Modularized multi-wheel power mechanical posture adjusting mechanism and walking chassis

Abstract

The invention provides a modularized multi-wheel power mechanical posture adjusting mechanism and a walking chassis, the modularized multi-wheel power mechanical posture adjusting mechanism is mounted between two groups of longitudinal drive axles, the modularized multi-wheel power mechanical posture adjusting mechanism comprises a main support frame, and a left-right slider is mounted at the top of the main support frame; a group of floating supporting mechanisms, floating supporting frames, first connecting rods, shock absorbers, second connecting rods, third connecting rods, fourth connecting rods and telescopic driving mechanisms are symmetrically mounted on the left side and the right side of the main supporting frame. The floating supporting mechanisms are connected to the two sides of the main supporting frame of the adjusting mechanism in a floating mode through the multi-connecting-rod structures, adjustment of the ground clearance of the chassis and adjustment of the inclined posture of the chassis are achieved by controlling the left sliding device, the right sliding device and the telescopic driving mechanism, and the trafficability and stability of the mobile robot in the complex terrain are improved.

Description

Technical Field

[0001] The invention relates to a mobile robot, and in particular to a modular multi-wheel power mechanical posture adjustment mechanism and a walking chassis. Background Art

[0002] At present, mobile robots are widely used due to their flexibility and mobility. Wheeled mobile robots have certain advantages in terms of low cost, but their ability to overcome obstacles, climb slopes and walk on slopes needs to be strengthened to adapt to more complex road conditions. Summary of the invention

[0003] The present invention provides a modular multi-wheel power mechanical posture adjustment mechanism, which is installed between two groups of longitudinal drive bridges. The modular multi-wheel power mechanical posture adjustment mechanism includes a main support frame, left and right sliders are installed on the top of the main support frame, and a group of floating support mechanisms are symmetrically installed on the left and right sides of the main support frame. The floating support mechanism is provided with:

[0004] A floating support frame, on which a longitudinal drive axle is floatingly mounted, and an axle seat is provided at one side of the bottom of the floating support frame close to the main support frame;

[0005] A first connecting rod, both ends of which are rotatably connected to the left and right sliders and the top of the floating support frame;

[0006] A shock absorber, the top of which is rotatably connected to the longitudinal drive axle;

[0007] A second connecting rod, one end of which is rotatably connected to the bottom of the shock absorber, and the other end of the second connecting rod is provided with a first rotating shaft hole and a second rotating shaft hole, and the first rotating shaft hole is rotatably connected to the shaft seat;

[0008] A third connecting rod, one end of the third connecting rod is rotatably connected to the second rotating shaft hole, and the other end of the third connecting rod is rotatably connected to the bottom of the main support frame;

[0009] A fourth connecting rod, one end of which is rotatably connected to the shaft seat, and the other end of which is rotatably connected to the bottom of the main support frame;

[0010] The telescopic driving mechanism has upper and lower ends connected to the middle of the fourth connecting rod and the top rotating rod of the main supporting frame respectively.

[0011] Furthermore, the left and right sliders are slide rail type drivers including slide rails, sliders and slide drivers. The sliders are mounted on the slide rails and driven by the slide drivers to slide left and right.

[0012] Furthermore, the floating support mechanism is provided with two first connecting rods which are fixedly connected, and the two first connecting rods are distributed at the front and rear sides of the floating support frame;

[0013] The ends of the left and right sliders are connected to the two first connecting rods through an adapter frame.

[0014] The adapter frame is bent in a continuous U-shape to form a first U-shaped opening in the middle and second U-shaped openings on both sides of the first U-shaped opening. The first U-shaped opening faces the main support frame, and the second U-shaped opening faces the floating support frame.

[0015] One end of the left and right sliders extends into the first U-shaped opening and is fixedly connected to the adapter frame, and two first connecting rods extend into the second U-shaped opening and are rotatably connected to the adapter frame.

[0016] Furthermore, a rotating connection block is fixedly installed at the bottom of the main support frame.

[0017] The third connecting rods of the left and right floating support mechanisms are coaxially rotatably mounted on the rotating connection block.

[0018] Furthermore, the first rotating shaft hole, the fourth connecting rod and the rotating connection point of the shaft seat are on the same axis;

[0019] The connection points between the rotating connecting block, the fourth connecting rod and the main supporting frame are all located on the vertical central axis of the main supporting frame.

[0020] Furthermore, each group of floating support mechanisms is provided with two shock absorbers, two second connecting rods and two third connecting rods respectively located at the front and rear sides of the floating support frame, and a rotating connecting block is respectively fixedly installed at the front and rear sides of the bottom of the main support frame;

[0021] The shock absorber is a spring shock absorber, a hydraulic shock absorber or a gas shock absorber with adjustable stroke.

[0022] Furthermore, the floating support frame is a rectangular frame structure, and the longitudinal drive axle floats through the floating support frame and is rotatably connected to two shock absorbers on the front and rear sides of the floating support frame.

[0023] A walking chassis is provided with the above-mentioned modular multi-wheel power mechanical posture adjustment mechanism.

[0024] The modular multi-wheel power mechanical posture adjustment mechanism of the present invention has the following advantages:

[0025] 1) The floating support mechanism is connected to the main support frame through a multi-link mechanism. A left and right slider for lateral adjustment and a telescopic drive mechanism for vertical telescopic adjustment are provided between the main support frame and the floating support mechanism. Driven by the telescopic drive mechanism, the fourth link can drive the floating support mechanism to float up and down relative to the main support frame, thereby adjusting the height of the longitudinal drive bridge, so that the mobile robot body can maintain a horizontal posture on the slope, while improving stability. At the same time, through the drive of the left and right sliders, the angle between the left and right floating support mechanisms and the ground can be adjusted to maintain the vertical relationship between the wheels and the slope, simplifying the complexity of the steering control logic and the variable wheelbase.

[0026] 2) The longitudinal double-section steering drive axle is adopted, which can achieve a larger angle adjustment of the wheels, and the rotation angle of each wheel can be adjusted individually, which can realize various steering controls such as on-the-spot steering, crab steering, Ackerman steering, etc. At the same time, the wheelbase can be changed by coordinating and adjusting the front and rear wheel groups, which increases the applicability of the scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 A three-dimensional diagram of a modular multi-wheeled power mechanical posture adjustment mechanism provided by the present invention;

[0029] Figure 2 A three-dimensional diagram of a modular multi-wheeled power mechanical posture adjustment mechanism provided by the present invention;

[0030] Figure 3 for Figure 1 Schematic diagram after hiding the main support frame;

[0031] Figure 4 for Figure 1 Schematic diagram after hiding the main support frame;

[0032] Figure 5 A structural diagram of an adapter frame for connecting the first connecting rod and the left and right sliders;

[0033] Figure 6 A front view of a modular multi-wheel power mechanical posture adjustment mechanism provided by the present invention;

[0034] Figure 7 It is a schematic diagram of the telescopic drive mechanisms of two sets of floating support mechanisms moving downward simultaneously;

[0035] Figure 8 It is a schematic diagram of the telescopic driving mechanism of the left floating support mechanism moving downward;

[0036] Fig. 9 A schematic diagram showing the telescopic drive mechanisms on the left and right sides extending simultaneously to raise the ground clearance of the chassis;

[0037] Fig.10 The left telescopic drive mechanism is shown to be extended to adjust the ground clearance of the floating support mechanism on the side;

[0038] Fig.11 Shown in Fig.10 A schematic diagram showing the left and right sliders moving to the left based on the state;

[0039] Fig.12 A structural stereogram of a longitudinal drive axle of the present invention;

[0040] Fig.13 A structural stereogram of the longitudinal drive axle from another perspective;

[0041] Fig.14 A structural stereogram of the longitudinal drive axle from another perspective;

[0042] Fig.15 It is a top view of the longitudinal drive axle;

[0043] Fig.16 It is a top view of the running wheels at the front and rear ends of the longitudinal drive axle arranged in an eight-shaped pattern;

[0044] Fig.17 It is a side view of the longitudinal drive axle;

[0045] Fig.18 It is the internal transmission path diagram of the longitudinal drive axle;

[0046] Fig.19 for Fig.18 A partial enlarged view of

[0047] Fig. 20 for Fig.19 Sectional view of AA in the middle;

[0048] Fig.21 It is a schematic diagram of the longitudinal drive axle swinging around the middle main support frame;

[0049] Fig. 22 For the corresponding Fig.21 The posture diagram of the two wheels in state;

[0050] Fig.23 is a schematic diagram of installing the first active push rod on the upper part of the longitudinal drive axle in another embodiment;

[0051] Fig.24 Schematic diagram of the adjustable wheelbase for adjusting the longitudinal drive axle;

[0052] Fig.25 A schematic diagram of the chassis of the present invention achieving double Ackerman steering after adjusting the direction of the wheels;

[0053] Fig.26 It is a schematic diagram of the chassis of the present invention realizing on-the-spot turning after adjusting the direction of the wheels. DETAILED DESCRIPTION

[0054] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0055] In order to fully understand the present invention, detailed steps and detailed structures will be proposed in the following description to illustrate the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0056] Figure 1-8 The figure shows a schematic diagram of a modular multi-wheeled power mechanical posture adjustment mechanism 1001 provided by the present invention. The modular multi-wheeled power mechanical posture adjustment mechanism 1001 comprises a main support frame 1000, a left and right slider 1100 is installed on the top of the support frame 1000, a group of floating support mechanisms 2000 is symmetrically installed on the left and right sides of the main support frame 1000, and the floating support mechanism 2000 is provided with a floating support frame 2100, a first connecting rod 2200, a shock absorber 2300, a second connecting rod 2400, a third connecting rod 2500, a fourth connecting rod 2600 and a telescopic driving mechanism 2700.

[0057] The longitudinal drive axle 100 is floatingly mounted on the floating support frame 2100, and a protruding shaft seat 2110 is provided on the side of the bottom of the floating support frame 2100 close to the main support frame 1000. The two ends of the first connecting rod 2200 are rotatably connected to the left and right sliders 1100 and the top of the floating support frame 2100. The top of the shock absorber 2300 is rotatably connected to the longitudinal drive axle 100. One end of the second connecting rod 2400 is rotatably connected to the bottom of the shock absorber 2300, and the other end of the second connecting rod 2400 is provided with a first rotating shaft hole 2410 and a second rotating shaft hole 2420, and the first rotating shaft hole 2410 is rotatably connected to the shaft seat 2110. One end of the third connecting rod 2500 is rotatably connected to the second rotating shaft hole 2420, and the other end of the third connecting rod 2500 is connected to the bottom of the main support frame 1000 through a rotating connection block 2510, one end of the rotating connection block 2510 is fixed to the bottom of the main support frame 1000, and the other end is rotatably connected to the third connecting rod 2500. One end of the fourth connecting rod 2600 is rotatably connected to the shaft seat 2110, and the other end is rotatably connected to the bottom of the main support frame 1000. The upper and lower ends of the telescopic driving mechanism 2700 are respectively connected to the middle of the fourth connecting rod 2600 and the top rotating rod of the main support frame 1000.

[0058] In an optional embodiment, the left and right sliders 1100 are slide rail type drivers including slide rails, sliders and slide drivers. The sliders are mounted on the slide rails and driven by the slide drivers to slide left and right. The slide drivers drive the sliders to slide, and drive the first connecting rods 2200 of the left and right floating support mechanisms 2000 to move left or right at the same time, so that the left and right floating support mechanisms 2000 rotate. As shown in the figure, drive axles are mounted on both floating support mechanisms 2000. When the first connecting rods 2200 of the left and right floating support mechanisms 2000 are driven to move left at the same time by sliding, the two drive axles are tilted to the left, and then the running wheels are perpendicular to the slope surface, so that the cockpit is parallel to the slope surface.

[0059] In order to ensure strength, each group of floating support mechanisms 2000 is equipped with a plurality of first connecting rods 2200, shock absorbers 2300, second connecting rods 2400, third connecting rods 2500, and fourth connecting rods 2600. For example, FIG. 1 shows that in an optional embodiment, the number of first connecting rods 2200, shock absorbers 2300, second connecting rods 2400, and third connecting rods 2500 is two. Rotating connecting blocks 2510 are provided on both the front and rear sides of the bottom of the main support frame 1000. The third connecting rods 2500 of the left and right floating support mechanisms 2000 are coaxially rotatably installed on the rotating connecting blocks (2510), which simplifies the connecting rod structure and facilitates installation.

[0060] The floating support mechanism 2000 is provided with two first connecting rods 2200 (such as Figure 1 and Figure 3 ), two first connecting rods 2200 are distributed on the front and rear sides of the floating support frame 2100; one end of the left and right sliders 1100 passes through Figure 5The adapter frame 2210 shown is connected to the two first connecting rods 2200. The adapter frame 2210 is bent in a continuous U-shape to form a first U-shaped opening 2211 in the middle and second U-shaped openings 2212 located on both sides of the first U-shaped opening 2211. The opening directions of the first U-shaped opening 2211 and the second U-shaped opening 2212 are opposite. The ends of the left and right sliders 1100 extend into the first U-shaped openings 2211 and are fixedly connected to the adapter frame 2210. The two first connecting rods 2200 extend into the second U-shaped openings 2212 and are rotatably connected to the adapter frame 2210. The left and right sliders 1100 are rotatably connected to the two first connecting rods 2200 at the same time through the adapter frame 2210, and the adapter frame 2210 is provided with a plurality of U-shaped openings respectively connected to the left and right sliders 1100 and the first connecting rods 2200, thereby enhancing the connection strength and stability between the floating support mechanism 2000 and the left and right sliders 1100. Furthermore, the design of the adapter frame 2210 allows the first connecting rod 2200 to rotate freely in the second U-shaped opening 2212 of the adapter frame 2210, ensuring that the floating support mechanism 2000 can be smoothly rotated and adjusted under the drive of the left and right sliders 1100. At the same time, the U-shaped opening design effectively prevents the first connecting rod 2200 from escaping from the second U-shaped opening 2212.

[0061] In an optional embodiment, the first shaft hole 2410, the fourth connecting rod 2600 and the rotation connection point of the shaft seat 2110 are on the same axis, and the rotation connection point of the rotation connection block 2510, the fourth connecting rod 2600 and the main support frame 1000 is located on the central axis of the main support frame 1000, so as to ensure that the left and right groups of floating support mechanisms 2000 can rotate with the central axis of the main support frame 1000 as the rotation center, and the floating support mechanism 2000 plays a central support role. When the floating support mechanism 2000 is rotated and adjusted, the third connecting rod 2500 and the fourth connecting rod 2600 can rotate smoothly around the central axis of the main support frame 1000, thereby further improving the stability and reliability of the entire posture adjustment mechanism. In addition, the upper and lower ends of the telescopic drive mechanism 2700 are respectively connected to the middle part of the fourth connecting rod 2600 and the top rotating rod of the main support frame 1000, so that when the telescopic drive mechanism 2700 drives the fourth connecting rod 2600 to perform telescopic movement, it can more accurately control the up and down floating of the floating support mechanism 2000, thereby achieving fine adjustment of the posture of the power machinery.

[0062] In an optional embodiment, the shock absorber 2300 is a spring shock absorber, a hydraulic shock absorber or a gas shock absorber with adjustable stroke. The floating support frame 2100 is a rectangular frame structure, and the longitudinal drive bridge 100 floats through the floating support frame 2100 and is rotatably connected to the two shock absorbers 2300 on the front and rear sides of the floating support frame 2100.

[0063] In an optional embodiment, the floating support mechanism 2000 is provided with two shock absorbers 2300, two second connecting rods 2400 and two third connecting rods 2500 respectively located at the front and rear sides of the floating support frame 2100. By providing multiple sets of connecting rod mechanisms, the floating support mechanism 2000 can more stably support and adjust the posture of the longitudinal drive bridge 100. When the mobile robot walks on complex terrain such as a slope, the floating support mechanism 2000 can be flexibly adjusted according to the terrain changes, thereby improving the stability and passability of the mobile robot.

[0064] The telescopic drive mechanism 2700 makes the height of the floating support mechanism 2000 adjustable to adapt to obstacles of different heights or terrain changes. By adjusting the telescopic length of the telescopic drive mechanism 2700, the overall height of the floating support mechanism 2000 is adjusted, so that the mobile robot can better adapt to complex terrain.

[0065] like Figure 9-11 Schematic diagrams showing the use of left and right sliders 1100 and / or telescopic drive mechanisms (2700) to adjust the chassis in three embodiments of the present invention are shown:

[0066] 1) If Fig. 9 As shown, Fig. 9 Figure a in the middle is the initial state, by controlling the two telescopic drive mechanisms 2700 to perform extension motion at the same time, such as Fig. 9 As shown in Figure b, the height of the main support frame 1000 is raised, thereby achieving the effect of raising the ground clearance and improving the obstacle crossing capability;

[0067] 2) If Fig.10 As shown, Fig.10 Figure a in the middle is the initial state. When the chassis moves on the slope, the left telescopic drive mechanism 2700 is controlled to extend, so that the left floating support mechanism moves vertically downward. Fig.10 As shown in Figure b, in this state, the wheels on both sides are perpendicular to the ground and one wheel is higher than the other, making the chassis more stable when moving on the slope.

[0068] 3) If Fig.11 As shown, in Fig.10 On the basis of middle b, the left and right sliders 1100 slide to the left, driving the first connecting rods 2200 on both sides to rotate, so that the left and right floating support mechanisms 2000 rotate to the left, and the wheels on both sides are perpendicular to the slope, which increases the stability and comfort of driving.

[0069] The modular multi-wheel power mechanical posture adjustment mechanism of the present invention has the following advantages:

[0070] 1) A floating support mechanism is used on both sides of the main support frame to be connected in a floating manner with a multi-link structure. By controlling the left and right sliders and the telescopic drive mechanism, the ground clearance of the chassis and the tilt posture of the chassis are adjusted, thereby improving the passability and stability of the mobile robot in complex terrain. The synergistic effect of the left and right sliders and the telescopic drive mechanism enables the chassis to flexibly respond to various terrain changes and ensures the smooth operation of the mobile robot. The modular multi-wheel power mechanical posture adjustment mechanism of the present invention has the advantages of simple structure, flexible adjustment, stability and reliability, and is widely used in various mobile robot fields.

[0071] like Figure 12-24 As shown, the structure of the longitudinal drive axle is further described below. The longitudinal drive axle 100 includes a multi-link support system 120 and a transmission system 130.

[0072] Multi-link support system 120

[0073] The multi-link support system 120 includes a rocker frame 121 and movable links 122, a rotating support 123 and a wheel 124 symmetrically installed at both ends of the rocker frame 121. The middle part of the rocker frame 121 is floatingly connected to the floating support frame 2100. Both ends of the rocker frame 121 are horizontally rotatably connected with the movable links 122. A first active push rod 125 is connected between the movable link 122 and the rocker frame 121. The rotating support 123 includes two upper and lower rotating sleeves that can rotate relative to each other. The upper rotating sleeve 123-1 is fixedly connected to the other end of the movable link 122, and a second active push rod 126 is connected between the lower rotating sleeve 123-2 and the movable link 122. A wheel 124 is rotatably installed on one side of the lower rotating sleeve 123-2.

[0074] Through the above structure, the longitudinal drive axle of the present invention can achieve a larger swing of the wheel: 1) by means of the extension and retraction of the first active push rod 125, the rotation between the active link 122 and the rocker frame 121 is driven; the first-level attitude adjustment of the wheel, i.e., the bridge steering, is achieved; 2) by means of the extension and retraction of the second active push rod 126, the rotation between the active link 122 and the lower rotating sleeve 123-2 is driven, and the wheel can be swung again on the basis of the first-level attitude adjustment, i.e., the wheel steering, to achieve a larger swing of the wheel. At the same time, the two-stage adjustment method is adopted, so that the wheel adjustment range is larger and the chassis maneuverability is stronger.

[0075] The present invention proposes a double-section steering drive axle balanced rocker arm structure, which, through clever design, enables the wheels to achieve a larger swing. This design mainly relies on the extension and retraction of two active push rods to drive the rotation between the connecting rod and the rocker frame. First, the extension and retraction of the first active push rod 125 can drive the rotation between the movable connecting rod 122 and the rocker frame 121. This rotation realizes the first-level attitude adjustment of the wheel, which is defined as bridge steering in this application. Secondly, the extension and retraction of the second active push rod 126 can drive the rotation between the movable connecting rod 122 and the lower rotating sleeve 123-2. On the basis of the first-level attitude adjustment, this rotation can again adjust the wheel to swing, which is defined as wheel steering in this application. This design allows the wheel to swing more, allowing the vehicle to better adapt to various road conditions during driving. The present invention adopts a two-stage adjustment method, which can make the wheel adjustment range larger, and the steering of each wheel can be controlled individually, which can achieve more complex steering. Such as Figure 25-26 As shown, by adjusting the corresponding first active push rod 125 and the second active push rod 126, the chassis of the present invention can achieve double Ackerman steering ( Fig.25 ) and turn in place ( Fig.26 ), which greatly improves the maneuverability and flexibility of turning on narrow roads.

[0076] In a preferred embodiment, the rocker frame 121 and the movable connecting rod 122 are both hollow tubes, so that the transmission system can be installed inside the rocker frame 121 and the movable connecting rod 122. The rocker frame 121 and the movable connecting rod 122 are both provided with a U-shaped rotating frame at one end thereof for rotational connection, and the rotational connection is more stable and prevents disconnection.

[0077] In a preferred embodiment, the first active push rod 125 and the second active push rod 126 are electric push rods or hydraulic push rods.

[0078] In a preferred embodiment, the first active push rod 125 can be installed on one side of the balance rocker arm (such as Figure 3 ), or it can be installed on the top (such as Fig.12 ), and the second active push rod 126 is installed at the bottom of the balancing rocker arm to avoid mutual interference.

[0079] Drivetrain 130

[0080] The transmission system 130 includes a power input shaft 131, a front transmission mechanism 132, and a rear transmission mechanism 133. The front transmission mechanism 132 and the rear transmission mechanism 133 are used to drive the front wheels and the rear wheels respectively. The power input shaft 131 is installed in the middle of the floating support frame 2100 through a bearing, and the other end is connected to the front transmission mechanism 132 and the rear transmission mechanism 133 for transmission.

[0081] The front transmission mechanism 132 and the rear transmission mechanism 133 are respectively provided with a first rotating shaft 134, a second transmission shaft 135 and a gear transmission mechanism 136 in the transmission direction. The first rotating shaft 134 and the second rotating shaft 135 are respectively rotatably arranged in the rocker frame 121 and the movable connecting rod 122, and the gear transmission mechanism 136 is arranged in the rotating support 123.

[0082] One end of the first rotating shaft 134 is gear-engaged with the power input shaft 131, and the other end of the first rotating shaft 134 is transmission-connected to one end of the second transmission shaft 135 through a universal joint 137. The other end of the second transmission shaft 135 is connected to the input end of the gear transmission mechanism 136, and the output end of the gear transmission mechanism 136 is connected to the wheel axle.

[0083] A first bevel gear 134-1 is provided at one end of the first rotating shaft 134 and is gear-engaged with the power input shaft 131. A second bevel gear 135-1 is provided at the other end of the second transmission shaft 135 and is gear-engaged with the gear transmission mechanism 136. The gear transmission mechanism 136 is provided with a third transmission shaft 136-1 located in the rotating support 123, a third bevel gear 136-2 meshing with the second bevel gear 135-1 is fixed to the upper end of the third transmission shaft 136-1, a fourth bevel gear 136-3 is fixed to the lower end of the third transmission shaft 136-1, one end of the wheel shaft is meshed with the fourth bevel gear, and the other end is fixedly connected to the wheel 124.

[0084] A bearing for mounting the third transmission shaft 136 - 1 is provided in the rotation support 123 , so that the rotation of the upper rotation sleeve and the lower rotation sleeve does not affect the rotation of the third transmission shaft 136 - 1 inside.

[0085] The rotation connection point between the movable link 122 and the rocker arm frame 121 coincides with the rotation point of the universal joint 137 in the vertical direction. Figure 8 dotted line.

[0086] First bearings 134 - 2 are provided at both ends of the first rotating shaft 134 , and the first bearings 134 - 2 are installed in the rocker frame 121 ; second bearings 135 - 2 are provided at both ends of the second rotating shaft 135 , and the second bearings 135 - 2 are installed in the movable connecting rod 122 .

[0087] The floating support frame 2100 is installed with a coupling 101 , one end of the coupling 101 is connected to the driving system of the mobile chassis, and the other end is connected to the power input shaft 131 .

[0088] like Figure 7 As shown, the transmission path of the transmission system 130 is:

[0089] The power of the driving mechanism such as the driving motor and the internal combustion engine on the mobile chassis is transmitted to the power input shaft 131 , and the power input shaft 131 transmits the power to the front transmission mechanism 132 and the rear transmission mechanism 133 at the same time.

[0090] The power transmission of the front transmission mechanism 132 is used as an example for explanation: the power of the power input shaft 131 is transmitted to the gear transmission mechanism 136 in the rotating support 123 through the first rotating shaft 134, the universal joint 137, and the second transmission shaft 135 in sequence, and the power is transmitted to the wheel axle through the fourth bevel gear 136-3 at the lower end of the gear transmission mechanism 136 to finally realize the driving of the wheel.

[0091] The longitudinal double-section steering drive axle of the present invention has the following advantages:

[0092] 1) The double section mainly solves two problems. One is the steering problem. It can realize the swing of each wheel. In addition, the wheelbase can be changed by coordinating and adjusting the front and rear wheel groups, which increases the applicability of the scene. 2) The double-section bridge design is adopted, which can realize a larger angle adjustment of the wheel, and the rotation angle of each wheel can be adjusted separately, which can realize various steering controls such as in-situ steering, crab steering, and Ackerman steering. 3) The first rotating shaft is connected to the second transmission shaft through a universal joint, and the rotating support is composed of two relatively rotatable rotating sleeves, which can realize the two-stage posture adjustment without affecting the power transmission of the internal transmission system. 4) The rocker frame and the movable connecting rod adopt a hollow tube design and a transmission shaft is provided inside, which reduces the overall weight and protects the transmission shaft. 5) The electric push rod or hydraulic push rod is adopted to make the system drive more efficient. 6) It can realize four-wheel drive, with stronger driving and off-road performance. At the same time, it can realize in-situ steering with the help of four-wheel drive. (7) Compared with the traditional transverse bridge, the bridge of the present application is a longitudinal bridge (longitudinal bridge), that is, it is located on both sides of the chassis in the direction of travel. This layout enables the vehicle to better cope with different road conditions during driving, and improves driving stability and passability. In addition, the longitudinal bridge design also helps to improve the space utilization of the vehicle, so that the vehicle has a larger internal space without changing its overall size.

[0093] The chassis provided by the present invention has a longitudinal drive bridge 100 floatingly installed at both ends of the modular multi-wheel power machinery posture adjustment mechanism 1001, which realizes more complex morphological adjustments, including but not limited to: chassis ground clearance adjustment, chassis tilt posture adjustment, front and rear wheelbase adjustment, left and right wheel track adjustment, and wheel steering angle adjustment. These adjustment functions enable the power machinery to better adapt to different working environments and task requirements. For example, in complex terrain, by adjusting the ground clearance and tilt posture of the chassis, it is possible to avoid collision or jamming of the chassis with the ground, as well as the stability of movement on a slope. At the same time, adjusting the front and rear wheelbase and left and right wheel tracks can optimize the steering performance and driving stability of the power machinery. Adjustment of the wheel steering angle can enable the power machinery to flexibly turn in a narrow space and improve maneuverability.

[0094] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A modular multi-wheeled power mechanical posture adjustment mechanism, the modular multi-wheeled power mechanical posture adjustment mechanism is installed between two sets of longitudinal drive axles (100), characterized in that: The modular multi-wheeled power mechanical posture adjustment mechanism comprises a main support frame (1000), a left and right slider (1100) is installed on the top of the main support frame (1000), and a group of floating support mechanisms (2000) are symmetrically installed on the left and right sides of the main support frame (1000), and the floating support mechanism (2000) is provided with: A floating support frame (2100), on which a longitudinal drive axle (100) is floatingly mounted, and an axle seat (2110) is provided on one side of the bottom of the floating support frame (2100) close to the main support frame (1000); A first connecting rod (2200), both ends of which are rotatably connected to the left and right sliders (1100) and the top of the floating support frame (2100); A shock absorber (2300), the top of the shock absorber (2300) is rotatably connected to the longitudinal drive bridge (100); A second connecting rod (2400), one end of the second connecting rod (2400) is rotatably connected to the bottom of the shock absorber (2300), the other end of the second connecting rod (2400) is provided with a first rotating shaft hole (2410) and a second rotating shaft hole (2420), and the first rotating shaft hole (2410) is rotatably connected to the shaft seat (2110); A third connecting rod (2500), one end of the third connecting rod (2500) is rotatably connected to the second rotating shaft hole (2420), and the other end of the third connecting rod (2500) is rotatably connected to the bottom of the main support frame (1000); A fourth connecting rod (2600), one end of the fourth connecting rod (2600) is rotatably connected to the shaft seat (2110), and the other end is rotatably connected to the bottom of the main support frame (1000); The telescopic driving mechanism (2700) has upper and lower ends connected to the middle of the fourth connecting rod (2600) and the top rotating rod of the main supporting frame (1000) respectively.

2. A modular multi-wheeled power mechanical posture adjustment mechanism as claimed in claim 1, characterized in that: The left and right slider (1100) is a slide rail type driver comprising a slide rail, a slider and a slide driver. The slider is installed on the slide rail and driven by the slide driver to slide left and right.

3. A modular multi-wheeled power mechanical posture adjustment mechanism as claimed in claim 1, characterized in that: The floating support mechanism (2000) is provided with two first connecting rods (2200) that are fixedly connected, and the two first connecting rods (2200) are distributed on the front and rear sides of the floating support frame (2100); The ends of the left and right sliders (1100) are connected to the two first connecting rods (2200) via an adapter frame (2210). The adapter frame (2210) is bent in a continuous U-shape to form a first U-shaped opening (2211) in the middle and second U-shaped openings (2212) located on both sides of the first U-shaped opening (2211), wherein the first U-shaped opening (2211) faces the main support frame (1000) and the second U-shaped opening (2212) faces the floating support frame (2100). One end of the left and right sliders (1100) extends into the first U-shaped opening (2211) and is fixedly connected to the adapter frame (2210), and the two first connecting rods (2200) extend into the second U-shaped opening (2212) and are rotatably connected to the adapter frame (2210).

4. A modular multi-wheeled power mechanical posture adjustment mechanism as claimed in claim 1, characterized in that: A rotating connection block (2510) is fixedly mounted on the bottom of the main support frame (1000). The third connecting rods (2500) of the left and right floating support mechanisms (2000) are coaxially rotatably mounted on the rotating connection block (2510).

5. A modular multi-wheeled power mechanical posture adjustment mechanism as claimed in claim 4, characterized in that: The first rotating shaft hole (2410), the fourth connecting rod (2600) and the rotating connection point of the shaft seat (2110) are on the same axis; The connection points between the rotating connection block (2510), the fourth connecting rod (2600) and the main support frame (1000) are all located on the vertical central axis of the main support frame (1000).

6. A modular multi-wheeled power mechanical posture adjustment mechanism as claimed in claim 5, characterized in that: Each group of floating support mechanisms (2000) is provided with two shock absorbers (2300), two second connecting rods (2400) and two third connecting rods (2500) respectively located on the front and rear sides of the floating support frame (2100), and a rotating connection block (2510) is respectively fixedly installed on the front and rear sides of the bottom of the main support frame (1000); The shock absorber (2300) is a spring shock absorber, a hydraulic shock absorber or a pneumatic shock absorber with adjustable stroke.

7. A modular multi-wheeled power mechanical posture adjustment mechanism as claimed in claim 6, characterized in that: The floating support frame (2100) is a rectangular frame structure, and the longitudinal drive bridge (100) floats through the floating support frame (2100) and is rotatably connected to two shock absorbers (2300) on the front and rear sides of the floating support frame (2100).

8. A walking chassis, characterized in that: The walking chassis is provided with a modular multi-wheel power mechanical posture adjustment mechanism as described in any one of claims 1-7.

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