Robot and wheel drive arrangement thereof

Abstract

The application provides a robot and a wheel driving device thereof, the device comprising: a machine body; at least two groups of driving wheel sets arranged on the machine body; each driving wheel set comprising a side swing motor and a steering mechanism, the side swing motor being fixed to the machine body, and an output shaft of the side swing motor being connected to the steering mechanism for driving the steering mechanism to swing around a first axis; the steering mechanism comprising a steering motor, a first support and a rotating assembly, the first support being connected to the output shaft of the side swing motor and the steering motor respectively, an output shaft of the steering motor being connected to the rotating assembly for driving the rotating assembly to rotate around a second axis; the first axis and the second axis being arranged at a non-parallel included angle; the rotating assembly comprising a rotating motor, a second support and a driving wheel, the second support being connected to the output shaft of the steering motor and the rotating motor respectively, an output shaft of the rotating motor being connected to the driving wheel for driving the driving wheel to rotate. The application can adjust the spatial position of the driving wheel to optimize the overall gravity center of the robot while keeping the structure compact.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot and its wheel drive device. Background Technology

[0002] With the development of smart home technology, mobile robots (such as robotic vacuum cleaners, companion robots, and security patrol robots) are increasingly being used in home environments. However, the home environment is highly unstructured, containing various complex terrains such as thresholds, carpet edges, stairs, and narrow furniture gaps, which places high demands on the robot's environmental adaptability and operational stability.

[0003] Currently, mainstream mobile robots used in home environments typically employ wheeled chassis, relying on drive wheels for movement on flat ground. To improve their performance on uneven terrain such as doorsteps and carpet edges, some existing technologies employ solutions such as lengthening tracks or increasing wheel diameter. However, such solutions significantly increase the overall size of the robot, making it difficult to enter low and narrow spaces such as under sofas and between furniture, severely weakening the robot's mobility and applicability in indoor environments.

[0004] Furthermore, existing wheeled chassis lack good on-the-spot rotation capability. Most differential steering chassis require a certain turning radius when turning, making it difficult for robots to flexibly adjust their working posture in narrow areas such as corners and under cabinets.

[0005] In addition, when the robot runs on uneven terrain such as thresholds, ramps, or the edges of stairs, the contact state between the drive wheels and the ground changes, resulting in an unreasonable distribution of the robot's center of gravity, which affects the robot's operational stability and safety. Summary of the Invention

[0006] This application provides a robot and its wheel drive device to solve or alleviate one or more technical problems in the prior art.

[0007] As one aspect of this application, this application provides a wheel drive device for a robot, comprising: body; At least two sets of drive wheels are installed on the fuselage; The drive wheel assembly includes a side swing motor and a steering mechanism. The side swing motor is fixed to the body, and the output shaft of the side swing motor is connected to the steering mechanism to drive the steering mechanism to swing around a first axis. The steering mechanism includes a steering motor, a first bracket, and a rotating assembly. The first bracket is connected to the output shaft of the sway motor and the steering motor, respectively. The output shaft of the steering motor is connected to the rotating assembly and is used to drive the rotating assembly to rotate around a second axis. The first axis and the second axis are arranged at a non-parallel angle. The rotating assembly includes a rotary motor, a second bracket, and a drive wheel. The second bracket is connected to the output shaft of the steering motor and the rotary motor, respectively. The output shaft of the rotary motor is connected to the drive wheel and is used to drive the drive wheel to rotate.

[0008] In one embodiment, the first bracket includes a first connecting portion and a second connecting portion that are connected to each other. The first connecting portion is connected to the output shaft of the side swing motor, and the second connecting portion is bent relative to the first connecting portion in a direction away from the body. The steering motor is fixed to the second connecting portion.

[0009] In one embodiment, the first connecting portion and the second connecting portion are integrally formed.

[0010] In one embodiment, both the first connecting portion and the second connecting portion are flat and perpendicular to each other; wherein, the first connecting portion is perpendicular to the output shaft of the sway motor, and the second connecting portion is perpendicular to the output shaft of the steering motor.

[0011] In one embodiment, the second bracket includes a third connecting portion and a fourth connecting portion connected to each other. The third connecting portion is connected to the output shaft of the steering motor, and the fourth connecting portion is bent away from the steering motor relative to the third connecting portion. The rotary motor is fixed to the fourth connecting portion.

[0012] In one embodiment, the third connecting portion and the fourth connecting portion are integrally formed.

[0013] In one embodiment, both the third connecting portion and the fourth connecting portion are flat and perpendicular to each other; wherein the third connecting portion is perpendicular to the output shaft of the steering motor, and the fourth connecting portion is perpendicular to the output shaft of the rotary motor.

[0014] In one embodiment, the at least two sets of drive wheels are symmetrically arranged on both sides of the fuselage along a first direction, the first direction being parallel to the first axis.

[0015] In one embodiment, the first axis is perpendicular to the second axis.

[0016] In one embodiment, the output shaft of the rotary motor is perpendicular to the second axis.

[0017] In one embodiment, the first bracket and / or the second bracket are provided with a channel for receiving the wire harness; at least one of the side-swing motor, the steering motor and the rotary motor is provided with a through hole for the wire harness to pass through.

[0018] In one embodiment, the robot's wheel drive device further includes a sensing device and a control device. The sensing device includes a first sensing unit installed on the top of the robot body for environmental mapping and navigation; and / or a second sensing unit installed around the robot body for obstacle avoidance and cliff detection within a preset distance; and / or a third sensing unit installed on the front of the robot body for visually identifying obstacle types and stairs; and / or an inertial measurement unit installed inside the robot body for detecting the attitude and acceleration of the robot's wheel drive device. The control device is installed on the fuselage and is used to receive sensing signals and control the response of the sway motor, the steering motor and the rotary motor.

[0019] As another aspect of the embodiments of this application, the embodiments of this application provide a robot, including: The robot itself; The wheel drive device provided in this application embodiment is connected to the robot body and is used to drive the robot body to walk.

[0020] As another aspect of the embodiments of this application, the embodiments of this application provide a wheel drive device for a robot, including: body; At least two sets of drive wheels are installed on the fuselage; The drive wheel assembly includes a side-swing mechanism, a steering mechanism, a rotating mechanism, and a drive wheel. The side-swing mechanism is fixed to the fuselage and connected to the steering mechanism via a first bracket, for driving the steering mechanism to swing around a first axis. The steering mechanism is connected to the rotating mechanism via a second bracket, for driving the rotating mechanism to rotate around a second axis. The first axis and the second axis are arranged at a non-parallel angle. The rotating mechanism is connected to the drive wheel, for driving the drive wheel to rotate. The first bracket and / or the second bracket are provided with channels for accommodating wire harnesses.

[0021] The embodiments of this application employ the above-described technical solution by setting a side-swing motor fixed to the fuselage. Its output shaft is connected to the steering mechanism via a first bracket, driving the steering mechanism to swing around a first axis, thus raising or lowering the entire steering mechanism to adjust the machine's center of gravity. By fixing the steering motor to the first bracket, its output shaft is connected to a rotating component, driving the rotating component to rotate around a second axis, allowing the drive wheel to change direction around the second axis. When the drive wheel rotates in conjunction with this, stationary turning without a turning radius can be achieved. Furthermore, by setting a second bracket to connect the steering motor's output shaft and the rotating motor respectively, and connecting the rotating motor's output shaft to the drive wheel to drive its rotation, the side-swing, steering, and rotating motors are integrated into a compact wheel assembly using both the first and second brackets. This achieves center of gravity adjustment capability without increasing wheel diameter or adding tracks, solving the technical problem of insufficient stability in complex terrain caused by the lack of an active center of gravity adjustment mechanism in existing technologies. In summary, through a three-tiered structure consisting of a side-swing motor, a steering motor, and a rotary motor, and the synergistic effect of the first and second supports, a simple and compact mechanical design simultaneously achieves three major functions: center of gravity adjustment, in-situ steering, and driving propulsion.

[0022] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0023] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0024] Figure 1 This diagram shows the overall structure of a wheel drive device according to an embodiment of the present application, where the drive wheel assembly swings to a certain angle.

[0025] Figure 2 This diagram shows the overall structure of the wheel drive device (excluding the cover plate) according to an embodiment of the present application with the drive wheel assembly in its initial position.

[0026] Figure 3 A structural diagram of the drive wheel assembly in a wheel drive device according to an embodiment of this application is shown.

[0027] Figure 4 Show Figure 1 A partial structural diagram of region I in the middle.

[0028] Figure 5This is a structural diagram of a first bracket in a wheel drive device according to an embodiment of the present application.

[0029] Figure 6 This is a structural diagram of the first bracket in a wheel drive device according to an embodiment of the present application, taken from another perspective.

[0030] Figure 7 This is a structural diagram of the second bracket in a wheel drive device according to an embodiment of the present application.

[0031] Figure 8 This is a structural diagram of the second bracket in a wheel drive device according to an embodiment of the present application, taken from another perspective.

[0032] Figure 9 A cross-sectional view of the drive wheel assembly in a wheel drive device according to an embodiment of this application is shown.

[0033] Explanation of reference numerals in the attached figures: 100, Body; 101, Housing; 102, Cover; 103, Ultrasonic Support; 104, Ultrasonic Sensor; 105, LiDAR; 106, Limiting Component; 1061, Limiting Groove; 107, Battery; 108, Battery Pressure Plate; 109, Control Board; 200, Drive Wheel Set; 201, Side Swing Motor; 202, First Support; 203, Steering Motor; 2031, Through Hole; 204, Second Support; 205, Rotary Motor; 206, Drive Wheel; 2 10, Steering mechanism; 220, Rotating assembly; 2021, First connecting part; 2022, Second connecting part; 2023, First groove; 2024, First connecting hole; 2025, Second connecting hole; 2026, Limiting mating part; 2041, Third connecting part; 2042, Fourth connecting part; 2043, Second groove; 2044, Third connecting hole; 2045, Fourth connecting hole; L1, First axis; L2, Second axis; L3, Axis of the output shaft of the rotary motor. Detailed Implementation

[0034] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0035] This application provides a wheel drive device for a robot, and a robot having the wheel drive device. The robot can be a home service robot, such as a sweeping robot, a mopping robot, a security patrol robot, or a companion robot, or it can be a mobile robot used in special operation scenarios such as power line inspection and disaster relief.

[0036] The wheel drive device provided in this application embodiment can realize spatial attitude adjustment of the drive wheels, thereby actively adjusting the overall center of gravity distribution of the robot and improving the robot's operational stability in complex terrain environments and its mobility in narrow spaces.

[0037] like Figures 1 to 3 As shown, the robot wheel drive device provided in this application embodiment includes a body 100 and at least two sets of drive wheel sets 200. The at least two sets of drive wheel sets 200 are disposed on the body 100. The body 100 includes, for example, a housing 101 and a cover plate 102 covering the opening at the top of the housing 101. The housing 101 and the cover plate 102 together enclose a receiving space for accommodating and protecting internal electronic components (e.g., main control board, battery, etc.). The housing 101 and the cover plate 102 together constitute a shell, the specific shape of which can be set according to the robot's functional requirements and design aesthetics. For example, the projected outline of the housing 101 on the horizontal plane can be circular, elliptical, square, rectangular, etc. The housing 101 and the cover plate 102 can be made of lightweight, high-strength materials, such as ABS engineering plastic, PC plastic, or aluminum alloy, to reduce the overall weight of the robot while ensuring structural strength.

[0038] In some embodiments, the number of drive wheel sets 200 is four, and the four drive wheel sets 200 are symmetrically arranged on both sides of the fuselage 100 along the first direction, with two drive wheel sets 200 arranged on each side of the fuselage 100. For ease of explanation, the projected outline of the fuselage 100 on the horizontal plane is used as an example below. In this case, the first direction is defined as the width direction of the fuselage 100, that is, the direction parallel to the X-axis. The four drive wheel sets 200 are respectively arranged near the four corners of the fuselage 100 to provide better support stability and driving force distribution.

[0039] It should be noted that the number and placement of the drive wheel sets 200 are not limited to two sets or to both sides of the body 100. Those skilled in the art can place the drive wheel sets 200 at other locations on the body 100 according to its specific shape and center of gravity distribution requirements. For example, when the body 100 is circular, multiple drive wheel sets 200 can be evenly distributed along the circumference of the body 100; when the body 100 is triangular or hexagonal, the drive wheel sets 200 can be respectively placed at corresponding positions on each side or corner of the body 100. In other embodiments, the number of drive wheel sets 200 can be five or more sets. This application does not limit the specific number and placement of the drive wheel sets 200, as long as they can drive the robot to walk and provide stable support to the body 100.

[0040] In one embodiment, a plurality of ultrasonic supports 103 are also fixed to the side wall of the fuselage 100. The plurality of ultrasonic supports 103 are distributed around the fuselage 100, for example, four ultrasonic supports 103 are distributed on the four side walls of the rectangular fuselage. Each ultrasonic support 103 is used to install an ultrasonic sensor 104, and the ultrasonic sensor 104 is used to assist obstacle avoidance.

[0041] In one embodiment, the cover plate 102 of the fuselage 100 is also provided with at least one lidar 105, which is used for SLAM mapping and navigation. For example, there are two lidars 105, which are spaced apart along the length direction of the fuselage 100 (i.e., the direction parallel to the Y-axis).

[0042] In one embodiment, the robot body 100 also houses a battery 107, a battery clamping plate 108, and a control board 109. The battery 107 provides power to the entire robot; the battery clamping plate 108 secures the battery 107 to the inside of the robot body 100; and the control board 109 (i.e., the control device) controls the movement of the entire robot, including controlling the actions of the lateral swing motor 201, the steering motor 203, and the rotary motor 205.

[0043] like Figure 3 As shown, the drive wheel assembly 200 includes a side-swing motor 201 and a steering mechanism 210. The side-swing motor 201 is fixed to the body 100, and its output shaft is connected to the steering mechanism 210 to drive the steering mechanism 210 to swing about a first axis L1. The first axis L1 is, for example, parallel to the width direction of the body 100 (i.e., parallel to the X-axis). The side-swing motor 201 has, for example, an encoder (e.g., a magnetoelectric encoder or a photoelectric encoder) to detect the rotor position and rotation angle of the motor, thereby achieving precise closed-loop control of the swing angle of the steering mechanism 210. The housing of the side-swing motor 201 is, for example, cylindrical and can be fixedly mounted to the body 100 by screws. The output shaft of the side-swing motor 201 can extend or retract from one end of the housing along the first axis L1. This motor has the advantages of compact structure, low processing cost, and easy installation and fixing, which is beneficial for achieving a compact layout within the limited space of the body 100.

[0044] In one embodiment, the side-swing motor 201 operates under the control of a control device. When the control device sends a drive command, the encoder of the side-swing motor 201 provides real-time feedback on the actual rotation angle of the motor. The control device compares the encoder feedback signal with the target angle and adjusts the motor's rotation position using a closed-loop control algorithm (e.g., a PID control algorithm), causing the output shaft to drive the steering mechanism 210 to swing around the first axis L1 to the target angle. The preferred swing angle range is ±90°, meaning the steering mechanism 210 can swing between a position perpendicular to the ground and a position parallel to the ground. Through encoder feedback, the side-swing motor 201 can achieve angle control, ensuring accurate and reliable swing position of the drive wheel assembly 200, thereby precisely adjusting the overall center of gravity distribution.

[0045] As an alternative or supplement to the aforementioned electronically controlled angle control method, in another embodiment, a mechanical limiting structure can also be used to control the swing angle range of the side-swing motor 201. Specifically, such as... Figure 4 As shown, between the body 100 and the output shaft of the side-swing motor 201, or between the body 100 and a component that rotates with the output shaft (e.g., the same 4 and...). Figure 5 A limiting structure is provided between the first brackets 202 shown. This limiting structure includes, for example, a limiting component 106 and a limiting mating part 2026. In some embodiments, the limiting component 106 is fixed to the body 100, and a limiting groove 1061 is formed on the limiting component 106. The limiting groove 1061 extends in an arc shape, and the central angle corresponding to the arc is the maximum angle range allowing the output shaft of the side-swing motor 201 to swing. The limiting component 106 is, for example, a ring with a notch, which is the limiting groove 1061, and the ring surrounds the side-swing motor 201. The limiting mating part 2026 is provided on the output shaft of the side-swing motor 201 or the first bracket 202, and the limiting mating part 2026 at least partially extends into the limiting groove 1061 and can slide along the limiting groove 1061.

[0046] When the side-swing motor 201 drives the output shaft to swing, the limiting engagement part 2026 moves together with the output shaft or the first bracket 202 and slides in the limiting groove 1061. When the limiting engagement part 2026 slides to the end of the limiting groove 1061, the limiting engagement part 2026 abuts against the groove wall of the limiting groove 1061, preventing the output shaft or the first bracket 202 from continuing to rotate, thereby achieving mechanical limiting of the swing angle range of the side-swing motor 201.

[0047] The mechanical limiting structure prevents the side-swing motor 201 from exceeding its designed swing range due to control abnormalities, encoder malfunctions, or external impacts, thus avoiding collisions and interference between the steering mechanism 210 and the body 100, providing safety protection. Simultaneously, in the event of control device failure or power failure, the mechanical limiting structure ensures that the output shaft of the side-swing motor 201 will not rotate indefinitely, improving system safety and reliability. It is understood that the roles of the limiting groove 1061 and the limiting mating part 2026 can be interchanged; that is, the limiting mating part 2026 can be located on the body 100, while the limiting groove 1061 can be located on the output shaft of the side-swing motor 201 or the first bracket 202, achieving the same angle limiting function. The central angle corresponding to the limiting groove 1061 can be set according to actual needs, not limited to 180°, for example, it can also be 120° (corresponding to a ±60° swing range) or 90° (corresponding to a ±45° swing range), and this application does not limit it in this regard.

[0048] By driving the steering mechanism 210 to swing around the first axis L1 via the side-swing motor 201, the spatial position of the drive wheel 206 relative to the body 100 can be changed, thereby adjusting the overall center of gravity distribution of the robot. For example, when the robot travels to non-flat terrain such as a threshold, ramp, or the edge of a staircase, the control device controls each side-swing motor 201 to drive the steering mechanism 210 to swing synchronously or asynchronously, causing the drive wheel 206 to rise or fall, thereby adjusting the center of gravity of the body 100.

[0049] like Figure 3 As shown, the steering mechanism 210 includes a steering motor 203, a first bracket 202, and a rotating assembly 220. The first bracket 202 is connected to both the output shaft of the sway motor 201 and the steering motor 203. Specifically, one end of the first bracket 202 is fixedly connected to the output shaft of the sway motor 201 (e.g., via screws), and the other end is fixedly connected to the housing of the steering motor 203 (e.g., via screws). The output shaft of the steering motor 203 is connected to the rotating assembly 220 to drive the rotating assembly 220 to rotate around a second axis L2. The steering motor 203 may also have an encoder (e.g., a magnetoelectric encoder or a photoelectric encoder) to detect the rotor position and rotation angle of the motor, thereby achieving precise closed-loop control of the rotation angle of the rotating assembly 220.

[0050] The first axis L1 and the second axis L2 are set at a non-parallel angle. A "non-parallel angle" means that the first axis L1 and the second axis L2 are neither parallel nor coincident, but rather form an angle greater than 0° and less than 180°. For example, the first axis L1 is perpendicular to the second axis L2.

[0051] In one embodiment, the first axis L1 extends along the width direction of the body 100 (parallel to the X-axis). The steering motor 203 is fixed to the first bracket 202 and swings around the first axis L1 together with the first bracket 202. Therefore, the direction of the second axis L2 (i.e., the axis of the output shaft of the steering motor 203) also changes with the swing angle. When the steering mechanism 210 is in the initial position (i.e., the position where the drive wheel 206 is perpendicular to the ground, which is also the position when the robot is driving normally on a flat surface), the first axis L1 and the second axis L2 are perpendicular to each other, i.e., the included angle is 90°. At this time, the second axis L2 extends in the vertical direction (i.e., the direction of gravity, parallel to the Z-axis). The steering motor 203 drives the rotating component 220 to rotate in the horizontal plane around the vertical axis (parallel to the Z-axis), causing the drive wheel 206 to change its orientation in the horizontal plane, thereby realizing the change of driving direction and rotation in place. The perpendicular arrangement of the first axis L1 and the second axis L2 enables the swing motion of the side swing motor 201 and the rotational motion of the steering motor 203 to be orthogonally decoupled in space, so that the two motions do not interfere with each other and are independently controllable.

[0052] When the yaw motor 201 drives the steering mechanism 210 to swing around the first axis L1 by a certain angle (e.g., 30°), the steering mechanism 210 as a whole deflects, the steering motor 203 tilts accordingly, and the second axis L2 deviates from the vertical direction (parallel to the Z-axis), forming an angle with the vertical direction. At this time, the angle between the first axis L1 and the second axis L2 is still 90° (i.e., they always maintain a perpendicular relationship), but the second axis L2 is no longer parallel to the vertical direction (parallel to the Z-axis). In other words, the perpendicular relationship between the first axis L1 and the second axis L2 is an inherent geometric constraint determined by the structural design and does not change with the swing of the steering mechanism 210; while the relationship between the second axis L2 and the vertical direction (parallel to the Z-axis) changes dynamically with the swing angle.

[0053] It should be noted that the angle between the first axis L1 and the second axis L2 is not limited to 90°, and can also be other non-parallel angles (such as 75°, 80° or 100°). However, as a preferred option, the angle between the first axis L1 and the second axis L2 is 90°. At this time, the two motions are completely orthogonally decoupled in space, and the control is the simplest.

[0054] The rotating assembly 220 includes a rotary motor 205, a second bracket 204, and a drive wheel 206. The second bracket 204 is connected to both the output shaft of the steering motor 203 and the rotary motor 205. Specifically, one end of the second bracket 204 is fixedly connected to the output shaft of the steering motor 203 (e.g., via screws), and the other end is fixedly connected to the housing of the rotary motor 205 (e.g., via screws). The output shaft of the rotary motor 205 is connected to the drive wheel 206 to drive the drive wheel 206 to rotate. The rotary motor 205 may be a hub motor, for example, whose output shaft is directly connected to the hub of the drive wheel 206 to drive the drive wheel 206 to rotate around its own axis, providing the robot with forward and backward walking power. The surface of the drive wheel 206 is provided with a coating layer (e.g., rubber or polyurethane material) to increase adhesion to the ground and prevent slippage.

[0055] In one embodiment, the rotary motor 205 is fixed to the second bracket 204, and the direction of the axis L3 of its output shaft is perpendicular to the direction of the second axis L2. That is, no matter what angle the steering mechanism 210 swings around the first axis L1, the direction of the axis L3 of the output shaft of the rotary motor 205 is always perpendicular to the second axis L2, and the rotation axis of the drive wheel 206 is always perpendicular to the second axis L2.

[0056] When the steering mechanism 210 is in its initial position (i.e., the second axis L2 is parallel or substantially parallel to the direction of gravity), the output shaft of the rotary motor 205 extends in a direction parallel to the ground, and the rotation axis of the drive wheel 206 is parallel to the ground. At this time, the steering motor 203 drives the rotating assembly 220 to rotate around the second axis L2, and the rotation axis of the drive wheel 206 changes orientation, thereby changing the robot's direction of travel.

[0057] When the steering motors 203 of the drive wheel sets 200 located on both sides of the robot body 100 drive the rotating components 220 to rotate to specific angles, various motion modes can be achieved. For example, when both rotating components 220 rotate to the point where the rotation axis of the drive wheels 206 is parallel to the length direction of the robot body 100, the robot can move forward or backward; when both rotating components 220 rotate to the point where the rotation axis of the drive wheels 206 is perpendicular to the length direction of the robot body 100 (i.e., parallel to the width direction of the robot body 100), the robot can move laterally (i.e., translate left and right); when the rotation axes of the drive wheels 206 on both sides intersect at a point on the robot's geometric center, the rotation directions of the drive wheels 206 on both sides are opposite, thus achieving rotation in place. In the rotation in place mode, the robot does not require an additional turning radius and rotates around its own geometric center, making it particularly suitable for posture adjustment in narrow spaces such as corners and under cabinets.

[0058] It should be noted that the perpendicular relationship between the output shaft of the rotary motor 205 and the second axis L2 is an inherent geometric constraint determined by the structural design and does not change with the swing of the steering mechanism 210. That is, no matter what angle the steering mechanism 210 swings around the first axis L1, the output shaft of the rotary motor 205 is always perpendicular to the second axis L2. This perpendicular relationship ensures that the motion of the rotary motor 205 driving the drive wheel 206 to rotate is geometrically decoupled from the motion of the steering motor 203 driving the rotating assembly 220 to rotate. In other words, the rotary motor 205 controls the rotation of the drive wheel 206 around its own axis (i.e., the travel speed), and the steering motor 203 controls the rotation of the drive wheel 206 around the second axis L2. The two motions do not interfere with each other and can be controlled independently.

[0059] It is understood that the angle between the output shaft of the rotary motor 205 and the second axis L2 is not limited to 90°, and can also be other non-parallel angles (such as 80° or 100°), as long as they are not parallel. However, as a preferred option, the output shaft of the rotary motor 205 is perpendicular to the second axis L2. At this time, the driving efficiency of the rotary motor 205 is the highest, the rotational motion of the drive wheel 206 and the rotational motion of the steering motor 203 are completely orthogonally decoupled, and the control is the simplest.

[0060] In one embodiment, the sway motor 201, steering motor 203, and rotary motor 205 are each controlled by a control board 109 (i.e., a control device) inside the fuselage 100. The control board 109 sends drive commands to each motor based on feedback signals from the sensing device, achieving precise motion control. The control board 109 can be an embedded microcontroller (MCU) or digital signal processor (DSP), integrating motor drive circuitry and motion control algorithms. A battery 107 (e.g., a lithium-ion battery or a lithium polymer battery) is fixed inside the fuselage 100 via a battery clamping plate 108, providing power to the motors and the control system.

[0061] In one embodiment, the control device is used to control the drive wheel assembly 200 to switch between different modes, including at least one of the following: Flat ground mode: The control device controls the rotary motor 205 to drive the drive wheel 206 to rotate, enabling the robot body 100 to move. In flat ground mode, the lateral swing motor 201 and the steering motor 203 maintain their initial positions, the drive wheel 206 is perpendicular to the ground, and the rotary motor 205 drives the drive wheel 206 to rotate around its own axis, providing the robot with forward and backward walking power. When turning is required, the control device controls each steering motor 203 to drive the corresponding rotating component 220 to rotate to different angles, coordinating with the differential rotation of each drive wheel 206 to achieve turns with various variable radii.

[0062] Narrow Space Mode: The control device first controls the steering motor 203 to drive the rotating assembly 220 and the drive wheel 206 to rotate together. Then, it controls the rotary motor 205 to drive the drive wheel 206 to rotate, so that the robot body 100 can turn in place. When the control device determines that the available space is insufficient to support a normal turn based on the distance information of surrounding obstacles detected by the sensing device, it activates the narrow space mode. The control device sends drive commands to each steering motor 203, causing each rotating assembly 220 to rotate to a preset angle (e.g., each wheel group rotates +45° or -45° relative to the center line of the robot body 100 parallel to the Z-axis). Then, it controls each rotary motor 205 to rotate, with the two drive wheels 206 on the front side of the robot body rotating in the same direction, and the two drive wheels 206 on the rear side of the robot body rotating in the same direction. The rotation direction of the front drive wheels 206 is opposite to that of the rear drive wheels 206, so that the robot can rotate in place around its own geometric center. When the rotation reaches the target angle, the control device controls the rotary motor 205 to stop and resets the steering motor 203, completing the turning operation.

[0063] Center of gravity adjustment mode: The control device controls the lateral swing motor 201 to drive the steering mechanism 210, the rotating component 220, and the drive wheel 206 to swing around the first axis L1, thereby changing the center of gravity position of the robot body 100. When the control device detects that the robot has traveled to non-flat terrain such as a threshold, ramp, or stair edge, the control device activates the center of gravity adjustment mode. Based on the current pitch attitude of the robot and the terrain information, the control device calculates the target swing angle and sends a drive command to the lateral swing motor 201, causing the drive wheel assembly 200 to swing around the first axis L1 by a preset angle, preventing the robot from tilting or even tipping over. After the center of gravity adjustment mode is activated, the control device controls the lateral swing motor 201 to swing in the opposite direction, causing the drive wheel assembly 200 to return to its initial position.

[0064] This application incorporates a side-swing motor 201 fixed to the body 100, whose output shaft is connected to a steering mechanism 210 via a first bracket 202. This drives the steering mechanism 210 to swing around a first axis L1, allowing the entire steering mechanism 210 to rise or fall to adjust the overall center of gravity of the machine. A steering motor 203 is fixed to the first bracket 202, whose output shaft is connected to a rotating assembly 220. This drives the rotating assembly 220 to rotate around a second axis L2, enabling the drive wheel 206 to change direction around the second axis L2. When the drive wheel 206 rotates in conjunction with this, in-situ steering without a turning radius can be achieved. Based on this, by setting a second bracket 204 to connect the output shaft of the steering motor 203 and the rotary motor 205 respectively, and connecting the output shaft of the rotary motor 205 to the drive wheel 206 to drive the drive wheel 206 to rotate, and by using the first bracket 202 and the second bracket 204 to integrate the three motors, namely the side swing motor 201, the steering motor 203 and the rotary motor 205, into a compact wheel set, the center of gravity adjustment capability can be obtained without increasing the wheel diameter or adding tracks. This solves the technical problem of insufficient stability in complex terrain caused by the lack of an active center of gravity adjustment mechanism in the prior art.

[0065] In summary, through the three-level hierarchical structure of the side swing motor 201, steering motor 203 and rotary motor 205, and the synergistic effect of the first support 202 and the second support 204, the three major functions of center of gravity adjustment, on-the-spot steering and driving are realized simultaneously with a simple and compact mechanical design.

[0066] like Figure 5 and Figure 6 As shown in some specific embodiments of this application, the first bracket 202 includes a first connecting portion 2021 and a second connecting portion 2022 that are connected to each other. The first connecting portion 2021 is connected to the output shaft of the side swing motor 201, and the second connecting portion 2022 is bent relative to the first connecting portion 2021 in a direction away from the body 100. The steering motor 203 is fixed to the second connecting portion 2022.

[0067] Specifically, one end of the first connecting part 2021 is fixedly connected to the output shaft of the side swing motor 201, for example, by a screw connection. The housing of the steering motor 203 is fixed to the second connecting part 2022 by screws. The second connecting part 2022 is bent away from the fuselage 100 relative to the first connecting part 2021, so that the steering motor 203 and the rotating assembly 220 fixed to the second connecting part 2022 are located outside the fuselage 100, providing sufficient space for the swing and rotation of the drive wheel 206 and avoiding interference with the fuselage 100.

[0068] In one embodiment, the first connecting part 2021 and the second connecting part 2022 are integrally formed. They can be integrally formed by casting, forging, or CNC machining to ensure the overall structural strength and rigidity of the first bracket 202. The integrally formed structure eliminates the need for additional connectors (such as bolts or welding), reducing the number of parts and assembly steps, which helps improve production efficiency and reduce manufacturing costs. It also eliminates the risk of stress concentration and loosening at the connection points, improving long-term operational reliability.

[0069] Furthermore, in one embodiment, both the first connecting portion 2021 and the second connecting portion 2022 are flat and perpendicular to each other. The plane containing the first connecting portion 2021 is perpendicular to the first axis L1, meaning the normal direction of the plane containing the first connecting portion 2021 is parallel to the output shaft axis of the side-swing motor 201. The plane containing the second connecting portion 2022 is perpendicular to the second axis L2, meaning the normal direction of the plane containing the second connecting portion 2022 is parallel to the output shaft axis of the steering motor 203. However, this embodiment is not limited to this. In practical applications, the planar direction of the first connecting portion 2021 (i.e., its extension direction) can be adaptively adjusted according to the layout of the output shaft of the side-swing motor 201 and the swing mode of the steering mechanism 210, as long as the plane containing the first connecting portion 2021 is always perpendicular to the first axis L1.

[0070] Similarly, the orientation of the plane containing the second connecting portion 2022 can be adaptively adjusted according to the layout of the steering motor 203 and the rotation mode of the rotating component 220, as long as the plane containing the second connecting portion 2022 is always perpendicular to the second axis L2. The second connecting portion 2022 is bent away from the fuselage 100 relative to the first connecting portion 2021, so that the steering motor 203 and the rotating component 220 fixed on the second connecting portion 2022 are located on the outside of the fuselage 100, providing sufficient space for the swing and rotation of the drive wheel 206 and avoiding interference with the fuselage 100.

[0071] The perpendicular flat structure of the first connecting part 2021 and the second connecting part 2022 makes the first support 202 L-shaped or approximately L-shaped, resulting in a smaller volume and weight while ensuring structural strength. This helps reduce the overall weight of the wheel drive device and improve the robot's energy efficiency. Furthermore, the flat structure of the first connecting part 2021 and the second connecting part 2022 facilitates processing and assembly, thus reducing manufacturing costs.

[0072] In one implementation, such as Figure 7 and Figure 8The second bracket 204 includes a third connecting part 2041 and a fourth connecting part 2042 that are connected to each other. The third connecting part 2041 is connected to the output shaft of the steering motor 203, and the fourth connecting part 2042 is bent away from the steering motor 203 relative to the third connecting part 2041. The rotary motor 205 is fixed to the fourth connecting part 2042.

[0073] Specifically, one end of the third connecting portion 2041 is fixedly connected to the output shaft of the steering motor 203 (e.g., by screws). The fourth connecting portion 2042 is bent away from the steering motor 203 relative to the third connecting portion 2041, and the housing of the rotary motor 205 is fixed to the fourth connecting portion 2042, for example, by screws. In one embodiment, the third connecting portion 2041 and the fourth connecting portion 2042 are integrally formed. They can be integrally formed by casting, forging, or CNC machining to ensure the overall structural strength and rigidity of the second bracket 204. The integrally formed structure eliminates the need for additional connectors, reducing the number of parts and assembly steps, which is beneficial for improving production efficiency and reducing manufacturing costs, while also eliminating the risk of stress concentration and loosening at the connection points.

[0074] Furthermore, both the third connecting portion 2041 and the fourth connecting portion 2042 are flat and perpendicular to each other. The plane containing the third connecting portion 2041 is perpendicular to the second axis L2, meaning the normal direction of the plane containing the third connecting portion 2041 is parallel to the output shaft axis of the steering motor 203. The plane containing the fourth connecting portion 2042 is perpendicular to the output shaft of the rotary motor 205. One end of the third connecting portion 2041 is fixedly connected to the output shaft of the steering motor 203, which extends along the second axis L2 and connects to the third connecting portion 2041. The fourth connecting portion 2042 is bent away from the steering motor 203 relative to the third connecting portion 2041. The rotary motor 205 is fixed to the fourth connecting portion 2042, and its output shaft extends along its own axis and connects to the drive wheel 206. The flat structure of the third connecting portion 2041 and the fourth connecting portion 2042, perpendicular to each other, makes the second bracket 204 generally L-shaped or approximately L-shaped, resulting in a smaller volume and weight while ensuring structural strength.

[0075] The orientation of the plane containing the third connecting part 2041 can be adaptively adjusted according to the layout of the output shaft of the steering motor 203 and the rotation mode of the rotating assembly 220, as long as the plane containing the third connecting part 2041 is always perpendicular to the second axis L2. The orientation of the plane containing the fourth connecting part 2042 is adaptively adjusted according to the layout of the rotary motor 205 and the mounting direction of the drive wheel 206, as long as the plane containing the fourth connecting part 2042 is always perpendicular to the output shaft of the rotary motor 205. When the steering motor 203 drives the second bracket 204 to rotate around the second axis L2, the rotary motor 205 and the drive wheel 206 fixed on the second bracket 204 rotate around the second axis L2 accordingly, thereby changing the orientation of the drive wheel 206 in the horizontal plane.

[0076] The L-shaped structure of the third connecting part 2041 and the fourth connecting part 2042 allows the rotary motor 205 and the drive wheel 206 to be arranged in a staggered manner in space, which helps to make full use of the space in the wheel group area and makes the structure more compact.

[0077] In one embodiment, the robot's wheel drive device further includes a sensing device and a control device. The sensing device is used to sense environmental information around the robot and the robot's own motion state information, and the control device is used to receive the sensing signals from the sensing device and control the lateral swing motor 201, the steering motor 203, and the rotary motor 205 to respond.

[0078] Specifically, the sensing device includes a first sensing unit mounted on the top of the fuselage 100 for environmental mapping (SLAM, Simultaneous Localization and Mapping) and navigation. The first sensing unit may include, for example, a LiDAR 105, a depth camera, or a vision camera. Preferably, the first sensing unit is a LiDAR 105, such as a rotating LiDAR or a solid-state LiDAR, which acquires distance information about the surrounding environment by emitting a laser beam and receiving reflected signals, thereby achieving map building and autonomous navigation and positioning. In a home environment, the first sensing unit can identify room layout, furniture positions, and obstacle distribution, providing a data foundation for path planning.

[0079] The sensing device also includes second sensing units installed around the body 100 for obstacle avoidance and cliff detection within a preset distance. The second sensing units can be fixedly installed at the front, rear, and left and right sides of the body 100. The second sensing units may include, for example, ultrasonic sensors 104, infrared sensors, or miniature radar, preferably ultrasonic sensors 104, which detect the distance to obstacles by emitting ultrasonic waves and receiving echoes. When the detected distance is less than a preset safety threshold, the control device controls the robot to decelerate or turn to avoid a collision.

[0080] In some examples, the sensing device also includes a third sensing unit mounted on the front of the robot body 100 for visually identifying obstacle types and stairs. The third sensing unit may include, for example, an RGB camera, a binocular camera, or a depth camera, preferably a binocular vision camera or an RGB-D depth camera, capable of acquiring color and depth images of the surrounding environment. The control device, by running a visual recognition algorithm, can identify the specific type of obstacle (such as furniture, pets, wires, etc.) and adopt differentiated avoidance strategies for different types of obstacles. Simultaneously, the third sensing unit can also identify the step height, width, and number of steps on the stairs, providing visual guidance for the robot to safely ascend and descend stairs.

[0081] The sensing device also includes an inertial measurement unit (IMU) installed inside the chassis 100, used to detect the attitude and acceleration of the robot's wheel drive system. The IMU may include a three-axis accelerometer and a three-axis gyroscope for measuring the robot's three-axis acceleration and angular velocity. By fusing and processing the measurement data from the IMU (e.g., using a Kalman filter algorithm), attitude information such as the robot's pitch, roll, and yaw angles, as well as displacement and velocity information, can be obtained. Based on the attitude information fed back by the IMU, the control device can determine the robot's tilt state in real time and actively control the side-swing motor 201 to adjust the center of gravity and prevent tipping when excessive tilt is detected.

[0082] The control device is installed inside the fuselage 100, for example, integrated on the control board 109. The control device is electrically connected (e.g., via wiring harness) to the yaw motor 201, the steering motor 203, the rotary motor 205, and each sensing unit of the sensing device. The control device is used to receive sensing signals (including lidar point cloud data, ultrasonic ranging data, visual image data, inertial measurement data, etc.) sent by the sensing device, and to send drive commands to the yaw motor 201, the steering motor 203, and the rotary motor 205 according to preset control logic (e.g., motion planning algorithm, attitude control algorithm), so that each motor moves according to the target angle and speed.

[0083] For example, when the robot approaches a threshold, the first and third sensing units work together to identify the threshold's position and height. The control device calculates the target swing angle based on the threshold height and the robot's current pitch posture, and sends a drive command to the side-swing motor 201. This causes the drive wheel assembly 200 to swing around the first axis L1 by a preset angle, shifting the robot's center of gravity forward and giving the front drive wheels greater ground traction, allowing it to pass through the threshold smoothly. After passing the threshold, the control device again controls the side-swing motor 201 to swing in the opposite direction, returning the drive wheel assembly 200 to its initial position.

[0084] For example, when the robot needs to turn around after operating under a sofa, the control device, based on the distance information of surrounding obstacles detected by the second sensing unit, determines that the available space is insufficient to support a regular turn, and then initiates a stationary rotation mode. The control device sends drive commands to each steering motor 203, causing each rotating component 220 to rotate to a preset angle (e.g., each wheel group rotates +45° or -45° relative to the longitudinal centerline of the body 100). Then, it controls each rotating motor 205 to rotate, with the two drive wheels 206 on the front of the body rotating in the same direction, and the two drive wheels 206 on the rear of the body rotating in the same direction, and the rotation direction of the front drive wheels 206 being opposite to that of the rear drive wheels 206, causing the robot to rotate in place around its own geometric center. When the rotation reaches the target angle (e.g., 180°), the control device stops the rotating motor 205 and resets the steering motor 203, completing the turning operation.

[0085] Through the coordinated operation of the aforementioned sensing and control devices, the wheel drive device of this application can realize a variety of intelligent functions such as environmental perception, autonomous navigation, active center of gravity adjustment, and stationary rotation, which greatly improves the robot's adaptability and work efficiency in complex terrain environments such as homes.

[0086] In one embodiment, the first bracket 202 and / or the second bracket 204 are provided with channels for receiving the wire harness; at least one of the side swing motor 201, the steering motor 203 and the rotary motor 205 is provided with a through hole for the wire harness to pass through.

[0087] The sway motor 201, steering motor 203, and rotary motor 205 all require electrical connection to the control device and battery 107 via wiring harnesses (e.g., power lines and signal lines). Since the first bracket 202 and the second bracket 204 will oscillate or rotate during operation, improper arrangement of the wiring harnesses connecting the motors can easily lead to tangling, pulling, or wear during movement, resulting in poor contact or breakage, affecting system reliability. Therefore, in this embodiment, channels are provided on each bracket and through holes are provided on the motors to form a complete wiring harness routing path.

[0088] Specifically, the side-swing motor 201 has a central hole extending along the first axis L1, which serves as a through hole for the wiring harness to pass through. The wiring harnesses of the steering motor 203 and the rotary motor 205 pass through the central hole of the side-swing motor 201 along the first axis L1 to the outside of the body 100, and are then guided to the steering motor 203 through the channel of the first bracket 202, where the wiring harness of the steering motor 203 is connected to the terminal block of the steering motor 203. The wiring harness of the rotary motor 205 passes through the through hole 2031 provided on the steering motor 203, and is guided to the rotary motor 205 through the channel of the second bracket 204, where it is connected to the terminal block of the rotary motor 205.

[0089] Furthermore, such as Figures 5 to 9 As shown, the channel of the first bracket 202 includes a first connecting hole 2024, a second connecting hole 2025, and a first groove 2023; the channel of the second bracket 204 includes a third connecting hole 2044, a fourth connecting hole 2045, and a second groove 2043. Specifically, the first connecting part 2021 is provided with the first connecting hole 2024, and the connecting part between the first connecting part 2021 and the second connecting part 2022 is provided with the aforementioned second connecting hole 2025. One end of the second connecting hole 2025 communicates with the first groove 2023, and the other end is located on the side of the first bracket 202 away from the first groove 2023. The wiring harnesses of the steering motor 203 and the rotary motor 205 pass through the through hole of the side swing motor 201, and then through the first connecting hole 2024 to one side of the first bracket 202; then through the second connecting hole 2025 to the other side of the first bracket 202, and enter the first groove 2023. The wiring harness of the steering motor 203 passes through the first groove 2023 and then connects to the terminal of the steering motor 203.

[0090] The third connecting part 2041 is provided with a third connecting hole 2044, and the connecting part between the third connecting part 2041 and the fourth connecting part 2042 is provided with a fourth connecting hole 2045. One end of the fourth connecting hole 2045 communicates with the second groove 2043, and the other end is located on the side of the second bracket 204 away from the second groove 2043. After the wiring harness of the rotary motor 205 passes through the first groove 2023, it passes through the through hole 2031 provided on the steering motor 203, and then passes through the third connecting hole 2044 to one side of the second bracket 204. Then it passes through the fourth connecting hole 2045 to the other side of the second bracket 204, enters the second groove 2043, and finally exits from the second groove 2043 and connects to the terminal of the rotary motor 205. Figures 5 to 9 The wire harnesses are not shown in the diagram.

[0091] The aforementioned grooves (including the first groove 2023 and the second groove 2043) can be equipped with wire harness fixing clips or cable tie fixing holes to reliably fix the wire harness inside the grooves and prevent the wire harness from detaching from the sub-grooves when the bracket moves. The diameter of the through holes (including the central hole of the side swing motor 201 along the first axis L1 and the through holes provided on the housing of the steering motor 203) is set according to the diameter and number of wire harnesses. It is understood that the cross-sectional shape of each groove can be U-shaped, V-shaped, or rectangular, and its depth and width are set according to the diameter and number of wire harnesses. Through the coordinated cooperation of the grooves, connecting holes, and through holes, the wire harness is constrained within the preset wiring path, and will not become entangled, pulled, or interfere with external components during the swing and rotation of the bracket, effectively protecting the wire harness and improving the long-term operational reliability of the system.

[0092] As another technical solution, this application embodiment also provides a robot, which includes a robot body and a wheel drive device as described above. The wheel drive device is connected to the robot body and is used to drive the robot body to walk.

[0093] The robot body can include a variety of functional modules, such as a cleaning module, a security module, a companion interaction module, and a dual-arm operation module. The wheel drive device of this application can be flexibly adapted to different types of mobile robots according to the different functional requirements of the robot body.

[0094] As an example, taking a home service robot, the wheel drive unit's body 100 serves as the robot's main load-bearing structure. Cleaning components such as cleaning brushes, suction ports, and dustbins are located on the bottom or sides of the body 100. Drive wheels 200 are located on the left and right sides of the body 100, driving the robot to move autonomously in the home environment and perform cleaning tasks. Because the wheel drive unit has center-of-gravity adjustment and on-the-spot rotation capabilities, the cleaning robot can smoothly traverse uneven terrain such as thresholds and carpet edges, and can flexibly turn around in narrow spaces such as under sofas and cabinets, significantly improving cleaning coverage and operational efficiency.

[0095] As another example, the robot body also includes a torso, a head, and bionic arms, forming a wheeled humanoid robot. The torso is connected to the wheel drive via a waist assembly, which includes lateral, pitch, and rotational degrees of freedom. The head is positioned above the torso and is equipped with sensing devices for environmental mapping, navigation, and obstacle recognition. The head also has independent rotational and pitch degrees of freedom to maximize the field of view. The arms are symmetrically positioned on the left and right sides of the torso, each arm including a shoulder, elbow, and wrist, with at least one of these having multiple degrees of freedom for flexible manipulation. The ends of the arms can be equipped with grippers or dexterous hands, which can be equipped with sensors for precise grasping and manipulation of objects.

[0096] It is understood that the functional modules in the above-described robot implementation are merely examples, and the wheel drive device of this application can also be applied to other types of mobile robots, such as delivery robots, educational robots, elderly care companion robots, warehouse automatic inspection robots, and hazardous environment detection robots, etc., and this application does not limit them.

[0097] As another technical solution, this application embodiment also provides a wheel drive device for a robot, which includes a body 100 and at least two sets of drive wheel sets 200, wherein the at least two sets of drive wheel sets 200 are disposed on the body 100.

[0098] like Figure 2As shown, the drive wheel assembly 200 includes a sway mechanism, a steering mechanism, a rotating mechanism, and a drive wheel 206. The sway mechanism is fixed to the body 100 and connected to the steering mechanism via a first bracket 202, used to drive the steering mechanism to sway around a first axis L1. The steering mechanism is connected to the rotating mechanism via a second bracket 204, used to drive the rotating mechanism to rotate around a second axis L2. The first axis L1 and the second axis L2 are set at a non-parallel angle. The rotating mechanism is connected to the drive wheel 206, used to drive the drive wheel 206 to rotate.

[0099] Specifically, the sway mechanism includes a sway motor 201, which is fixed to the body 100. Its output shaft is connected to the first bracket 202 and is used to drive the steering mechanism to oscillate around the first axis L1. The sway motor 201 has an encoder for detecting the rotor position and rotation angle of the motor, thereby realizing closed-loop control of the sway angle of the steering mechanism. The overall shape of the sway motor 201 is, for example, a cylinder, and its housing can be fixedly installed to the body 100 by bolts. The axial direction of its output shaft is the direction of the first axis L1. When the sway motor 201 receives a control signal, its output shaft drives the steering mechanism to oscillate around the first axis L1 within a certain angle range, preferably ±90°.

[0100] The steering mechanism includes a steering motor 203, which is fixed to a first bracket 202. Its output shaft is connected to a second bracket 204, and it drives the rotating mechanism to rotate around a second axis L2. The first axis L1 and the second axis L2 are arranged at a non-parallel angle, preferably perpendicular to each other, so that the swing motion of the lateral tilt mechanism and the rotational motion of the steering mechanism are orthogonally decoupled in space, and the two motions do not interfere with each other and are independently controllable. When the lateral tilt motor 201 drives the steering mechanism to swing around the first axis L1, the entire steering mechanism deflects accordingly, and the steering motor 203 fixed to it also tilts accordingly. The direction of the second axis L2 changes accordingly, but the angle between the first axis L1 and the second axis L2 remains constant.

[0101] The rotating mechanism includes a rotary motor 205, which is fixed to the second bracket 204. Its output shaft is connected to a drive wheel 206 to drive the drive wheel 206 to rotate. The output shaft of the rotary motor 205 is directly connected to the hub of the drive wheel 206 to drive the drive wheel 206 to rotate around its own axis, providing walking power for the robot. The surface of the drive wheel 206 is coated with a rubber layer to increase adhesion to the ground. The output shaft of the rotary motor 205 is perpendicular to the second axis L2, allowing the rotation axis of the drive wheel 206 to change orientation in the horizontal plane when the steering motor 203 drives the rotating mechanism to rotate, enabling various motion modes.

[0102] The structures of the first support 202 and the second support 204 can be the same as or similar to those in the foregoing embodiments. Specifically, the first support 202 includes a first connecting portion 2021 and a second connecting portion 2022 that are connected to each other. The first connecting portion 2021 is connected to the output shaft of the side swing motor 201, and the second connecting portion 2022 is bent away from the fuselage 100 relative to the first connecting portion 2021. The steering motor 203 is fixed to the second connecting portion 2022. The first connecting portion 2021 and the second connecting portion 2022 are preferably integrally formed, both of which are flat and perpendicular to each other. The plane of the first connecting portion 2021 is perpendicular to the first axis L1, and the plane of the second connecting portion 2022 is perpendicular to the second axis L2. The second bracket 204 includes a third connecting portion 2041 and a fourth connecting portion 2042 connected to each other. The third connecting portion 2041 is connected to the output shaft of the steering motor 203, and the fourth connecting portion 2042 is bent away from the steering motor 203 relative to the third connecting portion 2041. The rotary motor 205 is fixed to the fourth connecting portion 2042. The third connecting portion 2041 and the fourth connecting portion 2042 are preferably integrally formed, both of which are flat and perpendicular to each other. The plane of the third connecting portion 2041 is perpendicular to the second axis L2, and the plane of the fourth connecting portion 2042 is perpendicular to the output shaft of the rotary motor 205.

[0103] In one embodiment, the first bracket 202 and / or the second bracket 204 are provided with channels for accommodating the wire harness. Furthermore, in one embodiment, at least one of the side-swing motor 201, the steering motor 203, and the rotary motor 205 is provided with a through hole for the wire harness to pass through. The specific structure of the channel and the through hole, and the method of guiding the wire harness, are the same as in the above embodiments, and will not be repeated here.

[0104] The other structures and functions of the wheel drive device in this embodiment are the same as those in the above embodiments, and will not be repeated here.

[0105] In the description of this specification, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0106] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0107] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0108] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0109] The foregoing disclosure provides many different implementations or examples for carrying out different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0110] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A wheel drive device for a robot, characterized in that, include: body; At least two sets of drive wheels are installed on the fuselage; The drive wheel assembly includes a side swing motor and a steering mechanism. The side swing motor is fixed to the body, and the output shaft of the side swing motor is connected to the steering mechanism to drive the steering mechanism to swing around a first axis. The steering mechanism includes a steering motor, a first bracket, and a rotating assembly. The first bracket is connected to the output shaft of the sway motor and the steering motor, respectively. The output shaft of the steering motor is connected to the rotating assembly and is used to drive the rotating assembly to rotate around a second axis. The first axis and the second axis are arranged at a non-parallel angle. The rotating assembly includes a rotary motor, a second bracket, and a drive wheel. The second bracket is connected to the output shaft of the steering motor and the rotary motor, respectively. The output shaft of the rotary motor is connected to the drive wheel and is used to drive the drive wheel to rotate.

2. The wheel drive device for the robot according to claim 1, characterized in that, The first bracket includes a first connecting part and a second connecting part that are connected to each other. The first connecting part is connected to the output shaft of the side swing motor. The second connecting part is bent away from the body relative to the first connecting part. The steering motor is fixed to the second connecting part.

3. The wheel drive device for the robot according to claim 2, characterized in that, The first connecting part and the second connecting part are integrally formed.

4. The wheel drive device for the robot according to claim 2, characterized in that, Both the first connecting portion and the second connecting portion are flat and perpendicular to each other; wherein, the first connecting portion is perpendicular to the output shaft of the side swing motor, and the second connecting portion is perpendicular to the output shaft of the steering motor.

5. The wheel drive device for the robot according to claim 1, characterized in that, The second bracket includes a third connecting part and a fourth connecting part that are connected to each other. The third connecting part is connected to the output shaft of the steering motor. The fourth connecting part is bent away from the steering motor relative to the third connecting part. The rotary motor is fixed to the fourth connecting part.

6. The wheel drive device for the robot according to claim 5, characterized in that, The third connecting part and the fourth connecting part are integrally formed.

7. The wheel drive device for the robot according to claim 5, characterized in that, Both the third connecting part and the fourth connecting part are flat and perpendicular to each other; wherein, the third connecting part is perpendicular to the output shaft of the steering motor, and the fourth connecting part is perpendicular to the output shaft of the rotary motor.

8. The wheel drive device for the robot according to claim 1, characterized in that, The at least two sets of drive wheels are symmetrically arranged on both sides of the fuselage along a first direction, which is parallel to the first axis.

9. The wheel drive device for the robot according to claim 1, characterized in that, The first axis is perpendicular to the second axis.

10. The wheel drive device for the robot according to claim 1, characterized in that, The output shaft of the rotary motor is perpendicular to the second axis.

11. The wheel drive device for the robot according to claim 1, characterized in that, The first bracket and / or the second bracket are provided with channels for accommodating the wire harness; at least one of the side-swing motor, the steering motor and the rotary motor is provided with a through hole for the wire harness to pass through.

12. The wheel drive device for the robot according to claim 1, characterized in that, The robot's wheel drive device also includes a sensing device and a control device. The sensing device includes a first sensing unit installed on the top of the robot body for environmental mapping and navigation; and / or a second sensing unit installed around the robot body for obstacle avoidance and cliff detection within a preset distance; and / or a third sensing unit installed on the front of the robot body for visual identification of obstacle types and stairs; and / or an inertial measurement unit installed inside the robot body for detecting the attitude and acceleration of the robot's wheel drive device. The control device is installed on the fuselage and is used to receive sensing signals and control the response of the sway motor, the steering motor and the rotary motor.

13. A robot, characterized in that, include: The robot itself; The wheel drive device as described in any one of claims 1-12 is connected to the robot body and is used to drive the robot body to walk.

14. A wheel drive device for a robot, characterized in that, include: body; At least two sets of drive wheels are installed on the fuselage; The drive wheel assembly includes a side-swing mechanism, a steering mechanism, a rotating mechanism, and drive wheels; The side-swing mechanism is fixed to the fuselage and connected to the steering mechanism via a first bracket, for driving the steering mechanism to swing around a first axis; the steering mechanism is connected to the rotating mechanism via a second bracket, for driving the rotating mechanism to rotate around a second axis; the first axis and the second axis are set at a non-parallel angle; the rotating mechanism is connected to the drive wheel, for driving the drive wheel to rotate; The first bracket and / or the second bracket are provided with channels for accommodating wire harnesses.

Images