CN217396223U - Wheel mechanism, vehicle and robot - Google Patents

Abstract

The utility model provides a wheel mechanism, vehicle and robot. The wheel mechanism includes: the wheel body assembly comprises a first driving device and a wheel body, and the first driving device is in driving connection with the wheel body so as to drive the wheel body to rotate around a first axis L1; the steering engine driving component is in driving connection with the wheel body component so as to drive the wheel body component to rotate around a second axis L2; the first end of the connecting arm is connected with the steering engine driving component; the second driving device is in driving connection with the second end of the connecting arm so as to drive the connecting arm to drive the steering engine driving assembly and the wheel body assembly to rotate around a third axis L3; the second axis L2 and the third axis L3 are parallel to each other, and the first axis L1 and the second axis L2 form a first included angle therebetween. The utility model discloses the problem of the steering angle of wheel limited among the prior art, the unable adjustment of wheel base has been solved effectively.

Description

Wheel mechanism, vehicle and robot

Technical Field

The utility model relates to a wheel turns to technical field, particularly, relates to a wheel mechanism, vehicle and robot.

Background

Currently, in the field of unmanned vehicles, a vehicle body is generally driven by a conventional four-wheel drive method.

However, due to the limitation of the mechanical structure and the connection mode of the wheel mechanism, the steering angle of the wheels is limited, the wheel track between the wheels cannot be changed, the wheel mechanism is difficult to adapt to complex motion environments on different ground surfaces, different road surfaces and different working conditions, the use universality of the vehicle is influenced, and the use experience of a user is also influenced.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a wheel mechanism, a vehicle and a robot, which can solve the problem of the prior art that the steering angle of the wheel is limited and the wheel track can not be adjusted.

In order to achieve the above object, according to an aspect of the present invention, there is provided a wheel mechanism including: the wheel body assembly comprises a first driving device and a wheel body, and the first driving device is in driving connection with the wheel body so as to drive the wheel body to rotate around a first axis L1; the steering engine driving component is in driving connection with the wheel body component so as to drive the wheel body component to rotate around a second axis L2; the first end of the connecting arm is connected with the steering engine driving component; the second driving device is in driving connection with the second end of the connecting arm so as to drive the connecting arm to drive the steering engine driving assembly and the wheel body assembly to rotate around a third axis L3; the second axis L2 and the third axis L3 are parallel to each other, and the first axis L1 and the second axis L2 form a first included angle therebetween.

Furthermore, the steering engine driving assembly comprises a steering engine and a speed reducer, the steering engine is in driving connection with the speed reducer, the speed reducer comprises a speed reducer body and a power output end, and the power output end is in driving connection with the wheel body assembly.

Further, the wheel mechanism further includes: the first end of the connecting arm is connected with the steering engine driving component through the connecting structure; steering wheel and reduction gear body all set up on connection structure, and connection structure has the through-hole, and power take off passes behind the through-hole and is connected with the wheel body subassembly.

Further, the connecting arm includes: the second driving device is in driving connection with the first arm body so as to drive the first arm body to rotate around a third axis L3; the second arm body is connected with the first arm body, and the connecting structure is connected with one end, far away from the first arm body, of the second arm body; wherein, be the setting of second contained angle between the first arm body and the second arm body, the central axis and the coaxial setting of third axis L3 of the first arm body.

Further, the second arm and/or the first arm are tubular.

Furthermore, the connecting position of the second arm body and the first arm body is adjustably arranged; alternatively, the second arm is telescopically arranged to adjust the distance between the second axis L2 and the third axis L3.

Furthermore, the first arm body is provided with a mounting hole and a first via hole, the second arm body is provided with a second via hole communicated with the first via hole, one end of the second arm body extends into the mounting hole and is connected with the first arm body, and the first via hole and the second via hole are used for a wire of the steering engine and/or the first driving device to pass through.

Further, the connection structure includes: the first plate body is connected with the second arm body; the second plate body is connected with the first plate body and arranged at a third included angle with the first plate body, the steering engine and the speed reducer body are both arranged on the second plate body, and the second plate body is provided with a through hole; the third plate body is connected with the first plate body and the second plate body; the steering engine and the speed reducer body are located in the installation space.

Further, the wheel body assembly further comprises: the power output end of the L-shaped connecting frame is connected with the first driving device through the L-shaped connecting frame; wherein, the L-shaped connecting frame is one; or the number of the L-shaped connecting frames is two, and the two L-shaped connecting frames are oppositely arranged and are positioned on two sides of the wheel body.

According to another aspect of the present invention, there is provided a vehicle, comprising a vehicle body and a wheel mechanism movably disposed on the vehicle body; wherein, the wheel mechanism is above-mentioned wheel mechanism.

According to another aspect of the present invention, a robot is provided, which comprises a robot body and a wheel mechanism movably disposed on the robot body; wherein, the wheel mechanism is the wheel mechanism.

Use the technical scheme of the utility model, wheel body subassembly includes first drive arrangement and wheel body, and first drive arrangement is used for driving the wheel body and rotates around first axis L1 to drive vehicle or robot motion through the wheel body. Like this, when the wheel base between two adjacent wheel bodies needs to be adjusted, start second drive arrangement to drive steering wheel drive assembly and wheel body subassembly through second drive arrangement and rotate around third axis L3, adjust to predetermineeing the wheel base value until the wheel base. In the process, the steering engine driving assembly can drive the wheel body assembly to rotate around the second axis L2, so that the driving direction of the wheel body is consistent with the driving direction of the vehicle body or the robot body when the wheel track is adjusted to the preset wheel track value. Simultaneously, the both ends of linking arm are connected with steering wheel drive assembly and second drive arrangement respectively, compare with the drive mode among the prior art, the wheel body in this application and automobile body or the distance between the robot body increase and adjustable, and then make the steering angle scope of wheel body bigger, and then solved the problem that the steering angle of wheel is limited among the prior art, the unable adjustment of wheel base, so that vehicle or robot can adapt to different service environment and operating mode, promoted user's use and experienced.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding 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 invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic perspective view of an embodiment of a wheel mechanism according to the invention;

FIG. 2 shows a front view of the wheel mechanism of FIG. 1;

fig. 3 shows a sectional view a-a of the wheel mechanism in fig. 2.

Wherein the figures include the following reference numerals:

10. a wheel body assembly; 11. a first driving device; 12. a wheel body; 13. an L-shaped connecting frame; 20. a steering engine drive component; 21. a steering engine; 22. a speed reducer; 221. a reducer body; 222. a power output end; 30. a connecting arm; 31. a first arm body; 311. mounting holes; 312. a first via hole; 32. a second arm body; 321. a second via hole; 40. a second driving device; 50. a connecting structure; 51. a first plate body; 52. a second plate body; 53. a third plate body.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present application, where the contrary is not intended, the use of directional terms such as "upper" and "lower" is generally with respect to the orientation shown in the drawings, or to the vertical, perpendicular, or gravitational orientation; likewise, for ease of understanding and description, "left and right" are generally directed to the left and right as shown in the drawings; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself, but the above directional terms are not intended to limit the present invention.

In order to solve the problems that the steering angle of wheels is limited and the wheel track can not be adjusted in the prior art, the application provides a wheel mechanism, a vehicle and a robot.

As shown in fig. 1 to 3, the wheel mechanism includes a wheel body assembly 10, a steering engine driving assembly 20, a connecting arm 30 and a second driving device 40. The wheel assembly 10 includes a first driving device 11 and a wheel 12, and the first driving device 11 is drivingly connected to the wheel 12 for driving the wheel 12 to rotate around a first axis L1. The steering engine driving assembly 20 is in driving connection with the wheel body assembly 10 so as to drive the wheel body assembly 10 to rotate around the second axis L2. The first end of the connecting arm 30 is connected to the steering engine drive assembly 20. The second driving device 40 is in driving connection with the second end of the connecting arm 30 to drive the steering engine driving assembly 20 and the wheel body assembly 10 to rotate around a third axis L3. The second axis L2 and the third axis L3 are parallel to each other, and the first axis L1 and the second axis L2 form a first included angle therebetween.

With the technical solution of the present embodiment, the wheel assembly 10 includes the first driving device 11 and the wheel 12, and the first driving device 11 is configured to drive the wheel 12 to rotate around the first axis L1, so as to drive the vehicle or the robot to move through the wheel 12. Thus, when the wheel track between two adjacent wheel bodies 12 needs to be adjusted, the second driving device 40 is started to drive the steering engine driving assembly 20 and the wheel body assembly 10 to rotate around the third axis L3 through the second driving device 40 until the wheel track is adjusted to the preset wheel track value. In the above process, the steering engine driving assembly 20 may drive the wheel body assembly 10 to rotate around the second axis L2, so as to ensure that the driving direction of the wheel body 12 is consistent with the driving direction of the vehicle body or the robot body when the wheel track is adjusted to the preset wheel track value. Simultaneously, the both ends of linking arm 30 are connected with steering wheel drive assembly 20 and second drive arrangement 40 respectively, compare with the drive mode among the prior art, the increase of distance between wheel body 12 and automobile body or the robot in this embodiment is just adjustable, and then make the steering angle scope of wheel body 12 bigger, and then solved the problem that the steering angle of wheel is limited among the prior art, the unable adjustment of wheel base, so that vehicle or robot can adapt to different service environment and operating mode, user's use experience has been promoted.

In this embodiment, when the wheel mechanism only turns around and turns around on the spot, the steering engine driving assembly 20 can drive the wheel body assembly 10 to rotate around the second axis L2, and then the first driving device 11 drives the wheel body 12 to rotate around the first axis L1. When the wheel track needs to be adjusted to pass through a road surface with limited width, the steering engine driving assembly 20 and the wheel body assembly 10 can be driven to rotate around the third axis L3 through the second driving device 40, the wheel body assembly 10 is driven to rotate around the second axis L2 through the steering engine driving assembly 20 while the wheel body assembly 10 rotates around the third axis L3, and then the wheel body 12 is driven to rotate around the first axis L1 through the first driving device 11.

Optionally, the first included angle is 90 °.

Optionally, the first driving means 11 is a motor.

Optionally, the second drive means 40 is a motor.

As shown in fig. 1 to 2, the steering engine driving assembly 20 includes a steering engine 21 and a speed reducer 22, the steering engine 21 is in driving connection with the speed reducer 22, the speed reducer 22 includes a speed reducer body 221 and a power output end 222, and the power output end 222 is in driving connection with the wheel body assembly 10. Therefore, the steering engine 21 drives the speed reducer 22 to move so as to drive the wheel body assembly 10 to rotate around the second axis L2 through the speed reducer 22, on one hand, the wheel body assembly 10 rotates more stably, and the running stability of a vehicle or a robot is improved; on the other hand, the wheel assembly 10 is provided with larger power to ensure that the vehicle or the robot can run in complex motion environments under different ground surfaces, different road surfaces and different working conditions.

As shown in fig. 1 and 3, the wheel mechanism further includes a connecting structure 50. Wherein, the first end of the connecting arm 30 is connected with the steering engine driving component 20 through the connecting structure 50. Steering wheel 21 and reduction gear body 221 all set up on connection structure 50, and connection structure 50 has the through-hole, and power take off 222 passes behind the through-hole and is connected with wheel body subassembly 10. Therefore, on one hand, the connecting arm 30 and the steering engine driving component 20 are easier, simpler and more convenient to disassemble, and the disassembling difficulty is reduced; on the other hand, the structure of the wheel mechanism is more compact, the whole occupied space of the wheel mechanism is reduced, and the miniaturization design of a vehicle or a robot is realized.

As shown in fig. 1 and 3, the connecting arm 30 includes a first arm body 31 and a second arm body 32. The second driving device 40 is drivingly connected to the first arm 31 to drive the first arm 31 to rotate about the third axis L3. The second arm 32 is connected to the first arm 31, and the connecting structure 50 is connected to an end of the second arm 32 away from the first arm 31. The first arm 31 and the second arm 32 form a second included angle, and the central axis of the first arm 31 is coaxial with the third axis L3. Optionally, the second included angle is 90 °. Therefore, the second driving device 40 drives the first arm body 31 to rotate around the third axis L3, so as to drive the steering engine driving assembly 20 and the wheel body assembly 10 to rotate around the third axis L3 through the second arm body 32, on one hand, the connecting arm 30 is simpler in structure, easy to machine and implement, and the machining cost of the wheel mechanism is reduced; on the other hand, the tumbler that ensures the wheel assembly 10 rotates around the third axis L3 is larger than zero, thereby realizing the adjustment of the wheel track.

Specifically, the first arm body 31 and the second arm body 32 are perpendicular to each other, the first arm body 31 is a vertical arm, and the second arm body 32 is a horizontal arm, so that the structure of the connecting arm 30 is simpler, and the connecting arm is easy to process and implement. Meanwhile, the structural strength of the connecting arm 30 is improved by the arrangement, and the service life of the wheel mechanism is prolonged.

It should be noted that the value of the second included angle is not limited to this, and may be adjusted according to the working condition and the use requirement. Optionally, the second angle is 30 °, or 45 °, or 60 °, or 75 °.

Optionally, the second arm 32 and/or the first arm 31 are tubular. Thus, the arrangement realizes the light-weight design of the connecting arm 30 on one hand, and further reduces the overall weight of the wheel mechanism; on the other hand, the structure of the second arm body 32 and/or the first arm body 31 is simpler, the processing and the realization are easy, and the processing cost of the connecting arm 30 is reduced.

In the present embodiment, the second arm body 32 and the first arm body 31 are each tubular. The second arm 32 and the first arm 31 are both circular tubes.

In other embodiments not shown in the drawings, the second arm body is tubular, and the first arm body is columnar, so that the structures of the first arm body and the second arm body are more flexibly selected, different use requirements and different working conditions are met, and the processing flexibility of workers is also improved.

In other embodiments not shown in the drawings, the second arm body is columnar, and the first arm body is tubular, so that the structures of the first arm body and the second arm body are more flexibly selected, different use requirements and different working conditions are met, and the processing flexibility of workers is also improved.

Alternatively, the connecting position of the second arm body 32 and the first arm body 31 is adjustably set; alternatively, the second arm 32 is telescopically arranged to adjust the distance between the second axis L2 and the third axis L3. Thus, the above arrangement allows the pivot arm of wheel assembly 10 to be adjustably sized for different ranges of track adjustment, further enhancing the versatility of the wheel mechanism. Meanwhile, the arrangement enables the size of the rotating arm of the wheel body assembly 10 to be adjusted more flexibly, so that different use requirements and working conditions are met, and the processing flexibility of workers is improved.

As shown in fig. 3, the first arm 31 has a mounting hole 311 and a first through hole 312, the second arm 32 has a second through hole 321 communicated with the first through hole 312, one end of the second arm 32 extends into the mounting hole 311 and is connected to the first arm 31, and the first through hole 312 and the second through hole 321 are used for a wire of the steering engine 21 and/or the first driving device 11 to pass through. Like this, the one end of second arm 32 stretches into in the first arm 31 and is connected with first arm 31 through mounting hole 311, and then has increased the connection area between the two, has promoted the joint strength of the two, avoids the two to take place to break away from each other and influence the structural stability of wheel mechanism. Meanwhile, the arrangement of the first via hole 312 and the second via hole 321 enables the routing on the wheel mechanism to be tidy and attractive, and the steering engine 21 and/or the first driving device 11 can be maintained by a worker conveniently.

Specifically, the side wall of the first arm body 31 has a mounting hole 311, the mounting hole 311 is communicated with the inner cavity of the first arm body 31, and the first end of the second arm body 32 passes through the mounting hole 311 and then extends into the inner cavity and abuts against the cavity wall of the inner cavity, so as to realize the assembly positioning of the first arm body 31 and the second arm body 32. Then, the first arm 31 and the second arm 32 are welded to be assembled. Wherein the second end of the second arm 32 is connected to the connecting structure 50.

It should be noted that the connection manner of the first arm 31 and the second arm 32 is not limited to this, and can be adjusted according to the working condition and the use requirement.

In other embodiments not shown in the drawings, the end of the second arm 32 is welded to the outer peripheral surface of the first arm 31 to facilitate the connection of the two and also to improve the structural strength of the connecting arm 30.

As shown in fig. 1, the connecting structure 50 includes a first board 51, a second board 52 and a third board 53. The first plate 51 is connected to the second arm 32. Second plate body 52 is connected with first plate body 51 and is the third contained angle setting between the first plate body 51, and steering wheel 21 and reduction gear body 221 all set up on second plate body 52, and second plate body 52 has the through-hole. The third plate 53 is connected to both the first plate 51 and the second plate 52. Wherein, the number of the third plate bodies 53 is at least two, at least two third plate bodies 53 are oppositely arranged and surround the first plate body 51 and the second plate body 52 to form an installation space, and the steering engine 21 and the speed reducer body 221 are located in the installation space. Optionally, the third included angle is 90 °. Thus, on one hand, the arrangement makes the structure of the connecting structure 50 simpler, and the connecting structure is easy to process and implement, so that the processing cost of the wheel mechanism is reduced; on the other hand protects steering engine 21 and speed reducer body 221 through the installation space to prevent steering engine 21 and speed reducer body 221 from structural damage and influencing the normal steering of wheel mechanism.

Specifically, the third plate body 53 is two and parallel to each other, and two third plate bodies 53 are located steering wheel 21, reduction gear body 221's both sides respectively, and third plate body 53 all sets up perpendicularly with first plate body 51 and second plate body 52, and third plate body 53 has played the effect of strengthening rib, and then has promoted connection structure 50's structural strength.

Optionally, the first plate body 51 has a third through hole, and the third through hole is communicated with the second through hole 321, so that the wire of the steering engine 21 and/or the first driving device 11 is connected to a power supply after passing through the third through hole, the second through hole 321 and the first through hole 312.

Optionally, the third plate body 53 has a first lightening hole.

As shown in fig. 1 and 2, the wheel assembly 10 further includes an L-shaped connecting frame 13, and the power output end 222 is connected to the first driving device 11 through the L-shaped connecting frame 13. Specifically, the short side of the L-shaped connecting frame 13 is connected to the power output end 222, the long side of the L-shaped connecting frame 13 is connected to the first driving device 11, and the power output end 222 is connected to the first driving device 11 and the wheel body 12 through the L-shaped connecting frame 13, so that the wheel body assembly 10 and the power output end 222 can be easily and conveniently disassembled and assembled, and the difficulty in disassembling and assembling the two is reduced.

Optionally, there is one L-shaped connecting frame 13; or, there are two L-shaped connecting frames 13, and the two L-shaped connecting frames 13 are oppositely disposed and located at two sides of the wheel body 12. Like this, above-mentioned setting makes the number of L shape link 13 select more in a flexible way to satisfy different user demand and operating mode, also promoted staff's processing flexibility. Meanwhile, the arrangement of the two L-shaped connecting frames 13 can improve the overall structural strength of the wheel body assembly 10, and further prolong the service life of the wheel mechanism.

In this embodiment, the L-shaped connecting frame 13 is one, the L-shaped connecting frame 13 includes a first connecting plate, a second connecting plate and a third connecting plate, which are connected in sequence, the first connecting plate and the third connecting plate are perpendicular to each other, the first connecting plate is connected to the power output end 222, and the first driving device 11 is connected to the third connecting plate. The L-shaped connecting frame 13 further comprises a flanging structure which is sequentially arranged on the side edges of the first connecting plate, the second connecting plate and the third connecting plate.

In this embodiment, the wheel assembly 10 further includes a speed reducer, an encoder, and a coupler, the first driving device 11 is connected to the speed reducer through the coupler, and the encoder is disposed on the driving end of the first driving device 11 for detecting the rotation speed of the driving end.

The present application further provides a vehicle (not shown) comprising a vehicle body and a wheel mechanism movably disposed on the vehicle body. Wherein, the wheel mechanism is the wheel mechanism.

Optionally, the vehicle is an unmanned vehicle.

Optionally, the wheel mechanism is a plurality of wheel mechanisms, and the plurality of wheel mechanisms are arranged at intervals along the length direction and/or the width direction of the vehicle body.

The application also provides a robot (not shown) comprising a robot body and a wheel mechanism movably arranged on the robot body. Wherein, the wheel mechanism is the wheel mechanism.

Optionally, the number of the wheel mechanisms is multiple, and the multiple wheel mechanisms are arranged at intervals along the length direction and/or the width direction of the robot body.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:

the wheel body assembly comprises a first driving device and a wheel body, wherein the first driving device is used for driving the wheel body to rotate around a first axis L1 so as to drive the vehicle or the robot to move through the wheel body. Like this, when the wheel base between two adjacent wheel bodies needs to be adjusted, start second drive arrangement to drive steering wheel drive assembly and wheel body subassembly through second drive arrangement and rotate around third axis L3, adjust to predetermineeing the wheel base value until the wheel base. In the process, the steering engine driving assembly can drive the wheel body assembly to rotate around the second axis L2, so that the driving direction of the wheel body is consistent with the driving direction of the vehicle body or the robot body when the wheel track is adjusted to the preset wheel track value. Simultaneously, the both ends of linking arm are connected with steering wheel drive assembly and second drive arrangement respectively, compare with the drive mode among the prior art, increase and adjustable apart from between wheel body and automobile body or the robot in this application, and then make the steering angle scope of wheel body bigger, and then solved the problem that the steering angle of wheel is limited among the prior art, the unable adjustment of wheel distance, so that vehicle or robot can adapt to different service environment and operating mode, promoted user's use and experienced.

It is to be understood that the above-described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A wheel mechanism, comprising:

the wheel body assembly (10) comprises a first driving device (11) and a wheel body (12), wherein the first driving device (11) is in driving connection with the wheel body (12) to drive the wheel body (12) to rotate around a first axis L1;

the steering engine driving component (20) is in driving connection with the wheel body component (10) so as to drive the wheel body component (10) to rotate around a second axis L2;

the first end of the connecting arm (30) is connected with the steering engine driving component (20);

the second driving device (40) is in driving connection with the second end of the connecting arm (30) so as to drive the connecting arm (30) to drive the steering engine driving assembly (20) and the wheel body assembly (10) to rotate around a third axis L3;

the second axis L2 and the third axis L3 are parallel to each other, and the first axis L1 and the second axis L2 form a first included angle therebetween.

2. The wheel mechanism of claim 1, characterized in that steering engine drive assembly (20) comprises a steering engine (21) and a speed reducer (22), wherein the steering engine (21) is in drive connection with the speed reducer (22), the speed reducer (22) comprises a speed reducer body (221) and a power output end (222), and the power output end (222) is in drive connection with the wheel body assembly (10).

3. The wheel mechanism of claim 2, further comprising:

the first end of the connecting arm (30) is connected with the steering engine driving component (20) through the connecting structure (50); the steering engine (21) and the speed reducer body (221) are arranged on the connecting structure (50), the connecting structure (50) is provided with a through hole, and the power output end (222) penetrates through the through hole and then is connected with the wheel body assembly (10).

4. A wheel mechanism according to claim 3, wherein the connecting arm (30) comprises:

the first arm body (31), the second driving device (40) is in driving connection with the first arm body (31) to drive the first arm body (31) to rotate around the third axis L3;

the second arm body (32) is connected with the first arm body (31), and the connecting structure (50) is connected with one end, away from the first arm body (31), of the second arm body (32);

the first arm body (31) and the second arm body (32) are arranged at a second included angle, and the central axis of the first arm body (31) and the third axis L3 are coaxially arranged.

5. A wheel mechanism according to claim 4, characterized in that the second arm (32) and/or the first arm (31) is tubular.

6. A wheel mechanism according to claim 4, characterized in that the connection position of the second arm body (32) to the first arm body (31) is adjustably provided; alternatively, the second arm (32) is telescopically arranged to adjust the distance between the second axis L2 and the third axis L3.

7. The wheel mechanism of claim 4, characterized in that the first arm body (31) is provided with a mounting hole (311) and a first through hole (312), the second arm body (32) is provided with a second through hole (321) communicated with the first through hole (312), one end of the second arm body (32) extends into the mounting hole (311) and is connected with the first arm body (31), and the first through hole (312) and the second through hole (321) are used for a lead of the steering engine (21) and/or the first driving device (11) to pass through.

8. A wheel unit according to claim 4, characterized in that said connection structure (50) comprises:

a first plate (51) connected to the second arm (32);

the second plate body (52) is connected with the first plate body (51) and arranged at a third included angle with the first plate body (51), the steering engine (21) and the speed reducer body (221) are both arranged on the second plate body (52), and the second plate body (52) is provided with the through hole;

a third plate body (53) connected to both the first plate body (51) and the second plate body (52);

the number of the third plate bodies (53) is at least two, the third plate bodies (53) are arranged oppositely and surround the first plate body (51) and the second plate body (52) to form an installation space, and the steering engine (21) and the speed reducer body (221) are located in the installation space.

9. A wheel mechanism according to claim 3, wherein the wheel body assembly (10) further comprises:

the power output end (222) is connected with the first driving device (11) through the L-shaped connecting frame (13); wherein, the number of the L-shaped connecting frames (13) is one; or the number of the L-shaped connecting frames (13) is two, and the two L-shaped connecting frames (13) are oppositely arranged and are positioned at two sides of the wheel body (12).

10. A vehicle is characterized by comprising a vehicle body and a wheel mechanism, wherein the wheel mechanism is movably arranged on the vehicle body; wherein the wheel mechanism is as claimed in any one of claims 1 to 9.

11. A robot is characterized by comprising a robot body and a wheel mechanism, wherein the wheel mechanism is movably arranged on the robot body; wherein the wheel mechanism is as claimed in any one of claims 1 to 9.

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