The invention discloses a bimodal wheel-foot mechanical leg and a robot. The bimodal wheel-foot mechanical leg comprises a thigh connecting unit, and a side-sway joint is arranged at the end of the thigh connecting unit; a support wheel set is arranged at the end part of the shank connecting unit; the wheel module is arranged at the end part of the shank connecting unit; a connecting rod mechanism is arranged on the thigh connecting unit, the connecting rod mechanism is in transmission connection with the shank connecting unit, and the shank connecting unit is driven by the connecting rod mechanism to keep swinging so that the supporting wheel set can abut against the ground. According to the bimodal wheel-foot mechanical leg and the robot, when the robot encounters an environment with height limitation, the gravity center can be lowered to move, the robot can stably pass through the environment with the height limitation, the trafficability of the robot can be improved, meanwhile, by the adoption of the mechanical leg provided by the invention, the robot can stably pass through the environment with the height limitation. A four-wheel mode can be adopted in the standby state, the power consumption of the robot can be reduced, and the endurance time of the robot is prolonged.
本发明公开了一种双模态轮足机械腿及机器人,包括:大腿连接单元,大腿连接单元端部设有侧摆关节;小腿连接单元,小腿连接单元端部设置有支撑轮组;车轮模组,车轮模组设置于小腿连接单元端部;大腿连接单元上设置有连杆机构,连杆机构与小腿连接单元保持传动连接,通过连杆机构驱使小腿连接单元保持摆动,以使支撑轮组与地面抵接。本发明提供的双模态轮足机械腿及机器人,机器人在遇到具有高度限制的环境中时,可以降低重心进行移动,能够使机器人稳定通过具有高度限制的环境,可以提高机器人的通过性,同时采用本发明提供机械腿,在待机状态下可以采用四轮模式,能够降低机器人本身的电量消耗,延长机器人的续航时间。
Bimodal wheel-foot mechanical leg and robot
一种双模态轮足机械腿及机器人
27.08.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Leg structure of wheel-foot robot, wheel-foot robot and four-wheel-foot robot
Europäisches Patentamt | 2024
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