A variable configuration balance car

Abstract

The application belongs to the technical field of robot application, and particularly relates to a variable-configuration balance car, which comprises a control unit, a moving wheel, a driver and a wheel-leg structure, wherein the wheel-leg structure comprises a thigh swing assembly, a knee rotation assembly, a first foot rotation assembly and a second foot rotation assembly. The first foot rotation assembly and the second foot rotation assembly are used to simulate the downward pressing and left-right swinging movement of the foot, the thigh swing assembly is used to realize the front-back swinging of the knee rotation assembly and the moving wheel as a whole, and the knee rotation assembly is used to realize the front-back swinging of the moving wheel alone. Thus, the above-mentioned wheel-leg structure is used to realize the simulation of the human leg and foot movement, the moving wheel can be converted into different movement forms, various gait configurations are formed, the flexible switching between the wheeled robot and the foot-type robot is realized, and thus the variable-configuration balance car can adapt to different special geographical environments such as rugged and obstacle steep slopes, uneven and obstacle road surfaces, etc., the application range is expanded, and the movement in complex environments is coped with.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot applications, 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 robot capabilities are also increasing. In the field of humanoid robots, in particular, researchers have been striving to make robots more similar to humans in terms of movement and environmental adaptability. The self-balancing scooter is a mobile device capable of autonomous control and balance, and is a key branch of wheeled robotics research. This type of robot achieves upright travel through self-control and demonstrates broad application potential in a wide range of fields. The development of the self-balancing scooter not only addresses the need for short-distance urban travel but also contributes to environmental protection and energy conservation, promotes health, has commercial applications, and adapts to future development trends.

[0003] While traditional two-wheeled balancing vehicles have achieved this goal to a certain extent, their fixed structure and form often make them inadequate in complex terrain or changing environments. For example, Chinese patent application publication number CN111907615A discloses a 7DOF two-wheeled multi-posture robot comprising 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 mounted on the left and right sides of the vehicle body. The pair of wheel power mechanisms are fixedly connected to the left and right wheels, respectively, to drive their movement. The wheel steering mechanisms control the steering of the left and right wheels, respectively, enabling the left and right wheels to achieve both coaxial balancing vehicle-like motion and two-wheeled parallel-plane bicycle-like motion. The robot possesses seven degrees of freedom and is capable of steering at multiple angles. However, in practical applications, it has high requirements for the road surface on which it operates, and can only operate on flat roads, but has difficulty adapting to rugged, steep slopes, or uneven, and obstacle-ridden roads. Another example is Chinese patent application number CN204323601U, which provides an intelligent guided electric self-balancing scooter and its system. The scooter has a joystick mounted on the scooter's body, comprising a handlebar and a connecting rod connected to the scooter's body. The various components or devices on the joystick can be powered by a power source mounted on the joystick or on the scooter's body, thereby increasing the scooter's intelligent control capabilities. However, the joystick design does not optimize the wheels, making it suitable only for relatively flat locations such as scenic spots, museums, exhibition halls, and libraries. However, in certain unusual geographical environments, such as rugged, steep slopes with numerous obstacles or uneven, bumpy, and obstructed roads, the self-balancing scooter still faces considerable challenges, significantly limiting its scope of application. 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 balance vehicle that can convert the moving wheels into multiple posture motion modes, adapt to various special geographical environments such as rugged and obstacle-ridden steep slopes, uneven and obstacle-ridden roads, and has a wider range of applications.

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

[0006] A variable configuration balancing vehicle includes a load-bearing platform and two movable wheels arranged at the bottom of the load-bearing platform, and further includes a wheel-leg structure arranged in a one-to-one correspondence with the two movable wheels, the wheel-leg structure being installed between the load-bearing platform and the movable wheels, and the wheel-leg structure including:

[0007] The thigh swing assembly includes a first dual-axis steering gear and a boom, wherein the first dual-axis steering gear is fixedly mounted on the bottom of the carrying platform and has two first rotating steering wheels with overlapping axes, and the upper end of the boom is connected to the two first rotating steering wheels;

[0008] A knee rotation assembly includes a second dual-axis steering gear and a small arm, wherein the second dual-axis steering gear has two second rotating steering wheels with overlapping axes, the axes of the second rotating steering wheels being parallel to the axis of the first rotating steering wheel, and the two second rotating steering wheels being connected to the lower end of the large arm, and the upper end of the small arm being 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 and second dual-axis servos can drive the upper and lower arms to swing independently or in combination, thus forming a transition between various walking postures. The foot steering module can then be used to adjust the walking posture of the moving wheels to adapt to various road structures.

[0011] Preferably, the foot steering module includes a first foot rotation assembly and a second foot rotation assembly, the first foot rotation assembly is mounted on the end of the forearm away from the second dual-axis servo, 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, the first foot rotation assembly is used to realize the 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 is used to realize the rotation adjustment of the moving wheel along a direction perpendicular to the axis of the second rotating steering wheel.

[0012] The preferred thigh swing assembly includes:

[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 rotation assembly.

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

[0016] a third dual-axis steering gear, fixedly 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 coincident 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 includes:

[0019] a fourth dual-axis steering gear, arranged in parallel with the third dual-axis steering gear and fixed to the first steering gear base, the fourth dual-axis steering gear having a fourth rotating steering wheel with two axes coinciding and perpendicular to the axis of the third rotating steering wheel;

[0020] The second steering engine base is fixedly connected to the two fourth rotating steering wheels, and the driver is fixedly installed 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, and 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 motion 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] This 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 realize the secondary forward and backward swinging of the foot steering module and the moving wheel 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, thereby utilizing the design and movement mode of the above-mentioned wheel-leg structure to simulate the movement of human legs and feet, and can make the moving wheels walk in different postures to form a variety of gait configurations, and realize flexible switching between wheeled robots and foot 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 diagram of the first allosteric state in a specific embodiment of the present invention;

[0028] Figure 2 This is a three-dimensional diagram of the 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 diagram of the second allosteric state in a specific embodiment of the present invention;

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

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

[0033] Description of reference numerals:

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

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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 this 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 this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a 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 balance vehicle, including a load-bearing platform, a control unit 13, and two moving wheels 12. The control unit 13 is arranged in the load-bearing platform, and the two moving wheels 12 are relatively arranged at the bottom of the load-bearing platform. A driver 11 is connected between each moving wheel 12 and the load-bearing platform. The moving wheel 12 is installed on the corresponding output shaft of the driver 11, and the autonomous rotation of the moving wheel 12 is achieved by the driver 11. Furthermore, in order to adapt to various special geographical environments such as rugged and obstructed steep slopes, uneven and obstructed roads, and to expand the application range of the balance vehicle, this device also includes a wheel-leg structure arranged in a one-to-one correspondence with the two moving wheels 12. The wheel-leg structure is installed between the driver 11 and the load-bearing platform, and 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 component and a knee rotation component, which are installed in sequence between the control unit 13 and the driver 11 and their rotation axes are parallel. The thigh swing component is used to realize the forward and backward swinging of the knee rotation component and the moving wheel 12 as a whole, and the knee rotation component 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 component and the knee rotation component is used to realize the vertical height adjustment of the moving wheel 12.

[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 balance 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 independent swing or a combination of swinging of the two, forming a conversion between various forms of walking postures, and then using the foot steering module to facilitate the adjustment of the moving 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 biaxial servo 2 and two servo fixed chains 3. The first biaxial servo 2 is fixedly mounted on the bottom of the control unit 13 via a fixed base 1. The first biaxial servo 2 has two first rotating steering wheels with their axes coinciding. The two servo fixed chains 3 are located on either side of the first biaxial servo 2 and correspond one-to-one with the two first rotating steering wheels. The upper ends of the servo fixed chains 3 are fixedly connected to the corresponding first rotating steering wheels, and the lower ends are connected to the knee rotation assembly.

[0043] See also Figure 2 and Figure 5 As shown, the knee rotation assembly includes a second biaxial servo 4, an outboard fixed chain 5, and an inboard fixed chain 6. The second biaxial servo 4 has two second rotating steering wheels with overlapping axes, the axes of the second rotating steering wheels being parallel to the axis of the first rotating steering wheel. The two second rotating steering wheels are each fixedly connected to the lower end of a servo fixed chain 3. The outboard fixed chain 5 and the inboard fixed chain 6 are arranged on opposite sides of the second biaxial servo 4 to secure the second biaxial servo 4 to the first foot rotation assembly.

[0044] See also Figures 2 to 6 As shown, the first foot rotating assembly includes a third dual-axis servo 8 and a first servo base 10. The outer housing (fixed end) of the third dual-axis servo 8 is fixedly connected to the lower ends of the outer fixed chain 5 and the inner fixed chain 6, respectively. The third dual-axis servo 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 servo base 10 is fixedly connected to the two third rotating steering wheels, and the second foot rotating assembly is mounted on the first servo base 10.

[0045] See also Figure 2 and Figure 3As shown, the second foot rotation assembly includes a fourth dual-axis servo 7 and a second servo base 9. The fourth dual-axis servo 7 is arranged side by side with the third dual-axis servo 8 and fixed to the first servo base 10. The fourth dual-axis servo 7 has a fourth rotating steering wheel with two axes coinciding and perpendicular to the axis of the third rotating steering wheel. The second servo base 9 is fixedly connected to the two fourth rotating steering wheels, and the driver 11 is fixedly mounted to the second servo base 9 via a motor base 20. Preferably, the driver 11 is a motor, and the moving wheel 12 is fixedly mounted on the output shaft of the motor.

[0046] See also Figure 3 As shown, 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 mounted in the U-shaped groove 21, and two third rotating steering wheels are respectively fixedly connected to two opposite side walls of the U-shaped groove 21. The fourth dual-axis steering gear 7 is fixedly mounted in the L-shaped groove 22, and one of the fourth rotating steering wheels 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 this 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, all of which are electrically connected to each other. The execution module and the power distribution module are also electrically connected to the first biaxial servo 2, the second biaxial servo 4, the third biaxial servo 8, the fourth biaxial servo 7, and the driver 11, respectively. The upper end of the first biaxial servo 2 is fixed to the support frame via a fixed base 1. Furthermore, a road surface acquisition module is mounted on the support frame and is electrically connected to the processing module. This module provides real-time road surface structure feedback to the processing module to switch the motion mode of the moving wheels 12.

[0049] See also Figures 1 to 6 As shown, the method for changing the configuration of the changeable balancing vehicle includes the following steps:

[0050] Conformation state 1: 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 horizontal 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 moving wheel 12 is in full contact with the ground, starts the driver 11 to drive the moving wheel 12 to rotate to achieve rolling movement of the moving wheel 12, and starts the thigh swing component and the knee rotation component respectively during the movement process, and realizes the front and back swing of the knee rotation component and the moving wheel 12 as a whole through the thigh swing component, and the front and back swing of the moving wheel 12 alone through the knee rotation component, so that the rolling of the moving wheel 12 and the walking coordinated movement are achieved;

[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 the 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, thereby realizing the single walking motion 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. The foot's downward and upward movement is simulated by the third rotating steering wheel on the third biaxial servo 8 driving the first servo base 10. Left and right foot rotation is simulated by the fourth rotating steering wheel on the fourth biaxial servo 7 driving the first servo base 9 to swing. The driver 11 is locked to the platform of the second servo base 9 via the motor base 20, driving the moving wheel 12 to rotate. Thus, the third and fourth biaxial servos 8 and 7 drive the first and second servo bases 10 and 9 to rotate in coordination, forming a variety of gait configurations.

[0054] The working principle of this device is more detailed: 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 drive and moving wheels arranged at the bottom of the wheel-leg structures. The control unit integrates a processing module, an execution module, a power distribution module, and an acquisition module, and can be programmed, written, and modified. The control unit controls the servos or motors by connecting to each servo and motor. There is sufficient space on the wheel-leg structure for wiring layout to ensure that the operation of each servo will not be interfered with by the wiring structure. Each link structure is relatively independent of the servo, which is maintainable and easy to operate. The servo fixed base 1 fixes the first biaxial servo 2, which is fixed to the upper end of the servo fixed chain 3 through the first rotating steering wheel, so that the servo fixed chain 3 swings to simulate the thigh swinging forward and backward; the second biaxial servo 4 is fixed to the lower end of the servo fixed chain 3 through the second rotating steering wheel, and the second biaxial servo 4 and the third biaxial servo 8 are locked by the outer fixed chain 5 and the inner fixed chain 6, so that the second biaxial servo 4 drives the third biaxial servo 8 and the part below it to rotate and swing forward and backward at the lower end of the servo fixed chain 3, thereby realizing the knee flexion and extension simulation, that is, the calf swing simulation; the third biaxial servo 8 is placed in the U-shaped groove 21 on the first servo base 10, and uses two third biaxial servo 8s to rotate and swing forward and backward. The rotating steering wheel is fixedly connected and locked to the two opposing walls of the U-shaped groove 21, thereby rotating the first steering gear base 10 with the fourth biaxial steering gear and its lower portion, simulating the up and down rotation of the ankle and achieving foot lifting and pressing. The fourth biaxial steering gear 7 is fixedly installed in the L-shaped groove of the first steering gear base 10, arranged in parallel with the third biaxial steering gear. The two fourth rotating steering wheels on the fourth biaxial steering gear 7 are used to lock the second steering gear base 9. The fourth rotating steering wheels control the rotation of the second steering gear base 9 to simulate left and right rotation of the foot. The rotation axis of the left and right foot rotation is perpendicular to the axis of the moving wheel 12, allowing the measuring disc of the moving wheel 12 to easily contact the ground, thereby switching the travel mode of the balance vehicle. Furthermore, by controlling the third biaxial steering gear 8 and the fourth biaxial steering gear 7 to drive the rotation of the first steering gear base 10 and the second steering gear base 9, the moving wheel 12 can be transformed into different motion forms, forming a variety of gait configurations, such as transforming from a wheeled robot to a footed robot, adapting to different and specific geographical environments and expanding its scope of application.

[0055] The adaptable self-balancing scooter provided by this device utilizes a deformable structure and intelligent control system, allowing it to adapt to various complex terrains and environments based on the needs of different scenarios. Compared to traditional self-balancing scooters, this significantly improves mobility and stability and opens up new applications. Furthermore, as a new type of transportation, the adaptable self-balancing scooter has a broad application prospect. In specialized fields such as exploration and rescue, the adaptable self-balancing scooter can leverage its unique advantages to provide workers with a reliable means of transportation.

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

Claims

1. A variable configuration balancing vehicle, comprising a carrying platform and two movable wheels (12) arranged at the bottom of the carrying platform, characterized in that: It also includes a wheel-leg structure arranged in a one-to-one correspondence with the two moving wheels (12), the wheel-leg structure being installed between the carrying platform and the moving wheels (12), and the wheel-leg structure comprising: A thigh swing assembly comprises a first dual-axis steering gear (2) and a large arm, wherein the first dual-axis steering gear (2) is fixedly mounted on the bottom of the carrying platform, the first dual-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; A 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 wheels with overlapping axes, the axes of the second rotating steering wheels are parallel to the axes of the first rotating steering wheels, and the two second rotating steering wheels 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 on the lower end of the forearm, and an output end of the foot steering module is connected to the moving wheel (12) for adjusting the travel posture of the moving wheel (12); 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 servo (4), 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; The forearm comprises an outer fixing chain (5) and an inner fixing chain (6), which are arranged oppositely on both sides of the second dual-axis steering gear (4); the upper ends of the outer fixing chain (5) and the inner fixing 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; The first foot rotation assembly comprises: a third dual-axis steering gear (8), respectively fixedly connected to the lower ends of the outer fixed chain and the inner fixed chain, the third dual-axis steering gear (8) 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; a first steering gear base (10), fixedly connected to the two third rotating steering wheels, the second foot rotation assembly being mounted on the first steering gear base (10); The second foot rotation assembly comprises: 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 wheel with two axes coinciding and perpendicular to the axis of the third rotating steering wheel; a second steering gear base (9) fixedly connected to the two fourth rotating steering wheels, and the moving wheel (12) is mounted on the second steering gear base (9).

2. A transformable balancing vehicle according to claim 1, characterized in that: The thigh swing assembly comprises: Two steering gear fixing chains (3) are respectively 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.

3. A transformable balancing vehicle according to claim 1, characterized in that: The first steering gear base (10) is provided with a U-shaped groove (21) and an L-shaped groove (22), respectively; the third dual-axis steering gear (8) is installed in the U-shaped groove (21), and the two third rotating steering wheels 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 wheels passes through the side wall of the L-shaped groove (22) and is fixed to the second steering gear base (9).

4. The variable configuration balance vehicle according to claim 1, characterized in that: A control unit (13) is also provided on the carrier platform. The control unit (13) includes a processing module, an execution module, and a power distribution module, which are electrically connected to each other. The execution module and the power distribution module are also electrically connected to the first dual-axis steering engine (2), the second dual-axis steering engine (4), and the foot steering module, respectively, for automatically adjusting the motion mode of the moving wheel (12).

5. A transformable balancing vehicle according to claim 4, characterized in that: A road surface acquisition module is installed on the carrying platform, 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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