CN113459745A - Four-wheel independent suspension trolley - Google Patents
Four-wheel independent suspension trolley Download PDFInfo
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- CN113459745A CN113459745A CN202110931939.XA CN202110931939A CN113459745A CN 113459745 A CN113459745 A CN 113459745A CN 202110931939 A CN202110931939 A CN 202110931939A CN 113459745 A CN113459745 A CN 113459745A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
- B60G11/27—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs wherein the fluid is a gas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
- B60G11/28—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
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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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
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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
- B62D5/0418—Electric motor acting on road wheel carriers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a four-wheel independent suspension trolley, which relates to the technical field of trolleys and comprises a trolley chassis and four independent driving wheel assemblies; the chassis is provided with a front mounting seat and a rear mounting seat; each independent driving wheel assembly comprises a rocker arm suspension module, a steering module with independent drive and a walking wheel module with independent drive; the rocker arm suspension module is used for suspending the steering module and the travelling wheel module; the steering module is used for changing the walking direction of the walking wheel module; the rocker arm suspension modules of the two independent driving wheel assemblies are installed on the left side and the right side of the front installation seat in a left-right mode, and the rocker arm suspension modules of the two independent driving wheel assemblies are installed on the two sides of the rear installation seat in a left-right mode. Through controlling the driving state of each independent driving wheel assembly, various automobile driving modes such as straight driving, in-situ 360-degree rotation, translation lane cutting and turning can be realized, the steering flexibility is good, the driving is more convenient and flexible, and the driving in complex and narrow terrains is facilitated.
Description
Technical Field
The invention relates to the technical field of trolleys, in particular to a four-wheel independent suspension trolley.
Background
The wheel assembly of the existing trolley is generally composed of tires and wheels, and the driving mechanism and the transmission mechanism on the chassis of the trolley are utilized to drive the wheel assembly to realize the walking of the trolley. However, the wheel assembly has a simple structure and low integration level, so that the chassis of the vehicle needs to be designed with a complex mounting structure for mounting the driving mechanism and the transmission mechanism, which is not beneficial to the production of the trolley. In addition, the driving performance of the wheel assembly with a simple structure is poor, various driving modes of the trolley cannot be realized, the driving mode of the trolley is single, a large space is needed for steering, steering and turning operations in a narrow space are difficult to perform, and the trolley is not favorable for driving on a narrow road surface in charge.
Disclosure of Invention
The invention aims to provide a four-wheel independent suspension trolley, which aims to solve the technical problems of complex design of a chassis and single driving mode of the trolley caused by low integration level of the conventional wheel assembly.
In order to achieve the purpose, the invention adopts the following technical scheme: a four-wheel independent suspension trolley comprises a trolley chassis and four independent driving wheel assemblies; the chassis is provided with a front mounting seat and a rear mounting seat; each independent driving wheel assembly comprises a rocker arm suspension module, a steering module with independent driving and a walking wheel module with independent driving; the rocker arm suspension module is used for suspending the steering module and the travelling wheel module; the steering module is used for changing the walking direction of the walking wheel module; two the left and right sides at the front mount pad is installed to the rocking arm of independent drive wheel assembly hangs the module one left and right side, two the rocking arm of independent drive wheel assembly hangs the module one left and right side and installs the both sides at the back mount pad.
As an alternative embodiment, the rocker arm suspension module comprises a connecting base, an upper suspension swing arm and a lower suspension swing arm; the steering module comprises a fixed seat and a steering driving mechanism, a first rotating part is arranged at the top end of the fixed seat, a second rotating part is arranged at the bottom end of the fixed seat, the first rotating part and the second rotating part can rotate relative to the fixed seat respectively, and the rotating shaft of the first rotating part and the rotating shaft of the second rotating part are on the same vertical line; one end of the upper suspension swing arm is hinged with the connecting base, and the other end of the upper suspension swing arm is hinged with the first rotating part; one end of the lower suspension swing arm is hinged with the connecting base, and the other end of the lower suspension swing arm is hinged with the second rotating part; the upper suspension swing arm and the lower suspension swing arm respectively swing up and down relative to the connecting base; the steering driving mechanism is arranged on the lower suspension swing arm and used for driving the fixed seat to rotate around a vertical line where the rotating shaft of the first rotating part and the rotating shaft of the second rotating part are located; the walking wheel module is installed on the fixed seat.
As an optional implementation manner, the steering driving mechanism comprises a first motor module, an output flange and a steering pull rod, wherein a connecting part is arranged on the periphery of the output flange; the first motor module is fixedly connected with the lower suspension swing arm, the output flange is in transmission connection with the output end of the first motor module, and the first motor module is used for driving the output flange to horizontally rotate; one end of the steering pull rod is hinged to the connecting portion, and the other end of the steering pull rod is hinged to the fixing seat.
As an optional implementation manner, the dual-rocker suspension module further includes a suspension spring, one end of the suspension spring is connected to the connection base, and the other end of the suspension spring is connected to the lower suspension swing arm.
As an optional implementation manner, the connection base is provided with a connection surface, and the front mounting seat and the rear mounting seat are respectively provided with a mounting surface matched with the connection surface.
As an optional implementation mode, the front installation seat and the rear installation seat respectively comprise a connecting transverse plate and two installation vertical plates, the two installation vertical plates are vertically arranged on the top end face of the chassis from left to right, and two sides of the connecting transverse plate are fixedly connected with the installation vertical plates on the same side.
As an optional implementation mode, the walking wheel module includes second motor module and shock attenuation tire, the second motor module with fixing base fixed connection, the shock attenuation tire with the output fixed connection of second motor module, the second motor module is used for the drive the shock attenuation tire rotates.
As an optional implementation mode, the connecting base is provided with a threading hole, and the threading hole is used for enabling a line to penetrate through the connecting base to be electrically connected with the steering module and the walking wheel module.
As an optional implementation mode, a wirelessly rechargeable battery is arranged at the rear end of the chassis, and the battery is electrically connected with the four independent driving wheel assemblies respectively and used for providing power for the independent driving wheel assemblies.
As an optional implementation mode, the front end of the vehicle underframe is provided with a detachable anti-collision beam.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, the rocker arm suspension module, the steering module with independent drive and the travelling wheel module with independent drive are integrated into the independent drive wheel assembly, so that the independent drive wheel assembly is favorable for being quickly installed on the front installation seat and the rear installation seat of the vehicle chassis, the integration level is high, the structure of the vehicle chassis is favorable for being simplified, and a complicated transmission structure does not need to be designed on the vehicle chassis.
It is worth explaining that the four-wheel independent suspension trolley provided by the invention adopts four independent driving wheel assemblies to drive and run, and each independent driving wheel assembly respectively comprises a steering module with independent driving and a walking wheel module with independent driving, so that various automobile running modes such as straight running, in-situ 360-degree rotation, translational lane cutting, turning and the like can be realized by controlling the running state of each independent driving wheel assembly, the four-wheel independent suspension trolley has good steering flexibility, is more convenient and flexible to run, and is beneficial to running in complex and narrow terrains.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of the present invention;
FIG. 2 is a schematic structural view of an independently driven wheel assembly in accordance with one embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a steering module according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a swing arm suspension module according to one embodiment of the present invention;
FIG. 5 is a schematic illustration of an in-situ 360 rotation of one embodiment of the present invention;
FIG. 6 is a schematic view of a translating cut of one embodiment of the present invention;
FIG. 7 is a schematic view of a turn of one embodiment of the present invention;
in the drawings: 100-a vehicle chassis, 110-a front mounting seat, 120-a rear mounting seat, 130-a mounting surface, 140-a battery, 150-an anti-collision beam, 160-a connecting transverse plate, 170-a mounting vertical plate, 200-an independent driving wheel assembly, 210-a rocker arm suspension module, 211-a connecting base, 2111-a connecting surface, 2112-a threading hole and 212-an upper suspension swing arm, 213-lower suspension swing arm, 214-shock absorbing spring, 220-steering module, 221-steering driving mechanism, 2211-first motor module, 2212-output flange, 2213-connecting part, 2214-steering pull rod, 222-fixed seat, 2221-first rotating part, 2222-second rotating part, 230-road wheel module, 231-second motor module and 232-shock absorbing tire.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "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 used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
Referring to fig. 1 to 7, a four-wheel independent suspension trolley according to an embodiment of the present invention is described, which includes a body frame 100 and four independent driving wheel assemblies 200; the vehicle chassis 100 is provided with a front mounting seat 110 and a rear mounting seat 120; each of the independent drive wheel assemblies 200 includes a swing arm suspension module 210, a steering module 220 with independent drive, and a road wheel module 230 with independent drive; the rocker arm suspension module 210 is used for suspending the steering module 220 and the road wheel module 230; the steering module 220 is used for changing the walking direction of the walking wheel module 230; the swing arm suspension modules 210 of the two independent driving wheel assemblies 200 are mounted on the left and right sides of the front mounting seat 110, and the swing arm suspension modules 210 of the two independent driving wheel assemblies 200 are mounted on the left and right sides of the rear mounting seat 120.
In the embodiment of the invention, the independent driving wheel assembly 200 integrating the rocker arm suspension module 210, the steering module 220 with independent drive and the travelling wheel module 230 with independent drive is beneficial to being quickly installed on the front installation seat 110 and the rear installation seat 120 of the vehicle chassis 100, the integration level is high, the structure of the vehicle chassis 100 is beneficial to being simplified, and a complicated transmission structure does not need to be designed on the vehicle chassis 100.
It should be noted that the four-wheel independent suspension trolley provided by the invention is driven to run by four independent driving wheel assemblies 200, each independent driving wheel assembly 200 comprises a steering module 220 with independent drive and a travelling wheel module 230 with independent drive, so that referring to fig. 5-7, by controlling the running state of each independent driving wheel assembly 200, various automobile running modes such as straight running, in-situ 360-degree rotation, translational lane cutting and turning can be realized, the four-wheel independent suspension trolley has good steering flexibility, the four-wheel independent suspension trolley is more convenient and flexible to run, and the four-wheel independent suspension trolley is beneficial to running in complex and narrow terrains.
Referring to fig. 2, as an alternative embodiment, the swing arm suspension module 210 includes a connection base 211, an upper suspension swing arm 212, and a lower suspension swing arm 213; the connection base 211 is used for fixedly connecting the front mounting seat 110 and the rear mounting seat 120. The steering module 220 comprises a fixed seat 222 and a steering driving mechanism 221, wherein a first rotating part 2221 is arranged at the top end of the fixed seat 222, a second rotating part 2222 is arranged at the bottom end of the fixed seat 222, the first rotating part 2221 and the second rotating part 2222 can rotate relative to the fixed seat 222, and the rotating shaft of the first rotating part 2221 and the rotating shaft of the second rotating part 2222 are on the same vertical line; one end of the upper suspension swing arm 212 is hinged to the connection base 211, and the other end of the upper suspension swing arm 212 is hinged to the first rotating part 2221; one end of the lower suspension swing arm 213 is hinged to the connection base 211, and the other end of the lower suspension swing arm 213 is hinged to the second rotating part 2222; the upper suspension swing arm 212 and the lower suspension swing arm 213 respectively swing up and down relative to the connection base 211; specifically, as shown in the preferred embodiment of fig. 4, the upper suspension swing arm 212 is parallel to the lower suspension swing arm 213. The steering driving mechanism 221 is mounted on the lower suspension swing arm 213, and the steering driving mechanism 221 is configured to drive the fixed seat 222 to rotate around a vertical line where the rotating shaft of the first rotating portion 2221 and the rotating shaft of the second rotating portion 2222 are located; in some embodiments, the first rotating portion 2221 and the second rotating portion 2222 may be two ends of a long rotating shaft, the long rotating shaft penetrates from the top end of the fixing base 222 to the bottom end of the fixing base 222, and the fixing base 222 rotates around the long rotating shaft. Specifically, in the preferred embodiment shown in fig. 2, the first rotating part 2221 and the second rotating part 2222 are respectively articulated shafts to ensure the inner space of the fixing base 222, so as to facilitate the fixing base 222 to mount the traveling wheel module 230. The traveling wheel module 230 is mounted on the fixing base 222. Specifically, the traveling wheel module 230 is mounted on the fixed base 222, and is connected with the fixed base 222 through the upper suspension swing arm 212 and the lower suspension swing arm 213, and the steering driving mechanism 221 is mounted on the lower suspension swing arm 213, so that the fixed base 222 can move up and down relative to the connection base 211, and the steering driving mechanism 221 and the fixed base 222 move up and down synchronously, thereby realizing independent suspension of the traveling wheel module 230, and not affecting the rotation of the fixed base 222 driven by the steering driving mechanism 221. Thus, when the traveling wheel module 230 encounters a raised obstacle or a pit, the traveling wheel module 230 and the steering module 220 can correspondingly swing upwards and downwards relative to the connection base 211, so that the traveling wheel module 230 can conveniently pass through an uneven road section and has a strong obstacle crossing capability. So hang the vibration that module 210 reduced the process of traveling produced through the rocking arm, consequently the vehicle bottom dish need not to design the arrangement space who absorbs the mechanism of vibrations, further simplifies vehicle bottom dish structure, reduces the design degree of difficulty of vehicle bottom dish, does benefit to and improves dolly production. It should be noted that the steering driving mechanism 221 drives the fixed seat 222 to rotate around the vertical line where the rotating shaft of the first rotating portion 2221 and the rotating shaft of the second rotating portion 2222 are located, so as to change the traveling direction of the traveling wheel module 230 mounted on the fixed seat 222, and realize independent change of the traveling direction of the traveling wheel module 230, so as to be beneficial to being applied to a multi-driving-wheel driving trolley to realize multiple driving modes.
Referring to fig. 3, as an alternative embodiment, the steering driving mechanism 221 includes a first motor module 2211, an output flange 2212 and a steering rod 2214, and a connecting portion 2213 is disposed on the outer circumference of the output flange 2212; the first motor module 2211 is fixedly connected with the lower suspension swing arm 213, the output flange 2212 is in transmission connection with the output end of the first motor module 2211, and the first motor module 2211 is used for driving the output flange 2212 to horizontally rotate; one end of the steering rod 2214 is hinged to the connecting portion 2213, and the other end of the steering rod 2214 is hinged to the fixing base 222. In this embodiment, the first motor module 2211, the output flange 2212 and the steering linkage 2214 form a crank arrangement. The output flange 2212 is driven to rotate on the horizontal plane through the first motor module 2211, the position of the connecting portion 2213 is changed, and therefore the steering pull rod 2214 is driven to pull the fixing seat 222 to rotate. Specifically, in a preferred embodiment of the present invention, the first motor module 2211 includes a servo motor, a servo motor driver and a harmonic reducer, the servo motor driver is used for starting and stopping the operation of the servo motor, an output end of the servo motor is connected to an input end of the harmonic reducer, and an output end of the harmonic reducer is connected to the output flange 2212.
Referring to fig. 4, as an alternative embodiment, the dual-rocker arm suspension module 210 further includes a suspension spring 214, one end of the suspension spring 214 is connected to the connection base 211, and the other end of the suspension spring 214 is connected to the lower suspension swing arm 213. Therefore, when the traveling wheel module 230 is in a motion state and encounters a ground with uneven height, the vibration is absorbed through the deformation of the shock absorbing spring 214, the effect of suspension and buffering is achieved, and the vibration is effectively reduced and transmitted to the vehicle underframe 100. Specifically, in the preferred embodiment of the present invention, the suspension spring 214 is a gas spring.
Referring to fig. 1 and 4, as an alternative embodiment, the connection base 211 is provided with a connection surface 2111, and the front mounting seat 110 and the rear mounting seat 120 are respectively provided with a mounting surface 130 matched with the connection surface 2111. The connection surface 2111 and the mounting surface 130 are vertical planes, and when the connection base 211 is connected to the front mounting base 110 or the rear mounting base 120, the connection surface 2111 of the connection base 211 is attached to the corresponding mounting surface 130 for connection. In other embodiments, the connection surface 2111 may also be a convex arc surface, and the mounting surface 130 is a concave arc surface corresponding to the connection surface 2111. Of course, in some preferred embodiments, the connection surface 2111 may be provided with a limiting post, the mounting surface 130 may be provided with a limiting hole corresponding to the limiting post, and during mounting, the mounting is performed by inserting the limiting post of the connection surface 2111 into the limiting hole for limiting, so as to facilitate assembly. More specifically, a plurality of connecting holes are formed in the connecting base 211, and the connecting holes are used for allowing fasteners such as pins or studs to pass through the connecting base 211 to be fixedly connected with the front mounting base 110 or the rear mounting base 120, so that the connecting base 211 is fixedly connected with the vehicle chassis 100.
Referring to fig. 1, as an alternative embodiment, the front and rear mounting seats respectively include a connecting transverse plate 160 and two mounting vertical plates 170, the two mounting vertical plates 170 are vertically arranged on the top end surface of the vehicle chassis 100 from left to right, and both sides of the connecting transverse plate 160 are fixedly connected with the mounting vertical plates 170 on the same side. Specifically, in the present embodiment, the front mount 110 of the panel structure is configured by connecting the horizontal plate 160 and the two mounting risers 170, and the rear mount 120 of the panel structure is configured by connecting the horizontal plate 160 and the two mounting risers 170. The outer side plate surface of the installation vertical plate 170 is the installation surface 130 and is used for being connected with the independent driving wheel assembly 200, the connection area between the installation vertical plate 170 and the independent driving wheel assembly 200 is increased, connection stress concentration is avoided, and the connection stability of the independent driving wheel assembly 200 is improved. The mounting risers 170 at both sides are connected by the connecting cross plate 160 to improve the strength of the front and rear mounting seats 110 and 120. Thus, the front mounting seat 110 and the rear mounting seat 120 are respectively of a plate type structure, so that the weight is light, the connection stability of the independent driving wheel assembly 200 can be ensured, and the weight of the vehicle chassis 100 can be reduced.
Referring to fig. 2, as an alternative embodiment, the road wheel module 230 includes a second motor module 231 and a shock absorption tire 232, the second motor module 231 is fixedly connected with the fixing base 222, the shock absorption tire 232 is fixedly connected with an output end of the second motor module 231, and the second motor module 231 is used for driving the shock absorption tire 232 to rotate. Therefore, the traveling wheel module 230 has an independent second motor module 231 as a power unit, so that a corresponding driving mechanism is not required to be designed in the vehicle chassis 100 to drive the double-rocker arm independent suspension, steering and traveling integrated assembly to travel, and the chassis structure of the trolley is simplified. Specifically, in a preferred embodiment of the present invention, the second motor module 231 includes a servo motor, a servo motor driver and a planetary reducer, the servo motor driver is used for starting and stopping the operation of the servo motor, an output end of the servo motor is connected with an input end of the planetary reducer, and an output end of the planetary reducer is connected with the damping tire 232 to drive the damping tire 232 to rotate.
Referring to fig. 4, as an alternative embodiment, the connection base 211 is provided with a threading hole 2112, and the threading hole 2112 is used for allowing a line to pass through the connection base 211 and to be electrically connected with the steering module 220 and the traveling wheel module 230. Specifically, through set up through wires hole 2112 at connection base 211, make the circuit of vehicle bottom frame 100 pass connection base 211 with turn to module 220 and walking wheel module 230 electricity and be connected concentratedly, effectively solve the independent suspension of two rocking arms and turn to the integrative assembly of walking and walk the chaotic problem of line, make things convenient for follow-up maintenance.
Referring to fig. 1, as an alternative embodiment, a wirelessly rechargeable battery 140 is disposed at the rear end of the vehicle chassis 100, and the battery 140 is electrically connected to four independent driving wheel assemblies 200 respectively for providing power to the independent driving wheel assemblies 200. Thus, the wirelessly charged battery 140 is used as a power source for the four-wheel independent suspension trolley to provide power for the four independent driving wheel assemblies 200. When the four-wheel independent suspension trolley is parked in a corresponding wireless charging area, the battery 140 can be charged wirelessly in an electromagnetic induction mode, a magnetic field resonance mode or a radio wave mode, charging is convenient and fast, and the four-wheel independent suspension trolley is favorably ensured to have enough power supply for next driving.
Referring to fig. 1, as an alternative embodiment, the front end of the vehicle chassis 100 is provided with a detachable impact beam 150. Therefore, when collision occurs, the anti-collision beam 150 effectively absorbs collision energy, reduces the damage of the collision force to the vehicle body longitudinal beam as much as possible, and plays a role in protecting the four-wheel independent suspension trolley. Specifically, the anti-collision beam 150 can be detachably mounted and fixed at the front end of the vehicle underframe 100 through threads, buckles or the like, so that the anti-collision beam 150 deformed and damaged is convenient to replace, maintain and the like.
Other constructions and operation of a four wheel independent suspension vehicle according to embodiments of the present invention are known to those skilled in the art and will not be described in detail herein.
In the description herein, references to the description of the terms "embodiment," "example," 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 the invention. In this specification, the schematic representations of the terms used above do not necessarily 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.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a four-wheel independent suspension dolly which characterized in that: comprises a vehicle chassis and four independent driving wheel assemblies;
the chassis is provided with a front mounting seat and a rear mounting seat;
each independent driving wheel assembly comprises a rocker arm suspension module, a steering module with independent driving and a walking wheel module with independent driving;
the rocker arm suspension module is used for suspending the steering module and the travelling wheel module;
the steering module is used for changing the walking direction of the walking wheel module;
two the left and right sides at the front mount pad is installed to the rocking arm of independent drive wheel assembly hangs the module one left and right side, two the rocking arm of independent drive wheel assembly hangs the module one left and right side and installs the both sides at the back mount pad.
2. The four-wheel independent suspension trolley as claimed in claim 1, wherein: the rocker arm suspension module comprises a connecting base, an upper suspension swing arm and a lower suspension swing arm;
the steering module comprises a fixed seat and a steering driving mechanism, a first rotating part is arranged at the top end of the fixed seat, a second rotating part is arranged at the bottom end of the fixed seat, the first rotating part and the second rotating part can rotate relative to the fixed seat respectively, and the rotating shaft of the first rotating part and the rotating shaft of the second rotating part are on the same vertical line;
one end of the upper suspension swing arm is hinged with the connecting base, and the other end of the upper suspension swing arm is hinged with the first rotating part; one end of the lower suspension swing arm is hinged with the connecting base, and the other end of the lower suspension swing arm is hinged with the second rotating part; the upper suspension swing arm and the lower suspension swing arm respectively swing up and down relative to the connecting base;
the steering driving mechanism is arranged on the lower suspension swing arm and used for driving the fixed seat to rotate around a vertical line where the rotating shaft of the first rotating part and the rotating shaft of the second rotating part are located;
the walking wheel module is installed on the fixed seat.
3. The four-wheel independent suspension trolley as claimed in claim 2, wherein: the steering driving mechanism comprises a first motor module, an output flange and a steering pull rod, and a connecting part is arranged on the periphery of the output flange;
the first motor module is fixedly connected with the lower suspension swing arm, the output flange is in transmission connection with the output end of the first motor module, and the first motor module is used for driving the output flange to horizontally rotate;
one end of the steering pull rod is hinged to the connecting portion, and the other end of the steering pull rod is hinged to the fixing seat.
4. The four-wheel independent suspension trolley as claimed in claim 2, wherein: the double-rocker suspension module further comprises a shock-absorbing spring, one end of the shock-absorbing spring is connected with the connecting base, and the other end of the shock-absorbing spring is connected with the lower suspension swing arm.
5. The four-wheel independent suspension trolley as claimed in claim 2, wherein: the connecting base is provided with a connecting surface, and the front mounting seat and the rear mounting seat are respectively provided with a mounting surface matched with the connecting surface.
6. The four-wheel independent suspension trolley as claimed in claim 1, wherein: preceding mount pad and back mount pad are including connecting diaphragm and two installation risers respectively, and two installation risers are vertical the setting on the top face of vehicle underframe from left to right, connect the both sides of diaphragm and the installation riser fixed connection of homonymy.
7. The four-wheel independent suspension trolley as claimed in claim 1, wherein: the walking wheel module includes second motor module and shock attenuation tire, the second motor module with fixing base fixed connection, the shock attenuation tire with the output fixed connection of second motor module, the second motor module is used for the drive the shock attenuation tire rotates.
8. The four-wheel independent suspension trolley as claimed in claim 2, wherein: the connecting base is provided with a threading hole, and the threading hole is used for enabling a line to penetrate through the connecting base to be electrically connected with the steering module and the walking wheel module.
9. The four-wheel independent suspension trolley as claimed in claim 1, wherein: the rear end of the vehicle underframe is provided with a wirelessly chargeable battery which is respectively electrically connected with the four independent driving wheel assemblies and used for providing power for the independent driving wheel assemblies.
10. The four-wheel independent suspension trolley as claimed in claim 1, wherein: the front end of the vehicle underframe is provided with a detachable anti-collision beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110931939.XA CN113459745A (en) | 2021-08-13 | 2021-08-13 | Four-wheel independent suspension trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110931939.XA CN113459745A (en) | 2021-08-13 | 2021-08-13 | Four-wheel independent suspension trolley |
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| CN113459745A true CN113459745A (en) | 2021-10-01 |
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| CN202110931939.XA Pending CN113459745A (en) | 2021-08-13 | 2021-08-13 | Four-wheel independent suspension trolley |
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Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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Application publication date: 20211001 |