The invention discloses a wheel-legged robot leg device which comprises an upper leg part, a lower leg part and a vibration reduction assembly, the upper end of the lower leg part is hinged to the upper leg part, and one end of the lower leg part is connected with a wheel; the damping assembly comprises an elastic part and a locking part, the elastic part comprises a connecting part and a locking part, the connecting part is connected with the upper leg part, the locking part is connected to the lower leg part, or the connecting part is connected with the lower leg part, the locking part is connected to the upper leg part, the locking part is provided with a limiting part which can be separated from or abut against the locking part, and when the limiting part abuts against the locking part, the locking part is locked to the locking part. The elastic part provides elastic force for limiting the lower leg part from moving to the upper leg part. When the leg device of the wheel-legged robot is used in a wheel-type mode, the high-performance obstacle crossing capacity and the buffering and damping capacity of the robot in a complex terrain can be improved, the maneuverability of the robot is improved, in addition, conversion between the wheel-type mode and the leg-type mode is facilitated, and a better control effect can be achieved in the leg-type mode.

    本申请公开了一种轮腿式机器人腿部装置,其包括上腿部、下腿部、减振组件,下腿部的上端与上腿部铰接,下腿部一端连接有车轮;减振组件,包括弹性件和锁止件,弹性件包括连接部和锁止部,连接部与上腿部连接,锁止件连接在下腿部,或者连接部与下腿部连接,锁止件连接在上腿部,锁止件具有与锁止部可分离或抵接的限位部,限位部与锁止部抵接时,弹性件提供限制下腿部向上腿部移动的弹性力。使用此轮腿式机器人腿部装置在轮式模态下,能够提高机器人在复杂地形下的高性能越障能力以及缓冲减振能力,提高其机动性,另外便于在轮式模态和腿式模态间转化,并且在腿式模态下能实现更好的控制效果。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Leg device of wheel-legged robot and wheel-legged robot


    Weitere Titelangaben:

    轮腿式机器人腿部装置及轮腿式机器人


    Beteiligte:
    HAN ZIYONG (Autor:in) / ZHANG FAGUANG (Autor:in) / REN XIAOLEI (Autor:in) / LIU HUI (Autor:in) / QIN YECHEN (Autor:in) / XU BIN (Autor:in) / LIU CHUNTAO (Autor:in)

    Erscheinungsdatum :

    2022-04-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / F16F SPRINGS , Federn



    Wheel-legged robot

    ZHOU ZIYAO / ZHANG LI / WANG ZIHANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Wheel-legged robot

    WEI JIN / LI YUNZHOU / GU XUAN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Wheel-legged robot

    LI JIANBO / LIU YIZHANG / CHEN CHUNYU et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Wheel-legged robot

    JIA ZHENZHONG / ZHANG WENYAO / LYU SHIPENG et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    CONTROL METHOD AND APPARATUS FOR WHEEL-LEGGED ROBOT, AND WHEEL-LEGGED ROBOT AND DEVICE

    WANG SHUAI / WANG HAITAO / JIANG XINYANG et al. | Europäisches Patentamt | 2022

    Freier Zugriff