The invention discloses a wheel-foot power switching executing mechanism, legs, a wheel-foot type robot and a working method. The wheel-foot power switching executing mechanism comprises a traction device and a shifting fork clutch device. A first power source of the wheel-foot type robot drives a thigh mechanism to rotate, and a traction device is driven to achieve switching between a first state and a second state; in the first state, the traction device is matched with the shifting fork clutch device, and the wheel type mechanism and the shank mechanism jointly obtain power of a second power source; and in the second state, the traction device is matched with the shifting fork clutch device, and the wheel type mechanism obtains power of the second power source. Movement of the legs does not depend on gears any more, the weight of the whole machine body is greatly reduced, the manufacturing process of the power switching core mechanism is simple, and the switching principle of the power switching core mechanism is simple and reliable; the actual problem of tooth abutting or meshing failure is avoided; and the method has higher implementability, reliability and economical efficiency.

    本发明公开了一种轮足动力切换执行机构、腿部、轮足式机器人及工作方法,轮足动力切换执行机构包括牵引装置、拨叉离合装置;通过轮足式机器人的第一动力源带动大腿机构转动、带动牵引装置实现第一状态、第二状态的转换;在第一状态下,牵引装置与拨叉离合装置配合,轮式机构和小腿机构共同获得第二动力源动力;在第二状态下,牵引装置与拨叉离合装置配合,轮式机构获得第二动力源动力。本发明通过使腿部的运动不再依赖齿轮,大大的减轻了整体机身的重量,其次动力切换核心机构制造工艺简单,并且其切换原理简单可靠;不会出现顶齿或者啮合不上的实际问题;具有更高的可实施性、可靠性及经济性。


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    Title :

    Wheel-foot power switching executing mechanism, leg part, wheel-foot type robot and working method


    Additional title:

    轮足动力切换执行机构、腿部、轮足式机器人及工作方法


    Contributors:
    HUANG XIULONG (author) / CHEN MINGFANG (author) / YAO GUOYI (author) / ZHANG YONGXIA (author) / HUANG LIANG'EN (author) / XIAO FANGKUN (author) / LI MING (author) / KONG XIANGFEI (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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