A four-wheel independent drive robot chassis structure with roll self-balancing function

Abstract

The application discloses a four-wheel independent drive robot chassis structure with a roll self-balancing function. The chassis structure comprises a main vehicle frame (101), an independent leveling assembly (102) arranged at a corner, an independent drive suspension module (103), a counterweight side sliding assembly (104), a central controller (105) and an inertial measurement unit sensor (106). The independent leveling assembly (102) comprises a first motor (108), and the counterweight side sliding assembly (104) comprises a battery pack (107) driven to move horizontally by a second motor (109). The application realizes vertical leveling and decoupling of shock absorption stroke space, and at a limit roll dead point, the battery pack (107) is reused to compensate for the gravity center deviation, a double-chassis anti-rollover mechanism is constructed, and the system stability is improved.

Description

Technical Field

[0001] This application relates to the field of special robots and motor vehicle chassis technology, specifically to a four-wheel independent drive robot chassis structure with tilt self-balancing function. More specifically, this application relates to a vehicle frame leveling structure that utilizes a follower slider to achieve linear motion decoupling and compensates for center of gravity offset through moving mass to prevent chassis rollover. Background Technology

[0002] In unpaved environments such as orchards, hills, or field exploration, specialized robots often need to carry heavy equipment or supplies across lateral slopes. Because these robots are typically designed with high ground clearance to overcome obstacles, their center of gravity is often high. When the lateral tilt angle exceeds a safe threshold, the vehicle's gravity vector can easily deviate from the supporting polygon formed by the four wheels, leading to severe tilting or even rollover accidents.

[0003] Existing chassis rollover prevention solutions mostly employ air suspension or hydraulic active suspension for vehicle height adjustment. Current active suspension systems typically combine long-stroke, low-frequency attitude adjustment with short-stroke, high-frequency road vibration damping into a single actuator. This structure causes the actuator to be subjected to high-frequency alternating loads for extended periods, leading to wear and failure of internal seals and shortening the suspension system's lifespan. When the lateral slope angle is too large, and the suspension height adjustment reaches its mechanical dead point, the chassis loses further anti-roll capability and cannot cope with extreme rollover conditions. Summary of the Invention

[0004] This application addresses the problem of short actuator life caused by interference between existing chassis suspensions during leveling and damping, as well as the lack of additional anti-rollover measures under extreme roll conditions. This application provides a four-wheel independent drive robot chassis structure with roll self-balancing functionality.

[0005] This application provides a four-wheel independent drive robot chassis structure with tilt self-balancing function, including a main frame, four independent leveling assemblies, four independent drive suspension modules, and a counterweight side-slip assembly. The four independent leveling assemblies are respectively located at the four corners of the main frame. Each independent leveling assembly includes a leveling guide base fixed to the main frame, a follower slider slidably sleeved on the leveling guide base, and a first motor. The follower slider is configured to be driven by the first motor and slide vertically along the leveling guide base. The four independent drive suspension modules are respectively hinged to their corresponding follower sliders. The counterweight side-slip assembly is located at the bottom of the main frame and includes a transverse guide rail, a battery pack slidably connected to the transverse guide rail, and a second motor. The second motor is drively connected to the battery pack and drives the battery pack to move horizontally along the transverse guide rail.

[0006] The leveling guide base includes a rigid vertical guide post and a linear slide rail fixed to one side of the rigid vertical guide post. A follower slider is sleeved on the rigid vertical guide post and slides in conjunction with the linear slide rail. The independent leveling assembly also includes a ball screw mechanism, which includes a vertically arranged screw and a nut. The output shaft of the first motor is connected to the screw, and the nut is fixed to the follower slider.

[0007] The ball screw mechanism and the follower slider are configured as a series-decoupled structure in the physical transmission chain. The rigid vertical guide column and linear slide rail are configured to directly bear the lateral and longitudinal impact loads transmitted from the independent drive suspension module. The screw and nut in the ball screw mechanism are isolated from mechanical interference in the horizontal plane, and only bear pure axial drive loads in the vertical direction, blocking the physical path of high-frequency alternating impact loads from the road surface to be transmitted into the ball screw mechanism.

[0008] The outer wall of the follower slider is provided with upper and lower mounting lugs spaced vertically. The independent drive suspension module is a double wishbone independent suspension module, which includes an upper wishbone and a lower wishbone. The inner end of the upper wishbone is hinged to the upper mounting lug, and the inner end of the lower wishbone is hinged to the lower mounting lug.

[0009] The outer ends of the upper and lower wishbones are connected to the wheel support base. The double wishbone independent suspension module is configured to use the follower slider as a relatively fixed reference plane. When the follower slider slides vertically along the leveling guide base under the drive of the first motor to adjust the height of the chassis attitude, the physical range of motion of the shock absorption stroke is synchronously and vertically translated, physically isolating the attitude adjustment action from the kinematic transmission of the road surface micro-damping action.

[0010] The transverse guide rail is a dovetail groove guide rail located on the bottom plane of the main frame. The counterweight side sliding assembly also includes a horizontal screw drive mechanism, which is arranged parallel to the dovetail groove guide rail. A dovetail slider that slides with the dovetail groove guide rail is fixed to the top of the battery pack, and the side wall of the battery pack is connected to the horizontal screw drive mechanism.

[0011] A transverse guide rail runs through the bottom plane of the main frame along its lateral width. The dovetail slider's mechanical sliding range along the transverse guide rail is configured to extend beyond the central longitudinal axis of the main frame's bottom. The second motor is configured to drive a horizontal lead screw transmission mechanism to rotate according to external control commands, driving the battery pack to translate towards the relatively higher side, using the battery pack as a moving mass block to output a lateral anti-rollover physical counterweight torque.

[0012] The four-wheel independent drive robot chassis structure with tilt self-balancing function also includes a central controller, an inertial measurement unit sensor mounted on the main frame plane, and mechanical limit sensors respectively set at the upper and lower travel ends of each independent leveling assembly. The central controller is electrically connected to the inertial measurement unit sensor, the mechanical limit sensor, the first motor, and the second motor.

[0013] The central controller is configured to receive attitude tilt angle data fed back in real time from the inertial measurement unit sensors, and send a first adjustment signal to the corresponding first motor based on the attitude tilt angle data. The first motor located on the relatively lower side responds to the first adjustment signal by driving the follower slider to extend downward, and the first motor located on the relatively higher side drives the follower slider to retract upward, performing the first-stage chassis attitude leveling control action.

[0014] The central controller is configured to monitor the travel trigger signals output by the mechanical limit sensors. When any mechanical limit sensor detects that the corresponding follower slider has reached the mechanical limit dead point, and the attitude tilt angle data indicates that the chassis horizontal angle exceeds the safe tilt threshold, the central controller locks the first adjustment signal and sends a second adjustment signal to the second motor. In response to the second adjustment signal, the second motor drives the battery pack to slide along the lateral guide rail to the relatively high side to the limit position, executing the second-stage center of gravity transfer anti-rollover control action.

[0015] This application achieves physical isolation between the attitude adjustment components and high-frequency impact loads by decoupling the vertical leveling guide rail and the double wishbone suspension in series in physical space, thereby improving the sealing life and mechanical reliability of the mechanism. Without increasing the additional dead weight of the chassis, the original battery pack is reused as a lateral movement counterweight, constructing a dual anti-rollover defense line of attitude leveling and center of gravity transfer, ensuring the robot's operational stability under extreme conditions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a four-wheel independent drive robot chassis with tilt self-balancing function provided in an embodiment of the present invention.

[0017] Figure 2 This is a three-dimensional sectional view of the independent leveling assembly and independent drive suspension module provided in the embodiments of the present invention.

[0018] Figure 3 This is a partially enlarged view of the counterweight side-slip assembly provided in an embodiment of the present invention.

[0019] Figure 4 This is a control logic flowchart of a four-wheel independent drive robot chassis structure with tilt self-balancing function provided in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] like Figure 1 As shown, this embodiment provides a four-wheel independent drive robot chassis structure with tilt self-balancing function. At the overall architecture level, the chassis structure is physically divided into a main frame layer, a four-corner leveling layer, an independent suspension damping layer, and a lateral center of gravity adjustment layer, arranged from top to bottom and from outside to inside. The chassis structure includes a main frame 101, four independent leveling assemblies 102, four independent drive suspension modules 103, and a counterweight side-slip assembly 104. The main frame 101 is a rectangular frame structure, welded from high-strength aluminum alloy tubing, serving as the rigid load-bearing base of the entire vehicle. The four independent leveling assemblies 102 are respectively located at the four outer corners of the main frame 101. The independent drive suspension modules 103 are respectively connected to the lower end of the corresponding independent leveling assembly 102, used to support the wheels and directly contact the ground. The counterweight side-slip assembly 104 is suspended on the bottom plane of the main frame 101. The counterweight side-slip assembly 104 uses the battery pack 107 as the moving mass for lateral position adjustment. A central controller 105 and an inertial measurement unit sensor 106 are fixedly mounted on the internal plane of the main frame 101. To drive these assemblies, the system also includes a power supply conversion circuit and wiring harness connection module within the main frame 101. The battery pack 107 is connected to the power supply conversion circuit via a high-voltage wiring harness within a flexible cable chain, thereby providing stable DC bus power to the central controller 105, the first motor 108 located in the independent leveling assemblies 102 at the four corners, the second motor 109 located in the counterweight side-slip assembly 104, and the hub motors located at the wheels. Through the overall layout, the leveling actuators are positioned at the four corners, and the heavy battery is placed in the center of the chassis, laying the physical foundation for subsequent dynamic center of gravity compensation.

[0022] like Figure 2 As shown in the three-dimensional sectional view, this embodiment has a detailed design of the connection structure between the series decoupled independent leveling assembly 102 and the independent drive suspension module 103. Figure 1 The independent leveling assembly 102 includes a leveling guide base 201 fixed vertically downward at the four vertices of the main frame 101, a follower slider 202 slidably sleeved on the leveling guide base 201, a ball screw mechanism 204, and Figure 1The first motor 108 mentioned above. The leveling guide base 201 includes a rigid vertical guide post 205 with a high bending section modulus and a linear slide rail 206 embedded and fixed to one side of the rigid vertical guide post 205. The inner hole of the follower slider 202 is sleeved on the rigid vertical guide post 205, and its interior is provided with a ball slider that slides with high precision with the linear slide rail 206. The ball screw mechanism 204 includes a vertically arranged screw 207 and a mating nut 208. The first motor 108 is mounted on the upper end face of the main frame 101. The first motor 108 is a geared motor with a servo encoder, and its output shaft is coaxially connected to the upper end of the screw 207. The nut 208 is rigidly fixed to the top of the follower slider 202 through a flange. When the first motor 108 rotates, it drives the screw 207 to rotate, thereby driving the nut 208 and the follower slider 202 to move up and down along the rigid vertical guide post 205. The servo motor described above is only one example of a power source. Those skilled in the art can also use a stepper motor in conjunction with a closed-loop controller to achieve high-precision position drive.

[0023] In terms of the integration method of the independent drive suspension module 103, this embodiment abandons the traditional practice of directly connecting the suspension to the vehicle frame. The independent drive suspension module 103 is a double wishbone independent suspension module 209. On the lower half of the outer wall of the follower slider 202, an upper mounting lug 209a and a lower mounting lug 210 are provided at intervals along the vertical direction. The double wishbone independent suspension module 209 includes an upper wishbone 211 and a lower wishbone 212. The inner end of the upper wishbone 211 is hinged to the upper mounting lug 209a through a rubber bushing, and the inner end of the lower wishbone 212 is also hinged to the lower mounting lug 210 through a rubber bushing. The outer ends of the upper wishbone 211 and the outer ends of the lower wishbone 212 are connected to the wheel support base 213 through a ball joint. The double wishbone independent suspension module 209 also includes a shock absorber spring damper 215. The lower end of the shock-absorbing spring damper 215 is hinged to the middle of the lower fork arm 212, and its upper end is hinged to the integrated support wing extending laterally from the follower slider 202. The hub motor is fixedly installed in the wheel support base 213 and is used to drive the wheel to rotate.

[0024] Based on the physical structure, this application constructs a key physical space serial decoupled transmission chain. During robot movement, the longitudinal braking force and acceleration force generated by the interaction between the wheels and the ground, as well as the lateral force generated on the slope, are transmitted to the follower slider 202 through the upper fork arm 211 and the lower fork arm 212. Since the follower slider 202 is tightly constrained to the rigid vertical guide post 205 and the linear slide rail 206 by the ball screw, these lateral and longitudinal impact loads are completely borne by the high-rigidity guide post and slide rail and transmitted to the main frame 101. The ball screw 207 and nut 208 in the ball screw mechanism 204 located at the center are completely isolated from mechanical interference in the horizontal plane. The ball screw 207 only bears the pure axial tensile or compressive load in the vertical direction caused by distributed gravity. Through this decoupling design, the physical path of high-frequency alternating impact loads from the road surface to the ball screw is blocked, effectively preventing the screw from deforming due to bending moment and extending the mechanical life of the core lifting actuator.

[0025] The double wishbone independent suspension module 209 uses the follower slider 202 as its relatively fixed reference plane. When macroscopic roll height adjustment is required, the first motor 108 drives the follower slider 202 to slide vertically. At this time, the entire double wishbone suspension system, as a physical rigid body assembly, has its entire range of motion synchronously and vertically translated. During this process, the geometric angle between the upper and lower wishbones does not change, and the camber and toe angles of the wheels maintain their initial design values. This structure isolates the physical attitude adjustment action from the kinematic transmission of the road surface's micro-damping action, preventing the suspension springs from being excessively compressed or stretched due to leveling actions, thus maintaining optimal spring margin to absorb high-frequency road surface undulations.

[0026] like Figure 3 As shown, in this embodiment, a counterweight side-slip assembly 104 is deeply disposed in the center of the chassis. The counterweight side-slip assembly 104 includes a transverse guide rail 301, a horizontal lead screw transmission mechanism 302, and a dovetail slider 303. The transverse guide rail 301 consists of two dovetail groove guide rails parallel to each other and arranged on the bottom plane of the main frame 101. The transverse guide rail 301 extends through the main frame along its transverse width direction. Figure 1 The battery pack 107 is used as a moving mass block, and a dovetail slider 303 that matches the dovetail groove guide rail is rigidly fixed to the top of its housing. The horizontal lead screw drive mechanism 302 is arranged parallel to the transverse guide rail 301, and includes a transverse servo lead screw that penetrates the housing of the battery pack 107. A nut seat that mates with the transverse servo lead screw is provided inside the side wall of the battery pack 107. Figure 1 The second motor 109 is fixed to the side beam of the main frame 101 and is connected to the horizontal lead screw transmission mechanism 302. When the second motor 109 rotates, it drives the battery pack 107 to move left and right along the transverse guide rail 301 through the horizontal lead screw transmission mechanism 302.

[0027] In this structure, the dovetail slider 303 is configured to slide beyond the central longitudinal axis of the bottom of the main frame 101 within the mechanical sliding range of the transverse guide rail 301. Since the battery pack 107 is a component with concentrated mass inside the robot, translating it to a relatively higher side under extreme tilt conditions generates a lateral anti-rollover physical counterweight torque. This design reuses the dead weight of the chassis energy storage components, achieving a center of gravity offset compensation mechanism through mechanical balancing without introducing additional counterweights. To accurately quantify the anti-rollover effect generated by the counterweight translation, the system follows the following counterweight torque calculation model at the physical level. The system calculates the lateral anti-rollover physical counterweight torque generated by the battery pack translation using the product of the battery pack's own mass, the constant gravitational acceleration, the lateral translation distance of the battery pack's center of mass relative to the central longitudinal axis of the main frame, and the cosine of the current chassis's lateral tilt angle relative to the horizontal plane.

[0028]

[0029] Among them, T anti This represents the lateral anti-rollover physical counterweight torque generated by the translation of the battery pack; m b The value represents the mass of the battery pack itself; g represents the gravitational acceleration constant. This indicates the lateral translation distance of the battery pack's center of mass relative to the longitudinal axis of the main frame. This indicates the current lateral tilt angle of the chassis relative to the horizontal plane. In actual engineering calibration, m... b The value typically ranges from 30kg to 80kg. The maximum adjustable stroke can reach 0.4m. The physical basis for adopting this calculation model is that by dynamically adjusting the lever arm of the heaviest component of the system, the gravitational eccentric overturning moment caused by the overall tilt of the vehicle body can be directly offset, thereby restoring the physical support balance.

[0030] like Figure 4 As shown, this embodiment provides a control logic flow for a four-wheel independent drive robot chassis structure with roll self-balancing function, based on a dual-layer mechanical anti-rollover architecture. This control logic is comprised of... Figure 1 The central controller 105 is responsible for execution. The central controller 105 has a built-in main frequency processor and various communication interfaces. It realizes sensor data acquisition and multi-motor coordination, with each drive motor equipped with an independent servo driver module. The central controller 105 connects to each servo driver module via an industrial-grade CAN bus communication protocol, enabling real-time control command issuance and status parameter readback. Figure 2 As shown, mechanical limit sensors are fixedly installed at the upper and lower stroke ends of the guide posts of the leveling guide base 201 of each independent leveling assembly 102. The central controller 105 is respectively connected to... Figure 1The inertial measurement unit sensor 106, various mechanical limit sensors, the first motor 108, and the second motor 109 are electrically connected. The coordinated control actions are as follows:

[0031] In step S401, the central controller 105 receives attitude tilt angle data periodically fed back by the inertial measurement unit sensor 106 fixed on the plane of the main frame 101 in real time. The inertial measurement unit sensor 106 is a six-axis sensor that integrates data from a three-axis accelerometer and a three-axis gyroscope. The macroscopic lateral tilt angle and longitudinal tilt angle, which eliminate high-frequency vibration interference, are calculated using a Kalman filter algorithm.

[0032] In step S402, the central controller 105 compares the received lateral tilt angle with a preset first threshold (5 degrees). When the lateral tilt angle of the vehicle body exceeds the first threshold, the first-level leveling control logic is triggered.

[0033] In step S403, the central controller 105 sends a first adjustment signal to the corresponding first motor 108 to execute the first-stage chassis attitude leveling control action. Assuming the chassis is on a slope with the left side higher than the right, the central controller 105 will start the first motor 108 of the leveling assembly on the lower side to rotate forward, driving the lead screw to rotate and push the follower slider 202 downward along the guide post, raising the main frame 101 relative to the ground. Simultaneously, it will start the first motor 108 of the leveling assembly on the higher side to rotate in reverse, pulling the follower slider 202 upward to retract, lowering the main frame 101 relative to the ground. Through differential stroke compensation, the main frame 101 is kept in a level attitude.

[0034] In step S404, during the leveling process, the central controller 105 continuously monitors the stroke trigger signals output by each mechanical limit sensor. When the lateral ramp angle continues to increase, causing any low-position side follower slider 202 to reach the bottom of its stroke and trigger the corresponding mechanical limit sensor, and at this time the attitude tilt angle data indicates that the chassis horizontal angle exceeds the safe tilt threshold (15 degrees), the next step is executed.

[0035] In step S405, the central controller 105 determines that the first-stage leveling mechanism has exhausted its capacity, locks the first adjustment signal sent to the first motor 108, and sends a second adjustment signal to the second motor 109. Responding to the second adjustment signal, the second motor 109 drives the battery pack 107 to slide rapidly along the transverse guide rail towards a relatively higher position via the horizontal lead screw transmission mechanism 302. The battery pack 107 moves until it reaches its limit position or the overturning warning is released, thereby utilizing the center of gravity shift to generate a reverse torque to counteract the rollover torque and execute the second-stage center of gravity counterweight transfer anti-rollover control action.

[0036] The working principle of this embodiment is as follows: When the robot travels on an unpaved slope, it relies on the first motor 108 and the ball screw mechanism 204 in the four-corner independent leveling assembly 102 to perform dynamic differential height adjustment, maintaining the main frame 101 level. Thanks to the decoupling mechanism formed by the linear guide rail 206 and the follower slider 202, the double wishbone suspension system can always provide high-frequency shock absorption under the designed optimal geometric posture, while the ball screw is protected from lateral force damage, and the mechanical self-locking characteristic of the screw mechanism itself ensures that the suspension springs will not be crushed by unilateral heavy pressure. When the slope angle is extremely severe, causing the leveling actuator to reach the physical extension dead point, the system seamlessly connects to the second level of defense, using the second motor 109 to drive the battery pack 107 in the center of the chassis to slide laterally to the higher position. This application realizes the coordinated linkage from single-dimensional mechanical height movement to multi-dimensional physical mass distribution adjustment. It solves the physical defects of active suspension under heavy loads, such as travel interference and leakage failure, and builds a dual anti-rollover defense line without increasing dead weight, thereby improving the robot's driving safety and platform stability in extremely harsh terrain.

[0037] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A four-wheel independent drive robot chassis structure with tilt self-balancing function, characterized in that, include: A main frame (101); four independent leveling assemblies (102), respectively disposed at the four corners of the main frame (101), each independent leveling assembly (102) including a leveling guide base (201) fixed to the main frame (101), a follower slider (202) slidably sleeved on the leveling guide base (201), and a first motor (108), the follower slider (202) being configured to be driven by the first motor (108) and slide vertically along the leveling guide base (201); four independent drive suspension modules (103), each The independent drive suspension module (103) is hinged to the corresponding follower slider (202); the counterweight side-slip assembly (104) is located at the bottom of the main frame (101). The counterweight side-slip assembly (104) includes a transverse guide rail (301), a battery pack (107) slidably connected to the transverse guide rail (301), and a second motor (109). The second motor (109) is connected to the battery pack (107) in a transmission manner, and the second motor (109) drives the battery pack (107) to move horizontally along the transverse guide rail (301).

2. The four-wheel independent drive robot chassis structure with tilt self-balancing function as described in claim 1, characterized in that, The leveling guide base (201) includes a rigid vertical guide post (205) and a linear slide rail (206) fixed to one side of the rigid vertical guide post (205); the follower slider (202) is sleeved on the rigid vertical guide post (205) and slides in cooperation with the linear slide rail (206); the independent leveling assembly (102) also includes a ball screw mechanism (204), the ball screw mechanism (204) includes a vertically arranged screw (207) and a nut (208), the output shaft of the first motor (108) is connected to the screw (207), and the nut (208) is fixed to the follower slider (202).

3. The four-wheel independent drive robot chassis structure with tilt self-balancing function as described in claim 2, characterized in that, The ball screw mechanism (204) and the follower slider (202) are configured as a series decoupled structure in the physical transmission chain; the rigid vertical guide column (205) and the linear slide rail (206) are configured to directly bear the lateral impact load and longitudinal impact load transmitted by the independent drive suspension module (103); the screw (207) and the nut (208) in the ball screw mechanism (204) are isolated from mechanical interference in the horizontal plane and only bear the pure axial drive load in the vertical direction.

4. The four-wheel independent drive robot chassis structure with tilt self-balancing function as described in claim 1, characterized in that, The outer side wall of the follower slider (202) is provided with an upper mounting lug (209a) and a lower mounting lug (210) spaced apart in the vertical direction; the independent drive suspension module (103) is a double wishbone independent suspension module (209), which includes an upper wishbone (211) and a lower wishbone (212); the inner end of the upper wishbone (211) is hinged to the upper mounting lug (209a), and the inner end of the lower wishbone (212) is hinged to the lower mounting lug (210).

5. The four-wheel independent drive robot chassis structure with tilt self-balancing function as described in claim 4, characterized in that, The outer ends of the upper wishbone (211) and the lower wishbone (212) are connected to a wheel support base (213); the double wishbone independent suspension module (209) is configured to use the follower slider (202) as a relatively fixed reference surface; when the follower slider (202) slides vertically along the leveling guide base (201) under the drive of the first motor (108) to adjust the height of the chassis attitude, the physical range of motion of the shock absorption stroke is synchronously and vertically translated.

6. The four-wheel independent drive robot chassis structure with tilt self-balancing function as described in claim 1, characterized in that, The transverse guide rail (301) is a dovetail groove guide rail set on the bottom plane of the main frame (101); the counterweight side sliding assembly (104) also includes a horizontal screw drive mechanism (302), which is arranged parallel to the dovetail groove guide rail; the top of the battery pack (107) is fixedly connected to a dovetail slider (303) that slides with the dovetail groove guide rail, and the side wall of the battery pack (107) is connected to the horizontal screw drive mechanism (302) for transmission.

7. The four-wheel independent drive robot chassis structure with tilt self-balancing function as described in claim 6, characterized in that, The bottom plane of the main frame (101) is provided with the transverse guide rail (301) extending through the transverse width direction; the dovetail slider (303) is configured to slide beyond the central longitudinal axis of the bottom of the main frame (101) within the mechanical sliding range of the transverse guide rail (301); the second motor (109) is configured to drive the horizontal lead screw transmission mechanism (302) to rotate according to external control commands, thereby driving the battery pack (107) to translate towards a relatively higher side.

8. The four-wheel independent drive robot chassis structure with tilt self-balancing function as described in claim 1, characterized in that, It also includes a central controller (105), an inertial measurement unit sensor (106) mounted on the plane of the main frame (101), and mechanical limit sensors respectively disposed at the upper and lower stroke ends of each of the independent leveling assemblies (102); the central controller (105) is electrically connected to the inertial measurement unit sensor (106), the mechanical limit sensor, the first motor (108), and the second motor (109).

9. The four-wheel independent drive robot chassis structure with tilt self-balancing function as described in claim 8, characterized in that, The central controller (105) is configured to receive attitude tilt angle data fed back in real time by the inertial measurement unit sensor (106), and send a first adjustment signal to the corresponding first motor (108) according to the attitude tilt angle data; the first motor (108) located on the relatively low side drives the follower slider (202) to extend downward in response to the first adjustment signal, and the first motor (108) located on the relatively high side drives the follower slider (202) to retract upward.

10. The four-wheel independent drive robot chassis structure with tilt self-balancing function as described in claim 9, characterized in that, The central controller (105) is configured to monitor the travel trigger signal output by the mechanical limit sensor; when any one of the mechanical limit sensors detects that the corresponding follower slider (202) has reached the mechanical limit dead point position, and the attitude tilt angle data indicates that the chassis horizontal angle exceeds the safe tilt threshold, the central controller (105) locks the first adjustment signal and sends a second adjustment signal to the second motor (109); the second motor (109) responds to the second adjustment signal to drive the battery pack (107) to slide along the transverse guide rail (301) to the relatively high position to the limit position.

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