The invention relates to a wheel-driven multi-degree-of-freedom orthogonal joint chained robot, which belongs to the technical field of robots, and is characterized in that the wheel-driven multi-degree-of-freedom orthogonal joint chained robot is characterized in that a plurality of units are connected end to end and are orthogonally arranged to form a long chain, so that a driving wheel and a driven wheel are uniformly arranged in upper, lower, left and right directions; and the stability and reliability of movement are ensured. Each unit of the robot is composed of a joint driving system, a driving wheel train and a driven wheel train. The joint driving system is a main body part of the robot; the driving wheel train and the driven wheel train are fixed in a cavity between two joint motors in the joint driving system and serve as a power source for movement of the robot. Therefore, the wheel-driven multi-degree-of-freedom orthogonal joint chain type robot can realize movement in different modes such as climbing outside a pipeline, movement in the pipeline, advancing in narrow slits, obstacle crossing and the like.

    本发明涉及一种轮驱动型多自由度正交关节链式机器人,属于机器人技术领域,其特征在于:一种轮驱动型多自由度正交关节链式机器人,由多个单元首尾连接正交排布组成一条长链,使得主被动轮在上下、左右两个方向均匀排布,保证了运动的平稳可靠性。所述机器人的每个单元由关节驱动系统、主被动轮系两大部分组成;所述关节驱动系统为本机器人的主体部分;所述主被动轮系固定在关节驱动系统中两关节电机间的空腔内,为本机器人运动的动力来源,通过协调控制电机的转动,使得本轮驱动型多自由度正交关节链式机器人能实现管道外攀爬、管道内运动、窄缝间行进、翻越障碍物等不同模式的运动。


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    Titel :

    Wheel-driven multi-degree-of-freedom orthogonal joint chained robot


    Weitere Titelangaben:

    一种轮驱动型多自由度正交关节链式机器人


    Beteiligte:
    LIU JIAN (Autor:in) / YUAN RUNYU (Autor:in) / QIN FATAO (Autor:in) / XIAO XUAN (Autor:in) / XUE YONGJIANG (Autor:in) / DUDRON (Autor:in)

    Erscheinungsdatum :

    14.03.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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