PACING DEVICE Russian patent published in 2018 - IPC B62D57/32 

FIELD: transportation.

SUBSTANCE: pacing device contains a housing to which the rods are attached, a swing mechanism and a controlled drive. Rods are made in the form of legs and represent a mechanically connected upper arm, lower arm, and support. The upper arm is provided with a controlled drive with the function of the rotational movement of the upper arm in an axis parallel to the axis of the pitch of the housing and connects the upper arm to the housing. The other end of the upper arm is connected to the lower arm by a controlled actuator with a rotary movement function of the lower arm in an axis parallel to the roll axis of the housing orthogonally to the axis of rotation of the upper arm. The other end of the lower arm is connected to the support. The function of the swing mechanism is provided by the construction of the foot.

EFFECT: simplification of the kinematic design of walking devices designed to move around the floor with the possibility of overcoming or circumventing obstacles, changing the static positions of the hull in a horizontal plane and with the ability to move along the stairs.

6 dwg