A motion chassis adapted to complex terrain

Abstract

The application discloses a motion chassis suitable for complex terrains, which comprises a base provided with four driving devices capable of driving rotation of a rotating wheel. The driving device is composed of a lifting unit and a steering unit. The lifting unit comprises a lifting motor, a lifting bearing, a lifting output shaft, a lifting rotating shaft, a lifting disc and a wheel hub. The bottom of the support is provided with a transverse cavity, the lifting motor and the lifting bearing are fixedly arranged in the transverse cavity of the support, the inner side surface of the wheel hub of the rotating wheel is fixedly connected with the lifting disc in a coaxial mode, the inner side surface of the lifting disc is provided with a transverse lifting rotating shaft, the lifting rotating shaft is connected with the lifting output shaft of the lifting motor through the lifting bearing, and the axis of the lifting rotating shaft deviates from the wheel axis of the wheel hub. The control device can identify the inclination of the base in combination with a balance monitoring system of the base, so as to realize the control of the work of each lifting motor according to the actual driving road condition, guarantee the level and balance of the base in the driving process, and further guarantee the driving stability of the whole vehicle and the gravity center thereof.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of chassis, and particularly relates to a motion chassis suitable for complex terrains. BACKGROUND

[0002] The chassis of the existing wheeled robot is mostly differential steering, front wheel steering or four-wheel steering chassis.

[0003] The differential steering wheeled chassis realizes steering through the speed difference between the left and right sides and the sliding on the ground, but the steering precision is poor due to different ground materials or other external factors, and the wear and tear of the tire assembly is serious.

[0004] The front wheel steering wheeled chassis realizes front wheel steering through the rotary pair arranged on the front wheel ground normal, and the rear wheel differential driven realizes the steering of the whole vehicle, which solves the drawbacks of steering precision and assembly wear and tear, but has the drawback of large turning radius, and is not suitable for narrow industrial application scenarios.

[0005] The four-wheel steering wheeled chassis is designed by increasing the rear wheel steering on the basis of the front wheel steering, and the four wheels are independently controlled and cooperated to realize the flexible control such as the in-place turning of the whole vehicle, but the four wheels only have the ability of rotation and steering, and cannot guarantee the stability of the vehicle body and the normal operation of the task equipment on the uneven or inclined ground.

[0006] In addition, the existing chassis suitable for complex terrains mostly adopts the tracked chassis, and the moving efficiency is slightly slow, the flexibility is lower than that of the wheeled robot, and the flexibility on the flat ground is poor. Although the wheeled robot has high moving speed and flexibility, it is difficult to cross large obstacles and is not suitable for driving on complex roads. Therefore, it is necessary to design a wheeled chassis suitable for complex terrains. SUMMARY

[0007] Therefore, the application aims to solve the problem that the existing technology is difficult to cross large obstacles and is not suitable for driving on complex roads.

[0008] Therefore, the application adopts the technical scheme that the motion chassis suitable for complex terrains comprises a base, four driving devices are arranged on the base, and the driving devices can drive the rotation of the rotating wheels.

[0009] Preferably, the driving device is composed of a lifting unit and a steering unit.

[0010] Preferably, the steering unit comprises: a bracket, a steering motor base, a steering motor, a steering bearing, a steering output shaft, a steering shaft and a steering motor cover, the steering motor base is fixed on the base, the steering motor base is provided with a cavity, the steering motor and the steering bearing are coaxially fixed in the cavity of the steering motor base, the steering shaft at the top of the bracket passes through the steering bearing and is connected with the steering output shaft of the steering motor in the longitudinal direction, and the top end of the steering motor base is provided with the steering motor cover for protecting the steering motor.

[0011] Preferably, the lifting unit comprises: a lifting motor, a lifting bearing, a lifting output shaft, a lifting shaft, a lifting disc, a hub, the bottom of the bracket is provided with a horizontal cavity, the lifting motor and the lifting bearing are fixed in the horizontal cavity of the bracket, the inner side of the hub of the runner is coaxially fixed with the lifting disc, the inner side of the lifting disc is provided with a horizontal lifting shaft, the lifting shaft passes through the lifting bearing and is connected with the lifting output shaft of the lifting motor, and the axis of the lifting shaft deviates from the wheel axis of the hub.

[0012] Preferably, the four steering motors and the four lifting motors are connected with the control system respectively.

[0013] Preferably, the hub is provided with a hub motor, the hub motor is used for driving the runner, and the hub motor is connected with the control system.

[0014] Preferably, the bottom end of the base is provided with a cleaning device, the cleaning device comprises: a box body, a motor, a disc, an arc-shaped sliding block, a support arm, an inclined sliding column and a hemispherical shell, the bottom end of the base is provided with the box body, the box body is provided with the motor, the motor is connected with the inner wall of the box body, the output shaft of the motor is coaxially connected with the disc, the disc is provided with the arc-shaped sliding block, one end of the arc-shaped sliding block is connected with the support arm, the other end of the support arm is connected with the inclined sliding column, the box body is provided with the hemispherical shell, the hemispherical shell is uniformly and interval provided with four arc-shaped grooves, the arc-shaped sliding block can be slidably connected with the arc-shaped grooves, the hemispherical shell is uniformly and interval provided with four arc-shaped sliding grooves, the four arc-shaped sliding grooves and the four arc-shaped grooves are staggered, and the inclined sliding column can slide in the arc-shaped sliding groove.

[0015] Preferably, the hemispherical shell is provided with a fixing block below, the fixing block is connected with the inner wall of the box body, a vertical shaft passes through the fixing block and is rotationally connected with the fixing block, the vertical shaft is connected with the bottom end of the hemispherical shell, the lower end of the vertical shaft extends to the top end of the liquid storage tank below the box body and is connected with the top end of the liquid storage tank, the liquid storage tank is provided with a drive pump, the output end of the drive pump is in communication with one end of a liquid delivery pipe, and the other end of the liquid delivery pipe extends out of the liquid storage tank and is in communication with a nozzle.

[0016] Preferably, the liquid delivery pipe is provided with an electromagnetic valve.

[0017] Preferably, one end of the liquid storage tank away from the nozzle is in communication with one end of a liquid inlet pipe, and the other end of the liquid inlet pipe is threadedly connected with a cover.

[0018] Preferably, the bottom end of the base is provided with a power box, a rectangular slide rail is arranged in the power box, the four corners of the rectangular slide rail are rounded, a driving motor is arranged at the center of the rectangular slide rail, the driving motor is connected with the inner wall of the power box, the output shaft of the driving motor is connected with one end of the rotating plate perpendicularly, a guide groove extending along the length direction is arranged on the rotating plate, a moving block is arranged in the guide groove and can reciprocate in the guide groove, a slide column is arranged on the moving block and can slide in the rectangular slide rail, a fixed rod is arranged in the power box, the two ends of the fixed rod are connected with the inner wall of the power box, a sliding groove is arranged at the bottom end of the fixed rod, a sliding sleeve is arranged below the fixed rod, a sliding block is arranged at the top end of the sliding sleeve and can slide in the sliding groove, a slide rod passes through the sliding sleeve and is connected with the sliding sleeve in sliding mode, the slide rod is perpendicular to the fixed rod, one end of the slide rod is rotatably connected with the side of the moving block away from the slide column, and the other end of the slide rod is connected with the first rectangular block.

[0019] Preferably, the second rectangular block is arranged above the first rectangular block, a connecting column is arranged at the bottom end of the second rectangular block, one end of the connecting column is connected with the second rectangular block, a ball is rotatably connected with the other end of the connecting column, the connecting column passes through the first rectangular block and is connected with the first rectangular block in sliding mode, a spring is sleeved on the connecting column, one end of the spring is connected with the first rectangular block, and the other end of the spring is connected with the second rectangular block, a linear slide is arranged on the inner wall of the power box and is parallel to the fixed rod, arc-shaped slides are symmetrically arranged at the two ends of the linear slide, the thickness of the arc-shaped slides gradually decreases from one end close to the linear slide to the other end, the fixed rod is located between the rectangular slide rail and the linear slide, the ball can roll on the linear slide and the arc-shaped slides, an opening is arranged on the side wall of the power box, a connecting rod is connected with the second rectangular block at one end and connected with the laser distance sensor at the other end.

[0020] The technical scheme of the present application has the following advantages: the motion chassis suitable for complex terrain of the present application comprises a base, four driving devices are arranged on the base, and the driving devices can drive the rotating wheels to rotate. The driving device is composed of a lifting unit and a steering unit. The steering unit comprises a support, a steering motor base, a steering motor, a steering bearing, a steering output shaft, a steering rotating shaft and a steering motor cover. The steering motor base is fixed on the base, the steering motor base is provided with a cavity, the steering motor and the steering bearing are coaxially arranged in the cavity of the steering motor base, the steering rotating shaft at the top of the support passes through the steering bearing and is connected with the steering output shaft of the steering motor in the longitudinal direction, and the steering motor cover is arranged at the top end of the steering motor base. The lifting unit comprises a lifting motor, a lifting bearing, a lifting output shaft, a lifting rotating shaft, a lifting disc and a wheel hub. The bottom of the support is provided with a transverse cavity, the lifting motor and the lifting bearing are fixedly arranged in the transverse cavity of the support, the lifting disc is fixedly connected with the wheel hub in the coaxial manner, the inner side of the lifting disc is provided with the transverse lifting rotating shaft, the lifting rotating shaft passes through the lifting bearing and is connected with the lifting output shaft of the lifting motor, and the axis of the lifting rotating shaft deviates from the wheel axis of the wheel hub. The control device can identify the inclination of the base in combination with the balance monitoring system of the base, so as to control the operation of each lifting motor according to the actual driving conditions, ensure the horizontal and balance of the base during driving, and further ensure the driving stability of the whole vehicle and the gravity center thereof.

[0021] Other features and advantages of the present application will be set forth in the following description of the application, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the application. The objects and other advantages of the application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0022] The technical scheme of the present application will be further described in detail below with the aid of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0024] Figure 1 is a structural schematic view of the motion chassis in the present application;

[0025] Figure 2 is a structural schematic view of the driving device in the present application;

[0026] Figure 3 is a structural schematic view of the side inclination (a) and the side balance (b) in the present application;

[0027] Figure 4 is a structural schematic view of the front-rear inclination (c) and the front-rear balance (d) in the present application;

[0028] Figure 5 is a structural schematic diagram of the cleaning device in the present application;

[0029] Figure 6 is a structural schematic diagram of the box body in the present application;

[0030] Figure 7 is a structural schematic diagram of the laser ranging device in the present application;

[0031] Figure 8 is a structural schematic diagram of the first rectangular block and the second rectangular block in the present application;

[0032] Figure 9 is a connection schematic diagram of the moving block and the slide post in the present application;

[0033] Figure 10 is a connection schematic diagram of the chute and the sliding block in the present application;

[0034] Wherein, 1-base, 2-driving device, 3-bracket, 4-steering motor base, 5-steering motor, 6-steering bearing, 7-steering output shaft, 8-steering rotating shaft, 9-steering motor cover, 10-lifting motor, 11-lifting bearing, 12-lifting output shaft, 13-lifting rotating shaft, 14-lifting disc, 15-hub, 16-box body, 17-motor, 18-disc, 19-arc-shaped sliding block, 20-supporting arm, 21-inclined slide post, 22-hemispherical shell, 23-arc-shaped recess, 24-arc-shaped chute, 25-fixing block, 26-rotating shaft, 27-liquid storage tank, 28-driving pump, 29-liquid delivery pipe, 30-nozzle, 31-liquid inlet pipe, 32-lid, 33-power box, 34-rectangular slide rail, 35-driving motor, 36-rotating plate, 37-guiding groove, 38-moving block, 39-slide post, 40-fixing rod, 41-chute, 42-sliding sleeve, 43-sliding block, 44-sliding rod, 45-first rectangular block, 46-second rectangular block, 47-connection post, 48-spring, 49-linear slide, 50-arc-shaped slide, 51-opening, 52-connection rod, 53-laser distance sensor, 54-rolling ball. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects of the present application more clearly understood, the present application will be further described in detail below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and are not used to limit the present application.

[0036] It should be noted that when a component is referred to as "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0037] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0039] The present application provides a motion chassis suitable for complex terrain, such as Figures 1-4 As shown, comprising: base 1, four driving devices 2 are arranged on the base 1, and the driving devices 2 can drive the rotating wheel to rotate.

[0040] The driving device 2 is composed of a lifting unit and a steering unit. The steering unit comprises a bracket 3, a steering motor seat 4, a steering motor 5, a steering bearing 6, a steering output shaft 7, a steering rotating shaft 8 and a steering motor cover 9. The steering motor seat 4 is fixed on the base 1, the steering motor seat 4 is provided with a cavity, the steering motor 5 and the steering bearing 6 are coaxially arranged in the cavity of the steering motor seat 4, the steering rotating shaft 8 at the top of the bracket 3 passes through the steering bearing 6 in the longitudinal direction and is connected with the steering output shaft 7 of the steering motor 5, and the steering motor cover 9 is arranged at the top end of the steering motor seat 4 to protect the steering motor 5.

[0041] The lifting unit comprises a lifting motor 10, a lifting bearing 11, a lifting output shaft 12, a lifting rotating shaft 13, a lifting disc 14 and a wheel hub 15. The bottom of the bracket 3 is provided with a horizontal cavity, the lifting motor 10 and the lifting bearing 11 are fixedly arranged in the horizontal cavity of the bracket 3, the inner side of the wheel hub 15 of the rotating wheel is coaxially fixedly connected with the lifting disc 14, the inner side of the lifting disc 14 is provided with a horizontal lifting rotating shaft 13, the lifting rotating shaft 13 passes through the lifting bearing 11 and is connected with the lifting output shaft 12 of the lifting motor 10, and the axis of the lifting rotating shaft 13 deviates from the wheel axis of the wheel hub 15. The four steering motors 5 and the four lifting motors 10 are respectively connected with a control system. A wheel hub motor is arranged in the wheel hub 15, the wheel hub motor is used for driving the rotating wheel, and the wheel hub motor is connected with the control system.

[0042] The working principle and beneficial technical effects of the above technical solution are as follows: When in use, the control device can identify the tilt of the base 1 by combining the balance monitoring system of the base 1, and then control the operation of each lifting motor 10 according to the actual driving road conditions to ensure the level and balance of the base 1 during driving, thereby ensuring the driving stability of the whole vehicle and its center of gravity.

[0043] like Figure 3 Figure (a) shows a conventional four-wheel steering chassis driving on a bumpy road. During driving, there will be a height difference between the left and right wheels of a conventional four-wheel steering chassis. The entire chassis will tilt as one side of the steering wheel tilts, making it prone to bumps and even rollover. Figure (b) shows the motion chassis of the present invention. When the balance monitoring system detects that the base 1 is tilted, it sends a command to the lifting motor 10 in the corresponding drive device 2 to rotate the corresponding angle according to the tilt angle. This causes the lifting plate 14 to raise and lower the steering wheel by the corresponding height, so that the base 1 is always in a horizontal state.

[0044] like Figure 4 As shown in Figure (c), when a conventional four-wheel steering chassis passes through an uphill or stepped section of road, there is a height difference between the front and rear wheels, which will also cause the base 1 to tilt. When the motion chassis of the present invention is climbing a slope or stairs, after the balance monitoring system detects that the base 1 is tilted, it can send a command to the lifting motor 10 in the corresponding drive device 2 to rotate the corresponding angle according to the tilt angle, so that the lifting plate 14 and the rotating wheel can be raised or lowered by the corresponding height, thereby keeping the base 1 in a horizontal state.

[0045] When a turn is required, the steering motor 5 rotates, driving the entire bracket 3 along with the lifting unit to turn. During the turn, the rotation of the lifting motor 10 does not affect the rotation of the lifting plate 14. The lifting unit and the steering unit enable the base 1 to achieve the lifting function synchronously during the turn.

[0046] In one embodiment, such as Figures 5-6As shown, the base 1 bottom end is provided with a cleaning device, the cleaning device includes: box 16, motor 17, disc 18, arc-shaped slider 19, support arm 20, inclined slide column 21 and hemispherical shell 22, the bottom end center of the base 1 is provided with the box 16, the box 16 is provided with the motor 17, the motor 17 is connected with the inner wall of the box 16, the output shaft of the motor 17 is coaxially connected with the disc 18, the disc 18 is provided with the arc-shaped slider 19, the arc-shaped slider 19 is connected with one end of the support arm 20, the other end of the support arm 20 is connected with the inclined slide column 21, the box 16 is provided with the hemispherical shell 22, the hemispherical shell 22 is uniformly and interval provided with four arc-shaped grooves 23, the arc-shaped slider 19 can be slidably connected with the arc-shaped groove 23, the hemispherical shell 22 is uniformly and interval provided with four arc-shaped sliding grooves 24, the four arc-shaped sliding grooves 24 are staggered with the four arc-shaped grooves 23, the inclined slide column 21 can slide in the arc-shaped sliding groove 24.

[0047] The hemispherical shell 22 is provided below the fixed block 25, the fixed block 25 is connected with the inner wall of the box 16, the vertical rotating shaft 26 penetrates through the fixed block 25 and is rotationally connected with the fixed block 25, the rotating shaft 26 is connected with the bottom end of the hemispherical shell 22, the lower end of the rotating shaft 26 extends to the top end of the liquid storage tank 27 below the box 16 and is connected therewith, the liquid storage tank 27 is provided with the drive pump 28, the output end of the drive pump 28 is communicated with one end of the liquid delivery pipe 29, the other end of the liquid delivery pipe 29 extends to the outside of the liquid storage tank 27 and is communicated with the nozzle 30. The liquid delivery pipe 29 is provided with an electromagnetic valve, the liquid storage tank 27 away from the nozzle 30 is communicated with one end of the liquid inlet pipe 31, the other end of the liquid inlet pipe 31 is threadedly connected with the lid 32. The liquid storage tank 27 stores cleaning liquid, the drive pump 28 can provide power to spray the cleaning liquid through the nozzle 30.

[0048] The working principle and beneficial technical effects of the above technical solution are as follows: the four corner drive devices of the base are in low-lying uneven road surface during use, dust is relatively large, and the drive devices are also eroded by sewage, which affects the service life of the drive devices. Start the motor 17 to drive the arc-shaped slider 19 and the inclined slide column 21 to rotate. When the arc-shaped slider 19 slides in the arc-shaped groove 23, the hemispherical shell 22 remains stationary and does not rotate. When the inclined slide column 21 slides in the arc-shaped sliding groove 24, it drives the hemispherical shell 22 to rotate by a certain angle. Through the alternate rotation of the arc-shaped slider 19 and the inclined slide column 21, the hemispherical shell 22 rotates by a certain angle, and then stops for a period of time, thereby intermittently spraying cleaning liquid on the four drive devices. When aiming at the drive device, it will stay for a period of time to ensure that the drive device can be cleaned thoroughly so that it can run on the road with pits and dust and also ensure cleanliness and improve service life.

[0049] In one embodiment, as Figures 7-10As shown, including laser ranging device, laser ranging device includes: power box 33, rectangular slide 34, drive motor 35, rotating plate 36, guide groove 37, moving block 38, slide column 39 and fixed rod 40, the bottom end of base 1 is provided with power box 33, power box 33 is provided with rectangular slide 34, the four corners of rectangular slide 34 are rounded, drive motor 35 is arranged at the center of rectangular slide 34, drive motor 35 is connected with the inner wall of power box 33, the output shaft of drive motor 35 is connected with one end of rotating plate 36 vertically, rotating plate 36 is provided with guide groove 37 extending along the length direction, moving block 38 is arranged in guide groove 37, moving block 38 can reciprocate in guide groove 37, slide column 39 is arranged on moving block 38, slide column 39 can slide in rectangular slide 34, power box 33 is provided with fixed rod 40, the two ends of fixed rod 40 are connected with the inner wall of power box 33, the bottom end of fixed rod 40 is provided with sliding groove 41, the lower side of fixed rod 40 is provided with sliding sleeve 42, the top end of sliding sleeve 42 is provided with sliding block 43, sliding block 43 can slide in sliding groove 41, slide rod 44 passes through sliding sleeve 42 and is connected with sliding sleeve 42 in sliding mode, slide rod 44 is perpendicular to fixed rod 40, one end of slide rod 44 is rotatably connected with the side of moving block 38 away from slide column 39, the other end of slide rod 44 is connected with first rectangular block 45.

[0050] The second rectangular block 46 is arranged above the first rectangular block 45, the connecting column 47 is arranged at the bottom end of the second rectangular block 46, one end of the connecting column 47 is connected with the second rectangular block 46, the other end of the connecting column 47 is rotatably connected with the ball 54, the connecting column 47 passes through the first rectangular block 45 and is connected with the first rectangular block 45 in sliding mode, the spring 48 is sleeved on the connecting column 47, one end of the spring 48 is connected with the first rectangular block 45, the other end of the spring 48 is connected with the second rectangular block 46, the linear slide 49 is arranged on the inner wall of the power box 33, the linear slide 49 is parallel to the fixed rod 40, the arc-shaped slides 50 are symmetrically arranged at the two ends of the linear slide 49, the thickness of the arc-shaped slides 50 gradually decreases from one end close to the linear slide 49 to the other end, the fixed rod 40 is located between the rectangular slide 34 and the linear slide 49, the ball 54 can roll on the linear slide 49 and the arc-shaped slides 50, the opening 51 is arranged on the side wall of the power box 33, one end of the connecting rod 52 is connected with the second rectangular block 46, the other end of the connecting rod 52 passes through the opening 51 and is connected with the laser distance sensor 53, the laser distance sensor 53 is connected with the control system.

[0051] The working principle and beneficial technical effects of the above technical scheme are as follows: the laser distance sensor 53 can detect the distance of the front obstacle, so that the control system can timely remind the personnel or control the automobile to slow down; when the position of the laser distance sensor 53 needs to be adjusted, the motor 35 is started to drive the rotating plate 36 to rotate, drive the moving block 38 to reciprocate in the guide groove 37, make the slide column 39 slide along the rectangular slide rail 34, and the moving block 38 also moves along the rectangular track; the moving block 38 drives the slide rod 44 to move, because the slide rod 44 is subjected to displacement restriction in the horizontal direction and the longitudinal direction, the first rectangular block 45 is driven to translate along the rectangular track, the first rectangular block 45 drives the connecting column 47 and the ball 54 to roll along the rectangular track; when the ball 54 rolls along the linear slide table 49 and the two arc-shaped slide tables 50, the ball 54 is first lifted, then kept, and then lowered, correspondingly, the laser distance sensor 53 is driven, the laser distance sensor 53 can move along the rectangular track and can be lifted in the height direction, so that the horizontal, longitudinal and height direction position adjustment is realized; when the moving block 38 moves to the leftmost end of the rectangular slide rail 34, the laser distance sensor 53 can be retracted into the power box 33, so as to protect the laser distance sensor 53 and prevent the laser distance sensor from being damaged on the muddy road.

[0052] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A motion chassis adapted to complex terrain, characterized in that, The utility model relates to a four-wheel driving device for a laser ranging device, which comprises a base (1) provided with four driving devices (2) capable of driving the rotation of the wheels; a power box (33) is arranged at the bottom end of the base (1), a rectangular slide rail (34) is arranged in the power box (33), the four corners of the rectangular slide rail (34) are rounded, a driving motor (35) is arranged at the center of the rectangular slide rail (34), the driving motor (35) is connected to the inner wall of the power box (33), the output shaft of the driving motor (35) is connected perpendicularly to one end of a rotating plate (36), a guide groove (37) extending along the length direction is arranged on the rotating plate (36), a moving block (38) is arranged in the guide groove (37), the moving block (38) can slide back and forth in the guide groove (37), a slide column (39) is arranged on the moving block (38), the slide column (39) can slide in the rectangular slide rail (34), a fixed rod (40) is arranged in the power box (33), the two ends of the fixed rod (40) are connected to the inner wall of the power box (33), a sliding groove (41) is arranged at the bottom end of the fixed rod (40), a sliding sleeve (42) is arranged below the fixed rod (40), a sliding block (43) is arranged at the top end of the sliding sleeve (42), the sliding block (43) can slide in the sliding groove (41), a slide rod (44) passes through the sliding sleeve (42) and is connected to the sliding sleeve (42) in a sliding manner, the slide rod (44) is perpendicular to the fixed rod (40), one end of the slide rod (44) is connected rotatably to the side of the moving block (38) away from the slide column (39), the other end of the slide rod (44) is connected to a first rectangular block (45); a second rectangular block (46) is arranged above the first rectangular block (45), a connecting column (47) is arranged at the bottom end of the second rectangular block (46), one end of the connecting column (47) is connected to the second rectangular block (46), the other end of the connecting column (47) is rotatably connected to a ball (54), the connecting column (47) passes through the first rectangular block (45) and is connected to the first rectangular block (45) in a sliding manner, a spring (48) is sleeved on the connecting column (47), one end of the spring (48) is connected to the first rectangular block (45), the other end of the spring (48) is connected to the second rectangular block (46), a linear slide (49) is arranged on the inner wall of the power box (33), the linear slide (49) is parallel to the fixed rod (40), arc slides (50) are symmetrically arranged at the two ends of the linear slide (49), the thickness of the arc slides (50) gradually decreases from one end close to the linear slide (49) to the other end, the fixed rod (40) is located between the rectangular slide rail (34) and the linear slide (49), the ball (54) can roll on the linear slide (49) and the arc slides (50), an opening (51) is arranged on the side wall of the power box (33), a connecting rod (52) is connected at one end to the second rectangular block (46), the other end of the connecting rod (52) passes through the opening (51) and is connected to a laser distance sensor (53). The driving device (2) is composed of a lifting unit and a steering unit. ​ ​ 2. The motion chassis of claim 1, wherein, ​ 3. The motion chassis of claim 2, wherein, The steering unit comprises a bracket (3), a steering motor base (4), a steering motor (5), a steering bearing (6), a steering output shaft (7), a steering rotating shaft (8) and a steering motor cover (9). The steering motor base (4) is fixed on the base (1), and a cavity is arranged in the steering motor base (4). The steering motor (5) and the steering bearing (6) are coaxially arranged in the cavity of the steering motor base (4). The steering rotating shaft (8) at the top of the bracket (3) passes through the steering bearing (6) in the longitudinal direction and is connected with the steering output shaft (7) of the steering motor (5). The steering motor cover (9) is arranged at the top end of the steering motor base (4) to protect the steering motor (5).

4. The motion chassis of claim 3, wherein, The lifting unit comprises a lifting motor (10), a lifting bearing (11), a lifting output shaft (12), a lifting rotating shaft (13), a lifting disc (14) and a wheel hub (15). A horizontal cavity is arranged at the bottom of the bracket (3). The lifting motor (10) and the lifting bearing (11) are fixed in the horizontal cavity of the bracket (3). The lifting disc (14) is fixed to the inner side of the wheel hub (15) in a coaxial manner. The inner side of the lifting disc (14) is provided with a horizontal lifting rotating shaft (13). The lifting rotating shaft (13) passes through the lifting bearing (11) and is connected with the lifting output shaft (12) of the lifting motor (10). The axis of the lifting rotating shaft (13) deviates from the wheel axis of the wheel hub (15).

5. A motion chassis adapted to complex terrain according to claim 4, characterized in that, The four steering motors (5) and the four lifting motors (10) are connected with the control system respectively.

6. The motion chassis of claim 3, wherein, A wheel hub motor is arranged in the wheel hub (15) to drive the wheel. The wheel hub motor is connected with the control system.

7. The motion chassis of claim 3, wherein, A cleaning device is arranged at the bottom end of the base (1). The cleaning device comprises a box body (16), a motor (17), a disc (18), an arc-shaped sliding block (19), a support arm (20), an inclined sliding column (21) and a hemispherical shell (22). The box body (16) is arranged at the center of the bottom end of the base (1). The motor (17) is arranged in the box body (16) and connected with the inner wall of the box body (16). The output shaft of the motor (17) is coaxially connected with the disc (18). The arc-shaped sliding block (19) is arranged on the disc (18) and connected with one end of the support arm (20). The other end of the support arm (20) is connected with the inclined sliding column (21). The hemispherical shell (22) is arranged in the box body (16). Four arc-shaped grooves (23) are uniformly and interval arranged on the hemispherical shell (22). The arc-shaped sliding block (19) is slidably connected with the arc-shaped grooves (23). Four arc-shaped sliding grooves (24) are uniformly and interval arranged on the hemispherical shell (22). The four arc-shaped sliding grooves (24) are staggered with the four arc-shaped grooves (23). The inclined sliding column (21) can slide in the arc-shaped sliding grooves (24).

8. The motion chassis of claim 7, wherein, The hemispherical shell (22) is provided below with a fixed block (25), the fixed block (25) is connected with the inner wall of the box (16), the vertical rotating shaft (26) passes through the fixed block (25) and is rotatably connected with the fixed block (25), the rotating shaft (26) is connected with the bottom end of the hemispherical shell (22), the lower end of the rotating shaft (26) extends to the bottom of the box (16) and is connected with the top end of the liquid storage tank (27), the liquid storage tank (27) is provided with a drive pump (28) inside, the output end of the drive pump (28) is communicated with one end of the infusion tube (29), the other end of the infusion tube (29) extends to the outside of the liquid storage tank (27) and is communicated with the nozzle (30), the infusion tube (29) is provided with an electromagnetic valve, one end of the liquid inlet pipe (31) is communicated with the end of the liquid storage tank (27) away from the nozzle (30), and the other end of the liquid inlet pipe (31) is screwedly connected with the cover (32).

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