The invention provides a robot, a leg assembly and a driving mechanism. The driving mechanism comprises a first chain wheel, a second chain wheel set, a chain and a first gear shifting device. The first chain wheel can rotate under the driving of the driving motor; the second chain wheel group comprises a connecting shaft and at least two second chain wheels, and the at least two second chain wheels are different in diameter and are adjacently arranged; the connecting shafts are used for driving leg structures of the robot to rotate; the first gear shifting device is adjacent to the chain; the first gear shifting device is used for shifting the chain, so that the chain is selectively meshed with one of the at least two second chain wheels, the chain can be switched between the at least two second chain wheels, and then the transmission ratio of the first chain wheel to the second chain wheel set is changed. According to the driving mechanism, the driving chain wheels and the driven chain wheels with different diameters are arranged and matched with the gear shifting device, the purpose of changing the transmission ratio of the leg assembly can be achieved, and then the motion parameters of the leg structure can be adjusted under different use environment conditions so as to meet different scene function requirements.
本申请提供了一种机器人、腿部组件以及驱动机构;该驱动机构包括:第一链轮、第二链轮组、链条以及第一换挡装置;第一链轮可在驱动电机的驱动下转动;第二链轮组包括连接轴以及至少两个第二链轮,至少两个第二链轮的直径不同且相邻设置;连接轴用于驱动机器人的腿部结构转动;第一换挡装置与链条相邻设置;第一换挡装置用于拨动链条,使得链条与至少两个第二链轮择一啮合,且链条能够在至少两个第二链轮间切换,进而改变第一链轮与第二链轮组的传动比。该驱动机构通过设置多个不同直径的主、从链轮并配合换挡装置,可以实现改变腿部组件传动比的目的,进而可以在不同使用环境条件下调节腿部结构的运动参数以适应不同的场景功能需求。
Robot, leg assembly and driving mechanism
机器人、腿部组件以及驱动机构
2023-01-17
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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