CN111232087A

CN111232087A - Robot walking mechanism and robot

Info

Publication number: CN111232087A
Application number: CN202010148097.6A
Authority: CN
Inventors: 马锁才; 郭眶眶; 李义山
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-03-05
Filing date: 2020-03-05
Publication date: 2020-06-05

Abstract

The application provides a robot walking mechanism and a robot, wherein the robot walking mechanism comprises a rack, a first walking mechanism, a second walking mechanism and a transmission mechanism, the first walking mechanism comprises a first walking foot, a first transverse rail and a first longitudinal rail, the first transverse rail and the first longitudinal rail are arranged on the rack, and the first walking foot is arranged on the first transverse rail and the first longitudinal rail in a sliding manner; the second travelling mechanism and the first travelling mechanism have similar structures; the transmission mechanism comprises a transverse transmission assembly and a longitudinal transmission assembly, and enables the first walking mechanism and the second walking mechanism to walk alternately. Simultaneously, this application still provides an install this robot running gear's robot. The application provides a running gear and robot of robot, through setting up horizontal track and vertical track, do not rely on the walking of joint to bend and stretch the realization robot, greatly improved the load capacity of robot.

Description

Robot walking mechanism and robot

Technical Field

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

Background

With the development of science and technology, robots are applied more and more widely in our lives, and a large number of robots have appeared in the service industry, medical industry and home industry around us. Most of the existing foot type robot walking legs are of joint structures, and the joint structures have poor walking leg load capacity due to the fact that the joint flexion and extension functions are achieved.

Disclosure of Invention

An object of the embodiments of the present application is to provide a robot walking mechanism and a robot, so as to improve the above problems. The embodiment of the application realizes the aim through the following technical scheme.

In a first aspect, an embodiment of the present application provides a robot walking mechanism, including a rack, a first walking mechanism, a second walking mechanism, and a transmission mechanism, where the first walking mechanism includes a first walking foot, a first transverse rail, and a first longitudinal rail, the first transverse rail and the first longitudinal rail are disposed on the rack, and the first walking foot is slidably disposed on the first transverse rail and the first longitudinal rail; the second walking mechanism comprises a second walking foot, a second transverse rail and a second longitudinal rail, the second transverse rail and the second longitudinal rail are arranged on the rack, and the second walking foot is slidably arranged on the second transverse rail and the second longitudinal rail; the transmission mechanism comprises a transverse transmission assembly and a longitudinal transmission assembly, the longitudinal transmission assembly is connected with the first walking foot and the second walking foot so that the first walking foot and the second walking foot respectively ascend along a first longitudinal rail and a second longitudinal rail alternately to serve as walking feet or descend to serve as supporting feet, and the transverse transmission assembly is connected with the first walking foot and the second walking foot so that the first walking foot serving as the walking feet slides to advance along a first transverse rail or the second walking foot serving as the walking feet slides to advance along a second transverse rail.

In an embodiment, the first walking foot includes a first walking foot, a first transverse slide rail and a first longitudinal slide rail, the first walking foot is slidably disposed on the first longitudinal slide rail and the first transverse slide rail, the first transverse slide rail and the first longitudinal slide rail are slidably disposed with each other, the first longitudinal slide rail is slidably disposed on the first transverse rail, and the first transverse slide rail is slidably disposed on the first longitudinal rail.

In one embodiment, the longitudinal drive assembly connects the first and second transverse rails such that the first and second walking feet alternately ascend along the first and second longitudinal rails, respectively, as walking feet or descend along the first and second longitudinal rails, respectively, as support feet.

In an implementation mode, the transverse transmission assembly comprises a first rotating shaft, a first cam, a first sliding block and a second sliding block, the first rotating shaft is arranged along transverse rotation and located between a first transverse rail and a second transverse rail, the first cam is arranged around the first rotating shaft, a first annular sliding groove is formed in the first cam, the first annular sliding groove is obliquely arranged relative to the axis of the first rotating shaft, the first sliding block is connected with a first walking foot and is arranged in the first annular sliding groove in a sliding mode, and the second sliding block is connected with a second walking foot and is arranged in the first annular sliding groove in a sliding mode.

In an embodiment, the first annular chute includes a first vertical section, a first spiral section, a second vertical section and a second spiral section connected end to end, the plane of the first vertical section and the plane of the second vertical section are perpendicular to the axial direction of the first rotating shaft, and when the first slider is located in the first vertical section, the first spiral section, the second vertical section and the second spiral section, the second slider is located in the second vertical section, the second spiral section, the first vertical section and the first spiral section.

In one embodiment, the first walking foot is switched from the walking foot to the supporting foot when the first slider is located in the first vertical section, and the first walking foot is switched from the supporting foot to the walking foot when the first slider is located in the second vertical section.

In an implementation mode, the longitudinal transmission assembly comprises a second rotating shaft, a second cam, a third sliding block and a fourth sliding block, the second rotating shaft is arranged along longitudinal rotation and located between the first longitudinal rail and the second longitudinal rail, the second cam is arranged around the second rotating shaft, a second annular sliding groove is formed in the second cam, the second annular sliding groove is arranged in an inclined mode relative to the axis of the second rotating shaft, the third sliding block is connected with the first walking foot and is arranged in the second annular sliding groove in a sliding mode, and the fourth sliding block is connected with the second walking foot and is arranged in the second annular sliding groove in a sliding mode.

In one embodiment, the second annular groove includes a first horizontal section, a third spiral section, a second horizontal section and a fourth spiral section which are connected end to end, the plane of the first horizontal section and the plane of the second horizontal section are perpendicular to the axial direction of the second rotating shaft, and when the first sliding block is located at the first horizontal section, the third spiral section, the second horizontal section and the fourth spiral section, the second sliding block is located at the second horizontal section, the fourth spiral section, the first horizontal section and the third spiral section.

In one embodiment, the first walking foot is switched from the walking foot to the supporting foot when the third slider is located in the third spiral segment, and the first walking foot is switched from the supporting foot to the walking foot when the first slider is located in the fourth spiral segment.

In one embodiment, the transmission mechanism further comprises a transmission member, the transmission member comprising a first connecting portion and a second connecting portion, the first connecting portion being in driving engagement with the transverse transmission assembly, the second connecting portion being in driving engagement with the longitudinal transmission assembly, the transmission member being adapted to form a transmission with the driving mechanism.

In one embodiment, the transverse transmission assembly includes a first gear in engagement with the first coupling portion and the longitudinal transmission assembly includes a second gear in engagement with the second coupling portion.

In one embodiment, the first gear has a gear ratio with the first connection and the second gear has a gear ratio with the second connection.

In one embodiment, the transmission mechanism further comprises a power shaft for driving the transmission member in rotation.

In one embodiment, the power shaft is in transmission connection with the second connecting portion of the transmission member, and the power shaft and the longitudinal transmission assembly are located on two opposite sides of the transmission member.

In a second aspect, the present application further provides a robot, which includes a body, a driving mechanism, and one or more of the robot traveling mechanisms described above, wherein the robot traveling mechanism is mounted on the body, and the driving mechanism is configured to drive the transmission mechanism, so that the first traveling foot and the second traveling foot alternately travel.

In one embodiment, the number of the robot traveling mechanisms is even, and the even number of the robot traveling mechanisms are arranged in a pairwise symmetrical manner.

Compared with the prior art, the robot walking mechanism and the robot provided by the application have the advantages that each walking mechanism comprises the transverse rail and the longitudinal rail by arranging the first walking mechanism and the second walking mechanism, the first walking foot and the second walking foot realize alternate walking by means of the transverse rails and the longitudinal rails without arranging joints, the load capacity of the robot walking mechanism is greatly improved, and the load capacity of the robot is correspondingly improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a robot walking mechanism provided in an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a second traveling mechanism in the robot traveling mechanism provided in the embodiment of the present application.

Fig. 3 is a schematic structural diagram of a first traveling mechanism in a robot traveling mechanism provided in an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a transmission assembly in a robot walking mechanism provided in an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a first annular chute in a robot traveling mechanism provided in an embodiment of the present application.

Fig. 6 is a schematic structural diagram of a first annular chute in a robot traveling mechanism provided in an embodiment of the present application.

Fig. 7 is a schematic diagram of a movement step of a first traveling mechanism of a robot traveling mechanism according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a robot provided in an embodiment of the present application.

Detailed Description

To facilitate an understanding of the embodiments of the present application, the embodiments of the present application will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the examples of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Referring to fig. 1 and 2 together, the present embodiment provides a robot traveling mechanism 10, and the robot traveling mechanism 10 includes a frame 100, a first traveling mechanism 200, a second traveling mechanism 300, and a transmission mechanism 400. The frame 100 is used to mount the first traveling mechanism 200 and the second traveling mechanism 300. The first walking mechanism 200 comprises a first walking foot 210, a first transverse rail 220 and a first longitudinal rail 230, the first transverse rail 220 and the first longitudinal rail 230 are arranged on the rack 100, and the first walking foot 210 is slidably arranged on the first transverse rail 220 and the first longitudinal rail 230; the second walking mechanism 300 is located at the other side of the frame 100 opposite to the first walking mechanism 200, the second walking mechanism 300 has a similar structure to the first walking mechanism 200, and likewise, the second walking mechanism 300 includes a second walking foot 310, a second transverse rail 320 and a second longitudinal rail 330; the transmission mechanism 400 includes a transverse transmission assembly 410 and a longitudinal transmission assembly 420, and the transmission mechanism 400 drives the first traveling mechanism 200 and the second traveling mechanism 300 to alternately travel.

Specifically, referring again to fig. 1, the frame 100 is a substantially rectangular frame structure, and a mounting cavity 110 is formed inside the frame.

In other embodiments, the rack 100 may be configured in other configurations.

In some embodiments, referring to fig. 3, the first walking mechanism 200 includes a first walking foot 210, a first transverse rail 220 and a first longitudinal rail 230, and the first transverse rail 220 and the first longitudinal rail 230 are disposed on the rack 100 and fixed to the rack 100. The first walking foot 210 is slidably disposed on the first transverse rail 220 and the first longitudinal rail 230. It is understood that when the robot walking mechanism 10 is placed on a horizontal plane, the first transverse rail 220 extends substantially along a horizontal direction, the first longitudinal rail 230 extends substantially along a vertical direction, the first longitudinal rail 230 can drive the first walking foot 210 to move along the vertical direction, so as to lift or lower the first walking foot 210, and the first transverse rail 220 can drive the first walking foot 210 to move along the horizontal direction, so as to advance or retreat the first walking foot 210.

The first longitudinal rail 230 enables the linear reciprocating motion of the first walking foot 210 in the vertical direction. Specifically, the first longitudinal rail 230 is mounted on the frame 100, the first longitudinal rail 230 includes a first longitudinal sliding slot 231 and a first longitudinal sliding block 232, the first longitudinal sliding slot 231 is mounted on the frame 100, fixed to the frame 100, and extends along the longitudinal direction, the first longitudinal sliding block 232 is slidably mounted on the first longitudinal sliding slot 231, and the first longitudinal sliding block 232 is slidably embedded in the first longitudinal sliding slot 231. The first longitudinal slider 232 may reciprocate in a vertical direction along the first longitudinal sliding groove 231. Since the first longitudinal sliding slot 231 is fixed to the frame 100 and does not move relative to the frame 100, when the first longitudinal sliding block 232 moves along the first longitudinal sliding slot 231, a relative movement is formed between the first longitudinal sliding block 232 and the frame 100. In the present embodiment, as an example, the first traveling mechanism 200 includes two first longitudinal rails 230, and the two first longitudinal rails 230 are disposed in parallel on the same side of the rack 100 and spaced apart from each other. The two spaced first longitudinal rails 230 are beneficial for bearing larger moment and have better stability. Of course, in other embodiments, the number of the first longitudinal rails 230 may be one or more than two.

The first transverse rail 220 enables the first walking foot 210 to linearly reciprocate in the transverse direction. In some embodiments, the first transverse rail 220 is located on the same side of the rack 100 as the first longitudinal rail 230. The first transverse rail 220 includes a first transverse sliding slot 221 and a first transverse sliding block 222, the first transverse sliding slot 221 is disposed on the frame 100 and extends in a transverse direction, the first transverse sliding block 222 is slidably disposed on the first transverse sliding slot 221, and specifically, the first transverse sliding slot 221 is embedded in the first transverse sliding block 222. The first lateral slider 222 may reciprocate laterally along the first lateral sliding groove 221. In the present embodiment, as an example, the first traveling mechanism 200 includes two first transverse rails 220, and the two first transverse rails 220 are parallel to each other and disposed on the same side of the rack 100 at a certain distance. And the extending direction of the two first transverse rails 220 and the extending direction of the two longitudinal rails are substantially perpendicular to each other. The two parallel and spaced first transverse rails 220 are beneficial for bearing larger moment and have better stability. Of course, in other embodiments, the number of the first longitudinal rails 230 may be one or more than two.

The first walking foot 210 is slidably disposed on the first transverse rail 220, so as to realize the transverse movement of the first walking foot 210. The first walking foot 210 is also slidably disposed on the first longitudinal rail 230 to enable longitudinal movement of the first walking foot 210. In some embodiments, referring again to fig. 3, the first walking foot 210 includes a first walking foot 211, a first transverse rail 240 and a first longitudinal rail 250, wherein the first transverse rail 240 is disposed along the transverse direction and is substantially parallel to the first transverse rail 220, and the first longitudinal rail 250 is disposed along the longitudinal direction and is substantially parallel to the first longitudinal rail 230. The first longitudinal slide rail 250 can slide along the first transverse rail 220. The first step foot 211 is slidably disposed on the first longitudinal sliding rail 250 and the first transverse sliding rail 240, such that the first step foot 211 can slide in the longitudinal direction and in the transverse direction. The first lateral sliding rail 240 is slidably disposed on the first longitudinal rail 230, such that the first lateral sliding rail 240 can slide along the longitudinal direction, and the first longitudinal sliding rail 250 is slidably disposed on the first lateral sliding rail 240. When the first step foot 211 needs to be raised or lowered, the transmission mechanism 400 drives the first transverse sliding rail 240 to slide along the first longitudinal rail 230, and at this time, the first transverse sliding rail 240 drives the first step foot 211 to move along the first longitudinal sliding rail 250, so that the first step foot 211 slides along the longitudinal direction to be raised or lowered. When the first step foot 211 needs to advance or retreat along the transverse direction, the transmission mechanism 400 drives the first step foot 211 to further drive the first longitudinal slide rail 250 to move along the first transverse rail 220, so as to advance or retreat, and at this time, the first longitudinal slide rail 250 simultaneously slides along the first transverse slide rail 240, so that interference with the first transverse slide rail 240 cannot occur.

The first step foot 211 is substantially cylindrical, and a surface of the first step foot 211 for contacting with the ground may be, for example, disc-shaped to increase a contact area and improve stability.

Referring to fig. 2 again, in some embodiments, the second traveling mechanism 300 is disposed on the frame 100, and the first traveling mechanism 200 and the second traveling mechanism 300 are respectively disposed on two opposite sides of the frame 100. The second walking mechanism 300 includes a second walking foot 310, a second transverse rail 320, and a second longitudinal rail 3303, and the second transverse rail 320 and the second longitudinal rail 330 are disposed on the frame 100. The second walking foot 310 is slidably disposed on the second transverse rail 320 and the second longitudinal rail 330. It can be understood that when the robot walking mechanism 10 is placed on a horizontal plane, the second transverse rail 320 extends substantially along the horizontal direction, the second longitudinal rail 330 extends substantially along the vertical direction, the second longitudinal rail 330 drives the second walking foot 310 to move along the vertical direction, so as to lift or lower the second walking foot 310, and the second transverse rail 320 drives the second walking foot 310 to move along the horizontal direction, so as to advance or retreat the second walking foot 310. In this embodiment, the second traveling mechanism 300 has the same structure as the first traveling mechanism 200, and the description thereof is omitted, and the same portions refer to the foregoing description.

In some embodiments, referring to fig. 4, the transmission mechanism 400 includes a transverse transmission component 410 and a longitudinal transmission component 420, the transmission mechanism 400 is disposed on the frame, and the transmission mechanism is located between the first traveling mechanism 200 and the second traveling mechanism 300 in this embodiment. The longitudinal transmission assembly 420 connects the first walking foot 210 and the second walking foot 310, so that the first walking foot 210 and the second walking foot 310 alternately ascend along the first longitudinal rail 230 and the second longitudinal rail 330 as walking feet or descend as supporting feet, wherein the supporting feet refer to: the foothold for supporting the robot walking mechanism 10 does not move by itself with respect to the support surface. The walking foot means that: the step foot for supporting the walking of the robot walking mechanism 10 is displaced relative to the support surface.

Specifically, the transverse transmission assembly 410 connects the first walking foot 210 and the second walking foot 310 to slidably advance the first walking foot 210 as a walking foot along the first transverse rail 220 or slidably advance the second walking foot 310 as a walking foot along the second transverse rail 320. That is, when the first walking foot 210 is a walking foot, the transverse transmission assembly 410 can drive the first walking foot 210 to slide along the first transverse track 220, and when the second walking foot 310 is a walking foot, the transverse transmission assembly 410 can drive the second walking foot 310 to slide along the second transverse track 320.

Referring to fig. 3 and 4, in some embodiments, the transverse transmission assembly 410 includes a first rotating shaft 411, a first cam 412, a first slider 413, and a second slider 423, the first rotating shaft 411 can drive the first cam 412 to rotate, in this embodiment, a rotating axis of the first rotating shaft 411 is located in a horizontal direction, and the first rotating shaft 411 is mounted on the frame 100 through a bearing.

Specifically, the first rotating shaft 411 is disposed in a transverse direction and located between the first transverse rail 220 and the second transverse rail 320, one end of the first rotating shaft 411 is rotatably disposed on the frame 100, and the other end of the first rotating shaft 411 can be in transmission with a driving mechanism, such as a motor, etc., so that when the first rotating shaft 411 rotates, the first cam 412 is driven to rotate.

The first cam 412 is wound around the first rotating shaft 411 and is fixedly connected to the first rotating shaft 411. The first cam 412 is provided with a first annular sliding groove 4110, and the first annular sliding groove 4110 is substantially located in the middle of the first cam 412. The first annular sliding groove 4110 is disposed obliquely with respect to the axis of the first rotating shaft 411, that is, a projection of the first annular sliding groove 4110 on a plane where the axis of the first rotating shaft 411 is located forms a figure, which is not a line segment, but a ring-shaped pattern.

The first slider 413 is slidably embedded in the first annular sliding groove 4110, and the first slider 413 is fixedly connected to the first traveling mechanism 200, specifically, the first slider 413 is connected to the first step 211 of the first traveling mechanism 200, when the first rotating shaft 411 rotates, the first cam 421 correspondingly rotates, so that the first slider 413 slides along the extending direction of the first annular sliding groove 4110, and the first step 210 slidably connected to the first transverse rail 220 is driven to move, thereby achieving forward or backward movement. In some embodiments, referring to fig. 5 (a in fig. 5 shows a schematic structure diagram of the first cam 412 at a first viewing angle, and b shows a schematic structure diagram of the first cam 412 at a second viewing angle), the first annular chute 4110 includes a first vertical section 4111, a first spiral section 4112, a second vertical section 4113, and a second spiral section 4114 connected end to end in sequence, wherein a plane of the first vertical section 4111 and a plane of the second vertical section 4113 are perpendicular to an axial direction of the first rotating shaft 411.

In the present embodiment, as an example, when the first slider 413 is located at the first vertical section 4111, the first step foot 211 connected to the first slider 413 is switched from the walking foot to the supporting foot. When the first slider 413 slides into the first spiral section 4112 from the first vertical section 4111, the first step 211 is a supporting foot, and moves laterally under the driving of the first slider 413, and when the first slider 413 is located at the second vertical section 4113, the first step 211 is lifted up as a walking foot. When the first slider 413 is located on the second spiral segment 4114, the first step leg 211 moves laterally under the driving of the first slider 413. This is repeated, thereby realizing walking of the first-step foot 211.

It is understood that the second slider 423 and the first slider 413 have the same structure and installation manner, and the description thereof is omitted here, please refer to the description of the first slider 413. Meanwhile, when the second slider 423 is located in the first vertical section 4111, the second walking foot 310 descends and is switched to be a supporting foot, when the second slider 423 is located in the first spiral section 4112, the second walking foot 310 is driven by the slider to move transversely, and when the second slider 423 is located in the second vertical section, the second walking foot 310 is lifted, namely, the walking foot is converted into a walking foot. So as to realize the walking of the second walking foot 310.

To achieve the alternating advancement of the first and

second travel mechanisms

200, 300, the first and

second travel feet

210, 310 alternating as support or travel feet, in some embodiments, the second slider 423 is located in the second vertical section 4113 when the first slider 413 is located in the first vertical section 4111; when the first slider 413 is located at the first spiral segment 4112, the second slider 423 is located at the second spiral segment 4114; when the first slider 413 is located at the second vertical section 4113, the second slider 423 is located at the first vertical section 4111. When the first slider 413 is located at the second spiral segment 4114, the second slider 423 is located at the first spiral segment 4112. Thus, the first slider 413 and the second slider 423 are always located at opposite positions on the first annular sliding groove 4110 during movement, that is, the phase difference between the first slider 413 and the second slider 423 is 180 degrees (the phase of the first annular sliding groove 4110 is 360 °). Thus, when the first walking foot 210 is the supporting foot, the second walking foot 310 is the walking foot, and when the first walking foot 210 is the walking foot, the second walking foot is the supporting foot 310. In this way, the alternating support and advance of the first walking foot 210 and the second walking foot 310 is achieved, thereby achieving the motion of the robot walking mechanism 10.

To achieve the alternate ascending or descending of the first and second traveling

mechanisms

200 and 300, in some embodiments, referring to fig. 4 again, the longitudinal transmission assembly 420 includes a second rotating shaft 421, a second cam 422, a third sliding block 414, and a fourth sliding block 424. The second shaft 421 can drive the second cam 422 to rotate, and the rotation axis of the second shaft 421 is located in the longitudinal direction.

Specifically, the second rotating shaft 421 is disposed in a longitudinal direction and is located between the first longitudinal rail 230 and the second longitudinal rail 330, one end of the second rotating shaft 421 is rotatably disposed on the frame 100, and the other end of the second rotating shaft can be in transmission with a driving mechanism, which can be a motor, and when the second rotating shaft 421 rotates, the second cam 422 is driven to rotate.

The second cam 422 is wound on the second rotating shaft 421 and is fixedly connected to the second rotating shaft 421. The second cam 422 is provided with a second annular chute 4220, and the second annular chute 4220 is approximately positioned in the middle of the second cam 422. The second ring-shaped sliding groove 4220 is disposed obliquely with respect to the axis of the second rotating shaft 421, that is, the projection of the second ring-shaped sliding groove 4220 on the plane of the axis of the second rotating shaft 421 forms a figure which is not a line segment, but is a ring-shaped pattern.

The third slider 414 is slidably embedded in the second annular sliding groove 4220, and the third slider 414 is connected to the first transverse sliding rail 240, specifically, the third slider 414 is connected to the first longitudinal rail 230 of the first travel mechanism 200, when the second rotating shaft 421 rotates, the second cam 422 correspondingly rotates, so that the third slider 414 slides along the extending direction of the second annular sliding groove 4220, and further drives the first travel foot 210 slidably connected to the first longitudinal rail 230 to move, thereby realizing the ascending or descending of the first travel foot 210. In some embodiments, referring to fig. 6 (in fig. 6, c shows a structural schematic view of the second cam 4220 at a first view angle, d shows a structural schematic view of the second cam 4220 at a second view angle), the second annular chute 4220 comprises a first horizontal segment 4221, a third spiral segment 4223, a second horizontal segment 4222 and a fourth spiral segment 4224 which are sequentially connected end to end, and a plane of the first horizontal segment 4221 and a plane of the second horizontal segment 4222 are substantially perpendicular to an axial direction of the second rotating shaft 421.

In the present embodiment, as an example, when the third slider 414 is located at the first horizontal section 4221, the first step 211 of the first walking foot 210 to which the third slider 414 is connected serves as a support foot. When the third slider 414 slides from the first horizontal segment 4221 into the fourth spiral segment 4224, the first step foot 211 is switched from the supporting foot to the walking foot, specifically, when the third slider 414 is located in the third spiral segment 4223, the first step foot 211 descends and is switched to the supporting foot, and when the third slider 414 is located in the second horizontal segment 4222, the first step foot 211 does not move longitudinally with the frame 10. The above-mentioned steps are repeated, so that the first step foot 211 is ascended and descended.

It is understood that the fourth slider 424 and the third slider 414 have the same structure and installation manner, and the description thereof is omitted, please refer to the description of the third slider 414. Meanwhile, when the fourth slider 424 is located at the first horizontal segment 4221, the second walking foot 310 is a supporting foot, when the fourth slider 424 is located at the fourth spiral segment 4224, the second walking foot 310 is lifted and switched to a walking foot, when the fourth slider 424 is located at the second horizontal segment 4222, the second walking foot 424 only moves laterally, and when the fourth slider 424 is located at the third spiral segment 4223, the second walking foot 310 is lowered and switched to a supporting foot. The above steps are repeated, so that the spaced lifting and walking of the second walking foot 310 are realized.

To achieve the alternating advancement of the first and

second travel mechanisms

200, 300, the first and

second travel feet

210, 310 are alternating support feet, and in some embodiments, when the third slider 414 is in the first level segment 4221, the fourth slider 424 is in the second level segment 4222; when the third slider 414 is located on the third spiral segment 4223, the fourth slider 424 is located on the fourth spiral segment 4224; when the third slider 414 is located at the second horizontal segment 4222, the fourth slider 424 is located at the first horizontal segment 4221. When the third slider 414 is positioned on the fourth helical segment 4224, the fourth slider 424 is positioned on the third helical segment 4223. Thus, the third slider 414 and the fourth slider 424 are located at positions opposite to each other on the second ring link 4220 during movement, that is, the third slider 414 and the fourth slider 424 are 180 degrees out of phase (in terms of 360 ° phase of the second ring link 4220). Thus, when the first walking foot 210 is a supporting foot, the second walking foot 310 is a walking foot, and when the first walking foot 210 is a walking foot, the second walking foot 310 is a supporting foot. In this way, the first walking foot 210 and the second walking foot 310 are alternately raised and lowered, thereby realizing the movement of the robot walking mechanism 10.

When the first slider 413 is located at the first spiral segment 4112 and the third slider 414 is located at the first horizontal segment 4221, the first walking foot 210 performs a lateral motion as a supporting foot under the action of the first slider 413 and the third slider 414. At this time, the second slider 423 is located at the second spiral segment 4114, and the fourth slider 424 is located at the second horizontal segment 4222, and at this time, the second walking foot 310 performs a lateral movement as a walking foot by the second slider 423 and the fourth slider 424.

When the first slider 413 is located at the second vertical section 4113, the third slider 414 is located at the fourth spiral section 4224, and at this time, under the action of the first slider 413 and the third slider 414, the first walking foot 210 is lifted, and is switched to be a walking foot. At this time, the second slider 423 is located in the first vertical section 4111, the fourth slider 424 is located in the third spiral section 4223, and at this time, under the action of the second slider 423 and the fourth slider 424, the second walking foot 310 descends and is switched to be a supporting foot.

When the first slider 413 is located at the second spiral segment 4114 and the third slider 414 is located at the second horizontal segment 4222, the first walking foot 210 performs a lateral motion under the action of the first slider 413 and the third slider 414. At this time, the second slider 423 is located at the first spiral segment 4112, and the fourth slider 424 is located at the first horizontal segment 4221, and at this time, the second walking foot 310 performs a lateral motion under the actions of the second slider 423 and the fourth slider 424.

When the first slider 413 is located at the first vertical section 4111, the third slider 414 is located at the third spiral section 4223, and at this time, under the action of the first slider 413 and the third slider 414, the first walking foot 210 descends and is switched to be the supporting foot. At this time, the second slider 423 is located in the second vertical section 4113, the fourth slider 424 is located in the fourth spiral section 4224, and at this time, the second walking foot 310 is lifted under the action of the second slider 423 and the fourth slider 424, and is switched to be a walking foot.

By arranging the transverse transmission assembly 410 and the longitudinal transmission assembly 420, the transverse and longitudinal movements of the first walking foot 210 and the second walking foot 310 are respectively driven, so that the first walking foot 210 and the second walking foot 310 are alternately lifted and advanced, and the joint-free self-track-laying self-frame bridge type movement of the robot walking mechanism 10 is realized.

In some embodiments, the transmission mechanism 400 may be provided with a plurality of power input mechanisms to drive the first rotating shaft 411 and the second rotating shaft 421 respectively.

In this embodiment, referring again to fig. 4, in order to transmit power to the transverse transmission assembly 410 and the longitudinal transmission assembly 420 respectively, so as to achieve synchronous movement of the first cam 412 and the second cam 422 with only one power input, the transmission mechanism 400 further comprises a transmission member 430, the transmission member 430 is used for transmission with the driving mechanism, and the transmission member 430 is connected between the transverse transmission assembly 410 and the longitudinal transmission assembly 420. The transmission member 430 includes a first connection portion 431 and a second connection portion 432 rotatably disposed with each other, and the first connection portion 431 is in transmission engagement with the transverse transmission assembly 410 to transmit power to the transverse transmission assembly 410. The second connecting portion 432 is in transmission fit with the longitudinal transmission assembly 420, and transmits power to the longitudinal transmission assembly 420. The first connecting portion 431 and the second connecting portion 432 can be two coaxially arranged gears, and the simultaneous rotation of the first connecting portion 431 and the second connecting portion 432 can be realized by using the same rotating shaft, so that the transmission efficiency can be improved.

In other embodiments, the transmission member 430 may not be provided, but the output shaft of the driving mechanism is directly in transmission fit with the first rotating shaft 411 and the second rotating shaft 421, and a reasonable transmission ratio is set, so as to realize the input of power.

In some embodiments, since the first rotating shaft 411 and the second rotating shaft 421 are spatially perpendicular to each other, in order to smoothly transmit the power of the transmission member 430 to the first rotating shaft 411 and the second rotating shaft 421, in some embodiments, the transverse transmission assembly 410 may further include a first gear 413, the first gear 413 is disposed on the first rotating shaft 411, and the first gear 413 is engaged with the first connection portion 431 to realize transmission, so as to transmit the power to the first rotating shaft 411. In this embodiment, as an example, the first gear 413 may be a bevel gear, and in this case, the first connecting portion 431 is also a bevel gear, so that the axes of the first rotating shaft 411 and the transmission member 430 may be perpendicular to each other. Similarly, the longitudinal transmission assembly 420 may further include a second gear 423, the second gear 423 is disposed on the second rotating shaft 421, and the second gear 423 is engaged with the second connecting portion 432, so as to transmit power to the second rotating shaft 421. The rotational axis of the second gear 423 and the rotational axis of the transmission member 430 may be arranged in parallel. And the second gear 423 and the second connecting part 432 can be helical gears which have the advantages of good meshing performance, large contact ratio and the like during transmission.

In other embodiments, the gear forms of the first and

second gears

413 and 423 and the first and

second connection portions

431 and 432 may have other forms. In other embodiments, the rotation axis of the second shaft 421 can be perpendicular to the rotation axis of the transmission member 430, and the rotation axis of the first shaft 411 is parallel to the rotation axis of the transmission member 430, so that the transmission of power can be achieved.

In some embodiments, to transfer power to transmission 430, transfer mechanism 400 may further include a power shaft 440, and may further optionally include a power gear 450. One end of the power shaft 440 is connected to the output shaft of the driving member, and the other end is connected to the driving member 430, so as to drive the driving member 430 to rotate. The axis of rotation of power shaft 440 may be parallel to the axis of rotation of drive member 430, and power shaft 440 and longitudinal drive assembly 420 are located on opposite sides of drive member 430, with the opposite sides being connected by drive member 430 for power input. The power shaft 440 is connected to the second connecting portion 432 via a power gear 450, and the power shaft 440 transmits the power of the power shaft 440 to the transmission member 430. The power gear 450 may also be a helical gear.

In other embodiments, power gear 450 may not be provided, and power shaft 440 may be directly connected to transmission member 430, which may also provide power input.

In order to realize the arrangement of the axis of the power input shaft at the center of the first and second traveling

mechanisms

200 and 300 and to improve the stability of the first and second traveling

feet

210 and 310 during traveling, the gear ratios of the first gear 413 and the first connection portion 431 and the second gear 423 and the second connection portion 432 may be adjusted. The center here means a point on a line of symmetry of the first travel mechanism 200 and the second travel mechanism 300. In the present embodiment, as an example, the transmission ratio of each group of gears may be: second connection portion 432: in order to completely synchronize the rotation of the first cam 412 and the second cam 422, the first connecting portion 431: first gear 413: 20: 33.

It will be appreciated that in other embodiments, the gear ratios of the sets of gears may be in other forms, and are not limited to the gear ratios provided by the present embodiment.

For convenience of describing the walking mode of the robot walking mechanism 10, fig. 7 shows the moving steps of the first walking mechanism 200, since the phase difference between the first slider 413 and the second slider 423 in the first annular chute 4110 is 180 °, and since the phase difference between the third slider 414 and the fourth slider 424 in the second annular chute 4220 is 180 °, the phase difference between the second walking mechanism 300 and the first walking mechanism 200 is 180 °, and the moving state of the second walking mechanism 300 can be easily obtained by comparing the moving state of the first walking mechanism 200. (wherein a denotes the first longitudinal rail 230, b denotes the frame 100, c denotes the first transverse rail 220, d denotes the first walking foot 210):

(1) stage (2):

the first walking foot 210 is supported on the supporting surface, and the second walking foot 310, as a walking foot, slides on the second transverse rail 320 to travel forward due to the forward sliding of the frame 100 relative to the first walking foot 210 by the driving assembly 400.

(2) Stage (2):

under the action of the transmission assembly 400, the frame 100 continues to slide forward relative to the first walking foot 210 to reach the foremost end of the first transverse rail 220, and the first walking foot 210 is switched to be a walking foot. At this time, the second walking foot 220 is about to be lowered and switched to the supporting foot by the transmission assembly 400.

(3) Stage (2):

the first walking foot 210 is lifted by the driving mechanism 400, and is switched to a walking foot, and slides forward relative to the machine body 100. At this time, the second walking foot 310 serves as a support foot, and the frame 100 slides forward relative to the second walking foot 310.

(4) Stage (2):

the first walking foot 210 continues to slide forward relative to the frame 100 and begins to descend under the influence of the first longitudinal rail 230. The second walking foot 310 is still the supporting foot, and the frame 100 continues to slide forward relative to the second walking foot 310.

(5) Stage (2):

the first walking foot 210 is about to descend to the support surface, at which time the second walking foot 310 is ready to begin lifting. Then, the first walking foot 210 is lowered to the support surface and switched to the support foot, and the second walking foot 310 is separated from the support surface and switched to the walking foot. And (4) returning to the stage (1) again.

The processes (1) to (5) are repeated, and the robot traveling mechanism 10 travels in a self-track-laying manner due to the alternate movement of the first traveling mechanism 200 and the second traveling mechanism 300 on the same robot traveling mechanism 10, which are 180 degrees apart in phase.

In summary, the robot walking mechanism 10 provided in the embodiment of the present application, by providing the first cam 412 and the second cam 422, the alternating walking of the first walking foot 210 and the second walking foot 310 is realized, the walking of the robot walking mechanism 10 does not require the flexion and extension of the joints, and the walking of the robot walking mechanism 10 is in sliding fit, so that the energy consumption is very low when the first walking mechanism 200 and the second walking mechanism 300 move.

Referring to fig. 4, the present embodiment further provides a robot 1000, and the robot 100 includes a body 20, a driving mechanism 30, and one or more robot traveling mechanisms 10 as described above. The robot traveling mechanism 10 is attached to the body 20, and performs traveling and supporting functions of the robot 1000. The driving mechanism 30 is also disposed on the body 20 and provides a power source for the robot walking mechanism 10 to alternately walk the first walking foot 210 and the second walking foot 220.

In this embodiment, the body 20 is a substantially rectangular frame structure, and includes a mounting plate 22 and a link frame 21. The robot traveling mechanism 10 is provided on the mounting plate 22, and the link frame 21 is provided on the other side of the mounting plate 22 with respect to the robot traveling mechanism 10.

In some embodiments, in order to make the robot 1000 have a smoother motion, the robot 1000 in this embodiment includes an even number of the robot traveling mechanisms 10, the even number of the robot traveling mechanisms 10 are symmetrically arranged two by two and located on two opposite sides of the body 20, and each side includes the same number of the robot traveling mechanisms 10. Power shaft 440 extends from mounting plate 22 and is located within linkage yoke 21. In the present embodiment, the robot 1000 includes four sets of the robot traveling mechanisms 10 as an example, and the four sets of the robot traveling mechanisms 10 are arranged two by two symmetrically. Since each set of the robot walking mechanism 10 includes the first walking foot 210 and the second walking foot 310, the robot 1000 is an eight-foot robot.

In other embodiments, the number of the robot traveling mechanism 10 may be two, six, or other numbers. In other embodiments, the number of the robot traveling mechanism 10 may be an odd number.

The driving mechanism 30 may include a driving motor 31 and a driving link 32, and the driving motor 31 provides power to the entire apparatus. The driving motor 31 may be provided at the same side of the mounting plate 22 as the robot traveling mechanism 10. The driving mechanism 30 may include only one driving motor 31, and the four groups of the robot traveling mechanisms 10 are driven synchronously by using one driving television 31. One end of the driving link 32 is connected to the driving motor 31, and the other end is connected to the power shaft 440, thereby realizing power transmission.

In other embodiments, two or more driving motors 31 may be provided to drive four sets of the robot traveling mechanisms 10 simultaneously.

In some embodiments, to implement the steering function of the robot 1000, the robot 1000 may further include a steering mechanism (not shown in the figures) for implementing steering of the robot 1000.

In summary, the robot 1000 provided by the present application is provided with the robot walking mechanism 10, and the first walking foot 210 and the second walking foot 310 of the robot walking mechanism 10 only move in the transverse direction and the longitudinal direction, which is a walking manner without depending on joint flexion and extension, so that the robot 1000 has a larger bearing capacity and better stability, and meanwhile, the friction force only needed to be overcome during movement is very small, and the energy consumption is very low. In addition, the movement of the robot walking mechanism 10 is realized by means of the alternate walking of the first walking foot 210 and the second walking foot 310, so that the walking of the robot 1000 is realized, which is equivalent to self-track laying and self-bridging, and the robot 1000 has better obstacle crossing capability.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A robot traveling mechanism characterized by comprising:

a frame;

the first walking mechanism comprises a first walking foot, a first transverse rail and a first longitudinal rail, the first transverse rail and the first longitudinal rail are arranged on the rack, and the first walking foot is slidably arranged on the first transverse rail and the first longitudinal rail;

the second walking mechanism comprises a second walking foot, a second transverse rail and a second longitudinal rail, the second transverse rail and the second longitudinal rail are arranged on the rack, and the second walking foot is slidably arranged on the second transverse rail and the second longitudinal rail; and

the transmission mechanism comprises a transverse transmission assembly and a longitudinal transmission assembly, the longitudinal transmission assembly is connected with the first walking foot and the second walking foot so that the first walking foot and the second walking foot respectively ascend along a first longitudinal rail and a second longitudinal rail alternately to serve as walking feet or descend to serve as supporting feet, and the transverse transmission assembly is connected with the first walking foot and the second walking foot so that the first walking foot serving as the walking feet slides along a first transverse rail to advance or the second walking foot serving as the walking feet slides along a second transverse rail to advance.

2. The robot walking mechanism of claim 1, wherein the first walking foot comprises a first walking foot, a first transverse rail and a first longitudinal rail, the first walking foot is slidably disposed on the first longitudinal rail and the first transverse rail, the first transverse rail and the first longitudinal rail are slidably disposed on each other, the first longitudinal rail is slidably disposed on the first transverse rail, and the first transverse rail is slidably disposed on the first longitudinal rail.

3. The robotic walking mechanism of claim 1, wherein the longitudinal transmission assembly connects the first longitudinal rail and the second longitudinal rail such that the first walking foot and the second walking foot alternately ascend as walking feet or descend as supporting feet along the first longitudinal rail and the second longitudinal rail, respectively.

4. The robot walking mechanism of claim 1,

the transverse transmission assembly comprises a first rotating shaft, a first cam, a first sliding block and a second sliding block, the first rotating shaft is arranged along transverse rotation and located between the first transverse track and the second transverse track, the first cam is arranged around the first rotating shaft, a first annular sliding groove is formed in the first cam, the first annular sliding groove is obliquely arranged relative to the axis of the first rotating shaft, the first sliding block is connected with the first walking foot and slidably arranged in the first annular sliding groove, and the second sliding block is connected with the second walking foot and slidably arranged in the first annular sliding groove.

5. The robot walking mechanism of claim 4, wherein the first annular chute comprises a first vertical section, a first spiral section, a second vertical section and a second spiral section which are connected end to end, the plane of the first vertical section and the plane of the second vertical section are perpendicular to the axial direction of the first rotating shaft, and when the first slider is located in the first vertical section, the first spiral section, the second vertical section and the second spiral section, the second slider is located in the second vertical section, the second spiral section, the first vertical section and the first spiral section.

6. The robot walking mechanism of claim 5, wherein the first walking foot is switched from a walking foot to a supporting foot when the first slider is located in the first vertical section, and wherein the first walking foot is switched from a supporting foot to a walking foot when the first slider is located in the second vertical section.

7. The robot walking mechanism according to claim 1, wherein the longitudinal transmission assembly includes a second rotating shaft, a second cam, a third slider and a fourth slider, the second rotating shaft is rotatably disposed along a longitudinal direction and is located between the first longitudinal rail and the second longitudinal rail, the second cam is wound around the second rotating shaft, a second annular sliding groove is formed in the second cam, the second annular sliding groove is disposed in an inclined manner with respect to an axis of the second rotating shaft, the third slider is connected to the first walking foot and is slidably disposed in the second annular sliding groove, and the fourth slider is connected to the second walking foot and is slidably disposed in the second annular sliding groove.

8. The robot walking mechanism of claim 7, wherein the second annular chute comprises a first horizontal section, a third spiral section, a second horizontal section and a fourth spiral section which are connected end to end, the plane of the first horizontal section and the plane of the second horizontal section are perpendicular to the axial direction of the second rotating shaft, and when the first slider is located at the first horizontal section, the third spiral section, the second horizontal section and the fourth spiral section, the second slider is located at the second horizontal section, the fourth spiral section, the first horizontal section and the third spiral section.

9. The robot walking mechanism of claim 8, wherein the first walking foot is switched from a walking foot to a supporting foot when the third slider is located in the third spiral section, and wherein the first walking foot is switched from a supporting foot to a walking foot when the first slider is located in the fourth spiral section.

10. A robotic walking mechanism according to any of claims 1-9, wherein the transmission mechanism further comprises a transmission member, the transmission member comprising a first connecting portion and a second connecting portion, the first connecting portion being in driving engagement with the transverse transmission member and the second connecting portion being in driving engagement with the longitudinal transmission member, the transmission member being adapted to form a driving connection with a driving mechanism.

11. The robotic walking mechanism of claim 10, wherein the transverse transmission assembly comprises a first gear that meshes with the first coupling portion, and the longitudinal transmission assembly comprises a second gear that meshes with the second coupling portion.

12. The robot walking mechanism of claim 11, wherein a gear ratio of the first gear to the first connection is 20:33, a gear ratio of the second gear to the second connection is 20: 33.

13. the robotic walking mechanism of claim 10, wherein the transmission further comprises a power shaft for driving the transmission to rotate.

14. The robotic walking mechanism of claim 13, wherein the power shaft is drivingly connected to the second connecting portion of the driving member, and the power shaft and the longitudinal drive assembly are located on opposite sides of the driving member.

15. A robot, characterized in that the robot comprises a body, a driving mechanism and one or more robot running mechanisms according to claims 1-14, the robot running mechanism being mounted to the body, the driving mechanism being adapted to drive the transmission mechanism to cause the first running foot and the second running foot to run alternately.

16. The robot of claim 15, wherein the number of said robot traveling mechanisms is an even number, and the even number of said robot traveling mechanisms are arranged two by two symmetrically.