The invention provides a walking robot. The walking robot comprises a main control building block and robot leg building blocks, wherein each robot leg building block comprises a foot plate, a ball head connecting rod, a swing rod assembly, a first gear and a swing lower support; the upper end of the ball head connecting rod is connected with the first gear through a ball head and is eccentricallyarranged; the lower end of the ball head connecting rod is connected with the foot plate through a ball head; under the driving of the first gear, the movement of the ball head connecting rod alternately applies thrust to the first swing rod and the second swing rod on the two sides so as to enable the first swing rod and the second swing rod to jointly drive the foot plate to move through the swing lower support; the main control building block comprises an output shaft, the two end faces of the output shaft and the transmission connecting interfaces are symmetrical about the middle plane ofthe main control building block, the transmission connecting interfaces at the two ends of the same output shaft are connected with and drive the robot leg building blocks to move, and the robot legbuilding blocks connected to the two ends of the same output shaft are symmetrical about the middle plane of the main control building block. The walking robot foot provided by the invention has multiple degrees of freedom, and the movement of the legs and the feet is coordinated.
本发明提供一种行走机器人,包括主控积木和机器人腿积木;机器人腿积木包括脚板、球头连接杆、摆动杆组件、第一齿轮及摆动下支架;球头连接杆的上端与第一齿轮球头连接,且偏心设置;球头连接杆的下端与脚板球头连接;在第一齿轮的驱动下,球头连接杆的运动交替向两侧的第一摆动杆、第二摆动杆施加推力,使得第一摆动杆、第二摆动杆共同通过摆动下支架带动脚板运动;主控积木包括输出轴,输出轴两端端面及其传动连接接口关于主控积木的中间平面对称,同一输出轴两端的传动连接接口分别连接并驱动机器人腿积木运动,连接在同一输出轴两端的机器人腿积木关于主控积木的中间平面对称;本发明提供的行走机器人脚部有多自由度且腿部和脚部运动协调。
Walking robot
行走机器人
2020-10-20
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Walking robot, method for controlling walking robot, and walking robot system
European Patent Office | 2023
|