Wheel connection mechanism for wheeled robot and wheeled robot

Abstract

Disclosed are a wheel connection mechanism for a wheeled robot and a wheeled robot, wherein one end of the wheel connection mechanism is connected to a rotating wheel mechanism of the wheeled robot, and the other end is connected to a main body of the wheeled robot so as to mount the rotating wheel mechanism to the main body; wherein the wheel connection mechanism is configured to be electrically connected to a controller of the main body, and to control the posture of the rotating wheel mechanism based on a control command of the controller; the posture of the rotating wheel mechanism includes a roll angle of the rotating wheel mechanism.

Description

Technical Field

[0001] The present disclosure relates to the fields of artificial intelligence and robots, and more specifically to a connection mechanism for a rotating wheel mechanism of a wheeled robot and the wheeled robot. Background Art

[0002] With the widespread application of artificial intelligence and robotics technology in civil and commercial fields, wheeled robots based on artificial intelligence and robotics technology play an increasingly important role in smart transportation, smart home and other fields, and are also facing higher requirements.

[0003] In current wheeled robots, the rotating wheel mechanism is usually only connected and fixed to the robot body via a simple connecting mechanism, and can only achieve simple control of the rotating wheel mechanism, such as rotating the wheel assembly inside it, thereby changing the layout direction of the wheel assembly and switching between different modes (for example, switching from a two-wheeled balance car motion mode to a bicycle motion mode). It is difficult to achieve accurate and flexible control of the posture position of the rotating wheel mechanism, such as the roll angle of the rotating wheel mechanism compared to the vertical direction. This makes it impossible to flexibly adjust the wheelbase of the two wheels according to actual needs and task requirements when the wheeled robot is in the balance car motion mode; when the wheeled robot is in the bicycle motion mode, due to the small wheelbase of the front and rear wheels, the driving stability is low and the safety factor is low.

[0004] Therefore, there is a need for a wheel connecting mechanism that can well realize the control of the posture of the rotating wheel mechanism, especially the roll angle of the rotating wheel mechanism, under the premise of well connecting the rotating wheel mechanism to the wheeled robot body, so that the posture of the rotating wheel mechanism can be adjusted through the connecting mechanism to realize the lateral movement of the rotating wheel mechanism within a small range in the self-balancing vehicle motion mode to complete specific tasks, which is also beneficial for making the wheeled robot travel more smoothly in the bicycle motion mode and improving the safety factor. Summary of the invention

[0005] In view of the above problems, the present disclosure provides a wheel connection mechanism for a wheeled robot and a wheeled robot. The wheel connection mechanism provided by the present disclosure can well realize the control of the posture of the rotating wheel mechanism, especially the roll angle of the rotating wheel mechanism, on the basis of well connecting the rotating wheel mechanism to the wheeled robot body, so that the posture of the rotating wheel mechanism can be adjusted through the connection mechanism.

[0006] According to one aspect of the present disclosure, a wheel connection mechanism for a wheeled robot is proposed, wherein one end of the wheel connection mechanism is connected to a rotating wheel mechanism of the wheeled robot, and the other end is connected to a main body of the wheeled robot so as to mount the rotating wheel mechanism to the main body; and wherein the wheel connection mechanism is configured to be electrically connected to a controller of the main body, and to control the posture of the rotating wheel mechanism based on a control command of the controller; the posture of the rotating wheel mechanism includes the roll angle of the rotating wheel mechanism.

[0007] In some embodiments, the wheel connection mechanism includes: an adjustment drive component, which is fixed to the main body; a posture adjustment component, one end of the posture adjustment component is connected to the adjustment drive component, and the other end is connected to the rotating wheel mechanism; and wherein the adjustment drive component is configured to drive the posture adjustment component to move in response to the control command to achieve adjustment of the posture of the rotating wheel mechanism.

[0008] In some embodiments, the adjustment drive assembly includes: an adjustment drive motor, which is fixed to the main body and electrically connected to the controller; a pulley assembly, which is connected to the motor shaft of the adjustment drive motor so as to rotate together with the motor shaft; and wherein the rotation axis of the pulley assembly is parallel to the rotation axis of the motor shaft of the drive motor and is perpendicular to the center line of the rotating wheel mechanism.

[0009] In some embodiments, the pulley assembly includes: a driving pulley assembly, the driving pulley assembly includes a driving pulley shaft and a driving pulley sleeved on the driving pulley shaft, the driving pulley shaft is fixedly connected to the motor shaft of the driving motor and rotates together with the driving motor; a driven pulley assembly, the driven pulley assembly includes a driven pulley shaft and a driven pulley sleeved on the driven pulley shaft, the driven pulley is connected to the driving pulley via a synchronous belt.

[0010] In some embodiments, the posture adjustment assembly includes a connecting rod, one end of which is fixed to the pulley assembly and configured to rotate together with the pulley assembly, and the other end of which is pivotably connected to the rotating wheel mechanism.

[0011] In some embodiments, the wheel connection mechanism is configured to control the roll angle of the rotating wheel mechanism to be within a range of -30° to +30°.

[0012] In some embodiments, the wheel connection mechanism is configured to control the roll angle of the rotating wheel mechanism to be within a range of -15° to +15°.

[0013] In some embodiments, the rotating wheel mechanism comprises: a wheel assembly; and a wheel mounting assembly, the wheel mounting assembly being connected to the wheel assembly; wherein the wheel connecting mechanism is fixedly connected to the wheel mounting assembly.

[0014] According to another aspect of the present disclosure, a wheeled robot is proposed, comprising: a main body, a controller is arranged inside the main body; two wheeled modules, the two wheeled modules are mounted to the main body, and each of the two wheeled modules comprises: a rotating wheel mechanism; and a wheel connecting mechanism as described above.

[0015] In some embodiments, the wheel connection mechanism is configured to selectively control the two rotating wheel mechanisms in the two wheel modules to be in a first wheel-track state or a second wheel-track state according to the control command, and in the second wheel-track state, the wheel center distance of the two rotating wheel mechanisms is greater than the wheel center distance of the two rotating wheel mechanisms in the first wheel-track state.

[0016] In some embodiments, in the first wheel track state, the roll angles of the two rotating wheel mechanisms are both zero.

[0017] In some embodiments, in the second wheelbase state, the two rotating wheel mechanisms have the same absolute value of the roll angle and opposite directions of the roll angle.

[0018] In some embodiments, the rotating wheel mechanism comprises: a wheel assembly; and a wheel mounting assembly, the wheel mounting assembly being connected to the wheel assembly; wherein the wheel connecting mechanism is fixedly connected to the wheel mounting assembly.

[0019] In some embodiments, the wheel mounting assembly includes: a wheel control assembly, the wheel control assembly includes a control motor, and the control motor is configured to control the layout direction of the wheel assembly.

[0020] In some embodiments, the wheel control component is configured to control the wheel component to have a first layout direction in a first motion mode of the wheeled robot; and to control the wheel component to have a second layout direction different from the first layout direction in a second motion mode of the wheeled robot.

[0021] In some embodiments, the first motion mode is a balancing vehicle motion mode, and in the first layout direction, two wheel assemblies are arranged in parallel in the forward direction of the wheeled robot.

[0022] In some embodiments, the second motion mode is a bicycle motion mode, and in the second layout direction, the two wheel assemblies are collinear and arranged in sequence along the forward direction of the wheeled robot.

[0023] In some embodiments, the main body includes a first mounting portion and a second mounting portion corresponding to the two sides of the rotating wheel mechanism respectively, the first mounting portion corresponds to the first side of the rotating wheel mechanism, and the second mounting portion corresponds to the second side of the rotating wheel mechanism; and one end of the wheel connecting mechanism is connected to the first side of the rotating wheel mechanism, and the other end is arranged on the first mounting portion.

[0024] In some embodiments, the wheel module further includes an auxiliary wheel connection mechanism, one end of the auxiliary wheel connection mechanism is disposed on the second side of the rotating wheel mechanism, and the other end of the auxiliary wheel connection mechanism is disposed on the second mounting portion.

[0025] In some embodiments, the auxiliary wheel connection mechanism includes an auxiliary link, one end of which is pivotally fixed to the second mounting portion, and the other end of which is pivotally connected to the second side. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. The following drawings are not deliberately scaled according to the actual size, and the focus is on illustrating the main purpose of the present disclosure.

[0027] Figure 1 An overall view of a wheel connection mechanism for a wheeled robot according to an embodiment of the present disclosure is shown;

[0028] Figure 2A A partial view of a wheel connection mechanism and a rotating wheel mechanism according to an embodiment of the present disclosure is shown;

[0029] Figure 2B An exploded view of a wheel connection mechanism according to an embodiment of the present disclosure is shown;

[0030] Figure 3 A perspective view of a wheeled robot body according to an embodiment of the present disclosure is shown;

[0031] Figure 4 shows a side view of a wheeled robot body according to an embodiment of the present disclosure;

[0032] Figure 5 An example diagram showing the wheelbase of a wheeled robot in a balancing vehicle motion mode according to an embodiment of the present disclosure;

[0033] Figure 6 An example diagram showing the wheelbase of a wheeled robot in a bicycle motion mode according to an embodiment of the present disclosure;

[0034] Figure 7 Two different layout directions of the wheeled robot according to an embodiment of the present disclosure are shown;

[0035] Figure 8 An exploded view of a wheel control assembly according to an embodiment of the present disclosure is shown;

[0036] Fig. 9 An exploded view of an auxiliary link according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, rather than all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work also fall within the scope of protection of the present disclosure.

[0038] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0039] Artificial Intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making.

[0040] Specifically, the present application proposes a wheel connection mechanism for a wheeled robot and a wheeled robot, through which the posture control of the rotating wheel structure of the wheeled robot is achieved, so that the wheeled robot can adjust the roll angle in a small range based on actual needs to achieve corresponding tasks in the balancing vehicle state, and achieve better stability and reliability through the increased wheelbase in the bicycle movement mode.

[0041] The wheeled robot described in the present application is intended to characterize a robot having a wheel assembly, which may have, for example, two wheel assemblies or multiple wheel assemblies, such as a self-balancing vehicle, a scooter, a bicycle, or a device capable of switching between multiple operating modes (e.g., switching between a self-balancing vehicle motion mode and a bicycle motion mode). The embodiments of the present disclosure are not limited by the specific type and composition of the wheeled robot.

[0042] In current wheeled robots, the rotating wheel mechanism is usually only connected and fixed to the robot body via a simple connecting mechanism, and can only achieve simple control of the rotating wheel mechanism, such as rotating the wheel assembly inside it, thereby changing the layout direction of the wheel assembly and switching between different modes (for example, switching from a two-wheeled balance car motion mode to a bicycle motion mode). It is difficult to achieve accurate and flexible control of the posture position of the rotating wheel mechanism, such as the roll angle of the rotating wheel mechanism compared to the vertical direction. This makes it impossible to flexibly adjust the wheelbase of the two wheels according to actual needs and task requirements when the wheeled robot is in the balance car motion mode; when the wheeled robot is in the bicycle motion mode, due to the small wheelbase of the front and rear wheels, the driving stability is low and the safety factor is low.

[0043] Based on the above, the present application proposes a wheel connecting mechanism and a wheeled robot using the wheel connecting mechanism, which, on the premise that the rotating wheel mechanism is well connected to the wheeled robot body, can well realize the control of the posture of the rotating wheel mechanism, especially the roll angle of the rotating wheel mechanism, so that the posture of the rotating wheel mechanism can be adjusted through the connecting mechanism, so that the rotating wheel mechanism can be lateralized within a small range in the self-balancing vehicle motion mode to complete a specific task, and it is also beneficial to make the wheeled robot travel more smoothly in the bicycle motion mode and improve the safety factor.

[0044] Figure 1 1 shows an overall view of a wheel connection mechanism 200 for a wheeled robot 100 according to an embodiment of the present disclosure, Figure 2A A partial view of a wheel connection mechanism 200 and a rotating wheel mechanism 300 according to an embodiment of the present disclosure is shown.

[0045] Reference Figure 1 One end of the wheel connection mechanism 200 is connected to the rotating wheel mechanism 300 of the wheeled robot 100 , and the other end is connected to the main body 110 of the wheeled robot to install the rotating wheel mechanism to the main body 110 .

[0046] The main body refers to the main structure of the wheeled robot, for example, the main structure may include a frame, a sensor box, a controller and an integrated circuit arranged inside the frame structure, and pedals installed on the frame, etc. The embodiments of the present disclosure are not limited by the specific composition and arrangement of the main structure.

[0047] The rotating wheel mechanism refers to a mechanism that realizes the movement of the wheeled robot through the rotation of its own wheel assembly. The rotating wheel, for example, generally includes a wheel assembly (such as a wheel) and a wheel mounting assembly connected to the wheel assembly, and the wheel mounting assembly is used to realize the combination and assembly between the wheel assembly and other components / mechanisms.

[0048] The wheel assembly, for example, also includes a hub motor disposed on the wheel, which serves as a power source for the wheel to move forward, backward, and other movements of the wheeled robot by controlling the rotation speed and rotation direction (clockwise or counterclockwise) of the wheel.

[0049] However, it should be understood that the above is only an exemplary composition of the rotating wheel mechanism. According to actual needs, the rotating wheel mechanism can also be configured to include a wheel assembly and a wheel connecting assembly, and the wheel connecting assembly can further include a wheel control assembly, so that on the one hand, it can realize the combination and assembly between the wheel assembly and other components / mechanisms, and on the other hand, it can also be used to control the wheel assembly.

[0050] And wherein, the wheel connection mechanism 200 is configured to be electrically connected to the controller of the main body, and based on the control command of the controller, controls the posture of the rotating wheel mechanism; the posture of the rotating wheel mechanism includes the roll angle of the rotating wheel mechanism.

[0051] The controller of the main body refers to a controller component disposed inside the main body, which may be an integrated controller or a dedicated controller. The embodiments of the present disclosure are not limited by the type and composition of the controller.

[0052] The control command of the controller may be, for example, a control signal quantity. For example, when the wheel connection mechanism has a motor, the control command may be a control signal outputted from the motor, such as controlling the rotation direction and rotation speed of the motor. The embodiments of the present disclosure are not limited by the specific composition of the control command.

[0053] The posture of the rotating wheel structure refers to the angular position of the rotating wheel structure as a whole, and the posture may include, for example, the deflection angle, the roll angle and the pitch angle of the rotating wheel structure.

[0054] The roll angle of the rotating wheel mechanism refers to the angle of the rotating wheel mechanism as a whole relative to the vertical direction Fy, which can be determined, for example, by the angle between the center line of the rotating wheel mechanism and the vertical direction. Figure 1 At this time, the center line of the rotating wheel mechanism coincides with the vertical direction, for example, and the roll angle of the rotating wheel mechanism is 0°.

[0055] It should be understood that the process in which the wheel connecting mechanism controls the roll angle of the rotating wheel based on the control command of the controller may be, for example: the wheel connecting mechanism includes an adjustment drive component and a posture adjustment component, one end of the posture adjustment component is connected to the adjustment drive component, and the other end is connected to the rotating wheel mechanism; the adjustment drive component is configured to drive the posture adjustment component to move in response to the control command to achieve adjustment of the posture of the rotating wheel mechanism.

[0056] Based on the above, in the present application, a wheel connection structure for a wheeled robot is provided, one end of which is connected to the rotating wheel mechanism of the wheeled robot, and the other end is connected to the main body of the wheeled robot, so that the rotating wheel mechanism can be well installed on the main body; on the other hand, the wheel connection mechanism is configured to be electrically connected to a controller of the main body, and based on the control command of the controller, the posture of the rotating wheel mechanism, especially the roll angle of the rotating wheel mechanism, is controlled, so that when the wheeled robot is a balance car or is in a balance car motion mode, the overall posture of the rotating wheel mechanism can be adjusted through the wheel connection mechanism to achieve lateral movement of the rotating wheel mechanism within a small range to achieve specific tasks; when the wheeled robot is a bicycle or is in a bicycle motion mode, the wheel spacing between the rotating wheel mechanisms of the wheeled robot can be changed by adjusting the wheel connection mechanism, so that the vehicle can travel more smoothly and the safety factor is improved.

[0057] In some embodiments, reference Figure 2A The wheel connection mechanism 200 includes: an adjustment drive component 210 and a posture adjustment component 220.

[0058] The adjustment drive assembly is fixed to the main body, for example, arranged in a corresponding groove or mounting portion of the main body, and is configured to drive the wheel connection mechanism to perform a posture (roll angle) adjustment action. For example, the adjustment drive assembly may include a drive motor and a pulley assembly, and the motor shaft of the drive motor is connected to the pulley assembly.

[0059] The posture adjustment component refers to a component used to adjust the posture (roll angle) of the rotating wheel mechanism, and one end of the posture adjustment component is connected to the adjustment drive component, and the other end is connected to the rotating wheel mechanism.

[0060] The posture adjustment component may be, for example, a connecting rod fixed to the rotating wheel mechanism, or may be a connecting rod pivotally connected to the rotating wheel mechanism. The embodiments of the present disclosure are not limited by the specific composition of the posture adjustment component.

[0061] The posture adjustment component can, for example, be fixedly connected to the adjustment drive component at one end (i.e., move together with the adjustment drive component) and pivotally connected to the rotating wheel mechanism at the other end; or it can be pivotally connected to the adjustment drive component at one end and fixedly connected to the rotating wheel mechanism at the other end. The embodiments of the present disclosure are not limited by the specific connection method and connection structure of the posture adjustment component, the adjustment drive component and the rotating wheel mechanism.

[0062] And wherein the adjustment drive component is configured to drive the posture adjustment component to move in response to the control command to achieve adjustment of the posture of the rotating wheel mechanism. It should be understood that the embodiments of the present disclosure are not limited by the specific driving method of the adjustment drive component to drive the posture adjustment component and the specific movement method of the posture adjustment component.

[0063] For example, the adjustment drive component may include a motor, the posture adjustment component may include a connecting rod, and the motor, for example, rotates in response to a control command and drives the connecting rod to rotate, so that the rotating wheel mechanism fixedly connected to the other end of the connecting rod rotates accordingly, thereby changing the posture (roll angle) of the rotating wheel mechanism.

[0064] Based on the above, in the present application, the wheel connection mechanism is further arranged to include an adjustment drive component and a posture adjustment component fixed to the main body, and the adjustment drive component is configured to drive the posture adjustment component to move in response to the control command, so that the posture adjustment of the rotating wheel mechanism can be well achieved through the wheel connection structure.

[0065] Continue to refer to Figure 2A The adjustment drive assembly 210 may include, for example: an adjustment drive motor 211 and a pulley assembly.

[0066] The adjustment drive motor 211 is, for example, mounted to the main body, and the adjustment drive motor 211 is fixed to the main body and electrically connected to the controller to receive a control command from the driver.

[0067] The pulley assembly may, for example, include only one pulley, the pulley shaft of which is, for example, fixedly connected to the motor shaft so as to rotate together with the motor. The pulley assembly may also include a plurality of pulleys, for example, a driving pulley and a driven pulley, the pulley shaft of which is fixedly connected to the motor shaft so as to rotate together with the motor shaft, and the driven pulley is, for example, connected to the driving pulley via a synchronous belt so as to rotate together with the driving pulley and the motor shaft. The embodiments of the present disclosure are not limited by the specific composition of the pulley assembly.

[0068] And wherein, the rotation axis of the pulley assembly is parallel to the rotation axis of the motor shaft of the driving motor, and is perpendicular to the center line Oc of the rotating wheel mechanism.

[0069] The center line of the rotating wheel mechanism is intended to characterize the posture of the rotating wheel mechanism as a whole. For example, after the rotating wheel mechanism is installed to the main body, when the wheeled robot is in normal motion, the intersection of the wheel assembly of the wheeled robot and the ground and the center point of the rotating wheel mechanism (for example, according to actual needs, the geometric center of the rotating wheel mechanism can be taken as the center point, or its center of gravity can also be taken as the center point) are connected to obtain the center line of the rotating wheel mechanism.

[0070] Figure 2A For example, a pulley assembly having a driving pulley and a driven pulley is shown, wherein the rotation axis of the driving pulley coincides with the rotation axis of the drive motor, and the rotation axis of the driven pulley is parallel to the rotation axis of the drive motor. At this time, the rotation axis of the pulley assembly is, for example, a fitting rotation axis obtained by fitting the rotation axis of the driving pulley and the rotation axis of the driven pulley, and the fitting rotation axis is also parallel to the rotation axis of the drive motor.

[0071] In some embodiments, the pulley assembly includes: a driving pulley assembly and a driven pulley assembly.

[0072] Wherein, the driving pulley assembly comprises a driving pulley shaft and a driving pulley sleeved on the driving pulley shaft, and the driving pulley shaft is fixedly connected to the motor shaft of the driving motor and rotates together with the driving motor.

[0073] The driven pulley assembly comprises a driven pulley shaft and a driven pulley sleeved on the driven pulley shaft, and the driven pulley is connected to the driving pulley via a synchronous belt.

[0074] Figure 2B FIG. 2 shows an exploded view of a wheel connection mechanism according to an embodiment of the present disclosure. Figure 2A and Figure 2B , the wheel connection mechanism and its pulley assembly, for example, can be described in more detail.

[0075] Reference Figure 2A and Figure 2B The pulley assembly, for example, includes a driving pulley shaft 212, a driving pulley 213, a driving pulley mounting seat 214, a driven pulley shaft 215, a driven pulley 216, a driven pulley mounting seat 217, and a retaining bearing 218 for installing the pulley assembly.

[0076] The motor shaft of the driving motor 211 is, for example, fixedly connected to the driving pulley shaft 212 of the driving pulley 213 (wherein the driving pulley is sleeved onto the driving pulley shaft 212), and the driving motor 211 and the driving pulley shaft are, for example, arranged in a driving pulley mounting seat, referring to Figure 2BThe active pulley mounting seat, for example, has three mounting plates, each mounting plate is provided with mounting holes with the same size and setting position (for example, the first mounting hole, the second mounting hole and the third mounting hole respectively), the driving motor is installed between the first mounting plate and the second mounting plate, the active pulley shaft is installed between the second mounting plate and the third mounting plate, for example, through a retaining bearing 218, and the active pulley shaft is sleeved on the motor shaft of the driving motor 211 through the mounting hole to rotate together with the driving motor.

[0077] The driven pulley and the driven pulley shaft are installed in the driven pulley seat, specifically, the driven pulley 216 is sleeved on the driven pulley shaft 215, and the driven pulley is installed to the driven pulley seat 217 through the rib bearing 218. Specifically, the driven pulley seat 217, for example, has a fifth mounting plate and a sixth mounting plate, and the fifth and sixth mounting plates are provided with mounting holes with the same size and setting position, and as mentioned above, the driven pulley shaft is installed between the fifth mounting plate and the sixth mounting plate, for example, through the rib bearing 218.

[0078] The driven pulley 216 is connected to the driving pulley 213 , for example, through a synchronous belt 219 , so that the driven pulley, the driving pulley and the motor shaft rotate at the same angular velocity.

[0079] In addition, the pulley assembly and the driving motor are fixed to the main body of the wheeled robot, for example, via mounting surfaces of the driving pulley seat 214 and the driven pulley seat 217 .

[0080] Based on the above, in the present application, the adjustment drive assembly includes an adjustment drive motor and a pulley assembly, and the pulley assembly is connected to the motor shaft of the adjustment drive motor and rotates together with the motor shaft, so that the posture adjustment assembly can be driven to move well; the rotation axis of the pulley assembly is set to be parallel to the rotation axis of the motor shaft of the drive motor and perpendicular to the center line of the rotating wheel mechanism, so that when the drive motor is controlled to rotate, the roll angle of the rotating wheel mechanism can be well and accurately controlled.

[0081] In some embodiments, the posture adjustment component 220 can be described in more detail. Figure 2A and Figure 2B The posture adjustment component is, for example, a connecting rod, one end of which is fixed to the pulley assembly and is configured to move together with the pulley assembly, and the other end of the connecting rod is pivotally connected to the rotating wheel mechanism.

[0082] For example, refer to Figure 2BWhen the pulley assembly includes a driving pulley 213 and a driven pulley 216, one end of the connecting rod can be snapped to the driven pulley shaft 215, or can be fixed to the driven pulley in other ways to move together with the pulley assembly.

[0083] The other end of the connecting rod is pivotally connected to the rotating wheel mechanism 322, which means that the other end of the connecting rod can be connected to the rotating wheel mechanism and rotate independently relative to the rotating wheel mechanism. Specifically, the other end of the connecting rod can be provided with a mounting through hole, and the wheel mounting assembly of the rotating wheel mechanism (including the wheel assembly and the wheel mounting assembly) is provided with a connecting rod seat 221, and the connecting rod is mounted on the connecting rod seat of the wheel mounting assembly through the mounting through hole and the screw, screw and bearing, and can rotate independently relative to the rotating wheel mechanism.

[0084] It should be understood that the posture adjustment assembly may include, for example, only one connecting rod, or may include multiple connecting rods. Figure 2B As shown, when the posture adjustment assembly includes multiple connecting rods (for example, two connecting rods), the two connecting rods can be clamped to the driven pulley shaft via groove portions at positions symmetrical relative to the center point of the driven pulley shaft, thereby being fixed to the driven pulley shaft.

[0085] Based on the above, the posture adjustment assembly includes a connecting rod, and one end of the connecting rod is fixed to the driven pulley and configured to rotate together with the driven pulley, and the other end is pivotally connected to the rotating wheel mechanism, so that when the adjustment drive motor rotates in response to the control command and causes the pulley assembly to rotate, the end of the connecting rod fixed to the pulley assembly is configured to rotate together with the pulley assembly (for example, the driven pulley in the pulley assembly), and the end of the connecting rod pivotally connected to the rotating wheel mechanism is able to adjust the posture of the rotating wheel mechanism, such as adjusting its roll angle.

[0086] In some embodiments, the wheel connection mechanism is configured to control the roll angle of the rotating wheel mechanism to be within a range of -30° to +30°.

[0087] It should be understood that the positive or negative value of the above-mentioned angle is intended to characterize the direction of the angle. For example, the clockwise rotation compared to the vertical direction can be set as the positive direction of the roll angle, that is, when the rotating wheel mechanism rotates clockwise compared to the vertical direction, the roll angle of the rotating wheel mechanism is a positive value, and when the rotating wheel mechanism rotates counterclockwise compared to the vertical direction, the roll angle of the rotating mechanism is a negative value.

[0088] However, it should be understood that the above only provides an example of limiting the positive and negative directions of the roll angle, and according to actual needs, the positive direction of the roll angle may also be set to be counterclockwise relative to the vertical direction.

[0089] Based on the above, in the present application, the roll angle of the rotating wheel mechanism is controlled to be in the range of -30° to +30° by setting a wheel connection structure, so that the roll angle of the rotating wheel mechanism can be adjusted within a larger range, which is beneficial to reliably and in real time adjust the posture of the rotating wheel mechanism according to actual needs and task requirements.

[0090] In some embodiments, the wheel connection mechanism is configured to control the roll angle of the rotating wheel mechanism to be within a range of -15° to +15°.

[0091] By setting the wheel connection mechanism to be configured to control the roll angle of the rotating wheel mechanism to be within the range of -15° to +15°, it is beneficial to fine-tune the roll angle of the rotating wheel mechanism within a smaller angle range, so that for a self-balancing vehicle or a self-balancing sports mode, it is beneficial to achieve flexible and timely posture adjustment within a small range by adjusting the roll angle of the rotating wheel mechanism, thereby achieving a specific task; for a bicycle or a bicycle sports mode, the wheelbase of the front and rear rotating wheel mechanisms can also be adjusted to improve the driving stability and reliability of the bicycle.

[0092] In some embodiments, the rotating wheel mechanism 300 can be described in more detail, for example, with reference to Figure 2A , wherein the rotating wheel mechanism 300 includes a wheel assembly 310 and a wheel mounting assembly 320 , and the wheel mounting assembly 320 is connected to the wheel assembly 310 .

[0093] The wheel mounting assembly refers to an assembly used to assemble the wheel assembly with the wheel connection mechanism. According to actual needs, the wheel mounting assembly may include, for example: a connection seat 321, which may be connected to the rotating axle 311 of the wheel assembly, so that the rotating axle 311 can rotate independently inside the connection seat 321; and a joint assembly 322, which may be pivotally connected to the connection seat 321, as described below in conjunction with Figure 8 As described in detail, according to actual needs, the coupling component 322 is also provided with a wheel control component, for example.

[0094] Among them, Figure 2A As shown, the wheel connection mechanism is connected to the wheel mounting assembly. Specifically, for example, one end of a connecting rod in the wheel connection mechanism is pivotally arranged on one side of the wheel mounting assembly to achieve control of the roll angle of the wheel mounting assembly and the rotating wheel mechanism.

[0095] Based on the above, in the case where the rotating wheel mechanism includes a wheel assembly and a wheel mounting assembly connected to the wheel assembly, by setting the wheel connecting mechanism fixedly connected to the wheel mounting assembly, on the one hand, it is possible to well control the roll angle of the rotating wheel, and on the other hand, it is also possible to reduce the interference of the wheel connecting mechanism with the rotation of the wheel assembly itself.

[0096] According to another aspect of the present disclosure, a wheeled robot 100 is also provided. Figure 1 The wheeled robot 100 is, for example, a two-wheeled robot. Specifically, the wheeled robot 100 includes: a main body 110 and two wheeled modules.

[0097] The main body refers to the main structure of the wheeled robot, for example, the main structure may include a frame, a sensor box, a controller and an integrated circuit arranged inside the frame structure, and pedals installed on the frame, etc. The embodiments of the present disclosure are not limited by the specific composition and arrangement of the main structure.

[0098] Figure 3 A perspective view of a wheeled robot body according to an embodiment of the present disclosure is shown. Figure 4 A side view of a wheeled robot body according to an embodiment of the present disclosure is shown. Figure 3 and Figure 4 , for example, the structure of the main body of the wheeled robot is described in more detail.

[0099] Reference Figure 3 and Figure 4 The main body (also called a keel module) includes, for example: a frame 111, a control element box 112, a pedal 113 and a fixing plate 114.

[0100] The pedal 113 is for people to operate, and the control element box 112 is the location of batteries and various sensors, which include batteries that provide energy for the operation of the entire wheeled robot, a code disk for speed detection, a gyroscope for angle detection, a controller and other control modules.

[0101] The skeleton refers to the frame part of the main body. For example, for a wheeled robot in the form of a self-balancing vehicle, the skeleton may include a skeleton base 1111 and a first skeleton bending portion 1112 and a second skeleton bending portion 1113 extending from the skeleton base 1111.

[0102] The skeleton base may be a plate-like structure, such as a rectangular plate-like member, or may have other shapes. The first skeleton bending portion and the second skeleton bending portion are, for example, arranged on two symmetrical sides of the skeleton base, for suspending two corresponding rotating wheel mechanisms of the wheeled robot.

[0103] It should be understood that the first and second frame bending portions are only used to distinguish the two bending portions arranged on the frame base, and are not intended to limit it.

[0104] The first and second frame bending parts may have the same structure, for example, Figure 3 , wherein the first frame bending portion 1112 and the second frame bending portion 1113 have the same structure, for example, both include two parallel bending beams, and the two bending beams extend outward from the frame base in a plane perpendicular to the frame base and have the same size and shape. Specifically, as Figure 3 As shown, one end of the two bent beams is fixed to the frame base, and the other end (free end) is connected by a connecting cross beam. Figure 4 As shown in the side view, the first and second skeleton bending parts have a substantially inverted U-shape in the side view, for example.

[0105] Continue to refer to Figure 1 The two wheel modules are mounted to the main body 110, and each of the two wheel modules includes: a rotating wheel mechanism 300 and a wheel connection mechanism 200 as described above.

[0106] The rotating wheel mechanism refers to a mechanism that realizes the movement of the wheeled robot through the rotation of its own wheel assembly. The rotating wheel, for example, generally includes a wheel assembly (such as a wheel) and a wheel mounting assembly connected to the wheel assembly, and the wheel mounting assembly is used to realize the combination and assembly between the wheel assembly and other components / mechanisms.

[0107] However, it should be understood that the above is only an exemplary composition of the rotating wheel mechanism. According to actual needs, the rotating wheel mechanism can also be configured to include a wheel assembly and a wheel connecting assembly, and the wheel connecting assembly can further include a wheel control assembly, so that on the one hand, it can realize the combination and assembly between the wheel assembly and other components / mechanisms, and on the other hand, it can also be used to control the wheel assembly.

[0108] The wheel connection mechanism, for example, has the structure and composition as described above, and can achieve the functions as described above, which will not be described in detail here.

[0109] Based on the above, in the present application, a wheel connection structure for a wheeled robot is provided, one end of which is connected to the rotating wheel mechanism of the wheeled robot, and the other end is connected to the main body of the wheeled robot, so that the rotating wheel mechanism can be well installed on the main body; on the other hand, the wheel connection mechanism is configured to be electrically connected to a controller of the main body, and based on the control command of the controller, the posture of the rotating wheel mechanism, especially the roll angle of the rotating wheel mechanism, is controlled, so that when the wheeled robot is a balance car or is in a balance car motion mode, the overall posture of the rotating wheel mechanism can be adjusted through the wheel connection mechanism to achieve lateral movement of the rotating wheel mechanism within a small range to achieve specific tasks; when the wheeled robot is a bicycle or is in a bicycle motion mode, the wheel spacing between the rotating wheel mechanisms of the wheeled robot can be changed by adjusting the wheel connection mechanism, so that the vehicle can travel more smoothly and the safety factor is improved.

[0110] In some embodiments, the wheel connection mechanism is configured to selectively control the two rotating wheel mechanisms in the two wheel modules to be in a first wheel-track state or a second wheel-track state according to the control command, and in the second wheel-track state, the wheel center distance of the two rotating wheel mechanisms is greater than the wheel center distance of the two rotating wheel mechanisms in the first wheel-track state.

[0111] It should be understood that the wheelbase refers to the distance between the wheel centers of the wheel components in the two rotating wheel mechanisms of the wheeled robot along the horizontal direction, for example, it can be represented by the distance between the center points of the two wheels of the two-wheeled robot along the horizontal direction.

[0112] The first wheel track state and the second wheel track state are intended to represent two different wheel center distances of two rotating wheel mechanisms, but are not intended to limit them.

[0113] The specific wheel track values ​​corresponding to the first wheel track state and the second wheel track state can be set according to actual conditions and requirements, as long as the wheel center distance in the second wheel track state is greater than the wheel center distance in the first wheel track state. The embodiments of the present disclosure are not limited by the specific wheel center distances set in the first and second wheel track states.

[0114] The wheel connection mechanism selectively controls the two rotating wheel mechanisms to be in the first or second wheel track state based on the control command, which means that the wheel connection mechanism controls the postures of the two rotating wheel mechanisms, such as controlling their roll angles, in response to the control command (such as a motor drive signal) to adjust the wheel tracks of the two rotating wheel mechanisms, thereby placing the two rotating wheel mechanisms in the first or second wheel track state.

[0115] Figure 5 An example diagram of the wheelbase of a wheeled robot in a balancing vehicle motion mode according to an embodiment of the present disclosure is shown. Figure 5 To be more specific.

[0116] Reference Figure 5 , wherein the wheeled robot is, for example, a two-wheeled robot with multiple motion modes. Specifically, it can be, for example, in a balancing vehicle motion mode in which two rotating wheel mechanisms are arranged in parallel. In this balancing vehicle motion mode, when the wheeled robot is in a normal driving state, the controller controls the two rotating wheel mechanisms to be in a first wheel track state, for example, through the wheel connection mechanism. In the first wheel track state, the roll angles of the two rotating wheel mechanisms are, for example, both 0°. At this time, the two rotating wheel mechanisms have, for example, a first wheel track La. When the wheeled robot needs to increase the distance between the two rotating wheel mechanisms to perform a specific task based on task requirements during driving, the controller controls the two rotating wheel mechanisms to be in a second wheel track state, for example, through the wheel connection mechanism. In the second wheel track state, the roll angles of the two rotating wheel mechanisms are, for example, in opposite directions, and the absolute values ​​of the roll angles are the same, for example, both are 15°. At this time, the two rotating wheel mechanisms have, for example, a second wheel track Lb, and with reference to Figure 5 , the second wheelbase is greater than the first wheelbase.

[0117] Figure 6 An example diagram showing the wheelbase condition of a wheeled robot in a bicycle motion mode according to an embodiment of the present disclosure is shown. Specifically, in the bicycle motion mode, two rotating wheel mechanisms are arranged successively along the forward direction of the wheeled robot, and in a first operating state, the controller controls the two rotating wheel mechanisms to be in a first wheelbase state, for example, through the wheel connection mechanism. In the first wheelbase state, the roll angles of the two rotating wheel mechanisms are, for example, both 0°. At this time, the two rotating wheel mechanisms have, for example, a first wheelbase Lc. When the wheeled robot is driving, in order to increase stability or safety factor, the controller controls the two rotating wheel mechanisms to be in a second wheelbase state, for example, through the wheel connection mechanism. In the second wheelbase state, the roll angles of the two rotating wheel mechanisms are, for example, in opposite directions, and the absolute values ​​of the roll angles are the same, for example, both are 15°. At this time, the two rotating wheel mechanisms have, for example, a second wheelbase Ld, and with reference to Figure 6 , the second wheelbase is greater than the first wheelbase.

[0118] Based on the above, in the present application, the two rotating wheel mechanisms are selectively controlled to be in the first wheel track state and the second wheel track state based on the control command through the wheel connection mechanism, so that the wheel center distance of the two rotating wheel mechanisms can be flexibly adjusted by changing the roll angles of the two rotating wheel mechanisms based on the task requirements and usage status of the wheeled robot, which is beneficial to achieve a small range of lateral displacement of the rotating wheel mechanism in the operation mode of the balance vehicle, thereby completing specific tasks, and in the operation mode of the bicycle, the roll angles of the rotating wheel mechanisms set at the front and rear can also be well adjusted to increase the wheel center distance, thereby improving the safety factor and stability.

[0119] In some embodiments, reference Figure 5 and Figure 6 In the first wheelbase state, the roll angles of the two rotating wheel mechanisms are both 0.

[0120] By setting the roll angles of the two rotating wheel mechanisms to 0, the rotating wheel mechanisms can be correctly placed in the balancing vehicle operation mode (the rotating wheel mechanisms are arranged side by side), thereby operating smoothly and efficiently, and achieving good and reliable movement of the wheeled robot.

[0121] In some embodiments, reference Figure 5 and Figure 6 , in the second wheelbase state, the two rotating wheel mechanisms have the same absolute value of the roll angle and have opposite directions of the roll angle.

[0122] It should be understood that at this time, the two rotating wheel mechanisms have the same absolute value of the roll angle, and the opposite roll angles are reversed, which means that the two rotating wheel mechanisms deviate from the vertical by the same angle in opposite directions, thereby effectively increasing the wheel center distance of the two rotating wheel mechanisms.

[0123] Based on the above, in the present application, by having the two rotating wheel mechanisms have the same absolute value of the roll angle and opposite directions of the roll angle in the second wheelbase state, when the wheeled robot is in a balancing car motion mode and needs to perform a specific task / is in a bicycle motion mode and needs to enhance the safety factor and stability, the wheel center distance of the two rotating wheel mechanisms can be simply, conveniently and effectively increased by tilting the two rotating wheel mechanisms in opposite directions by a certain angle (same angle value).

[0124] In some embodiments, the rotating wheel mechanism 300 can be described in more detail, for example, with reference to Figure 2A , wherein the rotating wheel mechanism 300 includes a wheel assembly 310 and a wheel mounting assembly 320 , and the wheel mounting assembly 320 is connected to the wheel assembly 310 .

[0125] The wheel mounting assembly refers to a component part used to assemble the wheel assembly with the wheel connection mechanism. According to actual needs, the wheel mounting assembly 320 may include, for example: a connection seat 321, which may be pivotally connected to the rotating axle 311 of the wheel assembly, so that the rotating axle 311 can rotate independently inside the connection seat 321; and a coupling assembly 322, which may be pivotally connected to the connection seat 321. The coupling assembly is, for example, a rectangular shell structure to engage with the wheel connection mechanism.

[0126] Among them, Figure 2A As shown, the wheel connection mechanism is fixedly connected to the wheel mounting assembly. Specifically, for example, one end of a connecting rod in the wheel connection mechanism is pivotally arranged on one side of the wheel mounting assembly to achieve control of the roll angle of the wheel mounting assembly and the rotating wheel mechanism.

[0127] Based on the above, in the case where the rotating wheel mechanism includes a wheel assembly and a wheel mounting assembly connected to the wheel assembly, by setting the wheel connecting mechanism fixedly connected to the wheel mounting assembly, on the one hand, it is possible to well control the roll angle of the rotating wheel, and on the other hand, it is also possible to reduce the interference of the wheel connecting mechanism with the rotation of the wheel assembly itself.

[0128] In some embodiments, the wheel mounting assembly 320 includes: a wheel control assembly, the wheel control assembly includes a control motor, and the control motor is configured to control the layout direction of the wheel assembly. For example, the wheel control assembly can be arranged inside the aforementioned joint assembly, for example, the joint assembly is a rectangular shell, and the wheel control assembly is arranged inside the rectangular shell.

[0129] The layout direction can be represented by, for example, the direction of the wheel center axis of the wheel assembly. Figure 7 Two different layout directions of a wheeled robot according to an embodiment of the present disclosure are shown. Specifically, for example, in a first layout direction, the two wheel assemblies are arranged in parallel in the forward direction of the wheeled robot, and in a second layout direction, the two wheel assemblies are collinear and arranged sequentially along the forward direction of the wheeled robot.

[0130] In some embodiments, the wheel control assembly, for example, may be described in more detail. Figure 8 An exploded view of a wheel control assembly according to an embodiment of the present disclosure is shown.

[0131] The wheel mounting assembly includes, for example, the aforementioned connection seat 321, the coupling assembly 322, and a wheel control assembly disposed inside the coupling assembly. Figure 8Specifically, the wheel control assembly includes, for example: a control motor 323 , a control motor seat 324 , a deep groove ball bearing 325 , and a rotating shaft 326 .

[0132] The control motor 323 is mounted on the control motor seat 324 via a deep groove ball bearing 325, and when the roll angle of the rotating wheel mechanism is 0 degrees, the rotation axis of the control motor extends in a vertical direction. The rotating shaft 326 is connected to the control motor 323 and is configured to rotate together with the control motor. The rotating shaft 326 is further connected to the connecting seat 321.

[0133] Based on this, the control motor 323 can, for example, control the wheel assembly 310 to rotate to change the layout direction of the wheel assembly 310. Specifically, when the wheel assembly of the wheeled robot is in Figure 7 When the wheeled robot is in the first layout direction (the wheeled robot is in the balance car motion mode), if it is necessary to switch it to the second layout direction (even if the wheeled robot is in the bicycle motion mode), at this time, for example, the control motor 323 can be controlled to rotate 90 degrees, thereby driving the rotating shaft 326 to rotate 90 degrees, and making the connecting seat 321 and the wheel assembly connected to the connecting seat rotate 90 degrees, thereby adjusting the layout of the two wheel assemblies from parallel arrangement to colinear arrangement, thereby realizing the adjustment of the layout direction of the wheel assembly.

[0134] Based on the above, by setting the wheel control component to include a control motor, and adjusting the layout direction of the wheel component through the control motor, the setting direction of the wheel component can be adjusted flexibly and conveniently, and the wheeled robot can switch between different movement modes.

[0135] For example, in some embodiments, the wheel control component is configured to control the wheel component to have a first layout direction in a first motion mode of the wheeled robot; and to control the wheel component to have a second layout direction different from the first layout direction in a second motion mode of the wheeled robot, so that the motion mode of the wheeled robot can be switched simply and conveniently by controlling the motor.

[0136] It should be understood that the first layout direction and the second layout direction are only used to distinguish two different layouts and are not intended to limit them. The embodiments of the present disclosure are not limited by the specific contents of the first and second layout directions.

[0137] For example, refer to Figure 7 The first motion mode may be a balancing vehicle motion mode, and in the first layout direction, two wheel assemblies are arranged in parallel in the forward direction of the wheeled robot.

[0138] For example, continue to refer to Figure 7 , the second motion mode is a bicycle motion mode, and in the second layout direction, the two wheel assemblies are collinear and arranged in sequence along the forward direction of the wheeled robot.

[0139] Based on the above, by setting the first motion mode to the balance vehicle motion mode and the second motion mode to the bicycle motion mode, the wheeled robot can be switched between the balance vehicle motion mode (two wheels arranged in parallel) and the bicycle motion mode (two wheels arranged front and back in sequence) according to actual needs, which is conducive to meeting the different usage needs of users and achieving different motion tasks.

[0140] In some embodiments, the main body includes a first mounting portion and a second mounting portion corresponding to two sides of the rotating wheel mechanism, wherein the first mounting portion corresponds to the first side of the rotating wheel mechanism, and the second mounting portion corresponds to the second side of the rotating wheel mechanism.

[0141] It should be understood that the mounting portion refers to a portion of the main body used for assembling with the wheel module, and the first mounting portion and the second mounting portion are only used to distinguish the mounting portions at different positions of the main body.

[0142] For example, refer to Figure 1 and Figure 3 , in which the subject has Figure 3 In the structure shown, the fixing plate is the mounting portion, and the fixing plate includes, for example: a first fixing plate 114A corresponding to the first side of the rotating wheel mechanism, which serves as the first mounting portion; and a second fixing plate 114B arranged on the second side of the rotating wheel mechanism, which serves as the second mounting portion.

[0143] One end of the wheel connection mechanism 200 is connected to the first side of the rotating wheel mechanism, and the other end is disposed on the first mounting portion.

[0144] In the present application, by setting one end of the wheel connecting mechanism to be connected to the first side of the rotating wheel mechanism and the other end to be set on the first mounting portion, it is possible to facilitate the positioning of the wheel connecting mechanism compared to the rotating wheel mechanism and the main body, thereby stably and reliably connecting the rotating wheel mechanism to the main body.

[0145] In some embodiments, reference Figure 1 and Figure 2A The wheeled module further includes an auxiliary wheel connection mechanism 400, one end of which is disposed on the second side of the rotating wheel mechanism, and the other end of which is disposed on the second mounting portion.

[0146] Reference Figure 1, where for example an auxiliary wheel connection mechanism and a second fixed plate 114B (as a second mounting portion) are shown, and one end of the auxiliary wheel connection mechanism is arranged on the second fixed plate 114B, and the other end is arranged on the second side of the rotating wheel mechanism corresponding to the second fixed plate.

[0147] In the present application, an auxiliary wheel connection mechanism is provided, so that on the basis of firmly connecting the first side of the rotating wheel mechanism to the main body through the wheel connection mechanism and controlling the deflection angle posture of the rotating wheel mechanism, the other side of the rotating wheel mechanism is further firmly connected to the main body through the auxiliary wheel connection mechanism, thereby facilitating a good assembly of the wheel module and the main body, and in the event that the wheel connection mechanism is accidentally damaged, the connection between the rotating wheel mechanism and the main body can also be achieved through the auxiliary wheel connection mechanism to prevent the rotating wheel mechanism from slipping out or falling out.

[0148] In some embodiments, reference Figure 1 and Figure 2A The auxiliary wheel connection mechanism 400 includes an auxiliary link 410, one end of which is pivotally connected to the second mounting portion, and the other end of which is pivotally connected to the second side of the rotating wheel mechanism.

[0149] Fig. 9 FIG. 1 shows an exploded view of an auxiliary connecting rod according to an embodiment of the present disclosure. Fig. 9 The auxiliary link 410 is, for example, two auxiliary links, and the first end of the auxiliary link 410 is, for example, mounted to the first auxiliary link seat 420, and fixedly mounted to the second mounting portion of the main body via the mounting surface 421 of the first auxiliary link seat 420. The second end of the auxiliary link is, for example, mounted to the second auxiliary link seat 430, and fixedly mounted to the second side of the rotating wheel mechanism via the mounting surface 431 of the second auxiliary link seat 430.

[0150] The installation process of the auxiliary connecting rod and the first and second auxiliary connecting rod seats can be described in more detail. The installation method of the second end of the auxiliary connecting rod and the second auxiliary connecting rod seat is now described as an example. The second end of the auxiliary connecting rod is installed to the second auxiliary connecting rod seat and is well positioned in the second auxiliary connecting rod seat through the cooperation of the locking screw 440, the screw 450 and the side bearing 460. The gap can be reduced and the transmission accuracy can be improved by connecting with the screw and the locking screw.

[0151] It should be understood that the connecting rod and the auxiliary connecting rod can be installed in the same manner to achieve a pivotable connection with the rotating wheel mechanism, or the connecting rod and the auxiliary connecting rod can be installed in different manners to achieve a connection with the rotating wheel mechanism.

[0152] Based on the above, in the present application, the auxiliary wheel connection mechanism is configured as an auxiliary connecting rod whose two ends are pivotally connected to the second mounting portion and the second side of the rotating wheel mechanism, so that the auxiliary connecting rod can flexibly rotate in response to the posture adjustment of the rotating wheel mechanism.

[0153] The present application uses specific words to describe the embodiments of the present application. For example, "first / second embodiment", "one embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0154] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined as such herein.

[0155] The above is an explanation of the present invention and should not be considered as a limitation thereof. Although several exemplary embodiments of the present invention have been described, it will be readily appreciated by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present invention. Therefore, all such modifications are intended to be included within the scope of the present invention as defined in the claims. It should be understood that the above is an explanation of the present invention and should not be considered as being limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present invention is defined by the claims and their equivalents.

Claims

1. A wheel connection mechanism for a wheeled robot, wherein one end of the wheel connection mechanism is connected to a rotating wheel mechanism of the wheeled robot, and the other end is connected to a body of the wheeled robot to mount the rotating wheel mechanism to the body; And among them, The wheel connection mechanism is configured to be electrically connected to a controller of the main body and to control the posture of the rotating wheel mechanism based on a control command of the controller; The posture of the rotating wheel mechanism includes the roll angle of the rotating wheel mechanism; Wherein, the wheel connection mechanism comprises: an adjustment drive assembly fixed to the main body; a posture adjustment assembly, one end of which is connected to the adjustment drive assembly and the other end of which is connected to the rotating wheel mechanism; the adjustment drive assembly is configured to drive the posture adjustment assembly to move in response to the control command; Wherein, the adjustment drive assembly comprises an adjustment drive motor and a pulley assembly, the adjustment drive motor is fixed to the main body and electrically connected to the controller, and the pulley assembly is connected to the motor shaft of the adjustment drive motor; Wherein, the posture adjustment assembly comprises a connecting rod, one end of which is fixed to the pulley assembly, and the other end of which is pivotally connected to the rotating wheel mechanism; When the adjustment drive motor rotates in response to the control command and causes the pulley assembly to rotate, the roll angle of the rotating wheel mechanism is adjusted through the connecting rod.

2. The wheel connection mechanism according to claim 1, wherein: The pulley assembly is connected to the motor shaft of the adjustment drive motor to rotate together with the motor shaft; And wherein, the rotation axis of the pulley assembly is parallel to the rotation axis of the motor shaft of the drive motor, and is perpendicular to the center line of the rotating wheel mechanism.

3. The wheel connection mechanism according to claim 2, wherein: The pulley assembly comprises: A driving pulley assembly, the driving pulley assembly comprising a driving pulley shaft and a driving pulley sleeved on the driving pulley shaft, the driving pulley shaft being fixedly connected to the motor shaft of the driving motor and rotating together with the driving motor; A driven pulley assembly comprises a driven pulley shaft and a driven pulley sleeved on the driven pulley shaft, wherein the driven pulley is connected to the driving pulley via a synchronous belt.

4. The wheel connection mechanism according to claim 1, wherein: The wheel connection mechanism is configured to control the roll angle of the rotating wheel mechanism to be within the range of -30° to +30°.

5. The wheel connection mechanism according to claim 1, wherein: The wheel connection mechanism is configured to control the roll angle of the rotating wheel mechanism to be within the range of -15° to +15°.

6. The wheel connection mechanism according to claim 1, wherein: The rotating wheel mechanism comprises: wheel assembly; and a wheel mounting assembly connected to the wheel assembly; Wherein, the wheel connecting mechanism is fixedly connected to the wheel mounting assembly.

7. A wheeled robot comprising: a main body, wherein the controller is disposed inside the main body; Two wheel modules, the two wheel modules are mounted to the body, and each of the two wheel modules comprises: Rotating wheel mechanism; A wheel connection mechanism according to any one of the preceding claims 1-4.

8. The wheeled robot according to claim 7, wherein: The wheel connection mechanism is configured to selectively control the two rotating wheel mechanisms in the two wheel modules to be in a first wheel-track state or a second wheel-track state according to the control command, and in the second wheel-track state, the wheel center distance between the two rotating wheel mechanisms is greater than the wheel center distance between the two rotating wheel mechanisms in the first wheel-track state.

9. The wheeled robot according to claim 8, wherein: In the first wheelbase state, the roll angles of the two rotating wheel mechanisms are both zero.

10. The wheeled robot according to claim 8, wherein: In the second wheelbase state, the two rotating wheel mechanisms have the same absolute value of the roll angle and opposite directions of the roll angle.

11. The wheel connection mechanism according to claim 8, wherein: The rotating wheel mechanism comprises: wheel assembly; and a wheel mounting assembly connected to the wheel assembly; Wherein, the wheel connecting mechanism is fixedly connected to the wheel mounting assembly.

12. The wheeled robot according to claim 11, wherein: The wheel installation assembly includes: a wheel control assembly, the wheel control assembly includes a control motor, and the control motor is configured to control the layout direction of the wheel assembly.

13. The wheeled robot according to claim 12, wherein: The wheel control component is configured to control the wheel component to have a first layout direction in a first movement mode of the wheeled robot; and to control the wheel component to have a second layout direction different from the first layout direction in a second movement mode of the wheeled robot.

14. The wheeled robot according to claim 13, wherein: The first motion mode is a balancing vehicle motion mode, and in the first layout direction, two wheel assemblies are arranged in parallel in the forward direction of the wheeled robot.

15. The wheeled robot according to claim 13, wherein: The second motion mode is a bicycle motion mode, and in the second layout direction, the two wheel assemblies are collinear and arranged in sequence along the forward direction of the wheeled robot.

16. According to the wheeled robot according to claim 7, the main body includes a first mounting portion and a second mounting portion respectively corresponding to the two sides of the rotating wheel mechanism, the first mounting portion corresponds to the first side of the rotating wheel mechanism, and the second mounting portion corresponds to the second side of the rotating wheel mechanism; and one end of the wheel connecting mechanism is connected to the first side of the rotating wheel mechanism, and the other end is arranged on the first mounting portion.

17. The wheeled robot according to claim 16, wherein: The wheel module further comprises an auxiliary wheel connection mechanism, one end of which is arranged on the second side of the rotating wheel mechanism, and the other end of which is arranged on the second mounting portion.

18. The wheeled robot according to claim 17, wherein: The auxiliary wheel connection mechanism comprises: An auxiliary link, one end of which is pivotally fixed to the second mounting portion, and the other end of which is pivotally connected to the second side.

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