CN218317010U

CN218317010U - Mobile chassis and walking equipment

Info

Publication number: CN218317010U
Application number: CN202222187988.XU
Authority: CN
Inventors: 赵大旭; 王邦宇; 袁强; 韩党威; 刘帅帅; 王韬
Original assignee: Advanced Institute of Information Technology AIIT of Peking University; Hangzhou Weiming Information Technology Co Ltd
Current assignee: Advanced Institute of Information Technology AIIT of Peking University; Hangzhou Weiming Information Technology Co Ltd
Priority date: 2022-08-18
Filing date: 2022-08-18
Publication date: 2023-01-17
Anticipated expiration: 2032-08-18

Abstract

The utility model particularly relates to a remove chassis and walking equipment, this removal chassis includes support frame, first support body, second support body and driving wheel group. Wherein, the first main part of first support body articulates the bottom at the support frame through the primary shaft, cooperates with slidable mode between second main part and the first main part, is provided with first actuating mechanism and first wheelset in the second main part. The third main part of second support body passes through the second shaft and articulates the bottom at the support frame, cooperates with slidable mode between fourth main part and the third main part, is provided with second actuating mechanism and second wheelset in the fourth main part. The driving wheel set is fixedly arranged on the second frame body and is provided with two driving wheels. Remove the chassis, through setting up support frame, first support body and second support body for this removal chassis has two-way obstacle-surmounting and adjusts the focus of support frame and the ability of removing chassis rigidity, simultaneously, cooperation drive wheelset, in order to possess the operation requirement who satisfies various complicated ground conditions.

Description

Mobile chassis and walking equipment

Technical Field

The utility model belongs to the technical field of the equipment of crossing obstacles, concretely relates to remove chassis has still related to a walking equipment.

Background

The mobile chassis is a tool for providing convenience or expanding the range of human activities for people, such as various life type chassis for providing convenience for people, or various scientific investigation type chassis for expanding the range of human activities.

In the natural and human society, there are some places where people cannot reach and places where people are not suitable to reach, such as mines and disaster prevention rescue, etc., where disasters occur, and at this time, the mobile chassis is required to work in the scene with complicated terrain.

However, most of the mobile chassis on the market at present are not suitable for climbing, obstacle crossing, steering and the like under complex conditions, and do not have the capability of ensuring self stability during movement under complex conditions.

SUMMERY OF THE UTILITY MODEL

The utility model aims at least solving the ability of how to improve the climbing on moving chassis, hinder more and turn to the removal to satisfy the operation requirement's under the complicated ground condition problem. The purpose is realized by the following technical scheme:

the utility model discloses a first aspect provides a remove chassis, include:

a support frame;

the first frame body comprises a first main body and a second main body, the first main body is hinged to the bottom of the supporting frame through a first shaft, the second main body is matched with the first main body in a sliding mode, a first driving mechanism is arranged on the second main body, the power output end of the first driving mechanism is fixedly connected with the first main body, and a first wheel set is arranged on the second main body;

the second frame body comprises a third main body and a fourth main body, the third main body is hinged to the bottom of the supporting frame through a second shaft, the third main body and the fourth main body are matched in a sliding mode, a second driving mechanism is arranged on the fourth main body, a power output end of the second driving mechanism is fixedly connected with the third main body, the fourth main body is hinged to the second main body through a third shaft, a second wheel set is arranged on the fourth main body, and the first wheel set and the second wheel set are distributed on two sides of the third shaft;

the driving wheel set is fixedly arranged on the second frame body, the driving wheel set is arranged between the first wheel set and the second wheel set and is close to the middle of the support frame, the driving wheel set is provided with two driving wheels, the two driving wheels are symmetrically arranged by taking a first plane as a center, and the first plane is a plane where the center line of the first wheel set and the center line of the second wheel set are located.

According to the utility model discloses a remove chassis, including the support frame, be equipped with the first support body of first wheelset and be equipped with the second support body of second wheelset and driving wheel group. Wherein, first support body and second support body all set up the bottom at the support frame, and, the first main part of first support body is articulated through the primary shaft and support frame, and the third main part of second support body is articulated through secondary shaft and support frame, and it is articulated through the third axle between the second main part of first support body and the fourth main part of second support body, first main part can be in the relative second main part of ordering about of first actuating mechanism and slide, and the relative fourth main part of third main part can slide under ordering about of second actuating mechanism. So set up, not only can be according to the condition of load, the focus of direct adjustment support frame to avoid removing the chassis and when the non-straight ground goes (climbing or the condition such as obstacle surmounting), appear adjusting untimely problem. Meanwhile, the rigidity adjustment of the movable chassis and the bidirectional obstacle crossing capability can be realized.

When first actuating mechanism and second actuating mechanism during simultaneous working, can be through changing the position of first main part in the second main part to and the position of third main part in the fourth main part, and then change the position of support frame for first support body and second support body, with the purpose of realizing the direct adjustment support frame focus.

When first actuating mechanism and second actuating mechanism all did not work, the support frame was articulated with first support body and second support body simultaneously, and first support body is articulated with the second support body, and under current state, should remove the whole better rigidity that has of chassis, not only helped improving the stability of the in-process of traveling on the plane, also can ensure the gesture change of the load of the in-process of traveling stable and little, avoided appearing the condition of the offset of focus point.

When one of the first driving mechanism and the second driving mechanism works, if the first driving mechanism does not work and the second driving mechanism works, the support frame is hinged with the first frame body, and at the moment, the support frame, the first frame body and the second frame body integrally form a crank-connecting rod-sliding block mechanism. When the mobile chassis walks, the first wheel set, the second wheel set and the driving wheel set need to be in contact with the walking ground at the same time, so that stable supporting force can be provided for the mobile chassis, and the motion range of a crank in a slider-crank structure is limited at the same time. When the mobile chassis is driven on a non-straight ground (climbing or obstacle crossing and other conditions), the first wheel set can be firstly supported and lifted, so that the first support body rotates by a certain angle around the first shaft, the support frame can rotate relative to the second shaft in the process, and can slide relative to the second support body under the action of the second driving mechanism, namely, the third main body and the fourth main body of the second support body move relatively, so that the influence of the first support body on the support frame is reduced, the stability of the support frame is ensured, and meanwhile, the driving wheel set and the second wheel set can be ensured to be always in effective contact with the walking surface to the maximum extent, and the terrain matching is formed. In the process, the gravity center of the movable chassis can shift backwards, and when the load is large, the situation of obstacle-crossing overturning can be avoided.

Meanwhile, the driving wheel set is driven by two driving wheels to realize various complex rotation modes such as same-direction and same-speed rotation, same-direction differential rotation, reverse and same-speed rotation, reverse differential rotation and the like, and to realize various operation modes of the movable chassis. The support frame, the first frame body and the second frame body are matched, so that the climbing, obstacle crossing and steering moving capabilities of the moving chassis can be improved, and the use requirements of various complex ground conditions can be met.

In addition, according to the utility model discloses a remove chassis, still can have following additional technical characterstic:

in some embodiments of the present invention, the support frame, the first frame body, the second frame body all rotate in a vertical plane, and the center line of the first frame body, the center line of the second frame body and the center line of the support frame all lie in the first plane.

In some embodiments of the present invention, the number of the first shafts is two, and two ends of the first main body are hinged to the supporting frame through the two first shafts respectively;

the second main body comprises a first beam, a second beam and a third beam, the first beam and the second beam are arranged in parallel at intervals, and two ends of the third beam are respectively connected with the front end of the first beam and the front end of the second beam;

the first wheel set is installed in the middle of the third beam.

In some embodiments of the present invention, the number of the second shafts is two, and two ends of the third main body are hinged to the supporting frame through two second shafts respectively;

the fourth main body comprises a first part, a second part and a third part, the first part and the second part are arranged in parallel at intervals, and two ends of the third part are respectively connected with the rear end of the first part and the rear end of the second part;

the second wheel set is mounted in the middle of the third portion.

In some embodiments of the present invention, the first beam and the second beam are both provided with a first slide rail, and the first main body is provided with two first slide blocks matched with the first slide rail; the first portion with all be provided with the second slide rail on the second portion, be provided with on the third main part two with second slide rail complex second slider.

In some embodiments of the present invention, the driving wheel assembly further includes two mounting brackets, and the two mounting brackets are symmetrically disposed on two sides of the second frame body.

The utility model discloses an in some embodiments, the through-hole has been seted up on the mounting bracket, install in the through-hole the third axle, the third axle passes through the bearing frame and connects first support body the second support body with the mounting bracket.

The utility model discloses an among some embodiments, the support frame first support body with the second support body is a plurality of aluminium alloy concatenations and forms.

In some embodiments of the invention, the first wheel set and the second wheel set each comprise a universal wheel.

The utility model discloses an on the other hand has still provided a walking equipment, walking equipment includes the utility model the removal chassis.

The utility model discloses embodiment's walking equipment with the utility model discloses embodiment's removal chassis has the same technological effect, no longer gives unnecessary details here.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:

fig. 1 is a schematic structural diagram of a mobile chassis according to an embodiment of the present invention;

fig. 2 is a top view of the mobile chassis according to the embodiment of the present invention;

fig. 3 is a front view of the mobile chassis according to the embodiment of the present invention;

fig. 4 is a schematic diagram of a partial explosion of the mobile chassis according to the embodiment of the present invention;

fig. 5 is a schematic partial structure view of the first frame according to the embodiment of the present invention;

fig. 6 is a schematic structural view of the mobile chassis according to the embodiment of the present invention when the mobile chassis is in obstacle crossing;

fig. 7 is a front view of the movable chassis according to the embodiment of the present invention when the movable chassis is in obstacle crossing.

The reference symbols in the drawings denote the following:

1. a support frame; 11. a support bracket; 111. a cross beam; 112. a stringer; 12. a first link group; 13. a second set of connection brackets;

2. a first frame body; 21. a first body; 22. a second body; 221. a first beam; 222. a second beam; 223. a third beam; 23. a first drive mechanism; 24. a first slider; 25. a first slide rail;

3. a first shaft;

4. a first wheel set;

5. a second frame body; 51. a third body; 52. a fourth body; 521. a first part; 522. a second section; 523. a third section; 53. a second drive mechanism; 54. a second slider; 55. a second slide rail;

6. a second shaft;

7. a second wheel set;

8. a driving wheel set; 81. a first drive wheel; 82. a second drive wheel; 83. a mounting frame; 84. a through hole; 85. mounting grooves;

9. a third axis; 91. a bearing seat;

10. an obstacle;

A. a first plane.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "in 8230 \8230; below" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The utility model provides a remove chassis, on the global design, should remove the chassis and include support frame, first support body, second support body and driving wheel group.

The first support body comprises a first main body and a second main body, the first main body is hinged to the bottom of the support frame through a first shaft, the second main body is matched with the first main body in a slidable mode, a first driving mechanism is arranged on the second main body, a power output end of the first driving mechanism is fixedly connected with the first main body, and a first wheel set is arranged on the second main body.

The second support body includes third main part and fourth main part, and the third main part passes through the second shaft and articulates in the bottom of support frame, cooperates with slidable mode between third main part and the fourth main part, is provided with second actuating mechanism in the fourth main part, second actuating mechanism's power take off end and third main part fixed connection, and the fourth main part is articulated through third axle and second main part, is provided with the second wheelset in the fourth main part, and first wheelset and second wheelset distribute in the both sides of third axle.

So set up, not only can be according to the condition of load, the focus of direct adjustment support frame to avoid removing the chassis and when the non-straight ground goes (climbing or the condition such as obstacle surmounting), appear adjusting untimely problem. Meanwhile, the rigidity adjustment of the movable chassis and the bidirectional obstacle crossing capability can be realized.

When first actuating mechanism and second actuating mechanism all were out of work, the support frame was articulated with first support body and second support body simultaneously, and first support body is articulated with the second support body, and under current state, this removal chassis wholly has better rigidity, not only helps improving the stability of in-process at the plane of traveling, and the gesture change of the load that also can ensure the in-process of traveling is stable and little, avoids appearing the condition of the positional deviation of focus.

When one of the first driving mechanism and the second driving mechanism works, if the first driving mechanism does not work and the second driving mechanism works, the support frame is hinged with the first frame body, and at the moment, the support frame, the first frame body and the second frame body integrally form a crank-connecting rod-sliding block mechanism. When the mobile chassis walks, the first wheel set, the second wheel set and the driving wheel set need to be in contact with the walking ground at the same time, so that stable supporting force can be provided for the mobile chassis, and the motion range of a crank in a slider-crank structure is limited at the same time. When the removal chassis is gone on the non-straight ground (climbing or the condition such as hinder more), first wheelset can be at first supported and lift up, make first support body around the rotatory certain angle of primary shaft, the support frame can produce the rotation at this in-process relative secondary shaft, and produce the slip relative second support body under second actuating mechanism's effect, relative movement takes place for the third main part and the fourth main part of second support body promptly, in order to reduce the influence of first support body to the support frame, guarantee the stability of support frame, also can ensure simultaneously that drive wheelset and second wheelset can keep maximum effective contact with the running surface all the time, form the topography matching. In the process, the gravity center of the movable chassis can shift backwards, and when the load is large, the situation of obstacle-crossing overturning can be avoided.

Meanwhile, the driving wheel set adopts two driving wheels for driving so as to realize various complex rotation modes such as same-direction and same-speed rotation, same-direction differential speed rotation, reverse and same-speed rotation, reverse differential speed rotation and the like and realize various operation modes of the movable chassis. The support frame, the first frame body and the second frame body are matched, so that the climbing, obstacle crossing and steering moving capabilities of the movable chassis can be improved, and the use requirements of various complex ground conditions can be met.

Based on the design concept, an exemplary structure of the mobile chassis of the present embodiment is shown in fig. 1 and fig. 2, and in this case, the supporting frame 1 includes a supporting bracket 11, a first connecting frame group 12 and a second connecting frame group 13. The support bracket 11 includes two cross members 111 and two longitudinal members 112. The two cross beams 111 are arranged in parallel at intervals, two ends of any longitudinal beam 112 are connected to the two cross beams 111 respectively, and the two longitudinal beams 112 are arranged in parallel at intervals. Of course, the support bracket 11 may be a single support plate. The support bracket 11 formed by splicing the cross beam 111 and the longitudinal beam 112 is beneficial to installation and adjustment of the structure of the support bracket 11, has strong flexibility, can be adjusted and used according to actual requirements, and has good applicability. In the present embodiment, the first connecting frame group 12 includes two vertical beams. The two ends of the cross beam 111 are respectively connected with one end of any vertical beam, and the other end of the vertical beam is hinged with the first frame body 2 through the first shaft 3. The structure and the connection manner of the second connection frame set 13 are all arranged with reference to the first connection frame set 12, and are not described in detail herein.

In addition, when the mobile chassis is used for walking equipment, other auxiliary components of the walking equipment can be arranged on the support frame 1.

As shown in fig. 2 and 3, the support frame 1, the first frame body 2 and the second frame body 5 all rotate in a vertical plane, and a center line of the first frame body 2, a center line of the second frame body 5 and a center line of the support frame 1 are all located in the first plane a. In this embodiment, first support body 2 is close to the front end setting of support frame 1, and second support body 5 is close to the rear end setting of support frame 1, and the rotation plane of the relative support frame 1 of first support body 2 and the rotation plane of the relative support frame 1 of second support body 5 are vertical plane, so set up, can further ensure that first wheelset 4, driving wheel group 8 and second wheelset 7 keep maximum effective contact with the running surface all the time, and then form effectual topography matching.

Specifically, the center line of the first frame body 2, the center line of the second frame body 5 and the center line of the support frame 1 are all located in a first plane a, and the first plane a is a plane where the center line of the first wheel set 4 and the center line of the second wheel set 7 are located. In the present embodiment, the center line of the first wheel set 4 is the center line of the first wheel set 4 on the vertical plane, and the center line of the second wheel set 7 is the center line of the second wheel set 7 on the vertical plane, so the first plane a is the vertical plane. And the central line of first support body 2, the central line of second support body 5 and the central line of support frame 1 all are located first plane A, so move the chassis and wholly use first plane A to be bilateral symmetry structure as the center, so set up, help realizing the even conduction of holding power, the overall structure intensity of guarantee removal chassis has improved the bearing and transporting capacity who removes the chassis.

In this embodiment, the first frame body 2 comprises a first body 21 and a second body 22, the first body 21 is hinged at the bottom of the support frame 1 through the first shaft 3, and the second body 22 is slidably engaged with the first body 21. Specifically, the first body 21 is of a [ "type structure, and two ends of the first body 21 are respectively hinged with two vertical beams of the first connecting frame group 12 through two first shafts 3. The second body 22 includes a first beam 221, a second beam 222, and a third beam 223. The first beam 221 and the second beam 222 are arranged in parallel at intervals, and two ends of the third beam 223 are respectively connected with the front end of the first beam 221 and the front end of the second beam 222. At this time, the first beam 221, the second beam 222, and the third beam 223 are shaped in an "n" type structure. The first body 21 is formed by splicing the first beam 221, the second beam 222 and the third beam 223, which is beneficial to simplifying the structure of the first body 21, reducing the manufacturing and input cost of the first body 21, and reducing the contact between the external environment and the mobile chassis, thereby reducing the influence of the barrier 10 on the walking effect of the mobile chassis.

As shown in fig. 1 and 5, the first beam 221 and the second beam 222 are both provided with a first slide rail 25, and the first body 21 is provided with two first sliders 24 engaged with the first slide rail 25. Specifically, the first body 21 is located above the first beam 221 and the second beam 222. The first slide rails 25 are disposed on the top of the first beam 221 and the second beam 222, and two first sliders 24 are disposed on the first body 21 at intervals. The first slide rail 25 on the first beam 221 cooperates with one of the first sliders 24 to form a sliding mechanism, the first slide rail 25 on the second beam 222 cooperates with the other one of the first sliders 24 to form a sliding mechanism, and the first beam 221 and the second beam 222 are connected by a third beam 223 to form the first body 21 slidable relative to the second body 22.

In the present embodiment, the first driving mechanism 23 is provided on the third beam 223 of the second body 22, and as shown in fig. 5, the first driving mechanism 23 is provided as two servo electric push rods provided at intervals. The power output end of the servo electric push rod is fixed on the first main body 21. Two servo electric push rods are respectively arranged close to the first slide rails 25 to ensure the coupling effect of the first body 21 and the second body 22. When the servo electric push rod works, the first driving mechanism 23 can push the first main body 21 to slide on the second main body 22, and then the connecting position of the support frame 1 and the first frame body 2 is adjusted, so that the movable chassis can execute corresponding actions in the walking process, and the performance of the movable chassis is improved. And when the servo electric push rod is self-locked (not working), the first body 21 is fixed on the second body 22 through the first driving mechanism 23, so that the first frame body 2 becomes a whole, which is helpful for improving the structural strength of the first frame body 2.

Moreover, in the present embodiment, the positions of the first shaft 3, the third shaft 9 and the first wheel set 4 are set, so that the rotation angle of the first frame body 2 relative to the support frame 1 can be limited while ensuring that the first frame body 2 has good supporting performance, thereby contributing to improving the stability of the support frame 1.

As also shown in fig. 1 and 4, the second frame body 5 comprises a third body 51 and a fourth body 52, the third body 51 is hinged at the bottom of the support frame 1 by a second shaft 6, and the third body 51 is slidably engaged with the fourth body 52. Specifically, the third body 51 and the first body 21 have the same structure, and are also in a "[" -shaped structure, and two ends of the third body 51 are respectively hinged to two vertical beams of the second connecting frame group 13 through two second shafts 6.

The fourth body 52 includes a first portion 521, a second portion 522, and a third portion 523. The first portion 521 and the second portion 522 are arranged in parallel at an interval, and two ends of the third portion 523 are respectively connected to a rear end of the first portion 521 and a rear end of the second portion 522, that is, the fourth body 52 has an n-shaped structure. Specifically, the opening of the "Π" type structure is disposed toward the first frame 2, and is hinged to the first frame 2, that is, the free end of the first portion 521 is hinged to the free end of the first beam 221, the free end of the second portion 522 is hinged to the free end of the second beam 222 through the third shaft 9. As shown in fig. 1, 2 and 4, the second body 22 and the fourth body 52 are hinged in a staggered manner, i.e., the first portion 521 and the second portion 522 of the fourth body 52 are located between the first beam 221 and the second beam 222 of the second body 22.

In the present embodiment, the number of the third shafts 9 is two, wherein one third shaft 9 is used to connect the first portion 521 and the first beam 221, and the other third shaft 9 is used to connect the second portion 522 and the second beam 222. Meanwhile, the second wheel set 7 is disposed at the middle of the third portion 523, and the second wheel set 7 is disposed on the third portion 523 in the same manner as the first wheel set 4 is disposed on the third beam 223. In addition, the second driving mechanism 53 is also disposed on the third beam 223 of the second body 22, and the specific structure and arrangement are the same as the first driving mechanism 23, so that the detailed description thereof is omitted.

By providing the fourth body 52 also in a "pi" configuration, a rectangular configuration can be formed in cooperation with the first body 2, in addition to the same effects as those of the second body 22 described above. This rectangle structure helps improving the joint strength of first support body 2, second support body 5 and support frame 1. Simultaneously, the position setting of the first wheelset 4 of cooperation, second wheelset 7 and driving wheel group 8 can effectively ensure that this rectangle structure receives even holding power, further improves first support body 2 and second support body 5, to the supporting effect of support frame 1, ensures the bearing capacity of support frame 1.

As shown in fig. 4, the first portion 521 and the second portion 522 are both provided with a second slide rail 55, and the second sprinkler body is provided with two second slide blocks 54 engaged with the second slide rail 55. Specifically, the third body 51 is located above the first portion 521 and the second portion 522. The second slide rails 55 are disposed on the top of the first portion 521 and the second portion 522, and two second sliders 54 are disposed on the third body 51 at intervals. Moreover, the matching and arrangement of the second slide rail 55 and the second slide block 54 are the same as the matching and arrangement of the first slide rail 25 and the first slide block 24, and are not described in detail herein.

When this removes chassis goes on straight ground, first actuating mechanism 23 and second actuating mechanism 53 are self-locking state (do not work), and this moment, first main part 21 is fixed on second main part 22, third main part 51 is fixed on fourth main part 52, support frame 1 is articulated with first support body 2 and second support body 5 simultaneously promptly, first support body 2 is articulated with second support body 5, under current state, this removes the chassis and wholly has better rigidity, not only help improving the stability in the plane driving process, also can ensure the gesture change of the load of the in-process of traveling stable and not big, avoid appearing the condition of the position skew of gravity center.

When the first driving mechanism 23 and the second driving mechanism 53 work simultaneously, the position of the first body 21 on the second body 22 and the position of the third body 51 on the fourth body 52 can be changed, and then the position of the support frame 1 relative to the first frame body 2 and the second frame body 5 can be changed, so that the purpose of directly adjusting the gravity center of the support frame 1 can be achieved, the applicability of the mobile chassis can be improved, and loads of different types can be borne.

When one of the first driving mechanism 23 and the second driving mechanism 53 works, if the first driving mechanism 23 is in a self-locking state (does not work), and the second driving mechanism 53 works, the support frame 1 is hinged to the first frame body 2, and at this time, the support frame 1, the first frame body 2 and the second frame body 5 integrally form a crank-connecting rod-slider mechanism. When the mobile chassis walks, the first wheel set 4, the second wheel set 7 and the driving wheel set 8 need to be simultaneously contacted with the walking ground so as to provide stable supporting force for the mobile chassis and limit the motion range of a crank in a crank-connecting rod-sliding block structure.

As shown in fig. 6 and 7, when the mobile chassis needs to cross an obstacle or a step in the walking process, first, under the driving of the second frame body 5, after the first wheel set 4 touches the obstacle or the step, the first frame body 2 and the support frame 1 are driven to rise in the vertical direction (the support frame 1 and the first frame body 2 both rotate relative to the first shaft 3), and in the rising process of the support frame 1, the support frame 1 can rotate relative to the second shaft 6, and the third main body 51 is driven to slide relative to the first portion 521 and the second portion 522 under the action of the second driving mechanism 53, so as to ensure that the second wheel set 7 has good contact performance with the walking surface, ensure terrain matching, and at the same time, the influence of the first frame body 2 on the support frame 1 can also be reduced, and the stability of the support frame 1 is ensured. In addition, in the process, the gravity center of the moving chassis can shift backwards, so that the situation of obstacle crossing and overturning when the load is large is avoided, and the stability of the moving chassis crossing obstacles or stairs is further ensured.

In addition, the movable chassis is also provided with a second driving mechanism 53 in a self-locking state (not working) and another obstacle crossing state in which the first driving mechanism 23 works, so that the movable chassis has the capability of crossing obstacles in two directions when walking, the control mode of the movable chassis is favorably expanded, and the applicability of the movable chassis is further improved.

In this embodiment, the driving wheel set 8 further includes two mounting brackets 83, and the two mounting brackets 83 are symmetrically disposed on two sides of the second frame body 5. Specifically, a mounting bracket 83 is respectively disposed on the first portion 521 and the second portion 522, and the mounting bracket 83 is used for mounting the driving wheel. For the sake of convenience of description, the drive pulley located on the first portion 521 is referred to as a first drive pulley 81, and the drive pulley located on the second portion 522 is referred to as a second drive pulley 82. Fix two action wheels on first portion 521 and second portion 522, can make second support body 5 have better drive power, simultaneously, driving wheel set 8 and second wheelset 7 all are located second main part 22, combine the position setting of driving wheel set 8 and second wheelset 7, form class isosceles triangle structure, help strengthening second main part 22's support intensity to can further improve this bearing capacity who removes the chassis.

It should be noted that the first driving wheel 81 is driven by a first hub motor, the second driving wheel 82 is driven by a second hub motor, both the first hub motor and the second hub motor are electrically connected to the controller, and the controller can control the first hub motor and the second hub motor to rotate at the same speed, in the opposite direction and at the same speed and in the opposite direction. When the first driving wheel 81 and the second driving wheel 82 rotate in the same direction and at the same speed, the moving chassis moves forwards or backwards; when the first driving wheel 81 and the second driving wheel 82 rotate in the same direction and at different speeds, the turning action (left turning or right turning) of the moving chassis is realized, and when the first driving wheel 81 and the second driving wheel 82 rotate in opposite directions and at the same speed, the pivot turning action of the moving chassis is realized.

The driving wheel set 8 is driven by two driving wheels to realize various complex rotation modes such as same-direction and same-speed rotation, same-direction differential speed rotation, reverse and same-speed rotation, reverse differential speed rotation and the like, and realize various operation modes of the movable chassis. The supporting frame 1, the first frame body 2 and the second frame body 5 are matched, so that the climbing, obstacle crossing and steering moving capabilities of the moving chassis can be improved, and the using requirements of various complex ground conditions can be met.

Still as shown in fig. 4, a through hole 84 is further formed on the mounting frame 83, a third shaft 9 is installed in the through hole 84, and the third shaft 9 is connected to the first frame body 2, the second frame body 5 and the mounting frame 83 through a bearing seat 91. Specifically, taking the mounting bracket 83 mounted with the first driving wheel 81 as an example, the mounting bracket 83 includes two risers, a connecting plate, the two risers are arranged at intervals, the first beam 221 and the first portion 521 are both located between the two risers, wherein the connecting plate connects and fixes one of the risers and one of the sides of the second portion 522, and the other riser is fixed on the other side of the second portion 522. Through-hole 84 and mounting groove 85 have all been seted up on two risers, and wherein, mounting groove 85 is used for the fixed first action wheel 81 of installation. The third shaft 9 is threaded into the through holes 84 in the two risers after passing through the first portion 521 and the first beam 221. Bearing seats 91 are arranged on the first portion 521 and the first beam 221, the first frame body 2, the second frame body 5 and the mounting frame 83 are connected together through the third shaft 9, the installation of the driving wheel set 8 is facilitated, and the obstacle crossing capability of the moving chassis is guaranteed.

In this embodiment, the support frame 1, the first frame body 2 and the second frame body 5 are made of aluminum profiles. The support frame 1, the first support body 2 and the second support body 5 which are formed by adopting the aluminum profile splicing mode not only optimize the forming structure of the movable chassis, reduce the input cost, but also are more convenient to disassemble and assemble, carry about, help to realize different structural requirements under various complex environments, and are also favorable for carrying out deeper research and development on the movable chassis.

In addition, in this embodiment, the first wheel set 4 and the second wheel set 7 are both provided as one and are universal wheels, so that the first driving wheel 81 and the second driving wheel 82 can be better matched to meet the requirement of rotation, and the product is mature and can be directly purchased for use.

A second aspect of the present embodiment proposes a walking device, which includes the mobile chassis according to the present embodiment.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A mobile chassis, comprising:

a support frame;

the second frame body comprises a third main body and a fourth main body, the third main body is hinged to the bottom of the support frame through a second shaft, the third main body and the fourth main body are matched in a sliding mode, a second driving mechanism is arranged on the fourth main body, the power output end of the second driving mechanism is fixedly connected with the third main body, the fourth main body is hinged to the second main body through a third shaft, a second wheel set is arranged on the fourth main body, and the first wheel set and the second wheel set are distributed on two sides of the third shaft;

2. The mobile chassis of claim 1, wherein the support frame, the first shelf, and the second shelf each rotate in a vertical plane, and wherein a centerline of the first shelf, a centerline of the second shelf, and a centerline of the support frame all lie in the first plane.

3. The mobile chassis according to claim 1, wherein the number of the first shafts is two, and two ends of the first main body are respectively hinged with the support frame through the two first shafts;

the first wheel set is installed in the middle of the third beam.

4. The mobile chassis according to claim 3, wherein the number of the second shafts is two, and two ends of the third body are respectively hinged with the support frame through the two second shafts;

the second wheel set is mounted in the middle of the third portion.

5. The mobile chassis according to claim 4, wherein the first beam and the second beam are provided with first sliding rails, and the first main body is provided with two first sliding blocks matched with the first sliding rails; the first portion with all be provided with the second slide rail on the second portion, be provided with on the third main part two with second slide rail complex second slider.

6. The mobile chassis according to claim 1, wherein the driving wheel set further comprises two mounting brackets symmetrically disposed on two sides of the second frame body.

7. The mobile chassis according to claim 6, wherein the mounting frame is provided with a through hole, the through hole is provided with the third shaft, and the third shaft is connected with the first frame body, the second frame body and the mounting frame through a bearing seat.

8. The mobile chassis of claim 1, wherein the support frame, the first frame body and the second frame body are formed by splicing aluminum profiles.

9. The mobile chassis of claim 1, wherein the first and second wheel sets each comprise a universal wheel.

10. A walking device characterized in that it comprises a mobile chassis according to any of claims 1 to 9.