Wheel type chassis and intelligent equipment

Abstract

The invention discloses a wheel type chassis and intelligent equipment. The wheel type chassis comprises a chassis body; each wheel set mechanism comprises a wheel set frame, a rolling wheel arranged on the wheel set frame in a mode of rotating around a first axis and a first driving mechanism used for driving the rolling wheel to rotate, and each wheel set frame is arranged at the bottom of the chassis body in a mode of rotating around a second axis; a second driving mechanism; and the multiple steering mechanisms are connected between the second driving mechanism and the wheel set frames correspondingly, the steering mechanisms are driven to work through the second driving mechanism, then the wheel set frames are driven to rotate around the second axis, and therefore the wheels are steered. Each roller of the wheel type chassis is driven by the first driving mechanism to rotate and is combined with the second driving mechanism to drive the steering mechanism to rotate the wheel set frame, so that the steering of the rollers is realized, the operation is flexible, the collaboration is good, and the turning radius is small. In addition, the wheel type chassis not only can execute straight movement, but also can execute motions such as turning and in-situ rotation, and is particularly suitable for operating scenes in narrow spaces.

Description

Technical Field

[0001] The present invention belongs to the technical field of equipment movement control, and particularly relates to a wheeled chassis and an intelligent device. Background Art

[0002] An intelligent device is a self-propelled device that can replace human labor to complete various tasks in different scenarios. With the development of technology, more and more intelligent devices have entered people's lives. There are both intelligent devices with autonomous walking and those with manual control for movement, which are widely used in different scenarios such as inspection, handling, delivery / food delivery, cleaning, shopping guide / tour guide, and rescue.

[0003] As the most fundamental and crucial part of the movement function of an intelligent device, the chassis directly affects the stability of the intelligent device during subsequent operation. In some harsh environments and / or terrains, the key for an intelligent device to perform tasks in different scenarios is its movement ability. For intelligent devices applied to special scenarios, their chassis is different from traditional chassis and requires flexible passability on gravel terrains (such as gobi, building ruins after an earthquake, etc.). For example, in an emergency rescue environment, the chassis of an intelligent device needs powerful control power to cross complex terrains. In traditional chassis control, facing complex terrains, the control difficulty is high, it is easy to become unstable, and the expected effect cannot be achieved. In some special environments, it also often happens that the power module causes damage to the chassis.

[0004] In the prior art, the chassis can be divided into caterpillar type, wheel type, and legged type, as well as wheel-legged type combining wheel type and legged type.

[0005] The caterpillar chassis has good passing ability. However, the main control method is centralized control. The mechanical transmission structure results in insufficient driving force, and it has insufficient performance in obstacle crossing or climbing. Moreover, hard caterpillars (such as those made of metal) have strong destructiveness to the ground, while non-hard caterpillars (rubber or composite materials) are prone to wear, resulting in greater operation and maintenance pressure. In addition, for intelligent detection, there is currently little accurate intelligent detection of the wheel group situation, and there is a lack of dynamic monitoring of the ground and the environment.

[0006] The legged chassis has good passing performance. However, its disadvantages are low payload, high energy consumption during movement, easy wear of transmission components (including motors, reducers, etc.), and it is not suitable for long-distance movement. Moreover, the structure of the legged chassis is complex, the manufacturing cost is high, and the operation and maintenance cost is also high.

[0007] The wheeled chassis has a large payload, excellent long-distance movement ability on flat ground, and low operation and maintenance costs. However, the lack of coordinated control of the tires at different positions of the chassis results in poor obstacle passing performance of the wheeled chassis. Especially when climbing over gravel terrain, when the vertical height of the obstacle exceeds the tire radius, the wheeled chassis usually has difficulty climbing over. To increase the off-road performance, the prior art usually adopts the technical solution of increasing the number of wheels. For example, the technical solution of the Chinese patent publication number CN109911055A uses a technical solution with 6 wheels, without installing a steering control system, and realizes steering by controlling the differential of the wheels. However, the technical solution of differential steering will be ineffective in scenarios that require actively adjusting the direction and speed of the wheels to successfully climb over (such as the hillside of gravel ground). The technical solution provided by the Chinese patent publication number CN104071251A uses 8 wheels, but does not disclose a steering control system, and it is speculated that it is passive steering.

[0008] The technical solution provided by the Chinese patent publication number CN1597416A uses 8 wheels, and each wheel is independently steered. The technical solution provided by the Chinese patent publication number CN216185444U uses 4 wheels, and also adopts the technical solution of each wheel being independently steered. Although the technical solution of each wheel being independently steered increases the steering flexibility, it will greatly increase the operation difficulty. Especially when the number of wheels exceeds 4, when different steering drive devices receive the same steering instruction, there will be a certain deviation in the steering angle, and this kind of deviation will cause tire wear, increase energy consumption, and seriously affect the steering flexibility when necessary.

[0009] It can be seen that in the general trend of intelligentization, the technology of the chassis of intelligent devices is very important. However, each type of chassis in the prior art has its own disadvantages and there is still room for improvement. Summary of the Invention

[0010] Based on the problems existing in the prior art, the present invention mainly discloses a wheeled chassis, which is flexible in operation, has good coordinated control of the tires at different positions, has a small turning radius, and can realize the movement of the chassis for steering or turning in circles, etc., and is especially suitable for scenarios that need to operate in narrow spaces.

[0011] To solve the above technical problems, the present invention adopts the following technical solutions:

[0012] A wheeled chassis, comprising:

[0013] A chassis body;

[0014] A plurality of wheel set mechanisms, each of the wheel set mechanisms includes a wheel set frame, a roller rotatably disposed on the wheel set frame around a first axis, and a first driving mechanism disposed on the wheel set frame and used for driving the roller to rotate around the first axis. Each of the wheel set frames is rotatably disposed at the bottom of the chassis body around a second axis. The first axis extends horizontally or extends obliquely in the horizontal direction, and the second axis extends vertically or extends obliquely in the vertical direction;

[0015] A second driving mechanism, which is disposed on the chassis body;

[0016] A plurality of steering mechanisms, which are respectively connected between the second driving mechanism and each of the wheel set frames. By driving the steering mechanisms to work through the second driving mechanism, each of the wheel set frames is driven to rotate around the second axis, so that each of the rollers steers.

[0017] Optionally, the first axis and the second axis are perpendicular to each other.

[0018] Optionally, the first axis extends horizontally, and the second axis extends vertically.

[0019] Optionally, there are at least 4 wheel set mechanisms, and two or more of the wheel set mechanisms are symmetrically disposed on opposite sides of the wheeled chassis respectively.

[0020] In the aforementioned wheeled chassis, the second driving mechanism includes a driving unit disposed on the chassis body and having an output shaft, and a driving member connected to the output shaft and driven to rotate by the rotation of the output shaft;

[0021] The steering mechanism includes a sliding member slidably disposed on the chassis body in the horizontal direction, a connecting member rotatably connected between the sliding member and the driving member, a steering member fixedly disposed relative to the wheel set frame, and a transmission unit transmission-connected between the sliding member and the steering member. By the rotation of the driving member, the connecting member is driven to move, pulling the sliding member to slide on the chassis body, and then driving the transmission unit to move to drive the steering member to rotate, thereby driving the wheel set frame to rotate.

[0022] Optionally, the transmission unit includes a first rod member rotatably connected to the steering member, a second rod member rotatably connected to the first rod member, and a third rod member rotatably connected to the sliding member. The second rod member is also rotatably connected to the chassis body, and the third rod member is also rotatably connected to at least one of the two components of the first rod member and the second rod member, or the third rod member, the first rod member, and the second rod member are coaxially rotatably connected.

[0023] Optionally, the transmission unit is a first rod member, and two ends of the first rod member are rotatably connected to the sliding member and the steering member respectively.

[0024] Optionally, each of the wheel assembly mechanisms is configured with a steering mechanism, and every two of the steering mechanisms are configured with one of the second driving mechanisms;

[0025] Two or more steering mechanisms configured by two or more wheel assembly mechanisms located on the same side are driven by the same second driving mechanism;

[0026] Two or more steering mechanisms on each side share one sliding member and connecting member.

[0027] Optionally, the wheeled chassis further comprises a limit assembly disposed on the chassis body and used for limiting the sliding distance of the sliding member;

[0028] The driving member is a rotating disk fixedly connected to the output shaft of the second driving mechanism, and the connecting member is rotatably connected to the side of the rotating disk. The rotation of the rotating disk drives the connecting member to move, thereby pulling the sliding member to slide;

[0029] The driving member is a rod, and the two ends of the rod are respectively connected to the output shaft and the connecting member;

[0030] The chassis body comprises a chassis bracket and a first fixing bracket arranged on the chassis bracket, the wheel assembly mechanism is arranged at the bottom of the chassis bracket, and the second driving mechanism is arranged on the first fixing bracket;

[0031] A guide rail is provided on the chassis bracket along the moving direction of the sliding member, and the sliding member is slidably connected to the guide rail.

[0032] Optionally, the driving unit is a motor.

[0033] In the aforementioned wheeled chassis, optionally, the second driving mechanism comprises a driving unit provided on the chassis body and having an output shaft, and a driving member connected to the output shaft and driven to rotate by the rotation of the output shaft;

[0034] The steering mechanism includes a steering member fixedly arranged relative to the wheelset frame and a transmission unit transmission-connected between the driving member and the steering member. The transmission unit is driven to move by the rotation of the driving member, thereby driving the steering member to rotate, thereby driving the wheelset frame to rotate.

[0035] Optionally, the transmission unit is a transmission belt, the driving member is a driving wheel connected to the output shaft, the steering member is a steering wheel connected to the wheel set frame, and the transmission belt is connected to the driving wheel and the steering wheel respectively.

[0036] Optionally, the transmission unit is a first rod member, and two ends of the first rod member are respectively rotatably connected to the driving member and the steering member.

[0037] Optionally, each wheel set mechanism is configured with one steering mechanism, and each steering mechanism is configured with one second driving mechanism.

[0038] Optionally, the driving unit is a motor.

[0039] In the above-mentioned wheeled chassis, optionally, the second driving mechanism includes a driving unit provided on the chassis body and having an output shaft, and a driving gear connected to the output shaft and driven to rotate by the rotation of the output shaft.

[0040] The steering mechanism includes a steering gear fixedly arranged on the wheel set frame, and the driving gear meshes with the steering gear, or the driving gear meshes with the steering gear through a transmission gear set.

[0041] Optionally, each wheel set mechanism is configured with one steering mechanism, and each steering mechanism is configured with one second driving mechanism.

[0042] Optionally, the driving unit is a motor.

[0043] Optionally, each wheel set mechanism is connected to the steering mechanism through a wheel shaft assembly extending in the up and down direction. The wheel shaft assembly includes a first shaft and a second shaft that are coaxially and rotatably arranged with each other. One of the first shaft and the second shaft is fixedly connected to the wheel set frame and the steering mechanism respectively, and the other of the two components is fixedly connected to the chassis body.

[0044] Optionally, the first driving mechanism includes a driving unit.

[0045] The second technical solution adopted by the present invention is: an intelligent device, including the above-mentioned wheeled chassis.

[0046] Optionally, the intelligent device further includes a control system, and the control system is electrically connected to all the driving units of the wheeled chassis.

[0047] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0048] For the wheeled chassis of the present invention, each roller is driven to rotate by a first driving mechanism, and the second driving mechanism drives a steering mechanism to rotate a wheel set frame, thereby realizing the steering of the roller. The operation is flexible, the coordination is good, and the turning radius is small. Moreover, this wheeled chassis can not only perform straight running, but also perform movements such as turning and spinning in place, and is particularly suitable for application scenarios with multiple wheels (6 wheels, 8 wheels, etc.). Only 2 of the second driving mechanisms are required to drive the rollers on both sides to turn; compared with the technical solution in which each roller is equipped with a steering driving mechanism, the number of second driving mechanisms used is reduced while ensuring flexibility, and the control method is simplified; compared with the technical solutions of passive steering or differential steering, the wheeled chassis of the present invention is more flexible, especially on rough gravel roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0050] Figure 1A It is a front view of the wheeled chassis showing Embodiment 1 according to the technology disclosed in the present invention.

[0051] Figure 1B It is a top view of the wheeled chassis showing Embodiment 1 according to the technology disclosed in the present invention.

[0052] Figure 1C It is a schematic diagram showing the cooperation relationship of the second driving mechanism, the sliding member and the connecting member in the wheeled chassis of Embodiment 1 according to the technology disclosed in the present invention.

[0053] Figure 1D It is a schematic diagram showing the calculation of the rotation angle when the wheel set mechanism of the wheeled chassis rotates during operation according to the technology disclosed in the present invention.

[0054] Figures 2A - 2D It is a schematic diagram showing the wheeled chassis of Embodiment 1 during operation, with the rollers of the wheel set mechanism at different rotation angles according to the technology disclosed in the present invention.

[0055] Figure 3A It is a front view of the wheeled chassis showing Embodiment 2 according to the technology disclosed in the present invention.

[0056] Figure 3B It is a top view of the wheeled chassis showing Embodiment 2 according to the technology disclosed in the present invention.

[0057] Figure 3CIt is a schematic diagram showing the calculation of the rotation angle of the wheel set mechanism when the wheeled chassis of Embodiment 2 is in operation, according to the technology disclosed in the present invention.

[0058] Figures 4A - 4D It is a schematic diagram showing the rollers of the wheel set mechanism at different rotation angles when the wheeled chassis of Embodiment 2 is in operation, according to the technology disclosed in the present invention.

[0059] Figure 5A It is a front view of the wheeled chassis of Embodiment 3, according to the technology disclosed in the present invention.

[0060] Figure 5B It is a top view of the wheeled chassis of Embodiment 3, according to the technology disclosed in the present invention.

[0061] Figure 5C It is a schematic diagram showing the calculation of the rotation angle of the wheel set mechanism when the wheeled chassis of Embodiment 3 is in operation, according to the technology disclosed in the present invention.

[0062] Figure 6A It is a front view of the wheeled chassis of Embodiment 4, according to the technology disclosed in the present invention.

[0063] Figure 6B It is a top view of the wheeled chassis of Embodiment 4, according to the technology disclosed in the present invention.

[0064] Figure 6C It is a three-dimensional structure schematic diagram of the wheeled chassis of Embodiment 4, according to the technology disclosed in the present invention.

[0065] Figures 7A - 7D It is a schematic diagram showing the rollers of the wheel set mechanism at different rotation angles when the wheeled chassis of Embodiment 4 is in operation, according to the technology disclosed in the present invention.

[0066] Figure 8A It is a front view of the wheeled chassis of Embodiment 5, according to the technology disclosed in the present invention.

[0067] Figure 8B It is a top view of the wheeled chassis of Embodiment 5, according to the technology disclosed in the present invention.

[0068] Figures 9A - 9E It is a schematic diagram showing the rollers of the wheel set mechanism at different rotation angles when the wheeled chassis of Embodiment 5 is in operation, according to the technology disclosed in the present invention. Detailed Embodiments

[0069] The following will describe the detailed embodiments of the present invention with reference to the accompanying drawings.

[0070] Embodiment 1

[0071] Refer to simultaneouslyFigures 1A to 2D 。 Figure 1A is a front view of a wheeled chassis according to the technology disclosed in the present invention, and Figure 1B is a top view of a wheeled chassis according to the technology disclosed in the present invention. In Figure 1A and Figure 1B , the wheeled chassis 1 at least includes a chassis body 11, a plurality of wheel set mechanisms 12 and a plurality of steering mechanisms 13. Among them, the chassis body 11 includes a chassis bracket 111, a first fixing frame 112 fixedly arranged on the chassis bracket 111, and a second fixing frame 115 fixedly arranged at the bottom of the chassis bracket 111. The plurality of wheel set mechanisms 12 are respectively rotatably arranged at the bottom of the chassis bracket 111. In the embodiment of the present invention, the number of the wheel set mechanisms 12 of the wheeled chassis 1 can be four or six, and the number of the wheel set mechanisms 12 can be adjusted according to the design requirements. The components included in each wheel set mechanism 12 in this embodiment, the connection relationship between the components and the functions are the same. Therefore, only one wheel set mechanism 12 is used to represent and explain when explaining the wheel set mechanism.

[0072] From Figures 1A - 1B it can be seen that each wheel set mechanism 12 includes a wheel set frame 121, a roller 122 rotatably arranged on the wheel set frame 121 around a first axis line 1001, and a first driving mechanism arranged on the wheel set frame 121 and used to drive the roller 122 to rotate around the first axis line 1001. Each wheel set frame 121 is rotatably arranged at the bottom of the chassis bracket 111 or the second fixing frame 115 around a second axis line 1002. The first axis line 1001 extends in the horizontal direction, the second axis line 1002 extends in the up and down direction, and the first axis line 1001 and the second axis line 1002 are perpendicular to each other. In other embodiments, the first axis line 1001 can also have a certain inclination in the horizontal direction, and the second axis line 1002 can also have a certain inclination in the up and down direction.

[0073] The first driving mechanism can be a first motor 123. The first motor can be installed on the wheel set frame 121 and located inside or outside the roller 122, and drives the roller 122 to rotate around the first axis line 1001. The rotation of the wheel set frame 121 around the second axis line 1002 will drive the roller 122 to also rotate around the second axis line 1002, so as to realize the steering of the roller 122.

[0074] In some embodiments, the first motor 123 can be an electric motor, a hydraulic motor or a pneumatic motor. In this example, the first motor 123 adopts an electric motor.

[0075] In this example, referring to Figures 2A - 2D , there are four wheel set mechanisms 12, and two wheel set mechanisms 12 are symmetrically arranged on the relative left and right sides of the wheeled chassis 1, that is, they are respectively distributed at the front left, front right, rear left and rear right of the chassis bracket 111 (takingFigures 2A - 2D The front, back, left, and right directions shown are for reference. The wheel set frames 121 of the two wheel set mechanisms on the same side rotate around the two second axis lines respectively. The two second axis lines on the same side are in the same plane. That is to say, the wheel set frames 121 of the two wheel set mechanisms on the left (or right) side rotate around the two second axis lines respectively, and the two second axis lines on the left (or right) side are in the same plane.

[0076] In other embodiments, the wheel set mechanism 12 can also be set to six. One more wheel set mechanism can be added to the wheel set mechanisms in the front and rear of the left side, and one more wheel set mechanism can also be added to the wheel set mechanisms in the front and rear of the right side.

[0077] See again Figure 1B , the wheeled chassis 1 further includes a plurality of second drive mechanisms 14. Each second drive mechanism 14 includes a drive unit provided on the first fixing frame 112 and having an output shaft, and a drive member 142 connected to the output shaft of the drive unit and driven to rotate by the rotation of the output shaft. The drive unit can be a second motor 141 fixedly provided on the first fixing frame 112. In other embodiments, the second motor 141 can also be fixedly provided on the chassis bracket 111.

[0078] In some embodiments, the second motor 141 can be an electric motor, a hydraulic motor, or a pneumatic motor. In this example, the second motor 141 is an electric motor.

[0079] The steering mechanism 13 includes a sliding member 131 slidably provided on the chassis bracket 111 in the horizontal direction, a connecting member 132 rotatably connected between the sliding member 131 and the drive member 142, a steering member 133 fixedly provided relative to the wheel set frame 121, and a transmission unit transmission-connected between the sliding member 131 and the steering member 133. One end of the connecting member 132 is rotatably connected to the sliding member 131, and the other end is rotatably connected to the drive member 142. The drive member 142 can be a rod. One end of the rod is fixedly provided with the output shaft, and the other end is rotatably connected to the connecting member. The drive member 142 can also be a turntable (see Figure 1C ), the turntable is fixedly connected to the output shaft of the second motor 141, and the connection point of the connecting member 132 and the turntable deviates from the axis line of the output shaft. When the turntable rotates, it drives the connecting member 132 to move, and then pulls the sliding member 131 to slide.

[0080] See again 1B. A guide rail 113 is provided on the chassis bracket 111 extending along the sliding direction of the sliding member 131. The sliding member 131 is slidably connected to the guide rail 113. The guide rail 113 extends along the left-right direction of the chassis bracket 111, and a limiting component for limiting the sliding distance of the sliding member 131 is also provided on the chassis bracket 111. The limiting component includes limiting columns 114 provided on the opposite two sides of the guide rail 113.

[0081] The transmission unit includes a first rod 134 rotatably connected to the steering member 133, a second rod 135 rotatably connected to the first rod 134, and a third rod 136 rotatably connected to the sliding member 131. The second rod 135 is also rotatably connected to the chassis bracket 111. The third rod 136, the first rod 134, and the second rod 135 are coaxially and rotatably connected. From Figure 1B It can be seen that the steering member 133 is a rod. One end of the steering member 133 is fixedly connected to the wheel set frame and rotatably connected to the chassis bracket 111. One end of the first rod 134 is rotatably connected to the other end of the steering member 133. The other end of the first rod 134 is rotatably connected to one end of the second rod 135 and one end of the third rod 136. The other end of the second rod 135 is rotatably connected to the chassis bracket 111. The other end of the third rod 136 is rotatably connected to the sliding member 131. Limit posts 114 are symmetrically arranged on the left and right sides of the chassis bracket 111. Each side of the limit posts 114 is located between the rotational connection points of the sliding member 131, the second rod 135, and the chassis bracket 111, and is used to limit the sliding distance of the sliding member 131.

[0082] In other embodiments, one end of the third rod 136 may also be rotatably connected to the first rod 134 or the second rod 135, and the other end of the third rod 136 is rotatably connected to the sliding member 131. For example, one end of the third rod 136 is rotatably connected to the middle of the first rod 134 or the middle of the second rod 135.

[0083] In other embodiments, the steering member 133 may also be a turntable, which is respectively rotatably connected to the wheel set frame and the first rod, and there is a distance greater than 0 between the rotational axis of the turntable and the chassis bracket and the rotational axis of the turntable and the first rod.

[0084] In other embodiments, the steering member and the wheel set frame are connected by a wheel axle assembly extending in the up-down direction. The wheel axle assembly includes a first shaft and a second shaft that are coaxially and rotatably arranged. One of the two components of the first shaft and the second shaft is fixedly connected to the wheel set frame and the steering member respectively, and the other component is fixedly connected to the chassis bracket. For example, the first shaft is an inner shaft, and the second shaft is an outer shaft sleeved outside the first shaft and relatively rotatable with the first shaft. The first shaft is fixedly connected to the chassis bracket, and the second shaft is fixedly connected to the wheel set frame and the steering member respectively.

[0085] In some embodiments, each wheel set mechanism 12 is configured with a steering mechanism 13, and every two steering mechanisms 13 are configured with a second drive mechanism 14, and see Figure 1B, the two steering mechanisms 13 configured for the two wheel set mechanisms 12 on the same side (left or right) are driven by the same second driving mechanism 14. Each two steering mechanisms 12 on the same side (left or right) share one slider 131 and one connecting member 132. The steering operation coordination of the rollers 122 on the same side (left or right) is better. And compared with each steering mechanism being configured with a second driving mechanism, fewer motors are used to control the steering of the rollers, the operation is flexible, and the cost is lower.

[0086] Refer again to Figure 1C , Figure 1C shows the cooperation relationship of the second driving mechanism, the slider and the connecting member in the wheeled chassis. When the second motor 141 operates to drive the driving member 142 (i.e., the turntable) to rotate, the connecting member 132 moves, thereby driving the slider 131 to perform a linear reciprocating motion on the chassis body. The movement of the slider 131 drives the transmission unit to move, thereby driving the steering member to rotate, and further rotating the wheel set frame to realize the steering of the rollers.

[0087] Figure 1D is a schematic diagram for explaining the calculation of the rotation angle when the wheel set frame 121 of the wheel set mechanism of the wheeled chassis rotates during the operation of the wheeled chassis. In Figure 1DAmong them, point A represents the connection point of the second rod 135 and the chassis bracket 111, point B represents the connection point of the second rod 135 and the first rod 134, point C represents the connection point of the first rod 134 and the steering member 133, and point D represents the rotational connection point of the steering member 133 and the chassis bracket 111 (this connection point is also the connection point of the steering member 133 and the wheel set bracket 121 or the rotational connection point of the wheel set bracket 121 and the chassis bracket 111). The line segment AB represents the length from the connection point of the chassis bracket 111 and the second rod 135 to the connection point of the first rod 134 and the second rod 135 in the second rod 135, which is represented by L3; the line segment BC represents the length from the connection point of the second rod 135 and the first rod 134 to the connection point of the steering member 133 and the first rod 134 in the first rod 134, which is represented by L2; the line segment CD represents the length from the connection point of the first rod 134 and the steering member 133 to the connection point of the chassis bracket 111 and the steering member 133 in the steering member 133, which is represented by L1; the line segment AD represents the length from the connection point of the second rod 135 and the chassis bracket 111 to the connection point of the steering member 133 and the chassis bracket 111, which is represented by L4. θ represents the angle between the second link 135 and the line segment AD. When the second link 135 is used as the driving rotation, the second link 135 has two limit positions. The first limit position is that the second link 135 overlaps with part of the first rod 134, and the second limit position is that the second link 135 coincides with the extension line of the length direction of the first rod 134. At these two limit positions, two triangles of different sizes will be formed among points A, C, and D. Among them, C2 is the limit position of point C when the small triangle is formed, and B2 is the limit position of point B. Point B2 is located on the extension line of the line segment AC2 (the length of the line segment AC2 is L2 - L3). At this time, the second link 135 is in the first limit position; C1 is the limit position of point C when the large triangle is formed, and B1 is the limit position of point B. Point B2 is located on the line segment AC1 (the length of the line segment AC1 is L2 + L3). At this time, the second link 135 is in the second limit position.

[0088] β1 represents the angle between DC2 and the line segment AD when the small triangle is formed (the angle between the extension line of the length direction of the steering member 133 and the line segment AD); β2 represents the angle between DC1 and the line segment AD when the large triangle is formed (the angle between the extension line of the length direction of the steering member 133 and the line segment AD). β represents the stroke angle, which is the angle formed when the second link 135 is respectively in the first limit position and the second limit position.

[0089] The stroke angle β can be obtained through the following calculation formula:

[0090] β = β2 - β1 Equation (1)

[0091] Among them,

[0092] β1 = arc cos{[L1 2 +L4 2 -(L2 - L3) 2 / (2L1×L4)} Equation (2)

[0093] β2 = arc cos{[L1 2 +L4 2 -(L2 + L3) 2 / (2L1×L4)} Equation (3)

[0094] Through the above calculation of the stroke angle β, it helps to calculate the rotation angle of the roller.

[0095] Figures 2A - 2D It is a schematic diagram showing the roller of the wheel set mechanism at different rotation angles when the wheeled chassis is running. It should be noted that the following description of the rotation direction of the roller of the wheel set mechanism 12 of the wheeled chassis 1 is based on Figures 2A - 2D In, the direction indicated by the wheeled chassis 1 is used as the reference, that is, the front, back, left, and right directions indicated on the drawing. The wheeled chassis has a center line 1003 perpendicular to the left and right directions of the chassis bracket.

[0096] Figure 2A It shows that when the rotation angle of the roller is zero, at this time, the plane where the roller 122 is located (denoted as the first plane M1), the plane where the second axis line on the left (or right) is located (denoted as the second plane M2), the included angle between the two planes (that is, the first plane M1 and the second plane M2) is zero, and the wheeled chassis 1 realizes straight forward and backward movement.

[0097] When the wheel set chassis is in a straight running state, the sliding member 131 in the steering mechanism for driving the left roller 122 to turn is located between the left limit post 114 and the center line 1003 of the chassis bracket, and the sliding member 131 in the steering mechanism for driving the right roller 122 to turn is located between the right limit post 114 and the center line 1003 of the chassis bracket.

[0098] Taking Figure 2BFor example, when all the rollers 122 of the wheeled chassis 1 turn to the left and the rotation angle of the rollers is a (a is not zero), the plane where the rollers 122 are located (denoted as the first plane M1), the plane where the second axis line on the left (or right) is located (denoted as the second plane M2), the included angle between the two planes (i.e., the first plane M1 and the second plane M2) is the size of the included angle a. For example, the rotation angle of the right rear roller 122 is a1, the rotation angle of the left rear roller 122 is a2, the rotation angle of the right front roller 122 is a3, and the rotation angle of the left front roller 122 is a4. The planes where the front and rear rollers on the left (or right) are located intersect. At this time, by driving the rollers to rotate through the first motor, the wheeled chassis 1 can achieve left front or left rear turning motion, and the turning radius is small.

[0099] When the wheeled chassis is converted from the straight-line motion state to the left front or left rear turning motion state, that is, when the wheeled chassis is converted from Figure 2A to Figure 2B During the conversion, the left second drive mechanism drives the slider 131 to slide to the left, and the right second drive mechanism also drives the slider 131 to slide to the left, so that the right slider 131 slides to be close to the center line 1003 of the chassis bracket, and the left slider 131 slides to abut against the left limit post 114.

[0100] Take Figure 2C For example, when all the rollers 122 of the wheeled chassis 1 turn to the right and the rotation angle of the rollers is b (b is not zero), for example, the rotation angle of the right rear roller 122 is b1, the rotation angle of the left rear roller 122 is b2, the rotation angle of the right front roller 122 is b3, and the rotation angle of the left front roller 122 is b4. The planes where the front and rear rollers 122 on the left (or right) are located intersect. At this time, by driving the rollers to rotate through the first motor, the wheeled chassis 1 can achieve right front or right rear turning motion, and the turning radius is small.

[0101] When the wheeled chassis is converted from the straight-line motion state to the right front or right rear turning motion state, that is, when the wheeled chassis is converted from Figure 2A to Figure 2C During the conversion, the left second drive mechanism drives the slider 131 to slide to the right, and the right second drive mechanism also drives the slider 131 to slide to the right, so that the left slider 131 slides to be close to the center line 1003 of the chassis bracket, and the right slider 131 slides to abut against the right limit post 114.

[0102] Take Figure 2DFor example, when the steering directions of the left rollers 122 of the wheeled chassis 1 are different from those of the right rollers 122, and all the left rollers 122 turn right while all the right rollers 122 turn left, and the rotation angle of the rollers 122 is c (c is not zero), for example, the rotation angle of the right rear roller 122 is c1, the rotation angle of the left rear roller 122 is c2, the rotation angle of the right front roller 122 is c3, and the rotation angle of the left front roller 122 is c4, the planes where the front and rear rollers 122 on the left (or right) side are located intersect. At this time, by driving the rollers to rotate with the first motor, the wheeled chassis 1 can achieve in-situ rotation movement.

[0103] In some embodiments, the angles c1, c2, c3, and c4 are 45° or approach 45°, and they can also be not 45°.

[0104] When the wheeled chassis is converted from the straight-line motion state to the in-situ rotation motion state, that is, when the wheeled chassis is converted from Figure 2A to Figure 2D During the conversion, the left second driving mechanism drives the sliding member 131 to slide to the right, and the right second driving mechanism drives the sliding member 131 to slide to the left, so that the left sliding member 131 slides to be close to the center line 1003 of the chassis bracket, and the right sliding member 131 slides to be close to the center line 1003 of the chassis bracket.

[0105] When the steering directions of the left rollers 122 of the wheeled chassis 1 are different from those of the right rollers, and all the left rollers 122 turn left while all the right rollers 122 turn right (as shown in the subsequent Figure 4C ). At this time, the wheeled chassis 1 brakes.

[0106] When the wheeled chassis is converted from the straight-line motion state to the braking state, the left second driving mechanism drives the sliding member to slide to the left, and the right second driving mechanism drives the sliding member to slide to the right, so that the left sliding member slides to abut against the left limiting post, and the right sliding member slides to abut against the right limiting post.

[0107] As can be seen from the above, the wheeled chassis 1 can drive the rotation directions and rotation angles of each roller through the second driving mechanism, and can achieve in-situ turning, braking, or turning movement in a limited space.

[0108] Embodiment 2

[0109] Refer to Figures 3A to 4D . Figure 3A is based on the technology disclosed in the present invention, showing the front view of the wheeled chassis and Figure 3B is based on the technology disclosed in the present invention, showing the top view of the wheeled chassis. In Figure 3A and Figure 3BIn it, the wheeled chassis 2 at least includes a chassis body 21, a plurality of wheel set mechanisms 22 and a plurality of steering mechanisms 23. Among them, the chassis body 21 includes a chassis bracket 211 and a first fixing frame 212 fixedly arranged on the chassis bracket 211. The plurality of wheel set mechanisms 22 are respectively rotatably arranged at the bottom of the chassis bracket 211. In the embodiment of the present invention, the number of the wheel set mechanisms 22 of the wheeled chassis 2 can be four or six, and the number of the wheel set mechanisms 22 can be adjusted according to design requirements. The components included in each wheel set mechanism 22 in this embodiment, the connection relationship between the components and the functions are the same. Therefore, only one wheel set mechanism 22 is used to represent and explain when describing the wheel set mechanism.

[0110] Each wheel set mechanism 22 includes a wheel set frame 221, a roller 222 rotatably arranged on the wheel set frame 221 around a first axis line 2001, and a first driving mechanism arranged on the wheel set frame 221 and used to drive the roller 222 to rotate around the first axis line 2001. Each wheel set frame 221 is rotatably arranged at the bottom of the chassis bracket 211 around a second axis line 2002. The first axis line 2001 extends in the horizontal direction, the second axis line 2002 extends in the up and down direction, and the first axis line 2001 and the second axis line 2002 are perpendicular to each other. In other embodiments, the first axis line 2001 can also have a certain inclination in the horizontal direction, and the second axis line 2002 can also have a certain inclination in the up and down direction.

[0111] The first driving mechanism can be a first motor. The first motor can be installed on the wheel set frame 221 and located inside or outside the roller 222 to drive the roller 222 to rotate around the first axis line 2001. And the rotation of the wheel set frame 221 around the second axis line 2002 will drive the roller 222 to also rotate around the second axis line 2002, so as to realize the steering of the roller 222.

[0112] In some embodiments, the first motor can be an electric motor, a hydraulic motor or a pneumatic motor. In this example, the first motor adopts an electric motor.

[0113] In this example, refer to Figures 4A - 4D , there are four wheel set mechanisms 22. Two wheel set mechanisms 22 are symmetrically arranged on the relatively left and right sides of the wheeled chassis 2 respectively, that is, they are respectively distributed at the front left, front right, rear left and rear right of the chassis bracket 211 (taking Figures 4A - 4D the front, back, left and right shown as the reference directions). The wheel set frames 221 of the two wheel set mechanisms on the same side rotate around two second axis lines respectively. The two second axis lines on the same side are in the same plane. That is to say, the wheel set frames 221 of the two wheel set mechanisms on the left (or right) side rotate around two second axis lines respectively, and the two second axis lines on the left (or right) side are in the same plane.

[0114] In other embodiments, six wheel set mechanisms 22 may also be provided, that is, one more wheel set mechanism is added to the front and rear wheel set mechanisms on the left side, and one more wheel set mechanism is also added to the front and rear wheel set mechanisms on the right side.

[0115] Refer to Figure 3B , the wheeled chassis 2 further includes a plurality of second drive mechanisms 24. Each second drive mechanism 24 includes a drive unit provided on the first fixing frame 212 and having an output shaft, and a driving member 242 connected to the output shaft of the drive unit and driven to rotate by the rotation of the output shaft. The drive unit may be a second motor 241 fixedly provided on the first fixing frame 212. In other embodiments, the second motor 241 may also be fixedly provided on the chassis bracket 211.

[0116] In some embodiments, the second motor 241 may be an electric motor, a hydraulic motor or a pneumatic motor. In this example, the second motor 241 is an electric motor.

[0117] The steering mechanism 23 includes a sliding member 231 slidably provided on the chassis bracket 211 in the horizontal direction, a connecting member 232 rotatably connected between the sliding member 231 and the driving member 242, a steering member 233 fixedly provided relative to the wheel set frame 221, and a transmission unit transmission-connected between the sliding member 231 and the steering member 233. One end of the connecting member 232 is rotatably connected to the sliding member 231, and the other end is rotatably connected to the driving member 242. The driving member 242 may adopt a rod, one end of the rod is fixedly provided with the output shaft of the second motor 241, and the other end is rotatably connected to the connecting member 232; the driving member 242 may also adopt a turntable, the turntable is fixedly connected to the output shaft of the second motor 241, and the connection point of the connecting member 232 and the turntable deviates from the axis line of the output shaft, so that when the turntable rotates, it drives the connecting member 232 to move, and then pulls the sliding member 231 to slide.

[0118] A guide rail 213 is provided on the chassis bracket 211 extending along the sliding direction of the sliding member 231. The sliding member 231 is slidably connected to the guide rail 213. It can be seen from Figure 3B that the guide rail 213 extends along the left-right direction of the chassis bracket 211.

[0119] The transmission unit is a first rod 234. One end of the first rod 234 is rotatably connected to the steering member 233, and the other end is rotatably connected to the sliding member 231. It can be seen from Figure 3B that the steering member 133 is a rod. One end of the steering member 133 is connected to the wheel set frame 221, and one end of the first rod 134 is rotatably connected to the other end of the steering member 133.

[0120] In this embodiment, the transmission unit is a first rod 234, which can still realize the sliding of the sliding member to drive the transmission unit to move, and then drive the steering member to rotate, so as to realize the steering of the roller, reduce the use of parts, and thus reduce the error generated after the parts are assembled. Compared with Embodiment 1, the use of rods is saved, that is, the parts are reduced, the assembly difficulty is reduced, the assembly error is reduced, and the accuracy is higher.

[0121] In other embodiments, the steering member 233 can also be a turntable, which is respectively rotatably connected to the chassis bracket and the first rod 134. The turntable is fixedly arranged relative to the wheel set frame, and there is a distance greater than 0 between the rotation axis of the turntable and the chassis bracket and the rotation axis of the turntable and the first rod.

[0122] In this example, the steering member 233 and the wheel set frame 221 are connected by a wheel shaft assembly 25 extending in the up and down direction. The wheel shaft assembly 25 includes a first shaft 251 and a second shaft 252 that are coaxially and rotatably arranged. One of the two components of the first shaft 251 and the second shaft 252 is fixedly connected to the wheel set frame 221 and the steering member 233 respectively, and the other component is fixedly connected to the chassis bracket 211. For example, the first shaft 251 is an inner shaft, and the second shaft 252 is an outer shaft sleeved outside the first shaft 251 and relatively rotatable with the first shaft 251. The first shaft 251 is fixedly connected to the chassis bracket 211, and the second shaft 252 is fixedly connected to the wheel set frame 221 and the steering member 233 respectively.

[0123] In other embodiments, the steering member can also be fixedly connected to the wheel set frame 221, and the two are then rotatably connected to the chassis bracket 211.

[0124] In some embodiments, each wheel set mechanism 22 is configured with a steering mechanism 23, and every two steering mechanisms 23 are configured with a second driving mechanism 24. And referring to Figure 3B , the two steering mechanisms 23 configured by the two wheel set mechanisms 22 on the same side (left or right) are driven by the same second driving mechanism 24. Every two steering mechanisms 23 on the same side (left or right) share a sliding member 231 and a connecting member 232. The steering operation coordination of the rollers 222 on the same side is better. And compared with each steering mechanism being configured with a second driving mechanism, fewer motors are used to control the steering of the rollers, the operation is flexible, and the cost is lower.

[0125] Refer to again Figure 3C , Figure 3CIt shows a schematic diagram of calculating the rotation angle of the wheel set mechanism when the wheeled chassis 2 is in operation. When the second motor 241 operates to drive the driving member 242 (i.e., the turntable) to rotate, the connecting member 232 moves, thereby driving the sliding member 231 to perform a linear reciprocating motion on the chassis bracket 211. The movement of the sliding member 231 drives the transmission unit (i.e., the first rod 234 to move), thereby driving the steering member 233 to rotate, and further rotating the wheel set frame 221 to realize the steering of the roller 222.

[0126] In Figure 3C it, point A represents the rotational connection point of the steering member 233 and the chassis bracket 211 (this connection point is also the connection point of the steering member 233 and the wheel set frame 221, and also the rotational connection point of the wheel set frame 221 and the chassis bracket 211), point B represents the connection point of the steering member 233 and the first rod 234, and point C represents the connection point of the first rod 234 and the sliding member 231.

[0127] In Figure 3C it, a plane coordinate system is established, including a mutually perpendicular X-axis and Y-axis. The sliding direction of the sliding member 231 is taken as the X-axis, and the X-axis passes through point C. The direction passing through point A and perpendicular to the X-axis is taken as the Y-axis, and the intersection point of the X-axis and the Y-axis is point O. Among them, the line segment AB represents the length from the connection point of the first rod 234 and the steering member 233 to the connection point of the chassis bracket 211 and the steering member 233 in the steering member 233, which is represented by L1; the line segment BC represents the length from the connection point of the steering member 233 and the first rod 234 to the connection point of the sliding member 231 and the first rod 234 in the first rod 234, which is represented by L2; C1 represents the extreme position of point C when the sliding member 231 moves to the leftmost side of the drawing. At this time, point B will move to position B1, and the included angle between the first rod 234 and the X-axis is α; C2 represents the extreme position of point C when the sliding member 231 moves to the rightmost side of the drawing, and the corresponding point B will move to position B2; the line segment C1C2 represents the sliding stroke of the sliding member 231, which is represented by L3; the distance from C2 to the Y-axis is L4; the distance from point A to the X-axis is L5; the length of the line segment C2B1 is L6; the length of the line segment C2A is L7.

[0128] β1 represents the included angle between the line segment C2A and the line segment AB2 when point C moves to the position of C2 (the included angle between the line segment C2A and the extension line of the length direction of the steering member 233); β2 represents the included angle between the line segment C2A and the line segment AB1 when point C moves to the position of C1 (the included angle between the line segment C2A and the extension line of the length direction of the steering member 233), and β represents the stroke angle, that is, the included angle between the line segment AB1 and the line segment AB2.

[0129] The stroke angle β can be obtained through the following calculation formula:

[0130] β = β2 - β1 Equation (4)

[0131] Among them,

[0132] β1 = arc cos[(L1 2 + L7 2 - L2 2 ) / (2L1 × L7)] Equation (5)

[0133] β2 = arc cos[(L1 2 + L7 2 - L6 2 ) / (2L1 × L7)] Equation (6)

[0134] L7 2 = L4 2 + L5 2 Equation (7)

[0135] cosα = (L3 2 + L2 2 - L6 2 ) / (2L3 × L2) Equation (7)

[0136] Through the above calculation of the stroke angle β, it is helpful to calculate the rotation angle of the roller.

[0137] Figures 4A - 4D It is a schematic diagram showing the roller of the wheel set mechanism at different rotation angles when the wheeled chassis is running. It should be noted that the following description of the rotation direction of the roller of the wheel set mechanism 22 of the wheeled chassis 2 is based on Figures 4A - 4D the direction indicated by the wheeled chassis 2 in, that is, the front, back, left, and right directions indicated on the drawing. This wheeled chassis has a center line 2003 perpendicular to the left and right directions of the chassis bracket.

[0138] When the rotation angle of the roller is zero, at this time, the plane where the roller 222 is located (denoted as the first plane M1), the plane where the second axis line on the left (or right) is located (denoted as the second plane M2), the included angle between the two planes (that is, the first plane M1 and the second plane M2) is zero, and the wheeled chassis 2 realizes straight forward and backward movement.

[0139] When the wheeled chassis is in a straight running state, the sliding member 231 in the steering mechanism for driving the left roller 222 to turn is located between the left second plane M2 and the center line 2003 of the chassis bracket, and the sliding member 231 in the steering mechanism for driving the right roller 222 to turn is located between the right second plane M2 and the center line 2003 of the chassis bracket.

[0140] Taking Figure 4AFor example, when all the rollers 222 of the wheeled chassis 2 turn to the left and the rotation angle of the rollers is a (a is not zero), the plane where the rollers 222 are located (denoted as the first plane M1), the plane where the second axis line on the left (or right) is located (denoted as the second plane M2), the included angle between the two planes (i.e., the first plane M1 and the second plane M2) is the size of the included angle a. For example, the rotation angle of the roller 222 in the right rear is a1, the rotation angle of the roller 222 in the left rear is a2, the rotation angle of the roller 222 in the right front is a4, and the rotation angle of the roller 222 in the left front is a3. The planes where the front and rear rollers on the left (or right) are located intersect. At this time, by driving the rollers to rotate through the first motor, the wheeled chassis 2 can achieve left front or left rear turning motion.

[0141] When the wheeled chassis is converted from the straight-line motion state to the left front or left rear turning motion state, the left second driving mechanism drives the sliding member 231 to slide to the left, and the right second driving mechanism also drives the sliding member 231 to slide to the left, so that the right sliding member 231 slides to be close to the center line 2003 of the chassis bracket, and the left sliding member 231 slides to be close to the left second plane M2.

[0142] For Figure 4B example, when all the rollers 222 of the wheeled chassis 2 turn to the right and the rotation angle of the rollers 222 is b (b is not zero), such as the rotation angle of the roller 222 in the right rear is b1, the rotation angle of the roller 222 in the left rear is b2, the rotation angle of the roller 222 in the left front is b3, the rotation angle of the roller 222 in the right front is b4, the planes where the front and rear rollers 222 on the left (or right) are located intersect. At this time, by driving the rollers to rotate through the first motor, the wheeled chassis 2 can achieve right front or right rear turning motion.

[0143] When the wheeled chassis is converted from the straight-line motion state to the right front or right rear turning motion state, the left second driving mechanism drives the sliding member 231 to slide to the right, and the right second driving mechanism also drives the sliding member 231 to slide to the right, so that the left sliding member 231 slides to be close to the center line 2003 of the chassis bracket, and the right sliding member 231 slides to be close to the right second plane M2.

[0144] For Figure 4CFor example, when the steering of the left rollers 122 of the wheeled chassis 2 is different from that of the right rollers, and all the left rollers 222 turn left while all the right rollers 222 turn right, and the rotation angle of the rollers 222 is c (c is not zero), for example, the rotation angle of the right rear roller 222 is c1, the rotation angle of the left rear roller 222 is c2, the rotation angle of the left front roller 222 is c3, and the rotation angle of the right front roller 222 is c4, the planes where the front and rear rollers 222 on the left (or right) are located intersect. At this time, by driving the rollers to rotate with the first motor, the wheeled chassis 2 realizes braking.

[0145] When the wheeled chassis switches from the straight-line motion state to the braking state, the left second driving mechanism drives the sliding member 231 to slide leftward, and the right second driving mechanism drives the sliding member 231 to slide rightward, so that the left sliding member 231 slides close to the left second plane M2, and the right sliding member 231 slides close to the right second plane M2.

[0146] Take Figure 4D For example, when the steering of the left rollers 222 of the wheeled chassis 2 is different from that of the right rollers, and all the left rollers 222 turn right while all the right rollers 222 turn left, and the rotation angle of the rollers 222 is d (d is not zero), for example, the rotation angle of the right rear roller 222 is d1, the rotation angle of the left rear roller 222 is d2, the rotation angle of the right front roller 222 is d4, and the rotation angle of the left front roller 222 is d3, the planes where the front and rear rollers 222 on the left (or right) are located intersect. At this time, by driving the rollers to rotate with the first motor, the wheeled chassis 2 can realize a spinning-in-place motion.

[0147] In some embodiments, the angles d1, d2, d3, and d4 are 45° or approach 45°, and they can also be not 45°.

[0148] When the wheeled chassis switches from the straight-line motion state to the spinning-in-place motion state, the left second driving mechanism drives the sliding member 231 to slide rightward, and the right second driving mechanism drives the sliding member 231 to slide leftward, so that the left sliding member 231 slides close to the center line 2003 of the chassis bracket, and the right sliding member 231 slides close to the center line 2003 of the chassis bracket.

[0149] As can be seen from the above, the wheeled chassis 2 can drive the rotation direction and rotation angle of each roller through the second driving mechanism, and can realize spinning in place, braking, or turning motion in a limited space.

[0150] Embodiment 3

[0151] Refer to Figures 5A to 5C . Figure 5A is according to the technology disclosed in the present invention, showing the front view of the wheeled chassis andFigure 5B It is a top view showing a wheeled chassis according to the technology disclosed in the present invention. In Figure 5A and Figure 5B , the wheeled chassis 3 at least includes a chassis body 31, a plurality of wheel set mechanisms 32 and a plurality of steering mechanisms 33. Among them, the chassis body 31 includes a chassis bracket 311. The plurality of wheel set mechanisms 32 are arranged at the bottom of the chassis bracket 311. In the embodiment of the present invention, the number of the wheel set mechanisms 32 of the wheeled chassis 3 can be four or six, and the number of the wheel set mechanisms 32 can be adjusted according to the design requirements. The components included in each wheel set mechanism 32 in this embodiment, the connection relationship between the components and the functions are the same. Therefore, only one wheel set mechanism 32 is used to represent and explain when describing the wheel set mechanism.

[0152] Each wheel set mechanism 32 includes a wheel set frame 321, a roller 322 rotatably arranged on the wheel set frame 321 around a first axis line 3001, and a first driving mechanism arranged on the wheel set frame 321 and used to drive the roller 322 to rotate around the first axis line 3001. Each wheel set frame 321 is rotatably arranged at the bottom of the chassis bracket 311 around a second axis line 3002. The first axis line 3001 extends in the horizontal direction, and the second axis line 3002 extends in the up-and-down direction. The first axis line 3001 and the second axis line 3002 are perpendicular to each other. In other embodiments, the first axis line 3001 can also have a certain inclination in the horizontal direction, and the second axis line 3002 can also have a certain inclination in the up-and-down direction.

[0153] The first driving mechanism can be a first motor. The first motor can be installed on the wheel set frame 321 and located inside or outside the roller 322 to drive the roller 322 to rotate around the first axis line 3001. And the rotation of the wheel set frame 321 around the second axis line 3002 will drive the roller 322 to also rotate around the second axis line 3002, so as to realize the steering of the roller 322.

[0154] In some embodiments, the first motor can be an electric motor, a hydraulic motor or a pneumatic motor. In this example, the first motor 323 adopts an electric motor.

[0155] In this example, referring to Figure 5B , there are four wheel set mechanisms 32. Two wheel set mechanisms 32 are symmetrically arranged on the relative left and right sides of the wheeled chassis 3, that is, they are respectively distributed at the front left, front right, rear left and rear right of the chassis bracket 311 (taking the figure Figure 5BThe front, back, left, and right shown are reference directions). The wheel sets 321 of the two wheel sets on the same side rotate around the two second axis lines respectively, and the two second axis lines on the same side are located in the same plane, that is, the wheel sets 321 of the two wheel sets on the left side (or right side) rotate around the two second axis lines respectively, and the two second axis lines on the left side (or right side) are located in the same plane.

[0156] In other embodiments, six wheel mechanisms 32 may be provided, that is, one more wheel mechanism is provided in the wheel mechanism at the front and rear of the left side, and one more wheel mechanism is provided in the wheel mechanism at the front and rear of the right side.

[0157] See also Figure 5B The wheeled chassis 3 also includes a plurality of second driving mechanisms 34, each of which includes a driving unit disposed on a chassis bracket 311 and having an output shaft, and a driving member 342 connected to the output shaft of the driving unit and driven to rotate by the rotation of the output shaft. The driving unit may be a second motor 341 fixedly disposed on the chassis bracket 311.

[0158] In some embodiments, the second motor 341 may be an electric motor, a hydraulic motor, or a pneumatic motor. In this example, the second motor 341 is an electric motor.

[0159] The steering mechanism 33 includes a steering member 333 fixedly arranged relative to the wheel frame 321 and a transmission unit connected between the driving member 342 and the steering member 333. The driving member 342 rotates to drive the transmission unit to move, thereby driving the steering member 333 to rotate, thereby driving the wheel frame 321 to rotate. The driving member 342 can be a rod, one end of which is fixedly arranged on the output shaft of the second motor 341 and the other end is connected to the transmission unit for rotation; the driving member 342 can also be a turntable, which is fixedly connected to the output shaft of the second motor, and the connection point between the transmission unit and the turntable deviates from the axis of the output shaft, so that when the turntable rotates, the transmission unit is driven to move.

[0160] The transmission unit is a first rod 334, one end of which is rotatably connected to the steering member 333, and the other end of which is rotatably connected to the driving member 342. Figure 5B It can be seen that the steering member 333 is a rod, one end of the steering member 333 is connected to the wheel assembly frame 321, and one end of the first rod 334 is rotatably connected to the other end of the steering member 333. In other embodiments, the steering member 333 can also be a turntable, which is rotatably connected to the chassis bracket and the first rod 134 respectively, and the distance between the turntable and the rotation axis of the chassis bracket and the rotation axis of the turntable and the first rod is greater than 0.

[0161] In this example, the steering member 333 and the wheel set frame 321 are connected by a wheel axle assembly 35 extending in the up-and-down direction. The wheel axle assembly 35 includes a first axle 351 and a second axle 352 that are coaxially and rotatably arranged relative to each other. One of the two components, the first axle 351 and the second axle 352, is fixedly connected to the wheel set frame 321 and the steering member 333 respectively, and the other component is fixedly connected to the chassis bracket 311. For example, if the first axle 351 is the inner axle and the second axle 352 is the outer axle sleeved outside the first axle 351 and relatively rotatable with the first axle 351, the first axle 351 is fixedly connected to the chassis bracket 311, and the second axle 352 is fixedly connected to the wheel set frame 321 and the steering member 333 respectively.

[0162] In other embodiments, the steering member may also be fixedly connected to the wheel set frame 321, and then the two are rotatably connected to the chassis bracket 311.

[0163] In some embodiments, each wheel set mechanism 32 is provided with a steering mechanism 33, and each steering mechanism 33 is provided with a second driving mechanism 34. By synchronously controlling the operation of the second motor, the steering of the rollers can have better coordination and flexible operation.

[0164] See again Figure 5C , Figure 5C shows a schematic diagram of calculating the rotation angle of the wheel set mechanism when the wheeled chassis is running. When the second motor 341 operates, it drives the driving member 342 to move, thereby driving the first rod member 334 and the steering member 333 to move simultaneously, and then driving the wheel set frame 321 to rotate to realize the steering of the roller 322.

[0165] In Figure 5C , point A represents the rotation connection point between the steering member 333 and the chassis bracket 311, point B represents the rotation connection point between the steering member 333 and the first rod member 334, point C represents the rotation connection point between the first rod member 334 and the driving member 342, and point D represents the connection point between the driving member 342 and the output shaft of the second motor.

[0166] Figure 5C In, P12 represents the instantaneous center of velocity between the steering member 333 and the driving member 342, P23 represents the instantaneous center of velocity between the wheel set frame 321 and the first rod member 334, P34 represents the instantaneous center of velocity between the first rod member 334 and the driving member 342, P14 represents the instantaneous center of velocity between the steering member 333 and the driving member 342, P24 represents the instantaneous center of velocity between the wheel set frame 321 and the driving member 342, and P13 represents the instantaneous center of velocity between the steering member 333 and the first rod member 334. ω2 is the angular velocity of the wheel set frame 321 and ω4 is the angular velocity of the driving member 342. Therefore, from Figure 5C in, the angular velocity during rotation can be calculated according to Equation (9) and Equation (10):

[0167]

[0168] Based on the above relationship of angular velocity, it is helpful to calculate the angular velocity of the roller steering.

[0169] By adopting the wheel set chassis of this embodiment, each roller is configured with a second motor for driving the steering, and the second motors can work in synchronous control, with good coordination.

[0170] Embodiment 4

[0171] Meanwhile, refer to Figures 6A to 6C . Figure 6A is the front view of the wheeled chassis according to the technology disclosed in the present invention; Figure 6B is the top view of the wheeled chassis according to the technology disclosed in the present invention; Figure 6C is the perspective view of the wheeled chassis according to the technology disclosed in the present invention. In Figure 6A and Figure 6C , the wheeled chassis 4 at least includes a chassis body 41, a plurality of wheel set mechanisms 42 and a plurality of steering mechanisms 43. Among them, the chassis body 41 includes a chassis bracket 411. The plurality of wheel set mechanisms 42 are arranged at the bottom of the chassis bracket 411. In the embodiment of the present invention, the number of the wheel set mechanisms 42 of the wheeled chassis 4 can be four or six, and the number of the wheel set mechanisms 42 can be adjusted according to the design requirements. The components included in each wheel set mechanism 42 in this embodiment, the connection relationship between the components and the functions are the same. Therefore, only one wheel set mechanism 42 is used to represent and illustrate when explaining the wheel set mechanism.

[0172] Each wheel set mechanism 42 includes a wheel set frame 421, a roller 422 rotatably arranged on the wheel set frame 421 around a first axis line 4001, and a first driving mechanism arranged on the wheel set frame 421 and used to drive the roller 422 to rotate around the first axis line 4001. Each wheel set frame 421 is rotatably arranged at the bottom of the chassis bracket 411 around a second axis line 4002. The first axis line 4001 extends in the horizontal direction, and the second axis line 4002 extends in the up and down direction. The first axis line 4001 and the second axis line 4002 are perpendicular to each other. In other embodiments, the first axis line 4001 can also have a certain inclination in the horizontal direction, and the second axis line 4002 can also have a certain inclination in the up and down direction.

[0173] The first driving mechanism can be a first motor. The first motor can be installed on the wheel set frame 421 and located inside or outside the roller 422, driving the roller 422 to rotate around the first axis line 4001. And the rotation of the wheel set frame 421 around the second axis line 4002 will drive the roller 422 to also rotate around the second axis line 4002, so as to realize the steering of the roller 422.

[0174] In some embodiments, the first motor may be an electric motor, a hydraulic motor or a pneumatic motor. In this example, the first motor is an electric motor.

[0175] In this example, see Figure 6B There are four wheel assembly mechanisms 42, and two wheel assembly mechanisms 42 are symmetrically arranged on the left and right sides of the wheeled chassis 4, that is, they are respectively distributed on the left front, right front, left rear and right rear of the chassis bracket 411 (as shown in FIG. Figure 6B The front, back, left, and right shown are reference directions). The wheel sets 421 of the two wheel sets on the same side rotate around the two second axis lines respectively, and the two second axis lines on the same side are located in the same plane, that is, the wheel sets 421 of the two wheel sets on the left (or right) side rotate around the two second axis lines respectively, and the two second axis lines on the left (or right) side are located in the same plane.

[0176] In other embodiments, six wheel assembly mechanisms 42 may be provided, that is, one more wheel assembly mechanism is provided in the wheel assembly mechanism at the front and rear of the left side, and one more wheel assembly mechanism is provided in the wheel assembly mechanism at the front and rear of the right side.

[0177] See also Figure 6B The wheeled chassis 4 also includes multiple second driving mechanisms, each of which includes a driving unit arranged on the chassis bracket 411 and having an output shaft, and a driving member connected to the output shaft of the driving unit and driven to rotate by the rotation of the output shaft. The driving unit can be a second motor 441 fixedly arranged on the chassis bracket 411.

[0178] In some embodiments, the second motor 441 may be an electric motor, a hydraulic motor, or a pneumatic motor. In this example, the second motor 441 is an electric motor.

[0179] The steering mechanism 43 includes a steering member 433 fixedly arranged relative to the wheelset frame 421 and a transmission unit transmission-connected between the driving member and the steering member 433. The transmission unit is driven by the rotation of the driving member, thereby driving the steering member 433 to rotate, thereby driving the wheelset frame 421 to rotate.

[0180] In this example, the driving member is a driving wheel connected to the output shaft of the second motor, the steering member 433 is a steering wheel connected to the wheel assembly frame 421, and the transmission unit is a transmission belt 435, which is respectively connected to the driving wheel and the steering wheel.

[0181] In this example, between the steering member 433 and the wheel set frame 421 is connected by a wheel axle assembly 45 extending in the up and down direction. The wheel axle assembly 45 includes a first axle 451 and a second axle 452 that are coaxially and rotatably arranged with each other. One of the two components of the first axle 451 and the second axle 452 is fixedly connected to the wheel set frame 421 and the steering member 433 respectively, and the other component of the two components is fixedly connected to the chassis bracket 411. For example, if the first axle 451 is the inner axle and the second axle 452 is the outer axle sleeved outside the first axle 451 and relatively rotatable with the first axle 451, the first axle 451 is fixedly connected to the chassis bracket 411, and the second axle 452 is fixedly connected to the wheel set frame 421 and the steering member 433 respectively.

[0182] In other embodiments, the steering member may also be fixedly connected to the wheel set frame 421, and then the two are rotatably connected to the chassis bracket 411.

[0183] In some embodiments, each wheel set mechanism 42 is configured with a steering mechanism 43, and each steering mechanism 43 is configured with a second drive mechanism. By synchronously controlling the operation of the second motor, the steering of the rollers can have better coordination and flexible operation.

[0184] Refer to again Figures 7A - 7D , Figures 7A - 7D which is a schematic diagram of the rollers of the wheel set mechanism at different rotation angles when the wheeled chassis is running. It should be noted that the following description of the rotation direction of the rollers of the wheel set mechanism 42 of the wheeled chassis 4 is based on Figures 7A - 7D the direction shown by the wheeled chassis 4 in the figure, that is, the front, back, left, and right directions shown on the drawing.

[0185] The steering of each roller is driven by each independent second drive mechanism. For example, Figure 7A when the four second drive mechanisms respectively drive the four rollers to turn left, and when the rotation angle of the roller is a (a is not zero), for the plane where the roller 422 is located (denoted as the first plane M1), and the plane where the second axis line on the left (or right) side is located (denoted as the second plane M2), the included angle between the two planes (that is, the first plane M1 and the second plane M2) is the size of the included angle a. For example, the rotation angle of the right rear roller 422 is a1, the rotation angle of the left rear roller 422 is a2, the rotation angle of the right front roller 422 is a4, and the rotation angle of the left front roller 422 is a3. The planes where the front and rear rollers on the left (or right) side intersect. At this time, by driving the rollers to rotate through the first motor, the wheeled chassis 4 can achieve a left front or left rear turning motion.

[0186] Taking Figure 7BFor example, when the four second driving mechanisms respectively drive the four rollers to turn right, and the rotation angle of the roller 422 is b (b is not zero), such as the rotation angle of the right rear roller 422 is b1, the rotation angle of the left rear roller 422 is b2, the rotation angle of the left front roller 422 is b3, and the rotation angle of the right front roller 422 is b4, the planes where the front and rear rollers 422 on the left (or right) side intersect. At this time, by driving the rollers to rotate through the first motor, the wheeled chassis 4 can achieve right front or right rear turning motion.

[0187] Take Figure 7C For example, when the two second driving mechanisms on the left side respectively drive the two left rollers to turn left, and the two second driving mechanisms on the right side respectively drive the two right rollers to turn right, and the rotation angle of the rollers is c (c is not zero), such as the rotation angle of the right rear roller 422 is c1, the rotation angle of the left rear roller 422 is c2, the rotation angle of the left front roller 422 is c3, and the rotation angle of the right front roller 422 is c4, the planes where the front and rear rollers 422 on the left (or right) side intersect. At this time, by driving the rollers to rotate through the first motor, the wheeled chassis 4 implements braking.

[0188] Take Figure 7D For example, when the two second driving mechanisms on the left side respectively drive the two left rollers to turn right, and the two second driving mechanisms on the right side respectively drive the two right rollers to turn left, and the rotation angle of the rollers is d (d is not zero), such as the rotation angle of the right rear roller 422 is d1, the rotation angle of the left rear roller 422 is d2, the rotation angle of the right front roller 422 is d4, and the rotation angle of the left front roller 422 is d3, the planes where the front and rear rollers 422 on the left (or right) side intersect. At this time, by driving the rollers to rotate through the first motor, the wheeled chassis 4 can achieve in-situ rotation motion.

[0189] For the four rollers of the wheeled chassis, the rotation angles of the four rollers can also be driven to be zero by the four second driving mechanisms. At this time, the plane where the rollers are located and the plane where the second axis line on the left (or right) side are at an included angle of zero, and the wheeled chassis 4 realizes straight forward and backward motion.

[0190] By adopting the wheel set chassis of this embodiment, each roller is configured with a second motor to drive the steering, and the second motors can work in synchronous control with good coordination.

[0191] Embodiment 5

[0192] Refer to Figures 8A to 8B . Figure 8A is the front view showing the wheeled chassis according to the technology disclosed in the present invention; Figure 8BIt is a top view showing a wheeled chassis according to the technology disclosed in the present invention. In Figure 8A and Figure 8B , the wheeled chassis 5 at least includes a chassis body 51, a plurality of wheel set mechanisms 52 and a plurality of steering mechanisms. Among them, the chassis body 51 includes a chassis bracket 511. The plurality of wheel set mechanisms 52 are arranged at the bottom of the chassis bracket 511. In the embodiments of the present invention, the number of the wheel set mechanisms 52 of the wheeled chassis 5 can be four or six, and the number of the wheel set mechanisms 52 can be adjusted according to design requirements. The components included in each wheel set mechanism 52 in this embodiment, the connection relationship between the components and the functions are the same. Therefore, only one wheel set mechanism 52 is used to represent and explain when describing the wheel set mechanism.

[0193] Each wheel set mechanism 52 includes a wheel set frame 521, a roller 522 rotatably arranged on the wheel set frame 521 around a first axis line 5001, and a first driving mechanism arranged on the wheel set frame 521 and used to drive the roller 522 to rotate around the first axis line 5001. Each wheel set frame 521 is rotatably arranged at the bottom of the chassis bracket 511 around a second axis line 5002. The first axis line 5001 extends in the horizontal direction, and the second axis line 5002 extends in the up-and-down direction. The first axis line 5001 and the second axis line 5002 are perpendicular to each other. In other embodiments, the first axis line 5001 can also have a certain inclination in the horizontal direction, and the second axis line 5002 can also have a certain inclination in the up-and-down direction.

[0194] The first driving mechanism can be a first motor. The first motor can be installed on the wheel set frame 521 and located inside or outside the roller 522 to drive the roller 522 to rotate around the first axis line 5001. The rotation of the wheel set frame 521 around the second axis line 5002 will drive the roller 522 to also rotate around the second axis line 5002, thereby realizing the steering of the roller 522.

[0195] In some embodiments, the first motor can be an electric motor, a hydraulic motor or a pneumatic motor. In this example, the first motor is an electric motor.

[0196] In this example, referring to Figure 8B , there are four wheel set mechanisms 52. Two wheel set mechanisms 52 are symmetrically arranged on the relative left and right sides of the wheeled chassis 5, that is, they are respectively distributed at the front left, front right, rear left and rear right of the chassis bracket 511 (taking the front, rear, left and right shown in the figure Figure 8B as the reference directions). The wheel set frames 521 of the two wheel set mechanisms on the same side rotate around two second axis lines respectively. The two second axis lines on the same side are in the same plane. That is to say, the wheel set frames 521 of the two wheel set mechanisms on the left (or right) side rotate around two second axis lines respectively, and the two second axis lines on the left (or right) side are in the same plane.

[0197] In other embodiments, six wheel set mechanisms 52 may also be provided, that is, an additional wheel set mechanism is added to the wheel set mechanisms at the front and rear on the left side, and an additional wheel set mechanism is also added to the wheel set mechanisms at the front and rear on the right side.

[0198] In some embodiments, each wheel set mechanism 52 is configured with a steering mechanism, and each steering mechanism is configured with a second driving mechanism. By synchronously controlling the operation of the second driving mechanism, the steering of the rollers can have better coordination and flexible operation.

[0199] See also Figure 8B , the wheeled chassis 5 further includes a plurality of second driving mechanisms. Each second driving mechanism includes a driving unit provided on the chassis bracket 511 and having an output shaft, and a driving gear 542 connected to the output shaft and driven to rotate by the rotation of the output shaft. The driving unit may be a second motor 541 fixedly provided on the chassis bracket 511.

[0200] In some embodiments, the second motor 541 may be an electric motor, a hydraulic motor or a pneumatic motor. In this example, the second motor 541 is an electric motor.

[0201] The steering mechanism includes a steering gear 531 fixedly arranged relative to the wheel set frame 521. The driving gear 542 meshes with the steering gear 531. By driving the rotation of the driving gear 542 to drive the rotation of the steering gear 531, the wheel set frame 521 is driven to rotate, thereby realizing the steering of the rollers.

[0202] In other embodiments, the driving gear 542 meshes with the steering gear 531 through a transmission gear set, and the transmission gear set includes at least one or more meshing transmission gears.

[0203] In this example, the steering gear 531 and the wheel set frame 521 are connected by a wheel shaft assembly 55 extending in the up and down direction. The wheel shaft assembly 55 includes a first shaft 551 and a second shaft 552 that rotate coaxially with each other. One of the two components of the first shaft 551 and the second shaft 552 is fixedly connected to the wheel set frame 521 and the steering gear 531 respectively, and the other component of the two components is fixedly connected to the chassis bracket 511. For example, the first shaft 551 is an inner shaft, and the second shaft 552 is an outer shaft sleeved outside the first shaft 551 and relatively rotating with the first shaft 551. The first shaft 551 is fixedly connected to the chassis bracket 511, and the second shaft 552 is fixedly connected to the wheel set frame 521 and the steering gear 531 respectively.

[0204] In other embodiments, the steering gear may also be fixedly connected to the wheel set frame 521, and the two are then rotatably connected to the chassis bracket 511.

[0205] See also Figures 9A - 9E , Figures 9A - 9EShows a schematic diagram of the rollers of the wheel set mechanism at different rotation angles when the wheeled chassis is in operation. It should be noted that the following description of the rotation direction of the rollers of the wheel set mechanism 52 of the wheeled chassis 5 is based on Figures 9A - 9E the direction indicated by the wheeled chassis 5 in, that is, the front-back, left-right directions indicated on the drawing.

[0206] The steering of each roller is driven by each independent second drive mechanism. For example, Figure 9A , the four rollers of this wheeled chassis are respectively driven by four second drive mechanisms so that the rotation angles of the four rollers are zero. At this time, the plane where the roller 422 is located (denoted as the first plane M1), the plane where the second axis line on the left (or right) is located (denoted as the second plane M2), and the included angle between the two planes (i.e., the first plane M1 and the second plane M2) is zero, and the wheeled chassis 5 realizes straight forward and backward movement.

[0207] Taking Figure 9B as an example, when the four second drive mechanisms respectively drive the four rollers to turn to the right, and the rotation angle of the roller 522 is a (a is not zero), for example, the rotation angle of the right rear roller 522 is a1, the rotation angle of the left rear roller 522 is a2, the rotation angle of the left front roller 522 is a3, and the rotation angle of the right front roller 522 is a4, the planes where the front and rear rollers 522 on the left (or right) are located intersect. At this time, by driving the rollers to rotate through the first motor, the wheeled chassis 5 can realize right front or right rear turning movement.

[0208] For example, Figure 9C , when the four second drive mechanisms respectively drive the four rollers to turn to the left, and the rotation angle of the rollers is b (b is not zero), the plane where the roller 522 is located (denoted as the first plane M1), the plane where the second axis line on the left (or right) is located (denoted as the second plane M2), and the magnitude of the included angle between the two planes (i.e., the first plane M1 and the second plane M2) is the magnitude of the included angle b. For example, the rotation angle of the right rear roller 522 is b1, the rotation angle of the left rear roller 522 is b2, the rotation angle of the right front roller 522 is b4, and the rotation angle of the left front roller 522 is b3, and the planes where the front and rear rollers on the left (or right) are located intersect. At this time, by driving the rollers to rotate through the first motor, the wheeled chassis 5 can realize left front or left rear turning movement.

[0209] Taking Figure 9DFor example, the two second driving mechanisms on the left drive the two left rollers to turn left respectively, and the two second driving mechanisms on the right drive the two right rollers to turn right respectively. When the rotation angle of the rollers is c (c is not zero), for example, the rotation angle of the rear right roller 522 is c1, the rotation angle of the rear left roller 522 is c2, the rotation angle of the front left roller 522 is c3, and the rotation angle of the front right roller 522 is c4, the planes where the front and rear rollers 522 on the left (or right) are located intersect. At this time, the first motor drives the rollers to rotate, and the wheeled chassis 5 realizes braking.

[0210] For Figure 9E example, the two second driving mechanisms on the left drive the two left rollers to turn right respectively, and the two second driving mechanisms on the right drive the two right rollers to turn left respectively. When the rotation angle of the rollers is d (d is not zero), for example, the rotation angle of the rear right roller 522 is d1, the rotation angle of the rear left roller 522 is d2, the rotation angle of the front right roller 522 is d4, the rotation angle of the front left roller 522 is d3, and the planes where the front and rear rollers 522 on the left (or right) are located intersect. At this time, the first motor drives the rollers to rotate, and the wheeled chassis 5 can realize a spinning-in-place movement.

[0211] By adopting the wheel group chassis of this embodiment, each roller is configured with a second motor for driving the steering, and the second motors can work in synchronous control with good coordination.

[0212] It can be seen from the above Embodiment 1 to Embodiment 5 that the wheeled chassis can drive the rotation direction and rotation angle of each roller through the second driving mechanism, and can realize spinning in place, braking or turning (such as turning left or right) in a limited space. And when the rotation angle of the rollers driven by the second driving mechanism is not zero and the rotation angles of the rollers of the four wheel group mechanisms are different, the wheeled chassis can realize differential steering and spinning-in-place movement; when the rotation angle of the rollers driven by the second driving mechanism is not zero and the rotation angles of the rollers of the four wheel group mechanisms are the same, the wheeled chassis can realize isometric steering and turning movement.

[0213] The above wheeled chassis can be used as the chassis of various intelligent devices, such as intelligent devices for inspection, handling, delivery / food delivery, cleaning, shopping guide / navigation, rescue and other different scenarios.

[0214] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0215] In addition, in the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the communication inside two elements. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0216] The above embodiments are only used to illustrate the embodiments of the present invention, rather than limiting the embodiments of the present invention. Those of ordinary skill in the relevant technical field can also make various changes and modifications without departing from the spirit and scope of the embodiments of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present invention. The patent protection scope of the embodiments of the present invention shall be defined by the claims.

Claims

1. A wheeled chassis, characterized in that: include: Chassis body; A plurality of wheel assembly mechanisms, each of which comprises a wheel assembly frame, a roller rotatably arranged on the wheel assembly frame around a first axis, and a first driving mechanism arranged on the wheel assembly frame and used to drive the roller to rotate around the first axis, each of which is rotatably arranged on the bottom of the chassis body around a second axis, the first axis extending in a horizontal direction or extending obliquely in a horizontal direction, and the second axis extending in a vertical direction or extending obliquely in a vertical direction; A second driving mechanism, which is arranged on the chassis body; A plurality of steering mechanisms are respectively connected between the second driving mechanism and each of the wheel sets. The second driving mechanism drives the steering mechanism to work, thereby driving each of the wheel sets to rotate around the second axis, so that each of the rollers is turned.

2. The wheeled chassis according to claim 1, characterized in that: The first axis and the second axis are perpendicular; and / or, The first axis extends in a horizontal direction, and the second axis extends in a vertical direction.

3. The wheeled chassis according to claim 1, characterized in that: There are at least four wheel set mechanisms, and two or more wheel set mechanisms are symmetrically arranged on two opposite sides of the wheeled chassis.

4. The wheeled chassis according to any one of claims 1 to 3, characterized in that: The second driving mechanism includes a driving unit provided on the chassis body and having an output shaft, and a driving member connected to the output shaft and driven to rotate by the rotation of the output shaft; The steering mechanism includes a sliding member slidably arranged on the chassis body in a horizontal direction, a connecting member rotatably connected between the sliding member and the driving member, a steering member fixedly arranged relatively to the wheelset frame, and a transmission unit transmission-connected between the sliding member and the steering member. The connecting member is driven to move by the rotation of the driving member, and the sliding member is pulled to slide on the chassis body, and the transmission unit is driven to move and drive the steering member to rotate, thereby driving the wheelset frame to rotate.

5. The wheeled chassis according to claim 4, characterized in that: The transmission unit includes a first rod rotatably connected to the steering member, a second rod rotatably connected to the first rod, and a third rod rotatably connected to the sliding member, the second rod is also rotatably connected to the chassis body, the third rod is also rotatably connected to at least one of the first rod and the second rod, or the third rod, the first rod and the second rod are coaxially rotatably connected.

6. The wheeled chassis according to claim 4, characterized in that: The transmission unit is a first rod, and two ends of the first rod are rotatably connected to the sliding member and the steering member respectively.

7. The wheeled chassis according to claim 4, characterized in that: Each of the wheel assembly mechanisms is equipped with a steering mechanism, and every two of the steering mechanisms are equipped with one of the second driving mechanisms; and / or, The two steering mechanisms of the two wheel set mechanisms located on the same side are driven by the same second driving mechanism; and / or, Every two of the steering mechanisms share one sliding member and one connecting member.

8. The wheeled chassis according to claim 4, characterized in that: The wheeled chassis further comprises a limit assembly disposed on the chassis body and used for limiting the sliding distance of the sliding member; and / or, The driving member is a rotating disk fixedly connected to the output shaft of the second driving mechanism, and the connecting member is rotatably connected to the side of the rotating disk. The rotation of the rotating disk drives the connecting member to move, thereby pulling the sliding member to slide; and / or, The driving member is a rod, and the two ends of the rod are respectively connected to the output shaft and the connecting member; and / or, The chassis body comprises a chassis bracket and a first fixing bracket arranged on the chassis bracket, the wheel assembly mechanism is arranged at the bottom of the chassis bracket, and the second driving mechanism is arranged on the first fixing bracket; A guide rail is provided on the chassis bracket along the movable direction of the sliding member, and the sliding member is slidably connected to the guide rail; and / or, The driving unit is a motor.

9. The wheeled chassis according to any one of claims 1 to 4, characterized in that: The second driving mechanism includes a driving unit provided on the chassis body and having an output shaft, and a driving member connected to the output shaft and driven to rotate by the rotation of the output shaft; The steering mechanism includes a steering member fixedly arranged relative to the wheelset frame and a transmission unit transmission-connected between the driving member and the steering member. The transmission unit is driven to move by the rotation of the driving member, thereby driving the steering member to rotate, thereby driving the wheelset frame to rotate.

10. The wheeled chassis according to claim 9, characterized in that: The transmission unit is a transmission belt, the driving member is a driving wheel connected to the output shaft, the steering member is a steering wheel connected to the wheel set frame, and the transmission belt is connected to the driving wheel and the steering wheel respectively; the transmission unit is a first rod member, and the two ends of the first rod member are rotatably connected to the driving member and the steering member respectively.

11. The wheeled chassis according to claim 1, characterized in that: Each of the wheel set mechanisms is connected to the steering mechanism via an axle assembly extending in the up-down direction, the axle assembly comprising a first shaft and a second shaft coaxially arranged to rotate with each other, one of the first shaft and the second shaft being fixedly connected to the wheel set frame and the steering mechanism respectively, and the other of the two components being fixedly connected to the chassis body.

12. A smart device, characterized in that: A wheeled chassis comprising any one of claims 1 to 11.

13. The smart device according to claim 12, characterized in that: The smart device further comprises a control system which is electrically connected to all the driving units of the wheeled chassis.

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