CN219277618U

CN219277618U - Mobile chassis

Info

Publication number: CN219277618U
Application number: CN202320232405.2U
Authority: CN
Inventors: 丁宁; 付雪奇; 陈鑫杰; 萨山; 赵敏; 庞旭芳; 张爱东
Original assignee: Shenzhen Institute of Artificial Intelligence and Robotics
Current assignee: Shenzhen Institute of Artificial Intelligence and Robotics
Priority date: 2023-02-03
Filing date: 2023-02-03
Publication date: 2023-06-30
Anticipated expiration: 2033-02-03

Abstract

The application provides a mobile chassis, which is used for improving the shock absorption performance of the mobile chassis, wherein a steering motor module and a wheel module are detachably arranged on a chassis body module, and the steering motor module drives the wheel module to steer; the wheel module includes damper, and damper includes: the device comprises a shock absorber, a suspension seat and a hub mounting seat; the damper is capable of telescoping along the damper axis to vary the distance between the first end of the damper and the second end of the damper; the hub mounting seat is provided with a hub mounting hole; the axis of the damper and the axis of the hub mounting hole are different-plane straight lines. The mobile chassis adopts a modularized design and is divided into a chassis body module, a steering motor module and a plurality of wheel modules, so that the mobile chassis can be quickly assembled and disassembled, and the application is more flexible. The shock absorber axis does not intersect with the hub mounting hole axis, so that the shock absorber is flexible in hinged position with the hub mounting base, the length of the shock absorber is longer, and the shock absorption effect of the movable chassis is improved.

Description

Mobile chassis

Technical Field

The embodiment of the application relates to the field of robots, in particular to a mobile chassis.

Background

With the rapid development of robot technology and the increasing demands of people for robots, the types and the number of robots in recent years are rapidly increased. Mobile robots play an increasingly important role in the production and life of people, including wheeled robots, foot robots, wheel-foot combined robots, crawler robots, etc., wherein wheeled robots are one of the most widely used types of mobile robots.

Currently, most of wheel robots are four-wheel robots, and their morphological structures are usually devices such as a lower mobile chassis, an upper sensor, a controller, and an industrial personal computer. According to the driving mode, the existing mobile chassis on the market is generally divided into a four-wheel drive chassis, a four-wheel drive differential chassis, a diagonal drive chassis, a front drive rear driven chassis, a Mecanum wheel chassis and the like, and the chassis has advantages and disadvantages and is respectively suitable for different working scenes. The four-wheel-drive chassis has the advantages that the number of motors required by the four-wheel-drive chassis is large, the cost is high, the control is complex, the control precision requirement is high, the four-wheel-drive chassis is flexible to move due to more degrees of freedom, and the turning radius is small; the four-wheel drive differential chassis needs 4 motors, the cost and the control difficulty are reduced relative to those of four-wheel drive, but the abrasion between tires and the ground is serious during steering; only 2 driving motors are needed for diagonally driving the chassis, the cost is relatively low, but the chassis has poor structural stability; the number of motors needed by the front driven chassis and the rear driven chassis is also small, and the front driven chassis and the rear driven chassis also need to be steered by utilizing the differential speed of the driving wheel, so that tires are worn to a certain extent; the tires in the Mecanum wheel chassis are high in cost and high in maintenance cost, the load capacity of the Mecanum wheel chassis is poor, and the application scene is limited. Among the above-mentioned common mobile chassis, four turns four drives chassis have control accuracy height, turn radius little, the tire is difficult for wearing and tearing, noise advantage such as little, be applicable to under the narrow and small space, the work scene of demand high accuracy.

The existing mobile chassis has no damping design or poor damping effect, and the chassis cannot meet the requirement of working on outdoor pothole pavement. If the mobile chassis works outdoors or in some scenes with uneven ground, the running process of the mobile chassis has the situation that the car body jolts seriously.

Disclosure of Invention

The embodiment of the application provides a mobile chassis, which is used for improving the shock absorption performance of the mobile chassis.

A first aspect of an embodiment of the present application provides a mobile chassis, including: chassis body module, steering motor module, multiple wheel modules;

the steering motor module and the wheel module are detachably arranged on the chassis body module, and the steering motor module drives the wheel module to steer;

the wheel module includes damper, and damper includes: the device comprises a shock absorber, a suspension seat and a hub mounting seat;

the first end of the shock absorber is hinged with the first hole site of the suspension seat, the second end of the shock absorber is hinged with the first hole site of the hub mounting seat, the second hole site of the suspension seat is hinged with the second hole site of the hub mounting seat, and the first hole site of the suspension seat, the second hole site of the suspension seat and the first hole site of the hub mounting seat are positioned at three vertexes of a triangle;

the damper is capable of telescoping along the damper axis to vary the distance between the first end of the damper and the second end of the damper;

the hub mounting seat is provided with a hub mounting hole;

the axis of the damper and the axis of the hub mounting hole are different-plane straight lines.

In a first implementation manner of the first aspect of the embodiments of the present application, based on the first aspect of the embodiments of the present application, the chassis body module includes a motor driver and a control cabinet;

the control cabinet controls the wheel module and the steering motor module through the motor driver.

In a second implementation manner of the first aspect of the embodiments of the present application, the shock absorber is a spring shock absorber, a gas spring or a hydraulic shock absorber.

According to a third implementation manner of the first aspect of the present application, the first hole site axis of the hub mounting seat, the second hole site axis of the hub mounting seat and the hub mounting hole axis are located on the same plane and are parallel to each other, and the hub mounting hole axis is located between the first hole site axis of the hub mounting seat and the second hole site axis of the hub mounting seat.

According to the first aspect of the embodiments of the present application, any one of the first implementation manner to the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect of the embodiments of the present application, the axis of the damper is perpendicular to the axis of the hub mounting hole.

According to the first aspect of the embodiments of the present application, any one of the first implementation manner to the fourth implementation manner of the first aspect, in a fifth implementation manner of the first aspect of the embodiments of the present application, the wheel module further includes: a hub motor;

the wheel hub motor is installed at wheel hub mounting hole, wheel hub motor's output shaft and wheel hub mount pad fixed connection.

According to the first aspect of the embodiments of the present application, or any one of the first implementation manner to the fifth implementation manner of the first aspect, in a sixth implementation manner of the first aspect of the embodiments of the present application, the suspension seat is in a shape of a "C", and an opening of the suspension seat faces the hub mounting hole.

According to the first aspect of the embodiments of the present application, any one of the first implementation manner to the sixth implementation manner of the first aspect, in a seventh implementation manner of the first aspect of the embodiments of the present application, the steering motor module includes a driving synchronous pulley, a steering motor mount, a steering motor, and the wheel module further includes a steering mechanism;

the steering motor mounting seat is connected with the chassis body module and the steering motor, and the output end of the steering motor is connected with the driving synchronous belt pulley;

the steering mechanism comprises a driven synchronous pulley, and the driving synchronous pulley drives the driven synchronous pulley through a synchronous belt.

According to the first aspect of the embodiments of the present application, any one of the first implementation manner to the seventh implementation manner of the first aspect, in an eighth implementation manner of the first aspect of the embodiments of the present application, the chassis body module further includes a bottom plate;

the bottom plate is provided with a steering motor mounting hole and a steering bearing seat mounting hole, the steering motor mounting seat is arranged in the steering motor mounting hole, the steering mechanism is arranged in the steering bearing seat mounting hole, and the steering mechanism is connected with the bottom plate and the suspension seat.

According to the first aspect of the embodiments of the present application, any one of the first implementation manner to the eighth implementation manner of the first aspect, in a ninth implementation manner of the first aspect of the embodiments of the present application, the steering mechanism includes a driven synchronous pulley, a steering bearing seat, and a steering shaft;

the steering bearing seat is fixedly arranged on the bottom plate, the first end of the steering shaft is fixedly connected with the suspension seat, the second end of the steering shaft is fixedly connected with the driven synchronous pulley, a bearing is arranged between the steering shaft and the steering bearing seat, and a bearing is arranged between the driven synchronous pulley and the steering bearing seat.

According to the first aspect of the embodiments of the present application, any one of the first implementation manner to the ninth implementation manner of the first aspect, in a tenth implementation manner of the first aspect of the embodiments of the present application, the steering shaft is a hollow shaft, and a through hole is provided along an axis direction of the steering shaft, and the through hole allows the cable to pass through.

According to the first aspect of the embodiments of the present application, any one of the first implementation manner to the tenth implementation manner of the first aspect, in an eleventh implementation manner of the first aspect of the embodiments of the present application, a split-type wire clamping ring is installed at an end, away from the wheel module, of the through hole, and the wire clamping ring is fixedly connected with the steering motor mounting seat.

According to the first aspect of the embodiments of the present application, any one of the first implementation manner to the eleventh implementation manner of the first aspect, in a twelfth implementation manner of the first aspect of the embodiments of the present application, the steering mechanism further includes: a limiting block;

the limiting block is arranged on the outer side of the steering bearing seat and used for limiting the rotation range of the steering mechanism.

According to the first aspect of the embodiments of the present application, any one of the first implementation manner to the twelfth implementation manner of the first aspect, in a thirteenth implementation manner of the first aspect of the embodiments of the present application, a thrust ball bearing is installed between the driven synchronous pulley and the steering bearing seat, a thrust ball bearing is installed between the second end of the steering shaft and the steering bearing seat, and a deep groove ball bearing is installed between the side wall of the steering shaft and the steering bearing seat.

From the above technical solutions, the embodiments of the present application have the following advantages:

in this application, remove the chassis and adopt modularized design, divide into chassis automobile body module, steering motor module and a plurality of wheel module for remove the chassis and can assemble fast and dismantle, use more nimble. The wheel module comprises a damping mechanism, the axis of the damper and the axis of the hub mounting hole are different-surface straight lines, and better damping effect can be achieved compared with the scheme that the axis of the damper and the axis of the hub mounting hole are intersected. The prior art damper axis intersects the hub mounting hole axis and thus one end of the damper is hinged above the hub mounting seat, which results in a limited length of the spring damper and thus limits the damping amplitude of the damper. The shock absorber axis does not intersect with the hub mounting hole axis, so that the shock absorber is flexible in hinged position with the hub mounting base, the length of the shock absorber is longer, and the shock absorption effect of the movable chassis is improved.

Drawings

FIG. 1 is a plan view of the overall structure of a mobile chassis according to an embodiment of the present application;

FIG. 2 is a perspective view of the overall structure of a mobile chassis according to an embodiment of the present application;

FIG. 3 is a perspective view of a chassis body module according to an embodiment of the present application;

FIG. 4 is a perspective view of a wheel module according to an embodiment of the present application;

FIG. 5 is a front view of a wheel module steering mechanism according to an embodiment of the present application;

FIG. 6 is a side view of a wheel module steering mechanism according to an embodiment of the present application;

FIG. 7 is a cross-sectional view of a wheel module steering mechanism A-A according to an embodiment of the present application;

FIG. 8 is a perspective view of a wheel module shock absorbing mechanism according to an embodiment of the present application;

FIG. 9 is a perspective view of a steer motor module according to an embodiment of the present application;

FIG. 10 is an assembly view of a steering motor and wheel module of an embodiment of the present application;

reference numerals:

1-chassis body module; 2-steering motor module; 3-wheel module; 4-a damping mechanism; 5-in-wheel motor; 6-a steering mechanism; 7-a driving synchronous pulley; 8-a driven synchronous pulley; 9-a synchronous belt; 10-a steering motor mounting seat; 11-steering motor; 12-a bottom plate; 13-steering motor mounting holes; 14-steering bearing seat mounting holes; 15-wire passing holes; 16-steering bearing blocks; 17-steering shaft; 18-through holes; 19-clamping wire rings; 20-limiting blocks; 21-thrust ball bearings; 22-deep groove ball bearings; 23-a damper; 24-hanging seats; 25-a hub mount; 26-waist-shaped holes.

Detailed Description

The terms first, second, third, fourth and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Many outdoor pavements are usually complex, such as potholes, slopes, stones, ponding and other pavements, and most existing mobile chassis are usually used in indoor or outdoor regular scenes and cannot simultaneously be qualified for working tasks in the outdoor scenes. The existing movable chassis has some damping functions, the vibration amplitude is larger when the movable chassis passes by an irregular road surface, the control of the chassis and the measurement of a sensor carried on the chassis are difficult, some chassis have damping functions, but the damping effect is general, or the damping mechanism is complex in design, the production and assembly efficiency is lower, and the cost control is not facilitated. The existing mobile chassis steering method mainly comprises four-wheel drive, four-wheel differential, two-wheel differential and the like, the later two differential steering can lead to serious abrasion of tires, and the four-wheel drive scheme has the advantages that the abrasion of tires is less, but the strength of the direction limits the overall load of the chassis because the output shaft of a steering motor is the same as the load direction of the chassis.

Therefore, aiming at the problem that the existing mobile chassis cannot better meet the working scene of outdoor complex terrains, the mobile chassis which has certain universal adaptability to various complex terrains, high load capacity, flexible movement and convenient assembly and maintenance needs to be researched.

As shown in fig. 1 to 10, an embodiment of the present application provides a mobile chassis, including: chassis body module, steering motor module, multiple wheel modules;

the movable chassis adopts a modularized design, and can be quickly installed and detached.

the shape of the triangle formed by the first hole site of the suspension seat, the second hole site of the suspension seat and the first hole site of the hub mounting seat can be changed because the shock absorber is arranged between the first hole site of the suspension seat and the first hole site of the hub mounting seat.

the first end of the shock absorber and the second end of the shock absorber are on the axis of the shock absorber, and when the shock absorber is contracted, the first end of the shock absorber and the second end of the shock absorber are close to each other; the first end of the damper and the second end of the damper are spaced apart from each other when the damper is extended.

The hub mounting seat is provided with a hub mounting hole; the hub mounting holes are used for mounting the hub.

The axis of the damper and the axis of the hub mounting hole are different-plane straight lines. The damper axis is non-intersecting with the hub mounting hole axis.

As shown in fig. 2, in one implementation manner of the embodiment of the present application, steering motor modules are in a one-to-one correspondence with wheel modules, and one steering motor module drives one wheel module to steer. Each wheel module is controlled by one steering motor module, so that the control of the movable chassis is more flexible and accurate, and the operability is higher. Each wheel module can steer to reduce the turning radius, so that the movable chassis can move in a narrower space.

In one implementation manner of the embodiment of the application, the chassis body module comprises a motor driver and a control cabinet;

The control cabinet is a control center of the whole mobile chassis, receives sensing signals generated by various sensors, receives tasks input by operators, and generates various control signals. The control signals for each motor are amplified by the motor driver to each motor, so that each motor rotates or stops. Specifically, the control cabinet controls the wheel hub motor of the wheel module and the steering motor of the steering motor module through the motor driver.

In one implementation of the embodiments of the present application, the shock absorber is a spring shock absorber, a gas spring, or a hydraulic shock absorber.

The spring shock absorber, the gas spring or the hydraulic shock absorber are used, the cost is low, and a good shock absorption effect can be achieved. Spring dampers, gas springs or hydraulic dampers of different specifications can be selected according to actual needs. In addition, other types of dampers may be used, and the damper is not particularly limited.

As shown in fig. 4 and 8, in one implementation manner of the embodiment of the present application, the first hole site axis of the hub mounting seat, the second hole site axis of the hub mounting seat and the hub mounting hole axis are located on the same plane and are parallel to each other, and the hub mounting hole axis is located between the first hole site axis of the hub mounting seat and the second hole site axis of the hub mounting seat.

And observing the hub mounting seat along the axis of the hub mounting hole to obtain a front view of the hub mounting seat, wherein the first hole site of the hub mounting seat, the second hole site of the hub mounting seat and the hub mounting hole are positioned on the same straight line in the front view, and the hub mounting hole is positioned between the first hole site of the hub mounting seat and the second hole site of the hub mounting seat. Optionally, the first hole site of the hub mounting seat and the second hole site of the hub mounting seat are respectively at two ends of the hub mounting seat.

It should be noted that, the positions of the parts may be changed according to specific design requirements, for example, the first hole of the hub mounting seat is located between the second hole of the hub mounting seat and the hub mounting hole, or the second hole of the hub mounting seat is located between the first hole of the hub mounting seat and the hub mounting hole, and the two arrangements may also achieve the damping function.

In one implementation of the embodiments of the present application, the damper axis is perpendicular to the hub mounting hole axis.

The axis of the damper and the axis of the hub mounting hole are perpendicular to each other in space, and the two different surfaces are perpendicular to each other. Thus, the acting force of the shock absorber on the hub mounting seat is perpendicular to the axis of the hub mounting hole, and the moment applied to the hub mounting seat by the shock absorber is parallel to the axis of the mounting hole. The component of the acting force of the shock absorber to the hub mounting seat along the axis of the hub mounting hole is 0, so that the damage of vibration impact to the hub mounting hole can be reduced.

In one implementation manner of the embodiment of the present application, the wheel module further includes: a hub motor;

The hub motor is of an integrated structure, so that the transmission structure is simpler.

In one implementation of an embodiment of the present application, the mobile chassis further includes a tire.

The tire is installed at the wheel hub mounting hole, and the axis of rotation of tire coincides with wheel hub mounting hole axis. The hub of the tire is matched with the hub mounting hole.

The movable chassis can use an in-wheel motor or a common tire, and the movable chassis is either one of the two.

As shown in fig. 8, in one implementation of the embodiment of the present application, the suspension mount has a "C" shape, and the opening of the suspension mount faces the hub mounting hole. The suspension seat is C-shaped, has a better stress structure and can better play a supporting role.

As shown in fig. 9 to 10, in one implementation of the embodiment of the present application, the steering motor module includes a driving synchronous pulley, a steering motor mount, a steering motor, and the wheel module further includes a steering mechanism;

the steering motor is arranged in the steering motor mounting seat, and the output end of the steering motor drives the driving synchronous pulley to rotate.

And a synchronous belt is arranged between the driven synchronous belt pulley and the driving synchronous belt pulley, the synchronous belt is meshed with the driven synchronous belt pulley, and the transmission is accurate and the transmission efficiency is high.

In this embodiment, the transmission mode of the steering motor module is synchronous belt transmission, and the purpose of the transmission mode is to transmit the torque of the steering motor to the wheel module, and the steering motor module may also adopt transmission modes such as a gear, a worm gear, etc., or adopt direct driving of the motor.

As shown in fig. 3, in one implementation of the embodiment of the present application, the chassis body module further includes a floor;

The steering motor mounting seat is embedded into the steering motor mounting hole of the bottom plate and is fixedly connected with the bottom plate.

The steering mechanism can drive the suspension seat to rotate relative to the bottom plate, so that the steering of the tire is realized.

As shown in fig. 5 to 6, in one implementation of the embodiment of the present application, the steering mechanism includes a driven synchronous pulley, a steering bearing block, and a steering shaft;

The chassis is provided with a steering motor, the driven synchronous pulley is connected with a driving synchronous pulley on the steering motor through a synchronous belt, and the driven synchronous pulley rotates under the driving of the steering motor, so that the steering mechanism is driven to rotate, and steering is realized.

Besides the driven synchronous pulley transmission, gear transmission, direct motor driving and the like can be used, so that the steering shaft in the steering mechanism can be driven without limitation.

The steering bearing seat is embedded into a steering bearing seat mounting hole of the bottom plate and is fixedly connected with the bottom plate.

As shown in fig. 7, in one implementation manner of the embodiment of the present application, the steering shaft is a hollow shaft, and a through hole is provided along the axis direction of the steering shaft, and the through hole allows the cable to pass through. The steering shaft is hollow, so that power supply cables, signal cables and the like of a driving motor, a sensor and the like can pass through the steering shaft, the cables are prevented from being exposed, and the cables are better protected.

As shown in fig. 10, in an implementation manner of the embodiment of the present application, a split-type wire clamping ring is installed at one end of the through hole away from the wheel module, and the wire clamping ring is fixedly connected with the steering motor mounting seat.

The wire clamping ring can be used for fixing the cables passing through the steering shaft through holes in a polymerized mode, so that friction between the cables and the driven synchronous belt pulley is avoided, and the effect of protecting the cables is achieved. The wire clamping ring is provided with a left half and a right half, which are convenient to install and disassemble.

Besides the split structure, the clamping ring can be integrally replaced by a slip ring.

As shown in fig. 5, in one implementation of the embodiment of the present application, the steering mechanism further includes: a limiting block;

Optionally, the stopper is installed in the bottom of steering bearing seat, and the upside of hanging the seat sets up the arch. The steering mechanism drives the suspension seat to rotate to a preset angle, and the protrusions of the suspension seat are in contact with the limiting block, so that the suspension seat cannot continue to rotate, and the effect of limiting the rotation range of the steering mechanism is achieved.

As shown in fig. 7, in an implementation manner of the embodiment of the application, a thrust ball bearing is installed between the driven synchronous pulley and the steering bearing seat, a thrust ball bearing is installed between the second end of the steering shaft and the steering bearing seat, and a deep groove ball bearing is installed between the side wall of the steering shaft and the steering bearing seat.

The acting force along the axis of the steering shaft is born by a thrust ball bearing between the driven synchronous pulley and the steering bearing seat. The force between the steering bearing seat and the steering shaft along the axis of the steering shaft is borne by the thrust ball bearing. The acting force along the radial direction of the steering shaft is born by the deep groove ball bearing between the steering bearing seat and the steering shaft.

In addition to the pair of thrust ball bearings and the pair of deep groove ball bearings in this embodiment bearing large axial and radial loads, other bearing arrangements capable of bearing large axial and radial loads, such as a pair of angular contact ball bearings or a cross roller bearing, etc., may be employed.

To better illustrate the structure of the mobile chassis, a specific embodiment is given below:

the movable chassis consists of three modules, can be quickly assembled and disassembled, and is convenient to maintain. The movable chassis is divided into a chassis body module, a wheel module and a steering motor module, and the overall structure schematic diagram of the movable chassis is shown in fig. 1 to 2. The four corners of the chassis body module are symmetrically arranged, the consistency of the modules is higher, and the production of parts, the transfer of the whole machine and the maintenance of the whole machine in the later period are facilitated. The moving chassis of the embodiment is a four-wheel drive chassis, and it is easy to think that the number of the wheel modules and the steering motor modules can be increased or decreased according to actual needs. The wheel module may also be referred to as an omni-wheel module.

The chassis body module is shown in fig. 3, and mainly comprises electronic devices such as a bottom plate, a battery, a motor driver, a control cabinet and the like. The bottom plate has 8 mounting holes that are used for installing wheel module and steering motor module, and wheel module and steering motor module can be along the axial loading of mounting hole in the mounting hole. The bottom plate simple structure can realize the convenient installation of wheel module and steering motor module. The bottom plate is provided with 3 wire passing holes for wiring, so that the cable connection of the electronic devices on the bottom plate is realized. The components such as the switch board, motor driver and battery have been installed respectively to the bottom plate below, make full use of the space below the bottom plate, compact structure. The distance between the bottom surface of the control cabinet and the ground is 10cm, and the control cabinet is also provided with waterproof measures, so that the chassis is ensured to have stronger obstacle crossing and wading capabilities.

The structure of the wheel module is shown in fig. 4, and mainly comprises a steering mechanism, a damping mechanism and a driving mechanism. The driving mechanism is contacted with the ground, and the movement of the movable chassis is realized through the friction force between the driving mechanism and the ground; the steering mechanism is arranged on the movable chassis through a flange, and is driven by the steering motor to realize a steering function; the damping mechanism connects the steering mechanism and the driving mechanism and provides a certain damping function by using a spring on the damping mechanism. The drive mechanism may employ an in-wheel motor.

The steering mechanism on the wheel module is mainly composed of a driven synchronous pulley, a steering bearing seat, a steering shaft and a bearing as shown in fig. 5 to 7. The steering mechanism has 4 bearings, two of which are deep groove ball bearings, and the other two of which are thrust ball bearings, and the two pairs of bearings can bear radial force and axial force respectively, so that the steering mechanism can bear larger axial load and certain radial load, and the whole mobile chassis has larger load capacity. The steering shaft of the mechanism is provided with a hollow through hole structure, and cables of the driving mechanism below the steering shaft can enter the chassis through the through hole structure, so that the cables are prevented from being exposed to play a role in protecting the cables.

The shock absorbing mechanism on the wheel module is shown in fig. 8, and mainly consists of a suspension seat, a spring shock absorber and a hub mounting seat. The two ends of the spring damper are respectively hinged on the suspension seat and the hub mounting seat, and the compression length of the spring can be adjusted according to the mounting state of the whole chassis, so that the whole chassis has a better state in an initial state, and meanwhile, the spring dampers with different rigidities can be replaced according to the load in the use process.

The steering motor module has a structure shown in fig. 9 and consists of a driven synchronous pulley, a steering motor and a steering motor mounting seat. The steering motor mounting seat is fixedly mounted on the bottom plate of the chassis body module through screws. The motor mounting seat is provided with 4 waist-shaped holes, so that the motor mounting seat can move to a certain extent in the front-back direction of the bottom plate, and tensioning of the synchronous belt is realized. The steering motor is assembled with the wheel module, as shown in fig. 10, two split wire clamping rings are arranged at the upper end of the driven synchronous pulley, and a wire harness can be fixed through the wire clamping rings, so that the cable is prevented from being damaged due to friction with the cable when the driven synchronous pulley rotates.

The outdoor mobile chassis of work can install multiple equipment such as camera, cloud platform, industrial computer on it generally, can also bear some loads simultaneously, and the load capacity on the mobile chassis of this application embodiment is great, can bear higher load.

The movable chassis of the embodiment is a four-wheel-drive movable chassis with modularized design, simple structure, flexible movement and high load. The movable chassis can be well adapted to outdoor potholes and ponding road surfaces, and has certain damping and wading capacities. The modularized design thought is adopted, the number of parts is small, the structure is simple, the consistency of the parts is high, and the production assembly and the later maintenance are convenient, so that the cost of the whole machine is reduced.

The mobile chassis of this embodiment can be used to outdoor pothole, slope and ponding road surface, and load capacity is stronger to can realize nimble turn in less space, can be used to the outdoor security protection patrol, fields such as commodity circulation transportation.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A mobile chassis, comprising: chassis body module, steering motor module, multiple wheel modules;

the hub mounting seat is provided with a hub mounting hole;

2. The mobile chassis of claim 1, wherein the chassis body module comprises a motor drive, a control cabinet;

3. The mobile chassis of claim 1, wherein the shock absorber is a spring shock absorber, a gas spring, or a hydraulic shock absorber.

4. The mobile chassis of claim 1, wherein the first hole axis of the hub mounting base, the second hole axis of the hub mounting base, and the hub mounting hole axis are in a same plane and parallel to each other, and the hub mounting hole axis is located between the first hole axis of the hub mounting base and the second hole axis of the hub mounting base.

5. The mobile chassis of claim 1, wherein the damper axis is perpendicular to the hub mounting hole axis.

6. The mobile chassis of claim 1, wherein the wheel module further comprises: a hub motor;

7. The mobile chassis of claim 1, wherein the steering motor module comprises a drive synchronous pulley, a steering motor mount, a steering motor, the wheel module further comprising a steering mechanism;

8. The mobile chassis of claim 7, wherein the chassis body module further comprises a floor;

9. The mobile chassis of claim 8, wherein the steering mechanism comprises a driven synchronous pulley, a steering bearing housing, a steering shaft;

10. The mobile chassis of claim 9, wherein the steering shaft is a hollow shaft, and a through hole is provided along an axial direction of the steering shaft, the through hole allowing the cable to pass therethrough.

11. The mobile chassis of claim 10, wherein the end of the through hole remote from the wheel module is provided with a split clamp ring, and the clamp ring is fixedly connected with the steering motor mounting seat.

12. The mobile chassis of claim 11, wherein the mobile chassis is configured to move,

a thrust ball bearing is arranged between the driven synchronous belt pulley and the steering bearing seat, a thrust ball bearing is arranged between the second end of the steering shaft and the steering bearing seat, and a deep groove ball bearing is arranged between the side wall of the steering shaft and the steering bearing seat.