The invention discloses a wheel-leg composite type robot moving device and a wheel-leg composite type robot. The wheel-leg composite type robot moving device comprises an installation part used for being connected with a robot body, a crotch joint driving part, a hip joint driving part, a first rod, a second rod, an ankle joint driving part, a wheel driving part and wheels, wherein the crotch joint driving part, the hip joint driving part, the first rod, the second rod, the ankle joint driving part, the wheel driving part and the wheels are connected successively in series. The second rod andthe ankle joint driving part are in fixed connection and other parts are in rotating connection. The installation part is connected with the crotch joint driving part. The crotch joint driving part isused for driving the hip joint driving part to rotate around the axis of the output end of the crotch joint driving part. The hip joint driving piece is used for driving the first rod to rotate around the axis of the output end of the hip joint driving piece. The ankle joint driving piece is used for driving the ankle joint driving piece to rotate around the axis of the output end of the ankle joint driving piece. The wheel driving piece is used for driving the wheel to rotate around a rotating shaft of the wheel. Compared with a traditional wheel leg type moving device, the wheel-leg composite type robot moving device has advantages that the number of joints is smaller, and control is simpler.

    本发明公开了一种轮腿复合型的机器人移动装置及轮腿复合型机器人,轮腿复合型的机器人移动装置包括用于连接机器人本体的安装件,以及依次串联的胯关节驱动件、髋关节驱动件、第一杆、第二杆、踝关节驱动件、轮驱动件和轮子,除第二杆和踝关节驱动件为固定连接外其余均为转动连接;安装件和胯关节驱动件连接。胯关节驱动件用于驱动髋关节驱动件绕胯关节驱动件输出端的轴线转动。髋关节驱动件用于驱动第一杆绕髋关节驱动件输出端的轴线转动。踝关节驱动件用于驱动踝关节驱动件绕踝关节驱动件输出端的轴线转动。轮驱动件用于驱动轮子绕轮子的转动轴转动。本发明的关节数相较于传统的轮腿式移动装置更少,因此控制更为简单。


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    Titel :

    Wheel-leg composite type robot moving device and wheel-leg composite type robot


    Weitere Titelangaben:

    一种轮腿复合型的机器人移动装置及轮腿复合型机器人


    Beteiligte:
    CHEN CHAOYUN (Autor:in) / HAN LIANGLIANG (Autor:in) / YANG JIAN (Autor:in) / GU CHENGPENG (Autor:in) / ZHANG WENQI (Autor:in) / CHEN MENG (Autor:in) / SHI FEIZHOU (Autor:in) / ZHANG YUHUA (Autor:in)

    Erscheinungsdatum :

    2020-07-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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