CN118358284A - Multifunctional omnidirectional intelligent mobile chassis - Google Patents

Abstract

The invention discloses a multifunctional omni-directional intelligent mobile chassis, which relates to the field of mobile vehicles and comprises a chassis and four groups of Mecanum wheel assemblies arranged on the chassis, wherein each Mecanum wheel assembly comprises a wheel body, a plurality of roller assemblies arranged on the wheel body and first magnetic pieces arranged on one side of the wheel body, the first magnetic pieces are used for attracting the roller assemblies to be separated from the wheel body, the wheel body is provided with second magnetic pieces which are matched with the roller assemblies one by one, and the second magnetic pieces are used for fixing the roller assemblies and attracting the roller assemblies to be separated from the first magnetic pieces; the intelligent mechanical equipment of the Mecanum wheel is used for solving the problems that the Mecanum wheel is blocked when the intelligent mechanical equipment of the Mecanum wheel is used for working on the earth in the prior art, and the movement and the steering of the equipment are blocked.

Description

Multifunctional omnidirectional intelligent mobile chassis

Technical Field

The invention relates to the field of mobile vehicles, in particular to a multifunctional omni-directional intelligent mobile chassis.

Background

The Mecanum wheel is a wheel hub for omnibearing movement, and the omnibearing movement mode is based on the principle that a central wheel with a plurality of wheel shafts positioned at the periphery of the wheel is adopted, and the angled peripheral wheel shafts convert part of steering force of the wheel to normal force of the wheel, and depending on the direction and speed of the respective wheel, the final combination of the forces generates a resultant force vector in any required direction so as to ensure that the base can freely move in the direction of the final resultant force vector without changing the direction of the wheel, and 4 novel wheels are combined so as to realize the omnibearing movement function more flexibly and conveniently.

In the agricultural field, adopt mechanical automation to sow, fertilize and gather etc. trend, because crops of planting are mostly multirow, intelligent mechanical equipment can frequently turn to when getting into wherein, reduce work efficiency, consequently, utilize the Mecanum wheel can turn to the removal under the prerequisite of not rotating equipment chassis, can effectively improve the work efficiency of equipment, when the equipment of installing Mecanum wheel works in the earth, cubic debris such as soil imbeds between two adjacent Mecanum wheels easily, tiny sand soil and weeds are in the bearing of easy entering Mecanum wheel such as easy, cause Mecanum wheel's rotation to be blocked, influence the removal and the turning to of intelligent mechanical equipment.

Disclosure of Invention

The invention provides a multifunctional omni-directional intelligent mobile chassis, which aims to solve the problems that in the prior art, when intelligent mechanical equipment adopting Mecanum wheels works on the earth, the Mecanum wheels are blocked, so that the movement and steering of the equipment are blocked.

In order to achieve the above object, the present invention provides the following solutions:

The utility model provides a multi-functional qxcomm technology formula intelligence removes chassis, including chassis and four group install in the microphone wheel subassembly on the chassis, microphone wheel subassembly include the wheel body, a plurality of install in cylinder subassembly on the wheel body with install in first magnetic part of wheel body one side, first magnetic part be used for with the cylinder subassembly attracts to break away from the wheel body, be equipped with on the wheel body with the second magnetic part of above-mentioned cylinder subassembly one-to-one, the second magnetic part is used for fixing the cylinder subassembly, and will the cylinder subassembly attracts to break away from first magnetic part.

According to the invention, the roller assemblies are independently arranged, the first magnetic parts fix the roller assemblies to form the Mecanum wheel structure, when the roller assemblies blocked in rotation are detected to move to the replacement point, the replacement point is the highest point of the roller assemblies, the first magnetic parts corresponding to the roller assemblies are closed and adsorbed, the second magnetic parts corresponding to the positions are started to attract the roller assemblies and separate from the wheel bodies, so that larger gaps are reserved on the wheel bodies, soil, sundries and the like clamped between the corresponding roller assemblies and the adjacent roller assemblies are dropped, then the first magnetic parts are restarted, the second magnetic parts corresponding to the roller assemblies are closed and adsorbed, the roller assemblies are adsorbed to the gaps of the wheel bodies again through the attractive force of the first magnetic parts, so that the problem of blocking of soil is cleaned immediately, and the problem of chassis steering blocking caused by unsmooth rolling of the roller assemblies is avoided.

Further, the first magnetic part comprises an arc-shaped track coaxial with the wheel body and a plurality of sliding magnetic parts, and a plurality of spare roller assemblies are adsorbed on the sliding magnetic parts.

Because the chassis is in the state of circular motion when removing, the second magnetic part is absorbed the back with the cylinder subassembly, and the rethread first magnetic part is difficult to the same time with the cylinder subassembly is absorbed back on the wheel body, consequently adopts the orbital mode of arc to transport the cylinder subassembly, when lacking the space of cylinder subassembly and pass through the position of predetermineeing, will be in the reserve cylinder subassembly of predetermineeing the position to corresponding space department through first magnetic part, accomplish the equipment for the Mecanum wheel remains intact.

Further, the first magnetic part further comprises a roller groove located at one side of the lower end of the arc-shaped track, which is close to the wheel body, and the roller groove is arranged towards the wheel body.

The roller groove is a preset position for storing the standby roller assembly, so that the standby roller assembly is conveniently placed in advance, and the first magnetic piece is conveniently sucked.

Further, still including install in the detection component of arc track one side, detection component includes along spare cylinder subassembly direction of movement installs in proper order poke rod and rotation speed sensor, poke rod end is located on the travel path of spare cylinder subassembly, rotation speed sensor is used for detecting whether spare cylinder subassembly rotates.

Because the roller assembly has the dead condition of pivot card, lead to the unable reuse of roller assembly, consequently, when arc track transported roller assembly, the roller assembly passed through the poking rod, and poking rod provides a turning force to the cylinder, then detects whether the roller assembly normally rotates through rotation speed sensor, and the dead roller assembly of identification of being convenient for prevents that it from being used by the secondary.

Further, the wheel body is provided with a plurality of limiting grooves, the roller assembly comprises a rotating shaft, a roller rotationally connected with the rotating shaft and limiting blocks arranged at two ends of the rotating shaft, and the limiting blocks are embedded into the limiting grooves.

The spacing groove matches with the stopper, is convenient for fix a position the position of cylinder subassembly on the wheel body to, because the axis of rotation of the cylinder subassembly on the Mecanum wheel is nonparallel with the axis of rotation of wheel body, consequently, through the mode that two stoppers at pivot both ends match with two spacing grooves respectively, the installation angle of the adjustment cylinder subassembly of being convenient for.

Further, the second magnetic piece comprises two magnetic attraction parts, the magnetic attraction parts are located at the bottoms of the limiting grooves, and the magnetic attraction parts are used for attracting the limiting blocks.

The magnetic attraction parts are in one-to-one correspondence with the limiting blocks, and the magnetic attraction parts located at the bottoms of the limiting grooves can adsorb the limiting blocks to the bottoms of the limiting grooves, so that the limiting blocks are limited conveniently.

Further, the limit grooves are uniformly distributed along the edges of the two ends of the wheel body, and a gap exists between two adjacent limit grooves; the side of the wheel body, which is close to the roller assembly, is provided with an inclined plane, the inclined plane is continuous with the end face of the wheel body through the gap, and the inclined plane is inclined from the side face of the wheel body to the end face of the wheel body.

Because the roller assembly erects on the edge at wheel body both ends, when the mud piece etc. of centre gripping on the roller assembly drops, can drop the side of wheel body, then drop down along the side of wheel body between two other roller assemblies, lead to the secondary card to die, in order to solve this problem, establish the wheel body side as the inclined plane for the earth that drops the side of wheel body is fast along the inclined plane gliding, then passes through from the clearance, drops from the both ends of wheel body.

Further, the infrared sensor is installed on the chassis, the infrared sensor emits infrared rays towards a gap between two adjacent roller assemblies closest to the infrared sensor on the wheel body, and the infrared sensor is in signal connection with the control centers of the first magnetic piece and the second magnetic piece.

Whether have debris such as earth fast between two cylinder subassemblies in advance through infrared sensor, when judging to have debris, just take off corresponding cylinder subassembly through this device, reach the quick purpose of accurate clearance earth, the pertinence is handled the card and is died, has improved cleaning efficiency.

Further, the first magnetic piece and the second magnetic piece are electromagnets. The electromagnet can better control the magnetic size and whether the electromagnet has magnetism, and can better enable the roller assembly to be adsorbed and separated.

Further, be equipped with thrust elastic component on the spacing groove inside wall, be equipped with the push pedal on the thrust elastic component, spacing groove notch inboard is established to the fillet, the spacing groove is kept away from the one end of wheel body is equipped with the baffle, the baffle upper end is close to one side of spacing groove is established to the fillet, the stopper is established to the structure that the terminal surface is regular hexagon, the lateral wall and the baffle of spacing groove are made by magnetism insulating material.

In order to let the stopper correctly imbed the spacing inslot, guide through the fillet of spacing groove notch, rethread thrust elastic component and push pedal increase the maximum width of spacing groove for the stopper can imbed the spacing inslot, establishes the stopper to the terminal surface for regular hexagon's structure simultaneously, reduces the probability of stopper card at the spacing groove notch, can also remain the spacing groove simultaneously and spacing to the side direction of stopper.

The one or more technical schemes provided by the invention have at least the following technical effects or advantages:

(1) According to the invention, the roller components are independently arranged, the first magnetic piece is used for fixing the roller components to form the Mecanum wheel structure, and the second magnetic piece is used for attracting the roller components to and separating from the wheel body, so that a larger gap is reserved on the wheel body, and the aim of cleaning soil and sundries clamped between the roller components is fulfilled;

(2) The device can timely complement the Mecanum wheel through the arc-shaped track and the spare roller assembly;

(3) Whether the rotating shaft of the roller assembly is blocked or not is detected by the detection assembly, so that the blocked roller assembly is prevented from being used by the device for the second time;

(4) Whether impurities such as soil are fast exist between two roller assemblies or not is detected in advance through the infrared sensor, the purpose of accurately cleaning the soil is fast is achieved, the clamping is processed in a targeted mode, and the cleaning efficiency is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention;

FIG. 1 is a schematic view of the structure of a chassis with a Mecanum wheel mounted thereon;

FIG. 2 is a front view of a wheel body structure in accordance with an embodiment of the present invention;

FIG. 3 is a schematic view of a wheel body and a bevel structure according to the present invention;

FIG. 4 is a schematic view of a drum assembly according to the present invention;

FIG. 5 is a schematic diagram of a limiting groove structure in the present invention;

The novel wheel comprises a 1-chassis, a 2-Mecanum wheel assembly, a 3-wheel body, a 301-limit groove, a 302-gap, a 303-inclined plane, a 304-thrust elastic piece, a 305-push plate, a 306-round angle, a 4-roller assembly, a 401-limit block, a 402-rotating shaft, a 403-roller, a 501-arc track, a 502-sliding magnetic piece, a 503-standby roller assembly, a 504-roller groove, a 6-second magnetic piece, a 701-toggle rod and a 702-rotating speed sensor.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. In addition, the embodiments of the present invention and the features in the embodiments may be combined with each other without collision.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than within the scope of the description, and therefore the scope of the invention is not limited to the specific embodiments disclosed below.

Example 1

The embodiment provides a multifunctional omni-directional intelligent mobile chassis, as shown in fig. 1-5, comprising a chassis 1 and four groups of Mecanum wheel assemblies 2 installed on the chassis 1, wherein the Mecanum wheel assemblies 2 comprise a wheel body 3, a plurality of roller assemblies 4 installed on the wheel body 3 and first magnetic pieces installed on one side of the wheel body 3, the first magnetic pieces are used for attracting the roller assemblies 4 to be separated from the wheel body 3, the wheel body 3 is provided with second magnetic pieces 6 which are matched with the roller assemblies 4 one by one, and the second magnetic pieces 6 are used for fixing the roller assemblies 4 and attracting the roller assemblies 4 to be separated from the first magnetic pieces.

The mecanum wheel assembly 2 is formed by adopting an existing mecanum wheel and an existing installation mode of the mecanum wheel, a control mode for controlling the mecanum wheel assembly 2 to realize omnidirectional movement is also realized by adopting the prior art, the number of the roller assemblies 4 is determined according to the size of the mecanum wheel assembly and the size of the wheel body 3, the design requirement of the mecanum wheel is required to be met, the first magnetic part adopts an electromagnet, the attraction force of the electromagnet can attract the roller assembly 4 closest to the first magnetic part and can not attract the roller assemblies 4 on two sides of the target roller assembly 4, and the second magnetic part 6 also adopts the electromagnet and can attract the roller assemblies 4 attracted by the first magnetic part.

In a more preferred embodiment, the first magnetic member includes an arc-shaped track 501 coaxial with the wheel body 3 and a plurality of sliding magnetic members 502, and a plurality of spare roller assemblies 503 are adsorbed on the sliding magnetic members 502.

The arc-shaped track 501 is positioned above the wheel body 3, a section of the arc-shaped track extends towards two sides of the wheel body 3, the number of the sliding magnetic pieces 502 is arbitrary, the length of the sliding magnetic pieces 502 is preferably longer than that of the limiting block 401, the sliding magnetic pieces 502 slide on the arc-shaped track 501, and the sliding magnetic pieces 502 are preferably composed of a plurality of magnetic attraction blocks, so that the sliding magnetic pieces can conveniently pass through the end points of the arc-shaped track 501; the number of spare roller assemblies 503 is determined according to the user's requirement, preferably less than the number of sliding magnetic pieces 502, because one roller assembly 4 includes two limiting blocks 401, the arc-shaped track 501 is provided with two groups of tracks, and the number of sliding magnetic pieces 502 on each group of tracks is equal, the two ends of the same roller assembly 4 are respectively adsorbed, and the positions of the two sliding magnetic pieces 502 used for adsorbing the two ends of the same roller assembly 4 are consistent with the positions of the roller assembly 4 on the wheel body 3.

In a more preferred embodiment, the first magnetic member further includes a roller groove 504 located at a side of the lower end of the arc-shaped rail 501 near the wheel body 3, and the roller groove 504 is disposed toward the wheel body 3.

The width of the roller slot 504 is greater than or equal to the width of the limiting block 401, the distance between the roller slot 504 and the nearest second magnetic member 6 is smaller than the maximum magnetic attraction radius of the second magnetic member 6, and the spare roller assembly 503 on the roller slot 504 can be attracted by the nearest second magnetic member 6, and because the installation position of the roller assembly 4 on the wheel body 3 is inclined, as shown in fig. 1, the roller slot 504 needs to be parallel to the rotating shaft of the nearest roller assembly 4 on the wheel body 3, and the side wall of the roller slot 504 close to one side of the wheel body 3 is inclined, so that the spare roller assembly 503 in the roller slot 504 is attracted by the second magnetic member 6.

In a more preferred embodiment, the device further comprises a detection assembly mounted on one side of the arc-shaped track 501, the detection assembly comprises a poking rod 701 and a rotation speed sensor 702 which are sequentially mounted along the moving direction of the spare roller assembly 503, the tail end of the poking rod 701 is located on the moving path of the spare roller assembly 503, and the rotation speed sensor 702 is used for detecting whether the spare roller assembly 503 rotates.

Wherein the detection component is positioned between the arc-shaped track 501 and the wheel body 3 and above the roller groove 504; since the wheel body 3 has two rotation modes of forward rotation and reverse rotation, the arc-shaped track 501 also has two transmission modes of forward rotation and reverse rotation, and is preferably synchronous with the rotation direction of the wheel body 3, preferably the highest point of the wheel body 3 is set as a disengagement point of the roller assembly 4, the positions of the roller grooves 504 on two sides of the wheel body 3 are set as mounting points of the spare roller assembly 503, and therefore, the movement modes from the disengagement point of the roller assembly 4 to the mounting points of the spare roller assembly 503 are two, and therefore, the mounting sequence of the toggle lever 701 and the rotation speed sensor 702 need to be correspondingly changed; preferably, the rotation speed sensor 702 is also capable of detecting whether the drum assembly 4 on the wheel body 3 is rotated.

In a more preferred embodiment, the vehicle further comprises an infrared sensor mounted on the chassis 1, the infrared sensor emitting infrared rays towards a gap between two adjacent roller assemblies 4 on the wheel body 3 closest to the infrared sensor, the infrared sensor being in signal connection with a control center of the first and second magnetic members 6.

In which there is a region where the path of movement of the drum assembly 4 is projected onto the chassis 1, and the infrared sensor is mounted at any position on this region.

Example 2

On the basis of embodiment 1, as shown in fig. 1-5, the wheel body 3 is provided with a plurality of limit grooves 301, the roller assembly 4 comprises a rotating shaft 402, a roller 403 rotatably connected with the rotating shaft 402, and limit blocks 401 mounted at two ends of the rotating shaft 402, and the limit blocks 401 are embedded in the limit grooves 301.

The number of the limit grooves 301 is twice that of the roller assemblies 4, and the limit grooves 301 at two ends of the wheel body 3 are two by two in one group, and are used for respectively limiting the limit blocks 401 at two ends of the roller assemblies 4, the limit grooves 301 are preferably square grooves, the end faces of the limit blocks 401 are preferably square limit blocks with the same shape and side length as the limit grooves 301, and the limit blocks 401 are made of metal which can be attracted by magnets; the groove wall of the limit groove 301 is provided with a correction spring, so that the width of the limit groove 301 can be properly increased under the action of pressure, and the limit block 401 is convenient to embed.

In a more preferred embodiment, the second magnetic member 6 includes two magnetic attraction portions, where the magnetic attraction portions are located at the bottom of the limiting groove 301, and the magnetic attraction portions are used to attract the limiting block 401.

In a more preferred embodiment, the limit grooves 301 are uniformly distributed along the edges of the two ends of the wheel body 3, and a gap 302 exists between two adjacent limit grooves 301.

In a more preferred embodiment, a side of the wheel body 3 close to the roller assembly 4 is provided with a bevel 303, the bevel 303 is continuous with the end surface of the wheel body 3 through the gap 302, and the bevel 303 is inclined from the side surface of the wheel body 3 to the end surface of the wheel body 3; the inclination is as shown in fig. 3, and the inclination angle is arbitrary.

In a more preferred embodiment, the inner side wall of the limit groove 301 is provided with a thrust elastic piece 304, the thrust elastic piece 304 is provided with a push plate 305, the inner side of the notch of the limit groove 301 is provided with a round angle, one end of the limit groove 301, which is far away from the wheel body 3, is provided with a baffle, one side, which is close to the limit groove 301, of the upper end of the baffle is provided with a round angle 306, the limit block 401 is provided with a structure with a regular hexagon end face, and both the side wall of the limit groove 301 and the baffle are made of magnetism isolating materials.

The thrust elastic member 304 is preferably a thrust spring, and when the thrust elastic member 304 is in a normal state, the distance between the two pushing plates 305 in the limit groove 301 is equal to or slightly smaller than the width of the limit block 401, and the magnetism isolating material may be steel, iron or copper.

Example 3

Based on the multifunctional omni-directional intelligent mobile chassis described in embodiment 1 or 2, the working principle thereof includes:

the detection device and related devices for cleaning soil blocks and the like are arranged on the chassis 1, and the chassis 1 and the devices are driven to move together by the Mecanum wheel assembly 2;

During the movement, the drum assembly 4 with the soil block blocked or not rotated is replaced.

Preferably, the detailed steps of replacing the drum assembly 4 are:

s1: the chassis, the infrared sensor and the rotating speed sensor are started,

S2: the infrared sensor detects that a soil block exists between two adjacent roller assemblies 4, and one roller assembly 4 is marked as a target roller assembly; or the rotation speed sensor detects that the roller assembly 4 does not rotate, and marks the roller assembly as a target roller assembly;

S3: when the target roller assembly moves to the highest point of the wheel body 3, the second magnetic piece 6 for adsorbing the target roller assembly is closed, and meanwhile, the sliding magnetic piece 502 at the corresponding position on the arc-shaped track 501 is started to adsorb the target roller assembly;

S4: the wheel body 3 continues to rotate, when the notch lacking the roller assembly moves to one side of one roller groove 504, the second magnetic piece 6 is started to absorb the spare roller assembly 503 on the roller groove 504; returning to step S2.

Wherein the backup roll assembly 503 on the roll tank 504 is added by:

Detecting whether a spare roller component exists on the roller groove, and if so, not adding; if the arc track does not exist, starting the arc track;

The sliding magnetic piece conveys the spare roller assembly to sequentially pass through the toggle rod and the rotating speed sensor, the rotating speed sensor detects whether the roller on the roller assembly rotates, and if not, the roller is marked as damaged; if yes, marking the drum assembly as a perfect standby drum assembly;

moving the spare cylinder assembly over the cylinder slot, closing the sliding magnetic member, and throwing the spare cylinder assembly into the cylinder slot.

In a more preferred embodiment, the method further comprises the step of: detecting whether a sliding magnetic piece which is not adsorbed with a roller component exists on an arc-shaped track above the highest point of the wheel body 3, and if so, waiting; if not, the arc track is started, and a sliding magnetic piece which is not adsorbed with the roller component is moved to the position.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. The utility model provides a multi-functional qxcomm technology formula intelligence removes chassis, includes chassis (1) and four group install in Mecanum wheel unit (2) on chassis (1), a serial communication port, mecanum wheel unit (2) include wheel body (3), a plurality of install in cylinder subassembly (4) on wheel body (3) with install in first magnetic part of wheel body (3) one side, first magnetic part is used for with cylinder subassembly (4) attraction breaks away from wheel body (3), be equipped with on wheel body (3) with above-mentioned cylinder subassembly (4) one-to-one's second magnetic part (6), second magnetic part (6) are used for fixing cylinder subassembly (4), and will cylinder subassembly (4) attraction breaks away from first magnetic part.

2. The multifunctional all-direction intelligent mobile chassis according to claim 1, wherein the first magnetic part comprises an arc-shaped track (501) coaxial with the wheel body (3) and a plurality of sliding magnetic parts (502), and a plurality of spare roller assemblies (503) are adsorbed on the sliding magnetic parts (502).

3. The multifunctional all-direction intelligent mobile chassis according to claim 2, wherein the first magnetic component further comprises a roller groove (504) located at one side of the lower end of the arc-shaped track (501) close to the wheel body (3), and the roller groove (504) is arranged towards the wheel body (3).

4. The multifunctional all-direction intelligent mobile chassis according to claim 2, further comprising a detection assembly mounted on one side of the arc-shaped track (501), wherein the detection assembly comprises a poking rod (701) and a rotation speed sensor (702) which are sequentially mounted along the moving direction of the spare roller assembly (503), the tail end of the poking rod (701) is located on the moving path of the spare roller assembly (503), and the rotation speed sensor (702) is used for detecting whether the spare roller assembly (503) rotates.

5. The multifunctional omnidirectional intelligent mobile chassis according to claim 1, wherein the wheel body (3) is provided with a plurality of limit grooves (301), the roller assembly (4) comprises a rotating shaft (402), rollers (403) rotatably connected with the rotating shaft (402) and limit blocks (401) arranged at two ends of the rotating shaft (402), and the limit blocks (401) are embedded into the limit grooves (301).

6. The multifunctional omni-directional intelligent mobile chassis according to claim 5, wherein the second magnetic member (6) comprises two magnetic attraction parts, the magnetic attraction parts are located at the bottom of the limiting groove (301), and the magnetic attraction parts are used for being attracted with the limiting block (401).

7. The multifunctional omnidirectional intelligent mobile chassis according to claim 5, wherein the limit grooves (301) are uniformly distributed along the edges of the two ends of the wheel body (3), and a gap (302) is formed between two adjacent limit grooves (301).

8. The multifunctional all-direction intelligent mobile chassis according to claim 7, wherein one side of the wheel body (3) close to the roller assembly (4) is provided with an inclined surface (303), the inclined surface (303) is continuous with the end surface of the wheel body (3) through the gap (302), and the inclined surface (303) is inclined from the side surface of the wheel body (3) to the end surface of the wheel body (3).

9. A multifunctional all-round intelligent mobile chassis according to claim 1, characterized in that it further comprises an infrared sensor mounted on the chassis (1), which emits infrared rays towards the gap between two adjacent roller assemblies (4) on the wheel body (3) closest to the infrared sensor, which infrared sensor is in signal connection with the control center of the first and second magnetic members (6).

10. The multifunctional omnidirectional intelligent mobile chassis according to claim 5, wherein a thrust elastic piece (304) is arranged on the inner side wall of the limit groove (301), a push plate (305) is arranged on the thrust elastic piece (304), a round angle is arranged on the inner side of a notch of the limit groove (301), a baffle is arranged at one end of the limit groove (301) far away from the wheel body (3), a round angle (306) is arranged at one side of the upper end of the baffle, which is close to the limit groove (301), the limit block (401) is of a structure with a regular hexagon end face, and both the side wall of the limit groove (301) and the baffle are made of magnetism isolating materials.