Walking mechanism and robot

Abstract

The utility model provides a kind of walking mechanism and robot, it is related to robot technical field, walking mechanism includes track, drive wheel group, support plate, support wheel group and support plate. Drive wheel group includes drive wheel and drive shaft;Drive wheel is sleeved in drive shaft outside, and outside contour is connected with track drive;Drive shaft is used to be connected with the drive unit on chassis;Support plate is fixedly connected with chassis, and with drive shaft vertical arrangement;Support wheel group is installed on support plate, and with the inner side rotation connection of track;Support plate is installed on support plate;Drive shaft sleeve is installed on support plate;Drive shaft sleeve is arranged in drive shaft sleeve inside. The utility model's walking mechanism reconstructs force transmission path by structure optimization, through physical isolation power transmission and gravity bearing system, eliminate the compound stress state of drive shaft, prolong the service life of drive shaft.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a walking mechanism and a robot. Background Technology

[0002] Currently, most agricultural machinery (such as tractors or self-propelled harvesters) uses tracked walking mechanisms to increase their ground bearing surface. In related technologies, the tracks of most tracked walking mechanisms are mounted on the drive wheels and load-bearing wheels. The drive wheels are mounted on the drive shaft of the equipment, and the load-bearing wheels are mounted on a support plate, which is fixedly connected to the equipment. Although this walking structure increases its ground bearing surface, it still has some shortcomings. For example, during operation, most of the weight of the entire equipment acts directly on the support plate and load-bearing wheels, but some force is still transmitted to the drive wheels, causing severe wear on the drive wheel's main shaft. Utility Model Content

[0003] The problem this invention solves is how to reduce the wear of the drive wheel spindle.

[0004] To solve the above problems, this utility model provides a walking mechanism and a robot.

[0005] In a first aspect, this utility model provides a walking mechanism for a walking robot, the walking robot including a chassis; the walking mechanism is installed on both sides of the walking robot, and the walking mechanism includes tracks, drive wheel sets, support plates, support wheel sets and bracket plates.

[0006] The drive wheel assembly includes drive wheels and a drive shaft; the drive wheels are fitted around the drive shaft, and their outer contours are connected to the track drive; the drive shaft is used to connect to the drive unit on the chassis. The support plate is fixedly connected to the chassis and is arranged perpendicular to the drive shaft; The support wheel assembly is mounted on the support plate and is rotatably connected to the inside of the track; The bracket plate is mounted on the support plate; the drive shaft sleeve is mounted on the bracket plate; the drive shaft is sleeved in the drive shaft sleeve through a bearing.

[0007] This invention's walking mechanism reconstructs the force transmission path through structural optimization. A support plate rigidly connects to the chassis, forming the main load-bearing frame for the vertical drive shaft. The equipment's gravity is transmitted to the support wheel assembly via the support plate, with multiple support wheels distributing the load through contact with the inner side of the tracks. The drive shaft is mounted on a support plate via a drive shaft sleeve. The support plate and support plate are fixed together to form a stable support structure. The drive shaft only bears the torque output by the drive unit, and its radial load is absorbed by the drive shaft sleeve and support plate. When the drive unit drives the drive shaft to rotate, the drive wheels drive the tracks. At this time, the equipment's gravity is transmitted through the support plate-support wheel assembly path, completely separating it from the rotational power transmission of the drive shaft. This walking mechanism eliminates the combined stress state of the drive shaft by physically isolating the power transmission and gravity-bearing system. By setting an independent support plate for the vertical drive shaft, the load-bearing function is transferred to the support wheel assembly. Simultaneously, the support plate and drive shaft sleeve constrain the drive shaft to only perform rotational motion, effectively isolating the influence of the equipment's gravity on the drive shaft, eliminating the wear risk caused by the radial load on the drive wheel spindle, and extending the drive shaft's service life. Meanwhile, the rigid frame formed by the support plate and the bracket plate enhances the overall stability of the walking mechanism and ensures reliable transmission of the tracks when operating in complex terrain.

[0008] Optionally, the support plate is triangular and arranged parallel to the support plate, with two corners of the support plate connected to the support plate.

[0009] Optionally, the two corners of the bracket plate connected to the support plate are at the same height.

[0010] Alternatively, the drive shaft sleeve is mounted on a corner of the bracket plate away from the support plate.

[0011] Optionally, both the support plate and the bracket plate are provided with weight-reduction holes.

[0012] Optionally, a first connecting rod is fixedly installed on the support plate; the end of the first connecting rod away from the support plate is fixedly connected to the chassis.

[0013] Optionally, a second connecting rod is fixedly installed on the support plate; the end of the second connecting rod away from the support plate is fixedly connected to the chassis.

[0014] Optionally, it also includes a tensioning assembly; the tensioning assembly includes a fixed tensioning shaft, an adjusting tensioning shaft, and a tensioning cylinder; the fixed tensioning shaft is rotatably mounted on one end of the support plate; an adjusting track is provided at the end of the support plate away from the fixed tensioning wheel; the adjusting tensioning shaft is rotatably mounted within the adjusting track; the tensioning cylinder is connected to the support plate, and the piston end of the tensioning cylinder is connected to the adjusting tensioning shaft for driving the adjusting tensioning shaft to move within the adjusting track; tensioning wheels are mounted on both the fixed tensioning shaft and the adjusting tensioning shaft.

[0015] Optionally, the support wheel assembly includes multiple support shafts; the multiple support shafts are located on the same horizontal plane and are all rotatably mounted on the support plate; support wheels are mounted on the outside of the support shafts; the support wheels cooperate with the inner side of the track.

[0016] Secondly, this utility model provides a robot, including a base and a walking mechanism. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the walking mechanism in an embodiment of the present invention; Figure 2 for Figure 1 The main view; Figure 3 for Figure 1 A schematic diagram of the structure after the middle drive shaft sleeve is hidden; Figure 4 This is a schematic diagram of the structure of the robot according to an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Track; 2. Support plate; 3. Bracket plate; 4. Drive shaft; 5. Drive shaft sleeve; 6. Drive wheel; 7. First connecting rod; 8. Second connecting rod; 9. Fixed tension shaft; 10. Adjustable tension shaft; 11. Support shaft; 12. Support wheel; 13. Tensioning wheel; 14. Tensioning cylinder. Detailed Implementation

[0019] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Although some embodiments of this utility model are shown in the drawings, it should be understood that this utility model can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this utility model. It should be understood that the drawings and embodiments of this utility model are for illustrative purposes only and are not intended to limit the scope of protection of this utility model.

[0020] In the attached diagram, the Z-axis represents the vertical direction, i.e., up and down, with the positive direction of the Z-axis representing up and the negative direction representing down. The X-axis represents the horizontal direction and is designated as the front and back position, with the positive direction of the X-axis representing the front and the negative direction representing the back. The Y-axis represents the left and right position, with the positive direction of the Y-axis representing the left and the negative direction representing the right. It should be noted that the aforementioned representations of the Z, Y, and X axes are merely for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0021] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optionally an embodiment". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this utility model are only used to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0022] It should be noted that the terms "one" and "multiple" used in this utility model are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] In related technologies, when agricultural machinery uses a tracked walking mechanism, the weight of the equipment is partially transmitted to the main shaft of the drive wheel 6, causing the main bearing to be subjected to additional radial load, which is prone to wear during long-term operation.

[0024] To address the aforementioned issues, analysis of the equipment's stress distribution revealed that the root cause of wear was the dual role of drive shaft 4 in the traditional structure, which simultaneously served as both power transmission and gravity support. Based on this, a design approach was developed to decouple the power transmission and gravity-bearing systems: by distributing the equipment's weight through an independent support frame, drive shaft 4 was made solely responsible for rotational power output, thereby eliminating the negative impact of gravity on drive shaft 4.

[0025] like Figure 1-3 As shown in the figure, the present invention provides a walking mechanism for a walking robot. The walking robot includes a chassis. The walking mechanism is installed on both sides of the walking robot and includes a track 1, a drive wheel set, a support plate 2, 12 sets of support wheels, and a bracket plate 3.

[0026] The drive wheel assembly includes a drive wheel 6 and a drive shaft 4; the drive wheel 6 is sleeved on the drive shaft 4 and its outer contour is driven to connect with the track 1; the drive shaft 4 is used to connect to the drive unit on the chassis. The support plate 2 is fixedly connected to the chassis and is arranged perpendicular to the drive shaft 4; The 12 sets of support wheels are mounted on the support plate 2 and are rotatably connected to the inner side of the track 1; The bracket plate 3 is mounted on the support plate 2; the drive shaft sleeve 5 is mounted on the bracket plate 3; the drive shaft 4 is sleeved in the drive shaft sleeve 5 through a bearing.

[0027] The drive wheel set is the core power component that enables the transmission of the track 1. The drive wheel 6 and the drive shaft 4 are connected by interference fit or keyway to achieve synchronous rotation. Specifically, a steel shaft with a keyway and a gear-shaped drive wheel 6 can be used. Its function is to convert the power of the drive unit into the motion of the track 1. The support plate 2 is a rigid base that bears the weight of the equipment. It forms a transverse support structure through a layout perpendicular to the drive shaft 4, which is used to distribute the weight of the equipment to the support wheel set 12. The support wheel set 12 is the load-bearing component that contacts the track 1. Multiple sets of wheels are evenly distributed to support the inner side of the track 1, avoiding local stress concentration. The bracket plate 3 is the mounting base that fixes the drive shaft sleeve 5. It provides rotational freedom to the drive shaft 4 through the drive shaft sleeve 5, while restricting its radial displacement, ensuring that the drive shaft 4 only transmits rotational torque.

[0028] Specifically, this walking mechanism restructures the force transmission path through structural optimization. The support plate 2 is rigidly connected to the chassis to form the main load-bearing frame of the vertical drive shaft 4. The equipment's gravity is transmitted through the support plate 2 to the support wheel set 12, where multiple support wheels 12 contact the inner side of the track 1 to distribute the load. The drive shaft 4 is mounted on the bracket plate 3 via the drive shaft sleeve 5. The bracket plate 3 and support plate 2 are fixed together to form a stable support structure. The drive shaft 4 only bears the torque output by the drive unit, and its radial load is absorbed by the drive shaft sleeve 5 and the bracket plate 3. When the drive unit drives the drive shaft 4 to rotate, the drive wheel 6 drives the track 1 to move. At this time, the equipment's gravity is transmitted through the path of support plate 2-support wheel set 12, completely separated from the rotational power transmission of the drive shaft 4. This structure eliminates the combined stress state of the drive shaft 4 by physically isolating the power transmission and gravity bearing system. By setting an independent support plate 2 for the vertical drive shaft 4, the load-bearing function is transferred to the support wheel 12 set. At the same time, the bracket plate 3 and drive shaft sleeve 5 constrain the drive shaft 4 to only perform rotational motion, effectively isolating the influence of the equipment's gravity on the drive shaft 4, eliminating the risk of wear caused by the radial load on the drive wheel 6 main shaft, and extending the service life of the drive shaft 4. Meanwhile, the rigid frame formed by the support plate 2 and bracket plate 3 improves the overall stability of the walking mechanism, ensuring reliable transmission of the track 1 when operating in complex terrain.

[0029] Optionally, the support plate 3 is triangular and arranged parallel to the support plate 2, with two corners of the support plate 3 connected to the support plate 2.

[0030] The term "triangular" refers to the triangular geometric configuration of the support plate 3, such as an equilateral or isosceles triangle, which enhances structural rigidity through the inherent geometric stability of the triangle. "Parallel arrangement" means that the support plate 3 and the support plate 2 are kept parallel to each other, ensuring that the load borne by the support plate 3 is evenly distributed to the support plate 2. "Two-corner connection" means that the two corner areas of the support plate 3 are respectively fixed to the support plate 2 by bolts or welding, forming a two-point fixed support structure.

[0031] Specifically, the triangular support plate 3 forms a closed force transmission path through its three sides. When the drive shaft sleeve 5 is subjected to dynamic loads transmitted by the track 1, the triangular structure can disperse concentrated stress to the three corner areas. The parallel arrangement of the support plate 3 and the support plate 2 ensures that the load transmission direction is perpendicular to the bearing surface of the support plate 2, avoiding bending moments. The two corners are connected to the support plate 2, forming a stable support foundation through double-point fixing. This allows the lateral load on the drive shaft 4 to be decomposed into the reaction forces of the two support points, thereby significantly reducing the eccentric wear of the drive shaft 4 bearing. By optimizing the force transmission path through the triangular structure and combining it with the double-point fixing method, the traditional single-point support is improved into a distributed support system, fundamentally eliminating the phenomenon of local stress concentration. This effectively solves the problem of uneven wear of the drive shaft 4 caused by insufficient structural rigidity of the support plate 3. During the operation of the track 1, the support plate 3 can evenly decompose the composite load on the drive shaft sleeve 5 to the support plate 2, keeping the drive shaft 4 in a coaxial rotation state and extending the service life of the drive shaft sleeve 5.

[0032] Optionally, the two corners of the bracket plate 3 connected to the support plate 2 are at the same height.

[0033] The term "same height" refers to the two fixed points connecting the support plate 3 and the support plate 2 being at the same vertical height. This can be achieved by calibrating the assembly with a level or by setting locating pin holes. This feature ensures that the contact surfaces of the support plate 3 and the support plate 2 are under uniform stress. The term "two-corner connection" refers to the support plate 3 being fixed to the support plate 2 through its two endpoints. This can be achieved by bolting or welding. This feature, through symmetrical distribution of support points, avoids torque offset caused by unilateral support.

[0034] Specifically, the bracket plate 3 is fixed to the support plate 2 in a horizontally symmetrical manner at its two corners, forming a stable planar support structure at the contact surface between the two. In this arrangement, the load on the drive shaft 4 is evenly transferred to the support plate 2 through the bracket plate 3, eliminating torque imbalance caused by differences in installation height. The symmetrical connection further disperses the lateral force of the equipment's gravity on the drive shaft 4, preventing uneven wear of the drive wheel assembly due to stress concentration on one side, while also enhancing the torsional resistance at the connection between the bracket plate 3 and the support plate 2, thus providing a stable mounting foundation for the drive shaft sleeve 5. The horizontally symmetrical connection structure ensures that the load is evenly distributed along the axis of the drive shaft 4, reducing the risk of wear on the drive wheel assembly due to uneven loading, while also increasing the rigidity of the connection between the bracket plate 3 and the support plate 2, reducing the impact of structural deformation on the drive shaft sleeve 5. This solves the problem of uneven wear on the drive shaft 4 caused by uneven force distribution at the connection between the bracket plate 3 and the support plate 2, ensuring even load distribution through a symmetrical layout, reducing the risk of stress concentration on one side of the drive shaft 4, extending the service life of the drive wheel assembly, and improving the overall stability of the walking mechanism.

[0035] Optionally, the drive shaft sleeve 5 is mounted on the bracket plate 3 at a corner away from the support plate 2.

[0036] The drive shaft sleeve 5 is a mechanical component used to support the rotation of the drive shaft 4. It can be implemented using a deep groove ball bearing or a tapered roller bearing, with its inner ring interference-fitted with the drive shaft 4 to achieve synchronous rotation. The corner furthest from the support plate 2 refers to the vertex position of the triangular support plate 3 that is furthest from the plane of the support plate 2.

[0037] Specifically, the drive shaft 4 generates a radial load when transmitting torque, which is transmitted to the support plate 3 through the drive shaft sleeve 5. When the drive shaft sleeve 5 is positioned at a corner away from the support plate 2, its axis forms a lever arm structure with the maximum spacing between it and the support plate 2. This arrangement decomposes the bending moment generated when the drive shaft 4 rotates into a vertical component, which is balanced by the two corner support points of the triangular support plate 3. At the same time, the support plate 2 mainly bears the gravity load of the robot chassis, and the far-end installation of the drive shaft sleeve 5 spatially separates the torque transmission path from the gravity load path, avoiding the superposition of the two loads at the root of the drive shaft 4 and causing local stress concentration. By positioning the far end of the drive shaft sleeve 5, a multi-directional load transmission channel is established using the geometric characteristics of the triangular support while maintaining a compact structure, effectively reducing frictional losses at key connection points of the drive shaft 4. This achieves spatial decoupling between the rotational torque of the drive shaft 4 and the gravity load of the robot body, reduces the radial stress intensity of the bearing at the root of the drive shaft 4, thereby extending the service life of the drive shaft 4 and the bearing, and ensuring the continuous and stable operation of the walking mechanism in complex terrain.

[0038] Optionally, both the support plate 2 and the bracket plate 3 are provided with weight reduction holes.

[0039] The weight-reduction holes are through holes made in the non-stress-concentrated areas of the support plate 2 and bracket plate 3. These holes can be circular, polygonal, or elongated, and can be evenly spaced along the length of the plates. The purpose of these weight-reduction holes is to effectively reduce the mass of the components by removing redundant material from non-load-bearing areas while maintaining structural strength. By using these holes, the mass of the support plate 2 and bracket plate 3 can be reduced by more than 20% under the same load-bearing capacity, effectively reducing their static mass and enabling the traveling mechanism to achieve higher acceleration response under the same power conditions. The reduced overall load on the traveling mechanism decreases the output torque requirement of the drive unit, thereby reducing the impact of dynamic load on the motor. The hollow structure formed by the weight-reduction holes also increases the heat dissipation area of ​​the components, helping to reduce the operating temperature of the drive shaft sleeve 5 and indirectly extending the service life of the drive shaft 4 assembly.

[0040] Optionally, a first connecting rod 7 is fixedly installed on the support plate 3; the end of the first connecting rod 7 away from the support plate 3 is fixedly connected to the chassis.

[0041] The first connecting rod 7 refers to a rigid support rod, which can be made of metal or composite structure, and is used to establish an auxiliary force transmission path between the support plate 3 and the chassis. The fixed connection refers to an installation method that prevents relative displacement, which can be achieved by welding, bolting, or integrated casting process, and is used to ensure that the first connecting rod 7 forms a rigid constraint between the support plate 3 and the chassis.

[0042] Specifically, the first connecting rod 7 is installed between the support plate 3 and the chassis. When the robot is operating, the load borne by the support plate 3 is directly transferred to the chassis frame through the first connecting rod 7, avoiding the concentrated load acting on the drive shaft 4 where the drive shaft sleeve 5 is located. At the same time, the first connecting rod 7 provides additional support at the end of the support plate 3 away from the drive shaft sleeve 5, forming a lever-like reaction force to suppress the radial sway of the drive shaft 4 caused by the operation of the track 1. As a result, the contact stress between the drive shaft sleeve 5 and the drive shaft 4 is effectively dispersed, reducing wear caused by unnecessary friction.

[0043] Optionally, a second connecting rod 8 is fixedly installed on the support plate 2; the end of the second connecting rod 8 away from the support plate 2 is fixedly connected to the chassis.

[0044] The second connecting rod 8 is a rigid member used to connect the support plate 2 and the chassis. It can be a cylindrical or square metal rod, with both ends fixed to the support plate 2 and the chassis by welding or bolting, forming a stable force transmission path. The fixed connection between the support plate 2 and the chassis means that the support plate 2 remains relatively stationary with the chassis through mechanical connections or welding. This can be achieved using bolt fastening or welding processes, ensuring that the support plate 2 does not shift or deform under load.

[0045] Specifically, the load borne by the support plate 2 is transferred to the chassis main structure through the second connecting rod 8, thus dispersing the lateral stress originally acting on the drive shaft 4. One end of the second connecting rod 8 is fixed to the support plate 2 to form a rigid support starting point, and the other end is fixed to the chassis to form a load receiving endpoint, forming a two-point rigid connection structure. This arrangement ensures that the load is transmitted along the axial direction of the second connecting rod 8, preventing the drive shaft sleeve 5 from being subjected to non-axial loads. The fixed connection between the support plate 2 and the second connecting rod 8 eliminates connection gaps, ensures the straightness of the load transmission path, and prevents force transmission deviation.

[0046] Optionally, it also includes a tensioning assembly; the tensioning assembly includes a fixed tensioning shaft 9, an adjustable tensioning shaft 10, and a tensioning cylinder 14; the fixed tensioning shaft 9 is rotatably mounted on one end of the support plate 2; an adjusting track is provided at the end of the support plate 2 away from the fixed tensioning wheel; the adjustable tensioning shaft 10 is rotatably disposed within the adjusting track; the tensioning cylinder 14 is connected to the support plate 2, and the piston end of the tensioning cylinder 14 is connected to the adjustable tensioning shaft 10 for driving the adjustable tensioning shaft 10 to move within the adjusting track; tensioning wheels 13 are mounted on both the fixed tensioning shaft 9 and the adjustable tensioning shaft 10.

[0047] The fixed tensioning shaft 9 is a shaft fixed to one end of the support plate 2, which can be a metal shaft with limiting flanges at both ends, providing a basic support point for the track 1. The adjusting tensioning shaft 10 is a shaft that can move along the adjusting track and rotate around its own axis, which can be a metal shaft with ball bearings, used to adjust the tension of the track 1 by displacement. The adjusting track is a groove-shaped structure on the support plate 2 to constrain the movement path of the adjusting tensioning shaft 10, which can be a linear slide rail or an arc-shaped slide groove, used to ensure trajectory stability during the adjustment process. The tensioning cylinder 14 is the actuator that drives the adjusting tensioning shaft 10 to move along the adjusting track. The tensioning wheel 13 is a rolling component installed outside the fixed tensioning shaft 9 and the adjusting tensioning shaft 10 and in contact with the inside of the track 1, which can be a wheel with a nylon-coated metal core, used to reduce the frictional resistance between the track 1 and the tensioning shaft.

[0048] Specifically, the fixed tensioning shaft 9 serves as a fixed fulcrum to maintain the basic shape of the track 1. The adjustable tensioning shaft 10 moves within the adjusting track via the driving force of the tensioning cylinder 14, changing the distance between it and the fixed tensioning shaft 9, thereby adjusting the tension of the track 1. When the track 1 becomes loose due to wear or deformation, the tensioning cylinder 14 pushes the adjustable tensioning shaft 10 away from the fixed tensioning shaft 9, increasing the distance between the two shafts and restoring the track 1 to its tensioned state. The tensioning wheel 13 rotates with the shaft as the track 1 moves, reducing friction loss. The straight or arc-shaped guide structure of the adjusting track ensures that the adjustable tensioning shaft 10 does not skew during movement, maintaining the stability of tension adjustment. Through the cooperation of the movable adjustable tensioning shaft 10 and the driving component, real-time adjustment of the track 1 tension is achieved, allowing tension compensation to be completed during equipment operation, significantly improving maintenance efficiency. It can actively compensate for the looseness of the track 1 caused by wear or load changes, avoiding unilateral force on the main shaft of the drive wheel 6 due to insufficient tension, effectively reducing main shaft wear and extending the service life of the traveling mechanism. The dynamic adjustment of track tension also avoids the risk of derailment caused by track deformation when operating in complex terrain, which is common with traditional fixed tensioning structures.

[0049] Optionally, the set of support wheels 12 includes multiple support shafts 11; the multiple support shafts 11 are located on the same horizontal plane and are all rotatably mounted on the support plate 2; support wheels 12 are mounted on the outside of the support shafts 11; the support wheels 12 cooperate with the inner side of the track 1.

[0050] The support shaft 11 is a rotating shaft component used to support the weight of the equipment. It can be implemented using a combination of a hollow steel shaft and rolling bearings, with its axis perpendicular to the travel direction of the track 1. The support wheel 12 is a rotating component fitted around the outer circumference of the support shaft 11. It can be implemented using a combination of a polyurethane-coated wheel and a deep groove ball bearing, with its outer edge making rolling contact with the inner side of the track 1. "Arranged on the same horizontal plane" means that the axes of multiple support shafts 11 are at the same horizontal height. This can be achieved by machining planar positioning holes in the support plate 2 to fit bushings, ensuring that each support shaft 11 is subjected to uniform force.

[0051] Specifically, multiple support shafts 11 are spaced apart along the length of the support plate 2, forming a linear array of support points. When the support wheels 12 roll inside the track 1, the weight of the equipment is transmitted to each support shaft 11 through the support plate 2, and is converted into a horizontal tangential force by the rolling friction of the support wheels 12. The arrangement on the same horizontal plane makes the vertical load component borne by each support shaft 11 more consistent, avoiding local overload that could cause deformation of the support shaft 11. The rolling contact between the support wheels 12 and the inner side of the track 1 replaces traditional sliding friction, reducing motion resistance and heat accumulation.

[0052] In some specific embodiments, the number of support shafts 11 can be three sets, for example, two sets located at both ends of the support plate 2 and one set located in the middle. The outer edge of the support wheel 12 can be provided with an annular groove, for example, the groove width is slightly larger than the width of the inner protrusion of the track 1, forming a self-centering guide structure.

[0053] The gravity load is decomposed into multiple vertical components by the horizontally distributed support shaft 11, eliminating the asymmetrical force on the drive shaft 4. The rolling contact support wheel 12 reduces friction loss and prevents the drive shaft 4 from wearing unevenly due to additional torque.

[0054] Please combine Figure 4 This utility model embodiment also provides a robot, including a base and a walking mechanism. The walking mechanism includes the aforementioned track 1, drive wheel set, support plate 2, support wheel set 12 and bracket plate 3.

[0055] The advantages of the robot in this embodiment over the prior art are the same as those of the walking mechanism described above, and will not be repeated here.

[0056] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A walking mechanism for a walking robot, the walking robot including a chassis; the walking mechanism is mounted on both sides of the walking robot, characterized in that, The walking mechanism includes: Track (1); The drive wheel assembly includes a drive wheel (6) and a drive shaft (4); the drive wheel (6) is sleeved on the drive shaft (4), and the outer contour of the drive wheel (6) is driven to connect with the track (1); the drive shaft (4) is used to connect with the drive unit on the chassis; Support plate (2), which is used to fix the chassis and is arranged perpendicular to the drive shaft (4); A set of support wheels (12) is mounted on the support plate (2) and rotatably connected to the inner side of the track (1); and A bracket plate (3) is mounted on the support plate (2); a drive shaft sleeve (5) is mounted on the bracket plate (3); and the drive shaft (4) is sleeved in the drive shaft sleeve (5) through a bearing.

2. The walking mechanism according to claim 1, characterized in that, The bracket plate (3) is triangular and arranged parallel to the support plate (2), and the two corners of the bracket plate (3) are connected to the support plate (2).

3. The walking mechanism according to claim 2, characterized in that, The two corners of the bracket plate (3) connected to the support plate (2) are at the same height.

4. The walking mechanism according to claim 3, characterized in that, The drive shaft sleeve (5) is mounted on the bracket plate (3) at a corner away from the support plate (2).

5. The walking mechanism according to claim 1, characterized in that, Both the support plate (2) and the bracket plate (3) are provided with weight reduction holes.

6. The walking mechanism according to claim 1, characterized in that, A first connecting rod (7) is fixedly installed on the support plate (3); the end of the first connecting rod (7) away from the support plate (3) is fixedly connected to the chassis.

7. The walking mechanism according to claim 1, characterized in that, A second connecting rod (8) is fixedly installed on the support plate (2); the end of the second connecting rod (8) away from the support plate (2) is fixedly connected to the chassis.

8. The walking mechanism according to claim 1, characterized in that, It also includes a tensioning assembly; the tensioning assembly includes a fixed tensioning shaft (9), an adjustable tensioning shaft (10), and a tensioning cylinder (14); the fixed tensioning shaft (9) is rotatably mounted on one end of the support plate (2); an adjustable track is provided on the end of the support plate (2) away from the fixed tensioning wheel; the adjustable tensioning shaft (10) is rotatably disposed in the adjustable track; the tensioning cylinder (14) is connected to the support plate (2), and the piston end of the tensioning cylinder (14) is connected to the adjustable tensioning shaft (10) for driving the adjustable tensioning shaft (10) to move in the adjustable track; tensioning wheels (13) are mounted on both the fixed tensioning shaft (9) and the adjustable tensioning shaft (10).

9. The walking mechanism according to claim 1, characterized in that, The support wheel (12) group includes multiple support shafts (11); the multiple support shafts (11) are located on the same horizontal plane and are all rotatably mounted on the support plate (2); support wheels (12) are installed on the outside of the support shafts (11); the support wheels (12) cooperate with the inner side of the track (1).

10. A robot, characterized in that, It includes a base and a walking mechanism as described in any one of claims 1 to 9.

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