The invention is suitable for the technical field of wheel-foot type robots, and provides a robot leg structure and a wheel-foot type robot, the robot leg structure comprises a swing arm part, a wheel-foot part and a limiting part, a containing cavity is formed in the swing arm part, a wire inlet is formed in the swing arm part, and the wire inlet communicates with the containing cavity; the wheel foot part comprises a driving wheel assembly and a cable assembly, a wire outlet is formed in the swing arm part, the wire outlet is communicated with the containing cavity and corresponds to the driving wheel assembly in position, and the cable assembly penetrates into the containing cavity through the wire inlet and is electrically connected with the driving wheel assembly through the wire outlet; the limiting part comprises a limiting pin, and the limiting pin is arranged in the containing cavity. According to the robot leg structure, at least part of the cable assembly is arranged in the containing cavity, most of the cable assembly is prevented from being exposed in the external environment, a protective sleeve does not need to be arranged on the cable assembly located in the containing cavity, and the production cost of the robot leg structure is reduced.

    本申请适用于轮足式机器人技术领域,提供了一种机器人腿部结构及轮足式机器人,机器人腿部结构包括:摆臂部、轮足部及限位部,摆臂部内设置有容纳腔,摆臂部上设置有进线口,进线口与容纳腔连通;轮足部包括驱动轮组件及线缆组件,摆臂部上设置有出线口,出线口与容纳腔连通,并与驱动轮组件的位置相对应,线缆组件通过进线口穿入容纳腔,并通过出线口与驱动轮组件电连接;限位部包括限位销,限位销设置在容纳腔内。本申请所提供的机器人腿部结构将线缆组件至少部分设置在容纳腔内,避免大部分的线缆组件暴露在外部环境当中,无需在位于容纳腔内的线缆组件上设置保护套,降低了机器人腿部结构生产成本。


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    Title :

    Robot leg structure and wheel-foot type robot


    Additional title:

    机器人腿部结构及轮足式机器人


    Contributors:
    LIANG ZHENNAN (author) / WANG HAO (author)

    Publication date :

    2024-06-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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