The invention relates to the technical field of robot legs, in particular to a wheel-foot type folding leg for an unmanned metamorphic vehicle, which comprises a pair of folding leg mechanisms, and each folding leg mechanism comprises a hip joint mechanism, a thigh assembly, a knee joint mechanism, a shank assembly and a wheel foot which are sequentially connected from top to bottom; the hip joint mechanism comprises a hip joint motor, a first harmonic reducer, a thigh connecting plate and a first bearing mechanism, and the thigh connecting plate drives a thigh assembly to rotate around an output shaft of the hip joint motor; the knee joint mechanism comprises a knee joint motor, a second harmonic reducer, a shank connecting plate and a second bearing mechanism; the shank connecting plate drives the shank assembly to rotate around the output shaft of the knee joint motor, so that the wheel-foot type folding leg can realize wheel-foot driving walking and stepping walking; meanwhile, the hip joint mechanism and the knee joint mechanism respectively comprise a motor, so that the size and the weight of the folding leg mechanism are greatly reduced, and the lightweight design of the wheel-foot type folding leg is facilitated.

    本发明涉及机器人腿的技术领域,具体的是一种用于无人变胞车的轮足式折叠腿,包括一对折叠腿机构,每个折叠腿机构包括由上至下依次连接的髋关节机构、大腿总成、膝关节机构、小腿总成和轮足;髋关节机构包括髋关节电机、第一谐波减速器、大腿连接板和第一轴承机构,大腿连接板带动大腿总成绕髋关节电机的输出轴转动;膝关节机构包括膝关节电机、第二谐波减速器、小腿连接板和第二轴承机构;小腿连接板带动小腿总成绕膝关节电机的输出轴转动,因此本发明的轮足式折叠腿可实现轮足驱动行走也可实现跨步行走;同时髋关节机构和膝关节机构分别包括一个电机,大大降低了折叠腿机构的尺寸及重量,有利于对轮足式折叠腿的轻量化设计。


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    Title :

    Wheel-foot type folding leg for unmanned metamorphic vehicle


    Additional title:

    一种用于无人变胞车的轮足式折叠腿


    Contributors:
    LIU JUN (author) / YAN ZHENKUN (author)

    Publication date :

    2022-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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