The invention relates to a robot and a walking mechanism thereof, the walking mechanism comprises a bottom plate and a motion assembly, the motion assembly comprises a connecting piece, a frame, a flexible body and a piezoelectric driving unit, the connecting piece is located on the inner side of the frame and connected with the bottom plate, the flexible body is connected between the connecting piece and the frame, and the frame and the bottom plate are arranged at an interval; the piezoelectric driving unit is arranged on the flexible body, when sawtooth wave voltage is applied to the piezoelectric driving unit, the piezoelectric driving unit drives the flexible body to stretch and deform, and the deformation rate of the flexible body is increased along with the increase of the change rate of the voltage. According to the robot and the walking mechanism thereof, the piezoelectric driving unit is used for driving the flexible body to deform, the bottom plate moves on the ground in a stick-slip motion mode, and a good self-adaptive adjusting effect is achieved between the frame and the bottom plate under the action of the flexible body; the dependence of the operation stability of the frame relative to the bottom plate on the machining precision and the assembly precision is reduced, so that the complexity of the machining and assembly process is reduced.

    本申请涉及一种机器人及其行走机构,行走机构包括底板和运动组件,运动组件包括连接件、边框、柔性体和压电驱动单元,连接件位于边框的内侧并与底板相连接,柔性体连接于连接件与边框之间,且边框与底板间隔设置,压电驱动单元设置于柔性体,当压电驱动单元上施加锯齿波电压时,压电驱动单元带动柔性体伸缩形变,且柔性体发生形变的速率随电压的变化速率的增加而增加。本申请的机器人及其行走机构,利用压电驱动单元驱使柔性体发生形变,以粘滑运动的方式使得底板在地面上运动,且由于边框与底板之间在柔性体的作用下获得良好的自适应调节效果,减少了边框相对底板运行稳定性对加工精度和装配精度的依赖性,以降低加工和装配工艺复杂度。


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    Title :

    Robot and walking mechanism thereof


    Additional title:

    机器人及其行走机构


    Contributors:
    XU JINLIN (author) / XU ZHI (author) / JIANG XIAOLEI (author)

    Publication date :

    2022-03-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H02N Elektrische Maschinen, soweit nicht anderweitig vorgesehen , ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge



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