Wheel-legged robot with double buffering structure

Abstract

The application relates to a wheel-foot leg and wheel-foot robot with a double-buffer structure, and relates to the technical field of robots.The application is used for solving the problem of insufficient buffer performance caused by the small size of the elastic element of an existing wheel-foot robot and the limited buffer stroke of the wheel-foot robot.The buffer wheel-foot leg comprises a knee joint motor, a knee joint crank, a knee joint connecting rod, a thigh, a shank, a wheel hub motor, a knee joint buffer mechanism and a leg buffer mechanism.The knee joint motor output shaft of the knee joint motor is fixedly connected with one end of the knee joint crank, the other end of the knee joint crank is rotationally connected with the upper end of the shank through the knee joint connecting rod, the upper end of the thigh is fixedly connected with the knee joint motor through a thigh flange, the lower end of the thigh is rotationally connected with the upper side of the shank, the lower end of the shank is connected with the wheel hub motor, the knee joint buffer mechanism is arranged between the thigh and the knee joint crank to realize the buffer of the knee joint, and the leg buffer mechanism is arranged between the thigh and the shank to realize the buffer of the leg.The application is used for a foot-type robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a wheeled leg with a double-buffered structure and a wheeled robot. Background Technology

[0002] Quadruped robots have greater freedom in choosing their footholds and can overcome obstacles of similar length to their legs, thus exhibiting superior obstacle-crossing performance. Legged robots are highly adaptable to rugged terrain; through design, legged structures can perform actions such as jumping, obstacle crossing, and climbing, enabling movement in complex terrains. However, legged robots have low energy efficiency, a relatively complex overall structure, and slow movement speed on flat terrain, limiting their application range. On flat terrain, wheeled robots move quickly, consume little energy, and are highly energy efficient. However, for natural environments, wheeled robots have poor adaptability and require a high degree of surface smoothness. In terrestrial environments such as forests, mountains, and other environments without flat terrain, the limited wheel radius and suspension travel of wheeled robots generally make their mobility less efficient than other structures, making it difficult to traverse soft terrain, ditches, or obstacles. Wheel-legged robots combine the advantages of legged and wheeled structures, ensuring high-speed and efficient movement on flat terrain while improving adaptability to various rugged terrains, enabling them to complete a variety of complex tasks. When a wheeled robot moves on wheels, it will be subjected to impacts from the ground, so a corresponding buffering mechanism is needed to reduce the impact force on the robot structure. When a wheeled robot moves on legs, in the case of moving, jumping or falling from a height, the structural buffering can be combined with the buffering control strategy to further reduce the impact force on the structure.

[0003] Existing wheeled robots vary in application scenarios and structural design. Some lack a buffer mechanism, while others achieve shock absorption by installing torsion springs at the joints, or by connecting tension springs with linkages at the joints. Adding a buffer mechanism at the joints results in a buffer stroke that primarily depends on the joint angle. Due to the limited space at the joints, the size of the buffer mechanism is restricted, leading to small elastic elements, insufficient buffering performance, and an increase in the overall size of the joint, affecting the robot's overall compactness. Summary of the Invention

[0004] In order to solve the problem of insufficient buffering performance caused by the small size of the elastic element and the limited buffering stroke of the existing wheeled robot, this invention proposes a wheeled leg with a double buffering structure and a wheeled robot.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0006] A wheel-type leg with a dual-buffered structure includes a knee joint motor, a knee joint crank, a knee joint connecting rod, a thigh, a lower leg, a hub motor, a knee joint buffer mechanism, and a leg buffer mechanism. The knee joint motor is fixedly connected to a knee joint motor base. The output shaft of the knee joint motor is fixedly connected to one end of the knee joint crank. The other end of the knee joint crank is rotatably connected to the upper end of the lower leg via the knee joint connecting rod. The upper end of the thigh is fixedly connected to the knee joint motor via a thigh flange. The lower end of the thigh is rotatably connected to the upper side of the lower leg. The lower end of the lower leg is connected to the hub motor. The knee joint buffer mechanism is located between the thigh and the knee joint crank to achieve knee joint buffering. The leg buffer mechanism is located between the thigh and the lower leg to achieve leg buffering.

[0007] Furthermore, the knee joint crank is located on one side of the knee joint motor output shaft and is arranged along the radial direction of the knee joint motor output shaft.

[0008] Furthermore, the knee joint links are arranged in parallel on the outer side of the thigh, with one end of the knee joint link hinged to the other end of the knee joint crank, and the other end of the knee joint link hinged to the upper end of the lower leg.

[0009] Furthermore, the thigh flange is fixedly connected to the knee joint motor, and the upper end of the thigh is fixedly connected to the thigh flange.

[0010] Furthermore, the knee joint cushioning mechanism includes a joint compression spring seat and a joint compression spring. The joint compression spring seat is fixed to one side of one end of the knee joint crank, and a stop block is fixed to the inner side of the upper end of the thigh. The joint compression spring is arranged circumferentially between the joint compression spring seat and the stop block along the outer side wall of the knee joint motor output shaft.

[0011] Furthermore, the leg cushioning mechanism includes a thigh sliding assembly, a slider connecting rod, and a calf sliding assembly. The slider connecting rod is located on the inner side of the knee joint. One end of the slider connecting rod is slidably and rotatably connected to the thigh through the thigh sliding assembly, and the other end of the slider connecting rod is slidably and rotatably connected to the calf through the calf sliding assembly.

[0012] Furthermore, the thigh sliding assembly includes an upper fixing block on the thigh optical axis, a thigh compression spring, a thigh optical axis, a thigh slider, and a lower fixing block on the thigh optical axis. The upper fixing block on the thigh optical axis is fixedly connected to the inside of the upper side of the thigh, the lower fixing block on the thigh optical axis is fixedly connected to the inside of the lower side of the thigh, the thigh optical axis is fixedly connected between the upper fixing block and the lower fixing block, the thigh slider is fitted on the thigh optical axis and slidably connected to the thigh optical axis, the thigh compression spring is disposed between the upper fixing block and the thigh slider and fitted on the thigh optical axis, and one end of the slider connecting rod is hinged to the thigh slider.

[0013] Furthermore, the calf sliding assembly includes an upper fixing block for the calf optical axis, a calf slider, a calf compression spring, a calf optical axis, and a lower fixing block for the calf optical axis. The upper fixing block for the calf optical axis is fixedly connected to the inside of the upper side of the calf, and the lower fixing block for the calf optical axis is fixedly connected to the inside of the lower side of the calf. The calf optical axis is fixed between the upper fixing block and the lower fixing block for the calf optical axis. The calf slider is fitted onto the calf optical axis and slidably connected to it. The calf compression spring is disposed between the calf slider and the lower fixing block for the calf optical axis and fitted onto the calf optical axis. The other end of the slider connecting rod is hinged to the calf slider.

[0014] A wheeled robot with a double-buffered structure includes four wheeled legs with a double-buffered structure and a trunk mechanism. The trunk mechanism includes a trunk frame and four lateral swing hip joints. Each side of the trunk frame has a lateral swing hip joint at its front and rear ends. Each lateral swing hip joint is connected to the knee joint motor base of a wheeled leg. The lateral swing hip joints drive the wheeled leg to swing laterally and back and forth.

[0015] Furthermore, the lateral swing hip joint includes a lateral swing joint motor, a lateral swing joint motor mounting plate, a hip joint motor base, and a hip joint motor. The lateral swing joint motor mounting plate is fixedly connected to the torso frame, the lateral swing joint motor is fixedly connected to the lateral swing joint motor mounting plate, the output shaft of the lateral swing joint motor is fixedly connected to the hip joint motor base, the hip joint motor is fixedly connected to the hip joint motor base, and the output shaft of the hip joint motor is fixedly connected to the knee joint motor base.

[0016] The beneficial effects of this invention compared to the prior art are:

[0017] The purpose of this invention is to provide a wheeled leg and wheeled robot with a dual-buffered structure to solve the problems existing in the prior art. Based on intra-joint compression springs, compression springs are respectively installed inside the thigh and lower leg of the wheeled robot. A slider moves along an optical axis to compress the compression springs, and a slider linkage connects the thigh and lower leg. The compression springs inside the legs achieve a larger buffer stroke, making movement smoother, storing energy for jumping, and absorbing the impact of falling from a height, thus achieving better cushioning. The buffer structure is internally installed within the robot's links, without damaging the structure, is hidden, does not restrict joint movement, has a large stroke, and reduces the size and space occupied by the wheeled robot's buffer structure, ensuring the overall structural compactness.

[0018] This invention incorporates compression springs within the thighs and calves of a wheel-legged robot, and connects the thighs and calves via a slider linkage. The slider moves along an optical axis to compress the compression springs, achieving a larger buffer stroke using the compression springs within the legs. This results in smoother movement, stores energy for jumping, and absorbs the impact of falling from a height, thus providing better cushioning and protecting the structure of the wheel-legged robot.

[0019] This invention utilizes the movement of a slider on an optical axis to compress a compression spring, converting the height change between the joint motor and hub motor of the wheel-legged robot during the buffering process into the movement distance of a slider installed inside the legs. This amplifies the change in the flexion and extension height of the wheel-legs during buffering, increases the buffering stroke, and achieves a better buffering and shock absorption effect. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of a wheeled robot with a double buffer structure according to the present invention;

[0021] Figure 2 This is a schematic diagram of the overall structure of a wheel leg with a double buffer structure in this invention;

[0022] Figure 3 This is a cross-sectional schematic diagram of the integral structure of a wheel leg with a double buffer structure in this invention;

[0023] Figure 4 This is a schematic diagram of the structure of a wheel leg with a double buffer structure in the landing buffer state of the present invention, wherein 13-1 is the state after the joint compression spring is compressed;

[0024] Figure 5 This is a cross-sectional view of the wheel leg with a double buffer structure in the landing buffer state of the present invention, wherein 20-1 is the state after the thigh compression spring is compressed, and 27-1 is the state after the calf compression spring is compressed. Detailed Implementation

[0025] To make the technical problems solved, the technical solutions, and the beneficial effects of the present invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0026] Specific implementation method one: Combining Figures 1 to 5This embodiment describes a wheel-type leg with a dual-buffer structure, comprising a knee joint motor 10, a knee joint crank 16, a knee joint connecting rod 18, a thigh 30, a lower leg 14, a hub motor 15, a knee joint buffer mechanism, and a leg buffer mechanism. The knee joint motor 10 is fixedly connected to a knee joint motor base 9. The knee joint motor output shaft 12 of the knee joint motor 10 is fixedly connected to one end of the knee joint crank 16. The other end of the knee joint crank 16 is rotatably connected to the upper end of the lower leg 14 via the knee joint connecting rod 18. The upper end of the thigh 30 is fixedly connected to the knee joint motor 10 via a thigh flange 11. The lower end of the thigh 30 is rotatably connected to the upper side of the lower leg 14. The lower end of the lower leg 14 is connected to the hub motor 15. The knee joint buffer mechanism is disposed between the thigh 30 and the knee joint crank 16 to achieve knee joint buffering. The leg buffer mechanism is disposed between the thigh 30 and the lower leg 14 to achieve leg buffering.

[0027] In this embodiment, the knee joint motor 10 is mounted on the knee joint motor base 9. The knee joint motor output shaft 12 of the knee joint motor 10 drives the knee joint crank 16 to rotate. The knee joint crank 16 drives the lower leg 14 of the wheel leg to swing through the knee joint connecting rod 18.

[0028] Specific Implementation Method Two: Combining Figures 1 to 5 In this embodiment, the knee joint crank 16 is disposed on one side of the knee joint motor output shaft 12 and is disposed along the radial direction of the knee joint motor output shaft 12.

[0029] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment 1.

[0030] This design facilitates the power transmission of the knee joint motor output shaft 12.

[0031] Specific implementation method three: Combining Figures 1 to 5 In this embodiment, the knee joint link 18 is arranged in parallel on the outer side of the thigh 30. One end of the knee joint link 18 is hinged to the other end of the knee joint crank 16, and the other end of the knee joint link 18 is hinged to the upper end of the lower leg 14.

[0032] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment 1.

[0033] This design forms a parallelogram-shaped linkage mechanism within the enclosed area of ​​the knee joint link 18, thigh 30, knee joint crank 16, and lower leg 14, so as to convert the rotation of the knee joint motor output shaft 12 into the swing of the lower leg 14, thereby realizing the transmission of power.

[0034] Specific implementation method four: Combination Figures 1 to 5In this embodiment, the thigh flange 11 is fixedly connected to the knee joint motor 10, and the upper end of the thigh 30 is fixedly connected to the thigh flange 11.

[0035] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment 1.

[0036] This design allows for a fixed connection between the upper part of the thigh 30 and the knee joint motor 10.

[0037] Specific Implementation Method Five: Combining Figures 1 to 5 This embodiment describes a knee joint cushioning mechanism comprising a joint spring seat 17 and a joint spring 13. The joint spring seat 17 is fixedly connected to one side of one end of the knee joint crank 16, and a stop block 31 is fixedly connected to the inner side of the upper end of the thigh 30. The joint spring 13 is circumferentially disposed between the joint spring seat 17 and the stop block 31 along the outer side wall of the knee joint motor output shaft 12.

[0038] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment 1.

[0039] The knee joint cushioning mechanism, as the first cushioning mechanism, is located at the hip joint of the thigh. The joint compression spring seat 17 is connected to the knee joint crank 16, and the joint compression spring 13 is installed between the joint compression spring seat 17 and the stop block 31, which converts the torsional motion of the knee joint into the compression of the spring, thereby achieving cushioning.

[0040] To facilitate effective positioning of the joint compression spring 13, an annular guide groove can be provided on the inner side of the upper end of the thigh 30. The joint compression spring 13 is placed in the guide groove to guide the joint compression spring 13. Figure 2 As shown. Alternatively, a guide rod can be provided between the joint compression spring seat 17 and the stop block 31. The guide rod is arranged circumferentially along the outer side wall of the knee joint motor output shaft 12. The joint compression spring 13 is fitted onto the guide rod. The guide rod can be a telescopic structure or a structure that is broken in the middle. The joint compression spring 13 can be compressed towards the joint compression spring seat 17 along the direction of the guide rod to guide the joint compression spring 13.

[0041] Specific Implementation Method Six: Combination Figures 1 to 5 This embodiment describes a leg cushioning mechanism comprising a thigh sliding assembly, a slider link 24, and a calf sliding assembly. The slider link 24 is located on the inner side of the knee joint. One end of the slider link 24 is slidably and rotatably connected to the thigh 30 via the thigh sliding assembly, and the other end of the slider link 24 is slidably and rotatably connected to the calf 14 via the calf sliding assembly.

[0042] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment 1.

[0043] The leg cushioning mechanism, as the second cushioning mechanism, is located inside the thigh 30 and the calf 14. The slider connecting rod 24 slides and rotates between the thigh 30 and the calf 14 respectively. The cushioning of the leg is achieved through the shock absorption effect of the thigh sliding component and the calf sliding component.

[0044] Specific implementation method seven: Combination Figures 1 to 5 This embodiment describes a thigh sliding assembly comprising a thigh optical axis upper fixing block 19, a thigh compression spring 20, a thigh optical axis 21, a thigh slider 22, and a thigh optical axis lower fixing block 23. The thigh optical axis upper fixing block 19 is fixedly connected to the inside of the upper side of the thigh 30, the thigh optical axis lower fixing block 23 is fixedly connected to the inside of the lower side of the thigh 30, the thigh optical axis 21 is fixedly connected between the thigh optical axis upper fixing block 19 and the thigh optical axis lower fixing block 23, the thigh slider 22 is fitted on the thigh optical axis 21 and slidably connected to the thigh optical axis 21, the thigh compression spring 20 is disposed between the thigh optical axis upper fixing block 19 and the thigh slider 22 and fitted on the thigh optical axis 21, and one end of the slider connecting rod 24 is hinged to the thigh slider 22.

[0045] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Six.

[0046] Specific implementation method eight: Combination Figures 1 to 5 This embodiment describes a calf sliding assembly comprising a calf optical axis upper fixing block 25, a calf slider 26, a calf compression spring 27, a calf optical axis 28, and a calf optical axis lower fixing block 29. The calf optical axis upper fixing block 25 is fixedly connected to the interior of the upper side of the calf 14, and the calf optical axis lower fixing block 29 is fixedly connected to the interior of the lower side of the calf 14. The calf optical axis 28 is fixedly connected between the calf optical axis upper fixing block 25 and the calf optical axis lower fixing block 29. The calf slider 26 is fitted onto the calf optical axis 28 and slidably connected to it. The calf compression spring 27 is disposed between the calf slider 26 and the calf optical axis lower fixing block 29 and fitted onto the calf optical axis 28. The other end of the slider connecting rod 24 is hinged to the calf slider 26.

[0047] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Six.

[0048] The thigh optical axis 21 is connected to the thigh 30 via upper and lower fixing blocks, and the calf optical axis 28 is connected to the calf 14 via upper and lower fixing blocks. A slider is mounted on the optical axis and moves along it. The thigh slider 22 and the calf slider 26 are connected by a slider connecting rod 24. A thigh compression spring 20 is installed between the thigh slider 22 and the upper fixing block 19 of the thigh optical axis, and a calf compression spring 27 is installed between the calf slider 26 and the lower fixing block 29 of the calf optical axis. When the wheel leg is fully extended, the thigh slider 22 contacts the lower fixing block 23 of the thigh optical axis, and the calf slider 26 contacts the upper fixing block 25 of the calf optical axis. Since the length of the slider connecting rod 24 is fixed, when the wheel leg flexes, the thigh slider 22 moves along the optical axis to the upper fixing block 19 of the thigh optical axis, and the calf slider 26 moves along the optical axis to the lower fixing block 29 of the calf optical axis, causing the thigh compression spring 20 and the calf compression spring 27 to deform under pressure, thus achieving cushioning.

[0049] Specific Implementation Method Nine: Combining Figures 1 to 5 This embodiment describes a wheeled robot with a double-buffered structure, comprising four wheeled legs with a double-buffered structure and a trunk mechanism. The trunk mechanism includes a trunk frame and four lateral hip joints. Each side of the trunk frame has a lateral hip joint at its front and rear ends. Each lateral hip joint is connected to the knee joint motor base 9 of one wheeled leg. The lateral hip joints drive the wheeled leg to swing laterally and back and forth.

[0050] The wheeled robot consists of a torso mechanism and four wheeled legs. The torso mechanism includes a torso frame and four lateral hip joints. The torso frame is composed of two vertically opposite torso side plates 1, two horizontally parallel torso top plates 2, and two horizontally parallel torso bottom plates 3. Two torso partition plates 4 are arranged in the middle to enhance the stability of the overall torso frame. The plates are connected by bolts.

[0051] Specific Implementation Method Ten: Combining Figures 1 to 5 This embodiment describes a lateral swing hip joint, which includes a lateral swing joint motor 5, a lateral swing joint motor mounting plate 6, a hip joint motor base 7, and a hip joint motor 8. The lateral swing joint motor mounting plate 6 is fixedly connected to the torso frame, the lateral swing joint motor 5 is fixedly connected to the lateral swing joint motor mounting plate 6, the output shaft of the lateral swing joint motor 5 is fixedly connected to the hip joint motor base 7, the hip joint motor 8 is fixedly connected to the hip joint motor base 7, and the output shaft of the hip joint motor 8 is fixedly connected to the knee joint motor base 9.

[0052] The undisclosed technical features in this embodiment are the same as those in specific embodiment nine.

[0053] The lateral swing joint motor mounting plate 6 is fixed to the front and rear ends of the torso frame. The lateral swing joint motor 5 is mounted on the lateral swing joint motor mounting plate 6 and connected to the hip joint motor base 7, driving the wheeled leg to swing laterally. The hip joint motor 8 is mounted on the hip joint motor base 7 and connected to the knee joint base 9, driving the thigh 30 of the wheeled leg connected to the knee joint motor 10 to swing. The knee joint motor 10 is mounted on the knee joint base 9 and connected to the knee joint motor shaft 12. The knee joint motor shaft 12 drives the knee joint crank 16 and the knee joint connecting rod 18, thereby driving the lower leg 14 of the wheeled leg to swing.

[0054] Working principle

[0055] When the wheel-legged robot moves, the ground impacts the hub motor, causing the lower leg to rotate around the knee joint and the wheel-leg to flex. This drives the knee joint linkage and knee joint crank, compressing the joint compression spring for cushioning. Simultaneously, as the lower leg moves, the slider linkage between the upper and lower legs drives the thigh and lower leg sliders to move along the optical axis, compressing the thigh and lower leg compression springs to absorb the energy generated by the impact and achieve cushioning.

[0056] When the robot is about to jump, its legs contract first. At this time, the joint springs, thigh springs, and calf springs compress and store energy. When the robot jumps, the springs extend and release additional compressive energy, which, together with the motor drive, enhances the robot's jumping ability.

[0057] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A wheel leg with a double-buffered structure, characterized in that: The system includes a knee joint motor (10), a knee joint crank (16), a knee joint connecting rod (18), a thigh (30), a lower leg (14), a hub motor (15), a knee joint buffer mechanism, and a leg buffer mechanism. The knee joint motor (10) is fixedly connected to the knee joint motor base (9). The knee joint motor output shaft (12) of the knee joint motor (10) is fixedly connected to one end of the knee joint crank (16), and the other end of the knee joint crank (16) is connected to the lower leg through the knee joint connecting rod (18). The upper end of (14) is rotatably connected, the upper end of the thigh (30) is fixed to the knee joint motor (10) through the thigh flange (11), the lower end of the thigh (30) is rotatably connected to the upper side of the calf (14), the lower end of the calf (14) is connected to the hub motor (15), the knee joint buffer mechanism is set between the thigh (30) and the knee joint crank (16) to realize the buffer of the knee joint, and the leg buffer mechanism is set between the thigh (30) and the calf (14) to realize the buffer of the leg. The leg cushioning mechanism includes a thigh sliding assembly, a slider link (24) and a calf sliding assembly. The slider link (24) is located on the inside of the knee joint. One end of the slider link (24) is slidably and rotatably connected to the thigh (30) through the thigh sliding assembly, and the other end of the slider link (24) is slidably and rotatably connected to the calf (14) through the calf sliding assembly. The thigh sliding assembly includes an upper fixing block (19) on the thigh optical axis, a thigh compression spring (20), a thigh optical axis (21), a thigh slider (22), and a lower fixing block (23) on the thigh optical axis. The upper fixing block (19) on the thigh optical axis is fixed to the inside of the upper side of the thigh (30), and the lower fixing block (23) on the inside of the lower side of the thigh (30). The thigh optical axis (21) is fixed between the upper fixing block (19) and the lower fixing block (23). The thigh slider (22) is fitted on the thigh optical axis (21) and slidably connected to the thigh optical axis (21). The thigh compression spring (20) is set between the upper fixing block (19) and the thigh slider (22) and fitted on the thigh optical axis (21). One end of the slider connecting rod (24) is hinged to the thigh slider (22). The calf sliding assembly includes a calf upper fixing block (25), a calf slider (26), a calf compression spring (27), a calf optical axis (28), and a calf lower fixing block (29). The calf upper fixing block (25) is fixed to the inside of the upper side of the calf (14), the calf lower fixing block (29) is fixed to the inside of the lower side of the calf (14), the calf optical axis (28) is fixed between the calf upper fixing block (25) and the calf lower fixing block (29), the calf slider (26) is fitted on the calf optical axis (28) and slidably connected to the calf optical axis (28), the calf compression spring (27) is set between the calf slider (26) and the calf lower fixing block (29) and fitted on the calf optical axis (28), and the other end of the slider connecting rod (24) is hinged to the calf slider (26).

2. The wheel leg with a double buffer structure according to claim 1, characterized in that: The knee joint crank (16) is located on one side of the knee joint motor output shaft (12) and is arranged in the radial direction of the knee joint motor output shaft (12).

3. The wheel leg with a double buffer structure according to claim 1, characterized in that: The knee joint link (18) is arranged in parallel on the outside of the thigh (30). One end of the knee joint link (18) is hinged to the other end of the knee joint crank (16), and the other end of the knee joint link (18) is hinged to the upper end of the lower leg (14).

4. The wheel leg with a double buffer structure according to claim 1, characterized in that: The thigh flange (11) is fixedly connected to the knee joint motor (10), and the upper end of the thigh (30) is fixedly connected to the thigh flange (11).

5. The wheel leg with a double buffer structure according to claim 1, characterized in that: The knee joint cushioning mechanism includes a joint compression spring seat (17) and a joint compression spring (13). The joint compression spring seat (17) is fixed to one side of one end of the knee joint crank (16), and a stop block (31) is fixed to the inner side of the upper end of the thigh (30). The joint compression spring (13) is arranged circumferentially between the joint compression spring seat (17) and the stop block (31) along the outer side wall of the knee joint motor output shaft (12).

6. A wheeled robot with a double-buffered structure, characterized in that: The invention includes a wheel-foot leg with a double-buffered structure as described in any one of claims 1 to 5, and also includes a torso mechanism. The torso mechanism includes a torso frame and four lateral swing hip joints. Each lateral swing hip joint is provided at the front and rear ends of both sides of the torso frame. Each lateral swing hip joint is connected to the knee joint motor base (9) of a wheel-foot leg. The lateral swing hip joints drive the wheel-foot leg to swing laterally and back and forth.

7. A wheeled robot with a double-buffered structure according to claim 6, characterized in that: The lateral swing hip joint includes a lateral swing joint motor (5), a lateral swing joint motor mounting plate (6), a hip joint motor base (7), and a hip joint motor (8). The lateral swing joint motor mounting plate (6) is fixedly connected to the torso frame. The lateral swing joint motor (5) is fixedly connected to the lateral swing joint motor mounting plate (6). The output shaft of the lateral swing joint motor (5) is fixedly connected to the hip joint motor base (7). The hip joint motor (8) is fixedly connected to the hip joint motor base (7). The output shaft of the hip joint motor (8) is fixedly connected to the knee joint motor base (9).

Images