Steerable drive wheel assembly, chassis apparatus, movement device, and adjustment method

Abstract

A steerable drive wheel assembly (100), comprising a base (1), a suspension system (2), a wheel set (3), a pushing driving assembly (4), and a pushing member (6). The upper portion of the suspension system (2) is connected to the base (1); the wheel set (3) is rotatably mounted at the lower portion of the suspension system (2); and the base (1) can elastically move up and down relative to the wheel set (3) under the action of the suspension system (2). The pushing driving assembly (4) is connected to the base (1); the pushing member (6) is connected to the pushing driving assembly (4); the pushing driving assembly (4) is used for driving the pushing member (6) to move so as to adjust the distance between the pushing member (6) and the wheel set (3); and the pushing member (6) is used for directly or indirectly abutting against the wheel set (3) so as to adjust the up-down displacement of the base (1) relative to the wheel set (3). The steerable drive wheel assembly (100) has good adaptability to complex road conditions, and can prevent, when a movement device is stationary, the center of gravity from shifting, ensuring the precision and stability of operation of robots, etc. Further comprised are a chassis apparatus, a movement device, and an adjustment method.

Description

Steering wheel assembly, chassis assembly, moving equipment and adjustment method

[0001] This application claims priority to Chinese Patent Application No. 202410502540.3, filed on April 24, 2024, entitled "Steering wheel assembly, chassis device, mobile device and adjustment method", the entire contents of which are incorporated herein by reference.

[0002] This application claims priority to Chinese Patent Application No. 202420869500.8, filed on April 24, 2024, entitled "Steering wheel assembly, chassis assembly and mobile equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to the field of chassis technology, specifically to a steering wheel assembly, a chassis device, a mobile device, and an adjustment method. Background Technology

[0004] In recent years, with the rapid development of artificial intelligence, intelligent robots capable of semi-autonomous or fully autonomous operation have been increasingly applied in more work environments. Automated Guided Vehicles (AGVs), as a current type of robot, meet the need for transporting goods along pre-defined routes.

[0005] To enable automated guided vehicles (AGVs) to adapt to complex road conditions, most existing AGV chassis are steering wheel chassis. The steering wheel chassis includes multiple independent steering wheel units, each of which has the freedom to move in the vertical direction. This allows them to compensate for certain height differences when traversing uneven road surfaces, ensuring that each wheel has good traction.

[0006] However, when the automated guided vehicle is stationary, the movement of its robotic arms, slides, and other components can cause the overall center of gravity to shift. This can lead to a decrease in the suspension height of the steering wheel on the side closer to the center of gravity, causing the vehicle to tilt or sway, and in severe cases, even fall over. This seriously affects the robot's working accuracy, stability, and safety. Summary of the Invention

[0007] The present invention aims to at least partially solve one of the technical problems in the related art.

[0008] To address this, this invention proposes a steering wheel assembly that is adaptable to complex road conditions and can prevent center of gravity shift when stationary, thus ensuring the accuracy and stability of robot operations.

[0009] The present invention also proposes a chassis device including the above-described steering wheel assembly.

[0010] This invention also proposes a mobile device including the aforementioned chassis device.

[0011] The present invention also proposes an adjustment method based on the above-mentioned chassis device or mobile device.

[0012] The steering wheel assembly of this invention includes:

[0013] Base;

[0014] The suspension system and wheelset are provided, wherein the upper part of the suspension system is connected to the base, the wheelset is rotatably mounted on the lower part of the suspension system, and the base can move up and down elastically relative to the wheelset under the action of the suspension system.

[0015] A push-drive assembly and a push member are provided. The push-drive assembly is connected to the base, and the push member is connected to the push-drive assembly. The push-drive assembly is used to drive the push member to move in order to adjust the distance between the push member and the wheel set. The push member is used to directly or indirectly abut against the wheel set in order to adjust the vertical displacement of the base relative to the wheel set.

[0016] In some embodiments, the push drive assembly includes a push drive and a transmission member. The push drive is disposed on the top side of the base, and the transmission member is connected between the push drive and the push member to drive the push member to move via the push drive.

[0017] In some embodiments, the wheel assembly includes a wheel and an axle, and the jacking member is configured to abut against at least one of the wheel, the axle, and a portion of the suspension system after being driven downward a predetermined distance by the jacking drive assembly.

[0018] In some embodiments, the wheel assembly includes a wheel and an axle, the wheel being rotatably mounted to the suspension system via the axle, and the pusher directly abutting the wheel.

[0019] In some embodiments, the suspension system includes a connector rotatably connected to the base to make the circumferential orientation of the wheel assembly adjustable, and a pusher movably mounted to the base and movable up and down relative to the base and the connector.

[0020] In some embodiments, the pusher is movably fitted within the connector, the connector and the pusher are coaxially arranged and both extend in the vertical direction, and the axis of the pusher intersects the axis of the wheel axle of the wheel assembly.

[0021] In some embodiments, a rotation drive assembly is included, the rotation drive assembly including a rotation drive and a transmission mechanism, the rotation drive being disposed on the base, and the transmission mechanism being connected between the rotation drive and the connector to drive the connector to rotate when the rotation drive is activated.

[0022] In some embodiments, the base has an inner cavity, the connector passes through the inner cavity, one end of the connector is rotatably assembled with the base on the top side of the inner cavity, the other end of the connector is rotatably assembled with the base on the bottom side of the inner cavity, the rotation drive is suspended below the base, and the transmission mechanism is located inside the inner cavity;

[0023] And / or, the rotation drive assembly, the base, the suspension system, and the wheel assembly are integrated into one unit.

[0024] In some embodiments, the suspension system includes:

[0025] The suspension system includes an upper hinge and a lower hinge, with the upper hinge located above the lower hinge. The wheel assembly is rotatably connected to the lower hinge. The pusher passes through the upper hinge, and one end of the upper hinge and one end of the lower hinge are rotatably connected so that the suspension system can achieve elastic up-and-down movement of the wheel assembly by opening and closing the upper and lower hinges.

[0026] A shock absorber, one end of which is connected to the upper hinge and the other end of which is connected to the lower hinge, is used to buffer the opening and closing action of the upper and lower hinges.

[0027] In some embodiments, the lower hinge has a mounting hole that extends through the lower hinge in a vertical direction, the wheel assembly fits into the mounting hole, and the wheel axle of the wheel assembly is connected to the middle of the lower hinge.

[0028] In some embodiments, the wheel assembly includes a hub motor, the hub motor including two coaxially arranged output shafts, one of the output shafts being rotatably mounted to the lower hinge on one side of the mounting hole, and the other output shaft being rotatably mounted to the lower hinge on the other side of the mounting hole.

[0029] In some embodiments, the upper hinge and the lower hinge have a plane of symmetry arranged perpendicular to the output shaft, and the axis of the shock absorber is located on the plane of symmetry;

[0030] And / or, the shock absorber is provided with at least one.

[0031] The chassis device of this invention includes a base plate and a plurality of steering wheel assemblies as described in any of the above embodiments, wherein the base of each steering wheel assembly is connected to the base plate.

[0032] In some embodiments, the number of steering wheel assemblies is 1, 2, 3, 4 or 6.

[0033] In some embodiments, a sensor is included for measuring the tilt angle of the chassis assembly and adjusting the downward movement of the jacking member based on the tilt angle.

[0034] The chassis device of this invention includes a base plate and at least one steering wheel assembly as described in any of the above embodiments. The base of the steering wheel assembly is connected to the base plate, and the push drive component of each steering wheel assembly is detachably connected to the base plate and the base.

[0035] The mobile device of this invention includes the chassis device as described in any of the above embodiments.

[0036] The adjustment method of this invention includes the following steps:

[0037] The tilt angle of the chassis is detected using sensors.

[0038] The tilt angle is used to determine whether the chassis is level. If not, a height adjustment signal for the steering wheel assembly is output.

[0039] The jacking drive assembly adjusts the jacking component to move up and down according to the height adjustment signal, so that the jacking component directly or indirectly abuts against the wheel set, and adjusts the height of the corresponding base.

[0040] Beneficial effects: The steering wheel assembly, chassis device and mobile device of the present invention can compensate for the height difference of uneven road surface when driving, have good adaptability to complex road conditions, and also ensure that each wheel has a good grip effect.

[0041] Secondly, when stationary, the jacking component can act on the wheel assembly, and the reaction force of the ground and the wheel assembly can be used to adjust the height of the corresponding base, thereby avoiding the overall center of gravity shift and thus avoiding tilting or swaying, ensuring the robot's working accuracy and stability.

[0042] After reading and understanding the accompanying diagrams and detailed descriptions, the other aspects can be understood. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0044] Figure 1 is a schematic diagram of the overall structure of the steering wheel assembly according to an embodiment of the present invention;

[0045] Figure 2 is an exploded view of the steering wheel assembly according to an embodiment of the present invention;

[0046] Figure 3 is a longitudinal sectional view of the steering wheel assembly according to an embodiment of the present invention;

[0047] Figure 4 is a second longitudinal sectional view of the steering wheel assembly according to an embodiment of the present invention;

[0048] Figure 5 is a longitudinal sectional view of the steering wheel assembly according to an embodiment of the present invention.

[0049] Figure 6 is an exploded view of the suspension system according to an embodiment of the present invention;

[0050] Figure 7 is a schematic diagram of the wheel assembly according to an embodiment of the present invention;

[0051] Figure 8 is a schematic diagram of one side of the shock absorber of the suspension system according to an embodiment of the present invention;

[0052] Figure 9 is a perspective view of the chassis device according to an embodiment of the present invention;

[0053] Figure 10 is a schematic diagram of the left side of the chassis device according to an embodiment of the present invention.

[0054] Explanation of reference numerals in the attached drawings: 100-Steering wheel assembly; 1-Base; 11-Inner cavity; 2-Suspension system; 21-Upper hinge; 22-Lower hinge; 221-Mounting hole; 23-Shock absorber; 24-Connector; 3-Wheelset; 31-Wheel; 32-Axle; 321-Outer output shaft; 322-Inner output shaft; 4-Push drive assembly; 41-Push drive; 42-Transmission component; 5-Rotation drive assembly; 51-Rotation drive; 52-Transmission mechanism; 6-Push component; 200-Base plate. Detailed Implementation

[0055] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0056] The steering wheel assembly 100 of this embodiment includes a base 1, a suspension system 2, a wheel set 3, a push drive assembly 4, and a push member 6.

[0057] As shown in Figures 1 and 2, the base 1 can be a hollow structure, such as a tubular structure, or more specifically, a square tube. The base 1 can be formed by welding or stamping steel plates, and the base 1 can extend along the front-back direction, which can refer to the rotation direction of the wheel assembly, such as the forward or backward direction.

[0058] The upper part of the suspension system 2 is connected to the base 1, and the wheel assembly 3 is rotatably mounted on the lower part of the suspension system 2. Under the action of the suspension system 2, the base 1 can move up and down elastically relative to the wheel assembly 3, thereby playing a shock absorption role. For example, the entire suspension system 2 can be located below the base 1, the top side of the suspension system 2 can be connected to the base 1, and the wheel assembly 3 can be wheels 31, which can be rotatably mounted on the lower half of the suspension system 2.

[0059] When driving on uneven roads, the wheel set 3 can move up and down under the action of the suspension system 2, thereby avoiding obstacles, improving the adaptability of the steering wheel assembly 100 to complex road conditions, and ensuring the grip of the wheel set 3.

[0060] The push drive assembly 4 is connected to the base 1, and the push member 6 is connected to the push drive assembly 4. The push drive assembly 4 is used to drive the push member 6 to move in order to adjust the distance between the push member 6 and the wheel set 3. The push member 6 is used to directly or indirectly abut against the wheel set 3 in order to adjust the vertical displacement of the base 1 relative to the wheel set 3.

[0061] For example, as shown in Figure 1, the push drive assembly 4 can be fixed above the base 1, and the push member 6 can be connected and fixed to the drive end of the push drive assembly 4. In use, the push drive assembly 4 can drive the push member 6 to move in the vertical direction, thereby realizing the adjustment of the distance between the push member 6 and the wheel set 3.

[0062] When in motion, as shown in Figure 3, the jacking member 6 can move upward under the action of the jacking drive assembly 4. For example, the jacking member 6 retracts into the base 1. At this time, there is a large distance between the jacking member 6 and the wheel set 3. The gap between the jacking member 6 and the wheel set 3 allows the wheel set 3 to move up and down, thereby meeting the needs of the wheel set 3 to move up and down when passing through complex road surfaces.

[0063] When not in motion, the push drive assembly 4 can be used to drive the push member 6 downward, so that the push member 6 can apply force to the wheel set 3, such as directly abutting against the wheel set 3, as shown in Figure 4. At this time, the bottom end of the push member 6 can directly abut against the wheel of the wheel set 3, thereby achieving a rigid effect between the base 1 and the wheel set 3. Not only can the height of the base be adjusted by the counter thrust of the wheel set, but the wheel of the wheel set 3 can also be pressed and fixed by the push member 6, thereby achieving braking of the wheel set 3.

[0064] Because the wheel assembly 3 applies a reverse action to the base 1 through the pusher 6, the overall height of the base 1 can also be adjusted. When there are multiple steering wheel assemblies 100, this adjustment can correct the level of the chassis device, thereby avoiding the center of gravity shift or tilt of the chassis device, and ensuring the levelness and stability of use.

[0065] It should be noted that, in the driving state, as shown in Figure 5, the push drive assembly 4 can also drive the push member 6 to move down, but the push member 6 does not contact the wheel set 3. At this time, the distance between the push member 6 and the wheel set 3 can be adjusted. When the wheel set 3 moves up and down, the push member 6 can limit the maximum upward displacement of the wheel set 3, thereby adjusting the shock absorption of the wheel set 3 and improving the driving experience.

[0066] In some embodiments, the push drive assembly 4 includes a push drive 41 and a transmission member 42. The push drive 41 is disposed on the top side of the base 1, and the transmission member 42 is connected between the push drive 41 and the push member 6 so as to drive the push member 6 to move through the push drive 41.

[0067] For example, as shown in Figure 2, the push drive assembly 4 can be an electric push rod, where the push drive 41 can be a motor, etc., and the transmission component 42 can be a lead screw, etc. The push drive 41 can be fixed on the top side of the base 1, and the lead screw is connected to the push drive 41 for transmission. The push component 6 can be connected and fixed to the lead screw. In use, the rotation of the motor can drive the lead screw to move up and down, which in turn can drive the push component 6 to move up and down. The transmission method of the lead screw has a stable structure, high precision, and a self-locking function, thus fully meeting the usage requirements of the stop wheel assembly 3.

[0068] In some other embodiments, the jacking drive assembly 4 may also include a hydraulic cylinder, the extension and retraction of which can adjust the displacement of the jacking member 6. In other embodiments, the transmission member 42 may also be a gear rack, worm gear, or the like.

[0069] In some embodiments, as shown in FIG2, the wheel assembly 3 includes a wheel 31 and a wheel axle 32, and the suspension system 2 may include an upper hinge 21 and a lower hinge 22. The upper hinge 21 may be pivotally mounted to the lower hinge 22, and the upper hinge 21 is located above the lower hinge 22. The wheel assembly 3 may be rotatably mounted to the lower hinge 22 via the wheel axle 32.

[0070] The jacking member 6 is used to abut against at least one of the wheel 31, the axle 32, and part of the suspension system 2 after being driven downward a predetermined distance by the jacking drive assembly 4. Specifically, when not in motion, the jacking drive assembly 4 can drive the jacking member 6 to move downward. At this time, the bottom end of the jacking member 6 can abut against the wheel 31 or the axle 32. In some other embodiments, it can also abut against the lower hinge 22. In all these cases, the base 1 and the wheel assembly 3 can be rigidly supported.

[0071] It should be noted that when the lower hinge 22 is stopped, the pusher 6 achieves the stop with the wheel assembly 3 through the lower hinge 22.

[0072] In some embodiments, as shown in FIG4, the wheel set 3 includes a wheel 31 and an axle 32. The wheel 31 is rotatably assembled with the suspension system 2 via the axle 32, and the pusher 6 directly abuts against the wheel 31. Specifically, the pusher 6 abuts against the tire of the wheel 31.

[0073] In some embodiments, the suspension system 2 includes a connector 24, which is rotatably connected to the base 1 to make the circumferential orientation of the wheel assembly 3 adjustable, and a pusher 6 is movably mounted on the base 1 and can move up and down relative to the base 1 and the connector 24.

[0074] For example, as shown in Figure 3, the connecting member 24 can be a circular shaft structure, extending vertically, and can be rotatably assembled with the base 1 via bearings. Two bearings can be provided, with one bearing fitted at each of the upper and lower ends of the connecting member 24, thus ensuring the structural stability of the rotatable assembly with the base 1. This allows the suspension system 2 and the wheel set 3 to rotate around the axis of the connecting member 24, thereby enabling adjustment of the forward direction of the wheel set 3.

[0075] In some embodiments, the pusher 6 is movably fitted within the connector 24, the connector 24 and the pusher 6 are coaxially arranged and both extend in the vertical direction, and the axis of the pusher 6 intersects the axis of the wheel axle 32 of the wheel set 3.

[0076] For example, as shown in Figure 3, the connector 24 is vertically arranged and rotatably assembled to the base 1. The bottom end of the connector 24 can be connected and fixed to the base 1. The connector 24 can be a cylindrical tube, and the pusher 6 is guided and slidably assembled within the inner hole of the connector 24. Thus, the internal space of the connector 24 can be utilized, avoiding the situation where the pusher 6 occupies a lot of extra space when it is independent of the connector 24, improving space utilization and simplifying the structural layout.

[0077] The axis of the connector 24 and the axis of the pusher 6 are both on the same straight line. Since the connector 24 can rotate circumferentially relative to the pusher 6, the structural consistency of the connector 24 in all directions can be ensured, avoiding eccentricity and thus helping to ensure the overall structural strength.

[0078] In some embodiments, as shown in Figures 1 to 3, the steering wheel assembly 100 includes a rotation drive assembly 5, which includes a rotation drive 51 (steering drive) and a transmission mechanism 52. The rotation drive 51 may be directly or indirectly disposed on the base 1, and the transmission mechanism 52 is connected between the rotation drive and the connecting member 24 to drive the connecting member 24 to rotate when the rotation drive is activated. This enables rotational drive of the connecting member 24, allowing the wheel set 3 to adjust its steering or forward direction as needed. The transmission mechanism 52 may include a timing belt, which transmits the steering force of the rotation drive to the connecting member, thereby reducing the requirements for the manufacturing process.

[0079] In some embodiments, the base 1 has an inner cavity 11, the connector 24 passes through the inner cavity 11, one end of the connector 24 is rotatably assembled with the base 1 on the top side of the inner cavity 11, the other end of the connector 24 is rotatably assembled with the base 1 on the bottom side of the inner cavity 11, the rotation drive assembly is suspended below the base 1, and the transmission mechanism 52 is disposed in the inner cavity 11.

[0080] For example, as shown in Figure 3, the base 1 can be generally square tubular, and the inner cavity 11 is the internal space of the base 1. The top end of the connector 24 can be rotatably assembled with the top wall of the base 1 via a bearing, and the bottom end of the connector 24 can be rotatably assembled with the bottom wall of the base 1 via another bearing. The rotation drive can be fixed to the bottom side of the base 1 by screws or the like and located behind the wheel assembly 3. The rotation drive can be a motor, and the motor shaft of the motor can extend into the inner cavity 11.

[0081] The transmission mechanism 52 can be a conveyor belt, which can wrap around the outer periphery of the rotary drive motor shaft and the connecting member 24. When the rotary drive rotates, the conveyor belt can rotate, thereby driving the connecting member 24 to rotate. In some other embodiments, the transmission mechanism 52 can also be a gear rack, worm gear, etc.

[0082] The design of placing the rotation drive below the base 1 and the transmission mechanism 52 inside the inner cavity 11 can enhance the protection function on the one hand, and facilitate the integration of the rotation drive assembly, wheel set 3, suspension system 2 and base 1 on the other hand, which is conducive to the modularization of the design.

[0083] In some embodiments, the rotation drive assembly, base 1, suspension system 2, and wheel set 3 are integrated into one unit. This achieves a modular and integrated design of the overall structure, allowing users to adapt and select the number of steering wheel assemblies 100 to suit their needs.

[0084] In some embodiments, as shown in Figures 2 to 5, the suspension system 2 includes an upper hinge 21, a lower hinge 22, and a shock absorber 23.

[0085] The upper hinge 21 is located above the lower hinge 22. The upper hinge 21 is generally inclined from front-low to rear-up, and the lower hinge 22 is generally inclined from front-up to rear-low. The wheel assembly 3 is rotatably connected to the lower hinge 22, and the pusher 6 passes through the upper hinge 21. For example, as shown in Figure 6, the upper hinge 21 may have a circular through hole, through which the pusher 6 can pass.

[0086] One end of the upper hinge 21 and one end of the lower hinge 22 are rotatably connected so that the suspension system 2 can achieve elastic vertical movement of the wheel assembly 3 by opening and closing the upper hinge 21 and the lower hinge 22. For example, the front ends of the upper hinge 21 and the lower hinge 22 can be pivotally mounted. In use, the upper hinge 21 and the lower hinge 22 can open and close, thereby achieving buffered adjustment of the vertical position of the wheel assembly 3.

[0087] One end of the shock absorber 23 is connected to the upper hinge 21, and the other end is connected to the lower hinge 22. The shock absorber 23 is used to buffer the opening and closing actions of the upper hinge 21 and the lower hinge 22. For example, as shown in Figures 5 and 6, the top end of the shock absorber 23 can be hinged to the rear end of the upper hinge 21, and the bottom end of the shock absorber 23 can be hinged to the rear end of the lower hinge 22. The shock absorber 23 can be a spring-type, hydraulic-type, pneumatic-type, or other type of shock absorber. The shock absorber 23 fulfills the need for cushioning and shock absorption.

[0088] In some embodiments, the axle 32 is mounted at the center of the lower hinge 22 in the front-rear extension direction. For example, the lower hinge 22 is provided with a mounting hole 221 that extends through the lower hinge 22 in the vertical direction, the wheel set 3 is fitted into the mounting hole 221, and the axle 32 of the wheel set 3 is connected to the center of the lower hinge 22.

[0089] For example, as shown in Figure 6, the mounting hole 221 can be an elongated hole, located in the middle of the lower hinge 22, and the length direction of the mounting hole 221 is consistent with the extension direction of the lower hinge 22. During assembly, the wheel 31 is mounted in the mounting hole 221, and there is a clearance fit between the wheel 31 and the lower hinge 22. The two ends of the axle 32 are rotatably mounted to the left and right lower hinges 22, respectively.

[0090] Therefore, on the one hand, it serves to hide the wheel set 3, thereby protecting the wheel set 3; on the other hand, it also allows the assembled wheel set 3 to be located roughly in the middle of the suspension system 2, thereby improving the symmetry and stability of the overall structure and enhancing its load-bearing capacity.

[0091] In some embodiments, wheel assembly 3 can be a drive wheel assembly. For example, as shown in FIG7, wheel assembly 3 includes a hub motor that drives the wheel forward or backward. Further, the hub motor may include two coaxially arranged output shafts, namely an outer output shaft 321 and an inner output shaft 322 (the aforementioned wheel axle 32 includes these two output shafts), and the lower hinge 22 may include inner and outer parts. In this case, one of the output shafts (outer output shaft 321) can be rotatably assembled with one side part (outer part) of the lower hinge 22, for example, rotatably assembled with the lower hinge 22 on one side of the mounting hole 221, while the other output shaft (inner output shaft 322) can be rotatably assembled with the other side part (inner part) of the lower hinge 22, for example, rotatably assembled with the lower hinge 22 on the other side of the mounting hole 221. The dual output shaft design enables structural symmetry and enhances the load-bearing capacity of wheel assembly 3. Compared with the traditional geared motor drive used for drive wheels, the hub motor driven wheel assembly has a simpler structure, higher integration, and is smaller and more flexible.

[0092] In some embodiments, a magnetic encoder may be provided on the side of the hub motor. This magnetic encoder can be used to measure parameters related to the actual rotational speed of the wheel, thereby enabling the hub motor to drive the wheel to rotate more effectively.

[0093] In some embodiments, as shown in FIG8, the upper hinge 21 and the lower hinge 22 have a symmetrical plane arranged perpendicular to the output shaft. The symmetrical plane can be a vertical plane, and both the upper hinge 21 and the lower hinge 22 can be arranged symmetrically about this symmetrical plane. The axis of the shock absorber 23 is located on the symmetrical plane. This makes the suspension system 2 a symmetrical structure as a whole, ensuring the stability of the structure and the consistency of forces in all directions.

[0094] In some embodiments, at least one shock absorber 23 is provided. For example, as shown in FIG8, only one shock absorber 23 may be installed between the upper hinge 21 and the lower hinge 22. In other embodiments, two, three, four, or other types of shock absorbers 23 may be provided. The types of shock absorbers 23 may be the same or different. In the case of two shock absorbers, the position of each shock absorber may correspond to the inner and outer portions of the lower hinge, respectively.

[0095] The chassis device according to an embodiment of the present invention is described below.

[0096] The chassis device of this invention includes a base plate 200 and a plurality of steering wheel assemblies 100 as described in any of the above embodiments, wherein the base 1 of each steering wheel assembly 100 is connected to the base plate 200. The plurality of steering wheel assemblies 100 can be mounted on the base plate 200, for example, most of the components can be mounted below the base plate 200, and the position and number of the plurality of steering wheel assemblies 100 can be selectively adjusted according to actual usage needs.

[0097] In some embodiments, the number of steering wheel assemblies 100 is 1, 2, 3, 4 or 6. When there is only one steering wheel assembly 100, some driven wheels or casters can be added to the outer periphery of the base plate 200 to enhance the stability of use.

[0098] In some embodiments, the chassis assembly includes a sensor, specifically a gyroscope or the like, which measures the tilt angle (degree of tilt) of the chassis assembly and adjusts the downward movement of the pusher 6 according to the tilt angle. The sensor facilitates the detection of the tilt angle of the base plate 200 and provides data reference for adjusting the pusher 6 of the corresponding steering wheel assembly 100.

[0099] The chassis device according to another embodiment of the present invention is described below.

[0100] The chassis device of this invention includes a base plate 200 and at least one steering wheel assembly 100 as described in any of the above embodiments. The base 1 of the steering wheel assembly 100 is connected to the base plate 200, and the push drive component 4 of each steering wheel assembly 100 is detachably connected to the base plate 200 and the base 1. For example, the base plate 200 is installed between the base and the push drive in the steering wheel assembly 100. Components other than the push drive (such as wheel sets, suspension systems, rotation drives, etc.) in a steering wheel assembly can be integrated. After the push drive is removed, the base plate 200 can be easily replaced.

[0101] More specifically, for example, as shown in Figures 9 and 10, the base plate 200 can be a rectangular plate, and four steering wheel assemblies 100 can be provided. All four steering wheel assemblies 100 are generally located below the base plate 200. The base 1 of each steering wheel assembly 100 can be installed on the underside of the base plate 200 using screws or other fasteners, and the four steering wheel assemblies 100 can be located at the four corners of the base plate 200. The base plate 200 can have multiple mounting holes, and the push-drive component 4 of each steering wheel assembly 100 can fit into the corresponding mounting hole.

[0102] It should be noted that the push drive assembly 4 of each steering wheel assembly 100 can be detachably assembled with the base plate 200 and the base 1. For example, it can be fixed in place by fasteners. This provides operational convenience for inspection, maintenance, and custom installation design.

[0103] In some embodiments, as shown in FIG10, the steering wheel assembly 100 on the front side of the base plate 200 can be arranged symmetrically with the steering wheel assembly 100 on the rear side of the base plate 200. This allows the rotation drive component to be located within the space area enclosed by the multiple wheel sets 3, thereby providing a concealed and protective function.

[0104] In some embodiments, the chassis device of each embodiment may further include a control circuit board, which may be connected to one or more of a hub motor, a push drive, a rotation drive, and a magnetic encoder to control the operation of the corresponding components.

[0105] The following describes a mobile device according to an embodiment of the present invention.

[0106] The mobile device in this embodiment of the invention includes a chassis device, which can be the chassis device described in any of the above embodiments. The mobile device can be a mobile robot, a vehicle, or other equipment that needs to move independently.

[0107] The following describes the adjustment method of the chassis device according to an embodiment of the present invention.

[0108] The chassis device adjustment method of this invention includes the following steps:

[0109] S1: The tilt angle of the chassis is detected using a sensor. For example, the sensor can be a gyroscope sensor, which can be mounted on the aforementioned base plate 200. When the base plate 200 tilts, the sensor will automatically detect the corresponding tilt angle.

[0110] S2: Determine whether the chassis device is level based on the tilt angle. If not, output a height adjustment signal of 100 for the steering wheel assembly.

[0111] For example, when the mobile device is stationary (not in motion), the degree of tilt of the chassis can be determined based on the detected tilt angle. If the analysis shows no tilt or the tilt angle is within the allowable range, no action needs to be taken. If the analysis indicates a severe tilt angle, a corresponding height adjustment signal can be output to the steering wheel assembly that needs adjustment.

[0112] S3: The push drive assembly 4 adjusts the push member 6 of the steering wheel assembly to move up and down according to the height adjustment signal, so that the push member 6 directly or indirectly abuts against the wheel group 3 and adjusts the height of the corresponding base 1.

[0113] Specifically, after determining the degree of tilt based on the aforementioned monitored tilt angle, the control circuit board can receive and analyze the sensor signals and output control signals to operate the push drive component 4 of the corresponding steering wheel assembly 100 (which can be considered as the steering wheel assembly 100 at a lower position of the base plate 200). This allows the corresponding push component 6 to move downward. Once adjusted to the correct position, the push component 6 will provide rigid support between the corresponding wheel set 3 and the base 1, thereby lifting the base 1 and readjusting the base plate 200 to a horizontal position, thus avoiding situations where the base plate 200 has a large tilt angle when stationary.

[0114] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0115] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0116] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0117] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0118] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0119] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A steering wheel assembly, characterized in that, include: Base; The suspension system and wheelset are provided, wherein the upper part of the suspension system is connected to the base, the wheelset is rotatably mounted on the lower part of the suspension system, and the base can move up and down elastically relative to the wheelset under the action of the suspension system. A push-drive assembly and a push member are provided. The push-drive assembly is connected to the base, and the push member is connected to the push-drive assembly. The push-drive assembly is used to drive the push member to move in order to adjust the distance between the push member and the wheel set. The push member is used to directly or indirectly abut against the wheel set in order to adjust the vertical displacement of the base relative to the wheel set.

2. The steering wheel assembly according to claim 1, characterized in that, The push drive assembly includes a push drive and a transmission component. The push drive is located on the top side of the base, and the transmission component is connected between the push drive and the push component to drive the push component to move via the push drive.

3. The steering wheel assembly according to claim 1, characterized in that, The wheel assembly includes a wheel and an axle, and the jacking member is used to abut against at least one of the wheel, the axle, and a portion of the suspension system after being driven downward a predetermined distance by the jacking drive assembly.

4. The steering wheel assembly according to claim 1, characterized in that, The wheel assembly includes a wheel and an axle. The wheel is rotatably mounted to the suspension system via the axle, and the pusher is used to directly abut against the wheel.

5. The steering wheel assembly according to claim 1, characterized in that, The suspension system includes a connector that is rotatably connected to the base to make the circumferential orientation of the wheel assembly adjustable, and a pusher that is movably mounted on the base and can move up and down relative to the base and the connector.

6. The steering wheel assembly according to claim 5, characterized in that, The pusher is movably fitted into the connector. The connector and the pusher are coaxially arranged and both extend in the vertical direction. The axis of the pusher intersects with the axis of the wheel axle of the wheel assembly.

7. The steering wheel assembly according to claim 5, characterized in that, The system includes a rotation drive assembly, which comprises a rotation drive and a transmission mechanism. The rotation drive is disposed on the base, and the transmission mechanism is connected between the rotation drive and the connecting member to drive the connecting member to rotate when the rotation drive is activated.

8. The steering wheel assembly according to claim 7, characterized in that, The base has an inner cavity, the connector passes through the inner cavity, one end of the connector is rotatably assembled with the base on the top side of the inner cavity, the other end of the connector is rotatably assembled with the base on the bottom side of the inner cavity, the rotation drive is suspended below the base, and the transmission mechanism is located inside the inner cavity; And / or, the rotation drive assembly, the base, the suspension system, and the wheel assembly are integrated into one unit.

9. The steering wheel assembly according to any one of claims 1-8, characterized in that, The suspension system includes: The suspension system includes an upper hinge and a lower hinge, with the upper hinge located above the lower hinge. The wheel assembly is rotatably connected to the lower hinge. The pusher passes through the upper hinge, and one end of the upper hinge and one end of the lower hinge are rotatably connected so that the suspension system can achieve elastic up-and-down movement of the wheel assembly by opening and closing the upper and lower hinges. A shock absorber, one end of which is connected to the upper hinge and the other end of which is connected to the lower hinge, is used to buffer the opening and closing action of the upper and lower hinges.

10. The steering wheel assembly according to claim 9, characterized in that, The lower hinge is provided with an assembly hole that extends through the lower hinge in the vertical direction. The wheel assembly fits into the assembly hole, and the wheel axle of the wheel assembly is connected to the middle of the lower hinge.

11. The steering wheel assembly according to claim 9, characterized in that, The wheel assembly includes a hub motor, which includes two coaxially arranged output shafts. One of the output shafts is rotatably mounted to the lower hinge on one side of the mounting hole, and the other output shaft is rotatably mounted to the lower hinge on the other side of the mounting hole.

12. The steering wheel assembly according to claim 11, characterized in that, The upper hinge and the lower hinge have a plane of symmetry arranged perpendicular to the output shaft, and the axis of the shock absorber is located on the plane of symmetry; And / or, the shock absorber is provided with at least one.

13. A chassis device, characterized in that, It includes a base plate and a plurality of steering wheel assemblies as described in any one of claims 1-12, wherein the base of each steering wheel assembly is connected to the base plate.

14. The chassis device according to claim 13, characterized in that, The number of steering wheel assemblies is 1, 2, 3, 4 or 6.

15. The chassis device according to claim 13, characterized in that, It includes a sensor for measuring the tilt angle of the chassis assembly and adjusting the downward movement of the jacking member according to the tilt angle.

16. A chassis device, characterized in that, It includes a base plate and at least one steering wheel assembly as described in any one of claims 1-12, wherein the base of the steering wheel assembly is connected to the base plate, and the push drive component of each steering wheel assembly is detachably connected to the base plate and the base.

17. A mobile device, characterized in that, Includes the chassis assembly as described in any one of claims 13 to 16 above.

18. A method for adjusting a chassis device based on any one of claims 13 to 17, characterized in that, Includes the following steps: The tilt angle of the chassis is detected using sensors. The tilt angle is used to determine whether the chassis is level. If not, a height adjustment signal for the steering wheel assembly is output. The push drive assembly adjusts the pusher of the steering wheel assembly to move up and down according to the height adjustment signal, so that the pusher directly or indirectly abuts against the wheel assembly and adjusts the height of the corresponding base.

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