A variable structure all-terrain mountain mobile platform

Abstract

The present application relates to mountain bike, disclose a kind of variable structure all-terrain mountain mobile platform, including frame, both ends of frame are equipped with wheel leg assembly, wheel leg assembly includes axle beam and wheel leg component, both ends of axle beam are equipped with wheel leg component;It further includes multiple span adjuster, span adjuster is installed on frame and is matched with wheel leg assembly one by one, wheel leg assembly further includes telescopic beam, one end of telescopic beam is hinged in the middle of axle beam by bearing group, both ends of frame are provided with jack, the push rod of span adjuster is connected with telescopic beam and drives its telescopic in jack.It realizes the stepless regulation of wheel track and wheelbase, enhances the passability and stability of platform under different terrain;With the profiling swing function of axle beam, height difference can be automatically compensated according to terrain fluctuation.The double regulation mechanism ensures that each wheel leg assembly has sufficient adhesion, solves the stability and power transmission problem of platform when driving in rugged mountainous environment.

Description

Technical Field

[0001] This invention relates to mountain bikes, and more particularly to a variable-structure all-terrain mountain mobile platform. Background Technology

[0002] Traditional six-wheeled vehicle chassis typically employ a fixed suspension structure with non-adjustable track and wheelbase, severely limiting the vehicle's passability, steering agility, and spatial adaptability in complex terrain. To address this issue, adjustable suspension structures have emerged in the prior art. For example, Chinese patent application CN111846016A discloses a "six-wheeled vehicle chassis mechanism with foldable suspension." This mechanism, through the articulated design of the electric wheel assembly and the independent suspension assembly, allows the suspension to rotate within a nearly 180° range, enabling multi-mode adjustment of track and wheelbase, thereby improving obstacle-crossing ability and steering performance.

[0003] However, this type of adjustable suspension still has certain limitations in practical applications: First, in most existing structures, the wheel leg assemblies mounted on the front and rear axles of the chassis are often not interchangeable due to differences in structural design, connection methods, or functions, resulting in low parts commonality. This necessitates the separate manufacturing of dedicated front and rear axle components, increasing manufacturing costs and supply chain complexity. Second, the lack of interchangeability between the front and rear axle components during maintenance and replacement further increases repair costs and spare parts inventory pressure. Furthermore, in extreme terrains such as mountains and rough roads, vehicles require higher structural coordination, dynamic adjustment capabilities, and overall reliability. Existing structures still have room for optimization in terms of rapid form switching and high-load stability.

[0004] Therefore, there is an urgent need to develop a variable structure all-terrain mobile platform with higher component versatility, flexible structure, and easy manufacturing and maintenance, in order to reduce the total life cycle cost and better adapt to the driving and operation needs in complex terrain. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies by providing a mobile platform for all-terrain mountainous terrain with a variable structure.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A variable-structure all-terrain mountain mobile platform includes a frame, with wheel leg assemblies installed at both the front and rear ends of the frame. The wheel leg assemblies are installed at the front end of the frame to form a front axle, and at the rear end of the frame to form a rear axle. The wheel leg assembly includes an axle crossbeam and wheel leg components, with wheel leg components installed at both ends of the axle crossbeam. It also includes multiple span adjusters, which are mounted on the frame and adapted to the wheel leg assemblies. The wheel leg assemblies also include telescopic beams, one end of which is hinged to the middle of the axle crossbeam via a bearing assembly. The front and rear ends of the frame are equipped with insertion holes. The extension rod of the span adjuster is connected to the telescopic beam and drives it to extend and retract on the insertion hole.

[0007] Preferably, the frame includes a front frame and a rear frame, with the rear end of the front frame vertically connected to the middle of the rear frame, and insertion holes provided at the front end of the front frame and on both sides of the rear frame.

[0008] Preferably, the bearing assembly includes a rotating shaft, three bearings, and three bearing housings, each bearing housing being fitted with one bearing. Two bearing housings are fixed to the telescopic beam, and the third bearing housing is fixed to the axle crossbeam and positioned between the two bearing housings. The rotating shaft connects the three bearing housings through the bearings.

[0009] Preferably, both ends of the axle crossbeam are equipped with wheel leg extenders for laterally pushing the wheel leg assembly. The wheel leg extenders are connected to the wheel leg assembly and drive its extension and retraction. The wheel leg extender includes a wheel leg extension motor and a push rod. The wheel leg extension motor is fastened to the axle crossbeam and is connected to the push rod to drive its extension and retraction. The outer end of the push rod is equipped with a U-shaped bracket, and the wheel leg assembly is mounted on the bracket.

[0010] Preferably, the wheel leg assembly includes a drive wheel, a wheel frame, a connecting frame, a servo motor, a coupling, and a clearance adjusting pusher. The pusher rod of the clearance adjusting pusher is connected to the connecting frame and pushes it up and down. The servo motor is mounted on the connecting frame and is connected to the wheel frame through the coupling. The drive wheel is mounted on the wheel frame.

[0011] Preferably, the wheel leg assembly also includes an active contouring structure for the wheel leg. The active contouring structure for the wheel leg includes a base, a contouring motor, a planetary reducer, a lateral connecting rod, a longitudinal connecting rod, and an active contouring connecting rod. The clearance adjusting pusher is mounted on the base. The base, the lateral connecting rod, the longitudinal connecting rod, and the active contouring connecting rod form a parallelogram structure. Both the longitudinal connecting rod and the active contouring connecting rod are connected to the output shaft of the motor. One end of the lateral connecting rod is hinged to the other end of the longitudinal connecting rod, and the other end of the lateral connecting rod is hinged to the upper end of the base. The other end of the active contouring connecting rod is hinged to the lower end of the base.

[0012] Preferably, the line connecting the two ends of the longitudinal connecting rod is CD, the line connecting the two ends of the active contouring connecting rod is BC, the line connecting the two ends of the base is AB, and the force transmission path of the active contouring structure of the wheel leg is as follows: F out =F in F out For output force, F in For input force, L inFor the input lever arm, L out For the output lever arm, L in =CD L in ≥L out F out ≥F in .

[0013] Preferably, the angle between BC and the horizontal line is α, where -60°≤α≤60° Force on rod BC: F BC =F out Actual internal force: F=F out / cosα.

[0014] This invention, by adopting the above technical solutions, has significant technical effects: First, the front and rear ends of the chassis use identical wheel and leg assemblies, greatly improving component interchangeability and versatility, and effectively reducing manufacturing costs and maintenance complexity. Second, the track width and wheelbase are infinitely adjustable via a span adjuster driving the telescopic beam, allowing the platform to flexibly adapt to different terrains and improve passability and driving stability. Simultaneously, the hinged design in the middle of the axle crossbeam gives it contour-following swaying capability, automatically adjusting wheel height according to road undulations to maintain ground traction. These dual adjustment mechanisms work together to not only enhance the platform's terrain adaptability in rugged mountainous environments but also effectively solve the power distribution and attitude stability issues in multi-wheel drive systems, comprehensively improving the overall performance and reliability of the all-terrain mobile platform. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention.

[0016] Figure 2 This is a structural schematic diagram of the wheel-leg assembly.

[0017] Figure 3 This is a structural diagram of the frame and the stride adjuster.

[0018] Figure 4 This is a schematic diagram of the wheel-leg extender.

[0019] Figure 5 This is a structural schematic diagram of the bearing assembly.

[0020] Figure 6 This is a structural diagram of the wheel-leg assembly and the wheel-leg active contouring structure.

[0021] The names of the body parts referred to by the numbers in the above attached diagrams are as follows: 10—Frame, 11—Wheel leg assembly, 12—Axle crossbeam, 13—Wheel leg assembly, 14—Span adjuster, 15—Telescopic beam, 16—Wheel leg extender, 18—Bearing assembly, 21—Mount base, 22—Contouring motor, 23—Planetary reducer, 24—Transverse link, 25—Longitudinal link, 26—Active contouring link 101—Socket, 102—Front frame, 103—Rear frame 161—Wheel extension motor, 162—Push rod, 163—Bracket 131—Drive wheel, 132—Wheel frame, 133—Steering gear, 134—Coupling, 135—Clearance adjusting extender, 136—Connecting frame 181—Front rotating shaft, 182—Front bearing, 183—Front bearing housing Detailed Implementation

[0022] The following is in conjunction with the appendix Figure 1-6 The invention will be further described in detail with reference to the embodiments. Example

[0023] A variable-structure all-terrain mountain mobile platform includes a frame 10, with wheel leg assemblies 11 mounted at both the front and rear ends of the frame 10. The wheel leg assemblies 11 are mounted at the front end of the frame 10 to form a front axle and at the rear end of the frame 10 to form a rear axle. Each wheel leg assembly 11 includes an axle crossbeam 12 and wheel leg components 13, with wheel leg components 13 mounted at both ends of the axle crossbeam 12. The all-terrain mountain mobile platform also includes multiple span adjusters 14. In this embodiment, there are three span adjusters 14 and three wheel leg assemblies 11. The span adjusters 14 are installed on the frame 10 and are adapted to the wheel leg assemblies 11 one by one. The wheel leg assembly 11 also includes a telescopic beam 15. One end of the telescopic beam 15 is hinged to the middle of the axle crossbeam 12 through a bearing assembly 18. The front and rear ends of the frame 10 are provided with insertion holes 101. The push rod of the span adjuster 14 is connected to the telescopic beam 15 and drives it to extend and retract on the insertion hole 101. First, the front and rear ends of the chassis 10 use wheel leg assemblies 11 with identical structures, achieving high component commonality and interchangeability, significantly reducing manufacturing and maintenance costs. Second, the telescopic beam 15 is driven by the span adjuster 14 to telescopically move in the chassis insertion hole 101, realizing stepless continuous adjustment of the wheel track and wheelbase, greatly enhancing the platform's passability and driving stability in different terrains. At the same time, the telescopic beam 15 is hinged to the middle of the axle crossbeam 12 through the bearing assembly 18, giving the axle contour-following swing capability, which can automatically compensate for height differences according to ground undulations and maintain wheel ground adhesion. The combined effect of the above-mentioned wheel track-wheelbase adjustment and axle contour-following swing mechanism effectively ensures that each wheel leg assembly 13 maintains sufficient grip in rugged mountainous environments, fundamentally solving the problems of posture stability and power transmission when the platform is driving in complex terrain, and improving the overall adaptability and reliability of the all-terrain mobile platform.

[0024] The frame 10 includes a front frame 102 and a rear frame 103. The frame 10 is T-shaped. The rear end of the front frame 102 is vertically connected to the middle of the rear frame 103. Both the front frame 102 and the rear frame 103 are square tubes. The front frame 102 is vertically welded to the rear frame 103. The front end of the front frame 102 and both sides of the rear frame 103 are provided with insertion holes 101. The frame 10 adopts a layout in which the front frame 102 and the rear frame 103 are vertically connected, which makes the overall structure stable and the stress distribution reasonable. By providing standardized insertion holes 101 at the front end of the front frame 102 and both sides of the rear frame 103, the wheel leg assembly 11 can be universally installed and quickly positioned in multiple positions on the front, left, and right of the platform. This design not only makes it possible to fully interchange the wheel leg assemblies 11 of the front and rear axles, significantly reducing the types of parts, manufacturing costs, and spare parts inventory, but also, in conjunction with the span adjuster 14 and telescopic beam 15, provides a reliable structural foundation for flexible and multi-mode adjustment of the track width and wheelbase, further enhancing the platform's adaptability and overall economy in all-terrain environments.

[0025] The bearing assembly 18 includes a rotating shaft 181, three bearings 182, and three bearing seats 183. Each bearing seat 183 is fitted to one bearing 182. Two bearing seats 183 are fixed to the telescopic beam 15, and the third bearing seat 183 is fixed to the axle crossbeam 12 and positioned between the two bearing seats 183. The rotating shaft 181 connects the three bearing seats 183 through the bearings 182. The structural design of the bearing assembly 18, through the cooperation of the rotating shaft 181 with the three bearings 182 and the bearing seats 183, achieves a stable and flexible hinged connection between the telescopic beam 15 and the axle crossbeam 12. Two bearing seats 183 are fixed to the telescopic beam 15, and the third is fixed to the axle crossbeam 12 and positioned between them, forming a symmetrical support layout. This arrangement enables the axle beam 12 to achieve multi-degree-of-freedom contour-following oscillation around the rotation axis 181, effectively adapting to road surface undulations. At the same time, the three-point load-bearing structure distributes the load, improves the load-bearing capacity and motion stability of the hinge points, reduces wear during long-term use, and further enhances the dynamic response capability and overall structural reliability of the wheel leg assembly 11 in complex terrain.

[0026] Both ends of the axle crossbeam 12 are equipped with wheel leg extenders 16 for laterally pushing the wheel leg assembly 13. The wheel leg extenders 16 are connected to the wheel leg assembly 13 and drive its extension and retraction. The wheel leg extender 16 includes a wheel leg extension motor 161 and a push rod 162. The wheel leg extension motor 161 is fastened to the axle crossbeam 12. The wheel leg extension motor 161 is connected to the push rod 162 and drives its extension and retraction. A U-shaped bracket 163 is installed at the outer end of the push rod 162. The wheel leg assembly 13 is installed on the bracket 163. The wheel leg extension motor 161 is directly fastened to the axle crossbeam 12, providing a stable and efficient drive source for the telescopic movement of the push rod 162. The U-shaped bracket 163 at the outer end of the push rod 162 not only provides a reliable mounting interface for the wheel leg assembly 13, but also helps to distribute force and buffer impact. By driving the push rod 162 through the wheel leg extension motor 161, the bracket 163 and the wheel leg assembly 13 are moved laterally, realizing independent and precise lateral position adjustment of each wheel leg. This design further enhances the platform's ability to adjust the wheelbase in real time in complex terrain, adapt to changes in road width, and maintain vehicle stability. Together with the aforementioned wheelbase adjustment and axle contouring swing function, it forms a multi-layered, highly responsive terrain adaptation system, significantly improving the passability, maneuverability, and overall structural reliability of the all-terrain mountain mobile platform.

[0027] The wheel leg assembly 13 includes a drive wheel 131, a wheel frame 132, a connecting frame 136, a servo motor 133, a coupling 134, and a clearance adjusting pusher 135. The pusher rod of the clearance adjusting pusher 135 is connected to the connecting frame 136 and pushes it up and down. The servo motor 133 is mounted on the connecting frame 136 and is connected to the wheel frame 132 through the coupling 134. The drive wheel 131 is mounted on the wheel frame 132 and has an independent hub motor installed inside. The hub motor drives the drive wheel 131 to rotate. The gap adjustment pusher 135 directly drives the connecting frame 136 to rise and fall via its push rod, achieving rapid and precise adjustment of the height of the drive wheel 131, ensuring it maintains ground pressure on rough terrain. The servo motor 133 is fixed to the connecting frame 136 and connected to the wheel frame 132 via the coupling 134, allowing independent control of the steering angle of the drive wheel 131, achieving omnidirectional maneuverability and precise trajectory tracking. The drive wheel 131 is directly mounted on the wheel frame 132, resulting in a compact structure and direct transmission. This design allows each wheel leg to independently adjust its height and steering, greatly enhancing the platform's adaptability to complex mountainous terrain and effectively preventing wheel suspension and power loss due to uneven road surfaces. Furthermore, in conjunction with the aforementioned multi-level adjustments to wheelbase, track width, and axle sway, it forms a responsive and flexible all-terrain driving system, significantly improving the vehicle's passability, stability, and obstacle-crossing performance.

[0028] The wheel-leg assembly 13 also includes an active contouring structure, which comprises a base 21, a contouring motor 22, a planetary reducer 23, a lateral link 24, a longitudinal link 25, and an active contouring link 26. A clearance adjusting extender 135 is mounted on the base 21. The base 21, lateral link 24, longitudinal link 25, and active contouring link 26 form a parallelogram structure. Both the longitudinal link 25 and the active contouring link 26 are connected to the output shaft of the contouring motor 22. One end of the lateral link 24 is hinged to the other end of the longitudinal link 25, and the other end of the lateral link 24 is hinged to the upper end of the base 21. The other end of the active contouring link 26 is hinged to the lower end of the base 21. Through the parallelogram linkage mechanism formed by the base 21, lateral link 24, longitudinal link 25, and active contouring link 26, the active contouring structure enables the wheel-leg assembly 13 to actively adjust its attitude and compensate for height in complex terrain. The contour-following motor 22 drives the longitudinal connecting rod 25 and the active contour-following connecting rod 26 to move synchronously via the planetary reducer 23. This allows the entire parallelogram structure to maintain the basic stability of the drive wheel 131 while actively adjusting its ground contact position and height, effectively coping with local road undulations and inclinations. This structure not only significantly enhances the terrain tracking and adhesion of the individual drive wheel 131, preventing suspension or slippage caused by uneven road surfaces, but also works in conjunction with the aforementioned wheel track, wheelbase adjustment, and axle sway functions to form a two-level terrain adaptation mechanism of "global-local," thereby comprehensively improving the all-terrain mountain mobile platform's driving smoothness, power continuity, and overall passability in extremely rugged environments.

[0029] The line connecting the two ends of the longitudinal link 25 is CD; the line connecting the two ends of the active contouring link 26 is BC; the line connecting the two ends of the base 21 is AB; the force transmission path of the active contouring structure of the wheel leg is as follows: F out =F in L in / L out F out For output force, F in For input force, L in For the input lever arm, L out For the output lever arm, L in =CD If the output point of this structure is at point B, since AB is parallel to CD and has the same length, then F in =F out However, the output point of this structure is not fixed at point B; it changes continuously during the movement, so L... in ≥L out Therefore, F out ≥F in This structure can save more effort.

[0030] The angle between BC and the horizontal line is α, -60°≤α≤60° Force on rod BC: F BC =F out Actual internal force: F=F out / cosα.

[0031] The structure is symmetrical, the movement is smooth, there is no eccentric force, and the motion trajectory is smooth, which can effectively reduce vibration and impact; the force transmission is efficient, the transverse link 24 and the active contour link 26 mainly bear the axial force, without bending, with high stiffness and long service life.

[0032] Working principle: The mobile platform uses a hub motor integrated in the wheel leg assembly 11 to drive the drive wheel 131, and uses a high-precision servo motor 133 and coupling 134 to rotate the wheel frame 132 to achieve precise wheel steering.

[0033] By controlling the span adjuster 14, the wheel leg extender 16 and the gap adjusting extender 135, the telescopic beam 15, the wheel leg assembly 13 and the drive wheel 131 can be pushed to move horizontally, thereby continuously and steplessly adjusting the wheel track and wheelbase.

[0034] By controlling the clearance adjustment pusher 135, the servo motor 133, coupling 134, wheel frame 132 and drive wheel 131 can be moved vertically, thereby adjusting the ground clearance.

[0035] The bearing assembly 18 allows the axle crossbeam 12 to swing with the terrain, achieving passive contouring and enhancing the adhesion between the wheels and the ground. The contouring chassis, using the structure of the bearing assembly 18, gives the axle crossbeam 12 a degree of freedom to swing, enabling it to passively adjust its lateral posture according to the height difference between the left and right sides of the terrain, enhancing its passability and achieving passive lateral contouring.

[0036] The contouring motor 22 and planetary reducer 23 in the wheel leg assembly 11 can drive the active contouring linkage 26 according to the swing angle of the axle beam 12. By adjusting the wheel leg posture through the parallelogram structure, the active contouring of the wheel leg is achieved, ensuring that the drive wheel 131 is in better contact with the ground. When the platform is traveling horizontally, the contouring motor 22 remains inactive; when traversing rough terrain, the motor 22 drives the active contouring linkage 26, which adjusts the wheel leg posture through the parallelogram mechanism, keeping the drive wheel 131 perpendicular to the ground, thus achieving active contouring.

[0037] When facing large rocks, the platform does not need to detour or avoid obstacles. It can actively increase the wheel track using the wheel extensions 16, thereby preventing wheel collisions and improving stability. Simultaneously, the clearance adjustment extensions 135 increase ground clearance to prevent chassis collisions. When facing roads with narrow gaps between trees, the wheel track can be reduced using the wheel extensions 16 to enhance its passability. When facing obstacles with dense foliage, the ground clearance can be lowered using the clearance adjustment extensions 135 to further enhance its passability. This function significantly improves the platform's obstacle-crossing efficiency and its ability to traverse complex terrain, making it suitable for various applications, including hilly and mountainous areas.

[0038] This design employs a highly flexible modular structure, allowing users to freely and quickly combine and transform the platform configuration by adjusting the span adjuster 14 and wheel leg extenders 16 according to actual usage needs. In addition to a six-wheeled all-terrain contouring platform, this design also supports multiple configuration switching: on flat terrain, it can be quickly adjusted to a stable three-wheeled platform configuration; on narrow roads with significant lateral undulations, it can be adjusted to a four-wheeled platform configuration with lateral passive contouring capabilities; on narrow roads with significant longitudinal undulations, it can be adjusted to a four-wheeled platform configuration with longitudinal passive contouring capabilities; and when facing more rugged terrain, it can be adjusted to a six-wheeled platform configuration with lateral or longitudinal contouring capabilities, depending on the terrain. Through these modular combination and adjustment capabilities, the platform's adaptability to complex terrain and flexibility in multi-scenario task execution are significantly enhanced.

[0039] This mobile work platform adopts a distributed drive system, with a total of thirty-three control units, including three span adjusters, six wheel leg extenders 16, six wheel hub motors, six high-precision servos 133, six contour motors, and six clearance adjusting extenders 135, all powered by electric actuators. Under this distributed drive architecture, the platform's mobility can be greatly enhanced through independent and precise control of each control unit.

[0040] Through the completely independent drive and coordinated control of the three wheel-leg assemblies 11, the platform can flexibly realize complex movement modes such as turning on the spot and driving at an angle, which significantly enhances its mobility and environmental adaptability in complex terrains such as hills and mountains.

[0041] The system has comprehensive advantages such as flexible operation, short transmission chain, compact mechanical structure, low energy consumption and reasonable manufacturing cost, achieving a good technical and economic balance while realizing high performance.

Claims

1. A variable-structure all-terrain mountain mobile platform, comprising a frame (10), with wheel leg assemblies (11) installed at both the front and rear ends of the frame (10). The wheel leg assemblies (11) are installed at the front end of the frame (10) to form a front axle and at the rear end of the frame (10) to form a rear axle. The wheel leg assemblies (11) include an axle crossbeam (12) and wheel leg components (13), with wheel leg components (13) installed at both ends of the axle crossbeam (12); characterized in that: It also includes multiple span adjusters (14), which are mounted on the frame (10) and adapted to the wheel leg assembly (11). The wheel leg assembly (11) also includes a telescopic beam (15), one end of which is hinged to the middle of the axle crossbeam (12) via a bearing assembly (18). The front and rear ends of the frame (10) are provided with insertion holes (101). The push rod of the span adjuster (14) is connected to the telescopic beam (15) and drives it to extend and retract on the insertion hole (101).

2. The variable-structure all-terrain mountain mobile platform according to claim 1, characterized in that: The frame (10) includes a front frame (102) and a rear frame (103). The rear end of the front frame (102) is vertically connected to the middle of the rear frame (103). The front end of the front frame (102) and both sides of the rear frame (103) are provided with insertion holes (101).

3. The variable-structure all-terrain mountain mobile platform according to claim 1, characterized in that: The bearing assembly (18) includes a rotating shaft (181), three bearings (182) and three bearing housings (183). Each bearing housing (183) is adapted to one bearing (182). Two bearing housings (183) are fixed on the telescopic beam (15), and the other bearing housing (183) is fixed on the axle crossbeam (12) and located between the two bearing housings (183). The rotating shaft (181) connects the three bearing housings (183) through the bearings (182).

4. The variable-structure all-terrain mountain mobile platform according to claim 1, characterized in that: Both ends of the axle crossbeam (12) are equipped with wheel leg extenders (16) for laterally pushing the wheel leg assembly (13). The wheel leg extenders (16) are connected to the wheel leg assembly (13) and drive it to extend and retract. The wheel leg extender (16) includes a wheel leg extension motor (161) and a push rod (162). The wheel leg extension motor (161) is fastened to the axle crossbeam (12). The wheel leg extension motor (161) is connected to the push rod (162) and drives it to extend and retract. A U-shaped bracket (163) is installed at the outer end of the push rod (162). The wheel leg assembly (13) is installed on the bracket (163).

5. The variable-structure all-terrain mountain mobile platform according to claim 1, characterized in that: The wheel leg assembly (13) includes a drive wheel (131), a wheel frame (132), a connecting frame (136), a servo motor (133), a coupling (134), and a clearance adjusting pusher (135). The pusher rod of the clearance adjusting pusher (135) is connected to the connecting frame (136) and pushes it up and down. The servo motor (133) is mounted on the connecting frame (136). The servo motor (133) is connected to the wheel frame (132) through the coupling (134). The drive wheel (131) is mounted on the wheel frame (132).

6. The variable-structure all-terrain mountain mobile platform according to claim 5, characterized in that: The wheel leg assembly (13) also includes a wheel leg active contouring structure, which includes a base (21), a contouring motor (22), a planetary reducer (23), a transverse link (24), a longitudinal link (25), and an active contouring link (26). The gap adjusting pusher (135) is mounted on the base (21). The base (21), the transverse link (24), the longitudinal link (25), and the active contouring link (26) form a parallelogram structure. The longitudinal link (25) and the active contouring link (26) are both connected to the output shaft of the motor (22). One end of the transverse link (24) is hinged to the other end of the longitudinal link (25), and the other end of the transverse link (24) is hinged to the upper end of the base (21). The other end of the active contouring link (26) is hinged to the lower end of the base (21).

7. A variable-structure all-terrain mountain mobile platform according to claim 6, characterized in that: The line connecting the two ends of the longitudinal link (25) is CD, the line connecting the two ends of the active contour link (26) is BC, the line connecting the two ends of the base (21) is AB, and the force transmission path of the active contour structure of the wheel leg is as follows: F out =F in (L) in / L out ) F out For output force, F in For input force, L in For the input lever arm, L out For the output lever arm, L in =CD L in ≥L out F out ≥F in 。 8. A variable-structure all-terrain mountain mobile platform according to claim 7, characterized in that: The angle between BC and the horizontal line is α, -60°≤α≤60° Force on rod BC: F BC =F out Actual internal force: F=F out / cosα.

Images