The invention discloses a walking device and a surgical robot, the walking device comprises a rack, two wheel assemblies and a suspension mechanism movably connected with the rack, the suspension mechanism comprises a first balance part and a second balance part, the first balance part is pivotally connected with the rack through a first pivot, and the two wheel assemblies are movably connected to the two side ends of the first balance part respectively; each wheel assembly is connected with the rack through the corresponding first connecting piece, one end of each wheel assembly is rotationally connected with the rack, the other end of each wheel assembly is rotationally connected with the corresponding wheel assembly, and the first connecting pieces are used for achieving vertical floating of the corresponding wheel assemblies relative to the rack; each wheel assembly is rotationally connected with the corresponding side end of the first balance piece through the second connecting piece, and the second connecting piece is used for driving the first balance piece to pivot around the first pivot relative to the rack, so that the two wheel assemblies float in opposite directions relative to the first pivot, and the positions are automatically adjusted to ensure that all wheels are attached to the ground; and the whole suspension mechanism is similar to a rigid structure, so that the stability is good.
一种行走装置以及手术机器人,包括机架、两个车轮组件,以及与机架活动连接的悬挂机构,悬挂机构包括:第一平衡件,通过第一枢轴与机架枢转连接,两个车轮组件分别活动地连接至第一平衡件的两侧端;第一连接件,每一车轮组件通过第一连接件与机架连接,其一端与机架转动连接、另一端与相应的车轮组件转动连接,第一连接件用于实现相应车轮组件相对于机架的上下浮动;第二连接件,每一车轮组件与第一平衡件的相应侧端通过第二连接件转动连接,第二连接件用于带动第一平衡件绕第一枢轴相对机架枢转,使得两个车轮组件相对于第一枢轴彼此反向浮动,自动调整位置以确保所有车轮贴地,而且悬挂机构整体上近似刚性结构,稳定性好。
Walking device and surgical robot
行走装置以及手术机器人
25.10.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / A61B DIAGNOSIS , Diagnostik / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge |
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