Four-wheel independent steering chassis

Abstract

The invention relates to the technical field of four-wheel chassis, and discloses a four-wheel independent steering chassis which comprises a mounting frame, four independent wheel sets are arranged at the bottom of the mounting frame, and a storage box is hinged to the top of the mounting frame; the anti-inclination assembly is used for preventing materials in the storage box from falling off due to excessive inclination of the storage box; and the balance assembly is used for improving the balance of the mounting frame during driving. Through the cooperation of the mounting frame, the four independent wheel sets and the storage box, simple material transportation is achieved, meanwhile, pivot steering and Ackerman steering can be achieved, flexibility is improved, and the vehicle can conveniently run in the field and can flexibly pass through various curves; through the arrangement of the anti-inclination assembly, when the mounting frame and the storage box run through the four independent wheel sets and pass through a soil pit or steer, one sliding rod and one sliding seat can automatically jack up the side, with the material falling risk, of the storage box, and the material falling probability is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of four-wheel chassis, and particularly to a four-wheel independent steering chassis. Background Art

[0002] With the increasingly significant trend of large-scale, refined, and efficient development in agriculture, agricultural production has put forward extremely high requirements for the efficiency and accuracy of the material handling link. The traditional method of relying on manual labor or simple tools for field material handling not only consumes a large amount of labor costs when facing large planting areas, but also has a slow handling speed and low efficiency, seriously restricting the overall progress of agricultural production. For example, in large vegetable planting bases, the handling of materials such as fertilizers, pesticides, and harvested vegetables is extremely heavy. Using material handling equipment can improve the handling efficiency, reduce labor costs and labor intensity of personnel. Among them, the four-wheel chassis is a key component of the handling equipment.

[0003] Chinese Patent CN109760742B discloses "a variable wheelbase omnidirectional four-wheel drive mobile chassis", which includes a frame. Steering motors are connected to the four corners of the top of the frame. The bottom ends of the steering motors are connected to universal drive shafts. Drive wheel deformable brackets are connected to the four corners of the bottom of the frame. One end of the universal drive shaft extending out of the drive wheel deformable bracket is connected to a drive wheel fixed bracket. Positive and negative thread lead screw guide rail modules are provided at both ends of the bottom of the frame. Sliders are symmetrically installed on the positive and negative thread lead screw guide rail modules left and right. A first deformable bracket push rod is hinged between the right slider and the left drive wheel deformable bracket. A second deformable bracket push rod is hinged between the left slider and the right drive wheel deformable bracket. The structure of this patent is reasonably designed and is applicable to various grounds with relatively large friction, avoiding the sliding friction between the drive wheels and the ground during the process of changing the wheelbase.

[0004] However, in the prior art, the following problems exist:

[0005] When the existing four-wheel chassis is actually in use, due to the relatively rough and winding roads in the field, the conventional four-wheel chassis will vibrate to a certain extent due to the uneven road surface during the actual driving process, resulting in a risk of the materials transported on the chassis falling. And when driving in some narrow curves, due to the limited turning radius of the four-wheel chassis, it is difficult for the four-wheel chassis to turn in narrow curves, thus affecting the transportation efficiency. Summary of the Invention

[0006] The purpose of the present invention is to provide a four-wheel independent steering chassis to solve the above problems and overcome the defects of the prior art, as described in detail below.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] A four-wheel independent steering chassis, comprising a mounting frame, independent wheel sets and a storage box. Four independent wheel sets are provided at the bottom of the mounting frame, and the storage box is hinged to the top of the mounting frame. It further includes a balance assembly, which includes two pry bars, and the two pry bars are respectively rotatably connected to the bottom surface of the mounting frame through brackets;

[0009] An anti-tipping assembly is provided below the balance assembly. The anti-tipping assembly includes a swing rod, a weight, a connecting rod, a sliding rod and a sliding seat. The bottom surface of the mounting frame is hinged to the swing rod, the bottom end of the swing rod is connected to the weight, and the two sides of the swing rod are respectively hinged to the connecting rod. Two sliding rods are slidably connected through the mounting frame, and two sliding seats are slidably connected to the bottom of the storage box.

[0010] As an implementable mode, the four independent wheel sets are respectively located at the four corners of the bottom of the mounting frame and are connected to the mounting frame through mounting brackets. Each independent wheel set includes a roller, a damping mechanism and a driving device, and an integrated control module is provided inside the mounting frame.

[0011] As an implementable mode, the two sliding seats are respectively located at both ends of the connection between the storage box and the mounting frame. The top ends of the two sliding rods are respectively hinged to the two sliding seats, and the bottom ends of the two sliding rods are respectively hinged to the ends of the two connecting rods away from the swing rod. The two sliding rods are mirror-image arranged, and a plurality of springs are provided between the storage box and the mounting frame.

[0012] As an implementable mode, the anti-tipping assembly further includes a connection assembly, and the connection assembly includes side baffles, first groove plates, fork rods and second groove plates;

[0013] Both ends of the storage box are slidably connected to the side baffles. Two first groove plates are connected to the bottom of each side baffle. Both ends of the storage box are respectively connected to the central axis, and two fork rods are rotatably connected to the outer wall of the central axis. Two second groove plates are respectively connected to the outer walls of both ends of the mounting frame;

[0014] Each fork rod is arranged in a scissor-type symmetric cross, and the top of each fork rod is respectively slidably connected to each first groove plate through a bearing wheel, and the bottom of each fork rod is respectively slidably connected to each second groove plate through a bearing wheel.

[0015] As an implementable mode, each first groove plate is provided with a slide rail, each second groove plate is provided with a first slide rail, the top of each fork rod is respectively slidably connected to the slide rail of each first groove plate through a bearing wheel, and the bottom of each fork rod is respectively slidably connected to the first slide rail of each second groove plate through a bearing wheel. The distance from the bottom of the fork rod to the central axis is less than the distance from the top of the fork rod to the central axis.

[0016] As an implementable embodiment, the balance component includes a polished rod, two balance rods and a counterweight rod. The polished rod passes through and connects to the swing rod and is connected to the bottom ends of each pry bar at both ends. The two balance rods pass through the installation frame and are slidably connected. Each balance rod is placed on top of each pry bar and passes through and connects to the convex rod. A counterweight rod is connected between the two ends of the two balance rods respectively.

[0017] As an implementable embodiment, a chute is provided on the top of each pry bar, and a first chute is provided at the bottom of each pry bar. The outer wall of the polished rod is slidably connected to the first chute at the bottom of each pry bar, and the two convex rods are respectively slidably connected to the chutes on the tops of the two pry bars.

[0018] As an implementable embodiment, the balance component further includes a mounting plate, an outer cover and two connecting rods. The mounting plate is connected to the outside of the installation frame through a bracket. The outer cover is connected to the outside of the mounting plate. The two connecting rods are respectively located on both sides of the installation frame, and the ends of the two connecting rods away from the balance rods are respectively connected to two chute frames. Two rotating shafts are rotatably connected through the mounting plate. The top end of the rotating shaft is connected to a rotating rod. The top surface of the end of the rotating rod away from the rotating shaft is connected to a roller. Each roller cooperates with each chute frame.

[0019] As an implementable embodiment, chutes are provided on the chute frames, and the two rollers are respectively slidably connected to the chutes of the two chute frames. A long slot is provided on the mounting plate. A cutter is connected to the outer wall of the rotating shaft. The two cutters are both located in the long slot of the mounting plate, and the two cutters are arranged in a mirror image.

[0020] The beneficial effects are as follows:

[0021] 1. Through the cooperation of the installation frame, the four independent wheel sets and the storage box, simple material transportation is realized. At the same time, in-situ turning and Ackermann steering can also be realized, improving flexibility, facilitating driving in the field, and being able to flexibly pass through various curves.

[0022] 2. Through the setting of the anti-tipping component, when the installation frame and the storage box travel through the four independent wheel sets, when passing through a pothole or turning, one of the sliding rods and the sliding seat can automatically lift the side of the storage box with the risk of material dropping upward, reducing the probability of material dropping; through the setting of the two side baffles, when the storage box tilts, one of the side baffles can automatically rise, further reducing the risk of material being thrown out or dropped.

[0023] 3. Through the setting of the balance component, the two balance rods and the two counterweight rods can automatically move following the tilt of the installation frame to adjust the center of gravity of the installation frame and prevent the installation frame and the storage box from tipping over; through the cooperation of the mounting plate and the two cutters, the mounting plate can block weeds, and the cutters can cut off weeds through reciprocating swinging, avoiding the action of weeds from hindering the movement of the installation frame and ensuring the smoothness of the movement of the installation frame. Brief Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the structure of the independent wheel set of the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the anti-tipping component of the present invention;

[0028] Figure 4 It is a schematic diagram of the structure of the sliding rod of the present invention;

[0029] Figure 5 It is a schematic diagram of the structure of the side baffle of the present invention;

[0030] Figure 6 It is a schematic diagram of the structure of the balance component of the present invention;

[0031] Figure 7 It is a schematic diagram of the structure of the balance rod of the present invention;

[0032] Figure 8 It is a schematic diagram of the structure of the outer cover of the present invention;

[0033] Figure 9 It is a schematic diagram of the structure of the cutting knife of the present invention.

[0034] The descriptions of the reference numerals are as follows: 1, mounting frame; 2, independent wheel set; 3, storage box; 4, anti-tipping component; 41, swing rod; 42, plumb bob; 43, connecting rod; 44, sliding rod; 45, sliding seat; 46, side baffle; 47, central shaft; 48, fork rod; 49, first groove plate; 410, second groove plate; 5, balance component; 51, pry bar; 52, smooth rod; 53, balance rod; 54, convex rod; 55, counterweight rod; 56, mounting plate; 57, outer cover; 58, chute frame; 59, connecting rod; 510, rotating shaft; 511, cutting knife; 512, rotating rod; 513, roller. Detailed Description of the Embodiments

[0035] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other implementation manners obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope protected by the present invention.

[0036] Embodiment 1

[0037] Please refer to Figure 1 - Figure 2 , a four-wheel independent steering chassis, comprising a mounting frame 1. Four independent wheel sets 2 are provided at the bottom of the mounting frame 1. A storage box 3 is hinged to the top of the mounting frame 1, and the storage box 3 can swing left and right to a certain extent on the top of the mounting frame 1. The four independent wheel sets 2 are respectively located at the four corners of the bottom of the mounting frame 1. The independent wheel sets 2 are connected to the mounting frame 1 through brackets. The independent wheel sets 2 include rollers, damping mechanisms and driving devices. An integrated control module is provided inside the mounting frame 1. The integrated control module can control the driving devices of the four independent wheel sets 2 to enable the rollers of the independent wheel sets 2 to realize the functions of rolling and steering. The damping mechanisms of the independent wheel sets 2 play a damping role. The four independent wheel sets 2 can roll and steer synchronously, and can also be controlled separately for rolling and steering. Through the cooperation of the four independent wheel sets 2, in-situ steering and Ackermann steering can be achieved, improving the flexibility of moving in the field and facilitating driving in fields with narrow and winding roads. Some materials can be directly placed in the storage box 3, and small devices, storage mechanisms, etc. can also be installed. Users can directly utilize the cooperation of the mounting frame 1, the four independent wheel sets 2 and the storage box 3 to realize simple material transportation. At the same time, in-situ steering and Ackermann steering can also be achieved, improving the flexibility and facilitating driving in the field.

[0038] It further includes an anti-tipping component 4, such as Figures 3 - 4As shown, it is used to prevent the storage box 3 from tilting excessively and causing the materials inside it to fall; the anti-tilting component 4 includes a swing rod 41, the swing rod 41 is hinged to the bottom surface of the mounting frame 1, the bottom end of the swing rod 41 is connected to a weight 42, and two connecting rods 43 are respectively hinged on both sides of the swing rod 41. Two sliding rods 44 are slidably connected through the mounting frame 1, and two sliding seats 45 are slidably connected to the bottom of the storage box 3. The two sliding seats 45 are respectively located at both ends of the connection between the storage box 3 and the mounting frame 1. The top ends of the two sliding rods 44 are respectively hinged to the two sliding seats 45, and the bottom ends of the two sliding rods 44 are respectively hinged to the ends of the two connecting rods 43 away from the swing rod 41. The two sliding rods 44 are arranged in mirror image. A plurality of springs are provided between the storage box 3 and the mounting frame 1, and the plurality of springs play a certain shock-absorbing effect. When the mounting frame 1 tilts to the right, the distance between the right bottom surface of the mounting frame 1 and the weight 42 shortens, so that the weight 42 pushes the right sliding rod 44 upward above the mounting frame 1 through the right connecting rod 43. The right sliding rod 44 jacks up the right half of the storage box 3 through the right sliding seat 45, increasing the distance between the right bottom surface of the storage box 3 and the right bottom surface of the mounting frame 1, so that the tilting angle of the storage box 3 to the right is smaller than the tilting angle of the mounting frame 1 to the right, achieving the effect of reducing the tilting amplitude of the storage box 3.

[0039] When the four independent wheel sets 2 turn, for example, when turning to the left, the mounting frame 1 and the storage box 3 generate an inertia to the right. The weight 42 drives the swing rod 41 to swing to the right, and the right sliding rod 44 and the sliding seat 45 jack up the right half of the storage box 3, causing the storage box 3 to tilt to the left, preventing the materials inside the storage box 3 from being thrown out due to inertia. Through the setting of the anti-tilting component 4, when the mounting frame 1 and the storage box 3 travel through the four independent wheel sets 2, when passing through a pothole or turning, one of the sliding rods 44 and the sliding seat 45 can automatically jack up the side of the storage box 3 where there is a risk of material dropping, reducing the probability of material dropping.

[0040] Furthermore, as Figure 5As shown, both ends of the storage box 3 are slidably connected to the side baffles 46 respectively. The bottom of the side baffle 46 is connected to two first groove plates 49. Both ends of the storage box 3 are respectively connected to the central shafts 47. The outer walls of the central shafts 47 are rotatably connected to two fork rods 48. Both ends of the outer wall of the installation frame 1 are respectively connected to two second groove plates 410. The two fork rods 48 on the central shaft 47 are symmetrically cross - arranged in a scissor - type. Slide rails are respectively arranged on the first groove plates 49 and the second groove plates 410. Here, the structure of the slide rail and the first slide rail is not distinguished, and the two can have the same structure. The tops of the four fork rods 48 are respectively slidably connected to the slide rails of the four first groove plates 49 through bearing wheels. The bottoms of the four fork rods 48 are respectively slidably connected to the slide rails of the four second groove plates 410 through bearing wheels. The distance from the bottom of the fork rod 48 to the central shaft 47 is less than the distance from the top to the central shaft 47. The two fork rods 48, the central shaft 47, the two first groove plates 49 and the two second groove plates 410 form a scissor - type lifting mechanism. When the two fork rods 48 are closed, the two fork rods 48 push the side baffle 46 upward through the two first groove plates 49. Since the distance from the bottom of the fork rod 48 to the central shaft 47 is less than the distance from the top to the central shaft 47, the distance that the side baffle 46 moves upward is greater than the distance between the storage box 3 and the installation frame 1 when they are separated. Through the arrangement of the two side baffles 46, when the storage box 3 is tilted, one of the side baffles 46 can automatically rise, further reducing the risk of materials being thrown out or falling off.

[0041] In addition, the balance assembly 5, such as Figures 6 - 7As shown, it is used to improve the balance of the installation frame 1 during driving; the balance assembly 5 includes two pry bars 51, and the two pry bars 51 are respectively rotatably connected to the bottom surface of the installation frame 1 through brackets. A smooth rod 52 is penetrated and connected to the swing rod 41. Two balance rods 53 are penetrated and slidably connected to the installation frame 1. A convex rod 54 is penetrated and connected to the balance rod 53. Counterweight rods 55 are respectively connected between the two ends of the two balance rods 53. The two balance rods 53 and the two counterweight rods 55 form a quadrilateral balance frame. Chute grooves are respectively provided at the bottom and top of the pry bar 51. Here, the chute groove and the first chute groove are not distinguished, and both can adopt the same structure. The outer wall of the smooth rod 52 is slidably connected to the chute grooves at the bottoms of the two pry bars 51, and the two convex rods 54 are respectively slidably connected to the chute grooves at the tops of the two pry bars 51. When the swing rod 41 swings, the two pry bars 51 are driven to rotate through the smooth rod 52. The rotation center of the pry bar 51 is located between the smooth rod 52 and the convex rod 54. Therefore, when the pry bar 51 rotates, the balance rod 53 can be driven to slide in the direction opposite to the swinging direction of the swing rod 41 by using the lever principle through the convex rod 54. When the installation frame 1 tilts to the right or turns to the left, the two balance rods 53 and the two counterweight rods 55 slide to the left, thereby shifting the center of gravity of the installation frame 1 to the left to avoid the situation where the installation frame 1 and the storage box 3 tip over. Similarly, when the installation frame 1 tilts to the left or turns to the right, the two balance rods 53 and the two counterweight rods 55 slide to the right to maintain the balance of the installation frame 1. Through the setting of the balance assembly 5, the two balance rods 53 and the two counterweight rods 55 can automatically move following the tilt of the installation frame 1 to adjust the center of gravity of the installation frame 1 and avoid the installation frame 1 and the storage box 3 from tipping over.

[0042] In addition, such as Figure 8As shown, the balance component 5 further includes a mounting plate 56. The mounting plate 56 is connected to the right side of the mounting frame 1 through a bracket. The right side of the mounting plate 56 is connected to an outer cover 57. The outer cover 57 can play a role in blocking weeds. The outer cover 57 is detachable. When the outer cover 57 is installed, it covers the two cutting knives 511 to prevent the cutting knives 511 from accidentally injuring the user. After the outer cover 57 is removed, the two cutting knives 511 are exposed. At this time, the mounting plate 56 plays a role in blocking weeds. The top surface of the mounting plate 56 is slidably connected to two chute frames 58. The outer walls of the balance rods 53 on the right are connected to two connecting rods 59. The two connecting rods 59 are respectively located in front of and behind the mounting frame 1. The ends of the two connecting rods 59 far from the balance rods 53 are respectively connected to the two chute frames 58. Two rotating shafts 510 are rotatably connected through the mounting plate 56. The outer walls of the rotating shafts 510 are connected to the cutting knives 511. The top ends of the rotating shafts 510 are connected to rotating rods 512. The top surface of the end of the rotating rod 512 far from the rotating shaft 510 is connected to rollers 513. The chute frames 58 are provided with chutes. The two rollers 513 are respectively slidably connected to the chutes of the two chute frames 58. The mounting plate 56 is provided with long slots. The two cutting knives 511 are both located in the long slots of the mounting plate 56. The two cutting knives 511 are arranged in a mirror image. When the chute frames 58 move, the rotating shafts 510 are driven to rotate through the rollers 513 and the rotating rods 512. The rotating shafts 510 drive the cutting knives 511 to rotate. When the mounting frame 1 travels in the field, as the two balance rods 53 move back and forth, the two cutting knives 511 also swing reciprocally. When the two cutting knives 511 swing, they can cut off the weeds staying on the mounting plate 56, preventing too many weeds from lodging or adhering to the mounting plate 56 and affecting the movement and balance of the mounting frame 1. Through the cooperation of the mounting plate 56 and the two cutting knives 511, the mounting plate 56 can block weeds, and the cutting knives 511 can cut off weeds through reciprocating swinging, preventing weeds from hindering the movement of the mounting frame 1 and ensuring the smoothness of the movement of the mounting frame 1.

[0043] With the above structure, the working principle of this case is that the integrated control module inside the mounting frame 1 can control the driving devices of the four independent wheel sets 2, enabling the rollers of the independent wheel sets 2 to realize the functions of rolling and steering. The damping mechanisms of the independent wheel sets 2 play a damping role. The four independent wheel sets 2 can roll and turn synchronously, and can also be controlled independently for rolling and turning. Through the cooperation of the four independent wheel sets 2, in-situ turning and Ackerman turning can be realized, improving the flexibility of moving in the field and facilitating driving in fields with narrow and winding roads. Some materials can be directly placed in the storage box 3, and small equipment, storage mechanisms, etc. can also be installed. Users can directly utilize the cooperation of the mounting frame 1, the four independent wheel sets 2 and the storage box 3 to realize simple material transportation. At the same time, in-situ turning and Ackerman turning can also be realized, improving the flexibility and facilitating driving in the field.

[0044] The storage box 3 can swing left and right to a certain extent on the top of the installation frame 1. When the independent wheel set 2 on the right passes through a pothole, the installation frame 1 tilts to the right. Since the heavy hammer 42 maintains its position almost unchanged by its own gravity, when the installation frame 1 tilts to the right, the distance between the bottom surface on the right side of the installation frame 1 and the heavy hammer 42 shortens. As a result, the heavy hammer 42 pushes the right slide bar 44 upward above the installation frame 1 through the right connecting rod 43. The right slide bar 44 jacks up the right half of the storage box 3 through the right slide seat 45, increasing the distance between the bottom surface on the right side of the storage box 3 and the bottom surface on the right side of the installation frame 1. Thus, the tilting angle of the storage box 3 to the right is less than the tilting angle of the installation frame 1 to the right, achieving the effect of reducing the tilting amplitude of the storage box 3 and avoiding the materials inside the storage box 3 from falling due to excessive tilting amplitude.

[0045] When the installation frame 1 tilts to the left, the left slide bar 44 jacks up the left half of the storage box 3 through the slide seat 45, playing the same role in preventing tilting and making a smooth transition. When the four independent wheel sets 2 turn, for example, when turning to the left, the installation frame 1 and the storage box 3 generate inertia to the right. The heavy hammer 42 drives the swing rod 41 to swing to the right, and the right slide bar 44 and the slide seat 45 jack up the right half of the storage box 3, tilting the storage box 3 to the left and preventing the materials inside the storage box 3 from being thrown out due to inertia. Taking the storage box 3 tilting to the right as an example, when the storage box 3 tilts to the right, the distance between the left side of the storage box 3 and the left side of the installation frame 1 increases. The distance between the central axis 47 at this position and the two second groove plates 410 increases, causing the two fork rods 48 to come together. The two fork rods 48, the central axis 47, the two first groove plates 49, and the two second groove plates 410 form a scissor lift mechanism. When the two fork rods 48 come together, the two fork rods 48 push the side baffle 46 upward through the two first groove plates 49. Since the distance from the bottom of the fork rod 48 to the central axis 47 is less than the distance from the top of the fork rod 48 to the central axis 47, the distance that the side baffle 46 moves upward is greater than the distance between the storage box 3 and the installation frame 1 separating. Thus, when the left side of the storage box 3 rises, the side baffle 46 on the left side of the storage box 3 can also rise, further optimizing the effect of preventing the materials on the left side of the storage box 3 from falling out or being thrown off.

[0046] Through the setting of the anti-tilting component 4, when the installation frame 1 and the storage box 3 travel through four independent wheel sets 2, when passing through a pothole or turning, one of the slide bars 44 and the slide seat 45 can automatically jack up the side of the storage box 3 where there is a risk of material dropping, reducing the probability of material dropping. Through the setting of the two side baffles 46, when the storage box 3 tilts, one of the side baffles 46 can automatically rise, further reducing the risk of materials being thrown out or dropping.

[0047] Two balance rods 53 and two counterweight rods 55 form a quadrilateral balance frame. When the mounting frame 1 is not tilted, the distances between the two counterweight rods 55 and the two ends of the mounting frame 1 are equal. The two balance rods 53 and the counterweight rods 55 play a role in assisting to maintain balance. When the swinging rod 41 swings, it drives the two pry bars 51 to rotate through the smooth rod 52. The rotation center of the pry bar 51 is located between the smooth rod 52 and the convex rod 54. Therefore, when the pry bar 51 rotates, it can use the lever principle to drive the balance rod 53 to slide in the direction opposite to the swinging direction of the swinging rod 41 through the convex rod 54. Therefore, when the mounting frame 1 tilts to the right or turns to the left, the two balance rods 53 and the two counterweight rods 55 slide to the left, thereby shifting the center of gravity of the mounting frame 1 to the left and avoiding the situation of the mounting frame 1 and the storage box 3 tipping over.

[0048] When the mounting frame 1 tilts to the left or turns to the right, the two balance rods 53 and the two counterweight rods 55 slide to the right to maintain the balance of the mounting frame 1; the outer cover 57 is located in the traveling direction of the mounting frame 1. The outer cover 57 can play a role in shielding weeds. The outer cover 57 can be disassembled. When the outer cover 57 is installed, it covers the two cutter blades 511 to prevent the cutter blades 511 from accidentally injuring the user. After the outer cover 57 is disassembled, the two cutter blades 511 are exposed. At this time, the mounting plate 56 plays a role in shielding weeds. When the two balance rods 53 move, the balance rod 53 on the right drives the two chute frames 58 to move synchronously through the two connecting rods 59. When the chute frame 58 moves, it drives the rotating shaft 510 to rotate through the roller 513 and the rotating rod 512. The rotating shaft 510 drives the cutter blade 511 to rotate. Therefore, when the mounting frame 1 travels in the field, as the two balance rods 53 move back and forth, the two cutter blades 511 also swing reciprocally. When the two cutter blades 511 swing, they can cut off the weeds staying on the mounting plate 56, preventing too many weeds from lodging or adhering to the mounting plate 56 and affecting the movement and balance of the mounting frame 1; through the setting of the balance assembly 5, the two balance rods 53 and the two counterweight rods 55 can automatically move following the tilt of the mounting frame 1 to adjust the center of gravity of the mounting frame 1 and avoid the mounting frame 1 and the storage box 3 from tipping over; through the cooperation of the mounting plate 56 and the two cutter blades 511, the mounting plate 56 can shield weeds, while the cutter blades 511 can cut off weeds through reciprocating swinging, preventing weeds from hindering the movement of the mounting frame 1 and ensuring the smoothness of the movement of the mounting frame 1.

[0049] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A four-wheel independent steering chassis, comprising a mounting frame, independent wheel sets and a storage box. Four independent wheel sets are provided at the bottom of the mounting frame, and the storage box is hinged to the top of the mounting frame. It is characterized in that: It further includes a balance assembly, and the balance assembly includes two pry bars, and the two pry bars are respectively rotatably connected to the bottom surface of the mounting frame through brackets; An anti-tipping assembly is provided below the balance assembly. The anti-tipping assembly includes a swing rod, a weight, a connecting rod, a sliding rod and a sliding seat. The bottom surface of the mounting frame is hinged to the swing rod, the bottom end of the swing rod is connected to the weight, and the two sides of the swing rod are respectively hinged to the connecting rod. Two sliding rods are slidably connected through the mounting frame, and the bottom of the storage box is slidably connected to two sliding seats.

2. The four-wheel independent steering chassis according to claim 1, characterized in that: The four independent wheel sets are respectively located at the four corners of the bottom of the mounting frame and are connected to the mounting frame through mounting brackets. Each independent wheel set includes a roller, a damping mechanism and a driving device. An integrated control module is provided inside the mounting frame.

3. The four-wheel independent steering chassis according to claim 2, wherein: The two sliding seats are respectively located at both ends of the connection between the storage box and the mounting frame. The top ends of the two sliding rods are respectively hinged to the two sliding seats, and the bottom ends of the two sliding rods are respectively hinged to one ends of the two connecting rods away from the swing rod. The two sliding rods are arranged in a mirror image. A plurality of springs are provided between the storage box and the mounting frame.

4. A four-wheel independent steering chassis according to claim 1 or 3, characterized in that: The anti-tipping assembly further includes a connection assembly, and the connection assembly includes side baffles, first groove plates, fork rods and second groove plates; Both ends of the storage box are slidably connected to the side baffles. The bottom of each side baffle is connected to two first groove plates. Both ends of the storage box are respectively connected to the central axis. The outer wall of the central axis is rotatably connected to two fork rods. Both ends of the outer wall of the mounting frame are respectively connected to two second groove plates; Each fork rod is arranged in a scissor-shaped symmetric cross pattern. The top of each fork rod is respectively slidably connected to each first groove plate through a bearing wheel, and the bottom of each fork rod is respectively slidably connected to each second groove plate through a bearing wheel.

5. The four-wheel independent steering chassis according to claim 4, characterized in that: Each first groove plate is provided with a slide rail, each second groove plate is provided with a first slide rail, the top of each fork rod is respectively slidably connected to the slide rail of each first groove plate through a bearing wheel, and the bottom of each fork rod is respectively slidably connected to the first slide rail of each second groove plate through a bearing wheel. The distance from the bottom of the fork rod to the central axis is less than the distance from the top of the fork rod to the central axis.

6. The four-wheel independent steering chassis according to claim 1, wherein: The balance assembly includes a smooth rod, two balance rods and a counterweight rod. The smooth rod penetrates and connects the swing rod and the two ends are connected to the bottom ends of each pry bar. The two balance rods penetrate through the mounting frame and are slidably connected. Each balance rod is placed on the top of each pry bar and penetrates and connects a convex rod. A counterweight rod is respectively connected between the two ends of the two balance rods.

7. The four-wheel independent steering chassis according to claim 6, characterized in that: A chute is provided at the top of each pry bar, and a first chute is provided at the bottom of each pry bar. The outer wall of the smooth rod is slidably connected to the first chute at the bottom of each pry bar, and the two convex rods are respectively slidably connected to the chutes at the top of the two pry bars.

8. A four-wheel independent steering chassis according to claim 1 or 7, characterized in that: The balance assembly further includes a mounting plate, an outer cover and two connecting rods. The mounting plate is connected to the outside of the mounting frame through a bracket. The outer cover is connected to the outside of the mounting plate. The two connecting rods are respectively located on both sides of the mounting frame, and one ends of the two connecting rods away from the balance rods are respectively connected to two chute frames. Two rotating shafts are rotatably connected through the mounting plate. The top end of the rotating shaft is connected to a rotating rod. The top surface of the end of the rotating rod away from the rotating shaft is connected to a roller, and each roller cooperates with each chute frame.

9. A four-wheel independent steering chassis according to claim 8, characterized in that: The chute frame is provided with chutes, and the two rollers are respectively slidably connected to the chutes of the two chute frames. The mounting plate is provided with long slots, the outer wall of the rotating shaft is connected with cutting knives, and the two cutting knives are both located in the long slots of the mounting plate. The two cutting knives are arranged in a mirror image.

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