The invention provides a robot multi-action dimension wheel type walking foot and a multi-foot robot. The problems that an external expansion control structure of the multi-foot robot is unreasonable in design and the like are solved. The robot multi-action dimension wheel type walking foot comprises a swinging leg; the lower end of the swinging leg is provided with a roller, a horizontal steering mechanism is arranged between the roller and the swinging leg, the roller is connected with a roller driver, the swinging leg is connected with a swinging seat, and a lifting driving mechanism for driving the swinging leg to lift relative to the swinging seat is arranged between the swinging leg and the swinging seat; the swing seat is in swing connection with the machine body through a swing connecting mechanism, the swing center line of the swing seat is horizontally arranged, and a swing driving mechanism is arranged between the swing seat and the machine body. The swing mechanism has the advantages of reasonable swing structure, good moving stability and the like.
本发明提供了一种机器人多动作维度轮式行走足及多足机器人,它解决了多足机器人外扩控制结构设计不合理等问题。其包括摆动腿,在摆动腿的下端设有滚轮,滚轮与摆动腿之间设置有水平转向机构,滚轮与滚轮驱动器相连,摆动腿与摆动座相连,在摆动腿与摆动座之间设有带动摆动腿相对于摆动座升降的升降驱动机构,摆动座与机身通过摆动连接机构摆动相连,摆动座的摆动中心线水平设置,摆动座与机身之间设有摆动驱动机构。本发明具有摆动结构合理、移动稳定性好等优点。
Robot multi-action dimension wheel type walking foot and multi-foot robot
机器人多动作维度轮式行走足及多足机器人
2021-05-04
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Multi-foot walking robot and walking control method thereof
Europäisches Patentamt | 2020
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