CN210337581U

CN210337581U - Mobile device

Info

Publication number: CN210337581U
Application number: CN201921016498.5U
Authority: CN
Inventors: 高峰; 解晓琳; 雷震; 刘政禹; 陈志发; 黄川�
Original assignee: Luoyang Lutan Intelligent Technology Co ltd
Current assignee: Luoyang Lutan Intelligent Technology Co ltd
Priority date: 2019-07-02
Filing date: 2019-07-02
Publication date: 2020-04-17
Anticipated expiration: 2029-07-02

Abstract

The utility model relates to a moving device, which comprises a power source and an input shaft which is driven by the power source and is transversely arranged along the Y axis; the two sides of the input shaft are respectively coaxially connected with an output wheel, at least one guide wheel I with the axial direction being Y direction is respectively arranged on the two sides of the output wheel, and duplex synchronizing wheels with the axial direction being Z direction are respectively arranged above the adjacent pair of wheels; the duplex synchronizing wheel, the guide wheel I and the output wheel are driven by a twistable and direction-changing synchronous belt; two sides of the duplex synchronizing wheel respectively realize synchronous belt transmission through at least one guide wheel II which axially extends along the X direction and a walking belt wheel which axially extends along the Y direction; the walking belt wheel is coaxially connected with the wheels or coaxially drives the wheels. The utility model replaces the traditional steering trapezoid mechanism, reduces the weight, is not limited by the steering trapezoid, and can independently complete the steering of four wheels; the belt drive also replaces the traditional drive parts, thereby reducing the weight.

Description

Mobile device

Technical Field

The utility model relates to a mobile device particularly, is a mobile device that all-wheel drive, all-wheel turned to.

Background

The existing mobile device capable of realizing all-wheel drive and all-wheel steering has the disadvantages that the general structural design is complex in the aspects of power and transmission of wheel drive/steering, more than two power sources are needed for general walking drive, if only one power source is adopted, the transmission structure is complex, the design and manufacturing difficulty is high, meanwhile, the space is often insufficient, and the cost is high;

the existing mobile device with higher precision, such as an all-wheel drive mobile device and an all-wheel steering mobile device, has defects in the design of balance of a vehicle body, so that the mobile device has poor adaptability to the ground and is not beneficial to the safety and stability of the mobile device in walking;

in addition, the conventional mobile device needs to generate sliding friction with the ground when wheels steer, generally, due to structural design limitation, a pure rolling steering mode cannot be realized, and the mobile device is very unfavorable for the mobile device with higher position precision requirement; meanwhile, for some special fields, the ground roughness is extremely high, the requirement on the wear resistance of the wheel is very high, the cost of the wheel is high, and the service life of the moving device is shortened.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an all-wheel steering mobile device, through the design of flexible transmission structure, through the change many times of power transmission direction, realize all-wheel travel drive under the single power supply condition, with turn to the ingenious good cooperation that realizes of power.

The utility model adopts the following technical proposal:

a mobile device comprises a power source, an input shaft 1 driven by the power source and transversely arranged along a Y axis; the two sides of the input shaft 1 are respectively and coaxially connected with an output wheel, the two sides of the output wheel are respectively provided with at least one guide wheel I14, and linkage belt wheels are arranged above the adjacent pair of wheels 12; the linkage belt wheel, the guide wheel I14 and the output wheel are driven by a twistable and direction-changing belt; two sides of the linkage belt wheel respectively realize synchronous belt transmission with the walking belt wheel 13 through at least one guide wheel II 21; the walking belt wheel is coaxially connected with or coaxially drives the wheels 12.

Further, the power source comprises a main power source and a secondary power source; the input shaft 1 comprises a first shaft A6 and a second shaft A7 which are positioned on the same axis and connected to two sides of a differential A2, and a clutch is arranged on the first shaft A6; the differential wheel is connected with a differential A2, the clutch wheel is connected with a clutch A12, the main power source is connected with a differential A2 through a main motor belt wheel and the differential wheel, and the auxiliary power source is connected with a first shaft A6 through an auxiliary power source wheel, the clutch wheel and the clutch; when the vehicle runs in a straight line, the front wheels steer and the whole wheels steer, the clutch is released, and the main power source is used as power input; if the power is insufficient, the clutch is engaged, and the auxiliary power source is used as auxiliary input power; when the steering wheel is in pivot steering, the main power source is locked by an electromagnetic brake, the auxiliary power source is used as a power source, the power is input into a differential A2, and the rotating speeds of the shafts on the two sides of the differential A2 are the same and are opposite.

Further, the moving device is provided with a balance rocker mechanism, and the balance rocker mechanism comprises a long arm C5, and the middle part of the long arm C5 is connected with the vehicle body through a pin C7; the two ends of the long arm C5 are respectively connected with a short arm C4 through spherical hinges, the short arm C4 is connected with swing legs C3 at the two sides of the mobile device through the spherical hinges, and the swing legs C3 are relatively fixed with wheels; the swing leg C3 is rotationally connected with the rotating shaft of the corresponding wheel; the positions of the pair of short arms C4 connected with the swing leg C3 are at the same corresponding positions, and the positions have a set distance with the wheel rotating shaft.

Further, the device comprises an L-shaped knuckle arm, wherein the downward end of the knuckle arm is rotatably connected with the wheel 12, and the other end of the knuckle arm is fixedly provided with a steering power source; the output power part that turns to the power supply is fixed relatively with the knuckle arm, makes the axis of rotation of knuckle arm vertical, just, wheel 12 and driven wheel synchronous rotation, the action wheel passes through hold-in range or chain drive and follows the driving wheel and rotate, and the action wheel equals with the drive ratio of driven power: the ratio of the distance of the steering axis of rotation to the wheel center to the wheel radius.

Furthermore, the transmission ratio of the driving wheel and the driven wheel is equal, and the distance from the steering rotating shaft to the center of the wheel is equal to the radius of the wheel.

Further, each wheel 12 corresponds to a steering motor 10, and an output shaft of the steering motor 10 is arranged coaxially with the duplex synchronizing wheel.

Further, the power source is an electric motor 19, the output wheel is an output belt wheel 16, the duplex synchronizing wheel is a linkage belt wheel 4, and the output wheel is the output belt wheel 16; the walking belt wheel is a walking belt wheel 13; the linkage belt wheel, the guide wheel I14 and the output belt wheel 16 are synchronously driven through a primary synchronous belt; the duplex synchronizing wheel, the guide wheel II 21 and the walking belt wheel 13 are synchronously driven through the secondary synchronizing belt 6.

Further, the guide wheel ii 21 is fixed to the knuckle arm 18.

Further, the linkage belt wheel 4, the steering knuckle arm 18, the guide wheel I14 and the guide wheel II 21 are all fixed on a swing bridge 17, and the swing bridge 17 is connected with a shaft system through a bearing and can rotate around the shaft system; the knuckle arm 18 is connected to the swing bridge 17 and can rotate about the steering motor shaft axis.

Further, the first shaft A6 is used as the power input of the wheel on one side of the moving device, and the second shaft A7 is used as the power input of the wheel on the other side of the moving device.

The beneficial effects of the utility model reside in that:

1) the belt transmission mode is ingeniously designed, so that the power input direction of the swing arm is the same as the power input direction of the steering, then the power output direction of the swing arm is rotated by 90 degrees through the torsion of the synchronous belt, the rotation direction of the swing arm is the same as the rotation direction of the wheels, the wheels can be steered while driving is finished, the traditional steering trapezoid mechanism is replaced, the weight is reduced, the limitation of the steering trapezoid is avoided, and four wheels can independently finish steering; the synchronous belt drive also replaces the traditional drive parts, thereby reducing the weight.

2) The change of the power transmission direction is completed by using the synchronous belt wheel and the guide wheel. The four wheels are driving wheels, each wheel can be driven by a steering motor to finish independent steering, and the four wheels can realize the functions of straight line driving, front wheel steering, all-wheel steering, pivot steering and the like in a matching way, and have the characteristics of light structure, high power transmission efficiency, accurate control and the like.

3) Through the change of power transmission direction many times, realize full round walking drive under the single power supply condition, realize ingenious cooperation with the steering power of each wheel independent setting simultaneously.

4) The steering range is large, the X direction and the Y direction can be used as the advancing direction, and the front direction, the rear direction and the two side directions can not be distinguished.

5) Only two walking driving power sources are adopted, the intelligent realization is realized through an electromagnetic clutch, the two power sources are input singly or together, one power source is locked, the other power source is input, the pivot steering function is realized, the structure is simple, and the implementation is convenient.

6) The balance rocker mechanism of the moving device is provided, so that the moving device can realize self-adaptive adjustment of a vehicle body under the conditions of unbalance and instability in the driving process.

7) The pure rolling steering of the wheels under any condition is realized, and the position precision of the mobile device is improved; even under the condition of extremely high roughness ground, also need not special wear-resisting wheel, when reducing the wheel cost, improve the life-span of mobile device.

Drawings

Fig. 1 is a schematic view of one swing leg and the components fixed thereon of the mobile device of the present invention.

Fig. 2 is a combination schematic diagram of the swing legs, wheels, balance rocker arms and other structures of the mobile device of the present invention.

Fig. 3 is a schematic view of the outline of the moving device, in which the arrangement of the timing belt for driving the wheels is indicated.

Fig. 4 is a schematic structural view of a dual power flow differential steering drive mechanism of the mobile device.

Fig. 5 is a schematic view of power input of the moving device in a normal straight-line traveling state.

FIG. 6 is a schematic diagram of the mobile device employing a secondary motor to supplement power input when power is insufficient.

Fig. 7 is a schematic diagram of power input when the front wheels are steered.

FIG. 8 is a schematic illustration of power input during pivot steering. At the moment, the main motor is locked by electromagnetic braking, and the auxiliary motor is used as a power source.

Fig. 9 is a front view of a pure rolling steerable wheel device.

Fig. 10 is a schematic view of the connection of the long and short arms of the mobile device balanced rocker mechanism.

Fig. 11 is a schematic structural view of a mobile device balance rocker mechanism.

Fig. 12 is a schematic view of the mobile device counterbalancing the rocker mechanism in a counterbalanced condition.

FIG. 13 is a schematic view of the moving device counterbalancing the rocker mechanism in a state of extreme counterbalancing self-adjustment.

In the figure, 1, an input shaft; 2. a primary synchronous belt; 3. sheet metal parts in the swing legs; 4. a linkage pulley; 5. a synchronous pulley shaft; 6. a secondary synchronous belt; 7. a swing arm sheet metal part; 8. the synchronous pulley shaft is provided with an end cover; 9. a leg swinging metal part; 10. a steering motor; 11. an encoder; 12. a wheel; 13. a traveling belt pulley; 14. a guide wheel I; 15. a guide wheel bracket; 16. an output pulley; 17. swing bridge, 18 steering knuckle arms, 19 motors, 20 balance rocker arms, 21 guide wheels II.

A1. The differential mechanism comprises a differential pulley, A2, a differential mechanism, A3, an auxiliary motor, A4, a motor output pulley, A5, an output end cover, A6, a long shaft, A7. short shafts, A8. synchronous belts, A9. a main motor, A10, an electromagnetic brake, A11, an encoder, A12, an electromagnetic clutch and A13, an electromagnetic clutch pulley;

B1. the device comprises an encoder, a steering motor, a leg swing sheet metal part, a B4. belt wheel shaft end cover, a B5. belt wheel shaft, a B6. duplex belt wheel, a B7. swing arm guide wheel, a B8. swing arm guide wheel shaft, a B9. swing arm sheet metal part, a B10 walking belt wheel, a B11 wheel shaft and a B12 wheel.

C1, output shaft; c2, a frame; c3, swinging legs; c4, short arm; c5, long arm; c6, knuckle bearing; c7, a pin shaft; c8, end caps; c9, an input shaft, C10, a guide wheel I, C11, a wheel and C12, a guide wheel II.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1-2, an all-wheel-drive all-wheel-steering mobile device includes a power source, an input shaft 1 driven by the power source and arranged transversely along the Y-axis; the two sides of the input shaft 1 are respectively and coaxially connected with an output wheel, at least one guide wheel I14 with the axial direction being Y direction is respectively arranged on the two sides of the output wheel, and duplex synchronizing wheels with the axial direction being Z direction are respectively arranged above the adjacent pair of wheels 12; the duplex synchronizing wheel, the guide wheel I14 and the output wheel are driven by a twistable and direction-changing synchronous belt; two sides of the duplex synchronizing wheel realize synchronous belt transmission through at least one guide wheel II 21 axially along the X direction and a walking belt wheel axially along the Y direction; the walking belt wheel is coaxially connected with or coaxially drives the wheels 12. Among them, the link pulley may preferably be a double-link timing pulley.

In this embodiment, referring to fig. 1, each wheel 12 corresponds to a steering motor 10, and the output shaft of the steering motor 10 is arranged coaxially with the duplicate synchromesh.

In this embodiment, referring to fig. 1-2, the power source is an electric motor 19, the output wheel is an output pulley 16, the dual synchronizing wheel is a linkage pulley 4, and the output wheel is the output pulley 16; the walking belt wheel is a walking belt wheel 13; the linkage belt wheel, the guide wheel I14 and the output belt wheel 16 are synchronously driven through a primary synchronous belt; the duplex synchronizing wheel, the guide wheel II 21 and the walking belt wheel 13 are synchronously driven through the secondary synchronizing belt 6.

In this embodiment, referring to fig. 2, the wheel 12 is fixed to an L-shaped knuckle arm 18, one end of which is coaxially connected to the output shaft of the steering motor 10, and the other end of which drives the wheel 12 to perform a rotational motion.

In this embodiment, referring to fig. 1-2, the guide wheel ii 21 is fixed to the knuckle arm 18.

In this embodiment, see 1-2, the linkage pulley 4, the knuckle arm 18, the guide wheel i 14 and the guide wheel ii 21 are all fixed on a swing axle 17, and the swing axle 17 is connected with a shaft system through a bearing and can rotate around the shaft system; the knuckle arm 18 is connected to the swing bridge 17 and can rotate about the steering motor shaft axis.

When the balance rocker arm device works, the motor 19 is connected with a shaft system through a synchronous belt pulley and a synchronous belt, the swing bridge 17 is connected with the shaft system through a bearing and can rotate around the shaft system, the knuckle arm 18 is connected with the swing bridge 17 and can rotate around the axis of a steering motor shaft, the output belt pulley 16 arranged on the shaft system is connected with the linkage belt pulley 4 on the knuckle arm 18 through the synchronous belt, and the balance rocker arm 20 is connected with the swing bridges 17 on the two sides.

The rotation direction of the wheels is vertical to the steering direction of the wheels. The belt transmission mode enables the swing arm power input direction to be the same as the steering power input direction, then the swing arm power output direction is enabled to rotate 90 degrees through the torsion of the synchronous belt, the swing arm power output direction is the same as the wheel rotating direction, the wheel can be steered when the wheel runs, a traditional steering trapezoidal mechanism is replaced, the weight is reduced, meanwhile, the limit of steering trapezoids is avoided, and four wheels can independently steer. The synchronous belt drive also replaces the traditional drive parts, thereby reducing the weight.

The change of the power transmission direction is completed by using the synchronous belt wheel and the guide wheel. The four wheels are driving wheels, each wheel can be driven by a steering motor to finish independent steering, and the four wheels can realize the functions of straight line driving, front wheel steering, all-wheel steering, pivot steering and the like in a matching way. The device has the characteristics of light structure, high power transmission efficiency, accurate control and the like.

Referring to fig. 3-8, the dual power flow differential steering driving mechanism of the all-wheel drive and all-wheel steering mobile device comprises a main motor a9, an auxiliary motor A3, a differential a2 and an electromagnetic clutch a 12; the first shaft A6 and the second shaft A7 are positioned on the same axis and are connected to two sides of a differential A2, and the electromagnetic clutch A12 is installed on the first shaft A6; the differential belt wheel A1 is connected with a differential A2, the clutch belt wheel A13 is connected with an electromagnetic clutch A12, the main motor 9 is connected with a differential A2 through a main motor belt wheel and the differential belt wheel A1, and the auxiliary motor A3 is connected with a first shaft A6 through an auxiliary motor belt wheel, the clutch belt wheel A13 and the electromagnetic clutch A12; when the vehicle runs linearly, turns front wheels and turns all wheels, the electromagnetic clutch A12 is released, and the main motor A9 is used as power input; if the power is insufficient, the electromagnetic clutch A12 is engaged, and the auxiliary motor A3 is used as auxiliary input power; when the automobile is steered in a pivot mode, the main motor A9 is locked through electromagnetic braking, the auxiliary motor A3 serves as a power source, power is input into the differential A2, and the rotating speeds of shafts on two sides of the differential A2 are the same and are opposite.

In this embodiment, referring to fig. 4, axle one a6 is used as the power input for the wheels on one side of the mobile device, and axle two a7 is used as the power input for the wheels on the other side of the mobile device. Here, axis one a6 is the major axis and axis two a7 is the minor axis; in practice, the first axis may be set as a short axis and the second axis may be set as a long axis as required.

In this embodiment, the clutch is electromagnetic clutch a12.

In another embodiment, the clutch is a mechanical clutch, which is not shown in the figures.

Referring to fig. 9, the moving device has a pure rolling steering wheel device, which includes an L-shaped knuckle arm, one end of the knuckle arm facing downwards is rotatably connected with a wheel 12, and the other end is fixedly provided with a steering power source; the output power part that turns to the power supply is fixed relatively with the knuckle arm, makes the axis of rotation of knuckle arm vertical, just, wheel 12 and driven wheel synchronous rotation, the action wheel passes through hold-in range or chain drive and follows the driving wheel and rotate, and the action wheel equals with the drive ratio of driven power: the ratio of the distance of the steering axis of rotation to the wheel center to the wheel radius.

In this embodiment, the transmission ratio of the driving wheel and the driven wheel is equal, and the distance from the steering rotating shaft to the center of the wheel is equal to the radius of the wheel. As shown in fig. 9, the two distances X in the drawing are equal, the swing arm rotates around the steering shaft while the toothed belt rotates around the belt wheel, the belt moves relative to the belt wheel to drive the wheel to roll, and the wheel realizes pure rolling because the linear velocity of the wheel is equal to that of the swing arm.

In this embodiment, referring to fig. 9, the swing leg comprises a swing leg sheet metal part B3 and a swing arm sheet metal part B9 connected to each other; the wheel 12 is fixed to the swing arm sheet metal part B9.

In this embodiment, with continued reference to fig. 9, the steering motor B2 is fixed to the swing leg sheet metal part B3, the steering motor shaft B8 is connected to the pulley shaft end cover B4, the pulley shaft B5 and the dual pulley B6, and the pulley shaft end cover B4 is fixedly connected to the swing arm sheet metal part B3.

In this embodiment, with continued reference to fig. 9, the vertical direction is the Z direction, the wheel traveling direction is the X direction, and the direction perpendicular to the XOZ plane is the Y direction; the axial direction of the double-link belt wheel B6 is Z direction; a pair of swing arm guide wheels B7 are fixedly arranged on the swing leg sheet metal part B3, and the axial direction of the swing arm guide wheels B7 is along the X direction; the wheels 12 are coaxially fixed with a walking belt wheel B10; the pulley transmission mechanism consisting of the duplex pulley B6, the pair of swing arm guide wheels B7 and the walking pulley B10 provides walking power for the wheels 12.

In this embodiment, with continued reference to fig. 9, the synchronous belt inputs power through the upper part of the dual-pulley B6, the lower part of the dual-pulley B6 outputs power, the moving direction of the synchronous belt is changed through the guide wheel B7, and the power is transmitted to the traveling pulley B10 and the wheels B12; the horizontal distance from the wheel center to the axle center of the steering motor B2 is ensured to be equal to the wheel radius. In fig. 9, the double pulley B6 is divided into upper and lower parts for power input and power output, respectively.

In this embodiment, with continued reference to FIG. 9, the steering motor B2 is provided with an encoder B1.

The moving device is provided with four pure rolling steering wheel devices, and when the steering motor B2 adjusts the angle of the front wheel 12, the wheels roll only; the four steering motors simultaneously control the wheels to independently rotate, and when in-situ steering is carried out, the perpendicular bisectors of the four wheels all pass through the center of the moving device, and at the moment, the wheels roll purely. The scheme realizes that the wheels can purely roll and steer under any condition, is favorable for improving the position precision of the mobile device, does not need special wear-resistant wheels even under the condition of extremely high roughness ground, reduces the wheel cost and prolongs the service life of the mobile device.

Referring to fig. 10-13, the mobile device balance rocker arm mechanism comprises a long arm C5, the middle part of the long arm C5 is connected with the vehicle body through a pin C7; the two ends of the long arm C5 are respectively connected with a short arm C4 through spherical hinges, the short arm C4 is connected with swing legs C3 at the two sides of the mobile device through the spherical hinges, and the swing legs C3 are relatively fixed with wheels; the swing leg C3 is rotationally connected with the rotating shaft of the corresponding wheel; the positions of the pair of short arms C4 connected with the swing leg C3 are at the same corresponding positions, and the positions have a set distance with the wheel rotating shaft.

In this embodiment, referring to fig. 10 and 11, the long arm C5 is disposed laterally along the moving device.

Referring to fig. 10-13, when the mobile device moves across an uneven road surface, for example, when encountering a stone, one of the wheels receives an upward thrust, which causes the swing leg C3 to rotate around its rotation axis (the wheel and the wheel lift up to a certain extent), thereby pushing the short arm C4 to displace, and the short arm C4 drives the long arm C5 to rotate around the pin C7, and the short arm C4 on the other side to move in the opposite direction, and further drives the swing leg C3 on the other side to rotate around its rotation axis in the opposite direction; at this time, the vehicle body may be inclined to some extent.

Because the long arm C5 of the balance rocker arm horizontally rotates around the pin shaft, the short arm C4 of the balance rocker arm drives the swing leg C3 to swing up and down, and the purpose that the wheel is attached to the ground is achieved. Thereby realizing the function of self-adaptive leveling.

The above are preferred embodiments of the present invention, and those skilled in the art can make various changes or improvements on the above embodiments without departing from the general concept of the present invention, and all such changes or improvements should fall within the scope of the present invention as claimed.

Claims

1. A mobile device, characterized by:

comprises a power source and an input shaft (1) which is driven by the power source and is transversely arranged along a Y axis;

the two sides of the input shaft (1) are respectively and coaxially connected with an output wheel, the two sides of the output wheel are respectively provided with at least one guide wheel I (14), and linkage belt wheels are arranged above the adjacent pair of wheels (12); the linkage belt wheel, the guide wheel I (14) and the output wheel are driven by a twistable and direction-changing belt;

two sides of the linkage belt wheel realize synchronous belt transmission with the walking belt wheel (13) through at least one guide wheel II (21); the walking belt wheel is coaxially connected with the wheels (12) or coaxially driven.

2. The mobile device of claim 1, wherein: comprises an L-shaped knuckle arm, one end of the knuckle arm facing downwards is rotatably connected with a wheel (12), and the other end of the knuckle arm is fixedly provided with a steering power source; the output power part that turns to the power supply is fixed relatively with the knuckle arm, makes the axis of rotation of knuckle arm vertical, just, wheel (12) and follow driving wheel synchronous rotation, the action wheel passes through hold-in range or chain drive and follows the driving wheel rotation, and the action wheel equals with the drive ratio of driven power: the ratio of the distance of the steering axis of rotation to the wheel center to the wheel radius.

3. The mobile device of claim 2, wherein: the power source comprises a main power source and a secondary power source; the input shaft (1) comprises a first shaft (A6) and a second shaft (A7) which are positioned on the same axis, the first shaft and the second shaft are connected to two sides of a differential (A2), and a clutch is arranged on the first shaft (A6); the differential wheel is connected with a differential (A2), the clutch wheel is connected with a clutch (A12), the main power source is connected with the differential (A2) through a main motor belt wheel and the differential wheel, and the auxiliary power source is connected with a first shaft (A6) through an auxiliary power source wheel, the clutch wheel and the clutch; when the vehicle runs in a straight line, the front wheels steer and the whole wheels steer, the clutch is released, and the main power source is used as power input; if the power is insufficient, the clutch is engaged, and the auxiliary power source is used as auxiliary input power; when the pivot steering is carried out, the main power source is locked by an electromagnetic brake, the auxiliary power source is used as a power source, the power is input into a differential (A2), and the rotating speeds of two side shafts of the differential (A2) are the same and are opposite.

4. The mobile device of claim 1, wherein: the moving device is provided with a balance rocker mechanism, and the balance rocker mechanism comprises a long arm (C5), wherein the middle part of the long arm (C5) is connected with the vehicle body through a pin shaft (C7); the two ends of the long arm (C5) are respectively connected with a short arm (C4) through a spherical hinge, the short arm (C4) is connected with swing legs (C3) at two sides of the mobile device through spherical hinges, and the swing legs (C3) are relatively fixed with wheels; the swing leg (C3) is rotationally connected with the rotating shaft of the corresponding wheel; the positions of the pair of short arms (C4) connected with the swing legs (C3) are in the same corresponding position, and the positions have a set distance with the wheel rotating shaft.

5. The mobile device of claim 3, wherein: the transmission ratio of the driving wheel and the driven wheel is equal, and the distance from the steering rotating shaft to the center of the wheel is equal to the radius of the wheel.

6. The mobile device of claim 1, wherein: each wheel (12) corresponds to a steering motor (10), and an output shaft of the steering motor (10) is arranged to be coaxial with the duplex synchronizing wheel.

7. The mobile device of claim 6, wherein: the power source is an electric motor (19), the output wheel is an output belt wheel (16), the dual synchronous wheel is a linkage belt wheel (4), and the output wheel is the output belt wheel (16); the walking belt wheel is a walking belt wheel (13); the linkage belt wheel, the guide wheel I (14) and the output belt wheel (16) are synchronously driven through a primary synchronous belt; the duplex synchronizing wheel, the guide wheel II (21) and the walking belt wheel (13) are synchronously driven through a secondary synchronous belt (6).

8. The mobile device of claim 2, wherein: the guide wheel II (21) is fixed on the steering knuckle arm (18).

9. The mobile device of claim 2, wherein: the linkage belt wheel (4), the steering knuckle arm (18), the guide wheel I (14) and the guide wheel II (21) are all fixed on a swing bridge (17), and the swing bridge (17) is connected with the shaft system through a bearing and can rotate around the shaft system; a knuckle arm (18) is connected to the swing bridge (17) and is capable of rotating about the steering motor shaft axis.

10. The mobile device of claim 3, wherein: the first shaft (A6) is used as the power input of the wheel at one side of the mobile device, and the second shaft (A7) is used as the power input of the wheel at the other side of the mobile device.