Waist steering wheel-foot composite chassis and control method thereof

Abstract

The invention discloses a waist steering wheel-foot composite chassis and a control method thereof.The chassis comprises a first chassis frame, the first chassis frame is hinged to a second chassis frame through a waist steering mechanism, and the waist steering mechanism drives the first chassis frame and the second chassis frame to rotate relatively through a telescopic driving mechanism; left frame plates and right frame plates are arranged on the left sides and the right sides of the first chassis frame and the second chassis frame respectively, chassis connecting frames are hinged to the middles of the left frame plates and the middles of the right frame plates through supports respectively, yaw oil cylinders for driving the chassis connecting frames to swing left and right are arranged on the inner sides of the lower half portions of the chassis connecting frames, and the wheel-foot composite assemblies are hinged to the chassis connecting frames. The chassis efficiency and the obstacle crossing performance can be remarkably improved, seamless switching between a wheel driving mode and a walking mode can be achieved according to road conditions, the passing performance is guaranteed, the steering function in the wheel driving mode is achieved through waist steering, the wheel edge structure is simplified, and the reliability of the wheel edge is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile platform chassis, and more specifically, to a wheel-foot composite chassis with waist steering and a control method thereof. Background Art

[0002] The wheel-side structure load capacity of existing mobile platform chassis is usually limited. The wheel-side structure is the key part of the chassis in contact with the ground. It needs to bear the weight of the entire chassis and various forces generated during movement. Since the mobile platform chassis needs to move on different terrains, its wheel-side structure must be strong enough to support these forces. However, many current mobile platform chassis designs still have limitations in material selection, structural strength and weight distribution, resulting in their performance degradation when carrying heavier loads, and even possible structural damage. Secondly, the passability of the mobile platform chassis is also an important challenge. Passability refers to the ability of the chassis to move in complex terrain, including climbing, crossing obstacles, walking on uneven ground, etc. Although the mobile platform chassis can be designed to adapt to a variety of terrains, in actual operation, the flexibility and adaptability of its wheel-side structure are often not enough to cope with extreme or complex terrain conditions. In addition, the design complexity of the wheel-side structure also affects the overall performance of the chassis. In order to achieve the combination of wheeled and foot-based mobility, the wheel-side structure needs to integrate multiple functions. This multi-functional integration increases the difficulty of design and manufacturing, which may lead to increased costs and reduced reliability. At the same time, the complex wheel rim structure also brings additional challenges in maintenance and repair. Summary of the invention

[0003] In order to solve the technical problems of complex wheel-side structure and poor passability of existing chassis, the present invention innovatively provides a wheel-foot composite chassis with waist steering and a control method thereof, which can significantly improve the chassis efficiency and obstacle crossing performance, and can seamlessly switch between wheel drive mode and walking mode according to road conditions to ensure passability. The steering function in wheel drive mode is realized by waist steering, which not only simplifies the wheel-side structure, but also improves the reliability of the wheel side.

[0004] To achieve the above technical objectives, an embodiment of the present invention discloses a wheel-foot composite chassis with waist steering, comprising a first chassis frame, a second chassis frame, a waist steering mechanism and a wheel-foot composite assembly, wherein the first chassis frame is hinged to the second chassis frame through the waist steering mechanism, and the waist steering mechanism drives the first chassis frame and the second chassis frame to rotate relative to each other through a telescopic driving mechanism, and the left and right sides of the first chassis frame and the second chassis frame are respectively provided with a left frame plate and a right frame plate, and the middle parts of the left frame plate and the right frame plate are respectively hinged with a chassis connecting frame through a bracket, and the inner side of the lower half of the chassis connecting frame is provided with a driving The sway cylinder drives the vehicle to swing left and right, the wheel-foot composite assembly is hinged to the chassis connecting frame, the wheel-foot composite assembly comprises a boom, an arm, a boom cylinder, an arm cylinder and a wheel assembly, the upper end of the boom is hinged to the lower end of the chassis connecting frame, the upper end of the arm is hinged to the lower end of the boom, the lower end of the arm is provided with a hemispherical foot pad, the cylinder body end of the boom cylinder is hinged to the upper end of the chassis connecting frame, the piston rod end of the boom cylinder is hinged to the lower half of the boom, the cylinder body end of the arm cylinder is hinged to the upper half of the boom, the piston rod end of the arm cylinder is hinged to the upper half of the arm, and the wheel assembly is installed at the lower end of the boom.

[0005] Furthermore, the present invention provides a wheel-foot composite chassis with lumbar steering, wherein the lumbar steering mechanism includes a first upper connecting frame, a first lower connecting frame, a second upper connecting frame, a second lower connecting frame and a rotating shaft, the first upper connecting frame and the first lower connecting frame are the same in shape and size, the second upper connecting frame and the second lower connecting frame are the same in shape and size, the first upper connecting frame and the first lower connecting frame are fixed to the first chassis frame at intervals along the up and down directions, the second upper connecting frame and the second lower connecting frame are fixed to the second chassis frame at intervals along the up and down directions, the first upper connecting frame and the first lower connecting frame are arranged between the second upper connecting frame and the second lower connecting frame, and the rotating shaft is installed on the first upper connecting frame, the second upper connecting frame, the first lower connecting frame and the second lower connecting frame in sequence from top to bottom.

[0006] Furthermore, the present invention provides a wheel-foot composite chassis with waist steering, wherein the shapes of the first upper connecting frame, the first lower connecting frame, the second upper connecting frame and the second lower connecting frame are all triangular, the two oblique side surfaces of the first upper connecting frame and the second upper connecting frame are arranged opposite to each other, the two oblique side surfaces of the first lower connecting frame and the second lower connecting frame are arranged opposite to each other, one end of the telescopic drive mechanism is hinged in the first chassis frame, and the other end of the telescopic drive mechanism passes through the first chassis frame and is hinged on the oblique side surface of the first lower connecting frame.

[0007] Furthermore, the present invention provides a wheel-foot composite chassis with waist steering, wherein the telescopic drive mechanism is a two-stage telescopic electric cylinder, the two-stage telescopic electric cylinder includes an electric cylinder body, a first-stage telescopic rod and a second-stage telescopic rod, the electric cylinder body is hinged to the first chassis frame, the first-stage telescopic rod is arranged in the electric cylinder body, one end of the second-stage telescopic rod is arranged in the first-stage telescopic rod, and the other end of the second-stage telescopic rod is hinged to the middle part of the oblique side surface of the first lower connecting frame.

[0008] Furthermore, the present invention provides a wheel-foot composite chassis with waist steering, wherein when the first-level telescopic rod is extended and the second-level telescopic rod is retracted, it is in a straight-ahead state; in the straight-ahead state, when the first-level telescopic rod is retracted, it enters a left-turn state; in the straight-ahead state, when the second-level telescopic rod is extended, it enters a right-turn state.

[0009] Furthermore, the present invention provides a wheel-foot composite chassis with waist steering, wherein a shaft sleeve is horizontally provided on the bracket, a swivel shaft is horizontally provided in the middle of the chassis connecting frame, the swivel shaft is rotatably sleeved in the shaft sleeve, the piston rod end of the swivel cylinder is hinged to the inner side wall of the lower half of the chassis connecting frame, the cylinder body of the swivel cylinder located on the first chassis frame is hinged to the first chassis frame, and the cylinder body of the swivel cylinder located on the second chassis frame is hinged to the second chassis frame.

[0010] Furthermore, the present invention provides a wheel-foot composite chassis with waist steering, wherein a boom angle sensor is installed at the hinge between the boom and the chassis connecting frame, and a forearm angle sensor is installed at the hinge between the forearm and the boom; a boom pressure sensor is integrated at the piston rod end of the boom cylinder, and a forearm pressure sensor is integrated at the piston rod end of the forearm cylinder.

[0011] Furthermore, the present invention provides a wheel-foot composite chassis with waist steering, wherein the wheel assembly includes a drive assembly and a brake assembly, the drive assembly includes a hub motor and a wheel, the hub motor is an outer rotor motor, the wheel is fixedly sleeved on the rotor of the motor, the stator shaft of the hub motor is fixedly connected to the lower end of the boom, the brake assembly includes a caliper and a brake disc, the caliper is fixedly connected to the boom, the brake disc is fixedly connected to the rotor of the motor, and the brake disc is located in the jaws of the caliper.

[0012] Furthermore, the present invention provides a wheel-foot composite chassis with waist steering, wherein a power system and a control system are installed in the first chassis frame, and a hydraulic system is installed in the second chassis frame, the power system includes a power supply and a power supply controller, the power supply controller is used to convert the output voltage of the power supply into the working voltage required by the control system, the hydraulic system includes a hydraulic pump, a hydraulic control oil circuit and a hydraulic solenoid control valve, the hydraulic solenoid control valve is connected to the hydraulic pump through the hydraulic control oil circuit, the valve body of the hydraulic solenoid control valve is fixed on the peripheral wall of the cylinder body of the boom cylinder, the hydraulic solenoid control valve is used to control the extension and retraction of the sway cylinder, the boom cylinder and the arm cylinder, and the control system includes a vehicle controller, the vehicle controller is used to receive feedback signals from the boom angle sensor, the arm angle sensor, the boom pressure sensor and the arm pressure sensor and the hydraulic pump status signal, and send hydraulic solenoid control valve control signals, wheel hub motor control signals, secondary telescopic electric cylinder control signals and brake control signals.

[0013] The embodiment of the present invention further provides a control method for a wheel-foot composite chassis with waist steering, the control method comprising a wheel drive control mode and a walking control mode:

[0014] In the wheel drive control mode, the arm cylinder is controlled to retract the arm to the minimum angle to make the wheel touch the ground, and the arm and the arm cylinder form a single longitudinal arm suspension; the sway cylinder is controlled to swing the chassis connecting frame to the first preset angle and then lock it; the wheel hub motor is controlled to rotate to complete the forward and reverse operations; the secondary telescopic electric cylinder is controlled to drive the first chassis frame and the second chassis frame to rotate around the rotating shaft to complete the steering operation;

[0015] In the walking control mode, the initialization state of the chassis is pre-configured, and the angle value of the boom angle sensor set in the initialization state is used as the boom target angle and sent to the boom cylinder, the angle value of the forearm angle sensor set in the initialization state is used as the forearm target angle and sent to the forearm cylinder, and the second preset angle of the chassis connecting frame swing set in the initialization state is used as the chassis connecting frame target sway angle and sent to the sway cylinder; the secondary telescopic electric cylinder is controlled to remain in the straight state and locked; in the initial state, the hydraulic solenoid control valve controls the boom cylinder, the forearm cylinder and the sway cylinder to perform gait control, and the gait includes an initial posture, a standing posture, a squatting posture, a walking posture and a trotting posture; the initial posture, the standing posture and the squatting posture can be converted to each other, and the walking posture or the trotting posture control can be entered in the standing posture, and the gait control is ended by restoring the initial posture or the standing posture.

[0016] The beneficial effects of the present invention are as follows: the present invention can combine the advantages of wheeled and footed chassis, can significantly improve chassis efficiency and obstacle crossing performance, and can flexibly switch forward modes according to different road conditions or obstacle information by integrating the efficient driving ability of wheeled chassis on flat roads with the excellent obstacle crossing ability of footed robots in rugged terrain, thereby achieving a high degree of environmental adaptability. The chassis can seamlessly switch to wheel drive mode or walking mode, combining the advantages of wheeled and footed robots, and further enhancing the off-road performance of the chassis. In addition, the waist joint steering technology is adopted to realize the steering function of the whole vehicle in wheel drive mode, which not only simplifies the wheel edge structure, but also improves the reliability of the wheel edge. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural schematic diagram of a wheel-foot composite chassis with waist steering according to the present invention (walking mode);

[0018] Figure 2 For Figure 1 The right view structure diagram based on the reference;

[0019] Figure 3 For Figure 1 A schematic diagram of a top view structure based on FIG.

[0020] Figure 4 It is a schematic diagram of the connection structure of the telescopic drive mechanism in a wheel-foot composite chassis with waist steering according to the present invention;

[0021] Figure 5 It is a schematic diagram of the connection structure of the sway oil cylinder in a wheel-foot composite chassis with waist steering according to the present invention;

[0022] Figure 6 The three-dimensional structural schematic diagram of a wheel-foot composite chassis with waist steering according to the present invention (wheel drive mode). DETAILED DESCRIPTION

[0023] The following is a detailed explanation and description of a waist-steering wheel-foot composite chassis of the present invention in conjunction with the accompanying drawings of the specification.

[0024] like Figure 1-2As shown, the embodiment of the present invention discloses a wheel-foot composite chassis with waist steering, including a first chassis frame 1, a second chassis frame 2, a waist steering mechanism 3 and a wheel-foot composite assembly 7. The first chassis frame 1 is connected to the second chassis frame 2 in an articulated manner through the waist steering mechanism 3, so that the waist steering mechanism 3 can drive the first chassis frame 1 and the second chassis frame 2 to rotate relative to each other through the telescopic driving mechanism 4, thereby realizing the steering function of the chassis. Left frame plates 11, 21 and right frame plates 12, 22 are respectively provided on the left and right sides of the first chassis frame 1 and the second chassis frame 2, and the middle parts of the left frame plates 11, 21 and the right frame plates 12, 22 are respectively hinged with chassis connecting frames 5 through brackets 9, and the inner side of the lower half of the chassis connecting frame 5 is provided with a sway cylinder 6 that drives itself to swing left and right, and the wheel-foot composite assembly 7 is hinged to the chassis connecting frame 5, and the sway function of the wheel-foot composite assembly 7 can be realized through the sway cylinder 6. The wheel-foot composite assembly 7 includes a boom 71, an arm 72, a boom cylinder 73, an arm cylinder 74 and a wheel 82 assembly 8. The upper end of the boom 71 is hinged to the lower end of the chassis connecting frame 5, the upper end of the arm 72 is hinged to the lower end of the boom 71, and the lower end of the arm 72 is provided with a hemispherical foot pad 75. The cylinder end of the boom cylinder 73 is hinged to the upper end of the chassis connecting frame 5, the piston rod end of the boom cylinder 73 is hinged to the lower half of the boom 71, the cylinder end of the arm cylinder 74 is hinged to the upper half of the boom 71, the piston rod end of the arm cylinder 74 is hinged to the upper half of the arm 72, and the wheel 82 assembly 8 is installed at the lower end of the boom 71. The boom 71 can be driven to rotate by the boom cylinder 73, and the forearm 72 can be driven to rotate by the forearm cylinder 74. Since the forearm 72 is hinged to the lower end of the boom 71, when the forearm 72 is retracted, the wheel 82 assembly 8 can touch the ground to perform wheel drive mode control. When the forearm 72 is raised, the wheel 82 assembly 8 can be lifted off the ground to perform walking mode control. The wheel 82 assembly 8 includes a driving component and a braking component. The driving component includes a hub motor 81 and a wheel 82. The hub motor 81 is an outer rotor motor. The wheel 82 is fixedly sleeved on the rotor of the motor. The stator shaft of the hub motor 81 is fixedly connected to the lower end of the boom 71. The braking component includes a caliper 83 and a brake disc 84. The caliper 83 is fixedly connected to the boom 71, and the brake disc 84 is fixedly connected to the rotor of the motor. The brake disc 84 is in the jaws of the caliper 83. The wheel hub motor 81 is directly connected to the boom 71 , and the wheel 82 is driven to rotate by the rotor of the wheel hub motor 81 , which greatly simplifies the wheel side structure.

[0025] In practical applications, when the vehicle is traveling on a flat and obstacle-free structured or unstructured road, the chassis will switch to wheel drive mode. Figure 6As shown, the forearm 72 contracts to the minimum angle state under the action of the forearm cylinder 74; the upper arm 71, the upper arm cylinder 73 and the piston rod of the upper arm cylinder 73 together constitute a single longitudinal arm suspension, which is used to absorb the impact force of the ground when the vehicle is driving in the wheel drive mode; the sway cylinder 6 moves to the preset angle of the wheel drive mode and then locks. The brake disc 84 is installed coaxially with the wheel hub motor 81 and is arranged together inside the wheel 82. All three are rotating parts. The rotation of the wheel hub motor 81 drives the wheel 82 to rotate, thereby realizing the forward and backward movement of the vehicle; the caliper 83 is fixedly installed on the upper arm 71, and cooperates with the brake disc 84 to realize the braking of the wheel 82. As shown Figure 4 As shown, the waist steering mechanism 3 is connected to the first chassis frame 1 and the second chassis frame 2 respectively to realize the relative rotation of the front frame and the rear frame; the telescopic drive mechanism 4 is the power source for steering. When receiving the steering command, the telescopic drive mechanism 4 will drive the first chassis frame 1 and the second chassis frame 2 to rotate, thereby completing the steering. On unstructured roads or in harsh environments, such as trenches with large height differences or continuous obstacles, the chassis will switch to walking mode. Figure 1 As shown, the telescopic drive mechanism 4 is locked to achieve the steering lock of the first chassis frame 1 and the second chassis frame 2. The forearm 72 is controlled to move at the target angle under the action of the forearm cylinder 74; the arm 71 is controlled to move at the target angle under the action of the arm cylinder 73; the chassis connecting frame 5 moves at the target angle under the action of the sway cylinder 6, thereby completing gait control such as standing, squatting, walking and trotting.

[0026] This embodiment can combine the advantages of wheeled and footed chassis, and can significantly improve the overall efficiency and obstacle-crossing performance of the chassis. By integrating the efficient driving ability of the wheeled chassis on flat roads with the excellent obstacle-crossing ability of the footed robot in rugged terrain, the chassis can flexibly switch forward modes according to different road conditions or obstacle information, thereby achieving a high degree of environmental adaptability. The chassis can seamlessly switch to wheel-drive mode or walking mode, combining the advantages of wheeled and footed robots, and further enhancing the off-road performance of the chassis. In addition, the chassis adopts waist joint steering technology to realize the steering function of the whole vehicle in wheel-drive mode, which not only simplifies the wheel edge structure, but also improves the reliability of the wheel edge, ensuring the stability and controllability of the vehicle under various complex road conditions.

[0027] like Figure 1 Combined with Figure 3As shown, in one embodiment of the present invention, the waist steering mechanism 3 includes a first upper connecting frame 31, a first lower connecting frame 32, a second upper connecting frame 33, a second lower connecting frame 34 and a rotating shaft 35. The first upper connecting frame 31 and the first lower connecting frame 32 are of the same shape and size, and similarly, the second upper connecting frame 33 and the second lower connecting frame 34 are of the same shape and size. The first upper connecting frame 31 and the first lower connecting frame 32 are fixed to the first chassis frame 1 at intervals along the up-down direction, and the second upper connecting frame 33 and the second lower connecting frame 34 are fixed to the second chassis frame 2 at intervals along the up-down direction, and the first upper connecting frame 31 and the first lower connecting frame 32 are arranged between the second upper connecting frame 33 and the second lower connecting frame 34. The rotating shaft 35 is sequentially installed on the first upper connecting frame 31, the second upper connecting frame 33, the first lower connecting frame 32 and the second lower connecting frame 34 from top to bottom. There are three different options for connecting the rotating shaft 35 with the first upper connecting frame 31, the first lower connecting frame 32, the second upper connecting frame 33 and the second lower connecting frame 34. The first connection mode is to fix the upper end of the rotating shaft 35 with the second upper connecting frame 33, and to fix the lower end of the rotating shaft 35 with the second lower connecting frame 34. In this mode, the rotating shaft 35 is rotationally connected to the first upper connecting frame 31 and the first lower connecting frame 32. This design allows the first chassis frame 1 to rotate driven by the rotating shaft 35, thereby realizing the steering function. The second connection mode is that the upper end of the rotating shaft 35 and the second upper connecting frame 33 and the lower end of the rotating shaft 35 and the second lower connecting frame 34 are both rotationally connected. In this mode, the rotating shaft 35 and the first upper connecting frame 31 and the first lower connecting frame 32 are also rotationally connected. This design enables the steering function to be realized by the rotation of the second chassis frame 2. The third connection mode is that the upper end of the rotating shaft 35 and the second upper connecting frame 33 and the lower end of the rotating shaft 35 and the second lower connecting frame 34 are both rotatably connected, but different from the first two modes, the rotating shaft 35 and the first upper connecting frame 31 and the first lower connecting frame 32 are fixedly connected. This design enables the steering function to be achieved by rotating the first chassis frame 1 and the second chassis frame 2 at the same time. The waist steering mechanism 3 provides a flexible steering solution through different rotating shaft 35 connection modes, and different steering modes can be selected according to actual needs to meet different operating requirements and environmental conditions.

[0028] Furthermore, in order to ensure the smoothness of the steering angle and the steering process, the shapes of the first upper connecting frame 31, the first lower connecting frame 32, the second upper connecting frame 33 and the second lower connecting frame 34 are all set to be triangles, so that the two oblique side surfaces of the first upper connecting frame 31 and the second upper connecting frame 33 are arranged opposite to each other, and the two oblique side surfaces of the first lower connecting frame 32 and the second lower connecting frame 34 are arranged opposite to each other, so that one end of the telescopic driving mechanism 4 is hinged in the first chassis frame 1, and the other end of the telescopic driving mechanism 4 passes through the first chassis frame 1 and is hinged on the oblique side surface of the first lower connecting frame 32. Setting the shapes of the first upper connecting frame 31, the first lower connecting frame 32, the second upper connecting frame 33 and the second lower connecting frame 34 to be triangles helps to improve the stability and load-bearing capacity of the entire structure, and can effectively disperse and withstand the force generated during steering. The two oblique side surfaces of the first upper connecting frame 31 and the second upper connecting frame 33 are designed to correspond to each other. Similarly, the oblique side surfaces of the first lower connecting frame 32 and the second lower connecting frame 34 also adopt a corresponding layout, which can further optimize the coordination of steering and avoid the collision between the first chassis frame 1 and the second chassis frame 2. One end of the telescopic drive mechanism 4 is hinged inside the first chassis frame 1, while the other end passes through the first chassis frame 1 and is hinged to the oblique side surface of the first lower connecting frame 32. This setting method can ensure that the drive mechanism can be flexible in telescopic action while maintaining stability, so that the entire steering structure can respond to steering needs more accurately and efficiently.

[0029] like Figure 4 As shown, in one embodiment of the present invention, the telescopic drive mechanism 4 is a two-stage telescopic electric cylinder, which includes an electric cylinder body 41, a primary telescopic rod 42 and a secondary telescopic rod 43. The electric cylinder body 41 is hinged to the first chassis frame 1, the primary telescopic rod 42 is arranged in the electric cylinder body 41, one end of the secondary telescopic rod 43 is arranged in the primary telescopic rod 42, and the other end of the secondary telescopic rod 43 is hinged to the middle part of the oblique side surface of the first lower connecting frame 32. When the primary telescopic rod 42 is extended and the secondary telescopic rod 43 is retracted, it is in a straight-ahead state; in the straight-ahead state, when the primary telescopic rod 42 is retracted, it enters a left-turning state; in the straight-ahead state, when the secondary telescopic rod 43 is extended, it enters a right-turning state. Through this clear setting method, the switching node logic control of straight-ahead, left-turning and right-turning can be clearly defined, so that the entire steering control process is more compliant, and the operation is more accurate and efficient. Of course, in some scenarios where the precision requirements are not high, the fuzzy control method can also be used, and the retraction drive mechanism 4 is set to an electric cylinder with a telescopic rod. When the telescopic rod is extended to the middle position, it is in a straight-ahead state; when the telescopic rod continues to extend, it enters a left-turn state; when the telescopic rod is retracted from the middle position, it enters a right-turn state, thereby realizing the switching logic control of straight-ahead, left-turn and right-turn.

[0030] like Figure 1 Combined with Figure 5 As shown, in one embodiment of the present invention, a shaft sleeve 91 is horizontally provided on the bracket 9, a rotating shaft 51 is horizontally provided in the middle of the chassis connecting frame 5, and the rotating shaft 51 is rotatably sleeved in the shaft sleeve 91. The piston rod end of the sway oil cylinder 6 is hinged to the inner side wall of the lower half of the chassis connecting frame 5, the cylinder body of the sway oil cylinder 6 located on the first chassis frame 1 is hinged to the first chassis frame 1, and the cylinder body of the sway oil cylinder 6 located on the second chassis frame 2 is hinged to the second chassis frame 2. In this way, the chassis connecting frame 5 can rotate around the rotating shaft 51. When the chassis connecting frame 5 rotates around the rotating shaft 51, the size of the wheelbase can be changed in the wheel drive mode, which is helpful to improve the handling performance of the chassis. A wider wheelbase can lower the center of gravity of the chassis and help improve the stability of the chassis; in the walking mode, the chassis connecting frame 5 can drive the wheel-foot composite assembly 7 to swing left and right to realize the steering function during gait walking or the lateral stability adjustment on uneven roads.

[0031] like Figure 1As shown, in one embodiment of the present invention, a boom angle sensor is installed at the hinge between the boom 71 and the chassis connecting frame 5, and a forearm angle sensor is installed at the hinge between the forearm 72 and the boom 71; a boom pressure sensor is integrated at the end of the piston rod of the boom cylinder 73, and a forearm pressure sensor is integrated at the end of the piston rod of the forearm cylinder 74. A power system 13 and a control system 14 are installed in the first chassis frame 1, and a hydraulic system 23 is installed in the second chassis frame 2. The power system 13 includes a power supply and a power supply controller. The power supply controller is used to convert the output voltage of the power supply into the working voltage required by the control system 14. The hydraulic system 23 includes a hydraulic pump, a hydraulic control oil circuit and a hydraulic solenoid control valve 231. The hydraulic solenoid control valve can be a solenoid reversing valve, a proportional valve, a servo valve and other valve components that can realize the reversing function control. The hydraulic solenoid control valve 231 is connected to the hydraulic pump through the hydraulic control oil circuit. The valve body of the hydraulic solenoid control valve 231 is fixed on the outer peripheral wall of the cylinder body of the boom cylinder 73. The hydraulic solenoid control valve 231 is used to control the extension and retraction of the sway cylinder 6, the boom cylinder 73 and the arm cylinder 74. The control system 14 includes a vehicle controller, which is used to receive feedback signals from the boom angle sensor, the arm angle sensor, the boom pressure sensor and the arm pressure sensor, as well as the hydraulic pump status signal, and send the hydraulic solenoid control valve 231 control signal, the wheel hub motor 81 control signal, the secondary telescopic electric cylinder control signal and the brake control signal. In the actual operation process, the control system 14 monitors and analyzes the feedback signals of each sensor in real time through the vehicle controller. When the boom 71 or the arm 72 needs to move, the boom angle sensor and the arm angle sensor will monitor the angle position of the current arm in real time and send these data to the vehicle controller. The controller calculates the target angle to be achieved according to the preset program and the current task requirements, and sends the corresponding control signal through the hydraulic solenoid control valve 231 to drive the hydraulic cylinder to move and realize the precise control of the boom 71 or the arm 72. At the same time, the boom pressure sensor and the arm pressure sensor will monitor the pressure changes in the cylinder to ensure the stability and safety of the action. If the pressure is abnormal, the control system 14 will immediately take measures, such as adjusting the state of the hydraulic solenoid control valve 231, to avoid potential mechanical failure or damage. The hydraulic pump status signal provides the working status information of the hydraulic system 23, including the speed and temperature of the pump, to ensure the stable operation of the hydraulic system 23. In addition, the control system 14 is also responsible for coordinating the control signal of the wheel hub motor 81 and the control signal of the secondary telescopic electric cylinder to achieve fine steering operation. The brake control signal ensures that the chassis can stop safely when needed. The entire control system 14 is designed to ensure the reliability and accuracy of the chassis under various complex working conditions, thereby improving work efficiency and safety.

[0032] The embodiment of the present invention further provides a control method for a wheel-foot composite chassis with waist steering, the control method including a wheel drive control mode and a walking control mode:

[0033] In the wheel drive control mode, the arm cylinder 74 is controlled to retract the arm 72 to the minimum angle so that the wheel 82 is grounded, and the arm 71 and the arm cylinder 73 form a single longitudinal arm suspension; the sway cylinder 6 is controlled to swing the chassis connecting frame 5 to the first preset angle and then lock it; the wheel hub motor 81 is controlled to rotate to complete the forward and reverse operations; the secondary telescopic electric cylinder is controlled to drive the first chassis frame 1 and the second chassis frame 2 to rotate around the rotating shaft 35 to complete the steering operation;

[0034] In the walking control mode, the initialization state of the chassis is pre-configured, and the angle value of the boom 71 angle sensor set in the initialization state is used as the target rotation angle of the boom 71 and sent to the boom cylinder 73, the angle value of the forearm 72 angle sensor set in the initialization state is used as the target rotation angle of the forearm 72 and sent to the forearm cylinder 74, and the second preset angle of the chassis connecting frame 5 swing set in the initialization state is used as the target yaw angle of the chassis connecting frame 5 and sent to the yaw cylinder 6; the secondary telescopic electric cylinder is controlled to remain in the straight state and locked; in the initial state, the hydraulic solenoid control valve 231 controls the boom cylinder 73, the forearm cylinder 74 and the yaw cylinder 6 to perform gait control, and the gait includes an initial posture, a standing posture, a squatting posture, a walking posture and a trotting posture; the initial posture, the standing posture and the squatting posture can be converted to each other, and the walking posture or the trotting posture control can be entered in the standing posture, and the gait control is ended by restoring the initial posture or the standing posture.

[0035] The control method in this example has the following advantages:

[0036] 1. Improved vehicle adaptability: By switching between wheel drive control mode and travel control mode, it can adapt to different terrains and driving requirements, and improve the vehicle's passability and stability.

[0037] 2. Accurate control capability: By controlling the arm cylinder 74, the sway cylinder 6, the wheel hub motor 81 and the secondary telescopic electric cylinder, operations such as forward, reverse and steering can be accurately completed to ensure the maneuverability and flexibility of the vehicle.

[0038] 3. Flexible gait control: In the walking control mode, the upper arm cylinder 73, the lower arm cylinder 74 and the sway cylinder 6 are controlled by the hydraulic solenoid control valve 231 to realize a variety of gait controls, including initial posture, standing posture, squatting posture, walking posture and trotting posture, which increases the vehicle's operational capability in complex environments.

[0039] 4. Stable initialization state: Pre-configure the initialization state of the chassis to ensure that the vehicle is in a stable and predictable posture when starting, which is convenient for subsequent control and operation.

[0040] 5. Quick response and conversion: It can quickly switch between wheel drive control mode and travel control mode to adapt to different driving environments and task requirements and improve work efficiency.

[0041] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and simple improvements made to the essential contents of the present invention should be included in the protection scope of the present invention.

Claims

1. A wheel-foot composite chassis with waist steering, characterized in that: The invention comprises a first chassis frame, a second chassis frame, a waist steering mechanism and a wheel-foot composite assembly, wherein the first chassis frame is hinged to the second chassis frame through the waist steering mechanism, the waist steering mechanism drives the first chassis frame and the second chassis frame to rotate relative to each other through a telescopic driving mechanism, the left and right sides of the first chassis frame and the second chassis frame are respectively provided with a left frame plate and a right frame plate, the middle parts of the left frame plate and the right frame plate are respectively hinged with a chassis connecting frame through a bracket, the inner side of the lower half of the chassis connecting frame is provided with a sway cylinder for driving itself to swing left and right, and the wheel-foot The composite assembly is hinged to the chassis connecting frame, and the wheel-foot composite assembly includes a boom, an arm, a boom cylinder, an arm cylinder and a wheel assembly. The upper end of the boom is hinged to the lower end of the chassis connecting frame, the upper end of the arm is hinged to the lower end of the boom, and the lower end of the arm is provided with a hemispherical foot pad. The cylinder body end of the boom cylinder is hinged to the upper end of the chassis connecting frame, the piston rod end of the boom cylinder is hinged to the lower half of the boom, the cylinder body end of the arm cylinder is hinged to the upper half of the boom, the piston rod end of the arm cylinder is hinged to the upper half of the arm, and the wheel assembly is installed at the lower end of the boom.

2. A wheel-foot composite chassis with waist steering according to claim 1, characterized in that: The lumbar steering mechanism includes a first upper connecting frame, a first lower connecting frame, a second upper connecting frame, a second lower connecting frame and a rotating shaft, the first upper connecting frame and the first lower connecting frame are the same in shape and size, the second upper connecting frame and the second lower connecting frame are the same in shape and size, the first upper connecting frame and the first lower connecting frame are fixed to the first chassis frame at intervals along the up-down direction, the second upper connecting frame and the second lower connecting frame are fixed to the second chassis frame at intervals along the up-down direction, the first upper connecting frame and the first lower connecting frame are arranged between the second upper connecting frame and the second lower connecting frame, and the rotating shaft is installed on the first upper connecting frame, the second upper connecting frame, the first lower connecting frame and the second lower connecting frame in sequence from top to bottom.

3. A wheel-foot composite chassis with waist steering according to claim 2, characterized in that: The shapes of the first upper connecting frame, the first lower connecting frame, the second upper connecting frame and the second lower connecting frame are all triangular, the two oblique side surfaces of the first upper connecting frame and the second upper connecting frame are arranged opposite to each other, the two oblique side surfaces of the first lower connecting frame and the second lower connecting frame are arranged opposite to each other, one end of the telescopic driving mechanism is hinged in the first chassis frame, and the other end of the telescopic driving mechanism passes through the first chassis frame and is hinged on the oblique side surface of the first lower connecting frame.

4. The wheel-foot composite chassis with waist steering according to claim 3, characterized in that: The telescopic drive mechanism is a two-stage telescopic electric cylinder, which includes an electric cylinder body, a primary telescopic rod and a secondary telescopic rod. The electric cylinder body is hinged to the first chassis frame, the primary telescopic rod is arranged in the electric cylinder body, one end of the secondary telescopic rod is arranged in the primary telescopic rod, and the other end of the secondary telescopic rod is hinged to the middle part of the oblique side surface of the first lower connecting frame.

5. The wheel-foot composite chassis with waist steering according to claim 4, characterized in that: When the first telescopic rod is extended and the second telescopic rod is retracted, the vehicle is in a straight-ahead state; when the first telescopic rod is retracted in the straight-ahead state, the vehicle enters a left-turning state; In the straight-ahead state, when the secondary telescopic rod is extended, the vehicle enters a right-turn state.

6. The wheel-foot composite chassis with waist steering according to claim 5, characterized in that: A shaft sleeve is horizontally provided on the bracket, a rotating shaft is horizontally provided in the middle of the chassis connecting frame, and the rotating shaft is rotatably sleeved in the shaft sleeve. The piston rod end of the sway cylinder is hinged to the inner side wall of the lower half of the chassis connecting frame, the cylinder body of the sway cylinder located on the first chassis frame is hinged to the first chassis frame, and the cylinder body of the sway cylinder located on the second chassis frame is hinged to the second chassis frame.

7. The wheel-foot composite chassis with waist steering according to claim 6, characterized in that: A boom angle sensor is installed at the hinge between the boom and the chassis connecting frame, and a forearm angle sensor is installed at the hinge between the forearm and the boom; a boom pressure sensor is integrated at the piston rod end of the boom cylinder, and a forearm pressure sensor is integrated at the piston rod end of the forearm cylinder.

8. The wheel-foot composite chassis with waist steering according to claim 7, characterized in that: The wheel assembly includes a driving component and a braking component, the driving component includes a hub motor and a wheel, the hub motor is an outer rotor motor, the wheel is fixedly sleeved on the rotor of the motor, the stator shaft of the hub motor is fixedly connected to the lower end of the boom, the braking component includes a caliper and a brake disc, the caliper is fixedly connected to the boom, the brake disc is fixedly connected to the rotor of the motor, and the brake disc is located in the jaws of the caliper.

9. The wheel-foot composite chassis with waist steering according to claim 8, characterized in that: A power system and a control system are installed in the first chassis frame, and a hydraulic system is installed in the second chassis frame. The power system includes a power supply and a power supply controller. The power supply controller is used to convert the output voltage of the power supply into the working voltage required by the control system. The hydraulic system includes a hydraulic pump, a hydraulic control oil circuit and a hydraulic solenoid control valve. The hydraulic solenoid control valve is connected to the hydraulic pump through the hydraulic control oil circuit. The valve body of the hydraulic solenoid control valve is fixed on the outer peripheral wall of the cylinder body of the boom cylinder. The hydraulic solenoid control valve is used to control the extension and retraction of the sway cylinder, the boom cylinder and the arm cylinder. The control system includes a vehicle controller. The vehicle controller is used to receive feedback signals from the boom angle sensor, the arm angle sensor, the boom pressure sensor and the arm pressure sensor, as well as the hydraulic pump status signal, and send hydraulic solenoid control valve control signals, wheel hub motor control signals, secondary telescopic electric cylinder control signals and brake control signals.

10. The control method of a wheel-foot composite chassis with waist steering according to claim 9, characterized in that: The control method includes a wheel drive control mode and a walking control mode: In the wheel drive control mode, the arm cylinder is controlled to retract the arm to the minimum angle to make the wheel touch the ground, and the arm and the arm cylinder form a single longitudinal arm suspension; the sway cylinder is controlled to swing the chassis connecting frame to the first preset angle and then lock it; the wheel hub motor is controlled to rotate to complete the forward and reverse operations; the secondary telescopic electric cylinder is controlled to drive the first chassis frame and the second chassis frame to rotate around the rotating shaft to complete the steering operation; In the walking control mode, the initialization state of the chassis is pre-configured, and the angle value of the boom angle sensor set in the initialization state is used as the boom target angle and sent to the boom cylinder, the angle value of the forearm angle sensor set in the initialization state is used as the forearm target angle and sent to the forearm cylinder, and the second preset angle of the chassis connecting frame swing set in the initialization state is used as the chassis connecting frame target sway angle and sent to the sway cylinder; the secondary telescopic electric cylinder is controlled to remain in the straight state and locked; in the initial state, the hydraulic solenoid control valve controls the boom cylinder, the forearm cylinder and the sway cylinder to perform gait control, and the gait includes an initial posture, a standing posture, a squatting posture, a walking posture and a trotting posture; the initial posture, the standing posture and the squatting posture can be converted to each other, and the walking posture or the trotting posture control can be entered in the standing posture, and the gait control is ended by restoring the initial posture or the standing posture.

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