| abstract |
The invention provides a leg structure of a wheel-legged robot, comprising a wheel, a lower leg link, a buffer energy storage spring, a thigh link, a lower leg drive motor, a thigh drive motor and a first lower leg transmission link, a thigh drive motor and a lower leg drive The motor can rotate independently, respectively driving the thigh link and the first calf drive link to rotate; when the wheel hits the ground, the angle between the calf link and the thigh link decreases, and the buffer energy storage spring can reduce the transmission to the thigh drive Shock loads for the motor and the lower leg drive motor. The invention adopts the buffer energy storage spring in parallel form, which not only reduces the impact on the motor when the foot end is in contact with the ground, but also can store energy and effectively reduce the peak torque of the driving motor. The utility model has the advantages of light weight and small moment of inertia. |