CN220332443U - Mobile chassis - Google Patents

Abstract

The utility model discloses a mobile chassis, comprising: a body module; the driving wheel modules are respectively arranged at the left side and the right side of the vehicle body module, and each driving wheel module comprises a driving motor with adjustable rotating speed and wheels driven by the driving motor; and the driven wheel modules are respectively arranged at the left side and the right side of the wheel module, and are provided with omni wheels. In the upper moving chassis, the two driving wheel modules can finish steering driving through differential speed, and the driven wheel can easily follow the driving wheel to finish steering because of adopting the omni-wheel, so that abrasion with the ground is difficult to occur, and the driven wheel not only moves smoothly, but also effectively prolongs the service life. Meanwhile, the structure is simple, and the manufacturing is convenient. In summary, the mobile chassis can effectively solve the problems of complex structure, high cost and the like of the traditional steerable chassis.

Description

Mobile chassis

Technical Field

The present utility model relates to the field of mobile devices, and more particularly to a mobile chassis.

Background

With the progress of science and technology and the demands of people for production and life, the development of mobile robots is very popular in recent years. The mobile chassis is an important direction in the field of mobile robots, and plays an important role in the fields of security patrol, equipment inspection and logistics transportation.

The following mobile chassis solutions are common in the market: four-wheel drive chassis, four-wheel drive differential steering chassis, double-motor diagonal drive universal wheel chassis, four Mecanum wheel drive chassis, crawler-type chassis and the like. The four-wheel drive chassis requires 8 motors, and has higher cost, complex control and high control precision requirement; the four-wheel differential steering chassis requires 4 motors, the cost is relatively high, the control precision requirement is relatively high, and the abrasion between tires and the ground is serious during steering; the chassis with the double motors and the universal wheels is driven diagonally, only 2 driving motors are needed, the cost is relatively low, but the structural stability of the chassis is poor; the Mecanum wheels adopted in the four Mecanum wheel driving chassis are high in cost, high in maintenance cost and poor in load capacity, and are not suitable for most application scenes; the crawler chassis has good trafficability on uneven road surfaces, but the number of wheels is large, and the crawler chassis has great damage to common road surfaces due to the structural characteristics of the crawler and the large mass of the crawler, and the working noise of the crawler chassis is great.

The chassis has proper application scenes, and under the condition of changing the application scenes, one or more of various indexes such as load capacity, chassis volume, tire abrasion condition and the like can be greatly reduced.

In summary, how to effectively solve the problems of complex structure, high cost and the like of the current steerable chassis is a problem which needs to be solved by the current technicians in the field.

Disclosure of Invention

Therefore, the utility model aims to provide a mobile chassis which can effectively solve the problems of complex structure, high cost and the like of the traditional steerable chassis.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

a mobile chassis, comprising:

a body module;

the driving wheel modules are respectively arranged at the left side and the right side of the vehicle body module, and each driving wheel module comprises a driving motor with adjustable rotating speed and wheels driven by the driving motor;

and the driven wheel modules are respectively arranged at the left side and the right side of the wheel module, and are provided with omni wheels.

In the mobile chassis, when the steering is needed, the driving motors of the driving wheel modules at the left side and the right side have different rotating speeds to form a differential speed, so that the wheels at the left side and the right side form the differential speed to finish the driving of the steering. In the steering process, because the omnidirectional wheel used by the rear wheel rotates back and forth integrally, the upper small wheel can also rotate in the axial direction of the omnidirectional wheel so as to move axially and further ensure the completion of steering. In the upper moving chassis, the two driving wheel modules can finish steering driving through differential speed, and the driven wheel can easily follow the driving wheel to finish steering because of adopting the omni-wheel, so that abrasion with the ground is difficult to occur, and the driven wheel not only moves smoothly, but also effectively prolongs the service life. Meanwhile, the structure is simple, and the manufacturing is convenient. In summary, the mobile chassis can effectively solve the problems of complex structure, high cost and the like of the traditional steerable chassis.

Preferably, the driving wheel module includes a front fork and a front shock absorber, the wheel is rotatably mounted to the front fork, and the front shock absorber is mounted between the front fork and the body module; the driven wheel module comprises a rear fork arm and a rear shock absorber, the omni-wheel is rotatably installed on the rear fork arm, and the rear shock absorber is installed between the rear fork arm and the vehicle body module.

Preferably, the driving motor is a direct current servo motor; the driving motor and the wheels are driven by a synchronous belt transmission mechanism.

Preferably, the synchronous belt transmission mechanism and the wheels are transmitted through a telescopic universal shaft.

Preferably, the front shock absorber and the rear shock absorber are both spring shock absorbers.

Preferably, the driving motor is detachably disposed on the driving wheel module.

Preferably, the front side of the body module is provided with a collision avoidance device, and the front side of the collision avoidance device is provided with a detector for detecting a collision.

Preferably, the vehicle body module comprises a chassis base plate and a wheel mounting sheet metal, wherein a mounting hole site and a wire passing hole are formed in the upper side of the chassis base plate, the wheel mounting sheet metal is arranged on the lower side of the chassis base plate, and a battery and a control module can be mounted in a cavity in the wheel mounting sheet metal.

Preferably, motor baffles are arranged on two sides of the vehicle body module and used for respectively shielding the driving motors on two sides so as to carry out waterproof protection on the driving motors.

Preferably, the omni-wheel comprises a wheel hub and a plurality of rotating wheels which are sequentially arranged along the circumference of the wheel hub, wherein the rotating wheels are rotatably installed on the wheel hub, and the rotating axis of the rotating wheels is perpendicular to the rotating axis of the omni-wheel.

Drawings

In order to more clearly illustrate the embodiments of the utility model 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, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a mobile chassis according to an embodiment of the present utility model;

FIG. 2 is a schematic top view of the inside of a mobile chassis according to an embodiment of the present utility model;

fig. 3 is a schematic structural view of a vehicle body module according to an embodiment of the present utility model;

fig. 4 is a schematic structural view of a driving wheel module according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a passive wheel module according to an embodiment of the present utility model.

The figures are marked as follows:

a vehicle body module 1, a driving wheel module 2 and a driven wheel module 3;

chassis bottom plate 11, wheel mounting sheet metal 12, motor baffle 13 and anti-collision device 14;

the vehicle comprises wheels 21, a driving motor 22, a front fork arm 23, a front shock absorber 24, a synchronous belt transmission mechanism 25 and a telescopic universal shaft 26;

an omni wheel 31, a rear yoke 32, a rear shock absorber 33.

Detailed Description

The embodiment of the utility model discloses a mobile chassis, which is used for effectively solving the problems of complex structure, high cost and the like of the traditional steerable chassis.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1 to 5, fig. 1 is a schematic structural diagram of a mobile chassis according to an embodiment of the present utility model; FIG. 2 is a schematic top view of the inside of a mobile chassis according to an embodiment of the present utility model; fig. 3 is a schematic structural view of a vehicle body module according to an embodiment of the present utility model; fig. 4 is a schematic structural view of a driving wheel module according to an embodiment of the present utility model; fig. 5 is a schematic structural diagram of a passive wheel module according to an embodiment of the present utility model.

In some embodiments, a differential motion chassis, which may also be referred to as a front-drive rear omni-wheel 31, is provided, consisting essentially of a body module 1, a drive wheel module 2, and a driven wheel module 3.

The vehicle body module 1 is mainly used for bearing the driving wheel module 2 and the driven wheel module 3. The specific structure of the vehicle body module 1 can be correspondingly arranged according to the specific application of the mobile chassis so as to conveniently bear corresponding equipment, such as a carriage, functional equipment and the like, wherein the functional equipment comprises an excavating arm, a bulldozer arm, a mechanical arm, a lifting arm and the like. Also, the body module 1 should have sufficient strength to ensure the installation strength requirements of the respective modules. The vehicle body module 1 generally needs a core bearing component with a chassis, specifically, the vehicle body module can be correspondingly arranged according to the requirement with reference to the prior art, and is simple and can be a plate body, a square frame and the like.

Two of the driving wheel modules 2 are respectively mounted on the left and right sides of the body module 1 to serve as left and right wheels on the front side. The driving wheel module 2 comprises a driving motor 22 with adjustable rotation speed and wheels 21 driven by the driving motor 22, the driving motor 22 can directly drive the wheels 21, or the driving motor 22 can indirectly drive the wheels 21 through a transmission mechanism and the like, and the driving motors 22 on two sides of the vehicle body module 1 can respectively regulate and control the rotation speed. It should be noted that, two driving wheel modules 2 are respectively mounted on the left and right sides of the vehicle body module 1, one or more driving wheel modules 2 may be respectively disposed on the left and right sides of the vehicle body module 1, and at least two driving wheel modules 2 may be disposed on the left and right sides of the vehicle body module 1. The driving wheel modules 2 on the left and right sides are provided with driving motors 22 to be controlled respectively so that the driving speeds of the wheels 21 in the driving wheel modules 2 on the left and right sides are the same or different, and when the driving speeds are different, the effect of turning is achieved. It should be noted that, the rotation speed adjustable driving motor 22 mainly refers to that the output end of the driving motor 22 is adjustable in rotation speed, when the driving motor 22 adopts only a single motor, the main shaft of the motor can adjust the rotation speed, at this time, the main shaft of the motor can be transmitted to the corresponding wheel 21 through a speed reducer, and the rotation speed of the output end is adjusted through the rotation speed change of the main shaft of the motor; the drive motor 22 may of course also comprise both a motor and an adjustable reduction ratio transmission arranged between the motor spindle and the output, so that the output rotational speed can be adjusted by adjusting the transmission when the motor spindle rotational speed is unchanged.

The two driven wheel modules 3 are mounted on the left and right sides of the wheel 21 module, respectively, to serve as left and right rear wheels 21. It should be noted that, two driven wheel modules 3 are respectively mounted on the left and right sides of the vehicle body module 1, one or more driven wheel modules 3 may be respectively provided on the left and right sides of the vehicle body module 1, and at least two driven wheel modules 3 are provided on the left and right sides of the vehicle body module 1. Wherein the passive wheel module 3 has an omni wheel 31. The omni wheel 31 is not only capable of moving back and forth, but also capable of moving left and right, and the structure of the omni wheel 31 can refer to the prior art.

In the above-mentioned mobile chassis, when steering is required during use, the rotation speeds of the driving motors 22 of the driving wheel modules 2 on the left and right sides are different at this time to form a differential speed, so that the wheels 21 on the left and right sides form a differential speed to complete the driving of steering. In the steering process, because the omni wheel 31 used by the rear wheel 21 rotates back and forth integrally, the upper small wheel can also rotate in the axial direction of the omni wheel 31 so as to move axially and further ensure the completion of steering. In the upper moving chassis, the driving wheel modules 2 on the left side and the right side finish steering driving through differential speed, and the driven wheels can easily follow the driving wheels to finish steering due to the adoption of the omni-directional wheels 31, so that the driven wheels are not easy to abrade with the ground, and not only move smoothly, but also the service life is prolonged effectively. Meanwhile, the structure is simple, and the manufacturing is convenient. In summary, the mobile chassis can effectively solve the problems of complex structure, high cost and the like of the traditional steerable chassis.

In some embodiments, in order to ensure a smoother running of the vehicle body, in particular a smoother running of the vehicle body module 1, it is preferred here that the drive wheel module 2 comprises a front fork arm 23 and a front shock absorber 24, the wheel 21 being rotatably mounted to the front fork arm 23, the front shock absorber 24 being mounted between the front fork arm 23 and the vehicle body module 1. Wherein the front fork arm 23 and the body module 1 can be rotatably connected; or can be connected in a sliding way in the up-down direction, for example, the sliding connection is realized with the guide post through the guide hole. While the front damper 24 plays a major supporting role therebetween, and the damper effect is played by using the elastic member of the front damper 24.

Correspondingly, the driven wheel module 3 may include a rear fork arm 32 and a rear damper 33, the omni wheel 31 is rotatably mounted on the rear fork arm 32, and the rear damper 33 is mounted between the rear fork arm 32 and the vehicle body module 1, where the rear fork arm 32 and the vehicle body module 1 may be slidably connected in the same vertical direction, or may be rotatably connected. The rear damper 33 plays a main supporting role therebetween, and the elastic member of the rear damper 33 plays a damping role.

Specifically, the front damper 24 and the rear damper 33 may each be a spring damper. Of course, the damping device can also be an elastic bridge plate or a gas spring, a hydraulic damper and the like.

In some embodiments, the drive motor 22 may include a conventional motor and transmission, among others. For convenience of control, the drive motor 22 is preferably a dc servo motor. The direct-current servo motor has an electromagnetic band-type brake function, and the motor is locked under the condition of power failure, so that the vehicle is prevented from sliding.

It is also preferable that the drive motor 22 and the wheel 21 are driven by a synchronous belt drive 25, but it is also possible to directly connect the drive motor 22 to the wheel 21. And the synchronous belt transmission mechanism 25 is adopted, so that the structure is simple, the power transmission with a larger distance can be realized, and the transmission precision is higher, and the control precision of the chassis can be ensured. Meanwhile, the layout of parts can be facilitated, so that the space of the chassis can be reasonably utilized.

In some embodiments, it is preferred here that the timing belt drive 25 and the wheels 21 are driven by a telescopic cardan shaft 26. With a better adaptation to the floating of the wheel 21 in the up-down direction. The drive motor 22 can now be mounted directly on the body module 1 without being mounted on the front fork arm 23. Of course, the driving motor 22 may be directly mounted on the front fork arm 23, if necessary. In some embodiments, the front fork arm 23 may be a double fork arm, in which two fork arms are disposed up and down, and the upper and lower fork arms, the vehicle body and the wheel 21 form a parallelogram, so that the wheel 21 can be better ensured to be always vertical to the ground in the process of floating up and down.

In some embodiments, it is preferred here that the drive motor 22 is detachably mounted on the body module 1 or on the front fork arm 23. Therefore, when the application scene of the chassis does not need larger torque, the motor with small output torque can be replaced, so that the cost of the chassis is reduced, and the power of the motor is utilized to the greatest extent. Wherein removable mounting means that the drive motor 22 can be replaced easily. The detachable installation is generally connected by screws and bolts, and clamping connection or clamping connection can be adopted.

In some embodiments, the front side of the body module 1 is provided with a collision preventing device 14, and the front side of the collision preventing device 14 is provided with a detector for detecting whether the collision preventing device 14 collides with an object, and the function of the detector is that after the collision preventing device 14 collides with the object, a relevant part of the collision preventing device 14 moves, that is, a certain part of the collision preventing device 14 moves to be detected by the detector, so that the chassis can be controlled to stop, and a specific detector can be a photoelectric sensor. The anti-collision device 14 of the vehicle body module 1 can use the elastic structure to play a role in buffering.

In some embodiments, specifically, the vehicle body module 1 may include a chassis base plate 11 and a wheel mounting metal plate 12, where a mounting hole and a wire passing hole are provided on an upper side of the chassis base plate 11, the wheel mounting metal plate 12 is disposed on a lower side of the chassis base plate 11, and a battery and a control module may be installed in a cavity of the wheel mounting metal plate 12 to use a space occupation of the wheel mounting metal plate 12 in a height direction to design the cavity so as to protect the battery and the control module, where the control module is mainly used for controlling output rotation speeds of the driving motors 22 in the driving wheel modules 2 on the left and right sides so as to conveniently control a moving direction and a moving speed of the whole moving chassis.

In some embodiments, further, motor baffles 13 may also be provided on both sides of the body module 1 for shielding the drive motors 22 on both sides, respectively. Prevent inside steam gets into the chassis, tie down the cable of motor in its inside simultaneously, prevent that the chassis from catching on outer structure at outdoor operation time motor cable, can guarantee the aesthetic property again. Meanwhile, the driving motor 22 is arranged on the outer side, so that the space of the whole chassis in the width direction can be saved, the width of the chassis is not too large, the volume of the chassis is not too large, the length-width ratio is coordinated, and meanwhile, the chassis is convenient to disassemble and assemble.

In some embodiments, the omni-wheel 31 includes a hub and a plurality of rotating wheels sequentially disposed along the periphery of the hub, the rotating wheels being rotatably mounted to the hub and having a rotational axis disposed perpendicular to the rotational axis of the omni-wheel 31. In the front-rear direction, the entire hub periphery rolls back-and-forth, while in the left-right direction, the turning wheel rolls to form a translation in the left-right direction.

In some embodiments, a differential motion chassis of a front-drive rear omni-wheel 31 is provided, mainly comprising a body module 1, a driving wheel module 2 and a driven wheel module 3, and a control module is generally arranged.

The front side of the vehicle body module 1 is provided with a collision preventing device 14, and the front side of the specific collision preventing device 14 is provided with a photoelectric sensor, so that the collision preventing device can be regarded as a device for detecting physical collision of a robot, and after the collision preventing device 14 collides with an object, the photoelectric sensor receives a signal to stop a chassis due to movement of relevant parts of the collision preventing device 14, so that excessive collision force is prevented. Specifically, after the front bumper of the bump guard 14 hits an obstacle, the spring to which the front bumper is connected contracts, and the parts thereon are displaced relative to the photoelectric sensor, and the displacement causes a change in the detection signal of the photoelectric sensor, so that the chassis is stopped. The bump guard 14 is a body module 1.

The vehicle body module 1 is mainly used for installing the driving wheel module 2, the driven wheel module 3, the control module and the like, and the specific structure can be set according to the needs. The particular body module 1 may include a chassis floor 11, wheel mounting sheet metal 12, motor baffles 13, and the like.

Wherein, two wire passing holes can be reserved on the chassis base plate 11, which is convenient for the wiring of the peripheral equipment during secondary development, the upper surface is flat, any part of the chassis is not installed, and some screw holes are reserved for installing the peripheral equipment or load on the chassis base plate. Some peripheral installation holes and wire passing holes are reserved on the chassis base plate 11, so that sensors, holders and the like can be conveniently installed on the chassis and are externally arranged for expanding the functions of the chassis.

Wherein the wheel mounting sheet metal 12 is arranged below the chassis base plate 11 and is used for mounting the driving wheel module 2 and the driven wheel module 3, and a cavity inside the wheel mounting sheet metal can be used for mounting a battery and a control module. Wherein the control module needs to be independently detachable and easy to maintain.

The motor baffles 13 are arranged on two sides and used for covering the driving motor 22 of the driving wheel module 2, so that water vapor is prevented from entering the chassis, meanwhile, the cable of the motor is restrained in the chassis, the chassis is prevented from hooking the external structure by the cable of the motor during outdoor operation, and the attractiveness can be ensured.

The vehicle body is generally provided with a corresponding sealing structure, so that the chassis has stronger wading capacity.

Two of the drive wheel modules 2 are respectively mounted on the left and right sides of the body module 1 to serve as front wheels. Wherein the drive wheel module 2 mainly comprises: the vehicle comprises a wheel 21, a driving motor 22, a front fork arm 23 and a front shock absorber 24, wherein the wheel 21 is rotatably mounted on the front fork arm 23, the driving motor 22 and the front fork arm 23 are both mounted on the same mounting plate, the mounting plate is mounted on the vehicle body module 1, and the front shock absorber 24 is mounted between the front fork arm 23 and the vehicle body module 1. The steering is effected by means of differential drive which can take advantage of the two drive wheel modules 2.

The driving motor 22 adopts a direct current servo motor, the driving motor 22 has an electromagnetic band-type brake function, and the driving motor 22 is locked under the condition of power failure, so that the vehicle sliding is prevented. The driving motor 22 is of a detachable structure and is detachably arranged on the vehicle body module 1, so that the loading capacity of the driving motor 22 adopted under a general state can be larger, and when the application scene of the chassis does not need larger torque, the motor with small output torque can be replaced, thereby reducing the cost of the chassis and maximizing the utilization of the power of the motor. The driving motor 22 is arranged on the outer side, so that the space of the whole chassis in the width direction can be saved, the width of the chassis is not too large, the volume of the chassis is not too large, and the length-width ratio is coordinated.

A belt drive mechanism, preferably a synchronous belt drive mechanism 25, is typically provided between the drive motor 22 and the wheel 21 for use with a dc servo motor. Therefore, the driving of the wheels 21 is realized, the synchronous belt transmission mechanism has a simple structure, the power transmission with a larger distance can be realized, meanwhile, the transmission precision is higher, and the control precision of the chassis can be ensured. Meanwhile, the driving motor 22 can be arranged on the outer side, so that the space of the whole chassis in the width direction can be saved, the width of the chassis is not too large, the volume of the chassis is not too large, and the length-width ratio is coordinated.

A telescopic universal shaft 26 can be arranged between the synchronous belt drive 25 and the wheels 21. Because the wheels 21 can translate in the vertical direction, the telescopic universal shaft 26 is adopted for power transmission, and the torque of the synchronous pulley is transmitted to the shaft of the wheels 21 to realize the rotation of the driving wheels. Since the wheels 21 have a suspension structure, the wheels 21 translate up and down during movement of the chassis, and therefore the length of the universal shaft must be changed, the telescopic universal shaft 26 can better adapt to the change.

The front shock absorber 24 may be a spring shock absorber, and may ensure the stability of the chassis during operation. The front shock absorber 24 forms a suspension design that utilizes the front shock absorber 24 to absorb shock of the chassis during rough road operation.

Two driven wheel modules 3 are respectively arranged on the left side and the right side of the vehicle body module 1 to be used as rear wheels. The passive wheel module 3 mainly comprises a rear shock absorber 33, a rear fork arm 32 and an omni wheel 31, wherein the omni wheel 31 is rotatably arranged on the rear fork arm 32, and the rear shock absorber 33 is arranged between the rear fork arm 32 and the vehicle body module 1.

Wherein the rear shock absorber 33 forms a suspension structure which can meet the stability requirements of the chassis operation. Wherein the rear shock absorber 33 is also typically a spring shock absorber.

The omni wheel 31 is circumferentially provided with a plurality of small wheels with axes perpendicular to the axis of the tire, the axes of the small wheels are respectively provided with a bearing, and when the chassis turns, the small wheels rotate along with the small wheels, so that friction between the omni wheel 31 and the ground is reduced, abrasion of the wheels 21 is effectively reduced, and noise generated when the chassis turns can be effectively reduced.

The control module can adopt a highly integrated design, all electronic devices required by chassis control are integrated in the control module, and the control module comprises a main control board, a power supply module, a relay, various connectors, a motor driver, an electromagnetic on-off device, a remote control receiver and the like. The control module and external signal transmission are realized through two connectors on the left side and the right side respectively, the control module is arranged behind the chassis, and then the connectors of the chassis and the control module are inserted, so that the connection mode is convenient to install, and the wiring harness is easy to arrange.

The mobile chassis can only need two motors, has low cost and small control difficulty, and can effectively reduce research and development cost and use cost; the chassis has reasonable layout of parts, compact structure and high space utilization rate, and can ensure that the chassis has smaller volume and coordinated length-width ratio; the chassis can adapt to various application scenes, and can replace different motors according to different load demands, so that the downward compatibility of motor power is realized, and the power performance of the chassis is utilized to the greatest extent. The movable chassis can be used for various scenes such as security patrol, equipment patrol, logistics transportation and the like, can be used indoors and outdoors, can enter an area which is not easy to enter manually for operation, and can effectively solve the defects of large potential safety hazard, low efficiency and the like of manual operation. Thus having at least the following advantages: the structure of the design scheme is compact, and the space utilization rate is high; the drive motor 22 is downward compatible according to different load requirements; the chassis has smooth surface and reserved mounting hole sites, and is easy for users to expand and develop.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A mobile chassis, comprising:

a body module;

the driving wheel modules are respectively arranged at the left side and the right side of the vehicle body module, and each driving wheel module comprises a driving motor with adjustable rotating speed and wheels driven by the driving motor;

the driven wheel modules are respectively arranged at the left side and the right side of the wheel module, and each driven wheel module is provided with an omnidirectional wheel; the driving wheel module comprises a front fork arm and a front shock absorber, the wheels are rotatably arranged on the front fork arm, and the front shock absorber is arranged between the front fork arm and the vehicle body module; the driven wheel module comprises a rear fork arm and a rear shock absorber, the omni-wheel is rotatably installed on the rear fork arm, and the rear shock absorber is installed between the rear fork arm and the vehicle body module.

2. The mobile chassis of claim 1, wherein the drive motor is a dc servo motor; the driving motor and the wheels are driven by a synchronous belt transmission mechanism; the synchronous belt transmission mechanism and the wheels are transmitted through a telescopic universal shaft.

3. The mobile chassis of claim 2, wherein the front shock absorber and the rear shock absorber are both spring shock absorbers.

4. The mobile chassis of claim 1, wherein the drive motor is removably disposed to the drive wheel module.

5. The mobile chassis of any of claims 1-4, wherein a front side of the body module is provided with a bump guard, the front side of the bump guard being provided with a detector for detecting a bump.

6. The mobile chassis of claim 5, wherein the body module comprises a chassis floor and a wheel mounting sheet metal, the chassis floor upper side is provided with mounting holes and wire vias, the wheel mounting sheet metal is disposed on the chassis floor lower side, and a battery and a control module can be mounted in a cavity inside the wheel mounting sheet metal.

7. The mobile chassis of claim 6, wherein the two sides of the body module have motor baffles for shielding the drive motors on the two sides, respectively, for waterproof protection of the drive motors.

8. The mobile chassis of claim 7, wherein the omni-wheel comprises a hub and a plurality of rotating wheels sequentially disposed along a circumference of the hub, the rotating wheels rotatably mounted to the hub and having a rotational axis disposed perpendicular to the rotational axis of the omni-wheel.