WO2020034974A1 - Robot à roues à pieds multiples - Google Patents

Robot à roues à pieds multiples Download PDF

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Publication number
WO2020034974A1
WO2020034974A1 PCT/CN2019/100466 CN2019100466W WO2020034974A1 WO 2020034974 A1 WO2020034974 A1 WO 2020034974A1 CN 2019100466 W CN2019100466 W CN 2019100466W WO 2020034974 A1 WO2020034974 A1 WO 2020034974A1
Authority
WO
WIPO (PCT)
Prior art keywords
main body
lifting
driving structure
walking wheel
wheeled
Prior art date
Application number
PCT/CN2019/100466
Other languages
English (en)
Chinese (zh)
Inventor
黄剑锋
Original Assignee
诸暨市蓝了电子科技有限公司
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
Priority claimed from CN201810914062.1A external-priority patent/CN109018057A/zh
Priority claimed from CN201910739770.0A external-priority patent/CN112388597A/zh
Application filed by 诸暨市蓝了电子科技有限公司 filed Critical 诸暨市蓝了电子科技有限公司
Priority to DE112019004106.1T priority Critical patent/DE112019004106T5/de
Publication of WO2020034974A1 publication Critical patent/WO2020034974A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • 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 belongs to the technical field of robots, and relates to a multi-legged robot, in particular to a multi-legged wheeled robot.
  • a multi-foot wheeled platform robot [Application No .: 201810914062.1], which includes a platform vehicle body.
  • the platform vehicle body is provided with a plurality of walking wheel bodies.
  • the wheel body is respectively connected with a wheel body walking driving mechanism, and the distance between two adjacent walking wheel bodies located on the front and rear of the platform body is fixed.
  • Each walking wheel body is connected to drive the lifting wheel body to move vertically.
  • the platform car body climbs the steps, one of the walking wheel bodies moves up and down, and at least two of the remaining walking wheel bodies are located on the same level and are in contact with the steps, respectively, so that the platform vehicle The body remains horizontal.
  • the above solution solves the problem of climbing stairs to a certain extent, but there are still many shortcomings in this solution.
  • the stability cannot be guaranteed in the face of rugged roads, and the center of gravity is easy to be unstable when turning and roll over.
  • An object of the present invention is to provide a multi-footed wheeled robot with reasonable design and stable operation in response to the above problems.
  • the multi-legged wheeled robot includes a main body, and the main body is provided with at least three sets of wheeled feet distributed along the longitudinal interval of the main body. The distance between the wheeled feet is fixed. Each group of wheeled feet includes at least two wheeled feet distributed along the main body at a lateral interval. Each wheeled foot on the main body moves independently and in a controlled manner. Each wheeled foot includes a walking wheel body and a rolling driving structure capable of driving the walking wheel body to roll. A steering driving structure capable of driving the horizontal turning of the walking wheel body and a driving drive are provided between the main body and the walking wheel body. A lifting driving structure for lifting and lowering the wheel body.
  • An external expansion is provided between the main body and the walking wheel body, which can expand the walking wheel body relative to the main body and can adaptively keep the rolling center axis of the walking wheel body in a horizontal state.
  • the control structure, the rolling driving structure, the steering driving structure, the lifting driving structure and the external expansion control structure are respectively connected to the control circuit, and the main body starts when the main body moves or is stationary. Remain horizontal.
  • each wheeled foot here also has a walking wheel body that expands relative to the main body and can adaptively keep the rolling center axis of the walking wheel body in a horizontal state. In this way, each walking wheel body can be approached or moved away from the main body as required, thereby improving the stability in the driving state such as lifting, steering, etc., it is not easy to fall over, and can adapt to different complicated terrain.
  • the walking wheel body is connected to a rolling driving structure
  • the rolling driving structure is connected to a steering driving structure
  • the steering driving structure is connected to a lifting driving structure
  • the lifting driving The structure is connected to the main body, and the lifting central axis of the lifting driving structure is set vertically or inclined relative to the vertical direction. That is, the lifting driving structure here can achieve vertical lifting and tilting relative to the vertical direction.
  • the outward expansion control structure includes a first rotation connection structure provided between the lifting drive structure and a steering drive structure and a second rotation connection structure provided between the lifting drive structure and the main body.
  • the first rotary connection structure and the second rotary connection structure are both driven by a movable joint;
  • the external expansion control structure can drive the lifting central axis of the lifting driving structure to be inclined outward or vertically with respect to the main body.
  • the rotation center axis of the second rotation connection structure is parallel to the horizontal center axis of the main body.
  • the walking wheel body can be lifted and lowered toward the main body outwardly, inwardly or vertically by the first rotating connection structure and the second rotating connection structure, both of which have movable joints.
  • the outward expansion control structure includes a folding rod provided between the lifting driving structure and the steering driving structure, and the lifting driving structure is fixedly connected to the main body, A third rotation connection structure is provided between the upper end of the folding rod and the lifting driving structure, and a fourth rotation connection structure is provided between the lower end of the folding rod and the steering driving structure.
  • the four rotation connection structures are all driven joints.
  • the outward expansion control structure can drive the folding rod to be inclined outward or vertically with respect to the main body.
  • the rotation axis of the third rotation connection structure is parallel to the center.
  • the third rotating connection structure and the fourth rotating connection structure with the driving movable joint are used to realize the lifting and lowering of the walking wheel body to the main body by tilting outward, inward or vertical.
  • the lifting driving structure includes a screw sleeve and a screw rod, the screw rod is screw-connected to the screw sleeve, and the screw sleeve is connected to a lifting driver capable of driving the screw sleeve to rotate.
  • the screw sleeve is rotatably disposed in a mounting seat, the mounting seat is connected to the main body, the lifting driver is fixed at a side of the mounting seat, and a disk body is provided at the upper end of the screw rod;
  • the lifting driving structure includes a gear and a rack, the gear is meshed with the rack, the gear is connected with a lifting driver capable of driving the gear to rotate, and the rack is threaded in the mounting seat,
  • the mounting base is connected to the main body, the lifting driver is fixed on the side of the mounting base, and the upper end of the rack is provided with a disk body;
  • the lifting driving structure includes a worm gear and a worm, the worm gear is engaged with the worm, the worm gear is connected with a lifting driver capable of driving the worm wheel to rotate, and the worm is inserted into the mounting seat.
  • the mounting seat is connected to the main body, the lifting driver is fixed on the side of the mounting seat, and a disk body is provided on the upper end of the worm.
  • the mounting base here is rotationally connected or fixedly connected to the main body.
  • a folding rod is provided between the lifting driving structure and the steering driving structure; when the mounting base and the main body rotate
  • the second rotary connection structure between the lifting drive structure and the main body is actually a rotational connection between the mounting base and the main body, which may specifically include hinge shafts provided on both sides of the mounting base, and the main body is provided with a hinged connection with the hinge shaft.
  • the articulation hole here can be connected with a rotary driver that drives the articulation shaft to rotate in the circumferential direction.
  • the rolling driving structure includes a cover body disposed on one side of the walking wheel body, and a rotation matching structure is provided between one end of the cover body and the side surface of the walking wheel body.
  • a rolling drive motor is fixed in the casing, and the power shaft of the rolling drive motor is connected to the walking wheel body.
  • the rotation matching structure includes a circular groove provided on one side of the walking wheel body and a cylindrical end portion provided on one end of the cover body, and the cylindrical end portion is inserted into the circular ring.
  • the power shaft of the rolling drive motor passes through the end of the cylinder and is fixedly connected to the walking wheel body.
  • the steering driving structure includes a steering driving motor fixed on a cover body, and a power shaft of the steering driving motor is vertically arranged and connected to the lifting driving structure; the cover body is A vertically upward opening is provided, and a positioning seat fixed on a rolling drive motor is provided in the opening.
  • the steering driving motor is fixed in the positioning seat.
  • a surrounding edge is provided on the outside of the opening. The side has a notch facing away from the side of the walking wheel body.
  • the lower part of the main body is provided with a strip-shaped hole corresponding to the lifting driving structure, the strip-shaped hole extends from the bottom surface to the side of the main body, and the lifting driving structure is passed through In the hole.
  • a battery and a control circuit are provided on the main body, the battery is connected to the control circuit, and an application component is provided on the main body.
  • the application scenarios of the multi-footed wheeled robots here mainly include artificial intelligence experimental platforms, logistics-express transportation robots, cargo handling robots, production operation robots, and medical service auxiliary platforms, such as wheelchairs, stretchers, etc.
  • the main body here can Equipped with corresponding equipment such as storage box and experimental equipment.
  • Each walking wheel body can be approached or moved away from the main body as required, thereby improving the stability in driving conditions such as lifting, steering, etc., and it is not easy to fall over. It can successfully pass rugged, stepped and other road conditions, and can easily pass through various road conditions. Complex 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 an enlarged view at A in FIG. 2; FIG.
  • FIG. 4 is a partial structural schematic diagram of the first embodiment of the present invention from another perspective
  • FIG. 5 is a schematic structural diagram of a single wheeled foot according to the first embodiment of the present invention.
  • FIG. 6 is a partial cross-sectional view of a single wheeled foot according to the first embodiment of the present invention.
  • FIG. 7 is a partial structural cross-sectional view of a single wheeled foot from another perspective of Embodiment 1 of the present invention.
  • FIG. 9 is a schematic structural diagram of a second embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a usage scenario in Embodiment 2 of the present invention.
  • FIG. 11 is a schematic diagram of a partial structure of a second embodiment of the present invention.
  • the main body 1 a strip-shaped hole 11, a battery 12, a wheeled foot 2, a walking wheel body 21, a rolling drive structure 3, a cover body 31, a rotation fitting structure 32, a rolling drive motor 33, an annular groove 34, and a cylinder End 35, steering drive structure 4, steering drive motor 41, opening 42, positioning seat 43, surrounding edge 44, notch 45, lifting drive structure 5, screw sleeve 51, lead screw 52, retractable pipe body 521, lifting drive 53 , Mounting base 54, plate 55, external expansion control structure 6, first rotation connection structure 61, first rotation portion 611, second rotation portion 612, joint motor 613, second rotation connection structure 62, hinge shaft 621, hinge Hole 622, folding lever 63, third rotation connection structure 64, fourth rotation connection structure 65, control circuit 7, application component 8, chassis 81, chassis base 811, annular enclosure 812, positioning plate 813, snap-in groove 814,
  • the multi-legged wheeled robot includes a main body 1, and the main body 1 is provided with at least three sets of wheeled feet 2 spaced along the longitudinal direction of the main body 1, and two wheeled feet adjacent to each other. The distance between 2 is fixed.
  • Each group of wheeled feet 2 includes at least two wheeled feet 2 that are spaced along the lateral direction of the main body 1.
  • Each wheeled foot 2 on the main body 1 moves independently and in a controlled manner.
  • Each wheeled foot 2 includes a walking wheel body 21 and a rolling driving structure 3 capable of driving the walking wheel body 21 to roll.
  • a steering driving structure 4 capable of driving the horizontal turning of the walking wheel body 21 is provided between the main body 1 and the walking wheel body 21.
  • a main body 1 and the walking wheel body 21 are also provided between the main body 1 and the main body 1 so that the walking wheel body 21 can expand outward relative to the main body 1 and can adaptively maintain the rolling of the walking wheel body 21
  • the outer expansion control structure 6, the rolling drive structure 3, the steering drive structure 4, the lifting drive structure 5, and the outer expansion control structure 6 are horizontally connected to the control circuit 7, respectively.
  • the main body 1 is also provided with a battery 12, a battery 12 It is connected to the control circuit 7.
  • the control circuit here is also connected with
  • the image acquisition module on the main body 1 is connected, for example, a three-dimensional image acquisition provided on the main body 1 and a distance measuring sensor provided on the main body 1 side, and the main body 1 always maintains a horizontal state when the main body 1 moves or is stationary.
  • each wheeled foot 2 here has, in addition to having a rolling function, a horizontal steering function, and a lifting function, a walking wheel body 21 that expands relative to the main body 1 and can adaptively maintain the rolling center axis of the walking wheel body 21 It is in a horizontal state, so that each walking wheel body 21 can approach or move away from the main body 1 as needed, thereby improving the stability in driving states such as lifting, steering, etc., it is not easy to fall over, and can adapt to different complicated terrains.
  • each walking wheel body independently controls lifting and reversing, and only needs some discrete points for its landing, and it can successfully pass rugged, stepped and other road conditions. With complex and extraordinarily limb structures and simple and smart motion control strategies, it can easily cross various complex natural terrains.
  • each side of the main body 1 has at least three walking wheel bodies 21, and the walking wheel bodies 21 on both sides of the main body 1 are respectively arranged one by one, or are arranged one by one.
  • the walking wheel bodies 21 on both sides of the main body 1 are arranged one-to-one correspondingly.
  • the walking wheel bodies 21 on each side of the main body 1 are arranged at equal intervals in sequence. The distance between two adjacent walking wheel bodies 21 on the same side of the main body 1 is smaller than the width of each step.
  • the walking wheel body 21 here is connected to the rolling driving structure 3, the rolling driving structure 3 is connected to the steering driving structure 4, the steering driving structure 4 is connected to the lifting driving structure 5, the lifting driving structure 5 is connected to the main body 1, and the lifting driving
  • the lifting central axis of the structure 5 is set vertically or inclined relative to the vertical direction, that is, the lifting driving structure 5 here can implement vertical lifting or tilt lifting relative to the vertical direction.
  • the external expansion control structure 6 here includes a first rotation connection structure 61 provided between the lifting driving structure 5 and the steering driving structure 4, and between the lifting driving structure 5 and the main body 1.
  • the second rotary connection structure 62, the first rotary connection structure 61 and the second rotary connection structure 62 are all driven by a movable joint and are connected to the control circuit 7; the external expansion control structure 6 can drive the lifting drive structure 5
  • the lifting central axis is arranged obliquely outward or vertically with respect to the main body 1; the rotating central axis of the second rotary connection structure 62 is parallel to the horizontal central axis of the main body 1.
  • the first and second rotating connection structures 61 and 62 each with a driving movable joint are used to realize the lifting and lowering of the walking wheel body with respect to the main body 1 inclined outward, inward, or vertical.
  • the lifting driving structure 5 here includes a screw sleeve 51 and a screw rod 52, the screw rod 52 is screw-connected to the screw sleeve 51, and the screw sleeve 51 is connected to a lifting driver 53 capable of driving the screw sleeve 51 to rotate.
  • the screw sleeve 51 is rotatably provided in the mounting base 54.
  • the mounting base 54 is connected to the main body 1.
  • the lifting driver 53 is fixed to the side of the mounting base 54.
  • the upper end of the screw rod 52 is provided with a disc body 55.
  • the second rotation connection structure 62 between the lifting driving structure 5 and the main body 1 is actually the rotationally connected mounting seat 54 and the main body 1, which may specifically include
  • the hinge shaft 621 is provided with a hinge hole 622 hingedly connected to the hinge shaft 621 on the main body 1.
  • the hinge shaft 621 may be connected with a rotary driver that drives the hinge shaft 621 to rotate in the circumferential direction.
  • the rolling driving structure 3 here includes a cover body 31 provided on one side of the walking wheel body 21, and a rotation fit is provided between one end of the cover body 31 and the side surface of the walking wheel body 21.
  • a rolling drive motor 33 is fixed in the cover body 31, and a power shaft of the rolling drive motor 33 is connected to the traveling wheel body 21.
  • the rotation fitting structure 32 here includes a circular groove 34 provided on one side of the traveling wheel body 21 and a cylindrical end portion 35 provided on one end of the cover body 31, and the cylindrical end portion 35 is inserted into the circular groove 34 and The two slidingly cooperate with each other.
  • the power shaft of the rolling drive motor 33 passes through the cylindrical end portion 35 and is fixedly connected to the traveling wheel body 21.
  • the steering drive structure 4 here includes a steering drive motor 41 fixed to the cover 31.
  • the power shaft of the steering drive motor 41 is vertically arranged and connected to the lifting drive structure 5.
  • the cover 31 has a vertically upward opening. 42.
  • a positioning seat 43 fixed on the rolling drive motor 33 is provided in the opening 42, and a steering driving motor 41 is fixed in the positioning seat 43.
  • a rim 44 is provided outside the opening 42, and the rim 44 has a direction away from the walking wheel body 21. Notch 45 on one side.
  • the first rotation connection structure 61 in this embodiment includes a first rotation portion 611 and a second rotation portion 612.
  • a transversely disposed joint motor 613 is provided between the first rotation portion 611 and the second rotation portion 612.
  • the motor body and the power shaft of the joint motor 613 are connected to the first rotation portion 611 and the second rotation portion 612, respectively.
  • the first rotation portion 611 is connected to the lower end of the screw 52, and the second rotation portion 612 is connected to the steering drive motor 41.
  • the power shaft is connected.
  • the lower part of the main body 1 is provided with a strip-shaped hole 11 corresponding to the lifting driving structure 5.
  • the strip-shaped hole 11 extends from the bottom surface to the side of the main body 1, and the lifting driving structure 5 is penetrated in the strip-shaped hole 11.
  • the screw rod 52 is inserted into the strip-shaped hole 11, so that the inclination angle of the screw rod 52 in the strip-shaped hole 11 can be adjusted.
  • a retractable pipe body 521 is sleeved on the outer side of the screw rod 52 in the circumferential direction.
  • the upper end of the retractable pipe body 521 is connected to the lower end of the mounting seat 54 and the lower end extends to the intersection of the screw rod 52 and the first rotating portion 611.
  • Both 52 and the retractable pipe body 521 are arranged in the strip-shaped hole 11 so that the screw rod 52 can be effectively protected during the lifting process.
  • the retractable pipe body 1 is a metal bellows, a non-metal bellows, and an elastic pipe. Any one of them, at the same time, the retractable pipe body 521 and the screw rod 52 can be used for a threading slot for threading a device such as a driver below.
  • the strip-shaped hole 11 here is also provided with a fold-shaped closing plate made of a flexible material, and the retractable pipe body 521 and the screw rod 52 are passed through the closing plate together.
  • the main body 1 in this embodiment is provided with an application component 8.
  • the application scenarios of the multi-leg wheeled robots here mainly include artificial intelligence experimental platforms, logistics-express transportation robots, cargo handling robots, production operation robots, and medical service auxiliary platforms, such as wheelchairs, stretchers, etc.
  • the main body 1 here Corresponding equipment such as a storage structure and experimental equipment may be provided.
  • the storage structure here may include a chassis 81 provided on the main body 1 and a storage box 82 provided on the chassis 81. The upper and lower ends of the storage box 82 are respectively opened.
  • the chassis 81 is provided with a chassis cover 83 which is open from the lower end of the storage box 82 and enters the storage box 82.
  • the chassis cover 83 and the chassis 81 are fastened to each other to form an installation chamber.
  • the outer wall of the chassis cover 83 The inner side wall of the lower end of the storage box 82 cooperates with each other, so that the chassis cover 83 closes the lower end of the storage box 82 openly.
  • the upper end of the storage box 82 is movably provided with a cover 821 that can close the upper end open.
  • a chassis cover 83 provided at the upper end of the chassis 81 to the bottom of the storage box 82 to close the lower end of the storage box 82 to accommodate a space
  • a space is formed between the chassis cover 83 and the chassis 81 for placing the lifting drive structure 5 and The installation chamber of the control circuit 7, the battery 12, so that the storage space and the walking execution space do not interfere with each other, and the storage area layout is reasonable.
  • the top of the chassis cover 83 here has a recessed area 831 extending along the axial direction of the chassis 81, and two sides of the recessed area 831 are respectively a raised area 832 extending along the axial direction of the chassis 81, and the raised area 832 corresponds to the chassis
  • the telescopic wheeled foot installation area on 81, the raised area 832 serves as the accommodation space for the telescopic wheeled foot to telescope vertically
  • the recessed area 831 serves as the accommodation space for the telescopic wheeled foot to be tilted and retracted.
  • the recessed area 831 on the top of the chassis cover 83 forms an article placement groove in the storage box 82, which can improve the stability when the article is placed.
  • the chassis 81 here includes a chassis base 811 horizontally arranged, and an annular enclosure 812 is provided on the periphery of the chassis base 811 in a circumferential direction, and the annular enclosure 812 and the chassis cover 83 are connected by a detachable structure.
  • the detachable structure here includes a plurality of positioning plates 813 which are arranged on the outer side of the chassis base 811 in the circumferential direction and on the inner side of the annular enclosure plate 812.
  • a locking groove 14 is formed between the positioning plate 813 and the annular enclosure plate 812.
  • the lower end of the cover 83 is positioned in the engaging groove 814.
  • the diameter of the lower end of the chassis cover 83 connected to the chassis 81 here gradually decreases.
  • the lower end of the storage box body 82 in the circumferential direction abuts on the upper end of the annular enclosure 812.
  • the storage box 82 is formed by at least two sub-boxes 822 abutted on each other.
  • the main body 1 is provided with a road condition information detection sensor, and the road condition information detection sensor is connected to the control circuit 7.
  • the road condition information detection sensor here may be an ultrasonic sensor, a TOF sensor, a binocular vision sensor, or the like.
  • the road condition information detection sensor here aims 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 using active light detection method, using a specific artificial light source such as infrared light, through the detection of incoming and reflected light, the distance of the object surface point by point is used for distance measurement. For example: provide better obstacle avoidance information in the field of autonomous driving.
  • 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 detects the road condition information in front of the robot, and the control circuit constructs a three-dimensional model of the road condition and performs motion planning, and realizes the forward and reverse function of the walking wheel body, independent steering function, lifting function and external expansion, thereby realizing the main body 1 Obstacle crossing, climbing stairs, etc.
  • the structure, principle, and steps of this embodiment are similar to those of the first embodiment, except that the external expansion control structure 6 in this embodiment includes a lifting drive structure 5 and a steering drive.
  • the folding rod 63 between the structures 4 is fixedly connected to the main body 1 by the lifting driving structure 5.
  • a third rotating connecting structure 64 is provided between the upper end of the folding rod 63 and the lifting driving structure 5, and the lower end of the folding rod 63 and the steering driving structure 4.
  • a fourth rotation connection structure 65 is provided, and the third rotation connection structure 64 and the fourth rotation connection structure 65 are driven joints; the external expansion control structure 6 can drive the folding rod 63 to tilt outward or vertical with respect to the main body 1
  • the central axis of rotation of the third rotary connection structure 64 is parallel to the horizontal central axis of the main body 1.
  • the third rotating connection structure 64 and the fourth rotating connection structure 65 each with a driving movable joint are used to realize the lifting and lowering of the walking wheel body with respect to the main body 1 inclined outward, inward or vertical.
  • the mounting seat 54 is fixedly connected to the main body 1, and a folding rod 63 is provided between the lifting driving structure 5 and the steering driving structure 4; that is, the screw rod 52 is threaded in the screw sleeve 51 in the mounting seat 54, The lower end of the screw rod 52 extends below the main body 1 and is connected to the folding rod 63.
  • the third rotary connection structure 64 includes a movable connection between the upper end of the folding rod 63 and the lower end of the screw rod 52 through a joint motor 613.
  • the structure 65 includes a joint disposed between the lower end of the folding lever 63 and the power shaft of the steering drive motor 41 through a joint motor 613.
  • the joint motor 613 here adopts a structure similar to that in the first embodiment, and will not be described in detail here.
  • the lifting driving structure 5 in this embodiment includes a gear and a rack.
  • the gear and the rack mesh with each other.
  • a lifting drive 53 capable of driving gear rotation is connected, a rack is penetrated in the mounting base 54, the mounting base 54 is connected to the main body 1, the lifting drive 53 is fixed on the side of the mounting base 54, and a disk body 55 is provided at the upper end of the rack.
  • the lifting drive structure 5 in this embodiment includes a worm gear and a worm.
  • the worm gear and the worm mesh with each other.
  • the worm wheel rotates a lifting driver 53 connected with the worm through the mounting base 54.
  • the mounting base 54 is connected with the main body 1.
  • the lifting driver 53 is fixed on the side of the mounting base 54.
  • a disk body 55 is provided at the upper end of the worm.

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Abstract

La présente invention concerne un robot à roues à pieds multiples comprenant un corps principal (1) et au moins trois ensembles de pieds à roues (2), chaque ensemble de pieds à roues comprenant au moins deux pieds à roues, respectivement, et chaque pied à roues comprenant un corps de roue de marche (21) et une structure d'entraînement de roulement (3) pouvant entraîner le corps de roue de marche à rouler ; une structure d'entraînement de direction (4) et une structure d'entraînement d'élévation (5) sont disposées entre le corps principal et les corps de roue de marche, et une structure de commande d'expansion externe (6) est en outre disposée entre le corps principal et les corps de roue de marche ; la structure d'entraînement de roulement, la structure d'entraînement de direction, la structure d'entraînement d'élévation et la structure de commande d'expansion externe sont raccordées à un circuit de commande (7) respectivement ; et le corps principal maintient toujours un état horizontal lorsque le corps principal se déplace ou est stationnaire. Chaque corps de roue de marche peut s'approcher ou s'éloigner du corps principal selon les besoins, de façon à améliorer la stabilité d'états de déplacement, tels que la montée, la descente et la direction. De plus, le robot ne peut pas basculer facilement, ce qui signifie que le robot peut se déplacer avec succès dans des conditions de route accidentées, en gradins et d'autres conditions de route, et peut facilement se déplacer sur divers terrains naturels complexes.
PCT/CN2019/100466 2018-08-13 2019-08-13 Robot à roues à pieds multiples WO2020034974A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112019004106.1T DE112019004106T5 (de) 2018-08-13 2019-08-13 Mehrbeiniger radroboter

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201810914062.1 2018-08-13
CN201810914062.1A CN109018057A (zh) 2018-08-13 2018-08-13 多足轮式平台机器人
CN201910739770.0A CN112388597A (zh) 2019-08-12 2019-08-12 多足轮式机器人
CN201910739770.0 2019-08-12

Publications (1)

Publication Number Publication Date
WO2020034974A1 true WO2020034974A1 (fr) 2020-02-20

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PCT/CN2019/100466 WO2020034974A1 (fr) 2018-08-13 2019-08-13 Robot à roues à pieds multiples

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DE (1) DE112019004106T5 (fr)
WO (1) WO2020034974A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
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