The leg device comprises a first motor, a second motor, a third motor, a hip joint plate, a knee joint plate, an upper end U pair, a lower end U pair, a space double-parallel parallel mechanism and a universal joint coupler, wherein the space double-parallel parallel mechanism is connected to the bottom face of the hip joint plate, and the space double-parallel parallel mechanism is connected to the top face of the knee joint plate. The first motor is connected with a transverse hinge shaft of the first parallel mechanism through a parallelogram transmission mechanism, the second motor is connected with a longitudinal hinge shaft of the second parallel mechanism through a parallelogram transmission mechanism, through holes corresponding to the universal joint couplings are formed in the hip joint plate and the knee joint plate, and U pairs at the upper ends of the universal joint couplings are connected with the third motor. The lower end U pair of the universal joint coupler penetrates through the through hole to be connected with the lower limb, and the lower end of the lower limb is connected with the foot end wheel. The problem that a wheel-foot type robot is large in control difficulty is solved, and the motion form of the robot is expanded. The invention further discloses a wheel-foot type mobile robot comprising the leg device, and the beneficial effects of the wheel-foot type mobile robot are the same as those of the leg device.

    本发明公开了一种轮足式移动机器人及其腿部装置,包括第一电机、第二电机、第三电机、髋关节板、膝关节板、上端U副和下端U副分别连接于髋关节板底面和膝关节板顶面的空间双平行并联机构和万向节联轴器,第一电机与第一平行并联机构的横向铰接轴以及第二电机与第二平行并联机构的纵向铰接轴通过平行四边形传动机构连接,髋关节板和膝关节板上有与万向节联轴器相对应的通孔,万向节联轴器的上端U副与第三电机连接,万向节联轴器的下端U副穿过通孔与下肢连接,下肢的下端与足端轮连接。解决轮足式机器人控制难度大等问题,拓展机器人的运动形式。本发明还公开了一种包括上述腿部装置的轮足式移动机器人,其有益效果与腿部装置的有益效果相同。


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    Title :

    Wheel-foot type mobile robot and leg device thereof


    Additional title:

    一种轮足式移动机器人及其腿部装置


    Contributors:
    XU YUZE (author) / LUO ZIRONG (author) / ZHU YIMING (author) / LU ZHONGYUE (author)

    Publication date :

    2024-02-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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