Steering wheel assembly, chassis assembly of vehicle and vehicle

Abstract

The utility model provides a steering wheel assembly, a chassis assembly of a vehicle and the vehicle. The wheels are pivotally arranged on the bracket; the first driving device is arranged on the support, the first driving device is provided with a horizontally-arranged first driving shaft, and the first driving shaft is in driving connection with the wheels; the rotary support comprises a supporting body and a rotary part arranged on the supporting body in a pivoted mode, a rotary shaft of the rotary part is vertically arranged, the rotary part is connected with the support so that the support can rotate along the vertical axis, and a mounting structure is arranged at the top of the supporting body; and the second driving device is arranged on the supporting body and provided with a second driving shaft, and the second driving shaft is in driving connection with the rotating piece. According to the technical scheme, the problem that in the prior art, a chassis assembly is high in cost can be effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of building robots, in particular to a rudder wheel assembly, a chassis assembly of a vehicle and the vehicle. BACKGROUND

[0002] In the field of building robots, the current mobile chassis design, especially the omnidirectional mobile chassis, often relies on a rudder wheel assembly with high integration and deep customization. These rudder wheel assemblies are usually composed of complex and precise mechanical structures, such as planetary reducers, high-precision rotary bearings, and dedicated motor systems. Their design and manufacturing require high technical support and precise processing technology, resulting in a significant increase in cost. SUMMARY

[0003] The main purpose of the utility model is to provide a rudder wheel assembly, a chassis assembly of a vehicle and the vehicle to solve the problem of high cost of the chassis assembly in the prior art.

[0004] To achieve the above purpose, according to one aspect of the utility model, a rudder wheel assembly is provided, which includes: a bracket; a wheel pivotally arranged on the bracket; a first drive device arranged on the bracket, the first drive device having a horizontally arranged first drive shaft, the first drive shaft being drivingly connected with the wheel; a rotary support including a support body and a rotary piece pivotally arranged on the support body, the rotary axis of the rotary piece being vertically arranged, the rotary piece being connected with the bracket to allow the bracket to rotate along the vertical axis, the top of the support body being provided with a mounting structure; a second drive device arranged on the support body, the second drive device having a second drive shaft, the second drive shaft being drivingly connected with the rotary piece.

[0005] Further, the first drive device includes a first motor and a first reducer drivingly connected with the first motor, the output shaft of the first reducer forming the first drive shaft, the first motor being arranged on the bracket through the first reducer, the bracket being provided with an avoidance hole for avoiding the first drive shaft, the first motor and the wheel being arranged on opposite sides of the bracket.

[0006] Further, the bracket is provided with a mounting cylinder around the avoidance hole and a connecting piece arranged at the end of the mounting cylinder, the first reducer being fixed to the mounting cylinder through the connecting piece, the first drive shaft being passed out of the mounting cylinder and the avoidance hole to be drivingly connected with the wheel.

[0007] Further, the second drive device includes a second motor and a second reducer drivingly connected with the second motor, the output shaft of the second reducer forming the second drive shaft, the second motor being arranged on the support body through the second reducer.

[0008] Further, the output shaft of the second motor and the second driving shaft are horizontally arranged, the second speed reducer is arranged on one side in the horizontal direction of the support body, and the upper surfaces of the second motor and the second speed reducer are lower than the upper surface of the support body.

[0009] Further, the rotating member comprises a rotating shaft drivingly connected with the second driving shaft, a rotating plate arranged at the bottom of the rotating shaft, and an adjustable seat with variable height arranged at the bottom of the rotating plate, the adjustable seat being arranged on the support.

[0010] Further, the adjustable seat is a telescopic seat arranged in a telescopic manner, or the rotating member comprises a plurality of adjustable seats with different specifications, the adjustable seat being detachably arranged on the rotating plate so that the adjustable seats with different specifications are replaceably arranged on the rotating plate.

[0011] Further, the adjustable seat comprises a cylinder, two connecting plates arranged at both ends of the cylinder, and a reinforcing plate arranged on the circumferential outer side of the cylinder, the reinforcing plate being connected between the cylinder and the connecting plates, the adjustable seat being arranged on the rotating plate and the support through the two connecting plates respectively.

[0012] Further, the support comprises a vertical plate, a horizontal plate and a side plate connected between the vertical plate and the horizontal plate arranged perpendicularly to each other, the first driving device being arranged on the vertical plate, and the rotating member being arranged on the horizontal plate.

[0013] According to another aspect of the present application, a chassis assembly of a vehicle is provided, comprising: a chassis body; a plurality of rudder wheel assemblies, the rudder wheel assembly being the above-mentioned rudder wheel assembly, and the support body of the rotating support of the rudder wheel assembly being mounted on the bottom of the chassis body through the mounting structure.

[0014] Further, the wheel of the rudder wheel assembly is located outside the rotating shaft of the rotating member.

[0015] According to the last aspect of the present application, a vehicle is provided, comprising: a chassis assembly, the chassis assembly being the above-mentioned chassis assembly.

[0016] The utility model discloses a technical scheme, through first drive arrangement and second drive arrangement control wheel's walking and support's rotation respectively, realized the omni -directional movement ability of rudder wheel subassembly.

[0017] In addition to the purposes, features and advantages described above, the utility model has other purposes, features and advantages. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings accompanying the specification of the utility model form a part thereof, serve to provide further understanding of the utility model, and together with the specification explain the utility model. The schematic embodiments of the utility model and their descriptions are used to explain the utility model, and do not constitute improper limitation on the utility model. In the drawings:

[0019] Figure 1 Fig. 1 shows a perspective structural schematic diagram of an embodiment of a rudder wheel subassembly according to the utility model;

[0020] Figure 2 Fig. 2 shows an enlarged structural schematic diagram of A of the rudder wheel subassembly of Fig. 1; Figure 1

[0021] Figure 3 Fig. 3 shows a perspective structural schematic diagram of a support of the rudder wheel subassembly of Fig. 1; Figure 1

[0022] Figure 4 Fig. 4 shows a perspective structural schematic diagram of a chassis subassembly of a vehicle according to the utility model from one angle; and

[0023] ​​Figure 5 a perspective view of the chassis assembly of the vehicle of Figure 4 a perspective view of the chassis assembly of the vehicle of

[0024] wherein the above figures include the following reference signs:

[0025] 10, support; 11, vertical plate; 12, horizontal plate; 13, side plate; 14, mounting cylinder; 15, connecting piece; 20, wheel; 30, first driving device; 31, first motor; 32, first speed reducer; 40, rotary support; 41, support body; 411, mounting structure; 42, rotary piece; 422, adjusting seat; 423, cylinder body; 424, reinforcing plate; 425, connecting plate; 50, second driving device; 51, second motor; 52, second speed reducer; 60, steering wheel assembly; 70, chassis body. DETAILED DESCRIPTION

[0026] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0027] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the terms thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0030] As shown in Figures 1 to 3 The rudder wheel assembly of the present embodiment comprises a bracket 10, a wheel 20, a first driving device 30, a rotating support 40, and a second driving device 50. The wheel 20 is pivotally arranged on the bracket 10. The first driving device 30 is arranged on the bracket 10 and has a horizontally arranged first driving shaft, which is drivingly connected with the wheel 20. The rotating support 40 comprises a support body 41 and a rotating member 42 pivotally arranged on the support body 41, the rotating axis of the rotating member 42 is vertically arranged, the rotating member 42 is connected with the bracket 10 to enable the bracket 10 to rotate along a vertical axis, and the top of the support body 41 is provided with a mounting structure 411. The second driving device 50 is arranged on the support body 41 and has a second driving shaft, which is drivingly connected with the rotating member 42.

[0031] By applying the technical solution of the present embodiment, the walking of the wheel 20 and the rotation of the bracket 10 are respectively controlled by the first driving device 30 and the second driving device 50, and the omnidirectional movement capability of the rudder wheel assembly is realized. Specifically, the wheel 20 is pivotally mounted on the bracket 10, allowing the wheel to freely adjust the direction in the horizontal plane. The first driving device 30 has a horizontally arranged first driving shaft, which is directly drivingly connected with the wheel 20, and is responsible for the driving of the wheel, i.e., providing the torque required for the rotation of the wheel to enable it to move in the selected direction. At the same time, the rotating member 42 in the rotating support 40 has a vertically arranged rotating axis, and through the connection with the bracket 10, the bracket can rotate around the vertical axis. This rotating action is driven by the second driving device 50, whose second driving shaft is connected with the rotating member 42, which drives the rotating member through torque transmission, and further drives the bracket and the wheel to turn. The mounting structure 411 on the top of the support body 41 ensures the stable installation of the second driving device, thereby ensuring the accuracy and stability of the turning process. Through the cooperative action of the first driving device and the second driving device, the rudder wheel assembly realizes the independent driving and turning of the wheel, and enhances the maneuverability and adaptability in complex environments.

[0032] In addition, the problem mentioned in the technical background mainly revolves around the high cost of the steering wheel assembly of the existing omnidirectional mobile chassis, which is mainly due to its highly integrated and customized design, as well as the complex mechanical structure, including planetary reducer, high-precision rotary bearing and special motor system. The production of these components requires precise machining processes and technical support, thereby increasing the manufacturing cost of the entire steering wheel assembly.

[0033] To solve this problem, the present embodiment proposes an innovative solution. It describes a steering wheel assembly that adopts a more economical and efficient design approach. First, the combination of bracket 10 and rotary support 40 replaces the complex planetary reducer and high-precision rotary bearing, achieving precise control of the wheels and stable rotation of the support body through a simple and direct driving method and connection structure. In addition, the pivotable design of the wheels 20 provides flexibility in direction adjustment, allowing omnidirectional movement without the need for overly complex and expensive mechanical structures.

[0034] Further, the introduction of the first driving device 30 and the second driving device 50 makes power transmission more direct and effective, reducing energy loss and mechanical wear during power transmission, thereby reducing long-term operation and maintenance costs. The independent control of the two driving devices avoids the dependence on high-cost and highly customized motor systems, simplifies the manufacturing process of the steering wheel assembly and reduces the machining difficulty, thereby effectively controlling the production cost.

[0035] In summary, the above-mentioned steering wheel assembly design solves the problem of high cost of omnidirectional mobile chassis in the technical background by simplifying the mechanical structure, optimizing the power transmission path and using the combination of standard parts and machined parts, effectively reducing the production cost of the steering wheel assembly while maintaining the movement precision and reliability. It provides a more economical and feasible solution for the application of construction robots in complex working conditions.

[0036] It is also worth mentioning that in this embodiment, the entire steering wheel assembly is placed entirely at the bottom of the chassis through a specific mounting structure 411. This innovative design brings significant performance and operational advantages compared to the traditional method of placing part of the assembly such as the motor and reducer above the chassis. First of all, it significantly reduces the overall center of gravity of the robot, significantly enhancing the balance and stability on uneven or inclined ground, effectively reducing the risk of tipping over. In addition, this layout optimizes the internal space, freeing up more space for key components such as sensors, batteries, and control systems, allowing for more functionality and increased carrying capacity, while also enabling the robot to adapt to lower working environments. The bottom-mounted steering wheel assembly reduces physical contact with the upper structure, effectively avoiding interference between components during operation, particularly reducing the impact of motor vibration on sensitive upper components, thereby improving overall performance and reliability. The direct access characteristics of the bottom assembly simplify maintenance procedures, reducing costs and maintenance time, particularly in complex construction site environments, where this advantage is particularly prominent, reducing the time the robot is out of service for maintenance. In addition, the steering wheel assembly placed at the bottom can fully utilize the protective design of the chassis, effectively reducing the likelihood of component damage in harsh construction conditions, extending the service life of the equipment. The bottom layout also helps optimize heat dissipation, allowing the steering wheel assembly, especially the motor and reducer, to dissipate heat generated during operation more effectively, avoiding overheating and extending the service life of the equipment. Finally, this design improves the visual and operational safety of the robot, reducing the obstruction of the steering wheel assembly to the operator's line of sight, allowing the operator to have a clearer view of the working environment when the robot is operating, reducing direct contact with personnel, and providing a higher level of safety for the working environment.

[0037] As shown in Figure 1 In this embodiment, the first drive device 30 includes a first motor 31 and a first reducer 32 drivingly connected to the first motor 31, and the output shaft of the first reducer 32 forms a first drive shaft. The first motor 31 is disposed on the bracket 10 through the first reducer 32, and the bracket 10 is provided with an avoidance hole for avoiding the first drive shaft. The first motor 31 and the wheel 20 are disposed on opposite sides of the bracket 10. The principle of this design is to use the first motor 31 to transmit power to the wheel 20 through the first reducer 32, and the design of the avoidance hole ensures that the first drive shaft can smoothly pass through the bracket 10 and be connected with the wheel 20 to realize driving. The above structure has at least the following four advantages:

[0038] First, balanced weight distribution: the separated layout of the first motor 31 and the wheel 20 helps to balance the overall weight of the steering wheel assembly, avoiding the stability problem of the chassis caused by excessive weight on one side. This symmetrical design can make the steering wheel more stable during movement, improving the running stability of the construction robot on uneven ground or complex working conditions.

[0039] Second, optimizing space utilization: The first motor 31 and the wheel 20 are arranged on both sides of the bracket, which can effectively utilize the space of the bracket and avoid the waste of space caused by the centralized arrangement of the power system in the center or one side of the bracket. This design makes the rudder wheel assembly more compact, which is beneficial to reduce the size of the entire chassis and improve the flexibility and adaptability of the robot to narrow spaces.

[0040] Third, easy maintenance and replacement: The design of separating the first motor 31 from the wheel 20 makes it more convenient to maintain or replace parts. For example, when the wheel 20 needs to be replaced due to wear, it can be operated independently without affecting the status of the first motor 31 and the reducer. Similarly, when the first motor 31 or the reducer fails, it can be maintained or replaced individually without the need to move or disassemble the wheel 20, improving maintenance efficiency and reducing downtime.

[0041] Fourth, simplifying the power transmission path: By setting the avoidance hole on the bracket, the first drive shaft can be directly connected with the wheel 20 for driving, thereby simplifying the power transmission path, reducing power loss, and improving driving efficiency. The first motor 31 and the wheel 20 are separated on both sides, but are connected through the reducer to ensure accurate transmission of power while avoiding complex power transmission structures inside the bracket, reducing manufacturing costs and assembly difficulty.

[0042] Therefore, the design of arranging the first motor 31 and the wheel 20 on both sides of the bracket 10 not only optimizes the structure and performance of the rudder wheel assembly, but also improves its adaptability and reliability in complex construction environments, while reducing maintenance and production costs, which is an innovative solution that takes into account both economy and technology.

[0043] As shown in Figure 1 and Figure 3 , in this embodiment, the mounting cylinder 14 is provided around the avoidance hole of the bracket 10, and the connecting piece 15 is provided at the end of the mounting cylinder 14. The first reducer 32 is fixed to the mounting cylinder 14 through the connecting piece 15, and the first drive shaft is connected with the wheel 20 for driving by passing through the mounting cylinder 14 and the avoidance hole. The principle of this design is to provide a stable mounting position for the first reducer 32 through the combination of the mounting cylinder 14 and the connecting piece 15, while ensuring the reliable connection of the first drive shaft with the wheel 20. This effectively improves the assembly precision and running stability of the rudder wheel assembly, reducing the failure caused by loose or improper installation of parts. Preferably, in this embodiment, the connecting piece 15 is a flange, and the reducer is fixed to the bracket through the flange.

[0044] As shown in Figure 1As shown, in this embodiment, the second driving device 50 includes a second motor 51 and a second speed reducer 52 drivingly connected with the second motor 51, an output shaft of the second speed reducer 52 forms a second driving shaft, and the second motor 51 is arranged on the support body 41 through the second speed reducer 52. The principle of this design is to use the second motor 51 to transmit power to the slewing member 42 through the second speed reducer 52 to realize the slewing of the support 10. The steering precision and response speed of the steering wheel assembly are effectively improved, and it is ensured that the vehicle can be accurately steered in any direction.

[0045] As Figure 1 shown, in this embodiment, the output shaft of the second motor 51 and the second driving shaft are arranged horizontally, the second speed reducer 52 is arranged on one side in the horizontal direction of the support body 41, and the upper surfaces of the second motor 51 and the second speed reducer 52 are lower than the upper surface of the support body 41. The above structure has the following two advantages, one is the space utilization advantage and the other is the component movement advantage. Specifically, the space utilization advantage is:

[0046] First, compact layout: horizontal arrangement allows the motor and driving shaft to be closely arranged, reducing the vertical space occupied by the equipment, which is particularly important for robots with limited internal space, allowing other key components such as batteries, sensors, and electronic control systems to be arranged more flexibly without worrying about vertical space limitations.

[0047] Second, optimize the center of gravity: horizontal arrangement helps to lower the center of gravity of the equipment, especially in multi-motor designs, which can better control the overall center of gravity, making the robot more stable during movement and reducing the risk of tipping over, especially suitable for situations that require operation on complex terrain or unstable surfaces.

[0048] Third, improve maintainability: the horizontal position of the motor and driving shaft makes it easier for maintenance personnel to access these components, especially when designing the bottom of the robot, allowing direct inspection and maintenance from below without the need for complex disassembly processes, reducing maintenance costs and time. The component movement advantage is:

[0049] First, reduce mechanical interference: horizontal arrangement can avoid physical interference between the motor and other upper structures during equipment movement, especially for robots that need to operate in narrow spaces or complex environments. This design reduces movement restrictions, improves flexibility and efficiency.

[0050] Second, enhance movement consistency: horizontal transmission path reduces the complexity of power transmission, helping to improve the accuracy and consistency of power transmission, reducing power loss and movement errors caused by complex transmission paths.

[0051] Third, reduce noise and vibration: horizontal arrangement reduces the vibration that may occur in vertical transmission, especially at high speed, can significantly reduce the noise level of the equipment, provide a more quiet, more stable running environment, which has a positive impact on reducing environmental interference and improving equipment life.

[0052] As shown in Figure 1 and Figure 2 , in this embodiment, the rotating member 42 includes a rotating shaft drivingly connected with the second driving shaft, a rotating plate arranged at the bottom of the rotating shaft, and a height-adjustable adjusting seat 422 arranged at the bottom of the rotating plate. The adjusting seat 422 is arranged on the support 10. In this embodiment, the bottom of the rotating shaft is connected with a rotating plate, which not only serves as a transition platform between the rotating shaft and the adjusting seat 422, but also bears the weight and balances the rotating member 42, ensuring the stability and reliability of the rotating member 42 during 360° rotation. In addition, the bottom of the rotating plate is provided with a height-adjustable adjusting seat 422, which gives the rotating member 42 the adaptability to different working environments. The adjusting seat 422 can be accurately adjusted according to actual needs, whether it is to cope with uneven terrain or in the working environment where the overall posture of the robot needs to be adjusted, it can ensure the stability of the rotating member 42 and the entire robot chassis, avoiding performance degradation or safety risks caused by changes in ground conditions.

[0053] As shown in Figure 1 and Figure 2 , in this embodiment, the rotating member 42 includes a plurality of specifications of the adjusting seat 422, and the adjusting seat 422 is detachably arranged on the rotating plate so that the plurality of specifications of the adjusting seat 422 can be replaceably arranged on the rotating plate. The principle of this design is to realize the height adjustment of the chassis through the replaceable feature of the adjusting seat 422. The above structure is simple, low in cost and high in reliability. Of course, in other embodiments not shown in the figure, the adjusting seat 422 can also be a telescopic seat arranged in a telescopic manner, and the telescopic amount of the adjusting seat 422 can be automatically adjusted, so that the user does not need to replace the adjusting seat, thereby reducing the labor intensity of the workers.

[0054] As shown in Figure 1 and Figure 2As shown in the drawings, in this embodiment, the adjusting seat 422 comprises a cylinder body 423, two connecting plates 425 arranged at both ends of the cylinder body 423, and a reinforcing plate 424 arranged on the circumferential outer side of the cylinder body 423, the reinforcing plate 424 is connected between the cylinder body 423 and the connecting plate 425, and the adjusting seat 422 is arranged on the rotating plate and the support 10 through the two connecting plates 425 respectively. The principle of this design is to provide a stable structure for the adjusting seat 422 through the combination of the cylinder body 423, the connecting plate 425 and the reinforcing plate 424, and the setting of the reinforcing plate 424 improves the overall strength and stability of the adjusting seat 422. The implementation effect is that the steering wheel assembly can maintain good structural stability and rotation performance when bearing heavy load or running at high speed, and reduces the failure caused by insufficient structural strength.

[0055] As shown in the drawings, Figure 1 and Figure 3 As shown in the drawings, in this embodiment, the support 10 comprises a vertical plate 11, a horizontal plate 12 and a side plate 13 connected between the vertical plate 11 and the horizontal plate 12, the first driving device 30 is arranged on the vertical plate 11, and the rotating part 42 is arranged on the horizontal plate 12. The principle of this design is to provide a stable structure for the support 10 through the combination of the vertical plate 11, the horizontal plate 12 and the side plate 13, and the vertical plate 11 and the horizontal plate 12 provide suitable mounting positions for the first driving device 30 and the rotating part 42. The implementation effect is that the steering wheel assembly can maintain good structural stability and rotation performance when bearing heavy load or running at high speed, and the layout of the first driving device 30 and the rotating part 42 is optimized, which improves the overall performance and efficiency of the steering wheel assembly.

[0056] As shown in the drawings, Figure 4 and Figure 5 As shown in the drawings, the application also provides a chassis assembly of a vehicle, and the embodiment of the chassis assembly of the vehicle according to the application comprises a chassis body 70 and a plurality of steering wheel assemblies 60, wherein the steering wheel assembly 60 is the above-mentioned steering wheel assembly, and the support body 41 of the rotating support 40 of the steering wheel assembly 60 is mounted on the bottom of the chassis body 70 through the mounting structure 411. The principle of this design is to integrate a plurality of the above-mentioned steering wheel assemblies 60 on the chassis body 70 to realize the omnidirectional movement capability of the vehicle chassis. The implementation effect is that the vehicle chassis can move flexibly in each direction, which improves the maneuverability and adaptability of the vehicle, and the integration of the plurality of steering wheel assemblies 60 improves the stability and carrying capacity of the vehicle chassis.

[0057] As shown in the drawings, Figure 4 and Figure 5As shown, in this embodiment, the wheels 20 of the steering wheel assembly 60 are located outside the rotation axis of the slewing member 42. The principle of this design is to increase the support area of the steering wheel assembly 60 by placing the wheels 20 outside the rotation axis of the slewing member 42, thereby improving the stability of the vehicle chassis. The implementation effect is that the vehicle chassis can maintain good stability during high-speed operation or turning, reducing the risk of overturning, and at the same time, the external design of the wheels 20 improves the passability and adaptability of the vehicle chassis.

[0058] The application also provides a vehicle, the embodiment of the vehicle according to the application includes: a chassis assembly, wherein the chassis assembly is the above-mentioned chassis assembly. The principle of this design is to integrate the above-mentioned chassis assembly into the vehicle, thereby realizing the omnidirectional movement capability and high stability of the vehicle. The implementation effect is that the vehicle can move flexibly in all directions, improving the maneuverability and adaptability of the vehicle, and at the same time, the high stability of the chassis assembly ensures the safety and reliability of the vehicle during high-speed operation or carrying heavy objects. The use process is that after the vehicle is started, according to the instructions of the navigation system or the operator, the wheels 20 and the slewing member 42 of the plurality of steering wheel assemblies 60 are controlled to realize the precise movement and turning of the vehicle in all directions, and at the same time, the high stability of the chassis assembly ensures the safety and reliability of the vehicle during operation.

[0059] The technical scheme of this embodiment will be described again below with reference to the drawings:

[0060] Figure 1 A cross-sectional view of a steering wheel assembly is described, which contains multiple key components. Part 10 is labeled as a bracket, which is the foundation of the entire steering wheel assembly, carrying and organizing all other parts. The wheels 20 are located at one end of the bracket 10 and are fixed by pivoting, allowing the wheels 20 to rotate freely in different directions, thereby realizing the turning and movement of the vehicle. The first drive device 30 includes a first motor 31 and a first reducer 32, the first motor 31 provides power, which is transmitted to the first drive shaft arranged horizontally after being reduced by the first reducer 32, and the drive shaft is directly connected to the wheels 20, allowing the wheels 20 to rotate. The slewing support 40 is another key component, which is composed of a support body 41 and a slewing member 42, the top of the support body 41 is provided with a mounting structure 411 for connecting with the chassis body. The slewing member 42 is vertically arranged and connected with the bracket 10, allowing the bracket 10 to rotate along the vertical axis and thereby driving the wheels 20 to turn. The second drive device 50 includes a second motor 51 and a second reducer 52, which are fixed on the support body 41, and the second drive shaft is drivingly connected with the slewing member 42 to provide rotary power for the slewing member 42. Overall, Figure 1 The complete structure of the steering wheel assembly is shown, from the power source to each link of the wheels, the design is ingenious, ensuring the stability and flexibility of the vehicle in complex environments.

[0061] Figure 2 A detailed view of the slewing support 40 is provided, focusing on the internal structure of the support body 41 and the slewing member 42. The support body 41 is located at the top, on which the mounting structure 411 is arranged for connection with the chassis body of the vehicle. The slewing member 42 is located below the support body 41 and is connected to the support body 41 through the upper connecting plate 425, which ensures the stability and durability of the slewing member 42 during rotation. The main body of the slewing member 42 is composed of a cylinder 423, and a reinforcing plate 424 is installed on the circumferential outer side of the cylinder 423. The reinforcing plate 424 enhances the overall structure of the slewing member 42 and improves the carrying capacity. At the bottom of the cylinder 423, an adjusting seat 422 is provided, which has multiple specifications and can be replaced, increasing the versatility of the chassis. Figure 2 The structure of the slewing support 40 is further revealed, demonstrating how it maintains structural strength and adjustment flexibility while providing stable slewing capability.

[0062] Figure 3 A perspective view of the bracket 10 is shown, which is composed of an upright plate 11, a horizontal plate 12, and a side plate 13. These plates are arranged perpendicular to each other, forming a stable structural frame. The upright plate 11 is installed with the first driving device 30, and the first motor 31 and the first reducer 32 are fixed on the upright plate 11 through the connecting piece 15. The first driving shaft passes through the mounting cylinder 14 and is connected to the wheel 20 for driving. The top of the horizontal plate 12 is provided with a connecting hole connected to the slewing member 42, and the entire bracket 10 can rotate along the vertical axis through the support of the side plate 13. Figure 3 The structure of the bracket 10 and its connection relationship with the first driving device 30 and the slewing support 40 are clearly shown, emphasizing the important role of the bracket 10 as the core bearing structure in the rudder wheel assembly.

[0063] Figure 4 A chassis assembly of a four-wheel drive vehicle is shown. The chassis assembly includes a chassis body and at least four rudder wheel assemblies. Each rudder wheel assembly includes the bracket 10, the wheel 20, the first driving device 30, the slewing support 40, and the second driving device 50 described above. The wheels 20 are located at the four corners of the chassis body respectively and are connected to the chassis body through the slewing support 40. The wheel 20 of each rudder wheel assembly is located outside the slewing axis of the slewing member 42, so that the wheel 20 can rotate omnidirectionally to realize the steering of the vehicle. The chassis body is also provided with multiple mounting structures for mounting the rudder wheel assemblies, ensuring the stable connection between the chassis and the rudder wheel assemblies. Figure 4 Not only is the chassis assembly of a four-wheel drive vehicle shown, but also the core role of the rudder wheel assembly in vehicle steering and movement is highlighted, as well as the key function of the chassis assembly in maintaining the stability of the vehicle.

[0064] Figure 5 A top view of the vehicle chassis assembly is provided, showing the layout of the chassis body and multiple rudder wheel assemblies. The chassis body is located in the center, and multiple rudder wheel assemblies are evenly distributed around it, each connected to the chassis body through the mounting structure of the support body 41 of the slewing support 40. This layout ensures uniform stress on the vehicle chassis, improving overall stability and carrying capacity. The wheels 20 of the rudder wheel assemblies are located outside the slewing shaft of the slewing member 42, which means that the rotation of the wheels 20 will not be restricted by the slewing member 42, thus achieving more flexible steering. Figure 5 Through the bird's eye view, the overall structure of the chassis assembly and the distribution layout of the rudder wheel assemblies are shown, emphasizing the advantages of this design in ensuring the flexibility and stability of the vehicle in moving.

[0065] In summary, the above description and drawings together reveal an innovative design of the rudder wheel assembly and its chassis assembly. This design achieves high flexibility and stability of the vehicle in complex environments through careful component matching and layout. The first driving device 30 ensures the driving ability of the wheels 20, while the combination of the second driving device 50 and the slewing support 40 provides precise steering control. The bracket 10 serves as the core of connection and bearing, and its structural design ensures the stable connection and coordinated operation of all components. The layout of the chassis assembly further enhances the overall performance of the vehicle, enabling it to operate efficiently in various scenarios. This design not only reduces costs and improves processing efficiency, but also significantly improves the applicability and reliability of the vehicle in construction and industrial applications, demonstrating its innovative value and application potential in the field of modern mechanical engineering.

[0066] The relative arrangement, numerical expressions and values of the components and steps set forth in these embodiments do not limit the scope of the present application unless otherwise specifically stated. It should be understood that the dimensions of the various parts shown in the drawings are not drawn to scale for ease of description. Techniques, methods and equipment known to those skilled in the relevant art can not be discussed in detail, but should be considered as part of the authorized description where appropriate. In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limiting. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0067] For purposes of the description hereinafter, spatial terms, such as "above", "below", "upper", "lower", and the like, can be used with reference to the illustrated orientation of one device or feature to another device or feature, as illustrated in the figures. It will be further understood that the spatial terms are intended to encompass different orientations of the device or feature in addition to the orientation depicted in the figures. For example, if the device or feature is inverted or rotated 90 degrees, a spatial term that would have previously described a device or feature above or below another device or feature would now be interpreted as being below or above, respectively. Accordingly, the exemplary spatial terminology used herein is for purposes of describing the examples discussed herein and is not intended to be limiting.

[0068] In the description of the present application, it is to be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship is usually based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, therefore cannot be understood as limiting the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0069] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wheel assembly, characterized by The utility model relates to a kind of crane, including: Support (10); Wheel (20), pivotably arranged on the support (10); First drive device (30), arranged on the support (10), the first drive device (30) has horizontally arranged first drive shaft, and the first drive shaft is drivingly connected with the wheel (20); Swing support (40), including support body (41) and pivotably arranged on the support body (41) swing piece (42), the swing axis of the swing piece (42) is vertically arranged, the support body (41) is connected with the support (10) to make the support (10) rotate along vertical axis, and the top of the support body (41) is provided with mounting structure (411); Second drive device (50), arranged on the support body (41), the second drive device (50) has second drive shaft, and the second drive shaft is drivingly connected with the swing piece (42).

2. The helm assembly of claim 1, wherein, The first drive device (30) includes first motor (31) and first reducer (32) drivingly connected with the first motor (31), the output shaft of the first reducer (32) forms the first drive shaft, and the first motor (31) is arranged on the support (10) by first reducer (32), the support (10) is provided with avoiding hole for avoiding the first drive shaft, and the first motor (31) and the wheel (20) are arranged on the opposite sides of the support (10).

3. The helm assembly of claim 2, wherein, The mounting cylinder (14) and the connecting piece (15) arranged at the end of the mounting cylinder (14) are arranged around the avoiding hole of the support (10), the first reducer (32) is fixed on the mounting cylinder (14) by the connecting piece (15), and the first drive shaft is penetrated by the mounting cylinder (14) and the avoiding hole to be drivingly connected with the wheel (20).

4. The helm assembly of claim 1, wherein, The second drive device (50) includes second motor (51) and second reducer (52) drivingly connected with the second motor (51), the output shaft of the second reducer (52) forms the second drive shaft, and the second motor (51) is arranged on the support body (41) by the second reducer (52).

5. The helm assembly of claim 4, wherein, The output shaft of the second motor (51) and the second drive shaft are horizontally arranged, the second reducer (52) is arranged on one side in the horizontal direction of the support body (41), and the upper surface of the second motor (51) and the upper surface of the second reducer (52) are lower than the upper surface of the support body (41).

6. The helm assembly of claim 1, wherein, The swing piece (42) includes swing axis drivingly connected with the second drive shaft, rotating plate arranged at the bottom of the swing axis and height-adjustable adjusting seat (422) arranged at the bottom of the rotating plate, and the adjusting seat (422) is arranged on the support (10).

7. The helm assembly of claim 6, wherein, The adjusting seat (422) is a telescopic seat arranged in a telescopic manner, or the rotating member (42) comprises a plurality of specifications of the adjusting seat (422), and the adjusting seat (422) is detachably arranged on the rotating plate so that the plurality of specifications of the adjusting seat (422) can be replaceably arranged on the rotating plate.

8. The helm assembly of claim 6, wherein, The adjusting seat (422) comprises a cylinder (423), two connecting plates (425) arranged at two ends of the cylinder (423), and a reinforcing plate (424) arranged on the circumferential outer side of the cylinder (423), the reinforcing plate (424) is connected between the cylinder (423) and the connecting plate (425), and the adjusting seat (422) is arranged on the rotating plate and the support (10) through the two connecting plates (425) respectively.

9. The helm assembly of claim 1, wherein, Comprise: The support (10) comprises a vertical plate (11), a horizontal plate (12), and a side plate (13) connected between the vertical plate (11) and the horizontal plate (12) and arranged perpendicularly to each other, the first driving device (30) is arranged on the vertical plate (11), and the rotating member (42) is arranged on the horizontal plate (12).

10. A chassis assembly of a vehicle, comprising: a chassis body (70); a plurality of rudder wheel assemblies (60), characterized in that the rudder wheel assembly (60) is the rudder wheel assembly according to any one of claims 1 to 9, and the support body (41) of the rotating support (40) of the rudder wheel assembly (60) is mounted on the bottom of the chassis body (70) through the mounting structure (411).

11. The chassis assembly of claim 10, wherein, The wheel (20) of the rudder wheel assembly (60) is located outside the rotating shaft of the rotating member (42).

12. A vehicle comprising: The chassis assembly is characterized in that the chassis assembly is the chassis assembly according to claim 10 or 11.

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