The leg structure comprises thigh parts, shank parts and walking parts, first driving assemblies are used for driving thigh bodies to rotate, second driving assemblies are installed on the thigh bodies and used for driving shank bodies to rotate relative to the thigh bodies, and third driving assemblies are used for driving walking wheels to rotate. The shank part further comprises an auxiliary wheel, and the auxiliary wheel can rotate along with rotation of the walking wheel. The robot comprises the leg structure. The included angle between the thigh body and the shank body is adjusted through the second driving assembly, the leg structure is made to present different postures, the walking wheels can be driven by the third driving assembly to rotate, the leg structure can move forwards in a kneeling posture or a crawling state, the leg structure can walk in different postures, and the walking efficiency is improved. The overall height of the leg structure can be changed by changing the walking posture, so that the leg structure can walk in a space with height limitation, and the application scene is wide.

    本发明公开了一种可变形态的腿部结构及机器人,腿部结构包括大腿部、小腿部及行走部,第一驱动组件用于驱动大腿本体转动,第二驱动组件安装于大腿本体上并用于驱动小腿本体相对大腿本体转动,第三驱动组件用于驱动行走轮转动,小腿部还包括辅助轮,辅助轮能够跟随行走轮的转动而转动;机器人包括上述的腿部结构。本发明通过第二驱动组件调整大腿本体与小腿本体之间的夹角,使腿部结构呈现不同的姿态,行走轮可在第三驱动组件的驱动下转动,使腿部结构能够以跪姿或者匍匐状态前行,使腿部结构能够以不同的姿态行走,通过变换行走姿态能够改变腿部结构的整体高度,使腿部结构能够在有高度限制的空间内行走,应用场景较为广泛。


    Access

    Download


    Export, share and cite



    Title :

    Shape-variable leg structure and robot


    Additional title:

    可变形态的腿部结构及机器人


    Contributors:
    ZHANG WEI (author) / YANG ZEYI (author) / IM TAE-HYUNG (author) / WANG ZE (author) / CHEN HUA (author)

    Publication date :

    2023-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Shape-variable leg structure and robot

    ZHANG WEI / YANG ZEYI / REN TAIHENG et al. | European Patent Office | 2021

    Free access

    Underwater variable-structure robot

    BAI JINGANG / TIAN QIYAN / ZHOU XUESHAN et al. | European Patent Office | 2023

    Free access

    Variable-structure tetrahedron truss robot

    MIAO YINAN / ZHANG YIXIN / LEI YANCHENG et al. | European Patent Office | 2025

    Free access

    Variable-structure robot wheel foot

    SHI QING / HE YIMING / ZHOU QIJIE et al. | European Patent Office | 2022

    Free access

    Multi-variable-structure modular robot

    WANG HONGQIANG / WANG BOYUAN / ZHU RENJIE | European Patent Office | 2023

    Free access