The invention provides a bionic wheel foot leg structure and a wheel foot type robotic.The bionic wheel foot leg structure comprises a shank connecting rod, a linear driver and a foot end unit, the foot end unit comprises a wheel, a driving motor, a wrist joint piece and a shank base, the driving motor is fixed to the first side of the wrist joint piece, and the driving motor is fixed to the second side of the wrist joint piece; the driving end of the driving motor is connected with the wheel, the shank base is connected with a rotating shaft of the wrist joint piece, the second side of the wrist joint piece extends outwards to form a rudderstock, and the first end of the shank connecting rod extends outwards to form a support. The first end of the linear driver is hinged to the shank connecting rod support through a first rotary joint piece, the second end of the linear driver is hinged to the rudderstock through a second rotary joint piece, and the second end of the shank connecting rod is connected with the shank base. Therefore, the rotation and swing of the wheel foot are realized through the design of simulating the rotary wrist joint of the ulna, so that the flexibility of the leg structure of the wheel foot is improved.

    本发明提供了一种仿生轮足腿部结构及轮足式机器人,其中该仿生轮足腿部结构包括:小腿连杆,直线驱动器,足端单元,其中所述足端单元包括:轮子,驱动电机,腕关节件,小腿底座,其中驱动电机固定在腕关节件第一侧,驱动电机传动端与轮子连接,所述小腿底座与腕关节件转轴连接,所述腕关节件第二侧向外延伸出舵杆,其中所述小腿连杆第一端向外延伸出支架,所述直线驱动器第一端经第一旋转关节件与小腿连杆支架铰接、第二端经第二旋转关节件与舵杆铰接,所述小腿连杆第二端与小腿底座连接。籍此以通过仿桡尺骨旋转腕关节的设计来实现轮足的旋转摆动,以提升轮足腿部结构的灵活性。


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    Title :

    Bionic wheel foot leg structure and wheel foot type robot


    Additional title:

    一种仿生轮足腿部结构及轮足式机器人


    Contributors:
    SHANG HUILIANG (author) / ZHANG ANZHENG (author) / ZHANG CHENYUN (author) / LI RUIJIAO (author)

    Publication date :

    2023-09-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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