The invention provides a leg structure of a wheel-foot composite robot and the wheel-foot robot, and relates to the technical field of robots, and the leg structure comprises a transmission assembly, a supporting assembly, a wheel-foot assembly and a power assembly; the transmission assembly comprises a bilateral crank assembly and a transmission connecting rod; the supporting assembly comprises a first supporting rod, an end cover and a second supporting rod. The wheel foot assembly comprises a hub motor, a hub motor connecting piece and a tire assembly. An output shaft of the power assembly is connected with the double-side crank assembly, the double-side crank assembly is connected with the transmission connecting rod, the transmission connecting rod is connected with the second supporting rod, and the second supporting rod is connected with the hub motor connecting piece. The power assembly is connected with the first supporting rod, and the first supporting rod is rotationally connected with the second supporting rod. The double-side crank assembly, the transmission connecting rod, the second supporting rod and the first supporting rod form a parallelogram transmission mechanism, and the power assembly drives the leg structure to do spatial motion through the parallelogram transmission mechanism.
本发明提供一种轮足复合机器人腿部结构及轮足机器人,涉及机器人技术领域,腿部结构包括:传动组件、支撑组件、轮足组件以及动力组件;传动组件包括双边曲柄组件和传动连杆;支撑组件包括第一支撑杆、端盖和第二支撑杆;轮足组件包括轮毂电机、轮毂电机连接件、轮胎组件;动力组件的输出轴与双边曲柄组件连接,双边曲柄组件与传动连杆连接,传动连杆与第二支撑杆连接,第二支撑杆与轮毂电机连接件连接;动力组件与第一支撑杆连接,第一支撑杆与第二支撑杆转动连接;双边曲柄组件、传动连杆、第二支撑杆以及第一支撑杆构成平行四边形传动机构,动力组件通过平行四边形传动机构驱动腿部结构进行空间运动。
Leg structure of wheel-foot composite robot and wheel-foot robot
一种轮足复合机器人腿部结构及轮足机器人
2025-04-04
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Leg structure of wheel-foot robot, wheel-foot robot and four-wheel-foot robot
European Patent Office | 2024
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