Title:
PARALLEL LEG STRUCTURE OF WHEEL-FOOT-TYPE ROBOT, AND MOBILE ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/088104
Kind Code:
A1
Abstract:
Provided is a parallel leg structure of a wheel-foot-type robot, the leg structure comprising a driving module (1) composed of three driving electric motors (101, 102, 103), a side swing shaft module (2), a front swing shaft module (5), a thigh module (4), a shank module (3) and a rolling wheel (6). The leg structure is a parallel mechanism, a rack (104) is a static platform, and the shank module (3) is a movable platform at a tail end. The three driving electric motors (101, 102, 103) are always fixedly connected to the rack (104), and accordingly, the leg structure is lightweight and has the features of having a good rigidity, low energy consumption, large bearing capacity and traction capacity of the robot, etc. A pair of parallel shaft gears with relatively large outer diameters is arranged in the front swing shaft module (5), and a driving parallel shaft gear (301) is fixedly connected to the rolling wheel (6), such that in addition to a foot-type moving mode when shanks are in contact with the ground, the rolling wheel (6) can be in contact with the ground when thighs and the shanks swing upwards to leave the ground, and the mobile robot can realize a wheel-type moving mode by using the rolling wheel (6), which has stronger environment adaptability and can achieve a faster moving speed.
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Inventors:
YANG DONGCHAO (CN)
TAO BO (CN)
WU QINGYUAN (CN)
CHEN KEN (CN)
ZHU HENG (CN)
SUN KEPING (CN)
TAO BO (CN)
WU QINGYUAN (CN)
CHEN KEN (CN)
ZHU HENG (CN)
SUN KEPING (CN)
Application Number:
PCT/CN2019/118064
Publication Date:
May 14, 2021
Filing Date:
November 13, 2019
Export Citation:
Assignee:
UNIV TSINGHUA (CN)
International Classes:
B62D57/028
Foreign References:
| CN104386157A | 2015-03-04 | |||
| CN108639180A | 2018-10-12 | |||
| CN107458495A | 2017-12-12 | |||
| CN103318289A | 2013-09-25 | |||
| CN104015833A | 2014-09-03 | |||
| CN203237312U | 2013-10-16 | |||
| US20110100733A1 | 2011-05-05 |
Attorney, Agent or Firm:
BEIJING HUIYINGJIECHUANG INTELLECTUAL PROPERTY AGENCY (CN)
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