The invention provides a walking leg assembly, a walking device and a walking robot. The walking leg assembly comprises a transmission part, a first walking foot, a second walking foot and a walking leg connecting shaft. The movement of the transmission part drives the first walking foot and the second walking foot to periodically move along the first direction; and performing periodic movement along a second direction, the first walking feet and the second walking feet walk alternately; the first walking foot comprises a first walking leg, a first foot body and a first length compensation part connected between the first walking leg and the first foot body. The first walking leg is connected to the transmission part; the distance between the center line of the first foot and the axis of the walking leg connecting shaft is smaller than the distance between the center line of the first walking leg and the axis of the walking leg connecting shaft. The walking leg assemblies can rotate around the first feet to reduce the minimum turning radius, and therefore under the condition that the multiple walking leg assemblies are applied to the walking device, the multiple walking leg assemblies can rotate in a matched mode to reduce the minimum turning radius of the walking device.

    本申请提供一种行走腿组件、行走装置和行走机器人。行走腿组件包括传动部、第一行走足、第二行走足以及行走腿连接轴,传动部的运动带动第一行走足和第二行走足沿第一方向进行周期性运动,以及沿第二方向进行周期性运动,且第一行走足和第二行走足交替地行走,第一行走足包括第一行走腿、第一脚和连接于第一行走腿与第一脚之间的第一长度补偿件,第一行走腿连接于传动部,第一脚的中心线与行走腿连接轴的轴心线的距离小于第一行走腿的中心线与行走腿连接轴的轴心线的距离,有助于行走腿组件绕第一脚转动来降低最小转弯半径,从而在多个行走腿组件应用于行走装置的情况下,多个行走腿组件可以相互配合转动来降低行走装置的最小转弯半径。


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    Title :

    Walking leg assembly, walking device and walking robot


    Additional title:

    行走腿组件、行走装置和行走机器人


    Contributors:
    MA SUOCAI (author) / LI YISHAN (author) / GUO KUANGKUANG (author)

    Publication date :

    2020-06-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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