CN209274718U - The full circle swinging mobile chassis that four motorized wheels turn to - Google Patents

Abstract

The utility model relates to the full circle swinging mobile chassis that a kind of four motorized wheels turn to, it is made of skeleton, power drive assem, steering driving assembly, wheel module, skeleton includes main body, crossbeam, steering beam, the rear and front end of main body is respectively connected with crossbeam, the both ends that steering beam is connected to crossbeam by turning to connecting shaft；Power drive assem, steering driving assembly are mounted on skeleton, and wheel module includes wheel and wheel shaft, and wheel is fixed on the outer end of steering beam by wheel shaft.The full circle swinging mobile chassis integrated level that the four motorized wheels of the utility model turn to is high, the pivot stud function of wheel moving platform can be realized using driving assembly is turned to, greatly improve mobile platform turning flexibility ratio, mobile platform control precision and dynamic response speed are improved, the automation and intelligence degree of system are improved.

Description

The full circle swinging mobile chassis that four motorized wheels turn to

Technical field

The utility model belongs to mechanically moving technical field, and in particular to a kind of full circle swinging shifting that four motorized wheels turn to Dynamic chassis.

Background technique

Wheel type traveling mechanism running resistance is small, noise is small, steering behaviour is good, has high maneuverability, therefore be widely used in In various high maneuverability mobile platforms, including various types of automobiles, military special vehicle (such as wheeled battlebus, missile handling carriage Deng).The quality of wheel type traveling mechanism will directly influence the passability and mobility of mobile platform.It is flat in order to improve wheel type mobile The flexible characteristic of platform generally reduces mobile platform turning radius as far as possible.

Currently, train mobile platform mainly passes through ball by reducing turning radius to improve the scheme of flexible characteristic Wheel, Mike receive female wheel, universal wheel or the modified product based on them, and less by the scheme on the basis of original train.

(1) ball wheel construction technical solution

Such as application No. is the patent of 201110421107.X " motion platform based on the driving of Qiu Lun omnidirectional ", it is related to one kind Can paleocinetic smart motion platform, in particular to it is a kind of by control three ball wheels movement to realize platform entirety Omnidirectional moving mechanism, belong to motor driven, sensor instrument distance, wireless telecommunications and automatic control technology field；It specifically includes Three sets of same ball wheel drive mechanical structures and three motor drivers, context aware systems and platform control system；Platform master Control module processing obtains control instruction, issues motor driver control module, and ball wheel rolls under the control of driving motor, real The movement of existing platform.Omni-directional principle of the invention based on balls tumble is, it can be achieved that manual control and two kinds of autonomous operation work Mode, and the operation of single platform and the multi-platform method of operation, have small in size, and balance is good, and motor behavior expressive force is prominent, fastly The characteristics of fast motor-driven and omnidirectional moving.It is similar that there are also application No. is 201280035387.3 patent " omnibearing moving platforms " Deng.

Global wheel generally uses magnetism or other means, fully controls to ball wheel, to realize wheel in the direction XY Upper omnidirectional moving.But global wheel control is got up more difficult, is seldom used in actual use, it is more at present to be present in concept product In, such as global wheel mechanism for tire of Audi etc..

(2) Mike receives female wheel structure technology scheme

Application No. is 201611060832.8 patent disclosure " a kind of Omni-mobile platform ", including vehicle body frame, pendulum Dynamic component, swing vehicle axle and damper, the wobble component are fixed on vehicle body frame bottom, and the swing vehicle axle passes through described Wobble component being mounted on the vehicle body frame of swinging up and down of the relatively described vehicle body frame bottom；The swing vehicle axle includes The middle section being connect with the wobble component and the swing arm positioned at middle section two sides, the middle section and the swing group Part connection, the swing arm are equipped with wheel far from the end of the middle section；Shown damper one end and the vehicle body frame Connection, the other end are connect with the swing arm.The mobile platform, on ground in the case where injustice, it is also possible that Omni-mobile is flat Platform smooth operations, while service life is longer.Similar, there are also application No. is 201620216799.2 patent disclosures " one Independent wheel suspension of kind Omni-mobile platform " etc..

Mike receives female wheel because its design and control are all relatively simple, using relatively broad in Omni-mobile product.But because It is discontinuous with the contact point on ground for it, and only one controlled motion freedom degree, cause to cause to skid and make an uproar in operation Sound causes sport efficiency low.Since two wheels are alternately to contact ground to orthogonal wheel during the motion, this results in transporting The pressure change that each wheel is born during dynamic is big, to influence the frictional force with ground face contact, influences wheel rotation speed Degree, it cannot be guaranteed that the stationarity of body movement speed；Furthermore there are gaps between the roller of Mecanum wheel, are easy to produce vibration Or skid, cause energy loss serious, cause car body unstable, not can guarantee position precision, and this wheel is to processing Design has high requirements, so as to cause use cost height.

(3) Universal wheel structure technical solution

In such scheme, generally uses and driving motor is directly installed on driving wheel hub to simplify structure.

Such as " a kind of omnidirectional turns to liftable agricultural remote control and moves application No. is the patent disclosure of 201310019276.X Mobile robot platform " is related to omnidirectional and turns to liftable agricultural remote control mobile robot platform.The platform is by omnidirectional's turning machine Structure, hydraulic lifting system, vehicle frame platform, vehicle electronic device, walking mechanism composition.Omnidirectional's transfer is driven by servo motor, By pinion gear, gear wheel, power is transmitted to turning sleeve, is then passed to wheel stand and hub motor type wheel, is realized complete To steering.Its advantage is that: driving motor and hydraulic lifting self-movement, it can be achieved that 360 degree of casts whiles adjust vehicle body Height, to adapt to crops and the terrain environment of different height；Steering resisting moment is small when steering, turns to easy and flexible；Using Hub motor wheel, motor and wheel one, simplify platform structure.

It is similar there are also application No. is " a kind of Omni-mobile platform " of 201510206463.8 patent disclosures, application No. is A kind of 201510299730.0 " transport vehicles with omnidirectional moving " announced are announced application No. is 201610300370.6 " Omni-mobile platform and its steering wheel and driving wheel ", there are also application No. is " a kind of electromechanicals that 201711141193.2 announce Novel omnidirectional's structure wheel apparatus of formula " etc..

The mechanism general structure redundancy of Universal wheel type is complicated, can integrated level it is poor, it is general using will at present in universal wheel scheme Driving motor is directly installed on driving wheel hub to simplify structure, but equally will increase universal wheel weight, is unfavorable for train and is subtracted It brings up again speed, increase obstacle performance, while also bringing along the drawbacks such as energy consumption increase, be unfavorable for improving robot motion's flexibility, height Mobility and high precision.

Summary of the invention

The purpose of this utility model is to provide the full circle swinging mobile chassis that a kind of four motorized wheels turn to, and solve current Omnidirectional's actuation volume is big, integrated level is low, cannot achieve the problem of train cast, zero turning radius.

The technical scheme adopted by the utility model to solve the technical problem is as follows: the full circle swinging that four motorized wheels turn to moves Dynamic chassis is made of skeleton, power drive assem, steering driving assembly, wheel module, and skeleton includes main body, crossbeam, turns to cross Beam, the rear and front end of main body are respectively connected with crossbeam, the both ends that steering beam is connected to crossbeam by turning to connecting shaft；Power drive group Part, steering driving assembly are mounted on skeleton, and wheel module includes wheel and wheel shaft, and wheel is fixed on steering cross by wheel shaft The outer end of beam.

Specifically, the power drive assem by power motor, power gear box, power output shaft, power conversion umbrella tooth, Power connecting shaft, power universal joint composition, power motor are mounted in main body, and power motor is defeated by power gear box connection power Shaft, power output shaft are converted umbrella tooth by power and are connect with power connecting shaft, and dynamic universal joint is connected on power connecting shaft.

Specifically, the steering driving assembly by steering motor, steering box, turn to output shaft, turn to transition components, Tooth sector component composition, steering motor are fixed by the bracket in main body, and steering motor is defeated by steering box and steering Axis connection out turns to output shaft and is connect by turning to transition components with tooth sector component.

Specifically, the crossbeam includes front beam and rear cross beam, body front end is connected and fixed front beam, body rear connection Fixed rear cross beam, front beam, rear cross beam and main body form I-shaped；Steering beam includes left front steering beam, right front steering Crossbeam, right rear steering crossbeam, turns to connecting shaft at left back steering beam, and left front steering beam, right front steering crossbeam pass through steering respectively Connecting shaft is connected and fixed on the both ends of front beam, and left back steering beam, right rear steering crossbeam pass through steering connecting shaft respectively and be connected and fixed In the both ends of rear cross beam.

Specifically, the left front steering beam, right front steering crossbeam, left back steering beam, right rear steering crossbeam include Steering beam upper cover plate, steering beam lower cover plate, steering beam supporting block, steering beam upper cover plate and steering beam lower cover plate point It is not fixed on the upper surface and lower end surface of steering beam supporting block.Steering beam upper cover plate, steering beam lower cover plate front end set It is equipped with open-work, to connect steering connecting shaft.

Specifically, the power motor, power output shaft, power conversion umbrella tooth, power connecting shaft, power universal joint are set respectively Four sets are equipped with, two power motors of front-wheel drive are mounted on the front end of main body, two power motors of rear wheel drive are pacified Mounted in the rear end of main body, four sets of power motors are respectively connected to four input shafts of power gear box, and four of power gear box Output shaft is separately connected four sets of power output shafts, and every set power output shaft is converted umbrella tooth by power and connected with corresponding power connecting shaft It connects, every set power connecting shaft is by power universal joint and takes turns the wheel axis connection in module.

Specifically, the power output shaft includes preceding power output shaft, rear power output shaft, preceding power output shaft includes a left side Power number axis before preceding power output shaft, the right side, power number axis after rear power output shaft includes left back power output shaft, is right；

Left front power output shaft, left back power output shaft are solid spindle, before the right side behind power number axis, the right side inside power number axis It is hollow, left front power output shaft, left back power output shaft pass through bearing be each passed through power number axis before the right side, it is right after power number axis Inside, left front power output shaft, it is right before behind power number axis, left back power output shaft and the right side front end of power number axis be separately connected Four output shafts of power gear box, left front power output shaft, it is right before power number behind power number axis, left back power output shaft and the right side The rear end of axis is separately connected a set of power conversion umbrella tooth；

Every set power conversion umbrella tooth is angular wheel structure, includes intermeshing driving umbrella tooth and passive umbrella tooth, The driving umbrella tooth of left side wheels and the diameter of passive umbrella tooth are less than the driving umbrella tooth of right-hand wheel and the diameter of passive umbrella tooth.

Specifically, the steering motor, steering box, steering output shaft, steering transition components, tooth sector component point Be not provided with four sets, four sets of steering motors are fixed by the bracket in main body, every set steering motor respectively with corresponding steering The input axis connection of gear-box, the output shaft of steering box are connected by turning to output shaft with corresponding steering transition components, Every set turns to transition components and is connect by tooth sector component with steering beam.

Specifically, it includes conversion driving gear, chain, conversion driven gear and conversion driving that every set, which turns to transition components, Shaft, conversion driving gear, which is fixed on, to be turned on output shaft, and chain is socketed between conversion driving gear and conversion driven gear, Conversion driven gear is fixed on crossbeam both ends by converting drive shaft.

Specifically, every set tooth sector component includes turning to driving spur gear and turning to driven sector gear, turns to and drive Dynamic spur gear is mounted in conversion drive shaft, and is turned to driving spur gear and engaged with driven sector gear is turned to, steering from The center of circle of dynamic sector gear is mounted on the steering connecting shaft in steering beam, and is connected and fixed with steering beam upper cover plate, is led to The rotation for turning to driving spur gear is crossed, drives and turns to the rotation of driven sector gear, the final steering beam and horizontal with turning to of driving The connected wheel module rotation of beam.

The utility model has the following beneficial effects: the mobile bottom of full circle swinging that the four motorized wheels of the utility model turn to Disk integrated level is high, can realize the pivot stud function of wheel moving platform using driving assembly is turned to, greatly improve mobile platform Turning flexibility ratio improves mobile platform control precision and dynamic response speed, improves the automation and intelligence degree of system.

Detailed description of the invention

Fig. 1 is the schematic perspective view of the utility model full circle swinging mobile chassis.

Fig. 2 is the schematic view of the front view of the utility model full circle swinging mobile chassis.

Fig. 3 is the left view structural representation of the utility model full circle swinging mobile chassis.

Fig. 4 is the right side structural representation of the utility model full circle swinging mobile chassis.

Fig. 5 is the backsight structural representation of the utility model full circle swinging mobile chassis.

Fig. 6 is the overlooking structure diagram of the utility model full circle swinging mobile chassis.

Fig. 7 is the present invention looks up structural representation of the utility model full circle swinging mobile chassis.

Fig. 8 is the partial enlargement structural representation of the power drive assem in the utility model mobile chassis.

Fig. 9 is the partial enlargement structural representation of the steering driving assembly in the utility model mobile chassis.

Specific embodiment

The utility model is described in further detail presently in connection with attached drawing.

As shown in Figure 1-3, the full circle swinging mobile chassis that a kind of four motorized wheels turn to, including skeleton 1, power drive group Part 2 turns to driving assembly 3, wheel module 4.

As shown in figure 9, skeleton 1 includes main body 11, crossbeam 12, steering beam 13.Main body 11 is system skeleton, cuboid Shape can carry out volume according to system wheel or load requirements and thickness design, 11 front end of main body are connected and fixed front beam 121, after End is connected and fixed rear cross beam 122.

Crossbeam 12 includes front beam 121, rear cross beam 122, and as shown in Figure 8, Figure 9, front beam 121 is with rear cross beam 122 Cuboid, front beam 121, rear cross beam 122 and main body 11 form I-shaped, constitute system load-carrying and support frame.

Steering beam 13 behind left front steering beam 131, right front steering crossbeam 132, left back steering beam 133, the right side including turning To crossbeam 134, connecting shaft 135 is turned to, as shown in Figure 6, Figure 7.

Left front steering beam 131, right front steering crossbeam 132, left back steering beam 133, right rear steering crossbeam 134 construct phase Together, installation site is different.It include: steering beam upper cover plate 131a, steering beam lower cover plate 131b, steering beam supporting block 131c.Steering beam upper cover plate 131a and steering beam lower cover plate 131b is square plate structure, and it is horizontal to be separately fixed at steering The beam upper surface supporting block 131c and lower end surface.Steering beam upper cover plate 131a, steering beam lower cover plate 131b, steering beam support Block 131c is connected with each other, and forms the carrier for turning to support.The front end of steering beam upper cover plate 131a, steering beam lower cover plate 131b It is provided with open-work, turns to connecting shaft 135 to connect.

Steering connecting shaft 135 is pivot structure, and totally 4, structure is identical, is fixed on front beam 121, rear cross by bearing respectively The two sides of beam 122, and with left front steering beam 131, right front steering crossbeam 132, left back steering beam 133, right rear steering crossbeam 134 connections.Effect are as follows: left front steering beam 131, right front steering crossbeam 132, left back steering beam 133, right rear steering crossbeam 134 are circled by turning to connecting shaft 135 around the both ends of front beam 121, rear cross beam 122.

As shown in figs. 3-9, power drive assem 2 includes power motor 21, power gear box 22, power output shaft 23, moves Power converts umbrella tooth 24, power connecting shaft 25, power universal joint 26.

It totally four sets of power motor 21, is realized respectively to the forward and reverse driving of the independence of four wheels 41, wherein to front-wheel drive Two power motors 21 it is placed side by side, be mounted on 11 front end of main body, it is placed side by side to two power motors 21 of rear wheel drive, It is mounted on 11 rear end of main body, two power motors 21 of front-wheel drive and two 21 opposite directions of power motor to rear wheel drive are put It sets.Power gear box 22 can realize that power is converted, totally four inputs, four outputs.Wherein four input shafts are separately connected solid Determined power motor 21, four output revolving shafts then connect power output shaft 23.

Totally two sets of power output shaft 23, including preceding power output shaft 231, rear power output shaft 232.

Preceding power output shaft 231 is power number axis 231b before composite shaft, including left front power output shaft 231a, the right side.Before the right side The internal diameter of power number axis 231b inner hollow, hollow space is greater than left front power output shaft 231a, left front power output shaft 231a Through bearing inside power number axis 231b before the right side.Left front power output shaft 231a is solid spindle.Left front power output shaft The front end of 231a and power number axis 231b before the right side is separately connected two output shafts of power gear box 22, left front power output shaft The rear end of 231a connects the near front wheel power umbrella tooth group 241, and power number axis 231b then connects off-front wheel power umbrella tooth group 242 before the right side.

Rear power output shaft 232 is similarly composite shaft, comprising: power number axis 232b behind left back power output shaft 232a, the right side. Structure is similar with above-mentioned preceding power output shaft 231 and accessory structure, the difference is that power behind left back power output shaft 232a and the right side The front end of number axis 232b is separately connected other two output shaft of power gear box 22, and the rear end of left back power output shaft 232a connects Left rear wheel power umbrella tooth group 243 is connect, power number axis 232b then connects off hind wheel power umbrella tooth group 244 behind the right side.

Power converts umbrella tooth 24 as bevel reduction gear set, comprising: the near front wheel power umbrella tooth group 241, off-front wheel power umbrella tooth group 242, left rear wheel power umbrella tooth group 243, off hind wheel power umbrella tooth group 244.

The near front wheel power umbrella tooth group 241, off-front wheel power umbrella tooth group 242, left rear wheel power umbrella tooth group 243, off hind wheel are dynamic Power umbrella tooth 244 structures of group are similar, are angular wheel structure, are distinguished as of different sizes.Specifically, the near front wheel power umbrella tooth group 241 is similar with left rear wheel power umbrella tooth 243 structures of group, includes: the left side wheel drive umbrella tooth 241a and passive umbrella tooth 241b of left side wheels. Off-front wheel power umbrella tooth group 242 is similar with off hind wheel power umbrella tooth 244 structures of group, includes: right side wheel drive umbrella tooth 242a and the right side The passive umbrella tooth 242b of side wheel.Power transmission is realized in left side wheel drive umbrella tooth 241a and the passive umbrella tooth 241b intermeshing of left side wheels, Power transmission is realized in right side wheel drive umbrella tooth 242a and the passive umbrella tooth 242b intermeshing of right-hand wheel.Left side wheel drive umbrella tooth 241a It is umbrella tooth 242b passive more slightly smaller than right side wheel drive umbrella tooth 242a and right-hand wheel with the diameter of the passive umbrella tooth 241b of left side wheels, it realizes close Collection layout installation.

Power connecting shaft 25 includes four shafts, is respectively as follows: left front wheel drive connecting shaft 251, off-front wheel driving connecting shaft 252, a left side Rear wheel drive connecting shaft 253 and off hind wheel drive connecting shaft 254.The near front wheel power universal joint is connected on the left of left front wheel drive connecting shaft 251 261, right side connects the near front wheel power umbrella tooth group 241；Off-front wheel, which drives, connects off-front wheel power umbrella tooth group 242 on the left of connecting shaft 252, Right side connects off-front wheel power universal joint 262；Left rear wheel power universal joint 263, right side are connected on the left of left back wheel drive connecting shaft 253 Connect left rear wheel power umbrella tooth group 243；Off hind wheel drives and connects off hind wheel power umbrella tooth group 244 on the left of connecting shaft 254, right side connection Off hind wheel power universal joint 264.Power connecting shaft 25 plays the role of being connected by power.

Power universal joint 26 is gimbal structure, totally 4 sets, is respectively as follows: the near front wheel power universal joint 261, off-front wheel power Universal joint 262, left rear wheel power universal joint 263, off hind wheel power universal joint 264.Power universal joint 26 is arranged in power connecting shaft 25 and wheel module 4 in wheel shaft 42 between, play and be connected by power, transmit and deflecting function.

As shown in figures 4-9, driving assembly 3 is turned to include: steering motor 31, steering box 32, turn to output shaft 33, turn To transition components 34, tooth sector component 35.

Totally four sets of steering motor 31, respectively the near front wheel steering motor 311, off-front wheel steering motor 312, left rear wheel turns to Motor 313, off hind wheel steering motor 314 are fixed by the bracket respectively at the forward both ends of main body 11, and respectively with left front rotation It is defeated into gear-box 321, off-front wheel steering box 322, left rear wheel steering box 323, off hind wheel steering box 324 Enter axis connection.

Totally four sets of steering box 32, respectively the near front wheel steering box 321, off-front wheel steering box 322, left back Take turns steering box 323, off hind wheel steering box 324.

Totally four sets of output shaft 33 are turned to, the near front wheel steering box 321, off-front wheel steering box 322, a left side are separately connected The output shaft of rear-axle steering gear-box 323, off hind wheel steering box 324 realizes power output function.

It turns to transition components 34 and is similarly four sets, be respectively as follows: the near front wheel and turn to transition components 341, off-front wheel steering conversion Component 342, left rear wheel turn to transition components 343, off hind wheel turns to transition components 344.The near front wheel turns to transition components 341, the right side The construction that front-wheel steer transition components 341, left rear wheel steering transition components 343, off hind wheel turn to transition components 344 is identical, only Installation site is different, and the power for turning to output shaft 33 is transferred on tooth sector component 35 to realize respectively.Left front rotation To transition components 341, off-front wheel turn to transition components 341, left rear wheel turns to transition components 343, off hind wheel turns to transition components In 344, each component includes three parts again, is respectively as follows: conversion driving gear 341a, chain 341b, conversion driven gear 341c and conversion drive shaft 341d.Conversion driving gear 341a, which is fixed on, to be turned on output shaft 33, and chain 341b, which is socketed in, to be turned It changes between driving gear 341a and conversion driven gear 341c and realizes power transmitting, conversion driven gear 341c is turned by conversion driving Axis 341d is fixed on 12 both ends of crossbeam.

Totally four sets of tooth sector component 35, respectively the near front wheel tooth sector group 351, off-front wheel tooth sector group 352, a left side Rear-axle steering gear set 353, off hind wheel tooth sector group 354.The near front wheel tooth sector group 351, off-front wheel tooth sector group 352, left rear wheel tooth sector group 353, off hind wheel tooth sector group 354 are structurally and functionally consistent, and totally four sets, every set component Comprising two components, respectively turns to driving spur gear 351a and turn to driven sector gear 351b.

Turning to driving spur gear 351a is spur gear, is mounted on conversion drive shaft 341d, and with turn to driven fan Shape gear 351b engagement.Turning to driven sector gear 351b is the sector gear with certain opening angle, and the center of circle is mounted on On steering connecting shaft 135 in steering beam 13, and it is connected and fixed with steering beam upper cover plate 131a.Straight-tooth is driven by turning to The rotation for taking turns 351a drives using gear engagement and turns to driven sector gear 351b rotation, final to drive steering beam 13 And rotated with the connected wheel module 4 of steering beam 13, to realize the angle control function to wheel module 4.

Wheel module 4 is car wheel structure, including wheel 41 and wheel shaft 42.Each 4 sets of wheel 41,42 quantity of wheel shaft, wheel 41 Left front steering beam 131, right front steering crossbeam 132, left back steering beam 133, right rear steering are separately fixed at by wheel shaft 42 The outer rim side of crossbeam 134.

The power drive traveling function-driven principle for the full circle swinging mobile chassis that above-mentioned four motorized wheels turn to is as follows: by 21 output torque of power motor converts umbrella tooth 24, power connecting shaft 25, power through power gear box 22, power output shaft 23, power Wheel shaft 42 is reached after universal joint 26, so that wheel 41 is advanced.By changing the positive and negative rotation direction of each motor in power motor 21, Forward and reverse driving to each wheel 41 can be achieved.

The omnidirectional's rotation control function driving principle for the full circle swinging mobile chassis that above-mentioned four motorized wheels turn to is as follows: by 31 output torque of steering motor by steering box 32, turns to output shaft 33, steering transition components 34, tooth sector component Output is to steering beam 13 after 35, and then the wheel module 4 connecting with steering beam 13 is driven to realize the angle with respect to crossbeam 12 Deflection, realizes each wheel turning function.By changing the rotation direction of four steering motors 31, to change four wheels 41 Advance deflection angle, realize turning function.When the axis group diamondwise of four wheel direction of travel, cooperate power drive row Into function, make four wheels 41 simultaneously along when advancing clockwise or counterclockwise, car body will form original place clockwise or counterclockwise Turning function.

The utility model is not limited to above embodiment, anyone, which should learn, makes under the enlightenment of the utility model Structure change, it is all that there is same or similar technical solution with the utility model, each fall within the protection scope of the utility model Within.

Technology that the utility model is not described in detail, shape, construction portion are well-known technique.

Claims (10)

1. the full circle swinging mobile chassis that four motorized wheels turn to, which is characterized in that by skeleton, power drive assem, turn to and drive Dynamic component, wheel module composition, skeleton includes main body, crossbeam, steering beam, and the rear and front end of main body is respectively connected with crossbeam, is turned The both ends for being connected to crossbeam by turning to connecting shaft to crossbeam；Power drive assem, steering driving assembly are mounted on skeleton, are taken turns Module includes wheel and wheel shaft, and wheel is fixed on the outer end of steering beam by wheel shaft.

2. the full circle swinging mobile chassis that four motorized wheels as described in claim 1 turn to, which is characterized in that the power drives Dynamic component is made of power motor, power gear box, power output shaft, power conversion umbrella tooth, power connecting shaft, power universal joint, Power motor is mounted in main body, and power motor connects power output shaft by power gear box, and power output shaft passes through power Conversion umbrella tooth is connect with power connecting shaft, and dynamic universal joint is connected on power connecting shaft.

3. the full circle swinging mobile chassis that four motorized wheels as described in claim 1 turn to, which is characterized in that the steering is driven Dynamic component is made of steering motor, steering box, steering output shaft, steering transition components, tooth sector component, steering motor It is fixed by the bracket in main body, steering motor is by steering box and turns to output axis connection, turns to output shaft by turning It is connect to transition components with tooth sector component.

4. the full circle swinging mobile chassis that four motorized wheels as described in claim 1 turn to, which is characterized in that the crossbeam packet Front beam and rear cross beam are included, body front end is connected and fixed front beam, and body rear is connected and fixed rear cross beam, front beam, rear cross beam I-shaped is formed with main body；

Steering beam includes left front steering beam, right front steering crossbeam, left back steering beam, right rear steering crossbeam, turns to connecting shaft, Left front steering beam, right front steering crossbeam pass through respectively turns to the both ends that connecting shaft is connected and fixed on front beam, left back steering beam, Right rear steering crossbeam passes through respectively turns to the both ends that connecting shaft is connected and fixed on rear cross beam.

5. the full circle swinging mobile chassis that four motorized wheels as claimed in claim 4 turn to, which is characterized in that described left front turn It include under steering beam upper cover plate, steering beam to crossbeam, right front steering crossbeam, left back steering beam, right rear steering crossbeam Cover board, steering beam supporting block, steering beam upper cover plate and steering beam lower cover plate are separately fixed at steering beam supporting block Upper surface and lower end surface, steering beam upper cover plate, steering beam lower cover plate front end be provided with open-work, to connect turn to connect Axis.

6. the full circle swinging mobile chassis that four motorized wheels as claimed in claim 2 turn to, which is characterized in that the power electric Machine, power conversion umbrella tooth, power connecting shaft, power universal joint are respectively arranged with four sets, and power output shaft has two sets, to front-wheel drive Two power motors be mounted on the front end of main body, two power motors of rear wheel drive are mounted on the rear end of main body, four sets Power motor is respectively connected to four input shafts of power gear box, and it is defeated that four output shafts of power gear box are separately connected power Shaft, power output shaft are converted umbrella tooth by power and are connected with corresponding power connecting shaft, and every set power connecting shaft is universal by power Section and the wheel axis connection in wheel module.

7. the full circle swinging mobile chassis that four motorized wheels as claimed in claim 6 turn to, which is characterized in that the power is defeated Shaft includes preceding power output shaft, rear power output shaft, power number before preceding power output shaft includes left front power output shaft, is right Axis, power number axis after rear power output shaft includes left back power output shaft, is right；

Left front power output shaft, left back power output shaft are solid spindle, before the right side behind power number axis, the right side in power number axis inside Sky, left front power output shaft, left back power output shaft pass through bearing be each passed through power number axis before the right side, it is right after power number axis Inside, left front power output shaft, it is right before behind power number axis, left back power output shaft and the right side front end of power number axis be separately connected it is dynamic Four output shafts of powershift gear case, left front power output shaft, it is right before power number axis behind power number axis, left back power output shaft and the right side Rear end be separately connected a set of power conversion umbrella tooth；

Every set power conversion umbrella tooth is angular wheel structure, includes intermeshing driving umbrella tooth and passive umbrella tooth, left side The driving umbrella tooth of wheel and the diameter of passive umbrella tooth are less than the driving umbrella tooth of right-hand wheel and the diameter of passive umbrella tooth.

8. the full circle swinging mobile chassis that four motorized wheels as claimed in claim 3 turn to, which is characterized in that the steering electricity Machine, steering box, steering output shaft, steering transition components, tooth sector component are respectively arranged with four sets, four sets of steering motors It is fixed by the bracket in main body, every set steering motor with the input axis connection of corresponding steering box, turns to tooth respectively The output shaft of roller box is connected by turning to output shaft with corresponding steering transition components, and every set turns to transition components by turning to tooth Wheel assembly is connect with steering beam.

9. the full circle swinging mobile chassis that four motorized wheels as claimed in claim 8 turn to, which is characterized in that every set, which turns to, to be turned Changing component includes conversion driving gear, chain, conversion driven gear and conversion drive shaft, and conversion driving gear, which is fixed on, to be turned To on output shaft, chain is socketed between conversion driving gear and conversion driven gear, and conversion driven gear passes through conversion driving Shaft is fixed on crossbeam both ends.

10. the full circle swinging mobile chassis that four motorized wheels as claimed in claim 8 turn to, which is characterized in that every set turns to Gear assembly includes turning to driving spur gear and turning to driven sector gear, and steering driving spur gear is mounted on conversion driving and turns It on axis, and turns to driving spur gear and is engaged with driven sector gear is turned to, the center of circle for turning to driven sector gear, which is mounted on, to be turned It on steering connecting shaft into crossbeam, and is connected and fixed with steering beam upper cover plate, by turning to the rotation of driving spur gear, band Turn is rotated to driven sector gear, final to drive steering beam and rotate with the connected wheel module of steering beam.