The invention discloses a variable-diameter wheel, a belt wheel transmission mechanism, a leg assembly and a robot, the variable-diameter wheel is used in the belt wheel transmission mechanism, the transmission ratio of the belt wheel transmission mechanism is changed by changing the wheel diameter of the variable-diameter wheel, and the belt wheel transmission mechanism is used in the leg assembly of the robot to drive two carriers of the leg assembly to move relatively. Therefore, the transmission ratio adjustable range of the transmission mechanism for the leg assembly is improved. When the driving wheel and the driven wheel of the belt wheel transmission mechanism are both variable-diameter wheels, the transmission ratio adjustable range of the driving wheel and the driven wheel can be enlarged, more use requirements can be met, the wheel diameter changes of the driving wheel and the driven wheel are independent, and movement of the leg assembly is more stable. When the leg assembly needs high torque to perform low-frequency activity, the belt wheel transmission mechanism can be switched to enable the leg assembly to have a large transmission ratio, and when the leg assembly needs small torque to perform high-frequency activity, the belt wheel transmission mechanism can be switched to enable the leg assembly to have a small transmission ratio, so that the robot with the leg assembly can operate in various complex scenes.
本申请公开了一种变径轮、带轮传动机构、腿部总成及机器人,将变径轮用于带轮传动机构中,通过改变变径轮的轮径来改变带轮传动机构的传动比,并将带轮传动机构用于机器人的腿部总成中,以带动腿部总成的两个载体相对活动,从而提高用于腿部总成的传动机构的传动比可调范围。并且在带轮传动机构的驱动轮及从动轮均选用变径轮时,可以加大驱动轮与从动轮的传动比可调范围,满足更多使用需求,且驱动轮和从动轮轮的轮径变化各自独立,使腿部总成的活动更平稳。在腿部总成需要大力矩进行低频活动时可以切换带轮传动机构使其具有大传动比,在腿部总成需要小力矩进行高频活动时可以切换带轮传动机构使其具有小传动比,以使具有腿部总成的机器人能够在多种复杂的场景作业。
Reducing wheel, belt wheel transmission mechanism, leg assembly and robot
变径轮、带轮传动机构、腿部总成及机器人
2023-12-15
Patent
Electronic Resource
Chinese
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