Omnidirectional wheeled robot chassis

Abstract

The utility model belongs to the technical field of robots, and particularly discloses an omni-directional wheeled robot chassis which comprises a support, two driving mechanisms are arranged in the support, two pairs of bottom wheels are arranged at the bottom of the support at intervals, the two pairs of bottom wheels are located on the two opposite sides of the support respectively, and each bottom wheel is rotationally connected with the support. Wherein one pair of bottom wheels is driven by one driving mechanism to synchronously rotate and deflect, and the other pair of bottom wheels is driven by the other driving mechanism to synchronously rotate and deflect. The two pairs of bottom wheels are respectively controlled by the two driving mechanisms, so that ideal Ackerman steering of the omnidirectional central axis is realized, the structure of the system is simplified, the manufacturing cost is reduced, the steering precision and stability are improved, meanwhile, the chassis has the omnidirectional moving capability of rotating in situ, and the service life of the chassis is prolonged. Through the ability, the robot can more flexibly cope with various challenges in a complex environment, and the adaptability and practicability of the robot are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to an omnidirectional wheeled robot chassis. Background Art

[0002] In the technical field of robots, the design of a mobile chassis has a crucial impact on the overall performance and application scenarios of the robot.

[0003] Existing wheeled robot chassis (especially AGV robots) mostly adopt the method of using four independent drive mechanisms to control four wheels respectively. Although this design improves the flexibility and stability of the robot to a certain extent, it also brings problems such as high cost and complex control. Each drive mechanism requires independent components such as motors and controllers, which not only increases the manufacturing cost but also improves the complexity of the system and the difficulty of maintenance.

[0004] Therefore, the inventor is committed to designing an omnidirectional wheeled robot chassis to solve the above problems. Summary of the Utility Model

[0005] The purpose of the utility model is to provide an omnidirectional wheeled robot chassis, which realizes the dual goals of cost reduction and performance optimization.

[0006] In order to achieve the above purpose, a technical solution adopted by the utility model is as follows:

[0007] An omnidirectional wheeled robot chassis includes a bracket. Two drive mechanisms are arranged inside the bracket. Two pairs of bottom wheels are arranged at intervals at the bottom of the bracket. The two pairs of bottom wheels are respectively located on two opposite sides of the bracket. Each bottom wheel is rotatably connected to the bracket. One pair of the bottom wheels is driven by one of the drive mechanisms to rotate synchronously and deflect, and the other pair of the bottom wheels is driven by the other drive mechanism to rotate synchronously and deflect.

[0008] As an improvement of the omnidirectional wheeled robot chassis of the utility model, two drive sources are arranged at the bottom of the bracket. The two drive sources are located between the two pairs of bottom wheels. The two drive mechanisms are driven to act one by one by the two drive sources.

[0009] As an improvement of the omnidirectional wheeled robot chassis of the utility model, each drive mechanism includes a driving wheel, a transmission belt and two driven wheels. The two driven wheels are respectively fixed on the rotating shafts of the same pair of bottom wheels. The driving wheel drives the two driven wheels to rotate synchronously through the transmission belt.

[0010] As an improvement to the omnidirectional wheeled robot chassis of the present utility model, one of the driven wheels is located outside the transmission belt and two idler wheels are provided beside it. The two idler wheels are rotatably connected to the bracket. One end of the transmission belt bypasses the two idler wheels and meshes with the corresponding driven wheel, and the other end of the transmission belt is sleeved on the other driven wheel.

[0011] As an improvement to the omnidirectional wheeled robot chassis of the present utility model, the two idler wheels are respectively located on two opposite sides of the corresponding driven wheel, and the driving wheel is located between the two driven wheels.

[0012] As an improvement to the omnidirectional wheeled robot chassis of the present utility model, the two driven wheels are correspondingly arranged at two of the corners of the bracket, and the driving wheel is arranged deviating from the two driven wheels to form a triangle.

[0013] As an improvement to the omnidirectional wheeled robot chassis of the present utility model, an intermediate wheel is rotatably provided beside the driving wheel. The intermediate wheel is located outside the transmission belt, and the driving wheel is located inside the transmission belt. The transmission belt is generally V-shaped.

[0014] As an improvement to the omnidirectional wheeled robot chassis of the present utility model, a fixed seat is provided inside the bracket, a Y-shaped tensioning frame is provided on the fixed seat, and the intermediate wheel is rotatably arranged at the opening of the tensioning frame.

[0015] As an improvement to the omnidirectional wheeled robot chassis of the present utility model, the transmission belt is a synchronous belt or a chain belt. The rotation directions of the two driven wheels are opposite, and the same pair of bottom wheels are arranged at intervals along the straight forward movement direction of the bracket;

[0016] When the two pairs of bottom wheels turn, the axes of all the bottom wheels converge at a point to form a convergence point, and all the wheels and the bracket rotate around the convergence point.

[0017] As an improvement to the omnidirectional wheeled robot chassis of the present utility model, the same pair of bottom wheels synchronously deflect to form a figure-eight shape. The wheel of each bottom wheel is driven to rotate by a driving motor, or among the same pair of bottom wheels, the wheel of one of the bottom wheels is driven to rotate by a driving motor.

[0018] Compared with the prior art, for the omnidirectional wheeled robot chassis of the present utility model, two driving mechanisms are adopted to respectively control two pairs of bottom wheels. The front and rear two bottom wheels on the same side are synchronously controlled by the same driving mechanism, while the front and rear two bottom wheels on the other side are synchronously controlled by another driving mechanism, realizing the ideal Ackermann steering of the omnidirectional central axis. This design not only simplifies the structure of the system, reduces the manufacturing cost, but also improves the steering accuracy and stability. At the same time, the chassis of the present utility model also has the omnidirectional movement ability from rotating clockwise in place to infinity and then switching to counterclockwise rotation. This ability enables the robot to more flexibly cope with various challenges in complex environments and improves its adaptability and practicality. Brief Description of the Drawings

[0019] Figure 1 is an enlarged three-dimensional structure view of the omnidirectional wheeled robot chassis of the present utility model;

[0020] Figure 2 is an enlarged three-dimensional structure view of the omnidirectional wheeled robot chassis from another perspective of the present utility model;

[0021] Figure 3 is an enlarged three-dimensional structure view of the omnidirectional wheeled robot chassis of the present utility model with the upper plate removed;

[0022] Figure 4 is Figure 3 the enlarged view of part A in

[0023] Figure 5 is an enlarged sectional view of the omnidirectional wheeled robot chassis of the present utility model;

[0024] Figure 6 is an enlarged three-dimensional view of a bottom wheel of the present utility model;

[0025] Figure 7 is a schematic diagram of the omnidirectional wheeled robot chassis of the present utility model moving straight forward and backward;

[0026] Figure 8 is the Ackermann steering diagram of the central axis of the omnidirectional wheeled robot chassis of the present utility model turning to the right;

[0027] Figure 9 is a schematic structural diagram of the omnidirectional wheeled robot chassis of the present utility model spinning in place;

[0028] Figure 10 is the Ackermann steering diagram of the central axis of the omnidirectional wheeled robot chassis of the present utility model turning to the left;

[0029] Figure 11 is a schematic diagram of the omnidirectional wheeled robot chassis of the present utility model moving straight horizontally.

[0030] Illustration:

[0031] 1. Bracket; 11. Upper plate; 12. Bottom plate; 2. First bottom wheel; 21. First wheel; 3. Second bottom wheel; 31. Second wheel; 4. First motor; 41. Second motor; 5. First driving mechanism; 51. First driven wheel; 52. First transmission belt; 53. First driving wheel; 531. First intermediate wheel; 532. First tensioning frame; 533. First fixing seat; 54. Second driven wheel; 541. First idler wheel; 6. Second driving mechanism; 61. Third driven wheel; 62. Second transmission belt; 63. Second driving wheel; 631. Second intermediate wheel; 632. Second tensioning frame; 633. Second fixing seat; 64. Fourth driven wheel; 641. Second idler wheel; 7. Cable; 71. Wheel frame; 711. Wire passing hole; 72. Connecting rod; 74. Spring. Specific embodiments

[0032] The following combines the accompanying drawings to specifically clarify the implementation manner of the present utility model. The accompanying drawings are only for reference and illustration, and do not constitute a limitation on the scope of patent protection of the present utility model.

[0033] Refer to Figures 1 to 11 , an omnidirectional wheeled robot chassis, including a bracket 1, two pairs of driving mechanisms and two pairs of bottom wheels. The two driving mechanisms are arranged inside the bracket 1, and the two pairs of bottom wheels are arranged at intervals at the bottom of the bracket 1. The two pairs of bottom wheels are respectively located on two opposite sides of the bracket 1, and each bottom wheel is rotatably connected to the bracket 1. One pair of bottom wheels is driven by one of the driving mechanisms to rotate synchronously and deflect, and the other pair of bottom wheels is driven by the other driving mechanism to rotate synchronously and deflect.

[0034] Refer to Figure 1 and Figure 2 , the bracket 1 includes a bottom plate 12 and an upper plate 11. The upper plate 11 is arranged directly above the bottom plate 12 at intervals, and a driving installation space is formed between the upper plate 11 and the bottom plate 12. The upper plate 11 and the bottom plate 12 are fixedly connected by multiple fixing columns. The two pairs of bottom wheels are rotatably arranged at the bottom of the bottom plate 12. The two pairs of bottom wheels are specifically a pair of first bottom wheels 2 and a pair of second bottom wheels 3. A pair of first bottom wheels 2 are respectively rotatably arranged at the left front corner and the left rear corner of the bottom plate 12, and a pair of first bottom wheels 2 are arranged at intervals along the straight forward movement direction of the bracket 1. A pair of second bottom wheels 3 are respectively rotatably arranged at the right front corner and the right rear corner of the bottom plate 12, and a pair of second bottom wheels 3 are arranged at intervals along the straight forward movement direction of the bracket 1.

[0035] Refer to Figures 1 to 5, the two driving mechanisms are specifically a first driving mechanism 5 and a second driving mechanism 6. Both the first driving mechanism 5 and the second driving mechanism 6 are located in the driving installation space between the upper plate 11 and the bottom plate 12. Specifically, the first driving mechanism 5 includes a first driving wheel 53, a first transmission belt 52, two driven wheels and two first idler wheels 541. Among them, the two driven wheels are specifically a first driven wheel 51 and a second driven wheel 54. The first driven wheel 51 is fixed on the rotating shaft of the first bottom wheel 2 at the left rear corner, and the second driven wheel 54 is fixed on the rotating shaft of the first bottom wheel 2 at the left front corner. The two first idler wheels 541 are both rotatably arranged between the bottom plate 12 and the upper plate 11. The two first idler wheels 541 are respectively located on two opposite sides of the second driven wheel 54 (that is: the second driven wheel 54 is located between the two first idler wheels 541). The first driving wheel 53 is located between the first driven wheel 51 and the second driven wheel 54. The first driving wheel 53 is arranged deviating from the first driven wheel 51 and the second driven wheel 54 to form a triangle. The two first idler wheels 541 are located beside the first transmission belt 52 and are rotatably connected to the bracket 1. The front end of the first transmission belt 52 bypasses the two first idler wheels 541 (the two first idler wheels 541 are located inside the first transmission belt 52). The second driven wheel 54 is located outside the first transmission belt 52. The outer wall of the front end of the first transmission belt 52 meshes with one side of the second driven wheel 54 close to the first driving wheel 53. The rear end of the first transmission belt 52 is sleeved on the first driven wheel 51 and meshes with the first driven wheel 51. The first driving wheel 53 is located inside the first transmission belt 52 and meshes with the middle part of the first transmission belt 52. The first driving wheel 53 drives the first driven wheel 51 and the second driven wheel 54 to rotate synchronously through the first transmission belt 52. The first transmission belt 52 is a synchronous belt or a chain belt. The first driven wheel 51 and the second driven wheel 54 are both gears with the same structure. Since the first driven wheel 51 is located inside the first transmission belt 52 and the second driven wheel 54 is located outside the first transmission belt 52, therefore, the rotation direction of the first driven wheel 51 is opposite to the rotation direction of the second driven wheel 54; the second driving mechanism 6 includes a second driving wheel 63, a second transmission belt 62, two driven wheels and two second idler wheels 641. The two driven wheels are specifically a third driven wheel 61 and a fourth driven wheel 64. The third driven wheel 61 is fixed on the rotating shaft of the second bottom wheel 3 at the right rear end, and the fourth driven wheel 64 is fixed on the rotating shaft of the second bottom wheel 3 at the right front end. The third driven wheel 61, the second driving wheel 63 and the two second idler wheels 641 are all located inside the second transmission belt 62. The fourth driven wheel 64 is located outside the second transmission belt 62. The second driving wheel 63 drives the third driven wheel 61 and the fourth driven wheel 64 to rotate synchronously, and the rotation direction of the second driving wheel 63 is opposite to that of the third driven wheel 61. The second driving wheel 63 and the first driving wheel 53 are arranged side by side at intervals. Since the first driving mechanism 5 and the second driving mechanism 6 are symmetrically arranged, therefore, the structure of the second driving mechanism 6 is basically the same as that of the first driving mechanism 5 and will not be elaborated here.

[0036] Reference Figure 3 , Figure 4 and Figure 5 , a first intermediate wheel 531 is rotatably provided beside the first driving wheel 53. The first intermediate wheel 531 is located outside the first transmission belt 52, and the first driving wheel 53 is located inside the first transmission belt 52. The first transmission belt 52 bypasses the first intermediate wheel 531 to make the whole first transmission belt 52 in a V shape. In order to adjust the distance between the first intermediate wheel 531 and the first driving wheel 53, and further adjust the tightness of the first transmission belt 52, a first fixing seat 533 is provided in the bracket 1. A Y-shaped first tensioning frame 532 is horizontally provided on the first fixing seat 533. The first intermediate wheel 531 is rotatably arranged at the opening of the first tensioning frame 532. Multiple pairs of screws are provided on the first tensioning frame 532, and the user can adjust the position of the first intermediate wheel 531 in the first tensioning frame 532 through the multiple pairs of screws; a second intermediate wheel 631 is rotatably provided beside the second driving wheel 63. The second intermediate wheel 631 is located outside the second transmission belt 62, and the second driving wheel 63 is located inside the second transmission belt 62. The second transmission belt 62 bypasses the second intermediate wheel 631 to make the whole second transmission belt 62 in a V shape. The second transmission belt 62 and the first transmission belt 52 are symmetrically arranged. A second fixing seat 633 is provided in the bracket 1. A Y-shaped second tensioning frame 632 is horizontally provided on the second fixing seat 633. The second intermediate wheel 631 is rotatably arranged at the opening of the second tensioning frame 632. Both the first transmission belt 52 and the second transmission belt 62 are located between the first intermediate wheel 531 and the second intermediate wheel 631. The first intermediate wheel 531, the first tensioning frame 532, the first fixing seat 533 and the second intermediate wheel 631, the second tensioning frame 632, the second fixing seat 633 are symmetrically arranged in pairs. The second intermediate wheel 631 can also adjust the specific position in the opening of the second tensioning frame 632, and further adjust the tightness of the second transmission belt 62.

[0037] Reference Figure 6 , two driving sources are provided at the bottom of the bottom plate 12. The two driving sources are preferably a first motor 4 and a second motor 41. The first motor 4 and the second motor 41 are arranged side by side at the bottom of the bottom plate 12 and are located between a pair of first bottom wheels 2 and a pair of second bottom wheels 3. The first motor 4 is located directly below the first driving wheel 53, and the first driving wheel 53 is fixed on the output shaft of the first motor 4 so that the first motor 4 drives the first driving mechanism 5 to act. The second motor 41 is located directly below the second driving wheel 63, and the second driving wheel 63 is fixed on the output shaft of the second motor 41 so that the second motor 41 drives the second driving mechanism 6 to act.

[0038] Reference Figure 1 , Figure 2 and Figure 6, in the present utility model, the same pair of bottom wheels synchronously deflect to form a figure-eight shape, and the external structures of all bottom wheels are the same. The two pairs of bottom wheels are specifically a pair of first bottom wheels 2 and a pair of second bottom wheels 3. The first bottom wheel 2 at the front end is symmetrically arranged with the second bottom wheel 3 at the front end, and the first bottom wheel 2 at the rear end is symmetrically arranged with the second bottom wheel 3 at the rear end. Each bottom wheel includes a wheel, a wheel frame 71, and two pairs of connecting rods 72. The wheel frame 71 is in an L shape. The lower end of the wheel frame 71 is hinged to the hub of the wheel through two pairs of connecting rods 72. The hub of the wheel is elastically connected to the middle part of the wheel frame 71 through a spring 74. In order to drive the chassis to travel normally, the wheel of each bottom wheel is driven to rotate by a driving motor, or in the same pair of bottom wheels, the wheel of one of the bottom wheels is driven to rotate by a driving motor. When the wheel of each bottom wheel is driven to rotate by a driving motor, a driving motor is provided inside each bottom wheel, and the driving motor can drive the corresponding wheel to rotate. When in the same pair of bottom wheels, the wheel of one of the bottom wheels is driven to rotate by a driving motor, a driving motor is provided inside any one of the bottom wheels in a pair of first bottom wheels 2, and the driving motor can drive the wheel of the corresponding first bottom wheel 2 to rotate. A driving motor is provided inside any one of the bottom wheels in a pair of second bottom wheels 3, and the driving motor can drive the corresponding second bottom wheel 3 to rotate, realizing front-wheel or rear-wheel drive. The cable 7 of each driving motor sequentially passes through the hub of the corresponding wheel, the wire passing hole 711 of the wheel frame 71, then bypasses the wheel frame 71 and passes through the upper end of the wheel frame 71, and finally passes through the bracket 1 and the corresponding driven wheel, preventing the phenomenon of wire winding.

[0039] The omnidirectional wheeled robot chassis of the present utility model can not only travel longitudinally (i.e., forward or backward), but also travel laterally (i.e., left or right), and can also turn. When the two pairs of bottom wheels turn, the axes of the wheels of all bottom wheels converge at a point to form a convergence point a, and the bracket 1 and all the wheels rotate around the convergence point a, realizing the ideal Ackermann steering of the omnidirectional central axis (the axes of the four wheels converge at a point). When the robot turns, the turning angle of the inner wheel must be greater than that of the outer wheel so that the robot can turn around a center. This design can ensure that the perpendicular lines of all the wheels of the robot point to the center, so that the external forces received by each wheel are more unified, improving the stability and smoothness of the robot when turning.

[0040] Refer to Figures 1 to 11 , the working principle of the omnidirectional wheeled robot chassis of the present utility model is as follows:

[0041] The first motor 4 drives the first driving wheel 53 to rotate. The first driving wheel 53 drives the first driven wheel 51 and the second driven wheel 54 to rotate synchronously through the first transmission belt 52 (the first intermediate wheel 531 and the two first idler wheels 541 also rotate with the first transmission belt 52), and the rotation directions of the first driven wheel 51 and the second driven wheel 54 are opposite. Since the structures of the first driven wheel 51 and the second driven wheel 54 are the same, therefore, a pair of first bottom wheels 2 can synchronously deflect to form a figure-eight shape;

[0042] The second motor 41 drives the second driving wheel 63 to rotate. The second driving wheel 63 drives the third driven wheel 61 and the fourth driven wheel 64 to rotate synchronously through the second transmission belt 62 (the second intermediate wheel 631 and the two second idler wheels 641 also rotate with the second transmission belt 62), and the rotation directions of the third driven wheel 61 and the fourth driven wheel 64 are opposite. Since the structures of the third driven wheel 61 and the fourth driven wheel 64 are the same, therefore, a pair of second bottom wheels 3 can be deflected synchronously to form a V shape;

[0043] When the robot moves straight, the first wheels 21 of a pair of first bottom wheels 2 and the second wheels 31 of a pair of second bottom wheels 3 are not deflected (as shown in Figure 7 ), the driving motor on the left drives the corresponding first bottom wheel 2 to rotate, and the driving motor on the right drives the corresponding second bottom wheel 3 to rotate. At this time, the robot can move forward in a straight line or move backward in a straight line (the driving direction of the chassis of the present invention does not distinguish between front and back);

[0044] When the robot needs to turn right, the first wheels 21 of a pair of first bottom wheels 2 are deflected by a certain angle to form a V shape under the drive of the first motor 4, and the second wheels 31 of a pair of second bottom wheels 3 are deflected by a certain angle to form a V shape under the drive of the second motor 41, so that the convergence point a of the wheel axes of the four bottom wheels is located on the right side of the chassis (as shown in Figure 8 ), at this time, the four wheels rotate around the convergence point a on the right side under the drive of the driving motor to realize a right turn;

[0045] When the robot needs to spin in place, the first wheels 21 of a pair of first bottom wheels 2 are deflected by a certain angle to form a V shape under the drive of the first motor 4, and the second wheels 31 of a pair of second bottom wheels 3 are deflected by a certain angle to form a V shape under the drive of the second motor 41, so that the convergence point a of the wheel axes of the four bottom wheels is located inside the chassis (as shown in Figure 9 ), at this time, the four wheels rotate around the central convergence point a under the drive of the driving motor to realize spinning in place. The chassis can rotate clockwise in place until infinity (i.e., linear motion), and then switch to counterclockwise rotation;

[0046] When the robot needs to turn left, the first wheels 21 of a pair of first bottom wheels 2 are deflected by a certain angle to form a V shape under the drive of the first motor 4, and the second wheels 31 of a pair of second bottom wheels 3 are deflected by a certain angle to form a V shape under the drive of the second motor 41, so that the convergence point a of the wheel axes of the four bottom wheels is located on the left side of the chassis (as shown in Figure 10 ), at this time, the four wheels rotate around the convergence point a on the left side under the drive of the driving motor to realize a left turn;

[0047] When the robot needs to move laterally, the first wheels 21 of a pair of first bottom wheels 2 are deflected by 90 degrees under the drive of the first motor 4, and the second wheels 31 of a pair of second bottom wheels 3 are deflected by 90 degrees under the drive of the second motor 41 (as Figure 11 shown), and the four wheels travel laterally to the left or right under the drive of the drive motors.

[0048] The omnidirectional wheeled robot chassis of the present utility model can rotate in place clockwise all the way to infinity (i.e., linear motion), and then switch to counterclockwise rotation. This ability is achieved by precisely controlling the speed ratio of the motors on the left and right sides. When the speeds of the motors on the left and right sides are opposite and equal, the chassis rotates in place; when the speeds of the motors on both sides are the same and in the same direction, the chassis moves in a straight line; when the speeds of the motors on both sides are different, the chassis steers according to the Ackermann principle.

[0049] The omnidirectional wheeled robot chassis of the present utility model realizes high flexibility and control precision through the combination of synchronous offset control and the Ackermann steering principle. It can rotate in place clockwise all the way to infinity (i.e., linear motion), and then switch to counterclockwise rotation. This ability gives it broad application prospects in a variety of application scenarios. At the same time, the chassis also focuses on the design of stability and safety, ensuring its reliable operation in complex environments, and is mainly applied to the field of AGV robots.

[0050] The above-disclosed are only the preferred embodiments of the present utility model, and the scope of the patent protection of the present utility model cannot be limited thereby. Therefore, equivalent changes made according to the scope of the patent application of the present utility model still fall within the scope covered by the present utility model.

Claims

1. An omnidirectional wheeled robot chassis, comprising a bracket, characterized in that: Two driving mechanisms are provided in the bracket, and two pairs of bottom wheels are provided at intervals at the bottom of the bracket. The two pairs of bottom wheels are respectively located at two opposite sides of the bracket, and each of the bottom wheels is rotatably connected to the bracket. One pair of the bottom wheels is driven by one of the driving mechanisms to rotate synchronously and deflect, and the other pair of the bottom wheels is driven by the other driving mechanism to rotate synchronously and deflect.

2. The omnidirectional wheeled robot chassis according to claim 1, characterized in that: Two driving sources are arranged at the bottom of the bracket, and the two driving sources are located between the two pairs of bottom wheels. The two driving mechanisms are driven by the two driving sources in a one-to-one correspondence.

3. The omnidirectional wheeled robot chassis according to claim 1, characterized in that: Each of the driving mechanisms comprises a driving wheel, a transmission belt and two driven wheels. The two driven wheels are fixed on the rotating shafts of the same pair of bottom wheels in a one-to-one correspondence. The driving wheel drives the two driven wheels to rotate synchronously through the transmission belt.

4. The omnidirectional wheeled robot chassis according to claim 3, characterized in that: One of the driven wheels is located outside the transmission belt and has two idle wheels on its side. The two idle wheels are rotatably connected to the bracket. One end of the transmission belt passes around the two idle wheels and engages with the corresponding driven wheel, and the other end of the transmission belt is sleeved on the other driven wheel.

5. The omnidirectional wheeled robot chassis according to claim 4, characterized in that: The two idle wheels are respectively located at two opposite sides of the corresponding driven wheels, and the driving wheel is located between the two driven wheels.

6. The omnidirectional wheeled robot chassis according to claim 3, characterized in that: The two driven wheels are arranged at two corners of the bracket in a one-to-one correspondence, and the driving wheel is arranged to deviate from the two driven wheels to form a triangle.

7. The omnidirectional wheeled robot chassis according to claim 6, characterized in that: An intermediate wheel is rotatably arranged beside the driving wheel, the intermediate wheel is located outside the transmission belt, the driving wheel is located inside the transmission belt, and the transmission belt is V-shaped as a whole.

8. The omnidirectional wheeled robot chassis according to claim 7, characterized in that: A fixing seat is arranged inside the bracket, a Y-shaped tensioning frame is arranged on the fixing seat, and the intermediate wheel is rotatably arranged at the opening of the tensioning frame.

9. The omnidirectional wheeled robot chassis according to claim 3, characterized in that: The transmission belt is a synchronous belt or a chain belt, the two driven wheels rotate in opposite directions, and the same pair of bottom wheels are arranged at intervals along the straight forward direction of the bracket; When the two pairs of bottom wheels turn, the wheel axes of all the bottom wheels converge at one point to form a convergence point, and all the wheels and the brackets rotate around the convergence point.

10. The omnidirectional wheeled robot chassis according to claim 1, characterized in that: The same pair of bottom wheels are synchronously deflected to form an eight-shaped shape, and the wheel of each bottom wheel is driven to rotate by a driving motor, or the wheel of one of the bottom wheels in the same pair of bottom wheels is driven to rotate by a driving motor.

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