Omnibearing space moving platform

Abstract

The invention discloses an omni-directional space mobile platform, and belongs to the field of engineering detection platforms. The omni-directional space moving platform comprises a control system, a flight module, a walking leg module and a walking wheel module. The control system controls the flight module, the walking leg module and the walking wheel module to work independently to achieve combination of multiple motion modes, the flight module is fixedly connected to the upper surface of the platform rack, the walking leg module is fixedly installed on the edge of the lower surface of the platform rack, and the walking wheel module is fixedly connected to the upper surface of the platform rack. The walking wheel module is fixedly installed in the middle of the lower surface of the platform rack. The robot can adapt to various complex operation environments through various motion modes; the flying module, the walking leg module and the walking wheel module are fixed through the platform rack, and mutual restriction of all parts is effectively avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to an engineering exploration platform, in particular to a full-space mobile platform. BACKGROUND

[0002] The current post-disaster search and rescue, mine exploration and space exploration fields all need the assistance of engineering machinery. At present, the said fields mostly use unmanned aerial vehicles for exploration, and some land robots are used for detailed exploration that needs to penetrate the bottom surface. However, the existing exploration engineering machinery has the following technical bottlenecks:

[0003] Firstly, the movement mode is single: the traditional unmanned aerial vehicle only has the ability of aerial exploration, and when dealing with high-limit spaces such as caves, the operation requirements for the control personnel are high, which can easily cause damage to the equipment and cannot penetrate the complex ground environment for exploration work; the ground robot is limited by the terrain obstacles and has a limited range of motion.

[0004] Secondly, the functional compatibility is insufficient: the existing land-air robots mostly adopt fixed structure design, and the flight and ground modules are mutually restricted, the rotor layout is limited by the space of the fuselage, and the rotor angle cannot be flexibly adjusted; the wheel / leg switching mechanism is complex and has low reliability, and when facing complex working environments that need to frequently switch the wheel / leg structure, the working efficiency is low, which delays the golden rescue period after the disaster. SUMMARY

[0005] The purpose of the present application is to provide a full-space mobile platform, which is suitable for relatively complex ground conditions through modular reconfigurable architecture and multi-modal collaborative control, can realize collaborative operation of multiple movement modes, can be compatible with multiple modules, and can improve the reliability of the full-space mobile platform.

[0006] To solve the above technical problems, the present application is realized by the following technical scheme.

[0007] The present application provides a full-space mobile platform, which comprises a platform frame, a walking leg module, a walking wheel module and a flight module;

[0008] The walking leg module comprises a movable joint for driving the movement of the full-space mobile platform and a lower foot end installed at the bottom of the movable joint for supporting the full-space mobile platform, and the top of the movable joint is connected to the edge of the bottom of the platform frame;

[0009] The platform frame is provided with the walking wheel module at the middle of the bottom surface, and the flight module is installed at the top of the platform frame;

[0010] The platform frame is internally provided with a control system for controlling the walking leg module, the walking wheel module and the flight module.

[0011] Optionally, the movable joint comprises a first connecting arm for controlling the lifting of the walking leg module and a second connecting arm for controlling the moving distance of the walking leg module, the first connecting arm is fixedly connected to the bottom edge of the platform frame, the first connecting arm is connected to the second connecting arm through a motor connecting member, and the second connecting arm is movably connected to the lower foot end.

[0012] The lifting height of the walking leg module is controlled through the first connecting arm, which improves the application environment of the omnidirectional space moving platform; the first connecting arm and the second connecting arm are connected through the motor connecting member, which ensures that the second connecting arm can flexibly adjust the angle to control the moving distance of the walking leg module; and the second connecting arm is movably connected to the lower foot end, which ensures the stable movement of the omnidirectional space moving platform.

[0013] Optionally, the first connecting arm adopts a first driving motor, one side of the top of the motor connecting member is connected to the rotating shaft of the first driving motor, and the other side is movably connected to the shell of the first driving motor, so as to realize the preset angle swing of the motor connecting member with the rotating shaft of the first driving motor as the center;

[0014] The second connecting arm comprises a second driving motor and a third driving motor fixedly connected to the second driving motor through a motor fixing base;

[0015] One side of the bottom of the motor connecting member is connected to the rotating shaft of the second driving motor, and the other side is movably connected to the shell of the second driving motor, so as to realize the preset angle swing of the second connecting arm with the rotating shaft of the second driving motor as the center;

[0016] One side of the top of the lower foot end is connected to the rotating shaft of the third driving motor, and the other side is movably connected to the shell of the third driving motor, so as to realize the preset angle swing of the lower foot end with the rotating shaft of the third driving motor as the center.

[0017] The rotating angles of the second connecting arm, the lower foot end and the motor connecting member are controlled by controlling the motor rotating power of the first driving motor, the second driving motor and the third driving motor, so as to ensure that the walking leg module selectively performs walking task or folding task; when the omnidirectional space moving platform moves by wheels, the second connecting arm is lifted by the first driving motor and the second driving motor until it is higher than the position of the wheels, and the lower foot end is controlled to rotate to the angle close to the second connecting arm by the third driving motor.

[0018] Optionally, the walking wheel module comprises a plurality of support wheel structures; the support wheel structure comprises a mounting frame connected to the platform frame, a crank rod for controlling the extension and retraction of the support wheel structure, and a bracket for adapting the wheel installation;

[0019] The bottom of the mounting frame is connected to the crank rod and the bracket on both sides, and the crank rod and the bracket are hinged; the rotating shaft of the wheel is installed at the bottom of the bracket.

[0020] The crank rod can realize the expansion and contraction of the support wheel structure through the expansion and contraction of the support frame and the mounting frame, so that the walking wheel module is retracted when the leg moving mode is realized, and movement interference is prevented.

[0021] Optionally, the wheel is internally provided with a hub motor for driving the wheel to rotate. The motor is directly integrated in the wheel, and the traditional transmission shaft and reducer are omitted, so that the rotation of the motor directly drives the wheel to rotate, and the installation structure of the omnidirectional space moving platform is simplified.

[0022] Optionally, the flight module comprises a rotor, a flight driving motor and a motor mounting base adapted to the flight driving motor; an extension rod and a fixing rod, the rotor is mounted on the rotating shaft of the flight driving motor; and the motor mounting base is connected to the top outer surface of the platform frame.

[0023] Different specifications of rotors can be selected according to different application environments and different collective materials, so as to facilitate replacement and improve the adaptability of the omnidirectional space moving platform.

[0024] Optionally, the motor mounting base is mounted on the top outer surface of the platform frame through the extension rod and the fixing rod; the motor mounting base is fixedly connected with the extension rod, and the extension rod is movably connected with the fixing rod.

[0025] The platform frame is provided with a positioning hole for adapting the fixing rod to be mounted, and the fixing rod is fixedly connected to the positioning hole.

[0026] The platform frame is provided with a positioning hole for adapting the fixing rod to be mounted, and the fixing rod is fixedly connected to the positioning hole.

[0027] Optionally, the extension rod is hinged by a plurality of joint rods to ensure that the working areas of adjacent rotors do not intersect.

[0028] The included angle between the joint rods can be adjusted to control the angle of the rotor, and the height of the rotor can be adjusted by adjusting the length of the joint rod.

[0029] Compared with the prior art, the present application has the following advantages:

[0030] The application realizes the land-air integrated adaptive motion system through the flight module, the walking leg module and the walking wheel module; the walking wheel module and the walking leg module are physically separated through the joint action of the walking wheel module and the walking leg module, the land-crossing ability of the omnidirectional space moving platform is enhanced, and the ground moving speed of the moving platform is improved; the flight module is installed on the top outer surface of the platform frame, and the walking leg module and the walking wheel module are installed on the bottom of the platform frame to avoid the influence of the walking leg module and the walking wheel module on the flight module during work. The flight module, the walking leg module and the walking wheel module are controlled by the control system to ensure the high reliability of the omnidirectional space moving platform. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 Fig. 1 is a schematic diagram of the preferred overall model of the omnidirectional space moving platform of the application;

[0032] Figure 2 Fig. 2 is a schematic diagram of the platform frame in the application;

[0033] Figure 3 Fig. 3 is a schematic diagram of the support leg structure in the application;

[0034] Figure 4 Fig. 4 is a schematic diagram of the support wheel structure in the application;

[0035] Figure 5 Fig. 5 is a schematic diagram of the walking leg module folding when the omnidirectional space moving platform walks in the wheel mode in the application;

[0036] Figure 6 Fig. 6 is the rotation angle of the first driving motor when the walking leg module folds in the application;

[0037] Figure 7 Fig. 7 is the rotation angle of the second driving motor when the walking leg module folds in the application;

[0038] Figure 8 Fig. 8 is the rotation angle of the third driving motor when the walking leg module folds in the application;

[0039] In the figure: 11, rotor; 12, flight driving motor; 13, motor mounting base; 14, extension rod; 15, fixed rod; 21, first driving motor; 22, second driving motor; 23, third driving motor; 24, motor connecting member; 25, motor fixing base; 26, lower foot end; 31, mounting frame; 32, crank rod; 33, support; 34, wheel; 41, first leg; 42, second leg; 43, third leg; 44, fourth leg. DETAILED DESCRIPTION

[0040] The application will be further described below with reference to the drawings. The following examples are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0041] Embodiment 1

[0042] This embodiment introduces an all-around space mobile platform, as shown in Figure 1 including a flight module, a platform frame, a walking leg module, a walking wheel module and a control system.

[0043] The flight module is fixedly connected to the upper surface of the platform frame, the walking leg module is fixedly installed at the edge of the lower surface of the platform frame, and the walking wheel module is fixedly installed at the central position of the lower surface of the platform frame.

[0044] The control system is installed inside the platform frame, and the control system includes a flight control unit, a leg motion control unit and a wheel motion control unit; the flight control unit controls the flight module, the leg motion control unit controls the walking leg module, and the wheel motion control unit controls the walking wheel module.

[0045] The control system further includes a main controller, a detection unit and a power supply unit; the main controller is connected to the flight control unit, the leg motion control unit and the wheel motion control unit respectively.

[0046] The detection unit is connected to the main controller, and is used to detect obstacles on the travel route to assist the movement of the all-around space mobile platform.

[0047] The power supply unit is connected to the main controller, and is used to supply power to the all-around mobile platform.

[0048] The flight control unit, the leg motion control unit and the wheel motion control unit are independent of each other.

[0049] The walking leg module includes an active joint and a lower foot end, the active joint is used to perform the leg walking task of the all-around space mobile platform, and when the all-around space mobile platform is in the wheel walking mode, the walking leg module is retracted through the active joint to avoid affecting the wheel walking mode, and when the all-around space mobile platform is in the wheel walking mode, as shown in Figure 6 the walking leg module is lifted and folded.

[0050] This embodiment realizes a land-air integrated adaptive motion system through the flight module, the walking leg module and the walking wheel module; the walking wheel module and the walking leg module are physically separated through the joint action of the walking wheel module and the walking leg module, which not only avoids structural interference, but also enhances the land crossing ability of the all-around space mobile platform; a master-slave redundant control system is constructed through the flight control unit, the leg motion control unit and the wheel motion control unit of the control system, which ensures the high reliability of the all-around space mobile platform.

[0051] Embodiment 2

[0052] As Figure 1 The structure scheme of the omnidirectional space moving platform shown in the figure adopts four rotors, four supporting leg structures and three supporting wheel structures, which is the preferred scheme of the application. The omnidirectional space moving platform can not only realize arbitrary curve movement in a plane, but also fly in space. It is divided into ground mode and flight mode, and the ground mode can not only use wheels to move, but also use leg structures to move.

[0053] The space moving platform is composed of a platform frame, a flight module, a walking leg module, a walking wheel module and a control system. Figure 2 As

[0054] As Figure 1 The flight module adopts a multi-rotor structure, which can be two rotors, four rotors, six rotors, eight rotors, etc. The rotor layout should be symmetrical, such as "cross" type, "X" type, etc. The preferred "X" type four-rotor structure is convenient for rotor layout and flight control. The flight module is composed of rotors 11, flight drive motors 12, motor mounting bases 13, extension rods 14, fixed rods 15, etc. The rotors are installed on the output shafts of the flight drive motors. The flight drive motors are installed on the motor mounting bases. The motor mounting bases are connected with the extension rods, and the included angle between them can be adjusted according to needs. They are fixed by bolts. The extension rods and the fixed rods are fixedly connected by bolts, and the included angle between the two rods can be adjusted according to needs. The fixed rods are connected with the platform frame and fixed by threads. Among them, the working areas of adjacent rotors have no intersection. According to needs, multiple extension rods can be selected. The extension rod includes multiple connecting rods, and the number of connecting rods and the included angle between the connecting rods can be determined according to needs, so that the installation heights of the multi-rotors can be different, effectively solving the constraints and limitations of the platform frame space on the installation layout of the multi-rotors.

[0055] The walking leg module realizes the functions of moving and crossing obstacles in the ground mode. The moving can realize in-place rotation, horizontal movement, lateral movement and oblique movement. The walking leg module includes multiple walking leg structures. The number of walking legs can be three, four, six, eight, etc. They are arranged symmetrically, and the preferred structure is four legs, as Figure 3Each walking leg shown includes an active joint, which includes a first connecting arm fixedly connected at the bottom edge of the platform frame, a second connecting arm connected to the first connecting arm through a motor connecting member 24, and a lower foot end 26 movably connected to the second connecting arm. The first connecting arm uses a first drive motor 21, the top side of the motor connecting member 24 is rigidly connected to the shaft of the first drive motor 21, and the other side is movably connected to the housing of the first drive motor 21, for realizing the preset angle swing of the motor connecting member 24 with the shaft of the first drive motor 21 as the center; the second connecting arm includes a second drive motor 22 and a third drive motor 23 fixedly connected to the second drive motor 22 through a motor fixing base; the bottom side of the motor connecting member 24 is rigidly connected to the shaft of the second drive motor 22, and the other side is movably connected to the housing of the second drive motor 22, for realizing the preset angle swing of the second connecting arm with the shaft of the second drive motor 22 as the center; the top side of the lower foot end 26 is rigidly connected to the shaft of the third drive motor 23, and the other side is movably connected to the housing of the third drive motor, for realizing the preset angle swing of the lower foot end 26 with the shaft of the third drive motor 23 as the center.

[0056] When the walking leg module is working, the rotation of the first drive motor 21 realizes the swing of the walking leg, i.e. lifting the leg and putting down the leg; the rigid connection part of the shaft of the second drive motor 22 and the motor connecting member 24 can adopt bolt connection, and the movable connection side can also adopt the method of bolt connection matched with a rolling bearing; the housing of the second drive motor 22 is fixedly connected to the motor fixing base 25, which can be selected by bolt connection; the housing of the third drive motor 23 can adopt bolt connection or welding with the motor fixing base 25, the shaft of the third drive motor 23 is rigidly connected to the lower foot end through a bolt, and the second drive motor 22 and the third drive motor 23 can change the length of the step, i.e. the stretching and retraction of the leg; after the walking leg is retracted, as shown in the figure, Figure 5 The first drive motor 21 controls the entire walking leg module to be lifted, avoiding the collision of the walking leg when the walking wheel is working, the first drive motor 21 controls the motor connecting member 26 to rotate around the shaft of the first drive motor 21 until the second connecting arm and the lower foot end are separated from the bottom surface and keep a horizontal angle, as shown in the figure. Figure 6 The second drive motor 22 controls the second connecting arm to retract around the shaft of the second drive motor 22, and adjusts the angle of the second drive motor after retraction, as shown in the figure. Figure 7 The third drive motor 23 drives the walking leg module to be folded, controls the lower foot end 26 to rotate and retract the distance between the lower foot end and the second connecting arm, and adjusts the included angle between the lower foot end 26 and the second connecting arm after the third drive motor 23 adjusts the lower foot end 26, as shown in the figure. Figure 8

[0057] ​The walking wheel module mainly realizes fast movement in the ground mode, and makes the movement speed of the omnidirectional mobile platform greater than that of the walking leg module in the case of good ground conditions. The walking wheel module comprises a plurality of support wheel structures, the support wheel structure comprises a mounting frame connected with the platform frame, a crank rod for controlling the extension and retraction of the support wheel structure, and a support for adapting the wheel installation, the number of support wheel structures can be two, three, four, six, etc., preferably three, which can take into account the component layout, speed and stability design requirements of the omnidirectional mobile platform. As shown in Figure 4 The support wheel structure mainly comprises a mounting frame 31, a crank rod 32, a support 33 and a wheel 34, etc. The mounting frame 31 is fixedly connected with the platform frame by bolts, the crank rod 32 is connected with the mounting frame 31 by a hinge, the crank rod 32 is connected with the support 33 by a hinge, the prime mover of the crank rod 32 can be one of pneumatic, hydraulic and motor, preferably motor; the movement of the crank rod 32 during the working process of the walking wheel module can realize the lifting and lowering of the support 33, one end of the support 33 is fixedly connected with the platform frame by bolts, the rotating shaft of the wheel 34 is installed on the support 33, and the prime mover of the wheel 34 is a motor, preferably a hub motor. When the number of walking wheel modules is three, the support wheel structure on the side of the walking direction is a guide wheel, which can not use the prime mover to drive, the two wheels away from the side of the walking direction are drive wheels, which realize steering through differential, the extension and retraction of the walking wheel module are controlled through the crank rod 32, effectively avoiding the interference of the walking wheel to the walking leg during working, and improving the adaptability of the omnidirectional space mobile platform.

[0058] The control system comprises a main controller, a flight control system, a leg motion control unit, a wheel motion control unit, a detection unit, a power supply unit, etc., adopts a master-slave mode, three motion modules adopt independent control systems, improves the motion stability and redundancy of the omnidirectional mobile platform. The omnidirectional space mobile platform can not only monitor or detect objects in a non-contact manner, but also monitor or detect objects in a contact manner.

[0059] The embodiment also provides a specific work flow of the omnidirectional space mobile platform. The omnidirectional space mobile platform has two modes, i.e., a flight mode and a ground mode. In the flight mode, the platform is lifted and landed by using a multi-rotor structure under the action of a flight module, and a walking leg or a walking wheel module can provide a landing support for the flight mode. Before starting work, an operator assembles and determines components of the flight module according to a task execution requirement, mainly determines the number of rotors 11, an installation angle between a motor installation base 13 and an extension rod 14, the number of extension rods 14 and an installation angle between the extension rods 14, an installation angle between the extension rod 14 and a fixed rod 15, etc. Before taking off, the walking leg or the walking wheel of the omnidirectional mobile platform serves as a take-off support, a flight control unit controls start and stop and speed of a flight driving motor to realize air flight, and a detection unit is used to realize reliable flight. In the flight process, the walking leg and the walking wheel module are in a retracted state to reduce flight resistance and a gravity center of the platform. When landing, the walking leg or the walking wheel is extended.

[0060] The ground mode of the omnidirectional space mobile platform is divided into a walking leg mode and a walking wheel mode. In the walking leg mode, the walking wheel needs to be retracted. When the total height of the walking wheel module is smaller than the total height of the walking leg, the walking wheel can also not be retracted. However, in order to provide stability and passability of the walking mode, the walking wheel is preferably retracted. In the walking wheel mode, the walking leg needs to be retracted.

[0061] The walking leg mode of the omnidirectional space mobile platform in the ground mode is taken as an example of four legs, and the four supporting legs are symmetrically arranged and numbered as the first leg 41, the second leg 42, the third leg 43 and the fourth leg 44. When the platform moves, it is divided into two forms of supporting and stepping. According to different speeds, it can be divided into three-leg supporting and one-leg stepping, two-leg supporting and two-leg stepping, and four-leg stepping. Taking the first leg 41 stepping as an example, the working process of the walking leg movement of the omnidirectional mobile platform in the ground mode is further described. The initial state of the walking leg is the supporting state. In the first step, the second driving motor 22 rotates to lift the second connecting arm, the third driving motor 23 and the motor fixed base 25 included in the second connecting arm and the lower foot end 26 are synchronously driven to lift, and the lower foot end 26 is away from the ground to complete the first leg 41 off the ground. In the second step, the third driving motor 23 outputs the rotary power, and the lower foot end 26 rotates around the rotating shaft of the third driving motor 23 to retract the lower foot end 26, further improving the stepping distance, and improving the gravity height of the first leg 41, reducing the power demand of the first driving motor 21 and the second driving motor 22. In the third step, the second driving motor 22 and the third driving motor 23 are locked, the first driving motor 21 controls the motor connecting member 24 to drive the second driving motor 23, the motor fixed base 24, the third driving motor 23 and the lower foot end 26 to lift, and the first leg 41 stepping is completed. In the fourth step, the second driving motor 22 reverses to rotate, and the lower member connected thereto is zoomed away from the platform rack end. In the fifth step, the third driving motor 23 reverses to rotate, and the lower foot end is stretched to make it land, and a working process is completed. The working sequence of three-leg supporting and one-leg stepping can be the first leg 41, the second leg 42, the fourth leg 44 and the third leg 43, the first leg 41, the fourth leg 44, the second leg 42 and the third leg 43, the first leg 41, the third leg 43, the second leg 42 and the fourth leg 44, etc. The working sequence of two-leg supporting and two-leg stepping can be the first leg 41 and 44, the second leg 42 and 43, the first leg 41 and the second leg 42, the third leg 43 and 44, the first leg 41 and the third leg 43, the second leg 42 and the fourth leg 44, etc.

[0062] The in-place rotation, horizontal movement, lateral movement and oblique movement of the omnidirectional space mobile platform in the ground mode are mostly completed by the walking leg module, which is controlled by the walking leg control system to control the three driving motors of the four legs.

[0063] The walking wheel mode of the omnidirectional space mobile platform in the ground mode is as follows Figure 1As shown, taking three wheels as an example, the first wheel is a guide wheel, and the second wheel and the third wheel are driving wheels arranged side by side. The whole adopts a folding form, is separately separated, is convenient for maintenance, and even if the wheeled or legged appears a problem, the ground movement of the platform is not affected. The wheels are driven by motors, and the hub motors are preferred. The main function of the walking wheel is to realize the rapid movement of the omnidirectional mobile platform. When the walking leg works, the walking wheel is in a retracted state, and when the walking wheel works, the walking leg is curled through the rotation of the driving motor of the leg. When the ground environment is good and the mobile platform needs a higher movement speed, the walking leg working mode is adopted. The crank rod 32 of the walking wheel module is driven by the original driving member to stretch the support 33, the support 33 is locked by using the motion dead point characteristics of the planar four-bar mechanism, and the stability of the wheel 34 movement is ensured. The second wheel and the third wheel are driving wheels, and are moved under the driving of the original driving member and through the differential of the two wheels to turn. When the walking leg is retracted, the crank rod 32 of the walking wheel module is reversely driven by the original driving member to retract the support 33, and then the wheel 34 is lifted off the ground.

[0064] The walking leg and the walking wheel of the land-air omnidirectional mobile platform are switched under the ground mode. When the leg is switched to the wheel, the wheel is first stretched, and then the leg is retracted. When the wheel is switched to the leg, the leg is first stretched, and then the wheel is retracted.

[0065] The embodiments of the application are described above with reference to the drawings, but the application is not limited to the specific embodiments described above, and the specific embodiments described above are only illustrative but not restrictive. Those skilled in the art can make many forms under the inspiration of the application without departing from the purpose of the application and the scope protected by the claims, and these all belong to the protection of the application.

Claims

1. An omnidirectional space mobility platform, characterized in that, Includes platform frame, walking leg module, walking wheel module and flight module; The walking leg module includes a movable joint that drives the space mobility platform to move and a lower foot end (26) installed at the bottom of the movable joint to support the omnidirectional space mobility platform. The top of the movable joint is connected to the bottom edge of the platform frame. A walking wheel module is installed in the middle of the bottom surface of the platform frame, and a flight module is installed on the top of the platform frame; The platform frame is equipped with a control system for controlling the walking leg module, walking wheel module, and flight module.

2. The omnidirectional space mobility platform according to claim 1, characterized in that, The movable joint includes a first connecting arm for controlling the lifting of the walking leg module and a second connecting arm for controlling the moving distance of the walking leg module. The first connecting arm is fixedly connected to the bottom edge of the platform frame. The first connecting arm is connected to the second connecting arm through a motor connecting component (24). The second connecting arm is movably connected to the lower foot end (26).

3. The omnidirectional space mobility platform according to claim 2, characterized in that, The first connecting arm adopts a first drive motor (21). The top side of the motor connecting member (24) is connected to the shaft of the first drive motor (21), and the other side is movably connected to the housing of the first drive motor (21) to realize the motor connecting member (24) swinging at a preset angle centered on the shaft of the first drive motor (21). The second connecting arm includes a second drive motor (22) and a third drive motor (23) fixedly connected to the second drive motor (22) via a motor mounting base; The bottom side of the motor connecting member (24) is connected to the shaft of the second drive motor (22), and the other side is movably connected to the housing of the second drive motor (22), so as to realize the second connecting arm swinging at a preset angle centered on the shaft of the second drive motor (22); The lower foot end (26) is connected to the shaft of the third drive motor (23) on one side of its top, and is movably connected to the housing of the third drive motor on the other side, so as to realize the lower foot end (26) swinging at a preset angle with the shaft of the third drive motor (23) as the center.

4. The omnidirectional mobile platform according to claim 1, characterized in that, The walking wheel module includes multiple support wheel structures; the support wheel structure includes a mounting frame (31) for connecting the platform frame, a crank rod (32) for controlling the extension and retraction of the support wheel structure, and a bracket (33) for mounting the wheels (34). The bottom sides of the mounting bracket are respectively connected to the crank rod (32) and the bracket (33), and the crank rod (32) and the bracket (33) are hinged together; the wheel (34) shaft is installed at the bottom of the bracket (33).

5. The omnidirectional mobile platform according to claim 4, characterized in that, The wheel is equipped with a hub motor for driving its rotation.

6. The omnidirectional space mobility platform according to claim 1, characterized in that, The flight module includes a rotor (11), a flight drive motor (12), and a motor mounting base (13) adapted to the flight drive motor (12); an extension rod (14) and a fixing rod (15). The rotor (11) is mounted on the rotation shaft of the flight drive motor (12). The motor mounting base (13) is connected to the outer surface of the top of the platform frame.

7. The omnidirectional space mobility platform according to claim 6, characterized in that, The motor mounting base (13) is mounted on the outer surface of the top of the platform frame via an extension rod (14) and a fixing rod (15); the motor mounting base is fixedly connected to the extension rod, and the extension rod is movably connected to the fixing rod. The platform frame is provided with positioning holes for mounting the fixing rod (15), and the fixing rod (15) is fixedly connected to the positioning holes.

8. The omnidirectional space mobility platform according to claim 7, characterized in that, The extension rod (14) uses multiple sections hinged together to ensure that the working areas of adjacent rotors do not overlap.

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