CN210212519U - All-directional steering intelligent vehicle - Google Patents
All-directional steering intelligent vehicle Download PDFInfo
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- CN210212519U CN210212519U CN201921109339.XU CN201921109339U CN210212519U CN 210212519 U CN210212519 U CN 210212519U CN 201921109339 U CN201921109339 U CN 201921109339U CN 210212519 U CN210212519 U CN 210212519U
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Abstract
The utility model relates to a vehicle turns to technical field, concretely relates to all-round intelligent car that turns to, include: the vehicle body comprises a vehicle body and a chassis, and the vehicle body is mounted on the chassis; the device comprises a plurality of driving units, a control unit and a control unit, wherein each driving unit comprises a hub motor, a rotary steering engine and a hub; the hub motor is arranged in the hub and is suitable for providing power, transmission and braking acting force for the hub; the upper part of the rotary steering engine is installed on the chassis, and the lower part of the rotary steering engine is connected with the wheel hub and is suitable for driving the wheel hub to turn. Through the arrangement, the intelligent vehicle with the omni-directional steering realizes various driving modes, and can freely advance and retreat in a narrow space; furthermore, the utility model discloses well all-round intelligent car that turns to simple structure, low in manufacturing cost.
Description
Technical Field
The utility model relates to a vehicle turns to technical field, concretely relates to all-round intelligent car that turns to.
Background
At present, most of the traditional four-wheel vehicles adopt the design of front wheel steering and rear wheel driving or front wheel steering and front and rear driving, but because the maximum steering angle of the front wheel is 45 degrees, the four-wheel vehicles which control the direction by depending on the front wheel steering not only have difficulty in moving in a small space, but also can realize the turning by needing a large radius; and the traditional four-wheel vehicle is complex to operate and can be driven by a person with a specially trained frame. With the increasing demand for drivability and comfort, four-wheel steering has become a development direction for four-wheel automobile technology. With the development of science and technology, the 5G era comes, the Internet of things gradually enters the visual field of people, and meanwhile, the Internet of things gradually permeates the automobile industry, but the traditional automobile is difficult to hook with the Internet of things due to the structural characteristics of the traditional automobile, so that how to realize interconnection of people and vehicles through a network, and how to change the driving of vehicles through the Internet of things becomes a research hotspot.
Chinese patent document CN207631330U discloses an omnibearing steering system of a pipe gallery inspection trolley based on a hub motor, and the technical scheme comprises a frame and four wheels with hub motors; each wheel is fixedly connected with a U-shaped steering knuckle with an angle sensor, and the wheel is hinged with the frame through the U-shaped steering knuckle; one end of the steering knuckle arm is fixedly connected with the U-shaped steering knuckle; a steering system for steering wheels is arranged on the frame; the steering system comprises a full steering mechanism arranged in the middle of the frame and a four-wheel steering mechanism arranged in the front of the frame; the front end of the full steering mechanism is connected with one end of the first steering pull rod and one end of the second steering pull rod on the front side through a steering lock, and the rear end of the full steering mechanism is connected with one end of the first steering pull rod and one end of the second steering pull rod on the rear side through another steering lock; the other end of the first steering pull rod is hinged with the other end of the knuckle arm of the right wheel, and the other end of the second steering pull rod is hinged with the other end of the knuckle arm of the left wheel; the steering lock can lock the first steering pull rod and the second steering pull rod into a whole; the four-wheel steering mechanism is in composite hinge joint with a knuckle arm of a right wheel in the front wheels and a hinge joint end of the first steering pull rod; the four hub motors, the four angle sensors and the two steering locks, and the full steering mechanism and the four-wheel steering mechanism are electrically connected with the central control system. However, the steering structure designed by the technical scheme is complex, the abrasion consumption of the mechanical structure is serious when the pure mechanical structure is linked, and the structure of the pure mechanical structure is relatively complex and the cost is high when the same purpose is achieved.
Therefore, not enough more than, the utility model discloses the urgent need provides the intelligent car of all-round turning to.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an all-round intelligent car that turns to solve among the prior art problem of turning difficulty and operation difficulty that vehicle structural defect arrives.
The utility model provides an all-round intelligent car that turns to, include: the vehicle body comprises a vehicle body and a chassis, and the vehicle body is mounted on the chassis; the device comprises a plurality of driving units, a control unit and a control unit, wherein each driving unit comprises a hub motor, a rotary steering engine and a hub; the hub motor is arranged in the wheel hub, and the rotating shaft of the hub motor is a hub shaft of the wheel hub and is suitable for providing power, transmission and braking acting force for the wheel hub; the rotary steering engine is installed on the chassis, the output end of the rotary steering engine is connected with the wheel hub, and the rotary steering engine is suitable for driving the wheel hub to turn.
The omni-directional steering intelligent vehicle further preferably comprises a U-shaped support frame, the U-shaped support frame comprises a bottom plate and webs connected to two sides of the bottom plate, the bottom plate is connected with the rotary steering engine, and mounting holes are formed in the webs and are suitable for the rotation shaft of the hub motor to penetrate through and be mounted.
In the above omni-directional steering smart vehicle, it is further preferable that the main shaft of the rotary steering engine is connected to the bottom plate; the driving unit further comprises a compression spring, and the compression spring is sleeved on the main shaft of the rotary steering engine.
In the above-described omni-directional steerable smart vehicle, it is further preferable that the number of the driving units is four, and the four driving units are symmetrically arranged at four corners of the bottom of the chassis.
The omni-directional steering intelligent vehicle further preferably further comprises a hub controller, wherein the hub controller is electrically connected with the hub motors of the four driving units and is suitable for controlling the hub motors.
The omni-directional steering intelligent vehicle as described above, further preferably, the hub controller includes a first hub controller and a second hub controller, the first hub controller is electrically connected to the two hub motors located on the front side of the chassis, respectively, and the second hub controller is electrically connected to the two hub motors located on the rear side of the chassis, respectively.
The omni-directional steering intelligent vehicle further preferably further comprises a steering engine controller, wherein the steering engine controller is electrically connected with the first hub controller, the second hub controller and the four rotary steering engines of the driving unit respectively and is suitable for controlling the first hub controller, the second hub controller and the four rotary steering engines.
The omni-directional steering intelligent vehicle further preferably comprises a network camera, and the network camera is electrically connected with the steering engine controller.
In the above-mentioned omni-directional steering smart car, it is further preferable that the hub controller further includes a single-chip microcomputer control interface, and the single-chip microcomputer control interface is adapted to be connected to a single-chip microcontroller.
The intelligent omni-directional steering vehicle further preferably comprises a power supply unit, wherein the power supply unit is installed on the chassis, is respectively and electrically connected with the hub motor and the rotary steering engine of the driving unit, and is suitable for supplying power to the hub motor and the rotary steering engine.
Compared with the prior art, the utility model has the following advantage:
the utility model discloses an all-round intelligent car that turns to mainly includes automobile body and a plurality of drive unit, and wherein drive unit includes wheel hub, in-wheel motor and rotatory steering wheel, and wherein, the wheel hub of establishing in-wheel motor is connected with the chassis of automobile body through rotatory steering wheel for a plurality of drive unit all can independently advance, retreat, brake and 360 degrees turn to, thereby make the utility model provides an all-round intelligent car that turns to can realize under the circumstances that does not turn around going straight line all around, can also realize through the angle of adjusting the four-wheel that the original place is rotated about, various other driving methods such as 45 degrees slash are straight out, and then can freely advance and retreat in narrow and in space; furthermore, the utility model discloses well all-round intelligent car that turns to simple structure, low in manufacturing cost.
Drawings
Fig. 1 is a schematic structural view of an all-directional steering intelligent vehicle of the present invention;
fig. 2 is another schematic structural view of the omni-directional steering intelligent vehicle of the present invention;
fig. 3 is the circuit schematic diagram of the intelligent vehicle of the utility model discloses well all-round steering.
Description of reference numerals:
the device comprises a base plate 1, a rotary steering engine 2, a wheel hub 3, a U-shaped support frame 4, a steering engine controller 7, a power supply unit 8, a network camera 9, a wheel hub motor 10, a compression spring 11 and a rotary seat 12.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, the intelligent vehicle that turns to in all directions that this embodiment provided includes: the vehicle comprises a vehicle body and a chassis 1, wherein the vehicle body is mounted on the chassis 1; the device comprises a plurality of driving units, wherein each driving unit comprises a hub motor 10, a rotary steering engine 2 and a hub 3; the hub motor 10 is installed in the wheel hub 3, and the rotating shaft of the hub motor 10 is a hub shaft of the wheel hub 3 and is suitable for providing power, transmission and braking acting force for the wheel hub 3; the rotary steering engine 2 is installed on the chassis 1, the output end of the rotary steering engine is connected with the wheel hub 3, and the rotary steering engine is suitable for driving the wheel hub 3 to steer.
As shown in fig. 1, preferably, in the omni-directional steering intelligent vehicle disclosed in the above embodiment, the driving unit further includes a U-shaped supporting frame 4, the U-shaped supporting frame 4 includes a bottom plate and webs connected to both sides of the bottom plate, the bottom plate is connected to the rotary steering engine 2, and both webs are provided with mounting holes, so that the rotation shaft of the in-wheel motor 10 can pass through and be mounted on the two webs.
As shown in fig. 1, preferably, in the omni-directional steering intelligent vehicle disclosed in the above embodiment, the main shaft of the rotary steering gear 2 is connected to the bottom plate; the driving unit further comprises a compression spring 11, and the compression spring 11 is sleeved on the main shaft of the rotary steering engine 2. Compression spring is suitable for the shock attenuation, and then improves the stationarity of intelligent car.
The structure provides a specific connecting structure of the hub motor, the rotary steering engine and the chassis, and the function in the embodiment is realized.
As shown in fig. 1, further, in the omni-directional steering intelligent vehicle provided by this embodiment, the number of the driving units is four, and the four driving units are respectively and symmetrically arranged at four corners of the bottom of the chassis 1.
As shown in fig. 1, preferably, the omni-directional steering intelligent vehicle disclosed in the above embodiment further includes an in-wheel motor controller, and the in-wheel motor controller is electrically connected to the in-wheel motors 10 of the four driving units and adapted to control the in-wheel motors 10. Further, the in-wheel motor controller comprises a first in-wheel motor controller and a second in-wheel motor controller, the first in-wheel motor controller is electrically connected with the two in-wheel motors 10 located on the front side of the chassis 1, and the second in-wheel motor controller is electrically connected with the two in-wheel motors 10 located on the rear side of the chassis 1. The arrangement of the above structure is suitable for enabling the omni-directional steering smart car in the present embodiment to select between four-wheel drive and two-wheel drive.
As shown in fig. 1, preferably, the omni-directional steering intelligent vehicle disclosed in the above embodiment further includes a steering engine controller 7, where the steering engine controller 7 is electrically connected to the first in-wheel motor controller, the second in-wheel motor controller and the four rotary steering engines 2 of the driving unit, and is adapted to control the first in-wheel motor controller, the second in-wheel motor controller and the four rotary steering engines 2.
As shown in fig. 1, further, in the intelligent omni-directional steering vehicle provided in this embodiment, a network camera 9 is further included, and the network camera 9 is electrically connected with the steering engine controller 7. Preferably, the steering engine controller 7 further comprises a single chip microcomputer control interface, and the single chip microcomputer control interface is suitable for being connected with a single chip microcontroller. The setting of above-mentioned structure is suitable for the structure of the intelligent car of all-round steering in the further optimization this embodiment to for functions such as unmanned driving that the later stage is bigger along with technical development adaptation degree of difficulty.
As shown in fig. 1, further, in the omni-directional steering intelligent vehicle provided in this embodiment, a power supply unit 8 is further included, and the power supply unit 8 is installed on the chassis 1, and is respectively connected to the hub motor 10 and the rotary steering engine 2 of the driving unit, and is adapted to supply power to the hub motor 10 and the rotary steering engine 2. The power supply unit is a storage battery.
As shown in fig. 2, further, in the all-directional intelligent vehicle provided by this embodiment, a swivel seat 12 is further included, and a lower end of the swivel seat 12 is connected with a swivel steering engine 2 installed on the chassis 1, and is adapted to swivel under the control of the swivel steering engine 2. Preferably, the rotary steering engine 2 in this embodiment is also connected with the steering engine controller 7, is controlled by the steering engine controller 7, and is suitable for synchronously controlling the rotary seat 12 to realize 360-degree steering when the intelligent vehicle steers, so as to provide a good riding environment. The setting of above-mentioned structure for the intelligent car of all-round steering in this embodiment can not only the freight, can also manned.
Preferably, in this embodiment, the hub motor 10 is an 8-inch hub motor of a 5065 scooter brushless motor model with a hall motor of Shenzhen play model company; the rotary steering engine 2 adopts a high-power steering engine with the model of 180KG of a super robot company; the first hub motor controller and the first hub motor controller both adopt a hub motor controller of a 24v single brushless motor of Kingdouyun company; the steering engine controller 7 is a 16-path steering engine controller, is a 16-path steering engine controller purchased from Shenzhen intelligent baby robot company, can realize various control modes such as a computer, a mobile phone, a remote controller and wifi, and can also design various actions by a computer programming method; the power supply unit is a 24V15HA model universal storage battery of the terrestrial energy science and technology company; the network camera adopts a WIFI network camera module matched with a 16-path steering engine controller by Shenzhen intelligent treasure company, and can realize network remote control. It should be noted that, the above-mentioned product source that only adopts in this embodiment, the technical staff in this field can also adopt other conventional products on the market, and the components and parts, the electrical part of different producers, model, way number do not influence the utility model discloses technical scheme's implementation and the realization of technological effect.
Specifically, as shown in fig. 3, this embodiment further discloses a circuit connection schematic diagram of the intelligent omni-directional steering vehicle. As can be seen from the figure, four hub motors 10 (shown as M1, M2, M3 and M4 in the figure) are controlled by the first hub motor controller and the second hub motor controller, and the first hub motor controller and the second hub motor controller output PWM signals to the steering engine controller 7; six rotary steering engines 2 (shown as MD1, MD2, MD3, MD4, MD5 and MD6 in the figure) are also directly controlled by a steering engine controller 7, and a network camera 9 is also connected to the steering engine controller 7. In addition, the steering engine controller 7 is also provided with a single chip microcomputer interface and is suitable for being connected with a single chip microcomputer through the single chip microcomputer interface so as to expand high-level functions of unmanned driving, brain wave control, posture control and the like. In addition, the circuit connection schematic diagram also comprises a voltage reducer.
During the in-service use, accessible wired control, remote controller control, cell-phone APP control, network control or computer programming's mode control steering wheel controller 7, further control first wheel hub controller and second wheel hub controller to realize the control of four group's in-wheel motor 10 and rotatory steering wheel 2's action, make every wheel hub 3 all can 360 degrees free steering, every seat 12 can 360 degrees free steering simultaneously, various motion modes such as the in-situ left and right rotations of the intelligent car of all-round direction turning in the realization this embodiment, 45 degrees slash are straight. Specifically, this embodiment has still disclosed the relation of wheel angle and traffic direction:
(1) the four wheel hubs 3 are arranged in parallel with the whole vehicle, and the whole vehicle can move forwards and backwards in a straight line;
(2) the four wheel hubs 3 are vertically arranged with the whole vehicle, and the whole vehicle can be straightly arranged leftwards and rightwards;
(3) the four wheel hubs 3 are arranged in a circular shape, and the whole vehicle can rotate left and right in situ;
(4) the four wheel hubs 3 are parallel and form an angle of 45 degrees with the whole vehicle, and the whole vehicle can go in and out directly in an oblique line manner.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides an all-round intelligent car that turns to which characterized in that includes:
the vehicle body comprises a vehicle body and a chassis, and the vehicle body is mounted on the chassis;
the device comprises a plurality of driving units, a control unit and a control unit, wherein each driving unit comprises a hub motor, a rotary steering engine and a hub; the hub motor is arranged in the wheel hub, and the rotating shaft of the hub motor is a hub shaft of the wheel hub and is suitable for providing power, transmission and braking acting force for the wheel hub; the rotary steering engine is installed on the chassis, the output end of the rotary steering engine is connected with the wheel hub, and the rotary steering engine is suitable for driving the wheel hub to turn.
2. The omni-directional steering intelligent vehicle according to claim 1, wherein the driving unit further comprises a U-shaped supporting frame, the U-shaped supporting frame comprises a bottom plate and webs connected to two sides of the bottom plate, the bottom plate is connected with the rotary steering engine, and the two webs are provided with mounting holes, so that a rotating shaft of the hub motor can penetrate through the mounting holes and can be mounted on the mounting holes.
3. The omni-directional steering smart car of claim 2,
the main shaft of the rotary steering engine is connected with the bottom plate;
the driving unit further comprises a compression spring, and the compression spring is sleeved on the main shaft of the rotary steering engine.
4. The omni-directional steering smart car of claim 3,
the number of the driving units is four, and the four driving units are symmetrically arranged at four corners of the bottom of the chassis respectively.
5. The omni-directional steering smart car of claim 4,
the hub controller is electrically connected with the hub motors of the four driving units and is suitable for controlling the hub motors.
6. The omni-directional steering smart car of claim 5,
the hub controller comprises a first hub controller and a second hub controller, the first hub controller is electrically connected with the two hub motors positioned on the front side of the chassis respectively, and the second hub controller is electrically connected with the two hub motors positioned on the rear side of the chassis respectively.
7. The omni-directional steering smart car of claim 6,
the steering engine controller is respectively electrically connected with the first wheel hub controller, the second wheel hub controller and the four rotating steering engines of the driving unit and is suitable for controlling the first wheel hub controller, the second wheel hub controller and the four rotating steering engines.
8. The intelligent omni-directional steering vehicle according to claim 7, further comprising a network camera, wherein the network camera is electrically connected with the steering engine controller.
9. The intelligent omni-directional steering vehicle according to claim 8, wherein the hub controller is further provided with a single chip microcomputer control interface, and the single chip microcomputer control interface is suitable for being connected with a single chip microcontroller.
10. The intelligent omni-directional steering vehicle according to claim 9, further comprising a power supply unit, wherein the power supply unit is mounted on the chassis, is electrically connected with the hub motor and the rotary steering engine of the driving unit respectively, and is adapted to supply power to the hub motor and the rotary steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921109339.XU CN210212519U (en) | 2019-07-15 | 2019-07-15 | All-directional steering intelligent vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921109339.XU CN210212519U (en) | 2019-07-15 | 2019-07-15 | All-directional steering intelligent vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN210212519U true CN210212519U (en) | 2020-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921109339.XU Active CN210212519U (en) | 2019-07-15 | 2019-07-15 | All-directional steering intelligent vehicle |
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|---|---|
| CN (1) | CN210212519U (en) |
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- 2019-07-15 CN CN201921109339.XU patent/CN210212519U/en active Active
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