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Walking Mechanism

  • US 20190308678A1
  • Filed: 07/19/2018
  • Published: 10/10/2019
  • Est. Priority Date: 04/04/2018
  • Status: Active Grant
First Claim
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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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