The invention discloses a wheel-foot type robot power switching mechanism based on an incomplete gear, a leg and a wheel-foot robot. The power switching mechanism comprises a switching module, a reversing module and a wheel fixed connection module. The first power source transmits power to a switching gear installed on a switching shaft in the switching module, the second power source transmits power to a foot type gear installed on a wheel fixed connecting shaft in the wheel fixed connecting module, the wheel type mechanism is fixedly connected with the wheel fixed connecting shaft, and the shank mechanism is fixedly connected with a reversing shaft in the reversing module. The first power source is matched with the second power source and is used for switching one side, with teeth, of the incomplete gear in the reversing module to be meshed with the switching gear, and the wheel type mechanism obtains power; the toothed side of the incomplete gear is switched to be meshed with the foot type gear, and the wheel type mechanism and the shank mechanism obtain power. Under the cooperation of the first power source and the second power source, the switching module, the reversing module and the wheel fixed connection module which are simple in structure are ingeniously utilized to solve the wheel foot switching problem, the use of power sources is reduced, and energy is saved.

    本发明公开了一种基于不完全齿轮的轮足式机器人动力切换机构、腿部、轮足机器人,动力切换机构包括切换模块、换向模块、轮子固连模块;第一动力源将动力传至安装在切换模块中切换轴上的切换齿轮处,第二动力源将动力传递至安装在轮子固连模块中轮子固连轴上的足式齿轮处,轮式机构与轮子固连轴固连,小腿机构与换向模块中换向轴固连;第一动力源与第二动力源配合,用于换向模块中不完全齿轮有齿一侧切换为与切换齿轮啮合,轮式机构获得动力;用于不完全齿轮有齿一侧切换为与足式齿轮啮合,轮式机构、小腿机构获得动力。本发明在第一、第二动源的配合下巧妙地利用结构简单的切换模块、换向模块、轮子固连模块解决了轮足切换问题,减少了动力源的使用,节约了能源。


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    Title :

    Wheel-foot type robot power switching mechanism based on incomplete gear, leg and wheel-foot type robot


    Additional title:

    基于不完全齿轮的轮足式机器人动力切换机构、腿部、轮足式机器人


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

    Publication date :

    2023-08-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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