and pin are designed to the concertina type parts, the fulcrum section of the fixed end of cramp bar resistance arm and cramp bar links, and the fixed end of the movable end of cramp bar resistance arm and trammel beam power arm links, and the fixed end alive of trammel beam power arm and the fulcrum section of sole rear end and trammel beam link; The fulcrum section of the fixed end of contraction pole resistance arm and contraction pole links, the movable end of contraction pole resistance arm and the fixed end of bearing connecting rod link, the movable end of bearing connecting rod and the fulcrum of trammel beam and sole be that front end links, it is fixed that structure becomes the power arm of limb pin, walking arm, and supporting arm is the supporting arm concertina type limb pin of concertina type;

Dynamically supported arm concertina type limb pin: press the structure and the structure of power arm concertina type limb pin, with the resistance arm of cramp bar, the resistance arm of contraction pole, bearing connecting rod, the power arm of trammel beam is designed to the concertina type parts; The fulcrum section of the fixed end of cramp bar resistance arm and cramp bar links, and the fixed end of the movable end of cramp bar resistance arm and trammel beam power arm and the rear end of sole link; The fulcrum section of the fixed end of contraction pole resistance arm and contraction pole links, the movable end of contraction pole resistance arm and the fixed end of cramp bar link, the middle front end of the movable end of bearing connecting rod and the fulcrum of trammel beam and sole links, it is concertina type that structure becomes the limb foot-propelled arm of force, the walking arm is a fixed, and supporting arm is the dynamically supported arm concertina type limb pin of concertina type;

Power walking arm concertina type limb pin: press the structure and the structure of power arm concertina type limb pin, the resistance arm of dowel bar, the resistance arm of walking rod, the power arm of contraction pole, the power arm of cramp bar are designed to the concertina type parts; The fulcrum section of the fixed end of dowel bar resistance arm and dowel bar links, the movable end of dowel bar resistance arm and the movable end of contraction pole link, the fulcrum section of the fixed end of contraction pole and contraction pole links, it is concertina type that structure becomes the limb foot-propelled arm of force, walking arm, and supporting arm is the power walking arm concertina type limb pin of fixed;

Full concertina type limb pin: press structure and structure that arm concertina type limb pin is walked in the Lixing, resistance arm with cramp bar, the resistance arm of contraction pole, bearing connecting rod, the power arm of trammel beam is designed to extensible member, the fulcrum section of the fixed end of cramp bar resistance arm and cramp bar links, the fixed end of the movable end of cramp bar resistance arm and trammel beam power arm links, the movable end of trammel beam power arm and fulcrum section link, the fulcrum section of the fixed end of contraction pole resistance arm and contraction pole links, the movable end of contraction pole resistance arm and the fixed end of bearing connecting rod link, the movable end of bearing connecting rod and the fulcrum of trammel beam link, and structure becomes the limb foot-propelled arm of force, the walking arm, supporting arm is a concertina type limb pin of concertina type;

Dynamically supported arm mixed type limb pin: structure and the structure of pressing fixed limb pin, resistance arm with cramp bar, promote connecting rod, bearing connecting rod, the power arm of walking rod is designed to the concertina type parts, the fulcrum section of the fixed end of cramp bar resistance arm and cramp bar links, and the movable end of cramp bar resistance arm and trammel beam power arm link, and the fulcrum section of the fixed end of walking rod power arm and walking rod links; The movable end of walking rod power arm and the resistance arm of catch bar link, promoting the movable end of connecting rod and the fulcrum of catch bar links, the fixed end and the dowel bar power arm that promote connecting rod link, the fixed end of bearing connecting rod and the power arm of contraction pole link, the movable end of bearing connecting rod and the supporting of trammel beam link, and structure becomes dynamically supported arm mixed type limb pin;

Walking support arm mixed type limb pin: structure and the structure of pressing fixed limb pin, resistance arm with walking rod, the power arm of contraction pole, the resistance arm of cramp bar, bearing connecting rod is designed to the concertina type parts, the fulcrum section of the fixed end of walking rod resistance arm and walking rod links, the movable end of walking rod resistance arm and the power arm of cramp bar link, the resistance arm of contraction pole power arm fixed end and dowel bar links, the movable end of contraction pole power arm and the fulcrum of cramp bar link, the fulcrum section of the fixed end of cramp bar resistance arm and cramp bar links, the movable end of cramp bar resistance arm and the power arm of trammel beam link, the fixed end of bearing connecting rod and the resistance arm of contraction pole link, the movable end of contraction pole and the fulcrum of trammel beam link, and structure becomes walking supporting arm mixed type limb pin;

Concertina type, mixing concertina type limb pin hip joint: by the catch bar resistance arm, promote connecting rod, walking rod power arm, dowel bar power arm four parts, the limb foot-propelled arm of force quadrangle that structure becomes, catch bar and walking rod constitute the hip joint of flexion fixed angle, movable adjusting angle forward;

Concertina type, mixing concertina type limb pin lacquer joint: the walking rod resistance arm, the contraction pole power arm, the cramp bar power arm passes; Power bar resistance arm four parts, structure becomes the limb business concern operating a porters' service to walk quadrangle, and walking rod resistance arm and cramp bar constitute the lacquer joint of flexion fixed angle, movable adjusting angle backward;

Concertina type, mixing concertina type limb ankle joint: cramp bar resistance arm, contraction pole resistance arm, bearing connecting rod, trammel beam four block constructions become the supporting arm quadrangle, and cramp bar resistance arm and trammel beam constitute the ankle-joint of flexion fixed angle, movable adjusting angle forward;

Concertina type, mixed type limb pin: constitute the limb pin by catch bar, promotion connecting rod, walking rod, dowel bar, contraction pole, cramp bar, bearing connecting rod, trammel beam, pin, the power arm quadrangle, walking arm quadrangle, three chain quadrangles of supporting arm quadrangle and pin are formed, limb pin hip joint, lacquer joint, ankle-joint are movable fixed angle, movable adjusting angle;

Concertina type and mixed type limb pin: by catch bar, dowel bar, walking rod, contraction pole, cramp bar, trammel beam, promote connecting rod, bearing connecting rod and pin constitute the catch bar of limb pin, dowel bar, walking rod, contraction pole, cramp bar, trammel beam is a lever construction, promotes connecting rod, and cramp bar is single bar linkage structure of using;

Promote connecting rod, bearing connecting rod is designed and manufactured into concertina type and two kinds of parts of fixed, and the concertina type parts are designed to one section, two sections, multistage extensible member, and the fixed end and the end of living are forward installed as required and oppositely installed;

Walking rod, fixed link, contraction pole, cramp bar, trammel beam are designed and manufactured into power arm resistance arm fixed parts, power arm concertina type parts, resistance arm concertina type parts, power arm and resistance arm concertina type parts, the concertina type component design is made into one section, two sections, multistage concertina type parts, fixed end and movable end need by the purposes use, forward install and oppositely install;

The limb heel uses according to purposes need be designed and manufactured into lever work limb pin and walking limb pin, mixes and installs and independent the installation;

Pin: by shock absorber, sole, toe, unidirectional feeder wheel is formed, a kind of structure is a mounting dampers not, sole and trammel beam link, sole bottom and two installation toes and unidirectional feeder wheel, toe and unidirectional feeder wheel can independently separately be installed and install simultaneously, two kinds of structures are sole top mounting dampers, one end of shock absorber and trammel beam link, the other end of shock absorber and sole link, two of sole bottoms link installs toe and unidirectional feeder wheel, and toe and unidirectional feeder wheel can solely be installed separately and install simultaneously, three kinds of structures are sole tops, toe, mounting dampers on the unidirectional feeder wheel, an end of shock absorber and trammel beam link, the other end of shock absorber and sole link, two ends with shock absorber in sole bottom link the other end of shock absorber and toe, the axle of unidirectional feeder wheel links toe and unidirectional feeder wheel, can independently separately install and install simultaneously, four kinds of structures are toe and unidirectional feeder wheel mounting dampers, and sole and trammel beam link, the sole bottom, two ends that link shock absorber, the axle of the other end of shock absorber and toe and unidirectional feeder wheel links, and toe and unidirectional feeder wheel can independently separately be installed and install simultaneously;

Pin is designed to fixed and concertina type, and the fixed end of concertina type pin is the sole rear end, movable end and sole front end, and the fulcrum design is on the position, middle back of sole front end; On the front and back end of sole, designs fix, flexible, one group two, two groups are a plurality of, organize a plurality of unidirectional feeder wheels more, and unidirectional feeder wheel is designed to fixed and movable telescopic type, and needs are interim to be installed and permanent the installation according to using;

The walking robot of one group of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation system

The walking robot of one group of one row's limb pin installation system

Two walking robot with limbs and feet of one group of one row's two limb pin installation system

Two walking robot with limbs and feet: by perpendicular transmission system one row's fulcrum shaft two limb pin installation systems, promote two on connecting rod, two limb pin are formed, the takeoff output dress of perpendicular transmission system links with the power wheel of switching mechanism, the power arm of left and right sides limb pin links with an end that promotes connecting rod, promotes the other end of connecting rod and the left and right sides eccentric shaft of switching mechanism and links the walking fulcrum of left and right sides limb pin, be installed on the fulcrum shaft of row's fulcrum shaft two limb pin installation systems, structure becomes two walking robot with limbs and feet;

The walking robot of one group of dual-purpose one row's limb pin installation system

The four-leg walking vehicle device people of one group of dual-purpose one row's four-leg installation system

Four-leg walking vehicle device people: by perpendicular transmission system [27], one row's fulcrum shaft four-leg installation system [11], promote [17] four on connecting rod, two compositions of dual-purpose limb pin, to erect transmission system one row's fulcrum shaft four-leg installation system, dual-purpose two limb pin promote four on connecting rod, structure by two walking robot with limbs and feet links installation method with structure, and structure becomes four-leg walking vehicle device people;

One group of dual-purpose one row's walking robot with limbs and feet: by many limbs of row's fulcrum shaft pin installation system, promote connecting rod six, eight, ten, many, many limbs pin is formed, with many limbs of row's fulcrum shaft pin installation system, perpendicular transmission system promotes connecting rod six, eight, ten, many, many limbs pin, structure by two walking robot with limbs and feet links installation method with structure, and structure becomes the many walking robot with limbs and feet of one group of dual-purpose, one row;

Arrange the many walking robot with limbs and feet of many limbs pin installation system with one more than one group

One group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60, the many walking robot with limbs and feet of 70 dual-purposes, one row: by perpendicular transmission system, one group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes, one many limbs of row pin installation system, promote connecting rod six, eight, limb pin more than more than ten is formed, to erect transmission system, one group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes, one many limbs of row pin installation system, promote connecting rod six, eight, more than ten, many limbs pin, structure by one group of dual-purpose, one row's dual-purpose four-leg walking vehicle device people links installation method with structure, and structure becomes one group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60, the many walking robot with limbs and feet of 70 dual-purposes, one row;

The walking robot of one group of switching mechanism two many limbs of row's fulcrum shaft pin installation system structure

One group of dual-purpose two row divides the walking robot of using limb pin installation system

One group of dual-purpose two row divides the four-leg walking vehicle device people who uses the four-leg installation system

Four-leg walking vehicle device people: by perpendicular transmission system, one group of two row's fulcrum shaft two limb pin installation system, promote four on connecting rod, four-leg is formed, the power take-off implement of perpendicular transmission system and the power wheel of switching mechanism link, the power arm of four-leg connects with an end of the company of promotion, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of four-leg is installed on the fulcrum shaft of two row's fulcrum shafts, two limb pin installation systems, on first row's fulcrum shaft two limb pin are installed, two limb pin are installed on the second series fulcrum shaft, and structure becomes four-leg walking vehicle device people;

One group of dual-purpose two row is with the walking robot with limb pin installation system

One group of dual-purpose two row is with one group of two row's walking machine with eight limbs device people with the four-leg installation system

Walking machine with eight limbs device people: by one group of two row of perpendicular transmission system fulcrum shaft four-leg installation system, double-purpose promotes four on connecting rod, eight limb pin are formed, the power take-off implement of perpendicular transmission system and the power wheel of switching mechanism link, the end that the power arm of four-leg and double-purpose promote connecting rod links, double-purpose promotes the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of eight limb pin is installed on the fulcrum shaft of two row's fulcrum shaft four-leg installation systems, on first row's fulcrum shaft four-leg is installed, on the second series fulcrum shaft four-leg is installed, structure becomes one group of dual-purpose, two rows with using walking machine with eight limbs device people;

One group three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes three, four, five, six, seven, eight, the many walking robot with limbs and feet of nine rows: by one group three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, three, four, five, six, seven, eight, nine usefulness promote connecting rod three, four, five, many or single with promoting connecting rod six, eight, ten, many, two on many limbs pin or many compositions, with one group three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, three, four, five, six, seven, eight, nine usefulness promote connecting rod three, four, five, many or single with promoting connecting rod six, eight, ten, many, many limbs pin, by single the using of one group of dual-purpose, one row, one group of dual-purpose two row divides usefulness, one group of dual-purpose two row links installation method with the structure with limb pin installation system walking robot with structure, and structure becomes a group three of other versions, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes three, four, five, six, seven, eight, the many walking robot with limbs and feet of nine rows;

The walking robot of two groups of switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems

Two group of one single two group of two row's four-leg walking vehicle device people of row with two limb pin installation systems

Four-leg walking vehicle device people: by two limb pin installation systems of the movable blocking device of two group of one row, turning guide piece and mechanism, promote four on connecting rod, four-leg is formed, turning guide piece and mechanism are installed on the anchor fitting of two groups of second seriess, two limb pin installation systems, the catch bar of guiding mechanism and two group of first row's two limb pin installation system link, the walking fulcrum of four-leg, be installed on the fulcrum shaft of two group of one row's two limb pin installation system, the two ends, the left and right sides of first row's fulcrum shaft, two limb pin about forelimb are installed, about two limb pin power arm with about promote connecting rod an end link, the other end and the left and right sides, the first group of two limb pin switching mechanism two ends eccentric shaft that promote connecting rod link, two limb pin about hind leg are installed at the two ends, the left and right sides of second series fulcrum shaft, about hind leg the power arm of two limb pin with about promote connecting rod an end link, the other end and the left and right sides, the second group of two limb pin switching mechanism two ends eccentric shaft that promote connecting rod link, and structure becomes two group of two row's four-leg walking vehicle device people;

Two groups of single walking robots of dual-purpose one row with limb pin installation system

Two groups of single two group of two row's walking machine with eight limbs device people of dual-purpose one row with the four-leg installation system

Walking machine with eight limbs device people: by the four-leg installation system of the movable blocking device of two groups of dual-purpose one rows, turning guide piece and mechanism, promote eight on connecting rod, eight limb pin are formed, turning guide piece and mechanism are installed on the anchor fitting of two groups of second series four-leg installation systems, the catch bar of guiding mechanism and two group of one row's four-leg installation system link, the power arm of limb pin links with an end that promotes connecting rod, the walking fulcrum that the other end of promotion connecting rod and the eccentric shaft of switching mechanism link the limb pin is installed on the fulcrum shaft of two groups of dual-purposes, one row's four-leg installation system, two ends, the left and right sides at first group of one row's fulcrum shaft, forelimb left and right sides four-leg is installed, the eccentric shaft at the promotion connecting rod of left and right sides four-leg power arm and two ends, first group of switching mechanism left and right sides links, the two ends, the left and right sides of second group of one row's fulcrum shaft, hind leg left and right sides four-leg is installed, the eccentric shaft at the promotion connecting rod of the left and right sides dual-purpose two limb foot-propelled arm of forces and two ends, second group of switching mechanism left and right sides links, and structure becomes two groups of dual-purposes, one row's walking machine with eight limbs device people;

Two groups of dual-purpose two rows divide the walking robot of using limb pin installation system

Two groups of dual-purpose two rows divide the two group of four row's walking machine with eight limbs device people who uses the four-leg installation system

Walking machine with eight limbs device people: by two groups of dual-purposes, two row's four-leg installation systems, promote eight on connecting rod, eight limb pin are formed, the power arm of limb pin links with an end that promotes connecting rod, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of limb pin is installed on the fulcrum shaft of two groups of dual-purposes, two row's four-leg installation systems, two ends, the left and right sides at first group of one row's fulcrum shaft, two limb pin about inboard first row are installed, about the left and right sides eccentric shaft binding of promotion connecting rod and inboard, first group of four-leg switching mechanism two ends of the two limb foot-propelled arm of forces; Two ends, the left and right sides at first group of two row's fulcrum shaft, two limb pin about the second series of the outside are installed, about the promotion connecting rod of the two limb foot-propelled arm of forces and the left and right sides eccentric shaft in the outside, first group of four-leg switching mechanism two ends link, the two ends, the left and right sides of second group of one row's fulcrum shaft, two limb pin about inboard the 3rd row are installed, about the left and right sides eccentric shaft of the promotion connecting rod of the two limb foot-propelled arm of forces and inboard, second group of four-leg switching mechanism two ends link, the two ends, the left and right sides of second group of two row's fulcrum shaft, two limb pin about the 4th row of the outside are installed, about the promotion connecting rod of the two limb foot-propelled arm of forces and the left and right sides eccentric shaft in the outside, second group of four-leg switching mechanism two ends link, structure becomes two group of four row's walking machine with eight limbs device people;

The needs that use according to designed use adopt the form structure of other structures to become two group four of two groups of dual-purposes, two row's fulcrum shaft limb pin installation systems to arrange walking machine with eight limbs device people again;

Two groups of dual-purpose two rows are with the walking robot with limb pin installation system

Two groups of dual-purpose two rows are with two group of four row's 16 walking robot with limbs and feet with the four-leg installation system

16 walking robot with limbs and feet: by two group of two row's four-leg installation system, 16 on dual-purpose eight on connecting rod of promotion or unidirectional promotion connecting rod, 16 limb pin are formed, the power arm of limb pin links with an end that promotes connecting rod, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of limb pin is installed on the fulcrum shaft of two groups of dual-purposes, two row's four-leg installation systems, two ends, the left and right sides at first group of one row's fulcrum shaft, the first row left and right sides four-leg is installed, and the left and right sides eccentric shaft at the catch bar of left and right sides four-leg power arm and first group of four-leg switching mechanism two ends links; The two ends, the left and right sides of first group of two row's fulcrum shaft, second series left and right sides four-leg is installed, the eccentric shaft at the promotion connecting rod of left and right sides four-leg power arm and first group of four-leg switching mechanism two ends links, when adopting dual-purpose to promote connecting rod, the power arm of left and right sides four-leg and a row's dual-purpose promotes connecting rod and links, at the two ends, the left and right sides of second group of one row's fulcrum shaft, the 3rd row left and right sides four-leg is installed, the eccentric shaft at the promotion connecting rod of left and right sides four-leg power arm and second group of four-leg switching mechanism two ends links; The two ends, the left and right sides of second group of two row's fulcrum shaft, the 4th row left and right sides four-leg is installed, the eccentric shaft at the promotion connecting rod of left and right sides four-leg power arm and second group of four-leg switching mechanism two ends links, when adopting dual-purpose to promote connecting rod, the power arm of left and right sides four-leg and three rows' dual-purpose promotes connecting rod and links, and structure becomes two groups of dual-purposes, two rows together with 16 walking robot with limbs and feet;

Two groups of dual-purpose two rows divide usefulness, with using limb pin installation system, the walking robot philtrum that is used for series arrangement, do not increase turning guide piece and mechanism, during two group of two row of independent use limb pin installation system, must increase turning guide piece and mechanism, one group of one row's limb pin installation system, its structure is, the rear end of the front end of movable blocking device and one group of one row's limb pin installation system anchor fitting links, the front end of movable blocking device rear end and two group of two row's limb pin installation system anchor fitting links, turning guide piece and mechanism are installed on the anchor fitting of two group of two row's limb pin installation system, and the catch bar of guiding mechanism and one group of one row's limb pin installation system link;

Arrange the walking robot of using limb pin installation system with for two group one, two

Two group of one row's two limb pin, 2 two groups two of arranging the four-leg installation systems are arranged six walking robot with limbs and feet

Six walking robot with limbs and feet: by a row two limb pin of two groups of activity blocking devices, two row's four-leg installation systems, turning guide piece and mechanism, promote six on connecting rod, six limb pin are formed, turning guide piece and mechanism are installed on the anchor fitting of two groups of second series four-legs installations, the catch bar of guiding mechanism and two group of one row's two limb pin installation system link, the power arm of limb pin links with an end that promotes connecting rod, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of limb pin is installed on the fulcrum shaft of two group of one row, two limb pin, two row's four-leg installation systems, two ends, the left and right sides at first group of one row's fulcrum shaft, the left limb pin of first row is installed, right limb pin, the eccentric shaft at the promotion connecting rod of the left and right sides limb foot-propelled arm of force and first group of two limb pin switching mechanism two ends links, the two ends, the left and right sides of second group of one row's fulcrum shaft, an installation second series left side, right four-leg, the eccentric shaft at the promotion connecting rod of left and right sides four-leg power arm and second group of dual-purpose four-leg switching mechanism two ends links, and structure becomes two groups to use two rows, six walking robot with limbs and feet with;

Two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, the many walking robot with limbs and feet of nine rows: by one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, turning guide piece and mechanism, one, two, three, four, five, six, seven, eight, nine usefulness promote many on connecting rod, many limbs pin is formed, with two groups one by one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, one, two, three, four, five, six, seven, eight, nine usefulness promote many on connecting rod, many limbs pin, use single the branch by two group of one row with two groups of dual-purposes, two rows, two groups of dual-purpose two rows are with using, two group one, the structure that two rows use limb pin system walking robot with links installation method with structure, and structure becomes other multiple structures, multiple two group of using version with, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, the many walking robot with limbs and feet of nine row's fulcrum shafts;

The walking robot of many groups switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shaft limb pin installation system series arrangement

One, the series arrangement walking robot of two groups of switching mechanism one, two, three, five, six, seven, eight, nine row's fulcrum shaft limb pin installation systems

The single walking robot of triad dual-purpose one row with limb pin installation system series arrangement

Single three group of one row's 12 walking robot with limbs and feet of triad dual-purpose one row with four-leg installation system series arrangement

12 walking robot with limbs and feet: by the four-leg installation system of the movable blocking device of triad dual-purpose one row, turning guide piece and mechanism, promote 12 on connecting rod, 12 limb pin are formed, turning guide piece and mechanism are installed on the anchor fitting of second one group one row's four-leg installation system, the catch bar of guiding mechanism and first group row's four-leg installation system link, the limb foot-propelled arm of force links with an end that promotes connecting rod, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of limb pin is installed on the fulcrum shaft of triad dual-purpose one row's four-leg installation system, on the fulcrum shaft of first group of dual-purpose, one row's four-leg installation system, a left side is installed at two ends, the left and right sides, right two limb pin, a left side, the promotion connecting rod of the right limb foot-propelled arm of force and the eccentric shaft of first group of switching mechanism link, on the fulcrum shaft of second group of dual-purpose one row's four-leg installation system, a left side is installed at two ends, the left and right sides, right two limb pin, the eccentric shaft that the power arm of left and right sides limb pin promotes connecting rod and second group of switching mechanism links, on the fulcrum shaft of the 3rd group of dual-purpose one row's four-leg installation system, the 3rd a row left side is installed at two ends, the left and right sides, right two limb pin, the eccentric shaft that the power arm of left and right sides limb pin promotes connecting rod and the 3rd group of switching mechanism links, and structure becomes single three group of three row's 12 walking robot with limbs and feet with four-leg installation system series arrangement of triad one row;

Triad dual-purpose two rows divide the walking robot with limb pin installation system series arrangement

Triad dual-purpose two rows divide triad six rows 12 walking robot with limbs and feet with four-leg installation system series arrangement

12 walking robot with limbs and feet: by triad dual-purpose two row's four-leg installation systems, promote 12 on connecting rod, 12 limb pin are formed, the power arm of limb pin links with an end that promotes connecting rod, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of limb pin, be installed on the fulcrum shaft of triad dual-purpose two row's fulcrum shaft four-leg installation systems, the left side of first group of dual-purpose one row's fulcrum shaft, right two ends, the inboard left side of first row is installed, right two limb pin, a left side, the promotion connecting rod of the right two limb foot-propelled arm of forces and the left side of inboard, first group of four-leg switching mechanism two ends, the right avertence axle links; The left and right two ends of first group of dual-purpose two row's fulcrum shaft, the left and right two limb pin in the second series outside are installed, the left and right eccentric shaft in the promotion connecting rod of the left and right two limb foot-propelled arm of forces and the outside, first group of four-leg switching mechanism two ends links, the inboard left and right two limb pin of the 3rd row are installed at the left and right two ends of second group of dual-purpose one row's fulcrum shaft, and the left and right eccentric shaft of the promotion connecting rod of the left and right limb foot-propelled arm of force and inboard, second group of four-leg switching mechanism two ends links; The left and right two ends of second group of dual-purpose two row's fulcrum shaft, the left and right two limb pin of the 4th exclusive side are installed, the left and right eccentric shaft in the promotion connecting rod of the left and right limb foot-propelled arm of force and the outside, second group of four-leg switching mechanism two ends links, the inboard left and right two limb pin of the 5th row are installed at the left and right two ends of the 3rd group of dual-purpose one row's fulcrum shaft, and the left and right eccentric shaft of the promotion connecting rod of the left and right two limb foot-propelled arm of forces and inboard, the 3rd group of four-leg switching mechanism two ends links; The left and right two ends of the 3rd group of dual-purpose two row's fulcrum shafts, the left and right two limb pin of the 6th exclusive side are installed, the left and right eccentric shaft in the catch bar of the left and right two limb foot-propelled arm of forces and the outside, the 3rd group of four-leg switching mechanism two ends links, and structure becomes three groups six rows ten two walking robot with limbs and feet of triad dual-purpose two row's branches with four-leg installation system series arrangement;

Triad dual-purpose two rows are with the walking robot with limb pin installation system series arrangement

Triad dual-purpose two rows are with the triad six row 20 four-leg walking vehicle device people with four-leg installation system series arrangement

20 four-leg walking vehicle device people: triad dual-purpose two row's four-leg installation systems, dual-purpose promotes 12 on connecting rod or single with promoting 24 on connecting rod, 20 four-legs are formed, the power arm of limb pin links with an end that promotes connecting rod, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of limb pin, be installed on the fulcrum shaft of triad dual-purpose two row's fulcrum shaft four-leg installation systems, the left side of first group of dual-purpose one row's fulcrum shaft, right two ends, the first row left and right sides four-leg is installed, the left side at the promotion connecting rod of four-leg power arm and first group of four-leg switching mechanism two ends, the right avertence axle links; The left and right two ends of first group of dual-purpose two row's fulcrum shaft, second series left and right sides four-leg is installed, the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and first group of four-leg switching mechanism two ends links, when adopting dual-purpose to promote connecting rod, the promotion connecting rod of the power arm of left and right sides four-leg and first row's four-leg is chained together, the left and right two ends of second group of dual-purpose one row's fulcrum shaft, the 3rd row left and right sides four-leg is installed, and the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and second group of four-leg switching mechanism two ends links; The left side of second group of dual-purpose two row's fulcrum shaft, right two ends, the 4th row left and right sides four-leg is installed, the left side at the promotion connecting rod of four-leg power arm and second group of four-leg switching mechanism two ends, the right avertence axle links, when adopting dual-purpose to promote connecting rod, the promotion connecting rod string of the power arm of left and right sides four-leg and the 3rd row's four-leg together, the left side of the 3rd group of dual-purpose one row's fulcrum shaft, right two ends, the 5th row left and right sides four-leg is installed, the left side at the promotion connecting rod of four-leg power arm and the 3rd group of four-leg switching mechanism two ends, the right avertence axle links, the left side of the 3rd group of dual-purpose two row's fulcrum shafts, right two ends, the 6th row left and right sides four-leg is installed, the left side at the promotion connecting rod of the power arm of four-leg and the 3rd group of four-leg switching mechanism two ends, the right avertence axle links, when adopting dual-purpose to promote connecting rod, the promotion connecting rod of the power arm of four-leg and the 5th row's four-leg is chained together, and structure becomes triad dual-purpose two rows with the walking robot with four-leg installation system series arrangement;

Triad two rows divide usefulness, with using limb pin installation system, the walking robot philtrum that is used for series arrangement, do not increase turning guide piece and mechanism, when independently using one group of two row's limb pin installation system, must increase turning guide piece and mechanism, one group of one row's limb pin installation system, its structure is: the rear end of the front end of movable blocking device and one group of one row's limb pin installation system anchor fitting links, the front end of first group two row of movable blocking device limb pin installation system anchor fitting links, turning guide piece and mechanism are installed on the anchor fitting of first group two row's limb pin installation system, and the catch bar of guiding mechanism and one group of one row's limb pin installation system link;

Three two groups one, two rows use the walking robot of limb pin installation system series arrangement with

Three two groups one row's two limb pin, three two groups six row ten walking machine with eight limbs device people of two row's four-leg installation system series arrangement

Ten walking machine with eight limbs device people: by a row two limb pin of two groups of activity blocking devices, two row's four-leg installation systems, two two groups one row's two limb pin, two row's four-leg installation systems, turning guide piece and mechanism, promote 18 on connecting rod, 18 limb pin are formed, turning guide piece and mechanism are installed on the anchor fitting of first two groups of second series four-leg installation systems, the catch bar of guiding mechanism and first two group row's two limb pin installation systems link, the power arm of limb pin links with an end that promotes connecting rod, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of limb pin, be installed in three two groups one, two rows use with on the fulcrum shaft of limb pin installation system, the left side of first group of one row's fulcrum shaft, right two ends, a first row left side is installed, right two limb pin, the left side at the promotion connecting rod of the two limb foot-propelled arm of forces and first group of first row two limb pin switching mechanism two ends, the right avertence axle links; Second series left and right sides four-leg is installed at the left and right two ends of first group of dual-purpose second series fulcrum shaft, and the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and first group of dual-purpose second series four-leg switching mechanism two ends links; The left and right two ends of second group of first row's fulcrum shaft, the left and right two limb pin of the 3rd row are installed, the left and right eccentric shaft at the promotion connecting rod of the two limb foot-propelled arm of forces and second group of first row two limb pin switching mechanism two ends links, the left and right two ends of second group of dual-purpose second series fulcrum shaft, the 4th row left and right sides four-leg is installed, and the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and second group of dual-purpose second series four-leg switching mechanism two ends links; The left and right two ends of the 3rd group of first row's fulcrum shaft, the left and right two limb pin of the 5th row are installed, the left and right eccentric shaft at the promotion connecting rod of the two limb foot-propelled arm of forces and the 3rd group of first row two limb pin switching mechanism two ends links, the left and right two ends of the 3rd group of second series fulcrum shaft, the 6th row left and right sides four-leg is installed, the left and right eccentric shaft at the promotion connecting rod of four-leg power arm and the 3rd group of second series four-leg switching mechanism two ends links, and structure becomes three two groups one, two rows to use three group of six row ten walking machine with eight limbs device people of limb pin installation system series arrangement with;

A plurality of one, two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, the many walking robot with limbs and feet of row more than many groups of nine many limbs of row's fulcrum shaft pin installation system series arrangement: by a plurality of one, two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, turning guide piece and mechanism, one, two, three, four, five, six, seven, eight, nine usefulness promote many on connecting rod, many compositions of many limbs pin, use needs according to design, with a plurality of one, two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine many limbs of row's fulcrum shaft pin installation systems, turning guide piece and mechanism, one, two, three, four, five, six, seven, eight, nine usefulness promote many on connecting rod, many limbs pin, by single the using of triad dual-purpose one row, the triad dual-purpose two rows divide usefulness, triad two rows are with using, three two groups one, two rows use the structure of the walking robot of limb pin installation system series arrangement with and with structure linking method are installed, structure becomes other multiple structures, multiple a plurality of one of the version of using with, two group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, the many walking robot with limbs and feet of row more than many groups of nine many legs of row's fulcrum shaft installation system series arrangement;

Many groups switching mechanism one, two, three, four, five, six, seven, eight, nine row's fulcrum shafts mix the walking robot of series arrangement

A plurality of one group of one row mix the walking robot of series arrangement with a plurality of one group of two row

One group of one row's two limb pin installation system and one group of one row's two limb pin, two row's four-leg installation systems mix two group of three row's walking machine with eight limbs device people of series arrangement

Walking machine with eight limbs device people: by the two group of three row's eight limb pin installation system that mixes series arrangement, turning ambition device and mechanism, the limb pin promotes eight on connecting rod, eight limb pin are formed, turning guide piece and mechanism are installed on the anchor fitting of second one group two row's six limb pin installation systems, the catch bar of the guiding of turning and first group of one row's two limb pin installation system link, the power arm of limb pin links with an end that promotes connecting rod, the other end and the switching mechanism that promote connecting rod link, the power arm of limb pin links with an end that promotes connecting rod, the other end and the switching mechanism that promote connecting rod link, the walking fulcrum of limb pin is installed on the fulcrum shaft of two group of three row's eight limb pin installation system, the two ends, the left and right sides of first group of one row's fulcrum shaft, the first row left and right sides limb pin is installed, the eccentric shaft at the two ends, the left and right sides of the left and right sides limb foot-propelled arm of force and the switching mechanism of first group of two limb pin links, the left side of second group of one row's fulcrum shaft, right two ends, the inboard left side of second series is installed, right limb pin, a left side, promotion connecting rod and second group of switching mechanism left side of the right limb foot-propelled arm of force, two eccentric shafts of inboard, right two ends link, the two ends, the left and right sides of second group of two row's fulcrum shaft, the 3rd a row left side, the outside is installed, right two limb pin, the promotion connecting rod of the left and right sides limb foot-propelled arm of force and second group of switching mechanism left side, four eccentric shafts in the outside, right two ends link, and structure becomes to have two group of three row's walking machine with eight limbs device people of turning guide function;

Use needs according to designed use again, two group of three row's walking machine with eight limbs device people structure by the guide piece of not turning that mixes series arrangement installed linking method with structure, continue with perpendicular transmission system, movable blocking device link install second and third, two group of three row walking machine with eight limbs device people of four groups of guide piecees of not turning that mix series arrangement or the walking robots of other limb pin installation system versions, what structure became mixing series arrangement that designing institute needs arranges many walking robot with limbs and feet more many groups;

A plurality of one group with a plurality of one group of walking robot that mix series arrangement: by one one group or a plurality of one group one, two, three, four, five, six, eight, nine, ten, 12,15,18,20,24,30,36,40,45,60,70 dual-purposes one, two, three, four, five, six, seven, eight, nine row's fulcrum shafts mix the limb pin installation system of series arrangement, turning guide piece and mechanism, one, two, three, four, five, six, seven, eight, nine usefulness promote many on connecting rod, perpendicular transmission system is organized more, movable blocking device is organized more, many limbs pin is formed, the structure of mixing two group of three row's walking machine with eight limbs device people of series arrangement by a plurality of one group of one row with a plurality of one group of two row links installation method with structure, and structure becomes to mix the many walking robot with limbs and feet of row more than many groups of series arrangement;

A plurality of one group of one row mix the walking robot of series arrangement with a plurality of two group of one row

A plurality of one group of one row's two limb pin installation system mix three group of three row's ten walking robot with limbs and feet of series arrangement with a plurality of two group of one row's four-leg installation system

Ten walking robot with limbs and feet: by the three group of three row's ten limb pin installation system that mixes series arrangement, turning guide piece and mechanism, promote ten on connecting rod, movable blocking device, ten limb pin are formed, turning guide piece and mechanism, be installed on the anchor fitting of two group of one row's four-leg installation system, the power arm of limb pin links with an end that promotes connecting rod, promoting the other end of connecting rod and the eccentric shaft of switching mechanism links, the walking fulcrum of limb pin, be installed on the fulcrum shaft of the three group of three row's ten limb pin installation system that mixes series arrangement, the left side of first group of first row's fulcrum shaft, right two ends, a first row left side is installed, right limb pin, a left side, the promotion connecting rod of the right limb foot-propelled arm of force and first group of one row two limb pin switching mechanism left side, the eccentric shaft at right two ends links, the left side of second group of first row's fulcrum shaft, right two ends, an installation second series left side, right two limb pin, a left side, the promotion connecting rod of the right two limb foot-propelled arm of forces and two group of one row four pin pin switching mechanism left side, the eccentric shaft at right two ends links, second group of second series fulcrum shaft left side, right two ends, the 3rd a row left side is installed, right two limb pin, a left side, promotion connecting rod and second group of second series four-leg switching mechanism left side of the right two limb foot-propelled arm of forces, the eccentric shaft at right two ends links, and structure becomes to mix three group of three row's ten walking robot with limbs and feet of series arrangement;

Use needs according to designed use again, three group of three structure of arranging ten walking robot with limbs and feet by the guide piece of not turning that mixes series arrangement links installation method with structure, continue with perpendicular transmission system, movable blocking device link install second and third, three group of three row's ten walking robot with limbs and feet of four groups of guide piecees of not turning that mix series arrangement or the walking robots of other limb pin mounting structure forms, what structure became mixing series arrangement that designing institute needs arranges many walking robot with limbs and feet more many groups;

Use needs according to designed use again, will be a plurality of two groups mixes the series arrangement form with a plurality of one group, two groups, structure becomes needed organize to arrange many walking robot with limbs and feet more more;

In the limb pin installation system, the converting member of same function in same switching mechanism, repeats to install, repeated usage, and structure becomes the switching mechanism of many many limbs of group pin same functions.

2, according to the described 9 parts quadrilateral walking robot with limbs and feet of claim 1, it is characterized in that: mix concertina type limb pin hip joint, by the catch bar resistance arm, promote connecting rod, the walking rod power arm, dowel bar power arm four parts, the limb foot-propelled arm of force quadrangle that structure becomes, catch bar and walking rod constitute the hip joint of flexion fixed angle, movable adjusting angle forward.

3, according to the described 9 parts quadrilateral walking robot with limbs and feet of claim 1, it is characterized in that: mix concertina type limb pin lacquer joint, the walking rod resistance arm, the contraction pole power arm, the cramp bar power arm passes; Power bar resistance arm four parts, structure becomes the limb business concern operating a porters' service to walk quadrangle, and walking rod resistance arm and cramp bar constitute the lacquer joint of flexion fixed angle, movable adjusting angle backward.

4, according to the described 9 parts quadrilateral walking robot with limbs and feet of claim 1, it is characterized in that: mix concertina type limb ankle joint, cramp bar resistance arm, contraction pole resistance arm, bearing connecting rod, trammel beam four block constructions become the supporting arm quadrangle, and cramp bar resistance arm and trammel beam constitute the ankle-joint of flexion fixed angle, movable adjusting angle forward.

5, according to the described 9 parts quadrilateral walking robot with limbs and feet of claim 1, it is characterized in that: mixed type limb pin, constitute the limb pin by catch bar, promotion connecting rod, walking rod, dowel bar, contraction pole, cramp bar, bearing connecting rod, trammel beam, pin, the power arm quadrangle, walking arm quadrangle, three chain quadrangles of supporting arm quadrangle and pin are formed, and limb pin hip joint, lacquer joint, ankle-joint are movable fixed angle, movable adjusting angle.

6, according to the described 9 parts quadrilateral walking robot with limbs and feet of claim 1, it is characterized in that: mixed type limb pin by catch bar, dowel bar, walking rod, contraction pole, cramp bar, trammel beam, promotes connecting rod, bearing connecting rod and pin constitute the catch bar of limb pin, dowel bar, walking rod, contraction pole, cramp bar, trammel beam is a lever construction, promotes connecting rod, and cramp bar is for singly using bar linkage structure.

Images