Wheel-legged reconfigurable vehicle structure

Abstract

The application discloses a wheel-leg reconfigurable vehicle structure, which comprises a vehicle chassis, wherein a wheel-leg reconfigurable suspension is mounted on the vehicle chassis; the vehicle chassis comprises a front chassis and a rear chassis, the front chassis is movably mounted in front of the rear chassis, and a steering mechanism is mounted between the front chassis and the rear chassis and used for vehicle steering traction. The wheel-leg reconfigurable suspension is introduced into the vehicle structure, the leg type movement is combined into the wheel-leg reconfigurable suspension, a hip joint motor, a knee joint motor and a walking driving motor are controlled, a simple and convenient transmission structure is matched, the wheel-leg structure is freely reconfigured, the corresponding movement mode can be autonomously adjusted according to actual road conditions, the adaptability of the vehicle is improved, the passability of the vehicle on a rugged road is greatly improved, the posture stability during the movement of the vehicle is improved, and the overall performance and adaptability of the vehicle are improved due to the modular design.

Description

Technical Field

[0001] This invention belongs to the field of vehicle frame and chassis structure, and specifically relates to a vehicle structure with reconfigurable wheel legs. Background Technology

[0002] With the development of modern technology and the increasing demand for multifunctional vehicles, the design of traditional vehicles can no longer meet the driving needs in complex environments. Reconfigurable wheel-leg vehicles have emerged to address this need. These vehicles combine the advantages of wheeled and legged structures, enabling them to travel at high speeds on flat roads while demonstrating superior obstacle-crossing capabilities in complex terrain. They have particularly wide applications in rescue, exploration, and military fields.

[0003] In recent years, with the continuous development of sensor fusion technology, the level of vehicle intelligence has been increasing. The dramatic changes in vehicle structure have led to the emergence of many new types of automobiles, such as flying cars and wheel-legged vehicles. These new vehicles combine sensor fusion information to obtain advance information about the vehicle itself and external surroundings. This is of great significance for advanced control technologies such as adjusting vehicle posture and switching motion modes, effectively improving the vehicle's obstacle-crossing ability and stability. However, existing wheel-legged reconfigurable vehicles still have some design shortcomings. For example, the wheel-legged structure is complex, making it difficult to drive; it has low load-bearing capacity, is prone to damage, resulting in a short service life; and the control system is not flexible enough, leading to insufficient vehicle stability.

[0004] Therefore, it is necessary to invent a vehicle structure with reconfigurable wheel legs. Summary of the Invention

[0005] Purpose of the invention: The present invention provides a wheel-leg reconfigurable vehicle structure that integrates leg movement into the wheel-leg reconfigurable suspension, which enables the vehicle to maintain stable operation on rough roads and increases the vehicle's obstacle-crossing ability, thereby overcoming the technical defects in actual use mentioned in the background art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A wheel-leg reconfigurable vehicle structure includes a chassis frame on which a wheel-leg reconfigurable suspension is mounted;

[0008] The chassis includes a front chassis and a rear chassis, with the front chassis movably mounted in front of the rear chassis. A steering mechanism is installed between the front chassis and the rear chassis for vehicle steering and traction.

[0009] The wheel leg reconfigurable suspension comprises a hip joint motor mounted on the frame chassis, the output shaft of the hip joint motor is in transmission connection with a limiting ring track, and a knee joint motor is fixedly connected at the shaft center of the limiting ring track, the knee joint motor is coaxially distributed with the output shaft of the hip joint motor, the output shaft of the knee joint motor is in transmission connection with a connecting rod one, the other end of the connecting rod one is hingedly connected with a connecting rod three through a rotating shaft, the end of the connecting rod three away from the connecting rod one is movably mounted with a wheel, the outer side wall of the connecting rod three is hingedly connected with a connecting rod two through a rotating shaft at the middle part, the end of the connecting rod two away from the connecting rod three is hingedly connected with a fitting plate through a rotating shaft, and the side of the fitting plate is in abutting and fixed connection with the outer side wall of the limiting ring track.

[0010] Preferably, the wheel leg reconfigurable suspension is provided in two groups, the number of each group of wheel leg reconfigurable suspensions is two, and the two wheel leg reconfigurable suspensions in the same group are distributed in axial symmetry on the two sides of the front chassis or the rear chassis, wherein the hip joint motor is embedded in the inside of the front chassis or the rear chassis.

[0011] Preferably, the connecting rod one and the connecting rod two are located on the same longitudinal section, and the fitting plate, the connecting rod two, the connecting rod three and the wheel are sequentially distributed in staggered positions from the side wall of the frame chassis outward, the connecting rod one, the connecting rod two and the connecting rod three are always parallel to the output shaft of the knee joint motor, and the wheel shaft center line is always parallel to the output shaft of the knee joint motor.

[0012] The side wall of the connecting rod three is fixedly connected with a walking driving motor, the output shaft of the walking driving motor penetrates through the connecting rod three and is in rotary connection with the penetrating hole, and the output shaft of the walking driving motor is fixedly connected at the wheel shaft center.

[0013] Preferably, the steering mechanism comprises a steering driving motor and a synchronous belt, the tail end of the front chassis is fixedly connected with a first torsion plate, the front end of the rear chassis is fixedly connected with a second torsion plate, the first torsion plate and the second torsion plate are distributed in staggered positions, the second torsion plate is fixedly connected with a transmission shaft, the transmission shaft penetrates through the first torsion plate and is in rotary connection with the penetrating hole, the steering driving motor is embedded in the rear chassis, and the output shaft of the steering driving motor is in transmission connection with the transmission shaft through the synchronous belt.

[0014] Preferably, the frame main body is installed on the top of the outer side of the frame chassis, the frame main body comprises a front frame, a rear frame and an intermediate connecting piece, the front frame and the rear frame are respectively installed on the front chassis and the rear chassis, and the front frame and the rear frame are soft-connected through the intermediate connecting piece.

[0015] Preferably, the front frame and the rear frame are provided with concave arc openings above the positions corresponding to the wheels on the two sides, and each concave arc opening is provided with a limiting block on the inner wall of the front frame and the rear frame on the two side parts, the two limiting blocks are symmetrically distributed about the center line axis of the limiting ring track, and a gap is reserved between the limiting block and the limiting ring track.

[0016] Preferably, the intermediate connecting piece is made of a through-channel windbreak shelter material, and the two ends of the intermediate connecting piece are tightly attached to the side edges of the front chassis and the rear chassis respectively.

[0017] The wheel-leg reconfigurable vehicle structure further comprises a sensor assembly, the sensor assembly comprising a camera, a laser radar, an inertial sensor IMU and a communication module, the camera and the laser radar are both installed at the front end of the front frame, and the camera and the laser radar are distributed in a staggered manner on the central axis of the front frame, the inertial sensor IMU is installed at the rear end of the front chassis, and the inertial sensor IMU is located at the center of mass of the vehicle, and the communication module is embedded and installed in the front end cavity of the front chassis.

[0018] The wheel-leg reconfigurable vehicle structure further comprises a control system, the control system comprising a vehicle control board and two motor control boards, the two motor control boards are installed on the front chassis and the rear chassis respectively and control the movement of the two groups of wheel-leg reconfigurable suspensions respectively, the vehicle control board is installed on the front chassis as a master control platform, the two motor control boards are connected in parallel to two ports of the vehicle control board, and the communication module is integrated with the vehicle control board.

[0019] Preferably, the front chassis and the rear chassis both have wire slot reserved for the sensor assembly and the control system;

[0020] The central axis of the front chassis and the rear chassis is provided with a middle cavity, and a battery is installed in the middle cavity, and the hip joint motor, the knee joint motor, the walking driving motor, the steering driving motor, the sensor assembly and the control system are electrically connected with the battery.

[0021] Compared with the prior art, the beneficial effects of the present application are:

[0022] By introducing the wheel-leg reconfigurable suspension into the vehicle structure, the leg-type movement is combined into the wheel-leg reconfigurable suspension of the vehicle, the hip joint motor, the knee joint motor and the walking driving motor are controlled, the wheel-leg structure is freely reconfigured by a simple and convenient transmission structure, the corresponding movement mode can be autonomously adjusted according to the actual road conditions, thereby improving the adaptability of the vehicle, greatly improving the passability of the vehicle on rough roads, and increasing the posture stability during the movement of the vehicle, and the structure adopts a modular design, thereby improving the overall performance and adaptability of the vehicle.

[0023] 2. By increasing 8 limiting blocks on the frame main body, when the wheels are retracted to the minimum position of the wheel-leg reconfigurable suspension, the movement of the connecting rod in the wheel-leg reconfigurable suspension is limited by the 8 limiting blocks of the frame main body, thereby increasing the carrying capacity of the vehicle and prolonging the service life of the device.

[0024] 3、Through multiple sensors such as cameras, laser radars, inertial sensors IMU, signals required for vehicle operation are sensed, various driving components of the vehicle are controlled by using a vehicle control board and a motor control board, the vehicle can be autonomously adjusted to the corresponding motion mode, the independent driving control precision is high, and the flexibility and stability of the vehicle control system are improved;

[0025] 4、The wheels are driven to rotate by the walking driving motor output shaft, the vehicle is driven, when the rotating speeds of different wheels are different, differential driving can be realized, so that the vehicle can be turned, the turning mechanism of the vehicle is moved to the middle position of the vehicle body, the turning radius of the vehicle is greatly reduced, and the flexibility of the vehicle movement is improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 A first perspective view of the wheel-leg reconfigurable vehicle structure is provided in the application;

[0027] Figure 2 A second perspective view of the wheel-leg reconfigurable vehicle structure is provided in the application;

[0028] Figure 3 A perspective view of the wheel-leg reconfigurable vehicle structure (omitting the vehicle frame body) is provided in the application;

[0029] Figure 4 A front view of the wheel-leg reconfigurable vehicle structure (omitting the vehicle frame body) is provided in the application;

[0030] Figure 5 A structure diagram of the wheel-leg reconfigurable suspension is provided in the application;

[0031] Figure 6 A structure diagram of the turning mechanism is provided in the application;

[0032] Figure 7 A perspective view of the vehicle frame body is provided in the application;

[0033] Figure 8 A cooperation structure diagram of the wheel-leg reconfigurable suspension and the limiting block is provided in the application.

[0034] In the drawings:

[0035] Vehicle frame chassis-1; wheel-leg reconfigurable suspension-2; turning mechanism-3; vehicle frame body-4; limiting block-5; camera-6; laser radar-7; inertial sensor IMU-8; communication module-9; vehicle control board-10; motor control board-11; battery-12;

[0036] Front chassis-101; rear chassis-102;

[0037] Hip joint motor-201; limit ring track-202; knee joint motor-203; connecting rod one-204; connecting rod three-205; wheel-206; connecting rod two-207; fit board-208; walking drive motor-209;

[0038] Steering drive motor-301; synchronous belt-302; first torsion plate-303; second torsion plate-304; transmission shaft-305;

[0039] Front frame-401; rear frame-402; middle connecting piece-403; concave arc-404. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application are clearly and completely described in combination with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0041] As shown in Figures 1-8 A wheel-leg reconfigurable vehicle structure includes a chassis 1, and a wheel-leg reconfigurable suspension 2 is installed on the chassis 1. Specifically, the wheel-leg reconfigurable suspension 2 is provided in two groups, each group has two wheel-leg reconfigurable suspensions 2, and the two wheel-leg reconfigurable suspensions 2 in the same group are symmetrically distributed on the two sides of a front chassis 101 or a rear chassis 102.

[0042] The chassis 1 includes the front chassis 101 and the rear chassis 102. The front chassis 101 is the front half of the vehicle, the rear chassis 102 is the rear half of the vehicle, the front chassis 101 is movably installed in front of the rear chassis 102, a steering mechanism 3 is installed between the front chassis 101 and the rear chassis 102 for steering traction of the vehicle. When the components are installed on the front chassis 101 and the rear chassis 102, the front and rear weight balance of the vehicle is ensured, and the stability of the vehicle movement is improved.

[0043] The wheel leg reconfigurable suspension 2 comprises a hip joint motor 201 mounted on the vehicle frame chassis 1, the hip joint motor 201 is embedded in the front chassis 101 or the rear chassis 102, the output shaft of the hip joint motor 201 is drivingly connected with a limiting ring track 202, the limiting ring track 202 is fixedly connected with a knee joint motor 203 at the shaft center, the knee joint motor 203 is coaxially distributed with the output shaft of the hip joint motor 201, the output shaft of the knee joint motor 203 is drivingly connected with a connecting rod one 204, the other end of the connecting rod one 204 is hingedly connected with a connecting rod three 205 through a rotating shaft, the end of the connecting rod three 205 away from the connecting rod one 204 is movably mounted with a wheel 206, the outer side wall of the connecting rod three 205 is hingedly connected with a connecting rod two 207 through a rotating shaft, the end of the connecting rod two 207 away from the connecting rod three 205 is hingedly connected with a clamping plate 208 through a rotating shaft, and the clamping plate 208 is clamped and fixedly connected with the outer side wall of the limiting ring track 202; through the cooperation of the hip joint motor 201 and the knee joint motor 203, the height and position of the wheel 206 can be changed;

[0044] The knee joint motor 203 is drivingly connected with the connecting rod one 204, when the connecting rod one 204 is counterclockwise swung upward, the connecting rod one 204 lifts the connecting rod three 205, the connecting rod two 207 connected with the connecting rod three 205 stably rises with the wheel 206, and the clamping plate 208 is limited outside the limiting ring track 202, the transmission structure is directionally pulled to ensure the stability of the structure driving, the hip joint motor 201 is started, the output shaft of the hip joint motor 201 drives the limiting ring track 202 and the knee joint motor 203, so that the inclination angle of the wheel leg reconfigurable suspension 2 is changed, the vehicle is adapted to the use in the process of advancing and retreating, the walking driving motor 209 drives the wheel 206 to rotate, the vehicle is driven, and when the rotating speeds of different wheels 206 are different, differential driving can be realized, so that the vehicle can be turned;

[0045] As a specific implementation structure of the steering mechanism 3 in the application:

[0046] The steering mechanism 3 comprises a steering driving motor 301 and a synchronous belt 302, the first torsion plate 303 is fixedly connected with the tail end of the front chassis 101, the second torsion plate 304 is fixedly connected with the front end of the rear chassis 102, the first torsion plate 303 and the second torsion plate 304 are staggered, the transmission shaft 305 is fixedly connected with the second torsion plate 304, the transmission shaft 305 penetrates through the first torsion plate 303 and is rotationally connected with the penetrating hole, the steering driving motor 301 is embedded in the rear chassis 102, the output shaft of the steering driving motor 301 is drivingly connected with the transmission shaft 305 through the synchronous belt 302, the front chassis 101 is driven to rotate by the steering driving motor 301, the turning function is realized, the steering mechanism 3 is moved to the middle position of the vehicle body, the turning radius of the vehicle is greatly reduced, and the flexibility of the vehicle movement is improved.

[0047] Specifically, the connecting rod one 204 and the connecting rod two 207 are located on the same longitudinal section, and the bonding plate 208, the connecting rod two 207, the connecting rod three 205 and the wheel 206 are distributed in turn from the side wall of the chassis 1 outwardly in staggered manner, the connecting rod one 204, the connecting rod two 207 and the connecting rod three 205 are always parallel to the output shaft of the knee joint motor 203, and the wheel 206 is always parallel to the output shaft of the knee joint motor 203.

[0048] The side wall of the connecting rod three 205 is fixedly connected with the walking driving motor 209, the output shaft of the walking driving motor 209 penetrates the connecting rod three 205 and is rotationally connected with the penetrating hole, and the output shaft of the walking driving motor 209 is fixedly connected at the wheel 206 shaft center.

[0049] Specifically, the chassis 1 is installed with the frame main body 4 on the outside top, the frame main body 4 includes the front frame 401, the rear frame 402 and the intermediate connecting piece 403, the front frame 401 and the rear frame 402 are respectively installed on the front chassis 101 and the rear chassis 102, and the front frame 401 and the rear frame 402 are soft-connected through the intermediate connecting piece 403.

[0050] Specifically, the front frame 401 and the rear frame 402 are provided with the concave arc mouth 404 on the positions corresponding to the wheel 206 above the two sides, and each concave arc mouth 404 is provided with a limiting block 5 on the inner wall of the front frame 401 and the rear frame 402, the two limiting blocks 5 are symmetrically distributed about the center line axis of the limiting ring track 202, and a gap is reserved between the limiting block 5 and the limiting ring track 202, when the stroke of the leg-reconfigurable suspension 2 is lowered to the minimum (i.e. when the wheel 206 is retracted to the minimum position of the leg-reconfigurable suspension 2), the connecting rod one 204 and the connecting rod two 207 are respectively in contact with the limiting block 5, thereby limiting the movement of the connecting rod in the leg-reconfigurable suspension 2, thereby increasing the carrying capacity of the vehicle, reducing the required torque of the knee joint motor 203, improving the stability of the vehicle, and prolonging the service life.

[0051] Specifically, the intermediate connecting piece 403 is made of a through air baffle shed material, and the two ends of the intermediate connecting piece 403 are tightly fitted on the side edges of the front chassis 101 and the rear chassis 102.

[0052] The wheel-leg reconfigurable vehicle structure further comprises a sensor assembly, the sensor assembly comprising a camera 6, a laser radar 7, an inertial sensor IMU 8 and a communication module 9, the camera 6 and the laser radar 7 are both mounted at the front end of the front frame 401, and the camera 6 and the laser radar 7 are distributed in a staggered manner on the central axis of the front frame 401, the inertial sensor IMU 8 is mounted at the rear end of the front chassis 101, and the inertial sensor IMU 8 is located at the center of mass of the vehicle, the communication module 9 is embedded and mounted in the front end cavity of the front chassis 101, the wheel-leg reconfigurable vehicle structure further comprises a control system, the control system comprising a vehicle control board 10 and a motor control board 11, the number of the motor control board 11 is two, and the two motor control boards 11 are respectively mounted on the front chassis 101 and the rear chassis 102 and control the movement of the two groups of wheel-leg reconfigurable suspensions 2, the vehicle control board 10 is mounted on the front chassis 101 as a master control platform, and the two motor control boards 11 are connected in parallel on the two ports of the vehicle control board 10, and the communication module 9 is integrated with the vehicle control board 10; the road condition information in front of the vehicle can be accurately recognized through the camera 6, the specific height of the vehicle can be detected through the laser radar 7, and the actual attitude of the vehicle can be measured through the inertial sensor IMU 8, and the adaptive ability of the vehicle can be improved by combining the sensing signals of multiple sensors, using the vehicle control board 10 and the motor control board 11 to control the driving components of the vehicle, so that the vehicle can be automatically adjusted to the corresponding motion mode.

[0053] The four wheels and the four wheel-leg reconfigurable suspensions 2 of the wheel-leg reconfigurable vehicle structure are independently controlled, and in particular, the hip joint motor 201, the knee joint motor 203 and the walking driving motor 209 of the wheel-leg reconfigurable suspension 2 are connected in parallel on the control circuit, when the hip joint motor 201 is started, the inclination angle of the wheel-leg reconfigurable suspension 2 can be adjusted, so that the wheel-leg reconfigurable suspension 2 can swing around the center line of the output shaft of the hip joint motor 201, when the knee joint motor 203 is started, the bending angle of the connecting rod one 204 and the connecting rod three 205 can be changed, so that the height of the wheel-leg reconfigurable suspension 2 changes, thereby adjusting the height of the wheel 206, and when the walking driving motor 209 is started, the wheel 206 can be rotated to drive the vehicle, and when the rotation speeds of different wheels 206 are different, differential driving can be realized, so that the vehicle can be turned.

[0054] In order to simplify the vehicle body structure, a wire slot for wiring of the sensor assembly and the control system is reserved inside the front chassis 101 and the rear chassis 102, so that the internal structure of the vehicle is more simple and the safety hazard is reduced.

[0055] The center axis of the front chassis 101 and the rear chassis 102 is provided with a middle cavity, and the battery 12, the hip joint motor 201, the knee joint motor 203, the walking driving motor 209, the steering driving motor 301, the sensor assembly and the control system are all electrically connected with the battery 12 to realize power supply, and the battery 12 selects a reusable rechargeable battery.

[0056] In actual application, the wheel-leg reconfigurable vehicle structure senses signals required for vehicle operation through multiple sensors such as the camera 6, the laser radar 7 and the inertial sensor IMU 8, controls each driving component of the vehicle by using the vehicle control board 10 and the motor control board 11, and enables the vehicle to autonomously adjust into a corresponding motion mode, thereby improving the adaptability of the vehicle. When advancing, the hip joint motor 201, the knee joint motor 203, the walking driving motor 209 and the steering driving motor 301 are controlled to work according to the actual road conditions, the output shaft of the knee joint motor 203 drives the connecting rod one 204, which can change the bending angle of the connecting rod one 204 and the connecting rod three 205, and change the height of the wheel-leg reconfigurable suspension 2, the hip joint motor 201 is started, and the output shaft thereof drives the limiting ring track 202 and the knee joint motor 203, thereby changing the inclination angle of the wheel-leg reconfigurable suspension 2, adapting to the vehicle advancing and retreating process, the output shaft of the walking driving motor 209 drives the wheel 206 to rotate, thereby driving the vehicle, and when the rotation speeds of different wheels 206 are different, differential driving can be realized, thereby enabling the vehicle to turn, and when turning, the steering driving motor 301 drives the front chassis 101 to rotate according to the steering angle, thereby realizing turning traction.

[0057] The above description of disclosed embodiments enables those skilled in the art to carry out or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wheel-leg reconfigurable vehicle structure, comprising a chassis frame (1), characterized in that: A wheel-leg reconfiguration suspension (2) is installed on the chassis (1). The chassis (1) includes a front chassis (101) and a rear chassis (102), and the front chassis (101) is movably installed in front of the rear chassis (102). A steering mechanism (3) is installed between the front chassis (101) and the rear chassis (102) for vehicle steering and traction. The wheel-leg reconfiguration suspension (2) includes a hip joint motor (201) mounted on the chassis (1). The output shaft of the hip joint motor (201) is driven by a limiting ring rail (202), and a knee joint motor (203) is fixedly connected at the axis of the limiting ring rail (202). The output shafts of the knee joint motor (203) and the hip joint motor (201) are coaxially distributed. The output shaft of the knee joint motor (203) is driven by a connecting rod (204). 4) The other end is hinged to a connecting rod three (205) via a pivot. A wheel (206) is movably installed on the end of the connecting rod three (205) away from the connecting rod one (204). The middle part of the outer wall of the connecting rod three (205) is hinged to a connecting rod two (207) via a pivot. The end of the connecting rod two (207) away from the connecting rod three (205) is hinged to a bonding plate (208) via a pivot. One side of the bonding plate (208) is bonded and fixedly connected to the outer wall of the limiting ring rail (202). The steering mechanism (3) includes a steering drive motor (301) and a timing belt (302). A first torsion plate (303) is fixedly connected to the rear end of the front chassis (101), and a second torsion plate (304) is fixedly connected to the front end of the rear chassis (102). The first torsion plate (303) and the second torsion plate (304) are staggered. A drive shaft (305) is fixedly connected to the second torsion plate (304), and the drive shaft (305) passes through the first torsion plate (303) and is rotatably connected to the through hole. The steering drive motor (301) is embedded in the rear chassis (102), and the output shaft of the steering drive motor (301) is connected to the drive shaft (305) through the timing belt (302). The frame body (4) is installed on the top of the outer side of the chassis (1). The frame body (4) includes a front frame (401), a rear frame (402) and an intermediate connector (403). The front frame (401) and the rear frame (402) are respectively installed on the front chassis (101) and the rear chassis (102), and the front frame (401) and the rear frame (402) are flexibly connected through the intermediate connector (403). The front frame (401) and the rear frame (402) are provided with concave arc openings (404) on both sides and directly above the wheels (206). A limiting block (5) is provided on both sides of each concave arc opening (404) on the inner wall of the front frame (401) and the rear frame (402). Two adjacent limiting blocks (5) are symmetrically distributed about the center line of the limiting ring rail (202), and a gap is reserved between the limiting block (5) and the limiting ring rail (202).

2. The wheel-leg reconfigurable vehicle structure according to claim 1, characterized in that: The wheel-leg reconfiguration suspension (2) is configured in two groups, with two wheel-leg reconfiguration suspensions (2) in each group. The two wheel-leg reconfiguration suspensions (2) in the same group are symmetrically distributed on both sides of the front chassis (101) or the rear chassis (102), wherein the hip joint motor (201) is embedded inside the front chassis (101) or the rear chassis (102).

3. The wheel-leg reconfigurable vehicle structure according to claim 1, characterized in that: The first connecting rod (204) and the second connecting rod (207) are located on the same longitudinal section, and the bonding plate (208), the second connecting rod (207), the third connecting rod (205) and the wheel (206) are staggered outward from the side wall of the chassis (1). The center line of the wheel (206) is always parallel to the output shaft of the knee joint motor (203). The side wall of the connecting rod three (205) is fixedly connected to a walking drive motor (209). The output shaft of the walking drive motor (209) passes through the connecting rod three (205) and is rotatably connected to the through hole. The output shaft of the walking drive motor (209) is fixedly connected to the axle of the wheel (206).

4. The wheel-leg reconfigurable vehicle structure according to claim 1, characterized in that: The intermediate connector (403) is made of a through-channel windshield folding material, and the two ends of the intermediate connector (403) are tightly attached to the side edges of the front chassis (101) and the rear chassis (102), respectively.

5. The wheel-leg reconfigurable vehicle structure according to claim 1, characterized in that: It also includes sensor components, which include a camera (6), a lidar (7), an inertial sensor IMU (8), and a communication module (9). The camera (6) and lidar (7) are both mounted at the front end of the front frame (401), and the camera (6) and lidar (7) are staggered on the central axis of the front frame (401). The inertial sensor IMU (8) is mounted at the rear end of the front chassis (101), and the inertial sensor IMU (8) is located at the center of gravity of the vehicle. The communication module (9) is embedded in the front cavity of the front chassis (101).

6. The wheel-leg reconfigurable vehicle structure according to claim 5, characterized in that: It also includes a control system, which includes a vehicle control board (10) and a motor control board (11). The number of motor control boards (11) is set to two, and the two motor control boards (11) are respectively installed on the front chassis (101) and the rear chassis (102), and respectively control the movement of the two sets of wheel leg reconfiguration suspensions (2). The vehicle control board (10) is installed on the front chassis (101) as the main control platform, and the two motor control boards (11) are connected in parallel on the two ports of the vehicle control board (10). The communication module (9) is integrated with the vehicle control board (10).

7. A wheel-leg reconfigurable vehicle structure according to claim 6, characterized in that: Both the front chassis (101) and the rear chassis (102) have reserved wiring channels for the sensor components and control system wiring; The front chassis (101) and the rear chassis (102) have a central cavity at their central axis, and a battery (12) is installed in the central cavity. The hip joint motor (201), knee joint motor (203), walking drive motor (209), steering drive motor (301), sensor assembly and control system are all electrically connected to the battery (12).

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