Walking mechanism and robot

Abstract

A walking mechanism includes a base plate, a linkage assembly, a first driving wheel, a second driving wheel and a front driven wheel, the linkage assembly includes a linkage shaft, a first driving connecting rod, a second driving connecting rod and a driven connecting rod, the linkage shaft is rotatably connected to the base plate, one end of the linkage shaft is fixedly connected to the first driving connecting rod, the other end of the linkage shaft is fixedly connected to the second driving connecting rod, the driven connecting rod is connected to the linkage shaft between the first driving connecting rod and the second driving connecting rod, the first driving wheel is rotatably connected to the first driving connecting rod, the second driving wheel is rotatably connected to the second driving connecting rod, and the front driven wheel is rotatably connected to the driven connecting rod. When the walking mechanism overcomes obstacles, the linkage assembly as a whole can swing around the connection between the linkage shaft and the base plate. The present invention provides a walking mechanism that can adapt to changes in the ground, ensure that the first driving wheel, the second driving wheel and the front driven wheel are always in contact with the ground, and achieve high obstacle-overcoming performance. The present invention also relates to a robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robot walking, and in particular to a walking mechanism and a robot. Background Art

[0002] With the continuous development of robot technology, robots are being used more and more widely, and their functions are becoming more and more abundant. At the same time, the requirements for the robot's adaptability to the ground and the stability of its walking are becoming higher and higher. The walking mechanism of the robot is the mobile carrier of all functions on the robot. Its performance directly affects the performance of the whole machine. However, the walking mechanism of existing robots has problems such as insufficient obstacle crossing ability and insufficient starting or emergency stopping stability. Summary of the invention

[0003] In view of this, the present invention provides a walking mechanism that can adapt to changes in the ground, meet the requirements of crossing steps and gaps in application scenarios, and achieve high obstacle crossing performance.

[0004] A walking mechanism comprises a base plate, a linkage assembly, a first driving wheel, a second driving wheel and a front driven wheel. The linkage assembly comprises a linkage shaft, a first driving link, a second driving link and a driven link. The linkage shaft is rotatably connected to the base plate. One end of the linkage shaft is fixedly connected to the first driving link, and the other end of the linkage shaft is fixedly connected to the second driving link. The driven link is connected to the linkage shaft between the first driving link and the second driving link. The first driving wheel is rotatably connected to the first driving link, the second driving wheel is rotatably connected to the second driving link, and the front driven wheel is rotatably connected to the driven link. When the walking mechanism overcomes an obstacle, the linkage assembly as a whole can swing around the connection between the linkage shaft and the base plate.

[0005] In an embodiment of the present invention, the first active connecting rod and the second active connecting rod are fixedly connected to the left and right ends of the linkage shaft respectively, and the driven connecting rod is fixedly connected to the middle part of the linkage shaft.

[0006] In an embodiment of the present invention, a first bushing seat and a second bushing seat are fixedly provided on the base plate, the first bushing seat is arranged opposite to the second bushing seat, and the linkage shaft is rotatably installed in the first bushing seat and the second bushing seat.

[0007] In an embodiment of the present invention, the above-mentioned base plate includes a first mounting surface and a second mounting surface that are relatively arranged, the first bushing seat and the second bushing seat are connected to the first mounting surface, and the base plate is provided with a first movable hole, a second movable hole and a third movable hole that pass through the first mounting surface and the second mounting surface. The upper end of the first active connecting rod passes through the first movable hole and is fixedly connected to one end of the linkage shaft, the upper end of the second active connecting rod passes through the second movable hole and is fixedly connected to one end of the linkage shaft, and the upper end of the driven connecting rod passes through the third movable hole and is fixedly connected to one end of the linkage shaft.

[0008] In an embodiment of the present invention, a first mounting seat and a second mounting seat are provided on the above-mentioned base plate, the first mounting seat and the second mounting seat are connected to the second mounting surface, the first mounting seat is arranged corresponding to the first active connecting rod, and the second mounting seat is arranged corresponding to the second active connecting rod, and the walking mechanism also includes a first shock absorber and a second shock absorber, one end of the first shock absorber is hingedly connected to the first mounting seat, and the other end of the first shock absorber is hingedly connected to the first active connecting rod, one end of the second shock absorber is hingedly connected to the second mounting seat, and the other end of the second shock absorber is hingedly connected to the second active connecting rod.

[0009] In an embodiment of the present invention, the axis of the first shock absorber is parallel to the second mounting surface, and the axis of the second shock absorber is parallel to the second mounting surface.

[0010] In an embodiment of the present invention, a third mounting seat is fixedly provided on the above-mentioned base plate, and the third mounting seat is fixedly connected to the second mounting surface. The walking mechanism also includes a rear driven wheel, which is arranged opposite to the front driven wheel, and the rear driven wheel is rotatably connected to the third mounting seat.

[0011] In an embodiment of the present invention, the end shaft of the above-mentioned driven connecting rod cooperates with the axial hole of the linkage shaft, and the linkage shaft is arranged through the axial hole. The walking mechanism also includes a driving motor, and the driving motor includes a rotor and a stator. The driving motor is arranged in the axial hole, and the rotor is fixedly connected to the hole wall of the axial hole, and the stator is fixedly connected to the linkage shaft. The driving motor can drive the driven connecting rod to rotate around the linkage shaft.

[0012] In an embodiment of the present invention, the above-mentioned walking mechanism also includes a sensor, which is connected to the base plate or the linkage assembly, and the sensor is used to detect the ups and downs angle of the base plate. When the ups and downs angle of the base plate of the walking mechanism overcoming obstacles is greater than a set value, the drive motor drives the driven connecting rod to rotate so that the ups and downs angle of the base plate is within a set range.

[0013] The present invention also relates to a robot, comprising the above-mentioned walking mechanism.

[0014] When the walking mechanism of the present invention overcomes obstacles, the linkage assembly can swing around the connection between the linkage shaft and the base plate, can adapt to changes in the ground, ensure that the first driving wheel, the second driving wheel and the front driven wheel are always in contact with the ground, and ensure that the first driving wheel and the second driving wheel have sufficient positive pressure on the ground, thereby achieving high obstacle-overcoming performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the walking mechanism of the first embodiment of the present invention.

[0016] Figure 2 It is a partial cross-sectional structural schematic diagram of the walking mechanism of the first embodiment of the present invention.

[0017] Figure 3 It is a front view structural schematic diagram of the walking mechanism of the first embodiment of the present invention.

[0018] Figures 4 to 7 It is a schematic diagram of the walking mechanism of the first embodiment of the present invention when overcoming obstacles.

[0019] Figure 8 It is a partial cross-sectional structural schematic diagram of the walking mechanism of the second embodiment of the present invention.

[0020] Fig. 9 It is a schematic cross-sectional view of the connection between the driven connecting rod and the linkage shaft according to the second embodiment of the present invention. DETAILED DESCRIPTION

[0021] First embodiment

[0022] Figure 1 is a schematic diagram of the three-dimensional structure of the walking mechanism of the first embodiment of the present invention, Figure 2 is a partial cross-sectional structural schematic diagram of the walking mechanism of the first embodiment of the present invention, Figure 3 FIG. 1 is a front view of the walking mechanism of the first embodiment of the present invention. Figure 1 , Figure 2 and Figure 3As shown, the walking mechanism includes a base plate 11, a linkage assembly 12, a first driving wheel 13, a second driving wheel 14 and a front driven wheel 15. The base plate 11 is arranged along the horizontal direction, the first driving wheel 13 and the second driving wheel 14 are arranged opposite to each other on the left and right, and the front driven wheel 15 is located in front of the first driving wheel 13 and the second driving wheel 14 in the walking direction, and there is only one front driven wheel 15. The linkage assembly 12 includes a linkage shaft 121, a first active link 122, a second active link 123 and a driven link 124. The linkage shaft 121 is rotatably connected to the base plate 11, one end of the linkage shaft 121 is fixedly connected to the first active link 122, the other end of the linkage shaft 121 is fixedly connected to the second active link 123, the driven link 124 is fixedly connected to the linkage shaft 121 between the first active link 122 and the second active link 123, the first driving wheel 13 is rotatably connected to the first active link 122, the second driving wheel 14 is rotatably connected to the second active link 123, and the front driven wheel 15 is rotatably connected to the driven link 124. When the walking mechanism overcomes an obstacle, the linkage assembly 12 as a whole can swing around the connection between the linkage shaft 121 and the base plate 11, that is, the various components included in the linkage assembly 12 (the linkage shaft 121, the first active link 122, the second active link 123 and the driven link 124) are fixedly connected together, so that the linkage assembly 12, the first driving wheel 13, the second driving wheel 14 and the front driven wheel 15 form a floating part, and can swing around the connection between the linkage shaft 121 and the base plate 11.

[0023] When the walking mechanism of the present invention overcomes obstacles, the linkage assembly 12 can swing around the connection between the linkage shaft 121 and the base plate 11, thereby overcoming the technical problem of insufficient obstacle-crossing ability of the existing walking mechanism, and being able to adapt to changes in the ground, ensuring that the first driving wheel 13, the second driving wheel 14 and the front driven wheel 15 are always in contact with the ground, and ensuring that the first driving wheel 13 and the second driving wheel 14 have sufficient positive pressure on the ground, meeting the requirements of crossing steps and gaps in application scenarios, thereby achieving high obstacle-crossing performance.

[0024] Furthermore, the first active link 122 and the second active link 123 are fixedly connected to the left and right ends of the linkage shaft 121, respectively, and the driven link 124 is fixedly connected to the middle of the linkage shaft 121. Since the driven link 124 is fixedly connected to the middle of the linkage shaft 121, the wheelbase L between the front driven wheel 15 and the linkage shaft 121 is maximized (when the bottom plate 11 is circular and the front driven wheel 15 does not exceed the range covered by the bottom plate 11), when the walking mechanism starts or stops suddenly, the walking mechanism as a whole is not easy to shake forward and backward, which improves the stability of the walking mechanism and overcomes the technical problem of insufficient stability of the existing walking mechanism when starting or stopping suddenly.

[0025] Furthermore, the base plate 11 is fixed with a first bushing seat 111 and a second bushing seat 112, and the first bushing seat 111 and the second bushing seat 112 are arranged opposite to each other on the left and right sides, wherein the first bushing seat 111 is arranged close to the first driving wheel 13, and the second bushing seat 112 is arranged close to the second driving wheel 14. The linkage shaft 121 is rotatably installed in the first bushing seat 111 and the second bushing seat 112, that is, the linkage shaft 121 can rotate in the first bushing seat 111 and the second bushing seat 112. In this way, the floating component composed of the linkage assembly 12, the first driving wheel 13, the second driving wheel 14 and the front driven wheel 15 can swing relative to the base plate 11 through the linkage shaft 121.

[0026] Further, the bottom plate 11 includes a first mounting surface 11a and a second mounting surface 11b which are arranged opposite to each other. The first mounting surface 11a is, for example, the upper surface of the bottom plate 11, and the second mounting surface 11b is, for example, the lower surface of the bottom plate 11. The first bushing seat 111 and the second bushing seat 112 are fixedly connected to the first mounting surface 11a. The bottom plate 11 is provided with a first movable hole 101, a second movable hole 102 and a third movable hole 103 which penetrate the first mounting surface 11a and the second mounting surface 11b. The first movable hole 101 is arranged corresponding to the first active connecting rod 122. The upper end of the first active connecting rod 122 passes through the first movable hole 101 and is fixedly connected to one end of the linkage shaft 121. The first driving wheel 13 is rotatably connected to the lower end of the first active connecting rod 122. The second movable hole 102 is provided corresponding to the second active link 123. The upper end of the second active link 123 passes through the second movable hole 102 and is fixedly connected to the other end of the linkage shaft 121. The second active wheel 14 is rotatably connected to the lower end of the second active link 123. The third movable hole 103 is provided corresponding to the driven link 124. The upper end of the driven link 124 passes through the third movable hole 103 and is fixedly connected to the middle of the linkage shaft 121. The front driven wheel 15 is rotatably connected to the lower end of the driven link 124. When the walking mechanism crosses an obstacle, the first active link 122 can swing in the first movable hole 101, the second active link 123 can swing in the second movable hole 102, and the driven link 124 can swing in the third movable hole 103.

[0027] Further, a first mounting seat 113 and a second mounting seat 114 are fixedly provided on the bottom plate 11. Specifically, the first mounting seat 113 and the second mounting seat 114 are fixedly connected to the second mounting surface 11b. The first mounting seat 113 is correspondingly provided with the first active connecting rod 122, and the second mounting seat 114 is correspondingly provided with the second active connecting rod 123. The walking mechanism further includes a first shock absorber 17 and a second shock absorber 18. One end of the first shock absorber 17 is hingedly connected to the first mounting seat 113, and the other end of the first shock absorber 17 is hingedly connected to the first active connecting rod 122. One end of the second shock absorber 18 is hingedly connected to the second mounting seat 114, and the other end of the second shock absorber 18 is hingedly connected to the second active connecting rod 123. In this embodiment, the first shock absorber 17 and the second shock absorber 18 are used to increase the positive pressure of the first driving wheel 13 and the second driving wheel 14 on the ground to prevent the first driving wheel 13 and the second driving wheel 14 from slipping. At the same time, the first shock absorber 17 and the second shock absorber 18 have a shock-absorbing effect, which can avoid the problem of severe shaking of the walking mechanism caused by uneven ground.

[0028] Furthermore, the axis of the first shock absorber 17 is parallel to the second mounting surface 11b, and the axis of the second shock absorber 18 is parallel to the second mounting surface 11b. In this embodiment, the first shock absorber 17 and the second shock absorber 18 are arranged in the lateral direction (i.e., the horizontal direction), that is, the arrangement direction of the first shock absorber 17 and the second shock absorber 18 is parallel to the ground. This arrangement can greatly save the space of the chassis and optimize the structural design.

[0029] In another preferred embodiment, the first shock absorber 17 can be tilted and hingedly connected between the first mounting seat 113 and the first active connecting rod 122, and the tilt angle of the first shock absorber 17 can be freely adjusted according to actual needs, for example, the angle between the length direction of the first shock absorber 17 and the bottom plate 11 is 0 to 45°, specifically, for example, 10°, 20°, 30°, but not limited thereto. The second shock absorber 18 can be tilted and hingedly connected between the second mounting seat 114 and the second active connecting rod 123, and the tilt angle of the second shock absorber 18 can be freely adjusted according to actual needs, for example, the angle between the length direction of the second shock absorber 18 and the bottom plate 11 is 0 to 45°, specifically, for example, 10°, 20°, 30°, but not limited thereto.

[0030] Furthermore, a third mounting seat 115 is fixedly provided on the bottom plate 11. Specifically, the third mounting seat 115 is fixedly connected to the second mounting surface 11b. The walking mechanism also includes a rear driven wheel 16. The rear driven wheel 16 is arranged front to back relative to the front driven wheel 15, that is, the rear driven wheel 16 is located behind the first driving wheel 13 and the second driving wheel 14 in the walking direction. The rear driven wheel 16 is rotatably connected to the third mounting seat 115. In this embodiment, two third mounting seats 115 are fixedly provided on the bottom plate 11. The two third mounting seats 115 are arranged symmetrically. The walking mechanism includes two rear driven wheels 16. The two rear driven wheels 16 are also arranged symmetrically. The two rear driven wheels 16 correspond to the two third mounting seats 115 respectively, and the two rear driven wheels 16 are rotatably connected to the two third mounting seats 115 respectively.

[0031] Furthermore, the first driving wheel 13 and the second driving wheel 14 are both driven by a hub motor (not shown). For the structure and working principle of the hub motor, please refer to the prior art and will not be described in detail here.

[0032] Furthermore, the front driven wheel 15 and the rear driven wheel 16 are all universal wheels, so as to facilitate the steering of the walking mechanism. Please refer to the prior art for the structure and working principle of the universal wheel, which will not be described here.

[0033] Furthermore, the bottom plate 11 is provided with a first avoidance hole 104 and a second avoidance hole 105, which penetrate the first mounting surface 11a and the second mounting surface 11b of the bottom plate 11, wherein the first avoidance hole 104 is located directly above the first driving wheel 13, and the second avoidance hole 105 is located directly above the second driving wheel 14. When the first driving wheel 13 of the walking mechanism overcomes an obstacle, the first driving wheel 13 is lifted toward the direction close to the bottom plate 11 to the first avoidance hole 104, so as to avoid the first driving wheel 13 from interfering with the bottom plate 11; when the second driving wheel 14 of the walking mechanism overcomes an obstacle, the second driving wheel 14 is lifted toward the direction close to the bottom plate 11 to the second avoidance hole 105, so as to avoid the second driving wheel 14 from interfering with the bottom plate 11.

[0034] Further, Figures 4 to 7 This is a schematic diagram of the walking mechanism of the first embodiment of the present invention when overcoming obstacles. Figures 4 to 7 When the walking mechanism is walking on a flat ground, the bottom plate 11 is parallel to the ground. Figure 2 As shown;

[0035] When the front driven wheel 15 of the walking mechanism goes over an obstacle, since the front driven wheel 15 is rotatably connected to the lower end of the driven connecting rod 124, the upper end of the driven connecting rod 124 is fixedly connected to the linkage shaft 121, and the linkage shaft 121 is rotatably connected to the first bushing seat 111 and the second bushing seat 112, when the front driven wheel 15 rolls over the obstacle, the front driven wheel 15 will drive the driven connecting rod 124 to move upward, and the linkage shaft 121 will move along the first bushing seat 111 and the second bushing seat 112. Figure 4 The linkage assembly 12 will swing synchronously according to the change of the ground, so that the first driving wheel 13 and the second driving wheel 14 keep in contact with the ground. At this time, the bottom plate 11 is in an inclined state, that is, the bottom plate 11 close to the front driven wheel 15 is high, and the bottom plate 11 close to the rear driven wheel 16 is low. Figure 4 As shown;

[0036] When the first driving wheel 13 and / or the second driving wheel 14 of the walking mechanism go over an obstacle, since the first driving wheel 13 is rotatably connected to the lower end of the first driving link 122, the upper end of the first driving wheel 13 is fixedly connected to the linkage shaft 121, the second driving wheel 14 is rotatably connected to the lower end of the second driving link 123, the upper end of the second driving wheel 14 is fixedly connected to the linkage shaft 121, and the linkage shaft 121 is rotatably connected to the first bushing seat 111 and the second bushing seat 112, therefore, when the first driving wheel 13 and / or the second driving wheel 14 roll over the obstacle, the first driving wheel 13 and / or the second driving wheel 14 will drive the first driving link 122 and / or the second driving link 123 to move upward, and the linkage shaft 121 will move along the first bushing seat 111 and the second bushing seat 112 Figure 4 The linkage assembly 12 will swing synchronously according to the change of the ground, so that the front driven wheel 15 keeps in contact with the ground. At this time, the bottom plate 11 is in an inclined state, that is, the bottom plate 11 close to the front driven wheel 15 is high, and the bottom plate 11 close to the rear driven wheel 16 is low. Figure 5 As shown;

[0037] When the rear driven wheel 16 of the walking mechanism passes over an obstacle, the rear driven wheel 16 drives the rear part of the bottom plate 11 to be lifted away from the ground, and the first driving wheel 13, the second driving wheel 14 and the front driven wheel 15 are pressed tightly against the ground. At this time, the bottom plate 11 is in an inclined state, that is, the bottom plate 11 close to the front driven wheel 15 is at a low position, and the bottom plate 11 close to the rear driven wheel 16 is at a high position. Figure 6 As shown;

[0038] When the front driven wheel 15 and the rear driven wheel 16 of the walking mechanism cross the obstacle at the same time, the front driven wheel 15 will drive the driven connecting rod 124 to move upward, and the linkage shaft 121 will move along the first bushing seat 111 and the second bushing seat 112. Figure 7The linkage assembly 12 will swing synchronously according to the change of the ground, so that the first driving wheel 13 and the second driving wheel 14 keep in contact with the ground, and at the same time, the rear driven wheel 16 drives the rear part of the bottom plate 11 to lift away from the ground. At this time, the bottom plate 11 is in an inclined state, that is, the bottom plate 11 close to the front driven wheel 15 is at a low position, and the bottom plate 11 close to the rear driven wheel 16 is at a high position. Figure 7 shown.

[0039] Second embodiment

[0040] Figure 8 FIG. 1 is a partial cross-sectional structural diagram of a walking mechanism according to a second embodiment of the present invention. Fig. 9 FIG. 2 is a schematic cross-sectional view of the connection between the driven connecting rod and the linkage shaft according to the second embodiment of the present invention. Figure 8 and Fig. 9 As shown, the walking mechanism of this embodiment is substantially the same as the walking mechanism of the first embodiment, except that the connection method between the driven connecting rod 124 and the linkage shaft 121 is different.

[0041] Specifically, Figure 8 and Fig. 9 As shown, the upper end of the driven connecting rod 124 is provided with an axial hole 106 that cooperates with the linkage shaft 121, and the linkage shaft 121 is arranged through the axial hole 106. The walking mechanism also includes a driving motor 19, and the driving motor 19 includes a rotor 191 and a stator 192 located inside the rotor 191. The driving motor 19 is arranged in the axial hole 106, and the rotor 191 is fixedly connected to the hole wall of the axial hole 106, and the stator 192 is fixedly connected to the outer wall of the linkage shaft 121. The driving motor 19 can drive the rotor 191 to rotate, so that the rotor 191 drives the driven connecting rod 124 to rotate around the linkage shaft 121.

[0042] Furthermore, the walking mechanism further includes a sensor 21, which is arranged on the bottom plate 11 or the linkage assembly 12, and is used to detect the undulation angle of the bottom plate 11 of the walking mechanism. When the undulation angle of the bottom plate 11 is less than a set value when the walking mechanism crosses an obstacle, the driving motor 19 locks the rotor 191, so that the rotor 191 is in a stationary state relative to the stator 192, and at this time, the driven connecting rod 124 cannot rotate relative to the linkage shaft 121; when the walking mechanism crosses an obstacle and the undulation angle of the bottom plate 11 is greater than a set value, the driving motor 19 drives the driven connecting rod 124 to rotate so that the undulation angle of the bottom plate 11 is less than the set value. For example, the maximum allowable setting value of the undulation angle of the base plate 11 is 15°. When the undulation angle of the base plate 11 is 0-15°, the rotor 191 and the stator 192 of the drive motor 19 are in a stationary state, that is, at this time, the driven connecting rod 124 does not rotate relative to the linkage shaft 121, and the upper end of the driven connecting rod 124 is fixedly connected to the linkage shaft 121 through the rotor 191 and the stator 192 of the drive motor 19; when the undulation angle of the base plate 11 of the walking mechanism is greater than 15°, the drive motor 19 drives the driven connecting rod 124 to rotate around the linkage shaft 121 (the drive motor 19 drives the rotor 191 to rotate, and since the rotor 191 is fixedly connected to the upper end of the driven connecting rod 124, the rotation of the rotor 191 will drive the driven connecting rod 124 to rotate synchronously, so that the driven connecting rod 124 rotates around the linkage shaft 121), so that the undulation angle of the walking mechanism is within 0-15°, which can effectively avoid excessive shaking of the walking mechanism when crossing obstacles, and further improve the stability of the walking mechanism.

[0043] It is worth mentioning that the maximum allowable setting value of the ups and downs angle of the bottom plate 11 of the walking mechanism can be freely selected according to actual needs and is not limited to the above.

[0044] Furthermore, the sensor 21 is preferably a gyroscope, which is installed in the middle of the bottom plate 11 to detect the undulation angle of the bottom plate 11 . The connection position of the gyroscope can be freely selected according to actual needs and is not limited thereto.

[0045] The present invention also relates to a robot, comprising the above-mentioned walking mechanism, which is installed at the bottom of the robot and is used to drive the robot to move. The robot moves forward under the drive of the wheel hub motor. When the ground is undulating, the floating component can swing up and down to adapt to the changes in the ground, ensuring that the first driving wheel 13, the second driving wheel 14 and the front driven wheel 15 are always in contact with the ground and ensuring that there is sufficient positive pressure on the ground, thereby achieving high obstacle crossing performance.

[0046] The present invention is not limited to the specific details in the above-mentioned embodiments. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the present invention. The various specific technical features described in the above-mentioned specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further explain various possible combinations.

Claims

1. A walking mechanism, characterized in that: The camshaft is connected to the bottom plate by a first connecting rod and a second connecting rod, and the connecting rod is connected to the bottom plate by a first connecting rod and a second connecting rod. The mounting surface and the first movable hole and the second movable hole of the second mounting surface, the upper end of the first active connecting rod passes through the first movable hole and is fixedly connected to one end of the linkage shaft, the upper end of the second active connecting rod passes through the second movable hole and is fixedly connected to one end of the linkage shaft, the first mounting seat and the second mounting seat are fixedly provided on the bottom plate, the first mounting seat and the second mounting seat are connected to the second mounting surface, the first mounting seat is arranged correspondingly to the first active connecting rod, and the second mounting seat is arranged correspondingly to the second active connecting rod, the walking mechanism also includes a first shock absorber and a second shock absorber, one end of the first shock absorber is hingedly connected to the first mounting seat, the other end of the first shock absorber is hingedly connected to the first active connecting rod, one end of the second shock absorber is hingedly connected to the second mounting seat, and the other end of the second shock absorber is hingedly connected to the second active connecting rod.

2. The walking mechanism according to claim 1, characterized in that: The first active connecting rod and the second active connecting rod are respectively fixedly connected to the left and right ends of the linkage shaft, and the driven connecting rod is fixedly connected to the middle part of the linkage shaft.

3. The walking mechanism according to claim 1, characterized in that: The bottom plate is fixedly provided with a first bushing seat and a second bushing seat, the first bushing seat is arranged opposite to the second bushing seat, and the linkage shaft is rotatably installed in the first bushing seat and the second bushing seat.

4. The walking mechanism according to claim 3, characterized in that The first bushing seat and the second bushing seat are connected to the first mounting surface, the bottom plate is provided with a third movable hole penetrating the first mounting surface and the second mounting surface, the upper end of the driven connecting rod passes through the third movable hole and is fixedly connected to one end of the linkage shaft.

5. The walking mechanism according to claim 4, characterized in that: The axis of the first shock absorber is parallel to the second mounting surface, and the axis of the second shock absorber is parallel to the second mounting surface.

6. The walking mechanism according to claim 4, characterized in that: A third mounting seat is also fixedly provided on the bottom plate, and the third mounting seat is fixedly connected to the second mounting surface. The walking mechanism also includes a rear driven wheel, which is arranged opposite to the front driven wheel and is rotatably connected to the third mounting seat.

7. The walking mechanism according to claim 1, characterized in that: The end shaft of the driven connecting rod cooperates with the shaft hole of the linkage shaft, and the linkage shaft is arranged through the shaft hole. The walking mechanism also includes a driving motor, and the driving motor includes a rotor and a stator. The driving motor is arranged in the shaft hole, and the rotor is fixedly connected to the hole wall of the shaft hole, and the stator is fixedly connected to the linkage shaft. The driving motor can drive the driven connecting rod to rotate around the linkage shaft.

8. The walking mechanism according to claim 7, characterized in that: The walking mechanism also includes a sensor, which is connected to the base plate or the linkage assembly. The sensor is used to detect the ups and downs angle of the base plate. When the ups and downs angle of the base plate of the walking mechanism overcoming an obstacle is greater than a set value, the drive motor drives the driven connecting rod to rotate so that the ups and downs angle of the base plate is within a set range.

9. A robot, characterized in that: Comprising the walking mechanism described in any one of claims 1 to 8.

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