The invention discloses a planet wheel, a walking robot, a control method of the walking robot and a readable storage medium. After the planet wheel is installed on the walking robot, a center shaft is driven to rotate, then a transmission mechanism is driven to rotate, and finally a plurality of rolling wheels rotate to achieve walking; and meanwhile, the star wheel frame is utilized to climb over the larger obstacles such as the stairs through passive rotation of the star wheel frame when encountering the obstacles such as the stairs. Moreover, an encoder is arranged on the planet wheel in the embodiment of the invention, and the rotation angle of the star wheel carrier can be detected by utilizing the encoder, so that the output torque and the rotation speed of the central shaft can be further adjusted according to the rotation angle of the star wheel carrier, and obstacle crossing can be better completed.
本发明公开了一种行星轮、行走机器人及其控制方法、可读存储介质,行走机器人在安装本发明实施例的行星轮后,通过驱动中心轴转动,进而带动传动机构转动,最终使得多个滚轮转动,实现行走;同时,利用星轮架可以在遇到楼梯等障碍时,通过星轮架的被动转动来完成对楼梯等较大障碍的翻越。并且,本发明实施例的行星轮上设置了编码器,利用编码器可以完成对星轮架转动角度的检测,从而可以根据星轮架的转动角度来进一步完成对中心轴输出力矩和转速的调整,以更好地完成越障。
Planet wheel, walking robot, control method of walking robot and readable storage medium
行星轮、行走机器人及其控制方法、可读存储介质
2023-05-23
Patent
Electronic Resource
Chinese
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