CN220242956U - Mobile chassis and robot - Google Patents

Abstract

The application is applicable to the robot field, discloses a remove chassis and robot, and this removes chassis includes chassis body, installation mechanism, actuating mechanism and removes the wheel, and this removes the chassis and installs the wheel on the chassis body through setting up installation mechanism to the relative both sides of chassis body respectively have two installation mechanism and two removal wheels, rotate the marcing through setting up two mobile wheels that a motor supporting a first transmission assembly that marchs in actuating mechanism comes the simultaneous driving to be located chassis body with two removal wheels of one side. The construction of the mobile chassis of the present application is advantageous in reducing the manufacturing cost and the use cost of the mobile chassis, thereby reducing the use cost when the mobile chassis is used as a chassis of a robot.

Description

Mobile chassis and robot

Technical Field

The application relates to the technical field of robots, in particular to a mobile chassis and a robot.

Background

Robots, such as some inspection robots, require wheels in their chassis to be controlled to turn and steer to accomplish a particular task.

However, in the implementation manner of the prior art, each wheel in the chassis is usually matched with a motion module to drive the wheel to rotate, which can cause the problems of larger chassis weight, higher control difficulty and the like due to the fact that the number of motors in the robot chassis is often large.

Disclosure of Invention

A first object of the present application is to provide a mobile chassis, which aims to solve at least one technical problem described in the background art.

In order to achieve the above purpose, the scheme provided by the application is as follows:

a mobile chassis, comprising:

the chassis body, the mounting mechanism, the steering mechanism and the driving mechanism,

two mounting mechanisms are arranged on two opposite sides of the chassis body along the first direction, and the two mounting mechanisms positioned on the same side of the chassis body are arranged at intervals along the second direction, wherein the first direction is perpendicular to the second direction; the movable chassis also comprises four movable wheels, and each movable wheel is arranged on the chassis body through a mounting mechanism;

the driving mechanism comprises two advancing motors and two first transmission components, the two advancing motors are arranged on the chassis body at intervals along the advancing direction of the chassis body, and each advancing motor is in transmission connection with two moving wheels arranged along the second direction through one first transmission component so as to be used for driving the two moving wheels to rotate along the second direction.

In some embodiments, the mobile chassis further comprises a steering mechanism, the steering mechanism comprises two steering motors and two second transmission assemblies, the two steering motors are arranged on two opposite sides of the chassis body at intervals along the first direction, each steering motor is in transmission connection with two mounting mechanisms arranged along the second direction through one second transmission assembly, and each mobile wheel is steered together with the mounting mechanisms under the transmission of the second transmission assembly.

In some embodiments, the mobile chassis further comprises four connecting shaft members, one end of each connecting shaft member is connected to the first transmission assembly, and the other end of each connecting shaft member penetrates through the mounting mechanism and is connected to the mobile wheel, so that the mobile wheel is driven by at least the first transmission assembly to rotate.

In some embodiments, each of the coupling members includes a first shaft portion, a second shaft portion and a third shaft portion sequentially connected in an axial direction thereof, the first transmission assembly is in transmission connection with one end of the first shaft portion remote from the second shaft portion, and a rotational fit is formed between the second shaft portion and the first shaft portion in a vertical direction so as to reciprocate the second shaft portion in the vertical direction relative to the first shaft portion;

the third shaft part and the second shaft part form a rotating fit along the second direction, so that the third shaft part swings back and forth along the second direction relative to the second shaft part, and the angle range of the horizontal swing of the third shaft part relative to the second shaft part is less than or equal to 45 degrees; one end of the third shaft part far away from the second shaft part is penetrated with the mounting mechanism and is connected with the moving wheel in a transmission way so as to drive the moving wheel to rotate.

In some embodiments, each mounting mechanism comprises a fixing seat, a mounting frame and a connecting shaft penetrating through the fixing seat, the fixing seat is convexly arranged on the outer side wall of the chassis body along the first direction, the mounting frame is penetrated through the connecting shaft and rotatably mounted on the fixing seat, the third shaft portion penetrates through one end of the mounting frame far away from the fixing seat, the rotating center of the connecting shaft, the steering center of the third shaft portion and the center of the movable wheel are vertically orthographic projection overlapped, each steering motor is in transmission connection with two mounting frames arranged along the second direction through a second transmission assembly, and each mounting frame is used for rotating back and forth around the connecting shaft under the transmission action of the second transmission assembly and driving the movable wheel to steer.

In some embodiments, along the circumferential direction of the mobile chassis, the rotation centers of the four connection shafts are sequentially connected to form a rectangle, a connection line of the rotation centers of the two connection shafts respectively located at two opposite angles of the rectangle is defined as a first straight line, a connection line of the rotation centers of the two connection shafts arranged along the second direction is defined as a second straight line, and an included angle θ between the first straight line and the second straight line is in a range of: θ is more than 0 and less than or equal to 45 degrees.

In some embodiments, each coupling member further comprises a spline shaft,

one end of the spline shaft, which is far away from the first shaft part, is connected with the first transmission assembly and is used for rotating under the drive of the first transmission assembly, the first shaft part is sleeved on the spline shaft along the axial direction of the spline shaft and rotates along with the spline shaft, and the first shaft part is also used for telescoping movement relative to the spline shaft when the movable wheel turns; or,

the second shaft part comprises a first sleeve body and a second sleeve body which are arranged at intervals along the axis direction of the second shaft part, a running fit along the vertical direction is formed between the first sleeve body and the first shaft part, a running fit along the second direction is formed between the third shaft part and the second sleeve body, one end of the spline shaft is connected in the first sleeve body, the other end of the spline shaft is connected in the second sleeve body, and the second sleeve body is used for moving in a telescopic manner relative to the spline shaft when the movable wheel turns.

In some embodiments, each first transmission assembly includes a first transmission shaft, a second transmission shaft and a first transmission component, the two mounting mechanisms arranged along the second direction are respectively a first mounting mechanism and a second mounting mechanism, and the two moving wheels correspondingly mounted on the two are respectively a first moving wheel and a second moving wheel;

one end of the first transmission shaft is connected with the output end of the travelling motor, and the other end of the first transmission shaft is connected with the first movable wheel in a transmission manner so as to be used for rotating under the driving of the travelling motor and driving the first movable wheel to rotate relative to the first mounting mechanism;

the second transmission shaft is horizontally arranged on the chassis body along the second direction and is in transmission connection with the first transmission shaft through the first transmission part so as to be driven by the first transmission part to rotate; the second transmission shaft is in transmission connection with the second movable wheel and is used for driving the second movable wheel to rotate relative to the second installation mechanism.

In some embodiments, each first transmission part comprises a first transmission wheel, a second transmission wheel and a transmission piece, wherein the first transmission shaft penetrates through the first transmission wheel and is in driving connection with the first transmission wheel so as to drive the first transmission wheel to rotate; the transmission piece is connected with the first transmission wheel and the second transmission wheel, so that the first transmission wheel drives the second transmission wheel to rotate; the second transmission shaft is connected with the second transmission wheel in a penetrating way so as to rotate under the drive of the second transmission wheel.

In some embodiments, the transmission member is an annular transmission member, and the annular transmission member is wound around the first transmission wheel and the second transmission wheel; and/or the number of the groups of groups,

each first transmission part further comprises a tensioning wheel arranged on the chassis body, the tensioning wheel is connected with the transmission part and is positioned between the first transmission wheel and the second transmission wheel and used for applying force for driving the transmission part to be tensioned.

In some embodiments, each second transmission assembly includes a lever and two second transmission members, each steering motor drivingly connected to one lever to drive rotation of the lever; the connecting handle is provided with two first end parts protruding along the radial direction of the connecting handle, and the two first end parts are symmetrical to the rotation center of the connecting handle in a center and rotate around the rotation center of the steering motor along with the connecting handle; each first end part is in transmission connection with a mounting mechanism arranged along a second direction through a second transmission part, so that each mounting mechanism rotates back and forth under the drive of the first end part and drives the moving wheel to steer.

In some embodiments, each second transmission component comprises a guide rail, a sliding block, a first connecting rod and a second connecting rod, wherein the guide rail is arranged on the outer side wall of the chassis body, the sliding block is movably connected with the guide rail, and the center of the sliding block and the orthographic projection of the center of the connecting handle in the first direction are connected into a straight line; one end of the first connecting rod is connected to the first end part, the other end of the first connecting rod is connected to the sliding block, and the first connecting rod is used for pushing the sliding block to reciprocate on the guide rail along the second direction under the drive of the first end part;

One end of the second connecting rod is connected with the sliding block, and the other end of the second connecting rod is connected with the corresponding installation mechanism, so that one end, far away from the sliding block, of the second connecting rod moves back and forth along the direction close to or far away from the sliding block under the driving of the sliding block, and the installation mechanism is driven to rotate back and forth, so that the moving wheel is driven to turn.

In some embodiments, the slider includes a body portion, a hinge seat, and a hinge portion, the body portion slidably coupled to the rail; the hinge seat is connected to one side of the body part, which is opposite to the guide rail, and the hinge part is connected to one side of the hinge seat, which faces the connecting handle;

one end of the first connecting rod, which is far away from the connecting handle, is hinged to the hinging part and is used for pushing the hinging part to move along the second direction under the driving of the connecting handle; one end of the second connecting rod, which is far away from the mounting mechanism, is hinged to the hinging seat;

the hinge seat is used for driving one end of the second connecting rod hinged with the hinge seat to reciprocate along a second direction when the hinge part drives the body part to slide on the guide rail, so that one end of the second connecting rod far away from the hinge seat moves back and forth around the hinge seat; the center of the body portion and the orthographic projection of the center of the connecting handle in the first direction are connected in a straight line.

In some embodiments, the chassis body includes a first side plate, a second side plate, and a bottom plate connecting the first side plate and the second side plate, where the first side plate and the second side plate are both disposed above the bottom plate and are disposed opposite to each other at intervals along a first direction; two mounting mechanisms are arranged on the outer sides of the first side plate and the second side plate, and a steering motor is arranged on the inner sides of the first side plate and the second side plate; the two advancing motors are arranged on the bottom plate and are staggered at intervals along the second direction.

A second object of the present application is to provide a robot, including a controller and the above-mentioned mobile chassis, the controller is mounted on the chassis body, and the controller is electrically connected with the travelling motor.

The mobile chassis provided by the application has the following beneficial effects:

the utility model provides a remove chassis is through setting up installation mechanism in order to be used for installing the removal wheel on the chassis body to the relative both sides of chassis body respectively have two installation mechanism and two removal wheels, have both rationally laid four installation mechanism and four removal wheel mounted position on the chassis body, also can make to remove the chassis and possess four removal wheels in order to improve its stationarity of marcing subaerial. The movable chassis of the application is further rotated by providing a driving mechanism for providing power for the driving wheel, so that the driving wheel can roll on the ground to move, and the chassis body is driven to move. Moreover, in the mobile chassis of the application, two mobile wheels can be simultaneously driven to rotate by using one travelling motor matched with one first transmission assembly, and the application reduces the use quantity of the steering motor and the travelling motor, is favorable for reducing the manufacturing cost and the use cost of the mobile chassis, thereby reducing the use cost when the mobile chassis is used as the chassis of the robot. In addition, the reduction of the number of the motors is also beneficial to reducing the design difficulty of the algorithm logic when the motors are controlled by the design program.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from the structures shown in these drawings without inventive effort to a person of ordinary skill in the art.

FIG. 1 is a schematic top view of a mobile chassis provided in a first set of embodiments of the present application;

FIG. 2 is a schematic view of a mobile chassis from one perspective after removal of a travel motor and a steer motor provided in accordance with a first set of embodiments of the present application;

FIG. 3 is an enlarged view of a portion of FIG. 2 at I;

FIG. 4 is a top view of FIG. 2;

FIG. 5 is a schematic view of a mobile chassis from another perspective after removal of the travel motor and steering motor provided in accordance with a first set of embodiments of the present application;

FIG. 6 is a schematic view of a part of the structure of a mobile chassis provided in a first set of embodiments of the present application;

FIG. 7 is a top view of an assembly of a mounting mechanism and a mobile wheel in a mobile chassis provided in accordance with a first set of embodiments of the present application;

FIG. 8 is a schematic cross-sectional view taken along the direction B-B in FIG. 7;

FIG. 9 is a schematic structural view of a coupling member in a mobile chassis provided in accordance with a first set of embodiments of the present application;

fig. 10 is a schematic structural view of a coupling member in a mobile chassis according to a second set of embodiments of the present application.

Reference numerals illustrate:

10. a mobile chassis; l (L) ₁ A first straight line; l (L) ₂ A second straight line;

100. a chassis body; 110. a first side plate; 120. a second side plate; 130. a bottom plate; 140. a connecting column;

200. a mounting mechanism; 210. a fixing seat; 220. a mounting frame; 221. a first bracket; 222. a second bracket; 223. an avoidance table; 230. a connecting shaft; 240. a damper; 200a, a first mounting mechanism; 200b, a second mounting mechanism;

300. a driving mechanism; 310. a travel motor; 320. a first transmission assembly; 321. a first drive shaft; 322. a second drive shaft; 323. a first transmission member; 3231. a first driving wheel; 3232. a second driving wheel; 3233. a transmission member; 3234. a tensioning wheel;

400. a steering mechanism; 410. a steering motor; 420. a first transmission assembly; 421. a connecting handle; 4211. a first end; 4212. a second end; 422. a first transmission member; 4221. a guide rail; 4222. a slide block; 42221. a body portion; 42222. a hinge base; 42223. a hinge part; 4223. a first link; 4224. a second link; 4225. a rod end joint bearing;

500. A moving wheel; 500a, a first moving wheel; 500b, a second moving wheel;

600. a connecting shaft member; 610. a first shaft portion; 620. a second shaft portion; 621. a first sleeve; 622. a second sleeve; 630. a third shaft portion; 640. a first shaft body; 650. a spline shaft; 600a, a first coupling member; 600b, a second coupling member.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are merely used to explain the relative positional relationship between the components, the movement condition, and the like in a certain specific posture, and if the specific posture is changed, the directional indicator is correspondingly changed.

It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element through intervening elements.

Furthermore, the descriptions of "first," "second," and the like, herein are for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.

As shown in fig. 1 to 10, the mobile chassis 10 provided in the embodiment of the present application is suitable for a mobile robot such as a mobile robot, a patrol robot, or the like, and is used as a chassis of the robot, so as to save manufacturing cost and use cost of the robot.

First group of embodiments

The mobile chassis 10 provided in this embodiment can be seen in fig. 1-9.

As shown in fig. 1, the mobile chassis 10 provided in the embodiment of the present application includes a chassis body 100, a mounting mechanism 200 and a driving mechanism 300, when the mobile chassis 10 moves straight on the ground, the left-right direction of the chassis body 100 is defined as a first direction, the traveling direction of the chassis body 100 is a second direction, and it can be understood that the second direction is the front-rear direction of the mobile chassis 10. In the first direction, two mounting mechanisms 200 are provided on opposite sides of the chassis body 100, so that the balance of the chassis body 100 can be unaffected. The two mounting mechanisms 200 on the same side of the chassis body 100 are disposed at intervals along the second direction, and the first direction is perpendicular to the second direction. The mobile chassis 10 further includes four mobile wheels 500, each mobile wheel 500 being mounted to the chassis body 100 by a mounting mechanism 200.

The driving mechanism 300 includes two traveling motors 310 and two first transmission assemblies 320, the two traveling motors 310 are disposed on the chassis body 100 at intervals along the traveling direction of the chassis body 100, and each traveling motor 310 is in transmission connection with two moving wheels 500 disposed along the second direction through one first transmission assembly 320, so as to be used for driving the two moving wheels 500 to rotate along the second direction, thereby driving the chassis body 100 to travel on the ground. The present application can realize controlling the rotation of two steering wheels located at the left side or the right side of the chassis body 100 using one traveling motor 310, and reduces the number of traveling motors 310 compared to the scheme in which each traveling wheel 500 is controlled to travel by one traveling motor 310 in the related art.

It can be appreciated that the mobile chassis 10 according to the embodiment of the present application is provided with the mounting mechanism 200 for mounting the mobile wheel 500 on the chassis body 100, and two mounting mechanisms 200 and two mobile wheels 500 are respectively disposed on two opposite sides of the chassis body 100, so that the four mounting mechanisms 200 and the four mobile wheels 500 are reasonably disposed at the mounting positions of the chassis body 100, and the mobile chassis 10 can also have four mobile wheels 500 to improve the travelling stability on the ground. The mobile chassis 10 of the present embodiment further provides a driving mechanism 300 for providing power to the driving wheel to rotate, so that the driving wheel can roll on the ground, thereby driving the chassis body 100 to move.

In the driving mechanism 300, only two traveling motors 310 arranged at intervals drive two moving wheels 500 positioned on the same side of the chassis body 100 to rotate through a first transmission assembly 320 respectively, so that all four moving wheels 500 rotate and travel along the second direction. That is, in the mobile chassis 10 of the present application, two mobile wheels 500 can be simultaneously driven to rotate by using one travelling motor 310 in combination with one first transmission assembly 320, which reduces the number of travelling motors 310, lightens the weight of the mobile chassis 10, and is beneficial to reducing the manufacturing cost and the use cost of the mobile chassis 10, thereby reducing the use cost when the mobile chassis 10 is used as a chassis of a robot. In addition, the reduction of the number of the motors is also beneficial to reducing the design difficulty of the algorithm logic when the motors are controlled by the design program.

As shown in fig. 1, as an embodiment, the mobile chassis 10 further includes a steering mechanism 400, where the steering mechanism 400 includes two steering motors 410 and two second transmission assemblies 420, the two steering motors 410 are disposed on opposite sides of the chassis body 100 at intervals along the first direction, and the two steering motors 410 are disposed on opposite sides of the chassis body 100 at intervals along the first direction, so that the balance degree of the chassis body 100 can not be affected. Each steering motor 410 is drivingly connected to two mounting mechanisms 200 disposed in a second direction through a second drive assembly 420, and each moving wheel 500 is steered together with the mounting mechanisms 200 by the drive of the second drive assembly 420.

The present application can control the left and right steering of two moving wheels 500 located at the left side or the right side of the chassis body 100 by using one steering motor 410, and compared to the scheme that each moving wheel 500 is controlled to steer by one steering motor 410 in the related art, the present application also reduces the number of steering motors 410. It will be appreciated that in the embodiment in which one travel motor 310 is used to control the rotation of two moving wheels 500 on the same side at the same time, the moving chassis 10 further provides steering driving force for the moving wheels 500 by providing the steering mechanism 400, so as to drive the moving wheels 500 to steer left and right, and the number of the steering motors 410 can be reduced while the number of the travel motors 310 is reduced, so that the weight of the moving chassis 10 is reduced.

As shown in fig. 1, 5 and 6, as an embodiment, the mobile chassis 10 further includes four coupling members 600, where one end of each coupling member 600 is connected to the first transmission assembly 320, and the other end is in transmission connection with the mobile wheel 500, so as to at least drive the mobile wheel 500 to rotate under the transmission action of the first transmission assembly 320. In some embodiments, the other end of the connecting shaft member 600 is inserted through the mounting mechanism 200 and is drivingly connected to the moving wheel 500. In some embodiments, one moving wheel 500 corresponds to one coupling member 600, and each traveling motor 310 drives two coupling members 600 disposed in the second direction by driving one first transmission assembly 320, so that the two coupling members 600 rotate and drive the moving wheel 500 to rotate. Illustratively, the four coupling members 600 of the present embodiment are all three-joint universal couplings, so as to ensure transmission of rotational force and improve transmission accuracy.

As shown in fig. 5, 6 and 9, as an embodiment, each of the coupling members 600 includes a first shaft portion 610, a second shaft portion 620 and a third shaft portion 630 sequentially connected in an axial direction thereof, and the first shaft portion 610, the second shaft portion 620 and the third shaft portion 630 are rotated about the same axis by the driving of the first driving assembly 320, and the power of the first driving assembly 320 is sequentially transmitted to the moving wheel 500 connected to the third shaft portion 630 through the first shaft portion 610, the second shaft portion 620 and the third shaft portion 630, thereby driving the moving wheel 500 to rotate.

Specifically, the first transmission assembly 320 is drivingly connected to an end of the first shaft portion 610 remote from the second shaft portion 620, and a rotation fit is formed between the second shaft portion 620 and the first shaft portion 610 in a vertical direction, so that the second shaft portion 620 reciprocates in the vertical direction with respect to the first shaft portion 610. In general, the swing amplitude of the second shaft portion 620 in the vertical direction with respect to the first shaft portion 610 is set to be 20 ° in the up-down direction. In this way, when the moving wheel 500 passes over the ground with an obstacle and swings up and down by 20 °, the coupling member 600 can have a buffer in the vertical direction, and the influence on the coupling member 600 due to the up and down swing of the moving wheel 500 can be reduced, thereby improving the power transmission accuracy of the coupling member 600.

A rotational fit in the second direction is formed between the third shaft portion 630 and the second shaft portion 620 such that the third shaft portion 630 swings reciprocally in the second direction with respect to the second shaft portion 620, and an angle range in which the third shaft portion 630 swings horizontally with respect to the second shaft portion 620 is less than or equal to 45 ° to restrict the steering angle of the moving wheel 500 from exceeding 45 °. For example, the third shaft portion 630 swings horizontally 40 ° or 45 ° to the front and rear sides, respectively, in the second direction with respect to the second shaft portion 620. The third shaft portion 630 is capable of reciprocating in the second direction with respect to the second shaft portion 620 so that the moving wheel 500 can freely make a left or right turn, and the maximum steering angle of the moving wheel 500 is 45 °. The swing track of the end of the third shaft portion 630 away from the second shaft portion 620 is an arc track, and the center of the arc track is located at the rotation connection position of the third shaft portion 630 and the second shaft portion 620. One end of the third shaft portion 630 far away from the second shaft portion 620 is penetrated through the mounting mechanism 200 and is connected to the moving wheel 500 in a transmission manner so as to drive the moving wheel 500 to rotate. The portion of the third shaft portion 630 penetrating the mounting mechanism 200 is connected to the mounting mechanism 200 through a bearing (not shown) so that the rotation of the third shaft portion 630 does not affect the mounting stability of the mounting mechanism 200.

As shown in fig. 8 and 9, as an embodiment, the third shaft portion 630 and the second shaft portion 620 are connected by a first shaft body 640, and the second shaft portion 620 is sandwiched by the first shaft body 640 in the vertical direction and fixedly connected to the first shaft body 640. The third shaft portion 630 sandwiches the first shaft body 640 in the second direction and is hinged to the first shaft body 640. The third shaft portion 630 swings horizontally back and forth about the first shaft body 640 in the second direction with respect to the second shaft portion 620 by the first shaft body 640. When the moving wheel 500 is defined to be straight, the position of the end of the third shaft portion 630 far from the first shaft body 640 is defined as an initial position, and when the moving wheel 500 is rotated left or right, the end of the third shaft portion 630 far from the first shaft body 640 swings 45 ° back or forth around the first shaft body 640 from the initial position along the second direction.

As shown in fig. 2, 7 and 8, as an embodiment, each mounting mechanism 200 includes a fixing base 210, a mounting frame 220 and a connection shaft 230 penetrating and connected to the fixing base 210, and the fixing base 210 is protruded on an outer sidewall of the chassis body 100 along a first direction. The mounting frame 220 is penetrated by the connecting shaft 230, and rotatably mounted on the fixing base 210 through the connecting shaft 230, and the third shaft 630 penetrates an end of the mounting frame 220 away from the fixing base 210. In some embodiments, the rotation center of the connecting shaft 230, the steering center of the third shaft 630 and the orthographic projection of the center of the moving wheel 500 in the vertical direction coincide, so that the center of the connecting shaft 230, the steering center of the third shaft 630 and the center of the moving wheel 500 are coaxial, thereby reducing sliding friction between the moving wheel 500 and the ground, even only rolling friction between the moving wheel 500 and the ground, so that the torque of the travelling motor 310 can be reduced, the travelling motor 310 of the present application can select a motor with small torque, further saving the cost, and further improving the service life of the moving wheel 500. It is understood that the steering center of the third shaft portion 630 is the center of the first shaft body 640. Each steering motor 410 is in transmission connection with two mounting frames 220 arranged along the second direction through a second transmission assembly 420, and each mounting frame 220 is used for rotating back and forth around the connecting shaft 230 under the transmission action of the second transmission assembly 420 and driving the moving wheel 500 to steer.

As shown in fig. 4, as an embodiment, in the circumferential direction of the moving chassis 10, the rotation centers of the four connection shafts 230 are sequentially connected to form a rectangle, such as a square or a rectangle, and one of the embodiments of the present application is formed as a square such that the moving wheel 500 has a maximum steering angle of 45 °. The line defining the rotation centers of the two connection shafts 230 respectively at two opposite angles of the rectangle is a first straight line L1, the line defining the rotation centers of the two connection shafts 230 arranged along the second direction is a second straight line L2, and the included angle θ between the first straight line L1 and the second straight line L2 is in the range of: θ is more than 0 and less than or equal to 45 degrees. When the rotation centers of the four connecting shafts 230 are sequentially connected to form a rectangle with a square shape, the included angle θ between the first straight line L1 and the second straight line L2 is 45 °, and at this time, if the moving wheel 500 is turned left, the included angle between the moving wheel 500 turned left and the chassis body 100 is also 45 °.

As shown in fig. 6, 8 and 9, as an embodiment, each of the coupling members 600 further includes a spline shaft 650, the spline shaft 650 is disposed on the first shaft portion 610, and the first shaft portion 610 can be telescopically engaged with the spline shaft 650, thereby eliminating the influence of the vertical swing of the second shaft portion 620, so that the influence on the power transmission of the coupling member 600 is greatly reduced when the moving wheel 500 passes over an obstacle and moves up and down, and the coupling member 600 can still perform almost lossless power transmission. Specifically, one end of the spline shaft 650, which is far away from the first shaft 610, is connected to the first transmission assembly 320, so as to be driven by the first transmission assembly 320 to rotate, the first shaft 610 is sleeved on the spline shaft 650 along the axial direction of the spline shaft 650 and rotates along with the spline shaft 650, the spline shaft 650 can transmit the rotation power transmitted by the first transmission assembly 320 to the first shaft 610, and the first shaft 610 is further used for performing telescopic movement relative to the spline shaft 650 when the moving wheel 500 turns.

As shown in fig. 4, 5 and 6, and in combination with fig. 9, each of the first transmission assemblies 320 includes a first transmission shaft 321, a second transmission shaft 322 and a first transmission part 323, defining two mounting mechanisms 200 disposed along the second direction as a first mounting mechanism 200a and a second mounting mechanism 200b, respectively, and two moving wheels 500 correspondingly mounted thereto as a first moving wheel 500a and a second moving wheel 500b, respectively. The two coupling members 600 corresponding to the first and second moving wheels 500a and 500b, respectively, are first and second coupling members 600a and 600b, respectively.

One end of the first transmission shaft 321 is connected to the output end of the traveling motor 310 to rotate under the driving of the traveling motor 310, and the other end of the first transmission shaft 321 is connected to the first moving wheel 500a through the first coupling member 600a in a transmission manner, so that the rotating power of the traveling motor 310 is transmitted to the first moving wheel 500a through the first coupling member 600a, and the first moving wheel 500a is driven to rotate relative to the first mounting mechanism 200a through the transmission manner, so that the transmission manner is simple, and the structure of the first transmission assembly 320 is facilitated to be simplified. The second transmission shaft 322 is horizontally arranged on the chassis body 100 along the second direction and is in transmission connection with the first transmission shaft 321 through the first transmission part 323, and the second transmission shaft 322 is driven by the first transmission part 323 to rotate along with the first transmission shaft 321. The second transmission shaft 322 is in transmission connection with the second moving wheel 500b through the second coupling member 600b to transmit the rotation power transmitted from the first transmission part 323 to the second moving wheel 500b through the second coupling member 600b, so that the transmission drives the second moving wheel 500b to rotate relative to the second mounting mechanism 200b, and the transmission manner is simple, which is also advantageous in simplifying the structure of the first transmission assembly 320.

As shown in fig. 4, 5 and 9, as an embodiment, each first transmission part 323 includes a first transmission wheel 3231, a second transmission wheel 3232 and a transmission member 3233, and the first transmission shaft 321 penetrates the first transmission wheel 3231 and is drivingly connected to the first transmission wheel 3231 to drive the first transmission wheel 3231 to rotate. The transmission member 3233 is connected to the first transmission wheel 3231 and the second transmission wheel 3232, so that the first transmission wheel 3231 drives the second transmission wheel 3232 to rotate. The second transmission shaft 322 is connected with the second transmission wheel 3232 in a penetrating way so as to rotate under the drive of the second transmission wheel 3232. The first transmission part 323 transmits the power of the first transmission shaft 321 to the second transmission shaft 322 by arranging the first transmission wheel 3231, the second transmission wheel 3232 and the transmission piece 3233, so that the transmission mode is simple.

As shown in fig. 5, as an embodiment, the transmission member 3233 is an endless transmission member 3233, such as a transmission belt or a transmission chain, and the endless transmission member 3233 is wound around the first transmission wheel 3231 and the second transmission wheel 3232, so that the power transmitted from the first transmission wheel 3231 is transmitted to the second transmission wheel 3232, and the second transmission wheel 3232 is rotated.

As shown in fig. 4 and 5, as an embodiment, each first transmission part 323 further includes a tensioning wheel 3234 provided on the chassis body 100, and the tensioning wheel 3234 is connected to the transmission part 3233 and is located between the first transmission wheel 3231 and the second transmission wheel 3232. The tensioning wheel 3234 is used for applying a force for tensioning the transmission piece 3233, so that the transmission piece 3233 wound on the first transmission wheel 3231 and the second transmission wheel 3232 is tensioned, and the transmission accuracy of the transmission power transmitted by the transmission piece 3233 is improved.

As shown in fig. 2 and 3, each second transmission assembly 420 includes a connection handle 421 and two second transmission members 422, and each steering motor 410 is drivingly connected to one connection handle 421 to drive the connection handle 421 to rotate, as an embodiment. Both steering motors 410 may be joint motor modules with large torque and are respectively assembled at two opposite inner sides of the chassis body 100, and the output ends of the steering motors 410 penetrate out of the side wall of the chassis body 100 so as to be connected with the connecting handle 421. The connection shank 421 has two first end portions 4211 protruding in a radial direction thereof, and the two first end portions 4211 are center-symmetrical with respect to a rotation center of the connection shank 421 and rotate around the rotation center of the steering motor 410 following the connection shank 421. Each first end 4211 is drivingly coupled to a mounting bracket 220 disposed in a second direction by a second drive member 422 for coupling with the mounting mechanism 200. In this application, the two first end portions 4211 are centrosymmetric to the rotation center of the connection handle 421, and when the steering motor 410 drives the connection handle 421 to rotate, the two second transmission members 422 located at two sides of the connection handle 421 can be simultaneously driven to move, so as to improve the transmission precision of the connection handle 421.

As shown in fig. 2 and 3, as an embodiment, each second transmission member 422 includes a guide rail 4221, a slider 4222, a first link 4223 and a second link 4224, where the guide rail 4221 is disposed on an outer side wall of the chassis body 100, the slider 4222 is movably connected to the guide rail 4221, and the guide rail 4221 is a linear guide rail 4221 and is parallel to the second direction, so as to ensure linear movement of the slider 4222 in the second direction. The center of the slider 4222 and the orthographic projection of the center of the connection handle 421 in the first direction are connected in a straight line to improve the transmission accuracy of the connection handle 421 transmitting steering power to the slider 4222 through the first link 4223 and to improve the transmission accuracy of the slider 4222 transmitting power to the second link 4224. Specifically, one end of the first link 4223 is connected to the first end 4211, and the other end of the first link 4223 is connected to the slider 4222, and the first link 4223 is used to push the slider 4222 to reciprocate on the rail 4221 along the second direction under the driving of the first end 4211.

One end of the second connecting rod 4224 is connected to the slider 4222, and the other end of the second connecting rod 4224 is connected to the corresponding mounting mechanism 200, so that under the driving of the slider 4222, one end of the second connecting rod 4224 away from the slider 4222 moves back and forth along the direction close to the slider 4222 or away from the slider 4222, and drives the mounting mechanism 200 to rotate back and forth, thereby driving the moving wheel 500 to turn. Specifically, an end of the second link 4224 away from the slider 4222 is connected to the mounting frame 220 to push the mounting frame 220 to rotate around the connection shaft 230 relative to the fixed base 210, thereby driving the moving wheel 500 to turn.

Referring to fig. 4, since the two ends of the second link 4224 are respectively connected to the slider 4222 and the mounting mechanism 200, when the slider 4222 is pushed or pulled by the first link 4223 to move on the rail 4221 in a direction away from the connection handle 421 or toward the connection handle 421, one end of the second link 4224 away from the slider 4222 moves in a direction toward or away from the slider 4222, and one end of the second link 4224 away from the slider 4222 has a movement track of a circular arc track with a center on a side of the circular arc track away from the slider 4222.

Defining the position of the end of the second link 4224 away from the slider 4222 at which the moving wheel 500 is kept in the straight state as the initial position A1, when the slider 4222 is pushed by the first link 4223, the end of the second link 4224 connected to the slider 4222 moves a distance in a direction away from the connection handle 421. The end of the second link 4224 away from the slider 4222 moves from the initial position toward the connection handle 421 in a direction gradually increasing the distance from the chassis body 100, and the end of the second link 4224 away from the slider 4222 is set to move to A2, so that a circular arc track is formed between A1 and A2. In this process, the mounting frame 220 rotates clockwise about the connection shaft 230 while the moving wheel 500 is turned to the right. When the slider 4222 is pulled by the first link 4223, the end of the second link 4224 connected to the slider 4222 moves in a direction approaching the connection handle 421, and the end of the second link 4224 away from the slider 4222 moves in a direction away from the connection handle 421 from the initial position with a gradually increasing distance from the chassis body 100, so that the mounting frame 220 rotates counterclockwise about the connection shaft 230, and simultaneously the moving wheel 500 rotates leftward.

As shown in fig. 2 and 3, as an embodiment, the connection handle 421 further has two second ends 4212 opposite to each other in a radial direction thereof, the two second ends 4212 being centrosymmetric with respect to a rotation center of the connection handle 421, and a distance between the two first ends 4211 is greater than a distance between the two second ends 4212, such that a proper distance is provided between the two first links 4223, so that the connection handle 421 transmits power to the sliders 4222 on both sides of a short axis thereof through the two first links 4223, respectively. Both ends of the first link 4223 are connected with rod end joint bearings 4225, and the gap between the rod end joint bearings 4225 is small, so that the transmission precision of the second transmission member 422 can be improved, and both ends of the first link 4223 are respectively connected with the first end 4211 and the sliding block 4222 through the rod end joint bearings 4225, so that the transmission precision of the first link 4223 for transmitting steering power to the sliding block 4222 is improved. The two ends of the second connecting rod 4224 are also connected with rod end joint bearings 4225, and the two ends of the second connecting rod 4224 are respectively connected with the sliding block 4222 and the mounting frame 220 through the rod end joint bearings 4225, so that the transmission precision of the steering power transmitted from the sliding block 4222 to the mounting frame 220 and the moving wheel 500 by the second connecting rod 4224 is improved.

As shown in fig. 6, as an embodiment, the mounting frame 220 includes a first bracket 221 and a second bracket 222, and the first bracket 221 sandwiches the fixing base 210 and is hung from the outside of the chassis body 100 by the fixing base 210. The end of the second link 4224 away from the slider 4222 is connected to the first bracket 221 for driving the first bracket 221 to rotate relative to the fixed base 210. The second bracket 222 is connected to an end of the first bracket 221 away from the fixing base 210, and rotates along with the first bracket 221. The rotating wheel is rotatably mounted on a side of the second bracket 222 opposite to the chassis body 100. The moving wheel 500 follows the steering direction when the second link 4224 drives the first bracket 221 to rotate. In the present embodiment, a damper 240 may be provided between the first bracket 221 and the second bracket 222 in combination with the related art so that the mount 220 in a suspended mounting state can be cushioned and damped when the moving wheel 500 passes over an obstacle, thereby improving the suspended mounting stability of the mount 220. In some embodiments, the first support 221 is provided with a relief table 223 on a side near the lower edge of the fixing base 210 for mounting the second connecting rod 4224.

As shown in fig. 3, as an embodiment, the slider 4222 includes a body portion 42221, a hinge seat 42222 and a hinge portion 42223, the body portion 42221 is slidably connected to the rail 4221, the hinge seat 42222 is connected to a surface of the body portion 42221 opposite to the rail 4221, and covers a portion of the body portion 42221, so that the hinge seat 42222 can move linearly along the rail 4221 under the mating linear guide of the rail 4221 and the body portion 42221. The hinge portion 42223 is connected to a side of the hinge housing 42222 facing the connection handle 421 to be assembled with the first link 4223. One end of the first link 4223 remote from the connection handle 421 is hinged to the hinge portion 42223 for pushing the hinge portion 42223 to move in the second direction under the driving of the connection handle 421. One end of the second connecting rod 4224, which is far away from the mounting mechanism 200, is hinged to the hinge base 42222, and the hinge base 42222 is used for driving one end of the second connecting rod 4224, which is hinged to the hinge base 42222, to linearly reciprocate along the second direction when the hinge portion 42223 drives the body portion 42221 to slide on the guide rail 4221, so that one end of the second connecting rod 4224, which is far away from the hinge base 42222, moves back and forth around the hinge base 42222. The center of the body portion 42221 and the orthographic projection of the center of the stem 421 in the first direction are connected in a straight line to improve the transmission accuracy of the stem 421 and the slider 4222.

As shown in fig. 1, as an embodiment, the chassis body 100 includes a first side plate 110, a second side plate 120, and a bottom plate 130 connecting the first side plate 110 and the second side plate 120, where the first side plate 110 and the second side plate 120 are disposed above the bottom plate 130 and are disposed opposite to each other at intervals along a first direction, and a plurality of connection columns 140 arranged side by side along a second direction are used to strengthen the connection between the first side plate 110 and the second side plate 120, so as to improve the structural strength of the chassis body 100. In the first direction, the first side plate 110 is located at the left side of the bottom plate 130, the second side plate 120 is located at the right side of the bottom plate 130, two mounting mechanisms 200 are disposed at the outer sides of the first side plate 110 and the second side plate 120, and a steering motor 410 is disposed at the inner sides of the first side plate 110 and the second side plate 120. The two travelling motors 310 are all arranged on the bottom plate 130 and are staggered at intervals along the second direction, and in the first direction, the two travelling motors 310 can be staggered left and right, wherein the travelling motor 310 on the left side controls the two moving wheels 500 on the right side of the chassis body 100 to rotate, and the travelling motor 310 on the right side controls the two moving wheels 500 on the left side of the chassis body 100 to rotate.

Second group of embodiments

Referring to fig. 10, and referring to fig. 1, the mobile chassis 10 provided in this embodiment is different from the first group of embodiments mainly in the following structure:

the spline shaft 650 may be disposed on the second shaft portion 620, and the second shaft portion 620 may be in telescopic engagement with the spline shaft 650, so as to eliminate the influence of the vertical swing of the second shaft portion 620, so that when the moving wheel 500 passes over an obstacle and moves up and down, the influence on the power transmission of the coupling member 600 is greatly reduced, and the coupling member 600 may still perform almost lossless power transmission.

As an embodiment, the second shaft portion 620 includes a first sleeve 621 and a second sleeve 622 disposed at intervals along an axial direction thereof, a running fit is formed between the first sleeve 621 and the first shaft portion 610 in a vertical direction, a running fit is formed between the third shaft portion 630 and the second sleeve 622 in a second direction, one end of the spline shaft 650 is connected to the first sleeve 621, the other end of the spline shaft 650 is connected to the second sleeve 622, and the second sleeve 622 is used for telescopic movement with respect to the spline shaft 650 when the moving wheel 500 is turned.

As shown in fig. 1, the present embodiment also provides a robot (not shown), which includes a controller (not shown) and the mobile chassis 10 in the first or second set of embodiments, wherein the controller is mounted on the chassis body 100, and the controller is electrically connected to the steering motor 410 and the traveling motor 310, respectively, so as to control the steering motor 410 and the traveling motor 310. The robot of the present embodiment can save the use cost and the manufacturing cost due to the use of the moving chassis 10 in the first or second group of embodiments described above.

It will be appreciated that the moving chassis 10 of the first or second set of embodiments described above is used, and the line connecting the rotation centers of the four connecting shafts 230 is provided as a square, and the turning angle of the moving wheel 500 is 45 °. Taking the robot in-situ steering as an example, the steering principle is similar to differential steering, specifically, a left rotating motor drives two left moving wheels 500 to simultaneously rotate outwards by 45 degrees, and a right rotating motor drives two right moving wheels 500 to simultaneously rotate outwards by 45 degrees. The left traveling motor 310 drives the right two traveling wheels 500 to travel forward at the same time, and the right traveling motor 310 drives the left two traveling wheels 500 to travel backward at the same time. The clockwise in-situ steering can be realized.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structural changes made by the specification and drawings of the present application or direct/indirect application in other related technical fields are included in the scope of the claims of the present application.

Claims (15)

1. A mobile chassis, comprising:

the chassis body, the mounting mechanism and the driving mechanism,

Two mounting mechanisms are arranged on two opposite sides of the chassis body along a first direction, and the two mounting mechanisms positioned on the same side of the chassis body are arranged at intervals along a second direction, wherein the first direction is perpendicular to the second direction; the movable chassis further comprises four movable wheels, and each movable wheel is mounted on the chassis body through one mounting mechanism;

the driving mechanism comprises two advancing motors and two first transmission assemblies, the two advancing motors are arranged on the chassis body at intervals along the advancing direction of the chassis body, and each advancing motor is in transmission connection with two movable wheels arranged along a second direction through one first transmission assembly so as to be used for driving the two movable wheels to rotate along the second direction.

2. The mobile chassis of claim 1, further comprising four axle members, each axle member having one end connected to the first drive assembly and another end drivingly connected to the mobile wheel for rotating the mobile wheel at least under the drive of the first drive assembly.

3. The mobile chassis of claim 2, wherein each of the axle members includes a first axle portion, a second axle portion, and a third axle portion connected in sequence along an axial direction thereof,

The first transmission assembly is in transmission connection with one end, far away from the second shaft part, of the first shaft part, and a vertical rotating fit is formed between the second shaft part and the first shaft part, so that the second shaft part moves back and forth in the vertical direction relative to the first shaft part;

a rotating fit along a second direction is formed between the third shaft part and the second shaft part, so that the third shaft part swings back and forth along the second direction relative to the second shaft part, and the angle range of the horizontal swing of the third shaft part relative to the second shaft part is less than or equal to 45 degrees;

one end of the third shaft part far away from the second shaft part is penetrated with the mounting mechanism and is connected with the moving wheel in a transmission way so as to drive the moving wheel to rotate.

4. The mobile chassis of claim 3, wherein each of the mounting mechanisms comprises a fixed seat, a mounting frame and a connecting shaft penetrating and connected to the fixed seat, the fixed seat is convexly arranged on the outer side wall of the chassis body along a first direction,

the mounting frame is penetrated by the connecting shaft and is rotatably arranged on the fixing seat through the connecting shaft, the third shaft part penetrates one end of the mounting frame far away from the fixing seat,

The rotation center of the connecting shaft and the steering center of the third shaft part coincide with the orthographic projection of the center of the movable wheel in the vertical direction.

5. The mobile chassis of claim 4, wherein the rotation centers of the four connecting shafts are sequentially connected in a circumferential direction of the mobile chassis to form a rectangle,

defining the connection line of the rotation centers of the two connecting shafts respectively positioned at two opposite angles of the rectangle as a first straight line, defining the connection line of the rotation centers of the two connecting shafts arranged along a second direction as a second straight line,

the included angle theta between the first straight line and the second straight line is in the range of: θ is more than 0 and less than or equal to 45 degrees.

6. The mobile chassis of claim 3, wherein each of said axle members further comprises a spline shaft,

one end of the spline shaft, which is far away from the first shaft part, is connected with the first transmission assembly and is used for rotating under the drive of the first transmission assembly, the first shaft part is sleeved on the spline shaft along the axial direction of the spline shaft and rotates along with the spline shaft, and the first shaft part is also used for moving in a telescopic way relative to the spline shaft when the movable wheel turns;

Or the second shaft part comprises a first sleeve body and a second sleeve body which are arranged at intervals along the axis direction, wherein the first sleeve body and the first shaft part form a rotating fit along the vertical direction, the third shaft part and the second sleeve body form a rotating fit along the second direction,

one end of the spline shaft is connected in the first sleeve body, the other end of the spline shaft is connected in the second sleeve body, and the second sleeve body is used for moving in a telescopic manner relative to the spline shaft when the movable wheel turns.

7. The mobile chassis of any of claims 1-6, wherein each of the first drive assemblies comprises a first drive shaft, a second drive shaft, and a first drive member, the two mounting mechanisms disposed in the second direction are a first mounting mechanism and a second mounting mechanism, respectively, and the two mobile wheels correspondingly mounted thereon are a first mobile wheel and a second mobile wheel, respectively;

one end of the first transmission shaft is connected to the output end of the travelling motor, and the other end of the first transmission shaft is connected to the first movable wheel in a transmission manner, so that the first movable wheel is driven by the travelling motor to rotate and is driven to rotate relative to the first mounting mechanism;

The second transmission shaft is horizontally arranged on the chassis body along a second direction and is in transmission connection with the first transmission shaft through the first transmission part so as to be driven by the first transmission part to rotate; the second transmission shaft is in transmission connection with the second movable wheel and is used for driving the second movable wheel to rotate relative to the second installation mechanism.

8. The mobile chassis of claim 7, wherein each first transmission part comprises a first transmission wheel, a second transmission wheel and a transmission piece, wherein the first transmission shaft penetrates through the first transmission wheel and is in driving connection with the first transmission wheel so as to drive the first transmission wheel to rotate; the transmission piece is connected with the first transmission wheel and the second transmission wheel, so that the first transmission wheel drives the second transmission wheel to rotate; the second transmission shaft is connected with the second transmission wheel in a penetrating way so as to rotate under the drive of the second transmission wheel.

9. The mobile chassis of claim 8, wherein the transmission member is an endless transmission member that is wound around the first transmission wheel and the second transmission wheel; and/or the number of the groups of groups,

Each first transmission part further comprises a tensioning wheel arranged on the chassis body, the tensioning wheel is connected with the transmission piece and is positioned between the first transmission wheel and the second transmission wheel and used for applying force for driving the transmission piece to be tensioned.

10. The mobile chassis of any one of claims 1-6, further comprising a steering mechanism comprising two steering motors and two second drive assemblies, the two steering motors being spaced apart on opposite sides of the chassis body in a first direction, each steering motor being drivingly connected to two of the mounting mechanisms arranged in a second direction by one of the second drive assemblies, each mobile wheel being steered together with the mounting mechanisms by the second drive assemblies.

11. The mobile chassis of claim 10, wherein each of said second drive assemblies includes a lever and two second drive members, each of said steering motors drivingly connected to one of said levers to drive rotation of said lever; the connecting handle is provided with two first end parts protruding along the radial direction of the connecting handle, and the two first end parts are symmetrical to the rotation center of the connecting handle in a center and rotate around the rotation center of the steering motor along with the connecting handle;

Each first end is in transmission connection with one mounting mechanism arranged along a second direction through one second transmission component, so that each mounting mechanism is driven by the first end to rotate back and forth and drive the moving wheel to steer.

12. The mobile chassis of claim 11, wherein each of the second transmission components comprises a guide rail, a slide block, a first connecting rod and a second connecting rod, the guide rail is arranged on the outer side wall of the chassis body, the slide block is movably connected to the guide rail, and the center of the slide block and the orthographic projection of the center of the connecting handle in the first direction are connected into a straight line;

one end of the first connecting rod is connected with the first end part, the other end of the first connecting rod is connected with the sliding block, and the first connecting rod is used for pushing the sliding block to reciprocate on the guide rail along the second direction under the driving of the first end part;

one end of the second connecting rod is connected with the sliding block, the other end of the second connecting rod is connected with the corresponding installation mechanism, and the second connecting rod is used for enabling one end, far away from the sliding block, of the second connecting rod to move back and forth along the direction close to or far away from the sliding block under the driving of the sliding block and driving the installation mechanism to rotate back and forth, so that the moving wheel is driven to steer.

13. The mobile chassis of claim 12, wherein the slider comprises a body portion, a hinge seat, and a hinge portion, the body portion slidably coupled to the rail; the hinge seat is connected to one side of the body part, which faces away from the guide rail, and the hinge part is connected to one side of the hinge seat, which faces the connecting handle;

one end of the first connecting rod, which is far away from the connecting handle, is hinged to the hinging part and is used for pushing the hinging part to move along a second direction under the driving of the connecting handle; one end of the second connecting rod, which is far away from the mounting mechanism, is hinged to the hinging seat;

the hinge seat is used for driving one end of the second connecting rod hinged with the hinge seat to reciprocate along a second direction when the hinge part drives the body part to slide on the guide rail, so that one end of the second connecting rod far away from the hinge seat moves back and forth around the hinge seat; the center of the body portion and the orthographic projection of the center of the connecting handle in the first direction are connected into a straight line.

14. The mobile chassis of any one of claims 1-6, wherein the chassis body comprises a first side plate, a second side plate, and a bottom plate connecting the first side plate and the second side plate, the first side plate and the second side plate being disposed above the bottom plate and disposed opposite each other at intervals along a first direction;

Two mounting mechanisms are arranged on the outer sides of the first side plate and the second side plate,

the two travelling motors are arranged on the bottom plate and are staggered at intervals along the second direction.

15. A robot comprising a controller and a mobile chassis according to any one of claims 1-14, the controller being mounted to the chassis body, the controller being electrically connected to the travel motor.