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1. WO2022007499 - WHEEL-LEG DUAL-MODE MECHANICAL LEG AND ROBOT

Publication Number WO/2022/007499
Publication Date 13.01.2022
International Application No. PCT/CN2021/093698
International Filing Date 13.05.2021
IPC
B62D 57/028 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
028having wheels and mechanical legs
B62D 57/032 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
032with alternately or sequentially lifted supporting base and leg; with alternately or sequentially lifted feet or skid
Applicants
  • 腾讯科技(深圳)有限公司 TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED [CN]/[CN]
Inventors
  • 张东胜 ZHANG, Dongsheng
  • 熊坤 XIONG, Kun
  • 陈相羽 CHEN, Xiangyu
  • 杨思成 YANG, Sicheng
  • 周钦钦 ZHOU, Qinqin
  • 徐良威 XU, Liangwei
  • 徐淇玮 XU, Qiwei
  • 迟万超 CHI, Wanchao
  • 黎雄 LI, Xiong
  • 张正友 ZHANG, Zhengyou
Agents
  • 北京三高永信知识产权代理有限责任公司 BEIJING SAN GAO YONG XIN INTELLECTUAL PROPERTY AGENCY CO., LTD.
Priority Data
202010662698.910.07.2020CN
202010663751.710.07.2020CN
202010769371.103.08.2020CN
Publication Language Chinese (zh)
Filing Language Chinese (ZH)
Designated States
Title
(EN) WHEEL-LEG DUAL-MODE MECHANICAL LEG AND ROBOT
(FR) JAMBE MÉCANIQUE À DOUBLE MODE DE JAMBE DE ROUE ET ROBOT
(ZH) 轮足双模态机械腿以及机器人
Abstract
(EN) A wheel-leg dual-mode mechanical leg (14) and a robot (10). The robot (10) comprises a torso portion (12) and n mechanical legs (14) connected to the torso portion (12). The mechanical leg (14) comprises a thigh unit (2) and a shank unit (3). A joint end (202) of the thigh unit (2) and a joint end (301) of the shank unit (3) are hinged by means of a rotary shaft (4). A traveling wheel (5) is fixed at the rotary shaft (4). When the robot is in a leg mode, the shank units (3) of the n mechanical legs (14) are fixedly connected to the rotary shafts (4). When the robot is in a wheel mode, the shank units (3) of at least two mechanical legs (14) are rotatably connected to the rotary shafts (4).
(FR) Une jambe mécanique à double mode de jambe de roue (14) et un robot (10). Le robot (10) comprend une partie torse (12) et n jambes mécaniques (14) reliées à la partie torse (12). La jambe mécanique (14) comprend une unité de cuisse (2) et une unité de tige (3). Une extrémité d'articulation (202) de l'unité de cuisse (2) et une extrémité d'articulation (301) de l'unité de tige (3) sont articulées au moyen d'un arbre rotatif (4). Une roue mobile (5) est fixée au niveau de l'arbre rotatif (4). Lorsque le robot est en mode jambe, les unités de tige (3) des n jambes mécaniques (14) sont reliées de manière fixe aux arbres rotatifs (4). Lorsque le robot est en mode roue, les unités de tige (3) d'au moins deux jambes mécaniques (14) sont reliées de manière rotative aux arbres rotatifs (4).
(ZH) 一种轮足双模态机械腿(14)以及机器人(10),该机器人(10)包括:躯干部(12),以及与躯干部(12)相连的n条机械腿(14);机械腿(14)包括大腿单元(2)和小腿单元(3);大腿单元(2)的关节端(202)和小腿单元(3)的关节端(301)通过转轴(4)铰接,转轴(4)上固定有行进轮(5);在处于足式模态下,n条机械腿(14)中的小腿单元(3)和转轴(4)固定连接;在处于轮式模态下,存在至少两条机械腿(14)中的小腿单元(3)和转轴(4)转动连接。
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