The invention relates to a wheel-driven multi-degree-of-freedom orthogonal joint chained robot, and belongs to the technical field of robots. 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 the up-down direction and the left-right direction, and the stability and reliability of movement are ensured. Each unit of the robot is composed of two parts, namely a joint driving system, and a driving and driven wheel train. The joint driving system is a main body part of the robot; The driving and driven wheel train is fixed in a cavity between two joint motors in the joint driving system and serve as a power source for movement of the robot. Through coordinating the rotation of control motors, 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。
Wheel-driven multi-degree-of-freedom orthogonal joint chained robot
一种轮驱动型多自由度正交关节链式机器人
2021-11-23
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheel-driven multi-degree-of-freedom orthogonal joint chained robot
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