WO2018133191A1 - 底盘车 - Google Patents

底盘车 Download PDF

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Publication number
WO2018133191A1
WO2018133191A1 PCT/CN2017/077392 CN2017077392W WO2018133191A1 WO 2018133191 A1 WO2018133191 A1 WO 2018133191A1 CN 2017077392 W CN2017077392 W CN 2017077392W WO 2018133191 A1 WO2018133191 A1 WO 2018133191A1
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WO
WIPO (PCT)
Prior art keywords
chassis
wheel
roller
frame
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/077392
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English (en)
French (fr)
Inventor
庄彬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780052926.7A priority Critical patent/CN109641628A/zh
Publication of WO2018133191A1 publication Critical patent/WO2018133191A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs

Definitions

  • the invention relates to the field of robot technology, and in particular to a wheel and leg type chassis vehicle.
  • the above road conditions may cause instability of the robot body, affecting the use of the mounting device and affecting the operation of the robot. Therefore, how to make the robot adapt to the above various types of terrain conditions is very necessary for the popularization of robots, the exploration of more unknown areas for human beings, and the operation in hazardous environments.
  • the existing robots can be divided into: wheeled robots, legged robots, crawler-type robots, etc., each of which has its own working terrain.
  • wheeled robots With the development of science and technology, more and more unknown areas need to be developed. More and more dangerous environments require robots to replace human exploration. Therefore, more and more complex robots (wheel-legged robots, crawler wheeled robots, etc.) need to be developed. come out.
  • the existing mobile robot's chassis design has poor adaptability, especially in the case of unpredictable terrain, and has the disadvantages of poor performance of ups and downs and obstacles and inflexibility.
  • the present invention proposes an adaptively adjustable chassis vehicle to solve the above technical problems.
  • a chassis vehicle comprising: a chassis body, and a wheel leg for supporting the chassis body; wherein the wheel leg includes a frame and a frame provided on the frame a traveling mechanism, a lifting mechanism, and a roller assembly; wherein the roller assembly includes a roller, the traveling mechanism is coupled to the roller assembly to roll the roller, and the chassis body is provided with a secondary wheel, and the frame can be
  • the lifting mechanism is adjusted to move up and down with respect to the chassis body such that the auxiliary wheel and the roller have an adjustable height difference.
  • the chassis car of the present invention acts as an independent lifting module through each wheel leg, does not interfere with each other in the movement of the mechanism, cooperates with each other in motion control, and deforms the wheel leg through To adapt to the terrain of different situations.
  • FIG. 1 is a schematic overall structural view of a chassis truck according to an exemplary embodiment of the present application
  • FIG. 2 is another schematic perspective view of a chassis truck according to an exemplary embodiment of the present application.
  • FIG. 3 is a schematic structural view of a leg of a chassis vehicle according to an exemplary embodiment of the present application.
  • FIG. 4 is an exploded perspective view of a wheel leg of a chassis car according to an exemplary embodiment of the present application.
  • the chassis 10 of the present invention includes a chassis body 1, and a plurality of wheel legs 2 for supporting the chassis body 1.
  • the number of the wheel legs 2 is not limited, and may be any number of wheel legs 2, each of which can be used as an independent lifting mechanism 4, which does not interfere with each other in the movement of the mechanism, and is controlled by motion.
  • the chassis 10 of the present invention is adapted to the terrain of different conditions by deforming the wheel legs 2.
  • the chassis 10 can be used to mount a detection/surveillance robot, and can ensure the stability of the detection/monitoring robot on the chassis 10, thereby enabling the detection robot to perform various types of detection/monitoring tasks more stably and efficiently.
  • the wheel leg 2 includes a frame 21, and a traveling mechanism, a lifting mechanism 4, and a roller assembly provided on the frame 21.
  • the roller assembly includes a roller 323, and the traveling mechanism is coupled to the roller assembly to roll the roller 323, thereby driving the chassis 10 to move.
  • the wheel leg 2 can also be operated by the lifting mechanism 4 such that the wheel leg 2 can be moved relative to the chassis body 1 to adjust the distance between the roller 323 and the chassis body 1.
  • the chassis main body 1 is provided with an auxiliary wheel 11, wherein the frame 21 can be adjusted by the lifting mechanism 4 to move up and down with respect to the chassis main body 1 so that the auxiliary wheel 11 and the roller 323 have an adjustable height difference.
  • the auxiliary wheel 11 is located in front of the roller assembly and serves to assist the support of the chassis body 1 when the wheel leg 2 moves up and down relative to the chassis body 1. For example, when the wheel leg 2 passes through the pothole, the roller 323 enters the pothole.
  • the chassis body 1 will have a center of gravity inclination due to the wheel leg 2 entering the pothole, and the chassis truck 10 of the present invention has the auxiliary wheel.
  • the support and the driven rolling of the 11 can support the chassis main body 1 and enable the chassis main body 1 to continue to maintain the original running posture. At this time, by increasing the height difference between the roller 323 and the auxiliary wheel 11, the roller 323 can be timely resisted. Going to the surface of the pothole, and continuing to support and drive the chassis body 1; when the wheel leg 2 is out of the pothole, the running posture of the chassis body 1 can be maintained by gradually reducing the height difference between the roller 323 and the auxiliary wheel 11 The stability of the chassis body 1 is always guaranteed.
  • the chassis 10 is provided with the auxiliary wheel 11 for each leg 2 so that each leg 2 is independently controlled and adjusted.
  • the frame 21 includes an upper structural frame 211, a lower structural frame 212, and a plurality of support rod bodies 213 connected between the upper structural frame 211 and the lower structural frame 212.
  • the support rod body 213 includes four, which is a combination of two square aluminum tubes and two carbon rods, and four support rod bodies 213 are distributed at four corners of the frame 21, of which two The square aluminum tube and the two carbon rods are diagonally distributed to satisfy the overall structural strength of the frame 21.
  • the combination of the square aluminum tube and the carbon rod can achieve the purpose of weight reduction design while ensuring the structural strength of the frame 21.
  • the number of the support rods 213 may not be limited.
  • the material of the support rod body 213 may also be any material having structural strength, and the structural strength of the support frame may be ensured.
  • the traveling mechanism includes a first motor 31, and a first linkage assembly 325 coupled to the first motor 31 and the roller assembly.
  • the first motor 31 is provided with a motor base 311.
  • the first motor 31 is fixed on the upper structure frame 211 by the motor base 311.
  • the first motor 31 drives the roller 323 to rotate through the first linkage assembly 325, so that the first motor 31 can drive the motor 31.
  • the first motor 31 is disposed on the upper structural frame 211, and the power is transmitted to the roller 323 on the lower structural frame 212 through the first linkage assembly 325.
  • the arrangement can effectively reduce the lateral dimension of the roller assembly. Conducive to the wheel leg 2 through the narrow area.
  • the first linkage assembly 325 includes a first timing belt, and the rotating shaft end of the first motor 31 is provided with a synchronous wheel, and one end of the first timing belt is connected to the synchronous wheel of the first motor 31. The other end of the first timing belt is sleeved on the roller assembly, and the first motor 31 rotates and drives the first timing belt to drive, thereby driving the roller 323 to rotate.
  • the first linkage assembly 325 can also be a gear combination that allows the motor to drive the roller 323 to rotate by a cooperation between the plurality of gears.
  • the roller assembly further includes an axle seat 321 fixed to the frame 21 and an axle 322 pivotally coupled to the axle seat 321 .
  • the roller 323 is fixed to the axle 322 and is rotatably coupled to the axle seat 321 via the axle 322.
  • the axle seat 321 is two and fixed on both sides of the lower structural frame 212, so that the roller 323 can be stably connected to the frame 21 and can be rotated by the axle 322 as an axis.
  • the roller 323 is a McLaren wheel that provides an omnidirectional movement for use in terrains of different conditions.
  • the roller assembly further includes a first synchronous wheel 324 disposed on the axle 322.
  • the first synchronous wheel 324 is located on the side of the roller 323, wherein the axle 322 and the roller 323 are coaxially rotated with the first synchronous wheel 324.
  • the first motor 31 drives the first synchronous wheel 324 to rotate by the first linkage assembly 325 to drive the roller 323 to rotate.
  • the wheel leg 2 further includes a guard wheel assembly 34 disposed on the frame 21, the guard wheel assembly 34 being located in the axle seat
  • the outer side of 321 is used to protect the roller assembly.
  • the guard wheel assembly 34 includes a guard plate 341 and guard wheels 342 respectively disposed at opposite ends of the guard plate 341.
  • the traveling direction of the guard wheel 342 is consistent with the traveling direction of the roller 323, and can serve as an emergency support. The protective effect of continuous travel.
  • the elevating mechanism 4 includes a lifting body 41, a second motor 44 fixed to the elevating body 41, and a second linkage assembly coupled to the second motor 44 and the elevating body 41.
  • the second motor 44 drives the lifting body 41 to move relative to the frame 21 through the second linkage assembly, thereby causing the frame 21 to rise or fall relative to the lifting body 41.
  • the lifting body 41 is fixed to the chassis body 1, and the driving force generated by the second motor 44 is converted to the frame 21 by the lifting body 41, so that the frame 21 can be raised or lowered relative to the lifting body 41, that is, the frame. 21 is raised or lowered relative to the chassis body 1.
  • the auxiliary wheel 11 is fixed to the chassis main body 1, and the roller 323 is fixed to the frame 21, and the frame 21 is raised or lowered with respect to the chassis main body 1, that is, the height difference between the roller 323 and the auxiliary wheel 11 is adjusted.
  • the lifting mechanism 4 further includes a guiding member 421 fixed to the frame 21, and the guiding member 421 is located in the frame 21 and can be coupled to the frame 21 by a support or an adapter plate or the like fixed thereto.
  • the second linkage assembly includes a fitting 431 that is coupled to the guide 421, wherein the fitting 431 is relatively moved in the axial direction of the guide 421 by the second motor 44.
  • the engaging member 431 can be rotated by the second linkage assembly, and then the engaging member 431 is rotated relative to the guiding member 421 such that the entire frame 21 and the roller assembly are raised or lowered in the axial direction of the guiding member 421.
  • the guiding member 421 is a screw rod
  • the fitting member 431 is a screw nut that is coupled to the lifting body 41.
  • the second linkage assembly further includes a second synchronization wheel 432 disposed on the mating member 431 and a second timing belt 433 sleeved on the second motor 44 and the second synchronization wheel 432.
  • the second motor 44 drives the second timing wheel 432 to rotate by the second timing belt 433 to drive the mating member 431 to rotate relative to the guide member 421.
  • the rotating end of the second motor 44 is provided with a synchronous wheel, one end of the second synchronous belt 433 is sleeved on the synchronous wheel of the second motor 44, and the other end of the second synchronous wheel 432 is sleeved on the second synchronous wheel.
  • the second motor 44 can drive the mating member 431 to rotate.
  • the second linkage assembly may also be a mating combination of a plurality of gears.
  • the second linkage assembly further includes a limiting member 434 disposed under the second synchronous wheel 432 for defining the second synchronous wheel 432 on the mating member 431.
  • the lifting body 41 includes an upper support plate 411 and a lower support plate 412 which are oppositely disposed.
  • the upper support plate 411 and the lower support plate 412 are fixedly coupled to the chassis main body 1, and the second linkage assembly is located on the upper support plate 411 and the Between the lower support plates 412, the lifting body 41 can protect the operation of the second linkage assembly by the motor, and avoid interference of other components in the wheel legs 2 when the lifting mechanism 4 operates.
  • the upper support plate 411 is provided with a sleeve 413.
  • the support rod body of the frame 21 is inserted into the sleeve 413 and slidable relative to the sleeve 413. This can facilitate the frame 21 to rise or fall relative to the lifting body 41.
  • the second linkage assembly further includes an upper bearing 435 fixed to the upper support plate 411, and a lower bearing 436 fixed to the lower support plate 412.
  • the upper support plate 411 is fitted to the guide member 421 through the upper bearing 435 to slide along the guide member 421
  • the lower support plate 412 is fitted to the guide member 421 through the lower bearing 436 to slide along the guide member 421, thus realizing the lift main body 41.
  • the movement of the frame 21 relative to the chassis body 1 can be achieved after the lifting body 41 is fixed to the chassis body 1 with respect to the axial movement of the guide member 421.
  • the chassis main body 1 is further provided with a mechanical arm 12 fixed to the mechanical arm 12 and coupled to the chassis main body 1, and the auxiliary wheel 11 is located in front of the wheel leg 2 via the mechanical arm 12.
  • the robot arm 12 is pivotally coupled to the chassis body 1 to switch the robot arm 12 between a vertical direction and a horizontal direction.
  • the combined structure of the mechanical arm 12 and the auxiliary wheel 11 is similar to an aircraft landing gear, and the mechanical arm 12 can be adjusted to a horizontal direction when needed; when the mechanical arm 12 is not used, the mechanical arm 12 can be folded in a vertical direction.
  • the space occupied by the chassis 10 can be reduced.
  • the robot arm 12 includes a first arm fixed to the chassis body 1 and a second arm to which the auxiliary wheel 11 is fixed; wherein the first arm and the second arm are controllably relative to each other,
  • the robot arm 12 has an adjustable length.
  • the mechanical arm 12 is not limited to the two-stage arm, and a plurality of arm structures may be disposed between the first arm and the second arm according to the required telescopic length.
  • the mechanical arm 12 may also be designed. For the telescopic structure, when needed, the second arm is withdrawn from the first arm to increase the length of the mechanical arm 12; when it is not needed, the second arm is retracted into the first arm to reduce the arm The length of 12.
  • the manner in which the two are relatively stretchable is applicable to the first arm and the second arm of the present invention, and will not be exemplified herein.
  • the auxiliary wheel 11 further includes a sensor unit (not shown) disposed thereon for acquiring the distance between the auxiliary wheel 11 and the ground.
  • the sensor unit may be a photoelectric sensor.
  • a control unit (not shown) is mounted on the chassis body 1. The control unit is electrically connected to the sensor unit for controlling the operation of the traveling mechanism and the lifting mechanism 4 after acquiring the signal of the sensor unit. Wherein, when the sensor unit on the auxiliary wheel 11 senses that the distance of the auxiliary wheel 11 from the ground is greater than or less than a preset value, the sensor unit sends a signal to the control unit, and the control unit controls the lifting mechanism 4 to operate.
  • the control unit controls the lifting mechanism 4 so that the height difference between the roller 323 and the auxiliary wheel 11 reaches the level detected by the photoelectric sensor.
  • the distance is such that each leg 2 is individually controlled according to the terrain, and the plurality of wheel legs 2 cooperate with each other.
  • the chassis body 1 is further provided with a measuring unit (not shown) electrically connected to the control unit for acquiring the state value of the chassis body 1 , and the state value may include the three-dimensional attitude angle (or angular rate) of the chassis body 1 . ) and acceleration.
  • the control unit controls the operation of the traveling mechanism and the lifting mechanism 4 according to the state value of the chassis body 1 acquired by the measuring unit.
  • the measuring unit is an inertial measuring unit
  • the chassis truck 10 of the present invention acquires the attitude information of the chassis body 1 in real time through the inertial measurement unit, and controls each wheel leg 2 through the control unit to maintain or Convert to a certain type of pose.
  • the control unit cooperates with the inertial measurement unit, and the control of the control unit ensures that the chassis body 1 is always in a horizontal state, thereby avoiding affecting the work of the mount detection robot.
  • the chassis 10 has four wheel legs 2 including two front wheel legs 2 and two rear wheel legs 2.
  • the structures of the left front wheel leg 2 and the right rear wheel leg 2 are the same, the structures of the right front wheel leg 2 and the left rear leg 2 are the same, and the structures of the left front leg 2 and the right front leg 2 are mirror symmetrical, left rear
  • the structure of the wheel leg 2 and the right rear leg 2 is mirror symmetrical.
  • the chassis truck 10 of the present invention is not limited to the four wheel legs 2, and may include any number of wheel legs 2 according to the size of the chassis body 1, and the structure of each wheel leg 2 is as shown in the above embodiment, and is not here. Let me repeat.
  • the control unit, the measuring unit, the sensor unit, the respective wheel legs 2 and the auxiliary wheels 11 are required to cooperate with each other.
  • the present invention is specifically described by taking the upper and lower steps of the chassis 10 as an example: when the photoelectric sensor on the auxiliary wheel 11 detects the step, the auxiliary wheel 11 can be placed on the upper step, and then the left front wheel and the right front are controlled by the control unit. Wheel leg lift; when two rear wheel legs are optoelectronic The sensor detects that the two auxiliary wheels of the rear wheel legs are located behind the step, and by lifting the two rear wheel legs, during the operation, the height difference between the auxiliary wheel 11 and the roller 323 is continuously adjusted to complete the climbing of the upper step. climb.
  • the process of lowering the step is opposite to the step of adjusting the upper step, and the principle is the same as that of the upper step, and will not be described in detail here.
  • the chassis body 1 is always horizontal (or any other posture) stable by the cooperation of the control unit and the measuring unit, wherein the control unit is also used to control the speed of the roller 323 to match the leg 2 Adjustment.
  • the chassis truck of the invention sets each wheel leg as an independent lifting module, does not interfere with each other in the movement of the mechanism, cooperates with each other in motion control, and the wheel legs are deformed to adapt to different terrains, so that the chassis can not only pass smoothly.
  • Uphill, downhill, uneven unequal terrain, easy to cross obstacles, steps, etc., while at the same time in the process of travel can also ensure the horizontal stability of the chassis, especially for cloud trolleys, lunar vehicles, inspection robots, etc.
  • the robot that mounts the device is not interfere with each other in the movement of the mechanism, cooperates with each other in motion control, and the wheel legs are deformed to adapt to different terrains, so that the chassis can not only pass smoothly.
  • Uphill, downhill, uneven unequal terrain, easy to cross obstacles, steps, etc. while at the same time in the process of travel can also ensure the horizontal stability of the chassis, especially for cloud trolleys, lunar vehicles, inspection robots, etc.
  • the robot that mounts the device is not interfere with each other in the movement of the mechanism

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Manipulator (AREA)

Abstract

一种底盘车(10)，包括：底盘主体(1)、以及用以支撑底盘主体(1)的轮腿(2)；轮腿(2)包括框架(21)、以及设于框架(21)上的行进机构、升降机构(4)和滚轮组件；其中，滚轮组件包括滚轮(323)，行进机构与滚轮(323)组件连接而使滚轮(323)滚动，底盘主体(1)上设有辅轮(11)，框架(21)能够被升降机构调节而相对于底盘主体(1)做上下移动，以使辅轮(11)与滚轮(323)之间具有可调的高度差。该底盘车(10)通过每个轮腿(2)作为独立的升降模块，在机构运动上互不干扰，在运动控制上相互配合，轮腿(2)通过变形以适应不同状况的地形。

Description

底盘车 技术领域
本发明涉及机器人技术领域，尤其涉及一种轮腿式的底盘车。
背景技术
为了拓展机器人的作业领域，需要适应各种类型的路面状况，包括上坡、下坡、崎岖山路、障碍物等。
对于上坡、下坡等路况，如果不能很好地平衡机器人的重心，在行进过程中尤其是加速度过大的时候，极易翻倒；对于凹凸不平地形比如崎岖山路和月球表面等，路面不平对机器人的底盘悬挂避震是不小的考验；对于障碍物比如台阶等，需要机器人可以灵活稳定地翻越。
上述路面状况会引起机器人机身的不稳定，对挂载设备的使用造成影响，影响机器人的作业。因此，如何让机器人稳定地适应以上各种类型的地形状况，对于机器人的普及、代替人类探究更多未知领域以及在危险环境下作业等方面，都是非常必要的。
现有的机器人按移动方式可分为：轮式机器人、腿式机器人、履带式机器人等，每种移动方式都有其擅长的作业地形。随着科技发展，越来越多的未知领域亟待开发，越来越危险的环境需要机器人代替人类勘察，所以越来越多的复式机器人(轮腿式机器人、履带轮式机器人等)亟待被研发出来。然而，现有移动机器人的底盘设计自适应能力较差，特别是不能很好地适应不可预知的地形，存在上下坡及越障性能较差以及运动不灵活等缺陷。
发明内容
有鉴于此，本发明提出一种可自适应调节的底盘车以解决上述技术问题。
根据本发明的实施例，提出了一种底盘车，包括：底盘主体、以及用以支撑所述底盘主体的轮腿；其特征在于，所述轮腿包括框架、以及设于所述框架上的行进机构、升降机构和滚轮组件；其中，所述滚轮组件包括滚轮，所述行进机构与所述滚轮组件连接而使所述滚轮滚动，所述底盘主体上设有辅轮，所述框架能够被所述升降机构调节而相对于所述底盘主体做上下移动，以使所述辅轮与所述滚轮之间具有可调的高度差。
本发明的实施例提供的技术方案可以包括以下有益效果：本发明的底盘车通过每个轮腿作为独立的升降模块，在机构运动上互不干扰，在运动控制上相互配合，轮腿通过变形以适应不同状况的地形。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本发明。
附图说明
图1是本申请一示例性实施例示出的一种底盘车的整体结构示意图；
图2是本申请一示例性实施例示出的一种底盘车的又一角度示意图；
图3是本申请一示例性实施例示出的一种底盘车中一轮腿的结构示意图；
图4是本申请一示例性实施例示出的一种底盘车中轮腿的分解示意图。
具体实施方式
以下将结合附图所示的具体实施方式对本发明进行详细描述。但这些实施方式并不限制本发明，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。
下面结合附图，对本发明的一些实施方式作详细说明，在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
如图1所示，本发明的底盘车10包括：底盘主体1、以及用以支撑底盘主体1的多个轮腿2。本发明中对轮腿2的数量不做限制，可以为任意数量的轮腿2，每个轮腿2可以作为独立的升降机构4，在机构运动上互不干扰，在运动控 制上相互配合，本发明的底盘车10通过对轮腿2进行变形控制以适应不同状况的地形。该底盘车10可以用以挂载探测/监视机器人，可以保证探测/监视机器人在底盘车10上的稳定性，从而可以使探测机器人更加稳定高效地完成各类探测/监视任务。
如图1至图4所示，该轮腿2包括框架21、以及设于框架21上的行进机构、升降机构4和滚轮组件。其中，滚轮组件包括滚轮323，行进机构与滚轮组件连接而使滚轮323滚动，从而可以驱使底盘车10运动。轮腿2还可以通过升降机构4的运作，以使该轮腿2可以相对底盘主体1运动，从而调节滚轮323与底盘主体1之间的距离。
该底盘主体1上设有辅轮11，其中，框架21能够被升降机构4调节而相对于底盘主体1做上下移动，以使辅轮11与滚轮323之间具有可调的高度差。该辅轮11位于滚轮组件的前方，用于在轮腿2相对底盘主体1做上下移动时，起到辅助支撑底盘主体1的作用。例如：当该轮腿2行经坑洼之处时，滚轮323进入坑洼中，通常底盘主体1会因轮腿2进入坑洼中而出现重心倾斜，而本发明的底盘车10由于具有辅轮11的支撑及从动滚动，可以支撑该底盘主体1，能够使底盘主体1可以继续保持原有的运行姿势继续行进，此时通过增加滚轮323与辅轮11的高度差，使滚轮323及时抵触到坑洼的表面，进而继续支撑并驱动底盘主体1；当轮腿2走出坑洼时，可以通过逐渐减小滚轮323与辅轮11的高度差来保证保持底盘主体1的运行姿势，从而可以始终保证底盘主体1运行的稳定性。在本发明中，该底盘车10对应每个轮腿2均设有该辅轮11，以便于每个轮腿2独立控制调节。
该框架21包括上部结构架211、下部结构架212、以及连接在上部结构架211和下部结构架212之间的多根支撑杆体213。在一可选实施例中，该支撑杆体213包括四根，为两根方铝管和两根碳棒的组合，四根支撑杆体213分布在框架21的四个角的位置，其中，两根方铝管和两根碳棒呈对角分布，以满足该框架21的整体结构强度。该实施例中通过方铝管和碳棒的组合，可以在保证框架21结构强度的同时实现减重设计的目的。另外，在本发明的其他实施例中， 支撑杆体213的数量也可以不做限制，支撑杆体213的材料也可以为任意具有结构强度的材料，需达到保证框架的结构强度即可。
在本发明中，行进机构包括第一电机31，以及连接于第一电机31与滚轮组件的第一联动组件325。其中，该第一电机31上设有电机座311，第一电机31通过该电机座311固定在上部结构架211上，第一电机31通过第一联动组件325驱动滚轮323转动，从而可以驱动该底盘车10的运动。该实施例中，将第一电机31设于上部结构架211上，通过第一联动组件325将动力传递给下部结构架212上的滚轮323上，如此设置可以有效减少滚轮组件的横向尺寸，有利于轮腿2通过狭窄区域。
在一可选实施例中，该第一联动组件325包括第一同步带，第一电机31的转轴端设有同步轮，该第一同步带的一端与第一电机31的同步轮连接，该第一同步带的另一端套设于滚轮组件上，第一电机31转动并带动第一同步带传动，进而带动滚轮323转动。在又一可选实施例中，该第一联动组件325还可以为齿轮组合，通过多个齿轮之间的配合使电机可以驱使滚轮323转动。当然，还可以通过丝杆等结构，在此就不再一一举例说明，可以满足电机驱动滚轮323转动的第一联动组件325均包含在本发明中。
滚轮组件还包括固定于框架21上的轮轴座321，与轮轴座321枢接的轮轴322。该滚轮323固定在轮轴322上，且通过轮轴322转动连接于轮轴座321上。在本实施例中，该轮轴座321为两个，分别固定在下部结构架212的两侧，如此以使该滚轮323可以稳固连接在框架21上且可以以轮轴322为轴进行转动。在一较佳实施例中，该滚轮323为麦克拉姆轮，可以提供一种全方位移动方式，以适用于不同状况的地形。
进一步的，该滚轮组件还包括设于轮轴322上的第一同步轮324，该第一同步轮324位于滚轮323的旁侧，其中，轮轴322、滚轮323均与第一同步轮324同轴转动。本实施例中，第一电机31通过第一联动组件325驱动第一同步轮324转动，以带动滚轮323转动。
轮腿2还包括设于框架21上的防护轮组件34，防护轮组件34位于轮轴座 321的外侧，用以对滚轮组件起到保护作用。在本实施例中，该防护轮组件34包括防护板341，以及分别设于防护板341两端的防护轮342，该防护轮342的行进方向与滚轮323的行进方向一致，可以起到应急支撑且持续行进的保护作用。
本发明中，升降机构4包括升降主体41，固定于升降主体41的第二电机44，以及连接于第二电机44与升降主体41的第二联动组件。其中，第二电机44通过第二联动组件驱动升降主体41相对框架21运动，促使框架21相对升降主体41上升或者下降。该实施例中，升降主体41固定在底盘主体1上，第二电机44所产生的驱动力，通过升降主体41转化给框架21，如此以使框架21可以相对升降主体41上升或者下降，即框架21相对底盘主体1上升或者下降。辅轮11固定在底盘主体1上，滚轮323相对框架21固定，此时框架21相对底盘主体1上升或者下降，即调节滚轮323与辅轮11之间的高度差。
进一步的，该升降机构4还包括固定于框架21上的引导件421，该引导件421位于框架21内，可以通过固定其上的支座或转接板等连接在框架21上。第二联动组件包括与引导件421连接的配合件431，其中，配合件431在第二电机44的驱动下沿引导件421的轴向相对移动。本实施例中，配合件431可以被第二联动组件带动转动，而后该配合件431相对引导件421转动，如此以使整个框架21及滚轮组件沿引导件421的轴向上升或者下降。在一可选实施例中，该引导件421为丝杆，配合件431为丝杆螺母，该丝杆螺母连接在升降主体41上。
第二联动组件还包括设于配合件431上的第二同步轮432及套设于第二电机44和第二同步轮432的第二同步带433。第二电机44通过第二同步带433驱动第二同步轮432转动，以带动配合件431相对引导件421转动。具体的，该第二电机44的转轴端设有同步轮，第二同步带433的一端套设在第二电机44的同步轮上，第二同步轮432的另一端套设在第二同步轮432上，如此第二电机44可以驱动配合件431转动。当然，在本发明的其他实施例中，该第二联动组件还可以为多个齿轮的配合组合。另外，该第二联动组件还包括设置于第二同步轮432下方的限位件434，用以将第二同步轮432限定在配合件431上。
在本发明中，升降主体41包括相对设置的上支板411和下支板412，上支板411和下支板412与底盘主体1固定连接，第二联动组件位于上支板411和所述下支板412之间，如此可以通过该升降主体41起到保护电机带动第二联动组件的运作，避免升降机构4运作时轮腿2内其他部件的干扰。其中，该上支板411上装设有套座413，框架21的支撑杆体穿设于套座413中并可相对套座413滑动，这样可以便于框架21相对升降主体41上升或下降。
进一步的，第二联动组件还包括固定于上支板411的上轴承435，以及固定于下支板412的下轴承436。其中，该上支板411通过上轴承435配合于引导件421以沿引导件421滑行，下支板412通过下轴承436配合于引导件421以沿引导件421滑行，如此实现了该升降主体41可以相对引导件421的轴向运动，在升降主体41固定于底盘主体1上后，实现了框架21相对底盘主体1运动。
底盘主体1上还装设有机械臂12，辅轮11固定在机械臂12上而与底盘主体1连接在一起，该辅轮11通过机械臂12位于轮腿2前方。在一可选实施例中，该机械臂12枢轴连接在底盘主体1上，以使机械臂12在竖直方向与水平方向之间转换。其中，该机械臂12与辅轮11的组合结构类似飞机起落架，在需要使用时，可以将机械臂12调整为水平方向；在不需要使用时，可以将机械臂12处于竖直方向收起，如此可以减少该底盘车10所占用的空间。
在又一可选实施例中，机械臂12包括固定于底盘主体1的第一臂、以及固定有辅轮11的第二臂；其中，第一臂与第二臂可被控制地相对运动，以使机械臂12具有可调节的长度。当然，该机械臂12并不限于两段式臂，还可以根据需求伸缩长度，在第一臂和第二臂之间设有多个臂结构，该实施例中，还可以将机械臂12设计为伸缩结构，当需要使用时，将第二臂从第一臂中抽出，以增加机械臂12的长度；当不需要使用时，将第二臂缩入第一臂内，以减短机械臂12的长度。其中，两者相对伸缩的配合方式均适用于本发明的第一臂和第二臂，在此就不一一举例说明。
进一步的，辅轮11还包括设置于其上的传感器单元(未图示)，用以获取辅轮11与地面之间的距离。在本实施例中，该传感器单元可以为光电传感器。 相应的，底盘主体1上装设有控制单元(未图示)，控制单元与传感器单元电性连接，用以在获取传感器单元的信号后控制行进机构和升降机构4运作。其中，当辅轮11上的传感器单元感测到辅轮11距地面的距离大于或者小于预设值时，传感器单元向控制单元发送信号，控制单元控制升降机构4运作。例如：当光电传感器所检测的距离大于辅轮11与滚轮323之间预设的高度差，控制单元会控制升降机构4以使滚轮323与辅轮11之间的高度差达到光电传感器所检测的距离，从而达到各个轮腿2根据地形单独控制，多个轮腿2之间相互配合。
底盘主体1上还装设有与控制单元电性连接的测量单元(未图示)，用以获取的底盘主体1的状态值，该状态值可以包括底盘主体1的三维姿态角(或角速率)以及加速度等。其中，控制单元根据测量单元所获取的底盘主体1的状态值，控制行进机构和升降机构4运作。在一可选实施例中，该测量单元为惯性测量单元，本发明的底盘车10通过惯性测量单元的实时获取底盘主体1的姿态信息，并通过控制单元的控制各个轮腿2，以保持或者转换成某一类型的姿态。例如：在不同类型的探测地形中，控制单元与惯性测量单元配合，通过控制单元的控制以使该底盘主体1始终保持水平状态，从而避免影响挂载探测机器人的工作。
在本发明的一实施例中，底盘车10的轮腿2为四个，包括两个前轮腿2和两个后轮腿2。其中，左前轮腿2和右后轮腿2的结构相同，右前轮腿2和左后轮腿2的结构相同，左前轮腿2和右前轮腿2的结构镜像对称，左后轮腿2和右后轮腿2的结构镜像对称。对应的，机械臂12和辅轮11为四个，每个辅轮11通过机械臂12装设于对应的轮腿2前。当然，本发明的底盘车10并不限于四个轮腿2，可以根据底盘主体1的尺寸包括任意数量的轮腿2，每个轮腿2的结构如上述实施例所示，在此就不再赘述。
对于底盘车10的具体运行，需要控制单元、测量单元、传感器单元、各个轮腿2及辅轮11相互协同配合完成。本发明以底盘车10上下台阶为例具体描述：当辅轮11上的光电传感器检测到台阶时，可以使辅轮11位于上一阶台阶上，而后通过控制单元控制左前轮腿和右前轮腿提升；当两个后轮腿上的光电 传感器检测到两个后轮腿对应的辅轮位于台阶后，通过提升两个后轮腿，该运作过程中，通过不断调节辅轮11与滚轮323之间的高度差来实现完成上台阶的攀爬。下台阶的过程与上台阶的调节步骤相反，原理与上台阶相同，在此就不再详细说明。另外，在整个运动过程中，底盘主体1通过控制单元与测量单元的配合始终保持水平(或其他任一姿态)稳定，其中，控制单元还用于控制滚轮323的进行速度以配合轮腿2的调节。
本发明的底盘车将每个轮腿设为独立的升降模块，在机构运动上互不干扰，在运动控制上相互配合，轮腿通过变形以适应不同状况的地形，使底盘车不仅能顺利通过上坡、下坡、凹凸不平等地形，能够轻松跨越障碍物、台阶等，同时在行进过程中还能时刻保证底盘的水平稳定性，尤其适用于云台车、月球车、巡检机器人等需要挂载设备的机器人。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本发明未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由本申请的权利要求指出。
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。

Claims (25)

  1. 一种底盘车，包括：底盘主体、以及用以支撑所述底盘主体的轮腿；其特征在于，所述轮腿包括框架、以及设于所述框架上的行进机构、升降机构和滚轮组件；其中，所述滚轮组件包括滚轮，所述行进机构与所述滚轮组件连接而使所述滚轮滚动，所述底盘主体上设有辅轮，所述框架能够被所述升降机构调节而相对于所述底盘主体做上下移动，以使所述辅轮与所述滚轮之间具有可调的高度差。
  2. 根据权利要求1所述的底盘车，其特征在于，所述行进机构包括第一电机，以及连接于所述第一电机与所述滚轮组件的第一联动组件；其中，所述第一电机通过所述第一联动组件驱动所述滚轮转动。
  3. 根据权利要求2所述的底盘车，其特征在于，所述滚轮组件还包括固定于所述框架上的轮轴座，与所述轮轴座枢接的轮轴；其中，所述滚轮通过所述轮轴转动连接于所述轮轴座上。
  4. 根据权利要求3所述的底盘车，其特征在于，所述滚轮组件还包括设于所述轮轴上的第一同步轮，所述第一电机通过所述第一联动组件驱动所述第一同步轮转动，以带动所述滚轮转动。
  5. 根据权利要求3所述的底盘车，其特征在于，所述轮腿还包括设于所述框架上的防护轮组件，所述防护轮组件位于所述轮轴座的外侧。
  6. 根据权利要求5所述的底盘车，其特征在于，所述防护轮组件包括防护板，以及分别设于所述防护板两端的防护轮。
  7. 根据权利要求1所述的底盘车，其特征在于，所述滚轮为麦克拉姆轮。
  8. 根据权利要求4所述的底盘车，其特征在于，所述第一联动组件包括第一同步带，所述第一同步带的一端与所述第一电机驱动连接，所述第一同步带的另一端套设于所述第一同步轮上。
  9. 根据权利要求1至8中任一项所述的底盘车，其特征在于，所述升降机构包括升降主体，固定于所述升降主体的第二电机，以及连接于所述第二电机 与所述升降主体的第二联动组件；其中，所述第二电机通过所述第二联动组件驱动所述升降主体相对所述框架运动，促使所述框架相对所述升降主体上升或者下降。
  10. 根据权利要求9所述的底盘车，其特征在于，所述升降机构还包括固定于所述框架上的引导件；所述第二联动组件包括与所述引导件连接的配合件；其中，所述配合件在所述第二电机的驱动下沿所述引导件的轴向相对移动。
  11. 根据权利要求10所述的底盘车，其特征在于，所述第二联动组件还包括设于所述配合件上的第二同步轮及套设于所述第二电机和所述第二同步轮的第二同步带；所述第二电机通过所述第二同步带驱动所述第二同步轮转动，以带动所述配合件相对所述引导件转动。
  12. 根据权利要求10或11所述的底盘车，其特征在于，所述引导件为丝杆，所述配合件为丝杆螺母。
  13. 根据权利要求11所述的底盘车，其特征在于，所述第二联动组件还包括设置于所述第二同步轮下方的限位件。
  14. 根据权利要求9所述的底盘车，其特征在于，所述升降主体包括相对设置的上支板和下支板，所述上支板和下支板与所述底盘主体固定连接，所述第二联动组件位于所述上支板和所述下支板之间。
  15. 根据权利要求14所述的底盘车，其特征在于，所述上支板上装设有套座，所述框架包括支撑杆体，所述支撑杆体穿设于套座中并可相对所述套座滑动。
  16. 根据权利要求14所述的底盘车，其特征在于，所述第二联动组件还包括固定于所述上支板的上轴承，以及固定于所述下支板的下轴承；
    其中，所述上支板通过所述上轴承配合于所述引导件以沿所述引导件滑行；所述下支板通过所述下轴承配合于所述引导件以沿所述引导件滑行。
  17. 根据权利要求9所述的底盘车，其特征在于，所述底盘主体上还装设有机械臂，所述辅轮固定在所述机械臂上而与所述底盘主体连接在一起。
  18. 根据权利要求17所述的底盘车，其特征在于，所述机械臂枢轴连接在 所述底盘主体上，以使所述机械臂在竖直方向与水平方向之间转换。
  19. 根据权利要求18所述的底盘车，其特征在于，所述机械臂包括固定于所述底盘主体的第一臂、以及固定有所述辅轮的第二臂；其中，所述第一臂与所述第二臂可被控制地相对运动，以使所述机械臂具有可调节的长度。
  20. 根据权利要求1所述的底盘车，其特征在于，所述辅轮还包括设置于其上的传感器单元。
  21. 根据权利要求20所述的底盘车，其特征在于，所述传感器单元为光电传感器。
  22. 根据权利要求20所述的底盘车，其特征在于，所述底盘主体上装设有控制单元，所述控制单元与所述传感器单元电性连接，用以在获取所述传感器单元的信号后控制所述行进机构和所述升降机构运作。
  23. 根据权利要求22所述的底盘车，其特征在于，所述底盘主体上还装设有与所述控制单元电性连接的测量单元，用以获取的底盘主体的状态值；其中，所述控制单元根据所述测量单元所获取的底盘主体的状态值，控制所述行进机构和所述升降机构运作。
  24. 根据权利要求23所述的底盘车，其特征在于，所述测量单元为惯性测量单元。
  25. 根据权利要求22所述的底盘车，其特征在于，所述轮腿为四个，包括两个前轮腿和两个后轮腿；所述辅轮为四个，每个所述辅轮装设于对应的所述轮腿前；
    其中，当所述辅轮上的所述传感器单元感测到所述辅轮距地面的距离大于或者小于预设值时，所述传感器单元向所述控制单元发送信号，所述控制单元控制所述升降机构运作。
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