Omnibearing mobile chassis with continuously adjustable turning radius based on zither-shaped connecting rods

Abstract

The invention relates to a kite-shaped connecting rod-based omni-directional mobile chassis with a continuously adjustable turning radius, which comprises chassis driving parts arranged at four corners of the bottom of a vehicle body bottom plate, and driving wheels of the chassis driving parts are offset relative to the connecting ends of the chassis driving parts and the vehicle body bottom plate; the middle gear shifting mechanism is arranged on the vehicle body bottom plate, is located in the middle of a pair of two opposite side edges of the vehicle body bottom plate, and is used for switching between a radius-variable rotating state and an omnidirectional translation state of the whole device; the left end and the right end of the middle gear shifting mechanism are the same in structure and are connected with the chassis driving part through left and right connecting rods, zither-shaped structure connecting rods and zither-shaped connecting pieces. The front and rear connecting rods are connected with the chassis driving parts on the other pair of opposite side edges on the vehicle body bottom plate; and the end parts of the front and rear connecting rods move along a groove in a grooved fixing piece in the middle of the underbody. The under-actuated technology is adopted, the two movement modes of omnidirectional movement and variable radius rotation of the chassis are achieved, and the movement flexibility of the chassis is improved on the premise that the cost of a chassis motor is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of mobile equipment, and in particular relates to an omnidirectional mobile chassis with a continuously adjustable turning radius based on a kite-shaped connecting rod. Background Art

[0002] With the development of intelligent and automated technologies, mobile robots and autonomous vehicles have been widely used in logistics, agriculture, entertainment and other fields. The omnidirectional mobile chassis has two modes of motion: omnidirectional movement and rotation in situ. In the omnidirectional movement mode, the four wheels are always in a parallel state, and can achieve translation in any direction within the plane while keeping the robot's posture unchanged; in the rotation in situ mode, it can achieve zero-weight rotation around the robot's geometric center. It has high flexibility in movement, so it has always attracted the attention of many researchers at home and abroad.

[0003] At present, there are two main solutions for achieving omnidirectional movement of robots at home and abroad: one is to rely on drive wheels with special structures, such as Mecanum wheels, omnidirectional wheels, ball wheels, etc. These drive wheels mainly achieve omnidirectional movement by changing the structure of the drive wheels themselves. However, compared with traditional drive wheels, this special drive wheel has higher requirements for environmental conditions due to its special structure. The other is to use a steering servo, that is, one drive wheel is controlled by two motors, one motor is responsible for controlling walking, and the other motor is responsible for steering. This design increases the number of motors used, making the robot cost higher and the structure more complicated.

[0004] There is an under-driven coupled omnidirectional four-wheel mobile platform with continuously adjustable rotation radius. The platform uses only four driving wheels, and the two sets of driving wheels are coupled to each other, which can realize both omnidirectional movement of the vehicle body and continuous adjustable rotation radius movement from infinity to the center of the vehicle body. However, in the actual steering process, the gear rack and the cam with a special track are coupled to each other, and the steering resistance generated is too large; in addition, since the front and rear pairs of driving wheels are independently driven, it is more difficult to control its omnidirectional movement. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides an omnidirectional mobile chassis with continuously adjustable turning radius based on a kite-type connecting rod, which adopts an under-actuated solution, that is, a motor is used to control the driving and steering degrees of freedom of the driving wheels, thereby achieving omnidirectional movement.

[0006] An omnidirectional mobile chassis with a continuously adjustable turning radius based on a kite-shaped connecting rod comprises a chassis driving part arranged at the four corners of the bottom of a vehicle body bottom plate (27), wherein a driving wheel (1) of the chassis driving part is offset relative to a connection end between the chassis driving part and the vehicle body bottom plate (27);

[0007] The intermediate shift mechanism is arranged on the vehicle body bottom plate (27) and is located in the middle of a pair of opposite sides of the vehicle body bottom plate (27), and is used for switching the entire device between a variable radius rotation state and an omnidirectional translation state; the left and right ends of the intermediate shift mechanism have the same structure and are both connected to the chassis driving part through left and right connecting rods, a kite-shaped structural connecting rod and a kite-shaped connecting member;

[0008] The front and rear connecting rods connect the chassis driving parts of another pair of opposite sides on the vehicle body bottom plate (27); the ends of the front and rear connecting rods move along the groove in the grooved fixing piece in the middle of the vehicle body bottom plate (27).

[0009] The chassis driving part comprises four driving wheels (1) arranged at four corners of a vehicle body bottom plate (27) and assembled in the same manner, and driven by a motor (2); the motor (2) is fixed on a motor connecting plate (3), and both sides of the motor connecting plate (3) are rotatably connected to one end of two suspension connecting rods (5), and the other end of the suspension connecting rod (5) is rotatably connected to an L-shaped suspension supporting member (6) through a pin shaft (4); and the suspension supporting member (6) is rotatably connected to the vehicle body bottom plate (27).

[0010] The suspension support member (6) is connected to the connecting ends of the suspension link (5) and the motor connecting plate (3) via a tension spring (7); the connection point between the suspension link (5) and the suspension support member (6) is located inside the suspension support member (6); and the connection point between the tension spring (7) and the suspension support member (6) is located on the two external side surfaces of the suspension support member (6).

[0011] A bearing lower seat (8) is fixedly mounted on the vehicle body bottom plate (27), and the bearing lower seat (8) is L-shaped; the outer ring of the deep groove ball bearing (9) is fixed to the vehicle body bottom plate (27) by the bearing lower seat (8); the suspension support member (6) passes through the inner ring of the deep groove ball bearing (9), thereby realizing relative rotation between the suspension support member (6) and the vehicle body bottom plate (27).

[0012] The end shaft of the suspension support member (6) is interference-fitted with the waist-shaped hole at one end of the kite-shaped connector (10) in the form of a waist-shaped shaft, and the torque is transmitted through the two cross sections of the waist-shaped shaft.

[0013] The kite-shaped structural connecting rod comprises a kite-shaped connecting rod a (11), the other end of the kite-shaped connecting member (10) and one end of the kite-shaped connecting rod a (11) are rotatably connected to a two-layer connecting shaft (21), the other end of the kite-shaped connecting rod a (11) is rotatably connected to the lower end of the three-layer connecting shaft (12), the middle part of the three-layer connecting shaft (12) is rotatably connected to the vertical end of the bearing lower seat (8) through a kite-shaped connecting rod b (28), and the top end of the three-layer connecting shaft (12) is connected to one end of the intermediate shift mechanism (17) through a left and right connecting rod (13); the kite-shaped connecting rod a (11) and the kite-shaped connecting rod b (28) are completely the same.

[0014] The invention also comprises a cam groove plate (14), the cam groove plate (14) is fixed on the vehicle body bottom plate (27), two cam pins (16) on the cam swing plate (15) respectively extend into two curved grooves of the cam groove plate (14), so as to ensure that during the rotation process, the extension lines of the rotating axes of the four driving wheels (1) always intersect at one point; an intermediate shift mechanism (17) is fixed on the cam swing plate (15); and two ends of the intermediate shift mechanism (17) are respectively connected to the top end of the three-layer connecting shaft (12) through left and right connecting rods (13).

[0015] The intermediate shift mechanism (17) is provided with a shift lever (18), and a corresponding slot is provided on the cam swing plate (15). The shift lever (18) is inserted into the slot in the middle of the cam swing plate (15) to realize the connection between the shift lever (18) and the cam swing plate (15). The intermediate shift mechanism (17) rotates synchronously with the cam swing plate (15), and the device is in a variable radius rotation state. In the variable radius rotation state, the extension lines of the rotation axes of the four driving wheels (1) always intersect at one point; the shift lever (18) is separated from the slot of the cam swing plate (15), the intermediate shift mechanism (17) is separated from the cam swing plate (15) and rotates, and the device is in an omnidirectional translation state.

[0016] The intermediate shift mechanism (17) is provided with a shift shaft frame (19), and the middle part of the shift shaft frame (19) can move up and down relative to the two ends; the cam swing plate (15) and the cam slot plate (14) are provided with insertion holes corresponding to the middle part of the shift shaft frame (19); one end of the two shift rods (18) are rotatably connected to the middle part and any one end of the shift shaft frame (19) through the shift pin shaft (20); the middle part of the shift shaft frame (19) is pressed down, passes through the cam swing plate (15) and is inserted into the cam slot plate (14), and the shift rod (18) is lifted and disengaged from the card slot of the cam swing plate (15), thereby realizing the conversion between the variable radius rotation state and the omnidirectional translation state.

[0017] A lower layer grooved fixing member (23) and an upper layer grooved fixing member (25) are arranged in the middle of the vehicle body bottom plate (27); the upper layer grooved fixing member (25) and the lower layer grooved fixing member (23) are installed opposite to each other up and down and fixed to the vehicle body bottom plate (27) through a fixing shaft (24); one end of the front and rear connecting rods (22) are connected to the top of the two layers of connecting shafts (21), and the other end is connected through a front and rear connecting rod pin shaft (26); the ends of the front and rear connecting rod pin shaft (26) penetrate into the lower layer grooved fixing member (23) or the upper layer grooved fixing member (25); annular grooves and linear grooves are formed on the lower layer grooved fixing member (23) and the upper layer grooved fixing member (25) respectively, and the linear groove passes through the center of the annular groove, and the front and rear connecting rod pin shafts (26) can move in the grooves.

[0018] The beneficial effects of the present invention are as follows: the present invention adopts the under-actuated technology, that is, four drive motors are used to control the eight degrees of freedom of four drive wheels, and two motion modes of omnidirectional movement and variable radius rotation of the chassis are realized at the same time, and the flexibility of chassis movement is increased under the premise of reducing the cost of chassis motors; in the variable radius rotation mode, the instantaneous centers of speed of the four drive wheels always intersect at the same point, which can avoid the side slip of the chassis during turning; at the same time, the coupling switching between the drive wheels adopts a connecting rod connection, and the switching is more flexible than that of a gear rack; in addition, the front and rear drive wheels located on the same side of the chassis are connected by a connecting rod, and the steering of the front and rear drive wheels is limited by a lower grooved fixing member, which reduces the difficulty of controlling the entire chassis to a certain extent, and connecting the front and rear wheels can ensure their consistency during steering, reducing the possibility of steering loss of control. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of an omnidirectional mobile chassis with a continuously adjustable turning radius based on a kite-shaped connecting rod provided by the present invention;

[0020] Figure 2 It is a connection schematic diagram of the front wheel part in the present invention;

[0021] Figure 3 is a schematic diagram of a connection cross section of the front wheel part of the present invention;

[0022] Figure 4 is a schematic diagram of a kite-shaped connector in the present invention;

[0023] Figure 5 is a schematic diagram of a suspension support member in the present invention;

[0024] Figure 6 is a schematic diagram of a cam groove plate in the present invention;

[0025] Figure 7 is a schematic diagram of a kite-shaped connecting rod in the present invention;

[0026] Figure 8 The instantaneous movement of the four-wheel speed center of the present invention is shown in FIG. Figure 1 (The extension lines of the four driving wheel rotation axes always intersect at one point);

[0027] Fig. 9 The instantaneous movement of the four-wheel speed center of the present invention is shown in FIG. Figure 2 (The intersection of the extended lines of the four driving wheel rotation axes is far away from the center of the vehicle body and is located at infinity);

[0028] Fig.10 Schematic diagram of the in-situ rotation of the present invention (the intersection of the extended lines of the rotation axes of the four driving wheels is located at the center of the vehicle body);

[0029] Fig.11This is an omnidirectional movement diagram of the present invention. Figure 1 (forward and backward translation);

[0030] Fig.12 This is an omnidirectional movement diagram of the present invention. Figure 2 (oblique translation);

[0031] Fig.13 This is an omnidirectional movement diagram of the present invention. Figure 3 (left and right translation);

[0032] in,

[0033] 1-driving wheel, 2-motor, 3-motor connecting plate, 4-pin shaft, 5-suspension connecting rod, 6-suspension supporting member, 7-tension spring, 8-bearing lower seat, 9-deep groove ball bearing, 10-kite-type connecting piece, 11-kite-type connecting rod a, 12-three-layer connecting shaft, 13-left and right connecting rods, 14-cam groove plate, 15-cam swing plate, 16-cam pin, 17-intermediate shift mechanism, 18-shift lever, 19-shift shaft frame, 20-shift pin shaft, 21-two-layer connecting shaft, 22-front and rear connecting rods, 23-lower layer grooved fixing piece, 24-fixed shaft, 25-upper layer grooved fixing piece, 26-front and rear connecting rod pin shafts, 27-body bottom plate, 28-kite-type connecting rod b. DETAILED DESCRIPTION

[0034] In order to better explain the present invention and facilitate understanding, the technical solutions and effects of the present invention are described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0035] like Figure 1-7 As shown, the present invention provides an all-round mobile chassis with continuously adjustable turning radius based on a kite-shaped connecting rod, including a vehicle body bottom plate 27, the bottom of the vehicle body bottom plate 27 is a chassis driving part, specifically including four driving wheels 1 arranged at the four corners of the vehicle body bottom plate 27 and assembled in the same manner. The driving wheel 1 is connected to the output end of the motor 2, and the motor 2 is fixed on the motor connecting plate 3. Four pin holes are opened on both sides of the motor connecting plate 3, which are rotatably connected to one end of two suspension connecting rods 5 through four pin shafts 4, and the other end of the suspension connecting rod 5 is rotatably connected to the L-shaped suspension support member 6 through the pin shaft 4. The suspension support member 6 is connected to the connecting end of the suspension connecting rod 5 and the motor connecting plate 3 through a tension spring 7, the connection point of the suspension connecting rod 5 and the suspension support member 6 is located inside the suspension support member 6, and the connection point of the tension spring 7 and the suspension support member 6 is located on the two sides of the outside of the suspension support member 6. The setting of the tension spring 7 can make the driving wheel 1 move up and down within a certain range, ensuring that the four driving wheels 1 of the chassis are always in contact with the ground, which can effectively improve the chassis's adaptability to terrain.

[0036] The vehicle body bottom plate 27 is fixed with a bearing lower seat 8, and the bearing lower seat 8 is L-shaped; the vehicle body bottom plate 27 and the bearing lower seat 8 are relatively stationary, and the outer ring of the deep groove ball bearing 9 is fixed to the vehicle body bottom plate 27 by the bearing lower seat 8; the suspension support member 6 passes through the inner ring of the deep groove ball bearing 9 to achieve relative rotation between the suspension support member 6 and the vehicle body bottom plate 27; the end shaft of the suspension support member 6 is interference-fitted with the waist-shaped hole at one end of the kite-shaped connector 10 in the form of a waist-shaped shaft, and there is no relative rotation between the two, and the torque can be transferred through the two cross-sections of the waist-shaped shaft. Due to the arrangement of the L-shaped suspension support member 6, the suspension connecting rod 5 and the motor connecting plate 3, the driving wheel 1 is offset relative to the rotation connection end of the suspension support member 6 and the vehicle body bottom plate 27, and the rotation connection end of the suspension support member 6 and the vehicle body bottom plate 27 serves as the vertical rotation axis for the driving wheel 1 to rotate. When the driving wheel 1 rolls on the ground, a torque will be generated on the rotation connection end of the suspension support member 6 and the vehicle body bottom plate 27, so that the wheel turns around the vertical axis.

[0037] The other end of the kite-shaped connecting member 10 is rotatably connected to one end of the kite-shaped connecting rod a11 on the two-layer connecting shaft 21, and the other end of the kite-shaped connecting rod a11 is rotatably connected to the lower end of the three-layer connecting shaft 12. The middle part of the three-layer connecting shaft 12 is rotatably connected to the vertical end of the bearing lower seat 8 through the kite-shaped connecting rod b28, and the top end of the three-layer connecting shaft 12 is connected to one end of the intermediate shift mechanism 17 through the left and right connecting rods 13. The intermediate shift mechanism 17 is arranged in the middle of the side of the vehicle body bottom plate 27. The kite-shaped connecting rod a11 and the kite-shaped connecting rod b28 have the same structure and constitute a kite-shaped structure. The left and right connecting rods 13 and the kite-shaped connecting member 10 are combined to connect the suspension support member 6 with the rotating connection end of the vehicle body bottom plate 27 and the intermediate shift mechanism 17. Based on the principle of the kite-shaped structure, the problem that the four driving wheels 1 are directly connected to the intermediate shift mechanism 17 through ordinary connecting rods and the ordinary connecting rods are in a dead point position and cannot transmit torque in the initial straight state is avoided.

[0038] The cam groove plate 14 is fixed on the vehicle body bottom plate 27 through four positioning holes, and the two cam pins 16 on the cam swing plate 15 extend into the two curved grooves of the cam groove plate 14 respectively. The curved grooves limit the movement trajectory of the cam swing plate 15, thereby ensuring that during the rotation process, the extension lines of the rotation axes of the four driving wheels 1 always intersect at one point, that is, the instantaneous center of velocity intersects at one point; the intermediate shift mechanism 17 is fixed on the cam swing plate 15; the two ends of the intermediate shift mechanism 17 are respectively connected to the top of the three-layer connecting shaft 12 through the left and right connecting rods 13, so as to realize the connection between an intermediate shift structure 17 and the two driving wheels 1 on the same side of the front end or the rear end. The curved grooves limit the movement trajectory of the cam pins 16 on the cam swing plate 15, which can ensure that the extension lines of the rotation axes of the four driving wheels 1 always intersect at one point when the vehicle body bottom plate 27 is in the variable radius rotation mode.

[0039] The intermediate shift mechanism 17 is provided with a shift lever 18, and the cam swing plate 15 is provided with a corresponding slot. The two shift levers 18 are inserted into the slot in the middle of the cam swing plate 15 to realize the connection between the shift lever 18 and the cam swing plate 15. At this time, the chassis driving part is in a variable radius rotation state. In the variable radius rotation state, the extension lines of the rotation axes of the four driving wheels 1 always intersect at one point. The shift lever 18 drives the cam swing plate 15 and the intermediate shift mechanism 17 thereon to rotate through the movement of the cam pin 16 in the curved groove of the cam groove plate 14, so that the intersection point of the extension lines of the rotation axes of the four driving wheels 1, i.e., the instantaneous center, can be moved from infinity to the center of the vehicle body. Figure 8-10 As shown in the instantaneous center movement diagram, the extension lines of the rotation axes of the four driving wheels 1 always intersect at one point and pass through Figures 8 to 10 The instantaneous center is transformed from infinity to the center of the vehicle body, so that the chassis driving part can rotate on the spot and change direction while moving forward.

[0040] The intermediate shift mechanism 17 is provided with a shift shaft frame 19, and the middle part of the shift shaft frame 19 can move up and down relative to the two ends; the cam swing plate 15 and the cam groove plate 14 are provided with a plug hole corresponding to the middle part of the shift shaft frame 19. One end of the two shift rods 18 is rotatably connected to the middle part and any one end of the shift shaft frame 19 through the shift pin shaft 20. When the middle part of the shift shaft frame 19 is pressed down, the cam swing plate 15 is inserted into the plug hole in the middle of the cam groove plate 14, and the two shift rods 18 connected to the two ends of the shift shaft frame 19 are lifted by the lever principle and disengaged from the slot of the cam swing plate 15. At this time, the shift mechanism 17 and the cam swing plate 15 are in a separated state, and the chassis driving part is in an omnidirectional translation state. The intermediate shift mechanism 17 realizes the conversion of the vehicle body bottom plate 27 between the variable radius rotation state and the omnidirectional translation state. In the omnidirectional translation state, the four driving wheels 1 are always in a parallel state, the intermediate shift mechanism 17 rotates around the middle of the shift shaft frame 19, and the vehicle body bottom plate 27 can achieve front and rear translation, left and right translation, and oblique translation without changing its posture. Figure 11-13 As shown, the states of front-to-back translation, left-to-right translation, and oblique translation are converted through differential speed.

[0041] The middle part of the vehicle body bottom plate 27 is provided with a lower layer grooved fixing member 23 and an upper layer grooved fixing member 25, which are installed opposite to each other up and down and fixed to the vehicle body bottom plate 27 through a fixing shaft 24. One end of the front and rear connecting rod 22 is connected to the top of the two layers of connecting shafts 21. The other ends of the front and rear connecting rods 22 corresponding to the two driving wheels 1 on the left side are connected by a front and rear connecting rod pin 26, and the ends of the front and rear connecting rod pin 26 are deeply inserted into the lower layer grooved fixing part 23; the lower layer grooved fixing part 23 is provided with an annular groove and a linear groove, and the front and rear connecting rod pin 26 can move in the groove; the other ends of the front and rear connecting rods 22 corresponding to the two driving wheels 1 on the right side are connected by a front and rear connecting rod pin 26, and the ends of the front and rear connecting rod pin 26 are deeply inserted into the upper layer grooved fixing part 25; the upper layer grooved fixing part 25 is provided with an annular groove and a linear groove on one side relative to the lower layer grooved fixing part 23, and the linear groove passes through the center of the annular groove, and the front and rear connecting rod pin 26 can move in the groove. The front and rear driving wheels 1 on the left or right side are connected by the front and rear connecting rods 22 and the front and rear connecting rod pin 26, and the front and rear connecting rod pin 26 extend into the corresponding grooves opened on the lower layer grooved fixing part 23 and the upper layer grooved fixing part 25, so as to ensure the synchronization of the front and rear driving wheels 1 when turning.

[0042] The present invention drives the driving wheels 1 only by four motors 2 without using a steering motor, thereby controlling the eight degrees of freedom of the four driving wheels 1. Through multiple connecting rods, the chassis driving part can provide two optional states of omnidirectional translation and variable radius.

[0043] The present invention adopts a connecting rod to transmit power more flexibly, thereby realizing the steering of each driving wheel 1 around the vertical rotation axis, and connecting the two driving wheels 1 on the same side through a set of front and rear connecting rods 22, so that the control difficulty is reduced. At the same time, the intermediate shift mechanism 17 located at the cam groove plate 14 can enable the chassis to switch freely between the two modes of omnidirectional translation and variable radius rotation. In the omnidirectional translation mode, the four driving wheels 1 are always in a parallel state; in the variable radius rotation mode, the extension lines of the rotation axes of the four driving wheels 1 intersect at the same instantaneous center, and the instantaneous center can realize the movement from infinity to the center of the vehicle body, thereby ensuring that the driving wheel 1 does not slip when turning and rotating around its own center.

Claims

1. An omnidirectional mobile chassis with a continuously adjustable turning radius based on a kite-type connecting rod, characterized by: It comprises a chassis driving part, which is arranged at the four corners of the bottom of the vehicle body bottom plate (27), and the driving wheel (1) of the chassis driving part is offset relative to the connection end between the chassis driving part and the vehicle body bottom plate (27); The intermediate shift mechanism is arranged on the vehicle body bottom plate (27) and is located in the middle of a pair of opposite sides of the vehicle body bottom plate (27), and is used for switching the entire device between a variable radius rotation state and an omnidirectional translation state; the left and right ends of the intermediate shift mechanism have the same structure and are both connected to the chassis driving part through left and right connecting rods, a kite-shaped structural connecting rod and a kite-shaped connecting member; The front and rear connecting rods connect the chassis driving parts of another pair of opposite sides on the vehicle body bottom plate (27); the ends of the front and rear connecting rods move along the groove in the grooved fixing piece in the middle of the vehicle body bottom plate (27).

2. The omnidirectional mobile chassis with continuously adjustable turning radius based on a kite-shaped connecting rod according to claim 1, characterized in that: The chassis driving part comprises four driving wheels (1) arranged at four corners of a vehicle body bottom plate (27) and assembled in the same manner, and driven by a motor (2); the motor (2) is fixed on a motor connecting plate (3), and both sides of the motor connecting plate (3) are rotatably connected to one end of two suspension connecting rods (5), and the other end of the suspension connecting rod (5) is rotatably connected to an L-shaped suspension supporting member (6) through a pin shaft (4); and the suspension supporting member (6) is rotatably connected to the vehicle body bottom plate (27).

3. The omnidirectional mobile chassis with continuously adjustable turning radius based on a kite-shaped connecting rod according to claim 2, characterized in that: The suspension support member (6) is connected to the connecting ends of the suspension link (5) and the motor connecting plate (3) via a tension spring (7); the connection point between the suspension link (5) and the suspension support member (6) is located inside the suspension support member (6); and the connection point between the tension spring (7) and the suspension support member (6) is located on the two external side surfaces of the suspension support member (6).

4. The omnidirectional mobile chassis with continuously adjustable turning radius based on a kite-shaped connecting rod according to claim 2, characterized in that: A bearing lower seat (8) is fixedly mounted on the vehicle body bottom plate (27), and the bearing lower seat (8) is L-shaped; the outer ring of the deep groove ball bearing (9) is fixed to the vehicle body bottom plate (27) by the bearing lower seat (8); the suspension support member (6) passes through the inner ring of the deep groove ball bearing (9), thereby realizing relative rotation between the suspension support member (6) and the vehicle body bottom plate (27).

5. The omnidirectional mobile chassis with continuously adjustable turning radius based on a kite-shaped connecting rod according to claim 4, characterized in that: The end shaft of the suspension support member (6) is interference-fitted with the waist-shaped hole at one end of the kite-shaped connector (10) in the form of a waist-shaped shaft, and the torque is transmitted through the two cross sections of the waist-shaped shaft.

6. The omnidirectional mobile chassis with continuously adjustable turning radius based on a kite-shaped connecting rod according to claim 5, characterized in that: The kite-shaped structural connecting rod comprises a kite-shaped connecting rod a (11), the other end of the kite-shaped connecting member (10) and one end of the kite-shaped connecting rod a (11) are rotatably connected to a two-layer connecting shaft (21), the other end of the kite-shaped connecting rod a (11) is rotatably connected to the lower end of the three-layer connecting shaft (12), the middle part of the three-layer connecting shaft (12) is rotatably connected to the vertical end of the bearing lower seat (8) through a kite-shaped connecting rod b (28), and the top end of the three-layer connecting shaft (12) is connected to one end of the intermediate shift mechanism (17) through a left and right connecting rod (13); the kite-shaped connecting rod a (11) and the kite-shaped connecting rod b (28) are completely the same.

7. The omnidirectional mobile chassis with continuously adjustable turning radius based on a kite-shaped connecting rod according to claim 5, characterized in that: The invention also comprises a cam groove plate (14), the cam groove plate (14) is fixed on the vehicle body bottom plate (27), two cam pins (16) on the cam swing plate (15) respectively extend into two curved grooves of the cam groove plate (14), so as to ensure that during the rotation process, the extension lines of the rotating axes of the four driving wheels (1) always intersect at one point; an intermediate shift mechanism (17) is fixed on the cam swing plate (15); and two ends of the intermediate shift mechanism (17) are respectively connected to the top end of the three-layer connecting shaft (12) through left and right connecting rods (13).

8. The omnidirectional mobile chassis with continuously adjustable turning radius based on a kite-shaped connecting rod according to claim 7, characterized in that: The intermediate shift mechanism (17) is provided with a shift lever (18), and a corresponding slot is provided on the cam swing plate (15). The shift lever (18) is inserted into the slot in the middle of the cam swing plate (15) to realize the connection between the shift lever (18) and the cam swing plate (15). The intermediate shift mechanism (17) rotates synchronously with the cam swing plate (15), and the device is in a variable radius rotation state. In the variable radius rotation state, the extension lines of the rotation axes of the four driving wheels (1) always intersect at one point; the shift lever (18) is separated from the slot of the cam swing plate (15), the intermediate shift mechanism (17) is separated from the cam swing plate (15) and rotates, and the device is in an omnidirectional translation state.

9. The omnidirectional mobile chassis with continuously adjustable turning radius based on a kite-shaped connecting rod according to claim 8, characterized in that: The intermediate shift mechanism (17) is provided with a shift shaft frame (19), and the middle part of the shift shaft frame (19) can move up and down relative to the two ends; the cam swing plate (15) and the cam slot plate (14) are provided with insertion holes corresponding to the middle part of the shift shaft frame (19); one end of the two shift rods (18) are rotatably connected to the middle part and any one end of the shift shaft frame (19) through the shift pin shaft (20); the middle part of the shift shaft frame (19) is pressed down, passes through the cam swing plate (15) and is inserted into the cam slot plate (14), and the shift rod (18) is lifted and disengaged from the card slot of the cam swing plate (15), thereby realizing the conversion between the variable radius rotation state and the omnidirectional translation state.

10. The omnidirectional mobile chassis with continuously adjustable turning radius based on a kite-shaped connecting rod according to claim 6, characterized in that: A lower layer grooved fixing member (23) and an upper layer grooved fixing member (25) are arranged in the middle of the vehicle body bottom plate (27); the upper layer grooved fixing member (25) and the lower layer grooved fixing member (23) are installed opposite to each other up and down and fixed to the vehicle body bottom plate (27) through a fixing shaft (24); one end of the front and rear connecting rods (22) are connected to the top of the two layers of connecting shafts (21), and the other end is connected through a front and rear connecting rod pin shaft (26); the ends of the front and rear connecting rod pin shaft (26) penetrate into the lower layer grooved fixing member (23) or the upper layer grooved fixing member (25); annular grooves and linear grooves are formed on the lower layer grooved fixing member (23) and the upper layer grooved fixing member (25) respectively, and the linear groove passes through the center of the annular groove, and the front and rear connecting rod pin shafts (26) can move in the grooves.

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