The invention provides an eccentric wheel foot type robot which comprises a vehicle body and a suspension assembly, and the suspension assembly is installed on the side edge of the vehicle body through screws. The suspension assembly comprises a steering motor, a steering motor mounting seat, a suspension motor, a suspension motor mounting seat, a suspension arm, a hub and a hub motor; wherein the suspension motor mounting seat is mounted on an output shaft of the steering motor, the suspension arm is mounted on an output shaft of the suspension motor, the hub motor is mounted on the suspension arm, and the hub is mounted on an output shaft of the hub motor. The microcomputer on the vehicle body is responsible for collecting signals of the depth camera, the gyroscope and the like, sending corresponding instructions to the motors after analysis and calculation, controlling the corresponding motors to rotate, and then controlling the robot to move. The robot speed and the vehicle body posture are detected through sensors such as the gyroscope, and then the corresponding driving units are controlled to keep the vehicle body stable. The robot provided by the invention not only has the characteristics of high efficiency and stable operation of a wheeled robot, but also has the obstacle crossing ability of a foot type robot.

    本发明提供的一种偏心轮足式机器人,包括车体和悬挂组件,悬挂组件通过螺钉安装到车体侧边。悬挂组件包括转向电机、转向电机安装座、悬挂电机、悬挂电机安装座、悬挂臂、轮觳、轮觳电机;其中,悬挂电机安装座安装到转向电机的输出轴上,悬挂臂安装到悬挂电机的输出轴上,轮觳电机安装到悬挂臂上,轮觳安装到轮觳电机的输出轴上。车体上的微型电脑负责采集深度相机、陀螺仪等信号,分析计算后给电机发送相应指令,控制相应电机转动,进而控制机器人运动。本发明通过陀螺仪等传感器检测机器人速度和车身姿态,进而控制相应驱动单元以保持车体的稳定。本发明提供的机器人既具备轮式机器人高效、运行平稳的特点,也具备足式机器人的越障能力。


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    Titel :

    Eccentric wheel foot type robot


    Weitere Titelangaben:

    一种偏心轮足式机器人


    Beteiligte:
    TANG ZHAOJIAN (Autor:in) / LI YUEHUA (Autor:in) / ZHU SHIQIANG (Autor:in) / LIU MING (Autor:in) / LI QINGPENG (Autor:in)

    Erscheinungsdatum :

    2023-03-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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