The invention discloses a mobile robot and a walking mechanism thereof. The walking mechanism comprises a bottom plate, two driving wheels, two driving wheel suspension assemblies, a connecting frame and at least one driven wheel. The driving wheel suspension assembly comprises a fixing base, a swing arm, a damping assembly and a connecting piece. The fixing base is fixed to the bottom plate, the swing arm is hinged to the fixing base, the damping assembly is connected between the swing arm and the connecting piece, and the driving wheel is rotatably installed on the swing arm. The connecting piece is used for being connected with a mobile robot body, and the connecting frame is connected to swing arms of the two driving wheel suspension assemblies. When the mobile robot passes through a ridge, the driving wheel on one side moves upwards to drive the swing arm on the side to swing upwards, and the swing arm on the other side is driven by the connecting frame to swing upwards, so that the driving wheels on the two sides swing synchronously, and the phenomenon that the driving wheels slip due to suspension in the moving process of the mobile robot is avoided; therefore, the occurrence of toppling accidents is avoided.

    本发明公开了一种移动机器人及其行走机构,行走机构包括:底板,两个主动轮,两个主动轮悬架总成,连接架,以及至少一个从动轮;主动轮悬架总成包括:固定座,摆臂,减震组件,以及连接件;固定座固定在底板上,摆臂铰接在固定座上,减震组件连接在摆臂与连接件之间,主动轮可转动的安装在摆臂上;连接件用于与移动机器人本体连接,连接架连接在两个主动轮悬架总成的摆臂上。移动机器人过坎时,一侧的主动轮向上移动而带动该侧的摆臂向上摆动,并通过连接架带动另一侧的摆臂向上摆动,使得两侧的主动轮同步摆动,以避免移动机器人在移动过程中出现悬空而引起主动轮打滑的现象,进而避免倾倒事故的发生。


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    Titel :

    Mobile robot and walking mechanism thereof


    Weitere Titelangaben:

    一种移动机器人及其行走机构


    Beteiligte:
    CHEN HUANCHANG (Autor:in) / ZHANG TAO (Autor:in) / ZHOU XINGKAI (Autor:in) / WANG YUANZHI (Autor:in)

    Erscheinungsdatum :

    2021-04-20


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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