The invention discloses a walking mechanism, a robot and a vehicle. The walking mechanism comprises a wheel frame, at least three advancing wheels, a walking driving mechanism and a walking transmission mechanism. The wheel frame is provided with a central shaft and at least three advancing wheel mounting parts distributed around the central shaft. The at least three advancing wheels are correspondingly mounted on the at least three advancing wheel mounting parts. The walking transmission mechanism comprises a central transmission part, at least three walking chains and at least three planetary chain wheels, the central transmission part is in driving connection with the walking driving mechanism, the central transmission part correspondingly drives the at least three planetary chain wheels to rotate around respective axes through the at least three walking chains, and the at least three planetary chain wheels are correspondingly in driving connection with the wheel shafts of the at least three advancing wheels. The at least three planetary chain wheels of the walking mechanism are independently driven by the at least three corresponding walking chains respectively, and the reliability of power output of the walking mechanism can be improved.

    本发明公开了一种行走机构、机器人和车辆。行走机构包括轮架、至少三个行进轮、行走驱动机构和行走传动机构。其中,轮架具有中心轴和绕中心轴分布的至少三个行进轮安装部。至少三个行进轮对应安装于至少三个行进轮安装部上。行走传动机构包括中心传动件、至少三个行走链条和至少三个行星链轮,中心传动件与行走驱动机构驱动连接,且中心传动件通过至少三个行走链条对应带动至少三个行星链轮绕各自的轴线转动,至少三个行星链轮与至少三个行进轮的轮轴对应地驱动连接。本发明的行走机构的至少三个行星链轮分别由对应的至少三个行走链条独立驱动,可提高行走机构的动力输出的可靠性。


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    Title :

    Walking mechanism, robot and vehicle


    Additional title:

    行走机构、机器人和车辆


    Contributors:
    YU SHICHENG (author) / ZHANG CHUANTAI (author) / TAO YU (author)

    Publication date :

    2021-07-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge



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