# US 11,993,123 B2 · Mechanical leg and wheeled mobile device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,123 B2 - Document ID: US11993123B2 - Status: Granted - Kind: B2 - Application number: 17/968,229 - Filed: 2022-10-18 - Published: 2023-02-09 - Granted: 2024-05-28 - Earliest claimed: 2020-08-12 - Assignees: Tencent Technology (Shenzhen) Company Limited - Applicants: Tencent Technology (Shenzhen) Company Limited - Inventors: Jie Lai; Dongsheng Zhang; Shuai Wang; Ke Chen; Sicheng Yang; Zhengyou Zhang - Web page: https://patentgrep.com/patent/US11993123B2 ## CPC - B60G 17/025: {the mechanical spring being a torsion spring (B60G17/0277, B60G21/0553 take precedence)} - B62D 63/02: Motor vehicles - B60G 21/005: {transversally} - B62D 57/028: having wheels and mechanical legs (B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00) - B62D 61/06: with only three wheels - B62D 61/12: with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels (for manoeuvring purposes only B60S) - B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00}) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A mechanical leg comprises a frame, a retractable member, a wheel, an extension and retraction driving member, a travel driving member, an auxiliary leg, and an auxiliary wheel. The extension and retraction driving member is located on a side of the frame. The retractable member is connected to the extension and retraction driving member. The wheel is connected to the retractable member. The wheel is further connected to the travel driving member. A first end of the auxiliary leg is connected to the auxiliary wheel, and a second end of the auxiliary leg is located on the frame. The retractable member extends under the driving of the extension and retraction driving member to drive the wheel to jump. The wheel is driven by the travel driving member to move. When the auxiliary wheel contacts the ground, the mechanical leg moves with the rolling of the wheel and the auxiliary wheel. ## Claims ### Claim 1 A mechanical leg, the mechanical leg comprising a frame, a retractable member, a wheel, an extension and retraction driving member, a travel driving member, an auxiliary leg, and an auxiliary wheel, wherein the extension and retraction driving member is located on a side of the frame, the retractable member is connected to the extension and retraction driving member, the wheel is connected to the retractable member and the travel driving member respectively, a first end of the auxiliary leg is connected to the auxiliary wheel, and a second end of the auxiliary leg is located on the frame; and the retractable member is configured to drive the wheel to jump when being driven by the extension and retraction driving member to extend and retract, the wheel is driven by the travel driving member to move, and when the auxiliary wheel contacts the ground, the mechanical leg moves as the wheel and the auxiliary wheel roll. ### Claim 2 (depends on 1) The mechanical leg according to claim 1, further comprising an auxiliary driving member, wherein the auxiliary driving member is located on the side of the frame, and the second end of the auxiliary leg is connected to an output shaft of the auxiliary driving member; and the auxiliary leg is configured to extend to the side of the frame and retract to a position under the frame under the driving of the auxiliary driving member. ### Claim 3 (depends on 2) The mechanical leg according to claim 2, wherein the auxiliary leg is further configured to rotate relative to the frame under the driving of the auxiliary driving member to adjust the center of gravity of the mechanical leg. ### Claim 4 (depends on 1) The mechanical leg according to claim 1, wherein the retractable member is a linkage mechanism comprising a thigh bar and a shank bar; and a first end of the thigh bar is rotationally connected to an output shaft of the extension and retraction driving member, a second end of the thigh bar is rotationally connected to a first end of the shank bar, and a second end of the shank bar is mounted on a drive shaft of the wheel by using a bearing. ### Claim 5 (depends on 4) The mechanical leg according to claim 4, wherein each wheel corresponds to two retractable members and two extension and retraction driving members, and the retractable members correspond to the extension and retraction driving members one to one. ### Claim 6 (depends on 5) The mechanical leg according to claim 5, wherein the mechanical leg further comprises an elastic member, and the elastic member is connected between a shank bar of a first retractable member of the two retractable members and a shank bar of a second retractable member of the two retractable members. ### Claim 7 (depends on 6) The mechanical leg according to claim 6, wherein the elastic member is a torsional spring, the torsional spring is sleeved on the drive shaft of the wheel, a first torsional arm of the torsional spring is connected to the shank bar of the first retractable member, and a second torsional arm of the torsional spring is connected to the shank bar of the second retractable member. ### Claim 8 (depends on 6) The mechanical leg according to claim 6, wherein the elastic member is a spring, one end of the spring is connected to the shank bar of the first retractable member, and the other end of the spring is connected to the shank bar of the second retractable member. ### Claim 9 (depends on 5) The mechanical leg according to claim 5, wherein the side of the frame comprises a bulge part and a non-bulge part; and the two extension and retraction driving members corresponding to each wheel are staggered on the bulge part and the non-bulge part, so that no friction is generated between the thigh bars connected to each other when the mechanical leg is walking. ### Claim 10 (depends on 4) The mechanical leg according to claim 4, wherein a groove is arranged on a part of the thigh bar near the second end; and when the thigh bar is parallel to the ground, a part of the shank bar near the first end is located in the groove and is engaged with the thigh bar. ### Claim 11 (depends on 4) The mechanical leg according to claim 4, wherein the quantity of wheels is two, the two wheels are located on two opposite sides of the frame, and the auxiliary wheel is located on a side of the frame and between the two wheels; and when leg joints of two retractable members connected to the same wheel are bent in opposite directions, the mechanical leg is in a first three-wheel mode; and when leg joints of two retractable members connected to the same wheel are bent in the same direction, the mechanical leg is in a second three-wheel mode; and the leg joint of the retractable member is a rotary junction of the thigh bar and the shank bar of the retractable member. ### Claim 12 A wheeled mobile device, comprising at least one mechanical leg, one of the at least one mechanical leg comprising a frame, a retractable member, a wheel, an extension and retraction driving member, a travel driving member, an auxiliary leg, and an auxiliary wheel, wherein the extension and retraction driving member is located on a side of the frame, the retractable member is connected to the extension and retraction driving member, the wheel is connected to the retractable member and the travel driving member respectively, a first end of the auxiliary leg is connected to the auxiliary wheel, and a second end of the auxiliary leg is located on the frame; and the retractable member is configured to drive the wheel to jump when being driven by the extension and retraction driving member to extend and retract, the wheel is driven by the travel driving member to move, and when the auxiliary wheel contacts the ground, the mechanical leg moves as the wheel and the auxiliary wheel roll. ### Claim 13 (depends on 12) The wheeled mobile device according to claim 12, the mechanical leg further comprising an auxiliary driving member, wherein the auxiliary driving member is located on the side of the frame, and the second end of the auxiliary leg is connected to an output shaft of the auxiliary driving member; and the auxiliary leg is configured to extend to the side of the frame and retract to a position under the frame under the driving of the auxiliary driving member. ### Claim 14 (depends on 13) The wheeled mobile device according to claim 13, wherein the auxiliary leg is further configured to rotate relative to the frame under the driving of the auxiliary driving member to adjust the center of gravity of the mechanical leg. ### Claim 15 (depends on 12) The wheeled mobile device according to claim 12, wherein the retractable member is a linkage mechanism comprising a thigh bar and a shank bar; and a first end of the thigh bar is rotationally connected to an output shaft of the extension and retraction driving member, a second end of the thigh bar is rotationally connected to a first end of the shank bar, and a second end of the shank bar is mounted on a drive shaft of the wheel by using a bearing. ### Claim 16 (depends on 15) The wheeled mobile device according to claim 15, wherein each wheel corresponds to two retractable members and two extension and retraction driving members, and the retractable members correspond to the extension and retraction driving members one to one. ### Claim 17 (depends on 16) The wheeled mobile device according to claim 16, wherein the mechanical leg further comprises an elastic member, and the elastic member is connected between a shank bar of a first retractable member of the two retractable members and a shank bar of a second retractable member of the two retractable members. ### Claim 18 (depends on 17) The wheeled mobile device according to claim 17, wherein the elastic member is a torsional spring, the torsional spring is sleeved on the drive shaft of the wheel, a first torsional arm of the torsional spring is connected to the shank bar of the first retractable member, and a second torsional arm of the torsional spring is connected to the shank bar of the second retractable member. ### Claim 19 (depends on 17) The wheeled mobile device according to claim 17, wherein the elastic member is a spring, one end of the spring is connected to the shank bar of the first retractable member, and the other end of the spring is connected to the shank bar of the second retractable member. ### Claim 20 (depends on 16) The wheeled mobile device according to claim 16, wherein the side of the frame comprises a bulge part and a non-bulge part; and the two extension and retraction driving members corresponding to each wheel are staggered on the bulge part and the non-bulge part, so that no friction is generated between the thigh bars connected to each other when the mechanical leg is walking.