CN113071587A - Electric wheel chassis with four-wheel drive and working method thereof - Google Patents
Electric wheel chassis with four-wheel drive and working method thereof Download PDFInfo
- Publication number
- CN113071587A CN113071587A CN202110481325.6A CN202110481325A CN113071587A CN 113071587 A CN113071587 A CN 113071587A CN 202110481325 A CN202110481325 A CN 202110481325A CN 113071587 A CN113071587 A CN 113071587A
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- Prior art keywords
- wheel
- chassis
- drive
- belt pulley
- wheels
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/01—Motorcycles with four or more wheels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K21/00—Steering devices
Abstract
The invention relates to a four-wheel drive electric wheel chassis and a working method thereof, the four-wheel drive electric wheel chassis comprises a chassis and a vehicle body frame connected to the upper end of the chassis, the chassis is formed by enclosing two side plates which are parallel to each other left and right, a front connecting rod and a rear connecting plate which are parallel to each other front and rear, motors are fixedly arranged on the inner sides of the rear ends of the side plates, output shafts of the motors transversely penetrate through the side plates outwards and are connected with rubber wheels, the outer sides of the front ends of the side plates are connected with omnidirectional wheels, the rubber wheels and the omnidirectional wheels on the same side are connected through belt wheel assemblies to rotate synchronously, a plurality of shock absorption springs are arranged on the vehicle body frame and extend downwards to be connected with the chassis, the four-wheel drive electric wheel chassis is stable in structure, straight running is not prone to left.
Description
Technical Field
The invention relates to the field of intelligent transportation, in particular to a chassis with four-wheel drive electric wheels and a working method thereof.
Background
With the progress and development of society, daily study, work and life are carried out. The four-wheel drive electric wheel chassis is widely applied to products such as intelligent robots, medical electric wheelchairs, shared mobility scooter and the like. The four-wheel-drive electric wheel chassis serves as an ideal travel tool, the market demand is large, the medical four-wheel-drive electric wheelchair is suitable for the old and the weak with disabled lower limbs and inconvenient walking, and compared with the four-wheel-drive electric wheel chassis wheelchair, the four-wheel-drive electric wheelchair is large in moving range, suitable for multiple crowds and strong in function. The four-wheel drive electric wheel chassis is used as a main component of the intelligent electric wheelchair and is the most direct part for the disabled to control the four-wheel drive electric wheelchair. The four-wheel drive electric wheelchair is controlled by a user through the controller to express the operation intention and realize the control of the running speed and the running direction of the four-wheel drive electric wheelchair, so that the four-wheel drive electric wheel chassis is very important for the running of products such as the whole medical electric wheelchair, an intelligent robot, a shared scooter and the like, and the four-wheel drive electric wheel chassis is used for snow days, muddy road sections, mountain roads, climbing, lawn lands, obstacle crossing performance and the like to obtain stronger traffic capacity.
However, the existing four-wheel drive electric wheel chassis is unstable in straight running, the problem that people cannot be injured due to stopping in time easily occurs due to long braking distance, the rotating radius is large, turning cannot be realized in a narrow space, and the running safety is low.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a chassis with four-wheel drive electric wheels and a working method thereof, which are stable in structure and safe and simple to operate.
In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides a take four-wheel drive electronic round chassis, includes the chassis and connects the automobile body frame in the chassis upper end, the chassis is enclosed by the curb plate of two left and right sides parallels and preceding connecting rod, back even board of front and back and establishes and form, curb plate rear end inboard all has set firmly the motor and this motor output shaft all transversely runs through the curb plate outwards and links to each other with the rubber wheel, the curb plate front end outside all is connected with the omniwheel, is connected synchronous rotation through the belt pulley subassembly between the rubber wheel of homonymy and the omniwheel, be equipped with a plurality of bradyseism springs on the automobile body frame and extend down and be connected with the chassis.
Furthermore, the belt pulley of the front side of the belt pulley assembly is coaxially arranged with the omnidirectional wheel and rotates, and the belt pulley of the rear side is coaxially arranged with the rubber wheel and sleeved outside the output shaft and in key connection with the output shaft.
Furthermore, the two all-direction wheels and the two rubber wheels are arranged on the outer sides of the two side plates in a bilateral symmetry mode, the outer end faces of the two side plates are provided with the elastic wheels and penetrate through a belt in a winding mode, the centers of the elastic wheels are connected with the connecting shaft through bearings, the outer end faces of the side plates are provided with positioning grooves for the elastic wheels to slide back and forth and adjust positions along the length direction of the outer end faces of the side plates, the inner ends of the connecting shaft extend into the positioning grooves, the positioning plates are fixedly arranged on the connecting shaft between the elastic wheels and the side plates, and the side plates are provided with a plurality of connecting holes fixed with the positioning plates through bolts at intervals.
Furthermore, the upper and lower ends of the cushioning springs are respectively connected with the vehicle body frame and the chassis through the hinged seats, four cushioning springs are provided, two of the cushioning springs are arranged on the outer side of the vehicle body frame in a left-right parallel mode and extend vertically to be connected with the outer end face of the side plate, and the other two cushioning springs are arranged on the rear end of the vehicle body frame in a rotating mode and extend obliquely towards the rear lower side to be connected with the rear connecting plate.
Further, the left end and the right end of the front connecting rod are connected with the two side plates through connecting blocks, the front end of the vehicle body frame is fixedly connected with a U-shaped rod extending obliquely downwards, the opening of the U-shaped rod faces upwards, the lower end of the U-shaped rod is supported and fixed through a supporting plate in an L shape, and the horizontal section of the supporting plate is fixedly connected onto the front connecting rod.
Furthermore, a pedal is hinged on the front connecting rod.
Furthermore, the rubber wheel is used as a driving wheel and is driven by combining with an omnidirectional wheel used as a steering wheel.
A working method of a chassis with four-wheel drive electric wheels mainly comprises the following driving modes:
(1) when the vehicle moves forwards in a straight line: the left and right driving motors simultaneously rotate forwards to drive the rear belt pulley to synchronously drive the front belt pulley to rotate together, so as to drive the omnidirectional wheel to rotate and walk to realize forward and straight movement;
(2) when the vehicle is moving backwards in a straight line: the left and right driving motors simultaneously rotate reversely to drive the rear belt pulley to drive the front belt pulley to rotate together through the synchronous belt, and further drive the omnidirectional wheel to rotate and walk to realize backward and straight movement;
(3) when walking in the left direction: the left driving motor slows down the rotating speed or stops rotating, but the right driving motor operates at normal speed per hour or in an accelerated state to drive the rear belt pulley to drive the front belt pulley to rotate together through the synchronous belt, so as to drive the right omnidirectional wheel to rotate to realize walking, and at the moment, the rotating speed of the right rubber wheel and the omnidirectional wheel is greater than that of the left side, so that the left-side rotating driving action can be realized;
(4) when walking to the right direction: the right driving motor slows down the rotating speed or stops rotating, but the left driving motor operates at normal speed per hour or in an accelerated state to drive the rear belt pulley to drive the front belt pulley to rotate together through the synchronous belt, so as to drive the left omnidirectional wheel to rotate to realize walking, and at the moment, the rotating speed of the left rubber wheel and the omnidirectional wheel is greater than that of the right rubber wheel and the omnidirectional wheel, so that the right rubber wheel and the omnidirectional wheel can rotate to run rightwards;
(5) rotating to left in-situ center: the left side driving motor rotates reversely, the right side driving motor rotates positively, and the left side driving motor operates at the same speed state, so that the left original place center 360-degree rotation driving action can be realized.
(6) When rotating to right pivot center: the left driving motor rotates forwards, the right driving motor rotates backwards, and the left driving motor operates at the same speed, so that the left pivot center can rotate by 360 degrees to run.
Compared with the prior art, the invention has the following beneficial effects: this take four-wheel drive electronic round chassis, it is more steady comfortable to go on the road surface, and the straight line is difficult for the side to side beat, and braking distance is short and safer, and turning radius can be transferred in narrow space for a short time. The four-wheel drive type road obstacle crossing device is suitable for environments such as snow days, muddy road sections, mountain roads, climbing slopes and lawn fields, has good obstacle crossing performance and the like, and has stronger traffic capacity.
The four-wheel-drive electric chassis adopts an omnidirectional wheel steering mode to reduce the steering rotation radius distance, so that the upper seat is more stable and is not easy to turn on one's side and topple over, the running is safer, and the working efficiency of the wheelchair in the running process is improved.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic configuration diagram of an embodiment of the present invention;
FIG. 2 is a bottom view of an embodiment of the present invention;
FIG. 3 is a side view of an embodiment of the present invention;
FIG. 4 is a schematic view of an embodiment of the present invention with the foot pedal removed;
FIG. 5 is a schematic view of the connection of the tension wheel to the side plate in the embodiment of the present invention;
FIG. 6 is a schematic view of the connection of the front link to the side plate in the embodiment of the present invention;
fig. 7 is a perspective view of an embodiment of the present invention.
In the figure: 1-chassis, 2-body frame, 3-side plate, 4-front connecting rod, 5-rear connecting plate, 6-motor, 7-rubber wheel, 8-omnidirectional wheel, 9-cushioning spring, 10-belt pulley, 11-elastic wheel, 12-belt, 13-bearing, 14-connecting shaft, 15-positioning groove, 16-positioning plate, 17-connecting hole, 18-connecting block, 19-U-shaped rod, 20-supporting plate and 21-pedal.
Detailed Description
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1-6, an electronic round of chassis is driven to area four, including chassis 1 and the automobile body frame 2 of connection in the chassis upper end, the chassis is enclosed to establish by the curb plate 3 of two left and right parallels and preceding connecting rod 4, back even board 5 of front and back and is constituteed, curb plate rear end inboard all has set firmly motor 6 and this motor output shaft and all transversely runs through the curb plate outwards and links to each other with rubber wheel 7, the curb plate front end outside all is connected with omniwheel 8, is connected synchronous rotation through the belt pulley subassembly between the rubber wheel of left and right sides direction homonymy and the omniwheel, be equipped with a plurality of bradyseism springs 9 on the automobile body frame and extend down and be connected with the.
In the embodiment of the invention, the belt pulleys 10 on the front side of the belt pulley assembly are coaxially arranged with the omnidirectional wheel and drive the omnidirectional wheel to rotate, and the belt pulleys on the rear side are coaxially arranged with the rubber wheel, sleeved outside the output shaft and connected with the output shaft in a key mode.
In the embodiment of the invention, two omnidirectional wheels and two rubber wheels are symmetrically arranged on the outer sides of two side plates, elastic wheels 11 are arranged on the outer end surfaces of the two side plates and are wound and penetrated through a belt 12, the centers of the elastic wheels are connected with a connecting shaft 14 through a bearing 13, the outer end surfaces of the side plates are provided with positioning grooves 15 for the elastic wheels to slide and adjust the position forwards and backwards along the length direction, the inner ends of the connecting shaft extend into the positioning grooves, a positioning plate 16 is fixedly arranged on the connecting shaft between the elastic wheels and the side plates, a fixing plate is sleeved on the connecting shaft and fixedly arranged into a whole, a plurality of connecting holes 17 fixed with the positioning plate through bolts are arranged on the side plates at intervals, the positioning plate is square, the connecting holes are provided with two rows and are vertically and symmetrically arranged along the positioning grooves, the lower ends of the elastic wheels are pressed on the belt or the upper ends of the elastic wheels are abutted against the belt, the elastic wheels and the positioning plate can slide forwards and backwards along the positioning grooves by regulating the, thereby adjusting the tightness of the belt.
In the embodiment of the invention, the upper end and the lower end of each shock absorption spring are respectively connected with the vehicle body frame and the chassis through the hinge seats, four shock absorption springs are provided, two of the four shock absorption springs are arranged on the outer side of the vehicle body frame in a left-right parallel mode and extend vertically to be connected with the outer end face of the side plate, and the other two shock absorption springs are arranged on the rear end of the vehicle body frame in a rotating connection mode and extend obliquely towards the rear lower side to be connected with the rear connecting plate.
In the embodiment of the invention, the left end and the right end of the front connecting rod are both connected with the two side plates through connecting blocks 18, the front end of the vehicle body frame is fixedly connected with a U-shaped rod 19 which extends obliquely downwards, the opening of the U-shaped rod is upward, the lower end of the U-shaped rod is supported and fixed through an L-shaped supporting plate 20, and the horizontal section of the supporting plate is fixedly connected on the front connecting rod.
In the present embodiment, the front link is hinged with a foot pedal 21.
In the embodiment of the invention, the rubber wheel is used as a driving wheel and is driven by combining with an omnidirectional wheel used as a steering wheel.
A working method of a chassis with four-wheel drive electric wheels adopts a rear driving motor and a belt pulley to synchronously drive a rubber wheel and an omnidirectional wheel, the mechanical driving mode and the omnidirectional steering characteristic of the omnidirectional wheel realize the four-wheel drive function, and the four-wheel drive motor drives the four wheels to simultaneously run and drive to walk so as to obtain stronger trafficability. The four-wheel-drive electric chassis adopts the omni-directional wheel steering mode to reduce the steering rotation radius distance, so that the upper seat is more stable and is not easy to turn over and topple over, the running is ensured to be safer, the working efficiency of the running process of the wheelchair is improved, and the running mode mainly comprises the following steps:
(1) when the vehicle moves forwards in a straight line: the left and right driving motors simultaneously rotate forwards to drive the rear belt pulley to synchronously drive the front belt pulley to rotate together, so as to drive the omnidirectional wheel to rotate and walk to realize forward and straight movement;
(2) when the vehicle is moving backwards in a straight line: the left and right driving motors simultaneously rotate reversely to drive the rear belt pulley to drive the front belt pulley to rotate together through the synchronous belt, and further drive the omnidirectional wheel to rotate and walk to realize backward and straight movement;
(3) when walking in the left direction: the left driving motor slows down the rotating speed or stops rotating, but the right driving motor operates at normal speed per hour or in an accelerated state to drive the rear belt pulley to drive the front belt pulley to rotate together through the synchronous belt, so as to drive the right omnidirectional wheel to rotate to realize walking, and at the moment, the rotating speed of the right rubber wheel and the omnidirectional wheel is greater than that of the left side, so that the left-side rotating driving action can be realized;
(4) when walking to the right direction: the right driving motor slows down the rotating speed or stops rotating, but the left driving motor operates at normal speed per hour or in an accelerated state to drive the rear belt pulley to drive the front belt pulley to rotate together through the synchronous belt, so as to drive the left omnidirectional wheel to rotate to realize walking, and at the moment, the rotating speed of the left rubber wheel and the omnidirectional wheel is greater than that of the right rubber wheel and the omnidirectional wheel, so that the right rubber wheel and the omnidirectional wheel can rotate to run rightwards;
(5) rotating to left in-situ center: the left side driving motor rotates reversely, the right side driving motor rotates positively, and the left side driving motor operates at the same speed state, so that the left original place center 360-degree rotation driving action can be realized.
(6) When rotating to right pivot center: the left driving motor rotates forwards, the right driving motor rotates backwards, and the left driving motor operates at the same speed, so that the left pivot center can rotate by 360 degrees to run.
The invention is not limited to the above-mentioned preferred embodiments, and other various types of chassis with four-wheel drive electric wheels and working methods thereof can be obtained by anyone in light of the present invention. All equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.
Claims (8)
1. The utility model provides a take four-wheel drive electric wheel chassis which characterized in that: including chassis and the automobile body frame of connection in the chassis upper end, the chassis is enclosed by the curb plate of two parallels about and preceding connecting rod, back even board and is established and form, curb plate rear end inboard has all set firmly motor and this motor output shaft and all transversely runs through the curb plate outwards and link to each other with the rubber wheel, the curb plate front end outside all is connected with the omniwheel, is connected synchronous rotation through the belt pulley subassembly between the rubber wheel of homonymy and the omniwheel, be equipped with a plurality of bradyseism springs on the automobile body frame and extend down and be connected with the chassis.
2. The electric wheel chassis with four wheels drive according to claim 1, characterized in that: the belt pulley of the front side of the belt pulley assembly is coaxially arranged with the omnidirectional wheel and rotates, and the belt pulley of the rear side is coaxially arranged with the rubber wheel and sleeved outside the output shaft and in key connection with the output shaft.
3. The electric wheel chassis with four wheels drive according to claim 1, characterized in that: two omnidirectional wheels and two rubber wheels all bilateral symmetry set up in the both sides board outside, all are equipped with the elasticity wheel on the outer terminal surface of both sides board and pass through the belt winding, and this elasticity wheel center is connected with even axle through the bearing, the position groove that supplies the elasticity wheel to slide the positioning around all along its length direction is seted up to the outer terminal surface of curb plate, even axle inner extends into the position groove, has set firmly the locating plate on the axle that links between elasticity wheel and curb plate, the interval is equipped with a plurality ofly and the locating plate passes through the connecting hole of bolt fastening on the curb plate.
4. The electric wheel chassis with four wheels drive according to claim 1, characterized in that: the upper and lower ends of the cushioning springs are respectively connected with the vehicle body frame and the chassis through the hinged seats, four cushioning springs are provided, two of the cushioning springs are arranged on the outer side of the vehicle body frame in a left-right parallel mode and extend vertically to be connected with the outer end face of the side plate, and the other two cushioning springs are arranged on the rear end of the vehicle body frame in a rotating mode and extend obliquely towards the rear lower side to be connected with the rear connecting plate.
5. The electric wheel chassis with four wheels drive according to claim 1, characterized in that: the left end and the right end of the front connecting rod are connected with the two side plates through the connecting block, the front end of the vehicle body frame is fixedly connected with a U-shaped rod extending obliquely downwards, the opening of the U-shaped rod faces upwards, the lower end of the U-shaped rod is supported and fixed through a supporting plate in an L shape, and the horizontal section of the supporting plate is fixedly connected onto the front connecting rod.
6. The electric wheel chassis with four wheels drive according to claim 1, characterized in that: the front connecting rod is hinged with a pedal.
7. The electric wheel chassis with four wheels drive according to claim 1, characterized in that: the rubber wheel is used as a driving wheel and is driven by combining with the omnidirectional wheel used as a steering wheel.
8. An operating method of a chassis with four-wheel drive electric wheels, which is characterized in that the chassis with four-wheel drive electric wheels as claimed in any one of claims 1 to 7 is adopted and is carried out according to the following steps: the working and running modes comprise the following modes: (1) when the vehicle moves forwards in a straight line: the left and right driving motors simultaneously rotate forwards to drive the rear belt pulley to synchronously drive the front belt pulley to rotate together, so as to drive the omnidirectional wheel to rotate and walk to realize forward and straight movement; (2) when the vehicle is moving backwards in a straight line: the left and right driving motors simultaneously rotate reversely to drive the rear belt pulley to drive the front belt pulley to rotate together through the synchronous belt, and further drive the omnidirectional wheel to rotate and walk to realize backward and straight movement; (3) when walking in the left direction: the left driving motor slows down the rotating speed or stops rotating, but the right driving motor operates at normal speed per hour or in an accelerated state to drive the rear belt pulley to drive the front belt pulley to rotate together through the synchronous belt, so as to drive the right omnidirectional wheel to rotate to realize walking, and at the moment, the rotating speed of the right rubber wheel and the omnidirectional wheel is greater than that of the left side, so that the left-side rotating driving action can be realized; (4) when walking to the right direction: the right driving motor slows down the rotating speed or stops rotating, but the left driving motor operates at normal speed per hour or in an accelerated state to drive the rear belt pulley to drive the front belt pulley to rotate together through the synchronous belt, so as to drive the left omnidirectional wheel to rotate to realize walking, and at the moment, the rotating speed of the left rubber wheel and the omnidirectional wheel is greater than that of the right rubber wheel and the omnidirectional wheel, so that the right rubber wheel and the omnidirectional wheel can rotate to run rightwards; (5) rotating to left in-situ center: the left side driving motor rotates reversely, the right side driving motor rotates positively and operates at the same speed state, and therefore 360-degree rotation driving movement towards the left original place center can be achieved; (6) when rotating to right pivot center: the left driving motor rotates forwards, the right driving motor rotates backwards, and the left driving motor operates at the same speed, so that the left pivot center can rotate by 360 degrees to run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110481325.6A CN113071587A (en) | 2021-04-30 | 2021-04-30 | Electric wheel chassis with four-wheel drive and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110481325.6A CN113071587A (en) | 2021-04-30 | 2021-04-30 | Electric wheel chassis with four-wheel drive and working method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN113071587A true CN113071587A (en) | 2021-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110481325.6A Pending CN113071587A (en) | 2021-04-30 | 2021-04-30 | Electric wheel chassis with four-wheel drive and working method thereof |
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| Country | Link |
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| CN (1) | CN113071587A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114413925A (en) * | 2022-03-03 | 2022-04-29 | 南通理工学院 | Unmanned vehicle for conveying path planning and operation method thereof |
-
2021
- 2021-04-30 CN CN202110481325.6A patent/CN113071587A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114413925A (en) * | 2022-03-03 | 2022-04-29 | 南通理工学院 | Unmanned vehicle for conveying path planning and operation method thereof |
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