CN106945747B - Chassis device and have its detection vehicle and robot - Google Patents
Chassis device and have its detection vehicle and robot Download PDFInfo
- Publication number
- CN106945747B CN106945747B CN201710280688.7A CN201710280688A CN106945747B CN 106945747 B CN106945747 B CN 106945747B CN 201710280688 A CN201710280688 A CN 201710280688A CN 106945747 B CN106945747 B CN 106945747B
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- Prior art keywords
- sleeve
- wheel
- travelling
- fixed plate
- support column
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/02—Resilient suspensions characterised by arrangement, location or kind of springs having leaf springs only
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/11—Leaf spring
Abstract
The invention discloses a chassis device which comprises a fixed plate, a plurality of travelling mechanisms arranged below the fixed plate and a plurality of leaf springs arranged on the fixed plate, wherein at least three travelling mechanisms are arranged, and two ends of each leaf spring are respectively connected with one travelling mechanism in a rotary mode. The chassis device has the secondary damping effect, improves the damping performance, has a simple structure and good effect, is better and more suitable for different road surfaces, and improves the stability, the operability and the safety of the detection vehicle or the robot. The invention also discloses a detection vehicle and a robot with the chassis device.
Description
Technical Field
The invention belongs to the technical field of motor vehicles, and particularly relates to a chassis device, and a detection vehicle and a robot with the chassis device.
Background
Universal car, specially designed for aircraft carrier at the earliest. The universal vehicle can walk in any direction and turn in situ, and is free from passing through the narrow cabin of the warship. Such vehicles are subsequently being continuously improved and miniaturized for use as chassis for small probe vehicles or robots. The chassis is an important structure on the detection vehicle and the robot, and the performance of the chassis directly influences the stability, the steering stability and the safety of the detection vehicle and the robot. In order to realize 360-degree all-directional steering running, the universal vehicle in the current market mainly adopts universal wheels, but the universal wheels are complex in structure, high in manufacturing cost and long in production period, can only be used for running on a road surface with good road conditions, has poor shock resistance and cannot achieve ideal running effect.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a chassis device, a detection vehicle and a robot with the chassis device, and aims to improve shock absorption performance.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the chassis device comprises a fixed plate, a plurality of travelling mechanisms arranged below the fixed plate and a plurality of steel plate springs arranged on the fixed plate, wherein at least three travelling mechanisms are arranged, and two ends of each steel plate spring are respectively connected with one travelling mechanism in a rotating way.
The middle part of the leaf spring in the length direction is fixedly connected with the fixed plate.
The walking mechanism and the leaf springs are all arranged in four and are distributed in a rectangular shape, two ends of each leaf spring are respectively connected with one walking mechanism, and each walking mechanism is respectively connected with two leaf springs.
The travelling mechanism comprises a support column rotationally connected with the leaf spring, a wheel support which is rotatably arranged, a steering motor which is arranged on the support column and used for generating power for rotating the wheel support, and travelling wheels which are arranged on the wheel support.
The steering motor is arranged in the support column, the wheel support is vertically arranged below the support column, the travelling wheels are rotatably arranged below the wheel support, and the rotation center line of the wheel support is perpendicular to the rotation center line of the travelling wheels.
The traveling mechanism further comprises a hub sleeve sleeved on a motor shaft of the steering motor and connected with the motor shaft, and a fixed sleeve sleeved on the hub sleeve and connected with the support column, and the wheel support is connected with the hub sleeve.
A first bearing is arranged between the hub sleeve and the bottom of the support column, and the first bearing is positioned in the fixing sleeve.
The walking mechanism further comprises a bearing pressing plate which is connected with the fixing sleeve and is positioned below the hub sleeve, and a second bearing is arranged between the hub sleeve and the bearing pressing plate and is positioned in the fixing sleeve.
The invention also provides a detection vehicle which comprises the chassis device.
The invention also provides a robot comprising the chassis device.
The chassis device has the secondary damping effect, improves the damping performance, has a simple structure and good effect, is better and more suitable for different road surfaces, and improves the stability, the operability and the safety of the detection vehicle or the robot.
Drawings
The present specification includes the following drawings, the contents of which are respectively:
FIG. 1 is a schematic view of the chassis apparatus of the present invention;
FIG. 2 is a front view of the chassis assembly of the present invention;
FIG. 3 is a schematic view of a leaf spring;
FIG. 4 is a schematic structural view of a strut;
FIG. 5 is a cross-sectional view of the running gear;
marked in the figure as:
1. a fixing plate; 2. a leaf spring; 3. a cover plate; 4. a support post; 5. a steering motor; 6. a fixed sleeve; 7. a hub sleeve; 71. a sleeve portion; 72. a connection part; 8. a wheel support; 9. a walking wheel; 10. a central control box; 11. a storage battery; 12. a control device; 13. a bearing pressing plate; 14. a first bearing; 15. and a second bearing.
Detailed Description
The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid in a more complete, accurate and thorough understanding of the concepts and aspects of the invention, and to aid in its practice, by those skilled in the art.
As shown in fig. 1 to 5, the invention provides a chassis device, which comprises a fixed plate 1, a plurality of travelling mechanisms arranged below the fixed plate 1 and a plurality of leaf springs 2 arranged on the fixed plate 1, wherein at least three travelling mechanisms are arranged, and two ends of each leaf spring 2 are respectively connected with one travelling mechanism in a rotary manner.
Specifically, as shown in fig. 1 to 5, the fixed plate 1 is preferably a rectangular flat plate, and the traveling mechanism is provided below the fixed plate 1 and has a steering function, and the traveling direction of the chassis device is adjusted by controlling the steering of the traveling mechanism. Through setting up leaf spring 2, make running gear can reciprocate for fixed plate 1 when chassis device traveles, set up to leave the clearance between the top of running gear and the fixed plate 1 correspondingly to avoid running gear and fixed plate 1 to produce the striking.
As shown in fig. 1, in this embodiment, four running mechanisms and leaf springs 2 are all disposed and are all rectangular in distribution, each running mechanism is located at a corner of a fixed plate 1, the length direction of each leaf spring 2 is parallel to one side edge of the fixed plate 1, two ends of each leaf spring 2 are connected with one running mechanism in a rotating manner, each running mechanism is connected with two ends of each leaf spring 2, and the axis of the end connected with the running mechanism in a rotating manner of the leaf spring 2 is parallel to the fixed plate 1. The middle part on the length direction of leaf spring 2 and fixed plate 1 fixed connection, leaf spring 2 is through the fastener and fixed plate 1 fixed connection that constitute by bolt and nut, and the middle part of leaf spring 2 sets up the through-hole that lets the bolt pass, also is equipped with the through-hole that lets the bolt pass on the fixed plate 1 and this through-hole is waist shape hole, sets up this waist shape hole and lets the bolt pass, is convenient for adjust leaf spring 2 mounted position on fixed plate 1, makes things convenient for the installation of all leaf springs 2 and running gear.
As shown in fig. 1 to 3, the leaf spring 2 is constructed as known to those skilled in the art as an elastic member which is an approximately equal strength elastic beam formed by combining a plurality of alloy spring pieces of equal width but different lengths. The fixed plate 1 is fixedly connected with the leaf spring 2 at the middle position of the leaf spring 2 in the length direction, the top surface of the leaf spring 2 is contacted with the fixed plate 1, and gaps are reserved at two ends of the fixed plate 1 and the leaf spring 2 in the length direction, so that the leaf spring 2 has a damping effect.
As shown in fig. 1, 4 and 5, the running mechanism includes a strut 4 rotatably connected to the leaf spring 2, a rotatably provided wheel carrier 8, a steering motor 5 provided on the strut 4 for generating power for rotating the wheel carrier 8, and a running wheel 9 provided on the wheel carrier 8. The pillar 4 is vertical below setting up in fixed plate 1 and the length direction of pillar 4 is mutually perpendicular with fixed plate 1, and pillar 4 is inside hollow structure, and steering motor 5 is fixed to be set up in the inside of pillar 4, and wheel support 8 is vertical below setting up in pillar 4, and walking wheel 9 is rotatable below setting up in wheel support 8, and wheel support 8's rotation center line is mutually perpendicular with walking wheel 9's rotation center line (i.e. walking wheel 9's axis), and wheel support 8's length direction is parallel with the length direction of pillar 4 and is mutually perpendicular with leaf spring 2's tip axis. When the steering motor 5 runs, power is generated and transmitted to the wheel bracket 8, so that the wheel bracket 8 and the travelling wheels 9 thereon rotate, and the movement direction of the chassis device is changed.
Preferably, the travelling wheel 9 of the travelling mechanism is a wheel with an in-wheel motor, and the travelling wheel 9 can be used as a steering wheel or a driving wheel, so that the chassis device can realize self-running and steering in the running process. The construction of a wheel with an in-wheel motor is as known to the person skilled in the art and will not be described in detail here.
As shown in fig. 1, 4 and 5, the running mechanism further comprises a cover plate 3, a hub sleeve 7 sleeved on a motor shaft of the steering motor 5 and connected with the motor shaft, and a fixed sleeve 6 sleeved on the hub sleeve 7 and connected with the support column 4, and a wheel support 8 is connected with the hub sleeve 7. The pillar 4 is a rectangular structure with two open ends and a hollow interior, the steering motor 5 is arranged in the inner cavity of the pillar 4, the bottom of the pillar 4 is provided with a through hole for a motor shaft of the steering motor 5 to pass through, and the cover plate 3 is fixedly connected with the upper end of the pillar 4 and seals the upper end opening of the pillar 4. The 4 side walls of the support column 4 are provided with mounting grooves which are used for conveniently mounting the steering motor 5 on the support column 4 by bolts and are open grooves penetrating through the side walls of the support column 4 so as to play a role in heat dissipation. The fixed sleeve 6 is fixedly connected with the lower end of the support column 4, the fixed sleeve 6 is of a cylindrical structure with two open ends and a hollow interior, the diameter of the upper open end of the fixed sleeve 6 is larger than that of a through hole arranged at the bottom of the support column 4, and the upper open end of the fixed sleeve 6 is coaxial with the through hole arranged at the bottom of the support column 4.
As shown in fig. 5, the running mechanism further comprises a bearing pressing plate 13 connected with the fixed sleeve 6 and located below the hub sleeve 7, the upper end opening of the fixed sleeve 6 is closed by the support column 4, the lower end opening of the fixed sleeve 6 is closed by the bearing pressing plate 13, the bearing pressing plate 13 is of a circular ring structure, a through hole for the hub sleeve 7 to pass through is formed in the center of the bearing pressing plate 13, and the wheel support 8 is located below the bearing pressing plate 13. A first bearing 14 is arranged between the hub 7 and the bottom of the support column 4, the first bearing 14 is positioned inside the fixed sleeve 6, a second bearing 15 is arranged between the hub 7 and the bearing pressing plate 13, and the second bearing 15 is positioned inside the fixed sleeve 6. Preferably, the hub sleeve 7 comprises a sleeve portion 71 inserted into a central hole of the fixing sleeve 6 and sleeved on a motor shaft of the steering motor 5, and a connecting portion 72 welded with the sleeve portion 71, wherein the connecting portion 72 passes through the central hole of the bearing pressing plate 13 and is fixedly connected with the wheel bracket 8 below, the sleeve portion 71 and the connecting portion 72 are of cylindrical structures and are coaxially welded, the sleeve portion 71 is of a structure with one end being opened and the inside being hollow, the motor shaft of the steering motor 5 is inserted into the central hole of the sleeve portion 71 and is connected with the sleeve portion 71 through a key, and a key groove for embedding the key is correspondingly arranged on the inner wall of the sleeve portion 71 and the outer wall of the motor shaft. The upper end of the connecting portion 72 is welded to the lower end of the sleeve portion 71, and the lower end of the connecting portion 72 is fixedly connected to the upper end of the wheel bracket 8. The motor shaft of the steering motor 5 is fixedly connected with the sleeve portion 71 by a key, and a gap is left between the lower end surface of the motor shaft and the upper end surface of the connecting portion 72.
As shown in fig. 5, the upper end outer wall surface of the sleeve portion 71 is provided with a first groove into which the first bearing 14 is fitted, the lower end outer wall surface of the sleeve portion 71 is provided with a second groove into which the second bearing 15 is fitted, the first bearing 14 and the second bearing 15 are preferably thrust ball bearings, the first bearing 14 is sandwiched between the bottom surface of the strut 4 and the inner wall surface of the first groove, the second bearing 15 is sandwiched between the bearing pressing plate 13 and the inner wall surface of the second groove, and the arrangement of the first bearing 14 and the second bearing 15 prevents the upper end surface of the hub 7 from abutting against the housing surface of the steering motor 5, the steering of the hub 7 is flexible, the fixing is reliable and the running of the wheel carrier 8 and the road wheel 9 connected thereto are not caused to fall off when the chassis device is lifted.
Preferably, the wheel support 8 is made of an elastic steel plate, the elastic steel plate is formed by bending, the wheel support 8 made of the elastic steel plate can play a role in first-stage shock absorption, and the leaf spring 2 plays a role in second-stage shock absorption. The upper end of the wheel bracket 8 is provided with 2 through holes, so that the wheel bracket is conveniently connected with the hub sleeve 7 through bolts.
As shown in fig. 1 and 2, the chassis device of the present invention further includes a central control box 10 disposed on the fixed plate 1, a controller and a battery 11 disposed in the central control box 10, the travelling mechanism and the leaf spring 2 are distributed around the central control box 10, the battery 11 is used for supplying power to a steering motor 5 of the travelling mechanism and a travelling wheel 9 with a built-in wheel motor, the control device is electrically connected with the battery 11, the steering motor 5 and the wheel motor disposed on the travelling wheel 9, and the steering motor 5 is preferably a dc motor. The central control box 10 is preferably rectangular in structure, and the side surfaces and the bottom surface of the central control box 10 are provided with waist-shaped grooves, so that the storage battery 11 and the control device can be conveniently installed and fixed, and the radiating effect can be achieved. The control device sends out instructions, the chassis device can be driven to move forwards and stop by controlling the running of the wheel hub motor of the travelling wheel 9, and the chassis device can be driven to rotate in 360 degrees by controlling the running of the steering motor 5 so as to rotate the hub sleeve 7 and drive the wheel bracket 8 and the travelling wheel 9 to steer in 360 degrees through the hub sleeve 7. When the chassis device runs on a road surface with uneven height, the damping can be performed by the leaf springs 2 and the wheel brackets 8 below the fixed plate 1.
The chassis device adopts the structure, has a secondary damping effect, and has simple structure and good effect. The fixed plate 1 is directly connected with 4 leaf springs 2, plays the second grade shock attenuation effect, and the junction is had waist type groove, when making it be connected with pillar 4, conveniently adjusts the relative position of 4 leaf springs 2, avoids the interference phenomenon that leads to because of size and positioning error. The structure is symmetrical, the stress is even, and the phenomenon of overturning is not easy to occur. The earrings on each strut 4 are vertically distributed on 2 surfaces, and the structure is simple and the positioning is reliable. The steering motor 5 is fixed in the support column 4 through 4 bolts, and pull grooves are formed in the 4 side faces of the support column 4, so that the bolts and the motor can be conveniently screwed for heat dissipation. The hub sleeve 7 is formed by welding two pieces of cylindrical steel, the inner surface of the hub sleeve is provided with a key groove and is connected with the steering motor 5 in a key way, and thrust ball bearings are arranged at the upper end and the lower end of a protruding shaft of the hub sleeve 7, so that the distance between the upper plane of the hub sleeve 7 and the surface of a round table of the steering motor 5 is 2mm, and the thrust ball bearings at the lower part are fixed by a bearing pressing plate 13. The hub sleeve 7 and the steering motor 5 are connected through keys, the lower end face is provided with 2 threaded holes and used for being connected with the wheel support 8, and the wheel support 8 is formed by bending an elastic steel plate, so that the first-stage damping effect of the whole chassis device is achieved.
As shown in fig. 1, when the travelling wheel 9 only rotates in one direction, the steering motor 5 rotates 0-360 degrees to realize 360-degree omnibearing in-situ steering. When the travelling wheel 9 rotates in the forward and reverse directions, the steering motor 5 rotates for 0-180 degrees to realize 360-degree all-around in-situ steering, so that the steering of the whole chassis device is more flexible.
The invention also provides a detection vehicle, which comprises the chassis device with the structure. The specific structure of the chassis device can be referred to in fig. 1 to 5, and will not be described herein. Since the probe vehicle of the present invention includes the chassis device in the above-described embodiment, it has all the advantages of the chassis device described above.
The invention also provides a robot, which comprises the chassis device with the structure. The specific structure of the chassis device can be referred to in fig. 1 to 5, and will not be described herein. Since the probe vehicle of the present invention includes the chassis device in the above-described embodiment, it has all the advantages of the chassis device described above.
The invention is described above by way of example with reference to the accompanying drawings. It will be clear that the invention is not limited to the embodiments described above. As long as various insubstantial improvements are made using the method concepts and technical solutions of the present invention; or the invention is not improved, and the conception and the technical scheme are directly applied to other occasions and are all within the protection scope of the invention.
Claims (10)
1. Chassis device, its characterized in that: the device comprises a fixed plate, a plurality of travelling mechanisms arranged below the fixed plate and a plurality of steel plate springs arranged on the fixed plate, wherein at least three travelling mechanisms are arranged, and two ends of each steel plate spring are respectively connected with one travelling mechanism in a rotary manner;
the fixed plate is a rectangular flat plate, the travelling mechanism is arranged below the fixed plate and has a steering function, and the travelling direction of the chassis device is adjusted by controlling the steering of the travelling mechanism; through the arrangement of the leaf spring, the travelling mechanism can move up and down relative to the fixed plate when the chassis device runs, and a gap is correspondingly reserved between the top end of the travelling mechanism and the fixed plate so as to avoid collision between the travelling mechanism and the fixed plate;
the walking mechanisms and the leaf springs are respectively arranged in four and are respectively in rectangular distribution, each walking mechanism is respectively positioned at one corner of the fixed plate, the length direction of each leaf spring is respectively parallel to one side edge of the fixed plate, two ends of each leaf spring are respectively connected with one walking mechanism in a rotating way, each walking mechanism is respectively connected with the end parts of the two leaf springs, and the axes of the end parts of the leaf springs, which are rotationally connected with the walking mechanisms, are parallel to the fixed plate; the middle part of the leaf spring in the length direction is fixedly connected with the fixed plate, the leaf spring is fixedly connected with the fixed plate through a fastener formed by a bolt and a nut, a through hole for the bolt to pass through is formed in the middle part of the leaf spring, a through hole for the bolt to pass through is also formed in the fixed plate, the through hole is a kidney-shaped hole, the kidney-shaped hole is formed for the bolt to pass through, the installation position of the leaf spring on the fixed plate is convenient to adjust, and the installation of all leaf springs and travelling mechanisms is convenient;
the travelling mechanism comprises a strut rotationally connected with the leaf spring, a wheel bracket rotatably arranged, a steering motor arranged on the strut and used for generating power for rotating the wheel bracket, and travelling wheels arranged on the wheel bracket; the support is vertically arranged below the fixed plate, the length direction of the support is vertical to the fixed plate, the support is of a structure with hollow inside, the steering motor is fixedly arranged inside the support, the wheel support is vertically arranged below the support, the travelling wheel is rotatably arranged below the wheel support, the rotation center line of the wheel support is vertical to the rotation center line of the travelling wheel, and the length direction of the wheel support is parallel to the length direction of the support and is vertical to the end axis of the leaf spring; when the steering motor runs, power is generated and transmitted to the wheel bracket, so that the wheel bracket and travelling wheels on the wheel bracket rotate, and the movement direction of the chassis device is changed;
the traveling mechanism further comprises a cover plate, a hub sleeve sleeved on a motor shaft of the steering motor and connected with the motor shaft, and a fixed sleeve sleeved on the hub sleeve and connected with the support column, and the wheel support is connected with the hub sleeve; the support column is of a rectangular structure with two open ends and a hollow interior, the steering motor is arranged in the inner cavity of the support column, the bottom of the support column is provided with a through hole for a motor shaft of the steering motor to pass through, and the cover plate is fixedly connected with the upper end of the support column and seals the upper end opening of the support column;
the mounting grooves are formed in the 4 side walls of the support column, so that the steering motor can be conveniently mounted on the support column by using bolts, and the mounting grooves are open grooves penetrating through the side walls of the support column, so that a heat dissipation effect is achieved;
the fixing sleeve is fixedly connected with the lower end of the support column, the fixing sleeve is of a cylindrical structure with two open ends and a hollow interior, the diameter of the opening at the upper end of the fixing sleeve is larger than that of a through hole arranged at the bottom of the support column, and the opening at the upper end of the fixing sleeve is coaxial with the through hole arranged at the bottom of the support column;
the running mechanism further comprises a bearing pressing plate which is connected with the fixed sleeve and is positioned below the hub sleeve, an opening at the upper end of the fixed sleeve is closed by a support column, an opening at the lower end of the fixed sleeve is closed by the bearing pressing plate, the bearing pressing plate is of a circular structure, a through hole for the hub sleeve to pass through is formed in the center of the bearing pressing plate, and the wheel bracket is positioned below the bearing pressing plate; a first bearing is arranged between the hub sleeve and the bottom of the support column, the first bearing is positioned in the fixing sleeve, a second bearing is arranged between the hub sleeve and the bearing pressing plate, and the second bearing is positioned in the fixing sleeve;
the hub sleeve comprises a sleeve part inserted into a central hole of the fixed sleeve and sleeved on a motor shaft of the steering motor and a connecting part welded with the sleeve part, the connecting part penetrates through the central hole of the bearing pressing plate and is fixedly connected with a wheel bracket below, the sleeve part and the connecting part are both in a cylindrical structure and are in coaxial welding connection, the sleeve part is also in a structure with an opening at one end and a hollow inside, the motor shaft of the steering motor is inserted into the central hole of the sleeve part and is connected with the sleeve part through a key, and key grooves for embedding the key are correspondingly formed in the inner wall of the sleeve part and the outer wall of the motor shaft; the upper end of the connecting part is welded with the lower end of the sleeve part, and the lower end of the connecting part is fixedly connected with the upper end of the wheel bracket; a motor shaft of the steering motor is fixedly connected with the sleeve part through a key, and a gap is reserved between the lower end surface of the motor shaft and the upper end surface of the connecting part;
the outer wall surface of the upper end of the sleeve part is provided with a first groove for embedding a first bearing, the outer wall surface of the lower end of the sleeve part is provided with a second groove for embedding a second bearing, the first bearing and the second bearing are thrust ball bearings, the first bearing is clamped between the bottom surface of the support column and the inner wall surface of the first groove, and the second bearing is clamped between the bearing pressing plate and the inner wall surface of the second groove;
the wheel bracket is made of elastic steel plates, the elastic steel plates are formed by bending, the wheel bracket made of the elastic steel plates can play a first-stage damping role, and the steel plate springs play a second-stage damping role;
the chassis device further comprises a central control box arranged on the fixed plate, a controller and a storage battery, wherein the controller and the storage battery are arranged in the central control box, the travelling mechanism and the leaf springs are distributed around the central control box, the storage battery is used for supplying power to a steering motor of the travelling mechanism and travelling wheels of a built-in hub motor, the control device is electrically connected with the storage battery, the steering motor and the hub motor arranged on the travelling wheels, and the steering motor is a direct current motor; the side surface and the bottom surface of the central control box are both provided with waist-shaped grooves, so that the storage battery and the control device are convenient to install and fix, and the radiating effect can be achieved; the control device sends out an instruction, the chassis device is enabled to move forwards and stop by controlling the running of the wheel hub motor of the travelling wheel, the hub sleeve is enabled to rotate by controlling the running of the steering motor, and the wheel bracket and the travelling wheel are driven by the hub sleeve to steer within 360 degrees, so that the chassis device is enabled to steer in running; when the chassis device runs on a road surface with uneven height, the damping is carried out through the leaf springs and the wheel brackets below the fixed plate;
when the travelling wheel only rotates in one direction, the steering motor rotates 0-360 degrees to realize 360-degree all-around in-situ steering; when the travelling wheels rotate in the forward and reverse directions, the steering motor rotates by 0-180 degrees to realize 360-degree all-around in-situ steering, so that the whole chassis device is more flexible in steering.
2. The chassis arrangement according to claim 1, wherein: the middle part of the leaf spring in the length direction is fixedly connected with the fixed plate.
3. The chassis arrangement according to claim 1, wherein: the walking mechanism and the leaf springs are all arranged in four and are distributed in a rectangular shape, two ends of each leaf spring are respectively connected with one walking mechanism, and each walking mechanism is respectively connected with two leaf springs.
4. A chassis arrangement according to any one of claims 1 to 3, characterized in that: the travelling mechanism comprises a support column rotationally connected with the leaf spring, a wheel support which is rotatably arranged, a steering motor which is arranged on the support column and used for generating power for rotating the wheel support, and travelling wheels which are arranged on the wheel support.
5. The chassis arrangement of claim 4, wherein: the steering motor is arranged in the support column, the wheel support is vertically arranged below the support column, the travelling wheels are rotatably arranged below the wheel support, and the rotation center line of the wheel support is perpendicular to the rotation center line of the travelling wheels.
6. The chassis arrangement of claim 4, wherein: the traveling mechanism further comprises a hub sleeve sleeved on a motor shaft of the steering motor and connected with the motor shaft, and a fixed sleeve sleeved on the hub sleeve and connected with the support column, and the wheel support is connected with the hub sleeve.
7. The chassis arrangement of claim 6, wherein: a first bearing is arranged between the hub sleeve and the bottom of the support column, and the first bearing is positioned in the fixing sleeve.
8. The chassis arrangement of claim 7, wherein: the walking mechanism further comprises a bearing pressing plate which is connected with the fixing sleeve and is positioned below the hub sleeve, and a second bearing is arranged between the hub sleeve and the bearing pressing plate and is positioned in the fixing sleeve.
9. Probe vehicle, including chassis device, its characterized in that: the chassis device is the chassis device according to any one of claims 1 to 8.
10. Robot, including chassis device, its characterized in that: the chassis device is the chassis device according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280688.7A CN106945747B (en) | 2017-04-26 | 2017-04-26 | Chassis device and have its detection vehicle and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710280688.7A CN106945747B (en) | 2017-04-26 | 2017-04-26 | Chassis device and have its detection vehicle and robot |
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| CN106945747A CN106945747A (en) | 2017-07-14 |
| CN106945747B true CN106945747B (en) | 2023-10-13 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657309A (en) * | 2018-06-28 | 2018-10-16 | 苏州冠卓自动化科技有限公司 | A kind of dolly chassis for clean room environment monitoring |
| CN109795552A (en) * | 2019-03-20 | 2019-05-24 | 宋鸿 | A kind of improved cultivator |
| CN110370883A (en) * | 2019-08-21 | 2019-10-25 | 广州极飞科技有限公司 | Mould group of walking and unmanned vehicle |
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