The invention discloses a wheel foot leg with a double-buffering structure and a wheel foot robot, and relates to the technical field of robots. The invention aims to solve the problem of insufficient buffering performance caused by small size of an elastic element and limited buffering stroke of the existing wheel-foot type robot. The buffering type wheel foot leg comprises a knee joint motor, a knee joint crank, a knee joint connecting rod, a thigh, a shank, a hub motor, a knee joint buffering mechanism and a leg buffering mechanism, a knee joint motor output shaft of the knee joint motor is fixedly connected with one end of the knee joint crank, and the other end of the knee joint crank is rotationally connected with the upper end of the shank through the knee joint connecting rod; the upper end of the thigh is fixedly connected with the knee joint motor through the thigh flange, the lower end of the thigh is rotationally connected with the upper side of the shank, the lower end of the shank is connected with the hub motor, the knee joint buffering mechanism is arranged between the thigh and the knee joint crank to achieve buffering of the knee joint, and the leg buffering mechanism is arranged between the thigh and the shank to achieve buffering of the leg. The invention is used for the foot-type robot.
一种具有双缓冲结构的轮足腿及轮足机器人,它涉及机器人技术领域。本发明为解决现有轮足式机器人弹性元件尺寸小、缓冲行程受限问题引起的缓冲性能不足的问题。本发明缓冲式轮足腿包括膝关节电机、膝关节曲柄、膝关节连杆、大腿、小腿、轮毂电机、膝关节缓冲机构和腿部缓冲机构,膝关节电机的膝关节电机输出轴与膝关节曲柄的一端固接,膝关节曲柄的另一端通过膝关节连杆与小腿的上端转动连接,大腿的上端通过大腿法兰与膝关节电机固接,大腿的下端与小腿的上侧转动连接,小腿的下端与轮毂电机连接,膝关节缓冲机构设置在大腿与膝关节曲柄之间,实现膝关节的缓冲,腿部缓冲机构设置在大腿与小腿之间,实现腿部的缓冲。本发明用于足式机器人。
Wheel foot leg with double buffer structures and wheel foot robot
一种具有双缓冲结构的轮足腿及轮足机器人
2025-02-11
Patent
Electronic Resource
Chinese
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