The invention discloses a middle leg and foot mechanism and a wheel and foot type robot thereof. The middle leg and foot mechanism comprises a rotary actuator, a thigh rod, a shank rod and a foot, therotary actuator is arranged on a vehicle body, the rotary actuator is connected with the upper end of the thigh rod, the lower end of the thigh rod is hinged to the upper end of the shank rod, and the foot is connected with the lower end of the shank rod; an active push-pull mechanism is connected between the rotary actuator and the thigh rod, and a sliding push-pull mechanism is connected between the thigh rod and the shank rod. Supporting is provided for the robot, the robot is assisted in walking and obstacle crossing, and the passing ability and stability of the robot are improved.

    本发明公开了一种中间腿足机构及其轮足式机器人,包括旋转执行器、大腿杆、小腿杆和足,旋转执行器设置于车体上,旋转执行器与大腿杆上端连接,大腿杆的下端与小腿杆的上端铰接,足与小腿杆的下端连接,旋转执行器与大腿杆之间连接有主动推拉机构,大腿杆与小腿杆之间连接有滑移推拉机构。本发明为机器人提供支撑,协助机器人行走越障,提高机器人的通过性和稳定性。


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    Title :

    Middle leg and foot mechanism and wheel and foot type robot thereof


    Additional title:

    一种中间腿足机构及其轮足式机器人


    Contributors:
    XU LIN (author) / DAI XUN (author) / ZHANG HONGYANG (author) / ZHANG YUZHEN (author) / ZHANG RENXU (author) / HAN CHENGLENG (author) / WU JIAJUN (author) / HOU ZHENMIN (author) / LI LUHANG (author) / LAN ZHAOGANG (author)

    Publication date :

    2021-02-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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