阅读说明：本技术 行走机构及机器人 (Running gear and robot ) 是由 王利军 刘林丰 陈观浩 于 2020-07-27 设计创作，主要内容包括：一种行走机构,包括底板、联动组件、第一主动轮、第二主动轮和前从动轮,联动组件包括联动轴、第一主动连杆、第二主动连杆和从动连杆,联动轴可转动地连接在底板上,联动轴的一端与第一主动连杆固定连接,联动轴的另一端与第二主动连杆固定连接,从动连杆连接于第一主动连杆与第二主动连杆之间的联动轴,第一主动轮可转动地连接于第一主动连杆,第二主动轮可转动地连接于第二主动连杆,前从动轮可转动地连接于从动连杆,当行走机构越障时,联动组件作为整体可绕着联动轴与底板的连接处摆动。本发明提供一种行走机构能适应地面的变化,保证第一主动轮、第二主动轮和前从动轮一直与地面接触,实现高越障性能。本发明还涉及一种机器人。(The utility model provides a running gear, comprising a base plate, the linkage subassembly, first action wheel, second action wheel and preceding driven wheel, the linkage subassembly includes the universal driving shaft, first initiative connecting rod, second initiative connecting rod and driven connecting rod, the universal driving shaft rotationally connects on the bottom plate, the one end and the first initiative connecting rod fixed connection of universal driving shaft, the other end and the second initiative connecting rod fixed connection of universal driving shaft, driven connecting rod connects the universal driving shaft between first initiative connecting rod and the second initiative connecting rod, first action wheel rotationally connects in first initiative connecting rod, the second action wheel rotationally connects in second initiative connecting rod, preceding driven wheel rotationally connects in driven connecting rod, when running gear hinders more, the linkage subassembly can swing around the junction of universal driving shaft and bottom plate as a whole. The invention provides a traveling mechanism which can adapt to the change of the ground, ensure that a first driving wheel, a second driving wheel and a front driven wheel are always in contact with the ground and realize high obstacle crossing performance. The invention also relates to a robot.)

1. A walking mechanism is characterized by comprising a bottom plate, a linkage component, a first driving wheel, a second driving wheel and a front driven wheel, the linkage assembly comprises a linkage shaft, a first driving connecting rod, a second driving connecting rod and a driven connecting rod, the linkage shaft is rotatably connected on the bottom plate, one end of the linkage shaft is fixedly connected with the first driving connecting rod, the other end of the linkage shaft is fixedly connected with the second driving connecting rod, the driven connecting rod is connected with the linkage shaft between the first driving connecting rod and the second driving connecting rod, the first driving wheel is rotatably connected with the first driving connecting rod, the second driving wheel is rotatably connected with the second driving connecting rod, the front driven wheel is rotatably connected with the driven connecting rod, and when the walking mechanism gets over obstacles, the linkage assembly as a whole can swing around the joint of the linkage shaft and the bottom plate.

2. The walking mechanism of claim 1, wherein the first driving link and the second driving link are respectively fixedly connected to the left and right ends of the linkage shaft, and the driven link is fixedly connected to the middle portion of the linkage shaft.

3. The walking mechanism of claim 1, wherein the bottom plate is fixedly provided with a first bushing seat and a second bushing seat, the first bushing seat and the second bushing seat are oppositely arranged, and the linkage shaft is rotatably mounted in the first bushing seat and the second bushing seat.

4. The walking mechanism of claim 3, wherein the bottom plate comprises a first mounting surface and a second mounting surface which are oppositely arranged, the first bushing seat and the second bushing seat are connected to the first mounting surface, the bottom plate is provided with a first movable hole, a second movable hole and a third movable hole which penetrate through the first mounting surface and the second mounting surface, the upper end of the first driving connecting rod penetrates through the first movable hole and is fixedly connected with one end of the linkage shaft, the upper end of the second driving connecting rod penetrates through the second movable hole and is fixedly connected with one end of the linkage shaft, and the upper end of the driven connecting rod penetrates through the third movable hole and is fixedly connected with one end of the linkage shaft.

5. The walking mechanism of claim 4, wherein the base plate is fixedly provided with a first mounting seat and a second mounting seat, 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 driving connecting rod, the second mounting seat is arranged corresponding to the second driving connecting rod, the walking mechanism further comprises a first shock absorber and a second shock absorber, one end of the first shock absorber is hinged to the first mounting seat, the other end of the first shock absorber is hinged to the first driving connecting rod, one end of the second shock absorber is hinged to the second mounting seat, and the other end of the second shock absorber is hinged to the second driving connecting rod.

6. The travel mechanism of claim 5, wherein 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.

7. The walking mechanism of claim 4, wherein a third mounting seat is fixedly arranged on the bottom plate, the third mounting seat is fixedly connected to the second mounting surface, the walking mechanism further comprises a rear driven wheel, the rear driven wheel is arranged opposite to the front driven wheel, and the rear driven wheel is rotatably connected to the third mounting seat.

8. The walking mechanism of claim 1, wherein the end shaft of the driven link rod is engaged with a shaft hole of the linkage shaft, the linkage shaft is disposed through the shaft hole, the walking mechanism further comprises a driving motor, the driving motor comprises a rotor and a stator, the driving motor is disposed in the shaft hole, the rotor is fixedly connected to a hole wall of the shaft hole, the stator is fixedly connected to the linkage shaft, and the driving motor can drive the driven link rod to rotate around the linkage shaft.

9. The running mechanism of claim 8, further comprising a sensor connected to the base plate or the linkage assembly, the sensor being configured to detect a heave angle of the base plate, wherein when the heave angle of the base plate over which the running mechanism is obstructed is greater than a predetermined value, the driving motor drives the driven link to rotate so that the heave angle of the base plate is within a predetermined range.

10. A robot comprising a walking mechanism as claimed in any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of robot walking, in particular to a walking mechanism and a robot.

Background

With the continuous development of the robot technology, the application of the robot is more and more extensive, the functions of the robot are more and more abundant, and meanwhile, the requirements on the adaptability of the robot to the ground and the walking stability are higher and higher. The running mechanism of the robot is used as a moving carrier of all functions on the robot, the performance of the running mechanism is directly influenced, and the existing running mechanism of the robot has the problems of insufficient obstacle-crossing capability and insufficient starting or sudden stop stability.

Disclosure of Invention

In view of this, the invention provides a traveling mechanism, which can adapt to changes on the ground, meet the requirements of crossing steps and gaps in an application scene, and realize high obstacle crossing performance.

The utility model provides a running gear, comprising a base plate, the linkage subassembly, first action wheel, second action wheel and preceding driven wheel, the linkage subassembly includes the universal driving shaft, first initiative connecting rod, second initiative connecting rod and driven connecting rod, the universal driving shaft rotationally connects on the bottom plate, the one end and the first initiative connecting rod fixed connection of universal driving shaft, the other end and the second initiative connecting rod fixed connection of universal driving shaft, driven connecting rod connects the universal driving shaft between first initiative connecting rod and the second initiative connecting rod, first action wheel rotationally connects in first initiative connecting rod, the second action wheel rotationally connects in second initiative connecting rod, preceding driven wheel rotationally connects in driven connecting rod, when running gear hinders more, the linkage subassembly can swing around the junction of universal driving shaft and bottom plate as a whole.

In an embodiment of the present invention, the first driving connecting rod and the second driving connecting rod are respectively and fixedly connected to the left end and the right end of the linkage shaft, and the driven connecting rod is fixedly connected to the middle of the linkage shaft.

In an embodiment of the present invention, the bottom plate is fixedly provided with a first bushing seat and a second bushing seat, the first bushing seat and the second bushing seat are disposed opposite to each other, and the linkage shaft is rotatably installed in the first bushing seat and the second bushing seat.

In an embodiment of the present invention, the bottom plate includes a first mounting surface and a second mounting surface which are oppositely disposed, the first bushing seat and the second bushing seat are connected to the first mounting surface, the bottom plate is provided with a first movable hole, a second movable hole and a third movable hole which penetrate through the first mounting surface and the second mounting surface, an upper end of the first driving connecting rod penetrates through the first movable hole and is fixedly connected with one end of the linkage shaft, an upper end of the second driving connecting rod penetrates through the second movable hole and is fixedly connected with one end of the linkage shaft, and an upper end of the driven connecting rod penetrates through the third movable hole and is fixedly connected with one end of the linkage shaft.

In an embodiment of the present invention, the bottom plate is provided with a first mounting seat and a second mounting seat, the first mounting seat and the second mounting seat are connected to the second mounting surface, the first mounting seat is disposed corresponding to the first driving connecting rod, the second mounting seat is disposed corresponding to the second driving connecting rod, the traveling mechanism further includes a first shock absorber and a second shock absorber, one end of the first shock absorber is hinged to the first mounting seat, the other end of the first shock absorber is hinged to the first driving connecting rod, one end of the second shock absorber is hinged to the second mounting seat, and the other end of the second shock absorber is hinged to the second driving connecting rod.

In an embodiment of the present invention, an axis of the first damper is parallel to the second mounting surface, and an axis of the second damper is parallel to the second mounting surface.

In an embodiment of the present invention, a third mounting seat is further fixedly disposed on the bottom plate, the third mounting seat is fixedly connected to the second mounting surface, the traveling mechanism further includes a rear driven wheel, the rear driven wheel is disposed opposite to the front driven wheel, and the rear driven wheel is rotatably connected to the third mounting seat.

In an embodiment of the present invention, the end shaft of the driven connecting rod is matched with a shaft hole of the linkage shaft, the linkage shaft passes through the shaft hole, the traveling mechanism further includes a driving motor, the driving motor includes a rotor and a stator, the driving motor is disposed in the shaft hole, the rotor is fixedly connected to a hole wall of the shaft hole, the stator is fixedly connected to the linkage shaft, and the driving motor can drive the driven connecting rod to rotate around the linkage shaft.

In an embodiment of the present invention, the traveling mechanism further includes a sensor, the sensor is connected to the base plate or the linkage assembly, the sensor is configured to detect a rising and falling angle of the base plate, and when the rising and falling angle of the base plate that the traveling mechanism gets over the obstacle is greater than a set value, the driving motor drives the driven link to rotate so that the rising and falling angle of the base plate is within a set interval.

The invention also relates to a robot which comprises the walking mechanism.

When the walking mechanism disclosed by the invention is used for crossing obstacles, the linkage assembly can swing around the joint of the linkage shaft and the bottom plate, so that the walking mechanism can adapt to the change of the ground, the first driving wheel, the second driving wheel and the front driven wheel are ensured to be always in contact with the ground, and the first driving wheel and the second driving wheel are ensured to have enough positive pressure on the ground, thereby realizing high obstacle crossing performance.

Drawings

Fig. 1 is a schematic perspective view of a travel mechanism according to a first embodiment of the present invention.

Fig. 2 is a partially sectional structural schematic view of a traveling mechanism according to a first embodiment of the present invention.

Fig. 3 is a front view schematically illustrating the structure of the traveling mechanism according to the first embodiment of the present invention.

Fig. 4 to 7 are schematic views of the traveling mechanism of the first embodiment of the present invention when the traveling mechanism is over the obstacle.

Fig. 8 is a partial sectional structural view of a traveling mechanism according to a second embodiment of the present invention.

FIG. 9 is a sectional view of the connection between the driven link and the linkage shaft according to the second embodiment of the present invention.

Detailed Description

First embodiment

Fig. 1 is a schematic perspective view of a traveling mechanism according to a first embodiment of the present invention, fig. 2 is a schematic partial sectional view of the traveling mechanism according to the first embodiment of the present invention, and fig. 3 is a schematic front view of the traveling mechanism according to the first embodiment of the present invention, and as shown in fig. 1, fig. 2, and fig. 3, the traveling 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 bottom plate 11 is arranged along the horizontal direction, the first driving wheel 13 and the second driving wheel 14 are oppositely arranged left and right, the front driven wheel 15 is positioned in front of the first driving wheel 13 and the second driving wheel 14 in the walking direction, and only one front driven wheel 15 is arranged. The linkage assembly 12 includes a linkage shaft 121, a first driving connecting rod 122, a second driving connecting rod 123 and a driven connecting rod 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 driving connecting rod 122, the other end of the linkage shaft 121 is fixedly connected to the second driving connecting rod 123, the driven connecting rod 124 is fixedly connected to the linkage shaft 121 between the first driving connecting rod 122 and the second driving connecting rod 123, the first driving wheel 13 is rotatably connected to the first driving connecting rod 122, the second driving wheel 14 is rotatably connected to the second driving connecting rod 123, and the front driven wheel 15 is rotatably connected to the driven connecting rod 124. When the walking mechanism is out of the way, the linkage assembly 12 as a whole can swing around the joint of the linkage shaft 121 and the bottom plate 11, that is, each element (the linkage shaft 121, the first driving link 122, the second driving link 123 and the driven link 124) included in the linkage assembly 12 is 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 component and can swing around the joint of the linkage shaft 121 and the bottom plate 11.

When the walking mechanism disclosed by the invention is across obstacles, the linkage assembly 12 can swing around the joint of the linkage shaft 121 and the bottom plate 11, so that the technical problem of insufficient obstacle crossing capability of the existing walking mechanism is solved, the walking mechanism can adapt to the change of the ground, the first driving wheel 13, the second driving wheel 14 and the front driven wheel 15 are ensured to be always in contact with the ground, the first driving wheel 13 and the second driving wheel 14 are ensured to have enough positive pressure on the ground, the requirement of crossing steps and gaps in an application scene is met, and the high obstacle crossing performance is realized.

Further, a first driving connecting rod 122 and a second driving connecting rod 123 are respectively and fixedly connected to the left end and the right end of the linkage shaft 121, and a driven connecting rod 124 is fixedly connected to the middle of the linkage shaft 121. Because the driven connecting rod 124 is fixedly connected to the middle part of the linkage shaft 121, the distance 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), and when the traveling mechanism starts or stops suddenly, the traveling mechanism is not easy to shake forwards and backwards, so that the stability of the traveling mechanism is improved, and the technical problem that the stability of the existing traveling mechanism is insufficient when the traveling mechanism starts or stops suddenly is solved.

Further, a first bushing seat 111 and a second bushing seat 112 are fixedly disposed on the bottom plate 11, the first bushing seat 111 and the second bushing seat 112 are disposed opposite to each other in a left-right direction, wherein the first bushing seat 111 is disposed close to the first driving wheel 13, and the second bushing seat 112 is disposed close to the second driving wheel 14. The linkage shaft 121 is rotatably installed in the first and second bushing seats 111 and 112, that is, the linkage shaft 121 can rotate in the first and second bushing seats 111 and 112. Therefore, 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 bottom plate 11 through the linkage shaft 121.

Further, the bottom plate 11 includes a first mounting surface 11a and a second mounting surface 11b which are oppositely arranged, the first mounting surface 11a is, for example, an upper surface of the bottom plate 11, the second mounting surface 11b is, for example, a lower surface of the bottom plate 11, and the first bushing seat 111 and the second bushing seat 112 are fixedly connected to the first mounting surface 11 a. The bottom plate 11 is provided with a first movable hole 101, a second movable hole 102, and a third movable hole 103 penetrating the first mounting surface 11a and the second mounting surface 11 b. The first movable hole 101 is disposed corresponding to the first driving link 122, an upper end of the first driving link 122 passes through the first movable hole 101 and is fixedly connected to one end of the linkage shaft 121, and the first driving wheel 13 is rotatably connected to a lower end of the first driving link 122. The second movable hole 102 is disposed corresponding to the second driving connecting rod 123, an upper end of the second driving connecting rod 123 passes through the second movable hole 102 and is fixedly connected to the other end of the linkage shaft 121, and the second driving wheel 14 is rotatably connected to a lower end of the second driving connecting rod 123. The third movable hole 103 is arranged 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 with the middle part of the linkage shaft 121, and the front driven wheel 15 is rotatably connected with the lower end of the driven link 124. When the traveling mechanism is out of the way, the first driving link 122 may swing in the first movable hole 101, the second driving link 123 may swing in the second movable hole 102, and the follower link 124 may swing in the third movable hole 103.

Further, the bottom plate 11 is fixedly provided with a first mounting seat 113 and a second mounting seat 114, and specifically, the first mounting seat 113 and the second mounting seat 114 are fixedly connected to the second mounting surface 11 b. The first mounting base 113 is arranged corresponding to the first driving connecting rod 122, the second mounting base 114 is arranged corresponding to the second driving connecting rod 123, the walking mechanism further comprises a first shock absorber 17 and a second shock absorber 18, one end of the first shock absorber 17 is hinged to the first mounting base 113, the other end of the first shock absorber 17 is hinged to the first driving connecting rod 122, one end of the second shock absorber 18 is hinged to the second mounting base 114, and the other end of the second shock absorber 18 is hinged to the second driving connecting rod 123. In this embodiment, the first damper 17 and the second damper 18 are used to increase the positive pressure of the first driving wheel 13 and the second driving wheel 14 on the ground, so as to prevent the first driving wheel 13 and the second driving wheel 14 from slipping, and the first damper 17 and the second damper 18 have a damping effect, so as to avoid the problem of severe shaking of the running mechanism caused by uneven ground.

Further, the axis of the first damper 17 is parallel to the second mounting surface 11b, and the axis of the second damper 18 is parallel to the second mounting surface 11 b. In the present embodiment, the first damper 17 and the second damper 18 are arranged along the transverse direction (i.e. the horizontal direction), i.e. the arrangement direction of the first damper 17 and the second damper 18 is parallel to the ground, which can greatly save the space of the chassis and optimize the structural design.

In another preferred embodiment, the first damper 17 is connected between the first mounting seat 113 and the first driving link 122 in a hinge manner in a tiltable manner, and the tilting angle of the first damper 17 can be freely adjusted according to actual requirements, for example, the included angle between the length direction of the first damper 17 and the bottom plate 11 is 0-45 °, specifically, for example, 10 °, 20 °, 30 °, but not limited thereto. The second damper 18 is connected between the second mounting seat 114 and the second driving link 123 in a hinge manner in an inclined manner, and an inclined angle of the second damper 18 can be freely adjusted according to actual needs, for example, an included angle between the length direction of the second damper 18 and the bottom plate 11 is 0-45 °, specifically, for example, 10 °, 20 °, 30 °, but not limited thereto.

Further, a third mounting seat 115 is fixedly arranged on the bottom plate 11, specifically, the third mounting seat 115 is fixedly connected to the second mounting surface 11b, the traveling mechanism further includes a rear driven wheel 16, the rear driven wheel 16 and the front driven wheel 15 are arranged in a front-back opposite manner, that is, the rear driven wheel 16 is located behind the first driving wheel 13 and the second driving wheel 14 in the traveling direction. The rear driven wheel 16 is rotatably connected to the third mount 115. In this embodiment, two third mounting seats 115 are fixedly disposed on the bottom plate 11, the two third mounting seats 115 are disposed in bilateral symmetry, the traveling mechanism includes two rear driven wheels 16, the two rear driven wheels 16 are also disposed in bilateral symmetry, the two rear driven wheels 16 correspond to the two third mounting seats 115, and the two rear driven wheels 16 are rotatably connected to the two third mounting seats 115.

Further, the first driving wheel 13 and the second driving wheel 14 are both driven by a hub motor (not shown), and please refer to the prior art for the structure and the working principle of the hub motor, which is not described herein again.

Further, the front driven wheel 15 and the rear driven wheel 16 are universal wheels to facilitate steering of the traveling mechanism. For the structure and operation principle of the universal wheel, please refer to the prior art, and the detailed description is omitted here.

Further, the bottom plate 11 is further provided with a first avoidance hole 104 and a second avoidance hole 105, the first avoidance hole 104 and the second avoidance hole 105 penetrate through the first mounting surface 11a and the second mounting surface 11b of the bottom plate 11, the first avoidance hole 104 is located right above the first driving wheel 13, and the second avoidance hole 105 is located right above the second driving wheel 14. When the first driving wheel 13 of the traveling mechanism gets over the obstacle, the first driving wheel 13 is lifted to the first avoidance hole 104 towards the direction close to the bottom plate 11, so that the first driving wheel 13 is prevented from interfering with the bottom plate 11; when the second driving wheel 14 of the traveling mechanism gets over the obstacle, the second driving wheel 14 is lifted to the second avoiding hole 105 in the direction close to the bottom plate 11, so as to avoid the second driving wheel 14 interfering with the bottom plate 11.

Further, fig. 4 to 7 are schematic diagrams of the walking mechanism of the first embodiment of the present invention when the walking mechanism is over obstacles, please refer to fig. 4 to 7, when the walking mechanism walks on a flat ground, the bottom plate 11 is parallel to the ground, as shown in fig. 2;

when the front driven wheel 15 of the traveling mechanism gets over an obstacle, because the front driven wheel 15 is rotatably connected to the lower end of the driven link 124, the upper end of the driven link 124 is fixedly connected with 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 drives the driven link 124 to move upwards, the linkage shaft 121 rotates in the first bushing seat 111 and the second bushing seat 112 along the clockwise direction a1 in fig. 4, at this time, the linkage assembly 12 synchronously swings 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 position of the bottom plate 11 close to the front driven wheel 15 is high, and the position of the bottom plate 11 close to the rear driven wheel 16 is low, as;

when the first driving wheel 13 and/or the second driving wheel 14 of the traveling mechanism get over the obstacle, because 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, when the first driving wheel 13 and/or the second driving wheel 14 rolls 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 upwards, the linkage shaft 121 will rotate in the clockwise direction a2 of fig. 4 in the first bushing seat 111 and the second bushing seat 112, and at this time, the linkage assembly 12 will swing synchronously according to the change of the ground, the front driven wheel 15 is kept in contact with the ground, and the bottom plate 11 is in an inclined state, namely, the position of the bottom plate 11 close to the front driven wheel 15 is high, and the position of the bottom plate 11 close to the rear driven wheel 16 is low, as shown in fig. 5;

when the rear driven wheel 16 of the traveling mechanism gets over obstacles, the rear driven wheel 16 drives the rear part of the bottom plate 11 to lift towards the direction far away from the ground, the first driving wheel 13, the second driving wheel 14 and the front driven wheel 15 are pressed on the ground, and at the moment, the bottom plate 11 is in an inclined state, namely, the position of the bottom plate 11 close to the front driven wheel 15 is low, and the position of the bottom plate 11 close to the rear driven wheel 16 is high, as shown in fig. 6;

when the front driven wheel 15 and the rear driven wheel 16 of the traveling mechanism simultaneously get over obstacles, the front driven wheel 15 drives the driven link 124 to move upwards, the linkage shaft 121 rotates in the first bushing seat 111 and the second bushing seat 112 along the clockwise direction a1 in fig. 7, at this time, the linkage assembly 12 synchronously swings 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 the rear driven wheel 16 drives the rear part of the bottom plate 11 to lift towards the direction far away from the ground, at this time, the bottom plate 11 is in an inclined state, namely, the position of the bottom plate 11 close to the front driven wheel 15 is low, and the position of the bottom plate 11 close to the rear driven wheel 16 is high, as shown in fig.

Second embodiment

Fig. 8 is a schematic partial sectional structure view of a traveling mechanism according to a second embodiment of the present invention, fig. 9 is a schematic sectional structure view of a joint between a driven link and a linkage shaft according to the second embodiment of the present invention, and as shown in fig. 8 and fig. 9, the traveling mechanism according to the present embodiment is substantially the same as the traveling mechanism according to the first embodiment, except that a connection manner between the driven link 124 and the linkage shaft 121 is different.

Specifically, as shown in fig. 8 and 9, the upper end of the driven connecting rod 124 is provided with a shaft hole 106 matched with the linkage shaft 121, the linkage shaft 121 passes through the shaft hole 106, the traveling mechanism further includes a driving motor 19, the driving motor 19 includes a rotor 191 and a stator 192 located inside the rotor 191, the driving motor 19 is disposed in the shaft hole 106, the rotor 191 is fixedly connected to the hole wall of the shaft hole 106, the stator 192 is fixedly connected to the outer wall of the linkage shaft 121, and 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.

Further, the running gear further comprises a sensor 21, the sensor 21 is arranged on the bottom plate 11 or the linkage assembly 12, and the sensor 21 is used for detecting the fluctuation angle of the bottom plate 11 of the running gear. When the undulation angle of the bottom plate 11 is smaller than a set value when the walking mechanism is over obstacles, the driving motor 19 locks the rotor 191, so that the rotor 191 is in a static state relative to the stator 192, and at the moment, the driven connecting rod 124 cannot rotate relative to the linkage shaft 121; when the walking mechanism gets over the obstacle and the heave angle of the soleplate 11 is larger than the set value, the driving motor 19 drives the driven connecting rod 124 to rotate so that the heave angle of the soleplate 11 is smaller than the set value. For example, the maximum allowable setting value of the heave angle of the base plate 11 is 15 °, when the heave angle of the base plate 11 is 0-15 °, the rotor 191 and the stator 192 of the driving motor 19 are in a static state, that is, the driven connecting rod 124 does not rotate relative to the linkage shaft 121 at this time, and the upper end of the driven connecting rod 124 is fixedly connected with the linkage shaft 121 through the rotor 191 and the stator 192 of the driving motor 19; when the undulation angle of the bottom plate 11 of the traveling mechanism is larger than 15 degrees, the driving motor 19 drives the driven connecting rod 124 to rotate around the linkage shaft 121 (the driving motor 19 drives the rotor 191 to rotate, and the rotor 191 is fixedly connected with the upper end of the driven connecting rod 124, so that the rotation of the rotor 191 can drive the driven connecting rod 124 to synchronously rotate, and the driven connecting rod 124 rotates around the linkage shaft 121), so that the undulation angle of the traveling mechanism is within 0-15 degrees, the phenomenon that the traveling mechanism shakes too much when crossing obstacles can be effectively avoided, and the stability of the traveling mechanism is further improved.

It should be noted that the maximum allowable setting value of the rolling angle of the bottom plate 11 of the traveling mechanism can be freely selected according to actual needs, and is not limited to the above.

Further, the sensor 21 is preferably a gyroscope, the gyroscope is mounted in the middle of the bottom plate 11 and is used for detecting the heave angle of the bottom plate 11, and the connection position of the gyroscope can be freely selected according to actual needs, but not limited thereto.

The invention also relates to a robot, which comprises the travelling mechanism, wherein the travelling mechanism is arranged at the bottom of the robot and is used for driving the robot to move. The robot moves forwards under the driving of the hub motor, when the ground surface fluctuates, the floating component can swing up and down to adapt to the change of the ground surface, the first driving wheel 13, the second driving wheel 14 and the front driven wheel 15 are ensured to be always contacted with the ground surface, and sufficient positive pressure is ensured to the ground surface, so that the high obstacle crossing performance is realized.

The present invention is not limited to the specific details of the above-described embodiments, and various simple modifications may be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention. The various features described in the foregoing detailed description may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.