Auxiliary device and robot walking system using same

Abstract

The invention relates to the technical field of robots, and discloses an auxiliary device which comprises a first connecting seat connected with a leg arm of a robot, a rotating power arranged on the first connecting seat and a second connecting seat connected with the rotating power. A first wheel arm is arranged on the second connecting base, and a first auxiliary wheel is arranged at the end of the first wheel arm. The robot walking system comprises a leg seat and two thigh arms rotationally connected with the leg seat, each thigh arm is rotationally connected with a robot leg arm, each robot leg arm is provided with the auxiliary device, and the lower end of each robot leg arm is provided with a driving walking wheel; the leg seat is provided with main power used for driving the thigh arm to rotate, and the thigh arm is provided with a driving mechanism used for driving the leg arm of the robot to rotate. The robot has the beneficial effects that the robot can better adapt to complex road walking, and the walking stability of the robot is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an auxiliary device and a robot walking system using the auxiliary device. Background Art

[0002] With the advancement of science and technology, robots are increasingly used in all walks of life. Currently, common robot walking mechanisms usually include the following: wheeled walking, tracked walking, leg-foot walking, tracked walking, magnetic levitation walking, etc. Among the wheeled walking mechanisms, there are two-wheeled walking, three-wheeled walking, four-wheeled walking and multi-wheeled walking. Among them, the two-wheeled walking robot has a lighter overall weight and is more maneuverable and flexible when moving, but there are also many problems with two-wheeled walking: for example, the walking stability is weak, especially when encountering undulating roads, ups and downs, it is difficult to maintain the center of gravity balance through two wheels, the center of gravity is easy to lose control and cause forward and backward tipping, and it is difficult to get up after tipping. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides an auxiliary device which can better adapt to walking on complex roads and effectively improve the walking stability of the robot, and a robot walking system constructed using the auxiliary device.

[0004] In order to achieve the above object, the present invention adopts the following technical solution: An auxiliary device, which includes a first connecting seat connected to the leg and arm of a robot, a rotating power arranged on the first connecting seat, and a second connecting seat connected to the rotating power; a first wheel arm is arranged on the second connecting seat, and a first auxiliary wheel is arranged at the end of the first wheel arm; in a first state, the first wheel arm is retracted to the side of the leg and arm of the robot, and the first auxiliary wheel does not contact the ground; in a second state, the rotating power drives the first wheel arm to rotate and position a preset angle, so that the first wheel arm and the leg and arm of the robot form a preset angle, and the first auxiliary wheel is in contact with the ground for support.

[0005] By adopting the above technical solution: an auxiliary device is installed on the robot's leg and arm, and the first auxiliary wheel is used to assist the robot's balance and auxiliary support. When the robot walks normally, the first auxiliary wheel is retracted to the side of the robot's leg and arm. When encountering uphill and downhill slopes, or when the robot's center of gravity is about to get out of control, the auxiliary wheel is unfolded to play an auxiliary support role to assist in adjusting the robot's center of gravity; at the same time, when the robot's center of gravity gets out of control and topples over, the first auxiliary wheel can also be used to assist the robot to get up; and this type of auxiliary device can be flexibly installed on the existing robot's leg and arm for use.

[0006] Preferably, the first connection seat is connected to the robot leg arm through a lifting mechanism, and the lifting mechanism is configured to drive the first connection seat to rise and fall along the length direction of the robot leg arm. By driving the lifting and falling of the first connection seat through the lifting mechanism, the position and posture of the first auxiliary wheel can be further expanded to improve the supporting effect of the first auxiliary wheel in different scenes, thereby improving the walking stability of the robot.

[0007] Preferably, the lifting mechanism includes an upper connecting seat, a lower connecting seat, a screw rod, and a first motor. The upper connecting seat is fixed at the upper end of the robot leg arm, and the lower connecting seat is fixed at the lower end of the robot leg arm. The two ends of the screw rod are rotatably connected to the upper connecting seat and the lower connecting seat respectively. The screw rod passes through the first connecting seat to form a threaded connection, and the first connecting seat is slidably connected to the robot leg arm. The height of the first connecting seat is adjusted by the first motor and the screw rod, with high adjustment accuracy. After adjustment, it can automatically position, which is stable and reliable.

[0008] Preferably, the second connecting seat is provided with a second wheel arm, the end of the second wheel arm is provided with a second auxiliary wheel, and the second connecting seat is provided with an angle adjustment mechanism for adjusting the angle between the first wheel arm and the second wheel arm. The first auxiliary wheel and the second auxiliary wheel are used together to play the role of auxiliary support, further achieving the supporting effect and supporting state; the angle adjustment mechanism can accurately adjust the wheelbase between the first auxiliary wheel and the second auxiliary wheel, and when going uphill or downhill, the robot can be kept in an upright and stable moving state, and the gravity of the robot can be better placed between the first auxiliary wheel and the second auxiliary wheel to improve the stability of going uphill or downhill.

[0009] Preferably, the angle adjustment mechanism includes a first worm gear, a second worm gear, and a worm arranged between the first worm gear and the second worm gear, the first worm gear and the second worm gear are both rotatably connected to the second connecting seat, the first worm gear and the second worm gear are symmetrically distributed about the axis of the worm gear, and the second connecting seat is provided with a second motor for driving the worm gear to rotate; the first wheel arm is fixedly connected to the first worm gear, and the second wheel arm is fixedly connected to the second worm gear, and when the second motor drives the worm gear to rotate, the first worm gear and the second worm gear rotate synchronously in the opposite direction to adjust the angle between the first wheel arm and the second wheel arm. Angle adjustment is achieved by using a worm gear to drive two worm gears to rotate synchronously in the opposite direction at the same time, with a compact and stable structure and high adjustment accuracy, and the position can be stably self-locked after adjustment.

[0010] Preferably, at least one of the first auxiliary wheel and the second auxiliary wheel is configured to be able to move actively. When the active walking wheel fails, the first auxiliary wheel (or the second auxiliary wheel) that can move actively can be used to drive the robot to move to a preset position for maintenance.

[0011] A robot walking system includes a leg base for connecting to the robot body, two thigh arms rotatably connected to the leg base, each thigh arm is rotatably connected to a robot leg arm, each robot leg arm is provided with the auxiliary device, and the lower end of each robot leg arm is provided with an active walking wheel; the leg base is provided with a main power for driving the thigh arm to rotate, and the thigh arm is provided with a driving mechanism for driving the robot leg arm to rotate. A robot adopting a double-legged wheel walking mechanism has the characteristics of mobility and flexibility, but also has the defect of insufficient stability; integrating the auxiliary device on this type of robot solves the defect of insufficient stability while meeting the requirements of mobility and flexibility.

[0012] Preferably, the driving mechanism includes a driving motor fixed to the upper end of the thigh arm, an eccentric seat connected to the driving motor, a driving rod is provided between the eccentric seat and the robot leg arm, and the two ends of the driving rod are rotatably connected to the eccentric seat and the robot leg arm respectively; the rotation point of the thigh arm and the leg seat, the rotation point of the thigh arm and the robot leg arm, and the rotation points at both ends of the driving rod constitute the four vertices of the parallelogram. The driving motor, eccentric seat, and driving rod are used to drive the rotation between the robot leg arm and the thigh arm, and the auxiliary mechanism can better adjust the posture of the robot to maintain the moving balance.

[0013] Preferably, the cross section of the thigh arm is a U-shaped structure, and the eccentric seat and the driving rod are both arranged inside the thigh arm. The thigh arm with a U-shaped cross section has greater strength, and the eccentric seat and the driving rod can be built in, so the overall stability is better.

[0014] Preferably, the robot leg arm is provided with long slot through holes distributed along the length direction, the upper connecting seat is fixed at the upper end of the long slot through hole, the lower connecting seat is fixed at the lower end of the long slot through hole, and the screw rod is located in the long slot through hole; U-shaped sliders are fixed on both sides of the first connecting seat, and the U-shaped sliders are inserted into the two side walls of the long slot through hole to form a sliding connection. The long slot through hole is provided on the robot leg arm, so that the lifting mechanism can be directly installed in the long slot through hole, making the whole more compact, and at the same time making the distance between the center of gravity of the auxiliary device and the robot leg arm smaller, the robot leg arm is subjected to less torque from the auxiliary device, and further improving stability.

[0015] Preferably, a third connection seat is fixedly provided on the side of the first connection seat, and electromagnets are fixedly provided at both ends of the third connection seat, and the adsorption surface of the electromagnet faces the side of the robot leg arm and forms a preset gap with the side of the robot leg arm, and the robot leg arm is configured as a ferromagnet or a ferromagnet is fixedly provided on the robot leg arm at a position corresponding to the adsorption surface of the electromagnet; when the first connection seat moves to a preset position along the long slot through hole, the electromagnet is energized and adsorbed on the robot leg arm. When the lifting mechanism drives the first connection seat to move to the preset position, it is positioned by adsorption by the electromagnet, thereby reducing the load-bearing capacity of the screw rod, protecting the screw rod, and improving the service life of the lifting mechanism.

[0016] Preferably, the active walking wheel is arranged on one side of the robot leg arm, and the first auxiliary wheel and the second auxiliary wheel are arranged on the other side of the robot leg arm, and the first auxiliary wheel and the second auxiliary wheel are not coplanar. The first auxiliary wheel and the second auxiliary wheel are arranged on opposite sides of the active walking wheel, which can better balance the weight on the one hand, and on the other hand, when the first auxiliary wheel (or the second auxiliary wheel) is supported by the ground, the four contact points of the two active walking wheels, the two first auxiliary wheels (or the second auxiliary wheels) and the ground form a trapezoidal structure, which makes the support more stable and can better prevent the robot from tipping over.

[0017] Therefore, the present invention has the following beneficial effects: (1) The auxiliary device can provide auxiliary support for the robot's walking to improve walking stability; (2) The first auxiliary wheel can be raised and lowered by the lifting mechanism to change the support position, and the support angle can be adjusted by the rotational power to adapt to auxiliary support in various postures; (3) The first auxiliary wheel and the second auxiliary wheel are arranged to support each other, and the wheelbase of the first auxiliary wheel and the second auxiliary wheel is adjusted by the angle adjustment mechanism to further expand the support state and support posture to adapt to uphill and downhill support, auxiliary standing, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the auxiliary device.

[0019] Figure 2 for Figure 1 Front view of .

[0020] Figure 3 for Figure 1 Exploded diagram.

[0021] Figure 4 This is a schematic diagram of the first connecting seat after it is lowered.

[0022] Figure 5 It is a schematic diagram of the first auxiliary wheel, the second auxiliary wheel and the ground support state.

[0023] Figure 6 It is a schematic diagram of the connection between the first connecting seat and the lifting mechanism.

[0024] Figure 7 It is a schematic diagram of the connection between the angle adjustment mechanism and the first wheel arm and the second wheel arm.

[0025] Figure 8 This is a schematic diagram of the structure of the robot walking system.

[0026] Fig. 9 for Figure 8 Partial exploded view.

[0027] Fig.10 for Figure 8 Front view of .

[0028] Fig.11 It is a schematic diagram of the first auxiliary wheel or the second auxiliary wheel supporting the ground.

[0029] Fig.12 It is a schematic diagram of the first auxiliary wheel or the second auxiliary wheel cooperating with the active walking wheel to walk on a plane.

[0030] Fig.13 This is a schematic diagram of the first auxiliary wheel or the second auxiliary wheel cooperating with the active walking wheel to walk on an inclined surface.

[0031] Fig.14 This is a schematic diagram of the first auxiliary wheel and the second auxiliary wheel supporting the ground at the same time and walking on a flat surface.

[0032] Fig.15 for Fig.14 Side view of.

[0033] Fig.16 This is a schematic diagram of the first auxiliary wheel and the second auxiliary wheel supporting the ground at the same time and walking on an inclined plane. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the scope of protection of the present invention.

[0035] It should be understood that, in this document, the expressions "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance, nor should they be understood as implicitly indicating the number of technical features indicated. Features defined as "first" or "second" may explicitly or implicitly indicate that at least one of the features is included.

[0036] like Figure 1-Figure 7The auxiliary device 2 includes a first connection seat 20 connected to the robot leg arm 12, a rotation power 21 provided on the first connection seat 20, and a second connection seat 3 connected to the rotation power 21; a first wheel arm 30 is provided on the second connection seat 3, and a first auxiliary wheel 31 is provided at the end of the first wheel arm 30; in the first state (such as Figure 2 As shown in FIG. 1 ), the first wheel arm 30 is retracted on the side of the robot leg arm 12, and the first auxiliary wheel 31 is not in contact with the ground; in the second state (as shown in FIG. Fig.11 As shown), the rotational power 21 drives the first wheel arm 30 to rotate and position at a preset angle, so that the first wheel arm 30 and the robot leg arm 12 form a preset angle, and the first auxiliary wheel 31 is in contact with the ground for support.

[0037] like Figure 6 As shown, the first connecting seat 20 is connected to the robot leg arm 12 through the lifting mechanism 4, and the lifting mechanism 4 is configured to drive the first connecting seat 20 to lift and lower along the length direction of the robot leg arm 12; the lifting mechanism 4 includes an upper connecting seat 40, a lower connecting seat 41, a screw rod 42, and a first motor 43. The upper connecting seat 40 is fixed at the upper end of the robot leg arm 12, and the lower connecting seat 41 is fixed at the lower end of the robot leg arm 12. The two ends of the screw rod 42 are rotatably connected to the upper connecting seat 40 and the lower connecting seat 41 respectively. The screw rod 42 passes through the first connecting seat 20 to form a threaded connection, and the first connecting seat 20 is slidably connected to the robot leg arm 12.

[0038] like Figure 7 As shown, a second wheel arm 32 is provided on the second connecting seat 3, a second auxiliary wheel 33 is provided at the end of the second wheel arm 32, and an angle adjustment mechanism 5 for adjusting the angle between the first wheel arm 30 and the second wheel arm 32 is provided on the second connecting seat 3; the angle adjustment mechanism 5 includes a first worm gear 50, a second worm gear 51, and a worm 52 arranged between the first worm gear 50 and the second worm gear 51, the first worm gear 50 and the second worm gear 51 are both rotatably connected to the second connecting seat 3, the first worm gear 50 and the second worm gear 51 are symmetrically distributed about the axis of the worm 52, and a second motor 53 for driving the worm 52 to rotate is provided on the second connecting seat 3; the first wheel arm 30 is fixedly connected to the first worm gear 50, and the second wheel arm 32 is fixedly connected to the second worm gear 51. When the second motor 53 drives the worm 52 to rotate, the first worm gear 50 and the second worm gear 51 rotate synchronously in opposite directions to adjust the angle between the first wheel arm 30 and the second wheel arm 32.

[0039] In some embodiments, at least one of the first auxiliary wheel 31 and the second auxiliary wheel 33 is configured to be able to move actively. In this embodiment, the second auxiliary wheel 33 is configured to be able to move actively, that is, a third motor 34 (such as a motor 36) is provided between the second auxiliary wheel and the second wheel arm. Figure 7 as shown).

[0040] like Figure 8 , Fig. 9 A robot walking system is shown, comprising a leg base 10 for connecting to the robot body, two thigh arms 11 rotatably connected to the leg base 10, each thigh arm 11 is rotatably connected to a robot leg arm 12, each robot leg arm 12 is provided with an auxiliary device 2, and the lower end of each robot leg arm 12 is provided with an active walking wheel 13; the leg base 10 is provided with a main power 14 for driving the thigh arm 11 to rotate, and the thigh arm 11 is provided with a driving mechanism 15 for driving the robot leg arm 12 to rotate.

[0041] The driving mechanism 15 includes a driving motor 150 fixed to the upper end of the thigh arm 11, an eccentric seat 151 connected to the driving motor 150, a driving rod 152 is arranged between the eccentric seat 151 and the robot leg arm 12, and the two ends of the driving rod 152 are respectively connected to the eccentric seat 151 and the robot leg arm 12 for rotation; the rotation points of the thigh arm 11 and the leg seat 10, the rotation points of the thigh arm 11 and the robot leg arm 12, and the rotation points at both ends of the driving rod 152 constitute the four vertices of the parallelogram. The driving motor drives the driving rod to realize the rotation between the robot leg arm and the thigh arm, and then adjusts the bending angle of the robot leg arm to change the robot posture, center of gravity height, and center of gravity position.

[0042] In some embodiments, the cross-section of the thigh arm 11 is U-shaped, and the eccentric seat 151 and the driving rod 152 are both disposed inside the thigh arm 11 .

[0043] like Figure 3 , Figure 6 and Figure 8 As shown, the robot leg arm 12 is provided with long slot through holes 120 distributed along the length direction, the upper connecting seat 40 is fixed at the upper end of the long slot through hole 120, the lower connecting seat 41 is fixed at the lower end of the long slot through hole 120, and the screw rod 42 is located in the long slot through hole 120; U-shaped sliders 22 are fixed on both sides of the first connecting seat 20, and the U-shaped sliders 22 are inserted into the two side walls of the long slot through hole 120 to form a sliding connection. This installation method of the auxiliary device makes the overall structure compact and stable, and the distance between the center of gravity of the auxiliary device and the robot leg arm is smaller.

[0044] In some embodiments, a third connecting seat 23 is fixedly provided on the side of the first connecting seat 20, and electromagnets 24 are fixedly provided at both ends of the third connecting seat 23. The adsorption surface of the electromagnet 24 faces the side of the robot leg arm 12 and forms a preset gap with the side of the robot leg arm 12. The robot leg arm 12 is configured as a ferromagnet or a ferromagnet is fixedly provided on the robot leg arm 12 corresponding to the adsorption surface of the electromagnet 24; when the first connecting seat 20 moves to the preset position along the long slot through hole 120, the electromagnet 24 is energized and adsorbed on the robot leg arm 12.

[0045] The rotating power 21, the first motor 43, the second motor 53, the third motor 34, the main power 14, and the drive motor 150 in this embodiment all adopt reduction motors. The specific model, size, and performance of the reduction motor can be selected by technical personnel in this field according to the actual needs of the above-mentioned application scenarios.

[0046] The active walking wheel 13 is arranged on one side of the robot leg arm 12, and the first auxiliary wheel 31 and the second auxiliary wheel 33 are arranged on the other side of the robot leg arm 12, and the first auxiliary wheel 31 and the second auxiliary wheel 33 are not coplanar. For example, the active walking wheel 13 is set on the inner side of the robot leg arm, the first auxiliary wheel is arranged on the outer side of the robot leg arm, and the second auxiliary wheel is arranged on the outer side of the first auxiliary wheel; Figure 1 and Figure 8 As shown, in this embodiment, the active walking wheel 13 is arranged on the outside of the robot leg arm 12, the first auxiliary wheel 31 is arranged on the inside of the robot leg arm 12 and installed on the outside of the first wheel arm 30, and the second auxiliary wheel 33 is installed on the inside of the second wheel arm, so that the active walking wheel 13, the first auxiliary wheel 31, and the second auxiliary wheel 33 are staggered (i.e., not coplanar). This arrangement makes the overall structure compact on the one hand, and makes the weight on both sides of the robot leg arm better balanced on the other hand. Thirdly, when the two active walking wheels 13 and the two first auxiliary wheels 31 are in contact with the ground at the same time (such as Fig.11 , Fig.12 As shown in FIG. 1 ), the contact points of the four wheels with the ground form the vertices of an isosceles trapezoid. Similarly, when the first auxiliary wheel 31 and the second auxiliary wheel 33 are in Fig.15 In the state shown, the contact points of the four wheels with the ground also form the vertices of an isosceles trapezoid. In this state, walking is more stable and rollover is less likely to occur.

[0047] Combined with the accompanying drawings, the principle of the present invention is as follows: the auxiliary device 2 is integrated into the (two-legged wheeled walking mechanism) robot walking system, which solves the defect of insufficient stability while meeting the requirements of mobility and flexibility. Fig.10 As shown, the first auxiliary wheel 31 and the second auxiliary wheel 33 are retracted inside the robot leg arm 12, and only two active walking wheels 13 are in contact with the ground. This state is suitable for flat walking; Fig.11 and Fig.12 As shown, in order to further improve the walking stability of the robot or the surface is relatively rough (even with slight ups and downs), the lifting mechanism 4 drives the first connecting seat 20 to descend, and then adjusts the angle of the second connecting seat 3 through the rotating power 21, so that the first auxiliary wheel 31 (or the second auxiliary wheel 33) is in contact with the ground. At this time, the first auxiliary wheel 31 cooperates with the active walking wheel 13 to walk, thereby improving the walking stability; as shown in FIG. Fig.13As shown, when going uphill or downhill, the angle of the second connecting seat 3 is adjusted by the rotating power 21, so that the first auxiliary wheel 31 and the active walking wheel 13 are adapted to the angle of the slope, and the bending angle between the thigh arm 11 and the robot leg arm 12 is adjusted by the driving mechanism 15 to lower the overall center of gravity and adjust the center of gravity to the position between the first auxiliary wheel 31 and the active walking wheel 13, thereby improving the stability of going uphill or downhill; when the active walking wheel 13 is damaged and cannot actively walk, the auxiliary device is adjusted to Fig.14 , Fig.15 In the state shown, the first auxiliary wheel 31 and the second auxiliary wheel 33 are in contact with the ground, and the active running wheel 13 is separated from the ground. Since the second auxiliary wheel 33 can actively run, even if the active running wheel is damaged, the whole can still run as usual. Fig.15 The state shown is walking on a flat surface.

[0048] like Fig.16 The figure shows a schematic diagram of the uphill state using the first auxiliary wheel 31 and the second auxiliary wheel 33. The center of the first auxiliary wheel 31 is set as point A, and the center of the second auxiliary wheel 33 is set as point B. The dotted line CD in the figure is the vertical position of the center of gravity of the robot, and point E is the center point of the dotted line AB. When the dotted line CD passes through point E, the center of gravity of the robot is at the vertical center position of the first auxiliary wheel 31 and the second auxiliary wheel 33, and the robot is in the most stable walking state at this time. In this structure, the positions of the first auxiliary wheel 31 and the second auxiliary wheel 33 can be adjusted by rotating power, and then the position of point E can be changed so that point E falls on the dotted line CD to improve the walking stability of the robot. Through the auxiliary device to coordinate the angle adjustment of the thigh arm and the robot leg arm, the robot walking system can adapt to various road conditions. At the same time, when the robot falls, it can also use the auxiliary mechanism to assist in getting up, that is, by adding support points through the first auxiliary wheel and the second auxiliary wheel, a support surface is determined by three points, and the position of the support point can be changed at the same time, so that the center of gravity falls on the support surface, and the robot automatically stands up.

[0049] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by up, down, left, right, inside, outside, one end, the other end, etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the purpose of more clearly describing the technical solution of the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific orientation, and cannot be understood as a limitation of the present invention.

[0050] Although specific embodiments of the present invention are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present invention. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. An auxiliary device, characterized in that: The auxiliary device (2) comprises a first connection seat (20) connected to the robot leg arm (12), a rotational force (21) provided on the first connection seat (20), and a second connection seat (3) connected to the rotational force (21); the second connection seat (3) is provided with a first wheel arm (30), and the end of the first wheel arm (30) is provided with a first auxiliary wheel (31); In a first state, the first wheel arm (30) is retracted on the side of the robot leg arm (12), and the first auxiliary wheel (31) is not in contact with the ground; in a second state, the rotational power (21) drives the first wheel arm (30) to rotate to a preset angle and position it, so that the first wheel arm (30) and the robot leg arm (12) form a preset angle, and the first auxiliary wheel (31) is in contact with the ground for support.

2. An auxiliary device according to claim 1, characterized in that: The first connection seat (20) is connected to the robot leg arm (12) via a lifting mechanism (4), and the lifting mechanism (4) is configured to drive the first connection seat (20) to rise and fall along the length direction of the robot leg arm (12).

3. An auxiliary device according to claim 2, characterized in that: The lifting mechanism (4) comprises an upper connecting seat (40), a lower connecting seat (41), a screw rod (42), and a first motor (43); the upper connecting seat (40) is fixedly arranged at the upper end of the robot leg arm (12); the lower connecting seat (41) is fixedly arranged at the lower end of the robot leg arm (12); two ends of the screw rod (42) are rotatably connected to the upper connecting seat (40) and the lower connecting seat (41), respectively; the screw rod (42) passes through the first connecting seat (20) to form a threaded connection; and the first connecting seat (20) is slidably connected to the robot leg arm (12).

4. An auxiliary device according to claim 2, characterized in that: The second connecting seat (3) is provided with a second wheel arm (32), the end of the second wheel arm (32) is provided with a second auxiliary wheel (33), and the second connecting seat (3) is provided with an angle adjustment mechanism (5) for adjusting the angle between the first wheel arm (30) and the second wheel arm (32).

5. An auxiliary device according to claim 4, characterized in that: The angle adjustment mechanism (5) comprises a first worm gear (50), a second worm gear (51), and a worm (52) disposed between the first worm gear (50) and the second worm gear (51); the first worm gear (50) and the second worm gear (51) are both rotatably connected to the second connecting seat (3); the first worm gear (50) and the second worm gear (51) are symmetrically arranged about the axis of the worm (52); and the second connecting seat (3) is provided with a second motor (53) for driving the worm (52) to rotate; The first wheel arm (30) is fixedly connected to the first worm gear (50), and the second wheel arm (32) is fixedly connected to the second worm gear (51); when the second motor (53) drives the worm (52) to rotate, the first worm gear (50) and the second worm gear (51) rotate synchronously in opposite directions to adjust the angle between the first wheel arm (30) and the second wheel arm (32).

6. An auxiliary device according to claim 4 or 5, characterized in that: At least one of the first auxiliary wheel (31) and the second auxiliary wheel (33) is configured to be capable of active walking.

7. A robot walking system, characterized in that: It comprises a leg seat (10) for connecting to a robot body, two thigh arms (11) rotatably connected to the leg seat (10), each thigh arm (11) is rotatably connected to a robot leg arm (12), each robot leg arm (12) is provided with an auxiliary device (2) as claimed in any one of claims 1 to 6, and each robot leg arm (12) is provided with an active walking wheel (13) at the lower end; The leg seat (10) is provided with a main driving force (14) for driving the thigh arm (11) to rotate, and the thigh arm (11) is provided with a driving mechanism (15) for driving the robot leg arm (12) to rotate.

8. A robot walking system according to claim 7, characterized in that: The driving mechanism (15) comprises a driving motor (150) fixedly mounted on the upper end of the thigh arm (11), and an eccentric seat (151) connected to the driving motor (150); a driving rod (152) is provided between the eccentric seat (151) and the robot leg arm (12); and two ends of the driving rod (152) are rotatably connected to the eccentric seat (151) and the robot leg arm (12) respectively; The rotation points of the thigh arm (11) and the leg seat (10), the rotation points of the thigh arm (11) and the robot leg arm (12), and the rotation points at both ends of the driving rod (152) constitute the four vertices of a parallelogram.

9. A robot walking system according to claim 8, characterized in that: The cross section of the thigh arm (11) is in a U-shaped structure, and the eccentric seat (151) and the driving rod (152) are both arranged inside the thigh arm (11).

10. A robot walking system according to claim 7, characterized in that: The robot leg arm (12) is provided with long slot through holes (120) distributed along the length direction, the upper connecting seat (40) is fixedly arranged at the upper end of the long slot through hole (120), the lower connecting seat (41) is fixedly arranged at the lower end of the long slot through hole (120), and the screw rod (42) is located in the long slot through hole (120); U-shaped sliding blocks (22) are fixedly provided on both sides of the first connecting seat (20), and the U-shaped sliding blocks (22) are inserted into the two side walls of the long slot through hole (120) to form a sliding connection.

11. A robot walking system according to claim 10, characterized in that: A third connecting seat (23) is fixedly provided on the side of the first connecting seat (20), and electromagnets (24) are fixedly provided at both ends of the third connecting seat (23), the adsorption surface of the electromagnet (24) faces the side of the robot leg arm (12) and forms a preset gap with the side of the robot leg arm (12), and the robot leg arm (12) is configured as a ferromagnet or a ferromagnet is fixedly provided on the robot leg arm (12) at a position corresponding to the adsorption surface of the electromagnet (24); When the first connection seat (20) moves along the long slot through hole (120) to a preset position, the electromagnet (24) is energized and adsorbed onto the robot leg arm (12).

12. A robot walking system according to any one of claims 7 to 11, characterized in that: The active walking wheel (13) is arranged on one side of the robot leg arm (12), and the first auxiliary wheel (31) and the second auxiliary wheel (33) are arranged on the other side of the robot leg arm (12), and the first auxiliary wheel (31) and the second auxiliary wheel (33) are not coplanar.

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