CN116424085A - Omnidirectional mobile chassis - Google Patents
Omnidirectional mobile chassis Download PDFInfo
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- CN116424085A CN116424085A CN202310318490.9A CN202310318490A CN116424085A CN 116424085 A CN116424085 A CN 116424085A CN 202310318490 A CN202310318490 A CN 202310318490A CN 116424085 A CN116424085 A CN 116424085A
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- wheel
- hub motor
- worm
- wheel set
- steering
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000009467 reduction Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 15
- 238000013461 design Methods 0.000 abstract description 9
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 3
- 238000005096 rolling process Methods 0.000 description 7
- 238000013016 damping Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 229910002804 graphite Inorganic materials 0.000 description 1
- 239000010439 graphite Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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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
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
- B62D3/06—Steering gears mechanical of worm type with screw and nut
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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
- B62D5/0421—Electric motor acting on or near steering gear
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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
- B62D5/0442—Conversion of rotational into longitudinal movement
- B62D5/0445—Screw drives
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses an omnidirectional mobile chassis, which comprises a base and a plurality of driving wheel sets arranged on the base; the driving wheel set comprises a wheel hub motor, a wheel hub motor bracket, a steering mechanism and a wheel set mounting seat, wherein the wheel hub motor is sleeved with a tire and connected to the wheel hub motor bracket, the wheel set mounting seat is mounted on the base, and the steering mechanism is mounted on the wheel set mounting seat and used for controlling the steering of the wheel hub motor; the steering mechanism comprises a steering motor, a worm wheel and a worm, wherein the worm is in transmission connection with the steering motor, the worm wheel is in driving connection with the worm and is in transmission connection with the wheel hub motor bracket, and the steering of the wheel hub motor is realized through the transmission of the worm and the worm wheel; the driving wheel set also comprises a motor driver for controlling the hub motor and the steering motor to work; the omnidirectional mobile chassis provided by the invention can realize omnidirectional movement on rough ground, has double self-locking function, can ensure accurate control of movement, and reduces maintenance and installation difficulty by virtue of a modularized design structure.
Description
Technical Field
The invention belongs to the technical field of structural design of robot chassis, and particularly relates to an omnidirectional mobile chassis.
Background
The existing wheel type mobile robot chassis generally adopts a Mecanum wheel or an omni-wheel structure to realize omni-directional movement, a driving mechanism of the existing wheel type mobile robot chassis comprises an independent driving motor and wheels, the omni-directional movement of the whole chassis is realized through movement synthesis of all wheels, the arrangement structure of all wheel sets is complex, in addition, the complexity degree of the Mecanum wheel and the omni-wheel body structure is far higher than that of an ordinary wheel, and the maintenance cost is high. The Mecanum wheel is contacted with the ground by a small wheel which forms an angle of 45 degrees with the main wheel, and the position contacted with the ground is changed not only in the rolling direction of the main wheel but also in the wheel shaft direction, so that the requirement on the flatness of the ground is higher, and the terrain adaptability is poorer; and the omnidirectional wheel has sliding friction during steering operation, so that accurate control of movement is difficult to realize.
Based on the above-mentioned problems, it is necessary to design an omnidirectional mobile chassis structure with a relatively simple structure, which can realize omnidirectional movement on a rough ground and ensure accurate control of movement.
Disclosure of Invention
In view of the above, the present invention provides an omni-directional mobile chassis, which aims to solve the above problems.
In order to achieve the above purpose, the present invention provides the following technical solutions: an omnidirectional mobile chassis comprises a base and a plurality of driving wheel sets arranged on the base; the driving wheel set comprises a wheel hub motor, a wheel hub motor support, a steering mechanism and a wheel set mounting seat, wherein the wheel hub motor is sleeved with a tire and connected to the wheel hub motor support, the wheel set mounting seat is mounted on the base, and the steering mechanism is mounted on the wheel set mounting seat and used for controlling steering of the wheel hub motor; the steering mechanism comprises a steering motor, a worm wheel and a worm, wherein the worm is in transmission connection with the steering motor, the worm wheel is in driving connection with the worm and in transmission connection with a wheel hub motor bracket, and the steering of the wheel hub motor is realized through worm and gear transmission; the driving wheel set further comprises a motor driver for controlling the hub motor and the steering motor to work.
Further, the driving wheel sets are three groups and are uniformly distributed on the base at 120-degree intervals.
Further, the base includes upper mounting plate and lower floor's mounting plate, drive wheelset installs between upper mounting plate and lower floor's mounting plate, just wheel hub motor's outer fringe is protruding in the lower floor's mounting plate downwards.
Further, the wheel set mounting seat comprises a wheel set upper mounting plate and a wheel set lower mounting plate, the steering mechanism is mounted above the wheel set upper mounting plate, the wheel hub motor support is positioned below the wheel set upper mounting plate, and the upper end of the wheel hub motor support penetrates through the wheel set upper mounting plate and then is fixedly connected with a worm wheel of the steering mechanism; the motor driver comprises a steering motor driver and a hub motor driver and is arranged on the lower wheel set mounting plate.
Further, the lower terminal surface fixedly connected with flange of mounting panel on the wheelset, flange's middle part is equipped with rolling bearing, wheel hub motor support's top cooperation is installed in rolling bearing.
Further, the wheel hub motor support comprises an upper support and a lower support, the upper support is fixedly connected with the worm wheel, the lower support is fixedly connected with the wheel hub motor, and a vibration reduction assembly is arranged between the upper support and the lower support.
Further, the lower brackets are two groups and are respectively positioned at two lateral sides of the hub motor.
Further, the vibration reduction assembly comprises a damper and a guide column, one end of the damper is connected with the upper bracket, and the other end of the damper is connected with the lower bracket; the upper end of the guide post is fixedly connected with the upper bracket, and the lower end of the guide post is movably connected with the lower bracket.
Further, the damper is a hydraulic damper, a cylinder body of the hydraulic damper is in threaded connection with the upper bracket, and the cylinder body penetrates through the upper bracket up and down.
Further, the position of the wheel set mounting seat corresponding to the worm wheel is provided with an encoder mounting disc, and a disk encoder for acquiring the real-time rotation angle of the worm wheel is arranged in the encoder mounting disc.
Compared with the prior art, the invention at least has the following beneficial effects:
1. according to the omnidirectional mobile chassis structure provided by the invention, each driving wheel group can independently complete walking and steering, and the steering mechanism can control the wheel hub motor to freely steer in 360 degrees so as to drive the omnidirectional mobile chassis structure to move in all directions, and meanwhile, the in-situ steering can be realized without turning radius, and the operation in a narrow space can be realized;
2. the invention adopts the integrated motor with the tyre, can walk on a complex road surface, has lower requirement on the flatness of the road surface, and has simpler control and positioning of the hub motor;
3. the driving wheel set adopted by the invention is of modularized structural design, the whole driving wheel set is independently installed, the requirement on the overall arrangement precision is low, the installation difficulty is reduced, and the whole driving wheel set can be independently disassembled and assembled during maintenance, so that the maintenance difficulty is reduced;
4. the steering function of the driving wheel set adopts worm and worm wheel transmission, and the self-locking property of the transmission is utilized to prevent the wheel set from being subjected to transverse force during steering so as to shift the direction of the wheel set speed, thereby ensuring the steering accuracy and further ensuring the motion accuracy;
5. the omnidirectional mobile chassis structure provided by the invention also has a self-locking function in a static state, because each driving wheel group can independently control steering, each wheel can be controlled to deflect a certain angle when the chassis is stopped, at the moment, the rolling directions of the wheels are inconsistent, and the external transverse force can not enable each wheel to roll in the same direction, so that the stability when the inclined plane stops can be enhanced when the vehicle runs on the inclined plane, and the accuracy of the control of the movement path is further ensured;
6. the omni-directional mobile chassis structure provided by the invention can select the number and arrangement form of the driving wheel groups according to the size, the shape and the like of the chassis, and has high adaptability.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objects and other advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
FIG. 1 is a schematic diagram illustrating the axial measurement of the whole structure of the present invention
FIG. 2 is a schematic diagram of a driving wheel set
FIG. 3 is a schematic view of an in-wheel motor and in-wheel motor bracket mounting structure
FIG. 4 is a schematic top view of a steering mechanism
FIG. 5 is a schematic cross-sectional view of a hub motor bracket
Reference numerals: 1-a base; 101-an upper mounting plate; 102-a lower mounting plate; 2-driving a wheel set; 201-an in-wheel motor; 202-a hub motor bracket; 202 a-upper rack; 202 b-a lower rack; 202 c-a damper; 202 d-connecting flanges; 202 e-a rotating bearing; 202 f-a guide post; 202 g-a coupling nut; 202 h-connecting screws; 203-a steering mechanism; 203 a-a steering motor; 203 b-a steering motor mount; 203 c-worm gear; 203 d-worm; 203 e-worm mount; 203 f-a rotating shaft; 203 g-driven gear; 203 h-a driving gear; 204-wheel set mounting base; 204 a-a wheel set upper mounting plate; 204 b-a wheel set lower mounting plate; 204 c-support columns; 204 d-a support plate; 205-motor driver; 205 a-in-wheel motor driver; 205 b-steering motor driver; 206-encoder mounting plate.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the illustrations provided in the following embodiments are merely for explaining the basic idea of the present invention, and the following embodiments and features in the embodiments may be combined with each other without conflict.
Referring to fig. 1-5, an omnidirectional mobile chassis includes a base 1 and a plurality of driving wheel sets 2 mounted on the base 1; the base 1 can be of any shape, is generally round or square, and can bear a certain load or carry an executing mechanism;
the driving wheel set 2 comprises a wheel hub motor 201, a wheel hub motor bracket 202, a steering mechanism 203 and a wheel set mounting seat 204, wherein the wheel hub motor 201 is sleeved with a tire and connected to the wheel hub motor bracket 202, and for accurately controlling the rotating speed of the wheel hub motor 201, an encoder is generally arranged in the wheel hub motor 201, and the wheel hub motor 201 is of an existing structure and is not described herein; the wheel set mounting seat 204 is mounted on the base 1, and the steering mechanism 203 is mounted on the wheel set mounting seat 204 and used for controlling steering of the wheel hub motor 201; the steering mechanism 203 comprises a steering motor 203a, a worm wheel 203c and a worm 203d, the worm 203d is in transmission connection with the steering motor 203a, the worm wheel 203c is in transmission connection with the worm 203d and with the wheel hub motor bracket 202, and the steering of the wheel hub motor 201 is realized through worm and wheel transmission; the driving wheel set 2 further comprises a motor driver 205 for controlling the operation of the in-wheel motor 201 and the steering motor 203a, the motor driver 205 being correspondingly connected, typically electrically connected, with the in-wheel motor 201 and the steering motor 203 a;
of course, the omnidirectional mobile chassis further comprises a control system, a power battery and the like, the control system can adopt a single chip microcomputer, the single chip microcomputer is used for receiving instructions of the upper computer and keeping communication with the motor driver 205, the motor driver 205 can directly drive the corresponding motor to rotate through information exchange results of the single chip microcomputer, and the control system is in the prior art and is not repeated here;
because each driving wheel group 2 can independently complete walking and steering, the steering mechanism 203 can control the wheel hub motor to freely steer in 360 degrees so as to drive the omnidirectional movement of the whole chassis structure, and meanwhile, the in-situ steering can be realized without turning radius, and the operation in a narrow space can be realized; because the integrated motor with the tire is adopted, the vehicle can walk on a complex road surface, the requirement on the flatness of the road surface is low, and the wheel hub motor is generally integrated with an encoder and a speed reducer, so that the vehicle is simpler to control and position during use; the driving wheel set 2 is of a modularized structural design, the whole driving wheel set 2 is independently installed, the requirement on the overall arrangement precision is low, the installation difficulty is reduced, and the whole driving wheel set 2 can be independently disassembled and assembled during maintenance, so that the maintenance difficulty is reduced; the steering function of the driving wheel set 2 adopts worm and worm wheel transmission, and the self-locking property (the spiral line lift angle of the worm is smaller than the equivalent friction angle between the meshing teeth of the worm and the worm wheel) of the transmission is utilized to prevent the wheel set from being subjected to transverse force during steering so as to shift the direction of the wheel set speed, ensure the steering accuracy and further ensure the motion accuracy; the omnidirectional mobile chassis structure also has a self-locking function in a static state, because each driving wheel group can independently control steering, when the chassis is stopped, each wheel can be controlled to deflect for a certain angle, at the moment, the rolling directions of the wheels are inconsistent, and the external transverse force can not enable each wheel to roll in the same direction, for example, when the vehicle runs on an inclined plane, the stability of the vehicle when the inclined plane stops can be enhanced, and the accuracy of the control of a movement path is further ensured; the omni-directional mobile chassis structure can select the number and arrangement form of the driving wheel groups according to the size, the shape and the like of the chassis, and has high adaptability.
In the embodiment, the driving wheel sets 2 are three groups and are uniformly distributed on the base 1 at 120-degree intervals, and the three-wheel omni-directional moving chassis structure has the characteristics of excellent movement characteristics, high structural stability and the like.
In this embodiment, the base 1 includes an upper mounting plate 101 and a lower mounting plate 102, the driving wheel set 2 is mounted between the upper mounting plate 101 and the lower mounting plate 102, and the outer edge of the hub motor 201 protrudes downward from the lower mounting plate 102, so that the hub motor 201 is supported on a road surface for walking; the structural design of the upper mounting plate 101 and the lower mounting plate 102 can be convenient for maintaining the stable mounting position of the driving wheel set 2, has high structural stability, and can provide enough mounting points by adopting a plate-shaped structure so as to be convenient for mounting the wheel set and other mechanisms such as a power battery and the like.
In this embodiment, the wheel set mounting seat 204 includes a wheel set upper mounting plate 204a and a wheel set lower mounting plate 204b, the steering mechanism 203 is mounted above the wheel set upper mounting plate 204a, specifically, here, a worm mounting seat 203e and a steering motor mounting seat 203b are provided on the wheel set upper mounting plate 204a, a worm 203d is correspondingly mounted on the worm mounting seat 203e, a steering motor 203a is correspondingly mounted on the steering motor mounting seat 203b, here, a driving gear 203h is fixedly connected to an output shaft of the steering motor 203a, an input end of the worm 203d is connected to a driven gear 203g through a rotating shaft 203f, the driving gear 203h is in meshing connection with the driven gear 203g, and a transmission process of the gear meshing and the worm and worm gear transmission mechanism is a prior art, which is not described herein; the wheel hub motor bracket 202 is located below the wheel set upper mounting plate 204a, and the upper end 202a-1 of the wheel hub motor bracket 202 penetrates through the wheel set upper mounting plate 204a and then is fixedly connected with the worm gear 203c of the steering mechanism 203, such as bolts, screws and the like; the motor driver 205 comprises a steering motor driver 205a and an in-wheel motor driver 205b and is mounted on the wheel set lower mounting plate 204 b;
the motor driver 205 may also be one but has two control ports, and may respectively implement driving control of the steering motor 203a and the in-wheel motor 201; of course, the wheelset mount 204 also includes a support column 204c and a support plate 204d; the upper mounting plate 204a and the lower mounting plate 204b are connected through the support column 204c and the support plate 20d, and the connection relationship between the upper mounting plate and the lower mounting plate is fixed connection, such as screw connection, welding, etc., which are the prior art and are not described herein again; the wheel set mounting seat 204 provided by the structure is compact in structure and reasonable in arrangement, and space can be effectively saved.
In this embodiment, a connection flange 202d is fixedly connected to the lower end surface of the wheel set upper mounting plate 204a, a rotation bearing 202e is disposed in the middle of the connection flange 202d, and the top of the wheel hub motor bracket 202 is mounted on the rotation bearing 202e in a matching manner; specifically, the rolling bearing 202e may be a rolling bearing, the outer ring of which is in interference fit with the connecting flange 202d, and the inner ring of which is in interference fit with the hub motor bracket 202; the friction is convenient to reduce by arranging the bearing, the rotation is facilitated, and the energy loss is reduced.
In this embodiment, the hub motor bracket 202 includes an upper bracket 202a and a lower bracket 202b, where the upper bracket 202a is fixedly connected with the worm wheel 203c, here, is in bolted connection, the lower bracket 202b is fixedly connected with the hub motor 201, here, is locked by nuts, and a vibration damping assembly is disposed between the upper bracket 202a and the lower bracket 202b, so that vibration caused by the hub motor 10 can be reduced or eliminated by setting the vibration damping assembly, and damage to parts and electronic components is avoided; while reducing motion noise.
In this embodiment, the two groups of the lower brackets 202b are respectively located at two lateral sides of the hub motor 201, and the lateral direction is the width direction of the hub motor 201.
In this embodiment, the vibration damping assembly includes a damper 202c and a guide post 202f, one end of the damper 202c is connected to the upper bracket 202a, and the other end of the damper 202c is connected to the lower bracket 202 b; the upper end of the guide post 202f is fixedly connected with the upper bracket 202a, the upper end of the guide post 202f is connected with the lower bracket 202b through a connecting screw 202h, a guide hole is formed in the lower bracket 202b, the guide post 202f can be arranged in the guide hole in a vertically sliding mode, in practice, the guide post 202f can also be sleeved with a graphite sleeve in a sleeved mode, friction force in the vertical sliding process of the guide post 202f is reduced, a locking nut 202g is connected to the bottom end of the guide post 202f, and pretightening force of the damper 202c can be controlled through screwing degree of the locking nut 202 g; of course, the damper 202c may be a damping spring or the like; to enhance the vibration reduction effect, the dampers 202c may also be provided in plural groups; with this structural design, the stability of the up-down buffering process of the damper 202c can be enhanced by providing the guide posts 202 f.
In this embodiment, the damper 202c is a hydraulic damper, a cylinder body of the hydraulic damper is in threaded connection with the upper bracket, and the cylinder body penetrates the upper bracket up and down, specifically, an external thread is arranged on the cylinder body of the hydraulic damper, and an up-down penetrating threaded hole is arranged on the upper bracket 202a, where a nut can be further arranged at the upper end of the cylinder body of the hydraulic damper for further locking; the lower bracket 202b is provided with a counter bore, the movable end of the hydraulic damper is arranged in the counter bore and is abutted with the bottom of the counter bore, the hydraulic damper generally comprises a cylinder body and a piston rod, and the hydraulic damper is of an existing structure and is not repeated here; the structural design not only has a good vibration reduction effect, but also can facilitate the disassembly and assembly of the hydraulic damper.
In this embodiment, an encoder mounting plate 206 is mounted on the wheel set mounting seat 204 at a position corresponding to the worm wheel 203c, and a disk encoder for acquiring the real-time rotation angle of the worm wheel 203c is mounted inside the encoder mounting plate 206; the structural design can more accurately control the rotation of the hub motor, and the control accuracy is improved.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (10)
1. An omnidirectional mobile chassis, characterized in that: comprises a base and a plurality of driving wheel sets arranged on the base; the driving wheel set comprises a wheel hub motor, a wheel hub motor support, a steering mechanism and a wheel set mounting seat, wherein the wheel hub motor is sleeved with a tire and connected to the wheel hub motor support, the wheel set mounting seat is mounted on the base, and the steering mechanism is mounted on the wheel set mounting seat and used for controlling steering of the wheel hub motor;
the steering mechanism comprises a steering motor, a worm wheel and a worm, wherein the worm is in transmission connection with the steering motor, the worm wheel is in driving connection with the worm and in transmission connection with a wheel hub motor bracket, and the steering of the wheel hub motor is realized through worm and gear transmission; the driving wheel set further comprises a motor driver for controlling the hub motor and the steering motor to work.
2. The omni-directional mobile chassis of claim 1, wherein: the driving wheel sets are three groups and are uniformly distributed on the base at 120-degree intervals.
3. The omni-directional mobile chassis of claim 1, wherein: the base includes upper mounting plate and lower floor's mounting plate, drive wheelset installs between upper mounting plate and lower floor's mounting plate, just wheel hub motor's outer fringe is protruding in the lower floor's mounting plate downwards.
4. The omni-directional mobile chassis of claim 1, wherein: the wheel set mounting seat comprises a wheel set upper mounting plate and a wheel set lower mounting plate, the steering mechanism is mounted above the wheel set upper mounting plate, the wheel hub motor bracket is positioned below the wheel set upper mounting plate, and the upper end of the wheel hub motor bracket penetrates through the wheel set upper mounting plate and is fixedly connected with a worm wheel of the steering mechanism; the motor driver comprises a steering motor driver and a hub motor driver and is arranged on the lower wheel set mounting plate.
5. The omni-directional mobile chassis of claim 4, wherein: the wheel set is characterized in that the lower end face of the mounting plate on the wheel set is fixedly connected with a connecting flange, a rotating bearing is arranged in the middle of the connecting flange, and the top of the wheel set motor support is matched with the rotating bearing.
6. The omni-directional mobile chassis of claim 4, wherein: the wheel hub motor support comprises an upper support and a lower support, the upper support is fixedly connected with a worm wheel, the lower support is fixedly connected with a wheel hub motor, and a vibration reduction assembly is arranged between the upper support and the lower support.
7. The omni-directional mobile chassis of claim 6, wherein: the lower brackets are two groups and are respectively positioned at two lateral sides of the hub motor.
8. The omni-directional mobile chassis of claim 6, wherein: the vibration reduction assembly comprises a damper and a guide column, one end of the damper is connected with the upper bracket, and the other end of the damper is connected with the lower bracket; the upper end of the guide post is fixedly connected with the upper bracket, and the lower end of the guide post is movably connected with the lower bracket.
9. The omni-directional mobile chassis of claim 8, wherein: the damper is a hydraulic damper, a cylinder body of the hydraulic damper is in threaded connection with the upper bracket, and the cylinder body penetrates through the upper bracket up and down.
10. The omni-directional mobile chassis of claim 1, wherein: the wheel set mounting seat is provided with an encoder mounting disc at a position corresponding to the worm wheel, and a disk encoder for acquiring the real-time rotation angle of the worm wheel is arranged in the encoder mounting disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310318490.9A CN116424085A (en) | 2023-03-28 | 2023-03-28 | Omnidirectional mobile chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310318490.9A CN116424085A (en) | 2023-03-28 | 2023-03-28 | Omnidirectional mobile chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116424085A true CN116424085A (en) | 2023-07-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310318490.9A Pending CN116424085A (en) | 2023-03-28 | 2023-03-28 | Omnidirectional mobile chassis |
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| Country | Link |
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| CN (1) | CN116424085A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117141575A (en) * | 2023-10-19 | 2023-12-01 | 杭州豪盛电动车辆有限公司 | Electric steering mechanism and application method thereof |
-
2023
- 2023-03-28 CN CN202310318490.9A patent/CN116424085A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117141575A (en) * | 2023-10-19 | 2023-12-01 | 杭州豪盛电动车辆有限公司 | Electric steering mechanism and application method thereof |
| CN117141575B (en) * | 2023-10-19 | 2024-04-09 | 杭州豪盛电动车辆有限公司 | Electric steering mechanism and application method thereof |
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