CN113635990A

CN113635990A - Wheel-walking type moving device and control method thereof

Info

Publication number: CN113635990A
Application number: CN202111031118.7A
Authority: CN
Inventors: 徐海军; 杨聪楠; 徐藜洋; 张雷; 常雨康; 王晓聪
Original assignee: National University of Defense Technology
Current assignee: National University of Defense Technology
Priority date: 2021-09-03
Filing date: 2021-09-03
Publication date: 2021-11-12

Abstract

The invention belongs to the technical field of mobile devices, discloses a wheel-walking type mobile device and a control method thereof, and aims to solve the problem of low energy utilization rate caused by the fact that the driving of wheels and the movement of supporting legs of the existing wheel-walking type mobile device are independent. When the mobile device adopts the front wheel set and the rear wheel set to normally move, the power transmission route is that the internal combustion engine, the ISG motor, the driving motor, the front wheel, the rear wheel and the rear wheel set are used, and simultaneously, redundant electric energy generated by the redundant ISG motor is stored in a power battery, and when the mobile device adopts the front supporting leg, the middle supporting leg and the rear supporting leg to cross obstacles, the power transmission route is as follows: the internal combustion engine + a power motor-an ISG motor-an oil pump-supporting legs. Therefore, the invention can reduce the energy consumption on the premise of ensuring that the supporting legs can drive the moving device to move.

Description

Wheel-walking type moving device and control method thereof

Technical Field

The invention belongs to the technical field of moving devices, and particularly relates to a wheel-walking type moving device and a control method thereof, which are used under the condition of a complex road surface.

Background

In order to meet the requirements of mobile devices for use in special environments (e.g., reconnaissance, assault, transportation, logistics, etc.), the demand for off-road, obstacle-crossing vehicles is also increasing. The wheel type mobile device has the advantages of small form resistance, small noise, good steering performance, high maneuverability and the like, and is widely applied to various mobile devices with high maneuverability.

However, the wheeled mobile device has limited use scenarios on complex roads (e.g., mountainous areas) due to poor off-road performance. In order to solve the problem, in the prior art, a mobile device with a variable wheel base appears, and the wheel base is changed to adjust the distance between wheels, so that the obstacle crossing capability of the wheel type mobile device is improved.

For example, application No. 201910617299.8 discloses a variable wheelbase frame and a lifting vehicle having the same, including: a frame main body and a tail end frame; the rear end of the frame main body edge is provided with an accommodating cavity; the front end of the tail end frame is provided with a connecting column; the accommodating cavity is sleeved on the outer side of the connecting column; the inner wall of the accommodating cavity is attached to the outer wall of the connecting column; the distance between the center of gravity and the edge of the cross section of the connecting column perpendicular to the running direction of the frame is unequal. The patented technology can be applied to different working scenes, and the requirements of different working conditions on the wheelbase of the frame are met.

For another example, application No. 201410324151.2 discloses a passenger ladder vehicle with a variable wheel base, which comprises a vehicle head, a plurality of wheels, a telescopic chassis, a scissor frame lifting mechanism, a rotary ladder, a sliding ladder, a transition platform and a docking platform. The passenger ladder vehicle with the variable wheel base ensures the stability of the passenger ladder vehicle under the specified load by adopting the telescopic chassis which can move relatively, and the telescopic chassis can be in a contraction state when the passenger ladder vehicle is stored and driven, so that the occupied space of the passenger ladder vehicle can be reduced; and when the passenger ladder car is in a working state, the telescopic chassis is in an extension state, so that the integral gravity center of the passenger ladder car is still in a safety range, and the stability and the safety of the passenger ladder car are improved. But the ability of the wheeled mobile to climb over obstacles is limited due to the structural characteristics of the wheeled mobile itself.

Wheel step formula mobile device has still appeared among the prior art, and patent as application number 201721640232.9 discloses an engineering vehicle running gear that can stride across obstacle, including chassis, front leg, back leg, front wheel and rear wheel, the chassis is including the preceding connecting seat that is located preceding both sides and the back connecting seat of back both sides, and the front leg includes the flexible leg of being connected with rotatory leg, and the front leg is connected with the front connecting seat by the round pin axle, and the back leg is connected with the back connecting seat, and front wheel and rear wheel are connected with front leg and back leg respectively.

For example, patent application No. 201811526170.8 discloses an obstacle crossing control device and control method, by providing a moving device and a control system; the device comprises a fixed support and at least two rows of parallel movable supporting legs fixed at the lower end of the fixed support, movable wheels are fixed at the lower ends of the movable supporting legs, an electrodeless telescopic rod is used as the movable supporting legs, each movable supporting leg can independently carry out electrodeless lifting and is respectively driven by a telescopic leg driving motor, a front position obstacle avoidance sensor and a bottom pressure sensor are installed on each row of small wheels, the front obstacle detection of the wheels and the contact condition of the wheels and the ground can be realized, a control system utilizes an obstacle avoidance algorithm to control a motor driver in real time according to the detection data of the distance sensors, the small wheels automatically lift in the advancing and retreating processes span obstacles, when the obstacles are met, the plurality of movable supporting legs are utilized to keep the integral horizontal state at different telescopic lengths, and the functions of the electric wheelchair for automatically crossing the obstacles and going upstairs and downstairs are realized.

Also for example, patent application No. 201710578042.7 discloses a wheel-legged express robot including a wheeled chassis, a general support frame, an obstacle crossing assembly, a wheel crossing assembly, and the like.

In summary, the prior art mainly includes the following two types of wheel-step moving devices:

the first method comprises the following steps: the wheels are arranged on the supporting legs, and the height or the angle of the wheels can be adjusted through the supporting legs to achieve the effect of crossing obstacles. However, in this way, the supporting legs support the weight of the moving device, and when the device moves on a heavy load and a complex road surface, the supporting legs are easy to damage and have poor reliability because the load borne by the supporting legs is continuously changed. Meanwhile, the mobility of the moving device is reduced due to the design of the supporting legs.

And the second method comprises the following steps: the wheel is independent from the supporting leg, but the supporting leg mainly plays the effect of support (maintains the stability of focus), and the supporting leg can not drive the mobile device alone and remove. Meanwhile, the driving of the wheels and the movement of the supporting legs are two independent systems, so that resources cannot be fully utilized.

In summary, the conventional mobile device with adjustable wheelbase has limited capability for crossing obstacles on a special road (mountain area); the existing wheel-step type moving device has poor reliability and can not drive the moving device to move independently.

Disclosure of Invention

In order to solve the above technical problems, the present invention provides a wheel-step type mobile device and a control method thereof, wherein wheels are organically combined with support legs, the wheels can be used for driving the mobile device to move with high mobility on a common road surface, and the support legs can be used for driving the mobile device to cross an obstacle when the mobile device encounters the obstacle, so that the mobile device can be used on a special road surface (such as a mountain area). And simultaneously, the wheel drive and the support leg drive are organically combined.

In order to solve the technical problem, the technical scheme adopted by the invention is as follows:

a wheel walking type moving device comprises a wheel type frame body, wherein the left side and the right side of the wheel type frame body are at least provided with a front wheel set and a rear wheel set; the output and the ISG motor of internal-combustion engine are connected, the ISG motor has still been set power control unit, power control unit is used for carrying out pivoted driving motor with the electric energy distribution of ISG motor to power battery and being used for driving front wheel group and rear wheel group, still be provided with the oil pump on the wheeled frame, power control unit still is used for carrying out work to ISG motor and through ISG motor drive oil pump with internal-combustion engine energy and power battery's electric energy coupling to before the control support leg, well supporting leg and rear support leg's hydro-cylinder.

In some embodiments, the front and middle support legs are positioned between the front and rear wheelsets, the rear support leg is positioned on the wheeled frame body behind the rear wheelset, and the rear support leg is positioned on the wheeled frame body in a direction opposite to the direction in which the front and middle support legs are positioned; the front end of the wheel type frame body is provided with a hoeing assisting mechanism, the hoeing assisting mechanism is used as a bumper when not used, and the hoeing assisting mechanism can support the wheel type frame body when used.

In some embodiments, the front support leg, the middle support leg and the rear support leg all comprise support pieces, each support piece comprises fixing parts for connecting the wheel type frame bodies, fixing plates are symmetrically arranged on two sides of the lower end of each fixing part, an installation space is formed between the two fixing plates, an erecting oil cylinder is sleeved on each fixing part, the lower end of each erecting oil cylinder penetrates through each fixing part, extends into the installation space and is hinged with a large arm connecting rod, the other end of each large arm connecting rod is hinged with a second-stage arm connecting rod, a third-stage arm connecting rod capable of sliding along the second-stage arm connecting rod is sleeved in each second-stage arm connecting rod, and the lower end of each third-stage arm connecting rod is connected with a support part; still articulated on the big arm connecting rod have first forearm connecting rod, big arm connecting rod compares in the pin joint of big arm connecting rod and second order arm connecting rod with the pin joint of first forearm connecting rod and is close to big arm connecting rod more and erect the pin joint of hydro-cylinder, the lower extreme of first forearm connecting rod articulates there is the second forearm connecting rod, and the other end of first forearm connecting rod articulates on second order arm connecting rod, still set horizontal hydro-cylinder on the fixed plate, the one end of horizontal hydro-cylinder is fixed on the inner wall of fixed plate, the articulated department at first forearm connecting rod and second forearm connecting rod is connected to the other end of horizontal hydro-cylinder.

In some embodiments, the inner sides of the fixing plates are further provided with linear sliding grooves, the first small arm connecting rod and the second small arm connecting rod are hinged together through a pin shaft, two ends of the pin shaft respectively extend into the sliding grooves of the two fixing plates and are matched with the sliding grooves, and the pin shaft for hinging the first small arm connecting rod and the second small arm connecting rod is driven to slide in the sliding grooves through the horizontal oil cylinder.

In some embodiments, the fixing portion and the fixing plate are connected together to form an "L" shaped support.

In some embodiments, an auxiliary cylinder for driving the tertiary arm link to slide along the secondary arm link is connected between the secondary arm link and the tertiary arm link.

In some embodiments, the hoe assisting mechanism comprises two upper hinged seats hinged to the wheeled frame body and two lower hinged seats located below the upper hinged seats, the two lower hinged seats are respectively hinged with a hoe assisting connecting rod, the other end of the hoe assisting connecting rod is hinged with a floor grabbing plate, the two upper hinged seats are respectively hinged with a hoe assisting oil cylinder, and the other end of the hoe assisting oil cylinder is fixedly connected with the floor grabbing plate; the hoe-assisting oil cylinder drives the floor grabbing cylinder to be in a horizontal state contacting with the ground, and the floor grabbing cylinder can be in a vertical state and located at the front end of the wheel type frame body.

In some embodiments, the floor grabbing plate is provided with saw teeth or skid-proof lines.

In some embodiments, the front support leg includes a left front support leg and a right front support leg, the middle support leg includes a left middle support leg and a right middle support leg, the rear support leg includes a left rear support leg and a right rear support leg, the left front support leg, the left rear support leg and the right middle support leg are used as a first linkage mechanism, the right front support leg, the left middle support leg and the right rear support leg are used as a second linkage mechanism, and the control method of the wheel-step type moving device includes the following steps:

when one supporting leg in the first linkage mechanism needs to cross an obstacle, the second linkage mechanism is used as a support of the wheel-step type moving device; when the supporting leg needing to cross the obstacle in the first linkage mechanism crosses the obstacle, the first linkage mechanism is used as the support of the wheel-step type moving device, so that the support of the wheel-step type moving device is alternately switched in the first linkage mechanism and the second linkage mechanism to cross the obstacle.

Compared with the prior art, the invention has the following beneficial effects:

when the wheel-walking type moving device is used, when the moving device normally moves by adopting the front wheel set and the rear wheel set, the power transmission route is that an internal combustion engine-an ISG motor-a driving motor-the front wheel, the rear wheel and the rear wheel set are used, redundant electric energy generated by the redundant ISG motor is stored in a power battery, and when the moving device adopts a front supporting leg, a middle supporting leg and a rear supporting leg to cross an obstacle (or trench), the power transmission route is as follows: internal combustion engine + power motor-ISG motor-oil pump-support legs (front support leg, middle support leg and rear support leg). Because the energy required when the supporting legs are used for driving the moving device to move is more than that required when the wheels (the front wheel set and the rear wheel set) are used, the invention can store the redundant energy when the wheels are used for moving and combine the energy with the energy of the internal combustion engine when the supporting legs are used for moving by adopting the mode, and therefore, the invention can reduce the energy consumption on the premise of ensuring that the supporting legs can drive the moving device to move.

When the wheel-step type mobile device is used, when the mobile device normally runs, the front wheel set and the rear wheel set are used for moving; when the mobile device is on a complex road surface (such as a mountain area) and the front wheel set and the rear wheel set cannot cross an obstacle, the front support leg, the middle support leg and the rear support leg extend out and contact with the ground so as to support the wheeled frame body, and when the obstacle (or a trench) is crossed, the horizontal oil cylinder of the front support leg is stretched to the longest state so as to enable the span of the front support leg to be in the maximum state (at the moment, the wheeled frame body is supported by the other front support leg, the two middle support legs and the two rear support legs); if necessary, a hoeing-assisting oil cylinder of the hoeing-assisting mechanism can be used for driving the floor grabbing plate to move and contact with the ground, so that the stability of the moving device is ensured; the vertical oil cylinder is used for driving one front supporting leg to rotate, so that the front supporting leg is lifted to cross an obstacle (or a trench), and then the horizontal oil cylinder of the front supporting leg is retracted to the shortest state (namely, the moving device is driven to move forwards, and when the horizontal oil cylinder of the front supporting leg is retracted, the other front supporting leg, the two middle supporting legs and the two rear supporting legs are matched to move together to drive the moving device to move forwards together). The grabbing floor of the hoe-assisting mechanism can be lifted according to the situation (if the mobile device is on an uphill slope or a downhill slope, the grabbing floor can be always in contact with the ground, and therefore the smooth operation of the mobile device is guaranteed). The other front support leg is turned over the obstacle (or over the trench) in the same manner, completing the two front support legs over the obstacle (or trench). When the middle supporting leg moves to the side of an obstacle (or a trench), the two front supporting legs and the two rear supporting legs are directly matched with each other to drive the moving device to move forwards. When the rear leg supporting legs move to the side of the obstacle (or the ditch), the two rear supporting legs sequentially cross the obstacle (or the ditch) by utilizing the functions of the front supporting legs and the middle supporting legs for supporting. In summary, compared with the wheel-walking type moving device in the prior art, the wheel-walking type moving device and the control method thereof of the present invention can utilize the front support leg, the middle support leg and the rear support leg to drive the front support leg, the middle support leg and the rear support leg to cross over obstacles and cross over trenches, so as to meet the use on special road surfaces (such as mountainous areas), and improve the stability and reliability requirements of the moving device on the special road surfaces under the premise of heavy load.

The positions of the front support legs, the middle support legs and the rear support legs are distributed, and the mounting direction of the rear support legs is opposite to that of the front support legs and the middle support legs, so that the stability of the device can be ensured when the device is driven to move by the front support legs, the middle support legs and the rear support legs.

Meanwhile, according to the structural design of the front support leg, the middle support leg and the rear support leg, the fixing plate is provided with the linear sliding groove, and the two ends of the pin shaft hinged with the first small connecting rod and the second small connecting rod are matched with the sliding groove, so that when the first small connecting rod and the second small connecting rod move under the driving of the horizontal oil cylinder: make the pin joint of first little connecting rod and the little connecting rod of second move along the direction of spout on the one hand, thereby make horizontal hydro-cylinder's effort along horizontal hydro-cylinder's axis direction all the time, prevent that horizontal hydro-cylinder from taking place the condition of slope bending, improve the reliability and the life-span that horizontal hydro-cylinder used, simultaneously under the same prerequisite of same span (being second grade arm connecting rod turned angle), can shorten horizontal hydro-cylinder's flexible volume (being length), thereby improve the response speed of second grade arm connecting rod, the support leg before improving, the moving speed of well supporting leg and back supporting leg. (for example, in the prior art, a rotation oil cylinder is obliquely arranged at a corner between a big arm (namely, a big arm connecting rod of the present application) and a small arm (namely, a second-stage arm connecting rod of the present application) of an excavator, and when the small arm is driven to rotate along the big arm by using the rotation oil cylinder, the rotation oil cylinder has a large expansion amount). On the other hand, the gravity of the wheel type frame body is transmitted to the second-stage arm connecting rod through the vertical oil cylinder and the large arm connecting rod on one hand, and then transmitted to the second small arm connecting rod and then transmitted to the second-stage arm connecting rod through the fixing part and the fixing plate, and the first small arm connecting rod can also support the large arm connecting rod. That is to say through sharing gravity jointly with coming of big arm connecting rod, first forearm connecting rod and second forearm connecting rod, finally transmit to second grade arm connecting rod, tertiary arm connecting rod and supporting part in proper order and transmit to ground, compare the structure of prior art's supporting leg (the mode that only bears the effort by big arm connecting rod promptly), can improve the supporting capacity of supporting leg to light-weighted design when having realized heavy load mobile device and having travelled on complicated road surface improves mobile device's mobility.

The hoe assisting mechanism can be used for cleaning the road surface, and can be used for supporting the moving device, so that the stability of the moving device is improved. In addition, the hoeing-assisted mechanism can be switched between a horizontal device and a vertical state, so that the entering angle of the mobile device is not influenced.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a front view structural schematic diagram of the present invention;

FIG. 3 is a schematic perspective view of the front, middle and rear support legs of the present invention;

FIG. 4 is a front view schematic of the front, middle and rear support legs of the present invention;

FIG. 5 is an exploded view of the front, middle and rear support legs of the present invention;

FIG. 6 is a schematic view of the hoe-assist mechanism of the present invention;

the labels in the figure are: 1. the structure comprises a wheel type frame body, 2, a carriage, 3, a sun shield, 4, a front supporting leg, 41, a vertical oil cylinder, 42, a fixing part, 43, a fixing plate, 44, a large arm connecting rod, 45, a second-stage arm connecting rod, 46, a third-stage arm connecting rod, 47, a supporting part, 48, a first small arm connecting rod, 49, a second small arm connecting rod, 410, a pin shaft, 411, a horizontal oil cylinder, 412 and a sliding groove; 5. the device comprises a middle supporting leg, 6, a rear supporting leg, 7, a hoe assisting mechanism, 71, a lower hinged seat, 72, an upper hinged seat, 73, a hoe assisting connecting rod, 74, a floor grabbing plate and 75 and a hoe assisting oil cylinder.

Detailed Description

The present invention will be further described with reference to the following examples, which are intended to illustrate only some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, other embodiments used by those skilled in the art without any creative effort belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; the mechanical connection may be direct or indirect via an intermediate medium, and may be a communication between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

With the attached drawings, the wheel-walking type moving device comprises a wheel type frame body 1, wherein the left side and the right side of the wheel type frame body 1 are at least provided with a front wheel set and a rear wheel set, the wheel type frame body 1 belongs to the prior art, and can be understood and understood by technicians in the field, the upper part of a cab of the wheel type frame body 1 is also provided with a sun shield 3, the wheel type frame body 1 is also provided with a carriage 2, the wheel type frame body 1 is also provided with an internal combustion engine, the left side and the right side of the wheel type frame body are respectively and symmetrically provided with a front supporting leg, a middle supporting leg and a rear supporting leg, and the front supporting leg 4, the middle supporting leg 5 and the rear supporting leg 6 can lift the wheel type frame body 1 off the ground and can drive the wheel type frame body 1 to move; the output and the ISG motor of internal-combustion engine are connected, the ISG motor has still been equipped power control unit, power control unit is used for carrying out the pivoted driving motor with the electric energy distribution of ISG motor to power battery and being used for driving front wheel group and rear wheel group, still be provided with the oil pump on the wheeled frame, power control unit still is used for coupling the electric energy of internal-combustion engine energy and power battery to ISG motor and drives the oil pump through the ISG motor and carry out work to the hydro-cylinder of control supporting leg moves.

In some embodiments, the rear support leg 6 is placed on the wheeled frame body in the opposite direction to the placement of the front and middle support legs 4, 5; the front end of the wheel type frame body 1 is provided with a hoeing assisting mechanism 7, the hoeing assisting mechanism 7 is used as a bumper when not used, and the hoeing assisting mechanism 7 can support the wheel type frame body 1 when used so as to ensure the stability of the wheel type frame body 1. Wherein, the hoe assisting mechanism 7 can also be used for leveling the ground.

In some embodiments, the front support leg 4, the middle support leg 5 and the rear support leg 6 each include a support member, and the support member includes a fixing portion 42 for connecting the wheeled frame bodies 1 to each other, wherein a fixing seat can be installed on the wheeled frame bodies, and the fixing portion 42 and the fixing seat are mutually clamped and connected with the wheeled frame bodies 1 by bolts or pins; the present invention is not limited to a specific connection mode of the fixing portion 42 and the wheel frame body 1. The two sides of the lower end of the fixing part 42 are symmetrically provided with fixing plates 43, an installation space is formed between the two fixing plates 43, the fixing part 42 is sleeved with an upright oil cylinder 41, the lower end of the upright oil cylinder 41 penetrates through the fixing part 42 and extends into the installation space and is hinged with a large arm connecting rod 44, the other end of the large arm connecting rod 44 is hinged with a second-stage arm connecting rod 45, a third-stage arm connecting rod 46 capable of sliding along the second-stage arm connecting rod 45 is sleeved in the second-stage arm connecting rod 45, the lower end of the third-stage arm connecting rod 46 is connected with a supporting part 47, and the supporting part 47 is used for contacting with the ground so as to support the mobile device; still articulated on the big arm connecting rod 44 have first forearm connecting rod 48, big arm connecting rod 44 compares in big arm connecting rod 44 and second grade arm connecting rod 45's pin joint with first forearm connecting rod 48 and is close to big arm connecting rod 44 and erects the pin joint of hydro-cylinder 41 more, first forearm connecting rod 48's lower extreme articulates there is second forearm connecting rod 49, and first forearm connecting rod 49's the other end articulates on second grade arm connecting rod 45, that is to say, big arm connecting rod, second grade arm connecting rod, first forearm connecting rod and second forearm connecting rod form four-bar linkage, still set horizontal cylinder 411 on the fixed plate 43, the inner wall at fixed plate 43 is fixed to one end of horizontal cylinder 411, the other end of horizontal cylinder 411 is connected in the articulated department of first forearm connecting rod 48 and second forearm connecting rod 49.

In some embodiments, the inner side of the fixing plate 43 is further provided with a linear sliding groove 412, the first small arm connecting rod 48 and the second small arm connecting rod 49 are hinged together through a pin 410, two ends of the pin 410 respectively extend into the sliding grooves 412 of the two fixing plates 43 and are matched with the sliding grooves 412, and the pin 410 for hinging the first small arm connecting rod 48 and the second small arm connecting rod 49 is driven by the horizontal oil cylinder 411 to slide in the sliding groove 412.

In some embodiments, the fixing portion 42 and the fixing plate 43 are connected together to form an "L" shaped support.

In some embodiments, an auxiliary cylinder for driving the third-stage arm link 46 to slide along the second-stage arm link 45 is connected between the second-stage arm link 45 and the third-stage arm link 46, and the auxiliary cylinder is driven to assist in adjusting the height position of the supporting portion 47, so as to support on roads with different heights.

In the use process of the wheel-step type mobile device and the control method thereof, when the mobile device normally runs, the front wheel set and the rear wheel set are utilized to move; when the mobile device is on a complex road surface (such as a mountain area) and the front wheel set and the rear wheel set cannot cross an obstacle, the front support leg, the middle support leg and the rear support leg extend out and contact with the ground so as to support the wheeled frame body, and when the obstacle (or a trench) is crossed, the horizontal oil cylinder of the front support leg is stretched to the longest state so as to enable the span of the front support leg to be in the maximum state (at the moment, the wheeled frame body is supported by the other front support leg, the two middle support legs and the two rear support legs); if necessary, a hoeing-assisting oil cylinder of the hoeing-assisting mechanism can be used for driving the floor grabbing plate to move and contact with the ground, so that the stability of the moving device is ensured; the vertical oil cylinder is used for driving one front supporting leg to rotate, so that the front supporting leg is lifted to cross an obstacle (or a trench), and then the horizontal oil cylinder of the front supporting leg is retracted to the shortest state (namely, the moving device is driven to move forwards, and when the horizontal oil cylinder of the front supporting leg is retracted, the other front supporting leg, the two middle supporting legs and the two rear supporting legs are matched to move together to drive the moving device to move forwards together). The grabbing floor of the hoe-assisting mechanism can be lifted according to the situation (if the mobile device is on an uphill slope or a downhill slope, the grabbing floor can be always in contact with the ground, and therefore the smooth operation of the mobile device is guaranteed). The other front support leg is turned over the obstacle (or over the trench) in the same manner, completing the two front support legs over the obstacle (or trench). When the middle supporting leg moves to the side of an obstacle (or a trench), the two front supporting legs and the two rear supporting legs are directly matched with each other to drive the moving device to move forwards. When the rear leg supporting legs move to the side of the obstacle (or the ditch), the two rear supporting legs sequentially cross the obstacle (or the ditch) by utilizing the functions of the front supporting legs and the middle supporting legs for supporting. In summary, compared with the wheel-walking type moving device in the prior art, the wheel-walking type moving device and the control method thereof of the present invention can utilize the front support leg, the middle support leg and the rear support leg to drive the front support leg, the middle support leg and the rear support leg to cross over obstacles and cross over trenches, so as to meet the use on special road surfaces (such as mountainous areas), and improve the stability and reliability requirements of the moving device on the special road surfaces under the premise of heavy load.

In some embodiments, the hoe assisting mechanism 7 includes two upper hinge seats 72 hinged to the wheeled frame body 1 and two lower hinge seats 71 located below the upper hinge seats, the two lower hinge seats 71 are respectively hinged to a hoe assisting link 73, the other end of the hoe assisting link 73 is hinged to a floor-grasping plate 74, the two upper hinge seats 72 are respectively hinged to a hoe assisting cylinder 75, and the other end of the hoe assisting cylinder 75 is fixedly connected to the floor-grasping plate 74; the hoe-assisting cylinder 75 drives the floor 74 to be grabbed, so that the floor 74 can be grabbed horizontally and vertically and is positioned at the front end of the wheel type frame body 1.

In some embodiments, the floor 74 is provided with serrations or non-slip patterns to improve the friction between the floor 74 and the ground.

In some embodiments, 55 ° climbing and descending capabilities are required for the mobile device, and in order to improve the climbing capability and descending stability of the mobile device, a hoeing-assisting mechanism is designed, the parameters of the hoeing-assisting cylinder 75 are phi 63 mm/phi 45mm-611mm, the sizes of the floor grabbing plates 74 are 1582 × 585mm respectively, and the connection angle between the floor grabbing plates 74 and the hoeing-assisting cylinder 75 is 58 °. When the mobile device climbs or descends, the floor grabbing device is pushed by the oil cylinder to tightly grab the ground, so that the functions of increasing support, adjusting the center of gravity of the platform and assisting in improving the stability of the mobile device in climbing and descending are realized.

The front supporting leg (comprising a left front supporting leg and a right front supporting leg), the middle supporting leg (the left front supporting leg and the right middle supporting leg) and the rear supporting leg (the left rear supporting leg and the right rear supporting leg) of the invention have the following two modes in the process of driving the moving device to cross obstacles or cross a trench:

the first mode is as follows:

the left front supporting leg, the left rear supporting leg and the right middle supporting leg are used as a first linkage mechanism, and the right front supporting leg, the left middle supporting leg and the right rear supporting leg are used as a second linkage mechanism. The actions of all the supporting legs in the first linkage mechanism are consistent, and the actions of all the supporting legs in the second linkage mechanism are consistent. The first linkage mechanism and the second linkage mechanism form triangular supports, so that the first linkage mechanism and the second linkage mechanism can stably support the mobile device. The control method comprises the following steps:

The method comprises the following specific steps: when the front support leg runs to an obstacle or trench: for convenience of description, the left front support leg is taken as an example to first cross an obstacle (or trench). At this time, the moving device is supported by the second interlocking mechanism (the right front supporting leg, the left middle supporting leg, and the right rear supporting leg).

The method comprises the steps that a vertical oil cylinder of a first linkage mechanism is utilized to lift a left front supporting leg, a left rear supporting leg and a right middle supporting leg in the first linkage mechanism at the same time, then a horizontal oil cylinder of the first linkage mechanism (the left front supporting leg, the left rear supporting leg and the right middle supporting leg) is extended to enable the first linkage mechanism (the left front supporting leg, the left rear supporting leg and the right middle supporting leg) to be in a maximum span state, and then the vertical oil cylinder is adjusted to drop the first linkage mechanism (the left front supporting leg, the left rear supporting leg and the right middle supporting leg) to enable the left front supporting leg to step over an obstacle (or a trench) and to be in contact with the ground; at this time, the moving device is supported by the first linkage mechanism, and then the horizontal oil cylinders of the first linkage mechanism (the left front supporting leg, the left rear supporting leg and the right middle supporting leg) are adjusted to be contracted to the shortest state, so that the left front supporting leg in the first linkage mechanism is driven to cross an obstacle (or a trench). While the horizontal cylinder of the first linkage mechanism is contracted, the vertical cylinders of the second linkage mechanism (the right front supporting leg, the left middle supporting leg and the right rear supporting leg) are adjusted to lift the second linkage mechanism. Then, the horizontal oil cylinder of the second linkage mechanism (the right front supporting leg, the left middle supporting leg and the right rear supporting leg) is extended to enable the second linkage mechanism to be in a state of maximum span, then the vertical oil cylinder of the second linkage mechanism is adjusted to fall down to enable the right front supporting leg to stride over an obstacle (or a trench) and to be in contact with the ground, and at the moment, the moving device is supported by the second linkage mechanism. Such that both the left and right front support legs of the front support leg clear the obstacle or trench.

The middle and rear support legs cross the obstacles and the moats in the same manner as the front support legs and are not described in detail herein.

The second mode is as follows:

one support leg that is about to cross an obstacle (or cross a trench) is used as a first linkage mechanism, and the remaining 5 support legs (a right front support leg, a left middle support leg, a right middle support leg, a left rear support leg and a right rear support leg) are used as second linkage mechanisms. Taking the example that the front left support leg goes over an obstacle (or crosses a trench), the second linkage mechanism (the front right support leg, the middle left support leg, the middle right support leg, the rear left support leg and the rear right support leg) serves as a support for the moving device. Firstly, the vertical oil cylinder of the left front supporting leg is controlled to lift the left front supporting leg, the horizontal oil cylinder of the left front supporting leg is controlled to extend to the longest state (namely, the span is the largest) in the lifting process of the left front supporting leg, and then the vertical oil cylinder of the left front supporting leg is controlled to enable the left front supporting leg to fall and cross the obstacle (or trench) and to contact with the ground, so that the left front supporting leg can cross the obstacle. At this moment, the right front supporting leg is about to cross the obstacle, the right front supporting leg is taken as a first linkage mechanism, the rest 5 supporting legs are taken as a second linkage mechanism (namely, the left front supporting leg, the left middle supporting leg, the right middle supporting leg, the left rear supporting leg and the right rear supporting leg), and the horizontal oil cylinder of the second linkage mechanism is controlled to move so as to drive the moving device to move forwards. When the second linkage mechanism drives the moving device to move forwards, the vertical oil cylinder of the right front supporting leg is controlled to lift the right front supporting leg, the horizontal oil cylinder of the right front supporting leg is controlled to extend to the longest state (namely, the span is the largest) in the lifting process of the right front supporting leg, then the vertical oil cylinder of the right front supporting leg is controlled to enable the right front supporting leg to fall and cross the obstacle (or trench) and contact the ground, and the purpose that the right front supporting leg crosses the obstacle is achieved. The circulation action is carried out in this way, and the middle supporting leg and the rear supporting leg are over obstacles.

Claims

1. A wheel walking type moving device comprises a wheel type frame body (1), wherein at least a front wheel set and a rear wheel set are arranged on the left side and the right side of the wheel type frame body (1), the wheel walking type moving device is characterized in that an internal combustion engine is further arranged on the wheel type frame body (1), a front supporting leg (4), a middle supporting leg (5) and a rear supporting leg (6) are symmetrically arranged on the left side and the right side of the wheel type frame body (1) respectively, and the front supporting leg (4), the middle supporting leg (5) and the rear supporting leg (6) can lift the wheel type frame body (1) to leave the ground and can drive the wheel type frame body (1) to move; the output end of the internal combustion engine is connected with an ISG motor, the ISG motor is also provided with a power control unit, and the power control unit is used for distributing electric energy of the ISG motor to a power battery and a driving motor used for driving a front wheel set and a rear wheel set to rotate; the power control unit is also used for coupling the energy of the internal combustion engine and the electric energy of the power battery to the ISG motor and driving the oil pump to work through the ISG motor, so that the oil cylinders of the front support leg, the middle support leg and the rear support leg are controlled to act.

2. The wheel-walking movement device according to claim 1, characterized in that the front support leg (4), the middle support leg (5) and the rear support leg (6) can lift the wheel-type frame body (1) off the ground and can drive the wheel-type frame body (1) to move; the front supporting legs (4) and the middle supporting legs (5) are positioned between the front wheel set and the rear wheel set, the rear supporting legs (6) are positioned on the wheel type frame body (1) behind the rear wheel set, and the placing direction of the rear supporting legs (6) on the wheel type frame body (1) is opposite to the placing direction of the front supporting legs (4) and the middle supporting legs (5); the front end of the wheel type frame body (1) is provided with a hoeing assisting mechanism (7), the hoeing assisting mechanism (7) is used as a bumper when not used, and the hoeing assisting mechanism (7) can support the wheel type frame body (1) when used.

3. The wheel-step type moving device according to claim 2, wherein the front support leg (4), the middle support leg (5) and the rear support leg (6) each comprise a support member, the support member comprises a fixing portion (42) for interconnecting the wheel type frame bodies (1), fixing plates (43) are symmetrically arranged on both sides of the lower end of the fixing portion (42), an installation space is formed between the two fixing plates (43), an erecting cylinder (41) is sleeved on the fixing portion (42), the lower end of the erecting cylinder (41) penetrates through the fixing portion (42) and extends into the installation space and is hinged with a large arm connecting rod (44), the other end of the large arm connecting rod (44) is hinged with a second-stage arm connecting rod (45), a third-stage arm connecting rod (46) capable of sliding along the second-stage arm connecting rod (45) is sleeved in the second-stage arm connecting rod (45), the lower end of the tertiary arm connecting rod (46) is connected with a supporting part (47); still articulated on big arm connecting rod (44) have first forearm connecting rod (48), big arm connecting rod (44) compare in the pin joint of big arm connecting rod (44) and second order arm connecting rod (45) with the pin joint of first forearm connecting rod (48) be close to big arm connecting rod (44) more and erect the pin joint of hydro-cylinder (41), the lower extreme of first forearm connecting rod (48) articulates there is second forearm connecting rod (49), and the other end of first forearm connecting rod (48) articulates on second order arm connecting rod (45), still set horizontal hydro-cylinder (411) on fixed plate (43), the one end of horizontal hydro-cylinder (411) is fixed on the inner wall of fixed plate (43), the other end of horizontal hydro-cylinder (411) is connected in the articulated department of first forearm connecting rod (48) and second forearm connecting rod (49).

4. The wheel-step type moving device according to claim 3, wherein a linear sliding groove (412) is further formed in the inner side of the fixing plate (43), the first small arm connecting rod (48) and the second small arm connecting rod (49) are hinged together through a pin shaft (410), two ends of the pin shaft (410) respectively extend into the sliding grooves (412) of the two fixing plates (43) and are matched with the sliding grooves (412), and the pin shaft (410) for hinging the first small arm connecting rod (48) and the second small arm connecting rod (49) is driven to slide in the sliding grooves (412) through a horizontal oil cylinder (411).

5. A mobile device according to claim 3, characterised in that said fixed part (42) and fixed plate (43) are joined together to form an "L" shaped support.

6. A wheel-step mobile device according to any one of claims 3-5, characterized in that an auxiliary cylinder for driving the tertiary arm link (43) to slide along the secondary arm link is connected between the secondary arm link (45) and the tertiary arm link (43).

7. The wheel-walking type moving device according to claim 2, wherein the hoeing-assisted mechanism (7) comprises two upper hinge seats (72) hinged on the wheel-type frame body (1) and two lower hinge seats (71) positioned below the upper hinge seats, the two lower hinge seats (71) are respectively hinged with a hoeing-assisted connecting rod (73), the other end of the hoeing-assisted connecting rod (73) is hinged with a grabbing floor (74), the two upper hinge seats (72) are respectively hinged with a hoeing-assisted cylinder (75), and the other end of the hoeing-assisted cylinder (75) is fixedly connected with the grabbing floor (74); the hoe-assisting oil cylinder (75) drives the floor grabbing plate (74) and enables the floor grabbing plate (75) to be in a horizontal state contacting with the ground, and enables the floor grabbing plate to be in a vertical state and located at the front end of the wheel type frame body (1).

8. A wheel-walking movement apparatus according to claim 7, characterized in that the floor-grasping plate (74) is provided with serrations or non-slip lines.

9. The utility model provides a control method of wheeled walking device which characterized in that, preceding supporting leg (4) are including left front supporting leg and right front supporting leg, well supporting leg (5) are including left side well supporting leg and right side well supporting leg, back supporting leg (6) are including left back supporting leg and right back supporting leg, left side front supporting leg, left back supporting leg and right side well supporting leg are as first interlock, regard right front supporting leg, left side well supporting leg and right back supporting leg as second interlock, and control method includes: