CN114056088B - Chassis assembly with independent steering and independent driving functions - Google Patents

Chassis assembly with independent steering and independent driving functions Download PDF

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Publication number
CN114056088B
CN114056088B CN202110905510.3A CN202110905510A CN114056088B CN 114056088 B CN114056088 B CN 114056088B CN 202110905510 A CN202110905510 A CN 202110905510A CN 114056088 B CN114056088 B CN 114056088B
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China
Prior art keywords
connecting frame
fixedly connected
steering
independent
driving
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CN202110905510.3A
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Chinese (zh)
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CN114056088A (en
Inventor
李震
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Shandong Oniste Machinery Co ltd
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Shandong Oniste Machinery Co ltd
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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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • 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
    • 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
    • B62D7/16—Arrangement of linkage connections

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

The utility model provides a have chassis assembly that turns to independently and independent drive function concurrently, is located whole vehicle bottom, including girder, support, steering system, link and motion subassembly, respectively fixedly connected with support in girder left and right sides, the support is kept away from girder one end and is vertically arranged the link, both ends and support rotation are connected about the link, and motion subassembly connects on the link, and the outside is connected with the wheel, and steering system includes the telescopic part, and the telescopic part both ends are equipped with the movable rod respectively, the movable rod is kept away from telescopic part one end and is rotated and be connected with the middleware, and the middle other end is rotated with the rocking arm and is connected, the rocking arm other end and link fixed connection, and motion subassembly includes actuating system, and actuating system connects the wheel. The invention adopts a plurality of driving systems, and each driving system can independently turn, so that a plurality of movement modes can be realized, and the invention is suitable for the requirements of a plurality of working environments.

Description

Chassis assembly with independent steering and independent driving functions
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to a chassis assembly with independent steering and independent driving functions.
Background
The chassis is used for supporting and installing an automobile engine and various parts and assemblies thereof, forming the integral shape of the automobile, receiving the power of the engine, enabling the automobile to move and ensuring normal running, (1) in the prior art, the traditional chassis is realized by a rotary drive axle on the chassis, the two front wheels of the automobile deflect in the same direction through torque transmission of a steering control mechanism, and the two rear wheels adapt to the deflection of the front wheels through a differential mechanism to realize passive steering, and the rear wheels do not deflect actively; (2) In the prior art, most of chassis adopt a single power source, and power transmission is basically realized by a mechanical mechanism, so that the driving force of each wheel cannot be accurately controlled.
Disclosure of Invention
In order to solve the problems, the invention provides the chassis assembly with independent steering and independent driving functions, which can realize independent driving and independent steering, can meet the requirements of various working environments, can realize various movement modes under the cooperation of driving and steering, and is suitable for being applied to places such as narrow places or high altitudes.
The technical scheme of the invention is as follows:
the utility model provides an independent steering device, includes girder, support, steering system, link and motion subassembly, the girder left and right sides respectively fixedly connected with support, the support is kept away from girder one end and is vertically arranged the link, just both ends and support rotation are connected about the link, motion subassembly rotates to be connected on the link, and the outside is connected with the wheel, and the wheel turns to under steering system's drive, drives whole device and turns to.
Further, the steering system comprises a telescopic part, two ends of the telescopic part are respectively provided with a movable rod, one end of the movable rod, far away from the telescopic part, is rotationally connected with a middle piece, the other end of the middle piece is rotationally connected with a rocker arm, the other end of the rocker arm is fixedly connected with a connecting frame, and force of the telescopic part can directly act on the connecting frame through connection between the movable rod and the rocker arm, so that force components in other directions cannot be generated.
Further, the action of the telescopic part can be transmitted to the rocker arm through the intermediate piece, so that the rocker arm drives the connecting frame, the motion assembly and the wheels to rotate together.
The telescopic part comprises the telescopic cylinder, the telescopic part can be of a mechanical structure such as a cam which can be telescopic, the telescopic cylinder is arranged in parallel at the middle position of the side surface of the main beam, the left end and the right end of the telescopic cylinder are respectively provided with a movable rod, the telescopic cylinder and the main beam are horizontally arranged, the telescopic cylinder can generate a horizontal force during working, the telescopic cylinder can better push and steer, and meanwhile, the telescopic cylinder is arranged on the side surface of the main beam, so that the whole system is convenient to arrange, and the space is saved.
Further, the middleware includes two otic placodes that upper and lower level was arranged, two the otic placode is located movable rod and rocking arm upper and lower both ends respectively, two be equipped with the limiting plate between the otic placode, can restrict the minimum angle between movable rod and the rocking arm to the rotation angle of restriction link, control whole device steering angle prevents that steering angle is too big, and the motion subassembly causes wearing and tearing to the device.
The independent steering device comprises the upper fixing plate and the lower fixing plate, wherein the upper fixing plate and the lower fixing plate are respectively located on the upper side and the lower side of the left end face and the right end face of the main beam, the connecting frame is rotationally connected between the upper fixing plate and the lower fixing plate, the upper fixing plate and the lower fixing plate can have supporting effects on the connecting frame, and the whole system can be firmer due to the two supporting points and can be more stable during working.
The independent steering and driving device comprises the independent steering device, the motion assembly connected with the wheels comprises a driving system, the power output end of the driving system is connected with the wheels, and the other end of the driving system is fixedly connected with the side face of the connecting frame.
The independent steering and driving device is characterized in that the upper end of the connecting frame is fixedly connected with the first rotating mechanism, the other end of the first rotating mechanism is fixedly connected with the upper fixing plate, the lower end of the connecting frame is fixedly connected with the second rotating mechanism, and the other end of the second rotating mechanism is fixedly connected with the lower fixing plate.
Further, the connecting frame is a disc with a central opening, the driving system is connected to the middle position of the connecting frame, the upper end or the lower end of the connecting frame is fixedly connected with the rocker arm, each driving system is independently controlled, the driving system and the steering system can be independently controlled, and the steering at different angles can be carried out during driving, so that movement in multiple modes is realized, and the device is suitable for application in more complex environments.
According to the independent steering and driving device, when the driving systems on the left side and the right side of the main beam are controlled to swing leftwards and rightwards, the driving systems drive the wheels to rotate, so that crab motion is realized, and the driving systems are controlled by the telescopic part to rotate together at a large angle, so that the steering with the minimum radius is realized.
The chassis assembly with the independent steering and independent driving functions comprises the independent steering and driving device, wherein the chassis connecting device is fixedly connected to the main beam and used for being integrally connected with a vehicle to realize the integral steering and driving of the vehicle.
The invention has the beneficial effects that:
1. the chassis assembly with the independent steering and independent driving functions disclosed by the invention adopts the telescopic cylinder to control the steering mechanism of the driving system, so that each driving system can independently steer, and meanwhile, the steering angle of the driving system is increased by using the structure.
2. The chassis assembly with the independent steering and independent driving functions disclosed by the invention adopts a plurality of driving power designs, and is different from the mode of distributing power by using a mechanical mechanism in the prior art, so that the power distribution is more accurate.
3. The chassis assembly with the independent steering and independent driving functions comprises a steering system and a power system, wherein the steering system and the power system can work independently or cooperatively to realize different modes of movement, such as crab movement, so as to adapt to different environments and realize the use in special occasions such as narrow, high altitude and the like.
Drawings
The aspects and advantages of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
In the drawings:
FIG. 1 is a schematic diagram of a chassis assembly with independent steering and independent driving functions according to the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic view of a steering system according to the present invention;
FIG. 4 is a schematic diagram of a driving system according to the present invention;
FIG. 5 is a schematic diagram of a middleware structure according to the present invention;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a schematic diagram of a driving system according to the present invention;
FIG. 8 is a schematic view of a connection structure of a connection frame according to the present invention;
FIG. 9 is an enlarged schematic view of a first rotary mechanism according to the present invention;
FIG. 10 is an enlarged schematic view of a second rotary mechanism according to the present invention;
FIG. 11 is a schematic diagram of a six-drive arrangement of the present invention;
the components represented by the reference numerals in the figures are:
1. the main beam comprises a main beam body, 2, a bracket, 21, an upper fixing plate, 22, a lower fixing plate, 3, a steering system, 31, a telescopic part, 311, a telescopic cylinder, 32, a movable rod, 33, a middle piece, 331, an ear plate, 332, a limiting plate, 34 rocker arms, 4, a connecting frame, 41, a first rotating mechanism, 5, a moving assembly, 51, a driving system, 6, a chassis connecting device, 7 and wheels.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. It should be noted that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art, and the disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein.
It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. Other terms used to describe the relationship between elements should be interpreted in the same manner (e.g., "between," "adjacent," etc.). The directions "left and right", "front and rear", and the like mentioned in the present invention are only used to express relative positional relationships, and are not restricted by any specific directional references in practical applications.
Examples
Referring to fig. 1-2, an independent steering device comprises a main beam 1, a support 2, a steering system 3, a connecting frame 4 and a motion assembly 5, wherein the support 2 is fixedly connected to the left side and the right side of the main beam 1, the connecting frame 4 is vertically arranged at one end, far away from the main beam 1, of the support 2, the upper end and the lower end of the connecting frame 4 are rotationally connected with the support 2, the motion assembly 5 can adopt a transmission shaft to be rotationally connected onto the connecting frame 4, wheels 7 are connected to the outer side of the motion assembly, and the wheels 7 are driven by the steering system 3 to steer so as to drive the whole device to steer.
Further, the support 2 includes fixed plate 21 and lower fixed plate 22, it is located the upper and lower below of terminal surface about girder 1 respectively to go up fixed plate 21 and lower fixed plate 22, link 4 rotates and connects between upper fixed plate 21 and lower fixed plate 22, compares in prior art, adopts the drive axle to connect the driven mode, and two upper and lower fixed plates all can have the supporting role to link 4, and two strong points make whole device more firm, will show more stable at the during operation, and simultaneously when chassis bearing weight is too big, upper and lower double bracing frame 2 also can equally share the bearing capacity from girder upper portion to the motion subassembly, increases the holistic stability of chassis.
Preferably, a connecting disc is further arranged between the main beam 1 and the support 2, the shape of the connecting disc is identical to that of the main beam 1, in the independent steering device of the embodiment, the main beam 1 is rectangular, the shape of the connecting disc connected with the main beam 1 is also rectangular, and the connecting disc can be regularly replaced by means of the connection between the two supports 2 and the main beam 1 due to the weight bearing during operation, so that the whole device is ensured to be in a good working state, meanwhile, the connecting disc is identical to the shape of the left side surface and the right side surface of the main beam 1, the connecting area is larger, the bearing capacity of each connecting point is uniform, and four reinforcing rib plates are further arranged between the connecting disc and the upper fixing plate and the lower fixing plate, so that the connection between each part is greatly enhanced.
Preferably, the height between the upper and lower fixing plates 21, 22 of the bracket 2 is greater than the radial dimension of the main beam 1, and this arrangement allows a certain space for the main beam 1 to connect the whole vehicle or to fixedly connect other components.
Referring to fig. 3, in the present embodiment, the steering system 3 includes a telescopic portion 31, the telescopic portion 31 is a bidirectional hydraulic telescopic cylinder 311, two sides of one cylinder body are respectively provided with a movable rod 32, and simultaneously the telescopic cylinder 311 can control both the movable rods 32 to move simultaneously, and can also independently control one movable rod 32 to work, so as to realize steering diversity control.
Further, one end of the movable rod 32 far away from the telescopic cylinder 311 is rotatably connected with an intermediate piece 33, the other end of the intermediate piece 33 is rotatably connected with a rocker arm 34, the other end of the rocker arm 34 is fixedly connected with the connecting frame 4, and the action of the telescopic part 31 can be transmitted to the rocker arm 34 through the intermediate piece 33, so that the rocker arm 34 drives the connecting frame 4, the motion assembly 5 and the wheels 7 to rotate together.
In this embodiment, the telescopic cylinder 311 is disposed in parallel at an upper position in the middle of the side surface of the main beam 1, the movable rods 32, the middle parts 33 and the rocker arms 34 at the left and right ends of the telescopic cylinder 311 are all disposed horizontally with the main beam 1 and at the same height as the bidirectional hydraulic telescopic cylinder 311, so that when the telescopic cylinder 311 works, a horizontal force is generated, no force in other directions is generated, the loss in force is reduced, the motion assembly 5 can be more accurately adjusted, and meanwhile, the position of the whole steering system 3 is close to the upper part, so that the gravity center of the whole device is relatively upper.
Referring to fig. 5-6, further, the intermediate member 33 includes two ear plates 331 disposed horizontally up and down, the two ear plates 331 are respectively disposed at the upper end and the lower end of the movable rod 32 and the rocker arm 34, in this embodiment, two limiting plates 332 with different lengths are fixedly connected between the ear plates 331, the distance between the two ear plates 331 is slightly greater than the thickness of the axial hole ends of the movable rod 32 and the rocker arm 34, so that the two can conveniently enter between the cavities between the two ear plates 331, the movable rod 32 and the intermediate member 33, the intermediate member 33 and the rocker arm 34 are movably connected through hinge shafts, no matter what angle the three forms, the three can be effectively transferred, and the moving assembly 5 is driven to turn.
Taking the middle piece 33 on the right side of fig. 2 as an example for description, two limiting plates 332 are different in length, a longer limiting plate 332 is arranged at the upper position of the middle piece 33, a shorter limiting plate 332 is arranged at the lower position of the middle piece 33, two limiting plates 332 are arranged in parallel, the longer limiting plate 332 is far away from the main beam, the shorter limiting plate 332 is close to the main beam 1, meanwhile, the two limiting plates 332 are dependent on the length difference, the rocker 34 can be contained to drive the motion assembly 5 to rotate within a certain angle range, the existing length difference can limit steering, the motion assembly 5 is controlled to rotate within a certain angle range, abrasion of the motion assembly 5 to the support 2 and the main beam 1 is prevented, and the service life of the whole device is prolonged.
In this embodiment, the telescopic cylinder 311 drives the movable rods 32 on the left and right sides, the movable rods 32 drive the rocker arms 34 to move through the intermediate piece 33, and the rocker arms 34 drive the moving assembly 5 to change in angle, so that the whole device is driven to turn, and the rotating angle range of the moving assembly 5 is controlled through the intermediate piece 33.
An independent steering and driving device comprises the independent steering device, wherein a motion assembly 5 connected with wheels 7 comprises a driving system 51, a power output end of the driving system 51 is connected with the wheels 7, the other end of the driving system is fixedly connected to the side of a connecting frame 4, the driving system 51 is a large torque motor in the implementation, the large torque motor and a hydraulic pump form a closed system, the operation and the control are convenient, and in order to provide large driving force, the pressure of the closed system can be set to be 35-42MPa, so that large driving force is provided for the whole device.
Further, referring to fig. 4 and 7, the connecting frame 4 is a disc with a central opening, the diameter of the disc is slightly larger than the radial size of the motor, the driving system 51 is connected at the middle position of the connecting frame 4, meanwhile, a circular opening is formed in the middle of the disc, the motor is conveniently connected with the hydraulic system, the hydraulic system generates driving force for the motor, 8 bolts are used for connection between the motor and the disc, the bolts are arranged in the center of the motor in a symmetrical mode, so that the motor is more firmly connected with the connecting frame 4, the loosening condition during working cannot occur, and meanwhile, because the motor rotates, certain torsion exists, and the influence of the torsion on the whole device can be offset.
Referring to fig. 8, the upper end of the connecting frame 4 is fixedly connected with the first rotating mechanism 41, the other end of the first rotating mechanism 41 is fixedly connected with the upper fixing plate 21, the lower end of the connecting frame 4 is fixedly connected with the second rotating mechanism 42, and the other end of the second rotating mechanism 42 is fixedly connected with the lower fixing plate 22.
Further, the upper end of the connecting frame 4 is fixedly connected with the rocker arm 34, below the first rotating mechanism 41 and above the motor, such a connection position will not interfere with the rotation of the motor of the connecting frame 4, and meanwhile, the connection position is at the same height as the center of the telescopic cylinder 311, and is on the same horizontal plane, so that the force of the telescopic cylinder 311 can directly act on the connecting frame 4 to drive the steering.
Referring to fig. 9-10, the first rotating mechanism 41 adopts a structure that a bearing is connected with a hinge shaft, the second rotating mechanism 42 adopts a structure that a shaft sleeve is connected with the hinge shaft, the first rotating mechanism 41 is located above the connecting portion 4, the second rotating mechanism 42 is located below the connecting portion 4, in daily use, compared with the second rotating mechanism 41, the first rotating mechanism 41 bears large force, the first rotating mechanism 41 adopts a bearing gear to better carry load, the second rotating mechanism 42 adopts a shaft sleeve structure, compared with the first rotating mechanism 41, the structure is simpler, the whole weight is lighter, the gravity center of the whole chassis is ensured to be higher, and the stable operation of the device is facilitated.
The utility model provides a have chassis assembly that turns to and independent drive function independently concurrently, includes an independent steering and drive arrangement as described above, fixedly connected with chassis connecting device 6 on the girder, chassis connecting device 6 includes the sleeve, and the sleeve passes through two straight boards of girder top level arrangement fixed connection and is connected with the girder, and telescopic height is higher than the height of support, conveniently is used for with vehicle bulk connection, realizes turning to and drive to the vehicle bulk, and the height is slightly higher than the support height to prevent that the connection of sleeve and vehicle from causing the influence to actuating system's rotation.
The embodiment can independently steer and independently drive, and can steer when driving, and the chassis assembly can realize multiple movement modes.
Taking crab motion as an example, the telescopic cylinder 311 is controlled to work, the telescopic cylinder 311 controls the movable rods 32 on two sides of the telescopic cylinder, one side of the telescopic cylinder is extended, the movable rod 32 drives the rocker arm 34 to move through the middle piece 33, the rocker arm 34 drives the driving system 51 on the connecting frame 4 to change angles, meanwhile, the wheels 7 connected with the power ends of the driving system 51 also change, the wheels 7 on the left side and the right side still ensure a parallel state after rotating at a rotating angle, the driving system drives the wheels 7 to rotate, the whole device advances along the direction after the wheels 7 rotate, and the crab motion is realized, so that the whole device can be translated out along a certain angle. Compared with the crab structure required in the prior art, the crab structure is simpler in structure and less in overall weight.
Referring to fig. 11, the chassis assembly of the present embodiment is not limited to two-drive, four-drive, and six-drive or eight-drive.
Specifically, the working principle of the chassis assembly with the independent steering and independent driving functions is that taking a four-wheel drive chassis as an example, the hydraulic pump controls the driving system 51, namely the large torque motor to work, and the four large torque motors drive four wheels to rotate so as to realize the forward or backward movement of the whole chassis.
When the hydraulic pump needs to be driven independently, the hydraulic pump controls a certain motor to work, so that single drive or multiple drives of the whole chassis assembly are realized, and meanwhile, the rotating speeds among the motors can be controlled, so that the four motors are at the same rotating speed or different rotating speeds.
When the steering is needed, the front wheel and the rear wheel are provided with two telescopic cylinders 311, the two telescopic cylinders 311 can be controlled independently, the movable rods 32 at the left side and the right side of the two telescopic cylinders 311 can also be extended or contracted independently, different working states of the two telescopic cylinders 311 are adjusted, the left side of the telescopic cylinder 311 of the front wheel is extended and the right side of the telescopic cylinder 311 is contracted, the telescopic cylinder 311 drives the movable rods 32 at the two sides to change correspondingly, the movable rods 32 drive the driving system 51 on the connecting frame 4 to change correspondingly in angle through the connection of the intermediate piece 33 and the rocker arm 34, the maximum rotation angle of the wheels 7 is 45 degrees under the limiting effect of the intermediate frame 33, and conversely, the right side of the telescopic cylinder 311 of the rear wheel is extended and contracted at the left side, and the driving system 51 on the connecting frame 4 is driven to rotate reversely through the intermediate piece 33 and the rocker arm 34, so that the front wheel and the rear wheel rotate reversely, and the minimum radius steering is realized.
The present invention is not limited to the above-mentioned embodiments, and any changes or modifications within the scope of the present invention will be apparent to those skilled in the art. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The independent steering device is characterized by comprising a main beam (1), a support (2), a steering system (3), a connecting frame (4) and a moving assembly (5), wherein the support (2) is fixedly connected to the left side and the right side of the main beam (1), the connecting frame (4) is vertically arranged at one end, far away from the main beam (1), of the support (2), the upper end and the lower end of the connecting frame (4) are rotationally connected with the support (2), the moving assembly (5) is rotationally connected to the connecting frame (4), and the outer side of the moving assembly is connected with wheels (7);
the steering system (3) comprises a telescopic part (31), two ends of the telescopic part (31) are respectively provided with a movable rod (32), one end, far away from the telescopic part (31), of the movable rod is rotationally connected with a middle piece (33), the other end of the middle piece (33) is rotationally connected with a rocker arm (34), and the other end of the rocker arm (34) is fixedly connected with a connecting frame (4);
the action of the telescopic part can be transmitted to the rocker arm (34) through the intermediate piece (33), so that the rocker arm (34) drives the connecting frame (4), the motion assembly (5) and the wheels (7) to rotate together.
2. An independent steering device according to claim 1, wherein the telescopic part (31) comprises telescopic cylinders (311), the telescopic cylinders (311) are arranged in parallel at the middle position of the side surface of the main beam (1), and the left end and the right end of each telescopic cylinder (311) are respectively provided with a movable rod (32).
3. An independent steering device according to claim 1, wherein the intermediate member (33) comprises two ear plates (331) arranged horizontally up and down, the two ear plates (331) being located at the upper and lower ends of the movable lever (32) and the rocker arm (34), respectively.
4. A steering device according to claim 3, characterized in that a limiting plate (332) is provided between the two lugs (331) for limiting the minimum angle between the movable lever (32) and the rocker arm (34).
5. An independent steering device according to any one of claims 1-4, wherein the bracket (2) comprises an upper fixing plate (21) and a lower fixing plate (22), the upper fixing plate (21) and the lower fixing plate (22) are respectively located above and below the left end face and the right end face of the main beam (1), and the connecting frame (4) is rotatably connected between the upper fixing plate (21) and the lower fixing plate (22).
6. An independent steering and driving device comprising an independent steering device according to claim 5, characterized in that the motion assembly (5) connected with the wheels (7) comprises a driving system (51), the power output end of the driving system (51) is connected with the wheels (7), and the other end is fixedly connected with the side surface of the connecting frame (4).
7. An independent steering and driving device according to claim 6, wherein the upper end of the connecting frame (4) is fixedly connected with a first rotating mechanism (41), the other end of the first rotating mechanism (41) is fixedly connected with the upper fixing plate (21), the lower end of the connecting frame (4) is fixedly connected with a second rotating mechanism (42), and the other end of the second rotating mechanism (42) is fixedly connected with the lower fixing plate (22).
8. An independent steering and driving device according to claim 6, characterized in that the connecting frame (4) is a disc with a central opening, the driving system (51) is connected to the middle position of the connecting frame (4), and the upper end or the lower end of the connecting frame (4) is fixedly connected with the rocker arm (34).
9. An independent steering and driving device according to claim 6, characterized in that each of said driving systems (51) is controlled individually.
10. The chassis assembly with independent steering and independent driving functions comprises the independent steering and driving device according to any one of claims 7-9, and is characterized in that a chassis connecting device (6) is fixedly connected to the main beam (1) and is used for being connected with a vehicle chassis.
CN202110905510.3A 2021-08-05 2021-08-05 Chassis assembly with independent steering and independent driving functions Active CN114056088B (en)

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CN114056088B true CN114056088B (en) 2024-04-02

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