The invention provides a wheel foot, a shank and a robot. The wheel foot comprises a foot support, a first foot wheel and a second foot wheel, a first rotating shaft is arranged on the foot support, the first rotating shaft is used for being connected with external application equipment, the first foot wheel is connected with the first end of the foot support, and the second foot wheel is connected with the second end of the foot support; at least one of the first foot wheel and the second foot wheel comprises a driving mechanism, and the driving mechanism is used for providing driving force for the foot wheel comprising the driving mechanism; under the condition that the first foot wheel comprises a driving mechanism and the second foot wheel does not comprise the driving mechanism, the first foot wheel is a driving wheel, and the second foot wheel is a driven wheel; under the condition that both the first foot wheel and the second foot wheel comprise driving mechanisms, the first foot wheel is a driving wheel, the second foot wheel is a driven wheel, or both the first foot wheel and the second foot wheel are driving wheels. Therefore, the wheel foot has the advantages of being high in speed and terrain adaptability, and is suitable for more types of robot shanks or more types of robots.
本申请提供一种轮足、小腿及机器人。轮足包括:足部支架、第一足轮和第二足轮,足部支架上设置有第一转轴,第一转轴用于与外部应用设备连接,第一足轮与足部支架的第一端连接,第二足轮与足部支架的第二端连接;第一足轮和第二足轮中的至少一者包含驱动机构,驱动机构用于为包含驱动机构的足轮提供驱动力;在第一足轮包含驱动机构,而第二足轮不包含驱动机构的情况下,第一足轮为驱动轮,第二足轮为从动轮;在第一足轮和第二足轮均包含驱动机构的情况下,第一足轮为驱动轮,第二足轮为从动轮,或者第一足轮和第二足轮均为驱动轮。这样,使得轮足可以兼具速度较好和地形适应能力较好的优点,且适用更多类型的机器人小腿或者更多类型的机器人。
Wheel foot, shank and robot
轮足、小腿及机器人
2025-03-28
Patent
Electronic Resource
Chinese
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