Independent steering drive wheels and chassis structure

Abstract

This utility model discloses an independent steering drive wheel and chassis structure, relating to the field of agricultural machinery technology. The independent steering drive wheel includes a hub assembly and a steering assembly. The hub assembly includes a hub motor and a connecting plate. The two ends of the connecting plate are respectively connected to the two ends of the hub motor along the axial direction. The steering assembly includes a protective shell, a driver, a distribution panel, a motor, and a reducer. The protective shell encloses to form a mounting cavity. The driver, distribution panel, motor, and reducer are located in the mounting cavity. The reducer is connected to the output end of the motor. The output end of the reducer is connected to a rotating connecting shaft. The end of the rotating connecting shaft away from the reducer is connected to the connecting plate.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and in particular to an independent steering drive wheel and chassis structure. Background Technology

[0002] Independent steering drive wheels are a component of agricultural machinery or agricultural robots, and also serve as the power unit for these machines. They typically consist of a traveling mechanism, a steering mechanism, and a controller, combining mechanical transmission and control technology while also ensuring overall vehicle stability. While existing independent steering drive wheels meet basic requirements, their size and structural limitations make them inconvenient for use in special work environments such as fieldwork, and they generally suffer from issues such as insufficient compactness and maneuverability, as well as poor stability. Utility Model Content

[0003] The main purpose of this invention is to propose an independent steering drive wheel and chassis structure, which aims to improve the flexibility and stability of the independent steering drive wheel.

[0004] To achieve the above objectives, the present invention proposes an independent steering drive wheel, comprising: A wheel hub assembly, the wheel hub assembly including a wheel hub motor and a connecting plate, wherein the opposite ends of the connecting plate are respectively connected to the two ends of the wheel hub motor along the axial direction; A steering assembly includes a protective shell, a driver, a switchboard, a motor, and a reducer. The protective shell encloses a mounting cavity, and the driver, switchboard, motor, and reducer are disposed in the mounting cavity. The reducer is connected to the output end of the motor, and the output end of the reducer is connected to a rotating connecting shaft. The end of the rotating connecting shaft away from the reducer is connected to the connecting plate.

[0005] In one embodiment, the steering assembly further includes a rotating flange, a first bearing, and a second bearing. The rotating flange is disposed vertically within the mounting cavity and has a through shaft hole formed vertically. A first stepped groove and a second stepped groove are formed at both ends of the shaft hole, respectively. The first stepped groove is located above the second stepped groove. The outer peripheral wall of the first bearing is engaged in the first stepped groove, and the outer peripheral wall of the second bearing is engaged in the second stepped groove. The inner peripheral walls of both the first bearing and the second bearing are connected to the rotating connecting shaft.

[0006] In one embodiment, the first bearing is a deep groove ball bearing, and the second bearing is an angular contact ball bearing.

[0007] In one embodiment, the steering assembly further includes a rubber oil seal, which is sleeved on the rotating connecting shaft, with its two axial sides abutting against the inner wall of the second bearing and the protective housing, respectively.

[0008] In one embodiment, the hub assembly further includes a hub clamping plate, and the axial extension end of the hub motor passes through the connecting plate and the hub clamping plate and is fixed by a lock nut.

[0009] This utility model also proposes a chassis structure, which includes the aforementioned independent steering drive wheels, and A chassis assembly having four mounting portions, each of which is connected to the top of an independent steering drive wheel; An electrical control box is connected to the chassis assembly, and an electrical control component is installed inside the electrical control box.

[0010] In one embodiment, the chassis assembly includes a first connecting rod, a second connecting rod, a first fixing plate, and a second fixing plate; The first connecting rod extends along the width direction of the chassis structure, the first fixing plate is disposed on the top of the independent steering drive wheel, and the first connecting rod is connected to a first fixing plate at both ends in the axial direction. The second connecting rod extends along the length of the chassis structure, rests above the first connecting rod, and is fixed to the first connecting rod by the second fixing plate.

[0011] In one embodiment, both the first connecting rod and the second connecting rod are rectangular tubes.

[0012] In one embodiment, at least two of the first connecting rods are connected to the top of each of the independent steering drive wheels, and the first connecting rods are spaced apart along the length of the chassis structure.

[0013] In one embodiment, the electrical control box includes a box body and a flip door. The flip door is rotatably connected to the box body and can be flipped open and closed relative to the box body. The box body and the flip door are locked together by a snap-fit ​​mechanism. An emergency switch is provided on the flip door.

[0014] This invention proposes an independent steering drive wheel. The hub assembly includes a hub motor and a connecting plate. The connecting plate is located at both ends of the hub motor's axial direction, providing a stable mounting base for the hub motor and enabling reliable installation on the chassis or other suitable locations. The steering assembly consists of a protective shell, a driver, a distribution panel, a motor, and a reducer. The protective shell forms a mounting cavity, housing all other components and protecting the internal components from external environmental factors such as dust and water. The reducer connects to the motor output, reducing speed and increasing torque. Its output connects to a rotating connecting shaft, which in turn connects to the connecting plate. This structural layout allows the drive wheel to not only perform driving functions but also steering actions via the steering assembly, integrating driving and steering functions into one unit. This simplifies the overall structure, reduces the number of parts and space occupation, improves the system's compactness and reliability, and enhances the chassis's handling performance and space utilization. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 A schematic diagram of an embodiment of the chassis structure provided by this utility model; Figure 2 for Figure 1 A structural schematic diagram of the mid-chassis structure from another perspective; Figure 3 A schematic diagram of an embodiment of the independent steering drive wheel provided by this utility model; Figure 4 for Figure 3 Front view of the independent steering drive wheel; Figure 5 for Figure 4 Cross-sectional view of the independent steering drive wheel AA in the middle; Figure 6 for Figure 3 Side view of the independent steering drive wheel in the center; Figure 7 for Figure 6 A cross-sectional view of the independent steering drive wheel BB.

[0017] Explanation of icon numbers: 100. Chassis structure; 10. Independent steering drive wheel; 1. Hub assembly; 11. Hub motor; 12. Connecting plate; 13. Hub clamping plate; 2. Steering assembly; 21. Protective shell; 22. Driver; 23. Distribution panel; 24. Motor; 25. Reducer; 26. Rotating connecting shaft; 27. Rotating flange; 28a. First bearing; 28b. Second bearing; 29. ​​Rubber oil seal; 30. Chassis assembly; 31. First connecting rod; 32. Second connecting rod; 33. First fixing plate; 34. Second fixing plate; 40. Electrical control box; 41. Box body; 42. Flip-up door; 43. Emergency switch; 44. Buckle.

[0018] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0020] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are 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 with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0022] Independent steering drive wheels are a component of agricultural machinery or agricultural robots, and also serve as the power unit for these machines. They typically consist of a traveling mechanism, a steering mechanism, and a controller, combining mechanical transmission and control technology while also ensuring overall vehicle stability. While existing independent steering drive wheels meet basic requirements, their size and structural limitations make them inconvenient for use in special work environments such as fieldwork, and they generally suffer from issues such as insufficient compactness and maneuverability, as well as poor stability.

[0023] To solve the above problems, please refer to... Figures 3 to 7 This utility model proposes an independent steering drive wheel 10, including a hub assembly 1 and a steering assembly 2. The hub assembly 1 includes a hub motor 11 and a connecting plate 12. The two ends of the connecting plate 12 are respectively connected to the two ends of the hub motor 11 in the axial direction. The steering assembly 2 includes a protective shell 21, a driver 22, a distribution panel 23, a motor 24, and a reducer 25. The protective shell 21 encloses and forms an installation cavity. The driver 22, the distribution panel 23, the motor 24, and the reducer 25 are disposed in the installation cavity. The reducer 25 is connected to the output end of the motor 24. The output end of the reducer 25 is connected to a rotating connecting shaft 26. The end of the rotating connecting shaft 26 away from the reducer 25 is connected to the connecting plate 12.

[0024] This utility model proposes an independent steering drive wheel 10. The hub assembly 1 includes a hub motor 11 and a connecting plate 12. The connecting plate 12 is located at both axial ends of the hub motor 11, providing a stable mounting base for the hub motor 11, allowing it to be reliably installed on the chassis or other suitable locations. The steering assembly 2 consists of a protective shell 21, a driver 22, a distribution panel 23, a motor 24, and a reducer 25. The protective shell 21 forms a mounting cavity, housing all other components and protecting the internal components from external environmental factors such as dust and water. The reducer 25 is connected to the output of the motor 24, reducing speed and increasing torque. Its output is connected to a rotating connecting shaft 26, which in turn connects to the connecting plate 12. This structural layout allows the drive wheel to not only perform driving functions but also steering actions via the steering assembly 2, integrating driving and steering functions into one unit. This simplifies the overall structure, reduces the number of parts and space occupation, improves the system's compactness and reliability, and enhances the chassis's handling performance and space utilization.

[0025] In an optional embodiment, to enable flexible rotation of the rotating connecting shaft 26, the steering assembly 2 further includes a rotating flange 27, a first bearing 28a, and a second bearing 28b. The rotating flange 27 is vertically disposed within the mounting cavity and has a through shaft hole formed in the vertical direction. A first stepped groove and a second stepped groove are formed at both ends of the shaft hole, with the first stepped groove located above the second stepped groove. The outer peripheral wall of the first bearing 28a is fitted into the first stepped groove, and its top is locked with a round nut to prevent axial movement of the first bearing 28a. The outer peripheral wall of the second bearing 28b is fitted into the second stepped groove and sealed with a rubber oil seal 29. The inner peripheral walls of both the first bearing 28a and the second bearing 28b are connected to the rotating connecting shaft 26. The rubber oil seal 29 is sleeved on the rotating connecting shaft 26, with its axial sides abutting against the inner walls of the second bearing 28b and the protective shell 21, respectively. The rubber oil seal 29 is a common sealing element with good elasticity. It can fit tightly between the rotating connecting shaft 26 and the protective shell 21, effectively preventing external dust, mud, water, and other impurities from entering the mounting cavity, while also preventing internal lubricating grease and other media from leaking out. This creates a relatively clean and sealed working environment for the various components inside the steering assembly 2, such as the motor 24, reducer 25, and bearings, reducing wear and damage to internal components caused by impurities, extending the service life of these components, thereby improving the reliability and durability of the entire independent steering drive wheel 10, reducing maintenance costs, and ensuring the stability and safety of the chassis during long-term use.

[0026] For details, please refer to Figures 3 to 7 The rotating flange 27 is vertically fixed to the mounting cavity formed by the protective shell 21 via a plate structure and screws. One end of the rotating connecting shaft 26 is connected to the output end of the reducer 25 via a key, and the other end is connected to the connecting plate 12, thereby driving the hub assembly 1 to rotate. By setting the rotating flange 27 and installing the rotating connecting shaft 26 in the shaft hole of the rotating flange 27, the stability of the rotating connecting shaft 26 during rotation can be improved, preventing the rotating connecting shaft 26 from easily causing radial displacement when driving the hub assembly 1 to rotate, thus ensuring the stability of the rotation of the hub assembly 1. In addition, to ensure that the rotating connecting shaft 26 can maintain smooth rotation within the rotating flange 27, a first bearing 28a and a second bearing 28b are respectively set at the upper and lower ends of the rotating flange 27. The cooperation of the first bearing 28a and the second bearing 28b can withstand forces and torques from different directions, ensuring the stable rotation of the rotating connecting shaft 26, thereby improving the steering accuracy and reliability. By installing the bearing in the stepped groove of the rotating flange 27, the installation and fixation of the bearing are facilitated, ensuring the structural compactness and stability of the entire steering assembly 2, enabling it to respond to steering commands more accurately, and ensuring the safety and stability of the chassis structure 100 during driving.

[0027] In an optional embodiment, the first bearing 28a is a deep groove ball bearing and the second bearing 28b is an angular contact ball bearing.

[0028] Deep groove ball bearings have advantages such as low friction coefficient, high limiting speed, simple structure, and low manufacturing cost. They can withstand radial loads and a certain amount of bidirectional axial loads. The first bearing 28a is installed on the end of the rotating connecting shaft 26 near the reducer 25. It bears the main radial force and part of the axial force to transmit the torque at the output end of the reducer 25. Therefore, a deep groove ball bearing is selected as the first bearing 28a to provide relatively stable radial support for the rotating connecting shaft 26. Angular contact ball bearings can withstand combined axial and radial loads, and their performance is particularly superior under large axial loads. The second bearing 28b is located at the end of the rotating connecting shaft 26 near the hub assembly 1. When the hub assembly 1 is on the ground, it will generate a reaction force on the rotating connecting shaft 26, which will generate a large axial force on the second bearing 28b. Therefore, the second bearing 28b is selected as an angular contact ball bearing to better adapt to and withstand the large axial force generated during steering. It forms a good match with the deep groove ball bearing to deal with loads of different directions and types, and together ensure the stable rotation of the rotating connecting shaft 26, improve the reliability and load-bearing capacity of the entire steering system, and ensure the normal operation and long service life of the independent steering drive wheel 10 under complex working conditions.

[0029] In an optional embodiment, for adjusting the clamping of the hub motor 11, please refer to... Figure 3 The hub assembly 1 also includes a hub clamping plate 13, and the axial extension end of the hub motor 11 passes through the connecting plate and the hub clamping plate 13 and is fixed by a lock nut.

[0030] Specifically, in this embodiment, the connecting plate 12 resembles an inverted "U" shape. Both sides of the connecting plate 12 are fixedly connected to the hub motor 11 via hub clamping plates 13 and locking nuts. The hub clamping plates 13 increase the force-bearing area between the locking nuts and the connecting plate 12, thereby ensuring that the pressure when tightening the locking nuts is applied evenly to the connecting plate 12, reducing the risk of deformation of the connecting plate 12 due to excessive force. This structure can more firmly connect the hub motor 11, connecting plate 12, and other components together, ensuring the stability of the hub motor 11 during operation and preventing the hub motor 11 from loosening due to vibration or other external forces, thus affecting the normal operation of the independent steering drive wheel 10. The locking nut method facilitates the installation and removal of the hub motor 11. When it is necessary to repair or replace the hub motor 11, the operation can be carried out quickly, which improves the convenience of maintenance and ensures the overall stability and reliability of the independent steering drive wheel 10. This allows it to better adapt to various situations in actual use and meets the requirements of the chassis structure 100 for the stability and maintainability of the independent steering drive wheel 10.

[0031] This utility model also proposes a chassis structure 100, which includes an independent steering drive wheel 10, a chassis assembly 30, and an electrical control box 40. The chassis assembly 30 has four mounting parts, each of which is connected to the top of an independent steering drive wheel 10. The electrical control box 40 is connected to the chassis assembly 30 and contains an electrical control component. The specific structure of the independent steering drive wheel 10 is as described in the above embodiments. Since this chassis structure 100 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here. Please refer to... Figure 1 and Figure 2 The chassis assembly 30 has four mounting points, each connected to the top of an independent steering drive wheel 10. This allows the four independent steering drive wheels 10 to be evenly distributed around the chassis structure 100, providing stable support and driving / steering functions for the chassis. The electrical control box 40 is connected to the chassis assembly 30 and houses the electrical control components. These components include a VCU controller (vehicle control unit), which centrally controls the movement of the independent steering drive wheels 10, including adjusting parameters such as wheel speed and steering angle, achieving precise control of the entire chassis's driving status. By organically combining the independent steering drive wheels 10 with the chassis assembly 30 and the electrical control box 40, a highly integrated and intelligent chassis system is formed. This effectively improves the overall performance of the chassis structure 100, enabling more flexible and efficient driving and steering operations, and meeting the requirements of different application scenarios for the chassis system.

[0032] In an optional embodiment, for ease of adjustment of the chassis structure 100, please refer to... Figure 1 and Figure 2 The chassis assembly 30 includes a first connecting rod 31, a second connecting rod 32, a first fixing plate 33, and a second fixing plate 34. The first connecting rod 31 extends along the width direction of the chassis structure 100, and the first fixing plate 33 is located on the top of the independent steering drive wheel 10. The first connecting rod 31 is connected to a first fixing plate 33 at both ends in the axial direction. The second connecting rod 32 extends along the length direction of the chassis structure 100, and the second connecting rod 32 is placed above the first connecting rod 31. The second fixing plate 34 is used to fix the first connecting rod 31 and the second connecting rod 32.

[0033] The first connecting rod 31 connects to the first fixing plate 33 at both ends, realizing the connection and support of the independent steering drive wheel 10 in the width direction, ensuring the lateral stability and rigidity of the chassis structure 100. In this embodiment, the first fixing plate 33 and the second fixing plate 34 are arranged in a "U" shape. The end of the first connecting rod 31 passes through the space formed by the first fixing plate 33 and the independent steering drive wheel 10, and is fixed to the top of the independent steering drive wheel 10 by screws through the first fixing plate 33. This not only realizes the connection between the chassis assembly 30 and the independent steering drive wheel 10, but also allows for flexible adjustment of the distance between the two independent steering drive wheels 10, thereby realizing the adjustment of the width of the entire chassis structure 100. Similarly, the second connecting rod 32 is arranged along the length of the chassis, resting above the first connecting rod 31 and fixed by the second fixing plate 34, forming a crisscrossing connecting rod structure. This allows for flexible adjustment of the distance between the two independent steering drive wheels 10, thereby adjusting the length of the entire chassis structure 100. This enables flexible adjustment of the chassis structure 100's dimensions, improving its applicability to various usage scenarios and enhancing its overall rigidity and load-bearing capacity, allowing the chassis to withstand various complex loads and working conditions. This connecting rod layout not only ensures the structural strength of the chassis structure 100 but also allows for flexible adjustment of the number and position of connecting rods according to actual needs, adapting to chassis design requirements of different sizes and uses. It provides a reliable platform for installing other components and equipment, facilitating the overall design and optimization of the chassis structure 100. The chassis structure 100 in this solution is particularly suitable for agricultural scenarios because it supports freely adjustable wheel track and wheelbase structures, thus adapting to changes in ridge spacing and implements in different planting areas. The chassis structure 100 can be equipped with a variety of agricultural implements, such as sprayers, fertilizer applicators, transport trailers, seeders, and weeders, which improves the versatility and scalability of the chassis structure 100.

[0034] In an optional embodiment, to facilitate a lightweight design of the chassis structure 100, both the first connecting rod 31 and the second connecting rod 32 are rectangular tubes.

[0035] The hollow tubular structure helps reduce the mass of the chassis assembly 30, thereby reducing the weight of the entire chassis structure 100. Furthermore, the rectangular tube has a regular cross-sectional shape, with relatively uniform material distribution at its four corners, providing better bending and torsional resistance under load. Compared to round or other irregularly shaped tubes, it may have higher structural strength with the same amount of material. Simultaneously, the flat surface of the rectangular tube facilitates connection and fixation with other components such as the first fixing plate 33 and the second fixing plate 34, achieving a stable connection through bolts, welding, or other methods. Using rectangular tubes as connecting rods effectively ensures the connection reliability of the chassis assembly 30, guaranteeing the stability and durability of the entire chassis structure 100. Moreover, the processing and manufacturing technology of rectangular tubes is relatively mature and cost-effective, facilitating large-scale production and application of the chassis structure 100, reducing chassis manufacturing costs, and improving economic efficiency.

[0036] In an optional embodiment, at least two first connecting rods 31 are connected to the top of each independent steering drive wheel 10, and the first connecting rods 31 are arranged at intervals along the length of the chassis structure 100.

[0037] This design creates multiple support points along the chassis's length, distributing the pressure of the robot body above the chassis structure 100 to more connecting rods. This improves the overall load-bearing capacity and stress uniformity of the chassis structure 100, preventing structural damage caused by localized stress concentration. Simultaneously, the spaced arrangement of multiple first connecting rods 31 allows the chassis to form a relatively robust frame structure along its length, enhancing its longitudinal stiffness and stability. This helps the robot maintain the stability of the chassis structure 100 during movement, reducing deformation caused by bumps or load changes and improving the safety of the chassis structure 100. Especially under heavy loads or complex road conditions, it better ensures the integrity and reliability of the chassis structure 100, meeting the robot's high requirements for chassis performance.

[0038] In an alternative embodiment, please refer to Figure 1 and Figure 2 The electrical control box 40 includes a box body 41 and a flip door 42. The flip door 42 is rotatably connected to the box body 41 and can be flipped open and closed relative to the box body 41. The box body 41 and the flip door 42 are locked together by a buckle 44. An emergency switch 43 is provided on the flip door 42.

[0039] The flip door 42 can be flipped open and closed relative to the housing 41, facilitating the operator's inspection, maintenance, or adjustment of the electrical control components inside the electrical control box 40. The housing 41 and the flip door 42 are locked together by a latch 44. When the electrical control box 40 needs to be closed, the latch 44 quickly and securely fixes the flip door 42 to the housing 41, ensuring effective protection of the electrical control components inside the electrical control box 40 and preventing external dust, water, etc., from entering and damaging the electronic components. It also prevents the flip door 42 from accidentally opening due to vibrations during chassis movement. An emergency switch 43 is installed on the flip door 42. In case of an emergency, the operator can quickly cut off the power or trigger corresponding emergency protection measures, promptly controlling the chassis's operating status and preventing accidents. This greatly improves the safety and reliability of the entire chassis structure 100, providing strong protection for the safe operation of the robot.

[0040] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An independent steering drive wheel, characterized in that, include: A wheel hub assembly, the wheel hub assembly including a wheel hub motor and a connecting plate, wherein the opposite ends of the connecting plate are respectively connected to the two ends of the wheel hub motor along the axial direction; A steering assembly includes a protective shell, a driver, a switchboard, a motor, and a reducer. The protective shell encloses a mounting cavity, and the driver, switchboard, motor, and reducer are disposed in the mounting cavity. The reducer is connected to the output end of the motor, and the output end of the reducer is connected to a rotating connecting shaft. The end of the rotating connecting shaft away from the reducer is connected to the connecting plate.

2. The independent steering drive wheel as described in claim 1, characterized in that, The steering assembly further includes a rotating flange, a first bearing, and a second bearing. The rotating flange is disposed vertically within the mounting cavity and has a through shaft hole formed vertically. A first stepped groove and a second stepped groove are formed at both ends of the shaft hole, respectively. The first stepped groove is located above the second stepped groove. The outer peripheral wall of the first bearing is engaged in the first stepped groove, and the outer peripheral wall of the second bearing is engaged in the second stepped groove. The inner peripheral walls of both the first bearing and the second bearing are connected to the rotating connecting shaft.

3. The independent steering drive wheel as described in claim 2, characterized in that, The first bearing is a deep groove ball bearing, and the second bearing is an angular contact ball bearing.

4. The independent steering drive wheel as described in claim 3, characterized in that, The steering assembly also includes a rubber oil seal, which is sleeved on the rotating connecting shaft, and the two axial sides of the rubber oil seal respectively abut against the inner wall of the second bearing and the protective shell.

5. The independent steering drive wheel as described in claim 1, characterized in that, The hub assembly also includes a hub clamping plate, and the axial extension end of the hub motor passes through the connecting plate and the hub clamping plate and is fixed by a lock nut.

6. A chassis structure, characterized in that, Including the independent steering drive wheel as described in any one of claims 1 to 5, and A chassis assembly having four mounting portions, each of which is connected to the top of an independent steering drive wheel; An electrical control box is connected to the chassis assembly, and an electrical control component is installed inside the electrical control box.

7. The chassis structure as described in claim 6, characterized in that, The chassis assembly includes a first connecting rod, a second connecting rod, a first fixing plate, and a second fixing plate; The first connecting rod extends along the width direction of the chassis structure, the first fixing plate is disposed on the top of the independent steering drive wheel, and the first connecting rod is connected to a first fixing plate at both ends in the axial direction. The second connecting rod extends along the length of the chassis structure, rests above the first connecting rod, and is fixed to the first connecting rod by the second fixing plate.

8. The chassis structure as described in claim 7, characterized in that, Both the first connecting rod and the second connecting rod are rectangular tubes.

9. The chassis structure as described in claim 7, characterized in that, Each of the independent steering drive wheels is connected to at least two of the first connecting rods at its top, and the first connecting rods are spaced apart along the length of the chassis structure.

10. The chassis structure as described in claim 7, characterized in that, The electrical control box includes a box body and a flip door. The flip door is rotatably connected to the box body and can be flipped open and closed relative to the box body. The box body and the flip door are locked together by a buckle. An emergency switch is provided on the flip door.

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