Bionic corner module mechanism with wheel-step composite running mode and vehicle

Abstract

The application is suitable for the technical field of vehicle chassis configuration design, and provides a bionic corner module mechanism and a vehicle with wheel-step composite driving mode. The bionic corner module mechanism comprises a wheel, a suspension system and a steering system. The suspension system adopts a multi-loop closed-chain parallel mechanism configuration to simulate the skeletal system of a quadruped animal. A gait mode executor is configured to switch between a suspension / wheel driving mode and a gait driving mode. When the gait mode executor is locked, the suspension system operates as an eight-link one-degree-of-freedom mechanism to provide wheel driving. When the gait mode executor is unlocked, the gait mode executor cooperates with a driving suspension executor to make the suspension system operate as a nine-link two-degree-of-freedom mechanism to provide gait driving. The steering system comprises a steering knuckle and a servo electric cylinder. The device has high static stiffness and low dynamic stiffness vibration isolation characteristics, and can effectively suppress low-frequency and high-amplitude road excitation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle chassis configuration design, and particularly relates to a bionic corner module mechanism with a wheel-step composite driving mode and a vehicle. BACKGROUND

[0002] Modular distributed electric drive commercial vehicles can integrate various transportation needs, providing an effective means to improve the flexibility and efficiency of transportation tasks. However, current oversized transportation systems face challenges in terms of maneuvering speed and driving on complex terrain. Traditional self-propelled modular transport vehicles (SPMT) usually use hydraulic drive, which has the problems of slow driving speed and low transportation efficiency. If a tractor + trailer solution is used, there are problems such as complex mechanical structure, poor vehicle flexibility, poor terrain adaptability, large turning radius, etc. Classic suspension structures, such as double wishbone suspension, trailing arm suspension, and wishbone suspension, are difficult to meet multiple performance requirements such as high load capacity, large stroke, and ground adhesion. In addition, the configuration based on a side-mounted parallel mechanism is difficult to produce a large wheel jump stroke.

[0003] To achieve large stroke motion of the suspension, various global maneuvering-oriented driving mechanisms have been developed, including rocker arm type balance suspension mechanism, series wheel leg type mechanism, and parallel wheel leg type mechanism. Among them, the rocker arm type balance suspension mechanism is usually applied to planetary vehicles, has the ability to passively adapt to rough terrain, and can achieve stable vehicle compartment and full-wheel adhesion through differential uniform posture mechanism. However, this configuration is difficult to integrate with active suspension mechanisms, and can only passively overcome irregular terrain and obstacles; the open-loop structure has poor resistance to lateral impact; it is difficult to arrange the steering mechanism on a conventional vehicle, limiting its maneuverability. The series wheel leg type mechanism is composed of multiple rotary joints in series and attached with a wheel at the end, having a large workspace and high flexibility. However, this multi-joint series structure is not conducive to large load and high-speed driving, so it is only applied to small four-legged robot field. The parallel wheel leg type mechanism uses a spatial parallel mechanism as the driving system. Although the parallel mechanism effectively improves the load capacity of the vehicle, it is difficult to meet the wheel end output trajectory requirements when the vehicle moves in suspension mode. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide a bionic corner module mechanism with a wheel-step composite driving mode and a vehicle, aiming to solve the problems raised in the above background.

[0005] The embodiment of the present application is implemented as follows: a bionic corner module mechanism with a wheel-step composite driving mode, comprising a wheel, a suspension system and a steering system.

[0006] The suspension system adopts a multi-loop closed-chain parallel mechanism configuration, simulates the skeletal system of a quadruped animal, and comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, an active suspension actuator, an angle module support and a gait mode actuator.

[0007] The gait mode actuator is configured to switch between a suspension / wheel movement mode and a gait movement mode; when the gait mode actuator is locked, the suspension system operates as an eight-link one-degree-of-freedom mechanism to provide wheel movement; when the gait mode actuator is unlocked, the gait mode actuator cooperates with the active suspension actuator to operate the suspension system as a nine-link two-degree-of-freedom mechanism to provide gait movement.

[0008] The steering system comprises a steering knuckle and a servo electric cylinder, and the servo electric cylinder outputs a linear motion to drive the steering knuckle to rotate around a kingpin axis to realize wheel steering.

[0009] In a further technical solution, the wheel comprises a tire and a hub motor.

[0010] In a further technical solution, one end of the first connecting rod is provided with a first assembly hole, the other end is provided with a first mounting seat, the side of the first connecting rod close to the first assembly hole is provided with a first assembly shaft, and the bottom side of the middle part of the first connecting rod is provided with a second mounting seat.

[0011] One end of the second connecting rod is hinged to the first assembly shaft through a third assembly hole, the other end is provided with a second assembly hole, and the upper side of the end close to the third assembly hole is provided with a fourth assembly hole.

[0012] One end of the third connecting rod is provided with a sixth assembly hole, the other end is provided with a fifth assembly hole, the middle part is provided with a third mounting seat, and the region between the third mounting seat and the sixth assembly hole is further provided with a fourth mounting seat.

[0013] One end of the fourth connecting rod is hinged to the sixth assembly hole through a second assembly shaft, and the other end is hinged to the first assembly hole through a third assembly shaft.

[0014] One end of the fifth connecting rod is hinged to the fourth mounting seat through a fourth assembly shaft, and the other end is hinged to the fourth assembly hole through a fifth assembly shaft.

[0015] One end of the active suspension actuator is hinged to the third mounting seat through a sixth mounting seat, and the other end is provided with a fifth mounting seat.

[0016] The top of the side wall of the angle module support is provided with a seventh mounting seat and is hinged to the fifth assembly hole, the bottom of the side wall of the angle module support is provided with an eighth mounting seat and is hinged to the fifth mounting seat, and the bottom of the side wall of the angle module support is further provided with a guide rail.

[0017] The gait mode actuator is hinged to the second mounting hole via the sixth mounting shaft, and the gait mode actuator is slidably connected to the guide rail via a sliding groove.

[0018] In a further technical solution, one side of the steering knuckle is fixedly connected to the hub motor via a tenth mounting seat, and the other side is provided with a ninth mounting seat and an eleventh mounting seat, wherein the eleventh mounting seat is hinged to the first mounting seat;

[0019] The servo electric cylinder is connected to a drive motor. One end of the servo electric cylinder is connected to a twelfth mounting base, and the other end is provided with a thirteenth mounting base.

[0020] The twelfth mounting base is connected to the second mounting base via the second cross shaft, forming a universal joint kinematic pair;

[0021] The thirteenth mounting base is connected to the ninth mounting base via the first cross shaft, forming a universal joint kinematic pair.

[0022] In a further technical solution, the active suspension actuator is a hydraulic active suspension, an air suspension, a hydropneumatic suspension, an electromagnetic active suspension, or an electro-hydraulic active suspension.

[0023] In a further technical solution, the gait mode actuator is a ball screw or a linear guide.

[0024] Another objective of this invention is to provide a bionic angular module system for high-load-bearing tasks, based on the aforementioned bionic angular module mechanism, wherein the bionic angular module system includes wheels, a suspension system, and a steering system.

[0025] The suspension system of the bionic horn module system is consistent with the bionic horn module mechanism, except that the single guide rail set at the bottom of the side wall of the horn module bracket is replaced with two symmetrically arranged guide rails. At the same time, a gait mode actuator is added. The two gait mode actuators adopt the same structure and are symmetrically arranged.

[0026] The steering system of the bionic angle module system consists only of a steering knuckle, with a tenth mounting seat on each side of the steering knuckle. The connection method between the suspension system and the steering knuckle is consistent with that of the bionic angle module mechanism.

[0027] The vehicle has two wheels, which are symmetrically arranged, and the hub motors are connected to the two tenth mounting brackets respectively.

[0028] In a further technical solution, the suspension system also includes a vibration isolation spring, one end of which is connected to the first link and the other end is hinged to the second link, forming a quasi-zero stiffness vibration isolation system together with the active suspension actuator.

[0029] Another objective of this invention is to provide a vehicle, which is a two-axle distributed electric drive bionic chassis, comprising at least wheels, a vehicle body, a loading platform, a frame, an equipment compartment, and the aforementioned bionic angular module mechanism.

[0030] The wheel has a hub motor and a tire; the loading platform is located above the frame; the equipment compartment is distributed on both sides of the frame and located between two bionic horn module mechanisms; the bionic horn module mechanism is located below the loading platform.

[0031] Another objective of this invention is to provide a vehicle, which is a six-axle modular transportation platform, wherein the six-axle modular transportation platform integrates twelve bionic angular module mechanisms.

[0032] Another objective of this invention is to provide a vehicle, which is a six-axle modular transportation platform designed for heavy-duty transportation tasks, the six-axle modular transportation platform for heavy-duty transportation tasks integrating twelve bionic angular module systems.

[0033] The biomimetic angular module mechanism and vehicle with a wheel-walking composite driving mode provided by the embodiments of the present invention have the following beneficial effects:

[0034] (1) The closed-chain structure effectively enhances the load-bearing capacity of the suspension system. At the same time, elastic elements are integrated into the planar multi-link mechanism to form a biomimetic vibration isolation mechanism. It has high static stiffness and low dynamic stiffness vibration isolation characteristics, which can effectively suppress low-frequency, high-amplitude road surface excitation.

[0035] (2) The novel bionic suspension system can switch between suspension / wheel motion mode and gait motion mode. In suspension motion mode, the wheel end outputs an approximately linear motion trajectory within a certain travel range; in gait motion mode, the wheel end outputs a two-degree-of-freedom motion with a swing phase and a support phase. The two motion modes are switched through the locking and movement of the P-pair.

[0036] (3) The new bionic suspension system has a large working space. The suspension travel is +250 ~ -600mm. Each wheel has an independent steering mechanism with a steering angle range of +90° to -30°.

[0037] (4) The hub motor, steering mechanism, gait switching actuator and other systems are organically integrated with the suspension linkage. At the same time, following the structural-functional integration design concept, a highly modular structure is formed. The chassis architecture based on this biomimetic angular module mechanism can be expanded as needed according to transportation requirements to adapt to goods of different volumes and weights.

[0038] (5) The provided distributed electric drive vehicle has multiple motion modes, including: Ackerman steering, center steering, lateral driving, oblique driving, body posture adjustment, obstacle crossing, wheelbase adjustment and gait walking. Attached Figure Description

[0039] Figure 1 A schematic diagram of a biomimetic angular module mechanism with a wheel-step composite driving mode provided in an embodiment of the present invention;

[0040] Figure 2 A topological schematic diagram of a biomimetic angular module mechanism with a wheel-step composite driving mode provided in an embodiment of the present invention;

[0041] Figure 3 An exploded view of a bionic angular module mechanism with a wheel-walking composite driving mode provided in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the structure of a biomimetic angle module system for high-capacity tasks, provided by an embodiment of the present invention.

[0043] Figure 5 This is a topology diagram of a biomimetic angle module system for high-capacity tasks, provided by an embodiment of the present invention.

[0044] Figure 6 A schematic diagram of a two-axis distributed electric drive bionic chassis.

[0045] Figure 7 This is a schematic diagram of the assembly of the bionic angular module mechanism and the vehicle frame;

[0046] Figure 8 This is a schematic diagram showing the arrangement of the bionic angle module mechanism;

[0047] Figure 9 This is a structural schematic diagram of a six-axle modular transportation platform;

[0048] Figure 10 This is a structural diagram of a six-axle modular transportation platform designed for heavy-duty transportation tasks.

[0049] In the attached diagram: 100 - Two-axis distributed electric drive bionic chassis; 200 - Six-axis modular transportation platform; 300 - Six-axis modular transportation platform for heavy-duty transportation tasks; 10 - Wheel; 11 - Tire; 12 - Hub motor; 20 - Suspension system; 21 - First link; 211 - First mounting base; 212 - Second mounting base; 213 - First assembly shaft; 214 - First mounting hole; 22 - Second link; 221 - Second mounting hole; 222 - Third mounting hole; 223 - Fourth mounting hole; 23 - Third link; 231 - Fifth mounting hole; 232 - Third mounting base; 233 - Fourth mounting base; 234 - Sixth mounting hole; 24 - Fourth link; 241 - Second assembly shaft; 242 - Third assembly shaft; 25 - Fifth link; 251-Fourth assembly shaft; 252-Fifth assembly shaft; 26-Active suspension actuator; 261-Fifth mounting base; 262-Sixth mounting base; 27-Angle module bracket; 271-Guide rail; 272-Seventh mounting base; 273-Eighth mounting base; 28-Gait mode actuator; 281-Sixth assembly shaft; 282-Sliding groove; 29-Vibration damping spring; 30-Steering system; 31-Steering knuckle; 311-Ninth mounting base; 312-Tenth mounting base; 313-Eleventh mounting base; 32-Servo electric cylinder; 321-Twelfth mounting base; 322-Thirteenth mounting base; 323-Drive motor; 33-First cross shaft; 34-Second cross shaft; 40-Vehicle body; 41-Loading platform; 42-Frame; 43-Equipment compartment. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative and not intended to limit the invention.

[0051] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0052] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, this invention provides a biomimetic horn module mechanism with a wheel-walking composite driving mode, integrating biomimetic design concepts: distributed joint and muscle control of quadrupeds; coordinated and stable movement sequence of animal limbs; and vibration reduction and buffering capabilities of biological legs. It aims to improve the all-terrain passability and maneuverability of distributed electric drive vehicles. Specifically, it includes wheels 10, a suspension system 20, and a steering system 30, forming the smallest driving unit with all chassis functions.

[0053] The suspension system 20 employs a multi-ring closed-chain parallel mechanism configuration, with the linkage layout mimicking the skeletal system of a quadruped, such as a horse. To achieve a biomimetic motion profile, the hinge points are positioned near the hip and knee joints. Most links are concentrated in the upper part of the leg, between the equivalent hip and knee joints, forming an equivalent femur. The ankle joint and the equivalent tibia are simplified into a single output link; this design ensures a lighter end-body structure for the leg.

[0054] The muscular system provides quadrupedal animals with support, propulsion, and a variety of gaits, while also acting as a buffer to absorb shocks and protect the body and organs from ground impact damage. These characteristics provide an excellent biomimetic template for the design of suspension actuators. Taking a horse as an example, it achieves a stable connection between the forelimbs and trunk through exogenous muscles such as the trapezius, pectoral, abdominal, and latissimus dorsi muscles. These muscles play a role in leg forward movement, adduction, gait generation, and trunk stability. Mapped to the suspension system 20, they can be equivalent to linear actuators, forming a closed-loop structure together with related components. In the muscles at the end of the horse's legs, some parts have almost lost their muscle fibers and formed tendons, mainly including: extensor carpi radialis tendon, extensor digitorum tendon, lateral extensor digitorum tendon, and flexor carpi radialis tendon. These tendons enable the horse to walk with an energy-efficient gait without load and absorb the kinetic impact of its own load and external loads. In terms of structural mapping of the mechanism, the above-mentioned tendon groups can be mapped to various spring forms, including: compression springs, tension springs, and torsion springs.

[0055] Specifically, the wheel 10 includes a tire 11 and a hub motor 12;

[0056] The suspension system 20 includes a first link 21, a second link 22, a third link 23, a fourth link 24, a fifth link 25, an active suspension actuator 26, a corner module bracket 27, and a gait mode actuator 28.

[0057] The first link 21 is the output link of the suspension system 20, corresponding to the end effector of the parallel mechanism, and is a component with two revolute joints. One end of the first link 21 is provided with a first mounting hole 214, the other end of the first link 21 is provided with a first mounting seat 211, a first mounting shaft 213 is provided on the side of the first link 21 near the first mounting hole 214, and a second mounting seat 212 is provided on the bottom side of the middle part of the first link 21.

[0058] The second link 22 is a component with three rotating joints. One end of the second link 22 is hinged to the first mounting shaft 213 through the third mounting hole 222. The other end of the second link 22 is provided with the second mounting hole 221. The second link 22 is provided with the fourth mounting hole 223 above the end of the second link 22 near the third mounting hole 222.

[0059] The third link 23 is a four-part component. One end of the third link 23 is provided with a sixth mounting hole 234, the other end of the third link 23 is provided with a fifth mounting hole 231, a third mounting seat 232 is provided in the middle of the third link 23, and a fourth mounting seat 233 is also provided in the area between the third mounting seat 232 and the sixth mounting hole 234 of the third link 23.

[0060] The fourth link 24 is a two-part component. One end of the fourth link 24 is hinged to the sixth assembly hole 234 through the second assembly shaft 241, and the other end of the fourth link 24 is hinged to the first assembly hole 214 through the third assembly shaft 242.

[0061] One end of the fifth link 25 is hinged to the fourth mounting base 233 via the fourth assembly shaft 251, and the other end of the fifth link 25 is hinged to the fourth assembly hole 223 via the fifth assembly shaft 252.

[0062] The active suspension actuator 26 is arranged according to the biological structural characteristics of the trapezius muscle connecting the horse's torso and leg bones, and is used to generate approximately linear stiffness and provide basic support for the vehicle. Specifically, one end of the active suspension actuator 26 is hinged to the third mounting base 232 via a sixth mounting base 262, and the other end of the active suspension actuator 26 is provided with a fifth mounting base 261;

[0063] The corner module bracket 27 has a seventh mounting seat 272 at the top of its side wall, and the seventh mounting seat 272 is hinged to the fifth assembly hole 231. The corner module bracket 27 has an eighth mounting seat 273 at the bottom of its side wall, and the eighth mounting seat 273 is hinged to the fifth mounting seat 261. The corner module bracket 27 also has a guide rail 271 at the bottom of its side wall.

[0064] The gait mode actuator 28 adopts a reconfigurable prismatic joint (i.e., P-joint) configuration to switch between suspension / wheel motion mode and gait motion mode. The output end of the gait mode actuator 28 is slidably connected to the guide rail 271 through a sliding groove 282, forming a prismatic joint, meaning that the gait mode actuator 28 can perform reciprocating linear motion on the guide rail 271. The gait mode actuator 28 is hinged to the second mounting hole 221 through the sixth mounting shaft 281. When the corner module is running in suspension / wheel mode, the prismatic joint where the gait mode actuator 28 is located is locked, and the wheel end of the mechanism outputs linear motion. At this time, the suspension system is an eight-bar, one-degree-of-freedom mechanism. When the corner module is running in gait mode, the gait mode actuator 28 and the active suspension actuator 26 work together to provide the swing phase and support phase required for walking. At this time, the suspension system transforms into a nine-bar, two-degree-of-freedom mechanism.

[0065] To enhance the vehicle's steering agility, the steering system 30 of the corner module also employs a biomimetic design. The steering system 30 utilizes linear actuators to simulate the synergistic action of the pronator and supinator muscles of the human arm, thereby mimicking the forward and backward rotation patterns of the radius and ulna. This design makes the entire device more compact and lightweight, enabling the wheel-leg structure to possess the Ackerman steering functionality of conventional vehicles. The wheel angle range of the steering system can reach +90° to -30°.

[0066] Specifically, the steering system 30 includes a steering knuckle 31, a servo electric cylinder 32, a first cross shaft 33, and a second cross shaft 34;

[0067] One side of the steering knuckle 31 is fixedly connected to the hub motor 12 via the tenth mounting seat 312. The other side of the steering knuckle 31 is provided with a ninth mounting seat 311 and an eleventh mounting seat 313. The eleventh mounting seat 313 is hinged to the first mounting seat 211, thereby driving the steering knuckle 31 to rotate around the kingpin axis determined by the first mounting seat 211 and the eleventh mounting seat 313.

[0068] The servo electric cylinder 32 is connected to a drive motor 323. The drive motor 323 serves as a power source and converts the rotational motion of the drive motor 323 into the linear motion of the servo electric cylinder 32 through a built-in transmission device. One end of the servo electric cylinder 32 is connected to a twelfth mounting base 321. The twelfth mounting base 321 is connected to the second mounting base 212 through a second cross shaft 34 to form a universal joint kinematic pair (U-pair). The other end of the servo electric cylinder 32 is provided with a thirteenth mounting base 322. The thirteenth mounting base 322 is connected to the ninth mounting base 311 through a first cross shaft 33 to form a universal joint kinematic pair (U-pair).

[0069] When the vehicle turns, the servo electric cylinder 32 outputs linear motion, driving the steering knuckle 31 to rotate around the kingpin axis determined by the first mounting seat 211 and the eleventh mounting seat 313.

[0070] In a preferred embodiment of the present invention, the gait mode actuator 28 can be a variety of structural forms capable of outputting linear motion, such as a ball screw or a linear guide. Therefore, no specific limitation is made on its mechanical structure.

[0071] In a preferred embodiment of the present invention, the active suspension actuator 26 can be an active suspension as described in the prior art. Specifically, the active suspension actuator 26 can be a hydraulic active suspension, air suspension, hydropneumatic suspension, electromagnetic active suspension, or electro-hydraulic active suspension, etc. The specific structure of the active suspension actuator 26 will not be described here.

[0072] like Figure 4As shown, another embodiment of the present invention provides a bionic angular module system for high-load-bearing tasks. Based on the aforementioned bionic angular module mechanism, the bionic angular module system includes a wheel 10, a suspension system 20, and a steering system 30.

[0073] The suspension system 20 of the bionic horn module system is consistent with the bionic horn module mechanism, except that the single guide rail 271 at the bottom of the side wall of the horn module bracket 27 is replaced with two symmetrically arranged guide rails. Additionally, gait mode actuators 28 are added, with the two gait mode actuators having the same structure and being symmetrically arranged. To improve load-bearing capacity, the steering system 30 of the bionic horn module system only includes a steering knuckle 31, with a tenth mounting seat 312 on each side of the steering knuckle 31. The connection method between the suspension system 20 and the steering knuckle 31 is consistent with the bionic horn module mechanism. Two wheels 10 are provided, symmetrically arranged, with the hub motors 12 connected to the two tenth mounting seats 312 respectively.

[0074] This bionic horn module system eliminates the steering system 30. By modifying the structure of the steering knuckle 31, an additional wheel is added at the opposite position of the wheels 10, forming a double-row wheel structure. This configuration is equipped with two hub motors 12 and two gait mode actuators 28, providing stronger driving capability and load-bearing capacity. Because the steering system 30 is eliminated, this configuration employs a modular integrated steering system. Specifically, the steering actuators mounted on the frame 42 drive the horn module support 27 to rotate, thereby causing the entire bionic horn module system to perform steering movements.

[0075] In a preferred embodiment of the present invention, the suspension system 20 of the bionic angle module integrates two elastic elements, corresponding to the active suspension actuator 26 and the vibration isolation spring 29, respectively. The active suspension actuator 26 is arranged according to the biological structural characteristics of the trapezius muscle connecting the horse's torso and leg bones, used to generate approximately linear stiffness and provide basic support for the vehicle. The vibration isolation spring 29 is arranged according to the connection method of the medial tendon of the leg, with one end connected to the first link 21 and the other end hinged to the second link 22, used to generate nonlinear stiffness, and together with the active suspension actuator 26, forms a quasi-zero stiffness vibration isolation system. This vibration isolation system has the characteristics of high static stiffness and low dynamic stiffness, and can effectively suppress large-amplitude, low-frequency road surface excitation inputs.

[0076] like Figure 6As shown, another embodiment of the present invention provides a vehicle, which is a two-axle distributed electric drive bionic chassis 100, comprising at least wheels 10, a body 40, a loading platform 41, a frame 42, an equipment compartment 43, and the aforementioned bionic horn module mechanism. The wheels 10 may have a hub motor 12 and a tire 11, with the tire 11 fitted onto the outer periphery of the hub motor 12. The loading platform 41 is located above the frame 42; the equipment compartment 43 is distributed on both sides of the frame 42 and located between the two bionic horn module mechanisms; the bionic horn module mechanism is located below the loading platform 41.

[0077] like Figure 7 As shown, in a preferred embodiment of the present invention, the two-axis distributed electric drive bionic chassis 100 includes four wheels 10, each wheel 10 being connected to a bionic horn module mechanism. This configuration enables the wheels 10 to perform independent steering, independent driving, independent braking, and independent position adjustment. This allows the two-axis distributed electric drive bionic chassis 100 to achieve special movement modes such as lateral movement, center-of-spot steering, diagonal driving, vehicle posture adjustment, obstacle crossing, and gait walking, significantly improving the mobility and environmental adaptability of the transportation platform and meeting the needs of efficient and flexible material transfer.

[0078] like Figure 8 As shown, in a preferred embodiment of the present invention, in the two-axle distributed electric drive bionic chassis 100, four bionic angular module mechanisms are arranged in a centrally symmetrical manner. This arrangement aims to avoid interference between the wheel 10 and the suspension system 20 linkage when the wheel 10 deflects, thereby achieving a maximum inward steering angle of 30° (and -30°) and a maximum outward steering angle of 90° (and +90°). Compared with the traditional modular integral steering configuration, the steering knuckle steering mode of the angular modules has the following advantages: a shorter transmission chain for the steering mechanism and more sensitive steering response; avoidance of the kingpin steering gear occupying vertical space; and a smaller maximum output torque required by the steering actuator.

[0079] like Figure 9 As shown, another embodiment of the present invention provides a vehicle, which is a six-axle modular transportation platform 200, which integrates twelve bionic horn module mechanisms.

[0080] like Figure 10 As shown, another embodiment of the present invention provides a vehicle, which is a six-axle modular transportation platform 300 for heavy-duty transportation tasks. The six-axle modular transportation platform 300 for heavy-duty transportation tasks integrates twelve bionic horn module systems.

[0081] In this embodiment of the invention, compared with the traditional self-propelled modular transport platform (SPMT), the transport vehicle provided in this application can be adapted to light-load and heavy-load transport tasks by equipping different bionic angular module mechanisms or bionic angular module systems; it can also flexibly adjust the number of axles according to the size of the transport components, and realize on-demand expansion according to transport requirements; the distributed electric drive, long-stroke suspension and vibration isolation mechanism greatly improve the vehicle's maneuverability; each wheel end integrates all the chassis driving functions, which can effectively simplify the chassis structure of the heavy transport platform.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A biomimetic angular module mechanism with a wheel-walking composite driving mode, comprising wheels, characterized in that, It also includes the suspension system and steering system; The suspension system adopts a multi-ring closed-chain parallel mechanism configuration, simulating the skeletal system of a quadruped, including a first link, a second link, a third link, a fourth link, a fifth link, an active suspension actuator, a corner module bracket, and a gait mode actuator; The gait mode actuator is configured to switch between a suspension / wheel motion mode and a gait motion mode; when the gait mode actuator is locked, the suspension system operates as an eight-bar, one-degree-of-freedom mechanism, providing wheel motion; when the gait mode actuator is unlocked, the gait mode actuator moves in coordination with the active suspension actuator, causing the suspension system to operate as a nine-bar, two-degree-of-freedom mechanism, providing gait motion. The steering system includes a steering knuckle and a servo electric cylinder, the servo electric cylinder outputs linear motion to drive the steering knuckle to rotate around the kingpin axis; The wheel includes a tire and a hub motor; One end of the first connecting rod is provided with a first assembly hole, and the other end is provided with a first mounting seat. A first assembly shaft is provided on the side of the first connecting rod near the first assembly hole, and a second mounting seat is provided on the bottom side of the middle part of the first connecting rod. One end of the second connecting rod is hinged to the first mounting shaft through the third mounting hole, and the other end is provided with a second mounting hole. A fourth mounting hole is provided above the end near the third mounting hole. The third link is provided with a sixth mounting hole at one end, a fifth mounting hole at the other end, a third mounting seat at the middle, and a fourth mounting seat in the area between the third mounting seat and the sixth mounting hole. One end of the fourth link is hinged to the sixth assembly hole via the second assembly shaft, and the other end is hinged to the first assembly hole via the third assembly shaft. One end of the fifth link is hinged to the fourth mounting base via the fourth assembly shaft, and the other end is hinged to the fourth assembly hole via the fifth assembly shaft. One end of the active suspension actuator is hinged to the third mounting seat via the sixth mounting seat, and the other end is provided with the fifth mounting seat; The corner module bracket has a seventh mounting seat at the top of its side wall and is hinged to the fifth mounting hole; an eighth mounting seat at the bottom of its side wall and is hinged to the fifth mounting seat; and a guide rail at the bottom of its side wall. The gait mode actuator is hinged to the second assembly hole via the sixth assembly shaft, and the gait mode actuator is slidably connected to the guide rail via a sliding groove; One side of the steering knuckle is fixedly connected to the hub motor via the tenth mounting seat, and the other side is provided with the ninth mounting seat and the eleventh mounting seat, the eleventh mounting seat being hinged to the first mounting seat; The servo electric cylinder is connected to a drive motor. One end of the servo electric cylinder is connected to a twelfth mounting base, and the other end is provided with a thirteenth mounting base. The twelfth mounting base is connected to the second mounting base via the second cross shaft, forming a universal joint kinematic pair; The thirteenth mounting base is connected to the ninth mounting base via the first cross shaft, forming a universal joint kinematic pair.

2. A biomimetic horn module system for high-load-bearing tasks, based on the biomimetic horn module mechanism with a wheel-walking composite driving mode as described in claim 1, characterized in that, The bionic horn module system includes wheels, a suspension system, and a steering system; The suspension system of the bionic horn module system is consistent with the bionic horn module mechanism, except that the single guide rail set at the bottom of the side wall of the horn module bracket is replaced with two symmetrically arranged guide rails. At the same time, gait mode actuators are added. The two gait mode actuators adopt the same structure and are symmetrically arranged. The steering system of the bionic angle module system consists only of a steering knuckle, with a tenth mounting seat on each side of the steering knuckle. The connection method between the suspension system and the steering knuckle is consistent with that of the bionic angle module mechanism. The vehicle has two wheels, which are symmetrically arranged, and the hub motors are connected to the two tenth mounting brackets respectively.

3. The bionic angle module system for high-capacity tasks according to claim 2, characterized in that, The suspension system also includes a vibration isolation spring, one end of which is connected to the first link and the other end is hinged to the second link, forming a quasi-zero stiffness vibration isolation system together with the active suspension actuator.

4. A vehicle, based on the bionic angular module mechanism with a wheel-step composite driving mode as described in claim 1, characterized in that, The vehicle is a two-axle distributed electric drive bionic chassis, which includes at least wheels, a vehicle body, a loading platform, a frame, an equipment compartment, and the aforementioned bionic angular module mechanism. The wheel has a hub motor and a tire; the loading platform is located above the frame; the equipment compartment is distributed on both sides of the frame and located between two bionic horn module mechanisms; the bionic horn module mechanism is located below the loading platform.

5. A vehicle, based on the bionic angular module mechanism with a wheel-step composite driving mode as described in claim 1, characterized in that, The vehicle is a six-axle modular transportation platform, which integrates twelve bionic horn module mechanisms.

6. A vehicle, based on the bionic angular module system for high-load-bearing tasks as described in claim 3, characterized in that, The vehicle is a six-axle modular transportation platform designed for heavy-duty transportation tasks, and the six-axle modular transportation platform designed for heavy-duty transportation tasks integrates twelve bionic angular module systems.

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