The invention provides a wheel-legged robot leg structure which comprises wheels, a shank connecting rod, a buffer energy storage spring, a thigh connecting rod, a shank driving motor, a thigh drivingmotor and a first shank transmission connecting rod. The thigh driving motor and the shank driving motor can rotate independently and drive the thigh connecting rod and the first shank transmission connecting rod to rotate respectively; and when the wheel impacts the ground, an included angle between the shank connecting rod and the thigh connecting rod is reduced, and the buffer energy storage spring can reduce an impact load transmitted to the thigh driving motor and the shank driving motor. By the adoption of the buffer energy storage spring in a parallel connection mode, impact on the motors when a foot end makes contact with the ground is reduced, energy can be stored, a peak torque of the driving motor is effectively reduced, the number of the motors needed by the adopted leg configuration is small, a working space is large, and the structure can walk in a complex terrain environment; and the structure has advantages of light weight and a small moment of inertia.

    本发明提供了一种轮腿机器人腿部结构,包括车轮、小腿连杆、缓冲储能弹簧、大腿连杆、小腿驱动电机、大腿驱动电机和第一小腿传动连杆,大腿驱动电机和小腿驱动电机能够独立转动,分别带动大腿连杆和第一小腿传动连杆转动;当车轮冲击着地时,小腿连杆与大腿连杆之间的夹角减小,缓冲储能弹簧能够降低传输到大腿驱动电机和小腿驱动电机的冲击载荷。本发明采用并联形式的缓冲储能弹簧,不但降低足端与地面接触时对电机的冲击,而且可以存储能量,有效减小驱动电机的峰值扭矩,采用的腿部构型所需的电机数量较少,有较大的工作空间,可以适用于复杂地形环境下行走;本发明具有质量轻和转动惯量小的优点。


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    Title :

    Wheel-legged robot leg structure and mobile robot


    Additional title:

    轮腿机器人腿部结构及移动机器人


    Contributors:
    QI CHENKUN (author) / XING YAN (author) / GAO FENG (author) / LI HUAYANG (author) / JIA JUNKAI (author) / HU YONG (author) / CHEN XIANBAO (author)

    Publication date :

    2020-10-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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