The invention discloses a wheel-foot type robot leg system with a damping function. The wheel-foot type robot leg system comprises a hip joint mechanism, a thigh mechanism, a shank mechanism, a springdamping system and a wheel-foot mechanism; the hip joint mechanism is used for rotating relative to a robot main body structure; the thigh mechanism is used for rotating relative to the hip joint mechanism; the shank mechanism is used for rotating relative to the thigh mechanism; the spring damping system is used for damping; and the wheel-foot mechanism is used for driving the robot main body structure, the hip joint mechanism, the thigh mechanism, the shank mechanism and the spring damping system to do wheel-type movement along with the wheel-foot mechanism. According to the wheel-foot typerobot leg system, wheel type movement and foot type movement can be achieved, compared with a traditional wheel-foot combined type robot, the robot is simpler in structure, the wheel type movement and the foot type movement can be achieved only by adding the wheel-foot mechanism to the foot end of a foot type movement robot, a wheel type movement mechanism does not need to be independently designed at other positions of the robot, and the overall weight of the robot is effectively reduced.
本发明公开了一种带减震功能的轮足式机器人腿部系统,包括髋关节机构、大腿机构、小腿机构、弹簧减震系统、轮足机构;髋关节机构,用于相对机器人主体结构旋转;大腿机构,用于相对髋关节机构旋转;小腿机构,用于相对大腿机构旋转;弹簧减震系统用于减震;轮足机构,用于带动机器人主体结构、髋关节机构、大腿机构、小腿机构、弹簧减震系统随轮足机构进行轮式运动。本发明既能实现轮式运动,又能实现足式运动,相对于传统的轮足复合式的机器人来讲,本机器人的结构更为简单,只需在足式移动机器人足端加上轮足机构即可实现轮式运动和足式运动,不需要单独在机器人的其它位置设计轮式运动机构,有效的降低了机器人的整体重量。
Wheel-foot type robot leg system with damping function
一种带减震功能的轮足式机器人腿部系统
2020-12-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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