US 12,485,979 B2
Wheel-footed bimodal mechanical leg and robot
Dongsheng Zhang, Shenzhen (CN); Kun Xiong, Shenzhen (CN); Xiangyu Chen, Shenzhen (CN); Sicheng Yang, Shenzhen (CN); Qinqin Zhou, Shenzhen (CN); Liangwei Xu, Shenzhen (CN); Qiwei Xu, Shenzhen (CN); Wanchao Chi, Shenzhen (CN); Xiong Li, Shenzhen (CN); and Zhengyou Zhang, Shenzhen (CN)
Assigned to TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen (CN)
Filed by Tencent Technology (Shenzhen) Company Limited, Shenzhen (CN)
Filed on May 18, 2022, as Appl. No. 17/747,915.
Application 17/747,915 is a continuation of application No. PCT/CN2021/093698, filed on May 13, 2021.
Claims priority of application No. 202010662698.9 (CN), filed on Jul. 10, 2020; application No. 202010663751.7 (CN), filed on Jul. 10, 2020; and application No. 202010769371.1 (CN), filed on Aug. 3, 2020.
Prior Publication US 2022/0274657 A1, Sep. 1, 2022
Int. Cl. B62D 57/028 (2006.01); B62D 57/032 (2006.01)
CPC B62D 57/028 (2013.01) [B62D 57/032 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A wheel-footed bimodal mechanical leg, comprising: a driving apparatus, a thigh unit, and a calf unit,
a joint end of the thigh unit is hingedly connected to a joint end of the calf unit by a rotary shaft, the rotary shaft being transmission-connected to a traveling wheel, wherein the traveling wheel comprises a pin groove thereon, and the driving apparatus is connected to the rotary shaft by a transmission apparatus;
the calf unit comprises a locking component, the locking component includes a linear motor and a flat pin, and the flat pin is fixed to an output end of the linear motor;
the calf unit is fixedly connected to the rotary shaft by the traveling wheel when the locking component is in a locked state, wherein the locking component is in the locked state when the flat pin is inserted into the pin groove; and
the calf unit is rotatably connected to the rotary shaft when the locking component is in an unlocked state, wherein the locking component is in the unlocked state when the flat pin leaves the pin groove.