An all-terrain adaptive wheeled and footed mobile platform

Abstract

The present invention discloses an all-terrain adaptive wheeled mobile platform, which relates to the field of robotics. The platform comprises a wheel module, a chassis module, and a sensor module. The wheel modules are evenly mounted on opposite sides of the chassis module. The wheel module includes a roll mechanism, a pitch-changing mechanism, a steering mechanism, and a wheel hub. The roll mechanism drives the wheel hub to rotate, the pitch-changing mechanism adjusts the chassis height and wheelbase, the steering mechanism drives the pitch-changing mechanism and the roll mechanism to rotate, and the steering mechanism enables the wheel hub to steer. The present invention integrates three degrees of freedom: roll, pitch-changing, and steering, making it adaptable to various terrains and offering high maneuverability.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a wheeled and footed intelligent mobile platform for indoor and outdoor open scenes (stairs, slopes, narrow ditches, narrow roads, elevators). Background Art

[0002] Mobile platforms are a core area of ​​research in the field of mobile robotics, and their related technologies are of great significance to its development. Traditional wheeled platforms offer a range of advantages, including simple structure, strong load-carrying capacity, high reliability, high efficiency, and low cost. However, these platforms are mostly suitable for structured, paved environments and have limited obstacle-crossing capabilities. The recent emergence of bionic multi-legged robots has effectively overcome the shortcomings of traditional wheeled platforms in obstacle-crossing capabilities, making them suitable for unstructured environments such as mountains, forests, and snowy terrain. However, multi-legged robots have complex structures, low load-to-weight ratios, high costs, limited endurance, and difficulty in stable control.

[0003] Therefore, how to design a mobile platform that can adapt to various terrains and has high passability is a problem that those skilled in the art urgently need to solve. Summary of the Invention

[0004] In view of this, the present invention provides an all-terrain adaptive wheeled and footed mobile platform to solve the problems raised in the above background technology.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] An all-terrain adaptive wheel-foot mobile platform includes: a wheel module, a chassis module and a sensor module. The chassis module includes aluminum square tubes, and the aluminum square tubes are connected by carbon fiber connecting plates to form a chassis frame. The upper and lower surfaces of the chassis frame are covered by carbon fiber plates and glass fiber plates, respectively. The sensor module is mounted on the carbon fiber plates and the glass fiber plates. The wheel module is mounted on opposite sides of the chassis module, respectively. The wheel module includes a rolling mechanism, a pitch changing mechanism, a steering mechanism, a wheel hub and a tire. The rolling mechanism is arranged on the wheel hub, and the rolling mechanism is used to drive the wheel hub to rotate. One end of the pitch changing mechanism is fixed to the steering mechanism, and the other end is connected to the rolling mechanism for adjusting the height and wheelbase of the chassis; the steering mechanism is connected to the pitch changing mechanism for realizing wheel hub steering.

[0007] Furthermore, the carbon fiber plate and the glass fiber plate are fixedly connected to the aluminum square tube by bolts and nuts.

[0008] Furthermore, the aluminum square tube, the carbon fiber connecting plate, the carbon fiber plate and the glass fiber plate are all hollowed out to reduce the weight of the chassis.

[0009] Furthermore, the sensor module includes a camera, a photosensitive resin print, an IMU, a NUC, a CAN analyzer and a lithium battery. The photosensitive resin print is fixed on the carbon fiber plate of the chassis module, the camera is installed on the photosensitive resin print, the IMU is fixedly installed on the glass fiber plate of the chassis module, the NUC and the CAN analyzer are respectively fixedly installed in front and behind the IMU, and the lithium battery is arranged on one side of the IMU.

[0010] Furthermore, the rolling mechanism also includes a rolling motor, which is embedded in the wheel hub, and the tire is mounted on the wheel hub. The rotation of the rolling motor drives the entire wheel to rotate.

[0011] Furthermore, the pitch-changing mechanism also includes a carbon fiber pitch-changing link, a pitch-changing motor and an aluminum alloy connector. The pitch-changing motor is connected to the carbon fiber pitch-changing link, and the carbon fiber pitch-changing link is connected to the rolling motor through the aluminum alloy connector. When the pitch-changing motor rotates, the carbon fiber pitch-changing link and the entire rolling mechanism will rotate accordingly, and the pitch-changing mechanism adjusts the chassis height and wheelbase.

[0012] Furthermore, the steering mechanism also includes a carbon fiber support frame, a steering motor, a cross roller bearing, a first aluminum alloy plate, a second aluminum alloy plate, an aluminum alloy support and a nylon printed part. The steering motor is fixedly mounted on the first aluminum alloy plate through the nylon printed part, the cross roller bearing is embedded in the second aluminum alloy plate, the outer ring of the cross roller bearing is in contact with the second aluminum alloy plate, the inner ring of the cross roller bearing is in contact with the aluminum alloy support, the aluminum alloy support and the carbon fiber support frame are connected by bolts, the pitch variable motor is fixed on the carbon fiber support frame, and the output shaft of the steering motor acts on the carbon fiber support frame. When the aluminum alloy support is driven to rotate, the pitch variable mechanism and the rolling mechanism will also rotate accordingly, and the steering mechanism can realize the steering of the wheel hub.

[0013] Furthermore, the steering mechanism further includes an aluminum column, and the first aluminum alloy flat plate is connected to the second aluminum alloy flat plate via the aluminum column.

[0014] Furthermore, the wheel module and the chassis module are connected by bolts and nuts, and the wheel module is provided with an electrical interface for plug-and-play.

[0015] The beneficial effects of the present invention are:

[0016] The present invention integrates the three degrees of freedom of roll, pitch change and steering into an integrated design. It has the characteristics of multiple degrees of freedom and strong dexterity, and can dynamically change its configuration, so that the vehicle body has strong stability and high passability. The wheelbase, chassis height and wheel steering of the platform can be independently controlled, and it has strong variable configuration capabilities. The camera module can obtain the surrounding environment data in real time and transmit it to the host computer for processing. The IMU can obtain data such as the body attitude angle, speed, acceleration, etc. in real time, and transmit it to the host computer for processing, so as to facilitate timely adjustment of the body attitude. NUC is equivalent to a mini PC, which can receive and process data from the servo motor, camera module, and IMU in real time, and send corresponding motion instructions to the servo motor, giving the platform itself powerful perception and autonomous decision-making capabilities. The wheel module is connected to the vehicle body through a universal interface and can be quickly adapted to vehicle bodies of different sizes. The present invention combines the traditional wheeled platform and the multi-legged / legged platform to propose a new concept of a wheel-legged mobile platform. It has the advantages of strong load-bearing capacity, high efficiency, and high reliability of the traditional wheeled platform, and has the characteristics of variable wheelbase and variable height of the multi-legged / legged platform, thus giving the mobile platform a series of advantages such as high passability and high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0018] Figure 1 It is the overall structural diagram of the present invention.

[0019] Figure 2 It is a schematic structural diagram of the chassis module of the present invention.

[0020] Figure 3 It is a schematic diagram of the internal structure of the chassis module of the present invention.

[0021] Figure 4 This is a schematic diagram of the wheel module structure of the present invention.

[0022] Among them, in the figure:

[0023] 1-Carbon fiber plate connecting plate, 2-Carbon fiber variable pitch connecting rod, 3-Roll motor, 4-Variable pitch motor, 5-Carbon fiber support frame, 6-Aluminum square tube, 7-Camera, 8-Photosensitive resin print, 9-Wheel hub, 10-Tire, 11-Steering motor, 12-First aluminum alloy plate, 13-Aluminum alloy connecting part, 14-Carbon fiber plate, 15-Fiberglass plate, 16-NUC, 17-Lithium battery, 18-IMU, 19-CAN analyzer, 20-Nylon print, 21-Second aluminum alloy plate, 22-Aluminum column, 23-Cross roller bearing, 24-Aluminum alloy support. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] In this application, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0027] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0028] Furthermore, the terms "installed," "disposed," "provided with," "connected," "connected," and "socketed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0029] Please see the attached Figure 1-4 The present invention discloses an all-terrain adaptive wheel-foot mobile platform, including: a wheel module, a chassis module, and a sensor module. The chassis module includes an aluminum square tube 6, and each aluminum square tube 6 is connected by a carbon fiber connecting plate 1 to form a chassis frame. The aluminum square tube 6 is the main frame of the chassis module, and the carbon fiber plate connecting plate 1 is an aluminum tube frame connector, so that the chassis has the advantages of light weight and high strength. The upper and lower surfaces of the chassis frame are respectively covered by a carbon fiber plate 14 and a glass fiber plate 15. The sensor module is installed on the carbon fiber plate 14 and the glass fiber plate 15. The wheel module is evenly installed on the bottom On the opposite sides of the disc module, the wheel module includes a rolling mechanism, a pitch changing mechanism, a steering mechanism, a wheel hub 9, and a tire 10. The rolling mechanism is arranged on the wheel hub 9, and the rolling mechanism can drive the wheel hub 9 to rotate. The pitch changing mechanism includes a carbon fiber pitch changing link 2, and the carbon fiber pitch changing link 2 is connected to the rolling mechanism. The pitch changing mechanism can drive the carbon fiber pitch changing link 2 and the rolling mechanism to rotate. The pitch changing mechanism can adjust the chassis height and wheelbase. The steering mechanism includes a carbon fiber support frame 5, and the pitch changing mechanism is fixed on the carbon fiber support frame 5. The steering mechanism can drive the pitch changing mechanism and the rolling mechanism to rotate, and the steering mechanism can complete the wheel hub steering.

[0030] The carbon fiber plate 14 and the glass fiber plate 15 are fixedly connected to the aluminum square tube by bolts and nuts.

[0031] The aluminum square tube 6, the carbon fiber connecting plate 1, the carbon fiber plate 14 and the glass fiber plate 15 are all hollowed out to reduce the weight of the chassis.

[0032] The sensor module includes a camera 7, a photosensitive resin printout 8, an IMU 18, a NUC 16, a CAN analyzer 19, and a lithium battery 17. The photosensitive resin printout 8 is fixed to the carbon fiber plate 14 of the chassis module. The camera 7 is mounted on the photosensitive resin printout 8, the IMU 16 is fixed to the center of the chassis module's fiberglass plate 15, the NUC 16 and CAN analyzer 19 are fixed to the front and rear of the IMU 18, and the lithium battery 2 is placed to one side of the IMU 18. Due to the insulating properties of the fiberglass plate, all electronic components, such as the lithium battery and NUC, are placed on the bottom fiberglass plate and secured with bolts, nuts, cable ties, etc. The camera 7 is mounted on the photosensitive resin printout 8 to ensure a wide visual range. The camera can acquire real-time environmental data, such as ground topography, and transmit it to the host computer for processing. By calibrating the camera, the conversion relationship between the camera coordinate system and the world coordinate system can be established. The IMU 18 is installed on the fiberglass board 15 of the chassis module, located in the center of the chassis module. It can obtain real-time data such as the fuselage attitude angle, speed, acceleration, etc. The fiberglass board 15 is reinforced with aluminum square tubes on both sides to reduce the vibration of the fiberglass board 15 during movement and ensure the stability of the data obtained by the IMU 18.

[0033] The rolling mechanism also includes a rolling motor 3 embedded in the wheel hub 9, which is mounted on a tire 10. The motor 3 and the hub 9 are connected by bolts and elastic washers. When inflated, the tire 10 snaps onto the hub 9. Therefore, when the motor 3 rotates the hub 9, the tire 10 rotates with it, allowing the platform to move forward. The motor 3 is almost completely hidden within the hub 9, significantly reducing the lateral dimensions of the rolling module.

[0034] The pitch-changing mechanism also includes a pitch-changing motor 4 and an aluminum alloy connector 13. The pitch-changing motor 4 is fixed to the carbon fiber support frame 5 and connected to a carbon fiber pitch-changing link 2. The carbon fiber pitch-changing link 2 is connected to the roll motor 3 via the aluminum alloy connector 13. When the pitch-changing motor 4 rotates, the carbon fiber pitch-changing link 2 and the entire roll mechanism rotate accordingly. The pitch-changing mechanism adjusts the chassis height and wheelbase, ensuring the chassis remains level even in complex terrain, ensuring fuselage stability. The carbon fiber pitch-changing link 2 is connected to the roll motor 3 via the aluminum alloy connector, ensuring that the carbon fiber pitch-changing link 2 and the roll module do not interfere with each other and that the carbon fiber pitch-changing link 2 and the pitch-changing motor 4 are securely connected via bolts.

[0035] The steering mechanism also includes a steering motor 11, a cross-roller bearing 23, a first aluminum alloy plate 12, a second aluminum alloy plate 21, an aluminum alloy support 24, and a nylon printed part 20. The steering motor 11 is fixedly mounted on the first aluminum alloy plate 21 via the nylon printed part 20. The cross-roller bearing 23 is embedded in the second aluminum alloy plate 12. The outer ring of the cross-roller bearing 23 is in contact with the second aluminum alloy plate 21, and the inner ring of the cross-roller bearing 23 is in contact with the aluminum alloy support 24, ensuring that the bearing does not move up and down or left and right. The aluminum alloy support 24 is connected to the carbon fiber support frame 5 by bolts, allowing the steering motor 11 to rotate relative to the outer ring of the cross-roller bearing 23. Therefore, after the steering motor 11 drives the pitch motor 4 to rotate through the aluminum alloy support, the pitch module and the roll module will also rotate accordingly, thus achieving steering of the entire wheel module. When the four steering modules work together, the platform can achieve self-spin, tilting, and lateral movement.

[0036] The first aluminum alloy plate 12 is connected to the second aluminum alloy plate 21 via an aluminum column 22 to ensure that the relative positions of the various parts of the wheel module are fixed.

[0037] The wheel module and chassis module are connected by bolts and nuts. A special electrical interface is designed on the wheel module, which enables plug-and-play and can be arranged arbitrarily with 2 to 6 wheels, with high reliability and easy maintenance.

[0038] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. An all-terrain adaptive wheeled mobile platform, characterized in that: include: A wheel module, a chassis module and a sensor module, wherein the chassis module comprises an aluminum square tube (6), each of the aluminum square tubes (6) is connected by a carbon fiber connecting plate (1) to form a chassis frame, wherein the upper and lower surfaces of the chassis frame are respectively covered by a carbon fiber plate (14) and a glass fiber plate (15), wherein the sensor module is mounted on the carbon fiber plate (14) and the glass fiber plate (15), wherein the wheel module is respectively mounted on opposite sides of the chassis module, wherein the wheel module comprises a rolling mechanism, a pitch changing mechanism, a steering mechanism, a wheel hub (9) and a tire (10), wherein the rolling mechanism is arranged on the wheel hub (9), wherein the rolling mechanism is used to drive the wheel hub (9) to rotate, wherein one end of the pitch changing mechanism is fixed on the steering mechanism and the other end is connected to the rolling mechanism to adjust the height and wheelbase of the chassis; wherein the steering mechanism is connected to the pitch changing mechanism to realize wheel hub steering; The rolling mechanism further includes a rolling motor (3), the rolling motor (3) being embedded in the wheel hub (9), the tire (10) being mounted on the wheel hub (9), and the rotation of the rolling motor (3) driving the entire wheel to rotate; The pitch-changing mechanism further comprises a carbon fiber pitch-changing connecting rod (2), a pitch-changing motor (4), and an aluminum alloy connecting piece (13); the pitch-changing motor (4) is connected to the carbon fiber pitch-changing connecting rod (2); the carbon fiber pitch-changing connecting rod (2) is connected to the rolling motor (3) via the aluminum alloy connecting piece (13); when the pitch-changing motor (4) rotates, the carbon fiber pitch-changing connecting rod (2) and the entire rolling mechanism rotate accordingly; the pitch-changing mechanism adjusts the chassis height and wheelbase; The steering mechanism further comprises a carbon fiber support frame (5), a steering motor (11), a cross roller bearing (23), a first aluminum alloy plate (12), a second aluminum alloy plate (21), an aluminum alloy support (24) and a nylon printed part (20), wherein the steering motor (11) is fixedly mounted on the first aluminum alloy plate (12) via the nylon printed part (20), the cross roller bearing (23) is embedded in the second aluminum alloy plate (21), and the outer ring of the cross roller bearing (23) is in contact with the second aluminum alloy plate. (21) is in abutting connection, the inner ring of the cross roller bearing (23) is in abutting connection with the aluminum alloy support (24), the aluminum alloy support (24) and the carbon fiber support frame (5) are connected by bolts, the pitch-changing motor (4) is fixed on the carbon fiber support frame (5), and the output shaft of the steering motor (11) acts on the carbon fiber support frame (5), driving the aluminum alloy support (24) to rotate, the pitch-changing mechanism and the rolling mechanism will also rotate accordingly, and the steering mechanism can realize the steering of the wheel hub.

2. The all-terrain adaptive wheeled mobile platform according to claim 1, characterized in that: The carbon fiber plate (14) and the glass fiber plate (15) are fixedly connected to the aluminum square tube via bolts and nuts.

3. The all-terrain adaptive wheeled and footed mobile platform according to claim 2, characterized in that: The aluminum square tube (6), the carbon fiber connecting plate (1), the carbon fiber plate (14) and the glass fiber plate (15) are all hollowed out to reduce the weight of the chassis.

4. The all-terrain adaptive wheeled and footed mobile platform according to claim 1 or 3, characterized in that: The sensor module includes a camera (7), a photosensitive resin print (8), an IMU (18), a NUC (16), a CAN analyzer (19) and a lithium battery (17); the photosensitive resin print (8) is fixed on the carbon fiber plate (14) of the chassis module, the camera (7) is mounted on the photosensitive resin print (8), the IMU (18) is fixed on the glass fiber plate (15) of the chassis module, the NUC (16) and the CAN analyzer (19) are fixed on the front and rear of the IMU (18), respectively, and the lithium battery (17) is arranged on one side of the IMU (18).

5. The all-terrain adaptive wheeled and footed mobile platform according to claim 1, characterized in that: The steering mechanism further comprises an aluminum column (22), and the first aluminum alloy flat plate (12) is connected to the second aluminum alloy flat plate (21) via the aluminum column (22).

6. The all-terrain adaptive wheeled and footed mobile platform according to claim 1, characterized in that: The wheel module and the chassis module are connected by bolts and nuts. The wheel module is provided with an electrical interface for plug-and-play use.

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