A double-wheel omni-directional balance robot with driving wheel poses variable relative to a chassis comprises a robot body, the chassis, a first driving wheel, a second driving wheel, a first wheel pose adjusting driving assembly, a second wheel pose adjusting driving assembly and a wheel position adjusting guiding assembly. The wheel position adjusting and guiding assembly is arranged on the chassis, and the first wheel pose adjusting and driving assembly and the second wheel pose adjusting and driving assembly are both arranged on the wheel position adjusting and guiding assembly. And the first/second driving wheel is mounted on the first/second wheel pose adjustment driving assembly. The poses between the wheels and the chassis are adjustable, the robot can advance, retreat, obliquely move and transversely move only by adjusting the relative poses of the wheels on the chassis under the condition that the orientation of a vehicle body is not changed, acceleration and deceleration can be achieved under the condition that a machine body is kept vertical in the transverse moving process of the robot, and the robot can be driven to move forwards and backwards when steering in situ. Only the relative poses of the wheels need to be adjusted, the orientation of the vehicle body does not need to be changed, and therefore the adaptability to the narrow space is greatly improved.
一种驱动轮位姿相对底盘可变的双轮全向平衡机器人,包括机身、底盘、第一及第二驱动轮、第一及第二车轮位姿调节驱动组件、车轮位置调节导向组件;车轮位置调节导向组件设置在底盘上,第一车轮位姿调节驱动组件和第二车轮位姿调节驱动组件均设置在车轮位置调节导向组件上;第一/第二驱动轮安装在第一/第二车轮位姿调节驱动组件上。本发明的车轮与底盘之间实现了位姿可调,在车身朝向不变情况下,仅通过调整车轮在底盘上的相对位姿,机器人即可实现前进、后退、斜向移动和横向移动,机器人横向移动过程中可保持机身垂直的情况下实现加减速,进行原地转向时,仅需要调整车轮的相对位姿,而无需改变车身朝向,从而大幅度提升了狭窄空间的适应能力。
Double-wheel omni-directional balance robot with driving wheel poses variable relative to chassis
一种驱动轮位姿相对底盘可变的双轮全向平衡机器人
2025-05-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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