All-terrain wheel-legged vehicle

Abstract

The invention relates to the technical field of four-wheel vehicles, in particular to an all-terrain wheel-leg vehicle which solves the problem that in the prior art, a wheel-leg mechanism cannot be steered and folded at the same time, the all-terrain wheel-leg vehicle comprises a vehicle body and the wheel-leg mechanism, a wheel-leg rotating mechanism and a steering transmission mechanism are arranged on the vehicle body, and the wheel-leg mechanism is connected with the wheel-leg rotating mechanism through an L-shaped connecting piece. The wheel leg rotating mechanism is connected with the vertical part of the L-shaped connecting piece, the wheel leg mechanism is rotationally connected with the transverse part of the L-shaped connecting piece, and the steering transmission mechanism penetrates through the vertical part of the L-shaped connecting piece to be connected with the wheel leg mechanism. The swing folding vehicle has the advantages that the L-shaped connecting piece is arranged between the wheel-leg mechanism and the vehicle body, the wheel-leg mechanism is rotationally connected with the L-shaped connecting piece, the wheel-leg rotating mechanism drives the wheel-leg mechanism to swing front and back through the L-shaped connecting piece, and it is guaranteed that the vehicle has the swing folding function; and the wheel leg mechanism can also perform wheel steering under the condition that the wheel leg mechanism can be folded, so that the functionality of the vehicle is improved.

Description

Technical Field

[0001] The invention relates to the technical field of four-wheel vehicles, in particular to an all-terrain wheel-leg vehicle. Background Art

[0002] Traditional vehicles have certain disadvantages in overcoming obstacles due to the limitations of the chassis structure. In order to take into account steering, the suspension travel of traditional vehicles is often limited, which causes traditional vehicles to encounter difficulties when facing non-structural or complex terrain. Therefore, it is of great research value to develop all-terrain vehicles that take into account different terrains. The wheel-leg structure has advantages in passability and maneuverability because it takes into account the advantages of both leg-type and wheel-type mechanisms. If the integration problem between the steering system and the wheel-leg joint rotation can be solved, it will have great research value.

[0003] The patent with publication number CN116238615A discloses a small foldable wheel-leg mobile robot, which consists of four foldable wheel legs and a fuselage. Each foldable wheel leg consists of a foot pad, a calf, a wheel, a wheel motor, a calf folding motor, and a thigh. The fuselage consists of a thigh swing motor, a top panel, a bottom panel, a side panel, a battery, and a control system. The top panel and the bottom panel are fixed to the side panels respectively, and the cavity formed between the panels is used to place the load, battery, and control system components. The foot pad is fixedly installed at the bottom of the calf; the top of the calf is hinged to the bottom of the thigh, and the hinge position of the calf and the thigh can rotate relative to each other. A wheel is installed at the connection between the calf and the thigh, and a wheel motor is installed at the wheel axle position for driving the wheel. The thigh is installed on the fuselage, and the thigh can swing under the drive of the thigh swing motor.

[0004] The foldable wheel legs of the above-mentioned mobile robot can drive the wheel legs to fold through the thigh swing motor and the calf folding motor, but at the same time, due to the limitation of the output direction of the swing motor and the folding motor, the vehicle on the foldable wheel legs cannot turn, and the robot can only move forward and backward when moving forward through the wheels, and cannot turn, which limits the function of the robot. Summary of the invention

[0005] The present invention provides an all-terrain wheel-leg vehicle, which solves the problem in the prior art that the wheel-leg mechanism cannot be steered and folded at the same time.

[0006] The technical solution of the present invention is achieved in this way: An all-terrain wheel-leg vehicle comprises a vehicle body and a wheel-leg mechanism. The vehicle body is provided with a wheel-leg rotating mechanism and a steering transmission mechanism. The wheel-leg mechanism is connected to the wheel-leg rotating mechanism through an L-shaped connecting piece. The wheel-leg rotating mechanism is connected to the vertical part of the L-shaped connecting piece. The wheel-leg mechanism is rotationally connected to the horizontal part of the L-shaped connecting piece. The steering transmission mechanism passes through the vertical part of the L-shaped connecting piece and is connected to the wheel-leg mechanism. An L-shaped connecting piece is provided between the wheel-leg mechanism and the vehicle body, and the wheel-leg mechanism is rotationally connected to the L-shaped connecting piece. The wheel-leg rotating mechanism drives the wheel-leg mechanism to swing forward and backward through the L-shaped connecting piece, so as to ensure that the vehicle has a folding and storage function. In addition, the wheel-leg mechanism can rotate in the vertical direction, so that the wheel-leg mechanism can meet the conditions for wheel steering, that is, the wheel-leg mechanism can also perform wheel steering when it can be folded, thereby improving the functionality of the vehicle.

[0007] The steering transmission mechanism includes a rotating piece arranged on the wheel-leg mechanism and a pull rod assembly arranged on the vehicle body, the end of the pull rod assembly is rotatably connected to the connecting assembly, the connecting assembly is provided with a second slide groove, one end of the rotating piece is connected to a second slider, and the second slider is slidably matched with the second slide groove. The steering transmission mechanism drives the connecting assembly to move left and right through the pull rod assembly, and the cooperation between the second slide groove and the second slider during the movement of the connecting assembly can drive the wheel-leg mechanism to deflect the angle, thereby realizing the steering of the vehicle; in addition, the wheel-leg mechanism can rotate freely around the pull rod assembly, specifically, when the wheel-leg rotating mechanism drives the wheel-leg mechanism to swing and fold, the wheel-leg mechanism rotates around the pull rod assembly, and when the wheel-leg mechanism rotates, it will not interfere with the steering transmission mechanism, and the wheels of the vehicle can be steered, thereby improving the flexibility of the wheel-leg vehicle.

[0008] The tie rod assembly includes a steering tie rod slidably arranged on the vehicle body and a steering servo fixedly arranged on the vehicle body, the output end of the steering servo is connected to a rocker arm, the rocker arm is provided with a first slide groove, the steering tie rod is provided with a first slider, and the first slider is slidably matched with the first slide groove. The steering tie rod is transversely arranged on the vehicle body, when the wheel needs to be turned, the steering servo drives the rocker arm to swing, and during the swinging process of the rocker arm, the first slider slides in the first slide groove, and at the same time, the first slide groove drives the steering tie rod to slide in the left and right directions on the vehicle body through the first slider, thereby realizing the relative movement of the connecting assembly and the rotating plate, and realizing the steering of the wheel.

[0009] The connecting assembly includes a bearing seat and a slide plate, the bearing seat is connected to the end of the steering tie rod, the bearing seat is connected to the slide plate, and the second slide plate is arranged on the slide plate. The inner ring of the ball bearing is clearance-matched with the steering tie rod, the outer ring of the ball bearing is interference-matched with the bearing seat, and the bearing seat can rotate freely on the steering tie rod, meeting the conditions for the wheel-leg mechanism to realize the swing and folding function; in addition, the angle between the arrangement direction of the second slide plate and the moving direction of the steering tie rod is greater than zero. Specifically, the second slide plate is arranged along the front and rear direction of the vehicle, ensuring that when the steering tie rod drives the slide plate to move left and right, the second slide plate on the slide plate can drive the wheel-leg mechanism to rotate through the second slider to realize the vehicle steering.

[0010] The steering tie rod is threadedly connected with a limited position fastening nut, which is limitedly matched with the two sides of the bearing seat. The limited position fastening nut can adjust the position of the bearing seat on the steering tie rod to ensure that the bearing seat is accurately installed on the steering tie rod, and can also fine-tune the deflection direction of the wheel leg mechanism to adjust the wheel deflection angle in the initial state of the vehicle to ensure that the left and right wheels of the vehicle are in a parallel state.

[0011] The front and rear of the vehicle body are respectively provided with a tie rod assembly, and the two ends of the tie rod assembly are respectively connected to a wheel-leg mechanism, and half of the distance between the steering tie rods in the two tie rod assemblies is greater than the length of the wheel-leg mechanism. When the wheel-leg mechanism is folded, interference between the wheel-leg mechanism at the front of the vehicle body and the wheel-leg mechanism at the rear is avoided.

[0012] The wheel-leg rotating mechanism includes a hollow rotating platform and a rotating motor, both of which are arranged on the vehicle body, and the rotating motor is connected to the hollow rotating platform through a reducer, and the output end of the hollow rotating platform is connected to the vertical part of the L-shaped connecting piece. The rotating motor can drive the hollow rotating platform to move, so that the hollow rotating platform drives the L-shaped connecting piece to rotate, thereby realizing the swinging and folding of the wheel-leg mechanism; in addition, the central axis of the steering rod coincides with the rotation axis of the hollow rotating platform, avoiding interference during the rotation of the hollow rotating platform or during the movement of the steering rod, and ensuring the stable transmission of the wheel-leg rotating mechanism.

[0013] The wheel-leg mechanism includes a wheel and a thigh, the upper end of the thigh is rotatably connected to the lateral part of the L-shaped connecting piece, the lower end of the thigh is movably connected to the calf, a shock absorber is arranged between the thigh and the calf, a wheel hub motor is arranged on the inner side of the wheel, and the wheel is connected to the lower end of the calf through the wheel hub motor. The wheel hub motor can drive the wheel to rotate, thereby realizing the movement of the vehicle; the angle between the thigh and the calf is controlled by the shock absorber, when the vehicle passes through uneven ground, the impact caused by the uneven ground will reduce the angle between the thigh and the calf, and at the same time the shock absorber absorbs the impact, effectively reducing the impact of the uneven ground on the vehicle body, and ensuring the stability of the vehicle body during driving.

[0014] The vehicle body includes a longitudinal beam, a cross beam and a vertical beam, and the longitudinal beams, the cross beams and the vertical beams are connected to each other in pairs to form a rectangular frame; the hollow rotating platform is installed on the longitudinal beam through a mounting plate; a tie rod fixing plate is provided on the mounting plate, and the steering tie rod is slidably set on the tie rod fixing plate through a linear bearing; a servo fixing plate is provided on the cross beam, and the steering servo is installed on the servo fixing plate.

[0015] The bottom of the rectangular frame is provided with a bottom plate, the four sides of the rectangular frame are provided with side plates, the top of the rectangular frame is provided with a top plate, and the lower side of the bottom plate is provided with a cushion block; a battery and a controller are provided in the rectangular frame, the steering servo and the rotary motor are connected to the controller, and the controller is connected to the battery. The bottom plate, the side plates and the top plate together form the outer cover of the vehicle body, providing protection for the internal structure of the vehicle body; in addition, when the vehicle is stored and folded, the cushion block provides support for the vehicle body.

[0016] The L-shaped connecting piece is connected to an L-shaped reinforcing piece, and the L-shaped reinforcing piece is connected to a protective shell. The L-shaped reinforcing pieces are arranged on both sides of the L-shaped connecting piece, and the protective shell is connected to the L-shaped reinforcement by screws. The L-shaped reinforcing piece can enhance the structural strength of the L-shaped connecting piece, ensure the connection strength between the wheel-leg mechanism and the vehicle body, and ensure the stability of the vehicle structure.

[0017] The beneficial effects of the present invention are: 1. An L-shaped connecting piece is provided between the wheel-leg mechanism and the vehicle body, and the wheel-leg mechanism is rotatably connected to the L-shaped connecting piece. The wheel-leg rotating mechanism drives the wheel-leg mechanism to swing back and forth through the L-shaped connecting piece, thereby ensuring that the vehicle has a swinging and folding function; in addition, a single wheel-leg mechanism can rotate in a vertical direction, thereby enabling the wheel-leg mechanism to meet the conditions for wheel steering, that is, the wheel-leg mechanism can perform wheel steering when it can be folded, thereby improving the functionality of the vehicle.

[0018] 2. The pull rod assembly drives the second slide groove and the second slider to move relative to each other, thereby driving the wheel-leg mechanism to deflect the angle, thereby realizing vehicle steering.

[0019] 3. The wheel-leg rotating mechanism can drive the wheel-leg mechanism to swing back and forth, so that the vehicle has the function of leg-foot type movement. At the same time, the rotation of the wheel of the wheel-leg mechanism makes the vehicle have the function of wheel type movement, that is, the vehicle can take into account both the leg-foot type structure and the wheel type structure, thereby improving the vehicle's passability and flexibility on uneven ground.

[0020] 4. The front wheels and rear wheels of the vehicle can move and steer independently, and the steering mode and driving mode of the vehicle can be adjusted as needed according to different terrain structures to improve the applicability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 This is a schematic structural diagram of an all-terrain wheel-leg vehicle according to the present invention; Figure 2 It is a schematic diagram of the internal structure of a wheel-leg vehicle; Figure 3 It is a schematic diagram of the body structure of a wheel-leg vehicle; Figure 4 It is a schematic diagram of the wheel-leg rotation mechanism; Figure 5 It is a schematic diagram of the steering transmission mechanism; Figure 6 A partial enlargement of the steering transmission mechanism Figure 1 ; Figure 7 A partial enlargement of the steering transmission mechanism Figure 2 ; Figure 8 A partial enlargement of the steering transmission mechanism Figure 3 ; Fig. 9 It is a schematic diagram of the wheel-leg mechanism; Fig.10 It is a schematic diagram of front wheel steering or rear wheel steering of a wheel-leg vehicle; Fig.11 It is a schematic diagram of four-wheel steering of a wheel-leg vehicle; Fig.12 This is a schematic diagram of a three-wheeled vehicle; Fig.13 It is a schematic diagram of the folding and stowing of the wheel-leg vehicle.

[0023] In the figure: 1, vehicle body, 2, wheel-leg rotating mechanism, 3, steering transmission mechanism, 4, wheel-leg mechanism, 6, wheel hub motor, 7, bottom plate, 8, pad, 9, side plate, 10, top plate, 11. Longitudinal beam, 12. Horizontal beam, 13. Vertical beam, 21. Hollow rotating platform, 22. Reducer, 23. Rotating motor, 24. Controller, 25. Mounting sheet, 26. L-shaped connecting sheet, 27. L-shaped reinforcing sheet, 31. Steering servo, 32. Steering servo fixing plate, 33. Rocker arm, 34. Stud, 35. Limit nut, 36. Fastening nut, 37. Lubricating copper sleeve, 38. Steering tie rod, 39. Bearing seat, 310. Limit fastening nut, 311. First ball bearing, 312. Linear bearing, 313. Tie rod fixing plate, 314. Slide plate, 315. Flat head hexagon socket bolt, 316. Second ball bearing, 317. Lubricating copper gasket, 318. Rotating plate, 319. Cross roller bearing, 320. Protective shell, 41. Thigh, 43. Connecting shaft, 44. Calf, 45. L-shaped hanging ear, DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Embodiment 1, as Figure 1 , Figure 2 As shown, an all-terrain wheel-leg vehicle includes a vehicle body 1 and a wheel-leg mechanism 4. The vehicle body 1 is provided with a wheel-leg rotating mechanism 2 and a steering transmission mechanism 3. The wheel-leg mechanism 4 is connected to the wheel-leg rotating mechanism 2 through an L-shaped connecting piece 26. The wheel-leg rotating mechanism 2 is connected to the vertical part of the L-shaped connecting piece 26. The wheel-leg mechanism 4 is rotationally connected to the lateral part of the L-shaped connecting piece 26. The steering transmission mechanism 3 passes through the vertical part of the L-shaped connecting piece 26 and is connected to the wheel-leg mechanism 4. Specifically, the wheel-leg mechanism 4 is connected to the L-shaped connecting piece 26 through a cross roller bearing 319. The lateral part of the L-shaped connecting piece 26 is connected to the outer ring of the cross roller bearing 319 through bolts. The wheel-leg mechanism 4 is connected to the inner ring of the cross roller bearing 319 through bolts. The wheel-leg mechanism 4 can The wheel-leg rotating mechanism 2 drives the wheel-leg mechanism 4 to swing forward and backward through the L-shaped connecting piece 26, so that the vehicle can move in a leg-foot manner, and the wheel-leg mechanism 4 can be folded, which is convenient for the storage of the vehicle; the wheels on the wheel-leg mechanism 4 can enable the vehicle to move in a wheeled manner; the steering transmission mechanism 3 can drive a single wheel-leg mechanism 4 to rotate, so that the wheels on the wheel-leg mechanism 4 can deflect left and right relative to the vehicle body 1, so that the vehicle can turn left and right when moving in a wheeled manner; the wheel-leg rotating mechanism 2 and the steering transmission mechanism 3 do not interfere with each other, and the wheel-leg mechanism 4 can also perform wheel steering when it can be folded, thereby improving the flexibility and functionality of the vehicle.

[0026] Further, if Figure 5 , Figure 8As shown, the steering transmission mechanism 3 includes a rotating plate 318 arranged on the wheel-leg mechanism 4 and a pull rod assembly arranged on the vehicle body 1, the end of the pull rod assembly is rotatably connected to a connecting assembly, a second sliding groove is provided on the connecting assembly, one end of the rotating plate 318 is connected to a second slider, and the second slider is slidably matched with the second sliding groove. Specifically, the rotating piece 8 is connected to the inner ring of the cross roller bearing 319 by bolts. When the rotating piece 8 rotates, the inner ring of the cross roller bearing 319 drives the wheel-leg mechanism 4 to rotate, thereby realizing the deflection of the wheel relative to the vehicle body 1; the pull rod assembly is horizontally arranged on the vehicle body 1, and the pull rod assembly can drive the connecting assembly to move left and right. In addition, in this embodiment, the second slide groove is arranged along the front and rear direction of the vehicle. During the movement of the connecting assembly, the cooperation between the second slide groove and the second slider can drive the wheel-leg mechanism 4 to rotate, thereby realizing the angular deflection of the wheel and realizing the steering of the vehicle; since the connecting assembly is rotatably connected to the end of the pull rod assembly, the wheel-leg mechanism 4 can rotate around the pull rod assembly, realizing the front and rear swinging and folding storage of the wheel-leg assembly 4, and realizing the leg-foot movement of the vehicle; and when the wheel-leg mechanism rotates, it will not cause interference to the steering transmission mechanism, thereby improving the flexibility of the wheel-leg vehicle.

[0027] Further, if Figure 6 As shown, the rod assembly includes a steering rod 38 slidably arranged on the vehicle body 1 and a steering servo 31 fixedly arranged on the vehicle body 1. The output end of the steering servo 31 is connected to a rocker arm 33. The rocker arm 33 is provided with a first slide groove. The steering rod 38 is provided with a first slider. The first slider is slidably matched with the first slide groove. In this embodiment, the first slide groove is arranged vertically; the steering servo 31 can drive the rocker arm 33 to swing in the left and right directions. During the swinging process of the rocker arm 33, the first slide groove drives the first slider to move left and right, thereby driving the steering rod 38 to move left and right on the vehicle body 1, thereby realizing the relative movement of the connecting assembly and the rotating piece 318, and realizing the wheel steering.

[0028] Further, if Figure 5 , Figure 7 , Figure 8 As shown, the connection assembly includes a bearing seat 39 and a slide plate 314, the bearing seat 39 is rotatably connected to the end of the steering tie rod 38, the bearing seat 39 is connected to the slide plate 314, and the second slide is arranged on the slide plate 314. Specifically, the bearing seat 39 is connected to the steering tie rod 38 through the first ball bearing 311, the inner ring of the first ball bearing 311 is clearance-matched with the steering tie rod 38, the outer ring of the first ball bearing 311 is interference-matched with the bearing seat 39, and the bearing seat 39 can rotate freely on the steering tie rod 38, which meets the conditions for the wheel-leg mechanism 4 to realize the swing folding function.

[0029] Further, if Figure 5 , Figure 7As shown, the steering tie rod 38 is threadedly connected with a limited fastening nut 310, and the limited fastening nut 310 is limitedly matched with the two sides of the bearing seat 39. The limited fastening nut 310 can adjust the position of the bearing seat 39 on the steering tie rod 38 to ensure that the bearing seat 39 is accurately installed on the steering tie rod, and at the same time can achieve fine adjustment of the deflection direction of the wheel leg mechanism 4, and achieve adjustment of the wheel deflection angle in the initial state of the vehicle, to ensure that the left and right wheels of the vehicle are in a parallel state.

[0030] Furthermore, a tie rod assembly is provided at the front and rear of the vehicle body 1, respectively, and the two ends of the tie rod assembly are connected to a wheel-leg mechanism 4, and half of the distance between the steering tie rods 38 in the two tie rod assemblies is greater than the length of the wheel-leg mechanism 4. When the wheel-leg mechanism 4 is folded, interference between the wheel-leg mechanism 4 at the front of the vehicle body and the wheel-leg mechanism 4 at the rear is avoided; and the two tie rod assemblies respectively control the front wheels and rear wheels of the vehicle to deflect to achieve vehicle steering, such as Fig.10 As shown in the figure, when the front wheel deflects to the left, the vehicle can turn left; when the rear wheel deflects to the left, the vehicle can turn right; when the front and rear wheels deflect in opposite directions, the vehicle can turn left or right, and the turning radius of the vehicle when four-wheel steering is small, which is convenient for the vehicle to turn in a small space. In addition, Fig.11 As shown, when the front wheels and the rear wheels have the same deflection direction, the vehicle body 1 can move obliquely, and the vehicle body 1 can be moved without changing its direction, thereby enhancing the applicability of the vehicle.

[0031] Embodiment 2, on the basis of embodiment 1, is an all-terrain wheel-leg vehicle, wherein the first slider is a stud 34, one end of the stud 34 is fixedly connected to the steering screw 38, the stud 34 is inserted into the first slide groove, a lubricating copper sleeve 37 is sleeved on the stud 34, the lubricating copper sleeve 37 cooperates with the side wall of the first slide groove to reduce the transmission friction between the first slide groove and the first slider, and improves the flexibility of the steering transmission mechanism; both sides of the lubricating copper sleeve 37 are provided with limiting nuts 35, the limiting nuts 35 limit the position of the lubricating copper sleeve 37 on the stud 34, ensure that the lubricating copper sleeve 37 corresponds to the position of the first slide groove, and ensure that the installation position of the lubricating copper sleeve 37 is accurate; fastening nuts 36 are provided on the outer sides of the two limiting nuts 35, the fastening nuts 36 lock and fix the limiting nuts 35, and ensure the stability of the limiting nuts 35 on the lubricating copper sleeve 37.

[0032] Furthermore, the second slide groove on the slide groove plate 314 is a stepped groove, and the second sliding block includes a flat head hexagon socket bolt 315, which passes through the stepped groove and is threadedly connected to the rotating plate 318. The head of the flat head hexagon socket bolt 315 cooperates with the stepped groove, so that the second sliding block will not affect the connection between the slide groove plate 314 and the bearing seat 39; the flat head hexagon socket bolt 315 is sleeved with a second ball bearing 316 and a lubricating copper gasket 317, the second ball bearing 316 cooperates with the inner wall of the stepped groove, and the lubricating copper gasket 317 cooperates with the bottom surface of the slide groove plate 314, and the second ball bearing 316 and the lubricating copper gasket 317 work together to reduce the friction between the flat head hexagon socket bolt 315 and the stepped groove on the second slide groove.

[0033] Embodiment 3, based on embodiment 1, an all-terrain wheeled vehicle, such as Figure 4 As shown, the wheel-leg rotating mechanism 2 includes a hollow rotating platform 21 and a rotating motor 23. The hollow rotating platform 21 and the rotating motor 23 are both arranged on the vehicle body 1. The rotating motor 23 is connected to the hollow rotating platform 21 through a reducer 22. The output end of the hollow rotating platform 21 is connected to the vertical part of the L-shaped connecting piece 26. In this embodiment, the reducer 22 is a right-angle reducer, which is used to reduce speed and increase torque. At the same time, the right-angle reducer can change the installation direction of the rotating motor 23 on the vehicle body 1, reduce the lateral occupied space of the wheel-leg rotating mechanism 2, and effectively reduce the lateral width of the vehicle body 1. The rotating motor 23 drives the hollow rotating platform 21 to move through the reducer 22, so that the hollow rotating platform 21 drives the L-shaped connecting piece 26 to rotate, thereby realizing the swinging and folding of the wheel-leg mechanism 4; the central axis of the steering tie rod 38 coincides with the rotation axis of the hollow rotating platform 21, avoiding interference during the rotation of the hollow rotating platform 21 or during the movement of the steering tie rod 38, and ensuring the stable transmission of the wheel-leg rotating mechanism 2.

[0034] Each wheel is provided with a wheel-leg rotating mechanism 2, that is, each wheel-leg mechanism 4 swings independently; when the vehicle is in a normal state, the vehicle body 1 is supported by four wheel-leg mechanisms 4 and drives the vehicle body 1 to move; when one of the wheel-leg mechanisms 4 fails and cannot be used, the vehicle body 1 is controlled to be supported by three wheel-leg mechanisms 4, such as Fig.12 As shown, at this time, the failed wheel-leg mechanism 4 can be swung to a horizontal state, so that the vehicle can be used in an emergency and the vehicle's anti-destruction ability is improved.

[0035] Further, if Fig. 9As shown, the wheel-leg mechanism 4 includes a wheel and a thigh 41. The upper end of the thigh 41 is rotatably connected to the lateral part of the L-shaped connecting plate 26. The lower end of the thigh 41 is movably connected to the calf 44. A shock absorber is provided between the thigh 41 and the calf 44. A hub motor 6 is provided on the inner side of the wheel, and the wheel is connected to the lower end of the calf 44 through the hub motor 6. The upper end of the thigh 41 is connected to the inner ring of the cross roller bearing 319, and the lower end of the thigh 41 is connected to the calf 44 through a connecting shaft 43. A planar thrust bearing is sleeved on the connecting shaft 43, and the planar thrust bearing is located between the thigh 41 and the calf 4; an L-shaped ear 45 is provided on the calf 44, one end of the shock absorber is connected to the middle part of the thigh 41, and the other end of the shock absorber is connected to the L-shaped ear 45; the hub motor 6 can drive the wheel to rotate, thereby realizing the movement of the vehicle; the angle between the thigh 41 and the calf 44 is controlled by the shock absorber. When the vehicle passes over uneven ground, the impact caused by the uneven ground will reduce the angle between the thigh 41 and the calf 44. At the same time, the shock absorber absorbs the impact, effectively reducing the impact of the uneven ground on the vehicle body, and ensuring the stability of the vehicle body during driving.

[0036] Further, if Figure 3 As shown, the vehicle body 1 includes a longitudinal beam 11, a transverse beam 12 and a vertical beam 13, and the longitudinal beams 11, the transverse beams 12 and the vertical beams 13 are connected to each other in pairs to form a rectangular frame; the hollow rotating platform 21 is installed on the longitudinal beam 11 through a mounting plate 25; a tie rod fixing plate 313 is provided on the mounting plate 25, and a steering tie rod 38 is slidably set on the tie rod fixing plate 313 through a linear bearing 312; a steering gear fixing plate 32 is provided on the transverse beam 12, and a steering steering gear 31 is installed on the steering gear fixing plate 32. Specifically, four longitudinal beams 11, four transverse beams 12 and four vertical beams 13 form a rectangular frame, and two transverse beams 12 are provided in the middle of the bottom of the rectangular frame for installing batteries and controllers 24.

[0037] Furthermore, a bottom plate 7 is provided at the bottom of the rectangular frame, side plates 9 are provided around the rectangular frame, a top plate 10 is provided at the top of the rectangular frame, and a cushion block 8 is provided on the lower side of the bottom plate 7; a battery and a controller 24 are provided inside the rectangular frame, the steering servo 31 and the rotary motor 23 are both connected to the controller 24, and the controller 24 is connected to the battery. The bottom plate 7, the side plates 9 and the top plate 10 together form an outer cover of the vehicle body, providing protection for the internal structure of the vehicle body 1; in addition, when the vehicle is stored and folded, the cushion block 8 provides support for the vehicle body.

[0038] like Fig.13 As shown, when all wheel-leg mechanisms 4 are swung to a horizontal state, the vehicle is folded, effectively reducing the space occupied by the vehicle and facilitating temporary storage of the vehicle; at this time, the cushion block 8 provides support for the vehicle body 1 to ensure that the vehicle is placed stably.

[0039] Furthermore, an L-shaped reinforcing sheet 27 is connected to the L-shaped connecting sheet 26, and a protective shell 320 is connected to the L-shaped reinforcing sheet 27. The L-shaped reinforcing sheet 27 is arranged on both sides of the L-shaped connecting sheet 26, and the protective shell 320 is connected to the L-shaped reinforcing sheet 27 by screws. The L-shaped reinforcing sheet 27 can enhance the structural strength of the L-shaped connecting sheet 26, ensure the connection strength between the wheel-leg mechanism 4 and the vehicle body 1, and ensure the stability of the vehicle structure; the protective shell 320 can provide protection for the steering transmission mechanism 3.

[0040] 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, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An all-terrain wheel-leg vehicle, comprising a vehicle body (1) and a wheel-leg mechanism (4), characterized in that: A wheel-leg rotating mechanism (2) and a steering transmission mechanism (3) are provided on the vehicle body (1); the wheel-leg rotating mechanism (4) is connected to the wheel-leg rotating mechanism (2) via an L-shaped connecting piece (26); the wheel-leg rotating mechanism (2) is connected to the vertical portion of the L-shaped connecting piece (26); the wheel-leg rotating mechanism (4) is rotationally connected to the horizontal portion of the L-shaped connecting piece (26); and the steering transmission mechanism (3) passes through the vertical portion of the L-shaped connecting piece (26) and is connected to the wheel-leg mechanism (4); The steering transmission mechanism (3) comprises a rotating plate (318) arranged on the wheel-leg mechanism (4) and a pull rod assembly arranged on the vehicle body (1); the end of the pull rod assembly is rotatably connected to a connecting assembly, a second sliding groove is provided on the connecting assembly, one end of the rotating plate (318) is connected to a second sliding block, and the second sliding block is slidably matched with the second sliding groove.

2. The all-terrain wheel-leg vehicle according to claim 1, characterized in that: The pull rod assembly comprises a steering pull rod (38) slidably arranged on the vehicle body (1) and a steering servo (31) fixedly arranged on the vehicle body (1); the output end of the steering servo (31) is connected to a rocker arm (33); the rocker arm (33) is provided with a first slide groove; the steering pull rod (38) is provided with a first slider; the first slider is slidably matched with the first slide groove.

3. The all-terrain wheel-leg vehicle according to claim 2, characterized in that: The connecting assembly comprises a bearing seat (39) and a slide groove piece (314); the bearing seat (39) is rotatably connected to the end of the steering tie rod (38); the bearing seat (39) is connected to the slide groove piece (314); and the second slide groove is arranged on the slide groove piece (314).

4. The all-terrain wheel-leg vehicle according to claim 3, characterized in that: A limited position fastening nut (310) is threadedly connected to the steering tie rod (38), and the limited position fastening nut (310) is limitedly matched with two sides of the bearing seat (39).

5. The all-terrain wheeled and legged vehicle according to any one of claims 1 to 4, characterized in that: A pull rod assembly is provided at the front and rear of the vehicle body (1), respectively. Both ends of the pull rod assembly are connected to a wheel-leg mechanism (4), respectively. One-half of the distance between the steering pull rods (38) in the two pull rod assemblies is greater than the length of the wheel-leg mechanism (4).

6. The all-terrain wheel-leg vehicle according to claim 5, characterized in that: The wheel-leg rotating mechanism (2) comprises a hollow rotating platform (21) and a rotating motor (23), wherein the hollow rotating platform (21) and the rotating motor (23) are both arranged on the vehicle body (1), the rotating motor (23) is connected to the hollow rotating platform (21) via a reducer (22), and the output end of the hollow rotating platform (21) is connected to the vertical portion of an L-shaped connecting piece (26).

7. The all-terrain wheel-leg vehicle according to claim 1 or 6, characterized in that: The wheel-leg mechanism (4) comprises a wheel and a thigh (41), the upper end of the thigh (41) is rotatably connected to the lateral part of the L-shaped connecting plate (26), the lower end of the thigh (41) is movably connected to the calf (44), a shock absorber is provided between the thigh (41) and the calf (44), a wheel hub motor (6) is provided on the inner side of the wheel, and the wheel is connected to the lower end of the calf (44) via the wheel hub motor (6).

8. The all-terrain wheel-leg vehicle according to claim 7, characterized in that: The vehicle body (1) comprises a longitudinal beam (11), a cross beam (12) and a vertical beam (13), wherein the longitudinal beam (11), the cross beam (12) and the vertical beam (13) are connected to each other in pairs to form a rectangular frame; the hollow rotating platform (21) is mounted on the longitudinal beam (11) via a mounting plate (25); a tie rod fixing plate (313) is provided on the mounting plate (25), and a steering tie rod (38) is slidably mounted on the tie rod fixing plate (313) via a linear bearing (312); a steering gear fixing plate (32) is provided on the cross beam (12), and the steering steering gear (31) is mounted on the steering gear fixing plate (32).

9. The all-terrain wheel-leg vehicle according to claim 8, characterized in that: A bottom plate (7) is provided at the bottom of the rectangular frame, side plates (9) are provided around the rectangular frame, a top plate (10) is provided at the top of the rectangular frame, and a cushion block (8) is provided on the lower side of the bottom plate (7); a battery and a controller (24) are provided in the rectangular frame, the steering servo (31) and the rotating motor (23) are both connected to the controller (24), and the controller (24) is connected to the battery.

10. The all-terrain wheel-leg vehicle according to claim 1 or 9, characterized in that: The L-shaped connecting piece (26) is connected to an L-shaped reinforcing piece (27), and the L-shaped reinforcing piece (27) is connected to a protective shell (320).

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