CN106427532A - Car with small chassis - Google Patents
Car with small chassis Download PDFInfo
- Publication number
- CN106427532A CN106427532A CN201610969739.2A CN201610969739A CN106427532A CN 106427532 A CN106427532 A CN 106427532A CN 201610969739 A CN201610969739 A CN 201610969739A CN 106427532 A CN106427532 A CN 106427532A
- Authority
- CN
- China
- Prior art keywords
- wheel
- base plate
- suspension
- dolly
- suspension holdfast
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to a car with a small chassis. The car with the small chassis comprises a bottom plate, wherein a pair of motors movably connected with the bottom plate indirectly are arranged on the bottom plate horizontally, the heads and tails of the two motors are arranged in a staggered state and side by side, and the axes of the motors are parallel to each other. A pair of suspension units comprising the motors are further arranged on the bottom plate, the two suspension units are staggered with each other and arranged side by side, and movably connected with the bottom plate through a connecting piece; each suspension unit comprises a pair of guide columns, a suspension bracket is sleeved on the two guide columns, a spring and a spring fixing block are arranged on the guide columns; the motors are arranged on the inner sides of the suspension brackets, driving wheels are arranged on the outer sides of the suspension brackets, the axes of the driving wheels carry out translation to the left side relative to the axes of the motors, and the motors are in meshing transmission with the driving wheels; a pair of open slots are symmetrically formed in the bottom plate, guide column connecting holes are formed in two sides of the open slots, universal wheel holes are formed in four corners of the bottom plate, and the suspension units entirely ascend or descend along the axial directions of the guide columns. The heads and tails of the two motor bodies are arranged in a staggered state and side by side, and not mutually interfered, so that the design requirement on a small chassis size is met, and the chassis can successfully pass when meeting uneven ground.
Description
Technical field
The invention belongs to robotics, are related to a kind of compact chassis, specifically, it is that one kind adopts compact chassis
Dolly.
Background technology
Insider is aware that, for the dolly using compact chassis, when its chassis narrows down to certain size, electricity
The global design layout of machine often occurs bottleneck, and therefore, the driving wheel on two-wheeled differential mechanism people chassis must be tied using hanging
Structure.
However, when the chassis of robot narrows down to certain size, the remaining complementary space in chassis is just very narrow and small, cannot at all
The complex hitch of mounting structure.
Therefore, motor arrangements rational in infrastructure how to be designed and the robot chassis of narrow space can be installed in
On, while when guaranteeing to meet broken terrain in robot running, its chassis remains able to pass through, just all the more
Seem urgent and important.
Content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art or defect, provides a kind of dolly of employing compact chassis.
In order to reduce the size on chassis further, motor employs parallel misalignment layout designs with the axis of driving wheel, leads to
Cross the engaged transmission of gear, it is achieved that the hanging function that suspension unit can be integrally vertically moved up or down with respect to base plate, close so as to science
The technical barrier of motor arrangements is solved to reason.
To achieve these goals, following technical scheme present invention employs：
A kind of dolly of employing compact chassis, including the base plate on chassis, it is characterised in that on the base plate, level is provided with one
To motor connected with its indirect activity, two motors interlock end to end to each other and are arranged side by side, and the axis of two motors is parallel to each other.
The dolly of above-mentioned employing compact chassis, wherein,
The base plate is provided with a pair including the suspension unit including the motor, and two suspension units are interlaced and side by side
Arrange, and by being movably connected between connector and base plate；
The suspension unit includes a pair spaced lead being vertically connected with base plate, under two leads
Half section of upper movable sleeve is provided with a suspension holdfast, on the lead positioned at suspension holdfast the sheathed spring in top, the spring by
The spring anchor block for being fixedly arranged on lead upper semisection is spacing；
Inner side of the motor by its output shaft with suspension holdfast is joined directly together；The outside of the suspension holdfast is provided with one
With its connected driving wheel indirectly, the axis of the driving wheel propped up to the suspension Wei Yu two leads between with respect to the axis of motor
Frame left direction is translated, and passes through meshed transmission gear between motor and driving wheel；
The gear includes the motor side gear between suspension holdfast and driving wheel and wheel end tooth wheel；
The suspension unit integrally can be risen or fallen along the axial direction of two leads with the motion conditions of driving wheel.
Corner on the base plate is respectively equipped with a circular hole, is movably equipped with a universal wheel, on the wheel shaft of universal wheel in circular hole
End is located by connecting on and is installed in the universal wheel fixed seat of plate top surface.
The top of the base plate, bottom two sides upright projection are in " work " word moulding all in the moulding of " H " word or after 90 ° of rotations.
Its connecting hole between base plate of the universal wheel fixed seat is symmetrically distributed in the left side in " H " word mold(ing) board
In portion and right part or the top in " work " word mold(ing) board and bottom plate face；On same position base plate, the center of set connecting hole connects
Line is overlapped with the line of centres of adjacent two universal wheel movable spans.
On the base plate, it is provided with one between the adjacent two pairs of circular holes of the homonymy space of a whole page between two parties and is available for driving wheel and wheel end tooth wheel exists
Wherein movable open slot, is arranged with a connecting hole being fixedly linked with lead on the base plate of open slot both sides；Described open
Mouth " convex " the word moulding of groove Qi Ding, the upright projection on bottom two sides all in bottom opening.
On the suspension holdfast, its left and right two ends is respectively perpendicular and is provided with a lead installing hole；
Right side position level on the suspension holdfast between two lead installing holes is provided with and motor output shaft phase
The installing hole of cooperation, the motor output shaft is penetrated from the inner side of suspension holdfast, and its shaft end is connected with motor side gear positioning.
Left-hand portion level on the suspension holdfast between two lead installing holes is provided with the installation of live axle
Hole, the live axle is penetrated from the outside of suspension holdfast, and its shaft end is connected with driving wheel positioning；The wheel end tooth wheel
Positioning sleeve is provided on the wheel shaft between suspension holdfast and driving wheel.
The axle bed of a live axle is installed with the suspension holdfast, by being arranged on axle between live axle and its axle bed
A pair of bearings on seat realizes relative rotary motion.
The external diameter of the base plate is 220mm or 350mm or 500mm.
Due to employing above-mentioned technical scheme, the present invention compared with prior art, has the following advantages that and actively imitates
Really：
1st, two electrical axis of dolly of employing compact chassis according to the present invention and driving wheel axle center are using phase each other
The mutually parallel but layout of the design that misplaces so that the body of two motors is separated, no longer interferes, little so as to meet
The Sizing requirements on type chassis.
2nd, due to motor and driving wheel arranged in dislocation, meshed transmission gear, two suspensions are adopted between motor and driving wheel
Unit is along two lead vertical ascent or decline, and when running into broken terrain, chassis steadily and successfully can lead to
Cross so as to meet the functional design requirements of compact chassis.
Description of the drawings
By following examples and combine its accompanying drawing description, it will be further appreciated that its invention purpose, concrete structure
Feature and advantage.
In accompanying drawing,
Fig. 1 is the overall assembling perspective view of the dolly of employing compact chassis according to the present invention；
Fig. 2 is the base plate perspective view being related in Fig. 1；
Fig. 3 is the one of suspension unit perspective view being related in Fig. 1；
Fig. 4 is A in Fig. 3 to broken section structural representation；
Fig. 5 is B in Fig. 3 to structural representation；
Fig. 6 is the perspective view of the suspension holdfast being related in Fig. 3；
Fig. 7 is the structural representation of the driving wheel not yet installment state in Fig. 3；
Fig. 8 is the cross section structure diagram of line C-C along Fig. 7；
Fig. 9 is the broken section structural representation of line D-D along Fig. 4；
Figure 10 is its end face structure schematic diagram when the dolly in Fig. 1 passes through the ground being recessed；
Figure 11 is its end face structure schematic diagram when the dolly in Fig. 1 passes through raised ground.
In figure：
101- universal wheel；
102- base plate；Set universal wheel activity circular hole on 102a- base plate；Lead fixed installation hole set by 102b- base plate；
Set open slot on 102c- base plate；The connecting hole of set universal wheel fixed seat on 102d- base plate；
103- suspension unit；104- universal wheel fixed seat；
10- motor；10a- motor output shaft；11- spring anchor block；12- spring；
13- suspension holdfast；13a- lead installing hole；13b- motor output shaft installing hole；13c- live axle installing hole；
14- lead；15- driving wheel；16- wheel end tooth wheel；17- motor side gear；18- live axle；19- axle bed；
20- bearing.
Specific embodiment
Referring to Fig. 1-5, a kind of dolly of employing compact chassis according to the present invention, including the base plate 102 on chassis, base plate
On 102, level is provided with a pair motor 10 connected with its indirect activity, and two motors 10 interlock end to end to each other and are arranged side by side, two
The axis of motor 10 is parallel to each other.
Base plate 102 is provided with a pair including the suspension unit 103 including the motor 10, and two suspension units 103 are mutually handed over
Wrong and be arranged side by side, and by being movably connected between connector and base plate 102.
As shown in Figure 1 and Figure 2, the top of base plate 102, bottom two sides upright projection all in the moulding of " H " word or after 90 ° of rotations are in
" work " word moulding.Corner on base plate 102 is respectively equipped with a circular hole 102a, is movably equipped with a universal wheel 101 in circular hole 102a, and ten thousand
Wheel shaft upper end to wheel 101 is located by connecting in the universal wheel fixed seat 104 being fixedly linked with base plate 102.
Universal wheel fixed seat 104 its be symmetrically distributed in " H " word mold(ing) board with connecting hole 102d between base plate 102
In left part and right part or the top in " work " word mold(ing) board and bottom plate face；Set connecting hole 102d on same position base plate
The line of centres is overlapped with the line of centres of adjacent two universal wheels movable span 102a.
Be available for driving wheel 15 and wheel end tooth with one being provided between two parties between the adjacent two couples of circular hole 102a of lateral plates on base plate 102
One is arranged with the base plate 102 of open slot 102c, the open slot 102c both sides movable wherein of wheel 16 to fix with lead 14
Connected connecting hole 102b.As shown in Fig. 2 " convex " the word moulding of the open slot 102c for arranging on base plate 102 in bottom opening.
As shown in Figure 3,4, suspension unit 103 includes a pair spaced lead 14 being fixedly linked with base plate 102,
On the lower semisection of two leads 14, movable sleeve is provided with a suspension holdfast 13, the sheathed spring 12 in the top of suspension holdfast 13, the bullet
Spring 12 is spacing by the spring anchor block 11 for being fixedly arranged on 14 upper semisection of lead, can play compression using the elastic force of the spring 12 and hang
The effect of support 13.
As shown in figure 5, the inner side of suspension holdfast 13 is provided with a directly connected motor 10, be provided with the outside of which one and its
The driving wheel 15 being indirectly connected to；The axis of the driving wheel 15 with respect to motor 10 axis to the suspension Wei Yu two leads between
The left direction translation of support 13, passes through meshed transmission gear between motor 10 and driving wheel 15；Gear is included positioned at suspension
Motor side gear 17 between frame 13 and driving wheel 15 and wheel end tooth wheel 16.
Suspension unit 103 can with the overall axial direction along two leads 14 of the motion conditions of driving wheel 15 rise or under
Drop.
On suspension holdfast 13, the two ends of its length direction are respectively perpendicular the installing hole 13a for being provided with lead 14；Suspension holdfast
Right side position level on 13 between two lead installing hole 13a is provided with the installing hole for matching with motor output shaft 10a
13b, motor output shaft is connected through suspension holdfast 13 with the positioning of motor side gear 17, and motor 10 is fixed by screws in suspension
On support 13.
Left-hand portion level on suspension holdfast 13 between two lead installing hole 13a is provided with the peace of live axle 18
Dress hole 13c, live axle 18 is connected through suspension holdfast 13 with the positioning of driving wheel 15；The positioning of wheel end tooth wheel 16 is set in position
On live axle 18 between suspension holdfast 13 and driving wheel 15.
Be installed with the axle bed 19 of a live axle 18 on suspension holdfast 13 by screw, live axle 18 and its axle bed 19 it
Between relative rotary motion is realized by a pair of bearings 20 on the axle bed 19.
What Fig. 7 was expressed is the engaged transmission state between motor side gear 17 and wheel end tooth wheel 16.
What Fig. 8 was expressed is the assembly relation between motor 10, suspension holdfast 13 and motor side gear 17.
The function on chassis is that two-wheeled is differential and have hanging function, when being installed with direct-connected mode, the machine of two motors 10
Know from experience and occur interfering.Therefore the axle center arranged in dislocation of 10 axle center of motor and driving wheel 15 so that the body of two motors 10 is separately put
Put, no longer interfere.
Due to motor 10 and 15 arranged in dislocation of driving wheel, using gear drive between motor 10 and driving wheel 15.
Suspension unit integrally can be risen or fallen along two leads 14, when running into broken terrain, chassis energy
Pass through.
Shown in Fig. 9, the other end of live axle 18 positioning is located in the inner ring of bearing 20, and driving wheel 15 just can be with respect to
Its axle bed 19 rotates.
Above-mentioned compact chassis according to the present invention are series of products, and the external diameter of its base plate is 220mm or 350mm or 500mm.
The invention further relates to a kind of dolly using the chassis, including the compact chassis with suspended structure mentioned above.
Shown in Figure 10, dolly causes driving wheel 15 to keep with ground by the pressure of spring 12 when the ground of depression
Enough frictional force, universal wheel 101 is walked on the ground, and driving wheel 15 can cross over the pit of 12mm.
Shown in Figure 11, dolly is when raised ground, and driving wheel 15 is by jack-up and compression spring 12 so that dolly passes through
Raised ground, universal wheel 101 is walked on the ground, and driving wheel 15 can cross over the raised road surface of 5.6mm.
Embodiment described above is merely to illustrate the technological thought of the present invention and feature, its object is to make in the art
Technical staff will appreciate that present disclosure and implement according to this, it is impossible to only limit the patent model of the present invention with the present embodiment
Employing is enclosed, i.e., all equal changes that is made according to disclosed spirit or modification, still fall in the scope of the claims of the present invention.
Claims (10)
1. a kind of dolly of employing compact chassis, including the base plate on chassis, it is characterised in that on the base plate, level is provided with a pair
Motor connected with its indirect activity, two motors interlock end to end to each other and are arranged side by side, and the axis of two motors is parallel to each other.
2. according to claim 1 using the dolly of compact chassis, it is characterised in that the base plate is provided with a pair includes institute
Motor is stated in interior suspension unit, two suspension units are interlaced and are arranged side by side, and by moving phase between connector and base plate
Even；The suspension unit includes a pair spaced lead being vertically connected with base plate, the lower semisection of two leads
Upper movable sleeve is provided with a suspension holdfast, on the lead positioned at suspension holdfast the sheathed spring in top, the spring is by fixed
Spacing in the spring anchor block of lead upper semisection；
Inner side of the motor by its output shaft with suspension holdfast is joined directly together；The outside of the suspension holdfast be provided with one and its
The driving wheel being indirectly connected to, the axis of the driving wheel with respect to motor axis to the suspension holdfast left side Wei Yu two leads between
Side passes through meshed transmission gear to translation, between motor and driving wheel；
The gear includes the motor side gear between suspension holdfast and driving wheel and wheel end tooth wheel；
The suspension unit integrally can be risen or fallen along the axial direction of two leads with the motion conditions of driving wheel.
3. the dolly of employing compact chassis according to claim 1 or claim 2, it is characterised in that the corner on the base plate is respectively
A circular hole is provided with, a universal wheel in circular hole, is movably equipped with, the wheel shaft upper end of universal wheel is located by connecting on and is installed in plate top surface
In universal wheel fixed seat.
4. the dolly of employing compact chassis according to claim 1 or claim 2, it is characterised in that the top of the base plate, bottom two sides are hung down
Shadow is delivered directly all in the moulding of " H " word or in " work " word moulding after 90 ° of rotations.
5. according to claim 4 using the dolly of compact chassis, it is characterised in that the universal wheel fixed seat its with base plate
Between connecting hole be symmetrically distributed in the left part in " H " word mold(ing) board and right part or the top in " work " word mold(ing) board
In the plate face of bottom；On same position base plate, the line of centres of set connecting hole is connected with the center of adjacent two universal wheel movable spans
Line overlaps.
6. according to claim 5 using the dolly of compact chassis, it is characterised in that with lateral plates adjacent two on the base plate
Driving wheel and wheel end tooth wheel open slot movable wherein, the bottom of open slot both sides are available for being provided between two parties a pair between circular hole
A connecting hole being fixedly linked with lead is arranged with plate；
" convex " the word moulding of the open slot Qi Ding, the upright projection on bottom two sides all in bottom opening.
7. the dolly of employing compact chassis according to claim 1 or claim 2, it is characterised in that its left and right on the suspension holdfast
Two ends are respectively perpendicular and are provided with a lead installing hole；
Right side position level on the suspension holdfast between two lead installing holes is provided with and is matched with motor output shaft
Installing hole, the motor output shaft penetrated from the inner side of suspension holdfast, and its shaft end is connected with motor side gear positioning.
8. the dolly of employing compact chassis according to claim 1 or claim 2, it is characterised in that be located at two on the suspension holdfast
Left-hand portion level between lead installing hole is provided with the installing hole of live axle, and the live axle is from suspension holdfast
Side penetrates, and its shaft end is connected with driving wheel positioning；The wheel end tooth wheel positioning sleeve is provided at suspension holdfast with driving
On wheel shaft between wheel.
9. according to claim 8 using the dolly of compact chassis, it is characterised in that be installed with a drive on the suspension holdfast
The axle bed of the axis of a movable block, realizes relative rotary motion by a pair of bearings on axle bed between live axle and its axle bed.
10. the dolly of employing compact chassis according to claim 1 or claim 2, it is characterised in that the external diameter of the base plate is
220mm or 350mm or 500mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610969739.2A CN106427532A (en) | 2016-10-27 | 2016-10-27 | Car with small chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610969739.2A CN106427532A (en) | 2016-10-27 | 2016-10-27 | Car with small chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106427532A true CN106427532A (en) | 2017-02-22 |
Family
ID=58180636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610969739.2A Pending CN106427532A (en) | 2016-10-27 | 2016-10-27 | Car with small chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106427532A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108790649A (en) * | 2018-05-31 | 2018-11-13 | 重庆瑞耕达网络科技有限公司 | A kind of pretightning force adjustment structure, chassis suspension assembly and robot |
| CN109018004A (en) * | 2018-07-13 | 2018-12-18 | 深圳市优必选科技有限公司 | Robot and chassis thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3901337A (en) * | 1971-11-24 | 1975-08-26 | Spastics Soc | Wheel chairs |
| KR100757842B1 (en) * | 2006-05-04 | 2007-09-11 | 삼성전자주식회사 | Traveling robot |
| CN101643096A (en) * | 2008-08-08 | 2010-02-10 | 中国科学院沈阳自动化研究所 | Coal mine underground rescue detection robot |
| CN201432296Y (en) * | 2009-05-13 | 2010-03-31 | 重庆大学 | Walking system of indoor spraying robot |
| CN105774859A (en) * | 2016-05-03 | 2016-07-20 | 哈尔滨工大服务机器人有限公司 | Suspension structure applied to differential motion of two wheels and trolley |
| CN105919503A (en) * | 2016-06-22 | 2016-09-07 | 洛阳圣瑞智能机器人有限公司 | Wheel hanging device and method for intelligent glass wiping robot |
| CN105966493A (en) * | 2016-05-31 | 2016-09-28 | 芜湖智久机器人有限公司 | Bidirectional rotation actuating devices for AGV |
-
2016
- 2016-10-27 CN CN201610969739.2A patent/CN106427532A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3901337A (en) * | 1971-11-24 | 1975-08-26 | Spastics Soc | Wheel chairs |
| KR100757842B1 (en) * | 2006-05-04 | 2007-09-11 | 삼성전자주식회사 | Traveling robot |
| CN101643096A (en) * | 2008-08-08 | 2010-02-10 | 中国科学院沈阳自动化研究所 | Coal mine underground rescue detection robot |
| CN201432296Y (en) * | 2009-05-13 | 2010-03-31 | 重庆大学 | Walking system of indoor spraying robot |
| CN105774859A (en) * | 2016-05-03 | 2016-07-20 | 哈尔滨工大服务机器人有限公司 | Suspension structure applied to differential motion of two wheels and trolley |
| CN105966493A (en) * | 2016-05-31 | 2016-09-28 | 芜湖智久机器人有限公司 | Bidirectional rotation actuating devices for AGV |
| CN105919503A (en) * | 2016-06-22 | 2016-09-07 | 洛阳圣瑞智能机器人有限公司 | Wheel hanging device and method for intelligent glass wiping robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108790649A (en) * | 2018-05-31 | 2018-11-13 | 重庆瑞耕达网络科技有限公司 | A kind of pretightning force adjustment structure, chassis suspension assembly and robot |
| CN109018004A (en) * | 2018-07-13 | 2018-12-18 | 深圳市优必选科技有限公司 | Robot and chassis thereof |
| CN109018004B (en) * | 2018-07-13 | 2023-09-08 | 深圳市优必选科技有限公司 | Robot and chassis thereof |
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Application publication date: 20170222 |
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| RJ01 | Rejection of invention patent application after publication |