Self-stabilizing omnidirectional mobile robot and mobile device

Abstract

A self-stabilizing omnidirectional mobile robot and mobile device is disclosed. The self-stabilizing omnidirectional mobile robot includes a robot body (1), a power system, and casters (2). The power system includes a first power unit (3), a foot unit (4), a second power unit (5), a foot end (6), and a third power unit (7) connected in sequence. The first power unit (3) is mounted on the robot body (1) and drives the foot unit (4) to swing in a vertical plane relative to the robot body (1). The first power unit (3) is mounted on the hip joint of each foot, controlling the foot unit (4) to swing up and down in the vertical direction, which in turn moves the casters (2) up and down in the vertical direction. Thus, when the robot encounters an obstacle or uneven ground during its movement, the up and down movement of the casters (2) effectively keeps the posture of the robot body (1) unchanged.

Description

[Technical Field]

[0001] The present invention relates to the field of robotics, and more particularly to self-stabilizing omnidirectional mobile robots and mobile devices. [Background technology]

[0002] Currently, conventional wheeled robots generally use passive spring-dampening suspensions to improve the robot's ability to navigate rough terrain. However, this type of suspension severely limits its ability to maneuver on complex terrain and still causes fluctuations in the position and posture of the entire robot body, making it impossible to maintain a fixed posture. Furthermore, the steering mechanisms of traditional wheeled robots do not allow for flexible movement with all degrees of freedom, and they cannot move horizontally forward, backward, left, or right, nor can they steer on the spot. Traditional wheeled robots cannot jump, making them unable to jump over grooves or obstacles. They also cannot climb stairs.

[0003] The Chinese patent with application number 2017113762204 discloses a wheeled robot, which includes a chassis shell, the chassis shell is provided with a motor and a steering link connected to the motor, the chassis shell is further provided with a suspension module connected to the steering link for rotating the tires along a vertical axis, the center of the connecting line between the rotation centers of the tires overlaps with the center of the chassis shell, the wheeled robot achieves steering by driving the tires with the link, and the wheeled robot uses the suspension system to reduce interference with the robot body on uneven roads, but the posture of the robot body cannot be kept unchanged.

[0004] The information disclosed in this Background of the Invention section is merely used to understand the background of the concept of the present invention and may include information that does not constitute prior art. Summary of the Invention [Problem to be solved by the invention]

[0005] To address the above problem or one of the above problems, the present invention aims to provide a self-stabilizing omnidirectional mobile robot and mobile device, which can maintain a specific position and posture by moving up and down on casters when passing over obstacles or uneven terrain.

[0006] In order to address the above problem or one of the above problems, the present invention aims to provide a self-stabilizing omnidirectional mobile robot. A first power unit is provided at the hip joint of each leg, which controls the foot unit to swing up and down, and further moves the caster up and down. When the robot encounters an obstacle or uneven ground during movement, the up and down movement of the caster effectively keeps the robot's posture unchanged. A second power unit is provided at the knee joint of each leg, which drives the caster for 360° steering, avoiding the steering angle limitations of traditional steering mechanisms and allowing for more flexible movement. A third power unit is provided at the caster, which directly converts the output of the third power unit into kinetic energy for moving the caster forward, thereby improving power transmission efficiency. The first power unit at the hip joint, the second power unit at the knee joint, and the third power unit that drives the caster to rotate cooperate to fix the position and posture of the robot at any desired state, allowing it to adapt to different complex terrains such as stairs and grass.

[0007] To address the above problem or one of the above problems, the present invention aims to provide a moving device, in which a first power unit is provided on the robot body to control the foot unit to swing up and down, and further to move the casters up and down. Thus, when the robot encounters an obstacle or uneven ground during movement, the up and down movement of the casters will keep the posture of the robot body as stable as possible, thereby reducing the shaking of the robot body. The solution is simple, practical, and easy to produce and manufacture. [Means for solving the problem]

[0008] In order to achieve one of the above objectives, the first technical solution of the present invention is as follows: A self-stabilizing omnidirectional mobile robot, comprising: a robot body, a power system, and casters, wherein the power system comprises a first power unit, a foot unit, a second power unit, a foot end, and a third power unit, which are connected in sequence; The first power unit has a rotating shaft and a fixed end. One of the rotation shaft 1 and the fixed end 1 is provided on the robot body, and the other drives the foot unit to swing in a vertical plane relative to the robot body, The third power unit is provided with a rotating shaft 3 and a fixed end 3, One of the rotating shaft 3 and the fixed end 3 is provided at the foot end, and the other drives the caster to rotate, The second power unit is provided with a second rotation axis, which drives the foot end to rotate along its own rotation axis in a vertical direction, thereby steering the caster; When the caster hits an obstacle, the foot unit swings up and down, causing the caster to swing up and down.

[0009] The power unit outputs a relative rotational motion, and therefore, its rotation axis and fixed end are interchangeable.

[0010] The vertical up and down swing or up and down swing includes, but is not limited to, vertical movement, tilted movement, pendulum-type back and forth swing, vertical up and down, etc.

[0011] After continuous research and experimentation, it was found that in this invention, a first power unit is installed at the hip joint of each leg to control the foot unit to swing up and down in the vertical direction, and further to move the caster up and down in the vertical direction. In this way, when encountering an obstacle or uneven ground during the movement process, the up and down movement of the caster can effectively keep the posture of the robot body unchanged. A second power unit is installed at the knee joint of each leg to drive the caster to steer 360° around the entire circumference, avoiding the steering angle limitations of traditional steering mechanisms and making the movement more flexible. A third power unit is installed at the caster, and the output of the third power unit is directly converted into kinetic energy for moving the caster forward, resulting in higher transmission efficiency.

[0012] Furthermore, the present invention allows the robot body to be fixed in any position and posture through the cooperation of three power units: the first power unit for the hip joint, the second power unit for the knee joint, and the third power unit that drives the casters to rotate, and can also adapt to different complex terrains such as stairs, grass, slopes, and other obstacles.

[0013] Suitable technical measures include: The foot unit includes a thigh base, a thigh link, and a bracket, the bracket is fixed to the shell of the second power unit and hinged to the thigh base, the output end of the first power unit is fixedly connected to the thigh base, one end of the thigh link is hinged to the shell of the first power unit or the robot body, and the other end is hinged to the bracket, the thigh base, the thigh link, and the bracket form a four-rod mechanism that moves the casters up and down, and the steering axis of the casters is always kept vertical to the ground, so that the robot body can maintain a specific position and posture, and the solution can be implemented appropriately.

[0014] Suitable technical measures include: A pin shaft seat is fixed to the shell of the first power unit, and the thigh link is rotatably connected to the first power unit or the robot body by the pin shaft seat, and a thigh cover is provided to engage with the side of the thigh base.

[0015] Suitable technical measures include: The first power unit and / or the second power unit and / or the third power unit include a motor unit and a reduction unit, the shell of the second power unit is fixed to the foot end, and the shell of the third power unit is arranged coaxially with the rotation center of the caster.

[0016] Suitable technical measures include: The robot body is equipped with at least three sets of power systems and casters.

[0017] In order to achieve one of the above objectives, the second technical solution of the present invention is as follows: a moving device including a robot body and casters; a first power unit and a foot unit are provided between the robot body and the casters; The first power unit has a rotating shaft and a fixed end. one of the rotation shaft 1 and the fixed end 1 is provided on the robot body, and the other is fixedly connected to a foot unit, driving the foot unit to swing relative to the robot body; The foot unit is provided with at least one rod member and / or pallet member and / or holder, and is equipped with casters; When the foot unit swings up and down, the casters can swing up and down, thereby allowing the robot body to avoid obstacles and maintain a required position and posture.

[0018] The power unit outputs a relative rotational motion, and therefore, its rotation axis and fixed end are interchangeable.

[0019] In the present application, up and down or up and down in the vertical direction may refer to up and down in a vertical direction, up and down in an inclined direction, or up and down in a pendulum-type direction.

[0020] After continuous research and experimentation, it was found that in this invention, a first power unit is provided on the robot body to control the foot unit to swing up and down, and further to move the casters up and down. In this way, when the robot encounters an obstacle or uneven ground during movement, the up and down movement of the casters will keep the posture of the robot body as stable as possible, thereby reducing the shaking of the robot body. This solution is simple, practical, and easy to produce and manufacture.

[0021] Furthermore, the casters of the present invention can be lifted individually, allowing the position and posture of the robot body to be fixed in any state. Furthermore, the present invention can adapt to different complex terrains such as stairs, grass, slopes, and obstacles.

[0022] Suitable technical measures include: The foot unit is connected to the caster by the foot end to form a multi-joint structure; The foot end portion is a rod member and / or a pallet member and / or a holder, and is attached to the inside, outside or both sides of the caster.

[0023] Preferably, the foot end is a shin holder and is attached to the outside of the caster.

[0024] The shin holder has high structural strength and can be applied to various scenes. The shin holder is attached to the outside of the caster, which effectively expands the space between the two opposing casters, allowing the two casters to rotate freely and avoiding mutual interference. Furthermore, the structure of this device is compact and the volume is small.

[0025] Suitable technical measures include: A second power unit is attached between the foot unit and the foot end, The second power unit is provided with a rotating shaft 2, the fixed end of which is attached to the foot unit, and the rotating shaft 2 is fixed to the foot end.

[0026] A second power unit is installed at the knee joint of each leg, allowing the caster to steer 360° around the entire circumference, avoiding the steering angle limitations of traditional steering mechanisms and making the movement more flexible.

[0027] Suitable technical measures include: A third power unit is attached between the foot end and the caster, The third power unit is provided with a rotating shaft 3, the fixed end of which is attached to the foot end, and the rotating shaft 3 is fixedly connected to the caster. By providing the third power unit on the caster, the output of the third power unit is directly converted into kinetic energy for moving the caster forward, resulting in higher transmission efficiency.

[0028] Suitable technical measures include: the rotation axis of the second power unit and the rotation axis of the first power unit are perpendicular to each other, The rotation axis of the third power unit and the rotation axis of the second power unit are perpendicular to each other, so that the caster can rotate 360° and move up.

[0029] Through the cooperation of three power units - the first power unit for the hip joints, the second power unit for the knee joints, and the third power unit that drives the casters to rotate - the position and posture of the robot body can be fixed in any state, and it can also adapt to different complex terrains such as stairs and grass.

[0030] Furthermore, the first power unit, the second power unit, and the third power unit may be a motor unit, a reduction unit, or a motor unit equipped with a reduction unit.

[0031] The motor unit is a rotary motor, and the reduction unit is a reduction gear. [Effects of the Invention]

[0032] The beneficial effects of this invention are as follows: After continuous research and experimentation, it was found that in this invention, a first power unit is provided on the robot body to control the foot unit to swing up and down, and further to move the casters up and down. In this way, when the robot encounters an obstacle or uneven ground during movement, the up and down movement of the casters will keep the posture of the robot body as stable as possible, thereby reducing the shaking of the robot body. This solution is simple, practical, and easy to produce and manufacture.

[0033] Furthermore, in the self-stabilizing omnidirectional mobile robot provided by this invention, a first power unit is installed at the hip joint of each leg, which controls the foot unit to swing up and down in the vertical direction, and further moves the caster up and down in the vertical direction. In this way, when the robot encounters an obstacle or uneven ground during movement, the up and down movement of the caster can effectively keep the posture of the robot body unchanged. A second power unit is installed at the knee joint of each leg, which can drive the caster to steer 360° around its entire circumference, avoiding the steering angle limitations of traditional steering mechanisms and making the movement more flexible. A third power unit is installed at the caster, and the output of the third power unit is directly converted into kinetic energy for moving the caster forward, resulting in higher transmission efficiency.

[0034] Furthermore, in this invention, the first power unit for the hip joint, the second power unit for the knee joint, and the third power unit that drives the casters to rotate work together to fix the position and posture of the robot body in any state, and furthermore, it can adapt to different complex terrains such as stairs and grass.

[0035] The present invention will be described in more detail below in conjunction with the drawings and specific embodiments. [Brief explanation of the drawings]

[0036] [Figure 1]FIG. 2 is a schematic diagram of the overall structure of the present invention. [Figure 2] 1 is a structural diagram of the power system and caster of the present invention. [Figure 3] FIG. 2 is an exploded view of the power system and casters of the present invention. [Figure 4] 2 is a structural diagram of the foot unit of the present invention after the thigh cover has been removed. FIG. [Figure 5] FIG. 2 is a side view of the foot unit of the present invention after the thigh cover has been removed. [Figure 6] 1 is a schematic diagram showing a single caster hitting an obstacle when the robot body is in a fixed position according to the present invention; [Figure 7] 1 is a schematic diagram of the robot body of the present invention when climbing stairs in a fixed posture. [Figure 8] 1 is a schematic diagram of the robot body of the present invention when it is in a fixed position and rotates in place. DETAILED DESCRIPTION OF THE INVENTION

[0037] In order to make the objectives, technical solutions and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the drawings and examples. The specific examples described herein do not limit the present invention, but are merely used to interpret the present invention.

[0038] The present invention also covers any replacements, modifications, equivalent methods and solutions that are completed within the spirit and scope of the present invention as defined by the claims. Furthermore, in order to help the public better understand the present invention, some specific details are set forth in the following detailed description of the present invention. Those skilled in the art can fully understand the present invention without these details.

[0039] Here, when two elements are "fixedly connected" or "rigidly joined," or "rotatingly connected" or "swingingly connected," the two elements may be directly connected, or there may be an intermediate element. Also, when an element is described as being "directly located" "on" another element, there is no intermediate element. The terms "vertical," "above," "below," and similar expressions used herein are for descriptive purposes only.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used herein do not limit the present invention, but are merely used to describe specific examples. The term "or / and" used herein includes any and all combinations of one or more of the associated items.

[0041] As shown in Figures 1 to 8, a specific embodiment of the moving device of the present invention is as follows: A moving device including a robot body 1 and casters 2, A first power unit 3 and a foot unit 4 are provided between the robot body 1 and the casters 2, The first power unit 3 is provided with a rotation shaft 1, the fixed end of which is provided on the robot body 1, and the rotation shaft 1 is fixedly connected to a foot unit 4, and drives the foot unit 4 to swing relative to the robot body 1, The foot unit 4 is provided with at least one rod member and / or pallet member and / or holder, and is equipped with casters 2; When the foot unit 4 swings upward, the caster 2 moves upward, thereby enabling the robot body 1 to avoid obstacles and maintain a required position and posture.

[0042] After continuous research and experimentation, it was found that in this invention, the robot body 1 is provided with a first power unit 3, which controls the foot unit 4 to swing up and down in the vertical direction, and further moves the casters 2 up and down in the vertical direction. In this way, when the robot body 1 encounters an obstacle or uneven ground during movement, the up and down movement of the casters 2 keeps the posture of the robot body 1 as stable as possible, thereby reducing the shaking of the robot body 1. This solution is simple, practical, and easy to produce and manufacture.

[0043] Furthermore, the casters 2 of the present invention can be lifted individually, allowing the position and posture of the robot body 1 to be fixed in any state. Furthermore, the present invention can adapt to different complex terrains such as stairs, grass, slopes, and obstacles.

[0044] As a specific example of the additional placement of the foot end 6 in this invention, The foot unit 4 is connected to the caster 2 by the foot end 6 to form a multi-joint structure. The foot end 6 is a shin holder and is attached to the outside of the caster 2.

[0045] The shin holder has high structural strength and can be applied to various scenes. The shin holder is attached to the outside of the caster 2, which effectively expands the space between the two opposing casters 2, allowing the two casters 2 to rotate freely and avoiding mutual interference. Furthermore, the structure of this invention is compact and the volume is small.

[0046] In the present invention, the specific embodiment of the second power unit 5 is as follows: A second power unit 5 is attached between the foot unit 4 and the foot end 6, The second power unit 5 is provided with a rotating shaft 2, the fixed end of which is attached to the foot unit 4, and the rotating shaft 2 is fixed to the foot end 6.

[0047] The second power unit 5 is provided at the knee joint of each leg, which can drive the steering of the caster 2 in a full 360° rotation, avoiding the restriction on the steering angle of the traditional steering mechanism, making the movement more flexible.

[0048] In the present invention, the third power unit 7 may be additionally arranged as follows: A third power unit 7 is attached between the foot end 6 and the caster 2, The third power unit 7 is provided with a rotating shaft 3, the fixed end of which is attached to the foot end 6, and the rotating shaft 3 is fixed to the caster 2.

[0049] By providing the third power unit 7 on the caster 2, the output of the third power unit 7 is directly converted into kinetic energy for moving the caster 2 forward, resulting in higher transmission efficiency.

[0050] Specific examples of the installation orientation of the power unit of this invention include: The rotation axis of the second power unit 5 and the rotation axis of the first power unit 3 are perpendicular to each other, The rotation axis of the third power unit 7 and the rotation axis of the second power unit 5 are perpendicular to each other, so that the caster 2 can rotate 360° and move up.

[0051] Through the cooperation of the three units, the first power unit 3 for the hip joint, the second power unit 5 for the knee joint, and the third power unit 7 that drives the casters 2 to rotate, the position and posture of the robot body 1 can be fixed in any state, and it can also adapt to different complex terrains such as stairs and grass.

[0052] A preferred embodiment of the self-stabilizing omnidirectional mobile robot of the present invention is as follows: A self-stabilizing omnidirectional mobile robot includes a robot body 1, a power system, and casters 2. The power system includes a first power unit 3, a foot unit 4, a second power unit 5, a foot end 6, and a third power unit 7, which are connected in sequence. The first power unit 3 is mounted on the robot body 1 and drives the foot unit 4 to swing in a vertical plane relative to the robot body 1. The third power unit 7 is mounted on the foot end 6 and drives the casters 2 to rotate. The second power unit 5 drives the foot end 6 to rotate vertically along its own rotation axis, thereby steering the casters 2. When the casters 2 hit an obstacle, the foot unit 4 swings upward and the casters 2 rise vertically, thereby allowing the robot body 1 to maintain a specific position and posture.

[0053] As a specific example of the foot unit 4 structure of the present invention, The foot unit 4 includes a thigh base 41, a thigh link 42, and a bracket 43, the bracket 43 is fixed to the shell of the second power unit 5 and hingedly connected to the thigh base 41, the output end of the first power unit 3 is fixedly connected to the thigh base 41, one end of the thigh link 42 is hingedly connected to the shell of the first power unit 3 or the robot body 1, and the other end is hingedly connected to the bracket 43, and a thigh cover 45 is provided to be engaged with the side of the thigh base 41.

[0054] The thigh base 41, the thigh link 42 and the bracket 43 form a four-rod mechanism that moves the caster 2 up and down, and the steering axis of the caster 2 is always kept perpendicular to the ground, thereby allowing the robot body 1 to maintain a specific position and posture.

[0055] As a specific example of the first power unit 3 structure of the present invention, A pin shaft seat 44 is fixed to the shell of the first power unit 3, and the thigh link 42 is rotatably connected to the first power unit 3 or the robot body 1 by the pin shaft seat 44.

[0056] As a specific example of the power unit structure of the present invention, The first power unit 3 and / or the second power unit 5 and / or the third power unit 7 include a motor unit and a reduction unit, the shell of the second power unit 5 is fixed to the foot end 6, and the shell of the third power unit 7 is arranged coaxially with the rotation center of the caster 2.

[0057] As a specific example of the structure of the robot body 1 of this invention, The robot body 1 has at least three sets of power systems and casters 2 distributed thereon.

[0058] In the self-stabilizing omnidirectional mobile robot provided by the present invention, a first power unit 3 is installed at the hip joint of each leg, controlling the foot unit 4 to swing up and down in the vertical direction and further moving the caster 2 up and down in the vertical direction. Thus, when encountering an obstacle or uneven terrain during movement, the up and down movement of the caster 2 effectively maintains the posture of the robot body 1. A second power unit 5 is installed at the knee joint of each leg, enabling the caster 2 to steer 360° around its entire circumference, avoiding the steering angle limitations of traditional steering mechanisms and making its movement more flexible. A third power unit 7 is installed at the caster 2, directly converting the output of the third power unit 7 into kinetic energy for moving the caster 2 forward, achieving higher transmission efficiency. The cooperation of the first power unit 3 at the hip joint, the second power unit 5 at the knee joint, and the third power unit 7 that drives the caster 2 to rotate allows the robot body 1 to be fixed in any position and to adapt to different complex terrains such as stairs and grass.

[0059] In this application, the method of fixed or fixed connection may be screwing, welding, caulking, insertion, or connection using a third member, and those skilled in the art may select it according to the actual situation.

[0060] Finally, the above examples are used for illustration purposes only, rather than for limiting the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above examples, those skilled in the art will understand that amendments or equivalent replacements may still be made to the specific embodiments of the present invention, and any amendments or equivalent replacements that do not depart from the spirit and scope of the present invention shall fall within the protection scope of the claims of the present invention. [Explanation of symbols]

[0061] 1. Robot body; 2 ··· casters; 3 ···First power unit; 4 ···Foot unit; 5 ···Second power unit; 6...foot end; 7 ···Third power unit; 41 ···Thigh pedestal; 42 ···Thigh link; 43 ···bracket; 44 ···Pin shaft seat; 45 ···Thigh cover.

Claims

1. A self-stabilizing omnidirectional mobile robot, comprising a robot body (1), a power system and casters (2), the power system comprising a first power unit (3), a foot unit (4), a second power unit (5), a foot end (6) and a third power unit (7) connected in sequence; The first power unit (3) is provided with a rotating shaft (1) and a fixed end (1), One of the rotation shaft 1 and the fixed end 1 is provided on the robot body (1), and the other drives the foot unit (4) to swing in a vertical plane relative to the robot body (1); The third power unit (7) is provided with a rotating shaft (3) and a fixed end (3), one of which is provided at the foot end (6) and the other of which drives the caster (2) to rotate; The second power unit (5) is provided with a second rotation axis, which drives the foot end (6) to rotate along its own rotation axis in a vertical direction, thereby steering the caster (2); When the caster (2) hits an obstacle, the foot unit (4) swings up and down, causing the caster (2) to swing up and down in the vertical direction.

2. The foot unit (4) includes a thigh base (41), a thigh link (42), and a bracket (43), the bracket (43) is fixed to the shell of the second power unit (5) and hinged to the thigh base (41), the output end of the first power unit (3) is fixedly connected to the thigh base (41), one end of the thigh link (42) is hinged to the shell of the first power unit (3) or the robot body (1), and the other end is hinged to the bracket (43), the thigh base (41), the thigh link (42), and the bracket (43) form a four-rod mechanism that moves the casters (2) up and down, and the steering axis of the casters (2) is always kept vertical to the ground.

3. The self-stabilizing omnidirectional mobile robot according to claim 2, characterized in that a pin shaft seat (44) is fixed to the shell of the first power unit (3), the thigh link (42) is rotatably connected to the first power unit (3) or the robot body (1) by the pin shaft seat (44), and a thigh cover (45) is engaged with the side of the thigh base (41).

4. The self-stabilizing omnidirectional mobile robot according to any one of claims 1 to 3, characterized in that the first power unit (3) and / or the second power unit (5), and / or the third power unit (7) include a motor unit and a reduction unit, the shell of the second power unit (5) is fixed to the foot end (6), and the shell of the third power unit (7) is provided coaxially with the center of rotation of the caster (2).

5. 5. The self-stabilizing omnidirectional mobile robot according to claim 4, wherein at least three sets of the power system and the casters are distributed on the robot body (1).

6. A moving device comprising a robot body (1) and casters (2), A first power unit (3) and a foot unit (4) are provided between the robot body (1) and the casters (2), The first power unit (3) is provided with a rotating shaft (1) and a fixed end (1), One of the rotation shaft 1 and the fixed end 1 is provided on the robot body (1), and the other is fixedly connected to the foot unit (4), driving the foot unit (4) to swing relative to the robot (1) body; The foot unit (4) is provided with at least one rod member and / or pallet member and / or holder, and the caster (2) is attached thereto; A moving device characterized in that when the foot unit (4) swings up and down, the caster (2) can swing up and down.

7. The foot unit (4) is connected to the caster (2) by a foot end to form a multi-joint structure; The moving device according to claim 6, characterized in that the foot end portion is the rod member or / and the pallet member or / and the holder, and is attached to the inside, outside, or both sides of the caster (2).

8. A second power unit (5) is attached between the foot unit (4) and the foot end portion, The moving device according to claim 7, characterized in that the second power unit (5) is provided with a second rotating shaft, the fixed end of which is attached to the foot unit (4), and the second rotating shaft is fixedly connected to the foot end.

9. A third power unit (7) is mounted between the foot end and the caster (2), The moving device according to claim 8, characterized in that the third power unit (7) is provided with a rotating shaft (3), the fixed end of which is attached to the foot end, and the rotating shaft (3) is fixedly connected to the caster (2).

10. The rotation axis of the second power unit (5) and the rotation axis of the first power unit (3) are perpendicular to each other, The moving device according to claim 9, characterized in that the rotation axis of the third power unit (7) and the rotation axis of the second power unit (5) are perpendicular to each other, so that the casters can rotate 360° and swing up and down.

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