The invention discloses a wheel-foot composite robot leg structure based on the planetary gear differential principle and a wheel-foot composite robot, the leg structure comprises a power source module, a power switching module, a thigh mechanism, a wheel type mechanism and a shank mechanism, the power source module comprises a first power source and a second power source, and the second power source is used for driving the shank mechanism to move; power switching of the thigh mechanism and the wheel type mechanism is achieved through the power switching module, under the foot type movement, the thigh mechanism obtains power provided by the first power source, and under the wheel type movement, the wheel type mechanism obtains power provided by the first power source. Compared with a traditional wheel-foot composite robot on the market, the wheel-foot composite robot has the advantages that power output from two power sources to three movement mechanisms is achieved; compared with a wheel-foot composite robot of a double-power-source type, the wheel-type mechanism does not move any more during foot type movement, energy is more effectively saved, and the endurance is more effectively guaranteed.

    本发明公开了一种行星齿轮差速原理的轮足复合机器人腿部结构、轮足复合机器人,腿部结构包括动力源模块、动力切换模块、大腿机构、轮式机构、小腿机构,所述动力源模块包括第一动力源、第二动力源,第二动力源用于驱动小腿机构运动;通过动力切换模块实现在大腿机构、轮式机构的动力切换:足式运动下,大腿机构获得第一动源提供的动力,轮式运动下,轮式机构获得第一动源提供的动力。本发明相对于市面上传统的轮足复合机器人来讲,实现了以两个动力源对三个运动机构的动力输出;相对于双动力源类型的轮足复合机器人来讲,本发明足式运动时轮式机构不再运动,更有效的节省了能源和保证续航。


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    Title :

    Leg structure of wheel-foot composite robot based on planetary gear differential principle and wheel-foot composite robot


    Additional title:

    一种行星齿轮差速原理的轮足复合机器人腿部结构、轮足复合机器人


    Contributors:
    CHEN MINGFANG (author) / XIAO FANGKUN (author) / CHEN NANTING (author) / YAO GUOYI (author) / ZHANG YONGXIA (author) / HUANG LIANG'EN (author) / LI MING (author) / WANG XIU (author) / LI WENJUN (author)

    Publication date :

    2023-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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