An angle module for a variable posture multi-environment intelligent vehicle

Abstract

This invention relates to an angle module for a variable-attitude amphibious intelligent vehicle, belonging to the field of mobile intelligent vehicle technology. It solves the problems of poor environmental adaptability, low mobility, high power consumption, and poor functional expandability in existing intelligent vehicles. The module includes: a hub drive motor assembly, an eccentric motor assembly, a steering motor assembly, and an attitude adjustment motor assembly. The hub drive motor assembly includes: a wheel rim, a hub, a paddle, a hub drive motor, and an eccentric disc. The eccentric motor assembly includes: an eccentric rotating platform, an eccentric motor, and an eccentric motor housing. The steering motor assembly includes: a steering rotating platform, a steering motor, and a steering motor housing. The attitude adjustment motor assembly includes: an attitude adjustment rotating platform and an attitude adjustment motor.

Description

Technical Field

[0001] This invention relates to the field of mobile intelligent vehicles, and more particularly to an angle module for a variable-posture amphibious intelligent vehicle. Background Technology

[0002] With the growing acceptance of intelligent and automated concepts, intelligent vehicle technology has developed rapidly, and the level of intelligent vehicles has gradually become one of the benchmarks for measuring contemporary technological advancements. Cars are no longer merely means of transportation, but have become intelligent entities capable of sensing, understanding, making decisions, and driving. Beyond cars used for transportation, various "miniature" intelligent mobile vehicles are also being applied in various industrial and service sectors; these are commonly referred to as "robot cars." Many robots are designed to perform 3D tasks—dangerous, dirty, and tedious tasks. To autonomously move and complete instructions, robots are typically equipped with a mobile device applicable to multiple scenarios. This mobile device, combined with replaceable special functional modules, becomes a specialized robot adaptable to various purposes.

[0003] Currently, mobile intelligent vehicles are mainly classified into legged, wheeled, and tracked types based on their mode of movement. Legged vehicles have strong environmental adaptability and can achieve omnidirectional movement, but their mechanical structure and control are very complex. Wheeled vehicles have simple mechanical structure and control, and are highly efficient when moving on regular terrain, but their environmental adaptability is poor, and they are prone to failure and have poor passability when moving on irregular terrain. Tracked vehicles have slightly better load-bearing capacity and passability, but their movement efficiency is low and their power consumption is too high. In addition, traditional mobile intelligent vehicles can only perform very limited specific functions, and their functional expandability is poor. Therefore, traditional mobile intelligent vehicles still have shortcomings and deficiencies, and how to create a new type of mobile intelligent vehicle with strong comprehensive performance has become an urgent problem to be solved in this field. Summary of the Invention

[0004] This invention employs the concept of angular drive, decoupling the vehicle body from the wheels during development. It provides an angular module solution integrating the eccentric portion, steering portion, drive portion, and attitude conversion portion into a single unit, applicable to various sizes of intelligent vehicles. Furthermore, traditional mobile intelligent vehicles are limited to land use, restricting their application scenarios. This invention adopts a multi-amphibious approach, adding drive propellers to the drive wheels of the angular module. By adjusting the propeller rotation speed through the drive portion's gearbox, it can achieve water-based propulsion capabilities. The attitude conversion portion can also rotate the propellers to resemble a multi-rotor aircraft, i.e., adjust it to flight mode.

[0005] According to an embodiment of the present invention, an angular module solution is provided that integrates an eccentric part, a steering part, a driving part, and an attitude conversion part into one unit using the concept of angular drive. This allows each angular module to independently realize the functions of driving, steering, eccentricity, and attitude conversion, thereby having multiple degrees of freedom and multiple motion modes. Furthermore, when the angular module is applied to a vehicle, it gives the vehicle the advantage of good passability on rough roads, as well as the ability to navigate in water and fly in the air.

[0006] According to one embodiment of the present invention, an angle module for a variable attitude amphibious intelligent vehicle is provided, characterized in that the angle module is angle-driven and includes: a hub drive motor assembly, an eccentric motor assembly, a steering motor assembly, and an attitude conversion motor assembly connected in sequence, wherein,

[0007] The hub drive motor assembly includes: a wheel rim, a hub, blades, a hub drive motor, and an eccentric disk. The hub drive motor is mounted at the center of the hub and provides drive for the hub. The wheel rim is mounted on the outer periphery of the hub. The blades are mounted to the hub drive motor on the outer side of the hub and are driven by it. The eccentric disk includes a large annular portion and a small annular portion arranged radially side by side. The large annular portion is fixedly mounted to the inner side of the hub drive motor. The hub drive motor assembly rotates about the axis of the rotor of the hub drive motor.

[0008] The eccentric motor assembly includes: an eccentric rotary platform, an eccentric motor, and an eccentric motor housing. The inner side of the eccentric rotary platform is the input end, and the outer side is the output end. The input end of the eccentric rotary platform is installed to and driven by the rotor of the eccentric motor. The output end of the eccentric rotary platform is connected to the small annular portion of the eccentric disk. The eccentric motor housing is installed on the side of the eccentric motor opposite to the eccentric rotary platform. The axis of the rotor of the eccentric motor is the rotation axis of the eccentric disk driven to rotate by the eccentric motor.

[0009] The steering motor assembly includes: a steering rotation platform, a steering motor, and a steering motor housing. The steering rotation platform includes an input end and an output end. The input end is mounted to and driven by the rotor of the steering motor. The output end is fixedly connected to the eccentric motor housing. The steering motor housing is mounted on the side of the steering motor opposite to the steering rotation platform. The steering motor assembly rotates about the axis of the rotor of the steering motor.

[0010] The attitude adjustment motor assembly includes an attitude adjustment rotary platform and an attitude adjustment motor. The attitude adjustment rotary platform includes an input end and an output end. The input end is installed on and driven by the rotor of the attitude adjustment motor. The output end is fixedly connected to the steering motor housing. The attitude adjustment motor assembly rotates around the axis of the rotor of the attitude adjustment motor.

[0011] In an optional embodiment, the rotation axis of the hub drive motor assembly is parallel to the rotation axis of the eccentric motor assembly; the rotation axis of the hub drive motor assembly, the rotation axis of the steering motor assembly, and the rotation axis of the attitude adjustment motor assembly are mutually perpendicular in three-dimensional space.

[0012] In an optional embodiment, the hub drive motor assembly further includes: a transmission integrated in the hub drive motor, through which the hub drive motor drives the hub; and a hub drive motor housing mounted inside the hub drive motor for protecting the hub drive motor.

[0013] In an optional embodiment, the transmission is a planetary gear transmission, including: a planet carrier, a sun gear, a ring gear, and a brake; wherein, the hub drive motor is connected to the planet carrier, the blades are connected to the sun gear, and the hub is connected to the ring gear; when the hub is driven, the brake brakes the sun gear; when the blades are driven, the brake brakes the ring gear, thereby achieving the switching between two rotation modes at different speeds.

[0014] In an optional embodiment, the eccentric motor assembly further includes a reducer disposed within the eccentric rotating platform. The reducer reduces the speed of the eccentric motor's drive on the small annular portion of the eccentric disk, thereby achieving the functions of power transmission and speed regulation.

[0015] In an optional embodiment, the steering motor assembly further includes a reducer disposed within the steering rotation platform. The reducer reduces the speed of the steering motor's drive on the steering rotation platform, thereby enabling the transmission of power, changing the direction of power transmission, and adjusting the rotation speed.

[0016] In an optional embodiment, the attitude adjustment motor assembly further includes a reducer disposed within the attitude adjustment rotary platform. The reducer reduces the speed of the attitude adjustment motor's drive on the attitude adjustment rotary platform, thereby achieving the functions of transmitting power, changing the direction of power transmission, and adjusting the rotation speed.

[0017] According to another embodiment of the present invention, an angular module integrating an eccentric portion, a steering portion, a driving portion, and an attitude conversion portion using an angular drive concept is provided, comprising: a hub drive motor assembly, an eccentric motor assembly, a steering motor assembly, and an attitude conversion motor assembly. The hub drive motor assembly is a wheel set with a hub drive motor, one end of which is connected to the output end of the eccentric rotating platform of the eccentric motor assembly and rotates via the drive of the eccentric rotating platform; the eccentric motor assembly is a rotating platform mechanism with an eccentric motor, the eccentric motor housing of which is bolted to the output end of the rotating platform of the steering motor assembly; the steering motor assembly is a rotating platform mechanism with a steering motor, the steering motor housing of which is bolted to the output end of the rotating platform of the attitude conversion motor assembly; and the attitude conversion motor assembly is a rotating platform mechanism with an attitude conversion motor.

[0018] This corner module replaces the suspension assembly in conventional smart cars, effectively reducing its weight and size. Through an eccentric mechanism, the corner module's wheelset can rotate 360° around its axis, giving the vehicle excellent off-road capability when applied to rough terrain. Three different motors handle drive, eccentric motion, and steering respectively, while a rotating platform changes and transmits power direction. A fourth attitude conversion motor adjusts the vehicle's posture. All four assemblies are compact and highly integrated.

[0019] Furthermore, the hub drive motor assembly includes a wheel rim, hub, blades, hub drive motor, hub drive motor base housing, eccentric disc, and bolts. The hub has evenly distributed fan-shaped grooves to reduce weight; bolt holes are pre-drilled around the hub axle for bolting to the hub drive motor rotor. The wheel rim has helical grooves and a tapered edge design for secure fastening to the wheel rim. The hub drive motor is an integrated device of the drive motor and gearbox. When the hub drive motor outputs power, the rotor directly drives the blades to rotate, achieving the switching between water and land driving modes; simultaneously, the rotor drives the entire wheel, consisting of the hub and rim, to rotate around the wheel's central axis via the gearbox. The hub drive motor base housing is bolted to the hub drive motor. The eccentric disc has two circular ends with circular grooves at both ends to reduce weight; one end of the larger ring is bolted to the hub drive motor, and the other end of the smaller ring is bolted to the output end of the rotating platform.

[0020] Furthermore, the eccentric motor assembly includes a rotating platform, an eccentric motor, an eccentric motor housing, and bolts. The rotating platform has a built-in 1:10 reducer, which enables power transmission and reduces the speed. The eccentric motor rotor is fixedly connected to the input end of the rotating platform, and the eccentric motor is bolted to the eccentric motor housing at pre-drilled holes. When the eccentric motor outputs power, the power is transmitted through the rotating platform to one end of the small circle of the eccentric disk, driving the hub drive motor assembly to rotate around the central axis of that small circle.

[0021] Furthermore, the steering motor assembly includes a rotary platform, a steering motor, a steering motor housing, and bolts. The rotary platform has a built-in 1:10 reducer, which can transmit power, change the direction of power transmission, and function as a reducer. The input end is bolted to the steering motor rotor, and the output end is bolted to the eccentric motor housing. When the steering motor outputs power, the power is redirected through the rotary platform and output to the eccentric motor housing, causing the eccentric motor assembly and the wheel hub drive motor assembly to steer together.

[0022] Furthermore, the attitude adjustment motor assembly includes a rotating platform, an attitude adjustment motor, an attitude adjustment motor housing, and bolts. The rotating platform has a built-in 1:10 reducer, which can transmit power, change the direction of power transmission, and function as a reducer. The input end is bolted to the attitude adjustment motor rotor, and the output end is bolted to the steering motor housing. When the attitude adjustment motor outputs power, the power is redirected through the rotating platform to the steering motor housing, driving the steering motor assembly, eccentric motor assembly, and wheel hub drive motor assembly to rotate together, thereby switching between airborne flight and land-based driving modes.

[0023] An angular module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention has at least the following advantages over the prior art.

[0024] 1. The corner module provided by the embodiments of the present invention includes a hub drive motor assembly, which uses a hub drive motor to drive the wheels. It has high integration and compact structure. When the corner module is applied to a vehicle, it has excellent flexibility and power performance.

[0025] 2. The corner module provided by the embodiments of the present invention includes a propeller and a gearbox. The propeller of the corner module can be set to a direct drive with the same rotation speed as the hub drive motor to provide power for water navigation and air flight. The rotation of the wheel driven by the hub drive motor can be set to be adjusted by the gearbox to provide power for land driving. Thus, when the corner module is applied to the whole vehicle of the intelligent vehicle, it can switch between the three modes of water navigation, air flight and land driving.

[0026] 3. The corner module provided in the embodiments of the present invention includes an attitude adjustment motor. When the corner module is applied to the whole vehicle of the intelligent vehicle, it can be switched to the aerial flight mode through the attitude adjustment motor. At this time, the blades are used as propellers to provide power for aerial flight.

[0027] 4. The corner module provided in the embodiments of the present invention includes an eccentric motor assembly, which uses a rotating platform in conjunction with an eccentric disk mechanism to achieve 360° eccentric movement. When the corner module is applied to the entire vehicle of an intelligent vehicle, it can realize the adjustment of the height and wheelbase of each wheel of the intelligent vehicle individually or simultaneously when driving on land, and has excellent passability and posture stability when driving on rough roads.

[0028] 5. The corner module provided in the embodiments of the present invention includes a steering assembly, which uses a rotating platform in conjunction with a steering arm to achieve large-amplitude steering, has multiple motion postures, and improves the degree of freedom. When the corner module is applied to the vehicle's land driving, it can realize actions such as turning on the spot, diagonal movement, lateral driving, and four-wheel steering, and has excellent flexibility and obstacle avoidance performance.

[0029] 6. The corner module provided in the embodiments of the present invention adopts a modular design, which can be assembled into various types and sizes of intelligent vehicles, is easy to replace and maintain, and has good functional expandability. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the embodiments will be briefly introduced below. The features and advantages of the present invention can be more clearly understood by referring to the accompanying drawings. The accompanying drawings are schematic and should not be construed as limiting the present invention in any way. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a front view of a corner module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention.

[0032] Figure 2 This is a right view of a corner module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention.

[0033] Figure 3 This is an outer view of a corner module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention.

[0034] Figure 4 This is an inner upper 45° oblique view of a corner module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention.

[0035] Figure 5 This is a 45° oblique view of the inner lower side of a corner module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention.

[0036] Figure 6 This is an exploded view of four assembly parts of a corner module for a variable-attitude amphibious intelligent vehicle according to an embodiment of the present invention.

[0037] The reference numerals in the attached drawings are explained as follows: 1-Hub drive motor assembly, 2-Eccentric motor assembly, 3-Steering motor assembly, 4-Attitude adjustment motor assembly, 101-Wheel rim, 102-Hub, 103-Paddle, 104-Hub drive motor and gearbox, 105-Hub drive motor base, 106-Eccentric disc, A1-Rotation axis of the hub drive motor assembly, 201-Eccentric rotary platform, 202-Eccentric motor, 203-Eccentric motor housing, A2-Rotation axis of the eccentric motor assembly, 301-Steering rotary platform, 302-Steering motor, 303-Steering motor housing, A3-Rotation axis of the steering motor assembly, 401-Attitude adjustment rotary platform, 402-Attitude adjustment motor, A4-Rotation axis of the attitude adjustment motor assembly. Detailed Implementation

[0038] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0039] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein. Therefore, the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0040] The following detailed description, with reference to the accompanying drawings, illustrates an angular module for a variable-posture amphibious intelligent vehicle according to an embodiment of the present invention.

[0041] Figure 1 This is a front view of a corner module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention. Figure 2 This is a right view of a corner module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention. Figure 3 This is an outer view of a corner module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention. Figure 4 This is an inner upper 45° oblique view of a corner module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention. Figure 5 This is a 45° oblique view of the inner lower side of a corner module for a variable-posture amphibious intelligent vehicle provided according to an embodiment of the present invention. Figure 6 This is an exploded view of four assembly parts of a corner module for a variable-attitude amphibious intelligent vehicle according to an embodiment of the present invention.

[0042] refer to Figure 1-6The corner module for a variable-attitude amphibious intelligent vehicle provided according to an embodiment of the present invention is an integrated corner module that provides corner drive at the four corners of the intelligent vehicle, comprising: a hub drive motor assembly 1, an eccentric motor assembly 2, a steering motor assembly 3, and an attitude conversion motor assembly 4 connected in sequence. This sequential connection of the four motor assemblies allows for more flexible degrees of freedom and angle changes in a compact structure. The specific connection method is described in detail below. Optionally, the hub drive motor assembly 1, the eccentric motor assembly 2, the steering motor assembly 3, and the attitude conversion motor assembly 4 can be configured such that when one motor assembly is working, the other three motor assemblies are locked stationary, thereby ensuring that the various conversion actions do not interfere with each other.

[0043] The corner module provided by the embodiment of the present invention eliminates the suspension assembly, effectively reducing the weight and volume of the corner module; by including an eccentric mechanism, the wheel can rotate 360° around the axis, and when the corner module is applied to the whole vehicle, it has the characteristic of good passability on rough roads; three different motors are used to complete the functions of driving, eccentric motion, and steering respectively, and the power direction is changed and transmitted through the rotating platforms 201 and 301; a fourth attitude conversion motor 402 is used to complete the attitude adjustment. The four assembly parts are compact and highly integrated.

[0044] Further reference Figure 3-6 In one embodiment of the present invention, the hub drive motor assembly 1 includes a wheel rim 101, a hub 102, a blade 103, a hub drive motor 104, and an eccentric disk 106. The hub drive motor 104 may integrate a gearbox (not shown in the figure), and the hub drive motor 104 is mounted on the axis of the hub 102 and drives the hub 102 via the gearbox. The wheel rim 101 is mounted on the outer periphery of the hub 102. The blade 103 is mounted to the hub drive motor 104 on the outer side of the hub 102 and is driven by the hub drive motor 104. The eccentric disk 106 includes a large annular portion and a small annular portion arranged radially side-by-side. The large annular portion is fixedly mounted to the inner side of the hub drive motor 104. The outer side of the hub 102 is the side facing the exterior of the vehicle body on the central axis of the hub 102 after the corner module is installed in the intelligent vehicle. Figure 1 On the left side, the inner side of the wheel hub 102 is the side of the wheel hub 102 facing the vehicle body on the central axis after the corner module is installed onto the smart vehicle. Figure 1The right side of the hub 102 is shown. The inner and outer sides of other components are referenced to the inner and outer sides of the hub 102. In this hub drive motor assembly 1, the blade 103, hub 102, and large annular portion of the eccentric disk 106 are all coaxially mounted to the hub drive motor 104. Optionally, the hub drive motor assembly 1 may also include a hub drive motor base housing 105, which is mounted inside the hub drive motor 104 to provide protection for the hub drive motor 104. The large annular portion of the eccentric disk 106 can be fixedly mounted to the stator inside the hub drive motor 104.

[0045] It should be understood that the terms such as inner, outer, left, right, front, and rear in this description are only for the purpose of clearly illustrating the technical solution of the present invention with reference to the accompanying drawings, and should not be construed as any limitation on the present invention.

[0046] See Figure 2 The rotation axis A1 of the hub drive motor assembly 1 is the axis of the rotor of the hub drive motor 104. This rotation axis A1 is also the rotation axis of the coaxial hub 102 and blade 103. The hub 102 and the rim 101 together constitute the wheel. The axis of the hub 102 is also the central axis of the wheel and the blade 103. The rotation of the wheel around the central axis enables the intelligent vehicle to move forward and backward; the rotation of the blade 103 around the central axis enables the intelligent vehicle to navigate in water or fly in the air.

[0047] The wheel hub 102 has multiple evenly spaced fan-shaped hollow sections inside, which reduces the weight of the wheel hub 102 and improves heat dissipation performance. Figure 1 In the illustrated embodiment, for example, three cutouts are provided. However, the number of cutouts is not limited to this and can be set as needed in the application. Multiple threaded holes can be provided around the axis of the hub 102 for fixing the hub drive motor 104 to the hub 102 with bolts. Figure 6 In the illustrated embodiment, six threaded holes are provided around the axle of the hub 102. However, the number of threaded holes is not limited to this and can be set as needed in the application. The rim of the outer periphery of the hub 102 may have helical grooves and a tapered edge design to securely fasten it to the wheel rim 101.

[0048] Optionally, the hub drive motor 104 can be an integrated device of a drive motor and a transmission. The gear ratio of the transmission can be 1:10. When the hub drive motor 104 drives the blades 103, the rotor of the hub drive motor 104 can directly drive the blades 103 to rotate around the rotation axis A1, so that the rotation of the blades 103 propels the intelligent vehicle to navigate in water, or the blades 103 rotate as propellers to propel the intelligent vehicle to fly in the air, in either of these two modes. In addition, when the hub drive motor 104 drives the wheels, the rotor of the hub drive motor 104 drives the entire wheel, consisting of the hub 102 and the rim 101, to rotate around the rotation axis A1 via the transmission, thereby propelling the intelligent vehicle to travel on land. The rotation of the wheel hub 102 and the blades 103 can be independent or they can rotate together. When the wheel hub 102 and the blade 103 are driven to rotate independently, the transmission can use a transmission including planetary gears. The hub drive motor 104 is connected to the planet carrier, the blade 103 is connected to the sun gear, and the hub 102 is connected to the ring gear. The transmission from the planet carrier to the sun gear can increase the rotational speed, while the transmission from the planet carrier to the ring gear can decrease the rotational speed and increase the torque. When the wheel hub 102 is driven, the brake brakes the sun gear; when the blade 103 is driven, the brake brakes the ring gear. Thus, switching between two rotational modes with different rotational speeds is achieved by switching between the two brakes. With the two rotational modes provided by the above-mentioned transmission, a simple and lightweight structure and convenient operation can be achieved by using only a single hub drive motor 104 to provide the different rotational speeds required for both land-based wheel rotation and air-based blade rotation.

[0049] It should be understood that the number and size of the blades of the blades 103 of the hub drive motor assembly 100 can be selected and set according to actual application requirements.

[0050] The hub drive motor base housing 105 and the hub drive motor 104 can be fixed together with bolts. The eccentric disk 106 is roughly figure-eight shaped, including a large and a small hollowed-out ring. The large ring is fixedly mounted to the inside of the hub drive motor 104. The large ring of the eccentric disk 106 can be fixedly connected to the stator inside the hub drive motor 104 with bolts.

[0051] refer to Figure 3-6In one embodiment of the present invention, the eccentric motor assembly 2 includes an eccentric rotary platform 201, an eccentric motor 202, and an eccentric motor housing 203. The inner side of the eccentric rotary platform 201 is the input end, and the outer side is the output end. The input end of the eccentric rotary platform 201 is mounted to and driven by the rotor of the eccentric motor 202. The output end of the eccentric rotary platform 201 is connected to the small annular portion of the eccentric disk 106, and the eccentric motor 202 drives the eccentric disk 106 to rotate via the eccentric rotary platform 201. The eccentric motor housing 203 is mounted to the side of the eccentric motor 202 opposite to the eccentric rotary platform 201. The output end of the eccentric rotary platform 201 is rotatably connected to the small annular portion of the eccentric disk 106, such that when the eccentric motor 202 is running, it drives the eccentric disk 106 to rotate relative to the eccentric rotary platform 201. The eccentric motor housing 203 can be mounted to the stator end of the eccentric motor 202. In other words, the eccentric rotary platform 201, the eccentric motor 202, and the eccentric motor housing 203 are assembled together sequentially from the outside to the inside. See also Figure 2 The rotation axis of the rotor of the eccentric motor 202 is A2. This rotation axis A2 is also the rotation axis of the eccentric disk 106, which is connected to the eccentric rotating platform 201, when it is driven to rotate by the eccentric motor 202. The rotation axis A2 of the eccentric motor assembly 2 is parallel to the rotation axis A1 of the aforementioned hub drive motor assembly 1. The distance between rotation axis A1 and rotation axis A2 is determined by the distance between the axis of the hub 102 and the rotor of the eccentric motor 202 in the radial direction of the wheel. As needed, the distance between rotation axis A1 and rotation axis A2 can be adjusted by adjusting the size of the eccentric disk 106, the distance between the output and input ends of the eccentric rotating platform 201 in the radial direction of the wheel, etc., thereby adjusting the amplitude of wheel height conversion.

[0052] A speed reducer can be installed within the eccentric rotary platform 201 to achieve power transmission and speed regulation. This speed reducer can be, for example, a 1:10 speed reducer, but the invention is not limited to this and can be selected according to application needs. The rotor of the eccentric motor 202 is mounted to the input end of the eccentric rotary platform 201. The eccentric motor 202 can be fixedly connected to the eccentric motor housing 203 by bolts. The speed reducer within the eccentric rotary platform 201 can be different from the speed reducer integrated within the hub drive motor 104. The speed reducer within the eccentric rotary platform 201 can be the same type as the speed reducer within the steering rotary platform 301 and the speed reducer within the attitude adjustment rotary platform 401.

[0053] When the eccentric motor 202 operates and outputs power, the rotor of the eccentric motor 202 drives the eccentric rotary platform 201 to rotate (reference). Figure 2The eccentric rotating platform 201 rotates around the rotation axis A2. The rotation of the eccentric rotating platform 201 drives the eccentric disk 106 connected to it to rotate around the rotation axis A2. This, in turn, drives the hub drive motor assembly 1, which is fixedly connected to it, to rotate around the rotation axis A2 as well, thereby causing the wheel to rotate eccentrically around this axis. The eccentric rotation of the wheel around the rotation axis A2 allows for adjusting the vehicle's height when driving on land; and for adjusting the spacing between the propeller blades 103 when flying. When the eccentric motor 202 is running, the hub drive motor 104 can be set to a braking state.

[0054] refer to Figure 3-6 In one embodiment of the present invention, the steering motor assembly 3 includes a steering rotation platform 301, a steering motor 302, and a steering motor housing 303. The steering rotation platform 301 includes an input end and an output end. The input end is mounted to and driven by the rotor of the steering motor 302, and the output end is fixedly connected to the eccentric motor housing 203. The steering motor housing 303 is mounted on the side of the steering motor 302 opposite to the steering rotation platform 301. The steering motor housing 303 can be mounted to the stator end of the steering motor 302. The input end and output end of the steering rotation platform 301 can be on the same side and spaced apart from each other by a certain distance, such that after installation, the steering motor 302 and the eccentric motor housing 203 are on the same side of the steering rotation platform 301. See also... Figure 1 The rotation axis A3 of the steering motor assembly 3 is the axis of the rotor of the steering motor 302. This rotation axis A3 is also the rotation axis of the steering rotation platform 301 when it is driven to rotate by the rotor of the steering motor 302. The rotation axis A3 of the steering motor assembly 3 is perpendicular in space to the rotation axis A2 of the eccentric motor assembly 2 and the rotation axis A1 of the hub drive motor assembly 1.

[0055] Optionally, a speed reducer can be installed within the steering rotation platform 301 to achieve the functions of power transmission, changing the direction of power transmission, and speed adjustment. The speed reducer can be, for example, a 1:10 speed reducer, but the invention is not limited to this and can be selected according to application needs. The input end of the steering rotation platform 301 can be connected to the rotor of the steering motor 302 by bolts. The output end of the steering rotation platform 301 can also be fixedly connected to the eccentric motor housing 203 by bolts.

[0056] When the steering motor 302 operates and outputs power, the power drives the steering rotation platform 301 to rotate via the rotor of the steering motor 302 (reference). Figure 1 and 5The steering rotation platform 301 rotates around the rotation axis A3 of the rotor of the steering motor 302. The rotation of the steering rotation platform 301 drives the eccentric motor housing 203 to rotate around the rotation axis A3, which in turn drives the attitude adjustment motor assembly 4, the eccentric motor assembly 2, and the wheel hub drive motor assembly 1 (i.e., the entire corner module) to rotate around the rotation axis A3, thus achieving steering of the wheel's rotation axis. The steering rotation platform 301 enables large-amplitude steering, provides various motion postures, and enhances degrees of freedom. When the corner module is applied to the land driving of the intelligent vehicle, it can achieve actions such as turning on the spot, diagonal driving, lateral driving, and four-wheel steering, exhibiting excellent flexibility and obstacle avoidance performance. When applied to the air flight of the intelligent vehicle, it can achieve adjustment of the deflection angle of the propeller blades 103. When the steering motor 302 is running, the wheel hub drive motor 104 and the eccentric motor 202 can be set to braking mode.

[0057] refer to Figure 3-6 In one embodiment of the invention, the attitude adjustment motor assembly 4 includes an attitude adjustment rotary platform 401 and an attitude adjustment motor 402. The attitude adjustment rotary platform 401 includes an input end and an output end. The input end is mounted to and driven by the rotor of the attitude adjustment motor 402, and the output end is fixedly connected to the steering motor housing 303. The input end and output end of the attitude adjustment rotary platform 401 can be on the same side and spaced apart from each other by a certain distance, such that after installation, the attitude adjustment motor 402 and the steering motor housing 303 are on the same side of the attitude adjustment rotary platform 401. (Reference) Figure 1-5 The aforementioned configuration and installation method of the input and output ends of the eccentric rotary platform 201, the steering rotary platform 301, and the attitude adjustment rotary platform 401 ensure that the assembled corner module maintains the relationship between the rotation axes and the flexibility of rotation while also possessing a very compact structure, saving installation space. For example, in the embodiment shown in the attached drawings, after assembly, the steering rotary platform 301 and the attitude adjustment rotary platform 401 enclose the steering rotary motor 302 and the attitude adjustment motor 402 radially inward, resulting in a compact overall structure. See also Figure 1 and Figure 5 The rotation axis A4 of the attitude adjustment motor assembly 4 is the axis of the rotor of the attitude adjustment motor 402. This rotation axis A4 is also the rotation axis of the attitude adjustment rotating platform 401 when it is driven to rotate by the rotor of the attitude adjustment motor 402. The rotation axis A4 of the attitude adjustment motor assembly 4 is spatially perpendicular to the rotation axis A2 of the eccentric motor assembly 2 and the rotation axis A1 of the hub drive motor assembly 1, and the rotation axis A4 of the attitude adjustment motor assembly 4 is spatially perpendicular to the rotation axis A3 of the steering motor assembly 3. In other words, as... Figure 5As shown, the rotation axis A1 of the hub drive motor assembly 1 is perpendicular to the rotation axis A3 of the steering motor assembly 3 and the rotation axis A4 of the attitude conversion motor assembly 4 in three-dimensional space. Furthermore, since the rotation axis A1 of the hub drive motor assembly 1 and the rotation axis A2 of the eccentric motor assembly 2 are approximately parallel, the rotation axis A2 of the eccentric motor assembly 2 is also perpendicular to the rotation axis A3 of the steering motor assembly and the rotation axis A4 of the attitude conversion motor assembly in three-dimensional space.

[0058] The attitude adjustment rotary platform 401 can be equipped with a reducer, which can realize the functions of power transmission, changing the direction of power transmission, and reducing speed. The reducer can be, for example, a 1:10 reducer, but the invention is not limited to this and can be selected according to application needs. The input end of the attitude adjustment rotary platform 401 can be fixedly connected to the rotor of the attitude adjustment motor 402 by bolts. The output end of the attitude adjustment rotary platform 401 can be fixedly connected to the steering motor housing 303 by bolts.

[0059] When the attitude adjustment motor 402 operates and outputs power, the power drives the attitude adjustment rotary platform 401 to rotate via the rotor of the attitude adjustment motor 402 (reference). Figure 5 and 6 The attitude adjustment rotating platform 401 rotates around the rotation axis A4. The rotation of the attitude adjustment rotating platform 401 drives the steering motor housing 303 to rotate around the rotation axis A4, which in turn drives the steering motor assembly 3, the eccentric motor assembly 2, and the wheel hub drive motor assembly 1 (i.e., the entire corner module) to rotate together around the rotation axis A4. This achieves the flipping of the wheels and the paddles 103, changing the direction of power transmission to switch between air flight and land driving modes. When the attitude adjustment motor 402 is running, the wheel hub drive motor 104, the eccentric motor 202, and the steering motor 302 can be set to braking mode.

[0060] refer to Figure 1 , 2 Figures 5 and 6, represented by dashed lines, indicate the rotation axes of the hub drive motor assembly, eccentric motor assembly, steering motor assembly, and attitude conversion motor assembly. As shown, the rotation axis A1 of the hub drive motor assembly and the rotation axis A2 of the eccentric motor assembly are approximately parallel. The rotation axes A1 and A2 of the hub drive motor assembly are approximately perpendicular to each other in three-dimensional space with the rotation axes A3 of the steering motor assembly and A4 of the attitude conversion motor assembly. This orientation of the rotation axes maximizes the flexibility and steering angle of the corner module in each conversion mode, and avoids interference between different steering actions or different assembly components.

[0061] The corner module provided by the embodiments of the present invention can control the operation and braking of the motors in each motor assembly separately, thereby ensuring the accurate and timely operation of each motor assembly. After the corner module provided by the embodiments of the present invention is assembled into an intelligent vehicle, each corner module can be controlled separately, so that the corner modules can be controlled simultaneously to perform the same action, or one or more corner modules can be operated individually to perform stationary actions.

[0062] In the corner module provided by this embodiment, each motor housing and each rotating platform can be made of carbon fiber composite material, whose advantages such as lightweight, high strength, and corrosion resistance ensure excellent performance of the intelligent vehicle in amphibious mode. The eccentric disk can be made of steel to ensure sufficient mechanical strength. The outer tires of the wheels can be made of shock-absorbing rubber, and are equipped with steel inner rings and spokes to adapt to complex road conditions. The propeller blades can be made of carbon fiber material, which is lightweight while also having high tensile strength, wear resistance, and high power efficiency.

[0063] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An angle module for a variable-attitude amphibious intelligent vehicle, characterized in that, The corner module is a corner-driven module and includes: a hub drive motor assembly (1), an eccentric motor assembly (2), a steering motor assembly (3), and an attitude adjustment motor assembly (4) connected in sequence. The hub drive motor assembly (1) includes: a wheel rim (101), a hub (102), a blade (103), a hub drive motor (104), and an eccentric disk (106). The hub drive motor (104) is mounted at the center of the hub (102) and provides drive for the hub (102). The wheel rim (101) is mounted on the outer periphery of the hub (102). The blade (103) is mounted on the outer side of the hub (102) to the hub drive motor (104) and driven by it. The eccentric disk (106) includes a large annular portion and a small annular portion arranged radially side by side. The large annular portion is fixedly mounted to the inner side of the hub drive motor (104). The hub drive motor assembly (1) rotates about the axis (A1) of the rotor of the hub drive motor (104). The eccentric motor assembly (2) includes: an eccentric rotary platform (201), an eccentric motor (202), and an eccentric motor housing (203). The inner side of the eccentric rotary platform (201) is the input end and the outer side is the output end. The input end of the eccentric rotary platform (201) is installed to the rotor of the eccentric motor (202) and driven by it. The output end of the eccentric rotary platform (201) is connected to the small annular portion of the eccentric disk (106). The eccentric motor housing (203) is installed on the side of the eccentric motor (202) opposite to the eccentric rotary platform (201). The axis (A2) of the rotor of the eccentric motor (202) is the rotation axis of the eccentric disk (106) driven to rotate by the eccentric motor (202). The steering motor assembly (3) includes: a steering rotation platform (301), a steering motor (302), and a steering motor housing (303). The steering rotation platform (301) includes an input end and an output end. The input end is mounted to and driven by the rotor of the steering motor (302). The output end is fixedly connected to the eccentric motor housing (203). The steering motor housing (303) is mounted on the side of the steering motor (302) opposite to the steering rotation platform (301). The steering motor assembly (3) rotates about the axis (A3) of the rotor of the steering motor (302). The attitude adjustment motor assembly (4) includes an attitude adjustment rotary platform (401) and an attitude adjustment motor (402). The attitude adjustment rotary platform (401) includes an input end and an output end. The input end is mounted to and driven by the rotor of the attitude adjustment motor (402). The output end is fixedly connected to the steering motor housing (303). The attitude adjustment motor assembly (4) rotates around the axis (A4) of the rotor of the attitude adjustment motor (402).

2. The corner module for a variable-attitude amphibious intelligent vehicle according to claim 1, characterized in that, The rotation axis (A1) of the hub drive motor assembly (1) is parallel to the rotation axis (A2) of the eccentric motor assembly (2); The rotation axis (A1) of the hub drive motor assembly (1) is perpendicular to the rotation axis (A3) of the steering motor assembly (3) and the rotation axis (A4) of the attitude adjustment motor assembly (4) in three-dimensional space.

3. The corner module for a variable-attitude amphibious intelligent vehicle according to claim 1, characterized in that, The hub drive motor assembly (1) also includes: A transmission, which is integrated in the hub drive motor (104), drives the hub (102) via the transmission; The hub drive motor housing (105) is installed inside the hub drive motor (104) to protect the hub drive motor (104).

4. The corner module for a variable-attitude amphibious intelligent vehicle according to claim 3, characterized in that, The transmission is a planetary gear transmission, comprising: a planet carrier, a sun gear, a ring gear, and a brake; wherein The hub drive motor (104) is connected to the planetary carrier, the blade (103) is connected to the sun gear, and the hub (102) is connected to the gear ring. When the hub (102) is driven, the brake brakes the sun gear; when the blade (103) is driven, the brake brakes the gear ring, thereby achieving the switching between two rotation modes with different speeds.

5. The corner module for a variable-attitude amphibious intelligent vehicle according to claim 1, characterized in that, The eccentric motor assembly (2) also includes: The reducer is installed inside the eccentric rotating platform (201). The reducer reduces the speed of the drive of the eccentric motor (202) to the small ring of the eccentric disk (106), thereby realizing the functions of power transmission and speed regulation.

6. The corner module for a variable-attitude amphibious intelligent vehicle according to claim 1, characterized in that, The steering motor assembly (3) also includes: The reducer is installed inside the steering rotation platform (301). The reducer reduces the speed of the steering motor (302) driving the steering rotation platform (301), thereby realizing the functions of transmitting power, changing the direction of power transmission and adjusting the speed.

7. The corner module for a variable-attitude amphibious intelligent vehicle according to claim 1, characterized in that, The attitude adjustment motor assembly (4) also includes: The speed reducer is installed inside the attitude adjustment rotating platform (401). The speed reducer reduces the speed of the attitude adjustment motor (402) driving the attitude adjustment rotating platform (401), thereby realizing the functions of transmitting power, changing the power transmission direction and adjusting the speed.

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