Omnidirectional self-stabilizing mobile robot and mobile device

Abstract

Omnidirectional self-stabilizing mobile robot comprising a machine body (1), a drive system and foot wheels (2), characterized in that the drive system comprises a first drive unit (3), a leg unit (4), a second drive unit (5), a leg end (6) and a third drive unit (7) which are connected one after the other, wherein the first drive unit (3) is provided with a rotary shaft I and a fixed end I, wherein either the rotary shaft I or the fixed end I is arranged on the machine body (1) and the other is used to drive the oscillation of the leg unit (4) in a vertical plane relative to the machine body (1), wherein the third drive unit (7) is provided with a rotary shaft III and a fixed end III, wherein either the rotary shaft III or the fixed end III is arranged at the leg end (6) and the other is used to drive the rotation of the foot wheels (2), wherein the second drive unit (5) is provided with a rotary shaft II to drive the rotation of the leg end (6) along its own axis of rotation in the vertical direction, so that the foot wheels (2) are steered, wherein the leg unit (4) can be swung upwards and downwards so that the foot wheels (2) are swung upwards and downwards in the vertical direction when the foot wheel (2) encounters an obstacle.

Description

TECHNICAL FIELD

[0001] The present invention relates to the technical field of robots, in particular to an omnidirectional mobile robot with self-stabilization and a mobile device. STATE OF THE ART

[0002] Currently, passive spring-loaded suspensions are mainly used for existing wheeled robots, which improve the robot's ability to pass on rough terrain. However, the movement ability of such a suspension on complex terrain is very limited, which still results in fluctuations in the posture of the entire machine body, so that the machine body cannot be maintained in a fixed posture. The steering mechanism of the traditional wheeled robot cannot realize flexible movement with full degrees of freedom, which cannot be moved forward, backward, left and right, or steered in place. Existing wheeled robots cannot perform jumping movement, so jumping to ditches or obstacles and climbing stairs are not possible.

[0003] Chinese Patent Application No. 2017113762204 discloses a wheeled robot having a chassis body, the chassis body being provided with a motor and a steering linkage connected thereto, the chassis body being provided with a suspension assembly connected to the steering linkage and used to drive the rotation of the tires along the vertical axis, with the center of the connecting line between the rotation centers of the tires coinciding with the center of the chassis body. For this wheeled robot, a linkage is used to drive the steering of the tires. Although the suspension system for the wheeled robot is used to reduce the disturbance of the machine body caused by the rugged road, the posture of the machine body cannot be firmly maintained.

[0004] The information disclosed in the prior art is intended solely to assist in understanding the background of the inventive concept and may therefore contain information that is not prior art. CONTENT OF THE PRESENT INVENTION

[0005] In view of the above-mentioned problems or one of the above-mentioned problems, the purpose of the present invention is to provide an omnidirectional self-stabilizing mobile robot and a mobile device. When passing through obstacles or rugged roads, the machine body can be maintained in a certain position and posture by the up and down movement of the foot wheels.

[0006] In view of the above problems or one of the above problems, the purpose II of the present invention is to provide an omnidirectional self-stabilizing mobile robot. A first drive unit is arranged at the hip joint of each leg to control the up and down swing of the leg unit, thereby driving the up and down movement of the foot wheels. When encountering obstacles or depressions during movement, the posture of the machine body can be effectively and unchangedly held by the up and down movement of the foot wheels. A second drive unit is arranged at the knee joint of each leg to drive the 360-degree full-circle steering of the foot wheels, so that the limitation of the steering angle by conventional steering mechanisms is avoided and the movement is therefore more flexible.The third drive unit is located on the foot wheels, so the power of the third drive unit is directly converted into kinetic energy for the propulsion of the foot wheels, thus improving the transmission efficiency. Through the cooperation of the first drive unit at the hip joint, the second drive unit at the knee joint, and the third drive unit to drive the rotation of the foot wheels, the posture of the machine body can be fixed in any state, thus adapting to various complex terrains such as stairs, grass, etc.

[0007] In view of the above problems or one of the above problems, the purpose III of the present invention is to provide a mobile device. A first drive unit is arranged on the machine body to control the upward and downward swing of the leg unit, thereby driving the upward and downward movement of the foot wheels. When encountering obstacles or depressions during movement, the posture of the machine body can be kept unchanged as much as possible by the upward and downward movement of the foot wheels. This reduces the shaking of the machine body, making the solution simple and practical, which facilitates production and manufacturing.

[0008] To achieve one of the above-mentioned purposes, a first technical solution of the present invention consists in: An omnidirectional self-stabilizing mobile robot comprising a machine body, a drive system, and foot wheels, the drive system comprising a first drive unit, a leg unit, a second drive unit, a leg end, and a third drive unit connected in sequence, wherein the first drive unit is provided with a rotary shaft I and a fixed end I, wherein either the rotary shaft I or the fixed end I is arranged on the machine body and the other is used to drive the oscillation of the leg unit in a vertical plane relative to the machine body, wherein the third drive unit is provided with a rotary shaft III and a fixed end III, wherein either the rotary shaft III or the fixed end III is arranged at the leg end and the other is used to drive the rotation of the foot wheels, wherein the second drive unit is provided with a rotary shaft II to drive the rotation of the leg end along its own axis of rotation in the vertical direction, so that the foot wheels are steered, wherein the leg unit can be swung upwards and downwards so that the foot wheels are swung vertically upwards and downwards when the foot wheel encounters an obstacle.

[0009] The relative rotational movement is output by the drive unit so that the rotating shaft and the fixed end can be converted into each other.

[0010] The vertical up-and-down oscillation or up-and-down oscillation includes, but is not limited to, movement in a vertical direction, movement in an inclined direction, pendulum-like back-and-forth oscillation, vertical up-and-down lifting, etc.

[0011] After continuous research and testing, in the present invention, a first drive unit is arranged at the hip joint of each leg to control the up-and-down swing of the leg unit in the vertical direction, thereby driving the up-and-down movement of the foot wheels in the vertical direction. When encountering obstacles or depressions during movement, the posture of the machine body can be effectively and unchangedly maintained by the up-and-down movement of the foot wheels. A second drive unit is arranged at the knee joint of each leg to drive the 360-degree full-circle steering of the foot wheels, thus avoiding the limitation of the steering angle by conventional steering mechanisms and thus making the movement more flexible.The third drive unit is arranged on the foot wheels, so that the power of the third drive unit is directly converted into kinetic energy for the propulsion of the foot wheels, which increases the transmission efficiency.

[0012] Furthermore, in the present invention, by the cooperation of the first drive unit at the hip joint, the second drive unit at the knee joint and the third drive unit for driving the rotation of the foot wheels, the posture of the machine body can be fixed in any state, so that it can adapt to various complex terrains such as stairs, grass, climbing and other obstacles.

[0013] The preferred technical measure is that the leg unit comprises a thigh base, a thigh linkage, and an abutment, wherein the abutment is attached to the housing of the second drive unit and is hinged to the thigh base, wherein the output end of the first drive unit is fixedly connected to the thigh base, wherein one end of the thigh linkage is hinged to the housing or the machine body of the first drive unit and the other end is hinged to the abutment, wherein a four-bar mechanism is formed by the thigh base, the thigh linkage, and the abutment to drive the upward and downward movement of the foot wheels, wherein the steering axis of the foot wheels is always kept perpendicular to the ground, so that the machine body can be held in a certain position and posture, which makes the solution practicable.

[0014] The preferred technical measure is that a pin seat is attached to the housing of the first drive unit, wherein the thigh linkage is rotatably connected to the first drive unit or the machine body via the pin seat, wherein the side portion of the thigh base is cooperatively provided with a thigh cover.

[0015] The preferred technical measure is that the first drive unit and / or the second drive unit and / or the third drive unit comprise a motor unit and a reduction unit, wherein the housing of the second drive unit is fastened to the leg end, wherein the housing of the third drive unit is arranged coaxially to the center of rotation of the foot wheels.

[0016] The preferred technical measure is that at least three groups of drive systems and foot wheels are distributed on the machine body.

[0017] To achieve one of the above-mentioned purposes, a second technical solution of the present invention consists in: Mobile device with a machine body and foot wheels, wherein a first drive unit and a leg unit are arranged between the machine body and the foot wheels, wherein the first drive unit is provided with a rotary shaft I and a fixed end I, wherein either the rotary shaft I or the fixed end I is arranged on the machine body and the other is fixedly connected to the leg unit and is used to drive the vibration of the leg unit relative to the machine body, wherein the leg unit is provided with at least one rod piece and / or one plate piece and / or one bracket and is equipped with foot wheels, wherein the foot wheels can be swung up and down when the leg unit is swung up and down to avoid obstacles, so that the machine body can be kept in the desired position and posture.

[0018] The relative rotational movement is output by the drive unit so that the rotating shaft and the fixed end can be converted into each other.

[0019] The up-and-down vibration or the vertical up-and-down vibration in the present application may be an up-and-down vibration in the vertical direction, an up-and-down vibration in the inclined direction, or a pendulum-like up-and-down vibration, etc.

[0020] After continuous research and testing, in the present invention, a first drive unit is arranged on the machine body to control the upward and downward swing of the leg unit, thereby driving the upward and downward movement of the foot wheels. When encountering obstacles or depressions during movement, the posture of the machine body can be maintained as unchanged as possible by the upward and downward movement of the foot wheels. This reduces the shaking of the machine body, making the solution simple and practical, facilitating production and manufacturing.

[0021] Furthermore, the foot wheel according to the invention can be individually lifted, so that the posture of the machine body can be fixed in any state, which makes it possible to adapt to various complex terrains such as stairs, grass, climbing and other obstacles.

[0022] The preferred technical measure is that the leg unit is connected to the footwheel via one leg end to form a multi-joint structure, wherein the leg end is a rod piece and / or a plate piece and / or a bracket mounted on the inside or outside or on both sides of the footwheel.

[0023] Preferably, the leg end is a lower leg holder mounted on the outside of the foot wheels.

[0024] The lower leg bracket features high structural strength and is suitable for a variety of occasions. The lower leg bracket is mounted on the outside of the foot wheels, which effectively increases the space between the two opposing foot wheels, facilitating the free rotation of the two foot wheels. This avoids mutual interference, making the present invention both compact and lightweight.

[0025] The preferred technical measure is that a second drive unit is fitted between the leg unit and the leg end, wherein the second drive unit is provided with a rotary shaft II, the fixed end of which is mounted on the leg unit and the rotary shaft II is fixedly connected to the leg end.

[0026] A second drive unit is located at the knee joint of each leg to power the 360-degree full-circumference steering of the foot wheels, thus avoiding the steering angle limitation caused by conventional steering mechanisms and thus making movement more flexible.

[0027] The preferred technical measure is that a third drive unit is fitted between the leg end and the foot wheel, The third drive unit is provided with a rotary shaft III, the fixed end of which is mounted on the leg end and the rotary shaft III of which is fixedly connected to the footwheel. The third drive unit is arranged on the footwheels, so that the power of the third drive unit is directly converted into kinetic energy for the advancement of the footwheels, thereby increasing the transmission efficiency.

[0028] The preferred technical measure is that the axis of rotation of the second drive unit is perpendicular to the axis of rotation of the first drive unit, wherein the rotation axis of the third drive unit is perpendicular to the rotation axis of the second drive unit, so that the foot wheels can be rotated 360 degrees and lifted upwards.

[0029] Through the cooperation of the first drive unit at the hip joint, the second drive unit at the knee joint and the third drive unit to drive the rotation of the foot wheels, the posture of the machine body can be fixed in any state, so that it can adapt to different complex terrains such as stairs, grass, etc.

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

[0031] The motor unit is a rotary motor and the reduction unit is a reduction gear.

[0032] Advantageous effects of the present invention: After continuous research and testing, in the present invention, a first drive unit is arranged on the machine body to control the upward and downward swing of the leg unit, thereby driving the upward and downward movement of the foot wheels. When encountering obstacles or depressions during movement, the posture of the machine body can be maintained as unchanged as possible by the upward and downward movement of the foot wheels. This reduces the shaking of the machine body, making the solution simple and practical, facilitating production and manufacturing.

[0033] Furthermore, the present invention provides an omnidirectional self-stabilizing mobile robot. A first drive unit is arranged at the hip joint of each leg to control the up-and-down swing of the leg unit in the vertical direction, thereby driving the up-and-down movement of the foot wheels in the vertical direction. When encountering obstacles or depressions during movement, the posture of the machine body can be effectively and unchangedly maintained by the up-and-down movement of the foot wheels. A second drive unit is arranged at the knee joint of each leg to drive the 360-degree full-circle steering of the foot wheels, thus avoiding the limitation of the steering angle by conventional steering mechanisms and thus making the movement more flexible.The third drive unit is arranged on the foot wheels, so that the power of the third drive unit is directly converted into kinetic energy for the propulsion of the foot wheels, which increases the transmission efficiency.

[0034] Furthermore, in the present invention, by the cooperation of the first drive unit at the hip joint, the second drive unit at the knee joint, and the third drive unit for driving the rotation of the foot wheels, the posture of the machine body can be fixed in any state, so that it can adapt to various complex terrains such as stairs, grass, etc.

[0035] The present invention will be explained in more detail below in conjunction with drawings and specific embodiments. SHORT DESCRIPTION OF THE DRAWING Fig. 1 is a schematic representation of the overall structure according to the present invention; Fig. 2 is a schematic diagram showing the structure of a drive system and a footwheel according to the present invention; Fig. 3 is an exploded view of a drive system and footwheel according to the present invention; Fig. 4 is a schematic representation of the structure of a thigh unit after removal of a thigh cover according to the present invention; Fig. 5 is a side view of the structure of a thigh unit after removal of a thigh cover according to the present invention; Fig. 6 is a schematic representation of a single footwheel encountering an obstacle when the machine body according to the invention is in a fixed posture; Fig. 7 is a schematic representation of the posture of the machine body according to the invention when climbing stairs in a fixed posture; Fig. Figure 8 is a schematic representation of the posture of the machine body according to the invention when turning over in place in a fixed posture.

[0036] Reference numerals: 1. Machine body; 2. Foot wheel; 3. First drive unit; 4. Leg unit; 5. Second drive unit; 6. Leg end; 7. Third drive unit; 41. Thigh base; 42. Thigh linkage; 43. Abutment; 44. Pin seat; 45. Thigh cover. DETAILED DESCRIPTION

[0037] To further clarify the objectives, technical solutions, and advantages of the present invention, the present invention will be explained in more detail below in conjunction with the drawings and exemplary embodiments. It should be understood that the specific exemplary embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0038] Rather, the present invention encompasses all alternatives, modifications, equivalent methods, and solutions that fall within the essence and scope of the present invention as defined by the claims. Furthermore, certain specific details are described in detail in the following detailed description of the present invention to provide a better understanding of the present invention to the public. The present invention can be fully understood by those skilled in the art without the description of these details.

[0039] It should be noted that the two elements may be directly connected, or an intermediate element may be present, if the two elements are rigidly connected, fixed, or pivotally connected. In contrast, there is no intermediate element if one element is directly referenced on another element. The terms "vertical," "top," "bottom," and similar expressions are used herein for illustrative purposes only.

[0040] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention pertains. The terms used in the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "or / and" as used herein includes any and all combinations of one or more of the related listed elements.

[0041] A specific embodiment of the mobile device according to the present invention, as shown in Fig. 1 to Fig. 8 shown: Mobile device with a machine body 1 and foot wheels 2, wherein a first drive unit 3 and a leg unit 4 are arranged between the machine body 1 and the foot wheels 2, wherein the first drive unit 3 is provided with a rotary shaft I, the fixed end of which is arranged on the machine body 1 and the rotary shaft I is fixedly connected to the leg unit 4 and is used to drive the oscillation of the leg unit 4 relative to the machine body 1, wherein the leg unit 4 is provided with at least one rod piece and / or one plate piece and / or a holder and is equipped with foot wheels 2, wherein the foot wheels 2 can be lifted upwards when the leg unit 4 is swung upwards to avoid obstacles, so that the machine body 1 can be held in the desired position and posture.

[0042] After continuous research and testing, in the present invention, a first drive unit 3 is arranged on the machine body 1 to control the upward and downward swing of the leg unit 4 in the vertical direction, thereby driving the upward and downward movement of the foot wheels 2 in the vertical direction. When encountering obstacles or depressions during movement, the posture of the machine body 1 can be kept unchanged as much as possible by the upward and downward movement of the foot wheels 2. This reduces the shaking of the machine body 1, making the solution simple and practical, facilitating production and manufacturing.

[0043] Furthermore, the foot wheel 2 according to the invention can be individually lifted so that the posture of the machine body 1 can be fixed in any state, thereby enabling adaptation to various complex terrains such as stairs, grass, climbing and other obstacles.

[0044] A specific embodiment according to the present invention by adding a leg end 6: Furthermore, it is provided that the leg unit 4 is connected to the foot wheel 2 via a leg end 6 in order to form a multi-joint structure, wherein the leg end 6 is a lower leg holder mounted on the outside of the foot wheels 2.

[0045] The lower leg support features high structural strength and is suitable for various occasions. The lower leg support is mounted on the outer side of the foot wheels 2, which effectively increases the space between the two opposing foot wheels 2, facilitating the free rotation of the two foot wheels 2. This avoids mutual interference, making the present invention both compact and lightweight.

[0046] A specific embodiment according to the present invention by adding a second drive unit 5: Furthermore, it is provided that a second drive unit 5 is equipped between the leg unit 4 and the leg end 6, wherein the second drive unit 5 is provided with a rotary shaft II, the fixed end of which is mounted on the leg unit 4 and the rotary shaft II is fixedly connected to the leg end 6.

[0047] A second drive unit 5 is arranged at the knee joint of each leg to drive the 360-degree full-circumference steering of the foot wheels 2, so that the limitation of the steering angle by conventional steering mechanisms is avoided and the movement is therefore more flexible.

[0048] A specific embodiment according to the present invention by adding a third drive unit 7: Furthermore, it is provided that a third drive unit 7 is equipped between the leg end 6 and the foot wheel 2, wherein the third drive unit 7 is provided with a rotary shaft III, the fixed end of which is mounted on the leg end 6 and the rotary shaft III of which is fixedly connected to the foot wheel 2.

[0049] The third drive unit 7 is arranged on the foot wheels 2, so that the power of the third drive unit 7 is directly converted into kinetic energy for the advancement of the foot wheels 2, whereby the transmission efficiency is higher.

[0050] A specific embodiment of the arrangement orientation of the drive unit according to the present invention: Furthermore, it is provided that the axis of rotation of the second drive unit 5 is perpendicular to the axis of rotation of the first drive unit 3, wherein the rotation axis of the third drive unit 7 is perpendicular to the rotation axis of the second drive unit 5, so that the foot wheels 2 can be rotated 360 degrees and lifted upwards.

[0051] Through the cooperation of the first drive unit 3 at the hip joint, the second drive unit 5 at the knee joint and the third drive unit 7 for driving the rotation of the foot wheels 2, the posture of the machine body 1 can be fixed in any state, so that it can adapt to various complex terrains such as stairs, grass, etc.

[0052] A preferred embodiment of the omnidirectional self-stabilizing mobile robot according to the present invention: An omnidirectional self-stabilizing mobile robot comprising a machine body 1, a drive system, and foot wheels 2. The drive system comprises a first drive unit 3, a leg unit 4, a second drive unit 5, a leg end 6, and a third drive unit 7 connected in series. The first drive unit 3 is arranged on the machine body 1 and is used to drive the oscillation of the leg unit 4 in a vertical plane relative to the machine body 1. The third drive unit 7 is arranged on the leg end 6 and is used to drive the rotation of the foot wheels 2. The second drive unit 5 is used to drive the rotation of the leg end 6 along its own rotation axis in the vertical direction, so that the foot wheels 2 are steered, the leg unit 4 is swung upward, and the foot wheels 2 are lifted upward in the vertical direction.so that the machine body 1 can be held in a certain position and posture when the foot wheel 2 encounters an obstacle.,

[0053] A specific embodiment of the structure of the leg unit 4 according to the present invention: Furthermore, it is provided that the leg unit 4 comprises a thigh base 41, a thigh rod 42 and an abutment 43, wherein the abutment 43 is fastened to the housing of the second drive unit 5 and is articulated to the thigh base 41, wherein the output end of the first drive unit 3 is firmly connected to the thigh base 41, wherein one end of the thigh rod 42 is articulated to the housing or the machine body 1 of the first drive unit 3 and the other end is articulated to the abutment 43, wherein the side section of the thigh base 41 is provided cooperatively with a thigh cover 45, wherein a four-bar mechanism is formed by the thigh base 41, the thigh linkage 42 and the abutment 43 to drive the upward and downward movement of the foot wheels 2, wherein the steering axis of the foot wheels 2 is always kept perpendicular to the ground, so that the machine body 1 can be held in a certain position and posture.

[0054] A specific embodiment of the structure of the first drive unit 3 according to the present invention: Furthermore, it is provided that a pin seat 44 is fastened to the housing of the first drive unit 3, wherein the thigh linkage 42 is rotatably connected to the first drive unit 3 or the machine body 1 via the pin seat 44.

[0055] A specific embodiment of the structure of the drive unit according to the present invention: Furthermore, it is provided that the first drive unit 3 and / or the second drive unit 5 and / or the third drive unit 7 comprise a motor unit and a reduction unit, wherein the housing of the second drive unit 5 is fastened to the leg end 6, wherein the housing of the third drive unit 7 is arranged coaxially to the center of rotation of the foot wheels 2.

[0056] A specific embodiment of the structure of the machine body 1 according to the present invention: Furthermore, it is provided that at least three groups of drive systems and foot wheels 2 are distributed on the machine body 1.

[0057] The present invention provides an omnidirectional self-stabilizing mobile robot. A first drive unit 3 is arranged at the hip joint of each leg to control the up-and-down swing of the leg unit 4 in the vertical direction, thereby driving the up-and-down movement of the foot wheels 2 in the vertical direction. When encountering obstacles or depressions during movement, the posture of the machine body 1 can be effectively and unchangedly maintained by the up-and-down movement of the foot wheels 2. A second drive unit 5 is arranged at the knee joint of each leg to drive the 360-degree full-circle steering of the foot wheels 2, thus avoiding the restriction of the steering angle by conventional steering mechanisms and thus making the movement more flexible.The third drive unit 7 is arranged on the foot wheels 2, so that the power of the third drive unit 7 is directly converted into kinetic energy for the propulsion of the foot wheels 2, thereby increasing the transmission efficiency. Through the cooperation of the first drive unit 3 at the hip joint, the second drive unit 5 at the knee joint, and the third drive unit 7 to drive the rotation of the foot wheels 2, the posture of the machine body 1 can be fixed in any state, allowing adaptation to various complex terrains such as stairs, grass, etc.

[0058] In the present application, the type of fastening or fixed connection may be screwing or welding or riveting or plugging or connection by a third component, which can be selected by the person skilled in the art according to the actual situation.

[0059] Finally, it should be noted that the above embodiments only serve to illustrate the technical solution of the present invention and do not limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art will understand that the specific embodiments of the present invention can still be modified or substituted with equivalents. Any modification or equivalent substitution that does not deviate from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

[1] Omnidirectional mobile robot with self-stabilization, comprising a machine body (1), a drive system and foot wheels (2), characterized by that the drive system comprises a first drive unit (3), a leg unit (4), a second drive unit (5), a leg end (6) and a third drive unit (7) which are connected one after the other, wherein the first drive unit (3) is provided with a rotary shaft I and a fixed end I, wherein either the rotary shaft I or the fixed end I is arranged on the machine body (1) and the other is used to drive the oscillation of the leg unit (4) in a vertical plane relative to the machine body (1), wherein the third drive unit (7) is provided with a rotary shaft III and a fixed end III, wherein either the rotary shaft III or the fixed end III is arranged at the leg end (6) and the other is used to drive the rotation of the foot wheels (2), wherein the second drive unit (5) is provided with a rotary shaft II to drive the rotation of the leg end (6) along its own axis of rotation in the vertical direction, so that the foot wheels (2) are steered, wherein the leg unit (4) can be swung upwards and downwards so that the foot wheels (2) are swung upwards and downwards in the vertical direction when the foot wheel (2) encounters an obstacle. [2] Omnidirectional self-stabilizing mobile robot according to claim 1, characterized byin that the leg unit (4) comprises a thigh base (41), a thigh linkage (42) and an abutment (43), wherein the abutment (43) is attached to the housing of the second drive unit (5) and is articulated to the thigh base (41), wherein the output end of the first drive unit (3) is fixedly connected to the thigh base (41), wherein one end of the thigh linkage (42) is articulated to the housing or the machine body (1) of the first drive unit (3) and the other end is articulated to the abutment (43), wherein a four-bar mechanism is formed by the thigh base (41), the thigh linkage (42) and the abutment (43) in order to drive the upward and downward movement of the foot wheels (2), wherein the steering axis of the foot wheels (2) is always kept perpendicular to the ground. [3] Omnidirectional self-stabilizing mobile robot according to claim 2, characterized bythat a pin seat (44) is attached to the housing of the first drive unit (3), wherein the thigh linkage (42) is rotatably connected to the first drive unit (3) or the machine body (1) via the pin seat (44), wherein the side section of the thigh base (41) is provided cooperatively with a thigh cover (45). [4] Omnidirectional self-stabilizing mobile robot according to one of claims 1 to 3, characterized by that the first drive unit (3) and / or the second drive unit (5) and / or the third drive unit (7) comprise a motor unit and a reduction unit, wherein the housing of the second drive unit (5) is fastened to the leg end (6), wherein the housing of the third drive unit (7) is arranged coaxially to the center of rotation of the foot wheels (2). [5] Omnidirectional mobile robot with self-stabilization according to claim 4, characterized bythat at least three groups of drive systems and foot wheels (2) are distributed on the machine body (1). [6] Mobile device with a machine body and foot wheels, characterized by , that a first drive unit and a leg unit are arranged between the machine body and the foot wheels, wherein the first drive unit is provided with a rotary shaft I and a fixed end I, wherein either the rotary shaft I or the fixed end I is arranged on the machine body and the other is fixedly connected to the leg unit and is used to drive the oscillation of the leg unit relative to the machine body, wherein the leg unit is provided with at least one rod piece and / or one plate piece and / or one bracket and is equipped with foot wheels, whereby the foot wheels can be swung up and down when the leg unit is swung up and down. [7] Mobile device according to claim 6, characterized by , that the leg unit is connected to the footwheel via one leg end to form a multi-joint structure, wherein the leg end is a rod piece and / or a plate piece and / or a bracket mounted on the inside or outside or on both sides of the footwheel. [8] Mobile device according to claim 7, characterized by , that a second drive unit is fitted between the leg unit and the leg end, wherein the second drive unit is provided with a rotary shaft II, the fixed end of which is mounted on the leg unit and the rotary shaft II is fixedly connected to the leg end. [9] Mobile device according to claim 8, characterized by , that a third drive unit is fitted between the leg end and the foot wheel, wherein the third drive unit is provided with a rotary shaft III, the fixed end of which is mounted on the leg end and the rotary shaft III is fixedly connected to the foot wheel. [10] Mobile device according to claim 9, characterized by , that the axis of rotation of the second drive unit is perpendicular to the axis of rotation of the first drive unit, wherein the rotational axis of the third drive unit is perpendicular to the rotational axis of the second drive unit, so that the foot wheels can be rotated 360 degrees and swung up and down.

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