A mobile platform

Abstract

The present invention relates to the field of transportation technology, and discloses a mobile platform, including a chassis and a drive axle, wherein the number of chassis is N, the number of drive axles is N+1, and N is a positive integer greater than or equal to 1; the drive axle includes a drive axle bracket and a wheel rotatably connected to the drive axle bracket, chassis hinge connectors are respectively arranged on both sides of the chassis, the N chassis and the N+1 drive axles are arranged in sequence, and the drive axle bracket and the chassis hinge connector are hinged by a coaxial hinge or a biaxial hinge; wheels are rotatably connected to the drive axle bracket at both ends, the angle of the wheel relative to the drive axle bracket remains unchanged, and a wheel driving mechanism for driving the wheel to rotate is provided on the wheel. Compared with the prior art, the present invention uses the left and right wheel differential of the vehicle to achieve steering, saves a complex steering mechanism, can reduce the cost and weight of the vehicle itself, and the vehicle also has the ability to expand.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation, and in particular to a mobile platform. Background Art

[0002] Mobile platforms, such as wheelchairs and dollies, play a vital role in agriculture, industry, film and television, search and rescue, police, and military applications, and can adapt to complex environments and road conditions. Mobile platform operations require flexible steering and easy control to adapt to complex environments and road conditions. Traditional vehicles or mobile platforms have the following problems:

[0003] 1) Traditional vehicles have complex steering mechanisms, high costs, and heavy vehicle weight. In practice, this heavy weight makes both straight driving and steering difficult, wasting power and preventing real-time control. Furthermore, the steering control process is complex, and steering cannot be achieved simply by adjusting the wheel speed difference.

[0004] 2) Traditional vehicles are mostly single-platform vehicles, making them difficult to cascade. In industrial applications, a single platform can only transport limited cargo, requiring the vehicle and platform to shuttle back and forth between the destination and the cargo area, resulting in low efficiency. Therefore, a vehicle-based steering system that utilizes the differential speed of its left and right wheels is urgently needed. This eliminates the need for complex steering mechanisms, reduces vehicle cost and weight, and provides scalability. Summary of the Invention

[0005] Purpose of the invention: In response to the problems existing in the prior art, the present invention provides a mobile platform that utilizes the differential speed of the left and right wheels of the vehicle to achieve steering, eliminating the complex steering mechanism, which can reduce the cost and weight of the vehicle itself, and at the same time the vehicle also has the ability to expand.

[0006] Technical solution: The present invention provides a mobile platform, including a chassis and a drive axle, the number of the chassis is N, the number of the drive axles is N+1, and N is a positive integer greater than or equal to 1; the drive axle includes a drive axle bracket and a wheel rotatably connected to the drive axle bracket, and chassis hinge connectors are respectively arranged on both sides of the chassis, and the N chassis and N+1 drive axles are arranged in sequence, and the drive axle bracket and the chassis hinge connector are hinged by a coaxial hinge or a biaxial hinge; wheels are rotatably connected to both ends of the drive axle bracket, and the angle of the wheel relative to the drive axle bracket remains unchanged. The wheel is provided with a wheel driving mechanism for driving it to rotate.

[0007] Furthermore, the coaxial hinge includes a pair of coaxially arranged hinge shafts 1 and 2 and a pair of centrally symmetrically arranged hinge connectors 1 and 2; one end of hinge connector 1 is fixed to hinge shaft 1, one end of hinge connector 2 is fixed to hinge shaft 2, and the other ends of hinge connector 1 and hinge connector 2 are respectively fixedly connected to the chassis hinge connector, and the hinge connector 1 and hinge connector 2 are hollow inside, and the two are interspersed and arranged on the upper side and lower side of the drive axle bracket; hinge connector 1 is rotatably connected to the drive axle bracket through a pair of thrust bearings, and hinge connector 2 is rotatably connected to the drive axle bracket through a pair of thrust bearings; hinge shaft 1 is arranged to pass through the upper half of the drive axle bracket, and hinge shaft 2 is arranged to pass through the lower half of the drive axle bracket, and the hinge shaft 1, hinge shaft 2 and the drive axle bracket are all rotatably connected through bearings.

[0008] Furthermore, a pair of steering brake mechanisms are provided in the drive axle bracket. The steering brake mechanisms are disc brakes, drum brakes or electromagnetic brakes. The pair of steering brake mechanisms are respectively used to control the rotation and stop of the hinge shaft one and hinge shaft two.

[0009] Furthermore, the coaxial hinge includes a hinge shaft three and a hinge connector three and a hinge connector four that are centrally symmetrically arranged. The hinge shaft three passes through the drive axle bracket and is fixed on the drive axle bracket; the hinge connector three and the hinge connector four are hollow inside, and the two are interspersed on the upper side and the lower side of the drive axle bracket. One end of the hinge connector three and the hinge connector four are respectively rotatably connected to the hinge shaft three, and the other end thereof is fixedly connected to the chassis hinge connector. The hinge connector three is connected to the drive axle bracket through a pair of thrust bearings, and the hinge connector four is connected to the drive axle bracket through a pair of thrust bearings.

[0010] Furthermore, steering brake mechanisms are respectively provided at the upper and lower ends of the hinge shaft three, and the steering brake mechanisms are disc brakes, drum brakes or electromagnetic brakes. A pair of the steering brake mechanisms are respectively used to control the rotation stop of the hinge connector three and the hinge connector four.

[0011] Furthermore, the dual-axis hinge includes a hinge axis four, a hinge axis five, a hinge connector five, and a hinge connector six; the hinge axis four and the hinge axis five are not arranged on the same axis, and are respectively arranged through the drive axle brackets close to the chassis on both sides, the hinge axis four is fixedly connected to the hinge connector five, and the hinge axis five is fixedly connected to the hinge connector six, the hinge connector five and the hinge connector six are hollow inside, and both are mounted on the upper side and the lower side of the drive axle bracket; the hinge connector five is rotatably connected to the drive axle bracket through a thrust bearing, and the hinge connector six is ​​rotatably connected to the drive axle bracket through a thrust bearing; the drive axle bracket is rotatably connected to the hinge axis four and the hinge axis five respectively through bearings.

[0012] Furthermore, a pair of steering brake mechanisms are provided in the drive axle bracket. The steering brake mechanisms are disc brakes, drum brakes or electromagnetic brakes. The pair of steering brake mechanisms are used to control the rotation and stop of the hinge axis four and the hinge axis five respectively.

[0013] Furthermore, an angle encoder is also provided on the mobile platform. The angle encoder uses a hollow angular displacement encoder to measure the rotation angle of the drive axle.

[0014] Furthermore, a main control computer is provided on the mobile platform, and the main control computer is electrically connected to the angle encoder, the steering brake mechanism, and the wheel drive mechanism respectively.

[0015] Furthermore, the turning radius of the mobile platform is recorded as R1, the speeds of the two wheels of the mobile platform are V1 and V2, the distance between the outer sides of the two wheels and the center of the hinge axis is r, and the distance between the front and rear hinge axes of the chassis is L. The turning radius can be calculated by the following formula: R1=2r×V1 / (V1-V2); the deflection angular velocity ω with the center of the hinge axis as the center of the circle is (V1-V2) / r. Beneficial effects

[0016] 1. This invention utilizes the vehicle's left and right wheel differential to achieve steering, eliminating the need for complex steering mechanisms and reducing vehicle cost and weight. The vehicle also offers expansion capabilities by cascading mobile platforms through the use of chassis and drive axles. The number of chassis is one less than the number of drive axles. Thus, N chassis, cascaded together with N+1 drive axles, form a complete mobile platform. The drive axles and chassis are articulated via coaxial or biaxial hinges, facilitating directional adjustment and control.

[0017] 2. The present invention uses two coaxial hinges with different structures to realize the articulation between the drive axle and the chassis. One method is to rotate two coaxial hinge shafts to respectively drive the two hinge connectors on the drive axle bracket to rotate; the other method is to drive the two hinge connectors on the drive axle bracket to rotate separately through one hinge shaft. Both of the two different coaxial hinges can realize the separate rotation of the two hinge connectors on the drive axle bracket, thus eliminating the complex steering mechanism and reducing the cost and weight of the vehicle itself.

[0018] 3. The present invention uses a double-axis hinge to realize the articulation between the drive axle and the chassis. The two hinge axes of the double-axis hinge are arranged in parallel. Each hinge axis only controls the rotation of one hinge connector. The two hinge connectors on the drive axle are controlled separately, realizing the angular rotation of the drive axle while realizing the separate control of the chassis on both sides of the drive axle.

[0019] 4. The present invention adds a steering brake mechanism to the double-axis hinge or the coaxial hinge, and controls the rotation angle of the drive axle through the steering brake mechanism. When it rotates to the required angle, the double-axis hinge or the coaxial hinge is controlled by the steering brake mechanism to stop rotating, thereby fixing the angle between the drive axle and the chassis, which is convenient for control on inclined sections or sections with many obstacles.

[0020] 5. The present invention sets an angle encoder on each drive axle, which can detect the rotation angle of the drive axle in real time. The angle encoder is connected to the main control computer. The main control computer controls the wheel drive mechanism to drive the rotation speed of the wheels on both sides to achieve angle adjustment according to the angle detected by the angle encoder, or controls the steering brake mechanism to achieve angle fixation.

[0021] 6. The main control computer of the present invention can simply calculate the turning radius and the deflection angular velocity through formulas, without the need for detection through a series of sensors. The turning radius can be obtained by only knowing the wheel speeds on both sides of the drive axle and the distance between the outer sides of the two wheels and the center of the hinge axis. The structure is simple and the calculation complexity of the main control computer is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the overall structure of the present invention, wherein (a) is a schematic diagram of a coaxial hinge connection; (b) is a schematic diagram of a biaxial hinge connection;

[0023] Figure 2 This is a schematic diagram of the coaxial hinge structure of embodiment 1 of the present invention;

[0024] Figure 3 This is a schematic diagram of a coaxial hinge structure according to embodiment 2 of the present invention;

[0025] Figure 4 This is a schematic diagram of a biaxial hinge structure according to embodiment 3 of the present invention;

[0026] Figure 5 This is a schematic structural diagram of a mobile platform in a walking state according to Embodiment 1 of the present invention;

[0027] Figure 6 This is a schematic structural diagram of a mobile platform turning in accordance with embodiment 1 of the present invention.

[0028] Among them, 1-drive axle, 101-drive axle bracket, 102-hinge shaft one, 103 hinge shaft two, 104-hinge connector one, 105-hinge connector two, 106-fixing key, 107-thrust bearing, 108-bearing, 109-steering brake disc, 110-brake caliper, 111-hinge shaft three, 112-hinge connector three, 113-hinge connector four, 114-hinge shaft four, 115-hinge shaft five, 116-hinge connector five, 117-hinge connector six, 118-angle encoder, 2-chassis, 201-chassis hinge connector, 3-wheel. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0030] Implementation Method

[0031] The present invention discloses a mobile platform comprising a chassis 2 and a drive axle 1. The number of chassis 2 is N, and the number of drive axles 1 is N+1, where N is a positive integer greater than or equal to 1. The drive axle 1 comprises a drive axle bracket 101 and wheels rotatably connected to the drive axle bracket 101 at both ends. Chassis hinge connectors 201 are provided on both sides of the chassis 2. The N chassis 2 and the N+1 drive axles 1 are arranged in sequence. The drive axles 1 are rotatable relative to the chassis 2. The drive axle brackets 101 and the chassis hinge connectors 201 are articulated via a coaxial hinge. The wheels 3 maintain a constant angle relative to the drive axle bracket 101 and are provided with a wheel drive mechanism for driving the wheels 3.

[0032] In this embodiment, N=1, so the mobile platform is a four-wheeled cart structure. In this embodiment, the drive axle bracket 101 and the chassis hinge connector 201 are hinged via a coaxial hinge. The coaxial hinge in this embodiment includes a pair of coaxial hinge shafts and a pair of centrally symmetrical hinge connectors. The hinge shafts are denoted as hinge shaft 102 and hinge shaft 2 103. The hinge connectors are denoted as hinge connector 1 104 and hinge connector 2 105. One end of hinge connector 104 and hinge connector 2 105 is fixed to hinge shaft 102 and hinge shaft 2 103 respectively via a fixing key 106. See the attached diagram. Figure 2Hinge connector 104 is fixed to hinge shaft 102 via a fixing key 106, and hinge connector 2 105 is fixed to hinge shaft 2 103 via another fixing key 106. Hinge connector 104 and hinge connector 2 105 are fixedly connected to chassis hinge connector 201 at one end and the other end respectively. Hinge connector 104 and hinge connector 2 105 are hollow inside and are interspersed on the upper and lower sides of the drive axle bracket 101.

[0033] Hinge connector 104 and hinge connector 2 105 are rotatably connected to the drive axle bracket 101 through a pair of thrust bearings 107, see the attached Figure 2 There are 4 thrust bearings 107, 2 of which are located between the hinge connector 104 and the hinge connector 2 105, 1 thrust bearing 107 is located between the hinge connector 2 105 and the drive axle bracket 101, and the other thrust bearing 107 is located between the hinge connector 104 and the drive axle bracket 101. Figure 2 Hinge shaft 102 and hinge shaft 2 103 are respectively set through the upper and lower parts of the drive axle bracket 101, and are rotatably connected to the drive axle bracket 101 through bearings 108. Figure 2 There are four bearings 108, which are respectively arranged at the upper and lower parts of the drive axle bracket 101, at both ends contacting the hinge shaft 102 and the hinge shaft 2 103. The thrust bearing 107 bears the vertical load, and the bearing 108 bears the horizontal load.

[0034] In this embodiment, the interior of the drive axle bracket 101 is hollow, and a pair of steering brake mechanisms are also provided in the drive axle bracket 101. The steering brake mechanisms are disc brakes, drum brakes, or electromagnetic brakes. The pair of steering brake mechanisms are used to control the rotation and stop of the hinge shaft 1 102 and the hinge shaft 2 103 respectively. Figure 2 The steering brake mechanism used in this embodiment is a disc brake, comprising a steering brake disc 109 fixed to hinge shaft 102 and hinge shaft 2 103, and a brake caliper 110 disposed within the drive axle bracket 101. The steering brake disc 109 is coaxially arranged with hinge shaft 102 and hinge shaft 2 103, engaging with the brake caliper 110. Furthermore, the brake caliper 110 is provided with a drive mechanism that drives the brake caliper 110 toward or away from the steering brake disc 109. When the rotation angle needs to be fixed, the brake caliper 110 is tightened, locking the steering brake disc 109 and stopping it. This also stops the rotation of hinge shaft 102, hinge shaft 2 103, hinge connector 104, and hinge connector 2 105. The brake caliper 110 can be operated by a cable, actuated, or hydraulically operated system, as needed.

[0035] The mobile platform is also equipped with an angle encoder, which uses a hollow angular displacement encoder to measure the rotation angle of the drive axle 1. This angle encoder has an internal hollow rotating member for measuring angular displacement. It can be mounted on hinge shaft 102 and hinge shaft 2 103 and rotate with them. The angle encoder housing is fixed to the drive axle bracket 101 and cannot rotate. When hinge shaft 102 and hinge shaft 2 103 rotate, the rotating member rotates synchronously with hinge shaft 102 and hinge shaft 2 103.

[0036] The mobile platform also houses a main control computer, which is electrically connected to the angle encoder, steering brake mechanism, and wheel drive mechanism. The angle encoder sends real-time electrical signals to the main control computer via a communication interface. The main control computer then controls the steering brake mechanism and wheel drive mechanism to control the rotation angle of drive axle 1.

[0037] See attached Figure 5 The rest of the article Figure 6 The turning radius of the mobile platform is recorded as R1, the speeds of the two wheels of the mobile platform are V1 and V2, the distance between the outer sides of the two wheels and the center of the hinge axis is r, and the distance between the front and rear hinge axes of the chassis is L. The turning radius can be calculated by the following formula: R1=2r×V1 / (V1-V2); the deflection angular velocity ω with the center of the hinge axis as the center of the circle is (V1-V2) / r.

[0038] When V1=V2, the vehicle keeps moving in a straight line; when the speeds of V1 and V2 are inconsistent, a deflection angular velocity ω with the hinge center as the center of the circle will be generated. The angular velocity calculation formula is as follows: ω=(V1-V2) / r.

[0039] When the vehicle needs to go straight, keep all wheels turning synchronously.

[0040] When steering is required, the speed of each wheel is controlled to create a left-right differential, enabling steering. For example, to turn left, the right wheel of the front drive axle 1 is made to have a higher speed than the left wheel. This causes the front drive axle 1 to pivot leftward, and the chassis 2 can pivot rightward along with the hinge. Simultaneously manipulating the rear drive axle 1 to pivot rightward reduces the vehicle's turning radius. To maneuver diagonally, the left and right wheel differentials of the front and rear drive axles 1 are controlled separately, causing them to pivot synchronously in the same direction. Once the desired angle is reached, the wheel speeds are controlled to align, allowing the vehicle to travel in the desired direction.

[0041] When the vehicle is driving, the main control computer can adjust the speed of the two wheels and the deflection angle a in real time according to the turning radius R1 required by the scene to control the turning of the vehicle.

[0042] Implementation Method

[0043] The difference between this embodiment and embodiment 1 is: Figure 3 The coaxial hinge includes a hinge shaft 3 111 and a hinge connector 3 112 and a hinge connector 4 113 that are symmetrically arranged at the center. The hinge shaft 3 111 passes through the drive axle bracket 101 and is fixed to the drive axle bracket 101 by a fixing key 106. The hinge connector 3 112 and the hinge connector 4 113 are hollow inside and are interspersed on the upper side and the lower side of the drive axle bracket 101. One end of the hinge connector 3 112 and the hinge connector 4 113 are respectively rotatably connected to the hinge shaft 3 111 through bearings 108. See the attached drawings. Figure 3 , 4 bearings 108 are provided, which are respectively provided on the upper and lower side walls of hinge connector 3 112 and hinge connector 4 113 and are rotatably connected to hinge shaft 3 111. The other ends of hinge connector 3 112 and hinge connector 4 113 are fixedly connected to chassis hinge connector 201. Hinge connector 3 112 and hinge connector 4 113 are both connected to drive axle bracket 101 through a pair of thrust bearings 107. There are 4 thrust bearings 107, 2 of which are located between hinge connector 3 112 and hinge connector 4 113, 1 thrust bearing 107 is provided between hinge connector 3 112 and drive axle bracket 101, and the other thrust bearing 107 is provided between hinge connector 4 113 and drive axle bracket 101. See attached. Figure 3 The thrust bearing 107 bears the load in the vertical direction, and the bearing 108 bears the load in the horizontal direction.

[0044] The structures of hinge connector 3 112 and hinge connector 4 113 are shown in the attached drawings. Figure 3 One side thereof is a stepped structure, and a steering brake mechanism is respectively provided at the upper and lower ends of the hinge shaft three 111. The steering brake mechanism is a disc brake, a drum brake or an electromagnetic brake. A pair of steering brake mechanisms are respectively used to control the rotation stop of the hinge connector three and the hinge connector four.

[0045] In this embodiment, hinge shaft three 111 is fixed and fixedly connected to the drive axle bracket 101. Therefore, when the wheel speeds on both sides of the drive axle 1 are different, hinge connector three 112 and hinge connector four 113 rotate under the action of thrust bearing 107 and bearing 108 to achieve steering operation.

[0046] The steering brake mechanism used in this embodiment is a disc brake, comprising a steering brake disc 109 secured to hinge shaft 3 111, and a brake caliper 110 mounted on hinge connector 3 112 and hinge connector 4 113. The steering brake disc 109 is coaxial with hinge shaft 3 111 and engages with the brake caliper 110. Furthermore, the brake caliper 110 is provided with a drive mechanism that drives the brake caliper 110 toward or away from the steering brake disc 109. To maintain a fixed rotation angle, the brake caliper 110 is tightened, locking the steering brake disc 109 and halting rotation. This also causes the hinge connector 3 112 and hinge connector 4 113 to stop rotating. The brake caliper 110 can be operated by a cable-operated, actuated, or hydraulically operated system, as needed.

[0047] The other structures in this embodiment are the same as those in embodiment 1 and will not be described in detail here.

[0048] Implementation Method

[0049] The difference between this embodiment and embodiment 1 and embodiment 2 is that the drive axle bracket 101 is hinged to the chassis hinge connector 201 via a biaxial hinge, and the biaxial hinge includes a hinge shaft 4 114, a hinge shaft 5 115, a hinge connector 5 116, and a hinge connector 6 117. The chain shaft 4 114 and the hinge shaft 5 115 are arranged in parallel with different axes, and are respectively arranged through the drive axle bracket 101 near the chassis 2 on both sides. The chain shaft 4 114 and the hinge shaft 5 115 are fixedly connected to the hinge connector 5 116 and the hinge connector 6 117 via fixed keys 106, respectively. The hinge connector 5 116 and the hinge connector 6 117 are hollow inside, and are both sleeved on the upper and lower sides of the drive axle bracket 101; the hinge connector 5 116 and the hinge connector 6 117 are respectively rotatably connected to the drive axle bracket 101 via thrust bearings 107. In this embodiment, four thrust bearings 107 are provided, see the attached figure. Figure 4 Two thrust bearings are located between hinge connector 5 116 and drive axle bracket 101, and two thrust bearings 107 are located between hinge connector 6 117 and drive axle bracket 101. Drive axle bracket 101 is rotationally connected to hinge shaft 4 114 and hinge shaft 5 115 via bearings 108. Four bearings 108 are provided, located at the contact points between drive axle bracket 101, chain shaft 4 114, and hinge shaft 5 115.

[0050] In this embodiment, the chain shaft four 114 and the hinge shaft five 115 are rotatable, so when the wheel speeds on both sides of the drive axle 1 are different, the chain shaft four 114, the hinge shaft five 115, the hinge connector five 116, and the hinge connector six 117 rotate under the action of the thrust bearing 107 and the bearing 108 to achieve steering operation.

[0051] A pair of steering brake mechanisms are also provided in the drive axle bracket 101. The steering brake mechanisms are disc brakes, drum brakes or electromagnetic brakes. The pair of steering brake mechanisms are used to control the rotation and stop of the hinge shaft four 114 and the hinge shaft five 115 respectively.

[0052] The steering brake mechanism used in this embodiment is a disc brake, comprising a steering brake disc 109 fixed to a fourth chain shaft 114 and a fifth hinge shaft 115, and a brake caliper 110 disposed within the drive axle bracket 101. The steering brake disc 109 is coaxially arranged with the fourth chain shaft 114 and the fifth hinge shaft 115, respectively. The steering brake disc 109 engages with the brake caliper 110, and the brake caliper 110 is provided with a drive mechanism that drives the brake caliper 110 toward or away from the steering brake disc 109. When the rotation angle needs to be fixed, the brake caliper 110 is tightened, which locks the steering brake disc 109 and stops it from rotating. The chain shaft 114 and the fifth hinge shaft 115 also stop rotating. The brake caliper 110 can be a mature product with a cable pull, actuation, hydraulic pressure, or other methods as needed.

[0053] The other structures in this embodiment are the same as those in embodiment 1 and will not be described in detail here.

[0054] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. A mobile platform, comprising a chassis (2) and a drive axle (1), characterized in that: The number of the chassis (2) is N, the number of the drive axles (1) is N+1, and N is a positive integer greater than or equal to 1; the drive axle (1) comprises a drive axle bracket (101) and a wheel (3) rotatably connected to the drive axle bracket (101); chassis hinge connectors (201) are respectively arranged on both sides of the chassis (2); the N chassis (2) and the N+1 drive axles (1) are arranged in sequence and spaced apart, and the drive axle bracket (101) and the chassis hinge connector (201) are hingedly connected via a coaxial hinge or a biaxial hinge; the angle of the wheel (3) relative to the drive axle bracket (101) remains unchanged, and the wheel (3) is provided with a wheel driving mechanism for driving the wheel (3) to rotate; The coaxial hinge comprises a pair of coaxially arranged hinge shafts 1 (102) and 2 (103) and a pair of centrally symmetrically arranged hinge connectors 1 (104) and 2 (105); one end of the hinge connector 1 (104) is fixed to the hinge shaft 1 (102), one end of the hinge connector 2 (105) is fixed to the hinge shaft 2 (103), and the other ends of the hinge connector 1 (104) and the hinge connector 2 (105) are respectively fixedly connected to the chassis hinge connector (201); the hinge connector 1 (104) and the hinge connector 2 (105) are hollow inside, and the two are interspersed and arranged on the drive The upper side and lower side of the driving axle bracket (101); the hinge connection member 1 (104) is rotatably connected to the driving axle bracket (101) via a pair of thrust bearings (107); the hinge connection member 2 (105) is rotatably connected to the driving axle bracket (101) via a pair of thrust bearings (107); the hinge shaft 1 (102) is arranged to pass through the upper half of the driving axle bracket (101); the hinge shaft 2 (103) is arranged to pass through the lower half of the driving axle bracket (101); the hinge shaft 1 (102), the hinge shaft 2 (103) and the driving axle bracket (101) are rotatably connected via bearings (108); Or the coaxial hinge comprises a hinge shaft three (111) and a hinge connector three (112) and a hinge connector four (113) which are centrally symmetrically arranged, wherein the hinge shaft three (111) passes through the drive axle bracket (101) and is fixed to the drive axle bracket (101); the hinge connector three (112) and the hinge connector four (113) are hollow inside and are interspersed on the upper side and the lower side of the drive axle bracket (101); one end of the hinge connector three (112) and the hinge connector four (113) are respectively rotatably connected to the hinge shaft three (111), and the other end thereof is fixedly connected to the chassis hinge connector (201); the hinge connector three (112) is connected to the drive axle bracket (101) via a pair of thrust bearings (107), and the hinge connector four (113) is connected to the drive axle bracket (101) via a pair of thrust bearings (107); Or the biaxial hinge comprises a hinge axis four (114), a hinge axis five (115), a hinge connector five (116), and a hinge connector six (117); the hinge axis four (114) and the hinge axis five (115) are arranged on different axes, and are respectively arranged through the drive axle bracket (101) close to the chassis on both sides; the hinge axis four (114) is fixedly connected to the hinge connector five (116), the hinge axis five (115) is fixedly connected to the hinge connector six (117), and the hinge connector five (116), the hinge connector five (116), and the hinge connector five (115) are fixedly connected to the hinge connector six (117); The chain connecting member six (117) is hollow inside, and both are sleeved on the upper side and the lower side of the drive axle bracket (101); the hinge connecting member five (116) is rotatably connected to the drive axle bracket (101) via a thrust bearing (107), and the hinge connecting member six (117) is rotatably connected to the drive axle bracket (101) via a thrust bearing (107); the drive axle bracket (101) is rotatably connected to the hinge shaft four (114) and the hinge shaft five (115) via bearings (108).

2. The mobile platform according to claim 1, characterized in that: A pair of steering brake mechanisms are also provided in the drive axle bracket (101), wherein the steering brake mechanisms are disc brakes, drum brakes or electromagnetic brakes, and the pair of steering brake mechanisms are respectively used to control the hinge shaft 1 (102) and hinge shaft 2 (103) to stop rotating.

3. The mobile platform according to claim 1, characterized in that: Steering brake mechanisms are respectively arranged at the upper and lower ends of the hinge shaft three (111), and the steering brake mechanisms are disc brakes, drum brakes or electromagnetic brakes. A pair of the steering brake mechanisms are respectively used to control the rotation stop of the hinge connection member three (112) and the hinge connection member four (113).

4. The mobile platform according to claim 1, characterized in that: A pair of steering brake mechanisms are also provided in the drive axle bracket (101), wherein the steering brake mechanisms are disc brakes, drum brakes or electromagnetic brakes, and the pair of steering brake mechanisms are respectively used to control the hinge shaft four (114) and hinge shaft five (115) to stop rotating.

5. The mobile platform according to any one of claims 1 to 4, characterized in that: The mobile platform is also provided with an angle encoder, which uses a hollow angular displacement encoder and is used to measure the rotation angle of the drive bridge (1).

6. The mobile platform according to claim 5, characterized in that: The mobile platform is also provided with a main control computer, which is electrically connected to the angle encoder, the steering brake mechanism, and the wheel drive mechanism respectively.

7. The mobile platform according to claim 6, characterized in that: The turning radius of the mobile platform is denoted as R1, the speeds of the two wheels of the mobile platform are V1 and V2, the distance between the outer sides of the two wheels (3) and the center of the hinge axis is r, and the distance between the hinge axes on the front and rear sides of the chassis (2) is L. The turning radius can be calculated by the following formula: R1=2r×V1 / (V1-V2); the deflection angular velocity ω with the center of the hinge axis as the center of the circle is (V1-V2) / r.

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