Four-wheel-drive mobile robot chassis based on steering wheels

Abstract

The invention discloses a four-wheel-drive mobile robot chassis based on steering wheels. The four-wheel-drive mobile robot chassis comprises a chassis frame; the steering wheels are connected to the chassis frame in a square layout; the plane positioning system is connected to the dead center of the chassis frame; the steering wheel comprises a second connecting piece which is connected to the chassis frame; the wheel set is connected with the second connecting piece through a first wheel set supporting plate and a second wheel set supporting plate; the first connecting piece is connected with the second connecting piece through a first connecting rod and connected with the wheel set through a second connecting rod. Therefore, the steering wheel can rotate by 360 degrees in the horizontal direction, so that the robot chassis can freely move in all directions without a steering radius, and the flexibility of the robot chassis is remarkably improved. In addition, the robot chassis is provided with the main beam aluminum pipe and the frame aluminum pipe, so that the loading strength of the robot chassis is remarkably improved, and meanwhile, the main body structure of the robot chassis is simpler.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a four-wheel drive mobile robot chassis based on a steering wheel. Background Art

[0002] The four-wheel drive mobile robot chassis is a key basic component that enables the mobile robot to move flexibly and perform tasks. It is mainly used to achieve high-precision and high-flexibility autonomous navigation and carrying functions.

[0003] Conventional mobile robot chassis currently utilize differential steering or fixed-axle structures, which limit steering angles and reduce maneuverability. Complex position adjustments within a specific space are difficult, and they are prone to slippage or trajectory deviation during high-speed movement. While some omnidirectional mobile chassis utilize Mecanum wheels for lateral translation, these suffer from weak load capacity, high noise levels, and poor surface adaptability. Their high center of gravity can lead to instability, especially under heavy loads or emergency braking conditions. Summary of the Invention

[0004] In view of the above existing situation, the present invention provides a four-wheel drive mobile robot chassis based on a steering wheel.

[0005] To this end, the first aspect of the present invention provides a robot chassis, including: a chassis frame, which is used to connect a steering wheel; a steering wheel assembly, with four steering wheel assemblies arranged on the chassis frame and independently distributed at the four corners of the chassis frame in a square layout to form a four-point support structure; and a planar positioning system fixed to the center of the chassis frame to provide information for positioning.

[0006] In the four-wheel drive mobile robot chassis involved in the invention, optionally, the steering wheel assembly includes a first connecting member, a second connecting member and a wheel set; the second connecting member is detachably connected to the chassis frame by bolts, and one end of the first connecting rod is fixedly connected to the second connecting member, and the other end is fixedly connected to the first connecting member.

[0007] In the four-wheel drive mobile robot chassis involved in the invention, optionally, the first connecting member includes a conductive slip ring, a steering wheel top cover, a magnetic encoder, a heading transmission outer cylindrical gear, a heading transmission inner cylindrical gear and two layers of carbon plates;

[0008] The conductive slip ring is fixed to the steering wheel top cover via a slip ring pad, the magnetic encoder is embedded in the slip ring pad accommodating cavity, and the magnetic encoder is protected by a dust cover and a sealing ring. The first flange bearing is interference fit with the steering wheel top cover; the heading transmission outer cylindrical gear passes through the steering wheel top cover and is fixed to the first flange bearing; the heading transmission outer cylindrical gear is meshed with the heading transmission inner cylindrical gear, adopting a double gear transmission.

[0009] In the four-wheel drive mobile robot chassis involved in the invention, optionally, the number of the first connecting rods is twenty-four, which are evenly distributed to four steering wheel assemblies, each steering wheel assembly has six first connecting rods, and the first connecting rods are distributed around the steering wheel assembly in a regular hexagonal array to ensure the stability of the steering wheel structure.

[0010] In the four-wheel drive mobile robot chassis involved in the invention, optionally, the wheel group includes a steering wheel rubber coating, a steering wheel hub, a first brushless motor, a magnetic encoder assembly, an electric controller and related connecting parts; the steering wheel rubber wheel adopts a double-layer structure, and the steering wheel rubber coating wraps the steering wheel hub; the first brushless motor is fixed to the steering wheel hub via a motor fixed end pad and a hub coupling.

[0011] In the four-wheel drive mobile robot chassis involved in the invention, it is optional to further include a second wheel group support plate and a first wheel group support plate, connecting the wheel group and the second connecting member; the hub coupling and the second magnet are connected to the magnetic encoder assembly through the third flange bearing, the second wheel group support plate, and the second flange bearing in sequence.

[0012] In the four-wheel drive mobile robot chassis involved in the invention, optionally, the second connecting member includes a heading power gear, a steering wheel base, a second gear oil tank, a steering wheel bottom plate, a steering wheel bearing and a first gear oil tank;

[0013] The heading power gear is embedded in the first gear oil groove and the second gear oil groove, and the first gear oil groove and the second gear oil groove are arranged opposite to each other, and the fractures are spliced in pairs; the first gear oil groove and the second gear oil groove are fixedly connected to the steering wheel base, and the outer edges are in contact with the steering wheel base.

[0014] In the four-wheel drive mobile robot chassis involved in the invention, optionally, the steering wheel base plate is fixedly connected under the steering wheel base, and the second wheel group support plate and the first wheel group support plate are embedded in the preset groove of the steering wheel base; the steering wheel bearing is embedded in the steering wheel base, and the outer bearing of the steering wheel bearing is fixedly connected to the steering wheel base, and the inner bearing of the steering wheel bearing is fixedly connected to the steering wheel base.

[0015] In the four-wheel drive mobile robot chassis involved in the invention, optionally, the wheel group is connected to the first wheel group support plate, the second wheel group support plate and the middle carbon plate through flange bearings, and the second connecting rods are distributed opposite to each other in pairs, with the lower end fastened to the steering wheel middle carbon plate, and the other end connected to the second carbon plate of the first connecting member.

[0016] In the four-wheel drive mobile robot chassis involved in the invention, optionally, the number of the second connecting rods is twenty-four, which are evenly distributed to four steering wheel assemblies, and each steering wheel assembly has six second connecting rods.

[0017] In the four-wheel-drive mobile robot chassis of the invention, the steering power gear is optionally embedded in a first gear oil groove and a second gear oil groove through precision assembly. The first and second gear oil grooves are arranged relative to each other and tightly connected at the fracture through a splicing structure, forming a complete gear housing cavity to ensure stable operation of the steering power gear. The first and second gear oil grooves are fixedly mounted to the steering wheel base via fasteners, with their outer edges closely fitting the steering wheel base, thereby enhancing the rigidity and stability of the overall structure. Furthermore, the steering wheel base plate is fixedly mounted below the steering wheel base via connectors. Its structural design includes pre-set grooves to precisely accommodate the second and first wheelset support plates, achieving efficient connection between the wheelset and the steering wheel assembly. The steering wheel bearing is embedded within the steering wheel base, with the outer bearing fixedly connected to the steering wheel base via an interference fit or fasteners, and the inner bearing fixedly connected to the steering wheel base plate, thereby forming a stable rotational support structure to ensure flexible operation and precise control of the steering wheel assembly.

[0018] A second aspect of the present invention provides a robot, comprising the robot chassis as described in any one of the above items.

[0019] The robot chassis of the present invention comprises a chassis frame, a steering wheel assembly, and a planar positioning system. Four steering wheel assemblies are mounted on the chassis frame and independently distributed at its four corners in a square configuration, forming a four-point support structure. This not only enhances the load-bearing capacity of the device, ensuring uniform force on the four steering wheels, but also maintains stability during both static and dynamic operation, preventing tilting and imbalance. Furthermore, the independent steering wheel assembly design provides ample space in the center of the chassis frame, facilitating the installation of electrical components on the upper portion of the chassis frame and facilitating subsequent maintenance by personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 A schematic diagram of the overall structure of the robot chassis provided in an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the independent steering wheel structure of the robot chassis provided in an embodiment of the present invention;

[0023] Figure 3A schematic structural diagram of an independent steering wheel cover of a robot chassis provided by an embodiment of the present invention;

[0024] Figure 4 An exploded schematic diagram of the independent steering wheel cover of the robot chassis provided by an embodiment of the present invention;

[0025] Figure 5 A schematic structural diagram of a robot chassis provided by an embodiment of the present invention without the upper cover;

[0026] Figure 6 A schematic structural diagram of an independent steering wheel assembly of a robot chassis provided in an embodiment of the present invention;

[0027] Figure 7 An exploded schematic diagram of an independent steering wheel assembly of a robot chassis provided by an embodiment of the present invention;

[0028] Figure 8 A schematic structural diagram of the robot chassis provided by an embodiment of the present invention, excluding the lower cover of the independent steering wheel of the brushless motor;

[0029] Figure 9 An exploded schematic diagram of the lower cover of the independent steering wheel of the robot chassis provided by an embodiment of the present invention;

[0030] Figure numerals: 1, chassis frame; 2, first connecting member; 201, conductive slip ring; 202, magnetic encoder dust cover; 203, magnetic encoder; 204, slip ring pad; 205, first flange bearing; 206, steering wheel top cover; 207, first magnet; 208, heading transmission outer cylindrical gear; 209, heading transmission inner cylindrical gear; 210, two-layer carbon plate; 3, wheel set; 301, magnetic encoder assembly; 302, magnetic encoder fixing seat; 303, second flange bearing; 304, first wheel set support plate; 305, third flange bearing; 306, second magnet; 307, magnet fixing block; 308, hub coupling; 309, steering wheel hub; 310 , the middle carbon plate of the steering wheel; 311, the rubber coating of the steering wheel; 312, the first brushless motor; 313, the fixed end pad of the motor; 314, the support plate of the second wheel group; 315, the electric control frame; 316, the electric control; 4, the second connecting part; 401, the heading power gear; 402, the gear washer carbon plate; 403, the steering wheel frame pressing carbon plate; 404, the steering wheel base; 405, the second gear oil tank; 406, the steering wheel bottom plate; 407, the motor bracket; 408, the steering wheel bearing; 409, the first gear oil tank; 5, the plane positioning system; 6, the first connecting rod; 7, the second brushless motor; 8, the second connecting rod; 9, the bottom plate; 10, the frame; 11, the frame protection carbon plate; 12, the main beam aluminum tube. DETAILED DESCRIPTION

[0031] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "inside", "outside" and the like used in the present invention to indicate orientations or positional relationships are based on the positional relationships shown in the accompanying drawings, and are only used to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the devices and elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0033] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0034] In addition, the present invention uses terms such as "first" and "second" to describe various types of information, but such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information without departing from the scope of the present invention.

[0035] The first aspect of the present invention provides a four-wheel drive mobile robot chassis based on a steering wheel, comprising: a chassis frame 1, the chassis frame body comprising a base plate 9, a frame frame 10, a frame protection carbon plate 11 and a main beam aluminum tube 12, wherein the frame frame 10 and the main beam aluminum tube 12 are fixedly connected to the base plate 9, and the frame protection carbon plate 11 is fixedly connected to the frame frame 10; a steering wheel, the steering wheel body comprising a first connecting member 2, a wheel group 3 and a second connecting member 4, wherein the first connecting member 2 and the second connecting member 4 are fixedly connected by a first connecting rod 6, the first connecting member 2 and the wheel group 3 are fixedly connected by a second connecting rod 8, and the second connecting member 4 and the wheel group 3 are fixedly connected by a first wheel group support plate 304 and a second wheel group support plate 314.

[0036] Reference Figure 1 As an embodiment, the chassis frame 1 includes a base plate 9, a frame 10, a carbon frame plate 11, and a main beam aluminum tube 12. The frame 10 is arranged at the edge of the base plate 9 and fixedly connected via fasteners, and the carbon frame plate 11 is fixedly connected to the frame 10. The main beam aluminum tubes 12 are arranged in pairs opposite each other and fixedly connected to the base plate 9 via fasteners, thereby significantly improving the load-bearing strength of the chassis frame's main structure. In addition, the planar positioning system 5 passes through the preset holes in the base plate 9 and is fixedly connected to the main beam aluminum tube 12.

[0037] Reference Figure 2 、 Figure 3 and Figure 4 In one embodiment, the first connector 2 includes a conductive slip ring 201 and a steering wheel cover 206. The conductive slip ring 201 is fixedly connected via a slip ring pad 204, which is bolted to the top surface of the steering wheel cover 206. The magnetic encoder 203 is embedded in the accommodating cavity of the slip ring pad 204. The dust cover 202 covers the magnetic encoder 203 and is detachably fixed to the slip ring pad 204. The first flange bearing 205 is fixedly connected to the steering wheel cover 206 via an interference fit. Preferably, the conductive slip ring 201 and the slip ring pad 204 are isolated by insulating material to ensure electrical safety. Furthermore, a sealing ring is provided between the dust cover 202 and the slip ring pad 204 to enhance the dust and water resistance of the device. The first flange bearing 205 is installed coaxially with the central axis of the steering wheel cover 206 to ensure transmission accuracy.

[0038] Reference Figure 3 and Figure 4 As an embodiment, the first connecting member 2 further includes a first magnet 207, a heading transmission outer cylindrical gear 208, a heading transmission inner cylindrical gear 209, and a second layer of carbon plate 210. The first magnet 207 is embedded in the receiving cavity of the heading transmission outer cylindrical gear 208 and is fixedly connected via an interference fit. The heading transmission outer cylindrical gear 208 extends through the steering wheel top cover 206 and is fixedly connected to the first flange shaft 205, so that the first flange bearing 205 can synchronously drive the heading transmission outer cylindrical gear 208 to rotate when rotating. The heading transmission outer cylindrical gear 208 and the heading transmission inner cylindrical gear 209 achieve power transmission through meshing transmission. The base plate of the heading transmission inner cylindrical gear 209 is fixedly connected to the second layer of carbon plate 210 via fasteners. Preferably, the first magnet 207 is made of a high magnetic energy product permanent magnetic material to improve the efficiency and stability of the transmission system. The heading transmission outer cylindrical gear 208 is made of 3D printing material PLA, and the accommodating cavity is made of aluminum material to avoid affecting the magnetic field of the magnet. Furthermore, the meshing surfaces of the heading transmission outer cylindrical gear 208 and the heading transmission inner cylindrical gear 209 are precision machined to ensure transmission accuracy and low-noise operation. The two-layer carbon plate 210 is made of high-strength carbon fiber composite material to reduce the overall weight and improve structural strength. A sealing structure is provided at the connection between the first flange bearing 205 and the heading transmission outer cylindrical gear 208 to prevent external contaminants from entering the interior of the transmission system.

[0039] Reference Figure 5 and Figure 6As an embodiment, the second connecting rods 8 are arranged in pairs and fixedly connected to the middle carbon plate 310 of the steering wheel of the wheelset 3. They are also fixedly connected to the second carbon plate 210 of the first connecting member 2. This structural arrangement can effectively enhance the connection strength between the first connecting member 2 and the wheelset 3, thereby improving the stability and reliability of the overall structure.

[0040] Reference Figure 7 As an embodiment, the wheel assembly 3 includes a steering wheel rubber coating 311, a steering wheel hub 309, a first brushless motor 312, a magnetic encoder assembly 301, an electric regulator 316, and related connecting components. The steering wheel rubber coating 311 is tightly wrapped around the outside of the steering wheel hub 309. The first brushless motor 312 is fixedly connected to the steering wheel hub 309 through the motor fixed end pad 313 and the hub coupling 308. The steering wheel rubber coating 311 is made of a highly elastic and wear-resistant rubber material with good grip, can adapt to different ground conditions, can effectively buffer the impact force from the ground, and reduce vibration. The steering wheel hub 309 is made of aluminum alloy material, which reduces the overall weight while ensuring structural strength, thereby improving the flexibility and energy efficiency of the robot. The flange bearing includes a third flange bearing 305 and a second flange bearing 303. The third flange bearing 305 is tightly matched with the central axis of the steering wheel hub 309. The magnet fixing block 307 tightly connects the second flange bearing 303 with the first wheel group support plate 304. The use of high-precision rolling bearings can reduce the friction resistance during rotation and ensure the smoothness and accuracy of the steering wheel rotation.

[0041] Reference Figure 5 、 Figure 6 and Figure 7 As an embodiment, the first wheel support plate 304 and the second wheel support plate 314 use bolts to securely connect the wheel set 3 and the second connecting member 4, and are fixed to the first connecting member 2 via the steering wheel middle carbon plate 310. The first wheel support plate 304 and the second wheel support plate 314 are located on either side of the wheel set and are made of high-strength carbon fiber composite materials. They not only have excellent rigidity and toughness, but are also lightweight, effectively reducing the overall weight of the steering wheel. The first wheel support plate 304 and the second wheel support plate 314 are both provided with precisely machined mounting holes and positioning grooves to ensure the installation accuracy between the wheel set 3 and the second connecting member 4, and to ensure the stability and reliability of the steering wheel during rotation.

[0042] Reference Figure 6 and Figure 7As an embodiment, a magnetic encoder assembly 301 and an electric regulator 316 are also installed on the wheel set 3. The second magnet 306 is fastened to the wheel hub coupling 308 using a magnet fixing block 307 to achieve synchronous rotation of the second magnet 306 and the motor. The magnetic encoder assembly 301 is tightly fixed to the left side of the first wheel set support plate 304 through the magnetic encoder fixing seat 302, and the third flange bearing 305 is fixed to the outside of the first wheel set support plate 304 by the magnetic encoder fixing seat 302. The electric regulator 316 is fixed to the upper right part of the first wheel set support plate 314 through the electric regulator bracket 315. The magnetic encoder improves the accuracy and reliability of detection, ensuring that the control system can accurately grasp the operating status of the wheel set 3, thereby achieving precise control of the movement of the robot chassis.

[0043] Reference Figure 8 As an embodiment, the second connecting member 4 includes a steering wheel base 404, a first gear oil groove 409, a second gear oil groove 405 and a motor bracket 407, wherein the steering wheel base 404 is fixedly connected to the first gear oil groove 409 and the second gear oil groove 405 by fasteners, and the motor bracket 407 is fixedly connected to the steering wheel base 404 by bolt connection.

[0044] Reference Figure 8 and Figure 9 As an embodiment, the second connecting member 4 also includes: a heading power gear 401, which is embedded in the first gear oil groove 409 and the second gear oil groove 405, and reduces the friction resistance of the heading power gear during rotation through a lubricating medium; a gear washer carbon plate 402 and a steering wheel frame pressed carbon plate 403, which are fixedly connected to the heading power gear 401 and fixedly connected to the first wheel group support plate 304 and the second wheel group support plate 314; a steering wheel bearing 408, the outer ring of the steering wheel bearing 408 is fixedly connected to the gear base 405, and the inner ring is fixedly connected between the steering wheel frame pressed carbon plate 403 and the first wheel group support plate 304 and the second wheel group support plate 314; a steering wheel bottom plate 406, the first wheel group support plate 304 and the second wheel group support plate 314 are embedded in the preset groove of the steering wheel bottom plate 406, and are fixedly connected by fasteners. Through the above structural design, the coordinated action of the first gear oil tank 409, the second gear oil tank 405, the heading power gear 401, and the steering wheel bearing 408 enables the steering wheel assembly to smoothly achieve omnidirectional rotation, while also ensuring the stability and reliability of the connection between the steering wheel assembly and the chassis frame. The first gear oil tank and the second gear oil tank are two semicircular structures, with their opening axes parallel and no connection between them at the contact point. The first gear oil tank and the second gear oil tank are fixed to the steering wheel base and the chassis frame via bolts, and their outer edges are flush with the outer edge of the steering wheel base.

[0045] Reference Figure 1 and Figure 8 As an example, the steering wheel base 404 of the second connector 4 is fixedly connected to the bottom plate 11 of the chassis frame 1 via fasteners, with a rubber ring provided at the connection interface to form a tight mechanical coupling. Furthermore, the second brushless motor 7 is embedded in the motor bracket 407, forming a detachable connection.

[0046] Although the present invention has been described in detail above with reference to the accompanying drawings and specific embodiments, it should be understood that the above description does not constitute any limitation of the present invention. Without departing from the spirit and scope of the present invention, those skilled in the art may make appropriate modifications, substitutions, or variations to the present invention according to actual needs, and such modifications, substitutions, or variations shall be deemed to fall within the scope of protection defined by the claims of the present invention.

Claims

1. A four-wheel drive mobile robot chassis based on a steering wheel, characterized in that: include: chassis frame; Steering wheel assemblies, four steering wheel assemblies are arranged on the chassis frame, in a square layout and independently distributed at the four corners of the chassis frame, forming a four-point support structure; The plane positioning system is fixed at the center of the chassis frame to provide information for positioning.

2. The four-wheel drive mobile robot chassis according to claim 1, characterized in that: The steering wheel assembly includes a first connecting member, a second connecting member and a wheel set; the second connecting member is detachably connected to the chassis frame by bolts, one end of the first connecting rod is fixedly connected to the second connecting member, and the other end is fixedly connected to the first connecting member.

3. The four-wheel drive mobile robot chassis according to claim 2, characterized in that: The first connecting member includes a conductive slip ring, a steering wheel top cover, a magnetic encoder, a heading transmission outer cylindrical gear, a heading transmission inner cylindrical gear and two layers of carbon plates; The conductive slip ring is fixed to the steering wheel top cover via a slip ring pad, the magnetic encoder is embedded in the slip ring pad accommodating cavity, the dust cover covers the magnetic encoder, and a sealing ring made of silicone material is used to achieve dustproof sealing, the first flange bearing is interference fit with the steering wheel top cover; the heading transmission outer cylindrical gear passes through the steering wheel top cover and is fixed to the first flange bearing; the heading transmission outer cylindrical gear is meshed with the heading transmission inner cylindrical gear, adopting a double gear transmission.

4. The four-wheel drive mobile robot chassis according to claim 2, characterized in that: There are twenty-four first connecting rods, which are evenly distributed to four steering wheel assemblies. Each steering wheel assembly has six first connecting rods, and the first connecting rods are distributed around the steering wheel assembly in a regular hexagonal array.

5. The four-wheel drive mobile robot chassis according to claim 2, characterized in that: The wheel set includes a steering wheel rubber coating, a steering wheel hub, a first brushless motor, a magnetic encoder assembly and an electric speed controller; The steering wheel rubber wheel adopts a double-layer structure, and the steering wheel rubber wraps the steering wheel hub; The first brushless motor is fixed to the steering wheel hub via a motor fixed end pad and a hub coupling.

6. The four-wheel drive mobile robot chassis according to claim 5, characterized in that: It also includes a second wheel group support plate and a first wheel group support plate, which are used to connect the wheel group and the second connecting member; the hub coupling and the second magnet are connected to the magnetic encoder assembly through the third flange bearing, the second wheel group support plate, and the second flange bearing in sequence.

7. The four-wheel drive mobile robot chassis according to claim 2, characterized in that: The second connecting member includes a heading power gear, a steering wheel base, a second gear oil tank, a steering wheel bottom plate, a steering wheel bearing and a first gear oil tank; The heading power gear is embedded in the first gear oil groove and the second gear oil groove, and the first gear oil groove and the second gear oil groove are two semicircular spliced structures, the opening axes of the two are parallel, and there is no connection between the two. The first gear oil groove and the second gear oil groove are fixed to the steering wheel base and the chassis frame by bolts, and the outer edges of the first gear oil groove and the outer edge of the steering wheel base are flush with the outer edge of the steering wheel base. The steering wheel base plate is fixedly connected under the steering wheel base, and the second wheel group support plate and the first wheel group support plate are embedded in the preset grooves of the steering wheel base; the steering wheel bearing is embedded in the steering wheel base, and the outer bearing of the steering wheel bearing is fixedly connected to the steering wheel base, and the inner bearing of the steering wheel bearing is fixedly connected to the steering wheel base.

8. The four-wheel drive mobile robot chassis according to claim 2, characterized in that: The wheel set is connected to the first wheel set support plate, the second wheel set support plate and the middle carbon plate through flange bearings. The second connecting rods are distributed opposite to each other in pairs, with the lower end fastened to the middle carbon plate of the steering wheel and the other end connected to the second carbon plate of the first connecting member.

9. The four-wheel drive mobile robot chassis according to claim 8, characterized in that: There are twenty-four second connecting rods, which are evenly distributed to four steering wheel assemblies, and each steering wheel assembly has six second connecting rods.

10. A robot, characterized in that: It comprises the four-wheel drive mobile robot chassis as described in any one of claims 1-9.

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