The invention discloses a walking mechanism, which comprises a bottom plate, a linkage assembly, a first driving wheel, a second driving wheel and a front driven wheel, wherein the linkage assembly comprises a linkage shaft, a first driving connecting rod, a second driving connecting rod and a driven connecting rod; the linkage shaft is rotatably connected to the bottom plate; one end of the linkage shaft is fixedly connected with the first driving connecting rod; the other end of the linkage shaft is fixedly connected with a second driving connecting rod; the driven connecting rod is connected to a linkage shaft between the first driving connecting rod and the second driving connecting rod; the first driving wheel is rotatably connected to the first driving connecting rod, the second driving wheel is rotatably connected to the second driving connecting rod, the front driven wheel is rotatably connected to the driven connecting rod, and when the walking mechanism crosses obstacles, thelinkage assembly serves as a whole and can swing around the connecting position of the linkage shaft and the bottom plate. The walking mechanism can adapt to changes of the ground, the first drivingwheel, the second driving wheel and the front driven wheel can be ensured to make contact with the ground all the time, and high obstacle crossing performance is achieved. The invention further relates to a robot.

    一种行走机构,包括底板、联动组件、第一主动轮、第二主动轮和前从动轮,联动组件包括联动轴、第一主动连杆、第二主动连杆和从动连杆,联动轴可转动地连接在底板上,联动轴的一端与第一主动连杆固定连接,联动轴的另一端与第二主动连杆固定连接,从动连杆连接于第一主动连杆与第二主动连杆之间的联动轴,第一主动轮可转动地连接于第一主动连杆,第二主动轮可转动地连接于第二主动连杆,前从动轮可转动地连接于从动连杆,当行走机构越障时,联动组件作为整体可绕着联动轴与底板的连接处摆动。本发明提供一种行走机构能适应地面的变化,保证第一主动轮、第二主动轮和前从动轮一直与地面接触,实现高越障性能。本发明还涉及一种机器人。


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    Title :

    Walking mechanism and robot


    Additional title:

    行走机构及机器人


    Contributors:
    WANG LIJUN (author) / LIU LINFENG (author) / CHEN GUANHAO (author)

    Publication date :

    2020-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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