The invention relates to a wheel foot mechanism, in particular to a deformable robot wheel foot mechanism. The problem that when an existing wheel-leg conversion device walks on a rugged road surface, walking is not stable is solved. The wheel-foot robot comprises a deformable hub driving wheel (1) and a shank (2), the deformable hub driving wheel (1) is an ankle joint driving component of the wheel-foot robot, the deformable hub driving wheel (1) is rotationally installed on the lower portion of the shank (2), and the ankle joint driving component pushes a connecting rod system through six hydraulic cylinders to control an arc-shaped hub to deform into a circle or a triangle. And each hub hydraulic cylinder piston (1-2) pushes the hub arc connecting rods (1-8) in every two adjacent hub arc assemblies to enable the hub arc connecting rods (1-8) to move in the corresponding direction, so that the geometrical shape of the hub is changed. The walking mechanism is used for walking of the robot in different road environments.

    一种可变形机器人轮足机构,它涉及一种轮足机构。本发明为了解决现有的轮腿变换装置行走在崎岖路面行走时,存在行走不稳定的问题。本发明包括可变形轮毂驱动轮(1)和小腿(2),可变形轮毂驱动轮(1)为轮足机器人的踝关节驱动部件,可变形轮毂驱动轮(1)转动安装在小腿(2)的下部,所述踝关节驱动部件通过六个液压缸推动连杆系统,控制弧形轮毂变形成为圆形或三角形,且每个轮毂液压缸活塞(1‑2)分别推动每两组相邻的轮毂弧组件中的轮毂弧连杆(1‑8),使其在相应方向上移动,从而实现对改变轮毂的几何形状。本发明用于机器人在不同路面环境下的行走。


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    Title :

    Deformable robot wheel foot mechanism


    Additional title:

    一种可变形机器人轮足机构


    Contributors:
    LI XU (author) / FU YILI (author) / FENG HAIBO (author) / MU YANG (author)

    Publication date :

    2025-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



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