WO2024078026A1 - 一种自稳定全向移动机器人和移动装置 - Google Patents

一种自稳定全向移动机器人和移动装置 Download PDF

Info

Publication number
WO2024078026A1
WO2024078026A1 PCT/CN2023/103693 CN2023103693W WO2024078026A1 WO 2024078026 A1 WO2024078026 A1 WO 2024078026A1 CN 2023103693 W CN2023103693 W CN 2023103693W WO 2024078026 A1 WO2024078026 A1 WO 2024078026A1
Authority
WO
WIPO (PCT)
Prior art keywords
power unit
leg
unit
rotating shaft
fuselage
Prior art date
Application number
PCT/CN2023/103693
Other languages
English (en)
French (fr)
Inventor
王兴兴
王凯
Original Assignee
杭州宇树科技有限公司
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
Application filed by 杭州宇树科技有限公司 filed Critical 杭州宇树科技有限公司
Publication of WO2024078026A1 publication Critical patent/WO2024078026A1/zh

Links

Classifications

    • 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 technical field of robots, and in particular to a self-stabilizing omnidirectional mobile robot and a mobile device.
  • the Chinese patent application number 2017113762204 discloses a wheeled robot, including a chassis shell, a motor and a steering link connected thereto, a suspension assembly connected to the steering link and used to drive the tire to rotate along a vertical axis, and the center of the line connecting the rotation centers of the tires coincides with the center of the chassis shell.
  • the wheeled robot uses a connecting rod to drive the tire to achieve steering, and although the wheeled robot uses a suspension system to reduce the interference of the rugged road surface on the fuselage, it cannot keep the posture of the fuselage fixed.
  • an object of the present invention is to provide a self-stabilizing omnidirectional mobile robot and a mobile device, which can maintain a specific position and posture through the up and down movement of the wheels when passing through obstacles or rugged roads.
  • the second object of the present invention is to provide a self-stabilizing omnidirectional mobile robot, by arranging a first power unit at the hip joint of each leg, controlling the leg unit to swing up and down, thereby driving the wheelie to move up and down, when encountering an obstacle or a depression during movement, the up and down movement of the wheelie can effectively keep the posture of the body fixed; by arranging a second power unit at the knee joint of each leg, the wheelie can be driven to turn 360 degrees in all directions, avoiding the limitation of the steering angle on the traditional steering mechanism, and thus the movement is more flexible; by arranging a third power unit at the wheelie, the output of the third power unit is directly converted into kinetic energy for the wheelie to move forward, and the transmission efficiency is higher; and through the mutual cooperation of the first power unit at the hip joint, the second power unit at the knee joint and the third power unit for driving the wheelie to rotate, the posture of the body can be fixed in any state, and thus can
  • the third object of the present invention is to provide a mobile device, in which a first power unit is arranged on the fuselage to control the leg unit to swing up and down, thereby driving the foot wheel to move up and down.
  • a first power unit is arranged on the fuselage to control the leg unit to swing up and down, thereby driving the foot wheel to move up and down.
  • the up and down movement of the foot wheel can keep the posture of the fuselage as fixed as possible, thereby reducing the shaking of the fuselage.
  • the solution is simple, practical and easy to produce.
  • the first technical solution of the present invention is:
  • a self-stabilizing omnidirectional mobile robot comprises a body, a power system and wheels; the power system comprises a first power unit, a leg unit, a second power unit, a leg end and a third power unit which are connected in sequence;
  • the first power unit is provided with a rotating shaft 1 and a fixed end 1;
  • One of the rotating shaft 1 and the fixed end 1 is arranged on the fuselage, and the other drives the leg unit to swing in a vertical plane relative to the fuselage;
  • the third power unit is provided with a third rotating shaft and a third fixed end;
  • One of the rotating shaft 3 and the fixed end 3 is arranged on the end of the leg, and the other drives the foot wheel to rotate;
  • the second power unit is provided with a second rotating shaft for driving the leg end to rotate vertically along its own rotating axis so as to make the foot wheel turn;
  • the leg unit When the caster encounters an obstacle, the leg unit can swing up and down, causing the caster to swing up and down.
  • the power unit outputs relative rotational motion, so its rotation shaft and fixed end can be converted into each other.
  • the vertical up and down swinging or up and down swinging includes but is not limited to movement in the vertical direction, movement in the inclined direction, pendulum-like swinging back and forth, vertical lifting and lowering, etc.
  • the present invention sets a first power unit at the hip joint of each leg to control the leg unit to swing up and down in the vertical direction, thereby driving the wheelie to move up and down in the vertical direction.
  • the up and down movement of the wheelie can effectively keep the posture of the fuselage fixed;
  • the wheelie can be driven to turn 360 degrees around, avoiding the limitation of the traditional steering mechanism on the steering angle, and thus the movement is more flexible;
  • a third power unit at the wheelie the output of the third power unit is directly converted into kinetic energy for the wheelie to move forward, and the transmission efficiency is higher.
  • the present invention can fix the position of the fuselage in any state through the mutual cooperation of the first power unit at the hip joint, the second power unit at the knee joint and the third power unit for driving the rotation of the foot wheel, thereby being able to adapt to different complex terrains such as stairs, grass, slopes and other obstacles.
  • the leg unit includes a thigh base, a thigh connecting rod and a support, the support is fixed on the second power unit shell and hinged to the thigh base; the output end of the first power unit is fixedly connected to the thigh base; one end of the thigh connecting rod is hinged to the first power unit shell or the fuselage, and the other end is hinged to the support; the thigh base, the thigh connecting rod and the support constitute a four-bar mechanism, which drives the caster to move up and down, and the steering axis of the caster always remains vertical to the ground, so that the fuselage maintains a specific position and posture, and the scheme is feasible.
  • a pin shaft seat is fixed on the housing of the first power unit, and the thigh connecting rod is rotatably connected with the first power unit or the fuselage through the pin shaft seat; a thigh cover plate is provided on the side of the thigh base.
  • the first power unit and/or the second power unit and/or the third power unit includes a motor unit and a reduction unit, the shell of the second power unit is fixed on the end of the leg, and the shell of the third power unit is coaxially arranged with the rotation center of the caster.
  • At least three groups of power systems and casters are distributed on the fuselage.
  • a mobile device includes a body and casters
  • a first power unit and a leg unit are provided between the fuselage and the foot wheels;
  • the first power unit is provided with a rotating shaft 1 and a fixed end 1;
  • the rotating shaft 1 and the fixed end 1 are selectively arranged on the fuselage, and the other is fixedly connected to the leg unit and can drive the leg unit to swing relative to the fuselage;
  • the leg unit is provided with at least one rod and/or plate and/or bracket, and is equipped with foot wheels;
  • the casters can swing up and down when the leg units swing up and down to avoid obstacles and enable the fuselage to maintain a desired position and posture.
  • the power unit outputs relative rotational motion, so its rotation shaft and fixed end can be converted into each other.
  • the up and down or vertical up and down in the present application can be up and down in the vertical direction, up and down in an inclined direction, up and down in a pendulum-like manner, etc.
  • the present invention sets a first power unit on the fuselage to control the leg unit to swing up and down, thereby driving the foot wheel to move up and down.
  • the up and down movement of the foot wheel can keep the posture of the fuselage as fixed as possible, thereby reducing the shaking of the fuselage.
  • the solution is simple, practical and easy to produce.
  • the casters of the present invention can be lifted individually, so that the position of the fuselage can be fixed in any state, and thus the present invention can adapt to different complex terrains such as stairs, grass, slopes, obstacles, etc.
  • the leg unit is connected to the foot wheel through the leg end to form a multi-joint structure
  • the leg ends are rods or/and plates or/and brackets, which are assembled on the inner side or outer side or both sides of the caster.
  • the leg end is a calf support, which is mounted on the outside of the wheel.
  • the calf support structure has high strength and is suitable for various occasions; the calf support is installed on the outside of the wheel to effectively increase the space between the two opposite wheels, facilitating the free rotation of the two wheels and avoiding mutual interference, thereby making the present invention compact in structure and small in size.
  • a second power unit is installed between the leg unit and the leg end;
  • the second power unit is provided with a second rotating shaft, a fixed end of which is assembled on the leg unit, and the second rotating shaft is fixedly connected to the end of the leg.
  • the foot wheel can be driven to turn 360 degrees around the entire circumference, avoiding the limitation of the traditional steering mechanism on the steering angle, and thus the movement is more flexible.
  • a third power unit is installed between the leg end and the foot wheel
  • the third power unit is provided with a rotating shaft 3, the fixed end of which is assembled on the leg end, and the rotating shaft 3 is fixedly connected to the foot wheel.
  • the rotation axis of the second power unit is perpendicular to the rotation axis of the first power unit.
  • the rotation axis of the third power unit is perpendicular to the rotation axis of the second power unit, so that the castor can rotate 360 degrees and can be lifted upward.
  • the position of the fuselage can be fixed in any state, and thus can adapt to different complex terrains such as stairs and grass.
  • first power unit, the second power unit, and the third power unit may be motor units or reduction units or motor units equipped with reduction units.
  • the motor unit is a rotating motor; the reduction unit is a reducer.
  • the present invention sets a first power unit on the fuselage to control the leg unit to swing up and down, thereby driving the foot wheel to move up and down.
  • the up and down movement of the foot wheel can keep the posture of the fuselage as fixed as possible, thereby reducing the shaking of the fuselage.
  • the solution is simple, practical and easy to produce.
  • the present invention provides a self-stabilizing omnidirectional mobile robot, which, by arranging a first power unit at the hip joint of each leg, controls the leg unit to swing up and down in the vertical direction, thereby driving the wheelie to move up and down in the vertical direction.
  • the up and down movement of the wheelie can effectively keep the posture of the fuselage fixed; by arranging a second power unit at the knee joint of each leg, the wheelie can be driven to turn 360 degrees around, avoiding the limitation of the steering angle on the traditional steering mechanism, and thus the movement is more flexible; by arranging a third power unit at the wheelie, the output of the third power unit is directly converted into kinetic energy for the wheelie to move forward, and the transmission efficiency is higher.
  • the present invention can fix the position of the fuselage in any state through the mutual cooperation of the first power unit at the hip joint, the second power unit at the knee joint and the third power unit for driving the rotation of the foot wheel, thereby being able to adapt to different complex terrains such as stairs and grass.
  • FIG1 is a schematic diagram of an overall structure of the present invention.
  • FIG2 is a schematic diagram of the structure of the power system and the foot wheel of the present invention.
  • FIG3 is an exploded view of the power system and the foot wheel of the present invention.
  • FIG4 is a schematic diagram of the structure of the leg unit of the present invention after removing the thigh cover
  • FIG5 is a side view of the leg unit of the present invention without the thigh cover
  • FIG6 is a schematic diagram of a single caster encountering an obstacle when the fuselage of the present invention is in a fixed posture
  • FIG7 is a schematic diagram of a posture of the fuselage of the present invention when it is in a fixed posture climbing stairs;
  • FIG8 is a schematic diagram of a posture of the fuselage of the present invention when it is in a fixed posture and rotating in place.
  • a mobile device comprises a body 1 and casters 2;
  • a first power unit 3 and a leg unit 4 are provided between the fuselage 1 and the foot wheel 2;
  • the first power unit 3 is provided with a rotating shaft 1, a fixed end of which is provided on the fuselage 1, and the rotating shaft 1 is fixedly connected to the leg unit 4, and can drive the leg unit 4 to swing relative to the fuselage 1;
  • the leg unit 4 is provided with at least one rod or/and plate or/and bracket, and is equipped with a foot wheel 2;
  • the caster 2 can be lifted upward to avoid obstacles and enable the fuselage 1 to maintain a desired position and posture.
  • the present invention sets a first power unit 3 on the fuselage 1 to control the leg unit 4 to swing up and down in the vertical direction, thereby driving the caster 2 to move up and down in the vertical direction.
  • the up and down movement of the caster 2 can keep the posture of the fuselage 1 as fixed as possible, thereby reducing the shaking of the fuselage 1.
  • the solution is simple, practical, and easy to produce.
  • the casters 2 of the present invention can be lifted independently, and can fix the position of the fuselage 1 in any state, so that the present invention can adapt to different complex terrains such as stairs, grass, slopes, obstacles, etc.
  • the leg unit 4 is connected to the foot wheel 2 through the leg end 6 to form a multi-joint structure
  • the leg end 6 is a calf support, which is mounted on the outside of the castor 2.
  • the calf support structure has high strength and is suitable for various occasions; the calf support is installed on the outside of the wheel 2 to effectively increase the space between the two opposite wheels 2, facilitating the free rotation of the two wheels 2 and avoiding mutual interference, thereby making the present invention compact in structure and small in size.
  • the present invention is provided with a second power unit 5 in a specific embodiment:
  • a second power unit 5 is installed between the leg unit 4 and the leg end 6;
  • the second power unit 5 is provided with a second rotating shaft, a fixed end of which is assembled on the leg unit 4 , and the second rotating shaft is fixedly connected to the leg end 6 .
  • the wheel 2 can be driven to turn 360 degrees around the entire circumference, thus avoiding the limitation of the traditional steering mechanism on the steering angle, and thus the movement is more flexible.
  • a third power unit 7 is installed between the leg end 6 and the foot wheel 2;
  • the third power unit 7 is provided with a rotating shaft 3, a fixed end of which is assembled on the leg end 6, and the rotating shaft 3 is fixedly connected to the castor 2.
  • the output of the third power unit 7 is directly converted into the kinetic energy of the caster 2 moving forward, and the transmission efficiency is higher.
  • the rotation axis of the second power unit 5 is perpendicular to the rotation axis of the first power unit 3.
  • the rotation axis of the third power unit 7 is perpendicular to the rotation axis of the second power unit 5, so that the caster 2 can rotate 360 degrees and can be lifted upward.
  • the position of the fuselage 1 can be fixed in any state, and thus can adapt to different complex terrains such as stairs and grass.
  • a self-stabilizing omnidirectional mobile robot comprises a body 1, a power system and a caster 2;
  • the power system comprises a first power unit 3, a leg unit 4, a second power unit 5, a leg end 6 and a third power unit 7 which are connected in sequence;
  • the first power unit 3 is arranged on the body 1, and drives the leg unit 4 to swing in a vertical plane relative to the body 1;
  • the third power unit 7 is arranged on the leg end 6, and drives the caster 2 to rotate;
  • the second power unit 5 drives the leg end 6 to rotate vertically along its own rotation axis to make the caster 2 turn; when the caster 2 encounters an obstacle, the leg unit 4 swings upward, and the caster 2 is lifted vertically upward, so that the body 1 maintains a specific position and posture.
  • leg unit 4 structure of the present invention A specific embodiment of the leg unit 4 structure of the present invention:
  • the leg unit 4 includes a thigh base 41, a thigh connecting rod 42 and a support 43, the support 43 is fixed on the shell of the second power unit 5 and is hinged to the thigh base 41; the output end of the first power unit 3 is fixedly connected to the thigh base 41; one end of the thigh connecting rod 42 is hinged to the shell of the first power unit 3 or the fuselage 1, and the other end is hinged to the support 43; the side of the thigh base 41 is cooperated with a thigh cover 45.
  • the thigh base 41, the thigh connecting rod 42 and the support 43 form a four-bar mechanism to drive the caster 2 to move up and down, and the steering axis of the caster 2 always remains vertical to the ground, so that the fuselage 1 maintains a specific position and posture.
  • a pin seat 44 is fixed on the housing of the first power unit 3 , and the thigh connecting rod 42 is rotatably connected to the first power unit 3 or the fuselage 1 through the pin seat 44 .
  • the first power unit 3 and/or the second power unit 5 and/or the third power unit 7 include a motor unit and a reduction unit.
  • the shell of the second power unit 5 is fixed on the leg end 6, and the shell of the third power unit 7 is coaxially arranged with the rotation center of the caster 2.
  • At least three sets of power systems and casters 2 are distributed on the fuselage 1 .
  • the present invention provides a self-stabilizing omnidirectional mobile robot.
  • the leg unit 4 is controlled to swing up and down in the vertical direction, thereby driving the foot wheel 2 to move up and down in the vertical direction.
  • the up and down movement of the foot wheel 2 can effectively keep the posture of the fuselage 1 fixed; by setting a second power unit 5 at the knee joint of each leg, the 360-degree full-circle steering of the foot wheel 2 can be driven, avoiding the limitation of the steering angle by the traditional steering mechanism, so that the movement is more flexible; by setting a third power unit 7 at the foot wheel 2, the output of the third power unit 7 is directly converted into the kinetic energy of the foot wheel 2 to move forward, and the transmission efficiency is higher.
  • the posture of the fuselage 1 can be fixed in any state, and thus can adapt to different complex terrains such as stairs and grass.
  • the fixed connection or fixed connection method can be screw connection, welding, riveting, plug connection, or connection through a third component, and technical personnel in this field can choose according to actual conditions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种自稳定全向移动机器人和移动装置，自稳定全向移动机器人包括机身（1）、动力系统和足轮（2）；动力系统包括依次连接的第一动力单元（3）、腿部单元（4）、第二动力单元（5）、腿端部（6）和第三动力单元（7）；第一动力单元（3）设于机身（1）上，驱动腿部单元（4）相对机身（1）在竖向平面内摆动。通过在其每条腿的髋关节处设置第一动力单元（3），控制腿部单元（4）在竖向上上下摆动，进而带动足轮（2）在竖向上的上下运动，则运动过程中碰到障碍物或洼地时，通过足轮（2）的上下运动，能够有效保持机身（1）的姿态固定不变。

Description

一种自稳定全向移动机器人和移动装置 技术领域
本发明涉及机器人技术领域，尤其涉及了一种自稳定全向移动机器人和移动装置。
 背景技术
目前，现有的轮式机器人多采用被动弹簧阻尼悬架，来提高机器人在不平整地形的通过能力，但这样的悬架复杂地形下的运动能力非常受限，且依旧会导致整个机身位姿的波动，无法使机身保持固定姿态不变。并且传统的轮式机器人转向机构，无法实现全自由度灵活运动，不能前后左右平移，不能原地转向。并且现有轮式机器人不能进行跳跃运动，实现对沟渠的或障碍的跳跃运动。也不能实现爬楼梯。
申请号为2017113762204的中国专利公开了一种轮式机器人，包括底盘壳体，底盘壳体上设有电机和与其连接的转向连杆，底盘壳体上设有与转向连杆连接、用于带动轮胎沿竖直轴线进行旋转的悬挂组件，轮胎的旋转中心间的连线的中心与底盘壳体的中心重合。该轮式机器人即采用连杆带动轮胎实现转向，并且该轮式机器人虽然使用悬挂系统，减少崎岖路面对机身的干扰，但无法保持机身的姿态固定不变。
本背景技术中公开的信息仅用于理解本发明构思的背景，因此它可以包括不构成现有技术的信息。
发明内容
针对上述问题或上述问题之一，本发明的目的一在于提供一种自稳定全向移动机器人和移动装置，在经过障碍物或崎岖路面时，通过足轮的上下运动，其机身能保持特定位置和姿态。
针对上述问题或上述问题之一，本发明的目的二在于提供一种自稳定全向移动机器人，通过在其每条腿的髋关节处设置第一动力单元，控制腿部单元上下摆动，进而带动足轮上下运动，则运动过程中碰到障碍物或洼地时，通过足轮的上下运动，能够有效保持机身的姿态固定不变；通过在每条腿的膝关节处设置第二动力单元，可驱动足轮的360度全周向转向，避免了传统的转向机构对转向角度的限制，因而运动更为灵活；通过在足轮处设置第三动力单元，直接将第三动力单元的输出转化为足轮前进的动能，传动效率更高；并通过髋关节处的第一动力单元、膝关节处的第二动力单元和驱动足轮转动的第三动力单元三者的相互配合，可以将机身的位姿固定在任意状态，进而可以适应楼梯、草地等不同的复杂地形。
针对上述问题或上述问题之一，本发明的目的三在于提供一种移动装置，在机身上设置第一动力单元，控制腿部单元上下摆动，进而带动足轮上下运动，则运动过程中碰到障碍物或洼地时，通过足轮的上下运动，尽可能地保持机身的姿态固定不变，减少机身晃动，方案简单、实用，便于生产制造。
为实现上述目的之一，本发明的第一种技术方案为：
一种自稳定全向移动机器人，包括机身、动力系统和足轮；所述动力系统包括依次连接的第一动力单元、腿部单元、第二动力单元、腿端部和第三动力单元；
所述第一动力单元设有转轴一和固定端一；
所述转轴一和固定端一择一设于所述机身上，另一驱动所述腿部单元相对所述机身在竖向面内摆动；
所述第三动力单元设有转轴三和固定端三；
所述转轴三和固定端三择一设于所述腿端部上，另一驱动所述足轮转动；
所述第二动力单元设有转轴二，用于驱动所述腿端部在竖向上沿自身回转轴线旋转，以使所述足轮转向；
当所述足轮遇到障碍物时，所述腿部单元能向上下摆动，使得所述足轮上下摆动。
所述动力单元输出相对旋转运动，故其转轴和固定端，可以相互转换。
所述竖向上下摆动或上下摆动包括但不限于垂直方向的移动、倾斜方向的移动、钟摆式来回摆动、竖向升降等。
本发明经过不断探索以及试验，通过在其每条腿的髋关节处设置第一动力单元，控制腿部单元在竖向上上下摆动，进而带动足轮在竖向上的上下运动，则运动过程中碰到障碍物或洼地时，通过足轮的上下运动，能够有效保持机身的姿态固定不变；通过在每条腿的膝关节处设置第二动力单元，可驱动足轮的360度全周向转向，避免了传统的转向机构对转向角度的限制，因而运动更为灵活；通过在足轮处设置第三动力单元，直接将第三动力单元的输出转化为足轮前进的动能，传动效率更高。
进一步，本发明通过髋关节处的第一动力单元、膝关节处的第二动力单元和驱动足轮转动的第三动力单元三者的相互配合，可以将机身的位姿固定在任意状态，进而可以适应楼梯、草地、爬坡以及其他障碍物等不同的复杂地形。
作为优选技术措施：
所述腿部单元包括大腿基座、大腿连杆和支座，所述支座固定于所述第二动力单元壳体上，并与所述大腿基座铰接；所述第一动力单元的输出端与所述大腿基座固定连接；所述大腿连杆一端与所述第一动力单元壳体或机身铰接，另一端与所述支座铰接；所述大腿基座、所述大腿连杆和所述支座构成四杆机构，带动所述足轮上下运动，且所述足轮的转向轴线始终与地面保持竖直状态，以使所述机身保持特定位置和姿态，方案切实可行。
作为优选技术措施：
所述第一动力单元壳体上固定有销轴座，所述大腿连杆通过所述销轴座与所述第一动力单元或机身转动连接；所述大腿基座侧部配合设有大腿盖板。
作为优选技术措施：所述第一动力单元和/或第二动力单元和/或第三动力单元包括电机单元和减速单元，所述第二动力单元的壳体固定于所述腿端部上，所述第三动力单元的壳体与所述足轮的回转中心同轴线设置。
作为优选技术措施：
所述机身上分布有至少三组动力系统和足轮。
为实现上述目的之一，本发明的第二种技术方案为：
一种移动装置包括机身、足轮；
所述机身、足轮之间设有第一动力单元、腿部单元；
所述第一动力单元设有转轴一和固定端一；
所述转轴一和固定端一择一设于所述机身上，另一固接腿部单元，并能驱动所述腿部单元相对所述机身摆动；
所述腿部单元设有至少一个杆件或/和板件或/和支架，并装配足轮；
所述足轮在腿部单元上下摆动时，能上下摆动，以避开障碍物，并使得机身能保持所需位置和姿态。
所述动力单元输出相对旋转运动，故其转轴和固定端，可以相互转换。
本申请中的上下或竖向上下可以是垂直方向的上下，也可以是倾斜方向的上下或钟摆式上下等。
本发明经过不断探索以及试验，在机身上设置第一动力单元，控制腿部单元上下摆动，进而带动足轮上下运动，则运动过程中碰到障碍物或洼地时，通过足轮的上下运动，尽可能地保持机身的姿态固定不变，减少机身晃动，方案简单、实用，便于生产制造。
进一步，本发明足轮可以单独抬升，从而可以将机身的位姿固定在任意状态，进而可以本发明可以适应楼梯、草地、爬坡、障碍物等不同的复杂地形。
作为优选技术措施：
腿部单元通过腿端部与足轮相连接，形成多关节结构；
所述腿端部为杆件或/和板件或/和支架，其装配在足轮内侧或外侧或两侧。
优选的，所述腿端部为小腿支架，其装配在足轮外侧。
小腿支架结构强度高，以适用于各种场合；小腿支架装配在足轮外侧能够有效增加相对的两个足轮之间的空间，便于两个足轮自由转动，避免相互干涉，进而使得本发明结构紧凑，体积小。
作为优选技术措施：
所述腿部单元与腿端部之间装配第二动力单元；
所述第二动力单元设有转轴二，其固定端装配在腿部单元上，其转轴二固接腿端部。
通过在每条腿的膝关节处设置第二动力单元，可驱动足轮的360度全周向转向，避免了传统的转向机构对转向角度的限制，因而运动更为灵活。
作为优选技术措施：
所述腿端部与足轮之间装配第三动力单元；
所述第三动力单元设有转轴三，其固定端装配在腿端部上，其转轴三固接足轮。通过在足轮处设置第三动力单元，直接将第三动力单元的输出转化为足轮前进的动能，传动效率更高。
作为优选技术措施：
所述第二动力单元的旋转轴线与第一动力单元的旋转轴线相垂直，
所述第三动力单元的旋转轴线与第二动力单元的旋转轴线相垂直，以使得足轮能360度转动并能向上提升。
通过髋关节处的第一动力单元、膝关节处的第二动力单元和驱动足轮转动的第三动力单元三者的相互配合，可以将机身的位姿固定在任意状态，进而可以适应楼梯、草地等不同的复杂地形。
进一步，所述第一动力单元、第二动力单元、第三动力单元可以为电机单元或减速单元或装配有减速单元的电机单元。
电机单元为旋转电机；所述减速单元为减速器。
本发明的有益效果在于：
本发明经过不断探索以及试验，在机身上设置第一动力单元，控制腿部单元上下摆动，进而带动足轮上下运动，则运动过程中碰到障碍物或洼地时，通过足轮的上下运动，尽可能地保持机身的姿态固定不变，减少机身晃动，方案简单、实用，便于生产制造。
进一步，本发明提供的一种自稳定全向移动机器人，通过在其每条腿的髋关节处设置第一动力单元，控制腿部单元在竖向上上下摆动，进而带动足轮在竖向上的上下运动，则运动过程中碰到障碍物或洼地时，通过足轮的上下运动，能够有效保持机身的姿态固定不变；通过在每条腿的膝关节处设置第二动力单元，可驱动足轮的360度全周向转向，避免了传统的转向机构对转向角度的限制，因而运动更为灵活；通过在足轮处设置第三动力单元，直接将第三动力单元的输出转化为足轮前进的动能，传动效率更高。
更进一步，本发明通过髋关节处的第一动力单元、膝关节处的第二动力单元和驱动足轮转动的第三动力单元三者的相互配合，可以将机身的位姿固定在任意状态，进而可以适应楼梯、草地等不同的复杂地形。
下面结合附图和具体实施方式对本发明作进一步详细说明。
 附图说明
图1是本发明的一种整体结构示意图；
图2是本发明的动力系统和足轮的一种结构示意图；
图3是本发明的动力系统和足轮的一种爆炸图；
图4是本发明的腿部单元去掉大腿盖板后的一种结构示意图；
图5是本发明的腿部单元去掉大腿盖板后的一种侧示图；
图6是本发明的机身处于固定姿态时单个足轮遇到障碍物的一种示意图；
图7是本发明的机身处于固定姿态爬楼梯时的一种姿态示意图；
图8是本发明的机身处于固定姿态原地转圈时的一种姿态示意图。
图中：1、机身；2、足轮；3、第一动力单元；4、腿部单元；5、第二动力单元；6、腿端部；7、第三动力单元；41、大腿基座；42、大腿连杆；43、支座；44、销轴座；45、大腿盖板。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
相反，本发明涵盖任何由权利要求定义的在本发明的精髓和范围上做的替代、修改、等效方法以及方案。进一步，为了使公众对本发明有更好的了解，在下文对本发明的细节描述中，详尽描述了一些特定的细节部分。对本领域技术人员来说没有这些细节部分的描述也可以完全理解本发明。
需要说明的是，当两个元件“固定连接”或“固接”或“转动连接”或“摆动连接”时，两个元件可以直接连接或者也可以存在居中的元件。相反，当元件被称作“直接在”另一元件“上”时，不存在中间元件。本文所使用的术语“竖向”、“上”、“下”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本发明。本文所使用的术语“或/和”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1-8所示，本发明移动装置的一种具体实施例：
一种移动装置包括机身1、足轮2；
所述机身1、足轮2之间设有第一动力单元3、腿部单元4；
所述第一动力单元3设有转轴一，其固定端设于所述机身1上，其转轴一固接腿部单元4，并能驱动所述腿部单元4相对所述机身1摆动；
所述腿部单元4设有至少一个杆件或/和板件或/和支架，并装配足轮2；
所述足轮2在腿部单元4向上摆动时，能向上提升，以避开障碍物，并使得机身1能保持所需位置和姿态。
本发明经过不断探索以及试验，在机身1上设置第一动力单元3，控制腿部单元4在竖向上上下摆动，进而带动足轮2在竖向上的上下运动，则运动过程中碰到障碍物或洼地时，通过足轮2的上下运动，尽可能地保持机身1的姿态固定不变，减少机身1晃动，方案简单、实用，便于生产制造。
进一步，本发明足轮2可以单独抬升，并可以将机身1的位姿固定在任意状态，进而可以本发明可以适应楼梯、草地、爬坡、障碍物等不同的复杂地形。
本发明增设腿端部6的一种具体实施例：
腿部单元4通过腿端部6与足轮2相连接，形成多关节结构；
所述腿端部6为小腿支架，其装配在足轮2外侧。
小腿支架结构强度高，以适用于各种场合；小腿支架装配在足轮2外侧能够有效增加相对的两个足轮2之间的空间，便于两个足轮2自由转动，避免相互干涉，进而使得本发明结构紧凑，体积小。
本发明增设有第二动力单元5一种具体实施例：
所述腿部单元4与腿端部6之间装配第二动力单元5；
所述第二动力单元5设有转轴二，其固定端装配在腿部单元4上，其转轴二固接腿端部6。
通过在每条腿的膝关节处设置第二动力单元5，可驱动足轮2的360度全周向转向，避免了传统的转向机构对转向角度的限制，因而运动更为灵活。
本发明增设第三动力单元7一种具体实施例：
所述腿端部6与足轮2之间装配第三动力单元7；
所述第三动力单元7设有转轴三，其固定端装配在腿端部6上，其转轴三固接足轮2。
通过在足轮2处设置第三动力单元7，直接将第三动力单元7的输出转化为足轮2前进的动能，传动效率更高。
本发明动力单元设置方位的一种具体实施例：
所述第二动力单元5的旋转轴线与第一动力单元3的旋转轴线相垂直，
所述第三动力单元7的旋转轴线与第二动力单元5的旋转轴线相垂直，以使得足轮2能360度转动并能向上提升。
通过髋关节处的第一动力单元3、膝关节处的第二动力单元5和驱动足轮2转动的第三动力单元7三者的相互配合，可以将机身1的位姿固定在任意状态，进而可以适应楼梯、草地等不同的复杂地形。
本发明一种自稳定全向移动机器人的较佳实施例：
一种自稳定全向移动机器人，包括机身1、动力系统和足轮2；所述动力系统包括依次连接的第一动力单元3、腿部单元4、第二动力单元5、腿端部6和第三动力单元7；所述第一动力单元3设于所述机身1上，驱动所述腿部单元4相对所述机身1在竖向平面内摆动；所述第三动力单元7设于所述腿端部6上，驱动所述足轮2转动；所述第二动力单元5驱动所述腿端部6在竖向上沿自身回转轴线旋转，以使所述足轮2转向；当所述足轮2遇到障碍物时，所述腿部单元4向上摆动，所述足轮2竖向向上提升，以使所述机身1保持特定位置和姿态。
本发明腿部单元4结构的一种具体实施例：
所述腿部单元4包括大腿基座41、大腿连杆42和支座43，所述支座43固定于所述第二动力单元5壳体上，并与所述大腿基座41铰接；所述第一动力单元3的输出端与所述大腿基座41固定连接；所述大腿连杆42一端与所述第一动力单元3壳体或机身1铰接，另一端与所述支座43铰接；所述大腿基座41侧部配合设有大腿盖板45。
所述大腿基座41、所述大腿连杆42和所述支座43构成四杆机构，带动所述足轮2上下运动，且所述足轮2的转向轴线始终与地面保持竖直状态，以使所述机身1保持特定位置和姿态。
本发明第一动力单元3结构的一种具体实施例：
所述第一动力单元3壳体上固定有销轴座44，所述大腿连杆42通过所述销轴座44与所述第一动力单元3或机身1转动连接。
本发明动力单元结构的一种具体实施例：
所述第一动力单元3和/或第二动力单元5和/或第三动力单元7包括电机单元和减速单元，所述第二动力单元5的壳体固定于所述腿端部6上，所述第三动力单元7的壳体与所述足轮2的回转中心同轴线设置。
本发明机身1结构的一种具体实施例：
所述机身1上分布有至少三组动力系统和足轮2。
本发明提供的一种自稳定全向移动机器人，通过在其每条腿的髋关节处设置第一动力单元3，控制腿部单元4在竖向上上下摆动，进而带动足轮2在竖向上的上下运动，则运动过程中碰到障碍物或洼地时，通过足轮2的上下运动，能够有效保持机身1的姿态固定不变；通过在每条腿的膝关节处设置第二动力单元5，可驱动足轮2的360度全周向转向，避免了传统的转向机构对转向角度的限制，因而运动更为灵活；通过在足轮2处设置第三动力单元7，直接将第三动力单元7的输出转化为足轮2前进的动能，传动效率更高。通过髋关节处的第一动力单元3、膝关节处的第二动力单元5和驱动足轮2转动的第三动力单元7三者的相互配合，可以将机身1的位姿固定在任意状态，进而可以适应楼梯、草地等不同的复杂地形。
本申请中，固接或固定连接方式可以为螺接或焊接或铆接或插接或通过第三个部件进行连接，本领域技术人员可根据实际情况进行选择。
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制，尽管参照上述实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者等同替换，而未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明的权利要求保护范围之内。

Claims (10)

  1. 一种自稳定全向移动机器人，其特征在于，包括机身（1）、动力系统和足轮（2）；所述动力系统包括依次连接的第一动力单元（3）、腿部单元（4）、第二动力单元（5）、腿端部（6）和第三动力单元（7）；
    所述第一动力单元（3）设有转轴一和固定端一；
    所述转轴一和固定端一择一设于所述机身（1）上，另一驱动所述腿部单元（4）相对所述机身（1）在竖向面内摆动；
    所述第三动力单元（7）设有转轴三和固定端三；所述转轴三和固定端三择一设于所述腿端部（6）上，另一驱动所述足轮（2）转动；
    所述第二动力单元（5）设有转轴二，用于驱动所述腿端部（6）在竖向上沿自身回转轴线旋转，以使所述足轮（2）转向；
    当所述足轮（2）遇到障碍物时，所述腿部单元（4）能向上下摆动，使得所述足轮（2）竖向上下摆动。
  2. 如权利要求1所述的一种自稳定全向移动机器人，其特征在于，所述腿部单元（4）包括大腿基座（41）、大腿连杆（42）和支座（43），所述支座（43）固定于所述第二动力单元（5）壳体上，并与所述大腿基座（41）铰接；所述第一动力单元（3）的输出端与所述大腿基座（41）固定连接；所述大腿连杆（42）一端与所述第一动力单元（3）壳体或机身（1）铰接，另一端与所述支座（43）铰接；所述大腿基座（41）、所述大腿连杆（42）和所述支座（43）构成四杆机构，带动所述足轮（2）上下运动，且所述足轮（2）的转向轴线始终与地面保持竖直状态。
  3. 如权利要求2所述的一种自稳定全向移动机器人，其特征在于，所述第一动力单元（3）壳体上固定有销轴座（44），所述大腿连杆（42）通过所述销轴座（44）与所述第一动力单元（3）或机身（1）转动连接；所述大腿基座（41）侧部配合设有大腿盖板（45）。
  4. 如权利要求1-3任一所述的一种自稳定全向移动机器人，其特征在于，所述第一动力单元（3）和/或第二动力单元（5）和/或第三动力单元（7）包括电机单元和减速单元，所述第二动力单元（5）的壳体固定于所述腿端部（6）上，所述第三动力单元（7）的壳体与所述足轮（2）的回转中心同轴线设置。
  5. 如权利要求4所述的一种自稳定全向移动机器人，其特征在于，所述机身（1）上分布有至少三组动力系统和足轮（2）。
  6. 一种移动装置，其特征在于，包括机身、足轮；
    所述机身、足轮之间设有第一动力单元、腿部单元；
    所述第一动力单元设有转轴一和固定端一；
    所述转轴一和固定端一择一设于所述机身上，另一固接腿部单元，并能驱动所述腿部单元相对所述机身摆动；
    所述腿部单元设有至少一个杆件或/和板件或/和支架，并装配足轮；
    所述足轮在腿部单元上下摆动时，能上下摆动。
  7. 如权利要求6所述的一种移动装置，其特征在于，
    所述腿部单元通过腿端部与足轮相连接，形成多关节结构；
    所述腿端部为杆件或/和板件或/和支架，其装配在足轮内侧或外侧或两侧。
  8. 如权利要求7所述的一种移动装置，其特征在于，
    所述腿部单元与腿端部之间装配第二动力单元；
    所述第二动力单元设有转轴二，其固定端装配在腿部单元上，其转轴二固接腿端部。
  9. 如权利要求8所述的一种移动装置，其特征在于，
    所述腿端部与足轮之间装配第三动力单元；
    所述第三动力单元设有转轴三，其固定端装配在腿端部上，其转轴三固接足轮。
  10. 如权利要求9所述的一种移动装置，其特征在于，
    所述第二动力单元的旋转轴线与第一动力单元的旋转轴线相垂直，
    所述第三动力单元的旋转轴线与第二动力单元的旋转轴线相垂直，以使得足轮能360度转动并能上下摆动。
PCT/CN2023/103693 2022-10-13 2023-06-29 一种自稳定全向移动机器人和移动装置 WO2024078026A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211253197.0A CN115583296A (zh) 2022-10-13 2022-10-13 一种自稳定全向移动机器人和移动装置
CN202211253197.0 2022-10-13

Publications (1)

Publication Number Publication Date
WO2024078026A1 true WO2024078026A1 (zh) 2024-04-18

Family

ID=84779265

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/103693 WO2024078026A1 (zh) 2022-10-13 2023-06-29 一种自稳定全向移动机器人和移动装置

Country Status (2)

Country Link
CN (1) CN115583296A (zh)
WO (1) WO2024078026A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115583296A (zh) * 2022-10-13 2023-01-10 杭州宇树科技有限公司 一种自稳定全向移动机器人和移动装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100873723B1 (ko) * 2007-07-25 2008-12-12 인하대학교 산학협력단 복수의 다리를 갖는 이동로봇
JP2009095958A (ja) * 2007-10-19 2009-05-07 Nsk Ltd 脚車輪モジュール及び脚車輪型ロボット
US20200216127A1 (en) * 2019-01-04 2020-07-09 Hyundai Motor Company Vehicles and systems and components thereof
CN113371094A (zh) * 2021-08-02 2021-09-10 中国人民解放军国防科技大学 一种轮足式机器人腿部机构及轮足式机器人
CN114348299A (zh) * 2022-01-24 2022-04-15 西北工业大学 一种串联式轮腿行星探测器
CN114506399A (zh) * 2022-03-07 2022-05-17 上海大学 基于全关节驱动共轴型腿部结构模块的高动态四足机器人
CN115583296A (zh) * 2022-10-13 2023-01-10 杭州宇树科技有限公司 一种自稳定全向移动机器人和移动装置
CN218986800U (zh) * 2022-10-13 2023-05-09 杭州宇树科技有限公司 一种自稳定全向移动机器人和移动装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100873723B1 (ko) * 2007-07-25 2008-12-12 인하대학교 산학협력단 복수의 다리를 갖는 이동로봇
JP2009095958A (ja) * 2007-10-19 2009-05-07 Nsk Ltd 脚車輪モジュール及び脚車輪型ロボット
US20200216127A1 (en) * 2019-01-04 2020-07-09 Hyundai Motor Company Vehicles and systems and components thereof
CN113371094A (zh) * 2021-08-02 2021-09-10 中国人民解放军国防科技大学 一种轮足式机器人腿部机构及轮足式机器人
CN114348299A (zh) * 2022-01-24 2022-04-15 西北工业大学 一种串联式轮腿行星探测器
CN114506399A (zh) * 2022-03-07 2022-05-17 上海大学 基于全关节驱动共轴型腿部结构模块的高动态四足机器人
CN115583296A (zh) * 2022-10-13 2023-01-10 杭州宇树科技有限公司 一种自稳定全向移动机器人和移动装置
CN218986800U (zh) * 2022-10-13 2023-05-09 杭州宇树科技有限公司 一种自稳定全向移动机器人和移动装置

Also Published As

Publication number Publication date
CN115583296A (zh) 2023-01-10

Similar Documents

Publication Publication Date Title
WO2024078026A1 (zh) 一种自稳定全向移动机器人和移动装置
EP2272478B1 (en) Wheelchair suspension
US5364114A (en) Vehicle steering and suspension system
CN108725612B (zh) 一种多自由度多功能机器人
US20040040769A1 (en) All wheel steering scooter
CN111377006A (zh) 一种全地形轮式机器人的底盘
CN218986800U (zh) 一种自稳定全向移动机器人和移动装置
CN112208660A (zh) 一种用于山地作业的轮履组合式底盘
CN109703648B (zh) 一种脚部移动装置
CN214189857U (zh) 轮足混合式机器人
CN214189855U (zh) 一种轮足混合式机器人
CN110239637B (zh) 一种轮履可切换全向移动底盘
CN113147948A (zh) 一种步履式极地科考机器人的足部机构
CN211001610U (zh) 一种双足机器人移动底盘
CN110104087B (zh) 一种新型轮足移动机构
Taguchi Enhanced wheel system for step climbing
CN116552668A (zh) 一种多姿态切换的变体式移动机器人
CN212529860U (zh) 一种机器人移动平台
CN114852207A (zh) 一种轴传动的三自由度轮足行走机构
CN210416783U (zh) 一种带转向轮腿的拱腰式移动底盘
CN212605542U (zh) 一种全地形轮式机器人的底盘
CN220243407U (zh) 一种轮腿尾撑复合式移动机器人平台
CN115071857B (zh) 一种四轮腿式全地形农业机器人
CN215618050U (zh) 一种轮式机器人减震底盘
CN221418449U (zh) 一种基于爬虫行走姿态的仿生机器人

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23876235

Country of ref document: EP

Kind code of ref document: A1