The invention discloses a robot wheel leg mechanism. A leg part of the wheel leg mechanism comprises an upper mounting part and a lower mounting part, the shank bracket is provided with a walking wheel and is provided with a connecting part and an extension arm; the shank driving part is rotationally connected to the upper mounting part; one end of the thigh bracket is rotationally connected to the upper mounting part, and the other end forms a lower mounting part which is rotationally connected with the connecting part of the shank bracket; one end of the connecting rod is connected with the shank driving piece, the other end is connected with the extension arm of the shank support, and an abutting part is formed on the connecting rod; the locking piece is mounted on the thigh bracket, and the locking piece is provided with a plurality of mounting positions in the moving direction of the connecting rod; the two ends of the elastic piece are connected with the locking piece and the abutting part, and the elastic piece can store elastic potential energy between the abutting part and the locking piece located at the installation position and release the elastic potential energy to drive the connecting rod to move relative to the locking piece. The electric vehicle can be switched in multiple motion modes, the structure is simple, the height can be freely switched, and the electric vehicle has good high-speed driving stability.

    本申请公开了一种机器人轮腿机构,轮腿机构的腿部包括:上安装部;小腿支架安装有行走轮,小腿支架具有连接部和延长臂;小腿驱动件转动连接于上安装部;大腿支架一端转动连接于上安装部,另一端形成下安装部,下安装部与小腿支架的连接部转动连接;连接杆一端连接小腿驱动件,另一端连接小腿支架的延长臂,连接杆形成有抵接部;锁止件安装于大腿支架,且锁止件在连接杆的移动方向上具有多个安装位置;弹性件两端连接锁止件与抵接部,弹性件能够在抵接部与位于安装位置的锁止件之间储存弹性势能,并释放弹性势能以驱动连接杆相对锁止件移动。其可以在多种运动模式下切换,结构简单,可自由切换高度,具有良好的高速行驶稳定性。


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    Title :

    Wheel-leg mechanism, leg mechanism, wheel-leg mechanism control method and robot


    Additional title:

    轮腿机构、腿部机构、轮腿机构控制方法及机器人


    Contributors:
    FAN CONG (author) / HAN ZIYONG (author) / LIU HUI (author) / QIN YECHEN (author) / LIU CHUNTAO (author)

    Publication date :

    2022-03-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / F16F SPRINGS , Federn



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