The invention relates to the technical field of robots, and discloses a robot walking mechanism which comprises a leg seat and two thigh arms connected with the leg seat, each thigh arm is connected with a shank arm, and the lower end of each shank arm is provided with a driving wheel; each shank arm is provided with an auxiliary wheel assembly, each auxiliary wheel assembly comprises a wheel arm and an auxiliary wheel connected with the wheel arm, and rotating power is arranged between the upper end of each wheel arm and the corresponding shank arm; in the first state, the two auxiliary wheels are correspondingly contracted on the side faces of the two shank arms respectively. And in the second state, at least one wheel arm is driven by rotating power to rotate by a preset angle, so that the auxiliary wheel and the two driving wheels form non-collinear three-point support. The invention has the beneficial effects of good walking stability and easiness in getting up after falling down.
本发明涉及机器人技术领域,公开了一种机器人行走机构,包括腿座、与腿座连接的两条大腿臂,每条大腿臂上均连接有小腿臂,每条小腿臂的下端均设有主动轮;每条小腿臂上均设有辅轮组件,所述辅轮组件包括轮臂、与轮臂连接的辅助轮,所述轮臂的上端与所述小腿臂之间设有旋转动力;于第一状态下,两个辅助轮分别对应收缩在两条小腿臂的侧面;于第二状态下,至少一个轮臂通过旋转动力带动旋转预设角度,使得该辅助轮与两个主动轮形成不共线的三点支撑。本发明具有行走稳定性好、跌到后容易起身的有益效果。
Robot walking mechanism
一种机器人行走机构
2025-03-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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