An auxiliary device and a robot walking system using the auxiliary device

Abstract

The present invention relates to the technical field of robots, and discloses an auxiliary device. The auxiliary device includes a first connecting seat provided at the connection of the robot's leg and arm, a rotary power provided on the first connecting seat, and a second connecting seat connected to the rotary power; a first wheel arm is provided on the second connecting seat, and a first auxiliary wheel is provided at the end of the first wheel arm. A robot walking system includes a leg base, two thigh arms rotatably connected to the leg base, a robot leg arm rotatably connected to each thigh arm, the auxiliary device described above is provided on each robot leg arm, and a driving walking wheel is provided at the lower end of each robot leg arm; a main power for driving the rotation of the thigh arm is provided on the leg base, and a driving mechanism for driving the rotation of the robot leg arm is provided on the thigh arm. The present invention has the beneficial effects of being able to better adapt to walking on complex roads and effectively improving the walking stability of the robot.

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 progress of technology, robots are more and more widely used in all walks of life. Currently, common robot walking mechanisms usually include the following: wheeled walking, tracked walking, leg-foot walking, rail walking, maglev walking, etc. In the wheeled walking mechanism, there are two-wheel walking, three-wheel walking, four-wheel walking, and multi-wheel walking. Among them, the two-wheel walking robot has a lighter overall weight and is more flexible when moving. However, there are also many problems with two-wheel walking: for example, the walking stability is weak. Especially when encountering undulating roads or uphill and downhill states, it is difficult to maintain the center of gravity balance through two wheels, and the center of gravity is prone to get out of control and cause the robot to fall forward or backward. And it is difficult to get up after falling. Summary of the Invention

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

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] An auxiliary device, the auxiliary device includes a first connecting seat provided at the connection of the robot leg and arm, a rotational power provided on the first connecting seat, and a second connecting seat connected to the rotational power; a first wheel arm is provided on the second connecting seat, and a first auxiliary wheel is provided at the end of the first wheel arm; in the first state, the first wheel arm contracts on the side of the robot leg and arm, and the first auxiliary wheel does not contact the ground; in the second state, the rotational power drives the first wheel arm to rotate a preset angle and be positioned, so that the first wheel arm forms a preset included angle with the robot leg and arm, and the first auxiliary wheel contacts the ground for support.

[0006] By adopting the above technical solutions: an auxiliary device is installed on the robot leg and arm, and the first auxiliary wheel is used to assist the balance and auxiliary support of the robot. When the robot is walking normally, the first auxiliary wheel contracts on the side of the robot leg and arm. When encountering uphill and downhill, or when the center of gravity of the robot is about to get out of control, the auxiliary wheel is deployed to play an auxiliary support role to assist in adjusting the center of gravity of the robot; at the same time, when the center of gravity of the robot gets out of control and falls, the first auxiliary wheel can also be used to assist the robot to get up; and this kind of auxiliary device can be flexibly installed on the existing robot leg and arm for use.

[0007] Preferably, the first connecting seat is connected to the robot leg arm through a lifting mechanism, and the lifting mechanism is configured to drive the first connecting seat to lift along the length direction of the robot leg arm. By driving the lifting of the first connecting seat through the lifting mechanism, the position and attitude of the first auxiliary wheel can be further expanded to improve the supporting effect of the first auxiliary wheel in different scenarios, thereby improving the walking stability of the robot.

[0008] Preferably, the lifting mechanism includes an upper connecting seat, a lower connecting seat, a lead screw, and a first motor. The upper connecting seat is fixedly arranged at the upper end of the robot leg arm, the lower connecting seat is fixedly arranged at the lower end of the robot leg arm, both ends of the lead screw are rotatably connected to the upper connecting seat and the lower connecting seat respectively, the lead screw passes through the first connecting seat to form a threaded connection, and the first connecting seat is slidably connected to the robot leg arm. By using the first motor and the lead screw to adjust the height of the first connecting seat, the adjustment accuracy is high, and it can be automatically positioned after adjustment, which is stable and reliable.

[0009] Preferably, a second wheel arm is provided on the second connecting seat, a second auxiliary wheel is provided at the end of the second wheel arm, and an angle adjustment mechanism for adjusting the angle between the first wheel arm and the second wheel arm is provided on the second connecting seat. The first auxiliary wheel and the second auxiliary wheel are used together to play an auxiliary supporting role, further enhancing the supporting effect and state; the angle adjustment mechanism can accurately adjust the wheelbase between the first auxiliary wheel and the second auxiliary wheel. When going uphill or downhill, the robot can maintain an upright and stable moving state, and the gravity of the robot can better fall on the position between the first auxiliary wheel and the second auxiliary wheel to improve the stability of going uphill and downhill.

[0010] Preferably, the angle adjustment mechanism includes a first worm gear, a second worm gear, and a worm provided 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, and a second motor for driving the worm to rotate is provided on the second connecting seat; 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. When the second motor drives the worm to rotate, the first worm gear and the second worm gear rotate synchronously and in opposite directions to adjust the angle between the first wheel arm and the second wheel arm. Using one worm to drive two worm gears to rotate synchronously and in opposite directions to achieve angle adjustment, the structure is compact and stable, the adjustment accuracy is high, and the position can be stably locked after adjustment.

[0011] Preferably, at least one of the first auxiliary wheel and the second auxiliary wheel is configured to be able to actively walk. When the active walking wheel fails, at this time, the first auxiliary wheel (or the second auxiliary wheel) that can actively walk can be directly used to drive the robot to move to a preset position for maintenance.

[0012] A robot walking system includes a leg base for connecting to the robot body, two thigh arms rotatably connected to the leg base, a robot leg arm rotatably connected to each thigh arm, the auxiliary device as described is provided on each robot leg arm, and a driving wheel is provided at the lower end of each robot leg arm; a main power for driving the rotation of the thigh arm is provided on the leg base, and a driving mechanism for driving the rotation of the robot leg arm is provided on the thigh arm. A robot using a two-wheel walking mechanism has the characteristics of flexible movement, 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 requirement of flexible movement.

[0013] 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 respectively rotatably connected to the eccentric seat and the robot leg arm; the rotation point between the thigh arm and the leg base, the rotation point between the thigh arm and the robot leg arm, and the rotation points at both ends of the driving rod form the four vertices of a parallelogram. The rotation between the robot leg arm and the thigh arm is driven by the driving motor, the eccentric seat, and the driving rod, and the posture of the robot can be better adjusted in cooperation with the auxiliary mechanism to maintain moving balance.

[0014] Preferably, the cross-section of the thigh arm is in 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 self-strength, and at the same time, the eccentric seat and the driving rod can be built-in, resulting in better overall stability.

[0015] Preferably, a long slot through-hole is provided on the robot leg arm along the length direction, the upper connecting seat is fixed to the upper end of the long slot through-hole, the lower connecting seat is fixed to the lower end of the long slot through-hole, and the lead screw 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 clamped into the two side walls of the long slot through-hole to form a sliding connection. By opening a long slot through-hole on the robot leg arm, the lifting mechanism can be directly installed in the long slot through-hole, making the whole more compact. At the same time, the distance between the center of gravity of the auxiliary device and the robot leg arm is smaller, and the torque on the robot leg arm caused by the auxiliary device is smaller, further improving the stability.

[0016] Preferably, a third connecting seat is fixedly provided on the side of the first connecting seat. Electromagnets are fixedly provided at both ends of the third connecting seat. The adsorption surface of the electromagnet faces the side of the robot leg and forms a preset gap with the side of the robot leg. The robot leg is configured as a ferromagnetic body or a ferromagnetic body is fixedly provided at the position corresponding to the adsorption surface of the electromagnet on the robot leg; when the first connecting seat moves to a preset position along the long slot through hole, the electromagnet is energized and adsorbed on the robot leg. After the lifting mechanism drives the first connecting seat to move to the preset position, positioning is achieved through the adsorption of the electromagnet, thereby reducing the load on the lead screw, protecting the lead screw, and prolonging the service life of the lifting mechanism.

[0017] Preferably, the driving walking wheels are arranged on one side of the robot leg, and the first auxiliary wheel and the second auxiliary wheel are arranged on the other side of the robot leg, 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 the opposite side of the driving walking wheels. On the one hand, it can better balance the weight. On the other hand, when the first auxiliary wheel (or the second auxiliary wheel) supports on the ground, the four contact points of the two driving walking wheels and the two first auxiliary wheels (or the second auxiliary wheels) with the ground form a trapezoidal structure, and the support is more stable, which can better prevent the robot from tipping over.

[0018] Therefore, the present invention has the following beneficial effects: (1) The auxiliary device can play an auxiliary supporting role in the walking of the robot to improve the walking stability; (2) The first auxiliary wheel can be lifted by the lifting mechanism to change the supporting position, and the supporting angle can be adjusted by the rotational power to adapt to the auxiliary support in various postures; (3) The first auxiliary wheel and the second auxiliary wheel are arranged to support cooperatively, and the wheel distance between the first auxiliary wheel and the second auxiliary wheel is adjusted by the angle adjusting mechanism, further expanding the supporting state and supporting posture to adapt to uphill and downhill support, assisting in getting up, etc. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of the auxiliary device.

[0020] Figure 2 is Figure 1 the front view of

[0021] Figure 3 is Figure 1 the exploded view of

[0022] Figure 4 It is a schematic diagram after the first connecting seat descends.

[0023] Figure 5 It is a schematic diagram of the supporting state of the first auxiliary wheel, the second auxiliary wheel and the ground.

[0024] Figure 6 It is a schematic connection diagram of the first connecting seat and the lifting mechanism.

[0025] Figure 7 It is a schematic connection diagram of the angle adjustment mechanism with the first and second wheel arms.

[0026] Figure 8 It is a schematic structural diagram of the robot walking system.

[0027] Figure 9 It is Figure 8 a partial explosion view of

[0028] Figure 10 It is Figure 8 a front view of

[0029] Figure 11 It is a schematic diagram of the supporting state of the first auxiliary wheel or the second auxiliary wheel with the ground.

[0030] Figure 12 It is a schematic diagram of the first auxiliary wheel or the second auxiliary wheel cooperating with the driving walking wheel to walk on a plane.

[0031] Figure 13 It is a schematic diagram of the first auxiliary wheel or the second auxiliary wheel cooperating with the driving walking wheel to walk on an inclined plane.

[0032] Figure 14 It is a schematic diagram of the first auxiliary wheel and the second auxiliary wheel simultaneously supporting with the ground and walking on a plane.

[0033] Figure 15 It is Figure 14 a side view of

[0034] Figure 16 It is a schematic diagram of the first auxiliary wheel and the second auxiliary wheel simultaneously supporting with the ground and walking on an inclined plane. Detailed implementation manners

[0035] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to 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 protection scope of the present invention.

[0036] It should be understood that in this text, expressions such as "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly indicating the number of the indicated technical features. Features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0037] Such as Figures 1 - 7An auxiliary device as shown. The auxiliary device 2 includes a first connecting seat 20 connected to the robot leg arm 12, a rotary power 21 provided on the first connecting seat 20, and a second connecting seat 3 connected to the rotary power 21; a first wheel arm 30 is provided on the second connecting seat 3, and a first auxiliary wheel 31 is provided at the end of the first wheel arm 30; in the first state (as Figure 2 shown), the first wheel arm 30 is retracted on the side of the robot leg arm 12, and the first auxiliary wheel 31 does not contact the ground; in the second state (as Figure 11 shown), the rotary power 21 drives the first wheel arm 30 to rotate by a preset angle and be positioned, so that the first wheel arm 30 forms a preset included angle with the robot leg arm 12, and the first auxiliary wheel 31 contacts the ground for support.

[0038] As Figure 6 shown, the first connecting seat 20 is connected to the robot leg arm 12 through a lifting mechanism 4, and the lifting mechanism 4 is configured to drive the first connecting seat 20 to lift 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 lead screw 42, and a first motor 43. The upper connecting seat 40 is fixedly provided at the upper end of the robot leg arm 12, the lower connecting seat 41 is fixedly provided at the lower end of the robot leg arm 12, both ends of the lead screw 42 are rotatably connected to the upper connecting seat 40 and the lower connecting seat 41 respectively, the lead screw 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.

[0039] As Figure 7 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 adjusting mechanism 5 for adjusting the included angle between the first wheel arm 30 and the second wheel arm 32 is provided on the second connecting seat 3; the angle adjusting mechanism 5 includes a first worm gear 50, a second worm gear 51, and a worm 52 provided between the first worm gear 50 and the second worm gear 51. Both the first worm gear 50 and the second worm gear 51 are 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, the second wheel arm 32 is fixedly connected to the second worm gear 51, and when the second motor 53 drives the worm 52 to rotate, the first worm gear 50 and the second worm gear 51 rotate synchronously and in opposite directions to adjust the included angle between the first wheel arm 30 and the second wheel arm 32.

[0040] In some embodiments, at least one of the first auxiliary wheel 31 and the second auxiliary wheel 33 is configured to be able to actively move. In this embodiment, the second auxiliary wheel 33 is configured to be able to actively move, that is, a third motor 34 is provided between the second auxiliary wheel and the second wheel arm (as Figure 7 shown).

[0041] As Figure 8 、Figure 9 A robot walking system as shown, comprising a leg base 10 for connecting to the robot body, two thigh arms 11 rotatably connected to the leg base 10, a robot leg arm 12 rotatably connected to each thigh arm 11, an auxiliary device 2 provided on each robot leg arm 12, and a driving wheel 13 provided at the lower end of each robot leg arm 12; a main power 14 for driving the rotation of the thigh arm 11 is provided on the leg base 10, and a driving mechanism 15 for driving the rotation of the robot leg arm 12 is provided on the thigh arm 11.

[0042] 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 provided between the eccentric seat 151 and the robot leg arm 12, and both ends of the driving rod 152 are rotatably connected to the eccentric seat 151 and the robot leg arm 12 respectively; the rotation point of the thigh arm 11 and the leg base 10, the rotation point of the thigh arm 11 and the robot leg arm 12, and the rotation points at both ends of the driving rod 152 form the four vertices of a parallelogram. By driving the driving rod with the driving motor, the rotation between the robot leg arm and the thigh arm is realized, and then the bending angle of the robot leg arm is adjusted to change the robot posture, center of gravity height and center of gravity position.

[0043] In some embodiments, 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.

[0044] As Figure 3 、 Figure 6 and Figure 8 shown, a long slot through hole 120 distributed along the length direction is provided on the robot leg arm 12, an upper connecting seat 40 is fixed to the upper end of the long slot through hole 120, a lower connecting seat 41 is fixed to the lower end of the long slot through hole 120, and a lead screw 42 is located in the long slot through hole 120; U-shaped sliders 22 are fixed to both sides of the first connecting seat 20, and the U-shaped sliders 22 are snapped into both 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.

[0045] In some embodiments, a third connecting seat 23 is fixed to the side surface of the first connecting seat 20, electromagnets 24 are fixed to both ends of the third connecting seat 23, the adsorption surface of the electromagnet 24 faces the side surface of the robot leg arm 12 and a preset gap is formed between the adsorption surface of the electromagnet 24 and the side surface of the robot leg arm 12; the robot leg arm 12 is configured as a ferromagnetic body or a ferromagnetic body is fixed to the position corresponding to the adsorption surface of the electromagnet 24 on the robot leg arm 12; when the first connecting seat 20 moves to a preset position along the long slot through hole 120, the electromagnet 24 is energized and adsorbed on the robot leg arm 12.

[0046] In this embodiment, the rotary power 21, the first motor 43, the second motor 53, the third motor 34, the main power 14, and the drive motor 150 all adopt reduction motors. The specific models, dimensions, and performances of the reduction motors can be selected by those skilled in the art according to the actual requirements of the above application scenarios.

[0047] The driving 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 set value of the driving wheel 13 is 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; as Figure 1 and Figure 8 shown, in this embodiment, the driving wheel 13 is arranged on the outer side of the robot leg arm 12, the first auxiliary wheel 31 is arranged on the inner side of the robot leg arm 12 and is installed on the outer side of the first wheel arm 30, and the second auxiliary wheel 33 is installed on the inner side of the second wheel arm, so that the driving wheel 13, the first auxiliary wheel 31, and the second auxiliary wheel 33 are staggeredly distributed (that is, not coplanar). This kind of setting makes the overall structure compact on the one hand, and makes the weights on both sides of the robot leg arm better balanced on the other hand. Thirdly, when the two driving wheels 13 and the two first auxiliary wheels 31 are in contact with the ground at the same time (as Figure 11 、 Figure 12 shown), 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 the state shown in Figure 15 , the contact points of the four wheels with the ground also form the vertices of an isosceles trapezoid. In this state, the walking is more stable and it is not easy to roll over.

[0048] Combined with the attached drawings, the principle of the present invention is as follows: The auxiliary device 2 is integrated into the (two-leg wheeled walking mechanism) robot walking system, and on the premise of meeting the requirements of flexible movement, the defect of insufficient stability is solved. As Figure 10 shown, the first auxiliary wheel 31 and the second auxiliary wheel 33 are retracted inside the robot leg arm 12. At this time, only the two driving wheels 13 are in contact with the ground. This state is suitable for planar walking; as Figure 11 and Figure 12 shown, in order to further improve the walking stability of the robot or the plane is relatively rough (even there are slight height fluctuations), at this time, 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 rotary 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 driving wheel 13 to walk, improving the walking stability; as Figure 13As shown, when going uphill or downhill, the angle of the second connecting seat 3 is adjusted by the rotational power 21 to make the angles of the first auxiliary wheel 31 and the driving wheel 13 match the slope. At the same time, 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 driving wheel 13, thereby improving the stability of going uphill and downhill. When the driving wheel 13 is damaged and cannot move actively, the auxiliary device is adjusted to Figure 14 , Figure 15 the state shown, that is, the first auxiliary wheel 31 and the second auxiliary wheel 33 are in contact with the ground, and the driving wheel 13 is separated from the ground. Since the second auxiliary wheel 33 can move actively, even if the driving wheel is damaged, the whole can still Figure 15 walk on the plane in the state shown

[0049] As Figure 16 shown is 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 where the center of gravity of the robot is located, 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. At this time, the walking state of the robot is the most stable. In this structure, the positions of the first auxiliary wheel 31 and the second auxiliary wheel 33 can be adjusted by the rotational power, and then the position of point E is changed so that point E falls on the dotted line CD to improve the walking stability of the robot. Through the cooperation of the auxiliary device and the angle adjustment of the thigh arm and the robot leg arm, the robot walking system can adapt to various different road conditions. At the same time, when the robot topples, the auxiliary mechanism can also assist in getting up, that is, by adding support points through the first auxiliary wheel and the second auxiliary wheel, determining a support surface through three points, and at the same time being able to change the position of the support point so that the center of gravity falls on the support surface to assist the robot to get up automatically.

[0050] In the description of the present invention, it should be understood that the directions or position relationships indicated by up and down, left and right, inner end, outer end, one end, the other end, etc. are based on the orientation or position relationship shown in the drawings, and are only for more clearly facilitating the description of 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 should not be construed as a limitation of the present invention.

[0051] Although specific embodiments of the present invention are described in detail here, they are only given for the purpose of explanation and should not be considered as limiting the scope of the present invention. Various substitutions, changes and modifications can 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) includes a first connecting seat (20) connected to the robot leg arm (12), a rotational power source (21) provided on the first connecting seat (20), and a second connecting seat (3) connected to the rotational power source (21); a first wheel arm (30) is provided on the second connecting seat (3), and a first auxiliary wheel (31) is provided at the end of the first wheel arm (30). In the first state, the first wheel arm (30) is retracted on the side of the robot leg arm (12), and the first auxiliary wheel (31) does not contact the ground; in the second state, the rotational power source (21) drives the first wheel arm (30) to rotate by a preset angle and be positioned, such that the first wheel arm (30) forms a preset included angle with the robot leg arm (12), and the first auxiliary wheel (31) contacts the ground for support. The first connecting seat (20) is connected to the robot leg arm (12) through a lifting mechanism (4), and the lifting mechanism (4) is configured to drive the first connecting seat (20) to lift along the length direction of the robot leg arm (12). 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 adjusting mechanism (5) for adjusting the included angle between the first wheel arm (30) and the second wheel arm (32) is provided on the second connecting seat (3). At least one of the first auxiliary wheel (31) and the second auxiliary wheel (33) is configured to be capable of active walking; when the active walking wheel (13) cannot actively walk, the first auxiliary wheel (31) and the second auxiliary wheel (33) descend to contact the ground through the lifting mechanism (4), such that the active walking wheel (13) is separated from the ground, and the first auxiliary wheel or the second auxiliary wheel is used for active walking; when going uphill, the positions of the first auxiliary wheel (31) and the second auxiliary wheel (33) are actively adjusted through the rotational power source (21), such that the midpoint of the center connection line of the first auxiliary wheel (31) and the second auxiliary wheel (33) rotates to coincide with the center of gravity line of the robot.

2. The auxiliary device according to claim 1, characterized in that, The lifting mechanism (4) includes an upper connecting seat (40), a lower connecting seat (41), a lead screw (42), and a first motor (43). The upper connecting seat (40) is fixedly provided at the upper end of the robot leg arm (12), the lower connecting seat (41) is fixedly provided at the lower end of the robot leg arm (12), both ends of the lead screw (42) are rotatably connected to the upper connecting seat (40) and the lower connecting seat (41) respectively, the lead screw (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).

3. An auxiliary device according to claim 1, characterized in that, The angle adjusting mechanism (5) includes a first worm gear (50), a second worm gear (51), and a worm (52) provided between the first worm gear (50) and the second worm gear (51). Both the first worm gear (50) and the second worm gear (51) are 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 round arm (30) is fixedly connected to the first worm gear (50), and the second round 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 included angle between the first round arm (30) and the second round arm (32).

4. A robot walking system, characterized in that, It includes a leg base (10) for connecting to the robot body, and two thigh arms (11) rotatably connected to the leg base (10). A robot leg arm (12) is rotatably connected to each thigh arm (11). An auxiliary device (2) as described in any one of claims 1-3 is provided on each robot leg arm (12). A driving wheel (13) is provided at the lower end of each robot leg arm (12); A driving force (14) for driving the thigh arm (11) to rotate is provided on the leg base (10), and a driving mechanism (15) for driving the robot leg arm (12) to rotate is provided on the thigh arm (11).

5. A robot walking system according to claim 4, characterized in that, The driving mechanism (15) includes a driving motor (150) fixed to 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). The two ends of the driving rod (152) are respectively rotatably connected to the eccentric seat (151) and the robot leg arm (12); The rotation point of the thigh arm (11) and the leg base (10), the rotation point of the thigh arm (11) and the robot leg arm (12), and the rotation points at both ends of the driving rod (152) form the four vertices of a parallelogram.

6. A robot walking system according to claim 5, characterized in that, The cross-section of the thigh arm (11) is of a U-shaped structure, and the eccentric seat (151) and the driving rod (152) are both arranged inside the thigh arm (11).

7. A robot walking system according to claim 4, characterized in that, A long groove through hole (120) is provided on the robot leg arm (12) along the length direction. An upper connecting seat (40) is fixed to the upper end of the long groove through hole (120), a lower connecting seat (41) is fixed to the lower end of the long groove through hole (120), and a lead screw (42) is located inside the long groove through hole (120); U-shaped sliders (22) are fixed to both sides of the first connecting seat (20), and the U-shaped sliders (22) are inserted into the two side walls of the long groove through hole (120) to form a sliding connection.

8. A robot walking system according to claim 7, characterized in that, A third connecting seat (23) is fixed to the side of the first connecting seat (20). Electromagnets (24) are fixed to 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 a preset gap is formed between the adsorption surface of the electromagnet (24) and the side of the robot leg arm (12). The robot leg arm (12) is configured as a ferromagnetic body or a ferromagnetic body is fixed to the position corresponding to the adsorption surface of the electromagnet (24) on the robot leg arm (12); When the first connecting seat (20) moves to a preset position along the long groove through hole (120), the electromagnet (24) is energized and adsorbed on the robot leg arm (12).

9. A robot walking system according to any one of claims 4-8, characterized in that, The active walking wheel (13) is arranged on one side of the robot leg arm (12), 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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