A foldable mobile device based on a linkage mechanism

Abstract

The application relates to a foldable mobile device based on a connecting rod mechanism, and relates to a mobile device. In order to solve the problems of large volume, high energy consumption and no overturning and folding capability of an existing lunar exploration vehicle, the application comprises a counterweight platform, a rack and two adaptive leg assemblies. The upper surface of the rack is provided with the counterweight platform, and the two ends of the rack are rotationally connected with the two adaptive leg assemblies. The application has three states of folding, not obstacle crossing after unfolding and obstacle crossing after unfolding. The overturning and folding capability of the exploration vehicle can reduce the need for storage space. The counterweight platform is arranged, the center of mass can be changed to meet the wheel-to-ground pressure demand, and the obstacle crossing capability of the lunar vehicle is more reliable. The application has the characteristics of simple structure, simple driving and low power consumption. The application belongs to the technical field of lunar exploration instruments.

Description

Technical Field

[0001] This invention relates to a mobile device, specifically a foldable mobile device based on a linkage mechanism, and belongs to the field of lunar exploration equipment technology. Background Technology

[0002] After the lunar probe lands on the lunar surface, the lunar rover carried on board needs to be transferred to the lunar surface. During the touchdown process, the rover must ensure that all its wheels make full contact with the ground; during its movement, it must also ensure that the rover has sufficient obstacle-crossing capability while maintaining a sufficiently small tilt angle. Furthermore, the lunar rover's ability to navigate the lunar surface and perform complex tasks such as lunar exploration, investigation, and sample collection necessitates that it be miniaturized, lightweight, and energy-efficient. Summary of the Invention

[0003] In order to solve the problems of existing lunar rovers being large in size, high in energy consumption, and lacking the ability to flip and unfold, this invention proposes a foldable mobile device based on a linkage mechanism.

[0004] The technical solution adopted by the present invention to solve the above problems is as follows:

[0005] The present invention includes a counterweight platform, a frame and two adaptive leg assemblies. The upper surface of the frame is provided with a counterweight platform, and the two ends of the frame are respectively rotatably connected to the two adaptive leg assemblies.

[0006] Furthermore, the counterweight platform includes an upper platform, a slider, a support block, a lower platform, and two lead screw drive assemblies. A lead screw drive assembly is installed on the lower surface of the upper platform and the upper surface of the lower platform. The two lead screw drive assemblies are vertically arranged and are slidably connected by a slider. A support block is provided at each of the left and right ends of the lower platform.

[0007] Furthermore, each lead screw drive assembly includes a lead screw, a lead screw mounting bracket, and a lead screw motor. The lead screw motor is mounted on the lower surface of the upper platform or the upper surface of the lower platform. The lead screw is mounted on the lower surface of the upper platform or the upper surface of the lower platform via the lead screw mounting bracket. The output end of the lead screw motor is fixedly connected to the end of the lead screw.

[0008] Furthermore, the slider includes an upper slider and a lower slider. The lower surface of the upper slider is fixedly connected to the upper surface of the lower slider. The center line of the upper slider along the length direction is perpendicular to the center line of the lower slider along the length direction. The upper part of the upper slider is provided with an upper through hole that cooperates with the lead screw installed on the upper platform. Upper sliding grooves are provided on both sides of the upper through hole. The upper sliding grooves are slidably connected to the lead screw fixing frame located on the upper platform. The lower part of the lower slider is provided with a lower through hole that cooperates with the lead screw installed on the lower platform. Lower sliding grooves are provided on both sides of the lower through hole. The lower sliding grooves are slidably connected to the lead screw fixing frame located on the lower platform.

[0009] Furthermore, the frame includes a frame top plate, a tilting shaft, a reduction gear set, a tilting motor, bearings, a first bevel gear, and a frame bottom plate. The tilting motor is located in the middle of the lower surface of the frame top plate. The output shaft of the tilting motor is connected to the tilting shaft through the reduction gear set. Both ends of the tilting shaft are inserted into the bearings. Both ends of the tilting shaft are fixedly connected to a first bevel gear. The frame bottom plate is fastened to the tilting shaft and fixedly connected to the frame top plate. Both ends of the top plate are rotatably connected to the adaptive leg assembly through the top plate positioning cylinder.

[0010] Furthermore, each adaptive leg assembly includes an adaptive leg housing, a cover plate, a rotating shaft, a second bevel gear, two sleeves, a connecting rod assembly, and two wheel assemblies. The side end of the cover plate is provided with a rotating shaft, and the two ends of the rotating shaft are provided with a cover plate positioning cylinder and a sleeve from the inside to the outside. The middle part of the rotating shaft is fitted with a second bevel gear. The lower surface of the cover plate is connected to the two wheel assemblies respectively through the connecting rod assembly. The adaptive leg housing is fitted onto the two wheel assemblies.

[0011] Furthermore, the linkage assembly includes a connecting shaft, a crossbar, two short rods, and two long rods. The two short rods are arranged vertically and parallel to each other. The upper end of each short rod is rotatably connected to the lower surface of the cover plate via the connecting shaft. The two ends of the crossbar are rotatably connected to the lower ends of the two short rods and the upper ends of the two long rods via the connecting shaft. The lower end of each long rod is rotatably connected to a wheel assembly.

[0012] Furthermore, each wheel assembly includes a wheel, a wheel drive assembly, a wheel frame, a vertical leg, and two compression springs. The upper end of each vertical leg is connected to a vertical leg positioning surface via a compression spring. The vertical leg positioning surface is rotatably connected to the lower end of a long rod. The lower end of the vertical leg is connected to the wheel via a wheel frame. The wheel drive assembly is mounted on the wheel frame.

[0013] Furthermore, the adaptive leg housing is a U-shaped housing with a groove at its upper end.

[0014] The beneficial effects of this invention are:

[0015] 1. This invention provides a foldable adaptive terrain movement system based on a linkage mechanism, which has the ability to flip and unfold, reducing the need for storage space;

[0016] 2. This invention enables the linkage of two wheels on one side through a linkage mechanism, ensuring that the wheels are always in contact with the ground and have the function of overcoming obstacles. Furthermore, by adding a compression spring, the pressure difference between the wheels and the ground can be reduced.

[0017] 3. By setting up a counterweight platform, this invention can meet the wheel's ground pressure requirements through changes in the center of gravity, ensuring that the lunar rover's obstacle-crossing ability is more reliable.

[0018] 4. The cover plates of the adaptive legs on both sides of the present invention can be tightly attached to the top plate of the frame, ensuring the load-bearing capacity of the lunar rover during its movement;

[0019] 5. This invention features simple structure, simple driving, and low power consumption. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a structural schematic diagram of the counterweight platform;

[0022] Figure 3 This is a structural diagram of the counterweight platform;

[0023] Figure 4 This is a schematic diagram of the slider's structure;

[0024] Figure 5 This is a schematic diagram of the lead screw fixing bracket;

[0025] Figure 6 This is a structural diagram of the rack;

[0026] Figure 7 This is a schematic diagram of the adaptive leg structure;

[0027] Figure 8 This is a schematic diagram of the adaptive leg shell structure;

[0028] Figure 9 This is a schematic diagram of the folded state of the present invention;

[0029] Figure 10 This is a schematic diagram showing that the invention does not cross obstacles after being deployed;

[0030] Figure 11 This is a diagram showing the obstacle-crossing mechanism of the present invention after it has been deployed.

[0031] Figure 12 This is a simplified kinematic diagram of the obstacle-crossing linkage mechanism of the present invention. Detailed Implementation

[0032] Specific implementation method one: as follows Figure 1 As shown, the foldable mobile device based on a linkage mechanism described in this embodiment includes a counterweight platform 1, a frame 2, and two adaptive leg assemblies 3.

[0033] like Figure 2As shown, the counterweight platform includes an upper platform 1-1, a slider 1-4, a support block 1-5, a lower platform 1-7, and two lead screw drive assemblies. A lead screw drive assembly is mounted on the lower surface of the upper platform 1-1 and the upper surface of the lower platform 1-7. The two lead screw drive assemblies are vertically arranged and slidably connected by the slider 1-4. A support block 1-5 is located at each of the left and right ends of the lower platform 1-7. The two support blocks 1-5 are bolted to the lower platform 1-7, and the bent portions of the two support blocks 1-5 can reciprocate horizontally along the slide groove 1-1-3.

[0034] Each lead screw drive assembly includes a lead screw 1-2, a lead screw mounting bracket 1-3, and a lead screw motor 1-9. The lead screw motor 1-9 is mounted on the lower surface of the upper platform 1-1 or the upper surface of the lower platform 1-7. The lead screw 1-2 is mounted on the lower surface of the upper platform or the upper surface of the lower platform 1-7 via the lead screw mounting bracket 1-3. The output end of the lead screw motor 1-3 is fixedly connected to the end of the lead screw 1-2. The lower surface of the upper platform 1-1 has a motor mounting surface 1-1-1, and the lead screw motor 1-9 located on the upper platform 1-1 is mounted on the mounting surface 1-1-1. The lead screw mounting bracket 1-3 of the upper platform 1-1 is mounted on one side of the lead screw motor 1-9 through bolt holes 1-1-2 on the lower surface of the upper platform. The counterweight lower platform 1-7 also has mounting positions for the lead screw and motor.

[0035] like Figure 4 As shown, the slider 1-4 includes an upper slider and a lower slider. The lower surface of the upper slider is fixedly connected to the upper surface of the lower slider. The center line of the upper slider along the length direction is perpendicular to the center line of the lower slider along the length direction. The upper part of the upper slider is provided with an upper through hole 1-4-3 that cooperates with the lead screw 1-2 installed on the upper platform. Upper sliding grooves 1-4-4 are provided on both sides of the upper through hole 1-4-3. The upper sliding grooves 1-4-4 are slidably connected to the lead screw fixing frame 1-3 located on the upper platform 1-1. The lower part of the lower slider is provided with a lower through hole 1-4-1 that cooperates with the lead screw 1-2 installed on the lower platform. Lower sliding grooves 1-4-2 are provided on both sides of the lower through hole 1-4-1. The lower sliding grooves 1-4-2 are slidably connected to the lead screw fixing frame 1-11 located on the lower platform. The lead screw fixing bracket 1-3 is provided with a slide rail 1-3-3 that slides in conjunction with the slider 1-4. One end of the slide rail 1-3-3 is provided with a lead screw positioning hole 1-3-2, and both sides of the slide rail 1-3-3 are provided with bolt holes 1-3-1 for installation. One end of the lead screw 1-2 passes through the lead screw positioning hole of the lead screw fixing bracket and is inserted into the upper through hole 1-4-3 or the lower through hole 1-4-1 of the slider. The upper and lower through holes are threadedly connected to the lead screw 1-2.

[0036] The slider 1-4 is located between the upper and lower lead screw drive assemblies. The through hole 11-4-1 is spatially perpendicular to the through hole 21-4-3 and has internal threads that allow it to be pushed by the lead screw 1-2. Similarly, the sliding groove 11-4-2 and sliding groove 21-4-4 are spatially perpendicular and respectively... Figure 5 The slide rails 1-3-3 shown are fitted together to form a sliding pair.

[0037] In this embodiment, with the assistance of the counterweight platform 1, the counterweight on the upper platform 1-1 is driven by two lead screw mechanisms to change the center of gravity and thus change the ground pressure of each wheel to meet the obstacle crossing requirements. Therefore, precise feedback control is required.

[0038] The counterweight platform 1 has two parts, upper and lower. The mass of the upper counterweight platform 1-1 needs to be large enough to affect the change of the center of mass of the entire lunar rover. The upper and lower parts are connected by a support block 1-5 that slides in the groove 1-1-3 of the upper counterweight platform 1-1. Its displacement range needs to be large enough to ensure sufficient travel for the change of the center of mass. It also needs to have high strength and rigidity and be well lubricated. At the same time, the upper and lower parts of the counterweight platform 1 need to be sealed with flexible material to prevent the influence of lunar dust and other factors.

[0039] There are requirements for the installation sequence of the counterweight platform 1. First, install the upper counterweight platform 1-1 and the upper screw drive assembly and slider 1-4. Then, insert the two support blocks 1-5 into the slide groove 1-1-3 of the upper counterweight platform 1-1. Next, install the lower screw drive assembly and the lower counterweight platform 1-7. Finally, connect the support blocks 1-5 and the lower counterweight platform 1-7 with bolts.

[0040] Specific implementation method two: such as Figure 6 As shown, the frame 2 in this embodiment includes a frame top plate 2-1, a tilting shaft 2-2, a reduction gear set 2-3, a tilting motor 2-4, bearings 2-5, a first bevel gear 2-6, and a frame bottom plate 2-7. The tilting motor 2-4 is located in the center of the lower surface of the frame top plate 2-1. The output shaft of the tilting motor 2-4 is connected to the tilting shaft 2-2 via the reduction gear set 2-3. Both ends of the tilting shaft 2-2 are inserted into the bearings 2-5. Both ends of the tilting shaft 2-2 are fixedly connected to a first bevel gear 2-6. The frame bottom plate 2-7 is fastened to the tilting shaft 2-2 and fixedly connected to the frame top plate 2-1. Both ends of the top plate 2-1 are rotatably connected to the adaptive leg assembly 3 via top plate positioning cylinders 2-1-1. There are four top plate positioning cylinders 2-1-1, located on the upper and lower sides of the left and right ends of the top plate 2-1, respectively.

[0041] The tilting motor 2-4 drives the tilting shaft 2-2 through the reduction gear set 2-3. The tilting shaft 2-2 is installed in the bearing inner hole, and the two spur gears 12-6 are fixed at both ends of the tilting shaft 2-2, thus rotating synchronously with it. The frame base plate 2-7 and the frame top plate 2-1 are connected by bolts through the base plate mounting holes 2-7-1 and the top plate mounting holes 2-1-2, forming a sealed environment to enclose the tilting shaft 2-2 and other components.

[0042] Specific implementation method three: such as Figure 7 , Figure 8 As shown, the adaptive leg assembly 3 includes an adaptive leg housing 3-16, a cover plate 3-10, a rotating shaft 3-11, a second bevel gear 3-12, two sleeves 3-13, a connecting rod assembly, and two wheel assemblies. The rotating shaft 3-11 is located on the side end of the cover plate 3-10. From the inside out, the two ends of the rotating shaft 3-11 are respectively provided with a cover plate positioning cylinder 3-10-1 and a sleeve 3-13. The top plate positioning cylinder 2-2-1 on the frame top plate 2 is installed on the sleeve 3-13 and the cover plate positioning cylinder 3-10-1. The gap between -10 and -1 is filled with a rotating pair formed by the inner surface of the top plate positioning cylinder 2-1-1 and the rotating shaft 3-11. The middle of the rotating shaft 3-11 is fitted with a second bevel gear 3-12, which meshes with the first bevel gear 2-6. The rotation of the flipping shaft 2-2 can drive the adaptive legs 3 on both sides to flip synchronously. The lower surface of the cover plate 3-10 is connected to the two wheel assemblies respectively through the connecting rod assembly. The adaptive leg shell 3-16 is fitted on the two wheel assemblies.

[0043] Preferably, the linkage assembly includes connecting shafts 3-6, a crossbar 3-8, two short rods 3-9, and two long rods 3-7. The two short rods 3-9 are vertically and parallel. The upper end of each short rod 3-9 is rotatably connected to the lower surface of the cover plate 3-10 via the connecting shaft 3-6. The two ends of the crossbar 3-8 are rotatably connected to the lower ends of the two short rods 3-9 and the upper ends of the two long rods 3-7 via the connecting shaft 3-6. The lower end of each long rod 3-7 is rotatably connected to a wheel assembly. There are six connecting shafts 3-6 in total, used to connect the various linkages. The two ends of the connecting shafts 3-6 exactly abut against the positioning surface 3-16-2 of the adaptive leg housing, as shown below. Figure 7 As shown, the two wheels 3-1 can be linked together through the transmission of the vertical leg 3-5, the long rod 3-7, the horizontal rod 3-8, and the short rod 3-9.

[0044] Four vertical leg positioning surfaces 3-5-1 abut against positioning surface 3-16-2 to provide guidance, ensuring that each vertical leg has only one degree of freedom of movement. During installation, the vertical leg 3-5 is first fitted with a compression spring 3-4, then the adaptive leg housing 3-16 is installed, ensuring that the vertical leg passes through the guide hole 3-16-3 while the compression spring 3-4 abuts against the inner wall of the adaptive leg housing 3-16. Finally, the vertical leg 3-5 is fixedly connected to the wheel frame 3-3.

[0045] Each wheel assembly includes a wheel 3-1, a wheel drive assembly 3-2, a wheel frame 3-3, a vertical leg 3-5, and two compression springs 3-4. The upper end of each vertical leg 3-5 is connected to the vertical leg positioning surface 3-5-1 via the compression spring 3-4. The vertical leg positioning surface 3-5-1 is rotatably connected to the lower end of the long rod 3-7. The lower end of the vertical leg 3-5 is connected to the wheel 3-1 via the wheel frame 3-3. The wheel drive assembly 3-2 is provided on the wheel frame 3-3.

[0046] like Figure 8 As shown, the adaptive leg housing 3-16 is a U-shaped housing with a groove 3-16-1 at its upper end. The groove 3-16-1 on the adaptive leg housing 3-16 provides installation space for the frame base plate 2-7 and prevents interference.

[0047] Preferably, during the deployment and operation of the adaptive leg 3, the bevel gear 23-12 needs to be locked to ensure that the cover plate 3-10 of one leg is tightly attached to the top plate 2-1 of the frame, thereby enhancing the load-bearing capacity of the lunar rover.

[0048] Preferably, the dimensions of each link within the adaptive leg 3 determine the stroke of the vertical leg 3-5. The greater the stroke, the stronger the obstacle-crossing ability. The compression spring 3-4 on the vertical leg 3-5 can reduce the pressure difference between the two linked wheels 3-1. This ability is related to its stiffness and initial deformation.

[0049] Preferably, each pivot of the adaptive leg 3 needs to abut against the positioning surface 3-16-2 of the adaptive leg housing 3-16 to ensure that each link always moves in a plane and prevents jamming.

[0050] Preferably, the four positioning surfaces 3-5-1 of each vertical leg 3-5 need to always be in contact with and well lubricated with the inner wall of the adaptive leg housing 3-16 to ensure the reliable movement direction of the vertical leg 3-5.

[0051] The transmission principle and working process of this invention

[0052] The invention has three states: folded, unfolded but not crossing obstacles, and unfolded but crossing obstacles.

[0053] (1) Folded state

[0054] Two lead screw motors 1-9 drive lead screw 1-2 to rotate, which in turn resets the counterweight on platform 1-1. Then, flip motor 2-4 drives flip shaft 2-2 to rotate bevel gear 12-6, which in turn flips the adaptive legs 3 on both sides up through bevel gear 23-12, ultimately... Figure 9 As shown.

[0055] (2) It does not cross obstacles after deployment.

[0056] like Figure 10As shown, the flip motor 2-4 rotates in the opposite direction and the adaptive leg 3 is lowered. When the road surface is flat and the vehicle body is allowed to tilt, the counterweight platform 1 does not move, and each wheel 3-1 is driven only by the wheel drive assembly 3-2 to achieve forward movement and differential steering.

[0057] (3) Obstacle crossing after deployment

[0058] like Figure 11 , Figure 12 As shown, when the road surface is uneven and the lunar rover needs to overcome obstacles, when the height of one wheel changes, the linkage mechanism can keep both wheels in contact with the ground in a 3-1 linkage manner, ensuring that both wheels always maintain contact with the ground and that the rover does not tilt at a large angle. Figure 11 As shown. However, the presence of the linkage will cause the two wheels 3-1 to have different ground pressures, so the counterweight platform 1 needs to operate synchronously to meet the ground pressure conditions of each wheel.

[0059] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A foldable mobile device based on a linkage mechanism, characterized in that: The foldable mobile device based on a linkage mechanism includes a counterweight platform (1), a frame (2) and two adaptive leg assemblies (3). The upper surface of the frame (2) is provided with the counterweight platform (1), and the two ends of the frame (2) are rotatably connected to the two adaptive leg assemblies (3) respectively. The counterweight platform includes an upper platform (1-1), a slider (1-4), a support block (1-5), a lower platform (1-7), and two lead screw drive assemblies. A lead screw drive assembly is installed on the lower surface of the upper platform (1-1) and the upper surface of the lower platform (1-7). The two lead screw drive assemblies are vertically arranged and are slidably connected by the slider (1-4). A support block (1-5) is provided at each of the left and right ends of the lower platform (1-7). Each of the aforementioned lead screw drive assemblies includes a lead screw (1-2), a lead screw mounting bracket (1-3), and a lead screw motor (1-9). The lead screw motor (1-9) is mounted on the lower surface of the upper platform (1-1) or the upper surface of the lower platform (1-7). The lead screw (1-2) is mounted on the lower surface of the upper platform or the upper surface of the lower platform (1-7) via the lead screw mounting bracket (1-3). The output end of the lead screw motor (1-9) is fixedly connected to the end of the lead screw (1-2).

2. The foldable mobile device based on a linkage mechanism according to claim 1, characterized in that: The slider (1-4) includes an upper slider and a lower slider. The lower surface of the upper slider is fixedly connected to the upper surface of the lower slider. The center line of the upper slider along the length direction is perpendicular to the center line of the lower slider along the length direction. The upper part of the upper slider is provided with an upper through hole (1-4-3) that cooperates with the lead screw (1-2) installed on the upper platform. The upper through hole (1-4-3) is provided with upper sliding grooves (1-4-4) on both sides. The upper sliding grooves (1-4-4) are slidably connected to the lead screw fixing bracket (1-3) located on the upper platform (1-1). The lower part of the lower slider is provided with a lower through hole (1-4-1) that cooperates with the lead screw (1-2) installed on the lower platform. The lower through hole (1-4-1) is provided with lower sliding grooves (1-4-2) on both sides. The lower sliding grooves (1-4-2) are slidably connected to the lead screw fixing bracket (1-3) located on the lower platform.

3. A foldable mobile device based on a linkage mechanism according to claim 2, characterized in that: The The frame (2) includes a frame top plate (2-1), a flip shaft (2-2), a reduction gear set (2-3), a flip motor (2-4), a bearing (2-5), a first bevel gear (2-6), and a frame bottom plate (2-7). The frame top plate (2-1) has a flip motor (2-4) in the middle of its lower surface. The output shaft of the flip motor (2-4) is connected to the flip shaft (2-2) through the reduction gear set (2-3). The two ends of the flip shaft (2-2) are inserted into the bearing (2-5). The two ends of the flip shaft (2-2) are respectively fixedly connected to a first bevel gear (2-6). The frame bottom plate (2-7) is fastened to the flip shaft (2-2) and fixedly connected to the frame top plate (2-1). The two ends of the top plate (2-1) are rotatably connected to the adaptive leg assembly (3) through the top plate positioning cylinder (2-1-1).

4. A foldable mobile device based on a linkage mechanism according to claim 3, characterized in that: Each adaptive leg assembly (3) includes an adaptive leg housing (3-16), a cover plate 3-10, a rotating shaft (3-11), a second bevel gear (3-12), two sleeves (3-13), a connecting rod assembly, and two wheel assemblies. The side end of the cover plate (3-10) is provided with a rotating shaft (3-11). The two ends of the rotating shaft (3-11) are provided with a cover plate positioning cylinder (3-10-1) and a sleeve (3-13) from the inside to the outside. The middle part of the rotating shaft (3-11) is fitted with a second bevel gear (3-12). The lower surface of the cover plate (3-10) is connected to the two wheel assemblies respectively through the connecting rod assembly. The adaptive leg housing (3-16) is fitted on the two wheel assemblies.

5. A foldable mobile device based on a linkage mechanism according to claim 4, characterized in that: The linkage assembly includes a connecting shaft (3-6), a crossbar (3-8), two short rods (3-9), and two long rods (3-7). The two short rods (3-9) are arranged vertically and parallel to each other. The upper end of each short rod (3-9) is rotatably connected to the lower surface of the cover plate (3-10) through the connecting shaft (3-6). The two ends of the crossbar (3-8) are rotatably connected to the lower ends of the two short rods (3-9) and the upper ends of the two long rods (3-7) through the connecting shaft (3-6). The lower end of each long rod (3-7) is rotatably connected to a wheel assembly.

6. A foldable mobile device based on a linkage mechanism according to claim 5, characterized in that: Each wheel assembly includes a wheel (3-1), a wheel drive assembly (3-2), a wheel frame (3-3), a vertical leg (3-5), and two compression springs (3-4). The upper end of each vertical leg (3-5) is connected to the vertical leg positioning surface (3-5-1) via the compression spring (3-4). The vertical leg positioning surface (3-5-1) is rotatably connected to the lower end of the long rod (3-7). The lower end of the vertical leg (3-5) is connected to the wheel (3-1) via the wheel frame (3-3). The wheel drive assembly (3-2) is mounted on the wheel frame (3-3).

7. A foldable mobile device based on a linkage mechanism according to claim 6, characterized in that: The adaptive leg shell (3-16) is a gate-shaped shell with a groove (3-16-1) at its upper end.

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