Mobile chassis and vehicle

Abstract

The invention provides a movable chassis and a vehicle. The mobile chassis comprises: a frame having a first side and a second side opposite to each other; the at least two left wheel sets are arranged on the first side and are arranged at intervals in the front-back direction of the frame; the at least two right wheel sets are arranged on the second side and are arranged at intervals in the front-back direction of the frame; each of the left wheel set and the right wheel set comprises a wheel and a power device; the wheels are connected with the frame, the power devices are connected with the wheels, and the power devices of all the wheel sets are mutually independent. A wheel train is at least divided into four wheel sets, power devices of all the wheel sets are mutually independent, four-drive distributed cooperative control is achieved, power is strong, differential steering and central pivot steering modes are achieved, and different driving torques and rotating speeds can be distributed to a front axle wheel train and a rear axle wheel train in actual use.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a mobile chassis and a vehicle. Background Art

[0002] The vehicle structure mainly includes two parts: chassis system and body. The chassis system is usually composed of power drive components, transmission, reducer, drive shaft, steering system, suspension components and tires. It is usually driven by centralized power to drive the front axle, rear axle or front and rear axles. At the same time, a differential is designed, and then the vehicle is steered through the steering system to meet the requirements of road driving. It generally cannot meet the high passability requirements of harsh terrain such as mud and sand, has limited climbing ability, and a relatively large turning radius. For general unmanned wheeled platforms, due to China's vast territory, there are towns, mountains, plains, water networks, jungles, plateaus, deserts, Gobi, swamps, etc., the whole vehicle must meet the global requirements, have high maneuverability, high off-road performance, high passability, require safe and reliable braking during driving, and require absolute safety for braking and parking on large longitudinal slopes.

[0003] At present, most general unmanned wheeled platforms adopt multi-axis drive and distributed drive control solutions with multiple hub motors. The hub motors are installed on the inside of the tires and connected to the vehicle body through longitudinal arms or double wishbones, giving the vehicles a certain off-road maneuverability.

[0004] However, the reliability of hub motors will be greatly reduced under conditions such as wading, dust, humidity, cold areas, electromagnetic interference, and low jungles (which may scrape off the wiring harness). In addition, more motors and controllers are involved during ultra-high-speed maneuvers, which will reduce reliability. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the related art.

[0006] To this end, a first aspect of the present application is to propose a mobile chassis.

[0007] A second aspect of the present application is to provide a vehicle.

[0008] In view of this, according to the first aspect of the present application, a mobile chassis is proposed, comprising: a frame having a first side and a second side arranged opposite to each other; at least two left wheel groups, arranged on the first side, and arranged at intervals along the front-rear direction of the frame; at least two right wheel groups, arranged on the second side, and arranged at intervals along the front-rear direction of the frame; the left wheel group and the right wheel group both include wheels and power devices; the wheels are connected to the frame, the power device is connected to the wheels, and the power devices of each wheel group are independent of each other.

[0009] The wheel system is divided into at least four wheel groups (two left wheel groups + two right wheel groups), and the power devices of each wheel group are independent of each other, so as to realize the distributed coordinated control of four-wheel drive. It has strong power and is equipped with differential steering and center-in-place steering modes. In actual use, the front and rear axle wheel systems can be allocated different driving torques and speeds. Compared with the related art in which each wheel is independently controlled, the embodiment of the present application divides the wheel system into four wheel groups, which can be compared to the four-wheel vehicle of a passenger car, and realizes simplified coordinated control of four-wheel drive, with high safety and reliability. Compared with the use of two motors to control all the wheel systems on one side respectively, the mobile chassis provided by the embodiment of the present application can avoid problems with the drive motor or transmission system on one side, which will cause the entire wheel system on one side to lose power and cause the whole vehicle to be unable to drive normally, and has high safety and reliability.

[0010] In some technical solutions, optionally, the left wheel group and / or the right wheel group includes a transmission device and at least two wheels, the at least two wheels are arranged at intervals along the front and rear direction of the frame, and the wheels of the same wheel group are synchronously connected through the transmission device; the power device is connected to the transmission device.

[0011] In practical applications, the left and right wheel groups can be designed with different numbers of wheels according to actual needs to improve the stability and balance of the mobile chassis. Furthermore, the wheels of the same wheel group are connected by a transmission device to achieve synchronous transmission, that is, in the same wheel group, the torque and speed of all wheels are consistent, which can simplify control and the synchronously driven wheels can use power more effectively, so as to better cope with terrain changes and improve its passability.

[0012] In some technical schemes, optionally, the transmission device includes: a transmission shaft, which is transmission-connected between two adjacent wheels of the same wheel set; a transmission box, which is arranged at both ends of the transmission shaft; the transmission box includes a first transmission end and a second transmission end that are synchronously transmission-connected; the first transmission end is connected to the wheel, and the second transmission end is connected to the transmission shaft; one of the transmission boxes is provided with a third transmission end that is synchronously transmission-connected to the first transmission end; and the power unit is connected to the third transmission end.

[0013] The transmission structure of the transmission box and the transmission shaft is relatively simple and clear, so it is easy to install and can be easily inspected and maintained.

[0014] In some technical solutions, optionally, the left wheel assembly and / or the right wheel assembly further includes a planetary reducer; the planetary reducer connects the power device and the third transmission end.

[0015] By setting up a planetary reducer, it can be adjusted and optimized according to different power requirements and working conditions to adapt to various application scenarios.

[0016] In some technical solutions, optionally, the left wheel assembly and / or the right wheel assembly further includes a braking device; the braking device is connected to one of the transmission boxes.

[0017] In the above technical solution, the brake device is directly connected to the transmission box, so a faster braking response can be achieved. In an emergency, this quick response capability can significantly improve safety. In practical applications, a brake device is arranged on each wheel set, so that even if one of the brake devices fails, the other brake devices can still continue to work to ensure the safe operation of the mobile chassis.

[0018] In some technical solutions, optionally, the braking device is a brake disc.

[0019] In some technical solutions, optionally, a service brake caliper and / or a parking brake caliper is provided on the brake disc.

[0020] In actual application, the brake caliper is an integrated driving and parking brake caliper. The driving brake adopts a wire-controlled hydraulic brake, and the parking brake adopts an electronic parking brake, which makes the brake caliper occupy a small space and has a large braking torque. It can achieve safe and reliable all-wheel braking and meet the requirements of driving and parking braking on steep slopes exceeding 35°. Combined with the electromechanical joint braking of the four-wheel drive, not only the braking distance is short, but also the steep slope anti-slip function can be realized, which helps to improve the reliability and safety performance of the mobile chassis.

[0021] In some technical solutions, optionally, the left wheel group and / or the right wheel group further includes a longitudinal swing arm chain transmission box; the first transmission end is connected to the wheel through the longitudinal swing arm chain transmission box.

[0022] The design of the longitudinal swing arm chain transmission box enables the wheels to swing within a certain range, thereby improving the flexibility of the mobile chassis.

[0023] In some technical solutions, optionally, the left wheel group and / or the right wheel group also includes an oil-gas suspension; the oil-gas suspension is transmission-connected to the longitudinal swing arm chain transmission box.

[0024] The oil-gas suspension can drive the longitudinal swing arm chain transmission box and the wheel to rotate through the installation hinge, so that the wheel has a larger angle adjustment range (>400mm extension). In practical applications, oil-gas suspension can be installed on each wheel, which can be adjusted independently, so that each wheel can be independently controlled to retract, so as to achieve a variety of postures of the mobile chassis. In addition, there is no mechanical connection constraint between the traditional second and third bridges, which can improve the passability of ultra-high vertical obstacles (≥0.9m) and ultra-wide trenches (≥1.6m) under complex terrain conditions.

[0025] According to the second aspect of the present application, the present application proposes a vehicle, comprising a mobile chassis proposed by any of the above technical solutions. Therefore, the vehicle has all the beneficial effects of any of the above technical solutions, which will not be described in detail here.

[0026] Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 The schematic diagram of the structure of the wheel hub motor high mobility driving control system of an unmanned vehicle in the related art is shown;

[0029] Figure 2 A schematic structural diagram of a wheeled chassis in the related art is shown;

[0030] Figure 3 One of the structural schematic diagrams of the mobile chassis in the embodiment of the present application is shown;

[0031] Figure 4 The second structural schematic diagram of the mobile chassis in the embodiment of the present application is shown;

[0032] Figure 5 A schematic structural diagram of a wheel set in an embodiment of the present application is shown.

[0033] in, Figure 1 The corresponding relationship between the reference numerals and the component names is as follows:

[0034] 1' tire rim assembly; 2' trailing arm; 3' trailing arm mounting frame; 4' oil and gas spring; 5' steering gear; 6' upper cross arm; 7' lower cross arm; 8' wheel hub motor; 9' steering tie rod; 10' steering rocker arm; 11' center tie rod; 12' steering knuckle.

[0035] Figure 2 The corresponding relationship between the reference numerals and the component names is as follows:

[0036] 1” left power unit; 2” right power unit; 3” left wheel assembly; 4” right wheel assembly; 5” left transmission shaft; 6” right transmission shaft; 7” left angle transmission box; 8” right angle transmission box; 9” left brake device, 10” right brake device: 11” left wheel side reduction chain box; 12” right wheel side reduction chain box; 13” limp drive shaft; 14” limp clutch; 15” propeller; 16” clutch control mechanism; 17” frame; 18” parking brake caliper; 19” service brake caliper; 31” left wheel; 41” right wheel.

[0037] Figures 3 to 5 The corresponding relationship between the reference numerals and the component names is as follows:

[0038] 100 mobile chassis; 110 vehicle frame; 111 first side; 112 second side; 120 left wheel group; 130 right wheel group; 121 wheel; 122 power unit; 123 transmission device; 1231 transmission shaft; 1232 transmission box; 1233 first transmission end; 1234 second transmission end; 1235 third transmission end; 1236 fourth transmission end; 1237 coupling; 124 braking device; 125 planetary reducer; 126 longitudinal swing arm chain transmission box; 127 oil-gas suspension; 128 brake caliper. DETAILED DESCRIPTION

[0039] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0041] Reference Figure 1 In the related art, a high-mobility driving and maneuvering system of wheel hub motors for unmanned vehicles is disclosed. The first three bridges are single longitudinal arm bridges, and the fourth bridge is a double wishbone bridge. The single longitudinal arm bridge includes a tire rim assembly 1', a longitudinal arm 2', a longitudinal arm mounting frame 3', a gas spring 4' and a wheel hub motor 8'; the double wishbone bridge includes an upper wishbone 6', a lower wishbone 7', a steering knuckle 12', a wheel hub motor 8' and a steering gear 5'. The steering gear 5' is connected to the steering knuckle 12' through a steering tie rod 9', a steering rocker arm 10' and a center tie rod 11'. By using a distributed drive wheel hub motor 8' matched with a gas spring 4' independent suspension, the vehicle achieves ultra-high geometric obstacle passing ability and high-speed off-road maneuverability. The system adopts a fully electric drive mode, which has the characteristics of high power density and small space occupation.

[0042] However, in actual use, there are the following problems:

[0043] 1) The working environment of special vehicles is harsh and complex. The wheel hub motor 8', which is exposed and installed on the inner side of the tire, is easily affected by safety in conditions such as wading, sand and dust, low jungle, and bulletproof, thus affecting the reliability and stability of the whole vehicle. The most important thing for special vehicles is that reliability must be good;

[0044] 2) Eight wheel hub motors 8' need to be controlled by eight motor controllers, but the distributed drive control technology of multi-wheeled unmanned vehicles is difficult. Once a single motor control problem occurs, safety problems such as sudden deviation or drift may occur. At higher maneuvering speeds, the more motors and controllers there are, the lower the reliability of the vehicle may be.

[0045] 3) The braking system is not mentioned. The wheel hub motor 8' usually adopts motor braking or hydraulic caliper braking, which has poor parking performance and cannot be parked for a long time on steep slopes. It is easy to slip and there is a certain risk. The brake pipeline is easily affected by the scratches of low jungle in complex and harsh environments, which is dangerous. Finally, the wheel hub motor with brake increases the unsprung mass of the oil-gas suspension and the rotational inertia of the wheel hub, which is not good for the vehicle's handling performance.

[0046] And refer to Figure 2 In another related technology, a wheeled chassis is disclosed, including a left power device 1", a right power device 2", a left wheel group 3", a right wheel group 4", a left transmission shaft 5", a right transmission shaft 6", a left corner transmission box 7", a right corner transmission box 8", a left brake device 9", a right brake device 10", a left wheel side reduction chain box 11", a right wheel side reduction chain box 12, a limp drive shaft 13", a limp clutch 14", a screw propeller 15", a clutch control mechanism 16", a frame 17", a parking brake caliper 18", a driving brake caliper 19", a left wheel 31", and a right wheel 41". Among them, each left wheel 31" is synchronously connected to each other through transmission, and each right wheel 41" is synchronously connected to each other through transmission, the left power device 1" is used to drive the left wheel 31" to rotate, and the right power device 2" is used to drive the right wheel 41" to rotate. A limp home transmission device is provided between one of the left wheels 31" and the opposite right wheel 41" for engaging and disengaging power transmission therebetween. The wheels of the left wheel group 3" and the right wheel group 4" of the wheeled chassis are synchronously connected to each other to realize all-wheel drive.

[0047] However, in actual use, there are the following problems:

[0048] 1) The eight-wheeled unmanned platform has mechanical defects when passing through higher vertical obstacles and trenches. Because the wheel system on one side is driven by one motor, the torque and speed of the four tires on one side are basically the same. In addition, the second and third bridges are rigidly connected by a gear-type mechanical transmission box, and the left / right wheel side reduction chain transmission box is also arranged in an "eight" shape, which will cause the unmanned platform to have a problem of holding its power when the suspension is retracted and the chassis is lowered. When passing through higher vertical obstacles, the tires on the rear two bridges cannot maintain different driving forces and speeds from the tires on the front two bridges, and the output torque cannot be adjusted and distributed, causing the tires on the rear bridge to slip and fail to pass higher obstacles, thereby reducing the high passability of the unmanned platform in complex environments;

[0049] 2) Two drive motors drive the four wheels on one side respectively. If there is a problem with the drive motor or transmission system on one side, all the wheels on that side will lose power, causing the vehicle to be unable to drive normally. The limp drive shaft + single drive motor operation cannot guarantee sufficient driving force for the vehicle, especially on unpaved roads, which makes it more difficult to guarantee the driving force of the vehicle, reducing the reliability and safety performance of the unmanned platform in complex scenarios;

[0050] 3) The braking system uses traditional hydraulic brake calipers and separates the service brake from the parking brake. The number of brake calipers and the space they occupy increase. Secondly, any failure in any component in the transmission system may cause single-side wheel system brake failure, which will also reduce the safety performance and reliability of the unmanned platform.

[0051] Combine the following Figures 3 to 5 , the mobile chassis and vehicle provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0052] Reference Figure 3 , Figure 4 and Figure 5 In an embodiment of the present application, a mobile chassis 100 is provided, the structure of which includes a frame 110, a left wheel group 120 and a right wheel group 130.

[0053] Specifically, the frame 110 has a first side 111 and a second side 112 that are oppositely disposed. There are at least two left wheel assemblies 120 disposed on the first side 111, and at least two left wheel assemblies 120 are disposed along the front-to-back direction ( Figure 3 There are at least two right wheel assemblies 130 disposed on the second side 112 , and at least two right wheel assemblies 130 are arranged at intervals along the front-rear direction of the frame 110 .

[0054] The left wheel set 120 and the right wheel set 130 each include a wheel 121 and a power device 122. The wheel 121 is connected to the frame 110; the power device 122 is connected to the wheel 121 to drive the wheel 121 to rotate, and the power devices 122 of each wheel set are independent of each other.

[0055] In the above embodiment, the wheel system is divided into at least four wheel groups (two left wheel groups + two right wheel groups), and the power devices 122 of each wheel group are independent of each other, so as to realize the distributed coordinated control of four-wheel drive, which has strong power and has differential steering and center-in-place steering modes. In actual use, the front and rear axle wheel systems can be allocated different driving torques and speeds. Compared with the related art in which each wheel is independently controlled, the embodiment of the present application divides the wheel system into four wheel groups, which can be compared to the four-wheel vehicle of a passenger car, and realizes simplified coordinated control of four-wheel drive, with high safety and reliability. Compared with the use of two motors to control all the wheel systems on one side respectively, the mobile chassis provided by the embodiment of the present application can avoid problems with the drive motor or transmission system on one side, which will cause all the wheel systems on one side to lose power and cause the whole vehicle to be unable to drive normally, and has high safety and reliability.

[0056] In some embodiments, the left wheel set 120 and / or the right wheel set 130 includes a transmission device 123 and at least two wheels 121. The wheels 121 of the same wheel set are synchronously connected through the transmission device 123.

[0057] In practical applications, the left wheel set 120 and the right wheel set 130 can be designed with different numbers of wheels according to actual needs to improve the stability and balance of the mobile chassis 100. Furthermore, the wheels 121 of the same wheel set are synchronously connected through the transmission device 123, that is, in the same wheel set, the torque and speed of all wheels 121 are consistent, which can simplify control, and the synchronously driven wheels 121 can use power more effectively, so as to better cope with terrain changes and improve its passability.

[0058] In some embodiments, the transmission device 123 includes a transmission shaft 1231 and a transmission box 1232. The transmission shaft 1231 is transmission-connected between two adjacent wheels 121 of the same wheel set. The transmission box 1232 is disposed at both ends of the transmission shaft 1231, and includes a first transmission end 1233 and a second transmission end 1234 that are synchronously transmission-connected; the first transmission end 1233 is connected to the wheel 121, and the second transmission end 1234 is transmission-connected to the transmission shaft 1231. Among them, one of the transmission boxes 1232 is provided with a third transmission end 1235 transmission-connected to the first transmission end 1233, and the third transmission end 1235 is connected to the power device 122.

[0059] In actual application, the transmission structure of the transmission box 1232 and the transmission shaft 1231 is relatively simple and clear, so it is convenient to carry out inspection and maintenance.

[0060] In the above embodiment, the transmission shaft 1231 and the first transmission end 1233 are connected by a coupling 1237. As a mechanical transmission element, the coupling 1237 can play a role of buffering and vibration reduction during the transmission process. When there is a slight installation error between the transmission shaft 1231 and the first transmission end 1233 or a slight displacement caused by load changes during operation, the coupling 1237 can absorb these errors and displacements to prevent damage or vibration caused by rigid connection. At the same time, the design of the coupling makes the connection between the transmission shaft 1231 and the first transmission end 1233 more flexible and convenient, reducing the difficulty and cost of installation.

[0061] In practical applications, the transmission shaft 1231 is an aluminum alloy transmission shaft, the coupling 1237 is an elastic diaphragm coupling, and the transmission box 1232 is a bevel gear box.

[0062] In the above embodiment, the left wheel assembly 120 and / or the right wheel assembly 130 further includes a planetary reducer 125 ; the planetary reducer 125 connects the power device 122 and the third transmission end 1235 .

[0063] The planetary reducer 125 is a commonly used reduction device, which realizes the functions of reducing speed and increasing torque through the complex movement of planetary gears. By setting the planetary reducer 125, it can be adjusted and optimized according to different power requirements and working conditions to adapt to various application scenarios.

[0064] In some embodiments, the left wheel set 120 and / or the right wheel set 130 further include a longitudinal swing arm chain transmission box 126. The longitudinal swing arm chain transmission box 126 connects the wheel 121 and the first transmission end 1233.

[0065] The design of the longitudinal swing arm chain transmission box 126 enables the wheel 121 to swing within a certain range, thereby improving the flexibility of the mobile chassis 100.

[0066] In the above embodiment, the left wheel group 120 and / or the right wheel group 130 further include an oil-gas suspension 127. Among them, a mounting hinge is provided on the longitudinal swing arm chain transmission box 126, and the oil-gas suspension 127 is connected to the mounting hinge.

[0067] In this way, the oil-gas suspension 127 can drive the longitudinal swing arm chain transmission box 125 and the wheel 121 to rotate through the installation hinge, so that the wheel 121 has a larger angle adjustment range (> 400mm extension). In actual application, the oil-gas suspension 127 can be installed on each wheel, which can be adjusted independently, so that each wheel 121 can be independently controlled to retract, so as to realize a variety of postures of the mobile chassis 100. In addition, there is no mechanical connection constraint between the traditional second and third bridges, which can improve the passability of ultra-high vertical obstacles (≥0.9m) and ultra-wide trenches (≥1.6m) under complex terrain conditions.

[0068] In some embodiments, one of the transmission boxes 1232 is provided with a fourth transmission end 1236 transmission-connected to the first transmission end 1233 , and the fourth transmission end 1236 is connected to the braking device 124 .

[0069] In the above embodiment, the brake device 124 is directly connected to the transmission box 1232, so that a faster braking response can be achieved. In an emergency, this fast response capability can significantly improve safety. In actual application, a brake device 124 is arranged on each wheel set, so that even if one of the brake devices 124 fails, the other brake devices 124 can still continue to work to ensure the safe operation of the mobile chassis 100.

[0070] In some embodiments, the brake device 124 is a ceramic brake disc. The brake disc is provided with a brake caliper 128. The brake caliper 128 includes a service brake caliper and / or a parking brake caliper.

[0071] In actual application, the brake caliper 128 is an integrated driving and parking brake caliper. The driving brake adopts the EHB (Electro-Hydraulic Brake, wire-controlled hydraulic brake) brake system, and the parking brake adopts the EPB (Electronic Parking Brake, electronic parking brake), so that the brake caliper 128 occupies a small volume and space, has a large braking torque, can achieve safe and reliable all-wheel braking, and meet the requirements of driving and parking braking on steep slopes exceeding 35°. Combined with the electromechanical combined braking of the four-wheel drive, not only the braking distance is short, but also the steep slope anti-slip function can be realized, which helps to improve the reliability and safety performance of the mobile chassis 100.

[0072] In some embodiments, the present application further provides a vehicle, which has the mobile chassis 100 provided by any of the above embodiments. Therefore, the vehicle has all the beneficial effects of any of the above embodiments, which will not be described in detail here.

[0073] It should be clarified that in the claims, specification and drawings of the present application, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present application and making the description process easier, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limitations on the present application; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood based on the specific circumstances of the above data.

[0074] In the claims, specification and drawings of the present application, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the claims, specification and drawings of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0075] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile chassis, characterized in that: include: A frame having a first side and a second side disposed oppositely; At least two left wheel groups are provided on the first side and are spaced apart along the front-rear direction of the frame; at least two right wheel groups, disposed on the second side and spaced apart along the front-rear direction of the frame; The left wheel group and the right wheel group both include wheels and a power device; the wheels are connected to the frame, the power device is connected to the wheels, and the power devices of each wheel group are independent of each other.

2. The mobile chassis according to claim 1, characterized in that: The left wheel group and / or the right wheel group comprises a transmission device and at least two wheels, the at least two wheels are arranged at intervals along the front-rear direction of the frame, and the wheels of the same wheel group are synchronously connected through the transmission device; The power device is connected to the transmission device.

3. The mobile chassis according to claim 2, characterized in that: The transmission device comprises: A transmission shaft, drivingly connected between two adjacent wheels of the same wheel set; A transmission box is arranged at both ends of the transmission shaft; the transmission box comprises a first transmission end and a second transmission end connected in synchronous transmission; The first transmission end is connected to the wheel, and the second transmission end is connected to the transmission shaft; One of the transmission boxes is provided with a third transmission end which is synchronously transmission-connected with the first transmission end; The power device is connected to the third transmission end.

4. The mobile chassis according to claim 3, characterized in that: The left wheel assembly and / or the right wheel assembly further comprises a planetary reducer; the planetary reducer is connected to the power device and the third transmission end.

5. The mobile chassis according to claim 3, characterized in that: The left wheel assembly and / or the right wheel assembly further comprises a braking device; the braking device is connected to one of the transmission boxes.

6. The mobile chassis according to claim 5, characterized in that: The braking device is a brake disc.

7. The mobile chassis according to claim 6, characterized in that: The brake disc is provided with a brake caliper; the brake caliper includes a service brake caliper and / or a parking brake caliper.

8. The mobile chassis according to any one of claims 3 to 7, characterized in that: The left wheel assembly and / or the right wheel assembly further comprises a longitudinal swing arm chain transmission box; the first transmission end is connected to the wheel via the longitudinal swing arm chain transmission box.

9. The mobile chassis according to claim 8, characterized in that: The left wheel assembly and / or the right wheel assembly further comprises an oil-gas suspension; the oil-gas suspension is drivingly connected to the longitudinal swing arm chain transmission box.

10. A vehicle, characterized in that: Comprising the mobile chassis as claimed in any one of claims 1 to 9.

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