A dual-row, same-drive, independently height-controlled adaptive wheeled chassis and its application

Abstract

The present invention relates to a double-row same-drive independent height-controlled adaptive wheeled chassis and its application, belonging to the technical field of mobile chassis. The chassis includes a frame, an engine, a double-axle reducer, a power transmission device, a same-speed wheel train device, a hydraulic support device, a steering device and wheels. The engine is connected to the double-axle reducer, and the two sides of the double-axle reducer are respectively connected to the power transmission device. The power transmission device, the engine and the double-axle reducer are all fixed to the bottom side of the frame. The two ends of the power transmission device are respectively provided with the same-speed wheel train device, and the same-speed wheel train device is connected to the wheel through the steering device. The steering device is provided with a steering adjustment device, and the steering adjustment device is connected to the frame through the hydraulic support device. Each wheel of the present invention uses an independent steering device and a steering adjustment device, which can not only ensure the normal steering function after the height is adjusted, but also realize four-wheel steering on complex roads, making up for the steering disadvantage of the wheeled chassis in narrow terrain.

Description

Technical Field

[0001] The invention relates to a double-row, same-drive, independently height-controlled adaptive wheeled chassis and application thereof, belonging to the technical field of mobile chassis. Background Art

[0002] Currently, there are mainly two types of mobile chassis: wheeled and tracked. The advantage of wheeled chassis is the convenience of walking, but this advantage is also its own disadvantage. Although wheeled walking enables it to have high-speed and flexible transfer capabilities, when facing some harsh road conditions, the passability and stability of the wheeled chassis will be relatively low. Although the tracked chassis can achieve stable movement under complex working conditions, it sacrifices the convenience of driving.

[0003] Chinese patent document CN118722835A discloses a steering chassis of a wheeled mobile robot and a control method thereof, comprising a mobile frame, a steering mechanism, a suspension mechanism, a driving mechanism and a control system, wherein a steering motor frame is correspondingly arranged at the front and rear ends of the bottom of the mobile frame along the central axis, the steering mechanism comprises two groups correspondingly mounted on the steering motor frame, the suspension mechanism comprises four groups respectively arranged at the front and rear ends of both sides of the mobile frame, each steering mechanism is respectively connected to the corresponding suspension mechanism at both ends, and the driving mechanism comprises four groups correspondingly connected to the suspension mechanism; the control system comprises a vehicle controller and a speed sensor and a visual sensor connected to the vehicle controller in communication, the vehicle controller receives the monitoring signal transmitted by the speed sensor and the visual sensor and controls the steering mechanism and the driving mechanism to coordinate the steering action. The chassis utilizes four-wheel steering and slip steering to improve the multi-terrain adaptability of the wheeled mobile robot, but this design has limited improvement on the adaptability of the chassis and is difficult to adapt to rugged roads. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a double-row, same-drive, independently controlled height adaptive wheeled chassis, which uses a wheel train structure to achieve independent height control of each wheel, so that the chassis can travel quickly on normal roads. In operations on complex terrains, the road conditions ahead are identified and, for different terrains, single-side wheel height adjustment, full chassis height adjustment, or independent height adjustment of each wheel are used to adapt to various terrains. The height of each wheel is independently adjusted through a hydraulic system to achieve vehicle body balance, and the speed and driving consistency of each wheel are ensured when traveling on complex terrains. Each wheel uses an independent steering device and steering adjustment device, which can not only ensure the normal steering function after the height is adjusted, but also achieve four-wheel steering on complex roads, thereby making up for the steering disadvantage of the wheeled chassis in narrow terrains.

[0005] The technical solution of the present invention is as follows:

[0006] A double-row, same-drive, independently controlled, adaptive wheeled chassis, comprising a frame, an engine, a double-axle reducer, a power transmission device, a same-speed gear train device, a hydraulic support device, a steering device, a steering adjustment device, and wheels, wherein:

[0007] The engine is connected to a double-axle reducer, and power transmission devices are respectively connected to both sides of the double-axle reducer. The power transmission device, the engine and the double-axle reducer are all fixed to the bottom side of the frame. The same-speed gear train devices are respectively provided at both ends of the power transmission device. The same-speed gear train devices are connected to wheels through a steering device. A steering adjustment device is provided on the steering device, and the steering adjustment device is connected to the frame through a hydraulic support device.

[0008] Preferably, according to the present invention, the power transmission device includes a bevel gear, a connecting shaft and a clutch, one end of the connecting shaft is connected to a double-output shaft reducer, and the other end is meshingly connected to a bevel gear, and the bevel gear is connected to a gear train device with the same speed through a clutch.

[0009] Preferably according to the present invention, the same speed gear train device includes an input shaft, a gear connecting plate A, a gear connecting plate B and an output shaft, one end of the input shaft is connected with a clutch, the other end is provided with a gear A after passing through the gear connecting plate A, the input shaft is fixed to the gear connecting plate A through a bearing, the middle part of the gear connecting plate A is provided with a gear B through a bearing, the other end of the gear connecting plate A is provided with an intermediate shaft through a bearing, the intermediate shaft is provided with a gear C, the gear A, gear B and gear C are meshingly connected, the middle part of the intermediate shaft is provided with a gear connecting plate B through a bearing, the other end of the gear connecting plate B is provided with an output shaft through a bearing, the output shaft is provided with a gear D, the middle part of the gear connecting plate B is provided with a gear E through a bearing, the end of the intermediate shaft is provided with a gear F, the gear D, gear E and gear F are meshingly connected, and the output shaft is connected with a steering device.

[0010] According to a further preferred embodiment of the present invention, gear A, gear C, gear D and gear F have the same parameters, the diameters of gear B and gear E are both larger than the diameter of gear A, and the diameter of gear E is larger than that of gear B.

[0011] Preferably according to the present invention, the steering device includes a universal joint and a transmission shaft, the transmission shaft is connected to the output shaft through the universal joint, the transmission shaft is connected to the brake disc, the brake disc is connected to the wheel hub, and the output shaft and the transmission shaft are provided with a steering adjustment device.

[0012] According to the preferred embodiment of the present invention, the steering adjustment device comprises a steering protection shell, a steering protection block, a steering connecting rod, a steering shaft, a steering rack, a steering gear and a stepper motor, the output shaft is sleeved with a steering protection shell through a bearing A, the transmission shaft is sleeved with a steering protection block through a bearing B, the steering protection block is connected to a brake disc through a bearing C, and the steering protection shell is hinged to the upper and lower sides of the steering protection block through a steering connector;

[0013] A stepper motor is arranged outside the steering protection shell through a motor fixing frame, a steering gear is arranged on an output rod of the stepper motor, the steering gear is meshingly connected with a steering rack, a slide rail is arranged at the bottom of the steering rack, the slide rail is fixed to the steering protection shell, a steering connecting rod is arranged at one end of the steering rack through a steering shaft hinged, the steering connecting rod is fixed to the steering protection block, and a hydraulic support device is arranged on the upper side of the steering protection shell.

[0014] Preferably according to the present invention, the hydraulic support device comprises a hydraulic cylinder, the top of the hydraulic cylinder is fixed to the vehicle frame via a hydraulic fixing frame, and the hydraulic rod on the hydraulic cylinder is connected to a steering protection shell.

[0015] Preferably, according to the present invention, a laser radar is arranged on the vehicle frame, and a tilt sensor is arranged on the steering protection block, and the road condition is identified by the laser radar, and the tilt angle of each wheel is identified by the tilt sensor.

[0016] The application of the above-mentioned dual-row, same-drive, independently height-controlled adaptive wheeled chassis comprises the following steps:

[0017] (1) Determine the road conditions ahead by using laser radar to identify the road ahead;

[0018] (2) When operating on flat terrain, the vehicle is driven normally: the engine provides power to the connecting shaft through the double-output shaft reducer, which is then transmitted to the same-speed gear train through the bevel gears and the clutches on both sides. The power is then transmitted from the input shaft to the output shaft through the gear transmission, driving the wheels on both sides to rotate at the same speed. The direction of the wheels is controlled by the steering device and the steering adjustment device. The hydraulic support device is in a fixed state during normal driving. At the same time, the steering protection shell in the steering adjustment device is fixed by the hydraulic rod, thereby fixing other components. The steering device can be turned at any time according to the control.

[0019] (3) When steering is required, it is driven by a stepper motor, which drives the steering rack and steering linkage to move through the steering gear. The steering protection shell remains fixed, and the steering linkage drives the steering protection block to move, thereby driving the wheel to rotate around the steering connector, together forming a steering structure with a degree of freedom of 1;

[0020] (4) When driving on an inclined surface, it is necessary to raise one side of the wheel. First, the clutches on both sides are disconnected, and the hydraulic support device controls the wheel. According to the recognition of the road ahead, the height that needs to be changed is determined. The hydraulic rod moves, driving the steering protection shell and the output shaft to move in the vertical direction. In the same speed gear train device, the height of the input shaft remains unchanged, and the position of the intermediate shaft is not fixed. It can change with the height change of the output shaft. The wheel on one side is raised to the specified height to match the inclined road conditions, and then the clutch is connected, and the height adjustment is completed;

[0021] (5) When driving on low-lying or raised terrain, the chassis height needs to be raised. The height difference between the low-lying and raised areas ahead is measured by laser radar to determine the height to which the chassis needs to be raised. When changing the height, the clutches on both sides are disconnected at the same time, and the hydraulic rods on both sides are extended. When reaching the set position, the clutches on both sides are closed and the chassis is raised.

[0022] Preferably, according to the present invention, in step (3), if a narrow road section is encountered, the rear wheel steering device and the front wheel steering device are made to hold an opposite angle, and the front and rear wheels of the chassis are both used as steering wheels. When the front wheels turn to the right, the rear wheels of the vehicle turn to the left. When turning, the front and rear parts of the chassis rotate simultaneously, which reduces the turning radius and the turning time, making it easier for the vehicle to travel and operate on narrow roads.

[0023] Preferably, in step (4), when driving on an inclined road, the road condition may change gradually or temporarily at any time. If frequent adjustments are made only based on the road condition of the front part or the temporary change in road condition, the normal driving efficiency of the vehicle will be affected. Therefore, in subsequent adjustments, the inclination angle of each wheel is measured in real time using an inclination sensor to determine the real-time inclination of the chassis. If the inclination exceeds five degrees and lasts for more than three seconds, it is determined that the road condition has changed for a long time and the wheel height is adjusted again.

[0024] The beneficial effects of the present invention are:

[0025] 1. The present invention utilizes gears and connecting rods to design a transmission device that can achieve the same speed but different heights on both sides of the wheels, thereby realizing independent height control of the four wheels of the vehicle. The independent height control enables the vehicle to perform unilateral height adjustment when driving on an inclined surface, controls the vehicle body to maintain continuous balanced driving, and can increase the chassis height when driving on low-lying or raised roads to protect the chassis.

[0026] 2. While the wheel height is independently controlled in the present invention, each wheel adopts an independent and integrated steering device and steering adjustment device, which can move with the change of wheel height and protect the moving output shaft to prevent the output shaft from being damaged by radial load, thereby realizing the steering function of the wheel at any height. Through the independent steering function on the four wheels, the vehicle has a smaller turning radius on narrow roads, reducing the turning time and turning difficulty, which is more conducive to the operation of the vehicle on narrow roads.

[0027] 3. The present invention identifies the road conditions through laser radar, identifies the inclination angle of each wheel through the inclination sensor, determines the height that each wheel needs to be adjusted, and facilitates the height adjustment of the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the top view of the structure of the present invention;

[0029] Figure 2 It is a bottom view structural schematic diagram of the present invention;

[0030] Figure 3 It is a schematic diagram of the structure of the driving device of the present invention;

[0031] Figure 4 It is a schematic diagram of the structure of the same speed gear train device of the present invention;

[0032] Figure 5 It is a schematic structural diagram of a steering device and a steering adjustment device of the present invention;

[0033] Figure 6 It is a schematic cross-sectional structure diagram of a steering device and a steering adjustment device of the present invention;

[0034] Figure 7 It is a structural schematic diagram of the hydraulic support device of the present invention;

[0035] Figure 8 A schematic diagram of the steering device of the present invention;

[0036] Fig. 9 It is a schematic diagram of the front wheel steering of the present invention;

[0037] Fig.10 A schematic diagram of the four-wheel steering of the present invention;

[0038] Fig.11 This is a schematic diagram of a normal driving state of the present invention;

[0039] Fig.12 It is a schematic diagram of a single-side height adjustment state of the present invention;

[0040] Fig.13 It is a schematic diagram of the chassis of the present invention in a raised state;

[0041] Among them: 1. Laser radar; 2. Double-output shaft reducer; 3. Engine; 4. Power transmission device; 5. Same speed gear train device; 6. Steering device; 7. Hydraulic support device; 8. Steering adjustment device; 9. Connecting shaft; 10. Bevel gear; 11. Clutch; 12. Input shaft; 13. Gear connecting plate A; 14. Gear connecting plate B; 15. Intermediate shaft; 16. Output shaft; 17. Bearing A; 18. Steering protection shell; 19. Universal joint; 20. Steering connecting piece; 21. Bearing B; 22. Steering protection block; 23. Drive shaft; 24. Inclination sensor; 25. Bearing C; 26. Brake disc; 27. Steering connecting rod; 28. Steering shaft; 29. ​​Steering rack; 30. Stepping motor; 31. Steering gear; 32. Slide rail; 33. Motor fixing bracket; 34. Hydraulic rod; 35. Hydraulic cylinder; 36. Hydraulic fixing bracket. DETAILED DESCRIPTION

[0042] The present invention will be further described below by way of embodiments in conjunction with the accompanying drawings, but is not limited thereto.

[0043] Embodiment 1:

[0044] like Figure 1-Figure 8 As shown, this embodiment provides a double-row same-drive independent height-controlled adaptive wheeled chassis, including a frame, an engine 3, a double-axle reducer 2, a power transmission device 4, a same-speed gear train device 5, a hydraulic support device 7, a steering device 6, a steering adjustment device 8 and wheels, wherein:

[0045] The engine 3 is connected to a double-axle reducer 2, and power transmission devices 4 are respectively connected to both sides of the double-axle reducer 2. The power transmission device 4, the engine 3 and the double-axle reducer 2 are all fixed to the bottom side of the frame. The two ends of the power transmission device 4 are respectively provided with same-speed gear train devices 5, and the same-speed gear train device 5 is connected to the wheels through a steering device 6. A steering adjustment device 8 is provided on the steering device 6, and the steering adjustment device 8 is connected to the frame through a hydraulic support device 7.

[0046] The power transmission device 4 includes a bevel gear 10 , a connecting shaft 9 and a clutch 11 . One end of the connecting shaft 9 is connected to the double-output shaft reducer 2 , and the other end is meshedly connected to the bevel gear 10 . The bevel gear 10 is connected to the same speed gear train device 5 through the clutch 11 .

[0047] The same speed gear train device 5 includes an input shaft 12, a gear connecting plate A13, a gear connecting plate B14 and an output shaft 16. One end of the input shaft 12 is connected to the clutch 11, and the other end is provided with a gear A after passing through the gear connecting plate A13. The input shaft 12 is fixed to the gear connecting plate A13 through a bearing. The middle of the gear connecting plate A13 is provided with a gear B through a bearing. The other end of the gear connecting plate A13 is provided with an intermediate shaft 15 through a bearing. The intermediate shaft 15 is provided with a gear C. The gear A, gear B and gear C are meshingly connected. The middle of the intermediate shaft 15 is provided with a gear connecting plate B14 through a bearing. The other end of the gear connecting plate B14 is provided with an output shaft 16 through a bearing. The output shaft 16 is provided with a gear D. The middle of the gear connecting plate B14 is provided with a gear E through a bearing. The end of the intermediate shaft 15 is provided with a gear F. The gear D, gear E and gear F are meshingly connected. The output shaft 16 is connected to the steering device 6.

[0048] Gear A, gear C, gear D and gear F have the same parameters. The diameters of gear B and gear E are both larger than the diameter of gear A, and the diameter of gear E is larger than that of gear B.

[0049] The steering device 6 includes a universal joint 19 and a transmission shaft 23. The transmission shaft 23 is connected to the output shaft 16 via the universal joint 19. The transmission shaft 23 is connected to a brake disc 26. The brake disc 26 is connected to a wheel hub. A steering adjustment device 8 is provided on the output shaft and the transmission shaft.

[0050] The steering adjustment device 8 includes a steering protection shell 18, a steering protection block 22, a steering link 27, a steering shaft 28, a steering rack 29, a steering gear 31 and a stepper motor 30. The output shaft 16 is provided with a steering protection shell 18 through a bearing A17, the transmission shaft 23 is provided with a steering protection block 22 through a bearing B21, the steering protection block 22 is connected to a brake disc 26 through a bearing C25, the steering protection shell 18 is hinged to the upper and lower sides of the steering protection block 22 through a steering connector 20, and the steering connector 20 is a conventional hinged component;

[0051] A stepper motor 30 is arranged outside the steering protection shell 18 through a motor fixing frame 33, a steering gear 31 is arranged on the output rod of the stepper motor 30, the steering gear 31 is meshedly connected with a steering rack 29, a slide rail 32 is arranged at the bottom of the steering rack 29, the slide rail 32 is fixed to the steering protection shell 18, one end of the steering rack 29 is provided with a steering link 27 hinged through a steering shaft 28, the steering link 27 is fixed to the steering protection block 22, and a hydraulic support device 7 is arranged on the upper side of the steering protection shell 18.

[0052] The hydraulic support device 7 includes a hydraulic cylinder 35 , the top of which is fixed to the vehicle frame via a hydraulic fixing frame 36 , and a hydraulic rod 34 on the hydraulic cylinder 35 is connected to the steering protection shell 18 .

[0053] A laser radar 1 is arranged on the vehicle frame, and a tilt sensor 24 is arranged on the steering protection block 22. The laser radar 1 is used to identify the road condition, and the tilt angle of each wheel is identified by the tilt sensor 24.

[0054] The application of the above-mentioned dual-row, same-drive, independently height-controlled adaptive wheeled chassis comprises the following steps:

[0055] (1) Determine the road conditions ahead by using laser radar to identify the road ahead;

[0056] (2) When operating on flat terrain, drive normally. Fig.11 As shown: the engine provides power to the connecting shaft 9 through the double-output shaft reducer, and transmits it to the same-speed gear train device 5 through the bevel gear 10 and the clutches 11 on both sides. The power is transmitted from the input shaft 12 to the output shaft 16 through gear transmission, driving the wheels on both sides to rotate at the same speed. The direction of the wheels is controlled by the steering device 6 and the steering adjustment device 8. The hydraulic support device 7 is in a fixed state during normal driving. At the same time, the steering protection shell 18 in the steering adjustment device 8 is fixed by the hydraulic rod 34, thereby fixing other components. The steering device 6 can be turned at any time according to the control;

[0057] (3) When steering is required, the stepper motor 30 is used to drive the steering rack 29 and the steering link 27 through the steering gear 31. The steering protection shell 18 remains fixed, and the steering link 27 drives the steering protection block 22 to move, thereby driving the wheel to rotate around the steering connector 20, together forming a steering structure with a degree of freedom of 1. During the steering process, the universal joint 19 and the output shafts on both sides are not subjected to radial loads, such as Fig. 9 As shown, the overall transmission mechanism is not affected;

[0058] (4) When driving on an inclined surface, it is necessary to raise one side of the wheel. First, the clutches 11 on both sides are disconnected. Otherwise, when the height is changed, the gears in the same speed gear train device 5 will continue to rotate, causing damage to the shaft and gears. Because the height of one side of the wheel is changed independently during the movement, it is necessary to disconnect the clutches 11 on both sides. If only the clutch 11 on the changing side is disconnected, the changing side will lose power, while the other side will maintain power input, resulting in uneven power on both sides, causing the vehicle's driving direction to deviate and unstable control. After the clutch 11 is disconnected, the hydraulic support device 7 controls the wheel according to the recognition of the road ahead. The height that needs to be changed is determined, and the hydraulic rod 34 moves, driving the steering protection shell 18 and the output shaft 16 to move in the vertical direction. In the same speed gear train device 5, the height of the input shaft 12 remains unchanged, and the position of the intermediate shaft 15 is not fixed, and can change with the height change of the output shaft 16. The height change range of the output shaft 16 is that the highest point is the same height as the input shaft 12, and the lowest point is the position where the input shaft 12, the intermediate shaft 15, and the output shaft 16 are in line. The wheel on one side is raised to the specified height to match the inclined road condition, and then the clutch 11 is connected, and the height adjustment is completed. The height change of the wheel on one side is as follows: Fig.12 As shown;

[0059] (5) When driving on low-lying or raised terrain, the chassis height needs to be raised. The height difference between the low-lying and raised areas ahead is measured by laser radar to determine the height to which the chassis needs to be raised. When changing the height, the clutches 11 on both sides are disconnected at the same time, and the hydraulic rods 34 on both sides are extended. When reaching the set position, the clutches 11 on both sides are closed and the chassis is raised. Fig.13 shown.

[0060] In step (3), if a narrow road is encountered, the rear wheel steering device is set at an opposite angle to the front wheel steering device, such as Fig.10 As shown, the front and rear wheels of the chassis are used as steering wheels. When the front wheels turn right, the rear wheels of the vehicle turn left. When turning, the front and rear parts of the chassis rotate at the same time, which reduces the turning radius and the turning time, making it easier for the vehicle to drive and operate on narrow roads.

[0061] In step (4), when driving on an inclined road, the road condition may change gradually or temporarily at any time. If frequent adjustments are made based only on the road condition ahead or temporary changes in the road condition, the normal driving efficiency of the vehicle will be affected. Therefore, in subsequent adjustments, the inclination angle of each wheel is measured in real time using an inclination sensor to determine the real-time inclination of the chassis. If the inclination exceeds five degrees and lasts for more than three seconds, it is determined that the road condition has changed for a long time and the wheel height is adjusted again.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dual-row, same-drive, independently height-controlled adaptive wheeled chassis, characterized in that: It includes a frame, an engine, a double-axle reducer, a power transmission device, a same-speed gear train device, a hydraulic support device, a steering device, a steering adjustment device and wheels, wherein: The engine is connected to a double-axle reducer, and power transmission devices are connected to both sides of the double-axle reducer. The power transmission device, the engine and the double-axle reducer are all fixed to the bottom side of the frame. The same-speed gear train devices are respectively provided at both ends of the power transmission device. The same-speed gear train devices are connected to wheels through a steering device. A steering adjustment device is provided on the steering device, and the steering adjustment device is connected to the frame through a hydraulic support device. The power transmission device includes a helical gear, a connecting shaft and a clutch. One end of the connecting shaft is connected to a double-output shaft reducer, and the other end is meshedly connected to a helical gear. The helical gear is connected to a gear train device with the same speed through a clutch. The same speed gear train device comprises an input shaft, a gear connecting plate A, a gear connecting plate B and an output shaft, one end of the input shaft is connected with a clutch, the other end is provided with a gear A after passing through the gear connecting plate A, the input shaft is fixed to the gear connecting plate A through a bearing, the middle of the gear connecting plate A is provided with a gear B through a bearing, the other end of the gear connecting plate A is provided with an intermediate shaft through a bearing, the intermediate shaft is provided with a gear C, the gear A, the gear B and the gear C are meshingly connected, the middle of the intermediate shaft is provided with a gear connecting plate B through a bearing, the other end of the gear connecting plate B is provided with an output shaft through a bearing, the output shaft is provided with a gear D, the middle of the gear connecting plate B is provided with a gear E through a bearing, the end of the intermediate shaft is provided with a gear F, the gear D, the gear E and the gear F are meshingly connected, and the output shaft is connected with a steering device; Gear A, gear C, gear D and gear F have the same parameters, the diameters of gear B and gear E are larger than the diameter of gear A, and the diameter of gear E is larger than that of gear B; The steering device includes a universal joint and a transmission shaft, the transmission shaft is connected to an output shaft through a universal joint, the transmission shaft is connected to a brake disc, the brake disc is connected to a wheel hub, and a steering adjustment device is provided on the output shaft and the transmission shaft; The steering adjustment device includes a steering protection shell, a steering protection block, a steering connecting rod, a steering shaft, a steering rack, a steering gear and a stepper motor. The output shaft is sleeved with a steering protection shell through a bearing A, the transmission shaft is sleeved with a steering protection block through a bearing B, the steering protection block is connected to a brake disc through a bearing C, and the steering protection shell is hinged to the upper and lower sides of the steering protection block through a steering connector. A stepper motor is arranged on the outside of the steering protection shell, a steering gear is arranged on the output rod of the stepper motor, the steering gear is meshed and connected with a steering rack, a slide rail is arranged at the bottom of the steering rack, the slide rail is fixed to the steering protection shell, a steering connecting rod is arranged at one end of the steering rack through a steering shaft hinged, the steering connecting rod is fixed to the steering protection block, and a hydraulic support device is arranged on the upper side of the steering protection shell.

2. The double-row, same-drive, independently height-controlled adaptive wheeled chassis according to claim 1, characterized in that: The hydraulic support device comprises a hydraulic cylinder, the top of which is fixed to the vehicle frame through a hydraulic fixing frame, and a hydraulic rod on the hydraulic cylinder is connected to a steering protection shell.

3. The double-row, same-drive, independently height-controlled adaptive wheeled chassis according to claim 2, characterized in that: A laser radar is arranged on the vehicle frame, and a tilt sensor is arranged on the steering protection block.

4. The application of the double-row, same-drive, independently height-controlled adaptive wheeled chassis as claimed in claim 3, characterized in that: Here are the steps: (1) Determine the road conditions ahead by using laser radar to identify the road ahead; (2) When operating on flat terrain, the vehicle is driven normally: the engine provides power to the connecting shaft through the double-output shaft reducer, which is then transmitted to the same speed gear train through the bevel gears and the clutches on both sides. The power is then transmitted from the input shaft to the output shaft through the gear transmission, driving the wheels on both sides to rotate at the same speed. The direction of the wheels is controlled by the steering device and the steering adjustment device. The hydraulic support device is in a fixed state during normal driving. At the same time, the steering protection shell in the steering adjustment device is fixed by the hydraulic rod. The steering device can be turned at any time according to the control. (3) When steering is required, the stepper motor drives the steering rack and steering linkage through the steering gear. The steering protection shell remains fixed, and the steering linkage drives the steering protection block to move, thereby driving the wheel to rotate around the steering connection. (4) When driving on an inclined surface, it is necessary to raise one side of the wheel. First, the clutches on both sides are disconnected, and the hydraulic support device controls the wheel. According to the recognition of the road ahead, the height that needs to be changed is determined. The hydraulic rod moves, driving the steering protection shell and the output shaft to move in the vertical direction. In the same speed gear train device, the height of the input shaft remains unchanged, and the intermediate shaft changes with the height change of the output shaft. The wheel on one side is raised to the specified height to match the inclined road conditions, and then the clutch is connected, and the height adjustment is completed; (5) When driving on low-lying or raised terrain, the chassis height needs to be raised. The height difference between the low-lying and raised areas ahead is measured by laser radar to determine the height to which the chassis needs to be raised. When changing the height, the clutches on both sides are disconnected at the same time, and the hydraulic rods on both sides are extended. When reaching the set position, the clutches on both sides are closed and the chassis is raised.

5. The application of the double-row, same-drive, independently height-controlled adaptive wheeled chassis as claimed in claim 4, characterized in that: In step (3), if a narrow road is encountered, the rear wheel steering device is set at an opposite angle to the front wheel steering device, and the front and rear wheels of the chassis are used as steering wheels. When the front wheels turn to the right, the rear wheels of the vehicle turn to the left. When turning, the front and rear parts of the chassis rotate simultaneously to reduce the turning radius.

6. The application of the double-row, same-drive, independently height-controlled adaptive wheeled chassis as claimed in claim 4, characterized in that: In step (4), when driving on an inclined road, the inclination angle of each wheel is measured in real time using an inclination sensor to determine the real-time inclination of the chassis. If the inclination exceeds five degrees and lasts for more than three seconds, it is determined that the road condition has undergone a long-term change and the wheel height is adjusted again.

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