Four-wheel eight-drive full-steering mobile platform

Abstract

The utility model belongs to the technical field of mobile platforms, and discloses a four-wheel eight-drive full-steering mobile platform which comprises a vehicle body, a supporting frame, a steering and walking module and a power sliding ring, the vehicle body is composed of a frame structure, and therefore compared with a vehicle body in the prior art, the structural strength of the vehicle body is improved, and the service life of the vehicle body is prolonged. Therefore, the loading capacity of the four-wheel eight-drive full-steering mobile platform is greatly improved; the vehicle body is provided with a mounting position, the supporting frame is arranged on the mounting position, the steering and walking module comprises a walking structure and a steering structure used for driving the walking structure to steer, and the steering structure is arranged on the supporting frame, so that on one hand, the supporting frame supports the steering structure to improve the stability of the steering structure; on the other hand, the situation that the steering structure needs to be fixedly connected to the power sliding ring is avoided, meanwhile, the situation that the steering structure rotates under the action of reverse twisting force borne by the steering structure when driving the walking structure to steer can be avoided, and the steering accuracy of the vehicle body is guaranteed.

Description

Technical Field

[0001] The present application belongs to the technical field of mobile platforms, and specifically relates to a four-wheel eight-wheel drive fully steering mobile platform. Background Art

[0002] An omnidirectional mobile platform is an automated guided vehicle capable of moving in any direction on a plane. It offers advantages such as high flexibility, strong maneuverability, and wide adaptability. Three existing methods exist for achieving omnidirectional mobility: The first utilizes omnidirectional wheels or Mecanum wheels. Both wheels consist of a hub and rollers. The rollers automatically roll as the hub rotates, enabling the platform to move in any direction within a plane. The second utilizes a three-wheeled omnidirectional mobile platform. This platform consists of three conventional wheels, each driven by a corresponding motor. By controlling the speed and direction of each motor, the platform achieves omnidirectional mobility. While this platform offers advantages such as a simple structure and easy control, it also suffers from disadvantages such as poor stability and a low load capacity. The third utilizes a four-wheeled omnidirectional mobile platform. This platform consists of four conventional wheels, each driven by a motor. By controlling the speed and direction of each motor, the platform achieves omnidirectional mobility. While this platform offers advantages such as good stability and a high load capacity, it also suffers from disadvantages such as a complex structure and difficulty in control.

[0003] In the relevant technology, such as the Chinese utility model patent with announcement number CN221498236U, which is our company's prior application, discloses an omnidirectional four-wheel mobile platform based on a power slip ring, which includes a support assembly, a drive mechanism, a steering mechanism, a shock absorbing mechanism and a control system, wherein the support assembly includes a support plate and a support column, the drive mechanism includes a hub motor, a special mechanism is installed on the support plate, the steering mechanism includes a power slip ring connected to the drive mechanism, a transmission shaft for driving the drive mechanism is provided in the power slip ring, the shock absorbing mechanism is arranged between the power slip ring and the drive mechanism, the control system is installed on the support plate, and the connection harness between the control system and the hub motor is switched through the power slip ring; the above-mentioned support assembly can be understood as a vehicle body. Since it is composed of a support plate and a support column, this affects the structural strength of the vehicle body, and thus affects the load capacity of the four-wheel full-steering mobile platform. Utility Model Content

[0004] The present application provides a four-wheel eight-wheel drive fully steering mobile platform to increase the structural strength of the vehicle body and improve the load capacity of the four-wheel full steering mobile platform.

[0005] The technical solutions adopted in this application are:

[0006] A four-wheel eight-wheel drive fully steering mobile platform, comprising:

[0007] A vehicle body, the vehicle body being composed of a frame structure and having a mounting position;

[0008] a support frame, the support frame being arranged at the installation position;

[0009] A steering and walking module, the steering and walking module comprising a walking structure and a steering structure for driving the walking structure to turn, the steering structure being arranged on the support frame;

[0010] A power slip ring is provided at the installation position and is located between the walking structure and the steering structure, and a transmission shaft that is transmission-connected to the steering structure and the walking structure is provided inside the power slip ring.

[0011] By adopting the above technical solution, since the vehicle body in the present application is composed of a frame structure, the structural strength of the vehicle body is improved compared to the vehicle body in the prior art which is composed of layered plates and support columns, thereby greatly improving the load capacity of the four-wheel eight-wheel drive fully steering mobile platform; since the steering structure is arranged on the support frame, on the one hand, the support frame can support the steering structure to increase the stability of the steering structure, and on the other hand, it can also realize the fixed connection of the steering structure to the support frame to avoid the situation where the steering structure needs to be fixedly connected to the power slip ring, so as to avoid the situation where the steering structure is subjected to reverse torsional force and rotates when the steering structure drives the walking structure to turn, so as to ensure the stability of the steering structure, improve the accuracy of the steering of the driving walking structure, and thus improve the steering accuracy of the four-wheel eight-wheel drive fully steering mobile platform.

[0012] Optionally, the support frame cover is arranged on the outside of the power slip ring, and the support frame includes a top plate and a support claw arranged on the side of the top plate, the top plate is located at the top of the power slip ring, the support claw is fixedly connected to the mounting position, and the steering structure is arranged on the top of the top plate.

[0013] By adopting the above technical solution, since the support frame cover is arranged on the outside of the power slip ring, the fixing position of the steering structure is made closer to the output end of the steering structure, so as to reduce the torsional force generated by the steering structure when driving the walking structure to turn, thereby further improving the stability of the steering structure and improving the fixing effect of the steering structure; and since the support frame includes the top plate and the support claws, the structural design of the support frame is simplified, so as to reduce the production cost of the support frame while ensuring the structural strength of the support frame and reduce the production difficulty of the support frame; in addition, it can also achieve the effect of facilitating the assembly of the power slip ring and the support frame.

[0014] Optionally, the support frame further includes a connecting piece located between two adjacent supporting claws, and both ends of the connecting piece are fixedly connected to the supporting claws.

[0015] By adopting the above technical solution, since the connecting piece is located between the two claws and is connected to the claws, the stability of the claws is increased, and the structural strength of the support frame is further increased. The connecting piece can also position and limit the power slip ring to increase the stability of the power slip ring.

[0016] Optionally, the vehicle body has a mounting beam, both ends of which extend to the outside of the vehicle body, so that the area where the mounting beam extends to the outside of the vehicle body forms the mounting position.

[0017] By adopting the above technical solution, since the mounting beam extends to the area outside the vehicle body to form a mounting position, multiple steering and walking modules are placed on the same horizontal plane, making the four-wheel eight-wheel drive fully steering mobile platform more stable during operation.

[0018] Optionally, the interior of the vehicle body has a power supply compartment, a computing compartment, a control compartment and a battery compartment, and the four-wheel eight-wheel drive fully steering mobile platform also includes a power supply module located in the power supply compartment, a computing module located in the computing compartment, a control module located in the control compartment and a battery module located in the battery compartment.

[0019] By adopting the above technical solution, since the battery module is arranged in the power supply compartment, the computing module is arranged in the computing compartment, the control module is arranged in the control compartment and the battery module is arranged in the battery compartment, the installation positions of the battery module, the computing module, the control module and the battery module are independent of each other, so as to facilitate the assembly of the four-wheel eight-wheel drive fully steering mobile platform, and at the same time reduce the difficulty of maintenance of the four-wheel eight-wheel drive fully steering mobile platform.

[0020] Optionally, the vehicle body has a length direction, the power supply compartment and the computing compartment are arranged at both ends of the vehicle body in the length direction, the control compartment is located between the power supply compartment and the computing compartment, and the battery compartment is located at the bottom of the control compartment.

[0021] By adopting the above technical solution, since the power supply compartment and the computing compartment are arranged at both ends of the vehicle body in the length direction, the power supply compartment and the computing compartment can reasonably utilize the space at both ends of the vehicle body in the length direction, so as to facilitate the assembly and maintenance of the power module and the computing module; since the control compartment is located between the power supply compartment and the computing compartment, it is convenient to electrically connect the control module with the power module and the computing module; since the control module is small, the volume of the control compartment can be made smaller, and the battery compartment is arranged below the control compartment, so that the space below the control compartment can be reasonably utilized to increase the structural compactness of the four-wheel eight-wheel drive full-steering mobile platform, and at the same time it can also lower the center of gravity of the vehicle body and make the force on the vehicle body more balanced, so as to ensure the operation stability of the four-wheel eight-wheel drive full-steering mobile platform.

[0022] Optionally, the vehicle body has an upper space located above the walking structure and a lower space located below the upper space, and the power supply compartment, the computing compartment, the control compartment and the battery compartment are all arranged in the upper space.

[0023] By adopting the above technical solution, since the upper space is located above the walking structure, the upper space becomes more regular. Since the power supply compartment, computing compartment, control compartment and battery compartment are all arranged in the upper space, the upper space can be reasonably utilized. At the same time, the power supply module, computing module, control module and battery module can avoid each other with the walking structure, so as to facilitate the assembly of the power supply module, computing module, control module and battery module.

[0024] Optionally, the battery compartment includes a main battery compartment and a secondary battery compartment, the main battery compartment is arranged in the upper space, and the secondary battery compartment is arranged in the lower space and located between the walking structures.

[0025] By adopting the above technical solution, since the battery compartment includes a main battery compartment and an auxiliary battery compartment, the battery module includes a main battery located in the main battery compartment and an auxiliary battery located in the auxiliary battery compartment, thereby increasing the capacity of the battery module to improve the cruising range and sustainable working time of the four-wheel eight-wheel drive full-steering mobile platform, and since the auxiliary battery compartment is located in the lower space, the center of gravity of the four-wheel eight-wheel drive full-steering mobile platform can be lowered to increase the stability of the four-wheel eight-wheel drive full-steering mobile platform.

[0026] Optionally, the lower space has idle compartments located on both sides of the walking structure, and the idle compartments are located on both sides of the auxiliary power compartment.

[0027] By adopting the above technical solution, since the lower space has idle compartments located on both sides of the walking structure, tools or other components can be placed in the idle compartments to increase the flexibility of the four-wheel eight-wheel drive fully steering mobile platform. At the same time, spare batteries can also be placed in the idle compartments to further increase the cruising range of the four-wheel eight-wheel drive fully steering mobile platform and extend the sustainable working time of the four-wheel eight-wheel drive fully steering mobile platform.

[0028] Optionally, the control compartment is located between the power compartment and the computing compartment, and a cable trough connecting the power compartment and the computing compartment is provided in the control compartment;

[0029] And / or, a plurality of partitions are provided inside the vehicle body, and the plurality of partitions constitute the walls of each compartment;

[0030] And / or, the outer cover of the vehicle body is provided with a hood, and the hood is provided with inspection ports corresponding to the power supply compartment, the computing compartment and the control compartment, and the hood is provided with an inspection cover capable of opening or closing the inspection ports.

[0031] By adopting the above technical solution, a cable trough connecting the power supply compartment and the computing compartment is provided in the control compartment, and then the lines inside the vehicle body can be installed in the cable trough to increase the regularity of the lines inside the vehicle body, so as to facilitate the maintenance of the internal lines.

[0032] Since the partitions constitute the walls of each chamber, the sealing of each chamber is improved, thereby improving the waterproofness and waterproof performance of each chamber.

[0033] When inspecting the modules inside the vehicle body, the inspection cover is opened, and then the modules inside the vehicle body are inspected through the inspection port, so as to facilitate the inspection of the four-wheel eight-wheel drive fully steering mobile platform; at the same time, the hood and the inspection cover can protect and dustproof the various modules inside the vehicle body, so as to extend the service life of the four-wheel eight-wheel drive fully steering mobile platform.

[0034] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows:

[0035] 1. The four-wheel eight-wheel drive fully steering mobile platform in this application includes a vehicle body, a support frame, a steering and walking module and a power slip ring. The vehicle body is composed of a frame structure, and the vehicle body has a mounting position, the support frame is arranged at the mounting position, the steering and walking module includes a walking structure and a steering structure for driving the walking structure to turn, the steering structure is arranged on the support frame, the power slip ring is arranged at the mounting position and is located between the walking structure and the steering structure, and a transmission shaft that is transmission-connected to the steering structure and the walking structure is arranged in the power slip ring. Since the vehicle body in this application is composed of a frame structure, compared with the vehicle body in the prior art that is composed of layered plates and support columns, the vehicle body is improved. The structural strength of the vehicle body is improved, thereby greatly improving the load capacity of the four-wheel eight-wheel drive fully steering mobile platform; since the steering structure is arranged on the support frame, on the one hand, the support frame can support the steering structure to increase the stability of the steering structure, and on the other hand, the steering structure can be fixedly connected to the support frame to avoid the situation where the steering structure needs to be fixedly connected to the power slip ring, so as to avoid the situation where the steering structure is subjected to reverse torsional force and rotates when the steering structure drives the walking structure to turn, so as to ensure the stability of the steering structure, improve the accuracy of the steering of the driving walking structure, and thus improve the steering accuracy of the four-wheel eight-wheel drive fully steering mobile platform.

[0036] 2. The support frame cover in the present application is arranged on the outside of the power slip ring, so that the fixing position of the steering structure is closer to the output end of the steering structure, so as to reduce the torsional force generated by the steering structure when driving the walking structure to turn, so as to further improve the stability of the steering structure and at the same time improve the fixing effect of the steering structure; and the support frame includes a top plate and a support claw provided on the side of the top plate, the top plate is located on the top of the power slip ring, the support claw is fixedly connected to the installation position, and the steering structure is provided on the top of the top plate, thereby simplifying the structural design of the support frame, so as to reduce the production cost of the support frame while ensuring the structural strength of the support frame and reduce the production difficulty of the support frame; in addition, it can also achieve the effect of facilitating the assembly of the power slip ring and the support frame.

[0037] 3. The support frame in the present application also includes a connecting piece located between two adjacent claws, and both ends of the connecting piece are fixedly connected to the claws, thereby increasing the stability of the claws and further increasing the structural strength of the support frame; and the connecting piece can also position and limit the power slip ring to increase the stability of the power slip ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 This is a schematic structural diagram of the four-wheel eight-wheel drive fully steering mobile platform according to one embodiment of the present application;

[0040] Figure 2 This is a schematic structural diagram of a partial structure of a four-wheel eight-wheel drive fully steering mobile platform according to one embodiment of the present application;

[0041] Figure 3 This is a schematic structural diagram from another perspective of a partial structure of the four-wheel eight-wheel drive fully steering mobile platform according to one embodiment of the present application;

[0042] Figure 4 This is a structural schematic diagram from another perspective of a partial structure of the four-wheel eight-wheel drive fully steering mobile platform according to one embodiment of the present application;

[0043] Figure 5 This is a structural diagram of the steering and walking module according to one embodiment of the present application;

[0044] Figure 6 This is a schematic structural diagram of the support frame described in one embodiment of the present application.

[0045] Reference numerals:

[0046] 1. Vehicle body; 11. Power compartment; 12. Computing compartment; 13. Control compartment; 131. Cable duct; 14. Battery compartment; 141. Main power compartment; 142. Auxiliary power compartment; 15. Idle compartment; 16. Mounting beam; 17. Partition; 2. Power module; 3. Computing module; 4. Control module; 5. Steering and traveling module; 51. Travel structure; 511. Wheel frame; 512. Hub motor; 52. Steering structure; 521. Steering servo; 53. Power slip ring; 54. Support frame; 541. Top plate; 542. Support claw; 543. Connecting plate; 6. Engine cover; 61. Inspection cover; 7. Battery module. DETAILED DESCRIPTION

[0047] In order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an illustrative manner in conjunction with the accompanying drawings.

[0048] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0049] In addition, in the description of the present application, it should be understood that the terms "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present application.

[0050] In this application, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0051] In this application, unless otherwise expressly specified and limited, a first feature "above" or "below" a second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the reference terms "implementation method", "embodiment", "one embodiment", "example" or "specific example" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0052] Reference Figures 1 to 6 , discloses a four-wheel eight-wheel drive fully steering mobile platform, which includes a vehicle body 1, a support frame 54, a steering and traveling module 5 and a power slip ring 53, wherein the vehicle body 1 is composed of a frame structure, and the vehicle body 1 has a mounting position; the support frame 54 is arranged at the mounting position; the steering and traveling module 5 includes a traveling structure 51 and a steering structure 52 for driving the traveling structure 51 to steer, and the steering structure 52 is arranged on the support frame 54; the power slip ring 53 is arranged at the mounting position and is located between the traveling structure 51 and the steering structure 52, and a transmission shaft is provided in the power slip ring 53 for transmission connection to the steering structure 52 and the traveling structure 51.

[0053] It should be noted that the "frame structure" mentioned above refers to a structure formed by welding multiple cross beams, longitudinal beams and support beams or assembling them through connectors.

[0054] Since the vehicle body 1 in the present application is composed of a frame structure, the structural strength of the vehicle body 1 is improved compared to the prior art in which the vehicle body 1 is composed of layered plates and support columns, thereby greatly improving the load capacity of the four-wheel eight-wheel drive fully steering mobile platform; since the steering structure 52 is arranged on the support frame 54, on the one hand, the support frame 54 can support the steering structure 52 to increase the stability of the steering structure 52, and on the other hand, it can also achieve the steering structure 52 being fixedly connected to the support frame 54 to avoid the situation where the steering structure 52 needs to be fixedly connected to the power slip ring 53, so as to avoid the situation where the steering structure 52 is subjected to reverse torsional force and rotates when the steering structure 52 drives the walking structure 51 to turn, so as to ensure the stability of the steering structure 52, improve the accuracy of the steering of the driving walking structure 51, and thus improve the steering accuracy of the four-wheel eight-wheel drive fully steering mobile platform.

[0055] The present application does not make any specific limitation on the walking structure 51 and the steering structure 52. Preferably, refer to Figure 2 、 Figure 3 and Figure 4The traveling structure 51 includes a wheel frame 511 and a hub motor 512 rotatably connected to the wheel frame 511. The steering structure 52 includes a steering servo 521. One end of the transmission shaft is drivingly connected to the output end of the steering servo 521, and the other end of the transmission shaft is drivingly connected to the wheel frame 511. The wheel frame 511 drives the hub motor 512 to steer under the action of the transmission shaft and the steering servo 521. In other embodiments, the traveling structure 51 and the steering structure 52 may also have other structures.

[0056] The present application does not make any specific limitation on the structure of the support frame 54. Preferably, refer to Figure 4 、 Figure 5 and Figure 6 The support frame 54 is covered on the outside of the power slip ring 53, and the support frame 54 includes a top plate 541 and a support claw 542 arranged on the side of the top plate 541. The top plate 541 is located at the top of the power slip ring 53, the support claw 542 is fixedly connected to the installation position, and the steering structure 52 is arranged on the top of the top plate 541.

[0057] Specifically, a plurality of support claws 542 are provided and are sequentially arranged along the circumference of the power slip ring 53 . One end of each support claw 542 away from the top plate 541 is fixedly connected to the mounting position, and the steering structure 52 is fixedly connected to the top plate 541 .

[0058] Since the support frame 54 is covered on the outside of the power slip ring 53, the fixing position of the steering structure 52 is closer to the output end of the steering structure 52, so as to reduce the torsional force generated by the steering structure 52 when driving the walking structure 51 to turn, so as to further improve the stability of the steering structure 52 and improve the fixing effect of the steering structure 52; and since the support frame 54 includes the top plate 541 and the support claws 542, the structural design of the support frame 54 is simplified, so as to ensure the structural strength of the support frame 54 while reducing the production cost of the support frame 54 and reducing the production difficulty of the support frame 54; in addition, it can also achieve the effect of facilitating the assembly of the power slip ring 53 and the support frame 54.

[0059] Further, refer to Figure 6 The support frame 54 also includes a connecting piece 543 located between two adjacent claws 542. Both ends of the connecting piece 543 are fixedly connected to the claws 542, thereby increasing the stability of the claws 542 and further increasing the structural strength of the support frame 54. The connecting piece 543 can also position and limit the power slip ring 53 to increase the stability of the power slip ring 53.

[0060] In other embodiments, the support frame 54 may also be a frame structure provided on the side of the power slip ring 53 .

[0061] This application does not make any specific limitation on the formation of the installation position. Preferably, refer to Figure 3 The vehicle body 1 has a mounting beam 16, both ends of which extend to the outside of the vehicle body 1. The area where the mounting beam 16 extends to the outside of the vehicle body 1 forms a mounting position, thereby placing multiple steering and travel modules 5 on the same horizontal plane, thereby making the four-wheel, eight-wheel drive, fully steering mobile platform more stable during operation. At the same time, the mounting position is located on the outside of the vehicle body 1, so that the steering and travel structure 51 is avoided from the components inside the vehicle body 1, thereby achieving the effect of facilitating the assembly of the four-wheel, eight-wheel drive, fully steering mobile platform.

[0062] In other embodiments, the mounting location may also be formed by a block structure provided inside or outside the vehicle body 1 .

[0063] In a preferred embodiment, referring to Figure 2 and Figure 3 The vehicle body 1 has a power supply compartment 11, a computing compartment 12, a control compartment 13 and a battery compartment 14. The four-wheel eight-wheel drive fully steering mobile platform also includes a power module 2 located in the power supply compartment 11, a computing module 3 located in the computing compartment 12, a control module 4 located in the control compartment 13 and a battery module 7 located in the battery compartment 14.

[0064] Since the battery module 7 is arranged in the power supply compartment 11, the computing module 3 is arranged in the computing compartment 12, the control module 4 is arranged in the control compartment 13 and the battery module 7 is arranged in the battery compartment 14, the installation positions of the battery module 7, the computing module 3, the control module 4 and the battery module 7 are independent of each other, so as to facilitate the assembly of the four-wheel eight-wheel drive fully steering mobile platform, and at the same time reduce the difficulty of maintenance of the four-wheel eight-wheel drive fully steering mobile platform.

[0065] Further, refer to Figure 2 and Figure 3 The vehicle body 1 has a length direction, the power supply compartment 11 and the computing compartment 12 are arranged at both ends of the length direction of the vehicle body 1, the control compartment 13 is located between the power supply compartment 11 and the computing compartment 12, and the battery compartment 14 is located at the bottom of the control compartment 13.

[0066] Since the power supply compartment 11 and the computing compartment 12 are arranged at both ends of the vehicle body 1 in the length direction, the power supply compartment 11 and the computing compartment 12 can reasonably utilize the space at both ends of the vehicle body 1 in the length direction, so as to facilitate the assembly and maintenance of the power module 2 and the computing module 3; since the control compartment 13 is located between the power supply compartment 11 and the computing compartment 12, it is convenient to electrically connect the control module 4 with the power module 2 and the computing module 3; since the control module 4 is small, the volume of the control compartment 13 can be made smaller, and the battery compartment 14 is arranged below the control compartment 13, so that the space below the control compartment 13 can be reasonably utilized to increase the structural compactness of the four-wheel eight-wheel drive fully steering mobile platform, and at the same time it can also lower the center of gravity of the vehicle body 1 and make the force on the vehicle body 1 more balanced, so as to ensure the operating stability of the four-wheel eight-wheel drive fully steering mobile platform.

[0067] Further, refer to Figure 2 and Figure 3 The vehicle body 1 has an upper space located above the walking structure 51 and a lower space located below the upper space. The power supply compartment 11, the computing compartment 12, the control compartment 13 and the battery compartment 14 are all arranged in the upper space.

[0068] Since the upper space is located above the walking structure 51, the upper space is more regular. Since the power supply compartment 11, computing compartment 12, control compartment 13 and battery compartment 14 are all arranged in the upper space, the upper space can be reasonably utilized. At the same time, the power supply module 2, computing module 3, control module 4 and battery module 7 can avoid each other with the walking structure 51, so as to facilitate the assembly of the power supply module 2, computing module 3, control module 4 and battery module 7.

[0069] Further, refer to Figure 2 and Figure 3 The battery compartment 14 includes a main battery compartment 141 and an auxiliary battery compartment 142 . The main battery compartment 141 is located in the upper space, and the auxiliary battery compartment 142 is located in the lower space and between the walking structures 51 .

[0070] Since the battery compartment 14 includes a main battery compartment 141 and an auxiliary battery compartment 142, the battery module 7 includes a main battery located in the main battery compartment 141 and an auxiliary battery located in the auxiliary battery compartment 142, thereby increasing the capacity of the battery module 7 to improve the cruising range and sustainable working time of the four-wheel eight-wheel drive fully steering mobile platform. Since the auxiliary battery compartment 142 is located in the lower space, the center of gravity of the four-wheel eight-wheel drive fully steering mobile platform can be lowered to increase the stability of the four-wheel eight-wheel drive fully steering mobile platform.

[0071] Specifically, four groups of walking structures 51 are provided, and four groups of steering structures 52 are provided corresponding to the walking structures 51 , so that each group of steering structures 52 is used to steer the corresponding walking structure 51 .

[0072] It should be noted that the above-mentioned “auxiliary power warehouse 142 is arranged in the lower space and located between the walking structures 51” means that the auxiliary power warehouse 142 is located between the four groups of walking structures 51, that is, the four groups of walking structures 51 are respectively arranged at the four corners of the auxiliary power warehouse 142.

[0073] Further, refer to Figure 2 、 Figure 3 and Figure 4 The lower space has idle compartments 15 located on both sides of the walking structure 51, and the idle compartments 15 are located on both sides of the auxiliary power compartment 142.

[0074] It can be understood that two sets of walking structures 51 are located between one of the idle compartments 15 and the auxiliary power compartment 142 , and the remaining two sets of walking structures 51 are located between the other idle compartment 15 and the auxiliary power compartment 142 .

[0075] Since the lower space has idle compartments 15 located on both sides of the walking structure 51, tools or other components can be placed in the idle compartments 15 to increase the flexibility of the four-wheel eight-wheel drive fully steering mobile platform. At the same time, spare batteries can also be placed in the idle compartments 15 to further increase the cruising range of the four-wheel eight-wheel drive fully steering mobile platform and extend the sustainable working time of the four-wheel eight-wheel drive fully steering mobile platform.

[0076] Further, refer to Figure 2 and Figure 3 The control compartment 13 is located between the power compartment 11 and the computing compartment 12, and a wiring trough 131 connecting the power compartment 11 and the computing compartment 12 is provided in the control compartment 13. Then, the lines inside the vehicle body 1 can be installed in the wiring trough 131 to increase the regularity of the lines inside the vehicle body 1, so as to facilitate the maintenance of the internal lines.

[0077] The application does not impose any specific limitation on the formation method of the cable trough 131. Preferably, the cable trough 131 is formed by a C-shaped plate provided inside the vehicle body 1. In other embodiments, the cable trough 131 can also be formed by the space between internal components of the vehicle body 1.

[0078] Further, refer to Figure 3 and Figure 4A plurality of partitions 17 are provided inside the vehicle body 1, and the plurality of partitions 17 constitute the walls of each compartment. That is to say, a plurality of partitions 17 are provided in the internal space of the vehicle body 1, and the partitions 17 respectively constitute the walls of the control compartment 13, the power compartment 11, the computing compartment 12 and the battery compartment 14, thereby improving the sealing of each compartment, thereby improving the waterproofness and waterproof performance of each compartment.

[0079] Further, refer to Figure 1 The outer cover of the vehicle body 1 is provided with a hood 6, and the hood 6 is provided with inspection ports corresponding to the power supply compartment 11, the computing compartment 12 and the control compartment 13. The hood 6 is provided with an inspection cover 61 that can open or close the inspection port.

[0080] When inspecting the modules inside the vehicle body 1, the inspection cover 61 is opened, and then the modules inside the vehicle body 1 are inspected through the inspection port, so as to facilitate the inspection of the four-wheel eight-wheel drive fully steering mobile platform; at the same time, the hood 6 and the inspection cover 61 can protect and dustproof the various modules inside the vehicle body 1, so as to extend the service life of the four-wheel eight-wheel drive fully steering mobile platform.

[0081] The present application does not impose any specific limitation on the connection method between the inspection cover 61 and the hood 6. Preferably, the inspection cover 61 is connected to the hood 6 in a removable manner, that is, the inspection cover 61 is fixedly connected to the hood 6 by screws or bolts, so as to facilitate the inspection and maintenance of modules inside the vehicle body 1. In other embodiments, the inspection cover 61 can also be connected to the hood 6 by sliding or rotating.

[0082] In a preferred embodiment, the hood 6 is provided with a take-in / take-out opening corresponding to the idle bin 15 , and the hood 6 is provided with a door body capable of opening or closing the take-in / take-out opening, so that the staff can use the internal space of the idle bin 15 .

[0083] In a preferred embodiment, the hood 6 is provided with power access ports corresponding to the main battery compartment 141 and the auxiliary battery compartment 142, and the hood 6 is provided with a protective cover that can open or close the power access ports, so that the staff can remove the main battery or auxiliary battery for charging. Of course, the power access ports can also be omitted, and the main battery and auxiliary battery can be charged inside the vehicle body 1.

[0084] Anything not described in this application can be achieved by adopting or drawing on existing technologies.

[0085] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0086] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A four-wheel eight-wheel drive fully steering mobile platform, characterized in that: include: A vehicle body (1), the vehicle body (1) being composed of a frame structure and having a mounting position; a support frame (54), the support frame (54) being arranged at the installation position; A steering and walking module (5), the steering and walking module (5) comprising a walking structure (51) and a steering structure (52) for driving the walking structure (51) to turn, the steering structure (52) being arranged on the support frame (54); A power slip ring (53) is provided at the installation position and is located between the walking structure (51) and the steering structure (52), and a transmission shaft is provided in the power slip ring (53) and is connected to the steering structure (52) and the walking structure (51).

2. The four-wheel eight-wheel drive fully steering mobile platform according to claim 1, characterized in that: The support frame (54) is covered on the outside of the power slip ring (53), and the support frame (54) includes a top plate (541) and a support claw (542) arranged on the side of the top plate (541), the top plate (541) is located on the top of the power slip ring (53), the support claw (542) is fixedly connected to the installation position, and the steering structure (52) is arranged on the top of the top plate (541).

3. The four-wheel eight-wheel drive fully steering mobile platform according to claim 2, characterized in that: The support frame (54) further comprises a connecting piece (543) located between two adjacent supporting claws (542), and both ends of the connecting piece (543) are fixedly connected to the supporting claws (542).

4. The four-wheel eight-wheel drive fully steering mobile platform according to claim 1, characterized in that: The vehicle body (1) has a mounting beam (16), both ends of which extend to the outside of the vehicle body (1), so that the area where the mounting beam (16) extends to the outside of the vehicle body (1) forms the mounting position.

5. The four-wheel eight-wheel drive fully steering mobile platform according to claim 1, characterized in that: The vehicle body is provided with a power supply compartment (11), a computing compartment (12), a control compartment (13) and a battery compartment (14); the four-wheel eight-wheel drive fully steering mobile platform further comprises a power supply module (2) arranged in the power supply compartment (11), a computing module (3) arranged in the computing compartment (12), a control module (4) arranged in the control compartment (13) and a battery module (7) arranged in the battery compartment (14).

6. The four-wheel eight-wheel drive fully steering mobile platform according to claim 5, characterized in that: The vehicle body (1) has a length direction, the power supply compartment (11) and the computing compartment (12) are arranged at both ends of the vehicle body (1) in the length direction, the control compartment (13) is located between the power supply compartment (11) and the computing compartment (12), and the battery compartment (14) is located at the bottom of the control compartment (13).

7. The four-wheel eight-wheel drive fully steering mobile platform according to claim 5, characterized in that: The vehicle body (1) has an upper space located above the walking structure (51) and a lower space located below the upper space, and the power supply compartment (11), the computing compartment (12), the control compartment (13) and the battery compartment (14) are all arranged in the upper space.

8. The four-wheel eight-wheel drive fully steering mobile platform according to claim 7, characterized in that: The battery compartment (14) includes a main battery compartment (141) and an auxiliary battery compartment (142). The main battery compartment (141) is arranged in the upper space, and the auxiliary battery compartment (142) is arranged in the lower space and located between the walking structures (51).

9. The four-wheel eight-wheel drive fully steering mobile platform according to claim 8, characterized in that: The lower space has idle compartments (15) located on both sides of the walking structure (51), and the idle compartments (15) are located on both sides of the auxiliary power compartment (142).

10. The four-wheel eight-wheel drive fully steering mobile platform according to claim 5, characterized in that: The control compartment (13) is located between the power compartment (11) and the computing compartment (12), and a cable trough (131) connecting the power compartment (11) and the computing compartment (12) is provided in the control compartment (13); And / or, a plurality of partitions (17) are provided inside the vehicle body (1), and the plurality of partitions (17) constitute the walls of each compartment; And / or, the outer cover of the vehicle body (1) is provided with a hood (6), the hood (6) is provided with inspection openings corresponding to the power supply compartment (11), the computing compartment (12) and the control compartment (13), and the hood (6) is provided with an inspection cover (61) capable of opening or closing the inspection openings.

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