High-stability eight-legged bionic transport vehicle chassis and method thereof

Abstract

The invention relates to a high-stability eight-legged bionic transport vehicle chassis which comprises a frame body, a wheel assembly, bionic legs and an adjusting device, the frame body comprises a chassis longitudinal beam, a connecting table and a cross beam, the bionic legs are located on the front side and the rear side of the frame body and connected through the connecting table, and the wheel assembly is detachably connected to the bottom of the frame body; a power module, a hydraulic oil tank and a cargo bucket assembly are arranged on the frame body, the hydraulic oil tank and the cargo bucket assembly are arranged side by side and connected through a connecting rod, and adjusting devices are arranged on the front side and the rear side of the power module and the cargo bucket assembly and used for driving the power module and the cargo bucket assembly to move left and right on the frame body so as to adjust the gravity center position of the chassis structure. Leg fatigue on one side is prevented, and the service life is prolonged.

Description

Technical Field

[0001] This invention relates to a highly stable eight-legged bionic transport vehicle chassis and its method, belonging to the field of bionic chassis technology. Background Technology

[0002] Eight-legged bionic transport vehicles, due to their excellent terrain adaptability, have become important equipment for transportation, exploration, and operations in complex field environments. These robots typically possess the ability to perform high-speed wheeled movement on flat ground and obstacle crossing on rugged terrain.

[0003] Most existing eight-legged bionic transport vehicles use an integral rigid chassis, and the length of the chassis is generally much greater than its width. When walking in mountainous terrain, bionic legs are needed, and they are often on the same side of the slope for a long time. This means that when the chassis tilts in the width direction, one side of the bionic leg has to bear most of the force, which can easily damage the lifespan of the bionic leg. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a highly stable eight-legged bionic transport vehicle chassis and method thereof, so as to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is: a highly stable eight-legged bionic transport vehicle chassis, comprising a frame, a wheel assembly, bionic legs, and an adjustment device. The frame includes chassis longitudinal beams, connecting platforms, and crossbeams. The bionic legs are located on the front and rear sides of the frame and connected by the connecting platforms. The wheel assembly is detachably connected to the bottom of the frame. A power module, a hydraulic oil tank, and a cargo bucket assembly are provided on the frame. The hydraulic oil tank and the cargo bucket assembly are placed side by side and connected by a connecting rod. Adjustment devices are provided on the front and rear sides of the power module and the cargo bucket assembly to drive them to move left and right on the frame, thereby adjusting the center of gravity of the chassis structure.

[0006] Preferably, the adjusting device includes a first telescopic rod, a connecting ring is provided at the extended end of the first telescopic rod, nuts matching the connecting ring are provided at the bottom of the front and rear sides of the power module and the cargo bucket assembly, a sliding groove is provided on the crossbeam along its length, and a slider matching the sliding groove is provided at the bottom of the power module, the hydraulic oil tank and the cargo bucket assembly.

[0007] Preferably, a roller is provided at the bottom of the chute, and the slider is placed on the roller.

[0008] Preferably, the slider includes a slider base and a protrusion at the upper end of the base. After the slider is placed on the roller, the height of the protrusion is higher than the height of the groove, and the front, rear, and upper ends of the slider base are limited by the crossbeam.

[0009] Preferably, the frame is also provided with mounting holes for the electrical control box, the long material support, the power module, the cargo bucket, and the hydraulic oil tank. Each mounting hole is used to fix the electrical control box, the long material support, the power module, the cargo bucket assembly, and the hydraulic oil tank respectively by fixing bolts.

[0010] Preferably, the cargo bin assembly includes a cargo bin base, on which a housing (720) is mounted and hinged, and a rotating door is provided on the right side of the housing.

[0011] Preferably, the cargo hopper base includes a placement platform, one end of the second telescopic rod is hinged to the placement platform, the other end of the second telescopic rod is hinged to a support claw, and the support claw is fixedly connected to the bottom of the box body.

[0012] Preferably, the long material support includes a support body, and the support body is provided with corresponding placement holes in both the length and height directions, the placement holes being used for the long material to pass through.

[0013] A working method for a highly stable eight-legged bionic transport vehicle chassis is carried out according to the following steps: When the transport vehicle is on a flat road, it adopts a wheeled high-speed travel mode: the power module, cargo bucket assembly and hydraulic oil tank are fixed by fixing bolts to increase the stability of its wheeled assembly chassis; When navigating rough terrain, the bionic legs are used for walking: the wheel assembly is removed, and the fixing bolts on the power module, cargo bucket assembly, and hydraulic oil tank are removed. When walking on a transverse slope for an extended period of time, the operator can manually control the adjustment device to move the load module to the higher side of the slope according to the slope conditions, thereby balancing the center of gravity and reducing the pressure on the lower side of the bionic legs. After reaching the designated position, the second telescopic rod is extended, which raises one side of the bottom of the box through the support claw, opening the rotating door for unloading.

[0014] Preferably, before performing the unloading operation, the hopper assembly and the hydraulic tank connected to it will be driven to move outward from the chassis via the adjustment device so that its discharge port is as far away from the center area of ​​the chassis as possible; at the same time, the control system will adjust the position of the power module inward accordingly to compensate for the change in the center of gravity caused by the outward movement of the hopper, so as to keep the overall stability of the chassis within a safe range during the unloading process.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention drives the power module, cargo box assembly and other loads to move laterally in the groove of the chassis crossbeam by adjusting the device, which can actively adjust the position of the vehicle's center of gravity. This solves the core problem of excessive load on one side of the bionic leg due to the fixed center of gravity of traditional transport vehicles on transverse slopes. It not only significantly improves the vehicle's driving stability and passability in rugged terrain, but also effectively avoids fatigue damage to the bionic leg structure and the risk of overload of the drive components, thereby greatly extending its service life.

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the present invention; Figure 2 This is a schematic diagram of the frame structure of the present invention; Figure 3 For the present invention Figure 1 Enlarged view of part A in the middle; Figure 4 For the present invention Figure 1 Enlarged view of part B in the middle section; Figure 5 For the present invention Figure 2 Enlarged view of part C in the middle; Figure 6 This is a schematic diagram of the transverse cross-section of the adjusting device of the present invention; Figure 7 This is a schematic diagram of the longitudinal section of the adjusting device of the present invention; Figure 8 This is a schematic diagram of the cargo bucket assembly structure of the present invention; Figure 9 This is a schematic diagram of the unloading state structure of the cargo bucket assembly of the present invention; Figure 10 This is a schematic diagram of the long material support structure of the present invention.

[0018] In the diagram: 100 frame, 110 chassis longitudinal beam, 120 connecting platform, 130 crossbeam, 1301 slide rail, 140 first telescopic rod, 1401 connecting ring, 1402 slider, 1403 roller, 1404 nut, 150 electrical control box mounting hole, 160 long material support mounting hole, 170 power module mounting hole, 1701 fixing bolt, 180 cargo bucket mounting hole, 190 hydraulic oil tank mounting hole, 200 wheel assembly, 300 bionic leg, 400 electrical control box, 500 power module, 600 hydraulic oil tank, 610 connecting rod, 700 cargo bucket assembly, 710 cargo bucket base, 7101 placement platform, 7102 second telescopic rod, 7103 support claw, 720 box body, 7201 rotating door, 800 long material support, 810 support body, 8101 placement hole. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0021] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0022] Example 1: like Figure 1 As shown, a highly stable eight-legged bionic transport vehicle chassis includes a frame 100, a wheel assembly 200, bionic legs 300, and an adjustment device. The frame 100 includes a chassis longitudinal beam 110, a connecting platform 120, and a crossbeam 130. The bionic legs 300 are located on the front and rear sides of the frame 100 and are connected by the connecting platform 120. The wheel assembly 200 is detachably connected to the bottom of the frame 100. The frame 100 is equipped with a power module 500, a hydraulic oil tank 600, and a cargo bucket assembly 700. The hydraulic oil tank 600 and the cargo bucket assembly 700 are placed side by side and connected in the middle by a connecting rod 610. The power module 500 and the cargo bucket assembly 700 are equipped with adjustment devices on the front and rear sides to drive them to move left and right on the frame 100, so as to adjust the center of gravity of the chassis structure.

[0023] Specifically, the transport vehicle uses high-speed wheeled travel on flat roads, and needs to use bionic legs 300 to travel on rugged terrain. When using bionic legs 300, the wheel assembly 200 needs to be removed to prevent bottoming out and interference. The hydraulic oil tank 600 and the cargo bucket assembly 700 are placed side by side to maintain the flatness of the chassis. They are connected by a connecting rod 610, and an adjustment device can move the hydraulic oil tank 600 and the cargo bucket assembly 700 at the same time. By setting the adjustment device, the center of gravity of heavy loads such as the hydraulic oil tank 600, cargo bucket assembly 700 and power module 500 on the chassis can be actively adjusted to prevent fatigue when using bionic legs 300 to travel on transverse slopes for a long time, thereby improving their service life.

[0024] like Figure 2 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, in this embodiment, the adjustment device includes a first telescopic rod 140, with a connecting ring 1401 at the extended end of the first telescopic rod 140. Nuts 1404 matching the connecting ring 1401 are provided on the bottom of the front and rear sides of the power module 500 and the cargo bucket assembly 700. A slide groove 1301 along its length is provided on the crossbeam 130. A slider 1402 matching the slide groove 1301 is provided at the bottom of the power module 500, the hydraulic oil tank 600, and the cargo bucket assembly 700. A roller 1403 is provided at the bottom of the slide groove 1301. The slider 1402 is placed on the roller 1403. The slider 1402 includes a slider base and a protrusion at the upper end of the base. After the slider 1402 is placed on the roller 1403, the height of the protrusion is higher than the height of the slide groove 1301. The front, rear, and upper ends of the slider base are limited by the crossbeam 130.

[0025] Specifically, by selecting appropriate bolts and tightening them through the connecting ring 1401 and nut 1404, the connecting ring 1401 and nut 1404 can be fixed, thereby allowing the first telescopic rod 140 to extend and retract, driving the slider 1402 at the bottom of the load to slide laterally on the roller 1403. Four sliders 1402 are provided at the bottom of the load to improve the stability of movement. At the same time, when the slider 1402 is placed, it is spaced a distance away from the end of the crossbeam on the side closest to it in the length direction to reserve the sliding distance. After the slider 1402 is placed on the roller 1403, since the height of the protrusion is higher than the height of the slide groove 1301, it can prevent the bottom of the load from generating friction with the chassis frame 100, thereby improving the smoothness of movement. The front, rear, and upper ends of the slider base are limited by the crossbeam 130, which can improve the stability of sliding and prevent it from falling off.

[0026] like Figure 1 , Figure 3 and Figure 4 As shown, in this embodiment, the frame 100 is also provided with an electrical control box mounting hole 150, a long material support mounting hole 160, a power module mounting hole 170, a cargo bucket mounting hole 180, and a hydraulic oil tank mounting hole 190. Each mounting hole is used to fix the electrical control box 400, the long material support 800, the power module 500, the cargo bucket assembly 700, and the hydraulic oil tank 600 respectively by fixing bolts 1701.

[0027] Specifically, when using the wheel assembly 200 for movement, the power module 500, cargo bucket assembly 700, and hydraulic tank 600 are locked in place by fixing bolts 1701 to enhance the overall rigidity and stability of the chassis at high speeds. When switching to the bionic leg 300 walking mode, these fixing bolts 1701 must be removed to release the locking of the aforementioned heavy loads, allowing the adjustment device to drive them to move laterally. The lighter electrical control box 400 and the long material support 800, which have less impact on the center of gravity balance, remain fixed in both modes.

[0028] like Figure 8 , Figure 9 As shown, in this embodiment, the cargo bin assembly 700 includes a cargo bin base 710, a box 720 is mounted on the cargo bin base 710 and hinged thereto, a rotating door 7201 is provided on the right side of the box 720, the cargo bin base 710 includes a placement platform 7101, one end of the placement platform 7101 is hinged to the second telescopic rod 7102, the other end of the second telescopic rod 7102 is hinged to the support claw 7103, and the support claw 7103 is fixedly connected to the bottom of the box 720.

[0029] Specifically, when unloading is required, the second telescopic rod 7102 can be extended so that it can raise one side of the bottom of the box 720 through the support claw 7103, and open the rotating door 7201 to unload the material.

[0030] like Figure 10 As shown, in this embodiment, the long material support 800 includes a support body 810. The support body 810 has corresponding placement holes 8101 in both the length and height directions. The placement holes 8101 are used for the long material to pass through.

[0031] When in use, the transport vehicle travels at high speed on flat roads using wheels. The power module 500, cargo bucket assembly 700, and hydraulic oil tank 600 are fixed by fixing bolts 1701, which increases the stability of the chassis of the wheel assembly 200. When using the bionic legs 300 for travel, the wheel assembly 200 needs to be removed, and the fixing bolts 1701 on the power module 500, cargo bucket assembly 700, and hydraulic oil tank 600 need to be removed. When traveling on transverse slopes for a long time, the operator can manually control the adjustment device to move the load module to the higher side of the slope according to the slope conditions, so as to balance the center of gravity and reduce the pressure on the lower side of the bionic legs 300. After reaching the designated position, the second telescopic rod 7102 is extended, which drives the bottom side of the box 720 to rise through the support claw 7103, opening the rotating door 7201 for unloading.

[0032] Example 2: This embodiment has the same basic structure as Embodiment 1. The main difference lies in the control strategy and chassis coordination management during unloading operations.

[0033] In Embodiment 1, the position of the hopper assembly 700 can remain unchanged during unloading. However, in this embodiment, to further improve the convenience and operating range of unloading, before performing the unloading operation, the hopper assembly 700 and the connected hydraulic tank 600 are moved outward from the chassis via an adjustment device, so that its discharge port is as far away from the center area of ​​the chassis as possible. At the same time, the control system will correspondingly adjust the position of the power module 500 inward to compensate for the change in the center of gravity caused by the outward movement of the hopper, ensuring that the overall stability of the chassis remains within a safe range during the unloading process.

[0034] After the cargo container assembly 700 moves to the target position, the second telescopic rod 7102 extends to lift the container 720 for unloading. This coordinated control method effectively prevents the unloaded material from accumulating at the bottom of the vehicle, greatly improving the convenience of material retrieval and operational efficiency.

[0035] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A highly stable eight-legged bionic transport vehicle chassis, comprising a frame (100), a wheel assembly (200), bionic legs (300), and an adjustment device, characterized in that: The frame (100) includes a chassis longitudinal beam (110), a connecting platform (120), and a crossbeam (130). The bionic legs (300) are located on the front and rear sides of the frame (100) and connected by the connecting platform (120). The wheel assembly (200) is detachably connected to the bottom of the frame (100). The frame (100) is equipped with a power module (500), a hydraulic oil tank (600), and a cargo bucket assembly (700). The hydraulic oil tank (600) and the cargo bucket assembly (700) are placed side by side and connected in the middle by a connecting rod (610). The power module (500) and the cargo bucket assembly (700) are equipped with adjustment devices on the front and rear sides to drive them to move left and right on the frame (100) to adjust the center of gravity of the chassis structure.

2. The high-stability eight-legged bionic transport vehicle chassis according to claim 1, characterized in that: The adjusting device includes a first telescopic rod (140), a connecting ring (1401) is provided at the extended end of the first telescopic rod (140), nuts (1404) matching the connecting ring (1401) are provided at the bottom of the front and rear sides of the power module (500) and the cargo bucket assembly (700), a sliding groove (1301) is provided on the crossbeam (130) along its length direction, and a slider (1402) matching the sliding groove (1301) is provided at the bottom of the power module (500), the hydraulic oil tank (600) and the cargo bucket assembly (700).

3. The high-stability eight-legged bionic transport vehicle chassis according to claim 2, characterized in that: A roller (1403) is provided at the bottom of the chute (1301), and the slider (1402) is placed on the roller (1403).

4. The high-stability eight-legged bionic transport vehicle chassis according to claim 3, characterized in that: The slider (1402) includes a slider base and a protrusion at the upper end of the base. After the slider (1402) is placed on the roller (1403), the height of the protrusion is higher than the height of the groove (1301). The front, rear and upper ends of the slider base are limited by the crossbeam (130).

5. The high-stability eight-legged bionic transport vehicle chassis according to claim 1, characterized in that: The frame (100) is also provided with an electrical control box mounting hole (150), a long material support mounting hole (160), a power module mounting hole (170), a cargo bucket mounting hole (180), and a hydraulic oil tank mounting hole (190). Each mounting hole is used to fix the electrical control box (400), the long material support (800), the power module (500), the cargo bucket assembly (700), and the hydraulic oil tank (600) respectively by fixing bolts (1701).

6. The high-stability eight-legged bionic transport vehicle chassis according to claim 1, characterized in that: The cargo bin assembly (700) includes a cargo bin base (710), on which a box (720) is mounted and hinged, and a rotating door (7201) is provided on the right side of the box (720).

7. The high-stability eight-legged bionic transport vehicle chassis according to claim 6, characterized in that: The cargo bin base (710) includes a placement platform (7101), which is hinged to one end of a second telescopic rod (7102). The other end of the second telescopic rod (7102) is hinged to a support claw (7103), and the support claw (7103) is fixedly connected to the bottom of the box body (720).

8. The high-stability eight-legged bionic transport vehicle chassis according to claim 5, characterized in that: The long material support (800) includes a support body (810), and the support body (810) is provided with corresponding placement holes (8101) in both the length and height directions. The placement holes (8101) are used for the long material to pass through.

9. A method for operating a highly stable octagonal bionic transport vehicle chassis as described in any one of claims 1-8, characterized in that, Follow these steps: When the transport vehicle is on a flat road, it adopts a wheeled high-speed travel: the power module (500), the cargo bucket assembly (700) and the hydraulic oil tank (600) are fixed by fixing bolts (1701) to increase the stability of its wheeled assembly (200) chassis; When entering rugged terrain, use the bionic legs (300) to walk: remove the wheel assembly (200), remove the fixing bolts (1701) on the power module (500), the bucket assembly (700) and the hydraulic oil tank (600), and when walking on a transverse slope for a long time, the operator can manually control the adjustment device to move the load module to the higher side of the slope according to the slope conditions, so as to balance the center of gravity and reduce the pressure on the lower side bionic legs (300). After reaching the designated position, extend the second telescopic rod (7102) so that it drives the bottom side of the box (720) to rise through the support claw (7103) and open the rotating door (7201) to unload.

10. The working method of the high-stability eight-legged bionic transport vehicle chassis according to claim 9, characterized in that: Before the unloading operation is performed, the bucket assembly (700) and the hydraulic tank (600) connected to it will be driven to move outward of the chassis by the adjustment device so that its discharge port is as far away from the center area of ​​the chassis as possible; at the same time, the control system will adjust the position of the power module (500) inward accordingly to compensate for the change in center of gravity caused by the outward movement of the bucket, so as to keep the overall stability of the chassis within a safe range during the unloading process.

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