Modular multi-wheel power machine posture adjusting mechanism and walking chassis

Abstract

The application provides a modular multi-wheel power machine posture adjusting mechanism and a walking chassis. The modular multi-wheel power machine posture adjusting mechanism is installed between two groups of longitudinal drive axles. The modular multi-wheel power machine posture adjusting mechanism comprises 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, the first connecting rod, the shock absorber, the second connecting rod, the third connecting rod, the fourth connecting rod and the telescopic driving mechanism are connected. The main support frame of the adjusting mechanism is connected with the floating support mechanism through the multi-connecting rod structure on the two sides. Through the control of the left and right sliders and the telescopic driving mechanism, the ground clearance adjustment of the chassis and the inclination posture adjustment of the chassis are realized, and the passability and stability of the mobile robot in the complex terrain are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to mobile robots, in particular to a modular multi-wheel powered mechanical posture adjusting mechanism and a walking chassis. BACKGROUND

[0002] At present, mobile robots are widely used due to their strong flexibility and maneuverability. Wheeled mobile robots have certain advantages due to low cost, but the obstacle crossing, climbing and slope walking capabilities of wheeled robots need to be improved to adapt to more complex road conditions. SUMMARY

[0003] The present application provides a modular multi-wheel powered mechanical posture adjusting mechanism, which is installed between two groups of longitudinal drive shafts. The modular multi-wheel powered mechanical posture adjusting mechanism comprises a main support frame, a left and right slider is installed on the top of the main support frame, and a group of floating support mechanisms is symmetrically installed on the left and right sides of the main support frame. The floating support mechanism is provided with:

[0004] The floating support frame is floatingly installed with a longitudinal drive shaft, and the bottom of the floating support frame is provided with a shaft seat near the main support frame;

[0005] The first connecting rod is rotatably connected to the left and right sliders and the top of the floating support frame at both ends;

[0006] The shock absorber is rotatably connected to the longitudinal drive shaft at the top;

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

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

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

[0010] The telescopic drive mechanism is rotatably connected to the middle of the fourth connecting rod and the top of the main support frame at both ends.

[0011] Further, the left and right sliders are slide rail type drivers comprising slide rails, slide blocks and slide drivers, the slide blocks are installed on the slide rails and driven by the slide drivers to slide left and right.

[0012] Further, the floating support mechanism is provided with two first connecting rods connected in a fixed manner, and the two first connecting rods are distributed on the front and rear sides of the floating support frame.

[0013] The left and right slider ends are connected with the two first connecting rods through an adapter,

[0014] The adapter is continuously U-shaped bent 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 openings face the floating support frames,

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

[0016] Further, a rotating connecting block is fixedly installed at the bottom of the main support frame,

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

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

[0019] The connecting positions of the rotating connecting block, the fourth connecting rod and the main support frame are all located on the vertical central axis line of the main support frame.

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

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

[0022] Further, the floating support frame is a rectangular frame structure, and the longitudinal driving bridge floats through the floating support frame and is rotatably connected with the two shock absorbers at the front and rear sides of the floating support frame.

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

[0024] The modular multi-wheel power mechanical posture adjusting mechanism has the advantages that:

[0025] 1) The floating support mechanism is connected with the main support frame through a multi-connecting rod mechanism, the left and right sliders for horizontal adjustment and the telescopic driving mechanism for vertical telescopic adjustment are arranged between the main support frame and the floating support mechanism, the fourth connecting rod can drive the floating support mechanism to float up and down relative to the main support frame through the driving of the telescopic driving mechanism, so as to adjust the height of the longitudinal driving bridge, so that the mobile robot vehicle body can maintain a horizontal posture on a slope, and the stability is improved. At the same time, through the driving of the left and right sliders, the included angle between the left and right floating support mechanisms and the ground can be adjusted, the vertical relationship between the wheels and the slope surface is maintained, and the complexity of the steering control logic and the variable wheel track is simplified.

[0026] 2) Adopted longitudinal double-joint steering drive axle, can realize greater angle adjustment to wheels, and rotation angle of each wheel can be individually adjusted, can realize various steering controls such as spot steering, crabbing steering, Ackerman steering, and through coordinated adjustment of front and rear two wheel groups, variable wheel track is realized, the scene applicability is increased. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor under the premise of the drawings.

[0028] Figure 1 A perspective view of a modular multi-wheel power mechanical posture adjusting mechanism provided by the present application is shown in the figure.

[0029] Figure 2 A perspective view of a modular multi-wheel power mechanical posture adjusting mechanism provided by the present application is shown in the figure.

[0030] Figure 3 A perspective view of a modular multi-wheel power mechanical posture adjusting mechanism provided by the present application is shown in the figure. Figure 1 A schematic view of the hidden main support frame is shown in the figure.

[0031] Figure 4 A perspective view of a modular multi-wheel power mechanical posture adjusting mechanism provided by the present application is shown in the figure. Figure 1 A schematic view of the hidden main support frame is shown in the figure.

[0032] Figure 5 A structure diagram of a switching frame for connecting the first connecting rod and the left and right sliders is shown in the figure.

[0033] Figure 6 A front view of a modular multi-wheel power mechanical posture adjusting mechanism provided by the present application is shown in the figure.

[0034] Figure 7 A schematic view of the two groups of floating support mechanisms simultaneously moving downward is shown in the figure.

[0035] Figure 8 A schematic view of the left floating support mechanism moving downward is shown in the figure.

[0036] Figure 9 A schematic view of the left and right side telescopic drive mechanisms simultaneously extending to raise the chassis ground clearance is shown in the figure.

[0037] Figure 10 A schematic view of the left telescopic drive mechanism extending to adjust the ground clearance of the left floating support mechanism is shown in the figure.

[0038] Figure 11 Fig. 1 shows a schematic diagram of the left and right sliders moving to the left side on the basis of the state of Figure 10 Fig. 2 shows a schematic diagram of the left and right sliders moving to the right side on the basis of the state of

[0039] Figure 12 Fig. 3 shows a perspective view of the structure of a longitudinal drive axle according to the present application;

[0040] Figure 13 Fig. 4 shows a perspective view of the structure of a longitudinal drive axle from another perspective;

[0041] Figure 14 Fig. 5 shows a perspective view of the structure of a longitudinal drive axle from another perspective;

[0042] Figure 15 Fig. 6 shows a top view of a longitudinal drive axle;

[0043] Figure 16 Fig. 7 shows a top view of a longitudinal drive axle with the walking wheels at the front and rear ends thereof in a splayed distribution;

[0044] Figure 17 Fig. 8 shows a side view of a longitudinal drive axle;

[0045] Figure 18 Fig. 9 shows a diagram of the internal transmission path of a longitudinal drive axle;

[0046] Figure 19 Fig. 10 shows a partial enlarged view of Figure 18 Fig. 11 shows a partial enlarged view of

[0047] Figure 20 Fig. 12 shows a sectional view of A-A in Figure 19 Fig. 13 shows a sectional view of B-B in

[0048] Figure 21 Fig. 14 shows a schematic diagram of a longitudinal drive axle swinging about the middle main support frame;

[0049] Figure 22 Fig. 15 shows a diagram of the posture of the two wheels when corresponding to Figure 21 Fig. 16 shows a diagram of the posture of the two wheels when corresponding to

[0050] Figure 23 Fig. 17 shows a schematic diagram of installing a first main push rod on the upper portion of a longitudinal drive axle in another embodiment;

[0051] Figure 24 Fig. 18 shows a schematic diagram of adjusting the wheel track of a longitudinal drive axle;

[0052] Figure 25 Fig. 19 shows a schematic diagram of realizing double Ackerman steering after adjusting the wheel direction of a chassis according to the present application;

[0053] Figure 26 Fig. 20 shows a schematic diagram of realizing in-place steering after adjusting the wheel direction of a chassis according to the present application. DETAILED DESCRIPTION

[0054] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail to avoid obscuring aspects of the present application.

[0055] In order to thoroughly understand the present application, detailed steps and detailed structures will be presented in the following description to explain the technical solutions of the present application. The preferred embodiments of the present application are described in detail as follows, however, the present application can have other embodiments in addition to these detailed descriptions.

[0056] Figures 1-8 A schematic diagram of a posture adjustment mechanism 1001 of a modular multi-wheel power machine is shown. The posture adjustment mechanism 1001 of the modular multi-wheel power machine includes a main support frame 1000, a left-right slider 1100 installed on the top of the support frame 1000, and a set of floating support mechanisms 2000 symmetrically installed on the left and right sides of the main support frame 1000. 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 an extension drive mechanism 2700.

[0057] The longitudinal drive bridge 100 is floatingly installed on the floating support frame 2100, and the bottom of the floating support frame 2100 near one side of the main support frame 1000 is provided with a protruding shaft seat 2110. The two ends of the first connecting rod 2200 are rotatably connected to the left-right slider 1100 and the top of the floating support frame 2100. The top of the shock absorber 2300 is rotatably connected to the longitudinal drive bridge 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 connecting block 2510, one end of the rotating connecting 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 extension drive mechanism 2700 are rotatably connected to the middle of the fourth connecting rod 2600 and the top of the main support frame 1000, respectively.

[0058] In an optional embodiment, the left and right sliders 1100 are slide rail type drivers comprising slide rails, slide blocks and slide drivers, the slide blocks are installed on the slide rails and are driven to slide left and right by the slide drivers, the slide drivers drive the slide blocks to slide while driving the first links 2200 of the left and right floating support mechanisms 2000 to move left or right simultaneously, so that the left and right floating support mechanisms 2000 rotate. As shown in the figure, a drive bridge is installed on each of the two floating support mechanisms 2000, when the slide drivers drive the first links 2200 of the left and right floating support mechanisms 2000 to move left simultaneously, the two drive bridges are tilted left, and then the walking wheels are perpendicular to the slope surface, so that the cockpit is parallel to the slope surface.

[0059] In order to ensure the strength, each floating support mechanism 2000 is provided with a plurality of first links 2200, shock absorbers 2300, second links 2400, third links 2500 and fourth links 2600. For example, as shown in Figure 1, in an optional embodiment, the number of the first links 2200, shock absorbers 2300, second links 2400 and third links 2500 is two. The bottom of the main support frame 1000 is provided with rotating connecting blocks 2510 on the front and rear sides, and the third links 2500 of the left and right floating support mechanisms 2000 are coaxially and rotatably installed on the rotating connecting blocks 2510, which simplifies the link structure and facilitates installation.

[0060] The floating support mechanism 2000 is provided with two first links 2200 (as shown in Figure 1 and Figure 3 ), which are fixedly connected and distributed on the front and rear sides of the floating support frame 2100; one end of the left and right sliders 1100 is connected to the first links 2200 through Figure 5The adapter frame 2210 is connected with two first connecting rods 2200, and the adapter frame 2210 is continuously bent to form a first U-shaped opening 2211 in the middle and a second U-shaped opening 2212 on both sides of the first U-shaped opening 2211. The openings of the first U-shaped opening 2211 and the second U-shaped opening 2212 are opposite to each other. The left and right sliders 1100 extend into the first U-shaped opening 2211 and are fixedly connected with the adapter frame 2210. The two first connecting rods 2200 extend into the second U-shaped opening 2212 and are rotatably connected with the adapter frame 2210. The left and right sliders 1100 are rotatably connected with the two first connecting rods 2200 through the adapter frame 2210. The adapter frame 2210 is provided with a plurality of U-shaped openings for connecting 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. Further, the design of the adapter frame 2210 allows the first connecting rods 2200 to freely rotate in the second U-shaped opening 2212 of the adapter frame 2210, ensuring that the floating support mechanism 2000 can smoothly rotate under the drive of the left and right sliders 1100. The U-shaped opening design effectively prevents the first connecting rods 2200 from coming out of the second U-shaped opening 2212.

[0061] In an optional embodiment, 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, and the rotating connection block 2510, the fourth connecting rod 2600, and the rotating connection of the main support frame 1000 are located on the central axis of the main support frame 1000, to ensure that the left and right groups of floating support mechanisms 2000 can rotate around the central axis of the main support frame 1000, thereby serving as a central support for the floating support mechanisms 2000. When the floating support mechanisms 2000 are adjusted, the third connecting rod 2500 and the fourth connecting rod 2600 can stably rotate around the central axis of the main support frame 1000, thereby further improving the stability and reliability of the entire attitude adjustment mechanism. In addition, the upper and lower ends of the telescopic drive mechanism 2700 are respectively rotatably connected with the middle of the fourth connecting rod 2600 and the top rotating rod of the main support frame 1000, so that the telescopic drive mechanism 2700 can more accurately control the up-and-down floating of the floating support mechanisms 2000 when driving the fourth connecting rod 2600 to perform telescopic movement, thereby achieving fine adjustment of the attitude of the power machine.

[0062] In an optional embodiment, the shock absorber 2300 is a spring shock absorber, a hydraulic shock absorber, or a pneumatic 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 with 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 arranging multiple sets of connecting rod mechanisms, the floating support mechanism 2000 can more stably support and adjust the posture of the longitudinal drive axle 100. When the mobile robot is walking on complex terrains such as slopes, the floating support mechanism 2000 can be flexibly adjusted according to the changes in the terrain, thereby improving the stability and passability of the mobile robot.

[0064] The telescopic drive mechanism 2700 allows the height of the floating support mechanism 2000 to be adjusted to adapt to obstacles or changes in terrain of different heights. 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 terrains.

[0065] As shown in Figures 9-11 the schematic diagram of adjusting the chassis by using the left and right sliders 1100 and / or the telescopic drive mechanism (2700) in three embodiments of the present application is shown:

[0066] 1) As shown in Figure 9 , Figure 9 Fig. a is the initial state, by controlling the two telescopic drive mechanisms 2700 to make elongation motion at the same time, as shown in Figure 9 Fig. b, the height of the main support frame 1000 is raised, thereby realizing the function of raising the ground clearance and improving the obstacle crossing ability;

[0067] 2) As shown in Figure 10 , Figure 10 Fig. a is the initial state, when the chassis is moving on a slope, by controlling the left telescopic drive mechanism 2700 to make elongation motion, the left floating support mechanism moves vertically downward, as shown in Figure 10 Fig. b, in this state, both wheels are perpendicular to the ground and one side wheel is higher than the other side wheel, so that the chassis moves more stably on the slope surface.

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

[0069] The modular multi-wheel power machine posture adjusting mechanism of the present application has the following advantages:

[0070] 1) A floating support mechanism is connected to both sides of the main support frame using a multi-link structure. By controlling the left and right sliders and the telescopic drive mechanism, the chassis ground clearance and tilt position can be adjusted, improving the mobile robot's maneuverability and stability in complex terrain. The synergistic effect of the left and right sliders and the telescopic drive mechanism enables the chassis to flexibly adapt to various terrain changes, ensuring the smooth operation of the mobile robot. The modular multi-wheeled power mechanical posture adjustment mechanism of the present invention has the advantages of simple structure, flexible adjustment, and stable and reliable performance, and is widely used in various mobile robot fields.

[0071] like Figures 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 the 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 greater range of wheel swing: 1) By utilizing the extension and retraction of the first active push rod 125, the movable link 122 and the rocker frame 121 are driven to rotate, achieving primary wheel attitude adjustment, i.e., axle steering; 2) By utilizing the extension and retraction of the second active push rod 126, the movable link 122 and the lower rotating sleeve 123-2 are driven to rotate, which can further adjust the wheel swing, i.e., wheel steering, based on the primary attitude adjustment, achieving a greater wheel swing range. The simultaneous use of a two-stage adjustment method allows for a greater wheel adjustment range, making the chassis more maneuverable.

[0075] The application provides a double-joint steering drive axle balanced swing arm structure, which can realize larger swing of a wheel through ingenious design. The design mainly relies on extension and contraction of two active push rods to drive rotation between a connecting rod and a swing arm frame. First, extension and contraction of the first active push rod 125 can drive rotation between the movable connecting rod 122 and the swing arm frame 121. The rotation realizes first attitude adjustment of the wheel, which is defined as bridge steering in the application. Second, extension and contraction of the second active push rod 126 can drive rotation between the movable connecting rod 122 and the lower rotating sleeve 123-2. On the basis of the first attitude adjustment, the rotation can further swing the wheel, which is defined as wheel steering in the application. The design can realize larger swing of the wheel, and the vehicle can better adapt to various road conditions during driving. The application adopts two-stage adjustment, so that the wheel adjustment range is larger, and the steering of each wheel can be controlled individually, and more complex steering can be realized. Figures 25-26 As shown in the figure, by adjusting the corresponding first active push rod 125 and the second active push rod 126, the chassis of the application can realize double Ackerman steering Figure 25 and in-place steering Figure 26 , and greatly improves the maneuverability and flexibility of U-turn steering in narrow roads.

[0076] In a preferred embodiment, the swing arm frame 121 and the movable connecting rod 122 are both hollow pipes, so that a transmission system can be installed in the swing arm frame 121 and the movable connecting rod 122.

[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 balanced swing arm (such as Figure 3 ), or on the top (such as Figure 12 ), and the second active push rod 126 is installed on the bottom of the balanced swing arm, so as to avoid mutual interference.

[0079] Transmission system 130

[0080] The transmission system 130 comprises 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 respectively used for driving front wheels and rear wheels. The power input shaft 131 is installed in the middle of the floating support frame 2100 through a bearing, and the other end is simultaneously in transmission connection with the front transmission mechanism 132 and the rear transmission mechanism 133.

[0081] The front transmission mechanism 132 and the rear transmission mechanism 133 are sequentially provided with a first rotating shaft 134, a second rotating 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 arm 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 in gear engagement with the power input shaft 131, the other end of the first rotating shaft 134 is in transmission connection with one end of the second rotating shaft 135 through a universal joint 137, the other end of the second rotating shaft 135 is connected with an input end of the gear transmission mechanism 136, and an output end of the gear transmission mechanism 136 is connected with a wheel shaft.

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

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

[0085] The rotating connection point of the movable connecting rod 122 and the rocker arm frame 121 coincides with the rotating point of the universal joint 137 in the vertical direction, as Figure 8 shown by the dotted line.

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

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

[0088] As Figure 7 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 simultaneously transmits the power to the front transmission mechanism 132 and the rear transmission mechanism 133.

[0090] Take the power transmission of the former transmission mechanism 132 as an example: the power of the power input shaft 131 is sequentially 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, and the power is transmitted to the wheel shaft through the fourth bevel gear 136-3 at the lower end of the gear transmission mechanism 136, and finally the driving of the wheel is realized.

[0091] The longitudinal double-section steering drive axle of the application has the advantages that:

[0092] 1) The double-section mainly solves two problems, one is the steering problem, which can realize the swing of each wheel, and the other is that the wheel track can be changed by coordinating and adjusting the front and rear two wheel groups, which increases the scene applicability. 2) The double-section bridge design is adopted, which can realize greater angle adjustment of the wheels, and the rotation angle of each wheel can be adjusted individually, which can realize various steering controls such as spot steering, crab steering and Ackerman steering. 3) The first rotating shaft is in transmission connection with the second transmission shaft through the universal joint, and the rotating support is composed of two upper and lower rotating sleeves that can rotate relative to each other, so that the power transmission of the internal transmission system is not affected when two-stage posture adjustment is realized. 4) The rocker arm frame and the movable connecting rod are designed as hollow pipes and have transmission shafts inside, which reduces the overall weight and also plays a protective role for the transmission shaft. 5) An electric push rod or a hydraulic push rod is adopted, which makes the system driving more efficient. 6) Four-wheel drive can be realized, and the driving and off-road performance is stronger, and the four-wheel drive can also realize spot steering. (7) Compared with the traditional transverse bridge, the bridge of the application is a longitudinal bridge (longitudinal bridge), which is located on both sides of the chassis in the direction of travel. This layout makes the vehicle better cope with different road conditions during driving, improves the stability and passability of driving, and also helps to improve the space utilization of the vehicle, so that the vehicle has a larger internal space under the condition of unchanged overall size.

[0093] The chassis provided by the application realizes more complex form adjustment, including but not limited to: chassis ground clearance adjustment, chassis inclination posture adjustment, front and rear wheelbase adjustment, left and right wheel track adjustment, and wheel steering angle adjustment, etc. These adjustment functions make the power machine better adapt to different working environments and task requirements. For example, in complex terrain, by adjusting the ground clearance and inclination posture of the chassis, the collision or jamming of the chassis with the ground can be avoided, and the stability of moving on the slope surface can be improved. At the same time, adjusting the front and rear wheelbase and the left and right wheel track can optimize the steering performance and driving stability of the power machine. The adjustment of the wheel steering angle can make the power machine flexibly steer in a narrow space, improve the maneuverability.

[0094] The preferred embodiments of the present application have been described. It is to be understood that the application is not limited to the above specific embodiments, and that devices and structures not described in detail should be understood to be implemented in the ordinary way in the art; any person skilled in the art can make many possible changes and modifications to the technical solutions of the present application, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of the present application, which does not affect the essential content of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the content of the technical solutions of the present application, still belongs to the scope of protection of the technical solutions of the present application.

Claims

1. A modular multi-wheel power mechanical posture adjustment mechanism, wherein the modular multi-wheel 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), a longitudinal drive axle (100) is floatingly mounted on the floating support frame (2100), and an axle seat (2110) is provided on a 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 axle (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), 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); 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 drive 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 support frame (1000) respectively.

2. A modular multi-wheeled power mechanical posture adjustment mechanism according to 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 is driven by the slide driver to slide left and right.

3. A modular multi-wheeled power mechanical posture adjustment mechanism according to 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) through 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). 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 according to claim 1, characterized in that: A rotating connection block (2510) is fixedly installed at 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 according to 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 connecting 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 according to claim 5, characterized in that: Each floating support mechanism (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 connecting block (2510) is 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 according to claim 6, characterized in that: The floating support frame (2100) is a rectangular frame structure. 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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