A running gear based on cross-compliance variable diameter wheels and trailing arm independent suspension

Abstract

This invention relates to a walking device based on a cross-type compliant variable diameter wheel and a trailing arm independent suspension, comprising: a working platform housing a drive motor; two sets of trailing arm independent suspensions; each set of trailing arm independent suspensions includes a gearbox, a pair of outriggers, and spring damping. The gearbox is rotatably connected to the side wall of the working platform, and the upper end of each outrigger is fixedly connected to the gearbox, while its lower end is rotatably connected to a variable diameter wheel capable of adjusting posture. A chain drive mechanism is provided within each outrigger to drive the variable diameter wheel. The drive motor, gear drive mechanism, and chain drive mechanism sequentially engage to form a power transmission route. By combining the trailing arm suspension with terrain-adapting capabilities with the variable diameter wheel capable of active posture adjustment, the device can adapt to uneven road surfaces within a certain range, ensuring traction, and can also actively adjust its posture to adapt to more complex road environments, enhancing terrain adaptability and the walking stability of the mobile system.

Description

Technical Field

[0001] This invention relates to the field of variable diameter wheel technology, specifically, to a running system based on cross-compliance variable diameter wheels and trailing arm independent suspension. Background Technology

[0002] In developing agriculture, forestry, exploiting oil, natural gas, and marine resources, conducting disaster relief, carrying out military activities, and exploring planetary surfaces, humans encounter a wide variety of complex and soft terrain environments, including farmland, swamps, deserts, oil and gas fields, tidal flats, grasslands, Gobi deserts, slopes, snowfields, hills, the seabed, and even the surfaces of the moon and Mars. Faced with these harsh, dangerous, and hazardous environments that are difficult or impossible for humans to access, there is an urgent need for mobile robots that can effectively assist or even replace humans in performing these tasks, helping people to efficiently conduct production and daily life, explore resources, and investigate unknown territories. These mobile robot application scenarios share common characteristics: complexity, variability, and the unknown, with irregular and uneven unpaved terrain. The performance of the mobile robot's locomotion system and suspension determines its obstacle-crossing ability, mobility, ride smoothness, and adaptability to complex terrain.

[0003] Variable diameter wheels possess the ability to climb stairs and overcome obstacles, and can be applied to scenarios such as logistics delivery, deep space exploration, agriculture, and emergency rescue. Taking patent application CN102700596A as an example, it provides an application concept for variable diameter wheels, disclosing a multi-purpose vehicle equipped with a linkage-type skid and variable diameter wheels. In addition to the basic structure of a car, this multi-purpose vehicle includes skids, rubber feet, and a flexible variable diameter wheel frame. The skids are mounted on the two front wheels of a conventional car, while the variable diameter wheel frame is mounted on the car's half-shafts. The spring-loaded variable diameter wheel frame, by rotating hub B relative to hubs A and C at a certain angle, simultaneously drives the flexible variable diameter component to rotate in the circumferential direction of hub B, causing the flexible variable diameter component to open or close, thereby achieving variable diameter for the car's rear wheels. The amphibious vehicle of this invention uses a combination of skids and variable diameter wheel frames, which can improve the vehicle's passability on soft ground, reduce rolling resistance, and increase driving force. In shallow water and tidal flat areas, skids are used to support the vehicle body and prevent the vehicle body from sinking. When the skids are removed and the rear wheels are retracted into round wheels, high-speed travel on roads can be achieved.

[0004] Each type of locomotion device has its own advantages and limitations in different ground environments. Because wheeled mobile robots offer high speed, large load capacity, high efficiency, and ease of control, most successfully engineered mobile robots currently use wheels. However, conventional wheeled locomotion systems struggle to address challenges such as traversing complex ground environments and unstructured terrain, as well as terrain adaptability and stability. Therefore, developing wheels that can balance rapid movement and adaptability to complex terrain has become an important research area. Summary of the Invention

[0005] The purpose of this invention is to provide a running device based on cross-compliance variable diameter wheels and trailing arm independent suspension to solve the problems existing in the prior art.

[0006] The objective of this invention is achieved as follows: a running gear based on a cross-compliance variable diameter wheel and a trailing arm independent suspension, comprising:

[0007] A work platform with a left-right symmetrical structure is provided, and a drive motor is installed inside the work platform;

[0008] Two sets of trailing arm independent suspensions are located on the left and right sides of the work platform;

[0009] Each set of trailing arm independent suspension has a gearbox, a pair of outriggers arranged in a V-shape, and spring damping. The gearbox is equipped with a gear transmission mechanism and is rotatably connected to the side wall of the work platform. The upper end of the outrigger is fixedly connected to the gearbox, and its lower end is rotatably connected to a variable diameter wheel that can adjust the posture. The two ends of the spring damping are respectively rotatably connected to the work platform and the upper part of one of the outriggers.

[0010] The support leg is a hollow structure, and a chain drive mechanism is provided inside to cooperate with the variable diameter wheel. The drive motor, gear drive mechanism and chain drive mechanism are sequentially connected to form a power transmission route, so as to rotate the variable diameter wheel.

[0011] The beneficial effects of this invention are as follows:

[0012] 1. By combining a trailing arm suspension with terrain-following capabilities with variable-diameter wheels that can actively adjust their attitude, this system can not only adapt to uneven road surfaces within a certain range to ensure traction, but also actively adjust its attitude to adapt to more complex road environments (such as steep slopes and stairs), enhancing terrain adaptability and the stability of the mobility system. Furthermore, this device enables differential steering, allowing for turning on the spot and improving maneuverability in confined spaces.

[0013] 2. It features a unique walking unit—a variable diameter wheel that unfolds into a rimless wheel. Its discretely distributed wheel blocks allow it to traverse soft surfaces with low rolling resistance, which helps improve the variable diameter wheel's passability on soft surfaces. It can enlarge the wheel diameter to improve obstacle crossing ability, or it can fold into a round wheel for rapid movement. Continuous wheel diameter changes also provide posture adjustment functionality.

[0014] 3. Previous mobile systems required dedicated attitude adjustment mechanisms for posture adjustment. This technology adjusts the vehicle's posture by changing the diameter of variable-diameter wheels; the attitude adjustment mechanism is integrated into the wheels, simplifying the overall structure and making it compact and lightweight. The changing diameters of the four variable-diameter wheels enable longitudinal (pitch), lateral (roll), and even omnidirectional attitude changes for the mobile system. Furthermore, the trailing arm independent suspension is connected to the vehicle body (work platform) via a rotating support, allowing the trailing arm independent suspension to adaptively rotate within a certain range in the longitudinal plane in response to terrain undulations. Attached Figure Description

[0015] Figure 1 This is a three-dimensional view of the overall structure of the present invention.

[0016] Figure 2 This is a side view of the present invention.

[0017] Figure 3 This is a schematic diagram of the transmission relationship of the present invention.

[0018] Figure 4 This is a top-down schematic diagram of the present invention.

[0019] Figure 5 This is a simplified schematic diagram of the transmission circuit of a variable diameter wheel.

[0020] Figure 6 This is a cross-sectional view of the variable diameter wheel in this invention.

[0021] Figure 7 This is a 3D diagram of a variable diameter wheel.

[0022] Figure 8 This is a diagram showing the maximum diameter of a variable diameter wheel.

[0023] Figure 9 This is a diagram showing the minimum diameter of a variable diameter wheel.

[0024] Figure 10 This is a schematic diagram of a single set of cross-compliant mechanisms.

[0025] Figure 11 This is a schematic diagram of a variable diameter drive mechanism.

[0026] Explanation of reference numerals in the attached figures:

[0027] 100 - Trailing arm independent suspension; 200 - Working platform; 300 - Variable diameter wheel; 400 - Outrigger; 500 - Spring damper; 600 - Gearbox; 700 - Drive gear; 800 - Driven gear; 900 - Drive chain; 1000 - Wheel hub; 1100 - Wheel base unit; 1200 - Tubular support column; 1300 - Drive motor; 1400 - Connecting sleeve; 1500 - Upper sprocket; 1600 - Lower sprocket; 1700 - Wheel hub deformation drive component;

[0028] 1-Outer hub; 2-Inner hub; 3-Wheel foot block; 4-Torsion spring; 5-Cross linkage mechanism; 6-Pin; 7-Half shaft; 8-Half shaft sleeve; 9-Ball spline assembly; 9a-Spline shaft; 9b-Spline outer cylinder; 10-Variable diameter thrust bearing; 11-Sleeve; 12-Linear bearing; 13-Sliding rod; 14-Lever; 15-Electric cylinder; 16-Web plate; 17-Pin support; 18-Rolling bearing; 19-Disc flange. Detailed Implementation

[0029] The following will refer to the appendices in the embodiments of the present invention. Figure 1-11 The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] like Figure 1-5 As shown, a running gear based on cross-compliance variable diameter wheels and trailing arm independent suspension is proposed, which includes:

[0031] The work platform 200 is designed with a left-right symmetrical structure. The work platform 200 is equipped with a drive motor 1300, as well as components such as an electronic control unit and a battery.

[0032] Two sets of independent trailing arm suspensions, 100, are located on the left and right sides of the work platform, 200 respectively.

[0033] Each set of trailing arm independent suspension 100 has a gearbox 600, a pair of outriggers 400 arranged in a V-shape, and a spring damper 500. The gearbox 600 is equipped with a gear transmission mechanism. The gearbox 600 is rotatably connected to the side wall of the work platform 200, and the rotation point is located in the middle of the gearbox 600. The upper end of the outrigger 400 is fixedly connected to the gearbox 600, and its lower end is rotatably connected to a variable diameter wheel 300 that can adjust the posture. The two ends of the spring damper 500 are rotatably connected to the work platform 200 and the upper part of one of the outriggers 400, respectively.

[0034] Therefore, the trailing arm independent suspension 100 and the vehicle body (working platform 200) are connected by a rotational support, and the trailing arm independent suspension 100 can generate a certain range of adaptive rotational movement in the longitudinal plane as the terrain undulates.

[0035] The aforementioned support leg 400 has a hollow structure, and inside it is a chain transmission mechanism that is in drive with the variable diameter wheel 300. The drive motor 1300, gear transmission mechanism and chain transmission mechanism are sequentially driven to form a power transmission route, so that the variable diameter wheel 300 rotates.

[0036] Two sets of trailing arm independent suspensions 100 are arranged symmetrically on the left and right sides. There are two drive motors 1300, which are arranged symmetrically on the left and right sides within the working platform 200. The drive motors 1300 correspond one-to-one with the trailing arm independent suspensions 100.

[0037] The gearbox 600 is designed with a front-to-back symmetrical structure. The two support legs 400 of each set of trailing arm independent suspension 100 are fixedly connected to the gearbox 600 in a front-to-back symmetrical manner. The gearbox 600 is fixedly connected to the support legs 400 through the connecting sleeve 1400.

[0038] More specifically, the aforementioned support leg 400 is designed as a strip-shaped box structure with a rectangular cross-section and an open inner side. The cross-section of the support leg 400 is C-shaped. Several tubular support columns 1200 are fixed inside the support leg 400. The tubular support columns 1200 are perpendicular to the axis of the variable diameter wheel 300 and the length direction of the support leg 400. The two ends of the tubular support columns 1200 are fixedly connected to two opposite sides of the inner wall of the support leg 400, which enables the hollow structure of the support leg 400 to have strong load-bearing capacity and structural rigidity.

[0039] like Figure 2 , 3 As shown in Figure 5, the gear transmission mechanism inside the gearbox 600 includes:

[0040] The output shaft of the drive gear 700 and the drive motor 1300 are fixedly connected to the gear shaft of the drive gear 700 to form a transmission relationship. The output shaft of the drive motor 1300 coaxially passes through the hollow rotating connecting shaft of the gearbox 600 and forms a fixed connection relationship with the shaft of the drive gear 700.

[0041] Two driven gears 800 are symmetrically arranged on both sides of the drive gear 700 and mesh with the drive gear 700. The two driven gears 800 are respectively the power input part of the chain transmission mechanism of the two legs 400.

[0042] Each chain drive mechanism has:

[0043] The upper sprocket 1500 is coaxially arranged with the driven gear 800;

[0044] The lower sprocket 1600 is coaxially arranged with the variable diameter wheel 300;

[0045] The drive chain 900 is located within the support leg 400 and is fitted with the upper sprocket 1500 and the lower sprocket 1600.

[0046] In addition, each variable diameter wheel 300 is equipped with a deformation drive component 1700 that drives it to deform in order to adjust the outer wheel diameter. The deformation drive component 1700 is mounted on the support leg 400.

[0047] like Figure 6-11 As shown, in a preferred embodiment, a better variable diameter wheel is proposed, the variable diameter wheel 300 including the following structure:

[0048] The hub 1000 is divided into an outer hub 1 and an inner hub 2. When the variable diameter wheel is rolling, the inner hub 2 rotates synchronously with the outer hub 1. Under the action of deformation driving force, the inner hub 2 moves and adjusts along the axial direction of the wheel axle.

[0049] Several wheel feet 3, with a web plate 16 fixed to their inner side, the wheel feet 3 and the web plate 16 are combined to form Figure 3 Middle wheel base unit 1100;

[0050] Several cross-link mechanisms 5 (also known as cross-spoke structures) are evenly distributed along the circumference of the variable-diameter wheel and deformably arranged along the radial plane of the wheel body, such as... Figure 6 , 7 As shown in Figure 10, the number of cross linkage mechanisms 5 is an even number (at least six), which can be divided into several pairs. Any pair of cross linkage mechanisms 5 are arranged opposite each other in the radial direction. Each cross linkage mechanism 5 has two sets of connecting rods distributed in a cross manner (each set has two connecting rods side by side, with good rigidity). The outer periphery of the cross linkage mechanism 5 is movably connected to the web plate 16 on the inner side of the wheel foot block 3 to form two first elastic rotation connection points symmetrically distributed on the left and right. The inner periphery of the cross linkage mechanism 5 is movably connected to the outer wheel hub 1 and the inner wheel hub 2 to form two second elastic rotation connection points symmetrically distributed on the left and right. The rotation axes of the first elastic rotation connection points and the second elastic rotation connection points are perpendicular to the wheel axle and perpendicular to the deformation direction of the cross linkage mechanism 5.

[0051] The deformable drive component 1700 is connected to the vehicle body (outrigger 400) and is independent of the wheel hub 1000. The deformable drive component 1700 is in transmission cooperation with the inner wheel hub 2 and is used to drive the inner wheel hub 2 to perform axial movement adjustment.

[0052] In addition, the variable diameter wheel also includes an axle section, which includes:

[0053] The half-shaft sleeve 8 has a disc flange 19 fixedly connected to its inner end, and is fixedly connected to the vehicle body (outrigger 400) through the disc flange 19;

[0054] Half shaft 7 is coaxially rotatably inserted into half shaft sleeve 8. The outer end of half shaft 7 is fixedly connected to outer hub 1. The center hole of outer hub 1 is rotatably connected to half shaft sleeve 8 through rolling bearing 18. Half shaft 7 is coaxially set with lower sprocket 1600. When lower sprocket 1600 rotates, half shaft 7 also rotates synchronously, thereby driving the entire variable diameter wheel 300 to rotate.

[0055] Furthermore, the variable diameter wheel also includes a ball spline assembly 9, which includes a cylindrical spline shaft 9a, a spline outer cylinder 9b, and ball keys. The spline outer cylinder 9b is connected to the spline shaft 9a through the ball keys, so that the spline outer cylinder 9b and the spline shaft 9a form a synchronous rotation and axial movable engagement relationship. That is, the spline outer cylinder 9b can rotate together with the spline shaft 9a, and the spline outer cylinder 9b is axially movablely engaged with the spline shaft 9a.

[0056] The spline outer cylinder 9b is axially movably sleeved on the outer periphery of the spline shaft 9a and located in the space between the inner and outer hubs. The spline outer cylinder 9b is fixedly connected to the inner hub 2. The center of the inner hub 2 is provided with an axially penetrating central hole. The spline shaft 9a movably passes through the central hole of the inner hub 2. The outer end of the spline shaft 9a is fixedly connected to the outer hub 1. The spline shaft 9a is rotatably sleeved with the half-shaft sleeve 8.

[0057] As a structural optimization scheme, in the cross linkage mechanism 5, the horizontal distance between the two first elastic rotation connection points (upper) is smaller than the horizontal distance between the two second elastic rotation connection points (lower). The cross linkage mechanism 5 has an overall shape that is narrow at the top and wide at the bottom, which makes the cross linkage mechanism 5 have good rigidity and relatively stable radial and axial load bearing.

[0058] In the cross linkage mechanism 5, both the first and second elastic rotation connection points are equipped with pins 6, which serve as the connection base (in fact, the mechanism achieves rotation through the torsional deformation of the torsion spring; the main function of the pin is to prevent excessive displacement of the torsion spring's rotation center when the torsion spring is deformed under force). Pin supports 17 serve as the fixing base. The pin supports 17 at the first elastic rotation connection point are fixedly connected to the web of the wheel foot block, while the pin supports 17 at the two second elastic rotation connection points are fixedly connected to the wheel hub. Both the first and second elastic rotation connection points are equipped with torsion springs 4 to provide elastic force. The torsion springs 4 are fitted with pins 6 and connected to the connecting rod. The connection points between the cross linkage mechanism 5 and the variable diameter wheel are all elastic rotation connection points (flexible hinges in a compliant mechanism), providing good buffering performance (and avoiding problems related to sealing and lubrication).

[0059] like Figure 10As shown, in the two sets of links of the cross linkage mechanism 5, two links of one set are located in the space between two links of the other set.

[0060] like Figure 7 , 11 As shown, as a preferred deformation driving solution, the deformation driving component 1700 includes:

[0061] The sleeve 11 is located between the inner hub 2 and the vehicle body. The outer end of the sleeve 11 is rotatably connected to the inner hub 2 through a variable diameter thrust bearing 10. The sleeve 11 is rotatably fitted with the spline shaft 9a and is axially movable with the spline shaft 9a.

[0062] An inverted V-shaped lever 14 rotates up and down around a fixed pivot, which is fixed to the support leg 400 (e.g., Figure 1 , 11 (as shown)

[0063] Electric cylinder 15, the upper end of electric cylinder 15 is rotatably connected to one end of lever 14, and the lower end is rotatably connected to the support leg 400 of the vehicle body;

[0064] An upright sliding rod 13 is rotatably connected to the other end of a lever 14 at its upper end, and the sliding rod 13 moves up and down through the outside of a sleeve 11.

[0065] Among them, the electric cylinder 15, lever 14, sliding rod 13, and sleeve 11 are sequentially driven to drive the inner hub 2 to move axially.

[0066] In a preferred embodiment, the lever 14 is divided into a first connecting rod and two second connecting rods that are fixedly connected to each other. Fixed supports are fixed on both sides of the outer periphery of the sleeve 11. Two sliding rods 13 are provided. The two sliding rods 13 are rotatably connected to the two second connecting rods respectively. The two sliding rods 13 are respectively movably connected to the two fixed supports on the outer periphery of the sleeve 11. More specifically, the sliding rods 13 are movably connected to the fixed supports through linear bearings 12.

[0067] In summary, the rolling conditions of a variable diameter wheel are as follows:

[0068] The outer wheel section (several wheel feet 3) rolls;

[0069] The outer hub 1 and the inner hub 2 rotate synchronously, as detailed below:

[0070] The inner hub 2, the splined outer cylinder 9b and the splined shaft 9a rotate together relative to the half-shaft sleeve 8, and also rotate relative to the sleeve 11;

[0071] The outer hub 1 and the half shaft 7 rotate together relative to the half shaft sleeve 8, which also drives the splined shaft 9a, the inner hub 2 and the splined outer cylinder 9b to rotate synchronously.

[0072] During the rolling process of the variable diameter wheel, the wheel diameter can be adjusted at any time. The deformation conditions of the variable diameter wheel are as follows:

[0073] Considering that the inner hub 2 and the sleeve 11 are in a relative rotational relationship, when the sleeve 11 moves axially, the sleeve 11 can also form a relative rotational fit with the spline shaft 9a, without interfering with the normal rotation of the combination of "inner hub 2 + spline outer sleeve 9b + spline shaft 9a".

[0074] During diameter change, the transmission relationship of the deformation drive component is: electric cylinder 15 → lever 14 → sliding rod 13 → sleeve 11. The extension and retraction action of the electric cylinder 15 is converted into an axial deformation driving force along the wheel axle direction through transmission. The deformation drive component applies an axial driving force from the space outside the wheel, causing the sleeve 11 to move axially along the wheel axle, so that the inner hub 2 and the splined outer sleeve 9b move axially relative to the splined shaft 9a together.

[0075] When it is necessary to increase the diameter of the variable diameter wheel, the transmission relationship of the deformation drive component is briefly described as follows: the electric cylinder 15 retracts downward → the lever 14 rotates outward → the sliding rod 13 moves outward as a whole and moves upward relative to the sleeve 11 along the linear bearing 12 → the sleeve 11 moves outward along the axial direction of the wheel axle. The deformation drive component applies an axial outward force through the sleeve 11, causing the inner hub 2 and the splined outer cylinder 9b to move outward axially relative to the splined shaft 9a together, causing the cross linkage mechanism 5 to deform radially outward, thereby driving the wheel foot block 3 to move radially outward, and simultaneously causing any adjacent wheel foot block 3 to separate, thereby increasing the outer diameter of the variable diameter wheel.

[0076] When the outer diameter of the variable diameter wheel is adjusted to its minimum state, the transmission relationship of the deformation drive component is briefly described as follows: the electric cylinder 15 extends upward → the lever 14 rotates inward → the sliding rod 13 moves inward as a whole and moves downward relative to the sleeve 11 along the linear bearing 12 → the sleeve 11 moves inward along the axial direction of the wheel axle. The deformation drive component applies an axial pulling force through the sleeve 11, causing the inner hub 2 and the splined outer cylinder 9b to move inward axially relative to the splined shaft 9a, causing the cross linkage mechanism 5 to deform radially inward, thereby driving the wheel foot block 3 to move radially inward, and at the same time causing any adjacent wheel foot block 3 to approach each other until any adjacent wheel foot block 3 engages with each other, ultimately making all the wheel foot blocks 3 on the outer circumference of the variable diameter wheel combine into a complete circular structure.

[0077] It should be noted that placing the deformation drive component 1700 outside the hub 1000 improves the space utilization and design flexibility of the hub, and reduces assembly difficulty. Because the deformation drive component is external, the deformation driving force is outside the cross linkage mechanism, and the deformation drive component applies axial force on the axle, which can improve the stiffness of the wheel in the circumferential driving direction.

[0078] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In this invention, it should also be noted that the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through intermediate connecting parts. The specific meaning of the terms in this utility model can be understood according to the specific circumstances.

[0079] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0080] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A running gear based on a cross-compliance variable diameter wheel and a trailing arm independent suspension, characterized in that, It includes: A work platform (200) with a left-right symmetrical structure is provided, and a drive motor (1300) is provided inside the work platform (200); Two sets of trailing arm independent suspensions (100) are located on the left and right sides of the working platform (200). Each set of trailing arm independent suspension (100) has a gearbox (600), a pair of outriggers (400) arranged in a V-shape, and a spring damper (500). The gearbox (600) is equipped with a gear transmission mechanism. The gearbox (600) is rotatably connected to the side wall of the work platform (200). The upper end of the outrigger (400) is fixedly connected to the gearbox (600), and its lower end is rotatably connected to a variable diameter wheel (300) that can adjust the posture. The two ends of the spring damper (500) are rotatably connected to the work platform (200) and the upper part of one of the outriggers (400), respectively. The support leg (400) is a hollow structure, and a chain transmission mechanism is provided inside to drive the variable diameter wheel (300). The drive motor (1300), gear transmission mechanism and chain transmission mechanism are sequentially driven to form a power transmission route, so that the variable diameter wheel (300) rotates.

2. The running gear based on a cross-compliance variable diameter wheel and a trailing arm independent suspension according to claim 1, characterized in that, Two sets of trailing arm independent suspensions (100) are arranged symmetrically on the left and right. There are two drive motors (1300). The two drive motors (1300) are arranged symmetrically on the left and right within the working platform (200). The drive motors (1300) correspond one-to-one with the trailing arm independent suspensions (100).

3. The running gear based on a cross-compliance variable diameter wheel and a trailing arm independent suspension according to claim 2, characterized in that, The gearbox (600) is designed with a front-to-back symmetrical structure, and the two outriggers (400) of each set of trailing arm independent suspension (100) are symmetrically fixed to the gearbox (600).

4. The running gear based on a cross-compliance variable diameter wheel and a trailing arm independent suspension according to claim 1, characterized in that, The support leg (400) is designed as a strip-shaped box structure with a rectangular cross-section.

5. A running gear based on a cross-compliance variable diameter wheel and a trailing arm independent suspension according to claim 4, characterized in that, A plurality of tubular support columns (1200) are fixed inside the support leg (400). The tubular support columns (1200) are perpendicular to the axis of the variable diameter wheel (300) and the length direction of the support leg (400). The two ends of the tubular support columns (1200) are fixedly connected to the two opposite sides of the inner wall of the support leg (400).

6. The running gear based on a cross-compliance variable diameter wheel and a trailing arm independent suspension according to claim 1, characterized in that, The gear transmission mechanism within the gearbox (600) includes: The drive gear (700) is connected to the gear shaft of the drive motor (1300) via a transmission connection. Two driven gears (800) are symmetrically arranged on both sides of the drive gear (700) and mesh with the drive gear (700). The two driven gears (800) are respectively set as the power input part of the chain transmission mechanism of the two legs (400).

7. A running gear based on a cross-compliance variable diameter wheel and a trailing arm independent suspension according to claim 6, characterized in that, Each chain drive mechanism has: The upper sprocket (1500) is coaxially arranged with the driven gear (800); The lower sprocket (1600) is coaxially arranged with the variable diameter wheel (300); A drive chain (900) is located within the support leg (400) and is fitted with an upper sprocket (1500) and a lower sprocket (1600).

8. A running gear based on a cross-compliance variable diameter wheel and a trailing arm independent suspension according to any one of claims 1-7, characterized in that, Each variable diameter wheel (300) is equipped with a deformation drive component (1700) that drives it to deform to adjust the outer wheel diameter, the deformation drive component (1700) being mounted on the outrigger (400).

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