Walking mechanism, robot and vehicle

Abstract

The invention provides a walking mechanism, a robot and a vehicle. The traveling mechanism comprises: a wheel carrier, wherein the wheel carrier comprises a central shaft and more than three travelingwheel mounting portions distributed around the central shaft; more than three traveling wheels which are mounted on the more than three travelling wheel mounting parts in a one-to-one correspondencemanner; a walking driving mechanism which comprises a walking motor and a walking transmission mechanism, wherein the walking transmission mechanism is in driving connection with the walking motor, and the walking transmission mechanism is in driving connection with the three or more walking wheels so as to drive the multiple walking wheels to synchronously rotate around the axes of the walking wheels; and a turnover driving mechanism which comprises a turnover motor and a turnover transmission mechanism, wherein the turnover transmission mechanism is in driving connection with the wheel carrier so as to drive the wheel carrier to turn over around the central shaft. The robot and the vehicle comprise the walking mechanism. According to the walking mechanism, the robot and the vehicle, theobstacle crossing and trench crossing functions are achieved, and flat ground running, obstacle crossing and trench crossing actions are independent of one another.

Description

technical field [0001] The present disclosure relates to the field of robots and vehicles, in particular to a walking mechanism, a robot and a vehicle. Background technique [0002] In recent years, the application of robots for detection and rescue in dangerous environments such as fires, earthquakes, and mudslides has become more and more frequent. Its ability to overcome obstacles and trenches in complex environments determines the practical performance of the robot. [0003] At this stage, there are mainly two types of walking mechanisms for obstacle and trench crossing: one is the crawler mechanism, which has better road passing ability, but has a large volume and weight, complex structure, and weak adaptability to complex environments; It is a triangular star wheel mechanism with strong practicability, but it is generally composed of multi-stage fixed shaft and epicyclic gear train, which has the disadvantages of complex structure and difficult maintenance. Contents...

AI Technical Summary

Problems solved by technology

[0003] At this stage, there are mainly two types of walking mechanisms for obstacle and trench crossing: one is the crawler mechanism, which has better road passing ability, but has a large volume and weight, complex structure, and weak adaptability to complex environments; It is a triangular star wheel mechanism with strong practicability, but it is generally composed of multi-stage fixed shaft and epicyclic gear train, which has the disadvantages of complex structure and difficult maintenance.

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