Reconfigurable under-actuated dual-wheel omni-directional balanced mobile platform and multi-machine combined system

Abstract

The present application relates to the field of robot technology, in particular to a reconfigurable under-actuated double-wheel omnidirectional balance mobile platform and a multi-machine combined system. The mobile platform comprises a vehicle body assembly and two wheels symmetrically arranged at the bottom of the vehicle body assembly, the two wheels are respectively driven by two hub motors to drive the whole mobile platform to move on the ground, a synchronous steering coupling mechanism is arranged in the vehicle body assembly for synchronously driving the two wheels to steer, and the synchronous steering coupling mechanism adopts a double-crank connecting rod mechanism which is layered and parallel. Through the double-crank connecting rod mechanism which is layered and parallel, the present application realizes the synchronous steering of the two wheels without dead point and 360° continuous stability, and the steering process is without jam and misalignment, the steering angle control precision is high, and the reliability and stability of omnidirectional motion are greatly improved compared with the existing single-group connecting rod scheme.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform and a multi-machine combination system. Background Technology

[0002] With the rapid development of intelligent manufacturing and warehousing logistics technologies, the demand for wheeled mobile robots in industrial handling, flexible production lines, and inspection in confined spaces continues to increase. Dual-wheel self-balancing platforms and omnidirectional mobility technologies have become core research directions in the field of mobile robots.

[0003] Currently, the mainstream basic configuration of two-wheel mobile platforms generally adopts the two-wheel inverted pendulum balancing platform scheme. Its core is to use two coaxially arranged hub motors as driving elements. Based on the inverted pendulum control principle, the relative position of the wheels and the center of gravity of the vehicle body is changed by adjusting the acceleration and deceleration of the hub motors, so as to realize the dynamic self-balancing of the platform. The differential motion of the two hub motors realizes the platform's turning in place, and finally completes the three basic movements of forward, backward and self-spinning in place.

[0004] This solution has obvious limitations: it can only move forward and backward and rotate in place, and cannot complete omnidirectional movement in the diagonal or lateral directions. Its freedom of movement is severely limited, and its ability to adjust its posture in narrow spaces is insufficient. At the same time, the platform must adjust its center of gravity by pitching the vehicle body during acceleration and deceleration, and it cannot maintain the vertical posture of the vehicle body. The stability of load installation and sensor mounting is poor. In addition, the ground contact area of ​​the dual-wheel support is small, resulting in poor static stability and limited load capacity, making it unsuitable for heavy-duty transportation scenarios.

[0005] Based on this, the core technology disclosed in Chinese utility model patent CN209467267U is to connect the steering shafts of the two wheels through a synchronous belt or a single set of parallel four-bar linkage on the basis of a conventional two-wheel inverted pendulum platform, so as to realize synchronous and same-direction steering of the two wheels; and to generate coupling torque by using the differential motion of the two hub motors to drive the wheels to deflect around the yaw axis, so as to realize the wheel steering angle adjustment without the need for an additional steering motor, and finally enable the two-wheel platform to have omnidirectional motion capability of oblique and lateral movement, which is the core basic solution of the current underactuated two-wheel omnidirectional platform.

[0006] However, the single-link parallel four-bar linkage used in this scheme has an inherent dead point problem. That is, when the crank and the connecting rod are collinear, the parallel four-bar linkage will have an uncertain motion state. It may maintain a parallelogram motion or become an anti-parallelogram mechanism, which will lead to inaccurate wheel steering and jamming, and will not be able to achieve continuous and stable 360° steering. Summary of the Invention

[0007] To address the aforementioned deficiencies in the prior art, this invention aims to provide a reconfigurable underdriven dual-wheel omnidirectional balanced mobile platform to solve the motion dead point problem of existing single-link coupling mechanisms, eliminate motion uncertainty during steering, achieve continuous and stable synchronous steering of the wheels at 360°, and significantly improve the reliability of the omnidirectional motion of the dual-wheel platform.

[0008] In addition, based on the aforementioned mobile platform, the present invention also provides a multi-machine combination system to achieve flexible splicing between multiple mobile platforms, so as to adapt to the needs of various scenarios, including flexible operation with light loads in narrow spaces and stable transportation with heavy loads in open spaces.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0010] A reconfigurable underdriven dual-wheel omnidirectional balancing mobile platform includes a vehicle body assembly and two wheels symmetrically arranged at the bottom of the vehicle body assembly. The axles of the two wheels are coaxial and parallel to the ground, and are respectively fixedly connected to the rotor ends of two hub motors. The stator ends of the two hub motors are respectively fixedly connected to one end of two L-shaped wheel axle connectors, and the other ends of the two L-shaped wheel axle connectors are respectively fixedly connected to two steering shafts. The two steering shafts are rotatably mounted on the vehicle body assembly, and the axis of the steering shafts is perpendicular to the axles of the wheels. A synchronous steering coupling mechanism is provided within the vehicle body assembly. The synchronous steering coupling mechanism adopts a layered and parallel double crank connecting rod mechanism to drive the two steering shafts to rotate synchronously.

[0011] Furthermore, the synchronous steering coupling mechanism includes: six cross cranks, two main shafts, a first connecting rod, and a second connecting rod; the six cross cranks are evenly divided into two groups along the left and right sides of the vehicle assembly, and further divided into three layers along the horizontal direction; three cross cranks in each group are arranged coaxially along the longitudinal direction, and their central axes are respectively coaxial with the steering shaft; the rotation center of the uppermost cross crank in each group is rotatably fixed to the top of the vehicle assembly via the main shaft; a first protrusion is provided on the uppermost and middle cross cranks in each group. The first connecting rod is hinged at both ends to the first protrusions of the two cross cranks located in the uppermost and middle layers of each group; each of the two cross cranks located in the middle and lower layers of each group has a second protrusion, and the two ends of the second connecting rod are hinged to the second protrusions of the two cross cranks located in the lowermost and middle layers of each group; the first protrusion and the second protrusion have a 90° rotational phase difference with respect to the rotation axis of the cross crank; the rotation center of the cross crank located in the lowermost layer of each group is fixedly connected to two steering shafts respectively;

[0012] Furthermore, the cross crank is provided with a counterweight in a direction orthogonal to the first protrusion and the second protrusion;

[0013] Furthermore, the vehicle assembly includes an upper body panel, supporting side panels, and a lower body panel; the upper body panel and the lower body panel are spaced apart and arranged parallel to the ground, and there are two supporting side panels, both of which are located between the upper body panel and the lower body panel and are fixedly connected to the two ends of the upper body panel and the lower body panel.

[0014] Furthermore, the upper body panel and the lower body panel are made of aluminum alloy;

[0015] Furthermore, it also includes a bracket fixedly mounted on the top of the vehicle body assembly and a control module and a power module mounted on the bracket; the control module is used to control the entire mobile platform; the power module is used to supply power.

[0016] Furthermore, the bracket includes an upper bracket and a lower bracket, as well as a support column fixedly connected between the two, with one end of the support column extending outside the lower bracket and fixedly connected to the top of the vehicle body assembly.

[0017] Furthermore, the vehicle body assembly is also fixedly equipped with a controllable magnetic docking mechanism. Two controllable magnetic docking mechanisms are provided and symmetrically installed at the front and rear ends of the vehicle body assembly. The controllable magnetic docking mechanism is used to detachably connect multiple mobile platforms through plug-in and magnetic connection.

[0018] Furthermore, the controllable magnetic docking mechanism includes: a servo motor, a controllable magnetic base, a guide docking component, a mounting bracket, and a connecting rod; the servo motor is fixedly mounted on the vehicle body assembly via the mounting bracket; the guide docking component is fixedly mounted at both ends of the vehicle body assembly, and the guide docking component has an insertion mating part and a docking platform disposed within the insertion mating part; the controllable magnetic base is fixedly mounted on the docking platform, and the switch of the controllable magnetic base is fixedly connected to the output shaft of the servo motor via the connecting rod;

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] (1) The mobile platform of the present invention realizes true pure underactuated omnidirectional movement. It completes the full degree of freedom of self-balancing, forward and backward movement, self-rotation in place, oblique movement and lateral translation of the platform with only two hub motors. Compared with the existing omnidirectional scheme with active drive components, the number of drive components is greatly reduced, the number of mechanical parts is significantly reduced, and the system failure rate is greatly reduced.

[0021] This invention achieves synchronous steering of the two wheels with no dead spots and continuous 360° stability through a layered and parallel double crank connecting rod structure. The steering process is smooth and accurate, with high steering angle control precision. The reliability and stability of omnidirectional motion are greatly improved compared with the existing single-link solution.

[0022] During the steering process, the platform's center of gravity fluctuates very little. From a mechanical structure perspective, the use of a cross crank and a counterweight design eliminates the interference of center of gravity offset on balance control, significantly improving the balance control response speed and greatly reducing the complexity of the control algorithm.

[0023] (2) The multi-machine combination system of the present invention achieves both low power consumption and high reliability. Compared with the traditional electromagnetic chuck docking mechanism, the standby power consumption of the controllable magnetic docking mechanism of the present invention is zero, and the overall power consumption is greatly reduced. At the same time, there is no safety hazard of power failure. After docking, the rigid connection strength is high, it can withstand a large lateral tensile force, the docking fault tolerance is strong, and the docking success rate is extremely high.

[0024] The load capacity of the multi-unit modular platform increases in tandem with the number of units assembled, and its static anti-overturning capability is significantly enhanced compared to a single platform, perfectly balancing the dual requirements of high mobility and heavy load.

[0025] In addition, the control logic of the multi-machine combination system is simple and has strong engineering applicability. The omnidirectional motion control after the multi-machine combination only needs to coordinate the speed distribution based on the control algorithm of the single platform. There is no need to reconstruct the control model, which greatly shortens the algorithm development cycle and can quickly adapt to the actual application needs of industrial scenarios. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform of the present invention;

[0027] Figure 2 This is a three-dimensional structural diagram of the vehicle body assembly;

[0028] Figure 3 This is a three-dimensional structural schematic diagram of the drive wheel assembly of the present invention;

[0029] Figure 4 This is a three-dimensional structural schematic diagram of the synchronous steering coupling mechanism of the present invention;

[0030] Figure 5 This is a top view of the synchronous steering coupling mechanism of the present invention;

[0031] Figure 6 This is a front view of the synchronous steering coupling mechanism of the present invention;

[0032] Figure 7 This is an isometric view of the synchronous steering coupling mechanism of the present invention;

[0033] Figure 8 This is a schematic diagram of the basic motion control of the mobile platform of the present invention, wherein (a) represents straight-line travel and (b) represents stationary rotation;

[0034] Figure 9 This is a schematic diagram of the omnidirectional movement control of the mobile platform of the present invention;

[0035] Figure 10 This is a schematic diagram illustrating the oblique and lateral movement of the mobile platform of the present invention;

[0036] Figure 11 This is a top view of the horizontal movement of the mobile platform of the present invention;

[0037] Figure 12 This is a top view of the mobile platform of the present invention through a narrow terrain.

[0038] Figure 13 The diagram shows a multi-machine combination structure, where (a) is a two-machine four-wheel combination, (b) is a three-machine six-wheel combination, and (c) is a four-machine eight-wheel combination.

[0039] Figure 14 This is a schematic diagram illustrating the working principle of a multi-machine integrated system.

[0040] Figure 15 This is a three-dimensional structural schematic diagram of a controllable magnetic docking mechanism;

[0041] Figure 16 The diagram shows the combined attitude omnidirectional movement effect of the multi-machine combined system, where (a) represents the combined forward movement, (b) represents the combined diagonal movement, and (c) represents the combined lateral movement.

[0042] Figure 17 This is a schematic diagram of the overall structure of the support frame;

[0043] In the diagram: 1. Control module; 2. Power module; 3. Controllable magnetic docking mechanism; 4. Body assembly; 5. Synchronous steering coupling mechanism; 6. Drive wheel assembly;

[0044] 11. Upper support frame; 12. Support column; 13. Lower support frame;

[0045] 31. Servo motor; 32. Controllable magnetic base; 33. Guide docking piece; 34. Mounting bracket; 35. Connecting rod;

[0046] 41. Upper body panel; 42. Support side; 43. Lower body panel; 44. First bearing housing; 45. Main shaft; 46. Second bearing housing; 47. Second bearing; 48. First bearing; 49. Steering shaft;

[0047] 51. Cross crank; 52. First connecting rod; 53. Second connecting rod; 54. First protrusion; 55. Second protrusion; 56. Counterweight;

[0048] 61. L-shaped wheel axle connector; 62. Wheel hub motor; 63. Wheel; Detailed Implementation

[0049] The technical solutions adopted in this invention will be clearly and completely explained and described below with reference to the accompanying drawings;

[0050] First, such as Figure 1 As shown, the present invention provides a reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform, comprising: a vehicle body assembly 4, a synchronous steering coupling mechanism 5, and two drive wheel assemblies 6, wherein:

[0051] The body assembly 4 serves as the basic load-bearing structure of the entire mobile platform. Its overall structure is a layered frame structure consisting of an upper body panel 41, a supporting side panel 42, and a lower body panel 43.

[0052] Specifically, such as Figure 2 As shown, the upper body panel 41 and the lower body panel 43 are spaced apart and arranged parallel to the ground. There are two supporting side panels 42, which are located between the two and are fixedly connected to the two ends of the upper body panel 41 and the lower body panel 43.

[0053] In this embodiment, both the upper body panel 41 and the lower body panel 43 are made of 5mm thick 6061 aviation aluminum alloy rectangular plates. The supporting side plates 42 are distributed on both sides of the upper body panel 41 and the lower body panel 43 and are fixedly connected to the upper body panel 41 and the lower body panel 43 by hexagonal bolts.

[0054] The drive wheel assembly 6, as the sole motion execution unit of the entire mobile platform, consists of two units. These two drive wheel assemblies 6 are symmetrically arranged on the left and right sides of the bottom of the body assembly 4, as shown below. Figure 2-3 As shown, each drive wheel 6 includes: an L-shaped wheel axle connector 61, a hub motor 62, a wheel 63, and a steering shaft 49;

[0055] Specifically, the rotor end of the hub motor 62 is fixedly connected to the axle of the wheel 63, and the stator end of the hub motor 62 is fixedly connected to one end of the L-shaped wheel axle connector 61 by bolts. The other end of the L-shaped wheel axle connector 61 is fixedly connected to the steering shaft 49, and the axis of the steering shaft 49 is perpendicular to the axle of the wheel 63. The two drive wheel assemblies 6 are rotatably fixedly connected to the left and right sides of the bottom of the body assembly 4 through the steering shaft 49, and the axles of the two wheels 63 are arranged coaxially and parallel to the ground.

[0056] In this embodiment, the two hub motors 62 are the only drive actuators of the entire mobile platform. They can be DC brushless hub motors with a rated voltage of 24V and built-in high-resolution absolute encoders to provide real-time feedback on the speed and rotor position of the hub motors 62. On the lower body plate 43 at the bottom of the body assembly 4, there are second bearing seats 46 that penetrate the lower body plate 43 at both ends. A second bearing 47 is provided in the second bearing seat 46. By setting the steering shaft 49 in the second bearing 47 with an interference fit, the steering shaft 49 is set perpendicular to the axis of rotation of the wheel 63 and has the ability to rotate, thereby realizing the rotation of the entire drive wheel assembly 6. Furthermore, the two drive wheel assemblies 6 can use the speed difference between the two wheels 63 to enable the entire mobile platform to have the ability to steer.

[0057] The synchronous steering coupling mechanism 5 is installed in the vehicle body assembly 4. It is used to realize the synchronous steering of the two wheels 63. That is, when the steering shaft 49 corresponding to one of the two wheels 63 rotates due to the speed difference, the synchronous steering coupling mechanism 5 will drive the steering shaft 49 on the other wheel 63 to rotate synchronously, thereby realizing the steering of the entire mobile platform.

[0058] Furthermore, the synchronous steering coupling mechanism 5 adopts a layered and parallel double-crank connecting rod mechanism, such as... Figure 4-7 As shown, it includes: an upper double crank connecting rod assembly and a lower double crank connecting rod assembly, which are arranged parallel to the ground and have a 90° rotational phase difference;

[0059] The upper double crank connecting rod assembly and the lower double crank connecting rod assembly have the same structure, and both consist of: six cross cranks 51, two main shafts 45, a first connecting rod 52 and a second connecting rod 53.

[0060] Specifically, the six cross cranks 51 are divided into two groups on the left and right sides of the body assembly 4, and into three layers in the horizontal direction. The three cross cranks 51 in each group are arranged coaxially in the longitudinal direction, and the central axis of the three is set coaxially with the steering shaft 49 of the corresponding two drive wheel assemblies 6.

[0061] Each layer contains two cross cranks 51 on the left and right, and the layers are arranged parallel to each other.

[0062] In this embodiment, the two cross cranks 51 near the upper body panel 41 are the top layer, the two cross cranks 51 near the lower body panel 43 are the bottom layer, and the layer between them is the middle layer.

[0063] The rotation center of the uppermost cross crank 51 in each group is rotatably fixed to the upper body plate 41 of the body assembly 4 via the main shaft 45.

[0064] Each of the two cross cranks 51 located at the top layer and the middle layer in each group is provided with a first protrusion 54, and the two ends of the first connecting rod 52 are respectively hinged between the first protrusions 54 of the two cross cranks 51 located at the top layer and the middle layer in each group.

[0065] Each of the two cross cranks 51 located in the middle and bottom layers of each group is provided with a second protrusion 55, and the two ends of the second connecting rod 53 are respectively hinged between the second protrusions 55 of the two cross cranks 51 located in the bottom and middle layers of each group.

[0066] Meanwhile, the first protrusion 54 and the second protrusion 55 have a 90° rotational phase difference relative to the rotation axis of each set of cross cranks 51.

[0067] The center of rotation of the lowest-level cross crank 51 in each group is fixedly connected to the two steering shafts 49 respectively.

[0068] That is, the upper double crank connecting rod assembly is composed of the top layer and the middle layer, and the lower double crank connecting rod assembly is composed of the middle layer and the bottom layer.

[0069] Because the synchronous steering coupling mechanism 5 adopts a double crank connecting rod mechanism with upper and lower layers and parallel structure, and there is a 90° rotational phase difference between the upper and lower layers, when the steering shaft 49 rotates and drives one of the connecting rods to the dead position, the other connecting rod is still in an effective transmission state. This eliminates the motion uncertainty when the crank connecting rods are collinear in the mechanical structure, thereby ensuring the continuity and stability of the synchronous steering of the two wheels 63. At the same time, the parallelogram structure enables the precise synchronous rotation of the two wheels 63 in the same direction, and the steering control accuracy is greatly improved.

[0070] Furthermore, each cross crank 51 is provided with a counterweight 56 ​​in a direction orthogonal to the first protrusion 54 and the second protrusion 55, such as... Figure 4 As shown, by setting a counterweight 56 ​​on the cross crank 51, the rotation center of each cross crank 51 is ensured not to shift, so that the overall center of gravity of the entire moving platform remains constant under any angle of coupled steering.

[0071] In this embodiment, as Figure 2 As shown, two first bearing seats 44 are provided at the left and right ends of the upper body panel 41, and each first bearing seat 44 is provided with a first bearing 48. The uppermost cross crank 51 and the main shaft 45 fixedly connected to its rotation center are inserted into the first bearing 48 by an interference fit.

[0072] Furthermore, since the mobile platform of the present invention is a purely underactuated system, it achieves all motion functions only through two hub motors 62, such as... Figure 8-12 As shown, the core working principle is as follows:

[0073] Self-balancing control: Based on the inverted pendulum control principle, the inertial measurement unit collects the vehicle body pitch attitude in real time. When the vehicle body tilts forward or backward, the main controller controls the hub motor to accelerate or decelerate accordingly. The relative position of the support point and the center of gravity of the vehicle body is adjusted by the movement of the wheel 63, so as to realize the dynamic self-balancing of the mobile platform. During the steering process, the counterweight 53 matched with the cross crank 51 keeps the overall center of gravity of the mobile platform constant. There is no need for the balance control algorithm to compensate for the center of gravity offset, which greatly improves the stability and response speed of the balance control.

[0074] Basic motion control: When the two hub motors 62 output the same speed and the same direction, the moving platform moves forward or backward; when the two hub motors 62 output the same speed and opposite directions, the moving platform spins in place.

[0075] Omnidirectional movement control: When the two hub motors 62 generate a speed difference, they will generate a coupling torque on the steering shaft 49, driving the two steering shafts 49 to rotate synchronously in the same direction under the parallelogram constraint of the synchronous steering coupling mechanism 5, thereby changing the deflection angle of the drive wheel's Yaw shaft. When the Yaw shaft rotates to the required angle, the control module 1 drives the hub motors 62 to rotate and move forward and backward in coordination, thus realizing the oblique movement and lateral translation of the platform, and finally completing the omnidirectional movement of three degrees of freedom in the plane. When laterally translating, the vehicle body can pass through a narrow road section of 170mm.

[0076] Since both stationary rotation control and omnidirectional movement control are achieved by the speed difference of the wheel hub motor 62, motion ambiguity may occur. This solution has a vehicle body rotation balance algorithm to achieve independent control of the vehicle body rotation mode, and a wheel set omnidirectional dynamic balance control algorithm to achieve independent control of the wheel set steering mode.

[0077] Secondly, the present invention also includes a controllable magnetic docking mechanism 3, such as Figure 1 As shown, it is installed on the vehicle body assembly 4, and uses the controllable magnetic docking mechanism 3 to integrate multiple platforms into a single unit, thereby forming a multi-machine combination system, such as... Figure 13-14 The system utilizes a controllable magnetic docking mechanism 3 to combine two or more mobile platforms into a multi-machine combination system.

[0078] Furthermore, the controllable magnetic docking mechanism 3 is provided in two sets, symmetrically installed at both ends of the vehicle body assembly 4, such as... Figure 1 As shown, two controllable magnetic docking mechanisms 3 are fixedly mounted on the upper body plate 41 of the vehicle body assembly 4 and are symmetrically arranged along the moving direction of the moving platform.

[0079] like Figure 15 As shown, each controllable magnetic docking mechanism 3 includes: a servo motor 31, a controllable magnetic base 32, a guide docking component 33, a mounting bracket 34, and a connecting rod 35;

[0080] Specifically, the mounting bracket 34 serves as a mounting base for the servo motor 31, thus fixing the servo motor 31 onto the vehicle body assembly 4;

[0081] The guide docking part 33 serves as the insertion and mating component of each controllable magnetic docking mechanism 3, and is fixedly installed at both ends of the vehicle body assembly 4. The guide docking part 33 is provided with an insertion and mating part and a docking platform provided in the insertion and mating part. When the insertion and mating parts of two guide docking parts 33 are inserted together, the two docking platforms dock with each other.

[0082] The controllable magnetic base 32 is an existing switch-type magnetic base. The generation or disappearance of the magnetism of the controllable magnetic base 32 can be controlled by periodically toggling the switch of the controllable magnetic base 32.

[0083] Furthermore, the controllable magnetic base 32 is fixedly mounted on the docking platform, and the switch of the controllable magnetic base 32 is fixedly connected to the output shaft of the servo motor 31 through the connecting rod 35;

[0084] That is, by using the output shaft of the servo motor 31 to periodically toggle the switch of the controllable magnetic base 32 through the connecting rod 35, the generation or disappearance of the magnetism of the controllable magnetic base 32 can be controlled.

[0085] In this embodiment, the insertion and mating part of the guide docking part 33 includes: a tapered guide head and a docking groove. The tapered guide head can be set at the front end of the vehicle body assembly 4, and the docking groove can be set at the rear end of the vehicle body assembly 4.

[0086] When two mobile platforms are docked, the tapered guide head on one mobile platform is first inserted into the docking slot of the other mobile platform using the insertion and mating part of the guide docking part 33. This achieves radial positioning and angular correction of the two mobile platforms, ensuring docking accuracy, avoiding docking misalignment, and ensuring that the two controllable magnetic seats 32 on the docking platforms of the two guide docking parts 33 are docked together. Then, the servo motor 31 is used to drive the two controllable magnetic seats 32 to generate magnetism and attract each other, ultimately achieving a rigid connection between the two mobile platforms.

[0087] When separation is required, the servo motor 31 drives the switch of the controllable magnetic base 32 to rotate 90° in the opposite direction to the off position, the magnetism of the two controllable magnetic bases 32 disappears, and the two moving platforms can be separated.

[0088] In both the engaged and disengaged states, the servo motor 31 does not require continuous power supply; it is only powered briefly during state transitions.

[0089] Specifically, such as Figure 16 As shown, the multi-machine combination system provided by the present invention consists of at least two of the above-mentioned platforms, rigidly spliced ​​together by a controllable magnetic docking mechanism 3, as follows. Figure 13-14As shown, three typical configurations can be formed: a two-engine four-wheel combination, a three-engine six-wheel combination, and a four-engine eight-wheel combination.

[0090] The specific splicing method is as follows: the controllable magnetic docking mechanism 3 located at the rear end of the first mobile platform cooperates with the controllable magnetic docking mechanism 3 located at the front end of the second mobile platform. After the positioning and correction are completed by the guide docking parts, the controllable magnetic seat 32 is energized and switched to the attraction state to realize the rigid coaxial splicing of multiple mobile platforms. The combined system after splicing has no relative movement and forms an integral multi-wheel mobile platform.

[0091] The motion principle of the multi-machine combination system: The multi-machine combination system after splicing does not require dynamic balance control. The control modules of each individual mobile platform realize data interaction through Bluetooth wireless transparent transmission module. The main controller of the main platform uniformly allocates the speed and steering angle of the hub motors 62 of each individual mobile platform. Through the coordinated control of four wheels / six wheels / eight wheels, the omnidirectional movement of the multi-machine combination system can be realized without the need to add any additional steering drive mechanism.

[0092] Multi-machine combination system configuration adaptation: The two-machine four-wheel combination is suitable for medium-load, high-mobility transportation scenarios, with a load capacity that is 1 times higher than that of a single platform; the three-machine six-wheel and four-machine eight-wheel combination is suitable for heavy-load, high-stability long-distance transportation scenarios, with load capacity and anti-overturning ability increasing linearly with the number of splices.

[0093] In addition, such as Figure 1 As shown, the mobile platform of the present invention also includes a control module 1, a power module 2, and a support.

[0094] Specifically, such as Figure 1 and 17 As shown, the bracket is fixedly installed on the top of the vehicle body assembly 4, and consists of an upper bracket 11, a lower bracket 13, and a support column 12 fixedly connected between the two. At the same time, one end of the support column 12 extends to the outside of the lower bracket 12 and is fixedly connected to the upper body panel 41 of the vehicle body assembly 4.

[0095] The control module 1 is fixed to the upper bracket 12 with bolts, and the power module 2 is placed between the upper bracket 12 and the lower bracket 14.

[0096] In this embodiment, the core of the control module 1 adopts an STM32F407 main controller, paired with an MPU6050 six-axis inertial measurement unit, a P3022 contactless angular displacement sensor, and a motor drive unit.

[0097] The inertial measurement unit collects the platform's pitch angle, pitch rate, and yaw rate in real time to provide attitude data for self-balancing control.

[0098] An angle sensor is installed at the top of the steering shaft to collect the steering angle of the drive wheels in real time, thereby realizing closed-loop steering control.

[0099] The main controller communicates with the two hub motors via a CAN bus and controls the servo motors' movements via PWM signals;

[0100] Power module 2 uses a 24V lithium battery pack, paired with a multi-channel voltage conversion module, to provide matching power supply voltage for various electrical components such as hub motor 62, servo motor 31, main controller, and sensors.

[0101] Finally, the above description is only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A reconfigurable underdriven dual-wheel omnidirectional balance mobile platform, comprising a vehicle body assembly (4) and two wheels (63) symmetrically arranged at the bottom of the vehicle body assembly (4), wherein the shafts of the two wheels (63) are coaxial and parallel to the ground, and are respectively fixedly connected to the rotor ends of two hub motors (62), the stator ends of the two hub motors (62) are respectively fixedly connected to one end of two L-shaped wheel axle connectors (61), the other ends of the two L-shaped wheel axle connectors (61) are respectively fixedly connected to two steering shafts (49), the two steering shafts (49) are rotatably arranged on the vehicle body assembly (4), and the axis of the steering shafts (49) is perpendicular to the shaft of the wheel (63); Its features are, A synchronous steering coupling mechanism (5) is provided inside the vehicle body assembly (4). The synchronous steering coupling mechanism (5) adopts a double crank connecting rod mechanism that is layered and parallel to each other, and is used to drive the two steering shafts (49) to rotate synchronously.

2. The reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform according to claim 1, characterized in that: The synchronous steering coupling mechanism (5) includes: six cross cranks (51), two main shafts (45), a first connecting rod (52), and a second connecting rod (53); The six cross cranks (51) are divided into two groups on the left and right sides of the vehicle assembly (4) and into three layers in the horizontal direction. The three cross cranks (51) in each group are arranged coaxially in the longitudinal direction, and their central axes are respectively set coaxially with the steering shaft (49). The rotation center of the uppermost cross crank (51) in each group is rotatably fixed to the top of the body assembly (4) via the main shaft (45); Each of the two cross cranks (51) located at the top layer and the middle layer in each group is provided with a first protrusion (54), and the two ends of the first connecting rod (52) are respectively hinged between the first protrusions (54) of the two cross cranks (51) located at the top layer and the middle layer in each group; Each of the two cross cranks (51) located in the middle and bottom layers of each group is provided with a second protrusion (55), and the two ends of the second connecting rod (53) are respectively hinged between the second protrusions (55) of the two cross cranks (51) in the bottom and middle layers of each group; The first protrusion (54) and the second protrusion (55) have a 90° rotational phase difference relative to the axis of rotation of the cross crank (51); The bottommost cross crank (51) in each group has its rotation center fixedly connected to two steering shafts (49).

3. The reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform according to claim 2, characterized in that: The cross crank (51) is provided with a counterweight (56) in a direction orthogonal to the first protrusion (54) and the second protrusion (55).

4. The reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform according to claim 1, characterized in that: The body assembly (4) includes: an upper body panel (41), a supporting side panel (42), and a lower body panel (43). The upper body panel (41) and the lower body panel (43) are spaced apart and arranged parallel to the ground. There are two supporting side panels (42), both of which are located between the upper body panel (41) and the lower body panel (43) and are fixedly connected to both ends of the upper body panel (41) and the lower body panel (43).

5. A reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform according to claim 4, characterized in that: The upper body panel (41) and the lower body panel (43) are made of aluminum alloy.

6. A reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform according to claim 1, characterized in that: It also includes a bracket fixedly mounted on the top of the vehicle body assembly (4) and a control module (1) and a power module (2) mounted on the bracket. The control module (1) is used to control the entire mobile platform; The power module (2) is used to supply power.

7. A reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform according to claim 6, characterized in that: The bracket includes an upper bracket (11) and a lower bracket (13) and a support column (12) fixedly connected between the two. One end of the support column (12) extends outside the lower bracket (13) and is fixedly connected to the top of the vehicle body assembly (4).

8. A reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform according to claim 1, characterized in that: The vehicle body assembly (4) is also fixedly provided with a controllable magnetic docking mechanism (3). There are two controllable magnetic docking mechanisms (3), which are symmetrically installed at the front and rear ends of the vehicle body assembly (4). The controllable magnetic docking mechanism (3) is used to detachably connect multiple mobile platforms by means of plugging and magnetic connection.

9. A reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform according to claim 8, characterized in that: The controllable magnetic docking mechanism (3) includes: a servo motor (31), a controllable magnetic base (32), a guide docking component (33), a mounting bracket (34), and a connecting rod (35); The servo motor (31) is fixedly mounted on the vehicle body assembly (4) by a mounting bracket (34); The guide docking part (33) is fixedly installed at both ends of the vehicle body assembly (4). The guide docking part (33) is provided with a plug-in mating part and a docking platform provided in the plug-in mating part. The controllable magnetic base (32) is fixedly installed on the docking platform, and the switch of the controllable magnetic base (32) is fixedly connected to the output shaft of the servo motor (31) through the connecting rod (35).

10. A multi-machine combined system, characterized in that, It comprises a reconfigurable underactuated dual-wheel omnidirectional balanced mobile platform as described in multiple claims 8.

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