The invention discloses a leg structure for four feet of a foot robot. The leg structure is characterized in that the leg structure comprises a lifting system, a push system, a swing system, a supporting plate, an end rod and a rack; the lifting system main comprises a lifting motor and a lifting rod; the lifting motor is fixedly connected with the supporting plate, the lifting rod is connected with the lifting motor, and the lifting motor drives the lifting rod to move; the lifting rod and the end rod are connected in a non-fixed mode, and can rotate relatively; the push system mainly comprises a push motor, a short push rod, a long push rod, a first short shaft and a second short shaft; the first short shaft and the end rod are welded together, the long push rod and the first short shaft are connected in a non-fixed mode, and the end rod and the long push rod can rotate relatively; the swing system mainly comprises a swing motor and a supporting shaft, and the swing motor is fixedly connected with the rack; the supporting plate and the swing motor are connected, and the swing motor drives the supporting plate to rotate; the supporting shaft is fixedly connected with the supporting plate and connected with the rack in a non-fixed mode, and the supporting shaft and the rack can rotate relatively.
Leg structure for four feet of foot robot
2015-09-23
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Foot type motion gait planning method for four-wheel-foot robot and four-wheel-foot robot
Europäisches Patentamt | 2023
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