CN108556581A - A kind of automobile-used independent suspension type double drive double steering four-wheel drive mechanism of weeding - Google Patents
A kind of automobile-used independent suspension type double drive double steering four-wheel drive mechanism of weeding Download PDFInfo
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- CN108556581A CN108556581A CN201810663314.8A CN201810663314A CN108556581A CN 108556581 A CN108556581 A CN 108556581A CN 201810663314 A CN201810663314 A CN 201810663314A CN 108556581 A CN108556581 A CN 108556581A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 239000000725 suspension Substances 0.000 title claims abstract description 27
- 238000009333 weeding Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 50
- 239000006096 absorbing agent Substances 0.000 claims description 19
- 230000035939 shock Effects 0.000 claims description 19
- 208000032370 Secondary transmission Diseases 0.000 claims description 14
- 208000032369 Primary transmission Diseases 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000005096 rolling process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
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- 244000025254 Cannabis sativa Species 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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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
- 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
- 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
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
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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
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
Description
技术领域technical field
本发明涉及一种四轮底盘驱动机构，特别涉及一种除草车用独立悬挂式双驱动双转向四轮驱动机构。The invention relates to a four-wheel chassis drive mechanism, in particular to an independent suspension double-drive double-steering four-wheel drive mechanism for a weeding vehicle.
背景技术Background technique
草地的修剪工作是一种周期较短、内容简单、形式单一的工作，非常适合于机械化改造。随着科技的发展和人工成本的增加，过去传统低效的手工除草的景象早已被半自动机器除草所取代。而近几年的机器智能化技术发展更是推动着除草工作机械化自动化智能化的快速发展。目前，国内外已经有好几种成功量产的家用型智能除草机器人，这些机器人的底盘驱动方式都采用了两个驱动轮搭配一个或多个万向轮的底盘驱动机构，这种驱动机构相对于传统汽车行业的履带式底盘驱动机构和四轮差速式底盘驱动机构都更适合于小型除草智能机器人，因为其机械结构非常简单，相对于履带式更加高效率，而相对于四轮差速式灵活度更高。Grass trimming is a job with a short cycle, simple content, and a single form, which is very suitable for mechanized transformation. With the development of technology and the increase of labor costs, the traditional inefficient manual weeding has long been replaced by semi-automatic machine weeding. In recent years, the development of machine intelligence technology has promoted the rapid development of mechanization, automation and intelligence of weeding work. At present, there have been several household intelligent weeding robots that have been successfully mass-produced at home and abroad. The chassis driving methods of these robots all adopt a chassis driving mechanism with two driving wheels and one or more universal wheels. This driving mechanism is relatively Both the crawler chassis drive mechanism and the four-wheel differential chassis drive mechanism used in the traditional automobile industry are more suitable for small weeding intelligent robots, because their mechanical structure is very simple, and they are more efficient than the crawler type, and compared to the four-wheel differential Higher flexibility.
虽然两个驱动轮搭配一个或多个万向轮的底盘驱动机构有很多优点，但是这种驱动方式用在不平整的普通草地时效率不高，也不适用于大中型智能除草机器人。因为，第一，万向轮是被动转向的，万向轮的转向是基于最小势能原理，草地情况越复杂，驱动轮消耗在转向上的无用功就会越大，从而使驱动效率降低；第二，万向轮如果应用于大中型移动设备虽然结构简单，但是会有较大的安全隐患。Although the chassis drive mechanism with two drive wheels and one or more universal wheels has many advantages, this drive method is not efficient when used on uneven ordinary grass, and is not suitable for large and medium-sized intelligent weeding robots. Because, first, the universal wheel is passively steered, and the steering of the universal wheel is based on the principle of minimum potential energy. The more complicated the grass situation, the greater the useless work consumed by the driving wheel on steering, thereby reducing the driving efficiency; second. However, if the universal wheel is applied to large and medium-sized mobile equipment, although the structure is simple, there will be a greater potential safety hazard.
发明内容Contents of the invention
本发明的目的在于提供一种除草车用独立悬挂式双驱动双转向四轮驱动机构，以改善现有两个驱动轮搭配一个或多个万向轮的轮式底盘驱动机构的不足，提高驱动效率和安全稳定性。The purpose of the present invention is to provide a kind of independently suspended double-drive double-steering four-wheel drive mechanism for weeding vehicles, to improve the deficiency of the existing wheel-type chassis drive mechanism with two drive wheels and one or more universal wheels, and improve the driving performance. efficiency and security stability.
为了实现上述的目的，采用如下的技术方案：一种除草车用独立悬挂式双驱动双转向四轮驱动机构，包含车体底板、驱动轮总成、驱动电机、转向轮总成、转向电机。所述驱动轮总成和转向轮总成的基本架构包含第一轮轴架、第二轮轴架、悬挂拉杆、花键万向节传动轴和车轮，所述第二轮轴架与车体底板固定连接，所述第一轮轴架、悬挂拉杆、第二轮轴架构成平行四边形四连杆的独立悬挂机构，花键万向节传动轴实现在独立悬挂机构下的轴向驱动力矩传动，两个驱动电机均通过花键万向节传动轴与车轮连接实现传动。In order to achieve the above object, the following technical solution is adopted: an independently suspended double-drive double-steering four-wheel drive mechanism for a weeding vehicle, including a vehicle body floor, a driving wheel assembly, a driving motor, a steering wheel assembly, and a steering motor. The basic structure of the drive wheel assembly and steering wheel assembly includes a first axle frame, a second axle frame, a suspension rod, a splined universal joint drive shaft and wheels, and the second axle frame is fixedly connected to the vehicle body floor , the first wheel axle frame, the suspension rod, and the second wheel axle frame form an independent suspension mechanism of parallelogram four-bar linkage, the spline universal joint transmission shaft realizes the axial driving torque transmission under the independent suspension mechanism, and the two driving motors The transmission is realized by connecting the drive shaft of the splined universal joint with the wheel.
所述驱动轮总成的第一轮轴架内有轴承，所述驱动轮的花键万向节传动轴的输入端与驱动电机的输出轴连接，花键万向节传动轴的输出端与车轮轴通过第一轮轴架内的轴承连接。There is a bearing in the first axle frame of the drive wheel assembly, the input end of the spline universal joint transmission shaft of the drive wheel is connected with the output shaft of the drive motor, and the output end of the spline universal joint transmission shaft is connected with the vehicle The axles are connected by bearings in the first axle frame.
所述转向轮总成的第一轮轴架内还包含转向器，转向器包含转向杯和齿轮系，所述转向轮的花键万向节传动轴的输入端与转向电机的输出轴连接，花键万向节传动轴的输出端与转向器的输入轴连接，通过转向器内的齿轮系，将输入的垂直面的上转向转矩转化为转向杯输出的水平面上的转向转矩，转向杯与车轮轴连接。The first axle frame of the steering wheel assembly also includes a steering gear, the steering gear includes a steering cup and a gear train, and the input end of the splined universal joint drive shaft of the steering wheel is connected with the output shaft of the steering motor. The output end of the drive shaft of the key universal joint is connected with the input shaft of the steering gear, through the gear train in the steering gear, the upper steering torque input on the vertical plane is converted into the steering torque on the horizontal plane output by the steering cup, and the steering cup Connected to the wheel axle.
驱动轮总成和转向轮总成的输入运动形式均为旋转运动。驱动轮总成通过车轮可实现主动旋转控制，转向轮总成中车轮可实现正负90°主动转向控制，从动旋转。整个组合能实现车体四个车轮绕驱动轮轴线水平投影上任一点作切线滚动运动。The input motion forms of the driving wheel assembly and the steering wheel assembly are both rotary motions. The driving wheel assembly can realize active rotation control through the wheels, and the wheels in the steering wheel assembly can realize positive and negative 90° active steering control and driven rotation. The whole combination can realize the tangential rolling motion of the four wheels of the car body around any point on the horizontal projection of the drive wheel axis.
进一步地，所述驱动轮总成和转向轮总成的基本架构还包含减震器，所述减震器一端与第一轮轴架连接，另一端通过减震器支架与车体底板连接。第一轮轴架、减震器及减震器支架构成悬挂装置。减震器支架和第二轮轴架通过垂直方向上的通孔进行螺栓紧固，且两者分别位于车体底板的上下端，螺栓紧固后减震器支架、车体底板和第二轮轴架自上而下地夹紧。Further, the basic structure of the driving wheel assembly and the steering wheel assembly also includes a shock absorber, one end of which is connected to the first axle frame, and the other end is connected to the vehicle body floor through a shock absorber bracket. The first axle frame, the shock absorber and the shock absorber bracket constitute the suspension device. The shock absorber bracket and the second wheel axle frame are fastened with bolts through the through holes in the vertical direction, and the two are respectively located at the upper and lower ends of the car body floor. After the bolts are fastened, the shock absorber bracket, car body floor and the second wheel axle frame Clamp from top to bottom.
进一步地，所述齿轮系包括一级传动轴、二级传动轴，一级传动轴包括锥齿轮、第一传动轴和轴承，二级传动轴包括直齿轮、锥齿轮、第二传动轴和轴承，转向杯包含转向杯、转向杯车轮轴和轴承；转向轮内的花键万向节传动轴与第一级传动轴通过轴承连接，一级传动轴的锥齿轮与二级传动轴的锥齿轮啮合，二级传动轴的锥齿轮和直齿轮同轴传动，一级传动轴通过锥齿轮与二级传动轴连接，二级传动轴与转向杯通过直齿轮连接。Further, the gear train includes a primary transmission shaft and a secondary transmission shaft, the primary transmission shaft includes a bevel gear, a first transmission shaft and a bearing, and the secondary transmission shaft includes a spur gear, a bevel gear, a second transmission shaft and a bearing , the steering cup includes the steering cup, the steering cup wheel shaft and the bearing; the spline universal joint transmission shaft in the steering wheel is connected with the first-stage transmission shaft through the bearing, and the bevel gear of the first-stage transmission shaft is connected with the bevel gear of the second-stage transmission shaft meshing, the bevel gear and the spur gear of the secondary transmission shaft are coaxially driven, the primary transmission shaft is connected with the secondary transmission shaft through the bevel gear, and the secondary transmission shaft is connected with the steering cup through the spur gear.
与现有技术相比，本发明驱动机构形式新颖，稳定性高，关键在于转向时，只需要协调控制两驱动轮速度比和两转向轮的转向角度，即可实现车体的四个车轮绕驱动轮轴线水平投影上任一点作切线滚动运动，从而实现高效率和高灵活度。Compared with the prior art, the drive mechanism of the present invention is novel in form and high in stability. The key lies in that when turning, only the speed ratio of the two driving wheels and the steering angle of the two steering wheels need to be coordinated and controlled to realize the four wheels of the car body turning around. Any point on the horizontal projection of the axis of the driving wheel performs tangential rolling motion, thereby achieving high efficiency and high flexibility.
附图说明Description of drawings
图1为本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2为驱动轮总成的整体机构图；Fig. 2 is the overall mechanism diagram of driving wheel assembly;
图3为部分零件半剖后的驱动轮总成的内部机构图；Fig. 3 is the internal mechanism diagram of the driving wheel assembly after partial parts are cut in half;
图4为转向轮总成的整体机构图；Fig. 4 is the overall mechanism diagram of steering wheel assembly;
图5为部分零件半剖后的转向轮总成的内部机构图；Fig. 5 is the internal mechanism diagram of the steering wheel assembly after part parts are half cut;
图6为图5局部放大视图。Fig. 6 is a partially enlarged view of Fig. 5 .
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步的描述。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
实施例1Example 1
如图1所示，本除草车用四轮独立悬挂式双驱动双转向底盘驱动机构主要包含车体底板、驱动轮总成、驱动电机、转向轮总成、转向电机。As shown in Figure 1, the four-wheel independent suspension double-drive double-steering chassis drive mechanism of this weeding vehicle mainly includes a car body bottom plate, a drive wheel assembly, a drive motor, a steering wheel assembly, and a steering motor.
所述驱动轮总成和转向轮总成的基本架构包含第一轮轴架1、悬挂拉杆2、花键万向节传动轴3、第二轮轴架4和车轮5，所述第二轮轴架4与车体底板固定连接，所述第一轮轴架1、悬挂拉杆2、第二轮轴架构4成平行四边形四连杆的独立悬挂机构，花键万向节传动轴3实现在独立悬挂机构下的轴向驱动力矩传动，两个驱动电机均通过花键万向节传动轴3与车轮5连接实现传动。The basic structure of the drive wheel assembly and the steering wheel assembly includes a first axle frame 1, a suspension rod 2, a spline universal joint transmission shaft 3, a second axle frame 4 and a wheel 5, and the second axle frame 4 Fixedly connected with the bottom plate of the car body, the first axle frame 1, the suspension rod 2, and the second axle frame 4 form an independent suspension mechanism of parallelogram four-linkage, and the spline universal joint drive shaft 3 is realized under the independent suspension mechanism. Axial drive torque transmission, the two drive motors are connected to the wheel 5 through the spline universal joint transmission shaft 3 to realize the transmission.
如图2-3所示，驱动轮总成包含第一轮轴架1、悬挂拉杆2、花键万向节传动轴3、第二轮轴架4、车轮5、减震器6及减震器支架7。As shown in Figure 2-3, the driving wheel assembly includes the first axle frame 1, the suspension rod 2, the spline universal joint transmission shaft 3, the second axle frame 4, the wheel 5, the shock absorber 6 and the shock absorber bracket 7.
连接关系上，花键万向节传动轴3的输入端与驱动电机的输出轴连接固结，花键万向节传动轴3的输出端与车轮轴连接固结；第一轮轴架1、第二轮轴架4和悬挂拉杆2构成平行四边形的四连杆导向机构。第一轮轴架1、减震器6及减震器支架7构成悬挂装置。减震器支架7和第二轮轴架2通过垂直方向上的通孔进行螺栓紧固，且两者分别位于车体底板的上下端，螺栓紧固后减震器支架6、车体底板和第二轮轴架4会自上而下地夹紧。第二轮轴架4一端带有沉孔，第一轮轴架1由两个对称零件合拼而成，两对称零件的合拼端带有沉孔。第一轮轴架1和第二轮轴架4上的沉孔通过销钉与悬挂拉杆一端的通孔连接形成转动副。减震器6的安装，其上端的通孔与减震器支架7上端的通孔通过销钉连接形成转动副，其下端的通孔与第一轮轴架1上端的内沉孔通过销钉连接形成转动副；第一轮轴架1内部带有轴承10，车轮轴9与轴承10孔过盈配合。In terms of connection, the input end of the spline universal joint transmission shaft 3 is connected and consolidated with the output shaft of the drive motor, and the output end of the spline universal joint transmission shaft 3 is connected and consolidated with the wheel shaft; the first axle frame 1, the second Two-wheel axle frame 4 and suspension tie rod 2 constitute the four-link guide mechanism of parallelogram. The first axle frame 1, the shock absorber 6 and the shock absorber support 7 constitute the suspension device. The shock absorber bracket 7 and the second axle frame 2 are fastened by bolts through the through holes in the vertical direction, and the two are respectively located at the upper and lower ends of the car body floor. After the bolts are fastened, the shock absorber bracket 6, the car body floor and the second Two-wheel axle frame 4 can be clamped from top to bottom. One end of the second axle frame 4 has a counterbore, and the first axle frame 1 is formed by combining two symmetrical parts, and the combined ends of the two symmetrical parts have a counterbore. The counterbore on the first axle frame 1 and the second axle frame 4 is connected with the through hole at one end of the suspension rod through a pin to form a rotating pair. The installation of the shock absorber 6, the through hole at the upper end and the through hole at the upper end of the shock absorber bracket 7 are connected by pins to form a revolving pair, and the through hole at the lower end is connected with the counterbore at the upper end of the first axle frame 1 to form a rotating pair by pins. Vice; the first axle frame 1 inside has a bearing 10, and the wheel shaft 9 is interference fit with the bearing 10 holes.
工作时，驱动转矩从花键万向节传动轴3靠近第二轮轴架4的一端输入，经过花键万向节传动轴3，输出给驱动轮的传动轴9，驱动轮传动轴9通过联轴器8与车轮5固结，输入的驱动转矩最终传递到车轮。悬挂系统的正常工作不影响驱动的转矩、转速与精度。During work, the driving torque is input from the end of the spline universal joint transmission shaft 3 close to the second axle frame 4, passes through the spline universal joint transmission shaft 3, and is output to the transmission shaft 9 of the driving wheel, and the transmission shaft 9 of the driving wheel passes through The coupling 8 is fixed with the wheel 5, and the input driving torque is finally transmitted to the wheel. The normal operation of the suspension system does not affect the torque, speed and precision of the drive.
如图4-6所示，转向轮总成包含第一轮轴架1、悬挂拉杆2、花键万向节传动轴3、第二轮轴架4、车轮5、减震器6、减震器支架7和转向器。As shown in Figure 4-6, the steering wheel assembly includes the first wheel axle frame 1, the suspension rod 2, the spline universal joint transmission shaft 3, the second wheel axle frame 4, the wheel 5, the shock absorber 6, and the shock absorber bracket 7 and steering gear.
连接关系上，转向轮总成的组成和连接方式与驱动轮总成的基本一致，不同的地方在于：花键万向节传动轴3的输入端与转向电机的输出轴连接固结，花键万向节传动轴3的输出端与转向器的输入轴连接固结；车轮轴9与转向器内部转向杯11的轴承过盈配合。In terms of connection, the composition and connection method of the steering wheel assembly is basically the same as that of the driving wheel assembly, the difference lies in: the input end of the spline universal joint transmission shaft 3 is connected and consolidated with the output shaft of the steering motor, and the spline The output end of the universal joint transmission shaft 3 is connected and consolidated with the input shaft of the steering gear; the wheel shaft 9 is interference fit with the bearing of the steering cup 11 inside the steering gear.
所述转向器包含转向杯11和齿轮系，所述转向轮的花键万向节传动轴3的输入端与转向电机的输出轴连接，花键万向节传动轴3的输出端与转向器的输入轴连接，通过转向器内的齿轮系，将输入的垂直面的上转向转矩转化为转向杯输出的水平面上的转向转矩，转向杯与车轮轴连接。The steering gear includes a steering cup 11 and a gear train. The input end of the spline universal joint transmission shaft 3 of the steering wheel is connected to the output shaft of the steering motor, and the output end of the spline universal joint transmission shaft 3 is connected to the steering gear. Connected to the input shaft of the steering gear, through the gear train in the steering gear, the upper steering torque on the input vertical plane is converted into the steering torque on the horizontal plane output by the steering cup, and the steering cup is connected to the wheel shaft.
所述齿轮系包括一级传动轴、二级传动轴，一级传动轴包括锥齿轮16、第一传动轴13和轴承14，二级传动轴包括直齿轮15、锥齿轮16、第二传动轴12和轴承，转向杯包含转向杯11、转向杯车轮轴9和轴承；转向轮内的花键万向节传动轴与第一级传动轴通过轴承连接，一级传动轴的锥齿轮与二级传动轴的锥齿轮啮合，二级传动轴的锥齿轮和直齿轮同轴传动，一级传动轴通过锥齿轮与二级传动轴连接，二级传动轴与转向杯通过直齿轮连接。Described gear train comprises primary transmission shaft, secondary transmission shaft, and primary transmission shaft comprises bevel gear 16, first transmission shaft 13 and bearing 14, and secondary transmission shaft comprises spur gear 15, bevel gear 16, the second transmission shaft 12 and the bearing, the steering cup includes the steering cup 11, the steering cup wheel shaft 9 and the bearing; the spline universal joint transmission shaft in the steering wheel is connected with the first-stage transmission shaft through the bearing, and the bevel gear of the first-stage transmission shaft is connected with the second-stage The bevel gear of the transmission shaft meshes, the bevel gear and the spur gear of the secondary transmission shaft are coaxially transmitted, the primary transmission shaft is connected with the secondary transmission shaft through the bevel gear, and the secondary transmission shaft is connected with the steering cup through the spur gear.
工作时，转向转矩从花键万向节传动轴3靠近第二轮轴架4的一端输入，经过花键万向节传动轴3，输出给转向器的一级传动轴13，进过齿轮系的啮合传动，花键万向节传动轴输入的竖直面的转矩转化为转向杯11输出的水平面的转矩。转向杯车轮轴9通过联轴器8与车轮5固结，而转向杯车轮轴9可相对于转向杯11旋转，转向轮总成的车轮5可自由旋转。悬挂系统的正常工作不影响转向的转矩、转速与精度。When working, the steering torque is input from the end of the spline universal joint transmission shaft 3 close to the second axle frame 4, passes through the spline universal joint transmission shaft 3, and is output to the primary transmission shaft 13 of the steering gear, and then enters the gear train The meshing transmission, the torque of the vertical plane input by the spline universal joint drive shaft is converted into the torque of the horizontal plane output by the steering cup 11. The steering cup wheel shaft 9 is fixed with the wheel 5 through the coupling 8, and the steering cup wheel shaft 9 can rotate relative to the steering cup 11, and the wheel 5 of the steering wheel assembly can rotate freely. The normal operation of the suspension system does not affect the steering torque, speed and precision.
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| CN111254859A (en) * | 2020-02-04 | 2020-06-09 | 北京邮电大学 | A four-wheel independent drive independent steering mobile robot platform suitable for outdoor cleaning operations |
| CN114056088A (en) * | 2021-08-05 | 2022-02-18 | 山东奥尼司特机械有限公司 | Chassis assembly with independent steering and independent driving functions |
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Application publication date: 20180921 |