WO2020034973A1 - 全路况多足轮式平台机器人 - Google Patents

全路况多足轮式平台机器人 Download PDF

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Publication number
WO2020034973A1
WO2020034973A1 PCT/CN2019/100464 CN2019100464W WO2020034973A1 WO 2020034973 A1 WO2020034973 A1 WO 2020034973A1 CN 2019100464 W CN2019100464 W CN 2019100464W WO 2020034973 A1 WO2020034973 A1 WO 2020034973A1
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Prior art keywords
walking
wheeled
wheel
fuselage
lifting
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PCT/CN2019/100464
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English (en)
French (fr)
Inventor
黄剑锋
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诸暨市蓝了电子科技有限公司
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Publication of WO2020034973A1 publication Critical patent/WO2020034973A1/zh

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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
    • 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 a robot, in particular to a full-road multi-wheeled platform robot.
  • robots are widely used in various fields such as exploration, rescue, and production. And there are more and more types of robots and more and more complete functions, but each has its own advantages and disadvantages.
  • wheeled robots and crawler robots have simple structures, but they have high requirements on the road surface when they are walking, and they cannot adapt to various complex environments. When encountering complex terrain, such as rugged terrain, stepped terrain, etc., they are prone to overturn and stable. Poor performance.
  • leg-type mobile robots such as humanoid robots and multi-foot walking machines can walk on some complicated roads, but this robot is not easy to achieve stable and fast movement on flat roads, difficult to control, and move on foot. The problem of large time consumption.
  • a wheel-type mobile device for humanoid robots and multi-foot walking machines [application number: 200810209738.3] and a wheel-type mobile device for feet. It consists of a moving mode conversion mechanism and a wheeled moving mechanism.
  • the lifting plate is fixedly integrated with the nut.
  • the lifting plate is set on the guide post.
  • the rotating screw is set in parallel with the guide post.
  • the nut is set on the rotating screw. One end of the screw is rotated. Mounted on the outer edge, the other end of the rotating screw is mounted on the support, and the drive wheel is mounted on the other end of the support shaft.
  • the object of the present invention is to provide a full-road multi-wheeled wheeled platform robot with reasonable design and strong obstacle surmounting ability in view of the above problems.
  • the full road condition multi-footed wheeled platform robot includes a fuselage, and a plurality of traveling wheels are arranged on the fuselage.
  • the walking driving mechanism of the walking wheel is connected, and each walking wheel is respectively connected with a rotation driving mechanism capable of driving the horizontal rotation of the walking wheel in a circumferential direction, and each of the walking wheels is respectively connected with a lifting driving mechanism capable of driving the walking wheel to move up and down.
  • the transverse direction of the fuselage has at least two traveling wheels, and the longitudinal direction of the fuselage has at least two traveling wheels.
  • the traveling driving mechanism, rotation driving mechanism and lifting driving mechanism of each traveling wheel are all capable of controlling each The control circuits that work independently of the two traveling wheels are connected.
  • traveling wheels When traveling on uneven roads, at least one of the traveling wheels is lifted, and the remaining traveling wheels contact the road surface and form a stable support for the fuselage.
  • Each walking wheel independently controls the lifting and the forward and reverse rotations. Only a few discrete points are required for them to settle, and they can successfully pass rugged, stepped and other road conditions.
  • the horizontal and vertical distances between the walking wheels on the fuselage are fixed; or between at least two walking wheels on the fuselage.
  • the longitudinal spacing is adjustable and / or the lateral spacing between at least two walking wheels on the fuselage is adjustable.
  • the horizontal traveling wheels of the fuselage are arranged one-to-one correspondingly or arranged one-by-one out of position.
  • the horizontal traveling wheels on both sides of the fuselage are arranged one-to-one correspondingly.
  • the longitudinal walking wheels of the fuselage are sequentially arranged at evenly spaced or evenly spaced intervals.
  • the longitudinal traveling wheels on each side of the fuselage are arranged at equal intervals in sequence, and when there are three traveling wheels on each side of the fuselage, the distance between two adjacent traveling wheels on the same side of the fuselage is smaller than The width of obstacles such as stairs.
  • the lifting driving mechanism includes a lifting frame body movably disposed below the side of the fuselage in a vertical direction, and the lifting frame body and the fuselage are lifted by lifting.
  • the drive components are connected.
  • the lifting driving component is a worm gear lifting driving component.
  • the worm and worm type lifting driving assembly herein includes a lifting driving motor, and the worm gear is driven by the lifting driving motor to drive the worm connected to the lifting frame to move up and down, and at the same time has a self-locking function.
  • the lifting driving component is a rack and pinion lifting driving component.
  • the gear is rotated by the lifting driving motor, so that the rack connected to the lifting frame body moves up and down.
  • the rotation driving mechanism includes a rotation driving motor provided at the lower end of the lifting frame body, the driving shaft of the rotation driving motor is connected to the wheel body mounting seat, and the The running wheel is arranged on the wheel body mounting seat. That is, the wheel driving seat is driven by the rotation driving motor to realize the universal rotation of the walking wheel.
  • the walking driving mechanism includes a walking driving motor provided on a wheel body mount and having a forward and reverse function, and an output shaft and a walking wheel of the walking driving motor. Connected.
  • the control circuit includes a road condition information detection sensor provided on the fuselage, the road condition information detection sensor is connected to an MCU module, and the walking driving motor, The rotary drive motor and the lifting drive assembly are connected to the MCU module.
  • the road condition information detection sensor here may be an ultrasonic sensor, a TOF sensor, a binocular vision sensor, or the like.
  • each walking wheel independently controls the lifting, universal and forward and reverse functions. It only needs some discrete points for its landing. It can successfully pass rugged, step and other road conditions, and can easily pass through various complexities. Natural terrain.
  • FIG. 1 is a schematic structural diagram of a first embodiment of the present invention
  • FIG. 2 is a schematic diagram of a partial structure of the first embodiment of the present invention.
  • FIG. 3 is a structural block diagram of the first embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a traveling wheel in an extended state in Embodiment 1 of the present invention.
  • FIG. 5 is a schematic structural diagram of a traveling wheel in a retracted state according to the first embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a walking wheel in a step climbing state in Embodiment 1 of the present invention.
  • FIG. 7 is a schematic structural diagram of a walking wheel in an obstacle crossing state in Embodiment 1 of the present invention.
  • Embodiment 8 is a schematic structural diagram of a traveling wheel in an overturning state in Embodiment 1 of the present invention.
  • Embodiment 9 is a schematic structural diagram of a step climbing process of a walking wheel in Embodiment 2 of the present invention.
  • the multi-footed wheeled platform robot includes a platform body 1 (ie, the fuselage 1), and a plurality of walking wheel bodies 11 (ie, the walking wheels 11) and a walking wheel body 11 ( That is, the walking wheels 11) are respectively connected with the wheel body walking driving mechanism 2, and the distance between the two adjacent walking wheel bodies 11 (that is, the walking wheels 11) located at the front and rear of the platform body 1 (that is, the fuselage 1) is fixed.
  • Each of the traveling wheel bodies 11 ie, the traveling wheels 11
  • the full-road multi-wheeled wheeled platform robot includes a fuselage 1, and a plurality of traveling wheels 11 are provided on the fuselage 1.
  • each walking wheel 11 is respectively connected with a rotation driving mechanism 4 capable of driving the walking wheel 11 in a horizontal horizontal rotation
  • each walking wheel 11 is respectively connected with a lifting driving mechanism 3 capable of driving the walking wheel 11 to move up and down
  • the traveling driving mechanism 2, the rotation driving mechanism 4 and the lifting driving mechanism 3 of each traveling wheel 11 are capable of controlling
  • Each of the running wheels 11 is independently connected with a control circuit. When walking on an uneven road, at least one of the running wheels 11 is lifted, and the remaining walking wheels 11 contact the road surface and form a stable support for the fuselage 1.
  • Each of the walking wheels 11 independently controls the lifting and the forward and reverse directions, and only needs some discrete points for its landing, and it can successfully pass rugged, stepped and other road conditions. With complex and intricate limb structures and simple and smart motion control strategies, it can easily cross various complex natural terrains.
  • each side of the fuselage 1 has six walking wheels 11 which are evenly spaced in sequence, and the traveling wheels 11 on both sides of the fuselage 1 are arranged one by one correspondingly, that is, there are 6 groups of wheel bodies. A total of 12 independent walking wheels 11.
  • the horizontal and vertical distances between the walking wheels 11 on the fuselage 1 are fixed; or the vertical distance between at least two walking wheels 11 on the fuselage 1 is adjustable and / or at least two on the fuselage 1
  • the lateral distance between the traveling wheels 11 is adjustable.
  • the lifting driving mechanism 3 here includes a lifting frame body 31 movably disposed below the side of the fuselage 1 in a vertical direction, and the lifting frame body 31 and the fuselage 1 are connected by a lifting drive assembly 32.
  • the lifting driving assembly 32 is a worm gear lifting driving assembly, or a rack and pinion lifting driving assembly.
  • the worm-type worm-type lifting driving assembly here includes a lifting driving motor 321, and the worm wheel 322 is driven by the lifting driving motor 321 to drive the worm 323 connected to the lifting frame 31 to move up and down, and has a self-locking function.
  • the rotation driving mechanism 4 here includes a rotation driving motor 41 provided at the lower end of the lifting frame body 31, a driving shaft of the rotation driving motor 41 is connected to the wheel body mounting base 42, and the traveling wheel 11 is provided on the wheel body mounting base 42 .
  • the walking driving mechanism 2 includes a walking driving motor 21 provided on the wheel body mounting base 42 and having a forward and reverse function, and an output shaft of the walking driving motor 21 is connected to the walking wheel 11.
  • control circuit in this embodiment includes a road condition information detection sensor 5, and the road condition information detection sensor 5 is connected to the MCU module 51. Since 12 individually-set traveling wheels 11 are used, 12 lifting drive motors 321, 12 are required. Rotary drive motors 41 and 12 are individually controlled walking drive motors 21, and these motors are connected to the MCU module, so that each motor can work independently, and each walking wheel 11 has a forward and reverse function and independent steering Function and lifting function.
  • the road condition information detection sensor 5 here may be an ultrasonic sensor 52, a TOF sensor 53, a binocular vision sensor 54, and the like.
  • the road condition information detection sensor 5 here is designed to detect the preceding road condition information, and can be implemented in various ways, for example, the principle of the ultrasonic method: using a specific artificial sound source, point-by-point distance measurement is performed on the surface of the object.
  • Principle of TOF method adopt active light detection method, using a specific artificial light source such as infrared, to detect the distance from the surface of the object point by point using the optical path difference by detecting incoming and reflected light. For example: provide better obstacle avoidance information in the field of autonomous driving.
  • a specific artificial light source such as infrared
  • TOF camera Wider viewing angle; TOF camera is small and compact, which is almost the same as the size of a normal camera, which is very suitable for some occasions where a lightweight and small camera is needed; TOF cameras can calculate depth information in real time and quickly, reaching tens to 100fps; TOF depth The calculation is not affected by the gray level and features of the object surface, and it can perform 3D detection very accurately; the depth calculation accuracy does not change with distance, and can basically be stable at the cm level, which is very meaningful for some applications with a wide range of motion
  • the principle of the binocular vision method After matching the left and right stereo image pairs, the triangulation method is used to perform stereo detection.
  • the road condition information detection sensor 5 detects the road condition information in front of the robot, and the MCU module constructs a three-dimensional model of the road condition and performs motion planning, and realizes the forward and reverse function of the walking wheel 11, independent steering function, and lifting function, so as to realize the more advanced body 1 Obstacles, climbing stairs and other actions.
  • the structure, principle, and implementation steps of this embodiment are similar to those of the first embodiment, except that the walking wheels 11 on each side of the fuselage 1 in this embodiment are arranged at equal intervals in sequence and crashed.
  • the distance between two adjacent walking wheels 11 on the same side of the fuselage 1 is smaller than the width of each obstacle such as each step.
  • the step climbing function of the fuselage 1 can also be realized.

Abstract

一种全路况多足轮式平台机器人，包括机身（1）和若干行走轮（11），每一行走轮分别与行走驱动机构（2）相连，每一行走轮分别与转动驱动机构（4）相连，每一行走轮分别与升降驱动机构（3）相连，机身的横向有至少两个行走轮，纵向有至少两个行走轮，每一行走轮的行走驱动机构、转动驱动机构和升降驱动机构均与能够控制每个行走轮独立地工作的控制电路相连，当在非平整路面行走时至少一个行走轮被提升，其余行走轮与路面接触并对机身形成稳定支撑。所述各个行走轮全部独立控制升降、万向和正反转功能，仅需要一些离散的点来供其落足，即可成功通过崎岖、台阶等路况，能轻易地穿越了各种复杂的自然地形。

Description

全路况多足轮式平台机器人 技术领域
本发明涉及一种机器人，具体涉及一种全路况多足轮式平台机器人。
背景技术
随着科技的迅速发展，机器人被广泛应用到探索、救援、生产等各个不同的领域中。并且机器人的种类也越来越多，功能越来越完善，但均各有各自的优点以及缺点。例如，轮式机器人和履带式机器人，结构简单，但是它们行走时对路面要求高，不能适应各种复杂环境，当遇到复杂地形时，例如，崎岖地形、台阶地形等时容易出现倾覆，稳定性较差，又如，仿人机器人、多足步行机等腿式移动机器人，虽然可以在一些复杂路况进行行走，但是这种机器人在平整路面上不易实现稳定快速移动、不易控制、在步行移动时耗能较大的问题。
为解决上述问题，人们进行了长期的探索，例如，中国专利公开了一种用于仿人机器人、多足步行机上的脚用轮式移动装置[申请号：200810209738.3]，脚用轮式移动装置由移动方式转换机构和轮式移动机构组成,升降板与螺母固接成一体,所述升降板套装在导向立柱上,转动螺杆与导向立柱平行设置,螺母套装在转动螺杆上,转动螺杆的一端安装在外沿上,转动螺杆的另一端安装在支撑件上,驱动轮安装在支撑轴的另一端上。
上述方案虽然在一定程度上解决了机器人无法兼顾适应复杂路段和稳定快速移动的问题，但是该方案依然存在着：结构复杂，需要切换不同使用状态，操作复杂等问题。
发明内容
本发明的目的是针对上述问题，提供一种设计合理，越障能力强的全路况多足轮式平台机器人。
为达到上述目的，本发明采用了下列技术方案：本全路况多足轮式平台机器人，包括机身，在机身上设有若干行走轮，其特征在于，每一行走轮分别与一能驱动该行走轮滚动的行走驱动机构相连，每一行走轮分别与一能驱动该行走轮周向水平转动的转动驱动机构相连，每一行走轮分别与一能驱动该行走轮升降的升降驱动机构相连，所述的机身的横向有至少两个行走轮，所述的机身的纵向有至少两个行走轮，每一行走轮的行走驱动机构、转动驱动机构和升降驱动机构均与能够控制每个行走轮独立地工作的控制电路相连，当在非平整路面行走时至少一个行走轮被提升，其余行走轮与路面接触并对机身形成稳定支撑。各个行走轮全部独立控制升降和正反转，仅需要一些离散的点来供其落足，即可成功通过崎岖、台阶等路况。
以复杂精妙的肢体结构和简易灵巧的运动控制策略，使其能轻易地穿越了各种复杂的自然地形。
在上述全路况多足轮式平台机器人中，所述的机身上的各个行走轮之间的横向间距和纵向间距均固定不动；或者所述的机身上至少两个行走轮之间的纵向间距可调和/或所述的机身上至少两个行走轮之间的横向间距可调。
在上述全路况多足轮式平台机器人中，所述的机身横向的行走轮一一对应设置或一一错位设置。优选地，这里的机身两侧横向的行走轮一一对应设置。
在上述全路况多足轮式平台机器人中，所述的机身纵向的行走轮依次等间距均匀分布设置或不等间距分布设置。优选，机身每一侧纵向的行走轮依次等间距设置，且当所述的机身每一侧具有三个行走轮时，位于机身同一侧相邻两个行走轮之间的间距大 小小于台阶等障碍物的宽度大小。
在上述全路况多足轮式平台机器人中，所述的升降驱动机构包括沿竖直方向活动设置在机身侧部下方的升降架体，且所述的升降架体和机身之间通过升降驱动组件相连。
在上述全路况多足轮式平台机器人中，所述的升降驱动组件为蜗轮蜗杆式升降驱动组件。优选地，这里的蜗轮蜗杆式升降驱动组件包括升降驱动电机，通过升降驱动电机带动蜗轮带动与升降架体相连的蜗杆升降，同时具有自锁功能。
在上述全路况多足轮式平台机器人中，所述的升降驱动组件为齿轮齿条式升降驱动组件。通过升降驱动电机带动齿轮转动从而使与升降架体相连的齿条上下移动。
在上述全路况多足轮式平台机器人中，所述的转动驱动机构包括设置在升降架体下端的转动驱动电机，所述的转动驱动电机的驱动轴和轮体安装座相连，且所述的行走轮设置在轮体安装座上。即通过转动驱动电机带动轮体安装座转动从而实现行走轮的万向转动。
在上述全路况多足轮式平台机器人中，所述的行走驱动机构包括设置在轮体安装座上且具有正反转功能的行走驱动电机，且所述的行走驱动电机的输出轴和行走轮相连。
在上述全路况多足轮式平台机器人中，所述的控制电路包括设置在机身上的路况信息检测传感器，且所述的路况信息检测传感器和MCU模块相连，且所述的行走驱动电机、转动驱动电机以及升降驱动组件均和MCU模块相连。优选地，这里的路况信息检测传感器可以为超声波传感器、TOF传感器、双目视觉传感器等。
与现有的技术相比，本发明的优点在于：
1、结构简单，各个行走轮全部独立控制升降、万向和正反转功能，仅需要一些离散的点来供其落足，即可成功通过崎岖、台阶等路况，能轻易地穿越了各种复杂的自然地形。
2、无需通过调节自身重心即可避免倾覆，具有更高的稳定性，兼顾适应复杂路段和稳定快速移动。
附图说明
图1是本发明中实施例一的结构示意图；
图2是本发明中实施例一的局部结构示意图；
图3是本发明中实施例一的结构框图；
图4是本发明实施例一中行走轮处于伸出状态的结构示意图；
图5是本发明实施例一中行走轮处于回缩状态的结构示意图；
图6是本发明实施例一中行走轮处于爬台阶状态的结构示意图；
图7是本发明实施例一中行走轮处于越障状态的结构示意图；
图8是本发明实施例一中行走轮处于翻越状态的结构示意图；
图9是本发明实施例二中行走轮爬台阶过程的结构示意图；
图中，机身1、行走轮11、行走驱动机构2、行走驱动电机21、升降驱动机构3、升降架体31、升降驱动组件32、升降驱动电机321、蜗杆323、蜗轮322、转动驱动机构4、转动驱动电机41、轮体安装座42、路况信息检测传感器5、MCU模块51、超声波传感器52、TOF传感器53、双目视觉传感器54。
具体实施方式
下面结合附图和具体实施方式对本实用新型做进一步详细的说明。
如图1-8所示，
本多足轮式平台机器人，包括平台车体1(即机身1)，平台车体1(即机身1)上设有若干行走轮体11(即行走轮11)，行走轮体11(即行走轮11)分别连接有轮体行走驱动机构2，位于平台车体1(即机身1)前后相邻两个行走轮体11(即行走轮11)之间的间距大小固定不变，每一个行走轮体11(即行走轮11)均连接有能驱动行走轮体11(即行走轮11)沿竖直方向升降的轮体升降驱动机构3，且当平台车体1(即机身1)爬台阶时，行走轮体11(即行走轮11)其中一个行走轮体11(即行走轮11)升降，剩余的行走轮体11(即行走轮11)中至少两个行走轮体11(即行走轮11)位于同一水平面且分别和台阶接触从而使平台车体1(即机身1)保持水平状态。具体地说，本全路况多足轮式平台机器人，包括机身1，在机身1上设有若干行走轮11，每一行走轮11分别与一能驱动该行走轮11滚动的行走驱动机构2相连，每一行走轮11分别与一能驱动该行走轮11周向水平转动的转动驱动机构4相连，每一行走轮11分别与一能驱动该行走轮11升降的升降驱动机构3相连，机身1的横向有至少两个行走轮11，机身1的纵向有至少两个行走轮11，每一行走轮11的行走驱动机构2、转动驱动机构4和升降驱动机构3均与能够控制每个行走轮11独立地工作的控制电路相连，当在非平整路面行走时至少一个行走轮11被提升，其余行走轮11与路面接触并对机身1形成稳定支撑。各个行走轮11全部独立控制升降和正反转，仅需要一些离散的点来供其落足，即可成功通过崎岖、台阶等路况。以复杂精妙的肢体结构和简易灵巧的运动控制策略，使其能轻易地穿越了各种复杂的自然地形。
本实施例中，优选机身1每一侧具有6个依次等间距均匀分布的行走轮11，且机身1两侧的行走轮11分别一一对应设置，也就是说，具有6组轮体，总计12个独立的行走轮11。
其中，机身1上的各个行走轮11之间的横向间距和纵向间距 均固定不动；或者机身1上至少两个行走轮11之间的纵向间距可调和/或机身1上至少两个行走轮11之间的横向间距可调。
其中，这里的升降驱动机构3包括沿竖直方向活动设置在机身1侧部下方的升降架体31，且升降架体31和机身1之间通过升降驱动组件32相连。优选地，升降驱动组件32为蜗轮蜗杆式升降驱动组件，或者，齿轮齿条式升降驱动组件。优选地，这里的蜗轮蜗杆式升降驱动组件包括升降驱动电机321，通过升降驱动电机321带动蜗轮322带动与升降架体31相连的蜗杆323升降，同时具有自锁功能。
优选地，这里的转动驱动机构4包括设置在升降架体31下端的转动驱动电机41，转动驱动电机41的驱动轴和轮体安装座42相连，且行走轮11设置在轮体安装座42上。
进一步地，行走驱动机构2包括设置在轮体安装座42上且具有正反转功能的行走驱动电机21，且行走驱动电机21的输出轴和行走轮11相连。
显然，本实施例中的控制电路包括路况信息检测传感器5，且路况信息检测传感器5和MCU模块51相连，由于采用12个单独设置的行走轮11，这样需要配备12个升降驱动电机321、12个转动驱动电机41以及12单独控制的行走驱动电机21，且这些电机均和MCU模块相连，使其每一个电机均可以实现单独工作，实现每一个行走轮11均具有正反转功能、独立转向功能以及升降功能。
进一步地，这里的路况信息检测传感器5可以为超声波传感器52、TOF传感器53、双目视觉传感器54等。这里的路况信息检测传感器5旨在检测前面的路况信息，可以通过多种方式实现，例如，超声波法原理：使用特定的人造声源，对物体表面逐点用声程差来测距。
TOF法原理：采用主动光探测方式，使用特定的人造光源如 红外线，通过入、反射光探测，对物体表面逐点用光程差来测距。例如：在自动驾驶领域提供更好的避障信息。优点：视角更宽；TOF相机体积小巧，跟一般相机大小相去无几，非常适合于一些需要轻便、小体积相机的场合；TOF相机能够实时快速的计算深度信息，达到几十到100fps；TOF的深度计算不受物体表面灰度和特征影响，可以非常准确的进行三维探测；深度计算精度不随距离改变而变化，基本能稳定在cm级，这对于一些大范围运动的应用场合非常有意义
双目视觉法原理：通过左右立体像对匹配后，再经过三角测量法来进行立体探测两角夹一边->确定一个三角形->该三角形的高即为影像点的深度。
通过路况信息检测传感器5检测机器人前方路况信息，MCU模块进行路况的三维模型的构建并进行运动规划，实现行走轮11的正反转功能、独立转向功能以及升降功能，从而实现机身1的越障、爬台阶等动作。
实施例二
如图9所示，本实施例的结构、原理以及实施步骤和实施例一类似，不同的地方在于，本实施例中的机身1每一侧的行走轮11依次等间距设置，且当机身1每一侧具有三个行走轮11时，位于机身1同一侧相邻两个行走轮11之间的间距大小小于各个台阶等各个障碍物的宽度大小，在符合特定条件下，例如台阶宽度大于相邻两个行走轮11之间的间距的前提下也可以实现本机身1的爬台阶功能。
本文中所描述的具体实施例仅仅是对本发明精神作举例说明。本发明所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代，但并不会偏离本发明的精神或者超越所附权利要求书所定义的范围。
尽管本文较多地使用了机身1、行走轮11、行走驱动机构2、行走驱动电机21、升降驱动机构3、升降架体31、升降驱动组件32、升降驱动电机321、蜗杆323、蜗轮322、转动驱动机构4、转动驱动电机41、轮体安装座42、路况信息检测传感器5、MCU模块51、超声波传感器52、TOF传感器53、双目视觉传感器54等术语，但并不排除使用其它术语的可能性。使用这些术语仅仅是为了更方便地描述和解释本发明的本质；把它们解释成任何一种附加的限制都是与本发明精神相违背的。

Claims (10)

  1. 一种全路况多足轮式平台机器人，包括机身(1)，在机身(1)上设有若干行走轮(11)，其特征在于，每一行走轮(11)分别与一能驱动该行走轮(11)滚动的行走驱动机构(2)相连，每一行走轮(11)分别与一能驱动该行走轮(11)周向水平转动的转动驱动机构(4)相连，每一行走轮(11)分别与一能驱动该行走轮(11)升降的升降驱动机构(3)相连，所述的机身(1)的横向有至少两个行走轮(11)，所述的机身(1)的纵向有至少两个行走轮(11)，每一行走轮(11)的行走驱动机构(2)、转动驱动机构(4)和升降驱动机构(3)均与能够控制每个行走轮(11)独立地工作的控制电路相连，当在非平整路面行走时至少一个行走轮(11)被提升，其余行走轮(11)与路面接触并对机身(1)形成稳定支撑。
  2. 根据权利要求1所述全路况多足轮式平台机器人，其特征在于，所述的机身(1)上的各个行走轮(11)之间的横向间距和纵向间距均固定不动；或者所述的机身(1)上至少两个行走轮(11)之间的纵向间距可调和/或所述的机身(1)上至少两个行走轮(11)之间的横向间距可调。
  3. 根据权利要求2所述全路况多足轮式平台机器人，其特征在于，所述的机身(1)横向的行走轮(11)一一对应设置或一一错位设置。
  4. 根据权利要求2所述全路况多足轮式平台机器人，其特征在于，所述的机身(1)纵向的行走轮(11)依次等间距均匀分布设置或不等间距分布设置。
  5. 根据权利要求1或2或3或4所述全路况多足轮式平台机器人，其特征在于，所述的升降驱动机构(3)包括沿竖直方向活动设置在机身(1)侧部下方的升降架体(31)，且所述的升降架体(31)和机身(1)之间通过升降驱动组件(32)相连。
  6. 根据权利要求5所述全路况多足轮式平台机器人，其特征 在于，所述的升降驱动组件(32)为蜗轮蜗杆式升降驱动组件。
  7. 根据权利要求5所述全路况多足轮式平台机器人，其特征在于，所述的升降驱动组件(32)为齿轮齿条式升降驱动组件。
  8. 根据权利要求5所述全路况多足轮式平台机器人，其特征在于，所述的转动驱动机构(4)包括设置在升降架体(31)下端的转动驱动电机(41)，所述的转动驱动电机(41)的驱动轴和轮体安装座(42)相连，且所述的行走轮(11)设置在轮体安装座(42)上。
  9. 根据权利要求8所述全路况多足轮式平台机器人，其特征在于，所述的行走驱动机构(2)包括设置在轮体安装座(42)上且具有正反转功能的行走驱动电机(21)，且所述的行走驱动电机(21)的输出轴和行走轮(11)相连。
  10. 根据权利要求9所述全路况多足轮式平台机器人，其特征在于，所述的控制电路包括设置在机身(1)上的路况信息检测传感器(5)，且所述的路况信息检测传感器(5)和MCU模块(51)相连，且所述的行走驱动电机(21)、转动驱动电机(41)以及升降驱动组件(32)均和MCU模块(51)相连。
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