Mobile chassis and walking equipment

Abstract

The present invention specifically relates to a mobile chassis and a walking device. The mobile chassis includes a support frame, a first frame body, a second frame body, and a driving wheel set. Among them, the first main body of the first frame body is hinged to the bottom of the support frame through a first shaft, and the second main body is slidably matched with the first main body. A first driving mechanism and a first wheel set are arranged on the second main body. The third main body of the second frame body is hinged to the bottom of the support frame through a second shaft, and the fourth main body is slidably matched with the third main body. A second driving mechanism and a second wheel set are arranged on the fourth main body. The driving wheel set is fixedly installed on the second frame body and has two driving wheels. The mobile chassis of the present invention, by providing a support frame, a first frame body, and a second frame body, enables the mobile chassis to have the ability of two-way obstacle crossing, as well as adjusting the center of gravity of the support frame and the stiffness of the mobile chassis. At the same time, in cooperation with the driving wheel set, it can meet the usage requirements of various complex terrains.

Description

Technical Field

[0001] The present invention belongs to the technical field of obstacle-crossing equipment, and particularly relates to a mobile chassis and also relates to a walking device. Background Art

[0002] A mobile chassis is a tool that provides convenience to people or expands the scope of human activities, such as various life-type chassis that provide convenience to humans, or various scientific research-type chassis used to expand the scope of human activities.

[0003] Since there are still some places that humans cannot reach and occasions that are not suitable for humans to reach in nature and human society, such as mines where disasters occur, disaster prevention and rescue, etc., at this time, it is necessary to use a mobile chassis to work in such a complex terrain scenario.

[0004] However, most of the mobile chassis on the market at present are not suitable for working such as climbing slopes, crossing obstacles and turning and moving in relatively complex terrains, nor do they have the ability to ensure their own stability when moving in complex terrains. Summary of the Invention

[0005] The purpose of the present invention is to at least solve the problem of how to improve the climbing, obstacle-crossing and turning and moving capabilities of a mobile chassis to meet the use requirements in complex terrains. This purpose is achieved through the following technical solutions:

[0006] The first aspect of the present invention provides a mobile chassis, including:

[0007] A support frame;

[0008] A first frame body, the first frame body includes a first main body and a second main body, the first main body is hinged to the bottom of the support frame through a first shaft, the second main body is slidably matched with the first main body, a first driving mechanism is arranged on the second main body, a power output end of the first driving mechanism is fixedly connected to the first main body, and a first wheel set is arranged on the second main body;

[0009] A second frame body, the second frame body includes a third main body and a fourth main body, the third main body is hinged to the bottom of the support frame through a second shaft, the third main body is slidably matched with the fourth main body, a second driving mechanism is arranged on the fourth main body, a power output end of the second driving mechanism is fixedly connected to the third main body, the fourth main body is hinged to the second main body through a third shaft, a second wheel set is arranged on the fourth main body, and the first wheel set and the second wheel set are distributed on both sides of the third shaft;

[0010] The driving wheel set is fixedly installed on the second frame body. The driving wheel set is arranged between the first wheel set and the second wheel set and is close to the middle of the support frame. The driving wheel set has two driving wheels, and the two driving wheels are symmetrically arranged with respect to a first plane, and the first plane is the plane where the center line of the first wheel set and the center line of the second wheel set are located.

[0011] The mobile chassis according to the present invention includes a support frame, a first frame body provided with a first wheel set, and a second frame body provided with a second wheel set and a driving wheel set. Among them, the first frame body and the second frame body are both arranged at the bottom of the support frame. Moreover, the first main body of the first frame body is hinged to the support frame through a first shaft, the third main body of the second frame body is hinged to the support frame through a second shaft, and the second main body of the first frame body and the fourth main body of the second frame body are hinged through a third shaft. The first main body can slide relative to the second main body under the drive of a first driving mechanism, and the third main body can slide relative to the fourth main body under the drive of a second driving mechanism. With such a setting, not only can the center of gravity of the support frame be directly adjusted according to the load situation to avoid the problem of untimely adjustment when the mobile chassis is traveling on a non-flat ground (such as climbing slopes or crossing obstacles). At the same time, the stiffness adjustment of the mobile chassis and the ability to cross obstacles in both directions can also be realized.

[0012] When the first driving mechanism and the second driving mechanism work simultaneously, the position of the first main body on the second main body and the position of the third main body on the fourth main body can be changed, thereby changing the position of the support frame relative to the first frame body and the second frame body to achieve the purpose of directly adjusting the center of gravity of the support frame.

[0013] When neither the first driving mechanism nor the second driving mechanism is working, the support frame is simultaneously hinged to the first frame body and the second frame body, and the first frame body is hinged to the second frame body. In the current state, the overall mobile chassis has good stiffness, which not only helps to improve the stability during traveling on a plane, but also can ensure that the attitude change of the load during traveling is stable and not large, avoiding the situation of the position deviation of the center of gravity point.

[0014] When one of the first driving mechanism and the second driving mechanism works, for example, when the first driving mechanism does not work and the second driving mechanism works, the support frame is hinged to the first frame body. At this time, the support frame, the first frame body and the second frame body integrally form a crank - connecting rod - slider mechanism. When the mobile chassis is moving, since the first wheel set, the second wheel set and the driving wheel set need to be in contact with the walking ground simultaneously to provide a stable supporting force for the mobile chassis, and at the same time, the movement range of the crank in the crank - slider structure is restricted. When the mobile chassis is traveling on a non - flat ground (such as climbing slopes or crossing obstacles), the first wheel set will be supported and lifted first, causing the first frame body to rotate a certain angle around the first axis. During this process, the support frame will rotate relative to the second axis and slide relative to the second frame body under the action of the second driving mechanism, that is, the third main body and the fourth main body of the second frame body move relative to each other, so as to reduce the influence of the first frame body on the support frame, ensure the stability of the support frame, and at the same time ensure that the driving wheel set and the second wheel set can always maintain the maximum effective contact with the walking surface to form terrain matching. During this process, the center of gravity of the mobile chassis will shift backward, and when the load is large, the situation of overturning during obstacle crossing can be avoided.

[0015] Meanwhile, the driving wheel set is driven by two driving wheels to achieve various complex rotation forms such as same - direction same - speed, same - direction differential - speed, opposite - direction same - speed and opposite - direction differential - speed, so as to realize various operating modes of the mobile chassis. Cooperating with the above - mentioned support frame, the first frame body and the second frame body helps to improve the climbing, obstacle - crossing and steering abilities of the mobile chassis to meet the usage requirements of various complex terrains.

[0016] In addition, the mobile chassis according to the present invention may also have the following additional technical features:

[0017] In some embodiments of the present invention, the support frame, the first frame body and the second frame body all rotate in a vertical plane, and the center lines of the first frame body, the second frame body and the support frame are all located in the first plane.

[0018] In some embodiments of the present invention, the number of the first axes is two, and both ends of the first main body are hinged to the support frame through the two first axes respectively;

[0019] The second main body includes a first beam, a second beam and a third beam. The first beam and the second beam are arranged in parallel at intervals, and both ends of the third beam are respectively connected to the front ends of the first beam and the second beam;

[0020] The first wheel set is installed in the middle of the third beam.

[0021] In some embodiments of the present invention, the number of the second shafts is two, and both ends of the third main body are respectively hinged to the support frame through the two second shafts;

[0022] The fourth main body includes a first part, a second part and a third part. The first part and the second part are arranged in parallel at intervals. Both ends of the third part are respectively connected to the rear end of the first part and the rear end of the second part;

[0023] The second wheel set is installed in the middle of the third part.

[0024] In some embodiments of the present invention, first slide rails are arranged on both the first beam and the second beam, and two first sliders cooperating with the first slide rails are arranged on the first main body; second slide rails are arranged on both the first part and the second part, and two second sliders cooperating with the second slide rails are arranged on the third main body.

[0025] In some embodiments of the present invention, the driving wheel set further includes mounting frames. The number of the mounting frames is two, and they are symmetrically arranged on both sides of the second frame body.

[0026] In some embodiments of the present invention, through holes are formed in the mounting frames, and a third shaft is installed in the through holes. The third shaft connects the first frame body, the second frame body and the mounting frames through bearing seats.

[0027] In some embodiments of the present invention, the support frame, the first frame body and the second frame body are all formed by splicing a plurality of aluminum profiles.

[0028] In some embodiments of the present invention, both the first wheel set and the second wheel set include universal wheels.

[0029] On the other hand, the present invention also provides a walking device, and the walking device includes the mobile chassis described in the present invention.

[0030] The walking device according to the embodiment of the present invention has the same technical effects as the mobile chassis according to the embodiment of the present invention, and will not be described in detail herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments, and are not considered as a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0032] Figure 1 is a schematic structural diagram of the mobile chassis according to the embodiment of the present invention;

[0033] Figure 2 Top view of the mobile chassis according to the embodiment of the present invention;

[0034] Figure 3 Front view of the mobile chassis according to the embodiment of the present invention;

[0035] Figure 4 Partial explosion schematic diagram of the mobile chassis according to the embodiment of the present invention;

[0036] Figure 5 Partial structural schematic diagram of the first frame according to the embodiment of the present invention;

[0037] Figure 6 Structural schematic diagram of the mobile chassis when crossing an obstacle according to the embodiment of the present invention;

[0038] Figure 7 Front view of the mobile chassis when crossing an obstacle according to the embodiment of the present invention.

[0039] Each label in the attached drawings represents as follows:

[0040] 1, support frame; 11, carrier; 111, cross beam; 112, longitudinal beam; 12, first connection frame group; 13, second connection frame group;

[0041] 2, first frame; 21, first main body; 22, second main body; 221, first beam; 222, second beam; 223, third beam; 23, first driving mechanism; 24, first slider; 25, first slide rail;

[0042] 3, first shaft;

[0043] 4, first wheel set;

[0044] 5, second frame; 51, third main body; 52, fourth main body; 521, first part; 522, second part; 523, third part; 53, second driving mechanism; 54, second slider; 55, second slide rail;

[0045] 6, second shaft;

[0046] 7, second wheel set;

[0047] 8, driving wheel set; 81, first driving wheel; 82, second driving wheel; 83, mounting frame; 84, through hole; 85, mounting groove;

[0048] 9, third shaft; 91, bearing seat;

[0049] 10, obstacle;

[0050] A, first plane. Specific embodiments

[0051] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0052] It should be understood that the terms used herein are for the purpose of describing particular example embodiments only and are not intended to be limiting. Unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the particular order described or illustrated, unless an execution order is explicitly stated. It should also be understood that additional or alternative steps may be used.

[0053] Although the terms first, second, third, etc. may be used herein to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly indicates otherwise, terms such as "first", "second", and other numerical terms do not imply an order or sequence when used herein. Thus, a first element, component, region, layer, or section discussed below may be referred to as a second element, component, region, layer, or section without departing from the teachings of the example embodiments.

[0054] For ease of description, spatial relative relationship terms may be used in the text to describe the relationship of one element or feature shown in the figure with respect to another element or feature. These relative relationship terms are, for example, "inner", "outer", "inner side", "outer side", "below", "beneath", "above", "over", etc. Such spatial relative relationship terms are intended to include different orientations of the device in use or operation other than the orientations depicted in the figure. For example, if the device in the figure is flipped, an element described as "below" or "beneath" other elements or features will then be oriented as "above" or "over" other elements or features. Thus, the exemplary term "below" can include both upward and downward orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used in the text are interpreted accordingly.

[0055] The present invention provides a mobile chassis. In terms of the overall design, the mobile chassis includes a support frame, a first frame body, a second frame body, and a drive wheel set.

[0056] Among them, the first frame body includes a first main body and a second main body. The first main body is hinged to the bottom of the support frame through a first shaft. The second main body is slidably engaged with the first main body. A first drive mechanism is provided on the second main body. The power output end of the first drive mechanism is fixedly connected to the first main body. A first wheel set is provided on the second main body.

[0057] The second frame body includes a third main body and a fourth main body. The third main body is hinged to the bottom of the support frame through a second shaft. The third main body is slidably engaged with the fourth main body. A second drive mechanism is provided on the fourth main body. The power output end of the second drive mechanism is fixedly connected to the third main body. The fourth main body is hinged to the second main body through a third shaft. A second wheel set is provided on the fourth main body. The first wheel set and the second wheel set are distributed on both sides of the third shaft.

[0058] The drive wheel set is fixedly installed on the second frame body. The drive wheel set is arranged between the first wheel set and the second wheel set and is close to the middle of the support frame. The drive wheel set has two driving wheels, and the two driving wheels are symmetrically arranged with respect to a first plane. The first plane is the plane where the center line of the first wheel set and the center line of the second wheel set are located.

[0059] With such an arrangement, not only can the center of gravity of the support frame be directly adjusted according to the load condition to avoid the problem of untimely adjustment when the mobile chassis is traveling on non-flat ground (such as climbing slopes or crossing obstacles). At the same time, the stiffness adjustment of the mobile chassis and the ability to cross obstacles in both directions can also be achieved.

[0060] When the first driving mechanism and the second driving mechanism work simultaneously, the position of the first main body on the second main body and the position of the third main body on the fourth main body can be changed, thereby changing the position of the support frame relative to the first frame body and the second frame body, so as to achieve the purpose of directly adjusting the center of gravity of the support frame.

[0061] When neither the first driving mechanism nor the second driving mechanism works, the support frame is hinged to both the first frame body and the second frame body, and the first frame body is hinged to the second frame body. In the current state, the overall mobile chassis has good rigidity, which not only helps to improve the stability during planar driving, but also ensures that the attitude change of the load during driving is stable and small, avoiding the situation of the position deviation of the center of gravity point.

[0062] When one of the first driving mechanism and the second driving mechanism works, for example, when the first driving mechanism does not work and the second driving mechanism works, the support frame is hinged to the first frame body, and at this time, the support frame, the first frame body and the second frame body form a crank - connecting rod - slider mechanism as a whole. When the mobile chassis is moving, since the first wheel set, the second wheel set and the driving wheel set need to be in contact with the walking ground simultaneously to provide stable supporting force for the mobile chassis, and at the same time, the movement range of the crank in the crank - slider structure is restricted. When the mobile chassis is driving on a non - flat ground (such as climbing or crossing an obstacle), the first wheel set will be supported and lifted first, causing the first frame body to rotate a certain angle around the first axis. During this process, the support frame will rotate relative to the second axis and slide relative to the second frame body under the action of the second driving mechanism, that is, the third main body of the second frame body and the fourth main body move relative to each other, so as to reduce the influence of the first frame body on the support frame, ensure the stability of the support frame, and at the same time ensure that the driving wheel set and the second wheel set can always maintain the maximum effective contact with the walking surface to form terrain matching. During this process, the center of gravity of the mobile chassis will shift backward, and when the load is large, the situation of overturning during obstacle crossing can be avoided.

[0063] At the same time, the driving wheel set is driven by two driving wheels to achieve various complex rotation forms such as same - direction same - speed, same - direction differential - speed, reverse - direction same - speed and reverse - direction differential - speed, so as to realize various operation modes of the mobile chassis. Cooperating with the above - mentioned support frame, the first frame body and the second frame body helps to improve the ability of the mobile chassis to climb slopes, cross obstacles and turn, so as to meet the use requirements of various complex terrains.

[0064] Based on the above design concept, an exemplary structure of the mobile chassis of this embodiment is as Figure 1 and Figure 2As shown, at this time, the above-mentioned support frame 1 includes a bearing bracket 11, a first connecting frame group 12, and a second connecting frame group 13. Among them, the bearing bracket 11 includes two cross beams 111 and two longitudinal beams 112. The two cross beams 111 are arranged in parallel at intervals, and both ends of any one longitudinal beam 112 are respectively connected to the two cross beams 111, and the two longitudinal beams 112 are arranged in parallel at intervals. Of course, the above-mentioned bearing bracket 11 can also be a bearing plate. The bearing bracket 11 formed by splicing the cross beam 111 and the longitudinal beam 112 is conducive to installation and the adjustment of the structure of the bearing bracket 11, with strong flexibility, can be adjusted and used according to actual needs, and has good applicability. In this embodiment, the above-mentioned first connecting frame group 12 includes two vertical beams. Both ends of the above-mentioned cross beam 111 are respectively connected to one end of any vertical beam, and the other end of the vertical beam is hinged to the first frame body 2 through the first shaft 3. The structure and connection method of the second connecting frame group 13 are arranged with reference to the first connecting frame group 12, and will not be elaborated here.

[0065] In addition, when the mobile chassis is used for a walking device, other auxiliary components of the walking device can be arranged on the support frame 1.

[0066] As Figure 2 and Figure 3 As shown, the above-mentioned support frame 1, the first frame body 2, and the second frame body 5 all rotate in the vertical plane, and the center lines of the first frame body 2, the second frame body 5, and the support frame 1 are all located in the first plane A. In this embodiment, the first frame body 2 is arranged near the front end of the support frame 1, the second frame body 5 is arranged near the rear end of the support frame 1, the rotation plane of the first frame body 2 relative to the support frame 1 and the rotation plane of the second frame body 5 relative to the support frame 1 are both vertical planes. Such a setting can further ensure that the first wheel set 4, the drive wheel set 8, and the second wheel set 7 always maintain the maximum degree of effective contact with the walking surface, thereby forming an effective terrain matching.

[0067] Specifically, the center lines of the first frame body 2, the second frame body 5, and the support frame 1 are all located in the first plane A, and the first plane A is the plane where the center line of the first wheel set 4 and the center line of the second wheel set 7 are located. In this embodiment, the center line of the first wheel set 4 is the center line of the first wheel set 4 in the vertical plane, and the center line of the second wheel set 7 is the center line of the second wheel set 7 in the vertical plane. Therefore, the first plane A is a vertical plane. And the center lines of the first frame body 2, the second frame body 5, and the support frame 1 are all located in the first plane A, so the whole mobile chassis is symmetrically structured about the first plane A. Such a setting helps to achieve uniform conduction of the supporting force, ensures the overall structural strength of the mobile chassis, and improves the load-bearing and transportation capacity of the mobile chassis.

[0068] In this embodiment, the first frame 2 includes a first main body 21 and a second main body 22. The first main body 21 is hinged to the bottom of the support frame 1 through a first shaft 3, and the second main body 22 is slidably engaged with the first main body 21. Specifically, the first main body 21 has a "["-shaped structure, and both ends of the first main body 21 are hinged to the two vertical beams of the first connecting frame group 12 through two first shafts 3 respectively. The second main body 22 includes a first beam 221, a second beam 222 and a third beam 223. Among them, the first beam 221 and the second beam 222 are arranged in parallel at intervals, and both ends of the third beam 223 are connected to the front ends of the first beam 221 and the second beam 222 respectively. At this time, the first beam 221, the second beam 222 and the third beam 223 form a "Π"-shaped structure. Using the first beam 221, the second beam 222 and the third beam 223 to be spliced to form the first main body 21 helps to simplify the structure of the first main body 21, reduce the manufacturing and input costs of the first main body 21. In addition, it can also reduce the contact between the external environment and the mobile chassis, thereby reducing the influence of the obstacle 10 on the walking effect of the mobile chassis.

[0069] As Figure 1 and Figure 5 shown, first slide rails 25 are provided on both the first beam 221 and the second beam 222, and two first sliders 24 cooperating with the first slide rails 25 are provided on the first main body 21. Specifically, the first main body 21 is located above the first beam 221 and the second beam 222. First slide rails 25 are provided on the tops of both the first beam 221 and the second beam 222, and two first sliders 24 are arranged at intervals on the first main body 21. Among them, the first slide rail 25 on the first beam 221 cooperates with one of the first sliders 24 to form a sliding mechanism, and the first slide rail 25 on the second beam 222 forms a sliding mechanism with the other first slider 24. Combining with the connection of the first beam 221 and the second beam 222 through the third beam 223, the slidability of the first main body 21 relative to the second main body 22 is formed.

[0070] In this embodiment, the first driving mechanism 23 is arranged on the third beam 223 of the second main body 22, as Figure 5As shown, the first driving mechanism 23 is set as two servo electric push rods arranged at intervals. The power output ends of the servo electric push rods are fixed on the first main body 21. The two servo electric push rods are respectively arranged close to the first slide rail 25 to ensure the connection effect between the first main body 21 and the second main body 22. When the servo electric push rod works, the first driving mechanism 23 will push the first main body 21 to slide on the second main body 22, thereby adjusting the connection position between the support frame 1 and the first frame body 2, so as to ensure that the mobile chassis can perform corresponding actions during walking and improve the performance of the mobile chassis. When the servo electric push rod is self-locked (not working), the first main body 21 is fixed on the second main body 22 through the first driving mechanism 23, so that the first frame body 2 becomes a whole, which helps to improve the structural strength of the first frame body 2.

[0071] Moreover, in this embodiment, by setting the positions of the first shaft 3, the third shaft 9 and the first wheel set 4, while ensuring that the first frame body 2 has good support performance, the rotation angle of the first frame body 2 relative to the support frame 1 can be restricted, which further helps to improve the stability of the support frame 1.

[0072] Still as Figure 1 and Figure 4 As shown, the second frame body 5 includes a third main body 51 and a fourth main body 52. The third main body 51 is hinged to the bottom of the support frame 1 through a second shaft 6, and the third main body 51 and the fourth main body 52 are slidably matched. Specifically, the structure of the third main body 51 is the same as that of the first main body 21, which is also a "["-shaped structure, and both ends of the third main body 51 are respectively hinged to the two vertical beams of the second connection frame group 13 through two second shafts 6.

[0073] The fourth main body 52 includes a first part 521, a second part 522 and a third part 523. The first part 521 and the second part 522 are arranged in parallel at intervals, and both ends of the third part 523 are respectively connected to the rear ends of the first part 521 and the second part 522, that is, the fourth main body 52 is a "Π"-shaped structure. Specifically, the opening of this "Π"-shaped structure faces the first frame body 2 and is hinged to the first frame body 2, that is, the free end of the first part 521, the free end of the first beam 221, the free end of the second part 522 and the free end of the second beam 222 are all hinged through the third shaft 9. As Figure 1 、 Figure 2 and Figure 4 As shown, the second main body 22 and the fourth main body 52 are stagger-hinged, that is, the first part 521 and the second part 522 of the fourth main body 52 are located between the first beam 221 and the second beam 222 of the second main body 22.

[0074] In this embodiment, the number of the third shafts 9 is two. One of the third shafts 9 is used to connect the first part 521 and the first beam 221, and the other third shaft 9 is used to connect the second part 522 and the second beam 222. Meanwhile, the second wheel set 7 is arranged in the middle of the third part 523, and the arrangement of the second wheel set 7 on the third part 523 is the same as that of the first wheel set 4 on the third beam 223. In addition, the second driving mechanism 53 is also arranged on the third beam 223 of the second main body 22, and its specific structure and arrangement are the same as those of the first driving mechanism 23 described above, so details are not elaborated here.

[0075] By arranging the fourth main body 52 in a "Π" shape, in addition to having the same effect as the second main body 22 described above, it can also cooperate with the first frame 2 to form a rectangular structure. This rectangular structure helps to improve the connection strength among the first frame 2, the second frame 5, and the support frame 1. Meanwhile, in combination with the positions of the first wheel set 4, the second wheel set 7, and the driving wheel set 8, it can effectively ensure that the rectangular structure receives uniform supporting forces, further improving the supporting effect of the first frame 2 and the second frame 5 on the support frame 1 and ensuring the load-bearing capacity of the support frame 1.

[0076] As Figure 4 shown, second sliding rails 55 are arranged on both the first part 521 and the second part 522, and two second sliders 54 that cooperate with the second sliding rails 55 are arranged on the third main body. Specifically, the third main body 51 is located above the first part 521 and the second part 522. Second sliding rails 55 are arranged on the tops of both the first part 521 and the second part 522, and two second sliders 54 are arranged at intervals on the third main body 51. Moreover, the cooperation and arrangement of the second sliding rails 55 and the second sliders 54 are the same as those of the first sliding rail 25 and the first slider 24 described above, so details are not elaborated here.

[0077] When the mobile chassis is traveling on a flat ground, both the first driving mechanism 23 and the second driving mechanism 53 are in a self-locking state (not working). At this time, the first main body 21 is fixed to the second main body 22, and the third main body 51 is fixed to the fourth main body 52. That is, the support frame 1 is hinged to both the first frame 2 and the second frame 5, and the first frame 2 is hinged to the second frame 5. In this current state, the whole mobile chassis has good rigidity, which not only helps to improve the stability during plane travel but also ensures that the attitude change of the load during travel is stable and small, avoiding the situation of the position deviation of the center of gravity.

[0078] When the first driving mechanism 23 and the second driving mechanism 53 work simultaneously, the position of the first main body 21 on the second main body 22 and the position of the third main body 51 on the fourth main body 52 can be changed, thereby changing the position of the support frame 1 relative to the first frame body 2 and the second frame body 5, so as to directly adjust the center of gravity of the support frame 1, improve the applicability of the mobile chassis, and support different styles of load objects.

[0079] When one of the first driving mechanism 23 and the second driving mechanism 53 works, for example, when the first driving mechanism 23 is in a self-locking state (not working) and the second driving mechanism 53 works, the support frame 1 is hinged to the first frame body 2. At this time, the support frame 1, the first frame body 2 and the second frame body 5 together form a crank-slider mechanism. When the mobile chassis is moving, since the first wheel set 4, the second wheel set 7 and the drive wheel set 8 need to contact the walking ground simultaneously to provide stable support for the mobile chassis, and at the same time, the movement range of the crank in the crank-slider structure is restricted.

[0080] As Figure 6 and Figure 7 As shown, when the mobile chassis needs to cross an obstacle or a step during walking, first, driven by the second frame body 5, after the first wheel set 4 touches the obstacle or the step, it drives the first frame body 2 and the support frame 1 to rise in the vertical direction (both the support frame 1 and the first frame body 2 rotate relative to the first shaft 3). During the rising process of the support frame 1, the support frame 1 will rotate relative to the second shaft 6, and under the action of the second driving mechanism 53, it drives the third main body 51 to slide relative to the first part 521 and the second part 522 to ensure good contact performance between the second wheel set 7 and the walking surface, ensure terrain matching, and at the same time, it can also reduce the influence of the first frame body 2 on the support frame 1 and ensure the stability of the support frame 1. In addition, during this process, the center of gravity of the mobile chassis will shift backward to avoid the situation of tipping over when crossing an obstacle under a large load, thereby further ensuring the stability of the mobile chassis when crossing an obstacle or a step.

[0081] In addition, since the mobile chassis also has another obstacle-crossing state where the second driving mechanism 53 is in a self-locking state (not working) and the first driving mechanism 23 works, the mobile chassis has the ability to cross obstacles in both directions when walking, which helps to expand the control mode of the mobile chassis and thus improve its applicability.

[0082] In this embodiment, the above driving wheel set 8 further includes mounting brackets 83. There are two mounting brackets 83, which are symmetrically arranged on both sides of the second frame body 5. Specifically, one mounting bracket 83 is respectively arranged on the first part 521 and the second part 522, and this mounting bracket 83 is used to mount the above-mentioned driving wheels. For the convenience of description, the driving wheel located on the first part 521 is called the first driving wheel 81, and the driving wheel located on the second part 522 is called the second driving wheel 82. Fixing the two driving wheels on the first part 521 and the second part 522 can enable the second frame body 5 to have better driving force. At the same time, both the driving wheel set 8 and the second wheel set 7 are located on the second main body 22. Combining the position settings of the driving wheel set 8 and the second wheel set 7 forms an isosceles triangle-like structure, which helps to strengthen the support strength of the second main body 22, so as to further improve the load-bearing capacity of the mobile chassis.

[0083] It should be noted that the first driving wheel 81 is driven by a first hub motor, and the second driving wheel 82 is driven by a second hub motor. Both the first hub motor and the second hub motor are electrically connected to the controller. Through the controller, the first hub motor and the second hub motor can be controlled to rotate in the same direction at the same speed, in the same direction with different speeds, in the opposite direction at the same speed, and in the opposite direction with different speeds. When the first driving wheel 81 and the second driving wheel 82 rotate in the same direction at the same speed, the mobile chassis moves forward or backward at this time; when the first driving wheel 81 and the second driving wheel 82 rotate in the same direction with different speeds, the turning action (left turn or right turn) of the mobile chassis is realized at this time. When the first driving wheel 81 and the second driving wheel 82 rotate in the opposite direction at the same speed, the in-situ turning action of the mobile chassis is realized at this time.

[0084] The driving wheel set 8 uses two driving wheels for driving to achieve various complex rotation forms such as rotating in the same direction at the same speed, in the same direction with different speeds, in the opposite direction at the same speed, and in the opposite direction with different speeds, so as to realize various operation modes of the mobile chassis. Cooperating with the above-mentioned support frame 1, the first frame body 2 and the second frame body 5 helps to improve the climbing, obstacle-crossing and turning abilities of the mobile chassis to meet the use requirements of various complex terrains.

[0085] Still as Figure 4As shown in the figure, a through hole 84 is also provided on the mounting bracket 83. A third shaft 9 is installed in the through hole 84. The third shaft 9 is connected to the first frame body 2, the second frame body 5 and the mounting bracket 83 through a bearing seat 91. Specifically, taking the mounting bracket 83 with the first driving wheel 81 installed as an example, the mounting bracket 83 includes two vertical plates and a connecting plate. The two vertical plates are arranged at intervals. The first beam 221 and the first part 521 are both located between the two vertical plates. Among them, the connecting plate connects and fixes one of the vertical plates and one side of the second part 522, and the other vertical plate is fixed on the other side of the second part 522. Through holes 84 and mounting grooves 85 are provided on both vertical plates. Among them, the mounting groove 85 is used to install and fix the first driving wheel 81. The third shaft 9 passes through the first part 521 and the first beam 221 and is screwed into the through holes 84 on the two vertical plates. Bearing seats 91 are provided on both the first part 521 and the first beam 221. Connecting the first frame body 2, the second frame body 5 and the mounting bracket 83 together through the third shaft 9 helps with the installation of the driving wheel set 8 and ensures the obstacle-crossing ability of the mobile chassis.

[0086] In this embodiment, the above-mentioned support frame 1, the first frame body 2 and the second frame body 5 are all made of aluminum profiles spliced together. The support frame 1, the first frame body 2 and the second frame body 5 formed by splicing aluminum profiles not only optimize the composition structure of the mobile chassis, reduce the input cost, but also are more convenient for disassembly and assembly and carrying around, which helps to meet different structural requirements in various complex environments. Moreover, it is also beneficial for further research and development of the mobile chassis.

[0087] In addition, in this embodiment, the above-mentioned first wheel set 4 and the second wheel set 7 are both set to one and are both universal wheels. This can not only better cooperate with the above-mentioned first driving wheel 81 and the second driving wheel 82 to meet the rotation requirements, but also the products are mature and can be directly purchased and used.

[0088] In the second aspect of this embodiment, a walking device is proposed. The walking device includes the mobile chassis described in this embodiment.

[0089] The walking device of the embodiment of the present invention has the same technical effects as the mobile chassis of the embodiment of the present invention, and will not be elaborated here.

[0090] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A mobile chassis, characterized in that, Comprising: Support frame; The first frame body, the first frame body includes a first main body and a second main body, the first main body is hinged to the bottom of the support frame through a first shaft, the second main body is slidably matched with the first main body, a first driving mechanism is arranged on the second main body, a power output end of the first driving mechanism is fixedly connected with the first main body, and a first wheel set is arranged on the second main body; The second frame body, the second frame body includes a third main body and a fourth main body, the third main body is hinged to the bottom of the support frame through a second shaft, the third main body is slidably matched with the fourth main body, a second driving mechanism is arranged on the fourth main body, a power output end of the second driving mechanism is fixedly connected with the third main body, the fourth main body is hinged to the second main body through a third shaft, a second wheel set is arranged on the fourth main body, and the first wheel set and the second wheel set are distributed on both sides of the third shaft; A driving wheel set, the driving wheel set is fixedly installed on the second frame body, the driving wheel set is arranged between the first wheel set and the second wheel set and close to the middle of the support frame, the driving wheel set has two driving wheels, and the two driving wheels are symmetrically arranged with a first plane as the center, and the first plane is a plane where the center line of the first wheel set and the center line of the second wheel set are located; The number of the first shafts is two, and two ends of the first main body are respectively hinged to the support frame through the two first shafts; The second main body includes a first beam, a second beam and a third beam, the first beam and the second beam are arranged in parallel at intervals, and two ends of the third beam are respectively connected to the front ends of the first beam and the second beam; The first wheel set is installed in the middle of the third beam; The number of the second shafts is two, and two ends of the third main body are respectively hinged to the support frame through the two second shafts; The fourth main body includes a first part, a second part and a third part, the first part and the second part are arranged in parallel at intervals, and two ends of the third part are respectively connected to the rear ends of the first part and the second part; The second wheel set is installed in the middle of the third part; The driving wheel set further includes mounting frames, the number of the mounting frames is two, and the mounting frames are symmetrically arranged on both sides of the second frame body, and one mounting frame is arranged on each of the first part and the second part, and the mounting frames are used for mounting the driving wheels; Through holes are formed in the mounting frames, the third shaft is installed in the through holes, and the third shaft connects the first frame body, the second frame body and the mounting frames through bearing seats.

2. The mobile chassis according to claim 1, characterized in that, The support frame, the first frame body and the second frame body all rotate in a vertical plane, and the center lines of the first frame body, the second frame body and the support frame are all located in the first plane.

3. The mobile chassis according to claim 1, characterized in that, The first beam and the second beam are both provided with first slide rails, and two first sliders cooperating with the first slide rails are provided on the first main body; the first part and the second part are both provided with second slide rails, and two second sliders cooperating with the second slide rails are provided on the third main body.

4. The mobile chassis according to claim 1, characterized in that, The support frame, the first frame body and the second frame body are all formed by splicing aluminum profiles.

5. The mobile chassis according to claim 1, characterized in that, Both the first wheel set and the second wheel set include universal wheels.

6. A walking device, characterized in that, The walking device includes the mobile chassis according to any one of claims 1 to 5.

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