The invention aims to provide a walking device of a mobile robot. The walking device comprises a chassis, four walking wheel mechanisms, two driving mechanisms, two universal wheels, universal wheel lifting mechanisms and transmission devices. The four walking wheel mechanisms are installed at the four corners of the chassis. The two sets of transmission devices are located on the left side and the right side of the chassis respectively, each set of transmission device comprises two transmission mechanisms and a transmission main shaft, and the two transmission mechanisms are connected with the four walking wheel mechanisms at the front corner and the rear corner of the chassis respectively. The two driving mechanisms are respectively mounted on the chassis; each set of driving mechanism is connected with any transmission mechanism or transmission main shaft of each set of transmission device, and transmits power to drive the walking wheel mechanisms to complete walking motion of the chassis; the two universal wheels are installed in the middles of the front side and the rear side of the lower surface of the chassis through the universal wheel lifting mechanisms correspondingly. The walking device overcomes the defects in the prior art and has the advantages of being reasonable in structure, convenient to operate and high in shock absorption and obstacle crossing capacity.

    本发明旨在提供一种移动式机器人的行走装置,包括底盘、行走轮机构、驱动机构、万向轮、万向轮升降机构,传动装置;行走轮机构设有四个,安装于底盘的四个角上;传动装置设有两组,分别位于底盘的左右两侧,每组传动装置包括两个传动机构和传动主轴,两个传动机构分别与该侧底盘前后角的四个行走轮机构连接;驱动机构设有两个,分别安装于底盘上;每组驱动机构分别与每组传动装置的任一传动机构或传动主轴连接,传递动力带动行走轮机构完成底盘的行走运动;万向轮设有两个,分别经过万向轮升降机构安装于底盘下表面的前后两侧的中部。该行走装置克服现有技术缺陷,具有结构合理、操作便捷以及减震、越障能力强的特点。


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    Title :

    Walking device of mobile robot


    Additional title:

    移动式机器人的行走装置


    Contributors:
    CONG PEICHAO (author) / ZHANG XIN (author) / LIU JUNJIE (author) / FENG XINJIE (author) / LI JIAN (author)

    Publication date :

    2020-10-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge



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