Four-steering-wheel omni-directional moving chassis structure

Abstract

The utility model relates to the technical field of mobile chassis structures, in particular to a four-steering-wheel omni-directional mobile chassis structure which comprises a main body frame used for bearing a target bearing object, bearing openings are formed in the four corners of the main body frame respectively, the bearing openings are connected with bearing frames, the bearing frames are connected with steering wheels, and the steering wheels are arranged at the four corners of the main body frame; the carbon fiber composite board is arranged in the open area of the main body frame and is used for supporting a target bearing object; the steering wheel assembly is arranged on the bearing frame, the upper portion of the steering wheel assembly is a first containing area for containing a steering device, the lower portion of the steering wheel assembly is a second containing area for containing a steering wheel, the steering wheel is connected with a steering wheel side plate through a transmission shaft, and a driving motor is arranged on one side of the steering wheel side plate; the controller is arranged on the main body frame and used for controlling the steering wheels to move; and the guide wheels are arranged on any side of the main body frame. By improving the structure of the chassis, the steering precision of the chassis is improved under complex working conditions.

Description

Technical Field

[0001] This utility model relates to the field of mobile chassis structure technology, and in particular to a four-steering wheel omnidirectional mobile chassis structure. Background Technology

[0002] With the rapid development of intelligent warehousing and robotics technologies, multi-steering wheel chassis with omnidirectional mobility have demonstrated significant advantages in scenarios such as material handling in confined spaces and high-precision docking. For example, Mecanum wheels, which achieve lateral movement through inclined rollers, or omnidirectional wheels, which achieve lateral movement through the special structure of the wheels themselves, have become the mainstream solutions for multi-degree-of-freedom motion in industrial mobile chassis. Domestic and international companies have launched various omnidirectional mobile platforms, such as Siasun's HCR series composite robots, Kolmargen's NDC control system, and Geek+'s intelligent warehousing robots. However, current industrial mobile chassis generally suffer from insufficient steering accuracy and lag in multi-degree-of-freedom collaborative response under complex working conditions. Existing research focuses primarily on navigation algorithms, with less emphasis on optimizing mechanical structures and underlying electronic controls. To address the aforementioned issues, this study proposes a modular steering wheel chassis structure that differs from Mecanum wheels and traditional omnidirectional wheels, focusing on three aspects: mechanical structure, kinematic modeling, and electronic control strategies. High dynamic performance control is achieved through kinematic modeling and a cascaded PID control strategy with dead zone separation, combined with a multi-axis cooperative control algorithm incorporating Bessel interpolation. The control accuracy and dynamic response performance are verified through path tracking experiments under actual working conditions, providing a reusable engineering solution for high-precision omnidirectional mobile equipment.

[0003] Chinese Patent Publication No. CN222698601 U discloses a vehicle chassis with self-propelled and traction functions, including a frame, casters, steering wheels, two traction wheels, and a traction device. The casters and steering wheels are diagonally arranged at the four corners of the frame, and the two traction wheels are located at the front end of the frame. The traction device includes a first traction wheel, a connecting rod assembly, and a hydraulic cylinder. The piston rod of the hydraulic cylinder is hinged to the frame. The first traction wheel is located at one end of a first connecting rod, and the other end of the first connecting rod is hinged to the frame via a pivot pin. The connecting rod assembly is hinged to the hydraulic cylinder and the first connecting rod. The extension or retraction of the hydraulic cylinder can lower or raise the first traction wheel. The chassis is equipped with a steering wheel assembly capable of omnidirectional movement, allowing the chassis to move in all directions. An auxiliary traction wheel assembly is also installed on the frame. When the steering wheel malfunctions or requires long-distance passive traction, the auxiliary traction wheel assembly can be lowered, lifting the steering wheel off the ground for traction by a towing vehicle. When self-propelled movement is required, the traction wheel can be retracted without affecting normal movement.

[0004] It is evident that existing technologies suffer from the following problems: the lack of improvements to the chassis structure results in insufficient steering precision of current industrial mobile chassis under complex working conditions. Utility Model Content

[0005] Therefore, this utility model provides a four-steering wheel omnidirectional mobile chassis structure to overcome the problem of insufficient steering accuracy of current industrial mobile chassis under complex working conditions due to the lack of improvement on the chassis structure in the prior art.

[0006] To achieve the above objectives, this utility model provides a four-steering wheel omnidirectional moving chassis structure, comprising:

[0007] The main frame is used to support the target load. It has support openings at its four corners. The support openings are connected to the support frame, and the support frame is connected to the steering wheel. The steering wheel is located at the four corners of the main frame.

[0008] Carbon fiber composite panels, which are set in the open areas of the main frame, are used to support the target load.

[0009] A steering wheel assembly is mounted on the support frame. The upper part of the steering wheel assembly is a first placement area for placing a steering device, and the lower part is a second placement area for placing a steering wheel. The steering wheel is connected to a steering wheel side plate via a drive shaft, and a drive motor is provided on one side of the steering wheel side plate.

[0010] A controller, which is mounted on the main frame, is used to control the movement of the steering wheel;

[0011] Guide wheels are located on either side of the main frame.

[0012] Furthermore, the main frame includes several parallel vertical bars and several asymmetrical horizontal bars, wherein the vertical bars and the horizontal bars are perpendicular to each other.

[0013] Furthermore, the vertical bar and the horizontal bar are respectively provided with holes for fixing, wherein the holes are of the same size.

[0014] Furthermore, the first placement area includes a top plate, a support rod, and a bottom plate, wherein the diameter of the bottom plate is larger than the diameter of the top plate.

[0015] Furthermore, the diameter of the top plate is larger than the diameter of the support frame.

[0016] Furthermore, the support opening has no connection on either opposite side.

[0017] Furthermore, the support frame has an inner circle and an outer square structure, and a contact frame for connecting the support opening is provided on its outer side, and the contact frames are symmetrical to each other.

[0018] Furthermore, the steering wheel is positioned directly below the steering mechanism.

[0019] Furthermore, the steering wheel is a single unit, and the diameter of the steering wheel is smaller than the diameter of the first placement area.

[0020] Furthermore, the controller is positioned between two interconnected steering wheels.

[0021] Compared with existing technologies, the advantages of this invention lie in its main frame, which uses an asymmetrical combination of horizontal and parallel vertical bars, and achieves modular construction through holes. The layout and connection method of the horizontal bars can be flexibly adjusted according to the weight, size, and shape of the target load, ensuring that the frame strength matches different load-bearing tasks. The layered steering wheel assembly ensures stable connections.

[0022] Furthermore, in the first placement area, the diameter of the support frame is greater than the diameter of the base plate, which in turn is greater than the diameter of the top plate, forming a "stepped" fixing structure. The steering wheel assembly is rigidly connected to the main frame by rivets or screws, preventing loosening of the connection due to shaking during steering. In the second placement area, the steering wheel is directly installed below the steering device, shortening the transmission path, reducing energy loss, and ensuring rapid response to steering commands.

[0023] Furthermore, the support frame has an inner circle and outer square structure, with the outer symmetrical contact frame engaging with the support opening (not connected to the opposite side) to form a bidirectional limiting mechanism. Compared to the traditional single-sided fixing method, the symmetrical contact frame can balance the lateral force when the steering wheel is turning, prevent the components from shifting or falling off, and improve the stability of the chassis when moving at high speed.

[0024] Furthermore, the four steering wheels are distributed at the four corners of the main frame. The steering and speed are controlled by independent drive motors and transmission shafts. With the motion algorithm of the controller, it can realize omnidirectional motion modes such as translation, rotation, and diagonal movement, and adapt to complex path planning in narrow spaces.

[0025] Furthermore, the diameter of the steering wheel is smaller than the diameter of the first placement area, and the steering device is perpendicularly aligned with the steering wheel to ensure that the outer ring of the steering wheel will not physically interfere with the frame or other components when rotating 360°. For example, in stationary rotation mode, the steering wheel can adjust its direction without obstruction, improving steering efficiency. Attached Figure Description

[0026] Figure 1 This is a top view of the four-steering wheel omnidirectional moving chassis structure in the embodiment;

[0027] Figure 2 This is a bottom view of the four-steering wheel omnidirectional moving chassis structure in the embodiment;

[0028] Figure 3 This is a side view of the four-steering wheel omnidirectional moving chassis structure in the embodiment;

[0029] Figure 4 This is a schematic diagram of the steering wheel assembly structure of the four-steering wheel omnidirectional moving chassis structure in the embodiment;

[0030] Figure 5This is a side view of the steering wheel assembly of the four-steering wheel omnidirectional moving chassis structure in the embodiment;

[0031] Figure 6 This is a bottom view of the steering wheel assembly of the four-steering wheel omnidirectional moving chassis structure in the embodiment.

[0032] In the diagram, 1-main frame; 101-vertical bar; 102-horizontal bar; 2-support opening; 3-support bracket; 301-contact frame; 4-steering wheel assembly; 401-steering wheel; 5-carbon fiber composite plate; 6-steering device; 701-top plate; 702-support rod; 703-bottom plate; 9-drive shaft; 10-steering wheel side plate; 11-drive motor; 12-controller; 13-guide wheel; 14-sinking plate. Detailed Implementation

[0033] To make the objectives and advantages of this utility model clearer, the utility model will be further described below with reference to the embodiments; it should be understood that the specific embodiments described herein are only for explaining this utility model and are not intended to limit this utility model.

[0034] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0035] It should be noted that in the description of this utility model, the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.

[0036] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0037] Please see Figure 1 As shown, Figure 1 This is a top view of the four-steering wheel omnidirectional moving chassis structure in the embodiment; Figure 2 This is a bottom view of the four-steering wheel omnidirectional moving chassis structure in the embodiment; Figure 3 This is a side view of the four-steering wheel omnidirectional moving chassis structure in the embodiment; Figure 4 This is a schematic diagram of the steering wheel assembly structure of the four-steering wheel omnidirectional moving chassis structure in the embodiment; Figure 5 This is a side view of the steering wheel assembly of the four-steering wheel omnidirectional moving chassis structure in the embodiment; Figure 6 This is a bottom view of the steering wheel assembly of the four-steering wheel omnidirectional moving chassis structure in the embodiment.

[0038] This embodiment provides a four-steering wheel omnidirectional moving chassis structure, including,

[0039] The main frame 1 is used to support the target load. It has support openings 2 at its four corners, which are connected to support frames 3. The support frames 3 are connected to steering wheels 401, which are located at the four corners of the main frame 1. The carbon fiber composite plate 5 is located in the open area of ​​the main frame to support the target load. The settling plate 14 is located in the middle area of ​​the main frame. The guide wheel 13 is located on any side of the main frame.

[0040] The main frame employs an asymmetrical combination of horizontal and parallel vertical bars, achieving modular assembly through perforations. The layout and connection method of the horizontal bars can be flexibly adjusted according to the weight, size, and shape of the target load, ensuring the frame strength matches different load-bearing tasks. Layered steering wheel components guarantee stable connections.

[0041] The steering wheel assembly 4 is mounted on the support frame 3. The upper part of the steering wheel assembly 4 is a first placement area for placing the steering device 6, and the lower part is a second placement area for placing the steering wheel 401. The steering wheel 401 is connected to the steering wheel side plate 10 through the drive shaft 9. A drive motor 11 is provided on one side of the steering wheel side plate 10.

[0042] In the first placement area, the bracket diameter is larger than the base plate diameter, which in turn is larger than the top plate diameter, forming a "stepped" fixing structure. The steering wheel assembly is rigidly connected to the main frame using rivets or screws, preventing loosening due to swaying during steering. In the second placement area, the steering wheel is directly mounted below the steering mechanism, shortening the transmission path, reducing energy loss, and ensuring rapid response to steering commands.

[0043] The support frame has an inner circle and outer square structure, with symmetrical outer contact frames engaging with the support openings (not connected to opposite sides) to form a bidirectional limiting mechanism. Compared to traditional single-sided fixing methods, the symmetrical contact frames can balance the lateral forces when the steering wheels turn, preventing component displacement or detachment and improving the stability of the chassis during high-speed movement. The four steering wheels are distributed at the four corners of the main frame, and their steering and speed are controlled by independent drive motors and transmission shafts. Combined with the controller's motion algorithm, it can achieve omnidirectional motion modes such as translation, rotation, and diagonal movement, adapting to complex path planning in narrow spaces.

[0044] The controller 12, which is mounted on the main frame 1, is used to control the movement of the steering wheel 401.

[0045] The main frame 1 includes two parallel vertical bars 101 and several asymmetrical horizontal bars 102, which can be assembled according to the target load to ensure that it can meet the load-bearing task. The vertical bars 101 and the horizontal bars 102 are respectively provided with holes for fixing. The holes are of the same size, and the holes can ensure that any part of the main frame 1 can be connected to other load-bearing components, ensuring the overall convenience of the chassis structure. The first placement area includes a top plate 701, a support rod 702 and a bottom plate 703. The diameter of the bottom plate 701 is larger than the diameter of the top plate 703, and the diameter of the top plate 701 is larger than the diameter of the support frame 3. This can ensure that when the steering wheel assembly 4 is connected to the main frame 1, the steering wheel assembly 4 is stably fixed on the main frame 1. In this embodiment, rivets, screws or other components that can be used for fixing can be used to fix the components.

[0046] The support opening 2 has no connection on either opposite side. The support frame 3 has an inner circle and outer square structure, with a contact frame 301 connecting to the support opening 2 on its outer side. The contact frames 301 are symmetrical, which can more firmly fix the steering wheel assembly 4 to the main frame 1. The steering wheel 401 is located directly below the steering device 6, which can ensure precise movement when moving the chassis. The steering wheel 401 is a whole, and the diameter of the steering wheel 401 is smaller than the diameter of the first placement area. This arrangement can ensure the flexibility of the steering wheel 401 when turning. The controller 12 is located between the two connected steering wheels 401, which can precisely control the turning and movement of each steering wheel 401. The steering wheel diameter is smaller than the diameter of the first placement area, and the steering device is perpendicularly aligned with the steering wheel, ensuring that the outer ring of the steering wheel will not physically interfere with the frame or other components when rotating 360°. For example, in the stationary rotation mode, the steering wheel can adjust its direction without obstruction, improving steering efficiency.

[0047] During operation, before the four-steering wheel omnidirectional moving chassis structure moves, the steering wheel assembly 4 is connected to the main frame 1 through the support bracket 3 to be fixed on the main frame and fixed through holes. At this time, the first placement area is located on the upper part of the main frame 1, and the second placement area is located on the lower part of the main frame 1. The controller 12 controls the drive motor 11 to start, and at the same time the steering device 6 controls the steering of the steering wheel 401 so that the four-steering wheel omnidirectional moving chassis structure moves according to the preset route.

[0048] The technical solution of this utility model has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is obviously not limited to these specific embodiments. Without departing from the principle of this utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of this utility model.

[0049] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A four-steering wheel omnidirectional moving chassis structure, characterized in that, include, The main frame is used to support the target load. It has support openings at its four corners. The support openings are connected to the support frame, and the support frame is connected to the steering wheel. The steering wheel is located at the four corners of the main frame. Carbon fiber composite panels, which are set in the open areas of the main frame, are used to support the target load. A steering wheel assembly is mounted on the support frame. The upper part of the steering wheel assembly is a first placement area for placing a steering device, and the lower part is a second placement area for placing a steering wheel. The steering wheel is connected to a steering wheel side plate via a drive shaft, and a drive motor is provided on one side of the steering wheel side plate. A controller, which is mounted on the main frame, is used to control the movement of the steering wheel; Guide wheels are located on either side of the main frame.

2. The four-steering wheel omnidirectional moving chassis structure according to claim 1, characterized in that, The main frame includes several parallel vertical bars and several asymmetrical horizontal bars, wherein the vertical bars and the horizontal bars are perpendicular to each other.

3. The four-steering wheel omnidirectional moving chassis structure according to claim 2, characterized in that, The vertical bar and the horizontal bar are respectively provided with holes for fixing, wherein the holes are of the same size.

4. The four-steering wheel omnidirectional moving chassis structure according to claim 3, characterized in that, The first placement area includes a top plate, a support rod, and a bottom plate, wherein the diameter of the bottom plate is larger than the diameter of the top plate.

5. The four-steering wheel omnidirectional moving chassis structure according to claim 4, characterized in that, The diameter of the top plate is larger than the diameter of the support frame.

6. The four-steering wheel omnidirectional moving chassis structure according to claim 5, characterized in that, The support opening is not connected on either of its opposite sides.

7. The four-steering wheel omnidirectional moving chassis structure according to claim 6, characterized in that, The support frame has an inner circle and an outer square structure, and a contact frame for connecting the support opening is provided on its outer side. The contact frames are symmetrical to each other.

8. The four-steering wheel omnidirectional moving chassis structure according to claim 7, characterized in that, The steering wheel is positioned directly below the steering mechanism.

9. The four-steering wheel omnidirectional moving chassis structure according to claim 8, characterized in that, The steering wheel is a single unit, and its diameter is smaller than that of the first placement area.

10. The four-steering wheel omnidirectional moving chassis structure according to claim 9, characterized in that, The controller is positioned between two interconnected steering wheels.

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