CN107323565A - A kind of bearing-type four-wheel moves machine carriage - Google Patents
A kind of bearing-type four-wheel moves machine carriage Download PDFInfo
- Publication number
- CN107323565A CN107323565A CN201710374516.6A CN201710374516A CN107323565A CN 107323565 A CN107323565 A CN 107323565A CN 201710374516 A CN201710374516 A CN 201710374516A CN 107323565 A CN107323565 A CN 107323565A
- Authority
- CN
- China
- Prior art keywords
- wheel
- dolly
- type
- bearing
- travelling gear
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of electric gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Body Structure For Vehicles (AREA)
Abstract
The present invention provides a kind of bearing-type four-wheel movement machine carriage, including：Travelling gear A (1), travelling gear B (2), motor (3), ventilating opening (4), helical gear (5), damper (6), wheel (7), differential mechanism (8), drag hook (9), air vent (10), clip (11), screw screw (12), mud guard (13), horizontal bar (14), power transmission shaft (15), shell (16).This mechanical front-wheel is driving wheel, it passes through two driving motor supplies powers, power passes through travelling gear and power transmission shaft, power is assigned on each driving wheel by differential mechanism again can reach the purpose of optional turning and forward-reverse so as to play, it is 3 groups of springs being disposed around and tubular body composition in damper, it plays the mutation resistance on buffering ground, it is ensured that the stabilization of chassis vehicle, deep trouth tire is more in sandstones such as farmlands, can guarantee that vehicle operation is unobstructed under the road conditions of Uneven road.
Description
Technical field
Mobile field is visited the present invention relates to robot, and in particular to a kind of bearing-type four-wheel moves machine carriage, by electricity
Machine drives, it is adaptable to base apparatus of the soil landform to carry agricultural exploration machine.
Background technology
Chassis design in robot mobile field, is mostly crawler type, planet gear type, leg foot formula, and traditional circle
It is wheeled.Wherein the sufficient formula of planet gear type and leg mainly solves the problems, such as robot obstacle detouring either stair climbing：Taken turns with foot and replace traditional
Wheel can increase substantially cross-country power, but the shake of less stable during operation, i.e. equipment is too big；The shifting of planet gear type
Dynamic device design can avoid vibration problems, but part is complicated, and production difficulty is high.Robot field is surveyed in agricultural, main flow
Chassis design is that crawler type and traditional circle are wheeled, and both have economical and practicality concurrently, once but the debris ratio in environment
More, the careless rod of such as stone is present, and can produce the phenomenon that debris is caught in crawler belt using crawler type driving, influence driving force is even
In stuck.Present invention design is based on wheel type mobile mode, and optional turning and forward-reverse can be reached by the differential of two trailing wheels
Purpose, tire selects deep groove off-the-highway tire, it is adaptable to farmland, the soil landform such as woods, in the agricultural exploration neck of automation
Domain has reliability high as bearing chassis, and economy is high, the features such as practicality is high.
The content of the invention
To overcome technical problem present in prior art, a kind of bearing-type four-wheel of present invention design moves machine carriage,
It is stable, it can complete to turn or straight trip function, and larger load, a kind of bearing-type four-wheel that the present invention is designed can be carried
Mobile machine carriage, including：Travelling gear A, travelling gear B, motor, ventilating opening, helical gear, damper, wheel, differential mechanism,
Drag hook, air vent, clip, screw screw, mud guard, horizontal bar, power transmission shaft, shell.It is characterized in that：
The guard bar is installed on car top, and guard bar is parallel with dolly extension.Two motors are separately mounted at front-wheel,
The output shaft of motor is connected to front-wheel, and the middle part of output shaft is equipped with travelling gear, and travelling gear side engages another driving cog
Wheel, travelling gear is connected with helical gear by power transmission shaft, three helical gear intermeshings, and left and right two is driving gear, driven
Bevel gear is connected with rear differential by long drive shaft, and is fixed by clip.
The air vent of air vent and bottom near transmission device designed by the dolly front portion, is travelled using dolly
Air-flow, the equipment that heating is operated to car interior carries out wind cooling temperature lowering.
Damper is equipped with the motor output shaft, damper is arranged on outside shell, and inside wheel, damper is concentric circles
Pipe, using axle center as the center of circle between two pipes, surrounding distribution spring, when rotating shaft because wheel overwhelms the resistance that roadblock transmits and on move down
When dynamic, compression spring, spring plays cushioning effect, and the power of compression spring is released after cartwheel roll crosses roadblock, and rotating shaft is in bullet
Spring effect is lower to be resetted.
Beneficial effects of the present invention：
1）The present invention power by the front-wheel left and right sides motor provide, and by travelling gear A, travelling gear B, drive shaft and
Differential mechanism passes to trailing wheel, reaches that the steering of the traveling sum of dolly is steady, its transmission device is simple, compact, makes power in transmission
When loss it is few, available power is big；
2）The damper surrounding distribution spring of the present invention, the vibrations that buffering ground is transmitted, and wheel reset is completed, it can guarantee that dolly
Riding stability it is good, the equipment that dolly is carried can work under relatively stable working environment；
3）Present invention design builds vehicle body using hollow out design and light-weighted material, so as to reach mitigation complete vehicle weight；
4）Deep trouth tire is selected in present invention design, more in sandstones such as farmlands, can guarantee that vehicle is run under the road conditions of Uneven road
It is unobstructed；
5）Patent of the present invention has illuminating lamp at the top of baffle plate, the illumination of abundance is operationally provided for camera, so as to increase
The definition of monitoring；
6）The present invention realizes the cooling to equipment using the air vent and ventilating opening on shell, so as to eliminate cooling system
Design and installation.
Brief description of the drawings
Fig. 1 is a kind of bearing-type four-wheel movement machine carriage front view of this example.
Fig. 2 is a kind of bearing-type four-wheel movement machine carriage left view of this example.
Fig. 3 is a kind of bearing-type four-wheel movement machine carriage top view of this example.
Fig. 4 is a kind of bearing-type four-wheel movement machine carriage upward view of this example.
Fig. 5 is a kind of bearing-type four-wheel movement machine carriage 3-D view of this example.
Fig. 6 is a kind of bearing-type four-wheel movement machine car interior schematic diagram of this example.
Fig. 7 is the front transfer mechanism of this example.
Fig. 8 is the differential mechanism of this example.
Fig. 9 is the front view of the damper of this example.
Figure 10 is the graphics of the damper of this example.
Wherein：1- travelling gear A, 2- travelling gear B, 3- motor, 4- ventilating openings, 5- helical gears, 6- dampers, 7- cars
Wheel, 8- differential mechanisms, 9- drag hooks, 10- air vents, 11- clips, 12- screws screw, 13- mud guards, 14- horizontal bars, 15- transmissions
Axle, 16- shells.
Embodiment
The technique effect of the design of type of the present invention, concrete structure and generation is carried out below with reference to embodiment and accompanying drawing clear
Chu, complete description, to be completely understood by the purpose, feature and effect of type of the present invention.Obviously, described embodiment is this
A part of embodiment of inventing type, rather than whole embodiments, based on the embodiment of type of the present invention, those skilled in the art exists
The other embodiment obtained on the premise of not paying creative work, belongs to the scope of type protection of the present invention.In addition, in text
All connection/the annexations being previously mentioned, not singly refer to component and directly connect, and refer to according to specific implementation situation to be passed through
Addition reduces couple auxiliary, to constitute more excellent draw bail.Each technical characteristic in type of the present invention, not conflicting
Can be with combination of interactions on the premise of conflict.
Technical scheme is described in detail below with reference to accompanying drawing 5.
This patent as shown in Figure 5 includes 1- travelling gear A, 2- travelling gear B, 3- motor, 4- ventilating openings, 5- helical teeth
Wheel, 6- dampers, 7- wheels, 8- differential mechanisms, 9- drag hooks, 10- air vents, 11- clips, 12- screws screw, 13- mud guards,
14- horizontal bars, 15- power transmission shafts, 16- shells.
Mechanical arm designed by the present invention is simple in construction and mostly hollow out is designed, and the selection of its material is lightweight material
Material, instrument is not on the premise of work is influenceed, car body weight, and section is reached as far as possible on the premise of enough driving forces are provided
The purpose of energy.
A kind of bearing-type four-wheel movement machine carriage designed by the present invention, is installed on the power transmission shaft that driving moment is rotated
Damper, damper is the surrounding distribution spring using axle center as the center of circle between concentric pipe, two pipes, is transmitted for buffering ground
Vibrations, and complete wheel and reset its purpose to can guarantee that the equipment that dolly is carried can be under relatively stable working environment
Work.
Economic design is deferred in present invention design, and most of parts meet national standard.This mechanical shell is spelling
Connect formula design, you can realize that shell is changed.
The torque that transmission mechanism designed by the present invention is sent two motors using gear, helical gear, power transmission shaft is transmitted
To trailing wheel, each part connection is compact, can reduce loss of the power on gearratio, and in order to ensure its stability, in transmission
There is design clip again in axle.
The present invention has baffle plate and illuminating lamp at the top of camera, and water smoke or dust can not only be prevented to camera
Block, so as to hinder the definition of monitoring, and the illumination of abundance can be provided for camera.
In order to prevent the equipment of roof slides the present invention during car traveling from roof from being installed at the top of dolly surrounding
Guardrail.
The better embodiment to type of the present invention is illustrated above, but type of the present invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent modifications on the premise of without prejudice to type of the present invention spirit or replace
Change, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (8)
1. a kind of bearing-type four-wheel moves machine carriage, including：Travelling gear A（1）, travelling gear B（2）, motor（3）, ventilation
Mouthful（4）, helical gear（5）, damper（6）, wheel（7）, differential mechanism（8）, drag hook（9）, air vent（10）, clip（11）, spiral shell
Silk screw（12）, mud guard（13）, horizontal bar（14）, power transmission shaft（15）, shell（16）It is characterized in that：
The shell that this machinery is made by light material（16）, and hollow out design is combined, to reduce the delivery resistance of dolly, from
And useful work is improved, horizontal bar（14）The top of dolly is screwed in, 3 ventilating openings are provided with immediately ahead of dolly（4）,
Multiple air vents are provided with chassis（10）；Two motors（3）Installed in front-wheel both sides, the power of motor outflow passes through travelling gear
A（1）, travelling gear B（2）Pass to power transmission shaft（15）, power transmission shaft drive helical gear（5）Rotate, helical gear（5）Change torque
Direction of transfer, and pass it to differential mechanism（8）, differential mechanism（8）Power is distributed into trailing wheel, and plays the mesh being conveniently steered
, in order to ensure the stability of transmission, clip is used in the middle part of transmission system（11）It is fixed, drag hook（9）It is placed in after dolly
Portion, positioned at shell（16）Bottom, four wheels（7）For deep trouth wheel, and mud guard is housed on wheel top（13）, each
Wheel（7）With shell（16）Between be equipped with damper（6）.
2. a kind of bearing-type four-wheel moves machine carriage, it is characterised in that：Its power by the front-wheel left and right sides motor（3）Carry
For passing through travelling gear A（1）, travelling gear B（2）, drive shaft（15）And differential mechanism（8）Trailing wheel is passed to, so as to reach dolly
Traveling sum steering it is steady, its transmission device is simple, compact, makes that power loss in transmission is few, and available power is big.
3. a kind of bearing-type four-wheel moves machine carriage, it is characterised in that：In order to prevent dolly in the process of moving because jolting
Cause the transmission mechanism of car interior transmission mechanism dolly to misplace, or even occur accident, therefore design clip（11）It is fixed to pass
Motivation structure.
4. a kind of bearing-type four-wheel moves machine carriage, it is characterised in that：In order to can guarantee that equipment that dolly carried can compared with
To be worked under stable working environment, therefore the driving stability of bearing-type four-wheel moving cart will get well, and this machinery is in driving moment
Mounting shock absorber on the power transmission shaft of rotation（6）, damper（6）Inside using axle center as the center of circle, surrounding distribution spring, for buffering
The vibrations that ground is transmitted, and complete wheel（7）Reset.
5. a kind of bearing-type four-wheel moves machine carriage, it is characterised in that：Drag hook is designed in the tailstock（9）, in order to which dolly occurs
, can be by drag hook by dolly during error of performance（9）Move appointed place repairing to.
6. a kind of bearing-type four-wheel moves machine carriage, it is characterised in that：The body shell of the car（16）Using hollow out design and
Light-weighted material builds vehicle body, so as to reach mitigation complete vehicle weight.
7. a kind of bearing-type four-wheel moves machine carriage, it is characterised in that：Wheel（7）Top is equipped with mud guard（13）To prevent car
When by road, wheel（7）Roll the muddy water taken up influences on in-car other equipment.
8. in the front and chassis of dolly, it is respectively equipped with ventilating opening（4）And air vent（10）For reducing machine during car traveling
Tool contact with each other work when the heat that produces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710374516.6A CN107323565A (en) | 2017-05-24 | 2017-05-24 | A kind of bearing-type four-wheel moves machine carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710374516.6A CN107323565A (en) | 2017-05-24 | 2017-05-24 | A kind of bearing-type four-wheel moves machine carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107323565A true CN107323565A (en) | 2017-11-07 |
Family
ID=60193923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710374516.6A Pending CN107323565A (en) | 2017-05-24 | 2017-05-24 | A kind of bearing-type four-wheel moves machine carriage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107323565A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635994A (en) * | 2020-04-27 | 2021-11-12 | 广东博智林机器人有限公司 | Omnidirectional movement chassis and AGV dolly |
-
2017
- 2017-05-24 CN CN201710374516.6A patent/CN107323565A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635994A (en) * | 2020-04-27 | 2021-11-12 | 广东博智林机器人有限公司 | Omnidirectional movement chassis and AGV dolly |
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