The invention discloses a leg structure of a wheel-foot robot and the wheel-foot robot, and the leg structure comprises a first joint part which comprises a first motor; the second joint piece comprises a second motor; the first connecting assembly is connected with the first joint piece; the second connecting assembly is connected with the second joint piece; and the wheel foot mechanism is connected with the first connecting assembly and the second connecting assembly, and the wheel foot mechanism can be switched between a wheel type mode and a foot type mode. According to the leg structure of the wheel-foot robot, a motor driving mode is adopted, compared with a gear structure in the prior art, lubrication or closed protection is not needed, the problem of gear abrasion does not exist, and the reliability of the wheel-foot robot can be improved. Meanwhile, the gravity center of the leg structure moves upwards by moving the first motor and the second motor upwards, efficient wheel-foot mode switching of the leg structure is met, and control is more flexible.

    本发明公开了一种轮足机器人的腿部结构及轮足机器人,腿部结构包括:第一关节件,第一关节件包括第一电机;第二关节件,第二关节件包括第二电机;第一连接组件,第一连接组件与第一关节件连接;第二连接组件,第二连接组件与第二关节件连接;轮足机构,轮足结构与第一连接组件和第二连接组件连接,轮足机构在轮式模式和足式模式之间可切换。本发明的轮足机器人的腿部结构,通过采用电机驱动的方式,相比于现有技术中的齿轮结构,不需要润滑或封闭保护,且不存在齿轮的磨损问题,有利于增加轮足机器人的可靠性。同时通过将第一电机和第二电机上移,使腿部结构的重心上移,满足腿部结构的高效轮足模式切换,控制更加灵活。


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    Title :

    Leg structure of wheel-foot robot and wheel-foot robot


    Additional title:

    轮足机器人的腿部结构及轮足机器人


    Publication date :

    2023-06-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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