Multi-degree-of-freedom driving wheel and mobile platform

Abstract

The application relates to a multi-degree-of-freedom driving wheel and a mobile platform. The multi-degree-of-freedom driving wheel comprises a steering mechanism, an eccentric mechanism and a rotating wheel mechanism. The steering mechanism comprises a first driving part rotating around a first direction. The eccentric mechanism is connected to the first driving part and rotates around the first direction with the first driving part. The eccentric mechanism comprises a second driving part rotating around a second direction. The rotating wheel mechanism is connected to the second driving part. The rotating wheel mechanism comprises a connecting part, a third driving part fixed to the connecting part and a rotating wheel assembly rotatingly connected to the connecting part. An end of the connecting part away from the rotating wheel assembly is connected to the second driving part and rotates with the second driving part. The third driving part is used for driving the rotating wheel assembly to rotate. In the above manner, the multi-degree-of-freedom driving wheel realizes multi-degree-of-freedom movement, the moment of inertia of the rotating wheel assembly is reduced, and the control of the multi-degree-of-freedom driving wheel is more sensitive.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile platform, in particular to a multi-degree-of-freedom driving wheel and a mobile platform. BACKGROUND

[0002] At present, the mobile platform usually adopts one of the following combinations: two driving wheels and two universal wheels, or four Mecanum wheels, to realize multi-degree-of-freedom motion of the mobile platform. SUMMARY

[0003] The present application provides a multi-degree-of-freedom driving wheel and a mobile platform.

[0004] The present application provides a multi-degree-of-freedom driving wheel, comprising:

[0005] A steering mechanism comprising a first driving member rotating around a first direction;

[0006] An eccentric mechanism connected to the first driving member and rotating around the first direction with the first driving member; the eccentric mechanism comprises a second driving member rotating around a second direction; and

[0007] A rotating wheel mechanism connected to the second driving member, the rotating wheel mechanism comprising a connecting member, a third driving member fixed to the connecting member, and a rotating wheel assembly rotatably connected to the connecting member;

[0008] Wherein, one end of the connecting member away from the rotating wheel assembly is connected to the second driving member and rotates with the second driving member, and the third driving member is used to drive the rotating wheel assembly to rotate.

[0009] The multi-degree-of-freedom driving wheel provided by the present application is connected to the second driving member through the rotating wheel mechanism, so that the rotating wheel mechanism can rotate around the second direction; the second driving member is connected to the first driving member, so that the rotating wheel mechanism can rotate around the first direction, and the rotating wheel mechanism can rotate around the first direction and / or the second direction, so that the multi-degree-of-freedom driving wheel realizes multi-degree-of-freedom motion, the moment of inertia of the rotating wheel assembly is reduced, and the control of the multi-degree-of-freedom driving wheel is more sensitive. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0011] Figure 1 is a perspective view of the mobile platform provided by the present application;

[0012] Figure 2 is Figure 1 a front view schematic diagram of a first state of the mobile platform shown in FIG. 1;

[0013] Figure 3 is Figure 1 a top view schematic diagram of a second state of the mobile platform shown in FIG. 2;

[0014] Figure 4 is Figure 1 a top view schematic diagram of a third state of the mobile platform shown in FIG. 3;

[0015] Figure 5 is Figure 1 a top view schematic diagram of a fourth state of the mobile platform shown in FIG. 4;

[0016] Figure 6 is Figure 1 a perspective view schematic diagram of a multi-degree-of-freedom driving wheel in the mobile platform shown in FIG. 5;

[0017] Figure 7 is Figure 6 an exploded view schematic diagram of the multi-degree-of-freedom driving wheel shown in FIG. 6;

[0018] Figure 8 is Figure 7 an exploded view schematic diagram of a steering mechanism in the multi-degree-of-freedom driving wheel shown in FIG. 7;

[0019] Figure 9 is Figure 6 a perspective view schematic diagram of a first driving member, a second driving member and a second adapter in the multi-degree-of-freedom driving wheel shown in FIG. 8;

[0020] Figure 10 is Figure 6 a perspective view schematic diagram of a third driving member and a first gear in a wheel rotating mechanism of the multi-degree-of-freedom driving wheel shown in FIG. 9;

[0021] Figure 11 is Figure 6 an exploded view schematic diagram of the multi-degree-of-freedom driving wheel shown in FIG. 10;

[0022] Figure 12 is Figure 11 an exploded view schematic diagram of a wheel rotating assembly shown in FIG. 11;

[0023] Figure 13 is Figure 7 a perspective view schematic diagram of another embodiment of the multi-degree-of-freedom driving wheel shown in FIG. 12;

[0024] Figure 14 is Figure 6 a front view schematic diagram of a deformation of a transmission assembly in a wheel rotating mechanism of the multi-degree-of-freedom driving wheel shown in FIG. 13;

[0025] Figure 15 isFigure 6 Fig. 2 is a front view of a wheel rotation mechanism of the multi-DOF driving wheel shown in Fig. 1 in a deformed state. DETAILED DESCRIPTION

[0026] The application will be described in further detail below with reference to the drawings and embodiments. It is particularly pointed out that the following embodiments are only for illustrating the application, but do not limit the scope of the application. Similarly, the following embodiments are only part of the embodiments of the application, and all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0027] Reference herein to "embodiment" means that the particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments, or alternative or alternative embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0028] The current mobile platform is mostly composed of two driving wheels and two universal wheels, omni-directional wheels, or four Mecanum wheels to realize the free steering and driving of the mobile platform. Specifically, the two driving wheels and two universal wheels realize steering by different rotating speeds of the two driving wheels, but the platform cannot realize self-rotation, that is, steering in a narrow space is greatly affected. The omni-directional wheel platform, whether three or four omni-directional wheels, needs to be arranged in a triangular or fork shape in order to achieve multiple motion modes, so that the space required is larger than that of a conventional chassis. Mecanum wheels can solve all the above motion modes, but are limited to motion in a plane and cannot achieve spatial motion, and the efficiency of Mecanum wheels is lower than that of conventional tires. Therefore, it is necessary to provide a new multi-DOF driving wheel and mobile platform.

[0029] Please refer to Figures 1 to 5 , Figure 1 is a perspective view of a mobile platform provided by an embodiment of the application, Figure 2 is Figure 1 a front view of a mobile platform in a first state shown in Fig. 1, Figure 3 is Figure 1 a top view of a mobile platform in a second state shown in Fig. 1, Figure 4 is Figure 1 a top view of a mobile platform in a third state shown in Fig. 1, Figure 5 is Figure 1The fourth state of the mobile platform is shown in the top view. The embodiment of the present application provides a new mobile platform 1000, which comprises a platform part 200 and a plurality of multi-degree-of-freedom driving wheels 100 fixed to the platform part 200. The plurality of multi-degree-of-freedom driving wheels 100 can drive the platform part 200 to move forward, backward, rotate in place, and lift, etc. In the embodiment, the mobile platform 1000 comprises four multi-degree-of-freedom driving wheels 100, so that the mobile platform 1000 can use the least number of multi-degree-of-freedom driving wheels 100 to realize the balance of the platform part 200. In other embodiments, the mobile platform 1000 can also comprise six, eight, etc. multi-degree-of-freedom driving wheels 100, which are not listed one by one here.

[0030] Specifically, the platform part 200 can comprise a top surface 201 and a bottom surface 202 opposite to each other, and the bottom surface 202 can be provided with a fixing structure corresponding to each of the plurality of multi-degree-of-freedom driving wheels 100. The multi-degree-of-freedom driving wheel 100 can be fixed to the platform part 200 through the corresponding fixing structure. Specifically, each fixing structure (not shown in the figure) comprises a plurality of first connecting holes (not shown in the figure) arranged on the bottom surface 202. The multi-degree-of-freedom driving wheel 100 is connected to the platform part 200 by passing through the multi-degree-of-freedom driving wheel 100 and the corresponding first connecting hole through a fixing member.

[0031] Please refer to Figure 6 and Figure 7 , Figure 6 is Figure 1 the mobile platform, a three-dimensional schematic view of the multi-degree-of-freedom driving wheel is shown, Figure 7 is Figure 6 an exploded schematic view of the multi-degree-of-freedom driving wheel. The multi-degree-of-freedom driving wheel 100 can comprise a steering mechanism 10, an eccentric mechanism 20, and a rotating wheel mechanism 30. The steering mechanism 10 can comprise a first driving member 11 rotating around a first direction, and the eccentric mechanism 20 is connected to the first driving member 11 and rotates around the first direction with the first driving member 11. The eccentric mechanism 20 can comprise a second driving member 21 rotating around a second direction, and the rotating wheel mechanism 30 is connected to the second driving member 21, so that the rotating wheel mechanism 30 can rotate around the second direction with the second driving member 21.

[0032] It should be noted that the terms "first", "second", "third" in the present application are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", "third" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0033] It can be understood that when the first driving member 11 is started and the second driving member 21 is closed, the rotating wheel mechanism 30 rotates around the first direction (as shown inFigure 2 and Figure 3 When the first driving member 11 is closed and the second driving member 21 is started, the rotating wheel mechanism 30 rotates in the second direction; when the first driving member 11 and the second driving member 21 are started at the same time, the rotating wheel mechanism 30 rotates in the first direction and the second direction at the same time (as shown in Figure 4 and Figure 5 When the first driving member 11 and the second driving member 21 are closed at the same time, the state of the rotating wheel mechanism 30 remains unchanged.

[0034] In this embodiment, the first direction is perpendicular to the bottom surface 202, and the second direction is perpendicular to the first direction, that is, the second direction is parallel to the bottom surface 202. It can be understood that the first direction is perpendicular to the bottom surface 202, which can realize the rotating wheel mechanism 30 to turn around in place. When the rotating wheel mechanisms 30 of the plurality of multi-degree-of-freedom driving wheels 100 turn around at the same time, the mobile platform 1000 can turn around in place. The second direction is perpendicular to the first direction, which can realize the rotating wheel mechanism 30 to approach or move away from the bottom surface 202. When the rotating wheel mechanisms 30 of the plurality of multi-degree-of-freedom driving wheels 100 cooperate with each other, the mobile platform 1000 can not only realize normal forward movement, backward movement, and self-rotation, but also realize other movement modes such as pitching, yawing, and rolling, which can adjust the height of the center of gravity of the mobile platform 1000. In other embodiments, the first direction can be arranged at an angle with the second direction. For example, the first direction can be perpendicular to the bottom surface 202, and the second direction can be arranged at an angle with the bottom surface 202; or the first direction can be arranged at an acute angle with the bottom surface 202, and the second direction can be parallel to the bottom surface 202, and the like, which are not listed one by one.

[0035] It can be understood that by combining the steering mechanism 10 and the eccentric mechanism 20, the plurality of multi-degree-of-freedom driving wheels 100 can be moved to the center of the platform part 200, so that the plurality of multi-degree-of-freedom driving wheels 100 are compact in structure, so as to adapt to narrow space; or the plurality of multi-degree-of-freedom driving wheels 100 can be completely unfolded, so that the stability of the mobile platform 1000 is good. Of course, the plurality of multi-degree-of-freedom driving wheels 100 can also be in other cooperation forms, which are not listed one by one.

[0036] Please refer to Figure 8 , Figure 8 is Figure 7 the exploded view of the steering mechanism in the multi-degree-of-freedom driving wheel. Specifically, the steering mechanism 10 can not only include the first driving member 11, but also include the first adapter 12, and the first driving member 11 is fixed to the bottom surface 202 of the platform part 200 through the first adapter 12.

[0037] It can be understood that the first driving member 11 rotates around the first direction to make the multi-degree-of-freedom driving wheel 100 turn in place, and thus the first driving member 11 can rotate within a certain angle range, for example, 360°. Specifically, the first driving member 11 can be one of a driving motor and a rotary cylinder, which is not specifically limited here. When the first driving member 11 is a driving motor, the driving motor is a large-torque, low-speed driving motor, so that the turning performance of the first driving member 11 is reliable and the turning angle is accurate.

[0038] The first adapter 12 can include a first adapter plate 121 and a plurality of first adapter portions 122 fixed to one side surface of the first adapter plate 121, wherein the first adapter plate 121 is arranged corresponding to the fixed structure and the surface of the first adapter plate 121 away from the first adapter portions 122 is attached to the bottom surface 202. Specifically, the edge of the first adapter plate 121 is provided with a plurality of second connecting holes 1211, and the plurality of second connecting holes 1211 on each first adapter plate 121 correspond one by one to the plurality of first connecting holes on one fixed structure. The first adapter plate 121 is sequentially arranged in the second connecting hole 1211 and the corresponding first connecting hole by a fixing member such as a screw, so that the first adapter plate 121 is fixed with the platform portion 200.

[0039] The first adapter portion 122 is provided with a first adapter hole 1221, and the first adapter hole 1221 is arranged through the first adapter hole 1221 and the first driving member 11 by a fixing member such as a screw, so that the first adapter 12 is fixedly connected with the first driving member 11.

[0040] Further, the first adapter portion 122 is provided with a receiving groove 1222 corresponding to the first adapter hole 1221, the receiving groove 1222 is communicated with the first adapter hole 1221, and the fixing member such as a screw is arranged in the first adapter hole 1221 and the end portion of the fixing member is accommodated in the receiving cavity, so that the end portion of the fixing member does not protrude from the receiving cavity, so that the connection structure of the fixing member and the first adapter portion 122 is compact.

[0041] The first driving member 11 can include first and second end faces 111 and 112 arranged opposite to each other, and the rotation shaft of the first driving member 11 is connected to the second end face 112, and the first end face 111 is fixed with the first adapter 12, so that the first driving member 11 is connected with the platform portion 200 through the first adapter 12. Wherein, the rotation shaft of the first driving member 11 is perpendicular to the first adapter plate 121.

[0042] Specifically, the first driving member 11 further comprises a plurality of second adapter portions 113 on the first end face 111, and the second adapter portions 113 correspond to the first adapter portions 122 one by one. The second adapter portions 113 are provided with second adapter holes 1131 corresponding to the first adapter holes 1221, and the first adapter 12 is arranged in the first adapter hole 1221 and the corresponding second adapter hole 1131 through the fixing member, so that the first adapter portion 122 is connected to the second adapter portion 113, and then the first adapter 12 is fixed to the first driving member 11.

[0043] The steering mechanism 10 further comprises a first shaft disc 13 parallel to the second end face 112, and the first shaft disc 13 is coaxially arranged and fixedly connected with the rotating shaft of the first driving member 11. The first driving member 11 can drive the first shaft disc 13 to rotate in the first direction. The first shaft disc 13 can be connected with the eccentric mechanism 20, so that the eccentric mechanism 20 rotates in the first direction.

[0044] Specifically, the first shaft disc 13 can be provided with a plurality of first shaft holes 131, and the first shaft holes 131 can be arranged in the first shaft hole 131 and the eccentric mechanism 20 through the fixing member such as a screw, so that the first shaft disc 13 is connected with the eccentric mechanism 20, and then the connection between the eccentric mechanism 20 and the first driving member 11 is realized. It can be understood that the first shaft disc 13 is arranged, so that the reliability and stability of the fixed connection between the first driving member 11 and the eccentric mechanism 20 are better.

[0045] Please refer to Figure 9 , Figure 9 is Figure 6 the three-dimensional schematic view of the first driving member, the second driving member and the second adapter in the multi-degree-of-freedom driving wheel. The eccentric mechanism 20 not only comprises the second driving member 21, but also comprises the second adapter 22. The second driving member 21 is fixed with the first shaft disc 13 through the second adapter 22, so that the second driving member 21 and the first adapter 12 rotate in the first direction under the driving of the first driving member 11.

[0046] It can be understood that the second driving member 21 rotates in the second direction, which is used for adjusting the height of the rotating wheel mechanism 30 in the direction perpendicular to the bottom surface 202 (i.e. the vertical direction), so the second driving member 21 can rotate within a certain angle range, for example, 180° or 360°, which is not limited here. Specifically, the second driving member 21 can be one of a driving motor and a rotary cylinder, which is not limited here. When the second driving member 21 is a driving motor, the driving motor is a large-torque and low-speed driving motor, so that the second driving member 21 has reliable steering performance and accurate rotation angle.

[0047] The second driving member 21 can include a third end surface 211 and a fourth end surface 212 arranged opposite to each other, and the third end surface 211 is fixed with the second adapter 22 to realize the fixation of the second driving member 21 and the second adapter 22. The rotation shaft of the second driving member 21 is connected to the third end surface 211.

[0048] Specifically, a plurality of first end holes 2111 are arranged on the third end surface 211, and the second driving member 21 is connected with the second adapter 22 through a fixing member such as a screw passing through the first end holes 2111 and the second adapter 22.

[0049] The second adapter 22 includes a second adapter plate 221 and a third adapter plate 222 connected to the second adapter plate 221 perpendicularly, and the second adapter plate 221 is fixedly connected with the first shaft disc 13, and the third adapter plate 222 is fixed with the second driving member 21.

[0050] Specifically, a plurality of second shaft holes 2211 are arranged on the second adapter plate 221, and the plurality of second shaft holes 2211 correspond to the plurality of first shaft holes 131 one by one. The second adapter plate 221 is fixedly connected with the first shaft disc 13 by passing through the second shaft holes 2211 and the corresponding first shaft holes 131 through a fixing member such as a screw, thereby realizing the fixation of the eccentric mechanism 20 and the first driving member 11.

[0051] A plurality of second end holes 2221 are arranged on the third adapter plate 222, and the plurality of second end holes 2221 correspond to the plurality of first end holes 2111 one by one. The third adapter plate 222 is fixed with the second driving member 21 by passing through the second end holes 2221 and the corresponding first end holes 2111 through a fixing member such as a screw, thereby realizing the connection of the third adapter plate 222 and the second driving member 21.

[0052] The third adapter plate 222 is provided with a through hole 2222, and the through hole 2222 can be used to accommodate the rotation shaft of the second driving member 21. The runner mechanism 30 is located on the side of the third adapter plate 222 away from the second driving member 21, and is fixed with the rotation shaft of the second driving member 21, so that the runner mechanism 30 can be driven by the second driving member 21 to rotate in the second direction.

[0053] The eccentric mechanism 20 further includes a second shaft disc 23 parallel to the third end surface 211. The second shaft disc 23 is coaxially arranged and fixedly connected with the rotation shaft of the second driving member 21, and the second shaft disc 23 can be accommodated in the through hole 2222. The second driving member 21 can drive the second shaft disc 23 to rotate in the second direction. The second shaft disc 23 can be connected with the runner mechanism 30, so that the eccentric mechanism 20 rotates in the first direction.

[0054] Specifically, the second shaft disc 23 can be provided with a plurality of third shaft holes 231, and the third shaft holes 231 can be penetrated by fixing members such as screws to be penetrated in the third shaft holes 231 and the rotating wheel mechanism 30, so that the second shaft disc 23 is connected with the rotating wheel mechanism 30, and then the rotating wheel mechanism 30 is connected with the second driving member 21. It can be understood that the second shaft disc 23 is provided, so that the reliability and stability of the fixation of the first driving member 11 and the eccentric mechanism 20 are better.

[0055] Please refer to Figure 10 and Figure 11 , Figure 10 is Figure 6 the third driving member and the first gear are matched in the rotating wheel mechanism of the multi-degree-of-freedom driving wheel, Figure 11 is Figure 6 the exploded view of the multi-degree-of-freedom driving wheel. The rotating wheel mechanism 30 can include a connecting member 31 and a rotating wheel assembly 32 rotatably connected to one end of the connecting member 31. The end of the connecting member 31 away from the rotating wheel assembly 32 can be connected with the second driving member 21, so that the connecting member 31 and the rotating wheel assembly 32 connected to the connecting member 31 can rotate around the second direction.

[0056] Specifically, one end of the connecting member 31 can be fixed with the rotating shaft of the second driving member 21 or fixed with the second shaft disc 23, so that the other end of the connecting member 31 (i.e. the rotating wheel assembly 32) can rotate around the second direction with the rotating shaft of the second driving member 21 as the center, so that the rotating wheel assembly 32 can approach or move away from the bottom surface 202 of the platform portion 200, that is, to change the adjustment of the height of the rotating wheel assembly 32 in the first direction.

[0057] Please refer to Figure 12 , Figure 12 is Figure 11 the exploded view of the rotating wheel assembly. The rotating wheel assembly 32 includes a rim 321 and an elastic sleeve 322 sleeved on the rim 321. The rim 321 is rotatably connected with the connecting member 31, so that the rim 321 can rotate relative to the connecting member 31. The elastic sleeve 322 is sleeved on the rim 321, which is used to improve the damping performance of the rotating wheel assembly 32. Specifically, the material of the elastic sleeve 322 can be rubber.

[0058] The rim 321 can include a shaft portion 3211 and an outer ring portion 3212 coaxially arranged, and a spoke 3213 connecting the shaft portion 3211 and the outer ring portion 3212. The two ends of the spoke 3213 are used to support the shaft portion 3211 and the outer ring portion 3212, so as to reduce the weight of the rim 321. In the embodiment, the shaft portion 3211, the outer ring portion 3212 and the spoke 3213 are integrally formed, so as to facilitate machining and casting, and reduce assembly process. In other embodiments, the spoke 3213 can be detachably connected with the shaft portion 3211 and the outer ring portion 3212, so as to facilitate later maintenance.

[0059] Specifically, the surface of the outer ring part 3212 is provided with a first clamping structure 3214, the inner surface of the elastic sleeve 322 is provided with a second clamping structure 3221 corresponding to the first clamping structure 3214, the elastic sleeve 322 is sleeved on the outer surface of the rim 321, and the first clamping structure 3214 and the second clamping structure 3221 are clamped and connected, so as to improve the reliability of the connection between the elastic sleeve 322 and the rim 321.

[0060] Further, the first clamping structure 3214 can be one of a protrusion structure and a groove structure, the second clamping structure 3221 can be the other of the protrusion structure and the groove structure, the protrusion structure is clamped and accommodated in the groove structure, so that the first clamping structure 3214 and the second clamping structure 3221 are clamped and connected, thereby improving the reliability of the connection between the rim 321 and the elastic sleeve 322.

[0061] Please continue to refer to 7 and Figure 11 It can be understood that the rotating wheel mechanism 30 can be a non-powered mechanism, that is, the rotating wheel mechanism 30 can be driven by an external force or other driving structure, so that the rotating wheel assembly 32 can rotate. In the embodiment, the rotating wheel mechanism 30 can further include a third driving member 33, which can be fixed to the connecting member 31 and used to drive the rotating wheel assembly 32 to rotate.

[0062] Optionally, the third driving member 33 can be fixed to the end of the connecting member 31 away from the rotating wheel assembly 32, so that the third driving member 33 is separated from the rotating wheel assembly 32. On the one hand, the driving structure is separated from the rotating wheel assembly 32, so that the rotating wheel assembly 32 is simple in structure and convenient to install. On the other hand, the third driving member 31 is close to the platform part 200, so that the weight of the vehicle body is concentrated on the platform part 200, thereby reducing the moment of inertia of the rotating wheel assembly 32 and making the control of the multi-degree-of-freedom driving wheel 100 more sensitive.

[0063] In the embodiment, the rotating shaft of the third driving member 33 is coaxially arranged with the rotating shaft of the second driving member 21, so that the third driving member 33 can be driven to rotate by the second driving member 21. It can be understood that in this way, the connection between the rotating wheel mechanism and the eccentric mechanism is more compact, and the center is closer to the platform part 200.

[0064] Specifically, the rotating wheel mechanism 30 can further include a transmission assembly 34 arranged on the connecting member 31 and connected to the third driving member 33 and the rotating wheel assembly 32 respectively, so that the third driving member 33 can drive the rotating wheel assembly 32 to rotate through the transmission assembly 34.

[0065] Optionally, the third driving member 33 can be fixed with the second driving member 21 through the second shaft disc 23 and can rotate around the second direction under the driving of the second driving member 21. The connecting member 31 is fixed to one end of the third driving member 33 away from the second shaft disc 23, so that the connecting member 31 can rotate synchronously with the third driving member 33. In the embodiment, the rotation shaft of the third driving member 33 can be coaxially arranged with the rotation shaft of the second driving member 21, which on one hand makes the structure of the third driving member 33 and the second driving member 21 compact, facilitates the circuit wiring of the multi-degree-of-freedom driving wheel 100, and on the other hand avoids eccentric movement of the rotating wheel mechanism 30 when the second driving member 21 rotates around the second direction.

[0066] Please continue to refer to Figure 10 , specifically, the third driving member 33 can include a fifth end surface 331 and a sixth end surface 332, the rotation shaft of the third driving member 33 is connected to the sixth end surface 332, and the fifth end surface 331 can be fixed with the second shaft disc 23, so that the third driving member 33 is fixedly connected with the second driving member 21. Among them, the first through hole 311 is arranged on the connecting member 31, and the rotation shaft of the third driving member 33 can be arranged in the first through hole 311.

[0067] In yet another embodiment, the connecting member 31 can be fixed with the second driving member 21 through the second shaft disc 23 and can rotate around the second direction under the driving of the second driving member 21. The third driving member 33 is fixed to one side of the connecting member 31 away from the second shaft disc 23, and the rotation shaft of the third driving member 33 is coaxially arranged with the rotation shaft of the second driving member 21. In this way, on one hand, the structure of the third driving member 33 and the second driving member 21 is compact, facilitating the circuit wiring of the multi-degree-of-freedom driving wheel 100, and on the other hand, avoiding eccentric movement of the rotating wheel mechanism 30 when the second driving member 21 rotates around the second direction.

[0068] Specifically, the third driving member 33 can include a fifth end surface 331 and a sixth end surface 332, the rotation shaft of the third driving member 33 is connected to the sixth end surface 332, and the fifth end surface 331 can be fixed with the connecting member 31, so that the third driving member 33 is fixedly connected with the connecting member 31.

[0069] Please continue to refer to Figure 11 and Figure 13 , Figure 13 is Figure 7Figure 7 is a perspective view of another embodiment of the multi-degree-of-freedom driving wheel. In this embodiment, the transmission assembly 34 can include a first gear 341 and a second gear 342. The first gear 341 can be fixed to the rotating shaft of the third driving member 33 and rotate with the rotating shaft of the third driving member 33. The second gear 342 is rotatably connected to the connecting member 31 and fixed to the shaft portion 3211 of the rotating wheel assembly 32, so that the rotating wheel assembly 32 can rotate with the second gear 342. The first gear 341 can be engaged with the second gear 342, so that the third driving member 33 can drive the rotating wheel assembly 32 to rotate by engaging the first gear 341 with the second gear 342.

[0070] It can be understood that the diameters of the first gear 341 and the second gear 342 can be designed according to requirements. Specifically, when the diameter of the second gear 342 is smaller than the diameter of the first gear 341, the rotating speed of the second gear 342 is greater than the rotating speed of the first gear 341; when the diameter of the second gear 342 is greater than the diameter of the first gear 341, the rotating speed of the second gear 342 is less than the diameter of the first gear 341. That is, the rotating speed of the rotating wheel assembly 32 can be adjusted by adjusting the diameters of the first gear 341 and the second gear 342.

[0071] Please refer to Figure 11 Further, the first gear 341 and the second gear 342 are arranged in a spaced manner, that is, the first gear 341 cannot directly drive the second gear 342. The transmission assembly 34 can further include an intermediate member 343, which can be engaged with the first gear 341 and the second gear 342, respectively, so that the first gear 341 can be engaged with the second gear 342 through the intermediate member 343 to drive the second gear 342 to rotate, thereby enabling the third driving member 33 to drive the rotating wheel assembly 32 to rotate.

[0072] Specifically, the intermediate member 343 can be one of a single gear, a gear set, or a toothed belt 346. When the intermediate member 343 is a single gear, the intermediate member 343 is rotatably connected to the connecting rod and engaged with the first gear 341 and the second gear 342, respectively, so that the first gear 341 and the second gear 342 are engaged. When the intermediate member 343 is a gear set, the plurality of gears in the gear set can be rotatably connected to the connecting member 31, and the intermediate member 343 can not only engage the first gear 341 and the second gear 342, but also adjust the transmission ratio between the first gear 341 and the second gear 342. When the intermediate member 343 is a toothed belt 346, the intermediate member 343 is sleeved on the first gear 341 and the second gear 342, so that the first gear 341 can be engaged with the second gear 342.

[0073] It can be understood that the setting of the intermediate 343 can adjust the length of the connecting piece 31, and then adjust the activity range of the rotating wheel assembly 32 in the first direction (i.e. vertical direction). Wherein, the greater the length of the connecting piece 31, the greater the activity range of the multi-degree-of-freedom driving wheel 100 in the first direction; the smaller the length of the connecting piece 31, the smaller the activity range of the multi-degree-of-freedom driving wheel 100 in the first direction.

[0074] Optionally, the rotating wheel mechanism 30 can further include a bearing 35, and the end of the connecting piece 31 connected with the second gear 342 can be provided with a mounting hole 312 for fixing the bearing 35, and the bearing 35 is installed in the fixing hole. The second gear 342 is coaxially arranged with the bearing 35 and fixedly connected with the bearing 35, so as to reduce the friction between the second gear 342 and the connecting piece 31.

[0075] Please refer to Figure 14 , Figure 14 is Figure 6 the main view schematic diagram of a deformation of the transmission assembly in the rotating wheel mechanism of the multi-degree-of-freedom driving wheel. In another embodiment, the transmission assembly 34 can include a first transmission wheel 344, a second transmission wheel 345, and a belt 346 sleeved on the first transmission wheel 344 and the second transmission wheel 345. Wherein the first transmission wheel 344 is fixed with the rotating shaft of the third driving piece 33, the second transmission wheel 345 is rotatably connected with the connecting piece 31 and fixed with the rotating wheel assembly 32, the first transmission wheel 344 drives the second transmission wheel 345 to rotate through the belt 346, and then drives the rotating wheel assembly 32 to rotate.

[0076] It can be understood that the setting of the transmission assembly 34 makes the length of the connecting piece 31 freely adjustable according to user's demand, and then makes the activity range of the rotating wheel assembly 32 in the first direction (i.e. vertical direction) adjustable.

[0077] Please refer to Figure 15 , Figure 15 is Figure 6 the main view schematic diagram of a deformation of the rotating wheel mechanism of the multi-degree-of-freedom driving wheel. In another embodiment, the third driving piece 33 is fixed to the end of the connecting piece 31 arranged with the rotating wheel assembly 32; the rotating shaft of the third driving piece 33 is coaxially arranged with the rotating wheel assembly 32 and fixed, so that the third driving piece 33 drives the rotating wheel assembly 32 to rotate. In this way, the length of the connecting piece 31 can be freely adjusted according to the demand, without the need to increase new transmission structure.

[0078] The multi-degree-of-freedom driving wheel 100 provided by the embodiment of the present application is connected to the second driving member 21 through the rotating wheel mechanism 30, so that the rotating wheel mechanism 30 can rotate around the second direction; the rotating wheel mechanism 30 is connected to the first driving member 11 through the second driving member 21, so that the rotating wheel mechanism 30 can rotate around the first direction, and further, the rotating wheel mechanism 30 can rotate around the first direction and / or the second direction. In the above manner, the mobile platform 1000 can realize multiple moving modes such as forward movement, backward movement, self-rotation, pitching, yawing, rolling and the like.

[0079] The above only describes some embodiments of the present application, and does not limit the protection scope of the present application, and any equivalent device or equivalent process transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A multi-degree of freedom drive wheel, characterized by, The application relates to a multi-degree-of-freedom driving wheel. The multi-degree-of-freedom driving wheel comprises a steering mechanism, an eccentric mechanism and a rotating wheel mechanism. The steering mechanism comprises a first driving member rotating around a first direction. The eccentric mechanism is connected to the first driving member and rotates around the first direction with the first driving member. The eccentric mechanism comprises a second driving member rotating around a second direction. The rotating wheel mechanism is connected to the second driving member. The rotating wheel mechanism comprises a connecting member, a third driving member fixed to the connecting member and a rotating wheel assembly rotatably connected to the connecting member.

2. The multi-degree of freedom drive wheel of claim 1, wherein, One end of the connecting member away from the rotating wheel assembly is connected to the second driving member and rotates with the second driving member.

3. The multi-degree-of-freedom drive wheel according to any one of claims 1-2, characterized in that, The third driving member is used for driving the rotating wheel assembly to rotate.

4. The multi-degree of freedom drive wheel of claim 3, wherein, The second driving member comprises a third end surface.

5. The multi-degree of freedom drive wheel of claim 4, wherein, The eccentric mechanism comprises a second shaft disc parallel to the third end surface.

6. The multi-degree of freedom drive wheel of claim 5, wherein, The third driving member is fixed to the second driving member through the second shaft disc.

7. The multi-degree of freedom drive wheel of claim 3, wherein, The third driving member can rotate around the second direction with the second driving member.

8. The multi-degree-of-freedom drive wheel of any of claims 1-2, wherein, The connecting member is fixed to one end of the third driving member away from the second shaft disc, so that the connecting member can rotate synchronously with the third driving member.

9. A mobile platform, characterized by The rotating shaft of the third driving member is coaxially arranged with the rotating shaft of the second driving member. The first direction is perpendicular to the second direction. The third driving member is fixed to one end of the connecting member away from the rotating wheel assembly. The rotating wheel mechanism further comprises a transmission assembly connected to the connecting member and connected to the third driving member and the rotating wheel assembly respectively. The third driving member drives the rotating wheel assembly to rotate through the transmission assembly. The transmission assembly comprises a first gear and a second gear. The first gear is fixed to the rotating shaft of the third driving member. The second gear is rotatably connected to the connecting member and fixed to the rotating wheel assembly. The first gear drives the second gear to rotate, thereby driving the rotating wheel assembly to rotate. The first gear and the second gear are arranged in a spaced manner. The transmission assembly further comprises an intermediate member. The intermediate member is engaged with the first gear and the second gear respectively, so that the first gear can drive the second gear to rotate. The intermediate member is one of a gear, a gear set and a toothed belt. The transmission assembly comprises a first transmission wheel, a second transmission wheel and a belt sleeved on the first transmission wheel and the second transmission wheel. The first transmission wheel is fixed to the rotating shaft of the third driving member. The second transmission wheel is rotatably connected to the connecting member and fixed to the rotating wheel assembly. The first transmission wheel drives the second transmission wheel to rotate through the belt, thereby driving the rotating wheel assembly to rotate. The rotating shaft of the third driving member is coaxially arranged with the rotating wheel assembly and fixed, so that the third driving member drives the rotating wheel assembly to rotate. The application further relates to a platform. The platform is provided with a plurality of multi-degree-of-freedom driving wheels according to any one of claims 1-8. The multi-degree-of-freedom driving wheels are fixed to the platform.

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