The invention relates to a parallel wheel foot type robot leg structure. The parallel wheel foot type robot leg structure comprises a driving module composed of three motors, a side pendulum shaft module, a front pendulum shaft module, a thigh module, a shank module and idler wheels. The leg structure is a parallel mechanism, a rack is a static platform, and the shank is a movable platform at thetail end. The three driving motors are fixedly connected with the rack all the time, so that the leg structure is light in weight and has the advantages of being good in rigidity, low in energy consumption, large in robot bearing capacity and traction capacity and the like. A pair of parallel shaft gears with larger outer diameters is arranged in the front pendulum shaft module, the driving gear is fixedly connected with the roller, so that the roller touches the ground when thighs and shanks swing upwards and leave the ground besides a foot type moving mode when the thighs and shanks touch the ground, the mobile robot can achieve a wheel type moving mode through the roller, high environment adaptability is achieved, and higher moving speed can be achieved.

    本发明涉及一种并联轮足式机器人腿结构,包括由3个电机组成的驱动模块、侧摆轴模块、前摆轴模块、大腿模块、小腿模块和滚轮。腿结构为并联机构,其中机架为静平台,小腿为末端的动平台。3个驱动电机始终与机架固连,因此腿结构的重量较轻,具有刚度好、能耗低、机器人承载能力和牵引能力大等特点。前摆轴模块中有一对外径较大的平行轴齿轮,其中的主动齿轮与滚轮固连,故除了小腿触地时的足式移动方式以外,还可在大小腿向上摆动离地时滚轮触地,移动机器人可利用滚轮实现轮式移动方式,具有较强的环境适应能力,可实现更快的移动速度。


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    Title :

    Parallel wheel foot type robot leg structure and mobile robot


    Additional title:

    一种并联轮足式机器人腿结构及移动机器人


    Contributors:
    YANG DONGCHAO (author) / TAO BO (author) / WU QINGYUAN (author) / CHEN KEN (author) / ZHU HENG (author) / SUN KEPING (author)

    Publication date :

    2020-04-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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