The invention belongs to the technical field of robots, and discloses a claw type wheel leg mechanism based on a cycloid rotor and a robot, the claw type wheel leg mechanism comprises a rack, a wheel is arranged on the inner side of the rack, a wheel shaft of the wheel is rotatably connected with one side wall of the rack, and the other side face, away from the wheel shaft, of the wheel is provided with two symmetrically distributed claws; the claws are in an arch shape, openings of the claws face downwards, the tip ends of the bottom ends of the sides, close to each other or away from each other, of the two claws are rotationally connected with the side face of the wheel, connecting rods are arranged on the sides, away from the wheel, of the top ends of the two claws, and the ends of the connecting rods are rotationally connected with the side faces of the claws. The middle of the side, away from the hook claw, of the connecting rod is rotationally connected with the other side wall of the rack. When the wheels rotate, four connecting points of the wheels and the hook claws and four connecting points of the connecting rods and the hook claws can keep a parallelogram, the hook claws do circular motion without changing the posture under the constraint of the connecting rods, and the motion of the tail ends of the hook claws is similar to the climbing motion towards the front upper side.

    本发明属于机器人技术领域,公开一种基于摆线转子的钩爪式轮腿机构及机器人,包括机架,所述机架的内侧设置有轮子,所述轮子的轮轴与机架的其中一侧壁转动连接,所述轮子上远离轮轴的另一侧面设置有两个对称分布的钩爪,所述钩爪呈拱形状,且开口朝下,两个所述钩爪相互靠近或远离的一侧的底端的尖端处与轮子的侧面转动连接,两个所述钩爪的顶端且远离轮子的一侧设置有连杆,所述连杆的端部与钩爪的侧面转动连接,所述连杆上远离钩爪的一侧的中间与机架的另一侧壁转动连接。当轮子转动时,车轮与钩爪以及连杆与钩爪连接的四个连接点会保持平行四边形,钩爪在连杆的约束下姿态不变,做圆周运动,钩爪末端的运动类似于朝着前上方做攀爬运动。


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    Title :

    Claw type wheel leg mechanism based on cycloid rotor and robot


    Additional title:

    一种基于摆线转子的钩爪式轮腿机构及机器人


    Contributors:
    WEI ZHONG (author) / ZHANG QI (author) / YU ZIYANG (author) / GU YUQUAN (author) / XUE JIE (author) / CAI ZHIQI (author) / LIU JIA (author) / SONG AIGUO (author)

    Publication date :

    2025-03-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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