The invention relates to the technical field of robots, and discloses a leg structure of a wheel-foot robot, the wheel-foot robot and a four-wheel-foot robot, the leg structure of the wheel-foot robot comprises a thigh, a shank, a thigh joint module, a shank joint module, a wheel-foot joint module, a rotating wheel and a bunch assembly, the output end of the thigh joint module is fixedly connected with the shank joint module, and the output end of the rotating wheel is fixedly connected with the shank joint module; the output end of the shank joint module is connected with the thigh, the thigh is hinged to the shank, the tail end of the shank is fixedly connected with the wheel-foot joint module, and the output end of the wheel-foot joint module is fixedly connected with the rotating wheel; a wire harness of the wheel foot joint module sequentially passes through the shank, the thigh and the wire harness assembly. The corresponding bunching assemblies are arranged on the side faces of the thigh joint module and the shank joint module, the bunching assemblies are used for wrapping and restraining the wire harness sections passing through the thigh joint module and the shank joint module, external abrasion of the wire harness is avoided, other original structural components are not affected, and the overall arrangement is compact.
本申请涉及机器人技术领域,公开了一种轮足机器人的腿结构、轮足机器人及四轮足机器人,包括:大腿、小腿、大腿关节模组、小腿关节模组、轮足关节模组、转动轮及束线组件,大腿关节模组的输出端与小腿关节模组固定连接,小腿关节模组的输出端与大腿连接,大腿与小腿铰接,小腿的末端与轮足关节模组固定连接,轮足关节模组的输出端与转动轮固定连接;轮足关节模组的线束依次经过小腿、大腿和束线组件。本申请在大腿关节模组和小腿关节模组的侧面设置对应的束线组件,利用束线组件对经过大腿关节模组和小腿关节模组的线束段进行包覆约束,避免了线束外置磨损且不影响原有的其它结构部件,整体布置紧凑。
Leg structure of wheel-foot robot, wheel-foot robot and four-wheel-foot robot
轮足机器人的腿结构、轮足机器人及四轮足机器人
11.10.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Foot type motion gait planning method for four-wheel-foot robot and four-wheel-foot robot
Europäisches Patentamt | 2023
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