The invention provides a walking mechanism, a robot and a vehicle. The traveling mechanism comprises: a wheel carrier, wherein the wheel carrier comprises a central shaft and more than three travelingwheel mounting portions distributed around the central shaft; more than three traveling wheels which are mounted on the more than three travelling wheel mounting parts in a one-to-one correspondencemanner; a walking driving mechanism which comprises a walking motor and a walking transmission mechanism, wherein the walking transmission mechanism is in driving connection with the walking motor, and the walking transmission mechanism is in driving connection with the three or more walking wheels so as to drive the multiple walking wheels to synchronously rotate around the axes of the walking wheels; and a turnover driving mechanism which comprises a turnover motor and a turnover transmission mechanism, wherein the turnover transmission mechanism is in driving connection with the wheel carrier so as to drive the wheel carrier to turn over around the central shaft. The robot and the vehicle comprise the walking mechanism. According to the walking mechanism, the robot and the vehicle, theobstacle crossing and trench crossing functions are achieved, and flat ground running, obstacle crossing and trench crossing actions are independent of one another.
本公开提供了一种行走机构、机器人和车辆。行走机构包括:轮架,具有中心轴和绕中心轴分布的三个以上行进轮安装部;三个以上行进轮,一一对应地安装于三个以上行进轮安装部上;行走驱动机构,包括行走电机和行走传动机构,行走传动机构与行走电机驱动连接,行走传动机构与三个以上行进轮驱动连接以带动多个行进轮绕自身轴线同步转动;和翻转驱动机构,包括翻转电机和翻转传动机构,翻转传动机构与轮架驱动连接以带动轮架绕中心轴翻转。机器人和车辆包括前述行走机构。根据本公开的行走机构、机器人和车辆,具有越障与越壕功能,平地行驶与越障和越壕动作相互独立。
Walking mechanism, robot and vehicle
行走机构、机器人和车辆
2020-04-24
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |