CN109760742A - A kind of changeable wheel track omnidirectional four-wheel drive mobile chassis - Google Patents
A kind of changeable wheel track omnidirectional four-wheel drive mobile chassis Download PDFInfo
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- CN109760742A CN109760742A CN201910192102.0A CN201910192102A CN109760742A CN 109760742 A CN109760742 A CN 109760742A CN 201910192102 A CN201910192102 A CN 201910192102A CN 109760742 A CN109760742 A CN 109760742A
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Abstract
The invention discloses a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis, including vehicle frame, the top quadrangle of vehicle frame is connected with steering motor, the bottom end of steering motor is connected with universal drive shaft, the bottom four corners of vehicle frame are connected with driving wheel deformable support, one end that universal drive shaft stretches out driving wheel deformable support is connected with the fixed bracket of driving wheel, the bottom front and rear sides of vehicle frame are equipped with positive and negative tooth lead screw guide rails mould group, sliding block has been left and right symmetrically arranged in positive and negative tooth lead screw guide rails mould group, No.1 deformable support push-pull rod is hinged between right side sliding block and left side drive wheel deformable support, No. two deformable support push-pull rods are hinged between left slider and right side drive wheel deformable support.Structure of the invention design rationally, is suitable for the biggish ground of various frictional force, avoids sliding friction of driving wheel during flexible wheel base with ground.
Description
Technical field
The present invention relates to Mechanical Moving chassis technology field more particularly to a kind of mobile bottoms of changeable wheel track omnidirectional four-wheel drive
Disk.
Background technique
Changeable wheel track chassis refers to that in the process of walking the spacing between the pairs of traveling wheel in the left and right sides can be according to road surface item
The running on wheels mechanical platform that part is adjusted.Currently, the industry size with intelligence manufacture is gradually expanded, mobile chassis is wide
It is general to be applied in operation transport, but field operation environment is complicated, and the operating environment of Different Ground is different.
The prior art relatively:
[1] a kind of to can be changed support frame, application number: CN201520268919.9 from the wheelspan for walking pesticide spray truck；
[2] a kind of crawler body of changeable wheel track, application number: CN201721777945.X；
[3] a kind of travelling platform of changeable wheel track, application number: CN201611204965.8；
[4] a kind of driving wheel changeable wheel track ratooning rice harvester, application number: CN201620804158.9；
[5] the ratooning rice harvester of a kind of changeable wheel track, application number: CN201810169020.X.
Above-mentioned existing mobile chassis walking mode is single, and wheelspan is fixed, and can not adapt to the operation ring of variation multiplicity
Border.The direct flexible wheel base of said mechanism can make between wheel and ground that there are sliding frictions, especially in farmland operation environment, compared with
Big frictional force is easy to keep flexible wheel base driving force inadequate, perhaps damages mechanism or keeps the lateral movement on chassis uncontrollable, because
It is unpractical that this, which individually forces flexible wheel base mechanism to carry out flexible wheel base,.
Summary of the invention
1, the purpose of the present invention
The invention reside in overcome direct flexible wheel base existing in the prior art to generate cunning when making to advance between ground and wheel
The problem of dynamic friction, provides a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis, walking mode multiplicity, applicability height.For reality
Existing above-mentioned technical purpose, reaches above-mentioned technical effect, the present invention is achieved through the following technical solutions:
2, the technical solution adopted in the present invention
The present invention proposes a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis, including vehicle frame, the top four of the vehicle frame
Angle is connected with steering motor, and the bottom end of the steering motor is connected with universal drive shaft, and the bottom four corners of the vehicle frame are connected with
Driving wheel deformable support, one end that the universal drive shaft stretches out driving wheel deformable support are connected with the fixed branch of driving wheel
Frame, the fixed frame bottom of the driving wheel are equipped with driving wheel, and the bottom front and rear sides of the vehicle frame are equipped with positive and negative tooth lead screw
Guide rail mould group, the left end of the positive and negative tooth lead screw guide rails mould group are connected with lead screw guide rails mould group driving motor, the positive and negative tooth silk
It has been left and right symmetrically arranged sliding block in thick stick guide rail mould group, it is hinged between the right side sliding block and left side the driving wheel deformable support
There is No.1 deformable support push-pull rod, being hinged with No. two between the left side sliding block and right side the driving wheel deformable support can
Deformable stent push-pull rod.
Preferably, in a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis, the fixed bracket of the driving wheel includes wheel branch
The both ends of frame and wheel shaft, the wheel shaft are fixed by axle nut.
Preferably, in a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis, the driving wheel deformable support is by two groups
Transverse slat disposed in parallel is hingedly formed with two groups of side plates disposed in parallel.
Preferably, in a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis, hub motor is equipped in the driving wheel.
Preferably, in a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis, the No.1 deformable support push-pull rod with
Limiting slot is offered on No. two deformable support push-pull rods.
Preferably, in a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis, the No.1 deformable support push-pull rod with
No. two deformable support push-pull rods are arranged in a crossed manner.
3, the beneficial effects of the present invention are:
(1) four motorized wheels of the present invention, the combination of Universal drive axle steer and flexible wheel base mechanism make during flexible wheel base
It can avoid the force of sliding friction between driving wheel and ground, be suitable for the biggish ground of various frictional force.
(2) structure of the invention design rationally, on the one hand carries weight by vehicle frame, the driving wheel of front and back side under original state
Keeping parallelism drives transmission shaft rotation by steering motor, so that the fixed bracket of driving wheel adjusts the angle of driving wheel, makes
Vehicle frame walking mode multiplicity, be able to carry out front and back walking, left and right walking, it is oblique walking and rotate in place, on the other hand pass through
Positive and negative tooth lead screw guide rails mould group drives left and right sides sliding block relative motion, to pull No.1 deformable support push-pull rod and No. two
Deformable support push-pull rod, so that driving wheel deformable support stress deformation, to driving wheel spacing be adjusted, due to becoming
Away from the fixed support angle variation of driving wheel in the process, advance so that turning certain angle cooperation outside driving wheel, to simultaneously provide one
A lateral movement component avoids the sliding friction on driving wheel and ground simultaneously, and the driving motor that driving wheel turns to is fixed on vehicle
On frame, the layout for deformable stent, fixed bracket and driving wheel offers convenience.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is overall structure diagram one of the invention；
Fig. 2 is overall structure diagram two of the invention；
Fig. 3 is the position relationship structural diagram of present invention slider；
Fig. 4 is the structural schematic diagram of driving wheel deformable support of the present invention；
Fig. 5 is speed relation schematic diagram when driving wheel of the present invention is walked.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
It please referring to shown in Fig. 1-4, the present embodiment is a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis, including vehicle frame 1,
The top quadrangle of vehicle frame 1 is connected with steering motor 2, and the bottom end of steering motor 2 is connected with universal drive shaft 3, the bottom four of vehicle frame 1
Angle is connected with driving wheel deformable support 5, and one end that universal drive shaft 3 stretches out driving wheel deformable support 5 is connected with driving wheel
Fixed bracket 4, fixed 4 bottom of bracket of driving wheel are equipped with driving wheel 6, and the bottom front and rear sides of vehicle frame 1 are equipped with positive and negative tooth silk
Thick stick guide rail mould group 7, the left end of positive and negative tooth lead screw guide rails mould group 7 are connected with lead screw guide rails mould group driving motor 9, and positive and negative tooth lead screw is led
It has been left and right symmetrically arranged sliding block 10 in rail mould group 7, has been hinged with No.1 between right side sliding block 10 and left side drive wheel deformable support 5
Deformable support push-pull rod 8 is hinged with No. two deformable supports and pushes away between left slider 10 and right side drive wheel deformable support 5
Pull rod 11.
The fixed bracket 4 of driving wheel includes wheel support and wheel shaft, and the both ends of wheel shaft are equipped with axle nut, facilitate driving wheel 6
Installation is fixed.
Driving wheel deformable support 5 is hingedly formed by two groups of transverse slats disposed in parallel and two groups of side plates disposed in parallel, is made
It is able to carry out deformation after stress effect.
It is equipped with hub motor in driving wheel 6, power device, transmission device and brake apparatus are all integrated into wheel hub
It is interior, it is able to the mechanical part of electric vehicle is greatly simplified.
Limiting slot is offered on No.1 deformable support push-pull rod 8 and No. two deformable support push-pull rods 11, No.1 can
Deformable stent push-pull rod 8 and No. two deformable support push-pull rods 11 are arranged in a crossed manner, avoid interference with, convenient for regulating wheel away from.
One concrete application of the present embodiment are as follows:
The present apparatus has the function of front and back walking, left and right walking, oblique walking and rotates in place.
Weight is carried by vehicle frame 1 when work, 6 keeping parallelism of driving wheel of front and back side under original state, vehicle frame 1 can be into
The walking of row straight line when being turned to, drives transmission shaft 3 to rotate, so that driving wheel fixes bracket by steering motor 2
4 adjust the angle of driving wheel 6, facilitate carry out rotary operation,
Vehicle frame 1 can be adjusted wheelspan during traveling, and concrete mode is to drive electricity by lead screw guide rails mould group
Machine 9 starts positive and negative tooth lead screw guide rails mould group 7, so that 10 relative motion of left and right sides sliding block, to pull No.1 deformable support
Push-pull rod 8 and No. two deformable support push-pull rods 11, so that 5 stress deformation of driving wheel deformable support, so that left and right sides
6 spacing of driving wheel generate variation.
As shown in figure 5, cooperating transmission shaft 3 to adjust the angle that driving wheel fixes bracket 4 by steering motor 2 during displacement
Degree advances so that turning certain angle cooperation outside driving wheel 6, to provide a lateral movement component, avoids driving wheel 6 and ground
Sliding friction, under limiting condition, such as remain static, driving wheel 6 goes to 90 ° and front vertical, drives after the completion of displacement
It takes turns 6 times just, the present apparatus is enabled to be suitable for the biggish ground of various frictional force；
Wherein, the mobile linear velocity V of the fixed bracket of driving wheel walking linear velocity V, driving wheelBecomeAnd driving wheel steering angle θ tri-
A variable meets following relationship:
VBecome/ V=sin θ.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (7)
1. a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis, including vehicle frame (1), it is characterised in that: the top of the vehicle frame (1)
Portion quadrangle is connected with steering motor (2), and the bottom end of the steering motor (2) is connected with universal drive shaft (3), the vehicle frame (1)
Bottom four corners be connected with driving wheel deformable support (5), the universal drive shaft (3) stretches out driving wheel deformable support (5)
One end be connected with that driving wheel is fixed bracket (4), and fixed bracket (4) bottom of the driving wheel is equipped with driving wheel (6), the vehicle
The bottom front and rear sides of frame (1) are equipped with positive and negative tooth lead screw guide rails mould group (7), a left side for the positive and negative tooth lead screw guide rails mould group (7)
End is connected with lead screw guide rails mould group driving motor (9), has been left and right symmetrically arranged sliding block on the positive and negative tooth lead screw guide rails mould group (7)
(10), No.1 deformable support is hinged between the right side sliding block (10) and left side the driving wheel deformable support (5) to push away
Pull rod (8) is hinged with No. two deformable supports between the left side sliding block (10) and right side the driving wheel deformable support (5)
Push-pull rod (11) adjusts the angle of driving wheel fixed bracket (4) during displacement by steering motor (2) cooperation transmission shaft (3)
Degree advances so that turning certain angle cooperation outside driving wheel (6), to provide a lateral movement component.
2. a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis according to claim 1, it is characterised in that: the driving
Taking turns fixed bracket (4) includes wheel support and wheel shaft, and the both ends of the wheel shaft are fixed by axle nut.
3. a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis according to claim 1, it is characterised in that: the driving
Wheel deformable support (5) is hingedly formed by two groups of transverse slats disposed in parallel and two groups of side plates disposed in parallel.
4. a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis according to claim 1, it is characterised in that: the driving
It takes turns and is equipped with hub motor in (6).
5. a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis according to claim 1, it is characterised in that: the No.1
Limiting slot is offered on deformable support push-pull rod (8) and No. two deformable support push-pull rods (11).
6. a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis according to claim 1, it is characterised in that: the No.1
Deformable support push-pull rod (8) and No. two deformable support push-pull rods (11) are arranged in a crossed manner.
7. a kind of changeable wheel track omnidirectional four-wheel drive mobile chassis according to claim 1, it is characterised in that steering motor
(2) cooperation transmission shaft (3) adjusts the angle of driving wheel fixed bracket (4) specifically:
Driving wheel walking linear velocity V, the mobile linear velocity V of the fixed bracket of driving wheelBecomeAnd tri- variables of driving wheel steering angle θ meet
Following relationship:
VBecome/ V=sin θ.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910192102.0A CN109760742B (en) | 2019-03-14 | 2019-03-14 | Variable tread omnidirectional four-wheel drive mobile chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910192102.0A CN109760742B (en) | 2019-03-14 | 2019-03-14 | Variable tread omnidirectional four-wheel drive mobile chassis |
Publications (2)
| Publication Number | Publication Date |
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| CN109760742A true CN109760742A (en) | 2019-05-17 |
| CN109760742B CN109760742B (en) | 2023-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910192102.0A Active CN109760742B (en) | 2019-03-14 | 2019-03-14 | Variable tread omnidirectional four-wheel drive mobile chassis |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103641A (en) * | 2019-05-19 | 2019-08-09 | 柳州市孚桂智能科技有限公司 | Wheel for motor vehicle distance regulating mechanism and its control method |
| CN111196309A (en) * | 2020-01-20 | 2020-05-26 | 山东交通学院 | Wheel track adjustable carrying platform |
| CN113557813A (en) * | 2021-07-16 | 2021-10-29 | 李奇 | Variable-wheel-track all-angle steering agricultural machine chassis |
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN115503827A (en) * | 2022-11-16 | 2022-12-23 | 福建省威盛机械发展有限公司 | Vehicle chassis and transport vehicle |
| CN117481862A (en) * | 2023-12-29 | 2024-02-02 | 内蒙古农业大学 | Device of open-air murine interim dissection of portable and sample |
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| AU4625393A (en) * | 1992-09-11 | 1994-03-17 | Bernard Christian Besselink | Improved agricultural implement |
| US5924512A (en) * | 1994-12-14 | 1999-07-20 | Fuji Electric Co., Ltd. | Omnidirectional vehicle and method of controlling the same |
| CN102514627A (en) * | 2011-12-26 | 2012-06-27 | 中国农业大学 | Agricultural vehicle chassis with stepless-regulated wheel track |
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2019
- 2019-03-14 CN CN201910192102.0A patent/CN109760742B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU4625393A (en) * | 1992-09-11 | 1994-03-17 | Bernard Christian Besselink | Improved agricultural implement |
| US5924512A (en) * | 1994-12-14 | 1999-07-20 | Fuji Electric Co., Ltd. | Omnidirectional vehicle and method of controlling the same |
| CN102514627A (en) * | 2011-12-26 | 2012-06-27 | 中国农业大学 | Agricultural vehicle chassis with stepless-regulated wheel track |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103641A (en) * | 2019-05-19 | 2019-08-09 | 柳州市孚桂智能科技有限公司 | Wheel for motor vehicle distance regulating mechanism and its control method |
| CN111196309A (en) * | 2020-01-20 | 2020-05-26 | 山东交通学院 | Wheel track adjustable carrying platform |
| CN113557813A (en) * | 2021-07-16 | 2021-10-29 | 李奇 | Variable-wheel-track all-angle steering agricultural machine chassis |
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN113859380B (en) * | 2021-10-20 | 2023-09-08 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN115503827A (en) * | 2022-11-16 | 2022-12-23 | 福建省威盛机械发展有限公司 | Vehicle chassis and transport vehicle |
| CN117481862A (en) * | 2023-12-29 | 2024-02-02 | 内蒙古农业大学 | Device of open-air murine interim dissection of portable and sample |
| CN117481862B (en) * | 2023-12-29 | 2024-03-26 | 内蒙古农业大学 | Device of open-air murine interim dissection of portable and sample |
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| CN109760742B (en) | 2023-09-15 |
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