The invention discloses a wheel-foot switching device suitable for a wheel-foot robot. The device is mainly applied to a part below a shank of the wheel-foot robot and comprises a connecting seat, a bevel gear box, motors and a wheel-foot part; the connecting seat is connected with the tail ends of shanks of the robot, the motors are fixed to the two sides of the connecting seat respectively, the output ends of the two motors are connected with bevel pinions respectively to form a front rotating part and a rear rotating part, the two rotating parts are connected with the connecting seat through motor flanges, a front bearing hole and a rear bearing hole which are concentric are formed in a bevel gear carrier, small bevel gears penetrate through bearing holes and abut against the bevel gear carrier through copper sliding bearings, a large bevel gear is fixed to the bevel gear carrier through a crossed roller bearing and meshed with the two small bevel gears at the same time, and the large bevel gear is connected with the gear through a flange. Bevel gear differential driving is adopted for achieving wheel-foot conversion of the robot, the wheel-foot switching device is compact in structure, and good adaptability of the robot on different road surfaces can be guaranteed.

    本发明公开了适用于轮足机器人的轮足切换装置,该装置主要应用于轮腿式机器人小腿以下的部分,包括连接座、锥齿轮箱、电机和轮足部件;连接座与机器人的小腿末端相连,其两侧分别固定有一个电机,两电机输出端分别连接着小锥齿轮构成前后两组旋转部,两旋转部通过电机法兰与连接座相连,同时锥齿轮架上开有前后同心的两轴承孔,小锥齿轮穿过轴承孔通过铜质的滑动轴承与锥齿轮架相抵,大锥齿轮通过交叉滚子轴承固定在锥齿轮架上与两小锥齿轮同时啮合,大锥齿轮与轮通过法兰相连。本发明采用了锥齿轮差动驱动实现机器人的轮足转换,且轮足转换装置结构紧凑,能够保证了机器人在不同路面的良好的适应性。


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    Titel :

    Wheel-foot switching device suitable for wheel-foot robot


    Weitere Titelangaben:

    适用于轮足机器人的轮足切换装置


    Beteiligte:
    CHEN XUECHAO (Autor:in) / ZHANG JINTAO (Autor:in) / YU ZHANGGUO (Autor:in) / HAN LIANQIANG (Autor:in) / ZHAO LINGXUAN (Autor:in) / QIU XUEJIAN (Autor:in) / GAO ZHIFA (Autor:in) / HUANG QIANG (Autor:in)

    Erscheinungsdatum :

    2022-02-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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