Walking Mechanism
First Claim
1. A walking mechanism, characterized by comprising:
- a walking unit, comprising a load frame, a mandrel, an inner shaft sleeve and a plurality of walking supporting components;
a mandrel being fixedly arranged on the load frame in a penetrating manner, or a mandrel being fixedly arranged on two sides of the load frame respectively;
the inner shaft sleeve sleeving the mandrels on two sides of the load frame, and the inner shaft sleeve being capable of rotating around the mandrels; and
at least two walking supporting components being arranged on two sides of the load frame respectively;
each walking supporting component comprising a big gear wheel, an outer shaft sleeve and a supporting seat shaft sleeve;
each big gear wheel fixedly sleeving the inner shaft sleeve, and a plurality of lock pin holes being formed in each big gear wheel;
each outer shaft sleeve and the corresponding big gear wheel being arranged side by side, and each outer shaft sleeve movably sleeving the inner shaft sleeve;
each supporting seat shaft sleeve fixedly sleeving the corresponding outer shaft sleeve;
a telescopic cylinder being arranged on each supporting seat shaft sleeve, and each telescopic cylinder being connected with a landing leg;
a control unit, comprising a main controller and a plurality of auxiliary control units, the auxiliary control units being arranged on the supporting seat shaft sleeves;
each auxiliary control unit comprising an auxiliary controller, a gravity sensor, a gyroscope, an electromagnetic pin and a motor;
each auxiliary controller being connected with the corresponding gravity sensor, the corresponding gyroscope and the corresponding electromagnetic pin respectively;
each auxiliary controller being connected with the corresponding motor through a motor drive circuit;
each auxiliary controller being connected with the corresponding telescopic cylinder through a telescopic cylinder drive circuit;
each motor being connected with a small gear wheel, and each small gearwheel being engaged with the corresponding big gear wheel;
the electromagnetic pins being matched with the lock pin holes to realize fixed connection status or relative rotation status of the inner shaft sleeve and the outer shaft sleeves; and
the auxiliary controllers communicating with the main controller.
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Accused Products
Abstract
This disclosure relates to a walking mechanism comprising a walking unit and a control unit, wherein the walking unit comprises a load frame, a mandrel is fixedly arranged on the load frame in a penetrating manner, an inner shaft sleeve sleeves the mandrel, and the inner shaft sleeve can rotate around the mandrel; at least two walking and supporting components are arranged on two sides of the load frame respectively; each walking and supporting component comprises a big gear wheel, an outer shaft sleeve and a supporting seat shaft sleeve; each big gear wheel fixedly sleeves the inner shaft sleeve, and a plurality of lock pin holes are formed in each big gear wheel; each outer shaft sleeve and the corresponding big gear wheel are arranged side by side, and each outer shaft sleeve movably sleeves the inner shaft sleeve.
0 Citations
10 Claims
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1. A walking mechanism, characterized by comprising:
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a walking unit, comprising a load frame, a mandrel, an inner shaft sleeve and a plurality of walking supporting components;
a mandrel being fixedly arranged on the load frame in a penetrating manner, or a mandrel being fixedly arranged on two sides of the load frame respectively;
the inner shaft sleeve sleeving the mandrels on two sides of the load frame, and the inner shaft sleeve being capable of rotating around the mandrels; and
at least two walking supporting components being arranged on two sides of the load frame respectively;each walking supporting component comprising a big gear wheel, an outer shaft sleeve and a supporting seat shaft sleeve;
each big gear wheel fixedly sleeving the inner shaft sleeve, and a plurality of lock pin holes being formed in each big gear wheel;
each outer shaft sleeve and the corresponding big gear wheel being arranged side by side, and each outer shaft sleeve movably sleeving the inner shaft sleeve;
each supporting seat shaft sleeve fixedly sleeving the corresponding outer shaft sleeve;
a telescopic cylinder being arranged on each supporting seat shaft sleeve, and each telescopic cylinder being connected with a landing leg;a control unit, comprising a main controller and a plurality of auxiliary control units, the auxiliary control units being arranged on the supporting seat shaft sleeves; each auxiliary control unit comprising an auxiliary controller, a gravity sensor, a gyroscope, an electromagnetic pin and a motor;
each auxiliary controller being connected with the corresponding gravity sensor, the corresponding gyroscope and the corresponding electromagnetic pin respectively;
each auxiliary controller being connected with the corresponding motor through a motor drive circuit;
each auxiliary controller being connected with the corresponding telescopic cylinder through a telescopic cylinder drive circuit;
each motor being connected with a small gear wheel, and each small gearwheel being engaged with the corresponding big gear wheel;
the electromagnetic pins being matched with the lock pin holes to realize fixed connection status or relative rotation status of the inner shaft sleeve and the outer shaft sleeves; and
the auxiliary controllers communicating with the main controller. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification