本申请提供了一种轮足混合式机器人腿部及轮足混合式机器人。该机器人腿部中,第一驱动轮与第二驱动轮并列设置,且均通过髋关节转轴转动安装于腿部的髋关节处;第一从动轮与第二从动轮并列设置,且均通过膝关节转轴转动安装于腿部的膝关节处;驱动单元的输出动力依次经第一驱动轮、第一从动轮至小腿,形成第一动力传输路线,使以足式状态运动,或者,驱动单元的输出动力依次经第二驱动轮、第二从动轮至滚轮,形成第二传输路线,使以轮式状态运动;动力切换单元能够使驱动单元的输出动力在第一动力传输路线和第二动力传输路线间进行切换,以使轮足混合式机器人在足式状态运动和轮式状态运动之间进行切换。
The invention provides a wheel-foot hybrid robot leg and a wheel-foot hybrid robot. In the robot leg, a first driving wheel and a second driving wheel are arranged in parallel and are both rotationally mounted at the hip joint of the leg through hip joint rotating shafts; the first driven wheel and the second driven wheel are arranged in parallel and are rotationally mounted at knee joints of legsthrough knee joint rotating shafts; the output power of the driving unit sequentially passes through the first driving wheel and the first driven wheel to reach shanks to form a first power transmission line, so that the robot moves in a foot type state, or the output power of the driving unit sequentially passes through the second driving wheel and the second driven wheel to reach the roller toform a second transmission line, so that the robot moves in a wheel type state; the power switching unit can enable the output power of the driving unit to be switched between the first power transmission line and the second power transmission line so as to enable the wheel-foot hybrid robot to be switched between foot type state motion and wheel type state motion.
一种轮足混合式机器人腿部及轮足混合式机器人
2024-06-11
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |