Wheel-legged all-terrain mobile robot for field environment monitoring and operation

Abstract

The invention discloses a wheel leg type all-terrain mobile robot for field environment monitoring and operation. The wheel leg type all-terrain mobile robot comprises a vehicle body, a front wheel leg module, a rear wheel leg module, a steering module, a leg lifting module, an auxiliary wheel leg mechanism and a damping mechanism. Each of the front wheel leg module and the rear wheel leg module comprises a leg sleeve and a hub motor, and the steering module is arranged in the leg sleeve to drive the hub motor to steer; the leg lifting module lifts front and rear wheel legs by swinging a rocker arm and a servo electric cylinder; the auxiliary wheel leg mechanism controls an auxiliary roller to support the vehicle body through a ball screw lifter; the damping mechanism adopts a double-spring damper to absorb impact. According to the invention, wheel type high-speed movement and foot type obstacle crossing ability are combined, the trafficability, obstacle crossing stability and steering flexibility of complex terrains are improved through module cooperation, and the robot is suitable for scenes such as smart agriculture and emergency rescue.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular, to a wheel-legged all-terrain mobile robot for field environmental monitoring and operation. Background Art

[0002] At present, mobile robots have formed a pattern with multiple technical routes coexisting, and play a key role in scenarios such as smart agriculture, emergency rescue, and geological exploration. Among them, traditional wheeled robots dominate in flat road surface scenarios due to their high mobility and standardized production advantages. However, when facing complex terrains such as mountain gullies, gravel slopes, etc., problems such as slipping, suspension, and even overturning are likely to occur; although legged robots can achieve multi-degree-of-freedom movement through bionic gaits, due to the complex joint drive system and low energy conversion efficiency, it is difficult to meet the requirements of long-time and long-distance operation; although tracked robots have excellent ground adaptability and load capacity, their huge mechanical structure results in a large turning radius, a significant increase in energy consumption, and they are prone to sinking or side slipping on soft soil or steep slopes. It is worth noting that the terrain in hilly and mountainous areas has characteristics such as large slope changes, complex road conditions, and vegetation occlusion. Existing mobile robots generally have technical bottlenecks in which it is difficult to balance passability, stability, and operation efficiency, and there is an urgent need to develop a new type of mobile robot system that is more suitable for complex terrains. Summary of the Invention

[0003] The purpose of this application is to provide a wheel-legged all-terrain mobile robot for field environmental monitoring and operation, which has the advantages of improving passability on complex terrains and enhancing obstacle-crossing stability.

[0004] The present application provides a wheel-leg type all-terrain mobile robot for field environmental monitoring and operation, which includes a vehicle body, a pair of front wheel-leg modules and a pair of rear wheel-leg modules arranged front and rear under the vehicle body, a steering module for driving the front wheel-leg modules and the rear wheel-leg modules to turn, a leg-lifting module for driving the front wheel-leg modules and the rear wheel-leg modules to cross obstacles, as well as an auxiliary wheel-leg mechanism and a shock-absorbing mechanism; both the front wheel-leg module and the rear wheel-leg module include a leg sleeve and a hub motor, and the hub motor is installed at the lower end of the leg sleeve through the shock-absorbing mechanism; the steering module is installed inside the leg sleeve, and its steering end is connected to the hub motor for driving the hub motor to rotate around the central axis of the leg sleeve; the leg-lifting module includes a swing rocker arm and a rocker arm driver installed inside the vehicle body, the swing end of the swing rocker arm is connected to the upper end of the leg sleeve, and the rocker arm driver is connected to the swing rocker arm for driving the swing rocker arm to swing around a fulcrum on the vehicle body so as to lift or lower the leg sleeve; the auxiliary wheel-leg mechanism includes a lifter and an auxiliary roller, the auxiliary roller is rotatably connected to the lifting end of the lifter, and the lifter is installed on the vehicle body and located between the front wheel-leg module and the rear wheel-leg module for controlling the lifting of the auxiliary roller so as to support the vehicle body after the front wheel-leg module or the rear wheel-leg module is lifted; the shock-absorbing mechanism is installed for absorbing road surface impacts.

[0005] Compared with the prior art, a wheel-leg type all-terrain mobile robot for field environmental monitoring and operation provided by the present application has the following advantages: Through the coordinated cooperation of the wheel-leg module, the steering module, the leg-lifting module and the auxiliary wheel-leg mechanism, while maintaining the advantage of high-speed wheeled movement, the complex terrain limitation is broken through by using the leg-lifting action, the stability is improved with the assistance of the shock-absorbing mechanism, and the vehicle body is made to turn flexibly with the cooperation of the steering module, finally realizing the ability of efficient obstacle crossing and stable movement in all terrains.

[0006] In a possible implementation manner, the lifter includes a ball screw, a slide table and a connecting plate, the connecting plate is fixed on the slide table, the slide table is slidably connected to the ball screw in a lifting manner, the ball screw is installed on the side wall of the vehicle body for driving the lifting of the slide table, and the auxiliary roller is installed on the connecting plate. The ball screw structure has high transmission efficiency and positioning accuracy, and can quickly and accurately adjust the height of the auxiliary roller; at the same time, the structure is simple and compact, easy to install and maintain, improving the reliability and service life of the whole machine; the flexible lifting function of the auxiliary roller enables the robot to better adapt to different terrain conditions, enhancing the obstacle-crossing ability and all-terrain adaptability of the robot. Compared with the prior art, precise lifting control of the auxiliary roller is realized, improving the stability and passability of the robot in complex terrains.

[0007] In a possible implementation, the steering module includes a steering servo, a servo frame, a steering wheel, a steering shaft and a bracket, the steering servo is installed inside the leg sleeve through the servo frame, the steering wheel is connected to the output shaft of the steering servo, the steering shaft is coaxially fixedly connected to the steering wheel, the bracket is fixedly connected to the steering shaft, and the wheel hub motor is installed on the bracket through a shock absorbing mechanism. The steering servo transmits power to the bracket through the steering wheel and the steering shaft, thereby driving the entire wheel-leg module to rotate around the central axis of the leg sleeve; this structural design makes the steering action fast and smooth, effectively improving the robot's movement flexibility and passing ability in complex terrain; at the same time, since the steering mechanism is integrated in the leg sleeve, key components are protected and the reliability and durability of the system are enhanced. Compared with the prior art, precise steering control of the wheel leg is achieved.

[0008] In a possible implementation, the steering module further includes a fixed housing, the fixed housing is fixedly connected to the lower end of the leg sleeve, and the steering shaft is rotatably disposed in the fixed housing via a rotary bearing. The fixed housing provides a reliable installation base for the steering shaft, avoiding possible wear caused by direct contact between the steering shaft and the leg sleeve; the use of the rotary bearing reduces the friction between the steering shaft and the fixed housing, and improves the flexibility and accuracy of steering; this structural design makes the steering action of the wheel leg more stable and controllable, and effectively improves the robot's motion performance and adaptability in complex terrain. Compared with the prior art, stable support and flexible rotation of the steering shaft are achieved.

[0009] In a possible embodiment, the swing end of the swing rocker is fixed to the leg sleeve, and the side of the swing rocker away from the swing end is connected to the vehicle body through a pivot, the pivot is the fulcrum for the swing of the swing rocker, and the rocker driver is a servo electric cylinder, the telescopic end of the servo electric cylinder is hinged to the middle of the swing rocker, and the cylinder seat of the servo electric cylinder is hinged to the vehicle body. The servo electric cylinder can accurately control the swing angle of the swing rocker, thereby adjusting the height of the wheel-leg module; this leg-lifting mechanism with a simple structure and precise control enables the robot to flexibly deal with obstacles such as steps and gullies, and improves the obstacle crossing ability; at the same time, it adopts a servo electric cylinder drive with a large output torque, which can meet the load requirements of the robot in complex terrain. In addition, the leg-lifting mechanism is compactly integrated inside the vehicle body, which will not increase the external dimensions of the robot, which is conducive to improving the passability. Compared with the prior art, the lifting and lowering control of the wheel legs is realized.

[0010] In a possible implementation, the shock absorption mechanism includes two spring shock absorbers arranged at intervals. The upper ends of the two spring shock absorbers are connected to the bracket, and the lower ends of the two spring shock absorbers are fixed to the motor shaft of the hub motor through a connecting block. The setting of the shock absorption mechanism improves the stability and comfort of the robot when driving on complex terrains, and enhances the obstacle crossing ability and passability of the robot; by using two spring shock absorbers arranged at intervals, the uniformity and reliability of the shock absorption effect are improved, and the imbalance problem that may be caused by single-point shock absorption is avoided. Compared with the prior art, it can effectively absorb the road surface impact, reduce the vibration and impact on the hub motor, and improve the service life of the hub motor.

[0011] In a possible implementation, a soil-breaking device for increasing the contact with the ground is installed on the hub motor. The soil-breaking device includes a mounting disc, soil-breaking rod bodies, and a rod body driver. The mounting disc is fixedly connected to the hub of the hub motor. There are multiple soil-breaking rod bodies which are circumferentially distributed on the mounting disc. The soil-breaking rod bodies are slidably connected to the mounting disc in the radial direction. The rod body driver is installed on the mounting disc and is used to drive the radial movement of the soil-breaking rod bodies so that the soil-breaking rod bodies can penetrate into the soil. When traveling on soft or slippery terrains, the soil-breaking rod bodies can penetrate into the soil, significantly improving the ground gripping ability of the wheel legs and preventing slipping and sinking; at the same time, the radial telescopic design of the soil-breaking device enables it to be flexibly adjusted according to the terrain conditions, which can not only provide additional grip when needed but also not affect the traveling speed on flat roads; in addition, the circumferential uniform distribution structure of the soil-breaking device ensures uniform force and improves the overall stability. Compared with the prior art, by installing a telescopic soil-breaking device on the hub motor, the contact area and friction force between the wheel legs and the ground are effectively increased, that is, the robot can better adapt to complex and changeable terrain environments, significantly improving the passability and operation efficiency.

[0012] In a possible implementation, the rod body driver includes a driving motor, a turntable, and a slider. The slider is fixedly connected to the soil-breaking rod body. The turntable is coaxially rotatably connected to the mounting disc. An arc-shaped guiding groove for the slider to slide and be guided is provided on the turntable. The driving motor is fixedly connected to the mounting disc and drives the turntable to rotate through a transmission component. Compared with the prior art, it realizes the controllable telescoping of the soil-breaking rod bodies in the hub rotation plane, and uses the transmission component to ensure the synchronous movement of multiple soil-breaking rod bodies, enabling the rod bodies to quickly penetrate into the soil to form an anchoring point when contacting soft or steep terrains, effectively enhancing the contact friction force between the hub and the ground and preventing the wheeled structure from idling or slipping during operation on complex terrains.

[0013] In a possible embodiment, the transmission assembly includes a mutually meshing drive gear and an outer gear ring, the drive gear is connected to the output shaft of the drive motor, and the outer gear ring is arranged on the outer circumference of the turntable. Compared with the prior art, the motion accuracy and structural reliability of the transmission system are effectively improved. The gear meshing transmission mode has the characteristics of constant transmission ratio and smooth motion transmission, which overcomes the defects of easy slippage of traditional belt transmission and gap in chain transmission. In a soft soil environment, the structure can ensure that the earth-breaking rod body is accurately extended according to the predetermined trajectory, avoid the mechanism jamming phenomenon caused by the asynchronous movement of multiple rod bodies, and significantly enhance the anti-slip ability of the hub motor in complex terrain.

[0014] In a possible implementation, the piercing end of the soil-breaking rod is a spike-shaped structure. Compared with the prior art, the spike-shaped structure reduces the shear strength of the soil through the stress concentration effect, so that the soil-breaking rod can quickly penetrate the surface to form a mechanical anchor point, significantly improving the contact stability between the wheel hub motor and the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of this application; Figure 2 It is a structural schematic diagram of the wheel-leg module; Figure 3 This is a schematic diagram of the exploded structure of the steering module; Figure 4 It is a structural diagram of the leg-lifting module; Figure 5 is a structural schematic diagram of the auxiliary wheel-leg mechanism; Figure 6 It is a structural schematic diagram of the shock absorbing mechanism; Figure 7 It is a schematic diagram of the structure of the earth-breaking device; Figure 8 is a schematic diagram of the structure of the turntable; Description of reference numerals: 1. Car body; 201. Front wheel leg module; 202. Rear wheel leg module; 21. Leg sleeve; 22. Hub motor; 3. Steering module; 31. Steering servo; 32. Servo frame; 33. Steering wheel; 34. Steering shaft; 35. Fixed shell; 36. Bracket; 4. Leg lifting module; 41. Swinging rocker; 42. Rocker driver; 43. Pivot; 5. Auxiliary wheel leg mechanism; 51. Lifter; 511. Ball screw; 512. Slide; 513. Connecting plate; 52. Auxiliary roller; 6. Shock absorbing mechanism; 61. Spring shock absorber; 62. Connecting block; 7. Ground-breaking device; 71. Mounting plate; 72. Ground-breaking rod body; 73. Rod body driver; 731. Drive motor; 732. Turntable; 7321. Arc guide groove; 733. Sliding block; 734. Drive gear; 735. Outer gear ring. DETAILED DESCRIPTION

[0016] First of all, those skilled in the art should understand that these embodiments are only used to explain the technical principles of the embodiments of the present application, and are not intended to limit the protection scope of the embodiments of the present application. Those skilled in the art can make adjustments according to needs to adapt to specific application scenarios.

[0017] In the description of the embodiments of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.

[0018] In the embodiments of the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0019] In the scenario of intelligent agriculture in hilly and mountainous areas, mobile robots need to complete plant protection operations on large-slope gravel slopes. Traditional wheeled robots continuously spin idly during climbing due to insufficient friction coefficient between the tires and the gravel, and the control system frequently triggers torque adjustment, resulting in fluctuations in the traveling speed; for legged robots, the pressure on a single leg during touchdown is concentrated at the end of the bionic foot, and it is easy to cause the body posture to shift due to differences in ground stiffness in vegetated areas, and the visual navigation system needs to repeatedly correct the path; when tracked robots travel in soft soil, the shear action generated by the contact between the track plates and the ground causes damage to the soil structure, and at the same time, the mechanical loss of the track drive system increases the energy consumption per unit operation area.

[0020] If the above problems are not solved, the mobile robot system will face risks of inaccurate motion trajectories and interrupted energy supply during operations in complex terrains, and in extreme working conditions, it may cause overload damage to the actuators; insufficient terrain adaptability will also force the operation path planning module to adopt redundant obstacle avoidance strategies, reducing the task execution efficiency; in addition, frequent mechanical vibrations and impact loads will accelerate the drift of sensor calibration parameters, affecting the data acquisition accuracy of the environmental perception system.

[0021] The following further elaborates on the present application in detail with reference to the drawings and specific embodiments.

[0022] See Figures 1 to 8 , an embodiment of the present application discloses a wheel-leg type all-terrain mobile robot for field environmental monitoring and operation, including a vehicle body 1, a pair of front wheel-leg modules 201 and a pair of rear wheel-leg modules 202 arranged front and rear below the vehicle body 1, a steering module 3 for driving the front wheel-leg modules 201 and the rear wheel-leg modules 202 to turn, a leg-lifting module 4 for driving the front wheel-leg modules 201 and the rear wheel-leg modules 202 to cross obstacles, as well as an auxiliary wheel-leg mechanism 5 and a shock-absorbing mechanism 6.

[0023] Both the front wheel-leg module 201 and the rear wheel-leg module 202 include a leg sleeve 21 and a hub motor 22, and the hub motor 22 is installed at the lower end of the leg sleeve 21; the steering module 3 is installed inside the leg sleeve 21, and its steering end is connected to the hub motor 22 for driving the hub motor 22 to rotate around the central axis of the leg sleeve 21; the leg-lifting module 4 includes a swing rocker 41 and a rocker driver 42 installed inside the vehicle body 1, the swing end of the swing rocker 41 is connected to the upper end of the leg sleeve 21, and the rocker driver 42 is connected to the swing rocker 41 for driving the swing rocker 41 to swing around a fulcrum on the vehicle body 1 so that the leg sleeve 21 can be lifted or lowered; the auxiliary wheel-leg mechanism 5 includes a lifter 51 and an auxiliary roller 52, the auxiliary roller 52 is rotatably connected to the lifting end of the lifter 51, and the lifter 51 is installed on the vehicle body 1 and is located between the front wheel-leg module 201 and the rear wheel-leg module 202 for controlling the lifting of the auxiliary roller 52 so that the vehicle body 1 can be supported after the front wheel-leg module 201 or the rear wheel-leg module 202 is lifted; the shock-absorbing mechanism 6 is installed between the hub motor 22 and the leg sleeve 21 for absorbing road surface impacts.

[0024] Among them, the front wheel-leg module 201 and the rear wheel-leg module 202 refer to the motion units for wheeled movement, which can be specifically implemented by a combined structure of a leg sleeve 21 and a hub motor 22. The leg sleeve 21 is connected to the hub motor 22, and the hub motor 22 provides driving force and has the ability to move forward by rolling; the leg-lifting module 4 refers to the actuator for controlling the lifting of the wheel-legs, and drives the swing rocker 41 to swing around the fulcrum through the rocker driver 42, driving the leg sleeve 21 to lift and lower to complete the obstacle-crossing action; the auxiliary wheel-leg mechanism 5 refers to a liftable device for supplementing the support of the vehicle body 1 and is located between the front wheel-leg module 201 and the rear wheel-leg module 202. When the front wheel-leg or the rear wheel-leg is lifted, the auxiliary roller 52 is lowered to maintain the balance of the vehicle body 1 and prevent tipping caused by the center of gravity shifting; the shock-absorbing mechanism 6 refers to a buffer device for alleviating the ground impact on the hub motor 22 and improving the driving stability. The vehicle body 1 is made of a lightweight high-strength alloy material and has a rectangular structure; a pair of front wheel-leg modules 201 and a pair of rear wheel-leg modules 202 are symmetrically distributed at the four corners of the vehicle body 1.

[0025] As can be seen from the above, the in-wheel motor 22 directly drives the wheels to achieve high-speed movement on flat ground; when encountering obstacles during movement, the leg-lifting module 4 drives the swing rocker 41 to swing, lifting the corresponding wheel-leg module; at the same time, the lifter 51 of the auxiliary wheel-leg mechanism 5 drives the auxiliary roller 52 to descend to provide support for the vehicle body 1 after the wheel-leg is lifted; the steering module 3 can independently control the steering angle of each wheel-leg to improve the turning flexibility; the shock-absorbing mechanism 6 absorbs road surface impacts to protect the in-wheel motor 22. This design combines the efficient movement of the wheeled structure with the obstacle-crossing ability of the legged structure, and realizes the switching of movement modes through modular wheel-leg units to adapt to complex terrains.

[0026] See Figure 5 , in this embodiment, the lifter 51 includes a ball screw 511, a slide table 512 and a connecting plate 513. The connecting plate 513 is fixed on the slide table 512. The slide table 512 is vertically slidably connected to the ball screw 511. The ball screw 511 is installed on the left and right side walls of the vehicle body 1 and is used to drive the lifting of the slide table 512. The auxiliary roller 52 is installed on the connecting plate 513. Among them, the ball screw 511 is used as the core transmission component, and its thread surface is embedded with balls to reduce the frictional resistance. A ball nut matching the ball screw 511 is provided inside the slide table 512 to realize the conversion of rotational motion into linear motion; guide grooves can be provided on both sides of the slide table 512 to cooperate with the guide rails on the side walls of the vehicle body 1 to limit the circumferential rotation of the slide table 512 and ensure that the lifting path is vertical; the connecting plate 513 is made of a steel plate, and its upper end is rigidly connected to the slide table 512 by bolts. The auxiliary roller 52 is installed at the lower end of the connecting plate 513 through bearings; the driving end of the ball screw 511 can be configured with a stepper motor or a servo motor, which is directly connected to the end of the screw through a coupling, and the motor mounting flange is fixed at the position of the side wall of the vehicle body 1. Specifically, when the lifter 51 receives a lifting command, the motor drives the ball screw 511 to rotate, and the slide table 512 moves along the axis of the screw, driving the connecting plate 513 and the auxiliary roller 52 to lift and lower synchronously; through high-precision transmission and guiding constraints, this solution enables the auxiliary roller 52 to maintain stable support for the vehicle body 1 and effectively improves the anti-overturning ability of the robot during the leg-lifting obstacle-crossing process.

[0027] See Figure 3, in this embodiment, the steering module 3 includes a steering servo 31, a steering gear frame 32, a steering wheel 33, a steering shaft 34 and a bracket 36. The steering servo 31 is installed inside the leg sleeve 21 through the steering gear frame 32. The steering wheel 33 is connected to the output shaft of the steering servo 31. The steering shaft 34 is coaxially and fixedly connected to the steering wheel 33. The bracket 36 is fixedly connected to the steering shaft 34. The hub motor 22 is installed on the bracket 36 through a shock absorption mechanism 6. Among them, the steering gear frame 32 is fixed to the inner wall of the leg sleeve 21 by bolts to form a rigid support. The steering wheel 33 adopts a flange structure and is circumferentially fixed to the output shaft of the steering servo 31 through a flat key or a pin. The steering shaft 34 is connected to the steering wheel 33 through interference fit or hot press fitting to ensure the torque transmission efficiency. The bracket 36 is fastened to the end of the steering shaft 34 by bolts. The rigid support structure of the steering gear frame 32 can limit the vibration displacement of the steering servo 31 during driving. The fixed connection between the steering wheel 33 and the steering shaft 34 avoids transmission clearance. The rigid connection between the steering shaft 34 and the bracket 36 realizes the synchronous steering of the hub motor 22. Specifically, after receiving the control signal, the steering servo 31 drives the output shaft to rotate, drives the steering wheel 33 to rotate around the axis, and the steering shaft 34 rotates synchronously with the steering wheel 33, thereby driving the bracket 36 and the hub motor 22 to deflect around the central axis of the leg sleeve 21. Thus, the steering module 3 can achieve precise steering control of the hub motor 22 in complex terrains.

[0028] See Figure 3 , in this embodiment, the steering module 3 further includes a fixed housing 35. The fixed housing 35 is fixedly connected to the lower end of the leg sleeve 21. The steering shaft 34 is rotatably arranged in the fixed housing 35 through a rotary bearing. Among them, the fixed housing 35 is made of metal by molding. The inner wall of the fixed housing 35 is in interference fit with the outer ring of the rotary bearing, and the outer wall is rigidly connected to the flange surface of the leg sleeve 21 by bolts. The rotary bearing is selected as a deep groove ball bearing, and its inner ring is sleeved on the steering shaft 34. A dust-proof sealing ring is arranged at the bottom of the fixed housing 35, and the lip of the sealing ring is closely attached to the surface of the steering shaft 34. Axial positioning steps are processed at both ends of the steering shaft 34 to limit the axial displacement of the rotary bearing. Specifically, the fixed housing 35 provides radial restraint for the steering shaft 34 through rigid connection. When the steering servo 31 drives the steering shaft 34 to rotate, the rotary bearing reduces the rotation resistance through rolling friction. The axial positioning step contacts the end face of the inner ring of the bearing to prevent the steering shaft 34 from axially moving in a vibrating environment. Thus, the steering shaft 34 can still maintain an accurate steering angle in complex terrains, while reducing the wear rate of components and extending the maintenance cycle of the steering module 3.

[0029] See Figure 4, in this embodiment, the swing end of the swing arm 41 is fixed to the leg sleeve 21. One side of the swing arm 41 away from the swing end is rotatably connected to the vehicle body 1 through a pivot 43. The pivot 43 is the fulcrum for the swing of the swing arm 41. The swing arm driver 42 is a servo cylinder. The telescopic end of the servo cylinder is hinged to the middle of the swing arm 41, and the cylinder block of the servo cylinder is hinged to the vehicle body 1. Specifically, when the telescopic end of the servo cylinder extends, the telescopic end pushes the middle of the swing arm 41 to rotate around the pivot 43, and the swing end of the swing arm 41 drives the leg sleeve 21 to move upward to achieve the lifting of the wheel leg; when the telescopic end of the servo cylinder shortens, the middle of the swing arm 41 is pulled back, and the leg sleeve 21 resets and descends; the rotational support of the pivot 43 combined with the drive of the servo cylinder not only ensures the precise control of the wheel leg lifting but also improves the mechanism response speed, enabling rapid obstacle crossing on mountainous or gravel terrains.

[0030] See Figure 6 , in this embodiment, the shock absorption mechanism 6 includes two spring shock absorbers 61 arranged at intervals. The upper ends of the two spring shock absorbers 61 are connected to the bracket 36, and the lower ends of the two spring shock absorbers 61 are fixed to the motor shaft of the hub motor 22 through a connecting block 62. Specifically, when the hub motor 22 encounters a road impact, the two spring shock absorbers 61 are compressed and deformed, that is, they absorb the impact force of the road surface and reduce the impact of the road surface on the hub motor 22; the connecting block 62 rigidly connects the lower end points of the two spring shock absorbers 61, enabling the impact load to be automatically distributed between the two spring shock absorbers 61 to avoid unilateral overload.

[0031] See Figure 7 and Figure 8, in this embodiment, a soil-breaking device 7 for increasing the contact with the ground is installed on the in-wheel motor 22. The soil-breaking device 7 includes a mounting plate 71, soil-breaking rod bodies 72, and a rod body driver 73. The mounting plate 71 is fixedly connected to the wheel hub of the in-wheel motor 22. There are six soil-breaking rod bodies 72, which are circumferentially distributed on the mounting plate 71. The soil-breaking rod bodies 72 are slidably connected to the mounting plate 71 in the radial direction. The rod body driver 73 is installed on the mounting plate 71 and is used to drive the radial movement of the soil-breaking rod bodies 72 so that the soil-breaking rod bodies 72 can penetrate into the soil. Among them, the mounting plate 71 adopts a disc-shaped structure. The mounting plate 71 is fixed to the outer surface of the wheel hub of the in-wheel motor 22 by bolts. The soil-breaking rod bodies 72 are made of high-hardness alloy material, and the circumferential distribution interval angle is 60°. The radial sliding of the soil-breaking rod bodies 72 is limited by the guide grooves on the mounting plate 71 to ensure the linearity of the movement trajectory. The driving signal of the rod body driver 73 is linked with the terrain perception system of the robot, and the soil-breaking action is triggered when soft soil or a steep slope is detected. Specifically, when the in-wheel motor 22 operates on soft ground, the rod body driver 73 pushes the soil-breaking rod bodies 72 to extend radially outward along the mounting plate 71 and penetrate into the soil to form an anchoring point. The penetrating end of the soil-breaking rod body 72 can penetrate the surface floating soil and reach the dense soil layer, thereby increasing the effective contact area between the wheel surface and the ground. The six circumferentially evenly distributed soil-breaking rod bodies 72 alternately penetrate into the ground during the rotation of the wheel hub to form continuous gripping force and prevent the wheel hub from idling. In addition, the soil-breaking rod bodies 72 retract into the guide grooves of the mounting plate 71, which does not affect the normal driving of the robot on a hard road surface.

[0032] In this embodiment, the rod body driver 73 includes a driving motor 731, a turntable 732 and a slider 733. The slider 733 is fixedly connected to the soil-breaking rod body 72. The turntable 732 is coaxially rotatably connected to the mounting plate 71. An arc-shaped guiding groove 7321 for the slider 733 to slide and be guided is provided on the turntable 732. The driving motor 731 is fixedly connected to the mounting plate 71 and drives the turntable 732 to rotate through a transmission assembly. The transmission assembly includes a driving gear 734 and an external gear ring 735 that mesh with each other. The driving gear 734 is connected to the output shaft of the driving motor 731, and the external gear ring 735 is integrally provided on the outer peripheral circle of the turntable 732. Specifically, the transmission assembly adopts a structure in which the driving gear 734 meshes with the external gear ring 735. The driving gear 734 is directly connected to the output shaft of the driving motor 731, and the external gear ring 735 is integrated on the outer peripheral edge of the turntable 732. When the driving motor 731 drives the external gear ring 735 to rotate through the driving gear 734, the turntable 732 rotates around the central axis of the mounting plate 71. The arc-shaped guiding groove 7321 thereon guides the slider 733 to slide along a predetermined trajectory, thereby driving the soil-breaking rod body 72 to complete a radial telescopic action. Since the slider 733 is constrained by the arc-shaped guiding groove 7321, the radial displacement amount thereof is determined by the geometric relationship between the rotation angle of the turntable 732 and the curvature of the arc-shaped guiding groove 7321. During this movement process, the six soil-breaking rod bodies 72 achieve equidistant radial telescoping through the synchronous drive of their respective sliders 733 on a single turntable 732, ensuring that each soil-breaking rod body 72 maintains a uniform soil contact force when the hub rotates.

[0033] In this embodiment, the piercing end of the soil-breaking rod body 72 is a spike-like structure. Specifically, the spike-like structure reduces the resistance when contacting the soil through the front-end sharpening design, improving the penetration efficiency. In the scenario of soft soil, the spike-like structure can penetrate deep into the lower layer of the soil to obtain a greater grip force and prevent the hub motor 22 from idling.

[0034] When this wheel-legged all-terrain mobile robot works, for flat ground driving, the hub motor drives the wheels to achieve high-speed movement. The steering servo in the steering module drives the hub motor to turn through the steering wheel and the steering shaft, improving flexibility. When encountering an obstacle, the servo cylinder of the leg-lifting module drives the swinging rocker arm to swing around the pivot shaft, lifting the leg sleeve. At the same time, the ball screw lifter of the auxiliary wheel-leg mechanism lowers the auxiliary roller to support the vehicle body and prevent tipping. The double-spring shock absorber of the shock-absorbing mechanism absorbs the road surface impact and protects the hub motor. In soft terrain, the driving motor of the soil-breaking device drives the turntable to rotate through gear transmission, so that the slider in the arc-shaped guiding groove drives the soil-breaking rod body to radially extend, and the spike end pierces into the soil, increasing the grip force of the wheel legs and avoiding slipping. The beneficial effects therein include: 1. Strong adaptability to all terrains: Through the collaborative work of the lifting mechanism (servo cylinder-driven swing arm) of the wheel-leg module and the auxiliary wheel-leg mechanism (ball screw lifter controlling auxiliary rollers), stable support of the vehicle body during obstacle crossing is achieved, effectively improving the passability of complex terrains (such as gullies and steep slopes) and avoiding the risk of overturning.

[0035] 2. High efficiency in mobility and flexibility: The steering module is built into the leg sleeve, and the hub motor is independently steered by a servo motor, reducing the turning radius and enhancing the steering accuracy and flexibility; wheeled drive ensures rapid movement on flat ground, combined with the ability to lift legs over obstacles, realizing the advantage integration of high-speed wheeled and legged obstacle crossing.

[0036] 3. Anti-slip and optimized grip: The hub motor is equipped with a retractable soil-breaking device (spike-shaped soil-breaking rod body + gear drive mechanism), which penetrates into the soil in soft / slippery terrains to form an anchoring point, significantly increasing the friction force, preventing slipping and idling, and enhancing the operation stability on slopes and rough roads.

[0037] 4. Vibration reduction and improved system reliability: Double spring shock absorbers are arranged at intervals to evenly absorb impact loads, reduce the vibration damage of the hub motor, and extend the service life; the steering module adopts a rotating bearing and fixed housing design to reduce wear; the leg-lifting and auxiliary support mechanisms are structurally compact and convenient for maintenance.

[0038] 5. Expansion of application scenarios: The modular design is suitable for field scenarios such as smart agriculture and emergency rescue, taking into account the requirements of high-speed movement, stable obstacle crossing, and precise operation, and comprehensively improving the monitoring and operation efficiency.

[0039] In the description of the embodiments of the present application, it should be noted that in the description of the present application, the terms "inner", "outer", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0040] In the description of the present application, the description with reference to terms such as "one embodiment", "some embodiments", "in this embodiment", "specific examples", or "some examples", etc., means that the specific features, mechanisms, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0041] As described above, it is only the specific implementation manner of the present application. However, the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A wheel-legged all-terrain mobile robot for field environmental monitoring and operation, characterized in that It includes a vehicle body, a pair of front wheel leg modules and a pair of rear wheel leg modules arranged in the front and rear below the vehicle body, a steering module for driving the front wheel leg modules and the rear wheel leg modules to steer, a leg lifting module for driving the front wheel leg modules and the rear wheel leg modules to cross obstacles, as well as an auxiliary wheel leg mechanism and a shock absorption mechanism; Both the front wheel leg module and the rear wheel leg module include a leg sleeve and a hub motor, and the hub motor is installed at the lower end of the leg sleeve through a shock absorption mechanism; The steering module is installed inside the leg sleeve, and its steering end is connected to the hub motor for driving the hub motor to rotate around the central axis of the leg sleeve; The leg lifting module includes a swing rocker arm and a rocker arm driver installed inside the vehicle body. The swing end of the swing rocker arm is connected to the upper end of the leg sleeve, and the rocker arm driver is connected to the swing rocker arm for driving the swing rocker arm to swing around a fulcrum on the vehicle body so that the leg sleeve can be lifted or lowered; The auxiliary wheel leg mechanism includes a lifter and an auxiliary roller. The auxiliary roller is rotatably connected to the lifting end of the lifter. The lifter is installed on the vehicle body and is located between the front wheel leg module and the rear wheel leg module for controlling the lifting of the auxiliary roller so that the vehicle body can be supported after the front wheel leg module or the rear wheel leg module is lifted; The shock absorption mechanism is used to absorb road surface impacts.

2. The wheel-legged all-terrain mobile robot for field environmental monitoring and operation according to claim 1, wherein The lifter includes a ball screw, a slide table and a connecting plate. The connecting plate is fixed on the slide table. The slide table is connected to the ball screw in a lifting and sliding manner. The ball screw is installed on the side wall of the vehicle body for driving the lifting of the slide table, and the auxiliary roller is installed on the connecting plate.

3. The wheel-legged all-terrain mobile robot for field environmental monitoring and operation according to claim 1, wherein The steering module includes a steering servo, a servo frame, a steering wheel, a steering shaft and a bracket. The steering servo is installed inside the leg sleeve through the servo frame. The steering wheel is connected to the output shaft of the steering servo. The steering shaft is coaxially and fixedly connected to the steering wheel. The bracket is fixedly connected to the steering shaft, and the hub motor is installed on the bracket through a shock absorption mechanism.

4. The wheel-legged all-terrain mobile robot for field environmental monitoring and operation according to claim 3, characterized in that The steering module further includes a fixed housing. The fixed housing is fixedly connected to the lower end of the leg sleeve, and the steering shaft is rotatably arranged in the fixed housing through a rotary bearing.

5. The wheel-legged all-terrain mobile robot for field environmental monitoring and operation according to claim 1, characterized in that, The swing end of the swing rocker arm is fixed to the leg sleeve. One side of the swing rocker arm away from the swing end is rotatably connected to the vehicle body through a pivot shaft. The pivot shaft is the fulcrum for the swing of the swing rocker arm. The rocker arm driver is a servo cylinder. The telescopic end of the servo cylinder is hinged to the middle of the swing rocker arm, and the cylinder seat of the servo cylinder is hinged to the vehicle body.

6. The wheel-legged all-terrain mobile robot for field environmental monitoring and operation according to claim 3, wherein The shock absorption mechanism includes two spring shock absorbers arranged at intervals. The upper ends of the two spring shock absorbers are connected to the bracket, and the lower ends of the two spring shock absorbers are fixed to the motor shaft of the hub motor through a connecting block.

7. The wheel-legged all-terrain mobile robot for field environmental monitoring and operation according to claim 1, characterized in that, A soil-breaking device for increasing contact with the ground is installed on the in-wheel motor. The soil-breaking device includes a mounting disc, soil-breaking rod bodies, and a rod body driver. The mounting disc is fixedly connected to the wheel hub of the in-wheel motor. The number of the soil-breaking rod bodies is multiple and they are circumferentially distributed on the mounting disc. The soil-breaking rod bodies are slidably connected to the mounting disc in the radial direction. The rod body driver is installed on the mounting disc and is used to drive the radial movement of the soil-breaking rod bodies so that the soil-breaking rod bodies penetrate into the soil.

8. The wheel-legged all-terrain mobile robot for field environment monitoring and operation according to claim 7, characterized in that The rod body driver includes a driving motor, a turntable, and a slider. The slider is fixedly connected to the soil-breaking rod body. The turntable is coaxially rotatably connected to the mounting disc. An arc-shaped guiding groove for the slider to slide and be guided is provided on the turntable. The driving motor is fixedly connected to the mounting disc and drives the turntable to rotate through a transmission component.

9. The wheel-legged all-terrain mobile robot for field environmental monitoring and operation according to claim 8, wherein The transmission component includes a driving gear and an external gear ring that mesh with each other. The driving gear is connected to the output shaft of the driving motor. The external gear ring is arranged on the outer circumferential circle of the turntable.

10. The wheel-legged all-terrain mobile robot for field environmental monitoring and operation according to claim 7, characterized in that The penetrating end of the soil-breaking rod body is a spiky structure.

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