Wheel-foot type robot leg structure based on incomplete gear and wheel-foot type robot

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Wheel-foot type robot leg structure based on incomplete gear and wheel-foot type robot

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CHENG ZHIYU / CHEN MINGFANG / WANG SEN / ZHANG YONGXIA / YAO GUOYI / ZHU ENXIAO / MO XIANG / HU KANGKANG / CHEN ZHONGPING / HE CHAOYIN / ... [more]

Abstract

The invention discloses a wheel-foot type robot leg structure based on an incomplete gear and a wheel-foot type robot. The leg structure comprises a motor module, a suspension mechanism, a wheel-foot power switching mechanism, a wheel type mechanism, a shank and a thigh, and the motor module comprises two power sources; the wheel type mechanism is mounted on the wheel foot power switching mechanism; the first power source is connected with the second power source, the second power source is fixedly connected with one end of the thigh, the other end of the thigh and one end of the shank are connected with the wheel-foot power switching mechanism, and the suspension device is used for suspending the other end of the shank; the wheel-foot power switching mechanism is characterized in that the wheel-foot power switching mechanism comprises two kinematic chains, the first kinematic chain is used for driving the wheel-type mechanism, and the second kinematic chain is used for driving shanks in the foot-type movement to move. According to the invention, switching walking can be carried out in two different movement modes, namely a wheel type movement mode and a foot type movement mode.

本发明公开了一种基于不完全齿轮的轮足式机器人腿部结构及轮足式机器人，腿部结构包括电机模组、悬挂机构、轮足动力切换机构、轮式机构、小腿、大腿，所述电机模组包括两个动力源；轮式机构安装在轮足动力切换机构上；第一动力源与第二动力源连接，第二动力源与大腿一端固定连接，大腿另一端、小腿一端与轮足动力切换机构连接，悬挂装置用于悬挂小腿另一端；其特征在于：所述轮足动力切换机构包括两条运动链，第一运动链用于驱动轮式机构，第二运动链用于驱动足式运动中的小腿运动。本发明可以以轮式和足式两种不同的运动方式进行切换行走。

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Document information

Title :

Wheel-foot type robot leg structure based on incomplete gear and wheel-foot type robot

Additional title:

基于不完全齿轮的轮足式机器人腿部结构及轮足式机器人

Contributors:

CHENG ZHIYU (author) / CHEN MINGFANG (author) / WANG SEN (author) / ZHANG YONGXIA (author) / YAO GUOYI (author) / ZHU ENXIAO (author) / MO XIANG (author) / HU KANGKANG (author) / CHEN ZHONGPING (author) / HE CHAOYIN (author)

Publication date :

2022-05-24

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

B62D MOTOR VEHICLES , Motorfahrzeuge