The invention provides a wheel-foot structure and a robot, the wheel-foot structure is used for being mounted on one side of a thoracic cavity main body structure, and the thoracic cavity main body structure comprises a first driving part; the wheel foot structure comprises thighs, rockers, connecting rods, shanks and wheel assemblies. One end of the thigh is fixedly connected with the fixed part of the first driving piece, and the other end of the thigh is hinged to the non-end part of the shank; one end of the rocker is fixedly connected with the rotating part of the first driving piece, and the other end of the rocker is hinged to one end of the connecting rod; one end of the shank is hinged to the other end of the connecting rod, and the other end of the shank is rotationally connected with the wheel assembly. The robot comprises a thoracic cavity main body structure and the wheel foot structure, and the thoracic cavity main body structure is movably connected with the wheel foot structure. In the invention, the equivalent structure of the parallel four-bar mechanism is utilized to realize the upward movement of the knee joint rotation pair of the robot, the inertia of the wheel-foot structure relative to the knee joint is reduced, and the volume of the whole structure of the robot is compressed.

    本申请提供了一种轮足结构及机器人,用于安装于胸腔主体结构的一侧,胸腔主体结构包括第一驱动件;轮足结构包括大腿、摇杆、连杆、小腿和轮部组件;大腿的一端与第一驱动件的固定部固定连接,大腿的另一端与小腿的非端部铰接;摇杆的一端与第一驱动件的转动部固定连接,摇杆的另一端与连杆的一端铰接;小腿的一端与连杆的另一端铰接,小腿的另一端与轮部组件转动连接。机器人包括胸腔主体结构和上述的轮足结构,所述胸腔主体结构与所述轮足结构活动连接。本申请中,利用平行四杆机构的等效结构实现了机器人的膝关节旋转副的上移,降低轮足结构相对膝关节的惯量,压缩了机器人整体结构的体积。


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    Title :

    Wheel foot structure and robot


    Additional title:

    一种轮足结构及机器人


    Contributors:
    LIANG ZHENNAN (author) / ZHOU JIANGCHEN (author) / LIU YANG (author) / WANG HAO (author) / LU LIHUA (author)

    Publication date :

    2023-11-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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