Configuration-variable balance car

Abstract

The invention belongs to the technical field of robot application, and particularly relates to a variable-configuration balance car which comprises a control unit, moving wheels, a driver and a wheel leg structure, and the wheel leg structure comprises a thigh swing assembly, a knee rotating assembly, a first foot rotating assembly and a second foot rotating assembly. The first foot rotating assembly and the second foot rotating assembly are used for simulating downward pressing and left-right swinging movement of the upper body of the foot, the thigh swinging assembly is used for achieving overall front-back swinging of the knee rotating assembly and the moving wheels, and the moving wheels independently swing front and back through the knee rotating assembly. Therefore, the movement of legs and feet of a human body is simulated by utilizing the design and the movement mode of the wheel-leg structure, the moving wheels can be converted into different movement forms, various gait configurations are formed, flexible switching of a wheeled robot and a foot-type robot is realized, and the robot is more flexible. Therefore, the robot can adapt to different special geographical environments such as rugged and multi-obstacle steep slopes and uneven and multi-obstacle road surfaces, the application range is expanded, and the robot can cope with movement in complex environments.

Description

Technical Field

[0001] The invention belongs to the technical field of robot application, and in particular relates to a variable configuration balancing vehicle. Background Art

[0002] With the continuous advancement of science and technology and the rapid development of robotics, people's expectations for the functions of robots are also increasing. Especially in the field of humanoid robots, researchers have been committed to making robots closer to human athletic ability and environmental adaptability. Balance vehicles are a mobile device that can control itself and maintain balance. They are an important branch of wheeled robot research. This type of robot can achieve upright driving through its own control and has shown wide application potential in many fields. The development of balance vehicles not only solves the needs of short-distance travel in cities, but also helps to protect the environment and save energy, promote physical health, commercial applications, and adapt to future development trends.

[0003] Although traditional two-wheeled balancing vehicles have achieved this goal to a certain extent, due to their fixed structure and form, they often seem powerless in scenes with complex terrain or changing environments. For example, the Chinese patent with publication number CN111907615A provides a 7DOF two-wheeled multi-posture robot, including a vehicle body, a left wheel, a right wheel, a pair of wheel power mechanisms, and a pair of wheel steering mechanisms; the pair of wheel power mechanisms and the pair of wheel steering mechanisms are symmetrically installed on the left and right sides of the vehicle body, respectively, and the pair of wheel power mechanisms can be fixedly connected to the left wheel and the right wheel respectively and drive them to move, and the wheel steering mechanisms control the steering of the left wheel and the right wheel respectively, so that the left wheel and the right wheel can realize coaxial balancing vehicle-style movement, and can also realize two-wheel plane parallel bicycle-style movement; it has 7 degrees of freedom of movement and can perform steering at multiple angles, but its requirements for the running road surface in actual application are relatively high, and it can only adapt to flat roads, and it is difficult to adapt to rugged and multi-obstacle steep slopes or uneven and multi-obstacle roads. Another example is the Chinese patent with publication number CN204323601U, which provides an intelligent guided electric balance vehicle and its guided system. The balance vehicle is provided with a joystick on the vehicle body, and the joystick includes a handle and a connecting rod, and the connecting rod is connected to the vehicle body. Each component or device on the joystick can be powered by a power supply provided on the joystick or by a power supply provided on the vehicle body, and the intelligent control function of the balance vehicle is added. However, the design of the joystick does not produce a more optimized transformation of the wheels, and can only be adapted to places with relatively flat roads such as scenic spots, museums, exhibition halls, and libraries. However, in some special geographical environments, such as rugged and steep slopes with many obstacles, and uneven and bumpy roads with many obstacles, the balance vehicle still faces considerable challenges, and its application scope is greatly limited. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a variable-configuration balancing vehicle that can convert the moving wheels into multiple posture motion modes, adapt to various special geographical environments such as rugged and obstacle-filled steep slopes, uneven and obstacle-filled roads, and has a wider range of applications.

[0005] The technical solution of the present invention is:

[0006] A variable configuration balancing vehicle comprises a load-bearing platform and two moving wheels arranged at the bottom of the load-bearing platform, and also comprises a wheel-leg structure arranged in one-to-one correspondence with the two moving wheels, wherein the wheel-leg structure is installed between the load-bearing platform and the moving wheels, and the wheel-leg structure comprises:

[0007] A thigh swing assembly comprises a first double-axis steering gear and a large arm, wherein the first double-axis steering gear is fixedly mounted at the bottom of the bearing platform, the first double-axis steering gear has two first rotating steering discs with overlapping axes, and the upper end of the large arm is connected to the two first rotating steering discs;

[0008] A knee rotation assembly, comprising a second dual-axis steering gear and a small arm, wherein the second dual-axis steering gear has two second rotating steering discs with overlapping axes, the axes of the second rotating steering discs are parallel to the axes of the first rotating steering discs, and the two second rotating steering discs are connected to the lower end of the large arm, and the upper end of the small arm is fixedly connected to the second dual-axis steering gear;

[0009] A foot steering module is installed at the lower end of the forearm, and the output end of the foot steering module is connected to the moving wheel for adjusting the traveling posture of the moving wheel;

[0010] The first double-axis servo and the second double-axis servo can drive the upper arm or the lower arm to realize independent swing or a combination of swinging states, forming a conversion between various forms of walking postures, and then using the foot steering module to adjust the walking posture of the moving wheel to adapt to various road structures.

[0011] Preferably, the foot steering module comprises a first foot rotation assembly and a second foot rotation assembly, the first foot rotation assembly being mounted on an end of the forearm away from the second dual-axis servo, the second foot rotation assembly being mounted on an output end of the first foot rotation assembly, and the output end of the second foot rotation assembly being connected to the moving wheel, the first foot rotation assembly being used for realizing rotation adjustment of the moving wheel along a direction parallel to the axis of the second rotating steering wheel, and the second foot rotation assembly being used for realizing rotation adjustment of the moving wheel along a direction perpendicular to the axis of the second rotating steering wheel.

[0012] Preferably, the thigh swing assembly comprises:

[0013] Two steering gear fixing chains are respectively arranged on both sides of the first dual-axis steering gear, and the first dual-axis steering gear, the first rotating steering wheel and the second rotating steering wheel correspond to each other one by one. The upper end of the steering gear fixing chain is fixedly connected to the corresponding first rotating steering wheel, and the lower end is fixedly connected to the corresponding second rotating steering wheel.

[0014] Preferably, the forearm includes an outer fixed chain and an inner fixed chain, which are relatively arranged on both sides of the second dual-axis servo. The upper ends of the outer fixed chain and the inner fixed chain are fixedly connected to the second dual-axis servo, and the lower ends are connected to the fixed end of the first foot rotating assembly.

[0015] Preferably, the first foot rotation assembly comprises:

[0016] a third dual-axis steering gear, respectively connected to the lower ends of the outer fixed chain and the inner fixed chain, the third dual-axis steering gear having two third rotating steering wheels with overlapping axes, the axis of the third rotating steering wheel being parallel to the axis of the second rotating steering wheel;

[0017] The first steering engine base is fixedly connected to the two third rotating steering discs, and the second foot rotating assembly is installed on the first steering engine base.

[0018] Preferably, the second foot rotation assembly comprises:

[0019] a fourth dual-axis steering gear, arranged in parallel with the third dual-axis steering gear and fixed on the first steering gear base, wherein the fourth dual-axis steering gear has a fourth rotating steering disc whose two axes coincide with each other and are perpendicular to the axis of the third rotating steering disc;

[0020] The second steering engine base is fixedly connected to the two fourth rotating steering discs, and the driver is fixedly mounted on the second steering engine base.

[0021] Preferably, a U-shaped groove and an L-shaped groove are respectively provided on the first steering gear base, the third dual-axis steering gear is installed in the U-shaped groove, and the two third rotating steering wheels are respectively fixedly connected to the two opposite side walls of the U-shaped groove, the fourth dual-axis steering gear is fixedly installed in the L-shaped groove, and one of the fourth rotating steering wheels passes through the side wall of the L-shaped groove and is fixed to the second steering gear base.

[0022] Preferably, the models of the first biaxial steering gear, the second biaxial steering gear, the third biaxial steering gear and the fourth biaxial steering gear are all STS3215.

[0023] Preferably, the control unit includes a processing module, an execution module and a power distribution module, which are electrically connected to each other, and the execution module and the power distribution module are also electrically connected to the first biaxial servo, the second biaxial servo, the third biaxial servo, the fourth biaxial servo and the driver, respectively, for automatically adjusting the motion mode of the moving wheel.

[0024] Preferably, a road surface acquisition module is installed on the supporting frame, and the road surface acquisition module is electrically connected to the processing module for feeding back the road surface structure to the processing module in real time to provide a reference for the movement mode switching of the moving wheel.

[0025] Compared with the prior art, the variable configuration balance vehicle of the present invention has the following beneficial effects:

[0026] The device can realize the forward and backward swinging of the knee rotation component, the foot steering module and the moving wheel as a whole through the thigh swing component composed of the first dual-axis servo and the upper arm, and can make the foot steering module and the moving wheel swing forward and backward for a second time through the knee rotation component composed of the second dual-axis servo and the forearm, and can adaptively adjust the running posture of the moving wheel through the foot steering module, so as to simulate the movement of human legs and feet by utilizing the design and movement mode of the above-mentioned wheel-leg structure, and can make the moving wheel walk in different postures to form a variety of gait configurations, so as to realize flexible switching between wheeled robots and footed robots, so as to adapt to different special geographical environments such as rugged and obstacle-filled steep slopes, uneven and obstacle-filled roads, etc., expand the scope of application, and cope with movement in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a first allosteric state diagram in a specific embodiment of the present invention;

[0028] Figure 2 is a three-dimensional diagram of a wheel retreat structure in a specific embodiment of the present invention;

[0029] Figure 3 is a disassembled schematic diagram of a foot steering module in a specific embodiment of the present invention;

[0030] Figure 4 is a second allosteric state diagram in a specific embodiment of the present invention;

[0031] Figure 5 is a third allosteric state diagram in a specific embodiment of the present invention;

[0032] Figure 6 It is a fourth allosteric state diagram in a specific embodiment of the present invention.

[0033] Description of reference numerals:

[0034] 1. Fixed base; 2. First double-axis servo; 3. Servo fixing chain; 4. Second double-axis servo; 5. Outer fixing chain; 6. Inner fixing chain; 7. Fourth double-axis servo; 8. Third double-axis servo; 9. Second servo base; 10. First servo base; 11. Driver; 12. Moving wheel; 13. Control unit; 20. Motor base; 21. U-shaped groove; 22. L-shaped groove. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0037] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0038] See also Figures 1 to 6 As shown, this embodiment provides a variable configuration balancing vehicle, including a carrying platform, a control unit 13, and two moving wheels 12. The control unit 13 is arranged in the carrying platform, and the two moving wheels 12 are relatively arranged at the bottom of the carrying platform, and a driver 11 is connected between each moving wheel 12 and the carrying platform. The moving wheel 12 is installed on the corresponding output shaft of the driver 11, and the driver 11 realizes the autonomous rotation of the moving wheel 12. Furthermore, in order to adapt to various special geographical environments such as rugged steep slopes with many obstacles, uneven roads with many obstacles, and expand the application scope of the balancing vehicle, the device also includes a wheel-leg structure arranged in a one-to-one correspondence with the two moving wheels 12, and the wheel-leg structure is installed between the driver 11 and the carrying platform. The wheel-leg structure includes a leg simulation module and a foot steering module. The details are as follows:

[0039] The leg simulation module includes a thigh swing assembly and a knee rotation assembly, which are installed in sequence between the control unit 13 and the driver 11 and their rotation axes are parallel. The thigh swing assembly is used to realize the forward and backward swinging of the knee rotation assembly and the moving wheel 12 as a whole, and the knee rotation assembly is used to realize the forward and backward swinging of the moving wheel 12. The forward and backward swinging action of the moving wheel 12 under the cooperation of the thigh swing assembly and the knee rotation assembly is utilized to realize the height adjustment of the moving wheel 12 in the vertical direction.

[0040] The foot steering module includes a first foot rotation component and a second foot rotation component, which are sequentially installed between the knee rotation component and the driver 11 and their rotation axes are perpendicular, and the rotation axis of the first foot rotation component is parallel to the rotation axis of the knee rotation component. The first foot rotation component is used to drive the moving wheel 12 to rotate in a first direction through the second foot rotation component, and the rotation axis of the moving wheel 12 in the first direction is parallel to the axis of the moving wheel 12. The second foot rotation component is used to drive the moving wheel 12 to rotate in a second direction, and the rotation axis of the moving wheel 12 in the second direction is perpendicular to the axis of the moving wheel 12.

[0041] When the variable-configuration balancing vehicle is in operation, the first dual-axis servo 2 and the second dual-axis servo 4 can drive the upper arm or the lower arm to realize a variable-configuration state of independent swing or a combined swing of the two, forming a conversion between various forms of walking postures, and then using the foot steering module to adjust the walking posture of the moving wheel 12, so as to adapt to various road structures.

[0042] See also Figure 2 and Figure 4 As shown, the thigh swing assembly includes a first dual-axis steering gear 2 and two steering gear fixing chains 3. The first dual-axis steering gear 2 is fixedly mounted on the bottom of the control unit 13 through a fixing base 1, and the first dual-axis steering gear 2 has two first rotating steering discs with overlapping axes; the two steering gear fixing chains 3 are arranged on both sides of the first dual-axis steering gear 2 and correspond to the two first rotating steering discs one by one, the upper end of the steering gear fixing chain 3 is fixedly connected to the corresponding first rotating steering disc, and the lower end is connected to the knee rotation assembly.

[0043] See also Figure 2 and Figure 5 As shown, the knee rotation assembly includes a second dual-axis steering gear 4, an outer fixed chain 5 and an inner fixed chain 6. The second dual-axis steering gear 4 has two second rotating steering discs with overlapping axes, the axes of the second rotating steering discs are parallel to the axes of the first rotating steering discs, and the two second rotating steering discs are respectively fixedly connected to the lower ends of one steering gear fixed chain 3; the outer fixed chain 5 and the inner fixed chain 6 are relatively arranged on both sides of the second dual-axis steering gear 4, for realizing the fixation of the second dual-axis steering gear 4 and the first foot rotation assembly.

[0044] See also Figures 2 to 6 As shown, the first foot rotation assembly includes a third dual-axis steering gear 8 and a first steering gear base 10. The outer shell (fixed end) of the third dual-axis steering gear 8 is respectively fixedly connected to the lower ends of the outer fixed chain 5 and the inner fixed chain 6, and the third dual-axis steering gear 8 has two third rotating steering wheels with overlapping axes, and the axis of the third rotating steering wheel is parallel to the axis of the second rotating steering wheel; the first steering gear base 10 is fixedly connected to the two third rotating steering wheels, and the second foot rotation assembly is installed on the first steering gear base 10.

[0045] See also Figure 2 and Figure 3As shown, the second foot rotation assembly includes a fourth dual-axis steering gear 7 and a second steering gear base 9. The fourth dual-axis steering gear 7 is arranged in parallel with the third dual-axis steering gear 8 and fixed on the first steering gear base 10. The fourth dual-axis steering gear 7 has a fourth rotating steering disc with two axes coinciding and perpendicular to the axis of the third rotating steering disc; the second steering gear base 9 is fixedly connected to the two fourth rotating steering discs, and the driver 11 is fixedly installed on the second steering gear base 9 through the motor base 20. The preferred driver 11 uses a motor, and the moving wheel 12 is fixedly mounted on the output shaft of the motor.

[0046] See also Figure 3 As shown, a U-shaped groove 21 and an L-shaped groove 22 are respectively provided on the first steering gear base 10, the third dual-axis steering gear 8 is installed in the U-shaped groove 21, and two third rotating steering discs are respectively fixedly connected to two opposite side walls of the U-shaped groove 21, the fourth dual-axis steering gear 7 is fixedly installed in the L-shaped groove 22, and one of the fourth rotating steering discs passes through the side wall of the L-shaped groove 22 and is fixed to the second steering gear base 9.

[0047] Preferably, the first dual-axis servo 2, the second dual-axis servo 4, the third dual-axis servo 8 and the fourth dual-axis servo 7 in the present variable configuration balancing vehicle are all of model STS3215, which is a high-precision magnetically encoded 360-degree continuously rotatable dual-axis serial bus servo produced by Shenzhen Feite Model Co., Ltd. and can be precisely controlled by the control unit 13.

[0048] See also Figures 1 to 6 As shown, the control unit 13 includes a processing module, an execution module and a power distribution module, which are electrically connected to each other, and the execution module and the power distribution module are also electrically connected to the first biaxial steering gear 2, the second biaxial steering gear 4, the third biaxial steering gear 8, the fourth biaxial steering gear 7 and the driver 11 respectively, and the upper end of the first biaxial steering gear 2 is fixedly connected to the supporting frame through the fixed base 1. In addition, a road surface acquisition module is installed on the supporting frame, and the road surface acquisition module is electrically connected to the processing module, which is used to feed back the road surface structure to the processing module in real time to switch the motion mode of the moving wheel 12.

[0049] See also Figures 1 to 6 As shown, the configuration change method of the configuration change type balance vehicle comprises the following steps:

[0050] Conformation change state 1: input instructions to the leg simulation module and the foot steering module through the control unit 13, start the second foot rotation component to rotate the moving wheel 12 in the second direction, so that the axis of the moving wheel 12 is in a horizontal state, start the first foot rotation component to rotate the second foot rotation component and the moving wheel 12 as a whole in the first direction, so that the moving wheel 12 is in full contact with the ground, start the driver 11 to drive the moving wheel 12 to rotate to achieve the rolling movement of the moving wheel 12, and start the thigh swing component and the knee rotation component respectively during the movement process, and realize the forward and backward swing of the knee rotation component and the moving wheel 12 as a whole through the thigh swing component, and the moving wheel 12 is independently swung forward and backward through the knee rotation component, so as to realize the coordinated movement of the moving wheel 12 rolling and walking;

[0051] In the second conformational state, the control unit 13 inputs instructions to the leg simulation module and the foot steering module, starts the second foot rotation component to rotate the moving wheel 12 in the second direction, so that the axis of the moving wheel 12 is in a vertical state, starts the first foot rotation component to rotate the second foot rotation component and the moving wheel 12 as a whole in the first direction, so that the wheel disc of the moving wheel 12 is in full contact with the ground, keeps the driver 11 in a closed state, and then starts the thigh swing component and the knee rotation component respectively, realizes the forward and backward swinging of the knee rotation component and the moving wheel 12 as a whole through the thigh swing component, and realizes the forward and backward swinging of the moving wheel 12 alone through the knee rotation component, so as to realize the single walking movement of the moving wheel 12.

[0052] When in use, the leg simulation module as a whole simulates the walking movement of the human leg, wherein the thigh swing component drives the two symmetrical servo fixed chains 3 to swing back and forth through the two first rotating steering wheels of the first dual-axis servo 2, thereby realizing the thigh swing simulation; the two second rotating steering wheels of the second dual-axis servo 4 rotate relative to the lower sides of the two symmetrical servo fixed chains 3 to form a knee flexion and extension simulation, and the second dual-axis servo 4 uses the outer fixed chain 5 and the inner fixed chain 6 to drive the third dual-axis servo 8 and the foot rotation module under it to swing as a whole, thereby realizing the calf swing simulation.

[0053] The foot steering module simulates the rotational movement of the human ankle joint as a whole, wherein the foot pressing down and lifting simulation is realized by the third rotating steering wheel on the third biaxial steering gear 8 driving the first steering gear base 10; the foot left and right rotation simulation is realized by the fourth rotating steering wheel on the fourth biaxial steering gear 7 driving the first steering gear base 9 to swing; the driver 11 is locked on the platform of the second steering gear base 9 through the motor base 20, driving the moving wheel 12 to rotate. Thus, the third biaxial steering gear 8 and the fourth biaxial steering gear 7 drive the first steering gear base 10 and the second steering gear base 9 to rotate and cooperate to form a variety of gait configurations.

[0054] For more detailed working principle of this device: Figures 1 to 6As shown, the variable configuration balance vehicle of the present invention is composed of a control unit, two symmetrical wheel-leg structures, and a driver and a moving wheel arranged at the bottom of the wheel-leg structure. The control unit integrates a processing module, an execution module, a power distribution module, and an acquisition module, and can be programmed and written to modify. The control unit is connected to each steering gear and motor to control the steering gear or the motor. There is sufficient space on the wheel-leg structure for the layout of the line to ensure that the operation of each steering gear will not be interfered with by the line structure. Each link structure is relatively independent of the steering gear, has maintainability, and is also easy to operate. The steering gear fixing base 1 fixes the first biaxial steering gear 2, and the first biaxial steering gear 2 is fixed to the upper end of the steering gear fixing chain 3 through the first rotating steering disc, so that the steering gear fixing chain 3 swings to realize the thigh swing simulation; the second biaxial steering gear 4 is fixed to the lower end of the steering gear fixing chain 3 through the second rotating steering disc, and the second biaxial steering gear 4 and the third biaxial steering gear 8 are locked through the outer fixing chain 5 and the inner fixing chain 6, so that the second biaxial steering gear 4 drives the third biaxial steering gear 8 and the part below it to rotate and swing forward and backward at the lower end of the steering gear fixing chain 3, so as to realize the knee flexion and extension simulation, that is, the calf swing simulation; the third biaxial steering gear 8 is placed in the U-shaped groove 21 on the first steering gear base 10, and uses two third The rotating steering wheel is fixedly connected and locked with the two side walls opposite to the U-shaped groove 21, so that the first steering engine base 10 rotates with the fourth dual-axis steering engine and the part below it, simulating the up and down rotation of the ankle, and realizing the lifting and pressing of the foot; the fourth dual-axis steering engine 7 is fixedly installed in the L-shaped groove on the first steering engine base 10, and is arranged in parallel with the third dual-axis steering engine. The second steering engine base 9 is locked by the two fourth rotating steering wheels on the fourth dual-axis steering engine 7, and the rotation of the second steering engine base 9 is controlled by the fourth rotating steering wheel to realize the simulation of the left and right rotation of the foot, and the rotation axis of the left and right rotation of the foot is perpendicular to the axis of the moving wheel 12, so that the measuring disc of the moving wheel 12 is easy to contact with the ground, and the travel mode of the balance car is converted. And further, by controlling the third dual-axis steering engine 8 and the fourth dual-axis steering engine 7 to drive the first steering engine base 10 and the second steering engine base 9 to rotate and cooperate, the moving wheel 12 can be converted into different motion forms, forming a variety of gait configurations, such as transforming from a wheeled robot to a footed robot, which can adapt to different special geographical environments and expand the scope of application.

[0055] The deformable balance vehicle provided by the device adopts a deformable structure and an intelligent control system. The deformable balance vehicle can adjust its shape according to the needs of different scenes to adapt to various complex terrains and environments. Compared with the traditional balance vehicle structure, this not only greatly improves the mobility and stability, but also provides the possibility for its application in more fields. Moreover, as a new type of transportation, the deformable balance vehicle has a very broad application prospect. In special fields such as exploration and rescue, the deformable balance vehicle can also play its unique advantages and provide a reliable mobile tool for staff.

[0056] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A variable configuration balancing vehicle, comprising a load-bearing platform and two movable wheels (12) arranged at the bottom of the load-bearing platform, characterized in that: It also includes a wheel-leg structure arranged in one-to-one correspondence with the two moving wheels (12), the wheel-leg structure being installed between the bearing platform and the moving wheels (12), and the wheel-leg structure comprising: The thigh swing assembly comprises a first double-axis steering gear (2) and a large arm, wherein the first double-axis steering gear (2) is fixedly mounted at the bottom of the bearing platform, the first double-axis steering gear (2) has two first rotating steering discs with overlapping axes, and the upper end of the large arm is connected to the two first rotating steering discs; The knee rotation assembly comprises a second dual-axis steering gear (4) and a small arm, wherein the second dual-axis steering gear (4) has two second rotating steering discs with overlapping axes, the axes of the second rotating steering discs are parallel to the axes of the first rotating steering discs, and the two second rotating steering discs are connected to the lower end of the large arm, and the upper end of the small arm is fixedly connected to the second dual-axis steering gear (4); A foot steering module is mounted at the lower end of the forearm, the output end of the foot steering module being connected to the moving wheel (12) and being used to adjust the travel posture of the moving wheel (12); The first double-axis steering gear (2) and the second double-axis steering gear (4) can be used to drive the upper arm or the lower arm to realize independent swing or a combined swing state of the two, thereby forming a conversion between various forms of walking postures. Furthermore, the foot steering module is used to facilitate the adjustment and conversion of the moving wheel (12) to various walking postures, thereby adapting to various road surface structures.

2. A transformable balancing vehicle according to claim 1, characterized in that: The foot steering module comprises a first foot rotation assembly and a second foot rotation assembly, wherein the first foot rotation assembly is mounted on an end of the forearm away from the second dual-axis steering gear (4), and the second foot rotation assembly is mounted on the output end of the first foot rotation assembly, and the output end of the second foot rotation assembly is connected to the moving wheel (12), the first foot rotation assembly is used to realize the rotation adjustment of the moving wheel (12) along a direction parallel to the axis of the second rotating steering wheel, and the second foot rotation assembly is used to realize the rotation adjustment of the moving wheel (12) along a direction perpendicular to the axis of the second rotating steering wheel.

3. A transformable balancing vehicle according to claim 1, characterized in that: The thigh swing assembly comprises: Two steering gear fixing chains (3) are arranged on both sides of the first dual-axis steering gear (2), and the first dual-axis steering gear (2), the first rotating steering wheel and the second rotating steering wheel correspond to each other one by one. The upper end of the steering gear fixing chain (3) is fixedly connected to the corresponding first rotating steering wheel, and the lower end is fixedly connected to the corresponding second rotating steering wheel.

4. A transformable balancing vehicle according to claim 2, characterized in that: The forearm comprises an outer fixed chain (5) and an inner fixed chain (6), which are arranged oppositely on both sides of the second dual-axis steering gear (4); the upper ends of the outer fixed chain (5) and the inner fixed chain (6) are both fixedly connected to the second dual-axis steering gear (4), and the lower ends are both connected to the fixed end of the first foot rotating assembly.

5. A transformable balancing vehicle according to claim 4, characterized in that: The first foot rotation assembly comprises: A third dual-axis steering gear (8) is fixedly connected to the lower ends of the outer fixed chain and the inner fixed chain respectively, and the third dual-axis steering gear (8) has a third rotating steering wheel with two axes coinciding with each other, and the axis of the third rotating steering wheel is parallel to the axis of the second rotating steering wheel; The first steering engine base (10) is fixedly connected to the two third rotating steering discs, and the second foot rotating assembly is mounted on the first steering engine base (10).

6. A transformable balancing vehicle according to claim 5, characterized in that: The second foot rotation assembly includes: a fourth dual-axis steering gear (7) arranged in parallel with the third dual-axis steering gear (8) and fixed on the first steering gear base (10); the fourth dual-axis steering gear (7) having a fourth rotating steering disc with two axes coinciding and perpendicular to the axis of the third rotating steering disc; The second steering engine base (9) is fixedly connected to the two fourth rotating steering discs, and the moving wheel (12) is installed on the second steering engine base (9).

7. A transformable balancing vehicle according to claim 6, characterized in that: The first steering gear base (10) is provided with a U-shaped groove (21) and an L-shaped groove (22), the third dual-axis steering gear (8) is installed in the U-shaped groove (21), and two third rotating steering discs are respectively fixedly connected to two opposite side walls of the U-shaped groove (21), the fourth dual-axis steering gear (7) is fixedly installed in the L-shaped groove (22), and one of the fourth rotating steering discs passes through the side wall of the L-shaped groove (22) and is fixed to the second steering gear base (9).

8. The transformable balancing vehicle according to claim 1, characterized in that: The carrying platform is also provided with a control unit (13), the control unit (13) comprising a processing module, an execution module and a power distribution module, the three being electrically connected to each other, and the execution module and the power distribution module are also electrically connected to the first biaxial steering engine (2), the second biaxial steering engine (4) and the foot steering module respectively, for automatically adjusting the movement mode of the moving wheel (12).

9. A transformable balancing vehicle according to claim 8, characterized in that: A road surface acquisition module is installed on the bearing frame, and the road surface acquisition module is electrically connected to the control unit (13) and is used for real-time feedback of road surface structure to provide a reference for the movement mode switching of the moving wheel (12).

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