The invention relates to a walking structure of a mobile robot, a suspension structure and the mobile robot, the walking structure of the mobile robot comprises a frame-shaped rocker arm, and two limiting blocks are mounted on the inner wall of the rocker arm; the two walking wheel carriers penetrate through the rocker arms and are rotationally mounted on the rocker arms, and walking wheels are rotationally mounted on the walking wheel carriers; the two ends of the first elastic piece are correspondingly mounted on the two walking wheel frames; when the two walking wheel carriers are located on the horizontal ground, the two walking wheel carriers are in a parallel state, and the first elastic pieces are in a natural stretching state. According to the walking structure provided by the invention, the connection mode of the rocker arm and the walking wheel carrier is converted from direct connection to indirect connection, and the first elastic piece is additionally arranged, so that the distance between the two walking wheels on the same rocker arm can be adaptively adjusted through the compression and stretching of the elastic piece, thereby preventing the walking wheels from slipping and reducing the abrasion of the walking wheels.

    本发明涉及一种移动机器人行走结构、悬挂结构及移动机器人,上述移动机器人行走结构包括:边框状摇臂,摇臂的内壁上安装有两个限位块;两个行走轮架,从摇臂中穿入并转动安装于摇臂上,行走轮架上转动安装有行走轮;以及第一弹性件,第一弹性件的两端对应安装于两个行走轮架上;其中,当位于水平地面时两个所述行走轮架呈相互平行状态,所述第一弹性件处于自然伸展状态。本发明提供的行走结构中摇臂与行走轮架的连接方式由直接连接转化为间接连接,并增设第一弹性件,使同一摇臂上的两个行走轮间距离可以通过弹性件的受压和拉伸来自适应调整,从而防止行走轮打滑、降低行走轮磨损。


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    Title :

    Mobile robot walking structure, suspension structure and mobile robot


    Additional title:

    一种移动机器人行走结构、悬挂结构及移动机器人


    Contributors:
    FENG CHAO (author) / LI JIAPENG (author) / LI SHUAIGANG (author) / LI RUIJIE (author) / CHEN WANJIANG (author) / YUAN JINGYI (author) / HE YUHANG (author)

    Publication date :

    2024-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



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