Wheel-foot hybrid robot leg and wheel-foot hybrid robot

A robotic and hybrid technology, applied in the field of robotics, can solve problems such as increasing the inertia of the leg mechanism and reducing the motion performance of the robot, and achieve the effect of improving adaptability
CN112455567APending Publication Date: 2021-03-09THE 21TH RES INST OF CHINA ELECTRONIC TECH GRP CORP
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
THE 21TH RES INST OF CHINA ELECTRONIC TECH GRP CORP
Publication Date
2021-03-09

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Abstract

The invention provides a wheel-foot hybrid robot leg and a wheel-foot hybrid robot. In the robot leg, a first driving wheel and a second driving wheel are arranged in parallel and are both rotationally mounted at the hip joint of the leg through hip joint rotating shafts; the first driven wheel and the second driven wheel are arranged in parallel and are rotationally mounted at knee joints of legsthrough knee joint rotating shafts; the output power of the driving unit sequentially passes through the first driving wheel and the first driven wheel to reach shanks to form a first power transmission line, so that the robot moves in a foot type state, or the output power of the driving unit sequentially passes through the second driving wheel and the second driven wheel to reach the roller toform a second transmission line, so that the robot moves in a wheel type state; the power switching unit can enable the output power of the driving unit to be switched between the first power transmission line and the second power transmission line so as to enable the wheel-foot hybrid robot to be switched between foot type state motion and wheel type state motion.
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Description

technical field

[0001] The present application relates to the field of robot technology, in particular to a leg of a wheel-foot hybrid robot and a wheel-foot hybrid robot. Background technique

[0002] The research on the robot-wheel-foot hybrid has gradually become a hot spot for scholars at home and abroad. Because wheeled robots can move quickly on flat roads, and footed robots can cross sand traps and climb stairs, the advantages of footed and wheeled robots are combined, and wheel-footed hybrid robots are eliminated. However, adding a wheeled kinematic pair to a legged robot requires an additional drive motor, which increases the moment of inertia of the leg mechanism and reduces the kinematic performance of the robot.

[0003] Therefore, it is necessary to provide an improved technical solution for the above-mentioned deficiencies in the prior art. Contents of the invention

[0004] The purpose of the present application is to provide a wheel-foot hybrid robot leg ...

Claims

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