Steering wheel assembly, chassis device and mobile equipment

Abstract

The utility model discloses a steering wheel assembly, chassis device and mobile equipment, including base, suspension system, wheel set, pushing drive subassembly and pushing piece, the upper part of suspension system is connected with the base, the wheel set is rotatingly assembled in the lower part of suspension system, and the pushing drive subassembly is connected with the base. The base can elastically move up and down relative to the wheel set under the action of the suspension system; the pushing driving assembly is connected with the base, the pushing piece is connected with the pushing driving assembly, the pushing driving assembly is used for driving the pushing piece to move so as to adjust the distance between the pushing piece and the wheel set, and the pushing piece is used for directly or indirectly abutting against the wheel set. And the up-down displacement of the base relative to the wheel set is adjusted. The steering wheel assembly is good in adaptability to complex road conditions, the center of gravity can be prevented from shifting when the steering wheel assembly is static, and the operation precision and stability of a robot and the like are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of chassis, in particular to a steering wheel assembly, a chassis device and a mobile equipment. Background Art

[0002] In recent years, with the rapid development of artificial intelligence, some intelligent robots that can achieve semi-autonomous or fully autonomous work have gradually been applied in more working conditions. As a current type of robot, the automatic guided vehicle (AGV) meets the needs of transporting goods along a set route.

[0003] In order to enable the automated guided vehicle to adapt to complex road conditions, the chassis of existing automated guided vehicles are mostly steering wheel chassis, which include multiple independent steering wheel units. Each steering wheel has the freedom to move in the up and down directions, so that a certain height difference can be compensated when passing through uneven roads, ensuring that each wheel has a good grip effect.

[0004] However, when the automated guided vehicle is stationary, the movement of its robotic arms, slides, etc. will cause the overall center of gravity to shift. This will cause the suspension height of the steering wheel close to the center of gravity to decrease, causing the vehicle body to tilt or shake, and even fall in severe cases, which seriously affects the robot's working accuracy, stability and safety. Utility Model Content

[0005] The utility model aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, an embodiment of the utility model proposes a steering wheel assembly, which has good adaptability to complex road conditions and can avoid center of gravity shift when stationary, thereby ensuring the accuracy and stability of operations of robots, etc.

[0007] The embodiment of the utility model also provides a chassis device including the above-mentioned steering wheel assembly.

[0008] The embodiment of the utility model further provides a mobile device comprising the above-mentioned chassis device.

[0009] The steering wheel assembly of the utility model embodiment includes:

[0010] Pedestal;

[0011] A suspension system and a wheel set, wherein the upper part of the suspension system is connected to the base, the wheel set is rotatably mounted on the lower part of the suspension system, and the base can elastically move up and down relative to the wheel set under the action of the suspension system;

[0012] A pushing drive assembly and a pushing member, wherein the pushing drive assembly is connected to the base, and the pushing member is connected to the pushing drive assembly, the pushing drive assembly is used to drive the pushing member to move to adjust the distance between the pushing member and the wheel set, and the pushing member is used to directly or indirectly abut the wheel set to adjust the up and down displacement of the base relative to the wheel set.

[0013] In some embodiments, the push drive assembly includes a push drive and a transmission member, the push drive is arranged on the top side of the base, and the transmission member is connected between the push drive and the push member to drive the push member to move through the push drive.

[0014] In some embodiments, the wheel set includes a wheel and an axle, and the push member is used to abut against at least one of the wheel, the axle, and a portion of the suspension system after being driven downward by the push drive assembly to move a set distance.

[0015] In some embodiments, the wheel set includes a wheel and an axle, the wheel is rotatably assembled with the suspension system via the axle, and the push member directly abuts against the wheel.

[0016] In some embodiments, the suspension system includes a connecting member, which is rotatably connected to the base to make the circumferential position of the wheel set adjustable, and the push member is movably assembled on the base and can move up and down relative to the base and the connecting member.

[0017] In some embodiments, the pushing member is movably engaged in the connecting member, the connecting member and the pushing member are coaxially arranged and both extend in the up-down direction, and the axis of the pushing member is arranged to intersect with the axis of the wheel axle of the wheel set.

[0018] In some embodiments, a rotation drive assembly is included, which includes a rotation drive and a transmission mechanism. The rotation drive is arranged on the base, and the transmission mechanism is connected between the rotation drive and the connecting member to drive the connecting member to rotate when the rotation drive is in action.

[0019] In some embodiments, the base is provided with an inner cavity, the connecting member passes through the inner cavity, one end of the connecting member is rotatably assembled with the base on the top side of the inner cavity, and the other end of the connecting member is rotatably assembled with the base on the bottom side of the inner cavity, the rotation drive is suspended below the base, and the transmission mechanism is arranged in the inner cavity;

[0020] And / or, the rotation drive assembly, the base, the suspension system, and the wheel set are integrated into one.

[0021] In some embodiments, the suspension system comprises:

[0022] An upper hinge and a lower hinge, wherein the upper hinge is located above the lower hinge, the wheel set is rotatably connected to the lower hinge, the push member passes through the upper hinge, and one end of the upper hinge is rotatably connected to one end of the lower hinge so that the suspension system can realize the elastic movement of the wheel set up and down through the opening and closing of the upper hinge and the lower hinge;

[0023] A shock absorber, one end of which is connected to the upper hinge, and the other end of which is connected to the lower hinge, and the shock absorber is used to buffer the opening and closing actions of the upper hinge and the lower hinge.

[0024] In some embodiments, the lower hinge is provided with an assembly hole, the assembly hole passes through the lower hinge along the up-down direction, the wheel set fits in the assembly hole, and the wheel axle of the wheel set is connected to the middle of the lower hinge.

[0025] In some embodiments, the wheel assembly includes a hub motor, which includes two coaxially arranged output shafts, one of which is rotatably assembled with the lower hinge on one side of the assembly hole, and the other of which is rotatably assembled with the lower hinge on the other side of the assembly hole.

[0026] In some embodiments, the upper hinge and the lower hinge have a symmetry plane arranged perpendicular to the output shaft, and the axis of the shock absorber is located on the symmetry plane;

[0027] And / or, the shock absorber is provided with at least one.

[0028] The chassis device of the embodiment of the utility model comprises a bottom plate and a plurality of steering wheel assemblies as described in any of the above embodiments, and the base of each steering wheel assembly is connected to the bottom plate.

[0029] In some embodiments, the number of the steering wheel assemblies is 1, 2, 3, 4 or 6.

[0030] In some embodiments, a sensor is included, wherein the sensor is used to measure the tilt angle of the chassis device and adjust the downward movement amount of the pushing member according to the tilt angle.

[0031] The chassis device of the embodiment of the utility model includes a bottom plate and at least one steering wheel assembly as described in any of the above embodiments, the base of the steering wheel assembly is connected to the bottom plate, and the thrust drive assembly of each steering wheel assembly is detachably connected to the bottom plate and the base.

[0032] The mobile device of the embodiment of the utility model comprises the chassis device as described in any of the above embodiments.

[0033] Beneficial effects: The steering wheel assembly, chassis device and mobile equipment of the embodiment of the utility model can compensate for the height difference of uneven road surface when driving, have good adaptability to complex road conditions, and ensure that each wheel has a good grip effect.

[0034] Secondly, when stationary, the wheel group can be acted on through the pushing member, and the height of the corresponding base can be adjusted by the reaction force of the ground and the wheel group, thereby avoiding the overall center of gravity shift, and then avoiding the problem of tilting or shaking, ensuring the working accuracy and stability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the steering wheel assembly of an embodiment of the utility model.

[0036] Figure 2 It is an exploded schematic diagram of the steering wheel assembly of the embodiment of the utility model.

[0037] Figure 3 The longitudinal section diagram of the steering wheel assembly of the utility model embodiment is shown in FIG. Figure 1 .

[0038] Figure 4 The longitudinal section diagram of the steering wheel assembly of the utility model embodiment is shown in FIG. Figure 2 .

[0039] Figure 5 The longitudinal section diagram of the steering wheel assembly of the utility model embodiment is shown in FIG. Figure 3 .

[0040] Figure 6 It is an exploded schematic diagram of a suspension system according to an embodiment of the utility model.

[0041] Figure 7 Schematic diagram of a wheel set according to an embodiment of the present utility model.

[0042] Figure 8 It is a schematic diagram of one side of the shock absorber of the suspension system of the embodiment of the utility model.

[0043] Fig. 9 It is a three-dimensional schematic diagram of a chassis device according to an embodiment of the utility model.

[0044] Fig.10 It is a left side schematic diagram of a chassis device according to an embodiment of the present utility model.

[0045] Reference numerals:

[0046] 100-steering wheel assembly;

[0047] 1-base; 11-inner cavity;

[0048] 2-suspension system; 21-upper hinge; 22-lower hinge; 221-assembly hole; 23-shock absorber; 24-connector;

[0049] 3-wheel set; 31-wheel; 32-axle; 321-outer output shaft; 322-inner output shaft;

[0050] 4- push drive assembly; 41- push drive; 42- transmission member;

[0051] 5-rotation drive assembly; 51-rotation drive; 52-transmission mechanism;

[0052] 6-thrust piece;

[0053] 200-Base plate. DETAILED DESCRIPTION

[0054] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but cannot be understood as limiting the present invention.

[0055] The steering wheel assembly 100 of the embodiment of the utility model includes a base 1, a suspension system 2, a wheel set 3, a thrust drive assembly 4 and a thrust member 6.

[0056] like Figure 1 and Figure 2 As shown, the base 1 can generally be a hollow structure, such as a tubular structure, more specifically a square tube. The base 1 can be formed by welding, stamping, etc. of steel plates, and the base 1 can extend along the front-to-back direction, which can refer to the direction of rotation of the wheel group, such as the forward or backward direction.

[0057] The upper part of the suspension system 2 is connected to the base 1, and the wheel set 3 is rotatably mounted on the lower part of the suspension system 2. Under the action of the suspension system 2, the base 1 can elastically move up and down relative to the wheel set 3, thereby playing a shock-absorbing role. For example, the suspension system 2 as a whole can be located below the base 1, the top side of the suspension system 2 can be connected to the base 1, and the wheel set 3 can be a wheel 31, and the wheel set 3 can be rotatably mounted on the lower half of the suspension system 2.

[0058] When driving on an uneven road, the wheel set 3 can move up and down under the action of the suspension system 2, so as to avoid obstacles, improve the adaptability of the steering wheel assembly 100 to complex road conditions, and ensure the grip effect of the wheel set 3.

[0059] The pushing drive assembly 4 is connected to the base 1, and the pushing member 6 is connected to the pushing drive assembly 4. The pushing drive assembly 4 is used to drive the pushing member 6 to move to adjust the distance between the pushing member 6 and the wheel group 3, and the pushing member 6 is used to directly or indirectly abut the wheel group 3 to adjust the up and down displacement of the base 1 relative to the wheel group 3.

[0060] For example, Figure 1 As shown, the push drive assembly 4 can be fixed above the base 1, and the push member 6 can be connected and fixed to the driving end of the push drive assembly 4. When in use, the push drive assembly 4 can drive the push member 6 to move in the up and down directions, so that the distance between the push member 6 and the wheel set 3 can be adjusted.

[0061] When driving, if Figure 3 As shown, the pushing member 6 can move upward under the action of the pushing drive assembly 4. If the pushing member 6 retracts into the base 1, at this time, there is a large distance between the pushing member 6 and the wheel set 3. The spacing between the pushing member 6 and the wheel set 3 allows the wheel set 3 to move up and down, thereby meeting the need for the wheel set 3 to move up and down when passing through complex roads.

[0062] When the vehicle is not in motion, the push drive assembly 4 can be used to drive the push member 6 downward, so that the push member 6 can apply force to the wheel set 3, such as directly contacting the wheel set 3. Figure 4 As shown, at this time, the bottom end of the pushing member 6 can directly abut against the wheel of the wheel set 3, thereby achieving a rigid effect between the base 1 and the wheel set 3, not only can the height of the base be adjusted with the help of the reverse thrust of the wheel set, but also the wheel of the wheel set 3 can be pressed and fixed by the pushing member 6, thereby achieving braking of the wheel set 3.

[0063] Due to the reverse action applied by the wheel assembly 3 to the base 1 by the push piece 6, the overall height of the base 1 can also be adjusted. When there are multiple steering wheel assemblies 100, the horizontality of the chassis device etc. can be corrected by such adjustment, thereby avoiding the center of gravity shift and tilt of the chassis device etc., and ensuring the horizontality and stability of use.

[0064] It should be noted that, in the driving state, Figure 5 As shown, the pushing drive assembly 4 can also drive the pushing member 6 to move downward, but the pushing member 6 is not in contact with the wheel set 3. At this time, the distance between the pushing member 6 and the wheel set 3 can be adjusted. When the wheel set 3 moves up and down, the pushing member 6 can limit the maximum upward displacement of the wheel set 3, thereby realizing the adjustment of the buffering and shock absorption of the wheel set 3, which can improve the driving experience.

[0065] In some embodiments, the pushing drive assembly 4 includes a pushing drive 41 and a transmission member 42. The pushing drive 41 is arranged on the top side of the base 1. The transmission member 42 is connected between the pushing drive 41 and the pushing member 6 to drive the pushing member 6 to move through the pushing drive 41.

[0066] For example, Figure 2 As shown, the push drive assembly 4 can be an electric push rod, wherein the push drive 41 can be a motor, etc., and the transmission member 42 can be a lead screw, etc. The push drive 41 can be fixed on the top side of the base 1, and the lead screw is connected to the push drive 41 by transmission. The push member 6 can be connected and fixed to the lead screw. When in use, the lead screw can be driven to move up and down by the rotation of the motor, and then the push member 6 can be driven to move up and down. The transmission method of the lead screw has a stable structure and high precision, and also has a self-locking function, thereby fully meeting the use needs of the stop wheel group 3.

[0067] In some other embodiments, the push drive assembly 4 may also include a hydraulic cylinder, and the extension and contraction of the hydraulic cylinder may realize the displacement adjustment of the push member 6. In some other embodiments, the transmission member 42 may also be a gear rack, a worm gear, or the like.

[0068] In some embodiments, Figure 2 As shown, the wheel set 3 includes a wheel 31 and an axle 32, the suspension system 2 may include an upper hinge 21 and a lower hinge 22, the upper hinge 21 may be pivotally assembled with the lower hinge 22, and the upper hinge 21 is located above the lower hinge 22, and the wheel set 3 may be rotatably assembled at the lower hinge 22 via the axle 32.

[0069] The push member 6 is used to contact at least one of the wheel 31, the axle 32, and a part of the suspension system 2 after being driven downward by the push drive assembly 4 to move a set distance. Specifically, when not driving, the push drive assembly 4 can drive the push member 6 to move downward. At this time, the bottom end of the push member 6 can be in abutment contact with the wheel 31, or with the axle 32, or in some other embodiments, it can also be in abutment contact with the lower hinge 22, so that the rigid support between the base 1 and the wheel set 3 can be achieved.

[0070] It should be noted that, when the push member 6 abuts against the lower hinge 22 , the push member 6 achieves a spaced abutment with the wheel set 3 through the lower hinge 22 .

[0071] In some embodiments, Figure 4 As shown, the wheel set 3 includes a wheel 31 and an axle 32 , the wheel 31 is rotatably assembled with the suspension system 2 via the axle 32 , and the push member 6 directly abuts against the wheel 31 , and the push member 6 specifically abuts against the tire of the wheel 31 .

[0072] In some embodiments, the suspension system 2 includes a connector 24 rotatably connected to the base 1 so that the circumferential position of the wheel set 3 is adjustable. The push member 6 is movably assembled on the base 1 and can move up and down relative to the base 1 and the connector 24 .

[0073] For example, Figure 3 As shown, the connecting member 24 can be a round shaft structure, the connecting member 24 is vertically extended, and the connecting member 24 can be rotatably assembled with the base 1 through a bearing. Two bearings can be provided, and a bearing can be sleeved on both the upper and lower ends of the connecting member 24, so as to ensure the structural stability of the rotatable assembly with the base 1. In this way, the suspension system 2 and the wheel set 3 can be rotated around the axis of the connecting member 24, so as to adjust the forward direction of the wheel set 3.

[0074] In some embodiments, the pushing member 6 is movably engaged in the connecting member 24 , the connecting member 24 and the pushing member 6 are coaxially arranged and both extend in the up and down directions, and the axis of the pushing member 6 is arranged to intersect with the axis of the wheel axle 32 of the wheel assembly 3 .

[0075] For example, Figure 3 As shown, the connecting member 24 is arranged vertically and rotatably assembled on the base 1. The bottom end of the connecting member 24 can be connected and fixed to the base 1. The connecting member 24 can be a circular tube as a whole, and the push member 6 is guided and slidably assembled in the inner hole of the connecting member 24. In this way, the internal space of the connecting member 24 can be utilized, avoiding the situation that the push member 6 is easy to occupy more extra space when it is independent of the connecting member 24, improving the utilization rate of the space, and simplifying the structural layout.

[0076] The axis of the connecting member 24 and the axis of the pushing member 6 are both located in the same straight line. Since the connecting member 24 can rotate circumferentially relative to the pushing member 6, the structural consistency of the connecting member 24 in all directions can be ensured, thereby avoiding eccentricity, which is beneficial to ensuring the overall structural strength.

[0077] In some embodiments, Figures 1 to 3 As shown, the steering wheel assembly 100 includes a rotation drive component 5, and the rotation drive component 5 includes a rotation drive 51 (steering drive) and a transmission mechanism 52. The rotation drive 51 can be directly or indirectly arranged on the base 1, and the transmission mechanism 52 is connected between the rotation drive and the connecting member 24 to drive the connecting member 24 to rotate when the rotation drive is in action. In this way, the rotation drive of the connecting member 24 can be realized, so that the wheel set 3 can adjust the steering or forward direction according to its own needs. Among them, the transmission mechanism 52 may include a synchronous belt, and the synchronous belt is used to transmit the steering drive force of the rotation drive to the connecting member, thereby reducing the requirements for the manufacturing process.

[0078] In some embodiments, the base 1 is provided with an inner cavity 11, and a connecting member 24 passes through the inner cavity 11. One end of the connecting member 24 is rotatably assembled with the base 1 on the top side of the inner cavity 11, and the other end of the connecting member 24 is rotatably assembled with the base 1 on the bottom side of the inner cavity 11. The rotation drive assembly is suspended below the base 1, and the transmission mechanism 52 is arranged in the inner cavity 11.

[0079] For example, Figure 3 As shown, the base 1 can be generally square tube-shaped, and the inner cavity 11 is the inner space of the base 1. The top end of the connecting member 24 can be rotatably assembled with the top wall of the base 1 through a bearing, and the bottom end of the connecting member 24 can be rotatably assembled with the bottom wall of the base 1 through another bearing. The rotation drive can be fixed to the bottom side of the base 1 by screws and the like and is located behind the wheel set 3. The rotation drive can be a motor, and the motor shaft of the motor can extend into the inner cavity 11.

[0080] The transmission mechanism 52 may be a conveyor belt, which may be wrapped around the outer circumference of the motor shaft of the rotary drive and the connecting member 24. When the rotary drive rotates, the conveyor belt may rotate, thereby driving the connecting member 24 to rotate. In some other embodiments, the transmission mechanism 52 may also be a gear rack, a worm gear, etc.

[0081] The design in which the rotation drive is arranged below the base 1 and the transmission mechanism 52 is arranged in the inner cavity 11 can enhance the protection effect on the one hand, and on the other hand, it is also conducive to the integration of the rotation drive component, the wheel set 3, the suspension system 2 and the base 1, which is conducive to the modularization of the design.

[0082] In some embodiments, the rotation drive assembly, the base 1, the suspension system 2, and the wheel set 3 are integrated into one body, thereby realizing a modular and integrated design of the overall structure, thereby facilitating the user to adaptively adjust and select the number of steering wheel assemblies 100 to be installed according to their own needs.

[0083] In some embodiments, Figures 2 to 5 As shown, the suspension system 2 includes an upper hinge 21 , a lower hinge 22 and a shock absorber 23 .

[0084] The upper hinge 21 is located above the lower hinge 22. The upper hinge 21 is generally arranged in an inclined direction from the front lower to the rear upper, and the lower hinge 22 is generally arranged in an inclined direction from the front upper to the rear lower. The wheel set 3 is rotatably connected to the lower hinge 22, and the push member 6 passes through the upper hinge 21, for example, Figure 6 As shown, a circular through hole may be provided on the upper hinge 21 , and the pushing member 6 may pass through the upper hinge 21 via the through hole.

[0085] One end of the upper hinge 21 and one end of the lower hinge 22 are rotatably connected so that the suspension system 2 can realize the elastic movement of the wheel set 3 up and down through the opening and closing of the upper hinge 21 and the lower hinge 22. For example, the front end of the upper hinge 21 and the front end of the lower hinge 22 can be pivotally assembled through a pivot, and when in use, the upper hinge 21 and the lower hinge 22 can be opened and closed, thereby realizing the buffering adjustment of the up and down position of the wheel set 3.

[0086] One end of the shock absorber 23 is connected to the upper hinge 21, and the other end of the shock absorber 23 is connected to the lower hinge 22, and the shock absorber 23 is used to buffer the opening and closing actions of the upper hinge 21 and the lower hinge 22. Figure 5 and Figure 6 As shown, the top end of the shock absorber 23 can be hinged to the rear end of the upper hinge 21, and the bottom end of the shock absorber 23 can be hinged to the rear end of the lower hinge 22. The shock absorber 23 can be a spring type, a hydraulic type, an inflatable type, etc. The shock absorber 23 meets the use needs of buffering and shock absorption.

[0087] In some embodiments, the axle 32 is assembled in the middle of the lower hinge 22 in the front-to-back extension direction. For example, the lower hinge 22 is provided with an assembly hole 221, the assembly hole 221 penetrates the lower hinge 22 in the up-down direction, the wheel set 3 is fitted in the assembly hole 221, and the axle 32 of the wheel set 3 is connected to the middle of the lower hinge 22.

[0088] For example, Figure 6 As shown, the assembly hole 221 can be a long hole, which is arranged in the middle of the lower hinge 22, and the length direction of the assembly hole 221 is consistent with the extension direction of the lower hinge 22. During assembly, the wheel 31 is assembled in the assembly hole 221, and there is a clearance fit between the wheel 31 and the lower hinge 22. The two ends of the wheel shaft 32 are respectively rotatably assembled with the lower hinges 22 on the left and right sides.

[0089] Therefore, on the one hand, the wheel set 3 can be hidden, thereby protecting the wheel set 3. On the other hand, the assembled wheel set 3 can be located roughly in the middle of the suspension system 2, thereby improving the symmetry and stability of the overall structure and improving the load-bearing performance.

[0090] In some embodiments, the wheel set 3 may be a driving wheel set. Figure 7As shown, the wheel set 3 includes a hub motor, and the wheel is driven forward or backward by the hub motor. Further, the hub motor may include two coaxially arranged output shafts, namely an outer output shaft 321 and an inner output shaft 322 (the above-mentioned wheel axle 32 includes the two output shafts), and the lower hinge 22 may include two inner and outer parts. In this case, one of the output shafts (outer output shaft 321) can be rotatably assembled with a side part (outer part) of the lower hinge 22, for example, rotatably assembled with the lower hinge 22 on one side of the assembly hole 221, and the other output shaft (inner output shaft 322) can be rotatably assembled with the other side part (inner part) of the lower hinge 22, for example, rotatably assembled with the lower hinge 22 on the other side of the assembly hole 221. The design of the double output shaft can make the structure symmetrical and enhance the load-bearing performance of the wheel set 3. Compared with the traditional reduction motor drive for the drive wheel, the wheel set driven by the hub motor has a simpler structure, a higher degree of integration, and is more compact and flexible.

[0091] In some embodiments, a magnetic encoder may be provided on the side of the wheel hub motor, and the magnetic encoder may be used to measure parameters related to the actual rotation speed of the wheel, so that the wheel hub motor can better drive the wheel to rotate.

[0092] In some embodiments, Figure 8 As shown, the upper hinge 21 and the lower hinge 22 have a symmetry plane arranged perpendicular to the output shaft, and the symmetry plane can be a vertical plane. The upper hinge 21 and the lower hinge 22 can be arranged symmetrically about the symmetry plane, and the axis of the shock absorber 23 is located on the symmetry plane. Thus, the suspension system 2 is a symmetrical structure as a whole, ensuring the stability of the structure and the consistency of the forces in all directions.

[0093] In some embodiments, the shock absorber 23 is provided with at least one, for example Figure 8 As shown, only one shock absorber 23 may be installed between the upper hinge 21 and the lower hinge 22. In some other embodiments, the shock absorbers 23 may be provided in two, three, four, etc., and the types of the shock absorbers 23 may be the same or different. In the case of including two shock absorbers, the position of each shock absorber may correspond to the inner and outer sides of the lower hinge respectively.

[0094] The chassis device of the embodiment of the utility model is described below.

[0095] The chassis device of the embodiment of the utility model comprises a bottom plate 200 and a plurality of steering wheel assemblies 100 as in any of the above embodiments, and the base 1 of each steering wheel assembly 100 is connected to the bottom plate 200. The plurality of steering wheel assemblies 100 can be installed on the bottom plate 200, for example, most of the components can be installed under the bottom plate 200, and the positions and quantities of the plurality of steering wheel assemblies 100 can be selectively adjusted according to actual use needs.

[0096] In some embodiments, the number of the steering wheel assembly 100 is 1, 2, 3, 4 or 6. When there is only one steering wheel assembly 100, some driven wheels or universal wheels can be added on the outer peripheral side of the bottom plate 200 to enhance the stability of use.

[0097] In some embodiments, the chassis device includes a sensor, which may be a gyroscope, etc. The sensor is used to measure the tilt angle (tilt degree) of the chassis device and adjust the downward movement of the push member 6 according to the tilt angle. The setting of the sensor facilitates the detection of the tilt angle of the bottom plate 200 and provides a data reference for the adjustment of the push member 6 of the corresponding steering wheel assembly 100.

[0098] The following describes a chassis device according to another embodiment of the present utility model.

[0099] The chassis device of the embodiment of the utility model comprises a bottom plate 200 and at least one steering wheel assembly 100 as in any of the above embodiments, the base 1 of the steering wheel assembly 100 is connected to the bottom plate 200, and the push drive assembly 4 of each steering wheel assembly 100 is detachably connected to the bottom plate 200 and the base 1. For example, the bottom plate 200 is installed between the base and the push drive in the steering wheel assembly 100, and the components (such as the wheel set, the suspension system, the rotation drive, etc.) in a steering wheel assembly except the push drive can be integrated, and the bottom plate 200 can be easily replaced after the push drive is removed.

[0100] More specifically, for example, Fig. 9 and Fig.10 As shown, the bottom plate 200 may be a rectangular plate, and four steering wheel assemblies 100 may be provided. The four steering wheel assemblies 100 are generally located below the bottom plate 200. The base 1 of each steering wheel assembly 100 may be installed on the lower side of the bottom plate 200 by fasteners such as screws, and the four steering wheel assemblies 100 may be located at four corners of the bottom plate 200. The bottom plate 200 may be provided with a plurality of mounting holes, and the push drive assembly 4 of each steering wheel assembly 100 may be fitted in the corresponding mounting holes.

[0101] It should be noted that the push drive assembly 4 of each steering wheel assembly 100 can be detachably assembled with the bottom plate 200 and the base 1. For example, the installation and fixation can be achieved by fasteners. This can provide convenience for maintenance and self-designed installation.

[0102] In some embodiments, Fig.10 As shown, the steering wheel assembly 100 on the front side of the base plate 200 can be arranged symmetrically with the steering wheel assembly 100 on the rear side of the base plate 200, thereby allowing the rotating drive component to be located within the space area surrounded by the multiple wheel groups 3, thereby achieving a hidden protection effect.

[0103] In some embodiments, the chassis device of each embodiment may further include a control circuit board, which may be connected to one or more of the hub motor, the push drive, the rotation drive, and the magnetic encoder to control the operation of the corresponding components.

[0104] The mobile device according to the embodiment of the present invention is described below.

[0105] The mobile device of the embodiment of the utility model comprises a chassis device, which can be a chassis device as described in any of the above embodiments. The mobile device can be a mobile robot, a vehicle or other equipment, and can also be other equipment that needs to move by itself.

[0106] The following describes the adjustment method of the chassis device according to the embodiment of the utility model.

[0107] The adjustment method of the chassis device of the embodiment of the utility model comprises the following steps:

[0108] S1: Detect the tilt angle of the chassis device using a sensor. For example, the sensor may be a gyroscope sensor, and the sensor may be mounted on the bottom plate 200. When the bottom plate 200 tilts, the sensor will automatically detect the corresponding tilt angle.

[0109] S2: judging whether the chassis device is horizontal according to the tilt angle, and if not, outputting a height adjustment signal of the steering wheel assembly 100.

[0110] For example, when the mobile device is stationary (not in driving state), the tilt degree of the chassis device can be determined according to the detected tilt angle. If the analysis shows no tilt or the tilt angle is within the allowable range, no operation can be performed. If the analysis shows that the tilt angle is serious, a corresponding height adjustment signal can be output for the steering wheel assembly that needs to be adjusted.

[0111] S3: The pushing drive component 4 adjusts the pushing member 6 of the steering wheel assembly to move up and down according to the height adjustment signal, so that the pushing member 6 directly or indirectly abuts against the wheel set 3 and adjusts the height of the corresponding base 1.

[0112] Specifically, after determining the degree of inclination according to the above-mentioned monitored inclination angle, the control circuit board can receive the signal of the sensor and analyze and output the control signal to control the corresponding steering wheel assembly 100 (which can be regarded as the steering wheel assembly 100 with the bottom plate 200 in a lower position) to operate the push drive component 4, thereby realizing the downward movement of the corresponding push member 6. After being adjusted into place, the push member 6 will realize the rigid support between the corresponding wheel group 3 and the base 1, so that the base 1 can be lifted and the bottom plate 200 can be realigned to a horizontal state, thereby avoiding the situation where the bottom plate 200 has a large inclination angle when it is stationary.

[0113] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0114] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0115] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0116] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0117] In the present utility model, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0118] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are illustrative and cannot be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. A steering wheel assembly, characterized in that: include: Pedestal; A suspension system and a wheel set, wherein the upper part of the suspension system is connected to the base, the wheel set is rotatably mounted on the lower part of the suspension system, and the base can elastically move up and down relative to the wheel set under the action of the suspension system; A pushing drive assembly and a pushing member, wherein the pushing drive assembly is connected to the base, and the pushing member is connected to the pushing drive assembly, the pushing drive assembly is used to drive the pushing member to move to adjust the distance between the pushing member and the wheel set, and the pushing member is used to directly or indirectly abut the wheel set to adjust the up and down displacement of the base relative to the wheel set.

2. The steering wheel assembly according to claim 1, characterized in that: The push drive assembly includes a push drive and a transmission member, wherein the push drive is arranged on the top side of the base, and the transmission member is connected between the push drive and the push member to drive the push member to move through the push drive.

3. The steering wheel assembly according to claim 1, characterized in that: The wheel set comprises a wheel and an axle, and the push member is used to abut against at least one of the wheel, the axle, and a part of the suspension system after being driven by the push drive assembly to move downward a set distance.

4. The steering wheel assembly according to claim 1, characterized in that: The wheel set comprises a wheel and a wheel axle, the wheel is rotatably assembled with the suspension system via the wheel axle, and the push member is used for directly abutting against the wheel.

5. The steering wheel assembly according to claim 1, characterized in that: The suspension system comprises a connecting member, which is rotatably connected to the base so that the circumferential position of the wheel set can be adjusted. The pushing member is movably assembled on the base and can move up and down relative to the base and the connecting member.

6. The steering wheel assembly according to claim 5, characterized in that: The pushing member is movably fitted in the connecting member, the connecting member and the pushing member are coaxially arranged and both extend in the up-down direction, and the axis of the pushing member is arranged to intersect with the axis of the wheel axle of the wheel set.

7. The steering wheel assembly according to claim 5, characterized in that: It comprises a rotation drive assembly, which comprises a rotation drive and a transmission mechanism. The rotation drive is arranged on the base, and the transmission mechanism is connected between the rotation drive and the connecting member to drive the connecting member to rotate when the rotation drive is in action.

8. The steering wheel assembly according to claim 7, characterized in that: The base is provided with an inner cavity, the connecting member passes through the inner cavity, one end of the connecting member is rotatably assembled with the base on the top side of the inner cavity, and the other end of the connecting member is rotatably assembled with the base on the bottom side of the inner cavity, the rotating drive is suspended below the base, and the transmission mechanism is arranged in the inner cavity; And / or, the rotation drive assembly, the base, the suspension system, and the wheel set are integrated into one.

9. The steering wheel assembly according to any one of claims 1 to 8, characterized in that: The suspension system comprises: An upper hinge and a lower hinge, wherein the upper hinge is located above the lower hinge, the wheel set is rotatably connected to the lower hinge, the push member passes through the upper hinge, and one end of the upper hinge is rotatably connected to one end of the lower hinge so that the suspension system can realize the elastic movement of the wheel set up and down through the opening and closing of the upper hinge and the lower hinge; A shock absorber, one end of which is connected to the upper hinge, and the other end of which is connected to the lower hinge, and the shock absorber is used to buffer the opening and closing actions of the upper hinge and the lower hinge.

10. The steering wheel assembly according to claim 9, characterized in that: The lower hinge is provided with an assembly hole, and the assembly hole passes through the lower hinge along the up-down direction. The wheel set is fitted in the assembly hole, and the wheel axle of the wheel set is connected to the middle part of the lower hinge.

11. The steering wheel assembly according to claim 10, characterized in that: The wheel assembly includes a hub motor, which includes two coaxially arranged output shafts, one of which is rotatably assembled with the lower hinge on one side of the assembly hole, and the other of which is rotatably assembled with the lower hinge on the other side of the assembly hole.

12. The steering wheel assembly according to claim 11, characterized in that: The upper hinge and the lower hinge have a symmetry plane arranged perpendicular to the output shaft, and the axis of the shock absorber is located on the symmetry plane; And / or, the shock absorber is provided with at least one.

13. A chassis device, characterized in that: It comprises a bottom plate and a plurality of steering wheel assemblies as described in any one of claims 1 to 12, wherein the base of each steering wheel assembly is connected to the bottom plate.

14. The chassis device according to claim 13, characterized in that: The number of the steering wheel assemblies is 1, 2, 3, 4 or 6.

15. The chassis device according to claim 13, characterized in that: A sensor is included, and the sensor is used to measure the tilt angle of the chassis device and adjust the downward movement amount of the push member according to the tilt angle.

16. A chassis device, characterized in that: It comprises a bottom plate and at least one steering wheel assembly as described in any one of claims 1 to 12, wherein the base of the steering wheel assembly is connected to the bottom plate, and the thrust drive assembly of each steering wheel assembly is detachably connected to the bottom plate and the base.

17. A mobile device, characterized in that: Comprising a chassis device as claimed in any one of claims 13 to 16 above.

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