The invention provides a four-degree-of-freedom wheel-foot integrated robot leg which comprises an upper platform, a plurality of driving branch chains, a steering driving mechanism, a movable lower platform and a wheel driving mechanism. The driving branch chains are uniformly arranged between the upper platform and the movable lower platform; the upper end of the steering driving mechanism penetrates through the upper platform and is fixed to the upper platform, the lower end of the steering driving mechanism penetrates through the lower moving platform and is connected with the wheel driving mechanism through a bent shaft, and the driving branch chains and the steering driving mechanism are connected in parallel. The robot leg has simple structure and easy control; the robot is simple in structure and high in motion precision, has high-speed response capacity and excellent bearing capacity, can achieve walking advancing and wheel type advancing at the same time, has excellent obstacle crossing capacity and high advancing speed of the walking advancing and the wheel type advancing, and is suitable for high-speed and high-load transportation operation under the conditions of various complex non-structural terrains and soft ground in planet detection.

    本发明提供了一种四自由度轮足一体化机器人腿,包括上平台、驱动支链、转向驱动机构、移动下平台和轮驱动机构;所述驱动支链有多个,均匀布置在所述上平台和所述移动下平台之间;所述转向驱动机构的上端穿过所述上平台并与其固定,所述转向驱动机构的下端穿过所述移动下平台并通过弯曲轴与所述轮驱动机构连接,多个所述驱动支链以及所述转向驱动机构之间为并联关系。本发明机器人腿,结构简单、控制容易,运动精度高,具有高速响应能力以及优秀的承载能力,可以同时实现步行行进和轮式行进,兼有二者的优秀越障能力和快速的行进速度,适用于星球探测中各种复杂非结构地形以及松软地面条件下的高速,高负载运输作业。


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    Title :

    Four-degree-of-freedom wheel-foot integrated robot leg and robot


    Additional title:

    四自由度轮足一体化机器人腿及机器人


    Contributors:
    HE JUN (author) / LI JIE (author) / GAO FENG (author)

    Publication date :

    2020-08-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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