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Deformable leg structure and robot

A technology of robots and robot ontology, applied in the field of robots, can solve the problem of single operation state of robots, and achieve the effect of expanding application scenarios

Pending Publication Date: 2020-07-24
DONGGUAN DIRECT DRIVE TECH LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, in order to solve the problem that the current robot operating state is relatively single, the present invention provides a deformable leg structure

Method used

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  • Deformable leg structure and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0049] This embodiment provides a deformable leg structure for a robot, including a first power source 1 installed on the robot body, a second power source 2, a four-bar linkage mechanism 3 and wheels 4;

[0050] The first power source 1 drives the body of the second power source 2 to rotate together with the four-bar linkage mechanism 3, and the output shaft of the second power source 2 is also connected to the four-bar linkage mechanism 3 so that the four-bar linkage mechanism 3 can also rotate around the output The shaft rotates, and the wheel 4 is detachably installed on the four-bar linkage mechanism 3;

[0051] Such as Figure 1-Figure 5 As shown, one end of the second connecting rod 32 away from the output shaft is hinged with one end of the fourth connecting rod 3, the other end of the fourth connecting rod 34 is hinged with one end of the third connecting rod 33, and is hinged with the fourth connecting rod 34. The end of the third connecting rod 33 hinged by the rod...

Embodiment 2

[0062] This embodiment provides a deformable leg structure for a robot, including a first power source 1 installed on the robot body, a second power source 2, a four-bar linkage mechanism 3 and wheels 4;

[0063] The first power source 1 drives the body of the second power source 2 to rotate together with the four-bar linkage mechanism 3, and the output shaft of the second power source 2 is also connected to the four-bar linkage mechanism 3 so that the four-bar linkage mechanism 3 can also rotate around the output The shaft rotates, and the wheel 4 is detachably installed on the four-bar linkage mechanism 3;

[0064] Such as Figure 6 and Figure 7 As shown, one end of the first connecting rod 31 away from the body is hinged to one end of the third connecting rod 33, the other end of the third connecting rod 33 is hinged to the middle part of the fourth connecting rod 34, and one of the fourth connecting rods 34 The end is hinged with the second connecting rod 32, and the wh...

Embodiment 3

[0073] This embodiment provides a robot, such as Figure 8-Figure 13 As shown, it includes the deformable leg structure of embodiment 2, and the robot body on which the deformable leg structure is installed.

[0074] Because the deformable leg structure of Embodiment 2 can not only realize stable operation in the elongated standing state, but also can realize stable operation in the compressed and folded state, so the robot using it also has the above advantages, that is, it solves the current problem. The running state of the robot is compared to a single question.

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Abstract

The invention relates to the technical field of robots, and discloses a deformable leg structure and a robot. The leg structure comprises a first power source, a second power source, a four-connecting-rod mechanism and wheels, which are installed on a robot body. The first power source drives a body of the second power source and the four-connecting rod mechanism to rotate together, and an outputshaft of the second power source is connected with a shaft of the four-connecting-rod mechanism to make four connecting rods of the four-connecting-rod mechanism rotate to deform. And the wheels are detachably arranged on the four-connecting-rod mechanism. When the four-connecting-rod mechanism deforms to a compressed and folded state, the wheels touch the ground; when the four-connecting-rod mechanism deforms to an extension standing state, the wheels leave the ground, and the end of one connecting rod of the four-connecting-rod mechanism touches the ground. According to the leg structure andthe robot, the problem that an existing leg structure of the robot is single in operation state is effectively solved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a deformable leg structure and a robot. Background technique [0002] At present, wheel-legged or footed robots have a relatively single motion state, for example, they can only run stably in a standing state, or can only run stably in a folded state, which leads to a relatively single use scene. How to make the wheel-legged or legged robot can run stably in both the standing state and the folded state has become a research hotspot in this field. Contents of the invention [0003] In view of this, the present invention provides a deformable leg structure in order to solve the problem of relatively single operating state of the current robot. [0004] The present invention also provides a robot using the above-mentioned deformable leg structure. [0005] Adopt the following technical scheme to realize: [0006] A deformable leg structure for a robot, comprising a first power s...

Claims

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Application Information

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IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 张笛宁延何增丰
Owner DONGGUAN DIRECT DRIVE TECH LTD
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