CN113427995B - Omnidirectional movement intelligence vehicle chassis structure - Google Patents
Omnidirectional movement intelligence vehicle chassis structure Download PDFInfo
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- CN113427995B CN113427995B CN202110699653.3A CN202110699653A CN113427995B CN 113427995 B CN113427995 B CN 113427995B CN 202110699653 A CN202110699653 A CN 202110699653A CN 113427995 B CN113427995 B CN 113427995B
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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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
- B62D7/026—Steering linkage; Stub axles or their mountings for pivoted bogies characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides an omnidirectional mobile intelligent vehicle chassis structure, which comprises: a frame; the wheel carrier mounting flange is rotationally connected to the frame and uniformly distributed below the frame; the wheel hub motor is connected to the wheel carrier mounting flange, and a tire is sleeved on the wheel hub motor; and the steering transmission assembly is connected with the frame, and is in transmission connection with the wheel carrier mounting flange, so that the wheel carrier mounting flange drives the hub motor to steer. The outside cover of wheel hub motor is equipped with the tire, can walk on complicated topography when wheel hub motor drives the tire rotation, and is lower to the flat degree requirement on ground. The rolling friction force of the tire to the ground is small, and the control and the positioning are simple when the tire is used. The steering transmission assembly is in transmission connection with the wheel carrier mounting flange, can drive the wheel carrier mounting flange and the hub motor to rotate in all directions, and is simple in structure and easy to realize accurate control.
Description
Technical Field
The invention relates to the technical field of intelligent vehicle structures, in particular to an omnidirectional mobile intelligent vehicle chassis structure.
Background
With the development of society, China faces social problems of increased labor cost, difficulty in recruitment, aggravation of aging population and the like, and the artificial intelligence technology becomes a research hotspot at home and abroad increasingly. With the progress of technologies such as remote control, accurate navigation, laser SLAM (Simultaneous Localization and Mapping), the intelligent unmanned vehicle has wide application prospects in the aspects of logistics, industry inspection, takeaway distribution, field operation and the like.
In the related art, a driving mechanism of a part of the intelligent vehicle includes a driving motor and a mecanum wheel, and omnidirectional movement is realized through the mecanum wheel. Each wheel of the mecanum wheel needs a separate power system, the bearings at the two ends of the roller need to have enough strength to support the load, and the structural complexity of the mecanum wheel is far higher than that of a common wheel. Mecanum wheels have high requirements on the smoothness of the road surface and are difficult to adapt to outdoor complex terrains. When the omnidirectional wheel is adopted to realize omnidirectional movement of the chassis, the structure is more complex than that of a common wheel, the maintenance is difficult, and the omnidirectional wheel is only suitable for flat ground. Meanwhile, the omnidirectional wheel has sliding friction during working, the friction loss is large, and the accurate position of the omnidirectional wheel is difficult to judge through the encoder.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an omnidirectional mobile intelligent vehicle chassis structure, wheels are driven by a hub motor, tires are sleeved on the outer side of the hub motor, the omnidirectional mobile intelligent vehicle chassis structure can walk on complicated and rugged ground, the friction force between the tires and the ground is small, and the omnidirectional mobile intelligent vehicle chassis structure is convenient to control and position when in use.
The embodiment of the invention provides an omnidirectional mobile intelligent vehicle chassis structure, which comprises:
a frame;
the wheel carrier mounting flange is rotationally connected to the frame and uniformly distributed below the frame;
the wheel hub motor is connected to the wheel carrier mounting flange, and a tire is sleeved on the wheel hub motor;
and the steering transmission assembly is connected to the frame and is in transmission connection with the wheel carrier mounting flange, so that the wheel carrier mounting flange drives the hub motor to steer.
According to one embodiment of the invention, a vibration reduction assembly is arranged between the hub motor and the wheel carrier mounting flange.
According to one embodiment of the invention, a brake electric push rod is arranged on the wheel carrier mounting flange, a disc brake is arranged on the hub motor, and the brake electric push rod is connected to the disc brake.
According to one embodiment of the invention, the frame comprises an upper frame plate, a lower frame plate and a vertical supporting plate, wherein the upper frame plate and the lower frame plate are arranged in parallel;
a support cylinder is arranged at one end, far away from the hub motor, of the wheel carrier mounting flange, and the support cylinder is connected to the upper frame plate and the lower frame plate through bearings respectively;
the steering transmission assembly is arranged on the lower plate of the frame and is in transmission connection with the support cylinder.
According to one embodiment of the invention, the steering transmission assembly comprises a driving device mounted on the lower frame plate, a direction adjusting mechanism connected to the driving device, a first rack mounting plate, a second rack mounting plate and a gear arranged on the support cylinder;
the number of the supporting columns is four, and the supporting columns are distributed at four angular points of the frame;
the first rack mounting plate and the second rack mounting plate are arranged in parallel, racks are arranged on the side faces, far away from each other or close to each other, of the first rack mounting plate and the second rack mounting plate, and the racks are in transmission connection with the two supporting cylinders on the same side;
the direction adjusting mechanism comprises a first end and a second end which move in a synchronous reverse direction, the first rack mounting plate is connected to the first end, and the second rack mounting plate is connected to the second end.
According to one embodiment of the invention, the direction adjusting mechanism comprises four connecting rods with the same length, the four connecting rods are connected end to end through revolute pairs to form a rhombic adjusting piece, and the rhombic adjusting piece comprises a first connecting end and a second connecting end which are oppositely arranged and movable connecting ends which are symmetrically arranged at two sides of the first connecting end and the second connecting end;
the frame lower plate is provided with a first sliding assembly perpendicular to the first rack mounting plate, and the movable connecting end is connected to the first sliding assembly.
According to an embodiment of the invention, a second sliding assembly perpendicular to the first sliding assembly is arranged on the frame lower plate, and the first connecting end and the second connecting end are respectively connected to the second sliding assembly.
According to one embodiment of the invention, the connecting rods are connected with each other through graphite copper sleeves.
According to one embodiment of the invention, a third sliding assembly is arranged between the first rack mounting plate and the vehicle frame and between the second rack mounting plate and the vehicle frame.
According to one embodiment of the present invention, the first rack mounting plate is connected to the direction adjustment mechanism by a first frame, and the second rack mounting plate is connected to the direction adjustment mechanism by a second frame.
One or more technical solutions in the present invention have at least one of the following technical effects:
the omnidirectional mobile intelligent vehicle chassis structure comprises a vehicle frame, a wheel carrier mounting flange, a wheel hub motor and a steering transmission assembly. The wheel carrier mounting flange is rotationally connected to the lower portion of the frame, the wheel carrier mounting flange is connected with the wheel hub motors, and the number of the wheel carrier mounting flange and the number of the wheel hub motors are multiple, so that balance and stability of the frame can be kept. The outside cover of wheel hub motor is equipped with the tire, can walk on complicated topography when wheel hub motor drives the tire rotation, and is lower to the flat degree requirement on ground. The rolling friction force of the tire to the ground is small, and the control and the positioning are simple when the tire is used. The steering transmission assembly is in transmission connection with the wheel carrier mounting flange, can drive the wheel carrier mounting flange and the hub motor to rotate in all directions, and is simple in structure and easy to realize accurate control.
Drawings
Fig. 1 is a first schematic structural diagram of a chassis structure of an omnidirectional mobile intelligent vehicle provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a chassis structure of an omnidirectional mobile intelligent vehicle according to an embodiment of the present invention.
Reference numerals:
1. a frame; 11. a frame upper plate; 12. a frame lower plate; 13. supporting the vertical plate; 14. a first slide assembly; 15. a second slide assembly; 16. a third sliding assembly; 2. a wheel carrier mounting flange; 21. a support cylinder; 22. a bearing; 3. a hub motor; 31. a tire; 4. a steering transmission mechanism; 41. a drive device; 42. a direction adjustment mechanism; 43. a first rack mounting plate; 44. a second rack mounting plate; 45. a gear; 46. a first frame; 47. a second frame; 430. a rack; 5. a vibration reduction assembly; 6. a brake electric push rod; 7. a graphite copper sleeve.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the related art, a driving mechanism of a part of the intelligent vehicle includes a driving motor and a mecanum wheel, and omnidirectional movement is realized through the mecanum wheel. Each wheel of the mecanum wheel needs a separate power system, bearings at both ends of the roller need to have enough strength to support the load, and the structural complexity is far higher than that of a common wheel. Mecanum wheels have high requirements on the smoothness of the road surface and are difficult to adapt to outdoor complex terrains. Or the omnidirectional wheels are adopted to realize the omnidirectional movement of the chassis, but the omnidirectional wheels have more complex structures than the common wheels, are difficult to maintain and are only suitable for flat ground. Meanwhile, sliding friction exists when the omnidirectional wheel works, friction loss is large, and the accurate position of the omnidirectional wheel is difficult to judge through an encoder.
Referring to fig. 1 to 2, the omnidirectional mobile intelligent vehicle chassis structure provided by the embodiment of the invention includes a vehicle frame 1, a wheel carrier mounting flange 2, a hub motor 3 and a steering transmission assembly 4.
The frame 1 can bear a certain load and maintain the position relationship between the driving part and the transmission part.
In one embodiment, the frame 1 is made of metal plates, and all parts of the frame 1 are welded or connected through metal pipes in a threaded mode, so that the frame has good rigidity and strength.
In another embodiment, the frame 1 is made of carbon fiber plates, and all parts of the frame 1 are spliced through carbon fiber tubes.
The frame 1 can be designed into any style, and is mostly designed into a rectangular structure, a circular structure or other regular and symmetrical polygonal structures when in use.
The wheel carrier mounting flange 2 is arranged below the frame 1 and is rotatably connected to the frame 1.
The cover is equipped with tire 31 on wheel hub motor 3, and when wheel hub motor 3 drove tire 31 and rotated, can walk on complicated topography, and the flat degree requirement on ground is lower. The rolling friction of the tire 31 against the ground is low, and the tire is convenient to control and position during use.
The hub motor 3 is connected to the wheel carrier mounting flange 2 and can drive the frame 1 to walk.
It should be noted that, a plurality of wheel carrier mounting flanges 2 are mounted on the frame 1, and the wheel carrier mounting flanges 2 are uniformly distributed below the frame 1 for maintaining the balance and stability of the frame 1.
The steering transmission component 4 is arranged in the frame 1 and is in transmission connection with the wheel carrier mounting flange 2.
When the steering transmission assembly is used, the steering transmission assembly 4 moves to drive the wheel carrier mounting flanges 2 to synchronously steer, and further drive the hub motor 3 and the tire 31 to steer.
The angle of the wheel carrier mounting flange 2 is accurately adjusted through the steering transmission assembly 4, and the moving direction of the intelligent vehicle can be controlled.
The wheel carrier mounting flange 2 is rotatably connected to the frame 1, can rotate 360 degrees along the frame 1, and is suitable for omni-directional steering adjustment.
The wheel hub motor 3 drives the tire 31 to move, the requirement of the tire 31 on the flatness of the ground is low, the wheel hub motor is suitable for complex and rugged terrains, the practicability is high, and the trafficability characteristic is good.
Rolling friction is mainly formed between the tire 31 and the ground, sliding friction is small, and control and positioning of the intelligent vehicle are facilitated. Meanwhile, the tire 31 has less wear to the ground, and is favorable for being popularized to the commercial or civil field.
According to the omnidirectional mobile intelligent vehicle chassis structure provided by the embodiment of the invention, the vehicle frame 1 is also provided with electronic components such as a storage battery, a sensor, a control circuit and the like. When the automobile frame is used, the vibration of the frame 1 needs to be reduced, and damage to electronic components or goods loaded on the frame 1 is avoided.
According to one embodiment of the invention, a damping assembly 5 is arranged between the hub motor 3 and the wheel carrier mounting flange 2. Vibration damping module 5 may eliminate or reduce vibrations from tire 31 and avoid damage to electronic components within frame 1 or cargo on frame 1.
In one embodiment, the damping assembly 5 includes a damping spring, a post, a nut, and a washer. The two ends of the damping spring are respectively connected to the hub motor 3 and the wheel carrier mounting flange 2, and the damping effect of the damping spring is utilized to play a role in damping.
In order to improve the vibration reduction effect, the number of the vibration reduction springs can be multiple, and the vibration reduction effect of the chassis structure is prevented from being reduced after a single vibration reduction spring is loosened.
In another embodiment, the damping assembly 5 comprises a cylinder and a piston inserted in the cylinder, the damping being achieved by means of compressed gas.
In order to control the displacement and position of the chassis structure, the omnidirectional mobile intelligent vehicle chassis structure provided by the embodiment of the invention needs to accurately control the rotation of the hub motor 3 and the tire 31 and also needs to control the braking of the hub motor 3.
According to one embodiment of the invention, the wheel carrier mounting flange 2 is provided with a brake electric push rod 6, the hub motor 3 is provided with a disc brake, and the brake electric push rod 6 is connected with the disc brake.
When the electric brake is used, the driving end of the electric brake push rod 6 is controlled by a circuit to extend out, the driving end pulls the disc brake tightly through a brake cable, and then the in-wheel motor 3 and the tire 31 are controlled to stop at a reduced speed. The brake assembly is beneficial to keeping the chassis structure balanced and stable on inclined or complex terrains, and is also beneficial to protecting the safety of intelligent vehicles or pedestrians.
According to the omnidirectional mobile intelligent vehicle chassis structure provided by the embodiment of the invention, the vehicle frame 1 can bear certain load, and the position relation between each driving part and each transmission part can be maintained.
According to one embodiment of the invention, the frame 1 comprises an upper frame plate 11 and a lower frame plate 12 which are arranged in parallel, and the upper frame plate 11 and the lower frame plate 12 are connected through a supporting vertical plate 13.
When in use, a certain space is formed between the frame upper plate 11 and the frame lower plate 12 and is used for mounting various electronic components and the steering transmission assembly 4. The vertical supporting plate 13 is used to connect the upper frame plate 11 and the lower frame plate 12, so that the upper frame plate 11 and the lower frame plate 12 maintain a fixed distance.
The end of the wheel carrier mounting flange 2 away from the hub motor 3 is provided with a support cylinder 21, and the support cylinder 21 is connected to the upper frame plate 11 and the lower frame plate 12 through a bearing 22. The two bearings 22 are used for fixing one supporting cylinder 21, so that the stability of the supporting cylinder 21 during rotation is improved, and the stability of the hub motor 3 during steering is ensured.
The steering transmission assembly 4 is arranged on the lower frame plate 12 and is in transmission connection with the support cylinder 21, so that the rotation direction and the angle of the support cylinder 21 can be accurately controlled.
In one embodiment, the bearing 22 is a cross roller bearing. The cross roller bearing includes a divided inner ring or outer ring, which is fixed with the cross roller collar after the rollers and the space holder are installed to prevent the cross roller collar from being separated from each other, so that the operation of installing the cross roller collar is simple. Because the rollers are arranged in a crossed manner, the load in all directions can be borne by only one set of crossed roller collar, and the rigidity is improved compared with the traditional model. Meanwhile, since the inner race or the outer race of the cross roller bearing has a two-split structure, the bearing clearance can be adjusted, and even if a preload is applied, a high-precision rotational movement can be obtained.
According to the omnidirectional mobile intelligent vehicle chassis structure provided by the embodiment of the invention, the steering transmission assembly 4 is in transmission connection with the supporting cylinder 21, so that the rotating direction and the angle of the supporting cylinder 21 can be accurately controlled.
According to one embodiment of the present invention, the steering transmission assembly 4 includes a driving device 41, a direction adjustment mechanism 42, a first rack mounting plate 43, a second rack mounting plate 44, and a gear 45.
The driving device 41 is mounted on the frame lower plate 12, and the driving device 41 includes a fixed end mounted on the frame lower plate 12 and a driving end linearly reciprocating along the fixed end.
In one embodiment, the driving device 41 is an electric cylinder.
In another embodiment, the driving device 41 is a linear motor or a combination of a motor and a ball screw.
Four supporting columns 21 are connected to the frame 1, and the supporting columns 21 are arranged at four corner positions of the frame 1 and are arranged in a rectangular shape.
The first rack mounting plate 43 and the second rack mounting plate 44 are arranged in parallel, the first rack mounting plate 43 is close to the two supporting cylinders 21 arranged on the same side, the second rack mounting plate 44 is close to the two supporting cylinders 21 arranged on the other side, and the supporting cylinders 21 are provided with gears 45.
When the first rack mounting plate 43 and the second rack mounting plate 44 are disposed in parallel outside the support cylinder 21, the side surfaces of the first rack mounting plate 43 and the second rack mounting plate 44 that are close to each other are provided with racks 430.
When the first rack mounting plate 43 and the second rack mounting plate 44 are disposed in parallel inside the support cylinder 21, the side surfaces of the first rack mounting plate 43 and the second rack mounting plate 44 away from each other are provided with racks 430.
The rack 430 is meshed with the gear 45, and when the first rack mounting plate 43 and the second rack mounting plate 44 move, the support cylinder 21 can be driven to rotate, so that the chassis structure is driven to turn.
The direction adjustment mechanism 42 includes first and second ends that move in opposite directions in unison, with a first rack mounting plate 43 attached to the first end and a second rack mounting plate 44 attached to the second end.
The driving device 41 is connected to the direction adjustment mechanism 42, and can control the first end and the second end to move closer to or away from each other synchronously.
When the direction adjusting mechanism 42 is used, the driving end of the driving device 41 extends out, the first end of the direction adjusting mechanism 42 drives the first rack mounting plate 43 to move towards the first direction, and the second end of the direction adjusting mechanism 42 drives the second rack mounting plate 44 to move towards the opposite direction of the first direction. Since the racks 430 are disposed on different sides, the support cylinders 21 rotate in the same direction, thereby driving the four tires 31 to turn synchronously.
In one embodiment, the direction adjustment mechanism 42 includes four connecting rods with the same length, and the four connecting rods are connected end to end through revolute pairs to form a diamond-shaped adjustment member. The rhombic adjusting piece comprises a first connecting end, a second connecting end and movable connecting ends, wherein the first connecting end and the second connecting end are oppositely arranged, and the movable connecting ends are symmetrically arranged on two sides of the first connecting end and the second connecting end.
The first end is a first end of the direction adjustment mechanism 42, and the second end is a second end of the direction adjustment mechanism 42.
The frame lower plate 12 is provided with a first sliding assembly 14, and the first sliding assembly 14 is arranged perpendicular to the first rack mounting plate 43.
The articulating end is attached to the first slider assembly 14 and is movable in a direction perpendicular to the first rack mounting plate 43.
When the driving device 41 is extended, the two movable connecting ends of the diamond-shaped adjusting piece are far away from the first sliding component 14, and the first connecting end and the second connecting end are close to each other, so that the first rack mounting plate 43 and the second rack mounting plate 44 are driven to move in a reverse parallel manner, and the four tires 31 synchronously rotate in the same direction.
In one embodiment, in order to stabilize the first and second connection ends during the process of moving toward or away from each other, the lower frame plate 12 is further provided with a second sliding assembly 15.
The second sliding component 15 is arranged perpendicular to the first sliding component 14, the first sliding component 14 and the second sliding component 15 form a cross-shaped sliding structure, and the cross-shaped sliding structure corresponds to the four connecting ends of the diamond-shaped adjusting piece.
In use, the first and second connection ends are moved toward or away from each other along the second slider assembly 15, and the two movable connection ends are moved away from or toward each other along the first slider assembly 14.
In one embodiment, first slide assembly 14 and second slide assembly 15 each include a runner and a slider. The spout sets up on frame hypoplastron 12, and the slider is connected in the spout, and the link is connected with a slider respectively.
In another embodiment, each of the first slider assembly 14 and the second slider assembly 15 comprises a sliding rod and a sleeve, the sleeve is arranged outside the sliding rod, and the connecting ends are respectively connected with one sleeve.
According to the omnidirectional mobile intelligent vehicle chassis structure provided by the embodiment of the invention, the diamond-shaped adjusting piece is formed by rotationally connecting four connecting rods end to end. When the chassis structure of the intelligent vehicle moves, the direction of the tires 31 is adjusted frequently, so that the connecting rods need to be ensured to have good lubricating performance, and the resistance during movement is reduced.
According to one embodiment of the invention, the connecting rods are connected by a graphite copper sleeve 7, and the graphite copper sleeve 7 is provided with a hole on the working surface, and the hole is filled with a solid lubricant. High strength copper alloys provide high load bearing capacity, while solid lubricants provide low friction side effects.
According to the omnidirectional mobile intelligent vehicle chassis structure provided by the embodiment of the invention, the first rack mounting plate 43 and the second rack mounting plate 44 move in an opposite parallel manner, so that the supporting cylinders 21 can synchronously rotate in the same direction.
According to one embodiment of the present invention, a third slide assembly 16 is disposed between the first rack mounting plate 43 and the vehicle frame 1 and between the second rack mounting plate 44 and the vehicle frame 1.
In use, the first rack mounting plate 43 and the second rack mounting plate 44 are driven by the direction adjustment mechanism 42 to move in opposite directions. The third sliding assembly 16 can increase the stability of the first rack mounting plate 43 and the second rack mounting plate 44 during movement, thereby ensuring the accuracy of the rotation of the support cylinder 21.
In one embodiment, the third sliding assembly 16 includes a sliding rail disposed on the lower frame plate 12 and a sliding table slidably connected to the sliding rail, and the first rack mounting plate 43 or the second rack mounting plate 44 is connected to the sliding table and can stably move along the sliding rail.
In one embodiment, a plurality of sliding tables are connected to the sliding rail, and the first rack mounting plate 43 or the second rack mounting plate 44 is connected to the plurality of sliding tables at the same time, so that the stability during movement is improved.
In the omnidirectional mobile intelligent vehicle chassis structure provided by the embodiment of the invention, the driving device 41 is connected to the direction adjusting mechanism 42, the first rack mounting plate 43 is connected to the first end of the direction adjusting mechanism 42, and the second rack mounting plate 44 is connected to the second end of the direction adjusting mechanism 42.
In use, there is a space between the first rack mounting plate 43 and the first end and a space between the second rack mounting plate 44 and the second end. When the single rod member is used to connect the first rack mounting plate 43 and the first end or the single rod member is used to connect the second rack mounting plate 44 and the second end, the single rod member has a weak supporting effect on the rack mounting plate, and the rod member or the rack mounting plate is easily bent and deformed under the external force, which may affect the rotation accuracy of the support cylinder 21.
According to one embodiment of the present invention, the first rack mounting plate 43 and the direction adjustment mechanism 42 are connected by a first frame 46, and the second rack mounting plate 44 and the direction adjustment mechanism 42 are connected by a second frame 47.
When the direction adjusting mechanism is used, the driving force of the direction adjusting mechanism 42 can be uniformly transmitted to the rack mounting plate through the first frame 46 and the second frame 47, the rack mounting plate is prevented from being deformed under the action of external force, and the rotation precision of the supporting cylinder 21 is improved.
In one embodiment, the first frame 46 and the second frame 47 are both triangular frames, which have high stability and simple structure.
In summary, the omnidirectional mobile intelligent vehicle chassis structure provided by the embodiment of the invention comprises a vehicle frame, a wheel carrier mounting flange, a hub motor and a steering transmission assembly. The wheel carrier mounting flange is rotationally connected to the lower portion of the frame, the wheel carrier mounting flange is connected with the wheel hub motors, the number of the wheel carrier mounting flange and the number of the wheel hub motors are multiple, and balance and stability of the frame can be kept. The outside cover of wheel hub motor is equipped with the tire, can walk on complicated topography when wheel hub motor drives the tire rotation, and is lower to the flat degree requirement on ground. The rolling friction force of the tire to the ground is small, and the control and the positioning are simple when the tire is used. The steering transmission assembly is in transmission connection with the wheel carrier mounting flange, can drive the wheel carrier mounting flange and the hub motor to rotate in all directions, and is simple in structure and easy to realize accurate control.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The utility model provides an omnidirectional movement intelligent vehicle chassis structure which characterized in that includes:
the frame comprises an upper frame plate, a lower frame plate and a supporting vertical plate, wherein the upper frame plate and the lower frame plate are arranged in parallel;
the wheel carrier mounting flange is rotationally connected to the frame and uniformly distributed below the frame;
the wheel hub motor is connected to the wheel carrier mounting flange, and a tire is sleeved on the wheel hub motor;
the steering transmission assembly is connected to the frame, is in transmission connection with the wheel carrier mounting flange and is suitable for enabling the wheel carrier mounting flange to drive the hub motor to steer;
a support cylinder is arranged at one end, far away from the hub motor, of the wheel carrier mounting flange, and the support cylinder is connected to the upper frame plate and the lower frame plate through bearings respectively;
the steering transmission assembly is arranged on the lower plate of the frame and is in transmission connection with the support cylinder;
the steering transmission assembly comprises a driving device arranged on the lower plate of the frame, a direction adjusting mechanism connected to the driving device, a first rack mounting plate, a second rack mounting plate and a gear arranged on the supporting cylinder;
the number of the supporting columns is four, and the supporting columns are distributed at four angular points of the frame;
the first rack mounting plate and the second rack mounting plate are arranged in parallel, racks are arranged on the side faces, far away from each other or close to each other, of the first rack mounting plate and the second rack mounting plate, and the racks are in transmission connection with the two supporting cylinders on the same side;
the direction adjusting mechanism comprises a first end and a second end which move in a synchronous reverse direction, the first rack mounting plate is connected to the first end, and the second rack mounting plate is connected to the second end.
2. The omni-directional mobile smart vehicle chassis structure according to claim 1, wherein a vibration reduction assembly is provided between the hub motor and the wheel carrier mounting flange.
3. The omni-directional mobile intelligent vehicle chassis structure according to claim 1, wherein a brake electric push rod is arranged on the wheel carrier mounting flange, a disc brake is arranged on the hub motor, and the brake electric push rod is connected to the disc brake.
4. The omnidirectional moving intelligent vehicle chassis structure according to claim 1, wherein the direction adjusting mechanism comprises four connecting rods with the same length, the four connecting rods are connected end to end through revolute pairs to form a rhombic adjusting piece, and the rhombic adjusting piece comprises a first connecting end and a second connecting end which are oppositely arranged and movable connecting ends which are symmetrically arranged at two sides of the first connecting end and the second connecting end;
the frame lower plate is provided with a first sliding assembly perpendicular to the first rack mounting plate, and the movable connecting end is connected to the first sliding assembly.
5. The omnidirectional mobile intelligent vehicle chassis structure according to claim 4, wherein a second sliding assembly perpendicular to the first sliding assembly is disposed on the vehicle frame lower plate, and the first connection end and the second connection end are respectively connected to the second sliding assembly.
6. The omni-directional mobile intelligent vehicle chassis structure according to claim 4, wherein the connecting rods are connected through a graphite copper sleeve.
7. The omni-directional mobile intelligent vehicle chassis structure according to claim 1, wherein third sliding assemblies are arranged between the first rack mounting plate and the vehicle frame and between the second rack mounting plate and the vehicle frame.
8. The omni-directional mobile intelligent vehicle chassis structure according to claim 1, wherein the first rack mounting plate is connected with the direction adjusting mechanism through a first frame, and the second rack mounting plate is connected with the direction adjusting mechanism through a second frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110699653.3A CN113427995B (en) | 2021-06-23 | 2021-06-23 | Omnidirectional movement intelligence vehicle chassis structure |
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| JP3018159B2 (en) * | 1997-01-21 | 2000-03-13 | キムラユニティー株式会社 | Steering changeover trolley |
| CN106926686B (en) * | 2017-04-20 | 2023-04-28 | 科大智能电气技术有限公司 | Four-wheel eight-wheel-drive robot chassis mechanism |
| CN107933687B (en) * | 2017-12-06 | 2023-07-28 | 西南交通大学 | All-round steering system of pipe gallery inspection trolley based on in-wheel motor |
| CN209441472U (en) * | 2018-03-12 | 2019-09-27 | 深圳煜禾森科技有限公司 | A kind of four-wheel omnidirectional intelligent robot chassis |
| CN210039199U (en) * | 2019-05-22 | 2020-02-07 | 乐山师范学院 | Middle school student's intelligent car real standard place platform |
| CN210011794U (en) * | 2019-06-06 | 2020-02-04 | 壹族（厦门）科技有限公司 | Steering vehicle with good maneuverability |
| CN210850319U (en) * | 2019-10-16 | 2020-06-26 | 南京机电职业技术学院 | Novel multi-degree-of-freedom vacuum chuck manipulator |
| CN211442467U (en) * | 2020-01-20 | 2020-09-08 | 王永生 | Wheel hub motor type universal vehicle |
| CN112026910A (en) * | 2020-08-12 | 2020-12-04 | 上海龙创汽车设计股份有限公司 | Wire-controlled chassis platform applied to unmanned full-freedom steering |
| CN112208675A (en) * | 2020-08-31 | 2021-01-12 | 深圳市优必选科技股份有限公司 | Omnidirectional movement robot |
| CN112407086B (en) * | 2020-11-04 | 2022-04-26 | 广东博智林机器人有限公司 | Mobile device and robot |
| CN112937684A (en) * | 2021-04-16 | 2021-06-11 | 段贤斌 | Electric automobile chassis system |
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