The embodiment of the invention provides a walking wheel device which comprises a swinging mechanism, a driving mechanism and a driving mechanism, the running mechanism is internally provided with a multi-crankshaft speed reduction assembly used for power transmission, and the multi-crankshaft speed reduction assembly comprises a plurality of crankshafts and a wobble plate wheel driven by the crankshafts; the shock absorption mechanism is connected with the swinging mechanism and the traveling mechanism and has a shock absorption function, and the swinging mechanism drives the shock absorption mechanism and the traveling mechanism to steer relative to the swinging mechanism. According to the technical scheme provided by the embodiment of the invention, the shock-proof mechanism is arranged between the swinging mechanism and the traveling mechanism, so that the bumping condition of the traveling wheel device in the process of driving the robot to travel is reduced, the stability and balance of the traveling wheel device in the process of controlling the robot to travel and steer are ensured, and meanwhile, the service life of the robot is prolonged. A multi-crankshaft speed reduction assembly is arranged in the traveling mechanism, so that traveling power transmission in the traveling mechanism is more stable, and rotation of the traveling mechanism is more stable.

    本发明实施例提供一种行走轮装置,其中,行走轮装置包括:摆向机构;行驶机构,行驶机构内设有用于动力传递的多曲轴减速组件,多曲轴减速组件包括多个曲轴以及由多个曲轴驱动的摆盘轮;分别与摆向机构及行驶机构连接,并具有减震作用的避震机构,摆向机构驱动避震机构与行驶机构相对摆向机构进行转向。本发明实施例提供的技术方案,通过在摆向机构及行驶机构之间设置避震机构,减少行走轮装置在带动机器人行走过程中发生颠簸的情况,确保行走轮装置在控制机器人行走和转向时的稳定性及平衡性,同时,行驶机构中设置多曲轴减速组件,使得行驶机构中的行走动力传输更加稳定,从而使得行驶机构的转动更加稳定。


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    Title :

    Walking wheel device


    Additional title:

    一种行走轮装置


    Contributors:
    LUO CHENG (author) / REN RUIQI (author) / LIU MENG (author) / WANG BING (author) / LIU ZISHUO (author) / WANG WENBO (author)

    Publication date :

    2023-05-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge / F16F SPRINGS , Federn



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