The invention discloses a driving wheel device and a mobile robot. The driving wheel device comprises a first driving wheel, a second driving wheel, a balance rod, a first swing arm and a second swing arm. The balance rod comprises a first support rod, a balance rotating shaft and a second support rod; the first swing arm comprises a first main arm and a first rotating shaft; the second swing arm comprises a second main arm and a second rotating shaft; the balance rotating shaft, the first rotating shaft and the second rotating shaft are parallel; the first swing arm and the second swing arm are in central symmetry; the parts are connected, so that when the height of the running ground of the first driving wheel changes for the first time, the height of the second driving wheel changes for the second time, and the direction of the first change is opposite to the direction of the second change. In other words, when the height difference exists between the two wheels of the driving wheel device due to the uneven ground and the height of the first driving wheel changes due to the ground height change, the second driving wheel is kept to be grounded, and then the movement stability of the multi-wheel-set equipment such as the mobile robot is improved.
本申请公开一种驱动轮装置及移动机器人,驱动轮装置包括:第一驱动轮、第二驱动轮、平衡杆、第一摆臂以及第二摆臂;平衡杆包括第一支杆、平衡转轴以及第二支杆;第一摆臂包括第一主臂与第一转轴,第二摆臂包括第二主臂与第二转轴;平衡转轴、第一转轴与第二转轴相互平行;第一摆臂以及第二摆臂呈中心对称;通过将上述部件进行连接使得当第一驱动轮的行驶地面的高度发生第一变化时,第二驱动轮的高度发生第二变化,第一变化的方向与第二变化的方向相反。即本申请当地面凹凸不平导致驱动轮装置的两个轮子之间存在高度差时,第一驱动轮的高度由于地面高度变化而产生变化时,保持第二驱动轮接地,进而提高移动机器人等多轮组设备运动的稳定性。
Driving wheel device and mobile robot
驱动轮装置及移动机器人
2024-08-27
Patent
Electronic Resource
Chinese
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