Wheeled robot chassis

Abstract

The application discloses a wheeled robot chassis, comprising a driving wheel assembly and a vehicle frame, the driving wheel assembly comprises a steering mechanism, a mounting frame and a walking mechanism, the steering mechanism comprises a mounting assembly, a steering motor, a steering shaft and a first explosion-proof component, the mounting assembly is fixedly connected with the vehicle frame, the steering motor is drivingly connected with the mounting frame through the steering shaft, the first explosion-proof component comprises a first shell, a first end cover and a first explosion-proof element, the first shell covers the steering motor, the first end cover is arranged around the steering shaft, the first explosion-proof element is fixedly installed on the first end cover and is slidingly matched with the steering shaft, the walking mechanism comprises a walking motor, a driving shaft, a walking wheel and a second explosion-proof component, the walking motor is drivingly connected with the walking wheel through the driving shaft, the second explosion-proof component comprises a second shell, a second end cover and a second explosion-proof element, the second end cover is arranged around the driving shaft, and the second explosion-proof element is fixedly installed on the second end cover and is slidingly matched with the driving shaft. The technical scheme can eliminate the safety hazards.

Description

Technical Field

[0001] This application relates to the field of mobile robot technology, and in particular to a wheeled robot chassis. Background Technology

[0002] With the rapid development of industrial automation and intelligence, some wheeled robots are equipped with automatic guidance systems, which can automatically travel along a predetermined route without human guidance, and are therefore widely used in the industrial field.

[0003] In specialized industries such as petroleum, natural gas, chemical, and metallurgy, the presence of flammable and explosive gases or dust necessitates explosion-proof performance requirements for wheeled robots. This requirement aims to prevent electrical sparks generated during the robot's operation from igniting flammable and explosive substances.

[0004] Existing wheeled robot chassis use a housing around the motor and an end cap at the steering shaft to prevent electric sparks from collisions or motor currents from igniting flammable and explosive materials. However, to avoid friction between the end cap and the steering shaft, a large gap is usually left between them. This means that internal electric sparks or high temperatures may still propagate into the flammable and explosive environment through this gap, posing a significant potential safety hazard. Utility Model Content

[0005] The main purpose of this application is to provide a wheeled robot chassis that aims to improve the existing robot chassis, which, in order to avoid friction between the end cap and the steering shaft, usually have a large gap between them, which still poses a significant potential safety hazard.

[0006] To achieve the above objectives, this application proposes a wheeled robot chassis, which includes four drive wheel assemblies and a frame. Each drive wheel assembly includes a steering mechanism, a mounting frame, and a walking mechanism; wherein,

[0007] The steering mechanism includes a mounting assembly, a steering motor, a steering shaft, and a first explosion-proof assembly. The mounting assembly is fixedly connected to the vehicle frame. The steering motor is fixedly mounted on one side of the mounting assembly and is drivenly connected to the mounting frame through the steering shaft. The explosion-proof assembly includes a first housing, a first end cap, and a first explosion-proof component. The first housing covers the steering motor. The first end cap is fixedly connected to the side of the mounting assembly away from the steering motor and is arranged around the periphery of the steering shaft. The first explosion-proof component is fixedly mounted on the first end cap and slides with the steering shaft. The walking mechanism includes a walking motor, a drive shaft, walking wheels, and a second explosion-proof component. The walking motor is fixedly mounted on the mounting frame and is connected to the walking wheels via the drive shaft. The second explosion-proof component includes a second housing, a second end cap, and a second explosion-proof element. The second housing covers the walking motor. The second end cap is fixedly connected to the side of the mounting frame away from the walking motor and is arranged around the periphery of the drive shaft. The second explosion-proof element is fixedly mounted on the second end cap and slides with the drive shaft.

[0008] In some embodiments of this application, the mounting assembly is provided with a first annular groove surrounding the steering motor, and the first housing is provided with a first flange, which is inserted into the first annular groove. And / or, the mounting bracket is provided with a second annular groove surrounding the walking motor, and the second housing is provided with a second flange, which is inserted into the second annular groove.

[0009] In some embodiments of this application, the first end cover is provided with a first through hole for the steering shaft to pass through, the first explosion-proof component is fixedly disposed on the hole wall of the first through hole, and a first stop flange is also provided on the side of the hole wall away from the steering motor to abut against the first explosion-proof component. And / or, the second end cap is provided with a second through hole for the drive shaft to pass through, the second explosion-proof component is fixedly provided on the wall of the second through hole, and a second stop flange is also provided on the side of the wall of the second through hole away from the drive motor to abut against the second explosion-proof component.

[0010] In some embodiments of this application, the mounting assembly includes a mounting cylinder with a connecting plate on its inner wall. The steering shaft is rotatably mounted on the connecting plate via a first bearing. One end of the steering shaft extends out of the mounting cylinder and is fixedly connected to the output shaft of the steering motor, while the other end extends out of the mounting cylinder and is fixedly connected to the mounting bracket.

[0011] In some embodiments of this application, the first bearing includes a first deep groove ball bearing, the first deep groove ball bearing having a first mounting hole along the axial direction of the steering shaft, and the first deep groove ball bearing being fixedly connected to the connecting plate through the first mounting hole via a first connector.

[0012] In some embodiments of this application, a turntable is provided at the end of the steering shaft away from the steering motor, and the turntable is fixedly connected to the mounting bracket.

[0013] In some embodiments of this application, the mounting assembly further includes a fastener that is fixedly connected to the periphery of the mounting cylinder and is also used for detachably fixed connection to the vehicle frame.

[0014] In some embodiments of this application, the mounting bracket includes a vertical plate, a support plate, and a horizontal plate, wherein the upper end of the vertical plate is fixedly connected to the horizontal plate on one side in the horizontal direction via the support plate.

[0015] In some embodiments of this application, the drive shaft is rotatably mounted on the mounting frame via a second bearing, and the drive shaft passes through the mounting frame. One end of the drive shaft is fixedly connected to the output end of the walking motor, and the other end is fixedly connected to the walking wheel.

[0016] In some embodiments of this application, the second bearing includes a second deep groove ball bearing, the second deep groove ball bearing having a second mounting hole along the axial direction of the drive shaft, and the second deep groove ball bearing being fixedly connected to the mounting bracket by a second connector passing through the second mounting hole.

[0017] The wheeled robot chassis provided in this application embodiment, through the above-described structural configuration, includes a first explosion-proof component between the steering shaft and the first end cover to fill the gap between the steering shaft and the first end cover, and a second explosion-proof component between the drive shaft and the second end cover to fill the gap between the drive shaft and the second end cover. Both the first and second explosion-proof components are made of spark-free friction material. This effectively prevents internal electrical sparks or high temperatures from propagating into the flammable and explosive environment through the gaps between the steering shaft and the first end cover and between the drive shaft and the second end cover, eliminating safety hazards and improving the explosion-proof performance of wheeled robots using this chassis. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the drive wheel assembly of a wheeled robot chassis according to an embodiment of this application; Figure 2 for Figure 1 Cross-sectional view of the middle drive wheel assembly; Figure 3 for Figure 2 A magnified view of a section at point A in the middle; Figure 4 for Figure 2 A magnified view of a section at point B in the middle; Figure 5 for Figure 2A magnified view of a section at point C; Figure 6 for Figure 2 A magnified view of a section at point D; Figure 7 for Figure 2 A schematic diagram of the structure of the first bearing.

[0020] Explanation of icon numbers: 100. Drive wheel assembly; 10. Steering mechanism; 11. Mounting assembly; 111. Mounting cylinder; 1111. First annular groove; 1112. Connecting plate; 1113. First bearing; 1114. First mounting hole; 112. Fixing element; 12. Steering motor; 13. Steering shaft; 131. Turntable; 141. First housing; 1411. First flange; 142. First end cap; 1421. First through hole; 1422. First... 143. Stop flange; 20. First explosion-proof component; 21. Mounting bracket; 22. Vertical plate; 23. Second annular groove; 24. Support plate; 25. Horizontal plate; 36. Traveling mechanism; 37. Traveling motor; 38. Drive shaft; 39. Traveling wheel; 30. Second housing; 31. Second flange; 32. Second end cap; 33. Second through hole; 34. Second stop flange; 34. Second explosion-proof component; 35. Second bearing.

[0021] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0025] Embodiments of this application provide a wheeled robot chassis for use with wheeled robots, which are typically equipped with automated guidance systems that allow them to automatically travel along predetermined routes without human guidance. The wheeled robot chassis includes four drive wheel assemblies 100 and a frame. The frame not only mounts the drive wheel assemblies 100 but also other components of the wheeled robot, such as the aforementioned automated navigation system, which can be mounted individually on each drive wheel assembly 100.

[0026] Please refer to Figures 1 to 7 Each drive wheel assembly 100 includes a steering mechanism 10, a mounting bracket 20, and a travel mechanism 30. The steering mechanism 10 includes a mounting component 11, a steering motor 12, a steering shaft 13, and a first explosion-proof component. The mounting component 11 is fixedly connected to the vehicle frame. The steering motor 12 is fixedly mounted on one side of the mounting component 11 and is connected to the mounting bracket 20 via the steering shaft 13. The explosion-proof component includes a first housing 141, a first end cap 142, and a first explosion-proof element 143. The first housing 141 covers the steering motor 12. The first end cap 142 is fixedly connected to the side of the mounting component 11 away from the steering motor 12 and is arranged around the periphery of the steering shaft 13. The first explosion-proof element 143 is fixedly mounted on the first end cap 142 and is slidably engaged with the steering shaft 13.

[0027] The drive wheel assembly 100 is fixedly connected to the frame via a mounting assembly 11 to secure it to the wheeled robot. The mounting assembly 11 can be fixed to the frame via a detachable connection, such as bolting, or a non-detachable connection, such as welding. The mounting assembly 11 also mounts components such as the steering motor 12, steering shaft 13, and the first explosion-proof component. To ensure the stability of the drive wheel assembly 100, the mounting assembly 11 is typically made of metal.

[0028] The walking mechanism 30 includes a walking motor 31, a drive shaft 32, walking wheels 33, and a second explosion-proof component. The walking motor 31 is fixedly mounted on the mounting frame 20 and is connected to the walking wheels 33 via the drive shaft 32. The second explosion-proof component includes a second housing 341, a second end cap 342, and a second explosion-proof element 343. The second housing 341 covers the walking motor 31. The second end cap 342 is fixedly connected to the side of the mounting frame 20 away from the walking motor 31 and is arranged around the periphery of the drive shaft 32. The second explosion-proof element 343 is fixedly mounted on the second end cap 342 and slides with the drive shaft 32.

[0029] It should be emphasized that the mating surfaces of the first housing 141, the first end cap 142, the second housing 341, and the second end cap 342 with other components are treated with explosion-proof materials. These mating surfaces are explosion-proof, utilizing principles such as "intermittent fire suppression" and "cooling" to prevent the propagation of internal electrical sparks or high temperatures to the external flammable and explosive environment, thus achieving explosion-proof properties. The first explosion-proof component 143 and the second explosion-proof component 343 are made of sparkless friction material. Sparkless friction material is a special functional material that does not easily generate sparks under mechanical action such as friction and impact. When this sparkless friction material rubs or impacts metal or other hard materials at high speeds, it will not generate sparks sufficient to ignite flammable and explosive substances due to localized high temperatures or the shedding of metal particles.

[0030] The aforementioned steering motor 12 and walking motor 31 can be the same type of motor or different motors. Specifically, both steering motor 12 and walking motor 31 can be servo motors. It is understood that each of the four drive wheel assemblies 100 has an independent steering motor 12 and walking motor 31. Each of the four drive wheel assemblies 100 can independently steer and drive under the control of the automatic guidance system. That is, the wheeled robot chassis has a four-wheel, eight-drive mechanism, enabling it to turn in place, move in any direction at any time, and has stronger adaptability to road conditions.

[0031] The wheeled robot chassis provided in this application embodiment, through the above-described structural configuration, includes a first explosion-proof component 143 between the steering shaft 13 and the first end cover 142 to fill the gap between the steering shaft 13 and the first end cover 142, and a second explosion-proof component 343 between the drive shaft 32 and the second end cover 342 to fill the gap between the drive shaft 32 and the second end cover 342. Both the first and second explosion-proof components 143 and 343 are made of non-sparking friction material. This effectively prevents internal electrical sparks or high temperatures from propagating into flammable and explosive environments through the gaps between the steering shaft 13 and the first end cover 142 and between the drive shaft 32 and the second end cover 342, eliminating safety hazards and improving the explosion-proof performance of wheeled robots using this chassis.

[0032] In some examples, such as Figure 2 As shown, the mounting assembly 11 includes a mounting cylinder 111. The inner wall of the mounting cylinder 111 is provided with a connecting plate 1112. A steering shaft 13 is rotatably mounted on the connecting plate 1112 via a first bearing 1113. One end of the steering shaft 13 extends out of the mounting cylinder 111 and is fixedly connected to the output shaft of the steering motor 12, while the other end extends out of the mounting cylinder 111 and is fixedly connected to the mounting bracket 20. The connecting plate 1112 can be fixedly mounted on the inner wall of the mounting cylinder 111, or it can be manufactured together with the mounting cylinder 111 using an integral molding process.

[0033] This configuration aims to make the steering shaft 13 more stable, allowing the travel mechanism 30 to provide stable support for the steering mechanism 10, thereby making the steering motor 12 drive the travel mechanism 30 to rotate more stably through the steering shaft 13.

[0034] In some examples, such as Figure 1 and Figure 2 As shown, the mounting assembly 11 also includes a fastener 112, which is fixedly connected to the periphery of the mounting cylinder 111. The fastener 112 is also used for detachable fixed connection to the frame. This arrangement is designed to facilitate the removal or installation of the drive wheel assembly 100 onto the frame, improve the assembly efficiency of the wheeled robot chassis, and facilitate the maintenance and upkeep of the drive wheel assembly 100.

[0035] In some examples, such as Figure 1 and Figure 2 As shown, the mounting frame 20 includes a vertical plate 21, a support plate 22, and a horizontal plate 23. The upper vertical end of the vertical plate 21 is fixedly connected to the horizontal plate 23 on one side of the horizontal direction via the support plate 22. With this configuration, the lower vertical end of the steering shaft 13 is fixedly connected to the horizontal plate 23, and the walking mechanism 30 is mounted on the vertical plate 21. This optimizes the structural layout of the drive wheel assembly 100, reduces interference between the drive wheel assembly 100 and the frame, and makes the drive wheel assembly 100 rotate more flexibly.

[0036] In some examples, such as Figure 2 ,and Figure 3 As shown, the mounting assembly 11 has a first annular groove 1111 surrounding the steering motor 12, that is, the horizontal plate 23 has a first annular groove 1111, and the first housing 141 has a first flange 1411 protruding from it, which is engaged with the first annular groove 1111. With this arrangement, the first housing 141 and the mounting assembly 11 can be pre-assembled by the engagement of the first flange 1411 and the first annular groove 1111, and then the first housing 141 and the mounting assembly 11 can be locked together using a screw structure. This not only improves assembly efficiency but also enhances the stability of the first housing 141 through the engagement of the first flange 1411 and the first annular groove 1111.

[0037] In some examples, such as Figure 2 and Figure 6 As shown, the mounting bracket 20 is provided with a second annular groove 211 surrounding the travel motor 31, that is, the aforementioned vertical plate 21 is provided with a second annular groove 211, and the second housing 341 is provided with a second flange 3411, which is inserted into the second annular groove 211. With this arrangement, the second housing 341 and the mounting bracket 20 can be pre-assembled by the insertion and engagement of the second flange 3411 and the second annular groove 211, and then the second housing 341 and the mounting bracket 20 can be locked together using a screw structure. In this way, not only can the assembly efficiency be improved, but the stability of the second housing 341 can also be improved by the insertion and engagement of the second flange 3411 and the second annular groove 211.

[0038] In some examples, such as Figure 2 , Figure 4 and Figure 5 As shown, the first end cover 142 has a first through hole 1421 through which the steering shaft 13 passes. A first explosion-proof component 143 is fixedly installed on the wall of the first through hole 1421. A first stop flange 1422 is also provided on the side of the wall of the first through hole 1421 away from the steering motor 12, which abuts against the first explosion-proof component 143. The second end cover 342 has a second through hole 3421 through which the drive shaft 32 passes. A second explosion-proof component 343 is fixedly installed on the wall of the second through hole 3421. A second stop flange 3422 is also provided on the side of the wall of the second through hole 3421 away from the drive motor, which abuts against the second explosion-proof component 343.

[0039] The first explosion-proof component 143 and the second explosion-proof component 343 can be installed in the first through hole and the second through hole 3421 respectively by interference fit. Adhesive can also be added between the first explosion-proof component 143 and the first through hole 1421, and between the second explosion-proof component 343 and the second through hole 3421. This arrangement facilitates the installation of the first explosion-proof component 143 and the second explosion-proof component 343. The first stop flange 1422 can prevent the first explosion-proof component 143 from disengaging from the first through hole 1421 in a direction away from the steering motor 12, and the second stop flange 3422 can prevent the second explosion-proof component 343 from disengaging from the second through hole 3421 in a direction away from the travel motor 31.

[0040] Considering that the first stop flange 1422 protrudes from the wall of the first through hole 1421, the first stop flange 1422 will be closer to the steering shaft 13 than the wall of the first through hole 1421. When the first stop flange 1422 and the first end cover 142 are manufactured using an integral molding process, the first stop flange 1422 can be further treated with explosion-proof measures; when the first stop flange 1422 and the first end cover 142 are manufactured separately and fixed to the first through hole 1421 by a fixed installation, the first stop flange 1422 can also be made of a non-sparking friction material. Similarly, the second stop flange 3422 can be configured in the same way.

[0041] In some examples, such as Figure 2 and Figure 7 As shown, the first bearing 1113 includes a first deep groove ball bearing. The first deep groove ball bearing has a first mounting hole 1114 along the axial direction of the steering shaft 13. The first deep groove ball bearing is fixedly connected to the connecting plate 1112 through the first mounting hole 1114 via a first connecting member. With this configuration, the first deep groove ball bearing can not only rotate the steering shaft 13, but also restrict the steering shaft 13's axial movement, eliminating the need for additional components to restrict the steering shaft 13's axial movement.

[0042] In some examples, such as Figure 2 As shown, a turntable 131 is provided at the end of the steering shaft 13 away from the steering motor 12. The turntable 131 is fixedly connected to the mounting bracket 20, that is, the turntable 131 is fixedly connected to the aforementioned horizontal plate 23. It should be emphasized that the turntable 131 is perpendicular to the axial direction of the steering shaft 13. This arrangement increases the contact area between the steering shaft 13 and the turntable 131, and facilitates the fixed connection of the steering wheel to the mounting bracket 20 by bolts or other fasteners.

[0043] In some examples, such as Figure 1 and Figure 2 As shown, the drive shaft 32 is rotatably mounted on the mounting bracket 20 via the second bearing 35, and the drive shaft 32 passes through the mounting bracket 20, that is, the drive shaft 32 is rotatably mounted on the vertical plate 21 via the second bearing 35, and the drive shaft 32 passes through the vertical plate 21. One end of the drive shaft 32 is fixedly connected to the output end of the walking motor 31, and the other end is fixedly connected to the walking wheel 33. With this arrangement, the walking wheel 33 and the drive motor are located on both sides of the vertical plate 21, which optimizes the structural layout of the walking mechanism 30, and the drive shaft 32 is rotatably mounted on the vertical plate 21 via the second bearing 35, resulting in less resistance.

[0044] In some examples, such as Figure 2 and Figure 7As shown, the second bearing 35 includes a second deep groove ball bearing. The second deep groove ball bearing has a second mounting hole along the axial direction of the drive shaft 32. The second deep groove ball bearing is fixedly connected to the mounting bracket 20 via a second connecting piece passing through the second mounting hole. This configuration allows the second deep groove ball bearing not only to rotate the drive shaft 32 but also to restrict its axial movement, eliminating the need for additional components to restrict the axial movement of the drive shaft 32. Both the first deep groove ball bearing and the second deep groove ball bearing are deep groove ball bearings, and they can be of the same or different models.

[0045] The above description is merely an optional embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the inventive concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A wheeled robot chassis, characterized in that, The wheeled robot chassis includes four drive wheel assemblies and a frame. Each drive wheel assembly includes a steering mechanism, a mounting frame, and a walking mechanism. The steering mechanism includes a mounting assembly, a steering motor, a steering shaft, and a first explosion-proof assembly. The mounting assembly is fixedly connected to the vehicle frame. The steering motor is fixedly mounted on one side of the mounting assembly and is drivenly connected to the mounting frame through the steering shaft. The first explosion-proof assembly includes a first housing, a first end cap, and a first explosion-proof component. The first housing covers the steering motor. The first end cap is fixedly connected to the side of the mounting assembly away from the steering motor and is arranged around the periphery of the steering shaft. The first explosion-proof component is fixedly mounted on the first end cap and slides with the steering shaft. The walking mechanism includes a walking motor, a drive shaft, walking wheels, and a second explosion-proof component. The walking motor is fixedly mounted on the mounting frame and is connected to the walking wheels via the drive shaft. The second explosion-proof component includes a second housing, a second end cap, and a second explosion-proof element. The second housing covers the walking motor. The second end cap is fixedly connected to the side of the mounting frame away from the walking motor and is arranged around the periphery of the drive shaft. The second explosion-proof element is fixedly mounted on the second end cap and slides with the drive shaft.

2. The wheeled robot chassis as described in claim 1, characterized in that, The mounting assembly is provided with a first annular groove surrounding the steering motor, and the first housing is provided with a first flange, which is inserted into the first annular groove. And / or, the mounting bracket is provided with a second annular groove surrounding the walking motor, and the second housing is provided with a second flange, which is inserted into the second annular groove.

3. The wheeled robot chassis as described in claim 1, characterized in that, The first end cap is provided with a first through hole for the steering shaft to pass through. The first explosion-proof component is fixedly installed on the hole wall of the first through hole. A first stop flange is also provided on the side of the hole wall away from the steering motor, which abuts against the first explosion-proof component. And / or, the second end cover is provided with a second through hole for the drive shaft to pass through, the second explosion-proof component is fixedly provided on the wall of the second through hole, and a second stop flange is provided on the side of the wall of the second through hole away from the walking motor to abut against the second explosion-proof component.

4. The wheeled robot chassis as described in claim 1, characterized in that, The mounting assembly includes a mounting cylinder with a connecting plate on its inner wall. The steering shaft is rotatably mounted on the connecting plate via a first bearing. One end of the steering shaft extends out of the mounting cylinder and is fixedly connected to the output shaft of the steering motor, while the other end extends out of the mounting cylinder and is fixedly connected to the mounting bracket.

5. The wheeled robot chassis as described in claim 4, characterized in that, The first bearing includes a first deep groove ball bearing, which has a first mounting hole along the axial direction of the steering shaft. The first deep groove ball bearing is fixedly connected to the connecting plate through the first mounting hole via a first connector.

6. The wheeled robot chassis as described in claim 4, characterized in that, A turntable is provided at the end of the steering shaft away from the steering motor, and the turntable is fixedly connected to the mounting bracket.

7. The wheeled robot chassis as described in claim 4, characterized in that, The mounting assembly also includes a fastener that is fixedly connected to the periphery of the mounting cylinder and is also used for detachably and fixedly connected to the vehicle frame.

8. The wheeled robot chassis as described in claim 1, characterized in that, The mounting frame includes a vertical plate, a support plate, and a horizontal plate. The upper vertical end of the vertical plate is fixedly connected to the horizontal plate on one side in the horizontal direction via the support plate.

9. The wheeled robot chassis as described in claim 1, characterized in that, The drive shaft is rotatably mounted on the mounting frame via a second bearing, and the drive shaft passes through the mounting frame. One end of the drive shaft is fixedly connected to the output end of the walking motor, and the other end is fixedly connected to the walking wheel.

10. The wheeled robot chassis as described in claim 9, characterized in that, The second bearing includes a second deep groove ball bearing, which has a second mounting hole along the axial direction of the drive shaft. The second deep groove ball bearing is fixedly connected to the mounting bracket by passing through the second mounting hole via a second connector.

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