The invention provides a walking leg assembly, a walking device and a walking robot. The walking leg assembly comprises a walking leg support, a first walking foot, a second walking foot, a first camand a second cam. The first cam and the second cam are rotatably connected to the walking leg support respectively, the first cam and the second cam synchronously rotate and are connected between thefirst walking foot and the second walking foot, the rotation of the first cam drives the first walking foot and the second walking foot to periodically move in the first direction, and the rotation ofthe second cam drives the first walking foot and the second walking foot to periodically move in the second direction. Compared with a transmission mode of utilizing a hydraulic cylinder and a connecting rod or a crank rocker and the like, the above transmission mode of the invention is helpful for reducing the size of the walking leg assembly and the walking space occupied by the walking leg assembly during walking, helps the walking robot to penetrate through a channel with the same width as the robot body, and is helpful for forming the walking relation matched with the walking robot amongthe multiple walking leg assemblies according to the application scene of the walking device or the walking robot.
本申请提供一种行走腿组件、行走装置和行走机器人。行走腿组件包括行走腿支架、第一行走足、第二行走足、第一凸轮以及第二凸轮,第一凸轮和第二凸轮分别可转动地连接于行走腿支架,第一凸轮和第二凸轮同步转动且均连接于第一行走足和第二行走足之间,第一凸轮的转动带动第一行走足和第二行走足在第一方向周期性运动,第二凸轮的转动带动第一行走足和第二行走足在第二方向周期性运动,相比利用液压缸和连杆、或者曲柄遥杆等传动方式不仅有助于减小行走腿组件的体积、行走腿组件行走时所占据的行走空间,有助于行走机器人穿过与机身等宽的通道,有助于根据行走装置或行走机器人的应用场景使多个行走腿组件之间形成与之匹配的行走关系。
Walking leg assembly, walking device and walking robot
行走腿组件、行走装置和行走机器人
2020-06-19
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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