The invention relates to a foot end structure of a foot type robot, a leg movement mechanism and a quadruped robot; the foot end structure comprises a wheel type assembly, and the wheel type assembly comprises a hollow rubber tire, a wheel column arranged in the center of the rubber tire and two external supporting rings; the two external supporting rings are coaxially arranged on the two sides of the wheel column respectively, the external supporting rings are rotationally connected with the wheel column, and a locking mechanism is arranged between each external supporting ring and the wheel column. The foot type robot can slide on the flat ground and can also walk in a locked mode, the problems that an existing foot-type robot walks slowly on the flat ground and is not like a wheel type robot in convenience, quickness and flexibility are solved, and the problem that an existing wheel type robot is prone to sliding and retreating when climbing a slope is also solved; the foot end structure is compact in structure and high in integration degree, forward and reverse rotation locking can be achieved, and braking with certain strength can also be achieved.
本发明涉及一种足式机器人足端结构、腿部运动机构及四足机器人,包括轮式组件,所述轮式组件包括中空的橡胶轮胎、设于橡胶轮胎中央的轮柱和两个外部支撑圈;两个外部支撑圈分别同轴设于轮柱的两侧,所述外部支撑圈与轮柱转动连接,两个外部支撑圈与所述轮柱之间分别设有一锁止机构。本发明既可平地滑行,又可锁定行走,解决了现有足式机器人在平地行走较慢,不如轮式方便、快捷、灵活的问题,同时也解决了现有轮式机器人在爬坡时,易滑动后退的问题;本发明结构紧凑,集成度高,可实现正反转锁定,也可实现一定力度的制动。
Foot end structure of foot type robot, leg movement mechanism and quadruped robot
一种足式机器人足端结构、腿部运动机构及四足机器人
2021-04-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Switchable wheel-foot composite mechanism of mechanical foot of quadruped robot
Europäisches Patentamt | 2023
|Foot sole structure of quadruped robot and foot sole replacing method
Europäisches Patentamt | 2023
|