Wheel-leg mechanism capable of extending and retracting in two directions and vehicle comprising wheel-leg mechanism

Abstract

The invention relates to a bi-directionally extendable and retractable wheel-leg mechanism (1) for a vehicle (100), comprising a convergent-divergent coupling leg assembly (2) having a plurality of coupling legs (2.1 to 2.4) coupled together in an articulated manner, a wheel hub motor (3) and a steering actuator (4) operatively connected to the wheel hub motor are arranged on the first coupling leg (2.1), and the wheel hub motor (3) is designed to rotate a wheel (102) of the vehicle (100) drivingly connected to the wheel hub motor, the steering actuator (4) being designed to set a steering angle of the wheel (102) of the vehicle (100). The wheel-leg mechanism (1) further comprises a rotary drive (5) for positioning the coupling legs (2.1 to 2.4), said rotary drive (5) being arranged in a driving manner on the first connection (6.1) between the second coupling leg (2.2) and the third coupling leg (2.3). The rotary drive (5) is designed to set the relative angular position between the coupling legs (2.1 to 2.4) coupled together in an articulated manner such that the position of the hub motor (3) relative to the rotary drive (5) can be adjusted in the longitudinal and / or vertical direction of the vehicle (100). The invention also relates to a vehicle (100) comprising at least one such wheel-leg mechanism (1).

Description

Technical Field

[0001] The present invention relates to a wheel-leg mechanism capable of being extended and retracted in both directions and a vehicle comprising the wheel-leg mechanism. Background Art

[0002] US2021 / 122030A1 discloses a bionic automatic operating device, including a body and a plurality of groups of wheeled leg assemblies arranged at intervals from front to back, each group of wheeled leg assemblies in the wheeled leg assemblies includes two wheeled leg assemblies arranged symmetrically from left to right. The two wheeled leg assemblies are arranged on the left and right sides of the body, and each wheeled leg assembly includes a leg assembly and an impeller. The power output shaft of the leg assembly is connected to the impeller to drive the impeller. The automatic operating device also includes a suspension device, which is arranged in the body and connected to at least two groups of wheeled leg devices in the plurality of groups of wheeled leg devices, wherein the at least two groups of wheeled leg devices are arranged at the front end and the rear end, respectively. The suspension device includes a plurality of drive assemblies, each drive assembly is connected to a corresponding leg assembly for driving the leg assembly to lift or press down. Each drive assembly includes an electric cylinder and a telescopic rod arranged on the electric cylinder, wherein the electric cylinder is configured to drive the telescopic rod to extend or retract.

[0003] The object of the present invention is to provide a novel wheel-leg mechanism that can be extended and retracted in both directions and a vehicle comprising at least one such wheel-leg mechanism. This object is achieved by a wheel-leg mechanism having the features of claim 1 and a vehicle having the features of claim 9. Preferred or advantageous embodiments of the present invention are disclosed by the dependent claims, the following description and the accompanying drawings. Summary of the invention

[0004] According to the first aspect of the present invention, the bidirectionally extendable and retractable wheel-leg mechanism for a vehicle of the present invention includes a telescopic connecting leg assembly, which has a plurality of connecting legs connected together in an articulated manner, wherein a wheel hub motor and a steering actuator operably connected to the wheel hub motor are arranged on the first connecting leg, and the wheel hub motor is designed to rotate the wheel of the vehicle connected to the wheel hub motor in a driving manner, and wherein the steering actuator is designed to set the steering angle of the wheel of the vehicle, and the wheel-leg mechanism also includes a rotary drive for positioning the connecting legs, the rotary drive being arranged in a driving manner on a first joint between the second connecting leg and the third connecting leg, wherein the rotary drive is designed to set the relative angular position between the connecting legs connected together in an articulated manner so that the position of the wheel hub motor relative to the rotary drive can be adjusted along the longitudinal direction and / or vertical direction of the vehicle.

[0005] The specific arrangement of the coupling legs of the zoom coupling leg assembly and the connection of the rotary drive to the zoom coupling leg assembly enable the wheel hub motor to move along a relevant trajectory, which trajectory depends on the rotation direction of the rotary drive, so that the wheel hub motor can be adjusted relative to the rotary drive in the longitudinal direction and / or vertical direction of the vehicle. Therefore, the wheel hub motor can be extended and retracted in both directions relative to the rotary drive and therefore relative to the chassis of the vehicle, so as to be able to perform specific functions of the vehicle that require at least temporary adjustment of the position of the wheel hub motor relative to the rotary drive or the chassis. For example, such a function may be climbing up or down a certain floor and / or turning. The trajectory of the wheel hub motor can have a roughly circular or elliptical shape. It is also conceivable that the trajectory of the wheel hub motor has a roughly triangular or square shape, in particular a shape with rounded corners. The shape of the trajectory depends on the geometry of the zoom coupling leg assembly and the position and angle of the connection of the rotary drive to the zoom coupling leg assembly. The zoom coupling leg assembly preferably produces a rectangular trajectory in the form of a rounded rectangle on the contact surface of the corresponding wheel of the vehicle. Such a wheel-leg mechanism enables asynchronous extension and retraction in the vertical direction and / or longitudinal direction of the vehicle.

[0006] The first joint at which the rotary drive is connected to the zoom coupling leg assembly is to be understood as an actuation joint of the zoom coupling leg assembly or wheel-leg mechanism, via which the coupling legs of the zoom coupling leg assembly are adjusted relative to each other. By adjusting the coupling legs, the above-mentioned positioning of the wheel hub motor relative to the rotary drive is achieved along a defined trajectory. Advantageously, only a single rotary drive is required to be able to adjust the position of the wheel hub motor relative to the rotary drive.

[0007] The rotary drive is designed so that the position of the zoom coupling leg assembly, in particular the coupling leg, can be controlled. For this purpose, the rotary drive is preferably connected to a control device capable of monitoring the rotational angle position of the drive shaft, in particular the rotor shaft, of the rotary drive. The rotational angle position of the drive shaft, in combination with the specific geometry of the zoom coupling leg assembly, provides the control device with position information about each individual coupling leg and ultimately provides position information about the wheel hub motor relative to the rotary drive in the longitudinal direction and / or vertical direction of the vehicle. On the one hand, the rotary drive controls the movement of the coupling leg, and on the other hand, the rotary drive can at least indirectly monitor the position of the coupling leg and / or the wheel hub motor. A three-stage brushless planetary gear motor with a torque sensor is suitable as a rotary drive because such a drive is compact and can achieve a high torque output by precise position control. However, the wheel leg mechanism is not limited to such a specific gear motor, but includes all gear motors that are compact and provide a high torque output by precise position control.

[0008] The wheel hub motor is part of an electric hub motor which can be used to drive or support the vehicle. The wheel hub motor can be connected to the above-mentioned control device to control the drive of the vehicle. Thus, the control device can realize a variety of functions. The wheel hub motor including the hub motor is preferably a brushless motor arranged on the first coupling leg. The wheel hub motor is preferably spatially arranged within the associated wheel of the vehicle and can be connected to the tire of the vehicle directly or via the rim.

[0009] The steering actuator, which is attached together with the wheel hub motor to the end of the first coupling leg of the coupling leg assembly, is intended for adjusting the steering angle of the wheel hub motor in order to be able to navigate the vehicle during operation. With the help of the steering actuator, a complete movement of the vehicle can be achieved. The steering actuator is designed so that a high torque can be set for the steering. The steering actuator can be connected to the hub motor directly or via a gear.

[0010] The term "operably connected" or "drivingly connected" should be understood to mean that the output shaft of the steering actuator can be directly connected to the wheel hub motor of the wheel-leg mechanism, or that other elements, in particular transmission elements such as one or more shafts or gears, gear stages, etc., can be positioned between the output end of the steering actuator and the wheel hub motor.

[0011] The coupling legs are preferably rod-shaped or tubular elements, which are connected to each other in an articulated manner, for example via shoulder bolts, lock nuts, screws, flange bushings, etc. The shoulder bolts and lock nuts hold the legs in their position and together with the joints form an assembly, i.e. a zoom coupling leg assembly of the wheel-leg mechanism. The coupling legs rotate against each other smoothly or with minimal friction via the respective articulated connections. The fasteners are selected so that friction losses are kept to a minimum. This allows the rotary drive to be designed to be relatively small and compact.

[0012] The scaling of the coupling leg assembly enables the proposed wheel-leg mechanism to generate a gear track, also referred to as track in the following, enabling the proposed wheel-leg mechanism to be extended and retracted asynchronously both along the vertical axis and the longitudinal axis of the vehicle. For example, a vehicle, in particular an automatic driving robot, equipped with the proposed wheel-leg mechanism or a plurality of wheel-leg mechanisms is able to climb steps, adjust the platform height or chassis height, variably adjust the wheelbase length and / or stabilize or tilt the platform or chassis, so that any swinging of the platform or chassis is avoided when correcting a turn. In addition, by changing the length of the coupling legs and / or the position of the joints relative to each other, the size and shape of the track of the wheel-leg mechanism can be changed.

[0013] Preferably, the zooming articulated leg assembly comprises at least four articulated legs, wherein the first articulated leg is articulated to the second and fourth articulated legs, and wherein the third articulated leg is articulated to the second and fourth articulated legs. In other words, both the first and third articulated legs are articulated to the second and fourth articulated legs. For the desired function of the wheel-leg mechanism, it is sufficient if the zooming articulated leg assembly has exactly four articulated legs, each of which is articulated to exactly two other articulated legs.

[0014] According to an exemplary embodiment, the zoom coupling leg assembly has six coupling legs. The fifth coupling leg and / or the sixth coupling leg can be designed as a mirror image of the first coupling leg and the third coupling leg or the second coupling leg and the fourth coupling leg. This allows the zoom coupling leg assembly to be made more stable.

[0015] Preferably, the wheel-leg mechanism also preferably comprises a chassis bracket, which is arranged on the fourth coupling leg and is designed to fasten the wheel-leg mechanism to the chassis of the vehicle. The chassis bracket can be designed so that the wheel-leg mechanism can be screwed or riveted to the chassis or platform of the vehicle.

[0016] The wheel hub motor and the steering actuator are preferably connected to each other via a stator element, which is radially and axially mounted on the first connecting leg via a bearing element. The stator element should be understood as a support or fork that establishes a rigid connection between the steering actuator and the wheel hub motor. The stator element is held at the end of the first connecting leg of the zoom connecting leg assembly by a bearing element. Preferably, the bearing element is a double-row angular contact ball bearing. The wheel hub motor is preferably arranged essentially vertically below the steering actuator and is connected to the steering actuator via the stator element. The stator element is arranged to be able to rotate around the longitudinal axis of the stator element by the steering actuator. The bearing element supports the stator element axially and radially on the zoom connecting leg assembly.

[0017] Furthermore, a brake is preferably arranged on the wheel hub motor. The brake comprises a brake caliper with a rotor. When the electrical feedback from the wheel hub motor is insufficient, the brake caliper with a rotor provides the necessary mechanical braking force. The brake may be a hydraulic concentric brake cylinder (CBC). However, the wheel-leg mechanism is not limited to a CBC brake; rather, any known hydraulic brake caliper and / or mechanical brake caliper with a rotor that is compact and produces high braking force may be used.

[0018] Preferably, the rotary drive comprises a crank connected to the first joint in a driving manner. The crank is preferably designed as a crankshaft. The crank can be connected to the drive shaft of the rotary drive in a rotationally fixed manner or can form the drive shaft. The driving force of the rotary drive is transmitted to the zoom coupling leg assembly, specifically to the first joint, via the crankshaft, and the rotary drive is designed to change the angular position between the second coupling leg and the third coupling leg. This simultaneously changes the angular position of the coupling legs, which are also connected to each other in an articulated manner, so that the position of the hub motor at the end of the first coupling leg changes relative to the rotary drive and therefore also changes relative to the chassis. Therefore, the crank converts the rotary motion of the rotary drive into a circular sequence of motions at the first joint or actuating joint of the zoom coupling leg assembly.

[0019] Preferably, the crank is connected to the first joint of the zoom coupling leg assembly in a driving manner via a crank pin. The crank pin connects the zoom coupling leg assembly to the rotary drive and the crank. The crank pin serves as a drive joint for a wheel-leg mechanism that can be extended and retracted in both directions, whereby the rotary drive provides information about the movement sequence of the wheel-leg mechanism and the corresponding position of the coupling leg. The crank pin can be arranged eccentrically relative to the crank, whereby the crank pin can be connected to the crank or the rest of the rotary drive in an operative manner via a transmission stage. A concentric assembly is also conceivable. The crank pin is arranged coaxially with the first joint. By changing the connection angle of the crank of the rotary drive to the crank pin, the mechanical properties of the zoom coupling leg assembly can be changed, in particular the trajectory on which the wheel hub motor moves when the rotary drive is actuated can be changed.

[0020] According to a first aspect of the present invention, a vehicle according to the present invention comprises at least one wheel-leg mechanism according to the first aspect of the present invention that can be bidirectionally extended and retracted, wherein each wheel-leg mechanism is arranged and supported on a common chassis. Preferably, a plurality of wheel-leg mechanisms according to the first aspect of the present invention are connected to the chassis so as to provide a vehicle that can be used for different purposes. The vehicle can be particularly designed as a so-called AMR (autonomous mobile robot), on which, for example, goods can be transported. An AMR is an intelligent vehicle that can move autonomously in its environment without external support.

[0021] The vehicle preferably comprises a control device which is designed to control a plurality of wheel-leg mechanisms respectively so that the position of the wheel hub motor relative to the rotary drive of the corresponding wheel-leg mechanism can be adjusted in the longitudinal direction of the vehicle and / or in the vertical direction. Each wheel-leg mechanism can be controlled individually by the control device. For this purpose, the control device can also communicate with sensors which record information about the environment, the operating state of the vehicle, the position, etc. and provide it to the control device for evaluation so that the vehicle, in particular the corresponding wheel-leg mechanism, can be controlled accordingly based on this information.

[0022] The above statements, examples and limitations on the technical effects, advantages and embodiments of the wheel-leg mechanism according to the first aspect of the invention also apply to the vehicle according to the second aspect of the invention, and the statements, examples and limitations on the technical effects, advantages and embodiments of the wheel-leg mechanism according to the second aspect of the invention also apply to the vehicle according to the first aspect of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other measures for improving the present invention will be further described below in conjunction with the description of preferred examples of the present invention using the accompanying drawings, wherein the same or similar components are marked with the same reference numerals. In the accompanying drawings:

[0024] Figure 1 A simplified schematic diagram of a vehicle according to the present invention is shown, the vehicle having four bidirectionally extendable and retractable wheel-leg mechanisms according to the present invention,

[0025] Figure 2 Shown according to Figure 1 A first schematic diagram of an exemplary wheel-leg mechanism,

[0026] Figure 3 Shown according to Figure 1 and Figure 2 A second schematic diagram of the wheel-leg mechanism according to the present invention,

[0027] Figure 4 Shown according to Figures 1 to 3 An exploded view of the wheel-leg mechanism according to the present invention,

[0028] Figure 5 Shown according to Figures 1 to 4 A diagram of a first movement sequence of a wheel-leg mechanism according to the present invention,

[0029] Figure 6 Shown according to Figures 1 to 5 A diagram of a second movement sequence of the wheel-leg mechanism according to the present invention, and

[0030] Figure 7 Shown according to Figures 1 to 6 0047 is a diagram of a third movement sequence of the wheel-leg mechanism according to the present invention. DETAILED DESCRIPTION

[0031] Figure 1The vehicle 100 according to the present invention is shown in a highly simplified manner. The vehicle 100 comprises a chassis 101 having a platform 104, wherein four bidirectionally extendable and retractable wheel-leg mechanisms 1 of the present invention are arranged and supported on the chassis 101, with one wheel-leg mechanism 1 at each corner of the chassis 101. The vehicle 100 is an AMR, wherein the wheel-leg mechanisms 1 are designed to enable the vehicle 100 to achieve a complete movement. The vehicle 100 comprises a control device 102, which is configured to communicate with the wheel-leg mechanisms 1 and to control the wheel-leg mechanisms respectively, so that the position of the corresponding wheels 103 relative to the chassis 101 can be adjusted along the longitudinal direction or vertical direction of the vehicle 100 and the vehicle 100 can achieve a complete movement. For example, cargo 105 can be transported using such a vehicle 100, and the cargo can be positioned on the platform 104.

[0032] Figures 2 to 4 One of the wheel-leg mechanisms 1 of the vehicle 100 is shown as an example, the other three wheel-leg mechanisms 1 being designed in the same manner. Therefore, all statements about the wheel-leg mechanism 1 described below are equally applicable to the other three wheel-leg mechanisms 1. In any case, the wheel-leg mechanism 1 is oriented substantially parallel to the longitudinal axis L of the vehicle 100, two wheel-leg mechanisms pointing forward and two wheel-leg mechanisms pointing backward in an opposite manner.

[0033] according to Figures 2 to 4 , the wheel-leg mechanism 1 comprises a zooming coupling leg assembly 2, which has a plurality of coupling legs 2.1 to 2.6, which are connected together in an articulated manner. In the present case, the first coupling leg 2.1 is the longest coupling leg in the zooming coupling leg assembly 2, which is shown here as an example, wherein one end of the first coupling leg 2.1 forms the lowest point of the zooming coupling leg assembly 2 in the vertical direction. At this point or end of the first coupling leg 2.1, the steering actuator 4 is arranged in the circular recess 13 (see Figure 4 ), which is connected to the hub motor 3 of the wheel hub motor (not shown here) via a stator element 8. The wheel hub motor is connected to the hub motor 3 of the wheel hub motor (not shown here) via a stator element 8. Figure 1 The wheel hub motors are connected to the respective wheels 103 in a driving manner in order to drive the vehicle 100. For control purposes, the wheel hub motors are connected to the respective wheels 103 in accordance with Figure 1 The control device 102. The stator element 8 can be rotated around the longitudinal axis of the stator element via the steering actuator 4, so that the steering angle of the wheel 103 of the vehicle 100 can be adjusted. The stator element 8 and the steering actuator 4 are rotatably mounted and supported on the zoom coupling leg assembly 2 by means of a bearing element 9 designed as a double-row angular contact ball bearing. A brake 10 is also arranged on the wheel hub motor 3 to generate a braking force for decelerating the vehicle 100. The brake 10 is Figure 3 and Figure 4 However, for simplicity, a more detailed illustration is omitted.

[0034] In addition to the first coupling leg 2.1, the zoom coupling leg assembly 2 also has five other coupling legs 2.2 to 2.6. The second coupling leg 2.2, the third coupling leg 2.3 and the fifth coupling leg 2.5 are connected to each other via the first joint 6.1. The second coupling leg 2.2 and the fifth coupling leg 2.5 are mirror images of each other and spatially accommodate the third coupling leg 2.3 at the first joint 6.1 and the fourth coupling leg 2.4 at the fourth joint 6.4. The first coupling leg 2.1 is hingedly connected to the second coupling leg 2.2 and the fifth coupling leg 2.5 at the second joint 6.2, and is hingedly connected to the third coupling leg 2.3 and the sixth coupling leg 2.6 at the third joint 6.3, in which case the third joint is arranged at the other end of the first coupling leg 2.1. The third coupling leg 2.3 and the sixth coupling leg 2.6 are mirror images of each other and accommodate the first coupling leg 2.1 at the third joint 6.3 and the third coupling leg 2.3 at the fourth joint 6.4 between them. The first connecting leg 2.1 is connected to the second connecting leg 2.2 and the fourth connecting leg 2.3 in an articulated manner, whereby the third connecting leg 2.3 is connected to the second connecting leg 2.2 and the fourth connecting leg 2.4 in an articulated manner. Similarly, the first connecting leg 2.1 is connected to the fifth connecting leg 2.5 and the sixth connecting leg 2.6 in an articulated manner, whereby the third connecting leg 2.3 is also connected to the fifth connecting leg 2.5 and the sixth connecting leg 2.6 in an articulated manner.

[0035] The fifth and sixth coupling legs 2.5, 2.6 only serve to ensure the stability of the wheel-leg mechanism 1. If the two coupling legs 2.5 and 2.6 are omitted, the system of the wheel-leg mechanism 1 can still function. At the fifth joint 6.5, a chassis bracket 7 is arranged at one end of the fourth coupling leg 2.4, which is designed to fasten the wheel-leg mechanism 1 to the chassis 101 of the vehicle 100. Figure 4The exploded view of the embodiment of the invention shows the coupling legs 2.1 to 2.6 and the joints 6.1 to 6.5. The joints 6.1 to 6.5 are realized by bolts with flange bushings, each of which has a friction-reducing effect on the interconnected coupling legs. For the sake of simplicity, a more detailed description and explanation of the joints 6.1 to 6.5 are omitted here. In any case, the joints 6.1 to 6.5 are designed so that the coupling legs 2.1 to 2.6 are connected to each other in an articulated manner with low friction. In the context of the present invention, an articulated connection should be understood to mean that the coupling legs 2.1 to 2.6 are connected to each other in a freely rotatable manner around the corresponding joints 6.1 to 6.5 in a plane arranged perpendicular to the longitudinal axis of the joints 6.1 to 6.5. Only the first joint 6.1 or the actuating joint is designed so that it realizes the targeted pivoting of the third coupling leg 2.3 to the second coupling leg 2.2 or the fifth coupling leg 2.5 by driving the rotary drive 5.

[0036] In the present case, the first joint 6.1 is to be understood as an actuation joint, via which the position of the coupling legs 2.1 to 2.6 coupled together in an articulated manner is changed relative to one another. Figure 4 The rotary drive 5 shown in FIG. 5 has a crank 11 and a crank pin 12, which is arranged on the first joint 6.1 in a driving manner. The rotary drive 5 is an electric machine, which generates a driving force and transmits the driving force to the crank 11 via a rotor (not shown here) of the rotary drive 5. The crank pin 12 can be arranged coaxially or axially parallel to the crank 11 via a transmission stage. The rotary drive 5 is provided for positioning the coupling legs 2.1 to 2.6, wherein according to Figure 1 The control device 102 is designed to obtain information about the current position of the coupling legs 2.1 to 2.6 based on the position of the crank 11. For this purpose, the control device 102 stores design and mechanical information about the scaled coupling leg assembly 2 for each angular position of the rotary drive 5, in particular the crank 11. In other words, the control device 102 knows how the coupling legs 2.1 to 2.6 are positioned relative to each other in each angular position of the rotary drive 5 or the crank 11, and therefore also knows in which position the wheel hub motor 3 is located relative to the rotary drive 5 and the chassis 101 of the vehicle 100. The rotary drive 5 is therefore designed to set the relative angular position between the coupling legs 2.1 to 2.4 coupled together in an articulated manner, so that the position of the wheel hub motor 3 relative to the rotary drive 5 can be adjusted in the longitudinal direction and / or in the vertical direction of the vehicle 100, so that the control device 102 can influence the specific driving situation of the vehicle 100.

[0037] By means of the pantograph coupling leg assembly 2, the rotational movement of the crank 11 or the crank pin 12 at the first joint 6.1 is converted by the rotary drive 5 into a movement of the wheel hub motor 3 along a gear path, which depends on the design of the pantograph coupling leg assembly 2 and the connection of the rotary drive 5. The gear path is a series of movements performed by the wheel hub motor 3 during actuation of the rotary drive 5, wherein the wheel hub motor 3 moves in the longitudinal direction and / or in the vertical direction of the chassis 101 of the vehicle 100. This is in Figures 5 to 7 1 , wherein the gear track 14 is shown as a rectangle with rounded corners at the bottom left of each block diagram. When the crank 11 is set to rotate, the wheel hub motor 3 moves along the gear track 14 shown, and this movement is converted into a pivoting of the coupling legs 2.1 to 2.6 relative to each other. Depending on the direction of rotation of the rotary drive 5, the position of the wheel hub motor 3 relative to the rotary drive 5 can be adjusted in the longitudinal direction L of the vehicle 100 and / or in the vertical direction.

[0038] exist Figures 5 to 7 In the figure, the wheel-leg mechanism 1 is shown in the normal retracted position in the upper three figures, similar to Figure 2 and Figure 3 The wheel-leg mechanism 1 shown here is Figures 2 to 4 Related to the wheel-leg mechanism 1 described in. Figures 5 to 7 The three figures shown in FIG. 1 , which are arranged vertically one below the other, show the corresponding movement sequences of the wheel hub motor 3 when the rotary drive 5 is actuated.

[0039] If the rotary drive 5 is driven in the first rotational direction, the pantograph coupling leg assembly 2 is adjusted such that the wheel hub motor 3 pivots counterclockwise along the trajectory 14, see Figure 5 The wheel hub motor 3 is thus adjusted substantially in the forward direction along the longitudinal axis L of the vehicle 100. This can be done, for example, all the way to the final position, as long as the wheel hub motor 3 is moved substantially along the longitudinal axis L of the vehicle 100. The wheel hub motor 3 thus travels along the trajectory 14 in the counterclockwise direction only over a portion of its circumference.

[0040] If the rotary drive 5 is driven in a second rotational direction opposite to the first rotational direction, the pantograph coupling leg assembly 2 is adjusted such that the wheel hub motor 3 rotates clockwise along the trajectory 14, see Figure 6 The wheel hub motor 3 is thus adjusted substantially in the downward direction along the vertical axis V of the vehicle 100. This can also be done up to the final position, for example, as long as the wheel hub motor 3 is moved substantially perpendicularly to the longitudinal axis L of the vehicle 100 or along the vertical axis V of the vehicle. The wheel hub motor 3 thus travels along the trajectory 14 in the clockwise direction only over a portion of its circumference.

[0041] Figure 7It is intended to illustrate that the rotary drive 5 can also be designed to be able to rotate 360°, so that the wheel hub motor 3 can travel counterclockwise or clockwise along the entire trajectory 14. This makes it possible to achieve a diagonal movement sequence of the wheel hub motor 3 along the longitudinal axis L and the vertical axis V of the vehicle 100 or a sequence of partial forward movement and partial vertical movement.

[0042] Of course, it is conceivable to arrange the rotary drive 5 in an operative manner on any other of the joints 6.2 to 6.5. The connection at the first joint 6.1 should only be understood as an example. Similarly, the steering actuator 4 and the wheel hub motor 3 can be arranged on any other coupling leg 2.2 to 2.6.

[0043] Reference numerals list

[0044] 1 wheel leg mechanism

[0045] 2 Scaling the joint leg assembly

[0046] 2.1 to 2.6 Connecting legs

[0047] 3-wheel hub motor

[0048] 4 Steering actuator

[0049] 5 Rotary drive

[0050] 6.1 to 6.5 connector

[0051] 7 Chassis bracket

[0052] 8 Stator elements

[0053] 9 Bearing elements

[0054] 10 Brakes

[0055] 11 Crank

[0056] 12 Crank pin

[0057] 13 Recess on first connecting leg

[0058] 14 Gear track or track

[0059] 100 Vehicles

[0060] 101 Chassis

[0061] 102 Control Device

[0062] 103 rounds

[0063] 104 Platform

[0064] L The longitudinal axis or longitudinal direction of the vehicle

[0065] V The vertical axis or direction of the vehicle.

Claims

1. A bidirectionally extendable and retractable wheel-leg mechanism (1) for a vehicle (100), the bidirectionally extendable and retractable wheel-leg mechanism comprising a telescopic connecting leg assembly (2), the telescopic connecting leg assembly having a plurality of connecting legs (2.1 to 2.4) connected together in an articulated manner, in, A wheel hub motor (3) and a steering actuator (4) operatively connected to the wheel hub motor are arranged on the first coupling leg (2.1), and the wheel hub motor (3) is designed to rotate a wheel (102) of the vehicle (100) that is connected to the wheel hub motor in a driving manner, and wherein the steering actuator (4) is designed to set a steering angle of the wheel (102) of the vehicle (100), and the wheel-leg mechanism (1) further comprises a rotary drive (5) for positioning the wheel hub motor. The invention relates to coupling legs (2.1 to 2.4), wherein the rotary drive (5) is arranged in a driving manner on a first joint (6.1) between a second coupling leg (2.2) and a third coupling leg (2.3), wherein the rotary drive (5) is designed to set the relative angular position between the coupling legs (2.1 to 2.4) connected together in an articulated manner so that the position of the wheel hub motor (3) relative to the rotary drive (5) can be adjusted along the longitudinal direction and / or vertical direction of the vehicle (100).

2. The wheel-leg mechanism (1) according to claim 1, It is characterized in that The zoom coupling leg assembly (2) comprises at least four coupling legs (2.1 to 2.4), wherein the first coupling leg (2.1) is hingedly connected to the second coupling leg (2.2) and the fourth coupling leg (2.3), and wherein the third coupling leg (2.3) is hingedly connected to the second coupling leg (2.2) and the fourth coupling leg (2.4).

3. The wheel-leg mechanism (1) according to claim 2, Features A chassis bracket (7) is arranged on the fourth coupling leg (2.4) and is designed to fasten the wheel-leg mechanism (1) to the chassis (101) of the vehicle (100).

4. A wheel-leg mechanism (1) according to any one of the preceding claims, It is characterized in that The wheel hub motor (3) and the steering actuator (4) are connected to one another via a stator element (8), which is radially and axially mounted on the first coupling leg (2.1) via a bearing element (9).

5. The wheel-leg mechanism (1) according to claim 4, It is characterized in that The bearing element (9) is a double-row angular contact ball bearing.

6. The wheel-leg mechanism (1) according to any one of the preceding claims, It is characterized in that A brake (10) is arranged on the wheel hub motor (3).

7. A wheel-leg mechanism (1) according to any one of the preceding claims, It is characterized in that The rotary drive (5) comprises a crank (11) which is drivingly connected to the first joint (6.1).

8. The wheel-leg mechanism (1) according to claim 7, It is characterized in that The crank (11) is drivingly connected to the first joint (6.1) of the pantograph coupling leg assembly (2) via a crank pin (12).

9. A vehicle (100) comprising at least one bidirectionally extendable and retractable wheel-leg mechanism (1) according to one of the preceding claims, in, The corresponding wheel-leg mechanisms (1) are arranged and supported on a common chassis (101).

10. The vehicle (100) according to claim 9, Features A control device (102) is designed to individually control a plurality of wheel-leg mechanisms (1) so that the position of the wheel hub motor (3) relative to the rotary drive (5) of the corresponding wheel-leg mechanism (1) can be adjusted along the longitudinal direction and / or vertical direction of the vehicle (100).

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