CN112793658A - Autonomous steering drive mechanism and mobile device - Google Patents
Autonomous steering drive mechanism and mobile device Download PDFInfo
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- CN112793658A CN112793658A CN202110071386.5A CN202110071386A CN112793658A CN 112793658 A CN112793658 A CN 112793658A CN 202110071386 A CN202110071386 A CN 202110071386A CN 112793658 A CN112793658 A CN 112793658A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 79
- 230000001360 synchronised effect Effects 0.000 claims abstract description 22
- 238000013016 damping Methods 0.000 claims description 28
- 230000035939 shock Effects 0.000 claims description 20
- 239000000725 suspension Substances 0.000 claims description 12
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 230000002567 autonomic effect Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 239000006096 absorbing agent Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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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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- 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
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
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- Automatic Cycles, And Cycles In General (AREA)
Abstract
The application relates to the technical field of mobile devices, and provides an autonomous steering driving mechanism and a mobile device, wherein the autonomous steering driving mechanism comprises a bridge, driving wheels, a steering mechanism and a synchronous linkage mechanism, wherein the driving wheels are respectively and rotatably arranged at two ends of the bridge; the steering mechanism drives the driving wheel to steer; the synchronous linkage mechanism is respectively connected with the driving wheels at the two ends of the bridge frame so as to enable the driving wheels to synchronously turn. The application provides an autonomic actuating mechanism that turns to is connected with the drive wheel at crane span structure both ends respectively through synchronous interlock mechanism, and steering mechanism drive wheel turns to, and at this moment, under synchronous interlock mechanism's effect, make the drive wheel turn to in step, guarantees the synchronism that the drive wheel turned to, and simple structure realizes that nimble autonomic synchronous turning to side moves when narrow and small space or special operating condition in mobile device's chassis.
Description
Technical Field
The present application relates to the field of mobile device technologies, and more particularly, to an autonomous steering driving mechanism and a mobile device.
Background
At present, the chassis of the existing mobile device mainly adopts two-wheel synchronous steering or four-wheel connecting rod linkage steering with steering wheel independent driving, chain wheel/belt wheel/gear transmission for autonomous steering. The suspension system mainly adopts the driving wheel to be hung independently, the supporting wheel to be grounded rigidly or the partial driving wheel and the supporting wheel to be linked.
The prior art has the following disadvantages that the autonomous steering chassis adopts a mode of steering wheel independent drive, sprocket wheel or gear two-wheel synchronous steering and four-wheel connecting rod drive steering:
1. the steering wheel is driven independently, the structure of the steering wheel is complex, the cost is high, and a matched independent driving control unit and a complex mutual cooperation control unit are needed;
2. the two wheels driven by a chain wheel/belt wheel/gear are synchronously steered, so that the structural cost and the later maintenance cost are high, and the transmission structure needs certain protectiveness;
3. the four-wheel connecting rod linkage steering mode can only realize steering and pivot rotation at a certain angle, cannot meet lateral translation and has poor flexibility.
In summary, in order to meet the complexity of the application scenario and the requirement for the flexibility of the mobile device, an autonomous steering chassis which can realize the normal steering and the lateral movement and has a simple structure and a damping chassis which can play a role in buffering and absorbing shock for the complex road conditions needs to be provided.
Disclosure of Invention
An object of the embodiment of the application is to provide an autonomous steering driving mechanism, and aims to solve the technical problems that how to ensure that the whole body does not move through chassis autonomous steering to generate side movement to adapt to narrow space and special working scenes and the cost is low.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: an autonomous steering drive mechanism is provided for a chassis of a mobile device, comprising:
a bridge frame;
the driving wheels are respectively and rotatably arranged at two ends of the bridge frame;
a steering mechanism that drives the drive wheel to steer;
and the synchronous linkage mechanisms are respectively connected with the driving wheels at the two ends of the bridge frame so as to enable the driving wheels to synchronously turn.
Further, the autonomous steering driving mechanism further comprises a damping assembly, and the damping assembly is connected between the bridge frame and a chassis of the moving device, so that the driving wheel can perform damping swing relative to the chassis through the damping assembly.
Furthermore, the bridge is in a groove shape, so that two sides of the bridge are provided with side walls, and the side walls are provided with connecting holes;
the shock absorption assembly is provided with a connecting shaft, and the end part of the connecting shaft can penetrate through the connecting hole in a vertically movable mode.
Further, damper includes connecting block, frame and elastic element, the frame be used for with chassis fixed connection, the connecting block is located the frame with between the crane span structure, the frame with connecting block fixed connection, the connecting axle wears to locate on the connecting block, just the both ends of connecting axle are worn to locate movably respectively the connecting hole, elastic element locates respectively the both sides of connecting block and support in the crane span structure with between the frame.
Further, the elastic element is a spring.
Further, the synchro-link mechanism includes:
the fixing pieces are rotatably arranged at two ends of the bridge frame, the driving wheel is arranged on the fixing pieces, and the steering mechanism is connected with one of the fixing pieces at the two ends of the bridge frame so as to drive the fixing pieces to drive the driving wheel to steer;
the two ends of the first connecting rod are respectively connected with the fixing pieces, the first connecting rod, the two fixing pieces and the bridge form a parallelogram mechanism, and the steering mechanism drives one of the fixing pieces at the two ends of the bridge to enable the first connecting rod to drive the two fixing pieces to synchronously rotate on the bridge, so that the two driving wheels synchronously steer.
Further, the fixed part is rotatably connected with the bridge frame through a bearing assembly, and the fixed part is connected with the first connecting rod through a ball joint universal joint.
Furthermore, the steering mechanism comprises a steering driving piece, and the steering driving piece is in transmission connection with one of the fixing pieces at two ends of the bridge frame and is used for driving the fixing piece to rotate.
Further, steering mechanism still includes the second connecting rod, the second connecting rod with one of them at the both ends of crane span structure the mounting passes through the bulb universal joint and connects, turn to the driving piece with the second connecting rod is connected, it is used for the drive to turn to the driving piece the second connecting rod drives the mounting rotates, just the second connecting rod with first connecting rod sets up respectively the relative both sides or arbitrary side of mounting.
Further, the steering driving member is an electric push rod.
Furthermore, the steering mechanism further comprises a triangular swing rod, the first end of the swing rod is in pivot connection with the output end of the steering driving piece, the second end of the swing rod is connected with the second connecting rod through a ball joint universal joint, and the third end of the swing rod can be in pivot connection with a chassis of the mobile device.
The application also provides a mobile device, which comprises a chassis and the autonomous steering driving mechanism in any embodiment of the invention, wherein the autonomous steering driving mechanism is arranged on the chassis.
Further, the chassis comprises a first bottom plate, a second bottom plate and a support, the first bottom plate and the second bottom plate are connected through the support, the autonomous steering driving mechanism is arranged on the support, and the first bottom plate and the second bottom plate are respectively arranged at two opposite ends of the support.
Further, the first bottom plate and the second bottom plate are respectively provided with a suspension, and the suspension is provided with a supporting wheel.
Further, the suspension comprises a support frame and a damping assembly, the support frame is arranged on the first bottom plate and the second bottom plate, the support wheel is arranged on the damping assembly, and the damping assembly is rotatably connected with the support frame so that the damping assembly can swing up and down around the support frame.
The beneficial effect of this application includes:
compared with the prior art, the autonomous steering driving mechanism is connected with the driving wheels at two ends of the bridge frame through the synchronous linkage mechanism respectively, the steering mechanism can autonomously drive the driving wheels to steer, at the moment, the driving wheels are synchronously steered under the action of the synchronous linkage mechanism, the synchronism and consistency of steering of the two driving wheels are ensured, the structure is simple, and flexible autonomous synchronous steering lateral movement of a chassis of the mobile device in a narrow space or a special working state can be realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an autonomous steering drive mechanism provided by an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a bridge of an autonomous steering drive mechanism provided by an embodiment of the present application;
fig. 3 is a schematic view of a mobile device according to an embodiment of the present application;
FIG. 4 is a perspective view of a mobile device according to an embodiment of the present application;
FIG. 5 is a perspective view of another embodiment of a mobile device;
FIG. 6 is a schematic steering diagram of an autonomous steering drive mechanism in a mobile device according to an embodiment of the present application;
fig. 7 is another schematic steering diagram of an autonomous steering driving mechanism in a mobile device according to an embodiment of the present application.
Reference numerals referred to in the above figures are detailed below:
1-a bridge frame; 2-a steering mechanism; 3-driving wheels; 4-a synchronous linkage mechanism; 5-a shock-absorbing component; 6-a bearing assembly; 7-ball joint universal joint;
11-a side wall; 12-a connection hole;
21-a steering drive; 22-a second link; 23-a swing rod;
41-a fixing piece; 42-a first link;
51-connecting blocks; 52-a frame; 53-a connecting shaft; 54-a resilient element;
61-a bearing seat; 62-a bearing;
100-a chassis; 101-a first backplane; 102-a second backplane; 103-a scaffold; 104-a suspension; 105-a support wheel;
1041-a support frame; 1042-shock absorbing assembly.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In order to explain the technical solutions of the present application, the following detailed descriptions are made with reference to specific drawings and examples.
The following description will be made by taking as an example the case where the autonomous steering drive mechanism of the present invention is mounted on the chassis 100 of a mobile device:
as shown in fig. 1 to 7, an embodiment of the present application provides an autonomous steering driving mechanism, which includes a bridge frame 1, a steering mechanism 2, a driving wheel 3 and a synchronous linkage mechanism 4, where the driving wheel 3 is rotatably mounted at two ends of the bridge frame 1 respectively; the steering mechanism 2 drives the driving wheel 3 to steer; the synchronous linkage mechanism 4 is respectively connected with the driving wheels 3 at two ends of the bridge frame 1 so as to enable the driving wheels 3 to synchronously turn.
The embodiment of the application provides an autonomic steering drive mechanism, as shown in fig. 6 and 7, be connected with the drive wheel 3 at crane span structure 1 both ends respectively through synchronous interlocking mechanism 4, steering mechanism 2 can turn to by the autonomic drive wheel 3, at this moment, under synchronous interlocking mechanism 4's effect, make drive wheel 3 turn to in step, the synchronism and the uniformity that two drive wheel 3 turned to have guaranteed, a structure is simple, especially to the longer mobile device of fuselage (like delivery robot or mobile robot etc.), it moves to realize nimble autonomic synchronous steering sidesway when narrow and small space or special operating condition to guarantee to realize mobile device's chassis 100 through drive wheel 3 synchronous steering.
In an embodiment of the present application, optionally, as shown in fig. 5 to 7, the fixing member 2 is rotatably connected to the bridge 1 through a bearing assembly 9, and the fixing member 2 is connected to the first connecting rod 4 through a ball-and-socket joint 10.
In one embodiment of the present application, optionally, as shown in fig. 1 and 4, the autonomous steering driving mechanism further includes a shock absorbing assembly 5, and the shock absorbing assembly 5 is connected between the bridge 1 and a chassis 100 of the mobile device, so that the driving wheel 3 can be shock-absorbing and swing relative to the chassis 100 through the shock absorbing assembly 5.
In the embodiment, the damping assembly 5 is respectively connected with the bridge frame 1 and the chassis 100, so that the damping assembly 5 is supported between the bridge frame 1 and the chassis 100, when the driving wheel 3 passes through the uneven ground, the driving wheel 3 can realize damping swing relative to the chassis 100 through the damping assembly 5, the damping assembly 5 is equivalent to the damping action between the bridge frame 1 and the chassis 100, the buffering capacity on the uneven road surface is ensured, the vibration energy continuously given to the chassis 100 by the road surface can be fully absorbed, and the occurrence of resonance is avoided.
In the above embodiment of the present application, optionally, as shown in fig. 2, the bridge 1 is in a shape of a slot, so that two sides of the bridge are provided with side walls 11, and the side walls 11 are provided with connecting holes 12; the shock absorption assembly 5 is provided with a connecting shaft 53, and the end part of the connecting shaft 53 can be movably inserted into the connecting hole 12 up and down.
In the present embodiment, the end of the connecting shaft 53 is movably inserted into the connecting hole 12 in the up-and-down direction, and the connecting shaft 53 moves in the height direction of the connecting hole 12, that is, in the direction perpendicular to the chassis 100.
Further, as shown in fig. 1, the damping assembly 5 includes a connecting block 51, a frame 52 and an elastic element 54, the frame 52 is used for being connected to the chassis 100, the connecting block 51 is disposed between the frame 52 and the bridge 1, the frame 52 is fixedly connected to the connecting block 51, the connecting shaft 53 is disposed on the connecting block 51, two ends of the connecting shaft 53 are movably disposed in the connecting holes 12, and the elastic element 54 is disposed on two sides of the connecting block 51 and supported between the bridge 1 and the frame 52.
In this embodiment, the frame 52 is connected or welded to the chassis 100 by bolts, the connecting block 51 is fixedly connected to the frame 52, and can be connected or welded by bolts, two ends of the connecting shaft 53 are respectively movably inserted into the connecting holes 12, an end of the connecting shaft 53 near an outer wall of the bridge 1 can be fixedly locked by nuts, and the connecting shaft 53 can move up and down in the connecting holes 12, so as to ensure that the bridge 1 can move in a vertical direction relative to the chassis 100, meanwhile, the elastic elements 54 are respectively arranged at two sides of the connecting block 51 and supported between the bridge 1 and the frame 52, the elastic elements 54 play a role of buffering when the bridge 1 moves relative to the chassis 100, so as to enable the driving wheel 3 to perform damping oscillation relative to the chassis 100 by the damping assembly 5, ensure the damping capacity on uneven road surfaces, and fully absorb vibration energy continuously given to the chassis 100, the resonance is avoided, so that the chassis has certain obstacle-crossing and slope-climbing capacity, the adaptability of the chassis 100 to different road conditions is improved, and the noise can be eliminated to a certain extent.
Optionally, the resilient element 54 is a spring. Of course. The elastic element 54 may also be provided with an elastic rubber block or a shock absorber, etc., which will not be described in detail herein.
In an embodiment of the present application, optionally, the synchronous linkage 4 includes a fixing member 41 and a first link 42, the fixing member 41 is rotatably disposed at two ends of the bridge 1, the driving wheel 3 is disposed on the fixing member 41, and the steering mechanism 2 is connected to one of the fixing members 41 at two ends of the bridge 1 to drive the fixing member 41 to steer the driving wheel 3; the two ends of the first connecting rod 42 are respectively connected with the fixing pieces 41, the first connecting rod 42, the two fixing pieces 41 and the bridge 1 form a parallelogram mechanism or other regular parallel polygon mechanisms, the steering mechanism 2 drives one of the fixing pieces 41 so that the first connecting rod 42 drives the two fixing pieces 41 to synchronously rotate on the bridge 1, and then the two driving wheels 3 synchronously steer.
Alternatively, the fixing member 41 is rotatably connected to the bridge 1 through a bearing assembly 6, and the fixing member 41 is connected to the first link 42 through a ball joint 7.
In the embodiment, the first connecting rod 42, the fixing pieces 41 arranged at two ends of the bridge frame 1 and the bridge frame 1 form a parallelogram mechanism, so that when any one fixing piece 41 at two ends of the bridge frame 1 is driven, the first connecting rod enables the two fixing pieces to synchronously rotate on the bridge frame, and further enables the driving part to synchronously turn, the turning synchronization and consistency of the two driving wheels 3 are ensured, the structure is simple, specifically, the fixing piece 41 is rotatably connected with the bridge frame 1 through the bearing assembly 6, the fixing piece 41 can rotate on the bridge frame 1 through the bearing assembly 6, the bearing assembly 6 comprises the bearing seat 61 and the bearing 62, the bearing 62 is fixed on the bridge frame 1 through the bearing seat 61, the shaft of the fixing piece 41 is matched and connected with the bearing 62, the design enables the rotation of the fixing piece 41 to be smoother, the rotation friction is reduced, and the fixing piece 41 can also be rotatably, or directly be connected with crane span structure 1 rotation, in addition, mounting 41 can be connected through bulb universal joint 7 with first connecting rod 42, realizes that mounting 41 and first connecting rod 42 rotate and is connected, has guaranteed that drive wheel 3 turns to in a flexible way, has satisfied drive wheel 3 shock attenuation again and has hung. In addition, only one fixing part 41 needs to be driven to realize synchronous steering of the two driving wheels 3, and compared with the driving wheels independently driven by rudder wheels in the prior art, the steering wheel structure is simple in structure, saves driving parts and reduces production and manufacturing costs.
In an embodiment of the present application, optionally, as shown in fig. 1 and fig. 3 to fig. 7, the steering mechanism 2 includes a steering driving element 21, and the steering driving element 21 is in transmission connection with one of the fixing elements 41 at two ends of the bridge 1, and is used for driving the fixing element 41 to rotate. Optionally, the steering driver 21 is an electric push rod.
In this implementation, the steering driving member 21 may be an electric push rod, or may be a hydraulic cylinder, an electric cylinder, a stepping motor, etc., the steering driving member 21 is used to drive the fixing member 41 to rotate, and further the first connecting rod 42 drives the two fixing members 41 to rotate on the bridge frame 1 synchronously, thereby realizing synchronous steering of the driving wheel 3, and further the mobile device which can have the autonomous steering driving mechanism generates side shift, in addition, the autonomous steering driving mechanism is different from the traditional independent driving of a steering wheel, only one steering driving member 21 is needed to drive the fixing member 41, and thus the autonomous steering can be realized, the structure is simple, the parts are reduced, and the production cost is reduced.
In an embodiment of the present application, optionally, as shown in fig. 1 and fig. 3 to fig. 7, the steering mechanism 2 further includes a second connecting rod 22, the second connecting rod 22 is connected to one of the fixing members 41 at two ends of the bridge through a ball joint 7, the steering driving member 21 is connected to the second connecting rod 42, the steering driving member 41 is configured to drive the second connecting rod 22 to drive the fixing member 41 to rotate, and the second connecting rod 22 and the first connecting rod 42 are respectively disposed on two opposite sides of the fixing member 41 or are jointly fixed on any side of the fixing member 41.
In this embodiment, the second link 22 is connected to one of the two fixed members 41, and the steering driving member 21 drives the second link 22 to drive the fixed member 41 to rotate, optionally, as shown in fig. 1 and fig. 3 to fig. 7, the steering mechanism 2 further includes a rocker 23 in a triangular block shape, a first end of the rocker 23 is pivotally connected to the output end of the steering driving member 21, a second end of the rocker 23 is connected to the second link 22 through a ball joint 7, and a third end of the rocker 23 can be pivotally connected to the chassis 100 of the mobile device.
Specifically, the steering driving member 21 drives the swing rod 23 to rotate, so that the second connecting rod 22 drives the fixing member 41 to rotate, and the force arms of the swing rod 23 and the second connecting rod 22 are mutually converted, so that the buffering capacity of the chassis 100 on uneven road surfaces such as small steps, floor tiles and the like is improved, and the use comfort of the chassis is improved.
As shown in fig. 3 to 7, an embodiment of the present application further provides a mobile device, which includes a chassis 100 and an autonomous steering driving mechanism as described in any of the above embodiments, where the autonomous steering driving mechanism is disposed on the chassis 100.
In an embodiment of the present application, optionally, the chassis 100 includes a first bottom plate 101, a second bottom plate 102, and a bracket 103, the first bottom plate 101 and the second bottom plate 102 are connected by the bracket 103, the driving wheel 3 steering mechanism is disposed on the bracket 103, and the first bottom plate 101 and the second bottom plate 102 are disposed at two opposite ends of the bracket 103, respectively.
In this embodiment, specifically, the first bottom plate 101, the second bottom plate 102 and the bracket 103 may be connected by bolts, the bridge 1 may be connected with the bracket 103, the rotary driving member 21 is disposed on one of the first bottom plate 101 and the second bottom plate 102, the swing rod 23 may be connected with the bracket 103 by a cross beam, the bracket 103 forms a suspension frame for the steering mechanism of the driving wheel 3, and the frame 52 is connected with the bracket 103, so that the damping component 5 is supported between the bridge 1 and the bracket 103, and the damping component 5 plays a role in damping when the bridge 1 moves relative to the chassis 100, so that the driving wheel 3 is damped and swung relative to the chassis 100 by the damping component 5, thereby improving the damping capacity on uneven road surfaces, fully absorbing the vibration energy continuously given to the chassis 100 by the road surfaces, and avoiding the occurrence of resonance.
In an embodiment of the present application, optionally, as shown in fig. 3 to 7, a suspension 104 is disposed on each of the first base plate 101 and the second base plate 102, and a support wheel 105 is disposed on the suspension 104.
Further, as shown in fig. 4, the suspension 104 includes a supporting frame 1041 and a shock absorbing assembly 1042, the supporting frame 1041 is disposed on the first base plate 101 and the second base plate 102, the supporting wheel 105 is disposed on the shock absorbing assembly 1042, and the shock absorbing assembly 1042 is rotatably connected to the supporting frame 1041, so that the shock absorbing assembly 1042 can swing up and down around the supporting frame 1041.
In this embodiment, the supporting wheels 105 on the chassis 100, the supporting wheels 105 being provided on the first base plate 101 and the second base plate 102 via the suspensions 104, of course, one supporting wheel 105 may be provided on the first base plate 101, two supporting wheels 105 are disposed on the second base plate 102, or two supporting wheels 105 may be disposed on the first base plate 101 and the second base plate 102, respectively, and specifically, the supporting frame 1041 is connected to the first base plate 101 and the second base plate 102 by bolts, the supporting wheels 105 are mounted on the shock absorbing assembly 1042, the shock absorbing assembly 1042 may be a shock absorber, a mounting plate is arranged on the shock absorber, the supporting wheel 105 is arranged on the mounting plate, the shock absorber is rotationally connected with the supporting frame 1041, thus, when the supporting wheel 105 passes through uneven ground, the damping assembly 1042 can swing up and down around the shaft rotatably connected with the supporting frame 1041, so that the damping assembly has a damping effect and can sufficiently absorb vibration energy continuously given to the chassis 100 by the road surface.
It should be noted that the supporting wheel may be a universal wheel or other driven wheels capable of rotating, and therefore, the details are not repeated herein.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (12)
1. An autonomous steering drive mechanism, comprising:
a bridge frame;
the driving wheels are respectively and rotatably arranged at two ends of the bridge frame;
a steering mechanism that drives the drive wheel to steer;
and the synchronous linkage mechanisms are respectively connected with the driving wheels at the two ends of the bridge frame so as to enable the driving wheels to synchronously turn.
2. The autonomous steering drive mechanism of claim 1, further comprising a shock assembly coupled between the bridge and a chassis of the mobile device such that the drive wheel is shock-absorbing to oscillate relative to the chassis via the shock assembly.
3. The autonomous steering drive mechanism of claim 2 wherein said bridge is channel shaped such that it has sidewalls on both sides, said sidewalls having attachment holes;
the shock absorption assembly is provided with a connecting shaft, and the end part of the connecting shaft can penetrate through the connecting hole in a vertically movable mode.
4. The autonomous steering driving mechanism of claim 3, wherein the damping assembly comprises a connecting block, a frame and an elastic element, the frame is configured to be fixedly connected to the chassis, the connecting block is disposed between the frame and the bridge, the frame is fixedly connected to the connecting block, the connecting shaft is disposed on the connecting block, two ends of the connecting shaft are movably disposed in the connecting holes, respectively, and the elastic element is disposed on two sides of the connecting block and supported between the bridge and the frame.
5. The autonomous steering drive mechanism of claim 1, wherein the synchro-link mechanism comprises:
the fixing pieces are rotatably arranged at two ends of the bridge frame, the driving wheel is arranged on the fixing pieces, and the steering mechanism is connected with one of the fixing pieces at the two ends of the bridge frame so as to drive the fixing pieces to drive the driving wheel to steer;
the two ends of the first connecting rod are respectively connected with the fixing pieces, the first connecting rod, the two fixing pieces and the bridge form a parallelogram mechanism, and the steering mechanism drives one of the fixing pieces at the two ends of the bridge to enable the first connecting rod to drive the two fixing pieces to synchronously rotate on the bridge, so that the two driving wheels synchronously steer.
6. The autonomous steering drive of claim 5, wherein the steering mechanism includes a steering drive member drivingly connected to one of the fixed members at the ends of the bridge for driving the fixed member in rotation.
7. The autonomous steering driving mechanism of claim 6, further comprising a second connecting rod connected to one of the fixing members at two ends of the bridge via a ball joint, wherein the steering driving member is connected to the second connecting rod, the steering driving member is configured to drive the second connecting rod to rotate the fixing member, and the second connecting rod and the first connecting rod are respectively disposed at two opposite sides or either side of the fixing member.
8. The autonomous steering drive of claim 7, further comprising a triangular shaped rocker having a first end pivotally connected to the output of the steering drive, a second end pivotally connected to the second link by a ball joint, and a third end pivotally connected to a chassis of the mobile device.
9. A mobile device comprising a chassis and an autonomous steering drive mechanism as claimed in any one of claims 1 to 8, the autonomous steering drive mechanism being provided on the chassis.
10. The mobile device of claim 9, wherein the chassis comprises a first base plate, a second base plate, and a bracket, the first base plate and the second base plate are connected by the bracket, the autonomous steering driving mechanism is disposed on the bracket, and the first base plate and the second base plate are disposed at opposite ends of the bracket, respectively.
11. The mobile device according to claim 10, wherein the first base plate and the second base plate are respectively provided with suspensions on which support wheels are provided.
12. The mobile device according to claim 11, wherein the suspension comprises a support frame and a shock-absorbing assembly, the support frame is disposed on the first base plate and the second base plate, the support wheels are disposed on the shock-absorbing assembly, and the shock-absorbing assembly is rotatably connected to the support frame so that the shock-absorbing assembly can swing up and down around the support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110071386.5A CN112793658A (en) | 2021-01-19 | 2021-01-19 | Autonomous steering drive mechanism and mobile device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110071386.5A CN112793658A (en) | 2021-01-19 | 2021-01-19 | Autonomous steering drive mechanism and mobile device |
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| CN112793658A true CN112793658A (en) | 2021-05-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114834561A (en) * | 2022-03-28 | 2022-08-02 | 深圳优地科技有限公司 | Chassis structure and robot |
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| CN210851933U (en) * | 2019-06-23 | 2020-06-26 | 上海有个机器人有限公司 | Robot chassis suspension system and robot |
| CN210912595U (en) * | 2019-10-17 | 2020-07-03 | 苏州卓高升降机械有限公司 | Steering device for elevator |
| CN211442487U (en) * | 2020-01-08 | 2020-09-08 | 昆山铭仁快速成型技术有限公司 | Food delivery robot vibration damping mount |
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| CN209535279U (en) * | 2019-01-30 | 2019-10-25 | 上海钛米机器人科技有限公司 | A kind of base apparatus and robot |
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| CN114834561A (en) * | 2022-03-28 | 2022-08-02 | 深圳优地科技有限公司 | Chassis structure and robot |
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