A variable wheelbase dual differential wheelset robot chassis

Abstract

The application discloses a variable-axle-distance double-differential-wheel-group robot chassis, and belongs to the technical field of robots. The robot chassis comprises a control box, and two groups of differential wheel groups are arranged on the bottom of the control box in the front-rear direction. The differential wheel groups are arranged on the front and rear of the middle part, the electric steering wheels are arranged on the four corners of the chassis, the differential wheel groups provide driving power, the four electric steering wheels realize all-direction steering adjustment, the driving performance and the flexible steering performance of the robot chassis are ensured, meanwhile, the electric steering wheels are assembled on the bottom of the axial sliding block through the mounting seat, can vertically slide along the axial sliding block, and are guided by the sliding fit guiding structure of the outside guide column of the mounting seat and the internal inclined groove of the control box. In the process that the axial sliding block is horizontally displaced to complete the axle distance adjustment, the four electric steering wheels can be synchronously driven to adaptively lift, mechanical linkage of the axle distance adjustment and the steering wheel height adjustment is realized, a plurality of groups of regulation and control driving components do not need to be separately arranged, and the convenience of regulation and control is improved.

Description

Technical Field

[0001] This invention relates to a robot chassis, and more particularly to a variable wheelbase dual differential wheel set robot chassis, belonging to the field of robot technology. Background Technology

[0002] To adapt to complex and ever-changing terrain and diverse operational tasks, variable wheelbase chassis technology is receiving increasing attention. This type of chassis drives the front and rear wheel sets to move relative to each other through a telescopic mechanism, thereby changing the longitudinal distance between the wheels on the same side. This allows for improved straight-line stability at high speeds by using a long wheelbase and enhanced steering flexibility when operating in narrow spaces by using a short wheelbase, effectively expanding the robot's terrain adaptability range.

[0003] However, existing variable wheelbase chassis require independent control of wheelbase adjustment and vehicle height adjustment, which means that the chassis cannot simultaneously adapt to height adjustment during dynamic wheelbase changes. When the wheelbase is extended to enhance longitudinal stability, if the center of gravity height is not lowered accordingly, it will affect its anti-rollover performance. Conversely, when the wheelbase is shortened to improve steering maneuverability, if the vehicle height is not raised simultaneously, it will affect its obstacle crossing performance. In addition, since height adjustment and wheelbase change are independent of each other, the control operation is not only complex and cumbersome, but also prone to disrupting coaxial stability due to the lack of coordination between the two movements, thereby affecting the dynamic balance and operational accuracy of the entire vehicle.

[0004] To address this issue, a variable wheelbase dual differential wheel set robot chassis was designed. Summary of the Invention

[0005] The main objective of this invention is to provide a variable wheelbase dual differential wheel set robot chassis to solve the problems mentioned in the background art.

[0006] The objective of this invention can be achieved by adopting the following technical solution: A variable wheelbase dual differential wheel robot chassis includes a control box. Two differential wheel sets are arranged in the front-to-back direction at the bottom center of the control box. Electric steering wheels are arranged at the four corners of the control box. The bottom of the control box has a first through slot for the differential wheel sets to pass through and a second through slot for the electric steering wheels to pass through. Axial sliders are symmetrically slidably installed on both sides of the inside of the control box along its length. A telescopic mechanism is provided between the axial sliders and the control box to drive the axial sliders on both sides to slide towards or away from each other in the horizontal direction. The axial slider is symmetrically provided with C-shaped plates on its side, and a mounting base is vertically slidably installed between the C-shaped plates. The electric steering wheel is installed at the bottom of the mounting base, and a guide post is fixedly installed on the outer side of the mounting base. An inclined groove is provided on the inner wall of the control box to slide with the guide post. The inclined groove is inclined along the length of the control box, so that when the axial slider slides horizontally, it drives the mounting base and the electric steering wheel to rise and fall in the vertical direction. The control box is also equipped with a lifting mechanism, which is connected to two sets of differential wheel sets to drive the differential wheel sets to rise and fall synchronously when the wheelbase changes.

[0007] Preferably, the telescopic mechanism includes a bidirectional screw, a worm gear, a servo motor, a worm, and a protective housing. The bidirectional screw is rotatably mounted between the two sides inside the control box. Both ends of the bidirectional screw have reverse threads, and two axial sliders respectively engage with the threads at both ends of the bidirectional screw. A worm gear is fixedly mounted in the middle of the bidirectional screw. The protective housing is fixed inside the control box and covers the outside of the worm gear. The servo motor is mounted on the side of the control box, and the output end of the servo motor is fixedly connected to the worm. The worm and the worm gear mesh with each other. This achieves precise bidirectional synchronous adjustment of the wheelbase, while the self-locking characteristics of the worm gear ensure stable posture after adjustment. The protective housing effectively protects the transmission meshing parts, improving operational reliability.

[0008] Preferably, horizontal slide rods are symmetrically arranged on both sides of the control box along its length. A fixing rod is fixedly installed between the horizontal slide rods and the inner side of the control box. The horizontal slide rods are arranged parallel to the bidirectional screw. A guide hole is provided on the axial slider, through which the horizontal slide rod passes and slides in cooperation with the axial slider. This provides circumferential constraint and smooth guidance for the axial slider, preventing slider deflection and jamming, reducing radial wear of the screw, and improving the motion accuracy and smoothness of the wheelbase adjustment.

[0009] Preferably, the angle between the inclined groove and the horizontal direction is 20°-45°, and the two inclined grooves arranged front and rear on the same side inner wall of the control box have opposite inclination directions. This ensures that the linkage ratio between wheelbase adjustment and steering wheel lifting is reasonable, taking into account both lifting stroke and transmission efficiency, and achieving adaptive matching for lowering the center of gravity with a long wheelbase and increasing ground clearance with a short wheelbase.

[0010] Preferably, the lifting mechanism includes a crossover plate, a lifting block, a cross plate, and a connecting plate. The crossover plate is arranged longitudinally, with its two ends respectively fixedly connected to two mounting seats at the same end. The lifting block is fixed to the bottom of the crossover plate, and the cross plate is fixed to the side of the differential wheel set. The lower end of the lifting block and the cross plate are slidably connected along the length of the control box. The connecting plate is fixedly installed between the two differential wheel sets. This achieves synchronous lifting and linkage between the differential wheel set and the electric steering wheel, preventing the differential wheel set from shifting forward or backward and ensuring the overall attitude balance of the chassis.

[0011] Preferably, a limit slider is fixed on the side of the horizontal plate away from the differential gear set, and vertical grooves are vertically opened on the inner end face of the control box. The limit slider is embedded in the vertical groove to form a vertical sliding fit, which is used to guide and limit the lifting and lowering of the differential gear set. This forms a precise constraint on the lifting and lowering trajectory of the differential gear set, further restricting the horizontal movement of the differential gear set and improving the stability and coaxiality of the lifting and lowering process.

[0012] Preferably, vertical slide rods are fixedly installed in a rectangular array inside the control box on the outer side of the differential gear set. The differential gear set is vertically slidably connected to the vertical slide rods. A limit plate is provided on the top of the differential gear set, and the limit plate is fixedly connected to the vertical slide rods. This enhances the lifting and lowering stability of the differential gear set through multi-point guidance, while limiting the upper limit stroke through the limit plate to avoid component collision interference and improve operational safety.

[0013] Preferably, a baffle is horizontally fixed to the side of the C-shaped plate, and the baffle slides against the top of the second through slot. This forms a dynamic shielding and sealing of the gap in the second through slot, preventing dust and debris from the ground from entering the control box, protecting the internal transmission components, and extending the service life of the equipment.

[0014] Preferably, the guide post has a cylindrical structure, and a ball bearing is rotatably mounted at the end of the guide post, with the outer ring of the ball bearing fitting against the inner wall of the inclined groove. This converts the sliding friction between the guide post and the inclined groove into rolling friction, significantly reducing linkage resistance and component wear, improving adjustment smoothness, and reducing drive energy consumption.

[0015] Preferably, the mounting base passes vertically through the interior of the second through groove, and the side of the mounting base fits against the inner side of the second through groove. This uses the through groove to provide auxiliary guidance for the mounting base, further constraining its sway.

[0016] The beneficial effects of this invention are as follows: This invention provides a variable wheelbase dual differential wheel set robot chassis, which adopts a differential wheel set arranged at the front and rear of the center and electric steering wheels at the four corners of the chassis. The differential wheel set provides driving power, and the four corner electric steering wheels realize omnidirectional steering adjustment, ensuring the robot chassis's power driving performance and flexible steering performance. At the same time, the electric steering wheels are mounted on the bottom of the axial slider through mounting bases, and can slide vertically along the axial slider. Relying on the sliding cooperation guide structure between the guide post on the outer side of the mounting base and the inclined groove inside the control box, the four corner electric steering wheels can be driven to adaptively raise and lower during the horizontal displacement of the axial slider to complete the wheelbase adjustment. This realizes the mechanical linkage between wheelbase adjustment and steering wheel height adjustment, eliminating the need for multiple sets of control drive components and improving the convenience of control. The telescopic mechanism, consisting of a servo motor, worm gear, worm wheel, bidirectional screw, protective shell, horizontal slide bar, and fixed rod, drives the worm gear to rotate, which in turn drives the bidirectional screw to rotate. The reverse threads at both ends of the bidirectional screw drive the axial sliders on both sides to slide synchronously in opposite directions along the horizontal slide bar, thereby achieving synchronous adjustment of the wheelbase of the four corner electric steering wheels. At the same time, the worm gear and worm wheel have a self-locking function, which can maintain stability in any adjustment position and ensure the chassis's ability to maintain its posture under variable wheelbase conditions. The lifting mechanism consists of a cross-plate, a lifting block, a horizontal plate, and a connecting plate. The two ends of the cross-plate are connected to the mounting base, and the bottom is connected to the horizontal plate on the side of the differential wheel set via the lifting block along the length of the control box. The limit slider on the horizontal plate slides with the vertical groove to precisely guide the lifting direction. This allows the two differential wheel sets to be lifted and lowered simultaneously during the axle adjustment process, ensuring that the relative height between the differential wheel set and the electric steering wheel is coordinated during the wheelbase change, maintaining the overall attitude balance of the chassis and improving the dynamic stability of the chassis. Attached Figure Description

[0017] Figure 1 This is a top view of the internal structure of the control box of the present invention; Figure 2 This is a bottom view of the control box of the present invention; Figure 3 This is a schematic diagram of the overall structure inside the control box of the present invention; Figure 4 This is a schematic diagram of the inner side cross-section of the control box of the present invention; Figure 5 This is a schematic diagram of the interior of the control box of the present invention; Figure 6 This is a schematic diagram of the telescopic mechanism of the present invention; Figure 7 This is a schematic diagram of the lifting mechanism of the present invention; Figure 8 This is a schematic internal sectional view of the mounting base of the present invention; Figure 9 This is a schematic diagram of the installation of the axial slider and the C-shaped clamping plate of the present invention.

[0018] In the diagram: 1. Control box; 2. Differential gear set; 3. First through slot; 4. Electric steering wheel; 5. Second through slot; 6. Axial slider; 7. I-shaped clamp; 8. Mounting base; 9. Guide post; 10. Inclined groove; 11. Telescopic mechanism; 1101. Bidirectional screw; 1102. Worm gear; 1103. Servo motor; 1104. Worm; 1105. Protective housing; 1106. Horizontal slide bar; 1107. Fixed rod; 12. Lifting mechanism; 1201. Connecting plate; 1202. Lifting block; 1203. Horizontal plate; 1204. Connecting plate; 1205. Limiting slider; 1206. Vertical groove; 13. Vertical slide bar; 14. Limiting plate; 15. Baffle. Detailed Implementation

[0019] To enable those skilled in the art to more clearly understand the technical solution of the present invention, the present invention will be further described in detail below with reference to embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0020] Example 1: As Figures 1-9 As shown, this embodiment provides a variable wheelbase dual differential wheel set robot chassis, including a control box 1. Two differential wheel sets 2 are arranged in the middle of the bottom of the control box 1 along the front-to-back direction. Electric steering wheels 4 are respectively arranged at the four corners of the control box 1. The bottom of the control box 1 has a first through groove 3 for the differential wheel sets 2 to pass through and a second through groove 5 for the electric steering wheels 4 to pass through. Axial sliders 6 are symmetrically slidably installed on both sides of the inside of the control box 1 along its length. A telescopic mechanism 11 is provided between the axial sliders 6 and the control box 1 to drive the axial sliders 6 on both sides to slide towards or away from each other in the horizontal direction. The axial slider 6 is symmetrically provided with C-shaped clamping plates 7 on its side. A mounting base 8 is vertically slidably installed between the C-shaped clamping plates 7. The electric steering wheel 4 is installed at the bottom of the mounting base 8. A guide post 9 is fixedly installed on the outer side of the mounting base 8. A sloping groove 10 is opened on the inner wall of the control box 1 to slide with the guide post 9. The sloping groove 10 is inclined along the length direction of the control box 1, so that when the axial slider 6 slides horizontally, it drives the mounting base 8 and the electric steering wheel 4 to rise and fall in the vertical direction. The control box 1 is also equipped with a lifting mechanism 12, which is connected to two sets of differential wheel sets 2 and is used to drive the differential wheel sets 2 to lift synchronously when the wheelbase changes.

[0021] When the robot chassis needs to adjust its wheelbase according to the driving scenario, the telescopic mechanism 11 outputs power to drive the axial sliders 6 on both sides to slide synchronously towards or away from each other along the length of the control box 1. The axial sliders 6 drive the mounting base 8 and the electric steering wheel 4 to move horizontally synchronously through the C-shaped clamp 7, changing the longitudinal distance between the front and rear electric steering wheels 4 and completing the wheelbase adjustment. During the horizontal movement of the axial sliders 6, the guide post 9 on the outer side of the mounting base 8 slides along the inclined groove 10 on the inner wall of the control box 1. Under the reaction force of the inclined guide surface of the inclined groove 10, the mounting base 8 moves vertically up and down along the inner side of the C-shaped clamp 7, synchronously driving the four corner electric steering wheels 4 to complete the height adaptive adjustment, realizing the pure mechanical linkage between wheelbase adjustment and steering wheel height adjustment. At the same time, the lifting mechanism 12 transmits power synchronously with the lifting of the mounting base 8, driving the two sets of differential wheel sets 2 to move synchronously up and down in the vertical direction, keeping the support height of the differential wheel sets 2 and the electric steering wheels 4 coordinated, maintaining the overall horizontal posture of the control box 1, and ensuring the ground stability of the chassis. After the wheelbase adjustment is completed, the two sets of differential wheel sets 2 provide driving force, and together with the steering control of the four corner electric steering wheels 4, stable driving and flexible steering under different wheelbase conditions can be achieved.

[0022] Example 2: The solution in Example 1 will be further described below with reference to its specific working method. See the description below for details: In this embodiment, the telescopic mechanism 11 includes a bidirectional screw 1101, a worm gear 1102, a servo motor 1103, a worm 1104, and a protective shell 1105. The bidirectional screw 1101 is rotatably installed between the two sides inside the control box 1. The two ends of the bidirectional screw 1101 are respectively provided with reverse threads. The two axial sliders 6 are respectively threaded with the two ends of the bidirectional screw 1101. The worm gear 1102 is fixedly installed in the middle of the bidirectional screw 1101. The protective shell 1105 is fixed inside the control box 1 and covers the outside of the worm gear 1102. The servo motor 1103 is installed on the side of the control box 1. The output end of the servo motor 1103 is fixedly connected to the worm 1104. The worm 1104 and the worm gear 1102 mesh with each other.

[0023] During wheelbase adjustment, the servo motor 1103 receives a control signal, starts, and outputs rotational torque, driving the worm gear 1104 at the output end to rotate synchronously. The worm gear 1104 meshes with the worm wheel 1102, reducing and increasing the torque of the power before transmitting it to the bidirectional screw 1101, driving the bidirectional screw 1101 to rotate uniformly around its own axis. The reverse threaded sections at both ends of the bidirectional screw 1101 form helical transmission pairs with the axial sliders 6 on both sides, converting the rotational motion into linear motion. This drives the two axial sliders 6 to move synchronously towards each other or away from each other along the length of the control box 1, thereby driving the four corner electric steering wheels 4 to synchronously adjust the longitudinal spacing, achieving precise wheelbase adjustment. The protective shell 1105 is located on the outside of the meshing part of the worm gear 1102 and the worm 1104, which isolates dust and debris from contact with the transmission components and ensures the cleanliness and accuracy of the meshing transmission. At the same time, the transmission of the worm gear 1102 and the worm 1104 has a reverse self-locking characteristic. After the servo motor 1103 stops, it can automatically lock the rotation of the bidirectional screw 1101, so that the axial slider 6 is fixed in the current adjustment position without the need for additional locking components, thus ensuring the attitude stability of the chassis under the variable wheelbase state.

[0024] In this embodiment, horizontal slide rods 1106 are symmetrically arranged on both sides of the inside of the control box 1 along its length direction. A fixing rod 1107 is fixedly installed between the horizontal slide rods 1106 and the inner side of the control box 1. The horizontal slide rods 1106 are arranged parallel to the bidirectional screw 1101. A guide hole is opened on the axial slider 6. The horizontal slide rods 1106 pass through the guide hole and slide in cooperation with the axial slider 6.

[0025] When the axial slider 6 is driven to slide by the bidirectional screw 1101, the horizontal slider 1106 forms a circumferential constraint on the axial slider 6 through the guide hole, preventing the axial slider 6 from circumferentially deflecting with the rotation of the bidirectional screw 1101, and ensuring that the axial slider 6 moves only in the horizontal straight line direction.

[0026] In this embodiment, the angle between the inclined groove 10 and the horizontal direction is 20°-45°, and the two inclined grooves 10 arranged in opposite directions on the inner wall of the same side of the control box 1 are arranged in opposite directions.

[0027] When the axial slider 6 drives the mounting base 8 and guide post 9 to slide along the length direction, the front and rear guide posts 9 move along the inclined trajectory of the corresponding inclined groove 10 respectively. The inner wall of the inclined groove 10 applies a vertical component force to the guide post 9, driving the mounting base 8 to make vertical lifting and lowering movements along the U-shaped clamp 7. When the axial slider 6 slides in opposite directions and the wheelbase is extended, the front and rear guide posts 9 move upward synchronously along the opposite inclined groove 10, driving the electric steering wheel 4 to move upward relative to the control box 1, lowering the chassis center of gravity, and improving driving stability and anti-rollover capability in the long wheelbase state; when the axial slider 6 slides towards each other and the wheelbase is shortened, the front and rear guide posts 9 move downward synchronously along the opposite inclined groove 10, driving the electric steering wheel 4 to descend relative to the control box 1, increasing the chassis ground clearance, and improving obstacle crossing ability in the short wheelbase state.

[0028] In this embodiment, the lifting mechanism 12 includes a bridging plate 1201, a lifting block 1202, a horizontal plate 1203, and a connecting plate 1204. The bridging plate 1201 is arranged longitudinally, and its two ends are respectively fixedly connected to two mounting seats 8 at the same end. The lifting block 1202 is fixed to the bottom of the bridging plate 1201. The horizontal plate 1203 is fixed to the side of the differential wheel set 2. The lower end of the lifting block 1202 is slidably connected to the horizontal plate 1203 along the length direction of the control box 1. The connecting plate 1204 is fixedly installed between the two sets of differential wheel sets 2.

[0029] The two ends of the jumper plate 1201 are fixed to the two mounting seats 8 on the same side, and the jumper plate 1201 moves horizontally and vertically in sync with the mounting seats 8. The bottom of the jumper plate 1201 is slidably connected to the horizontal plate 1203 on the side of the differential wheel set 2 along the length of the control box 1 via the hanging block 1202, so as to transmit the vertical lifting power of the mounting seat 8 to the differential wheel set 2 in sync, so as to drive the differential wheel set 2 to move up and down synchronously with the electric steering wheel 4, so as to realize the linkage matching between the height of the differential wheel set 2 and the height of the electric steering wheel 4, and avoid the chassis tilting due to the height difference between the two. The connecting plate 1204 is fixed between the front and rear differential wheel sets 2 to ensure the synchronicity of the lifting and lowering movements of the front and rear differential wheel sets 2, maintain the horizontal posture of the power wheel set, and ensure the stability of the differential drive.

[0030] In this embodiment, a limit slider 1205 is fixed on the side of the horizontal plate 1203 away from the differential wheel set 2. Vertical grooves 1206 are vertically opened on the inner end face of the control box 1. The limit slider 1205 is embedded in the vertical groove 1206 to form a vertical sliding fit, which is used to guide and limit the lifting and lowering of the differential wheel set 2.

[0031] During the lifting and lowering process of the differential gear set 2 along with the lifting mechanism 12, the limiting slider 1205 on the side of the horizontal plate 1203 is embedded in the vertical groove 1206 on the inner end face of the control box 1, and slides vertically along the vertical groove 1206. The vertical groove 1206 forms a horizontal constraint on the differential gear set 2 through the limiting slider 1205, isolating the influence of the horizontal displacement of the mounting seat 8 on the differential gear set 2, ensuring that the differential gear set 2 only moves up and down in the vertical direction, and does not shift back and forth with the axial slider 6. At the same time, it accurately guides the lifting and lowering trajectory of the differential gear set 2, avoiding swaying or tilting during the lifting and lowering process, and ensuring that the differential gear set 2 always maintains a horizontal posture and stable contact with the ground.

[0032] In this embodiment, vertical slide rods 13 are fixedly installed in a rectangular array inside the control box 1 on the outside of the differential wheel assembly 2. The differential wheel assembly 2 is vertically slidably connected to the vertical slide rods 13. A limit plate 14 is provided on the top of the differential wheel assembly 2, and the limit plate 14 is fixedly connected to the vertical slide rods 13.

[0033] The vertical slide bar 13 provides multi-point vertical guidance for the differential wheel assembly 2. Together with the guide structure of the limit slider 1205 and the vertical groove 1206, it improves the stability of the differential wheel assembly 2 in raising and lowering. When the differential wheel assembly 2 rises to its maximum stroke, its top abuts against the limit plate 14. The limit plate 14 mechanically limits the upper limit position of the differential wheel assembly 2 to prevent the differential wheel assembly 2 from rising excessively and colliding with other components inside the control box 1.

[0034] In this embodiment, a baffle 15 is horizontally fixedly installed on the side of the C-shaped card plate 7, and the baffle 15 slides against the top of the second through groove 5.

[0035] The baffle 15 slides horizontally synchronously with the C-shaped clamp 7 and the axial slider 6, always fitting and covering the top edge of the second through groove 5, and blocking the gap between the mounting base 8 and the second through groove 5 in real time, forming a dynamic sealing structure.

[0036] In this embodiment, the guide post 9 has a cylindrical structure, and a ball bearing is rotatably mounted at the end of the guide post 9, with the outer ring of the ball bearing fitting against the inner wall of the inclined groove 10.

[0037] The sliding friction between the guide post 9 and the inclined groove 10 is converted into the rolling friction of the ball bearing, which greatly reduces the frictional resistance and component wear during the linkage adjustment process, improves the smoothness of the linkage adjustment of wheelbase and height, reduces the drive energy consumption of the servo motor 1103, and extends the service life of the components.

[0038] In this embodiment, the mounting base 8 passes vertically through the interior of the second through groove 5, and the side of the mounting base 8 is in contact with the inner side of the second through groove 5.

[0039] The sliding fit between the second through groove 5 and the mounting base 8 ensures the stability of the lifting and sliding of the mounting base 8.

[0040] The solutions in Embodiment 1 and Embodiment 2 will be further described below with reference to their specific working methods. When the robot chassis needs to switch driving modes during operation, the servo motor 1103 starts, driving the bidirectional screw 1101 to rotate through the meshing transmission of the worm gear 1104 and worm wheel 1102. This causes the axial sliders 6 on both sides to slide synchronously towards or away from each other along the horizontal slide bar 1106. Consequently, the mounting base 8 and the electric steering wheel 4 move horizontally through the U-shaped clamp 7, adjusting the longitudinal wheelbase of the front and rear wheels. While the axial sliders 6 slide, the ball bearings at the ends of the guide pillars 9 on the outer side of the mounting base 8 roll along the inclined groove 10 on the inner wall of the control box 1. Under the inclined guidance of the inclined groove 10, the mounting base 8 moves vertically up and down along the U-shaped clamp 7, simultaneously driving the four corner electric steering wheels 4 to adjust their height: when the wheelbase is extended, the electric steering wheel 4 moves upward relative to the control box 1, reducing the vehicle height and lowering the center of gravity, thus improving the stability of high-speed straight-line driving; when the wheelbase is shortened, the electric steering wheel 4 moves downward relative to the control box 1, raising the vehicle body and increasing the ground clearance, thus improving the maneuverability and obstacle-crossing ability in narrow spaces.

[0041] While the mounting base 8 is raised and lowered, the transmission through the jumper plate 1201, the lifting block 1202, and the horizontal plate 1203 drives the front and rear differential wheel sets 2 to rise and fall synchronously along the vertical slide bar 13. With the guidance and limiting of the limit slider 1205 and the vertical groove 1206, the differential wheel sets 2 move smoothly and vertically, ensuring that the support height of the differential wheel sets 2 and the electric steering wheel 4 remains consistent, maintaining the overall horizontal posture of the control box 1. After adjustment, the self-locking characteristics of the worm gear 1102 and worm 1104 automatically lock the current wheelbase and height. The chassis provides driving power through the differential wheel sets 2, and in conjunction with the electric steering wheel 4, achieves steering control, completing the driving operation in the corresponding mode.

[0042] The above description is merely a further embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope disclosed in the present invention, based on the technical solution and concept of the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A variable wheelbase dual differential wheel set robot chassis, comprising a control box (1), characterized in that: Two sets of differential wheel sets (2) are arranged in the middle of the bottom of the control box (1) along the front and rear direction. Electric steering wheels (4) are arranged at the four corners of the control box (1). The bottom of the control box (1) has a first through groove (3) for the differential wheel sets (2) to pass through and a second through groove (5) for the electric steering wheels (4) to pass through. Axial sliders (6) are symmetrically slidably installed on both sides of the inside of the control box (1) along its length direction. A telescopic mechanism (11) is provided between the axial sliders (6) and the control box (1) to drive the axial sliders (6) on both sides to slide towards each other or away from each other in the horizontal direction. The axial slider (6) is symmetrically provided with C-shaped plates (7) on its side. A mounting base (8) is vertically slidably installed between the C-shaped plates (7). An electric steering wheel (4) is installed at the bottom of the mounting base (8). A guide post (9) is fixedly provided on the outside of the mounting base (8). An inclined groove (10) is provided on the inner wall of the control box (1) to slide with the guide post (9). The inclined groove (10) is inclined along the length of the control box (1), so that when the axial slider (6) slides horizontally, it drives the mounting base (8) and the electric steering wheel (4) to rise and fall in the vertical direction. The control box (1) is also equipped with a lifting mechanism (12), which is connected to two sets of differential wheel sets (2) to drive the differential wheel sets (2) to rise and fall synchronously when the wheelbase changes.

2. The variable wheelbase dual differential wheel robot chassis according to claim 1, characterized in that: The telescopic mechanism (11) includes a bidirectional screw (1101), a worm gear (1102), a servo motor (1103), a worm (1104), and a protective shell (1105). The bidirectional screw (1101) is rotatably installed between the two sides inside the control box (1). The two ends of the bidirectional screw (1101) are respectively provided with reverse threads. The two axial sliders (6) are respectively threaded with the two ends of the bidirectional screw (1101). The worm gear (1102) is fixedly installed in the middle of the bidirectional screw (1101). The protective shell (1105) is fixed inside the control box (1) and covers the outside of the worm gear (1102). The servo motor (1103) is installed on the side of the control box (1). The output end of the servo motor (1103) is fixedly connected to the worm gear (1104). The worm gear (1104) and the worm gear (1102) mesh with each other.

3. The variable wheelbase dual differential wheel robot chassis according to claim 2, characterized in that: A horizontal slide bar (1106) is symmetrically arranged on both sides of the inside of the control box (1) along its length direction. A fixing rod (1107) is fixedly installed between the horizontal slide bar (1106) and the inner side of the control box (1). The horizontal slide bar (1106) is arranged parallel to the bidirectional screw (1101). A guide hole is opened on the axial slider (6). The horizontal slide bar (1106) passes through the guide hole and slides with the axial slider (6).

4. The variable wheelbase dual differential wheel set robot chassis according to claim 1, characterized in that: The angle between the inclined groove (10) and the horizontal direction is 20°-45°. The two inclined grooves (10) arranged on the inner wall of the same side of the control box (1) have opposite inclination directions.

5. The variable wheelbase dual differential wheel set robot chassis according to claim 1, characterized in that: The lifting mechanism (12) includes a cross plate (1201), a lifting block (1202), a horizontal plate (1203) and a connecting plate (1204). The cross plate (1201) is arranged longitudinally, and its two ends are respectively fixedly connected to two mounting seats (8) at the same end. The lifting block (1202) is fixed to the bottom of the cross plate (1201), and the horizontal plate (1203) is fixed to the side of the differential wheel set (2). The lower end of the lifting block (1202) is slidably connected to the horizontal plate (1203) along the length of the control box (1). The connecting plate (1204) is fixedly installed between the two differential wheel sets (2).

6. The variable wheelbase dual differential wheel set robot chassis according to claim 5, characterized in that: A limit slider (1205) is fixed on the side of the horizontal plate (1203) away from the differential wheel set (2). The inner end face of the control box (1) is vertically provided with a vertical groove (1206). The limit slider (1205) is embedded in the vertical groove (1206) to form a vertical sliding fit, which is used to guide and limit the lifting and lowering of the differential wheel set (2).

7. The variable wheelbase dual differential wheel robot chassis according to claim 1, characterized in that: Inside the control box (1), a vertical slide bar (13) is fixedly installed in a rectangular array on the outside of the differential wheel assembly (2). The differential wheel assembly (2) is vertically slidably connected to the vertical slide bar (13). A limit plate (14) is provided on the top of the differential wheel assembly (2), and the limit plate (14) is fixedly connected to the vertical slide bar (13).

8. The variable wheelbase dual differential wheel robot chassis according to claim 1, characterized in that: A baffle (15) is horizontally fixed on the side of the U-shaped plate (7), and the baffle (15) slides against the top of the second through groove (5).

9. A variable wheelbase dual differential wheel set robot chassis according to claim 1, characterized in that: The guide post (9) is a cylindrical structure. A ball bearing is rotatably installed at the end of the guide post (9), and the outer ring of the ball bearing is in contact with the inner wall of the inclined groove (10).

10. A variable wheelbase dual differential wheel set robot chassis according to claim 1, characterized in that: The mounting base (8) passes vertically through the inside of the second through groove (5), and the side of the mounting base (8) fits against the inside of the second through groove (5).

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