CN107380258A - A kind of electric chassis - Google Patents
A kind of electric chassis Download PDFInfo
- Publication number
- CN107380258A CN107380258A CN201710697531.4A CN201710697531A CN107380258A CN 107380258 A CN107380258 A CN 107380258A CN 201710697531 A CN201710697531 A CN 201710697531A CN 107380258 A CN107380258 A CN 107380258A
- Authority
- CN
- China
- Prior art keywords
- steering
- motor
- wheel hub
- fixedly connected
- rectangular axes
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B62D5/0421—Electric motor acting on or near steering gear
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The embodiment of the invention discloses a kind of electric chassis, including：Walking mechanism and steering mechanism；The walking mechanism includes：Wheel hub motor and tire；The wheel hub motor is arranged in the tire；The steering mechanism includes：Steering motor, rectangular axes steering component and steering spindle；The power end of the steering motor is fixedly connected with the power intake of the rectangular axes steering component；The clutch end of the rectangular axes steering component is fixedly connected with one end of the steering spindle；The other end of the steering spindle is fixedly connected with the reversing shaft of the wheel hub motor.The present invention uses wheel hub motor and independent steering motor, it is compact-sized, turn to flexible, employ rectangular axes steering component simultaneously, so steering motor is horizontally disposed, and it is highly relatively low, solve existing crusing robot and turn to underaction, steering mechanism and walking mechanism are complicated, the larger technical problem of space-consuming.
Description
Technical field
The present invention relates to chassis field, more particularly to a kind of electric chassis.
Background technology
The electric chassis of existing electric chassis, especially crusing robot, multiple drivings that generally use can not turn to
Differential between wheel, which is realized, to be turned to, or multiple driving wheels are driven by modes such as mechanical linkages and turned to realizing, the former for
The loss of tire is very big, and the latter's flexibility is insufficient and mechanical linkage is complicated, and space-consuming is more, and crusing robot car body
Spatial altitude is smaller, and needs higher flexibility to realize that pivot turn etc. is moved during work, meanwhile, traditional crusing robot bottom
Disk connects driving wheel built with motor, by motor and moved, crusing robot inner space is taken it is more,
It result in existing crusing robot and turn to underaction, steering mechanism and walking mechanism are complicated, the larger skill of space-consuming
Art problem.
The content of the invention
It is compact-sized using wheel hub motor and independent steering motor the invention provides a kind of electric chassis, turn to spirit
It is living, while rectangular axes steering component is employed, so steering motor is horizontally disposed, it is highly relatively low, solve existing survey monitor
Device people turns to underaction, and steering mechanism and walking mechanism are complicated, the larger technical problem of space-consuming.
The embodiments of the invention provide a kind of electric chassis, including：Walking mechanism and steering mechanism；
The walking mechanism includes：Wheel hub motor and tire；
The wheel hub motor is arranged in the tire；
The steering mechanism includes：Steering motor, rectangular axes steering component and steering spindle；
The power end of the steering motor is fixedly connected with the power intake of the rectangular axes steering component；
The clutch end of the rectangular axes steering component is fixedly connected with one end of the steering spindle；
The other end of the steering spindle is fixedly connected with the reversing shaft of the wheel hub motor.
Preferably, based on the rectangular axes steering component hypoid gear that, driven gear axis antarafacial is vertical slows down
Machine.
Preferably, based on the rectangular axes steering component, driven gear axis intersects vertical spiral bevel gear speed reducer.
Preferably, the reversing shaft of the wheel hub motor is single shaft；
The driven end of the steering spindle is L-shaped connecting lever.
Preferably, the reversing shaft of the wheel hub motor is double shafts；
The driven end of the steering spindle is fork-shaped connecting lever.
Preferably, in addition to：Vehicle frame and dividing plate；
The rectangular axes steering component is fixedly connected with the vehicle frame；
The dividing plate is provided with to be fixedly connected for the through hole by the steering spindle, the dividing plate with the vehicle frame.
Preferably, in addition to：Bearing；
The bearing is arranged between the dividing plate and the steering spindle, and the bearing is coaxially disposed with the steering spindle.
Preferably, in addition to：Steering motor shell；
The steering motor shell is fixedly connected with the rectangular axes steering component.
As can be seen from the above technical solutions, the present invention has advantages below：
The invention provides a kind of electric chassis, including：Walking mechanism and steering mechanism；The walking mechanism includes：Wheel
Hub motor and tire；The wheel hub motor is arranged in the tire；The steering mechanism includes：Steering motor, rectangular axes turn
To component and steering spindle；The power end of the steering motor is fixedly connected with the power intake of the rectangular axes steering component；
The clutch end of the rectangular axes steering component is fixedly connected with one end of the steering spindle；The other end of the steering spindle with
The reversing shaft of the wheel hub motor is fixedly connected.The present invention uses wheel hub motor and independent steering motor, compact-sized, turns to
Flexibly, while rectangular axes steering component is employed, so steering motor is horizontally disposed, it is highly relatively low, solve existing inspection
Robot turns to underaction, and steering mechanism and walking mechanism are complicated, the larger technical problem of space-consuming.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is a kind of structural representation of electric chassis provided in an embodiment of the present invention；
Reference is as follows：
1st, steering motor；2nd, rectangular axes steering component；3rd, steering spindle；4th, wheel hub motor；5th, vehicle frame；6th, dividing plate；7th, bearing.
Embodiment
It is compact-sized using wheel hub motor and independent steering motor the embodiments of the invention provide a kind of electric chassis,
Turn to flexibly, while employ rectangular axes steering component, so steering motor is horizontally disposed, it is highly relatively low, solve existing
Crusing robot turns to underaction, and steering mechanism and walking mechanism are complicated, the larger technical problem of space-consuming.
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that disclosed below
Embodiment be only part of the embodiment of the present invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
Referring to Fig. 1, a kind of one embodiment of electric chassis is provided in the embodiment of the present invention, including：Vehicle with walking machine
Structure and steering mechanism；
Walking mechanism includes：Wheel hub motor 4 and tire；
Wheel hub motor 4 is arranged in tire；
Steering mechanism includes：Steering motor 1, rectangular axes steering component 2 and steering spindle 3；
The power end of steering motor 1 is fixedly connected with the power intake of rectangular axes steering component 2；
The clutch end of rectangular axes steering component 2 is fixedly connected with one end of steering spindle 3；
The other end of steering spindle 3 is fixedly connected with the reversing shaft of wheel hub motor 4.
It should be noted that the present embodiment uses wheel hub motor 4 and independent steering motor 1, the technology of wheel hub motor 4 also by
Referred to as wheel inner electric machine technology, its maximum feature exactly all integrate power set, transmission device and brake apparatus
Into wheel hub, be able to the mechanical part of electric chassis is greatly simplified, it is compact-sized, turn to flexible, while employ rectangular axes
Commutate component 2, so steering motor 1 is horizontally disposed, highly relatively low, spatial altitude occupancy is small, solves existing inspection machine
People turns to underaction, and steering mechanism and walking mechanism are complicated, the larger technical problem of space-consuming.
Further, based on rectangular axes steering component 2 hypoid gear that, driven gear axis antarafacial is vertical slows down
Machine.
It should be noted that in hypoid gear reductor driving gear shaft relative to driven gear shaft have upwards or to
Under skew (correspondingly be referred to as upper offset or below-center offset), when offset it is big to a certain extent when, a gear shaft can be made from another
By one gear shaft by, thus can each gear both sides arrange compact dimensions bearing, for enhancing support stiffness,
Ensure gear teeth correct engagement, be very beneficial so as to improve gear life, the journal offset of hypoid gear pair causes its active
Gear helical angle is more than driven gear helical angle, though therefore hypoid bevel wheel it is secondary normal module it is equal, transverse module
It is not wait (transverse module that the transverse module of driving gear is more than driven gear), this causes the master of accurate two-sided Bevel Gear Transmission
Moving gear has bigger diameter and more preferable strength and stiffness than the driving gear of corresponding Helical Bevel Gear, in addition, by
It is all larger in the driving gear diameter and helical angle of hypoid bevel wheel transmission, so that its Contact Stress of Gear reduces, the longevity
Life improves, and therefore, hypoid bevel wheel reductor is larger suitable for being driven, and requires larger to the strength and stiffness of reductor
Working environment.
Further, the reversing shaft of wheel hub motor 4 is single shaft；
The driven end of steering spindle 3 is L-shaped connecting lever.
Further, in addition to：Vehicle frame 5 and dividing plate 6；
Rectangular axes steering component 2 is fixedly connected with vehicle frame 5；
The dividing plate 6 is provided with to be fixedly connected for the through hole by the steering spindle 3, dividing plate 6 with vehicle frame 5.
It should be noted that dividing plate 6 can have protective effect with functions such as water proof and dust proofs to inside chassis structure.
Further, in addition to：Bearing 7；
The bearing 7 is arranged between the dividing plate 6 and the steering spindle 3, and the bearing 7 and the steering spindle 3 are coaxial
Set.
It should be noted that bearing 7 plays radial constraint displacement to steering spindle 3.
Further, in addition to：The shell of steering motor 1；
The shell of steering motor 1 is fixedly connected with rectangular axes steering component 2.
Referring to Fig. 1, a kind of second embodiment of electric chassis, second embodiment are provided in the embodiment of the present invention
Difference with one embodiment is：
Based on rectangular axes steering component 2, driven gear axis intersect vertical spiral bevel gear speed reducer.
It should be noted that spiral bevel gear speed reducer is due to the overlapping influence in gear teeth end face, at least more than two pairs
The gear teeth engage simultaneously, and therefore, spiral bevel gear can bear larger load, and its gear teeth is not in full tooth length while nibbled in addition
Close, but the other end is continuously gradually turned to by one end of tooth so that its stable working, when running at high speed, noise and shake
Dynamic and very little, in addition, when gearratio is smaller, the driving gear of accurate two-sided Bevel Gear Transmission is relative to spiral bevel gear
Driving gear just seems excessive, at this moment more reasonable from spiral bevel gear.
Further, the reversing shaft of wheel hub motor 4 is double shafts；
The driven end of steering spindle 3 is fork-shaped connecting lever.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (8)
- A kind of 1. electric chassis, it is characterised in that including：Walking mechanism and steering mechanism；The walking mechanism includes：Wheel hub motor and tire；The wheel hub motor is arranged in the tire；The steering mechanism includes：Steering motor, rectangular axes steering component and steering spindle；The power end of the steering motor is fixedly connected with the power intake of the rectangular axes steering component；The clutch end of the rectangular axes steering component is fixedly connected with one end of the steering spindle；The other end of the steering spindle is fixedly connected with the reversing shaft of the wheel hub motor.
- A kind of 2. electric chassis according to claim 1, it is characterised in thatBased on the rectangular axes steering component, the hypoid gear reductor that driven gear axis antarafacial is vertical.
- A kind of 3. electric chassis according to claim 1, it is characterised in thatBased on the rectangular axes steering component, driven gear axis intersect vertical spiral bevel gear speed reducer.
- A kind of 4. electric chassis according to claim 1, it is characterised in thatThe reversing shaft of the wheel hub motor is single shaft；The driven end of the steering spindle is L-shaped connecting lever.
- A kind of 5. electric chassis according to claim 1, it is characterised in thatThe reversing shaft of the wheel hub motor is double shafts；The driven end of the steering spindle is fork-shaped connecting lever.
- 6. a kind of electric chassis according to claim 1, it is characterised in that also include：Vehicle frame and dividing plate；The rectangular axes steering component is fixedly connected with the vehicle frame；The dividing plate is provided with to be fixedly connected for the through hole by the steering spindle, the dividing plate with the vehicle frame.
- 7. a kind of electric chassis according to claim 6, it is characterised in that also include：Bearing；The bearing is arranged between the dividing plate and the steering spindle, and the bearing is coaxially disposed with the steering spindle.
- 8. a kind of electric chassis according to claim 1, it is characterised in that also include：Steering motor shell；The steering motor shell is fixedly connected with the rectangular axes steering component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710697531.4A CN107380258A (en) | 2017-08-15 | 2017-08-15 | A kind of electric chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710697531.4A CN107380258A (en) | 2017-08-15 | 2017-08-15 | A kind of electric chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107380258A true CN107380258A (en) | 2017-11-24 |
Family
ID=60355977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710697531.4A Pending CN107380258A (en) | 2017-08-15 | 2017-08-15 | A kind of electric chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107380258A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091705A (en) * | 2019-06-06 | 2019-08-06 | 广东博智林机器人有限公司 | Steering wheel device and carrier |
| WO2023092588A1 (en) * | 2021-11-29 | 2023-06-01 | 舍弗勒技术股份两合公司 | Wheel module, vehicle chassis, and control method for wheel module |
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|---|---|---|---|---|
| US6491127B1 (en) * | 1998-08-14 | 2002-12-10 | 3Com Corporation | Powered caster wheel module for use on omnidirectional drive systems |
| US20030127260A1 (en) * | 2002-01-10 | 2003-07-10 | Jorge Angeles | Driving and transmission unit for use in rolling vehicles |
| JP2007313984A (en) * | 2006-05-24 | 2007-12-06 | Joyo Kikai Kk | Steering mechanism of vehicle |
| CN101973307A (en) * | 2010-10-19 | 2011-02-16 | 吉林大学 | Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle |
| CN102085799A (en) * | 2011-01-05 | 2011-06-08 | 吉林大学 | Wheel motion assembly of city electric vehicle |
| CN102653246A (en) * | 2012-04-17 | 2012-09-05 | 华南农业大学 | Four-wheel driven high-ground gap mobile car and control method thereof |
| CN102673670A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Novel full driving composite adsorption climbing robot |
| CN203293891U (en) * | 2013-06-10 | 2013-11-20 | 上海久能机电制造有限公司 | Tyre-type running device of crane |
| CN203485985U (en) * | 2013-10-22 | 2014-03-19 | 成都城轨国铁创新科技有限公司 | Road and railway dual-purpose tractor capable of running horizontally |
| CN106926686A (en) * | 2017-04-20 | 2017-07-07 | 科大智能电气技术有限公司 | The robot body chassis that a kind of four-wheel eight drives |
| CN207045449U (en) * | 2017-08-15 | 2018-02-27 | 广东电网有限责任公司电力科学研究院 | A kind of independent steering gear |
| CN207045448U (en) * | 2017-08-15 | 2018-02-27 | 广东电网有限责任公司电力科学研究院 | A kind of electric chassis |
-
2017
- 2017-08-15 CN CN201710697531.4A patent/CN107380258A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6491127B1 (en) * | 1998-08-14 | 2002-12-10 | 3Com Corporation | Powered caster wheel module for use on omnidirectional drive systems |
| US20030127260A1 (en) * | 2002-01-10 | 2003-07-10 | Jorge Angeles | Driving and transmission unit for use in rolling vehicles |
| JP2007313984A (en) * | 2006-05-24 | 2007-12-06 | Joyo Kikai Kk | Steering mechanism of vehicle |
| CN101973307A (en) * | 2010-10-19 | 2011-02-16 | 吉林大学 | Main pin zero bias wire-controlled independent driven and steering automobile running mechanism and electric vehicle |
| CN102085799A (en) * | 2011-01-05 | 2011-06-08 | 吉林大学 | Wheel motion assembly of city electric vehicle |
| CN102653246A (en) * | 2012-04-17 | 2012-09-05 | 华南农业大学 | Four-wheel driven high-ground gap mobile car and control method thereof |
| CN102673670A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Novel full driving composite adsorption climbing robot |
| CN203293891U (en) * | 2013-06-10 | 2013-11-20 | 上海久能机电制造有限公司 | Tyre-type running device of crane |
| CN203485985U (en) * | 2013-10-22 | 2014-03-19 | 成都城轨国铁创新科技有限公司 | Road and railway dual-purpose tractor capable of running horizontally |
| CN106926686A (en) * | 2017-04-20 | 2017-07-07 | 科大智能电气技术有限公司 | The robot body chassis that a kind of four-wheel eight drives |
| CN207045449U (en) * | 2017-08-15 | 2018-02-27 | 广东电网有限责任公司电力科学研究院 | A kind of independent steering gear |
| CN207045448U (en) * | 2017-08-15 | 2018-02-27 | 广东电网有限责任公司电力科学研究院 | A kind of electric chassis |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091705A (en) * | 2019-06-06 | 2019-08-06 | 广东博智林机器人有限公司 | Steering wheel device and carrier |
| WO2023092588A1 (en) * | 2021-11-29 | 2023-06-01 | 舍弗勒技术股份两合公司 | Wheel module, vehicle chassis, and control method for wheel module |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171124 |