The double-foot advancing device comprises two advancing parts and a transverse adjusting part, each advancing part comprises a driving wheel, a first connecting rod, a second connecting rod, a torsion part and a balance wheel, and the driving wheels are connected to the lower ends of the first connecting rods; the lower end of the second connecting rod is rotatably connected with the upper end of the first connecting rod; the upper end of the second connecting rod is rotatably connected with the torsion piece; the balance wheel is fixedly connected with the torsion piece; the transverse adjusting part is connected with the balance wheels of the two advancing parts and drives the two balance wheels to rotate so as to drive the twisting part to twist. The torsion part is adopted, so that when facing a complex terrain, the two driving wheels can be staggered by twisting the torsion part so as to cope with the complex terrain, particularly in complex environments such as steps, slopes, muddy ground and irregular road surfaces, the torsion part is twisted by using the balance wheel, an action similar to hip twisting is realized, terrain obstacles are effectively overcome, and the service life of the robot is prolonged. Inclination or overturning is avoided, and the terrain adaptive capacity is remarkably improved.

    本申请涉及一种双足行进装置及机器人,包括两行进部件和一横向调节部件,每一行进部件均包括驱动轮、第一连杆、第二连杆、扭转件和平衡轮,驱动轮连接在第一连杆的下端;第二连杆的下端与第一连杆的上端可转动地连接;第二连杆的上端与扭转件可转动地连接;平衡轮与扭转件固定连接;横向调节部件连接两行进部件的平衡轮,横向调节部件驱动两平衡轮转动进而驱动扭转部发生扭转。本申请采用扭转件,使得在面对复杂地形时,可以通过扭动扭转件错开两驱动轮进而实现对复杂地形的应对,特别是在阶梯、斜坡、泥地和不规则路面等复杂环境中,利用平衡轮扭动扭转件,实现近似于扭胯的动作,有效克服地形障碍,避免倾斜或翻倒,显著提高了地形适应能力。


    Access

    Download


    Export, share and cite



    Title :

    Biped advancing device and robot


    Additional title:

    一种双足行进装置及机器人


    Contributors:
    SONG KUNJIE (author) / LANG XUENA (author) / LUO MAASIYANG (author)

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Biped robot gait control method and biped robot

    XIONG YOUJUN / GE LIGANG / LIU YIZHANG et al. | European Patent Office | 2022

    Free access

    Biped robot

    European Patent Office | 2024

    Free access

    Biped robot gait control method and biped robot

    XIONG YOUJUN / GE LIGANG / LIU YIZHANG et al. | European Patent Office | 2020

    Free access

    Biped robot

    CHEN JIAN / SHEN JING | European Patent Office | 2023

    Free access

    Biped robot

    ZHANG WEI / ZHUANG YULUN / SHI GUOWEI et al. | European Patent Office | 2021

    Free access