Variable-configuration wheel-foot composite chassis and control method thereof

Abstract

The invention discloses a variable-configuration wheel-foot composite chassis and a control method thereof.The chassis comprises a chassis frame, a plurality of rotating shafts are sequentially and evenly installed in the chassis frame at intervals and arranged in parallel, the two ends of each rotating shaft penetrate out of the two sides of the chassis frame respectively, and installation frames are fixed to the portions, penetrating out of the chassis frame, of the rotating shafts; a wheel arm composite assembly is installed on the installation frame, and a variable configuration assembly enabling all the rotating shafts to rotate synchronously is further arranged in the chassis frame. A wheel drive mode, a low mass center gait and a conventional gait configuration can be flexibly switched, efficient movement of a wheel type chassis and complex terrain adaptability of a foot type robot are fused, and the cross-country performance of the chassis is remarkably improved; configuration conversion in the gait mode of the whole vehicle is achieved, the adaptive capacity of the whole vehicle to different terrains is further enhanced, and the passing performance of the whole vehicle is greatly enhanced.

Description

Technical Field

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

[0002] When dealing with complex and changing environments, the vehicle running mechanisms currently on the market have exposed some shortcomings, especially in terms of passability, which is not strong enough and it is difficult to achieve a large adjustment of the fuselage height. At present, vehicle running mechanisms are mainly divided into two categories: wheeled and tracked. Wheeled vehicles are favored for their excellent mobility on the road, light weight and fast speed, and their maintenance and guarantee are relatively easy. However, in harsh road conditions such as mud, sand, and snow, the mobility of wheeled vehicles will be greatly reduced, and they are also relatively weak in the ability to cross the width of trenches and cross obstacles. On the other hand, tracked vehicles perform well in complex terrain, can rotate on the spot, and have a strong ability to cross obstacles, and can easily cross wider trenches. However, tracked vehicles also have some significant disadvantages, such as heavy weight, loud noise during operation, low speed, short service life, and difficult maintenance and guarantee. Under special terrain conditions, vehicles often face the dilemma of "not being able to pass and not being able to reach", which puts higher requirements and challenges on the vehicle's mobility. Summary of the invention

[0003] In order to solve the technical problems existing in the background technology, the present invention innovatively provides a variable configuration wheel-foot composite chassis and a control method thereof, which can flexibly switch between wheel drive mode, low center of mass gait and conventional gait configuration, integrating the efficient movement of the wheeled chassis and the adaptability of the footed robot to complex terrains, significantly improving the off-road performance of the chassis; realizing the configuration conversion under the gait mode of the whole vehicle, further enhancing the adaptability of the whole vehicle to different terrains, and greatly enhancing its passing performance.

[0004] To achieve the above-mentioned technical objectives, an embodiment of the present invention discloses a variable-configuration wheel-foot composite chassis, including a chassis frame, in which a plurality of rotating shafts are evenly installed in sequence and at intervals, and the plurality of rotating shafts are arranged parallel to each other, and the two ends of the rotating shafts respectively pass through the two sides of the chassis frame, and mounting frames are fixed to the parts of the rotating shafts passing through the chassis frame, and a wheel-arm composite assembly is installed on the mounting frame, and a variable-configuration assembly that enables all the rotating shafts to rotate synchronously is also provided in the chassis frame.

[0005] Furthermore, the present invention provides a variable configuration wheel-foot composite chassis, wherein the variable configuration assembly includes a rotating rocker arm, a transmission rod and a telescopic actuator, the middle portion of the rotating rocker arm is fixedly connected to one of the multiple rotating shafts, and the remaining rotating shafts are fixedly provided with linkage rods, the upper ends of the rotating rocker arm and the linkage rod are hinged to the transmission rod, the tail of the telescopic actuator is hinged to the chassis frame, and the actuator of the telescopic actuator is hinged to the lower end of the rotating rocker arm.

[0006] Furthermore, the present invention provides a variable configuration wheel-foot composite chassis, wherein the wheel-arm composite assembly includes a yaw motor, a boom motor, a forearm motor, a boom, a forearm, a forearm connecting rod rocker arm, a forearm connecting rod and a wheel assembly, the housing of the yaw motor is fixed to the outside of the mounting frame, the boom motor is rotatably installed in the mounting frame, the housing of the boom motor and the output shaft of the yaw motor are fixedly connected, the output shaft of the boom motor and the output shaft of the yaw motor are perpendicular to each other, the forearm motor and the boom motor are coaxially arranged, the housing of the forearm motor and the output shaft of the boom motor are fixedly connected, one end of the boom is fixedly connected to the housing of the forearm motor, the middle part of the forearm is hinged to the other end of the boom, one end of the forearm connecting rod rocker arm is fixed to the output shaft of the forearm motor, one end of the forearm connecting rod is hinged to the other end of the forearm rocker, the other end of the forearm connecting rod is hinged to one end of the forearm, and the wheel assembly is rotatably installed at the other end of the forearm.

[0007] Furthermore, the present invention provides a variable configuration wheel-foot composite chassis, wherein the swing angle of the telescopic actuator driving the rotating rocker arm from fully extended to fully retracted is 0°-90°.

[0008] Furthermore, the present invention provides a variable configuration wheel-foot composite chassis, wherein when the telescopic actuator is fully extended, the yaw motor is in a horizontal state; and when the telescopic actuator is fully retracted, the yaw motor is in a vertical state.

[0009] Furthermore, the present invention provides a variable configuration wheel-foot composite chassis, wherein one end of the forearm connected to the wheel assembly is a U-shaped structure, the wheel assembly is rotatably installed in the U-shaped structure, the wheel assembly includes a hub motor, a wheel and a brake assembly, both ends of the hub motor are fixedly arranged in the U-shaped structure, the wheel is fixed on the outer peripheral wall of the hub motor, and the brake assembly is installed on the forearm to achieve braking of the hub motor.

[0010] Furthermore, the present invention provides a variable configuration wheel-foot composite chassis, wherein the mounting frame includes a vertical plate, a first support plate and a second support plate, the vertical plate is fixed to the portion of the rotating shaft passing through the chassis frame, the first support plate and the second support plate are respectively fixedly connected to the two ends of the vertical plate, the vertical plate, the first support plate and the second support plate form a U-shaped structure, the housing of the yaw motor is fixed on the outer side wall of the first support plate, the boom motor is located between the first support plate and the second support plate, the output shaft of the yaw motor passes through the first support plate and is fixedly connected to one end of the housing of the boom motor, and the other end of the housing of the boom motor is rotatably mounted on the second support plate.

[0011] Furthermore, the present invention provides a variable configuration wheel-foot composite chassis, wherein the yaw motor can drive the upper arm motor to rotate at an angle of 0°-180°, and the upper arm motor can drive the lower arm motor to rotate 360°.

[0012] Furthermore, the present invention provides a variable configuration wheel-foot composite chassis, wherein the telescopic actuator is an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0013] The embodiment of the present invention further provides a control method for a variable configuration wheel-foot composite chassis, the control method comprising wheel drive mode control and gait mode control:

[0014] Under the wheel drive mode control, the yaw motor, the boom motor and the arm motor are moved to a preset angle of the wheel drive mode and then locked, thereby completing the deformation of the wheel drive mode configuration;

[0015] In the wheel drive mode, the robot chassis moves forward, backward, turns and brakes through the wheel assembly.

[0016] The gait mode control includes low center of mass gait configuration control and conventional gait configuration control;

[0017] Under the control of the low-center-of-mass gait configuration, the telescopic actuator is controlled to be fully retracted, so that the yaw motor is in a vertical state, and the yaw motor, the upper arm motor and the lower arm motor are rotated according to the low-center-of-mass gait configuration standing setting angle as the target, thereby completing the deformation of the low-center-of-mass gait configuration;

[0018] In the low-center-of-mass gait configuration, the robot chassis can stand, squat, walk and trot through the wheel-arm composite assembly;

[0019] Under the control of the conventional gait configuration, the telescopic actuator is controlled to be fully extended, so that the yaw motor is in a horizontal state, and the yaw motor, the upper arm motor and the lower arm motor are rotated according to the normal gait standing setting angle as the target, thereby completing the deformation of the conventional gait configuration;

[0020] In the conventional gait configuration, the robot chassis can stand, squat, walk and trot through the wheel-arm composite assembly;

[0021] In the wheel drive mode configuration, low center of mass gait configuration and normal gait configuration, the angle feedback of the yaw motor, the upper arm motor and the lower arm motor is used as the feedback quantity of the control closed loop;

[0022] In the low center of mass gait configuration and the conventional gait configuration, the movement angle of the forearm is controlled according to the forearm motor, the forearm connecting rod rocker arm and the forearm connecting rod, the movement angle of the boom is controlled according to the boom motor, and the movement angle of the wheel-arm composite assembly is controlled according to the yaw motor.

[0023] The beneficial effects of the present invention are as follows: the present invention can flexibly switch between different driving modes, including wheel drive mode, low center of mass gait and conventional gait configuration, and can even be folded and stored. The present invention combines the efficient mobility of a wheeled chassis on smooth roads with the excellent adaptability of a footed robot in complex terrain. This fusion not only significantly improves the performance of the chassis in off-road environments, but also realizes the configuration conversion of the entire vehicle in different gait modes. Through this conversion, the adaptability of the entire vehicle to various different terrains is further enhanced, thereby greatly improving its passing performance under various terrain conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional structural schematic diagram of a variable configuration wheel-foot composite chassis of the present invention (conventional gait configuration);

[0025] Figure 2 For Figure 1 A schematic diagram of a top view structure based on FIG.

[0026] Figure 3 It is a structural schematic diagram of a wheel arm composite assembly (vertical state) in a variable configuration wheel-foot composite chassis of the present invention;

[0027] Figure 4 It is a structural schematic diagram of a wheel arm composite assembly (horizontal state) in a variable configuration wheel-foot composite chassis of the present invention;

[0028] Figure 5 It is a schematic structural diagram of a variable configuration assembly in a variable configuration wheel-foot composite chassis of the present invention;

[0029] Figure 6 It is a three-dimensional structural schematic diagram of a variable configuration wheel-foot composite chassis of the present invention (low center of mass gait configuration);

[0030] Figure 7 It is a schematic diagram of the structure of a variable configuration wheel-foot composite chassis of the present invention when it is stored;

[0031] Figure 8It is a schematic diagram of the three-dimensional structure of a variable-configuration wheel-foot composite chassis (wheel drive mode configuration). DETAILED DESCRIPTION

[0032] A variable configuration wheel-foot composite chassis of the present invention is explained and illustrated in detail below in conjunction with the accompanying drawings of the specification.

[0033] like Figure 1-2 As shown, an embodiment of the present invention discloses a variable configuration wheel-foot composite chassis, comprising a chassis frame 1, in which a plurality of rotating shafts 2 are evenly installed in sequence, and the plurality of rotating shafts 2 are arranged parallel to each other, so that the two ends of the rotating shafts 2 pass through the two sides of the chassis frame 1 respectively, and mounting frames 3 are fixed to the parts of the rotating shafts 2 passing through the chassis frame 1, and a wheel arm composite assembly 5 is installed on the mounting frame 3, and a variable configuration assembly 4 for making all the rotating shafts 2 rotate synchronously is also provided in the chassis frame 1.

[0034] The present invention is applicable to mobile platform chassis such as vehicle chassis and robot chassis, and a wheeled-legged robot is used as an example for explanation below. In actual use, the position of the wheel-arm composite assembly 5 on the mounting frame 3 is changed by the variable configuration assembly 4, so that different drive modes can be flexibly switched, including wheel drive mode, low center of mass gait and conventional gait configuration. The wheel-arm composite assembly 5 combines the efficient mobility of the wheeled chassis on smooth roads with the excellent adaptability of the legged robot in complex terrain. This fusion not only significantly improves the performance of the chassis in off-road environments, but also realizes the configuration conversion of the whole vehicle in different gait modes. Through this conversion, the adaptability of the whole vehicle to various terrains is further enhanced, thereby greatly improving its passing performance under various terrain conditions.

[0035] like Figure 3-4As shown, in one embodiment of the present invention, the wheel-arm composite assembly 5 includes a yaw motor 51, a boom motor 52, a forearm motor 53, a boom 54, a forearm 55, a forearm connecting rod rocker arm 56, a forearm connecting rod 57 and a wheel assembly 58. Among them, the housing of the yaw motor 51 is fixed to the outside of the mounting frame 3, and the boom motor 52 is rotatably mounted in the mounting frame 3, and the housing of the boom motor 52 and the output shaft of the yaw motor 51 are fixedly connected, so that the output shaft of the boom motor 52 and the output shaft of the yaw motor 51 are perpendicular to each other. The arm motor 53 and the boom motor 52 are arranged coaxially, the housing of the arm motor 53 is fixedly connected to the output shaft of the boom motor 52, one end of the boom 54 is fixedly connected to the housing of the arm motor 53, the middle part of the arm 55 is hinged to the other end of the boom 54, one end of the arm connecting rod rocker arm 56 is fixed to the output shaft of the arm motor 53, one end of the arm connecting rod 57 is hinged to the other end of the arm 55 rocker, and the other end of the arm connecting rod 57 is hinged to one end of the arm 55, and the wheel assembly 58 is rotatably installed on the other end of the arm 55. The yaw motor 51 can drive the boom motor 52 to rotate at an angle of 0°-180°, and the boom 54 motor 52 can drive the arm motor 53 to rotate 360°. In this way, the output shaft of the yaw motor 51 can directly drive the boom motor 52, so that the boom motor 52 can perform a yaw motion in the mounting frame 3 with the output shaft of the yaw motor 51 as the rotation center, thereby realizing the yaw action of the boom 54. Secondly, the boom motor 52 can drive the arm motor 53 to rotate with its output shaft as the axis, thereby causing the boom 54 to rotate. Finally, the arm motor 53 can drive the arm connecting rod rocker arm 56 to rotate through its output shaft, and the arm connecting rod rocker arm 56 is connected to the arm connecting rod 57. By pulling the arm connecting rod 57, the arm 55 can rotate around the hinge point between the boom 54 and the arm 55. This triple deformation mode enables the wheel-arm composite assembly 5 to adapt to a variety of different structural deformation requirements, greatly improving its application flexibility and functionality.

[0036] like Figure 5 As shown, in one embodiment of the present invention, the variable configuration assembly 4 includes a rotating rocker arm 41, a transmission rod 42 and a telescopic actuator 43. The middle portion of the rotating rocker arm 41 is fixedly connected to one of the multiple rotating shafts 2, and a linkage rod 44 is fixedly installed on each of the other rotating shafts 2. The upper ends of the rotating rocker arm 41 and the linkage rod 44 are hinged to the transmission rod 42, the tail of the telescopic actuator 43 is hinged to the chassis frame 1, and the actuator of the telescopic actuator 43 is hinged to the lower end of the rotating rocker arm 41. The telescopic actuator 43 can be implemented in various forms such as an electric cylinder, a pneumatic cylinder or a hydraulic cylinder. Taking the electric cylinder as an example, the tail of the telescopic actuator 43 mentioned above refers to the end of the electric cylinder body away from the piston rod (i.e. Figure 5 The actuator of the telescopic actuator 43 refers to the end of the electric cylinder piston rod away from the cylinder body of the electric cylinder (i.e. Figure 5 The right end of the telescopic actuator 43 in the middle). The telescopic actuator 43 fully extends to fully retract and drives the rotating rocker arm 41 to swing at an angle of 0°-90°. When the telescopic actuator 43 begins to extend, it will push the lower end of the rotating rocker arm 41 to rotate in the counterclockwise direction. At the same time, the rotating shaft 2 connected to the rotating rocker arm 41 will also rotate synchronously with the rotation of the rotating rocker arm 41. In the process of the transmission rod 42 moving to the left, the linkage rod 44 will drive other rotating shafts 2 to rotate synchronously with the rotating rocker arm 41, thereby realizing the unified rotation of the rotating shaft 2. When the telescopic actuator is fully extended, the mounting frame 3 drives the yaw motor 51 to be in a horizontal state; when the telescopic actuator 43 begins to retract, the action mode of the rotating rocker arm 41, the rotating shaft 2, the linkage rod 44 and the transmission rod 42 is opposite to that when the telescopic actuator is extended. When the telescopic actuator is fully retracted, the mounting frame 3 drives the yaw motor 51 to be in a vertical state. Such a design is more conducive to determining the low-center-of-mass gait configuration control and the conventional gait configuration control under the gait mode control, thereby facilitating control.

[0037] like Figure 1-2 As shown, in one embodiment of the present invention, one end of the arm 55 connected to the wheel assembly 58 is a U-shaped structure, and the angle between the U-shaped structure and the arm 55 is 135°. The wheel assembly 58 is rotatably installed in the U-shaped structure, and the wheel assembly 58 includes a hub motor 581, a wheel 582 and a brake assembly 583. Both ends of the hub motor 581 are fixedly arranged in the U-shaped structure, the wheel 582 is fixed on the outer peripheral wall of the hub motor 581, and the brake assembly 583 is installed on the arm 55 to realize the braking of the hub motor 581. The brake assembly 583 can be a matching mode of a brake disc and a brake caliper. The hub motor 581 can drive the wheel 582 to rotate, thereby completing the forward and backward operations of the robot chassis, and the braking operation of the robot chassis is completed by the brake assembly 583.

[0038] like Figure 3As shown, in one embodiment of the present invention, the mounting frame 3 includes a vertical plate 31, a first support plate 32, and a second support plate 33. The vertical plate 31 is fixed to the part of the rotating shaft 2 that passes through the chassis frame 1, and the first support plate 32 and the second support plate 33 are respectively fixedly connected to the two ends of the vertical plate 31, so that the vertical plate 31, the first support plate 32, and the second support plate 33 form a U-shaped structure. The housing of the yaw motor 51 is fixed to the outer wall of the first support plate 32, so that the boom motor 52 is located between the first support plate 32 and the second support plate 33, and the output shaft of the yaw motor 51 passes through the first support plate 32 and is fixedly connected to one end of the housing of the boom motor 52, and the other end of the housing of the boom motor 52 is rotatably mounted on the second support plate 33. In such a structure, the housing of the yaw motor 51 is fixed to the outer wall of the first support plate 32 to ensure the stability of the yaw motor 51. The boom motor 52 is placed between the first support plate 32 and the second support plate 33, so that the stability of the boom motor 52 during operation can be ensured. The output shaft of the yaw motor 51 needs to pass through the first support plate 32 and be fixedly connected to one end of the housing of the boom motor 52 to ensure power transmission between the two. Finally, the other end of the housing of the boom motor 52 needs to be rotatably mounted on the second support plate 33, so that the boom motor 52 can flexibly adjust its angle during operation. The entire mounting frame 3 can ensure the stability and coordinated work of each component, thereby improving the performance and reliability of the entire structure.

[0039] The present invention can be used in conjunction with a vehicle controller and a remote controller. In actual application, after the variable configuration wheel-foot composite robot chassis is powered on, the vehicle controller receives the remote controller command input, including the drive type, gait type, speed and steering angle. According to the command input, the state machine switching module enters the wheel drive or gait configuration selection. On a relatively good road such as a flat road without obstacles, the robot chassis enters the wheel drive mode control. Figure 8 As shown, the yaw motor 51, the big arm motor 52, and the small arm motor 53 receive the control signal of the vehicle controller to control the action of each motor; the angle feedback of each motor is used as the feedback of the control closed loop to ensure the angle control accuracy of the robot arm; each motor is locked after moving to the preset angle of the wheel drive mode, completing the deformation of the wheel drive mode configuration. The converted wheel drive configuration is shown in Figure 8As shown; in the wheel drive mode configuration, the yaw motor is in a near vertical state, so that under the drive of the yaw motor, the forearm motor, the upper arm and the overall structure of the forearm can follow the upper arm motor to rotate with the yaw motor output shaft as the axis, and at the same time drive the wheel to rotate, so that the chassis has a steering function; the vehicle controller controls the wheel assembly 58 to achieve forward, backward, braking and other controls of the entire wheel drive. The brake assembly 583 is installed coaxially with the hub motor 581 and is arranged together in the wheel drive system. All three are rotating parts. The rotation of the hub motor 581 drives the wheel 582 to rotate, realizing the forward and reverse movement of the chassis; the brake assembly 583 realizes the braking of the wheel assembly 58. In harsh road environments such as unstructured roads, the robot chassis enters gait mode. As shown Figure 1 and Figure 6 As shown in the figure, the corresponding gait configuration is selected according to different road conditions. When it is necessary to perform an ultra-low center of mass operation task, the vehicle needs to pass with a lower body posture, and the spider gait configuration is selected (i.e. Figure 6 The yaw motor 51 reaches a vertical state under the push of the telescopic actuator; during the configuration transformation process, each motor receives a control signal output by the vehicle controller to control the action of each motor, and the yaw motor 51 and the forearm motor 53 rotate with the spider gait standing set angle as the target, and the big arm motor 52 rotates 90 degrees (such as Figure 3 The angle feedback of each motor is used as the feedback of the control closed loop to ensure the angle control accuracy of the robot arm; the converted spider gait configuration is shown in the attached figure. Figure 6 As shown. When there are trenches with large height differences or continuous obstacles, choose to switch to the normal gait configuration. The rotary mechanism actuator in the variable configuration system drives the rotary mechanism transmission device, and the yaw motor 51 reaches a horizontal state under the driving action of the telescopic actuator; during the configuration change process, each joint motor receives the control signal output by the vehicle controller to control the action of each motor, and the yaw motor 51 and the small arm motor 53 rotate with the normal gait standing setting angle as the target, and the big arm motor 52 rotates 90 degrees (such as Figure 4 As shown in FIG. 1 ), the angle feedback of each motor is used as the feedback of the control closed loop to ensure the angle control accuracy of the robot arm (i.e., the upper arm 54 and the lower arm 55); the conventional gait configuration after conversion is as follows Figure 1As shown. After selecting the corresponding configuration, each motor receives the signal output by the vehicle controller to control the action of each motor; the angle feedback of each motor is used as the feedback of the control closed loop to ensure the control accuracy of the robot arm angle; the forearm 55 moves according to the target angle of the forearm 55 calculated by the vehicle controller under the action of the forearm motor 53, the forearm connecting rod rocker arm 56 and the forearm connecting rod 57; the upper arm 54 moves according to the target angle of the upper arm 54 calculated by the vehicle controller under the action of the upper arm motor 52; the yaw motor 51 moves according to the target yaw angle of the machine leg calculated by the vehicle controller; the upper arm 54 and the forearm 55 complete the target angle action according to the instruction, thereby realizing the gait walking function of the whole vehicle. When storage is required, the wheel arm composite can be folded into the chassis frame 1 (such as Figure 7 shown).

[0040] The embodiment of the present invention further provides a control method for a variable configuration wheel-foot composite chassis, the control method comprising wheel drive mode control and gait mode control:

[0041] Under the wheel drive mode control, the yaw motor 51, the big arm motor 52 and the small arm motor 53 are moved to the preset angle of the wheel drive mode and then locked, so as to complete the deformation of the wheel drive mode configuration;

[0042] In the wheel drive mode, the robot chassis moves forward, backward, turns and brakes through the wheel assembly 58;

[0043] Gait pattern control includes low center of mass gait configuration control and conventional gait configuration control;

[0044] Under the control of the low-center-of-mass gait configuration, the telescopic actuator is controlled to be fully retracted, so that the yaw motor 51 is in a vertical state, and the yaw motor 51, the upper arm motor 52 and the lower arm motor 53 are rotated according to the low-center-of-mass gait configuration standing setting angle as the target, thereby completing the deformation of the low-center-of-mass gait configuration;

[0045] In the low-center-of-mass gait configuration, the robot chassis can stand, squat, walk and trot through the wheel-arm composite assembly 5;

[0046] Under the control of the normal gait configuration, the telescopic actuator is controlled to be fully extended, so that the yaw motor 51 is in a horizontal state, and the yaw motor 51, the upper arm motor 52 and the lower arm motor 53 are rotated according to the normal gait standing setting angle as the target, completing the deformation of the normal gait configuration;

[0047] In the conventional gait configuration, the robot chassis can stand, squat, walk and trot through the wheel-arm composite assembly 5;

[0048] In the wheel drive mode configuration, the low center of mass gait configuration and the normal gait configuration, the angle feedback of the yaw motor 51, the upper arm motor 52 and the lower arm motor 53 is used as the feedback quantity of the control closed loop;

[0049] In the low center of mass gait configuration and the normal gait configuration, the movement angle of the forearm 55 is controlled according to the forearm motor 53, the forearm connecting rod rocker arm 56 and the forearm connecting rod 57, the movement angle of the boom 54 is controlled according to the boom motor 52, and the movement angle of the wheel-arm composite assembly 5 is controlled according to the yaw motor 51.

[0050] The control method of the present invention enables the robot chassis to switch freely between wheel drive mode control and gait mode control, and allows the robot chassis to select the most appropriate control mode according to the different terrain conditions, thereby significantly improving the vehicle's passability on various terrains. It not only greatly improves the movement efficiency of the vehicle chassis, but also significantly enhances the accuracy and reliability of control.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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 variable configuration wheel-foot composite chassis, characterized in that: It comprises a chassis frame, in which a plurality of rotating shafts are evenly installed in sequence and at intervals, the plurality of rotating shafts are arranged parallel to each other, the two ends of the rotating shafts respectively pass through the two sides of the chassis frame, mounting frames are fixed to the parts of the rotating shafts passing through the chassis frame, a wheel arm composite assembly is installed on the mounting frame, and a variable configuration assembly for making all the rotating shafts rotate synchronously is also arranged in the chassis frame.

2. The variable configuration wheel-foot composite chassis according to claim 1, characterized in that: The variable configuration assembly includes a rotating rocker arm, a transmission rod and a telescopic actuator. The middle part of the rotating rocker arm is fixedly connected to one of the multiple rotating shafts, and the other rotating shafts are fixedly provided with linkage rods. The upper ends of the rotating rocker arm and the linkage rod are hinged to the transmission rod, the tail of the telescopic actuator is hinged to the chassis frame, and the actuator of the telescopic actuator is hinged to the lower end of the rotating rocker arm.

3. The variable configuration wheel-foot composite chassis according to claim 2, characterized in that: The wheel-arm composite assembly includes a yaw motor, a boom motor, an arm motor, a boom, an arm, an arm connecting rod rocker arm, an arm connecting rod and a wheel assembly. The housing of the yaw motor is fixed to the outside of the mounting frame, and the boom motor is rotatably installed in the mounting frame. The housing of the boom motor and the output shaft of the yaw motor are fixedly connected, and the output shaft of the boom motor and the output shaft of the yaw motor are perpendicular to each other. The arm motor and the boom motor are coaxially arranged, the housing of the arm motor and the output shaft of the arm motor are fixedly connected, one end of the boom is fixedly connected to the housing of the arm motor, the middle part of the arm is hinged to the other end of the boom, one end of the arm connecting rod rocker arm is fixed to the output shaft of the arm motor, one end of the arm connecting rod is hinged to the other end of the arm rocker, the other end of the arm connecting rod is hinged to one end of the arm, and the wheel assembly is rotatably installed at the other end of the arm.

4. The variable configuration wheel-foot composite chassis according to claim 3, characterized in that: The telescopic actuator drives the rotating rocker arm to swing at an angle of 0°-90° when the actuator is fully extended or fully retracted.

5. The variable configuration wheel-foot composite chassis according to claim 4, characterized in that: When the telescopic actuator is fully extended, the yaw motor is in a horizontal state; when the telescopic actuator is fully retracted, the yaw motor is in a vertical state.

6. The variable configuration wheel-foot composite chassis according to claim 5, characterized in that: One end of the forearm connected to the wheel assembly is a U-shaped structure, and the wheel assembly is rotatably installed in the U-shaped structure. The wheel assembly includes a hub motor, a wheel and a brake assembly. Both ends of the hub motor are fixedly arranged in the U-shaped structure, the wheel is fixed on the outer peripheral wall of the hub motor, and the brake assembly is installed on the forearm to achieve braking of the hub motor.

7. The variable configuration wheel-foot composite chassis according to claim 6, characterized in that: The mounting frame includes a vertical plate, a first support plate and a second support plate, the vertical plate is fixed to the part of the rotating shaft passing through the chassis frame, the first support plate and the second support plate are respectively fixedly connected to the two ends of the vertical plate, the vertical plate, the first support plate and the second support plate form a U-shaped structure, the housing of the yaw motor is fixed on the outer side wall of the first support plate, the boom motor is located between the first support plate and the second support plate, the output shaft of the yaw motor passes through the first support plate and is fixedly connected to one end of the housing of the boom motor, and the other end of the housing of the boom motor is rotatably mounted on the second support plate.

8. The variable configuration wheel-foot composite chassis according to claim 7, characterized in that: The yaw motor can drive the big arm motor to rotate at an angle of 0°-180°, and the big arm motor can drive the small arm motor to rotate 360°.

9. The variable configuration wheel-foot composite chassis according to claim 8, characterized in that: The telescopic actuator is an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

10. The control method of a variable configuration wheel-foot composite chassis according to claim 9, characterized in that: The control method includes wheel drive mode control and gait mode control: Under the wheel drive mode control, the yaw motor, the boom motor and the arm motor are moved to a preset angle of the wheel drive mode and then locked, thereby completing the deformation of the wheel drive mode configuration; In the wheel drive mode, the robot chassis moves forward, backward, turns and brakes through the wheel assembly. The gait mode control includes low center of mass gait configuration control and conventional gait configuration control; Under the control of the low-center-of-mass gait configuration, the telescopic actuator is controlled to be fully retracted, so that the yaw motor is in a vertical state, and the yaw motor, the upper arm motor and the lower arm motor are rotated according to the low-center-of-mass gait configuration standing setting angle as the target, thereby completing the deformation of the low-center-of-mass gait configuration; In the low-center-of-mass gait configuration, the robot chassis can stand, squat, walk and trot through the wheel-arm composite assembly; Under the control of the conventional gait configuration, the telescopic actuator is controlled to be fully extended, so that the yaw motor is in a horizontal state, and the yaw motor, the upper arm motor and the lower arm motor are rotated according to the normal gait standing setting angle as the target, thereby completing the deformation of the conventional gait configuration; In the conventional gait configuration, the robot chassis can stand, squat, walk and trot through the wheel-arm composite assembly; In the wheel drive mode configuration, low center of mass gait configuration and normal gait configuration, the angle feedback of the yaw motor, the upper arm motor and the lower arm motor is used as the feedback quantity of the control closed loop; In the low center of mass gait configuration and the conventional gait configuration, the movement angle of the forearm is controlled according to the forearm motor, the forearm connecting rod rocker arm and the forearm connecting rod, the movement angle of the boom is controlled according to the boom motor, and the movement angle of the wheel-arm composite assembly is controlled according to the yaw motor.

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