The invention relates to the technical field of robots, and discloses a self-stabilization omnidirectional mobile robot and a mobile device. The invention provides a self-stabilizing omni-directional mobile robot. The self-stabilizing omni-directional mobile robot comprises a robot body, a power system and foot wheels. The power system comprises a first power unit, a leg unit, a second power unit, a leg end part and a third power unit which are connected in sequence; the first power unit is arranged on the machine body and drives the leg unit to swing in the vertical plane relative to the machine body. The first power units are arranged at the hip joints of all the legs, the leg units are controlled to swing up and down in the vertical direction, then the foot wheels are driven to move up and down in the vertical direction, and when the robot encounters obstacles or depressions in the movement process, the posture of the robot body can be effectively kept unchanged through up-down movement of the foot wheels.
本发明涉及机器人技术领域,公开了一种自稳定全向移动机器人和移动装置。本发明提供的一种自稳定全向移动机器人,包括机身、动力系统和足轮;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;第一动力单元设于机身上,驱动腿部单元相对机身在竖向平面内摆动。本发明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。
Self-stabilizing omnidirectional mobile robot and mobile device
一种自稳定全向移动机器人和移动装置
2023-01-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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