CN114379669B - Reconfigurable four-footed mobile platform - Google Patents

Abstract

The invention discloses a novel parallel quadruped mobile device, which comprises a platform main body, a parallel mechanical leg group, a lifting and power device, and a connection stabilization device. Among them, the parallel mechanical leg group forms a parallel mechanism through the main body of the platform, and cooperates with each other. The parallel mechanical leg group is fixedly installed in the middle of the platform main body, the lifting and power device is fixedly connected with the parallel mechanical leg group and suspended under the platform main body and is not fixedly connected with it, and the connection stabilization device is fixedly installed on both sides of the lifting device And it is not fixedly connected with the parallel mechanical leg group. The device has the characteristics of novel structure, strong stability, wide application range and strong obstacle surmounting ability. Through a new type of parallel quadruped ground device of the present invention, it can be applied to indoor and outdoor surveying and mapping, military weapon carrying, precision Instrument transportation and rescue support transportation, etc.

Description

A reconfigurable quadruped mobile platform

technical field

The invention relates to the field of a quadruped mobile device, and more specifically relates to a reconfigurable quadruped mobile platform.

Background technique

There is a relatively complete classification system for ground mobile devices. Nowadays, ground mobile devices are mainly divided into wheeled, crawler and footed. The principles of wheeled and crawler-type ground mobile devices are relatively simple, so the movement efficiency in severe terrain is low. The legged mobile device is based on the characteristics of upright animals in bionics, so it has high efficiency in complex terrain. The inherent suspension structure of the legged mobile device can change the direction of force application by adjusting the overall posture of the device during the movement process. Each mechanism of the parallel mechanism is independent, the error does not accumulate, the rigidity is large and the carrying capacity is strong, and the motion solution is more convenient. Based on the above, the present invention adopts a ground mobile device with a parallel structure. The device can be used as a ground mobile device for material transmission when the lock is opened; when the lock locks the footed mechanical legs, it can be used as a stable horizontal platform.

Contents of the invention

The purpose of the present invention is to solve the problems of low obstacle-surmounting ability, poor stability, large structural error, low precision, and weak carrying capacity of ground mobile devices in the current market for complex terrain environments; a reconfigurable quadruped The mobile platform adopts four parallel mechanical legs and a connection stabilization device, which can make the ground mobile operation robot have the advantages of high precision, high stability, high degree of freedom and large carrying capacity.

The present invention achieves the above object through the following technical solutions: a reconfigurable quadruped mobile platform, characterized in that it includes a platform main body, a parallel mechanical leg group, a lifting and power device, and a connection stabilization device;

The main body of the platform includes a positioning board, an SPS moving mechanism and a main board; the positioning board is a ladder style and is designed to be two symmetrically distributed in the middle of the main board, and the upper ends of the two positioning boards are vertically fixedly connected to the lower end of the main board; The SPS moving mechanism includes an upper moving rod and a lower moving rod, wherein the upper moving rod is connected with the lower moving rod in the form of a moving pair; the upper moving rod is connected with the main body plate in the form of a ball pair; the lower moving rod is connected with the lifting and power The device is connected in the form of a ball pair; the main board is designed as a cuboid thin platform, and two positioning boards are designed and installed symmetrically about the central axis in the middle of the main board, and the SPS moving mechanism is arranged at the bottom center of the main board;

The parallel mechanical leg group includes four identical parallel mechanical legs, and the four parallel mechanical legs are symmetrically distributed at the four corners of the main board; the parallel mechanical legs include a motor, a Hooke hinge structure, a mechanical leg upper rod and a mechanical leg lower Rod, the motor is fixedly installed on the bottom of the main body plate, the output end of the motor is connected to the Hooke hinge structure, the motor provides power for the Hooke hinge structure, and the Hooke hinge structure includes a structural center frame, an upper U-shaped block and a lower U-shaped block, the structure The center frame structure is in the shape of a "ten". The structural center frame includes a square hollow frame and two identical cylindrical supports. Each cylindrical support is fixed on the side center of the square hollow frame and is in a symmetrical state. One of the cylindrical supports One end is connected to the output end of the motor. The upper U-shaped block and the lower U-shaped block are in the same structure and are in the shape of a "U". There is a through hole of the same size at both ends of the "U" shape, and the four sides of the center frame Two cylindrical brackets pass through the through holes of the upper U-shaped block and the lower U-shaped block respectively to form a rotating pair and are connected in the form of a rotating pair, and the bottom of the upper U-shaped block is fixedly connected with the main body plate, and the bottom of the lower U-shaped block is connected with the machine. The leg upper rod is fixedly connected, and the mechanical leg upper rod includes a lower U-shaped block seat and a mechanical leg upper rod push rod, wherein the large end surface of the lower U-shaped block seat is fixedly connected with the lower U-shaped block, and the small end surface of the lower U-shaped block seat The end face is fixedly connected with the push rod of the upper rod of the mechanical leg, and the upper rod of the mechanical leg is connected with the push rod of the lower rod of the mechanical leg with a cylindrical moving pair. The lower rod of the mechanical leg includes the push rod of the lower rod of the mechanical leg, the foot base and the lock And the power transmission part, the bottom of the lower rod push rod of the mechanical leg is fixedly connected with the foot base, the lock and the power transmission part are fixedly connected with the lower rod push rod of the mechanical leg and are perpendicular to the lower U-shape in the upper rod of the mechanical leg On the side of the block seat, a circular through hole and a rectangular lock hole are set on the lock and power transmission parts, the circular through hole is connected with the lifting and power device, and the rectangular lock hole is connected with the connection stabilization device;

The lift and power device includes a load-bearing body, a transmission rod, side panels and deep groove ball bearings. The overall design structure of the load-bearing body is a rectangular parallelepiped thin body with transparent front and back. The top of the load-bearing body is provided with a circular through hole. The SPS moving mechanism passes through the circular through hole on the bearing body and is fixedly connected with the inner bottom surface of the bearing body. Four power transmission plates are arranged symmetrically on the bottom of the bearing body. The outer side of each power transmission plate is connected with the transmission rod. Two wing plates are symmetrically designed on both sides, and the top of the load-bearing body is in contact with the step at the lower end of the positioning plate in the platform body to form a non-fixed connection. The transmission rod includes a transmission inner rod and a transmission outer rod. The four corners on the outside of the main body are fixedly connected with the power transmission plate. One end of the transmission inner rod is a sphere and is connected with the outer side of the power transmission plate carrying the main body in the form of a ball pair. The other end of the transmission inner rod is a long cylinder in contact with the cylindrical surface of the transmission outer rod. Connected by a moving pair, one end of the transmission outer rod is a "U"-shaped frame, and the lock and the circular through hole on the power transmission part are connected in the form of a rotating pair through a pin key. The side panels are rectangular thin plates, and two There are two circular through holes, in which the side wing plate is connected to the connecting stabilizer through the circular through hole. The design of the deep groove ball bearing has two and is identical. hole connection;

The connection stabilizing device includes four belt transmission devices, and the four belt transmission devices are symmetrical to the center of the side wing plate; On the side of the load-bearing body of the lifting and power device, the output end of the driving motor is frictionally connected with the rubber belt to provide driving force for the rubber belt. The rubber belt sets the output end of the driving motor and one end of the link rod together. The lock It is "J" shape, one end of the lock is fixedly connected to a lock block and passes through the lock on the lower rod of the mechanical leg and the rectangular through hole in the power transmission part to form a non-fixed connection, and the other end of the lock is provided with a circular through hole It is fixedly connected with one end of the link rod. The link rod includes a transmission upper rod and a transmission lower rod. A groove is set in the middle of the transmission upper rod to form a friction connection with the rubber belt. The rod is fixedly connected with the circular through hole at the other end of the lock catch and connected with the inner ring of the deep groove ball bearing.

Further, the main body plate on the platform main body is fixedly connected with the bottom of the upper U-shaped block by bolts.

Further, when the upper U-shaped block and the lower U-shaped block rotate around the center line of the structural center frame, and the center lines are perpendicular to each other.

Further, the chamfers of the side panels on the lifting and power devices are both 10 mm.

Further, the top of the bearing body and the step at the lower end of the positioning plate in the platform body form a non-fixed connection finger that abuts against and is in non-frictional contact.

Further, the contact surface between the lock buckle and the side panel is in non-frictional contact.

Further, the inner ring of the deep groove ball bearing is connected to the lower transmission rod, and the outer ring of the deep groove ball bearing is connected to the circular through hole of the side wing plate, and the connection method is an interference connection.

The beneficial effect of the present invention is that: the present invention has the characteristics of high precision, high stability, high degree of freedom and large carrying capacity, etc., and is composed of five parts, which are platform main body, parallel mechanical leg group, lifting and power device And connecting stabilizing device, the main body of the platform can withstand large loads, the four parallel mechanical legs and connecting stabilizing device can form a stable parallel structure and locking ability, the lifting and power device can connect the four parallel mechanical legs, with high precision, High stability and large carrying capacity.

Therefore, the structure design of the present invention is reasonable, can adapt to various complex environments, and greatly improves the obstacle-surmounting ability.

Description of drawings

Fig. 1 is a schematic structural diagram of a reconfigurable quadruped mobile platform of the present invention.

Fig. 2 is a front view of the main body of the platform of the present invention.

Fig. 3 is a schematic structural diagram of a parallel mechanical leg of the present invention.

Fig. 4 is a structural schematic diagram of the lifting and power device of the present invention.

Fig. 5 is a schematic structural view of the connection stabilization device of the present invention.

Fig. 6 is a structural schematic diagram of the transmission rod of the present invention.

In the figure,

Platform main body; 11-positioning plate, 12-SPS moving mechanism, 121-upper moving rod, 122-lower moving rod, 13-main board;

2-parallel mechanical leg group; 21-parallel mechanical leg, 211-motor, 212-Hooker hinge structure, 2121-structure center frame, 2122-upper U-shaped block, 2123-lower U-shaped block, 213-mechanical leg upper rod, 2131 -Lower U-shaped block seat, 2132-mechanical leg upper rod push rod, 214-mechanical leg lower rod, 2141-mechanical leg lower rod push rod, 2142-foot base, 2143-lock and power transmission parts;

3-lifting and power device; 31-carrying main body, 311-power transmission plate, 32-transmission rod, 321-transmission inner rod, 322-transmission outer rod, 33-flank plate, 34-deep groove ball bearing;

4-connection stabilization device; 41-belt transmission device, 411-drive motor, 412-rubber belt, 413-lock buckle, 4131-lock block, 414-link rod, 4141-transmission upper rod, 4142-transmission lower rod;

detailed description

The present invention will be further described below in conjunction with accompanying drawing:

As shown in Figures 1 to 6, a reconfigurable quadruped mobile platform includes a platform main body 1, a parallel mechanical leg group 2, a lifting and power device 3, and a connecting and stabilizing device 4;

The platform main body 1 includes a positioning plate 11, an SPS moving mechanism 12 and a main body plate 13; the positioning plate 11 is a ladder style and is designed to be two symmetrically distributed in the middle of the main body plate 13, and the upper ends of the two positioning plates 11 are connected to the main body The lower end of the plate 13 is vertically fixedly connected; the SPS moving mechanism 12 includes an upper moving rod 121 and a lower moving rod 122, wherein the upper moving rod 121 and the lower moving rod 122 are connected in the form of a moving pair; the upper moving rod 121 is connected to the main body plate 13 Connected in the form of a ball pair; the lower moving rod 122 is connected with the lifting and power device 3 in the form of a ball pair; the main body plate 13 is designed as a cuboid thin platform, and the middle of the main body plate 13 is symmetrically designed and installed with two positioning plates 11 about the central axis , the SPS moving mechanism 12 is arranged at the bottom center of the main body plate 13 .

The parallel mechanical leg group 2 includes four identical parallel mechanical legs 21, and the four parallel mechanical legs 21 are symmetrically distributed at the four corners of the main board 13; the parallel mechanical legs 21 include a motor 211, a Hooke hinge structure 212, a mechanical Leg upper rod 213 and mechanical leg lower rod 214, the motor 211 is fixedly installed on the bottom of the main body plate 13, the output end of the motor 211 is connected to the Hooke hinge structure 212, the motor 211 provides power for the Hooke hinge structure 212, and the Hooke hinge structure 212 includes a structure The central frame 2121, the upper U-shaped block 2122 and the lower U-shaped block 2123, the structural central frame 2121 is in the shape of a "ten", and the structural central frame 2121 includes a square hollow frame and 4 identical cylindrical supports, each The cylinder support is fixed on the side center of the square hollow frame and is in a symmetrical state. One end of one of the cylinder supports is connected to the output end of the motor 211. The upper U-shaped block 2122 and the lower U-shaped block 2123 are in the same structure. "U" shape, each of the two ends of the "U" shape has a through hole of the same size, and the four cylindrical supports of the center frame respectively pass through the through holes of the upper U-shaped block 2122 and the lower U-shaped block 2123 to form a rotating pair and It is connected in the form of a rotating pair, and the bottom of the upper U-shaped block 2122 is fixedly connected with the main body plate 13, and the bottom of the lower U-shaped block 2123 is fixedly connected with the upper rod 213 of the mechanical leg, and the upper rod 213 of the mechanical leg includes a lower U-shaped block seat 2131 and the upper rod push rod 2132 of the mechanical leg, wherein the large end face of the lower U-shaped block seat 2131 is fixedly connected with the lower U-shaped block 2123, and the small end face of the lower U-shaped block seat 2131 is fixedly connected with the upper rod push rod 2132 of the mechanical leg. The leg upper rod push rod 2132 is connected with the mechanical leg lower rod push rod 2141 with a cylindrical moving pair. The mechanical leg lower rod 214 includes the mechanical leg lower rod push rod 2141, the foot base 2142, the lock and the power transmission part 2143. The bottom of the lower rod push rod 2141 of the mechanical leg is fixedly connected with the foot base 2142, and the lock and power transmission part 2143 is fixedly connected with the lower rod push rod 2141 of the mechanical leg and is perpendicular to the lower U-shaped block in the upper rod 213 of the mechanical leg On the side of the seat 2131, a circular through hole and a rectangular lockhole are arranged on the lock buckle and the power transmission part 2143. The circular throughhole is connected with the lifting and power device 3, and the rectangular lockhole is connected with the connection stabilizing device 4.

The lifting and power device 3 includes a load-bearing body 31, a transmission rod 32, a side panel 33 and a deep groove ball bearing 34. The overall design structure of the load-bearing body 31 is a thin rectangular parallelepiped body with transparent front and rear sides. The top of the load-bearing body 31 is provided with There is a circular through hole. The SPS moving mechanism 12 passes through the circular through hole on the carrying body 31 and is fixedly connected to the inside and the bottom surface of the carrying body 31. Four power transmission plates 311 are arranged symmetrically on the bottom of the carrying body 31. Each power The outer side of the transmission plate is connected with the transmission rod 32, two flank plates 33 are symmetrically designed on both sides of the bearing body 31, and the top of the bearing body 31 abuts against the step at the lower end of the positioning plate 11 in the platform body to form a non-fixed connection. The rod 32 includes a transmission inner rod 321 and a transmission outer rod 322. The center of the transmission rod 32 is symmetrically distributed on the four corners outside the bearing body 31 and is fixedly connected with the power transmission plate 311. One end of the transmission inner rod 321 is a ball and the power transmission plate of the bearing body The outside of 311 is connected in the form of a ball pair. The other end of the transmission inner rod 321 is a long cylinder that contacts the cylindrical surface of the transmission outer rod 322 to connect with the moving pair. One end of the transmission outer rod 322 is a "U"-shaped frame with a lock and power The circular through-holes on the transmission member 2143 are connected in the form of a rotating pair through a pin key, and the side-wing plates 33 are cuboid thin plates with two circular through-holes, wherein the side-wing plates 33 are connected to the stabilizing device through the circular through-holes 4. There are two deep groove ball bearings 34 that are identical in design, the inner ring of which is connected to the driving lower rod 4142 , and the outer ring is connected to the round through hole of the wing plate 33 .

The coupling stabilization device 4 includes four belt transmission devices 41, and the four belt transmission devices 41 are symmetrical to the center of the side panel 33; 414, the drive motor 411 is fixedly installed on the side of the load-bearing body 31 of the lifting and power device 3, the output end of the drive motor 411 is frictionally connected with the rubber belt 412 to provide driving force for the rubber belt, and the rubber belt 412 will drive the motor 411 The output end and one end of the link rod 414 are set together, the lock 413 is in the shape of "J", and one end of the lock 413 is fixedly connected to a lock block 4131 and passes through the upper lock of the lower rod of the mechanical leg and the power transmission part 2143 The rectangular through hole in the center forms a non-fixed connection. The other end of the lock 413 is provided with a circular through hole and is fixedly connected with one end of the link rod 414. The link rod 414 includes a transmission upper rod 4141 and a transmission lower rod 4142. The transmission upper rod The groove in the middle of 4141 forms a friction connection with the rubber belt 412, the lower end of the transmission upper rod 4141 is fixedly connected with the transmission lower rod 4142, and the transmission lower rod 4142 is fixedly connected with the circular through hole at the other end of the lock buckle 413 and connected with the deep groove ball Bearing 34 inner rings are connected.

The main body plate 13 on the platform main body is fixedly connected with the bottom of the upper U-shaped block 2122 by bolts.

The upper U-shaped block 2122 and the lower U-shaped block 2123 rotate around the centerline of the structural center frame 2121 when they rotate, and the centerlines are perpendicular to each other.

The chamfering of the side panels 33 on the lift and power unit 3 is 10 millimeters.

The top of the bearing body 31 and the step at the lower end of the positioning plate 11 in the platform body form a non-fixed connection finger that abuts against and is in non-frictional contact.

The contact surface of the locking buckle 413 and the side panel 33 is in non-frictional contact.

The inner ring of the deep groove ball bearing 34 is connected to the transmission lower rod 4142, and the outer ring of the deep groove ball bearing 34 is connected to the circular through hole of the side wing plate 33 in an interference connection.

Concrete workflow of the present invention is as follows:

When moving, first control the connection stabilization device 4 to close the lock 413, separate from the parallel mechanical leg group 2, lower the lifting and power device 3 at the same time, turn on the motor 211, and the motor 211 of the parallel mechanical leg controls the Hooke hinge structure 212 to make the parallel mechanical leg group 2 Coordinated movement, the operator only needs to control it to go where it needs to go.

When stopping, turn off the motor 211, let the lifting and power device 3 rise and fit the positioning plate 11 on the platform body, then control the stabilization device 4 to open the lock 413, and fasten it with the parallel mechanical leg group 2, and finally make the moving device Stop motion in a stable posture, and the parallel mechanical leg group 2 stops motion.

The foregoing embodiment is only a preferred embodiment of the present invention, and is not a limitation to the technical solution of the present invention. As long as it belongs to modifying the parallel mechanism structure on the basis of a quadruped ground mobile device or adding other equipment to the device for operation, etc., All should be deemed to fall within the protection scope of the patent of the present invention.

Claims (7)

1. A reconfigurable quadruped mobile platform is characterized in that: comprises a platform main body (1), a parallel mechanical leg group (2), a lifting and power device (3) and a connection stabilizing device (4);

the platform main body (1) comprises a positioning plate (11), an SPS moving mechanism (12) and a main body plate (13); the positioning plates (11) are in a step ladder shape and are designed to be two symmetrically distributed in the middle of the main body plate (13), and the upper ends of the two positioning plates (11) are vertically and fixedly connected with the lower end of the main body plate (13); the SPS moving mechanism (12) comprises an upper moving rod (121) and a lower moving rod (122), wherein the upper moving rod (121) is connected with the lower moving rod (122) in a moving pair mode; the upper moving rod (121) is connected with the main body plate (13) in a ball pair mode; the lower moving rod (122) is connected with the lifting and power device (3) in a ball pair mode; the main body plate (13) is designed to be a cuboid thin platform, two positioning plates (11) are symmetrically designed and mounted in the middle of the main body plate (13) relative to a central axis, and the SPS moving mechanism (12) is arranged at the center of the bottom of the main body plate (13);

the parallel mechanical leg group (2) comprises four identical parallel mechanical legs (21), and the centers of the four parallel mechanical legs (21) are symmetrically distributed at four corners of the main body plate (13); the parallel mechanical leg (21) comprises a motor (211), a hooke hinge structure (212), a mechanical leg upper rod (213) and a mechanical leg lower rod (214), the motor (211) is fixedly arranged at the bottom of the main body plate (13), the output end of the motor (211) is connected with the hooke hinge structure (212), the motor (211) provides power for the hooke hinge structure (212), the hooke hinge structure (212) comprises a structural center frame (2121), an upper U-shaped block (2122) and a lower U-shaped block (2123), the structural center frame (2121) is in a cross shape, the structural center frame (2121) comprises a square hollow frame and 4 identical cylindrical supports, each cylindrical support is fixed at the side center of the square hollow frame and is in a symmetrical state, one end of one cylindrical support is connected with the output end of the motor (211), the upper U-shaped block (2122) and the lower U-shaped block (2123) are in a U-shaped structure, two ends of the U-shaped form are respectively provided with the same size, the upper U-shaped block (2) and the lower U-shaped block (2132) is connected with the upper mechanical leg base (2122) and the lower mechanical leg (2123) and is connected with the upper mechanical leg through hole (2132), the large end face of the lower U-shaped block seat (2131) is fixedly connected with a lower U-shaped block (2123), the small end face of the lower U-shaped block seat (2131) is fixedly connected with a mechanical leg upper rod push rod (2132), the mechanical leg upper rod push rod (2132) is connected with a mechanical leg lower rod push rod (2141) through a cylindrical surface moving pair, the mechanical leg lower rod (214) comprises a mechanical leg lower rod push rod (2141), a sole seat (2142) and a lock catch and power transmission piece (2143), the bottom of the mechanical leg lower rod push rod (2141) is fixedly connected with the sole seat (2142), the lock catch and power transmission piece (2143) is fixedly connected with the mechanical leg lower rod push rod (2141) and perpendicular to the side face of the lower U-shaped block seat (2131) in the mechanical leg upper rod (213), a circular through hole and a rectangular lock hole are formed in the lock catch and power transmission piece (2143), the circular through hole is connected with a lifting and power device (3), and the lock hole is connected with a connection stabilizing device (4);

the lifting and power device (3) comprises a bearing main body (31), a transmission rod (32), side wing plates (33) and deep groove ball bearings (34), the bearing main body (31) is integrally designed to be a cuboid thin body with through front and back faces, a circular through hole is formed in the top of the bearing main body (31), an SPS moving mechanism (12) penetrates through the circular through hole in the bearing main body (31) and is fixedly connected with the inner bottom face of the bearing main body (31), four power transmission plates (311) are symmetrically arranged at the bottom of the bearing main body (31), the outer side of each power transmission plate is connected with the transmission rod (32), two side wing plates (33) are symmetrically designed on two side faces of the bearing main body (31), the top of the bearing main body (31) abuts against a step at the lower end of a positioning plate (11) in a platform main body to be contacted to form a non-fixed connection, the transmission rod (32) comprises an inner transmission rod (321) and an outer transmission rod (322), centers of the transmission rods (32) are symmetrically distributed at four corners outside the bearing main body (31) and are fixedly connected with the power transmission plates (311), one end of each inner transmission rod (321) is connected with a U-shaped transmission rod (322) through a rotary pin key, and the other end of the inner transmission rod (322) is connected with a circular through hole of a U-shaped transmission rod (322), the side wing plates (33) are rectangular thin plates and are provided with two circular through holes, wherein the side wing plates (33) are connected with the stabilizing device (4) through the circular through holes, the deep groove ball bearings (34) are designed to be two and completely identical, the inner rings of the deep groove ball bearings are connected with the transmission lower rod (4142), and the outer rings of the deep groove ball bearings are connected with the circular through holes of the side wing plates (33);

the connection stabilizing device (4) comprises four belt transmission devices (41), and the four belt transmission devices (41) are centrosymmetric on the side wing plates (33); the belt transmission device (41) comprises a driving motor (411), a rubber belt (412), a lock catch (413) and a link rod (414), wherein the driving motor (411) is fixedly installed on the side face of a bearing main body (31) of the lifting and power device (3), the output end of the driving motor (411) is in friction connection with the rubber belt (412) to provide driving force for the rubber belt, the output end of the driving motor (411) and one end of the link rod (414) are sleeved together by the rubber belt (412), the lock catch (413) is J-shaped, one end of the lock catch (413) is fixedly connected with a lock block (4131) and penetrates through a rectangular through hole in the upper lock catch of the lower mechanical leg rod and a rectangular through hole in the power transmission piece (2143) to form non-fixed connection, a circular through hole is formed in the other end of the lock catch (413) and is fixedly connected with one end of the link rod (414), the link rod (414) comprises an upper transmission rod (4141) and a lower transmission rod (4142), a groove is formed in the middle of the upper transmission rod (4141) and is in friction connection with the rubber belt (412), the lower transmission rod (4142), and the other end of the transmission rod (4142) is fixedly connected with a deep groove formed in the transmission rod (4142).

2. A reconfigurable quadruped mobile platform according to claim 1, wherein: the main body plate (13) on the platform main body is fixedly connected with the bottom of the upper U-shaped block (2122) through bolts.

3. A reconfigurable quadruped mobile platform according to claim 1, wherein: the upper U-shaped block (2122) and the lower U-shaped block (2123) rotate around the central line of the structural center frame (2121) when rotating, and the central lines are perpendicular to each other.

4. A reconfigurable quadruped mobile platform as claimed in claim 1, wherein: the chamfers of the side wing plates (33) on the lifting and power device are 10 mm.

5. A reconfigurable quadruped mobile platform according to claim 1, wherein: the top of the bearing main body (31) forms non-fixed connecting fingers with steps at the lower end of the positioning plate (11) in the platform main body to be attached and in non-friction contact.

6. A reconfigurable quadruped mobile platform according to claim 1, wherein: the contact surface of the lock catch (413) and the side wing plate (33) is in non-friction contact.

7. A reconfigurable quadruped mobile platform according to claim 1, wherein: the inner ring of the deep groove ball bearing (34) is connected with the transmission lower rod (4142), the outer ring of the deep groove ball bearing (34) is connected with the circular through hole of the side wing plate (33), and the connection mode is interference connection.

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