The invention discloses a wheel-foot mechanical leg and a quadruped robot, and relates to the technical field of robots. The wheel-foot mechanical leg comprises a hip joint, a thigh, a shank, a driving mechanism and a transmission mechanism; the driving mechanism comprises a disc-type motor I, a disc-type motor II and a disc-type motor III, one end of the hip joint is connected with the disc-type motor I, the other end of the hip joint is connected with one end of the thigh through the disc-type motor II, the other end of the thigh is connected with the inner side of the shank through the disc-type motor III, a wheel is fixed to one end of the shank, and the other end of the shank is a foot end; a transmission mechanism is fixed in the shank and drives the wheel to rotate; the quadruped robot disclosed by the invention not only has the capability of flexible movement of a foot type robot in a complex terrain, but also has the advantages of low energy consumption and high speed of flat ground movement of a wheel type robot; the four-foot robot has four joint configuration modes, each wheel-foot mechanical leg can also adopt an independent joint mode, the freedom degree and the flexibility of the legs of the four-foot robot are higher, and the four-foot robot can cope with more complex road conditions.
一种轮足机械腿及四足机器人,涉及机器人技术领域,轮足机械腿包括髋关节、大腿、小腿、驱动机构和传动机构;驱动机构包括盘式电机Ⅰ、盘式电机Ⅱ和盘式电机Ⅲ,髋关节的一端与盘式电机Ⅰ连接,髋关节的另一端通过盘式电机Ⅱ与大腿的一端连接,大腿的另一端通过盘式电机Ⅲ与小腿的内侧连接,小腿的一端固定有轮子,小腿的另一端为足端,小腿内固定有传动机构,传动机构带动所述轮子转动;本发明的四足机器人既有足式机器人在复杂地形灵活运动的能力,又有轮式机器人平地运动的低能耗、高速度的优点;且四足机器人有四种关节配置形式,每条轮足机械腿还可以采用独自的关节模式,四足机器人的腿部自由度和灵活性更高,能应对更多复杂的路况。
Wheel-foot mechanical leg and quadruped robot
轮足机械腿及四足机器人
2023-12-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Switchable wheel-foot composite mechanism of mechanical foot of quadruped robot
European Patent Office | 2023
|Wheel-foot combined type quadruped robot with suspension
European Patent Office | 2024
|European Patent Office | 2025
|