CN211493658U - Driving mechanism for wire control chassis - Google Patents
Driving mechanism for wire control chassis Download PDFInfo
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- CN211493658U CN211493658U CN201922268316.XU CN201922268316U CN211493658U CN 211493658 U CN211493658 U CN 211493658U CN 201922268316 U CN201922268316 U CN 201922268316U CN 211493658 U CN211493658 U CN 211493658U
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Abstract
The embodiment of the utility model discloses a actuating mechanism for drive-by-wire chassis, this actuating mechanism are rear portion central authorities actuating mechanism, adopt a driving source to give two drive wheels with power transmission through a planetary reducer. The risk of abnormal abrasion of the tire caused by the central driving mode is small; only one power source is provided, and the problem of motor asynchronism does not exist during control; the yaw moment is small, so that the vehicle is very flexible to operate; the device has good starting and climbing performance and is almost independent of the load state; the engine, the transmission and the differential are connected into a whole, so that the transmission route of force is short; because the load of the front wheel is small, the steering is light; the braking force distribution is reasonable.
Description
Technical Field
The embodiment of the utility model provides a drive mechanism for drive-by-wire chassis relates to unmanned driving technique field, concretely relates to.
Background
At present, under the promotion of market development and national policies, a drive-by-wire chassis is developed vigorously, the market demand for various small unmanned vehicles is gradually enhanced, and more unmanned projects are generated in scenes such as factories, residential areas, industrial parks and the like. The existing drive-by-wire chassis driving mode mainly comprises two schemes of wheel edge driving and central driving, and the risk of abnormal abrasion of the wheel edge driving to tires is caused because the electronic differential speed is not verified more fully. The main defects are as follows: (1) the wheel-side drive risks abnormal wear to the tire; (2) in order to meet the requirement of motion coordination of each wheel, a plurality of driving motors have the problem of asynchronism in control, and the requirement on synchronous coordination control of a plurality of motors is high; (3) the distributed installation arrangement of the motor has high requirements on structural arrangement, thermal management, electromagnetic compatibility, vibration control and the like.
SUMMERY OF THE UTILITY MODEL
Therefore, the embodiment of the utility model provides a drive mechanism for drive-by-wire chassis to solve current wheel limit drive and can produce unusual wearing and tearing to the tire, and a plurality of driving motor have the asynchronous problem when controlling.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions: a driving mechanism for a wire control chassis is arranged at the rear part of the wire control chassis and comprises a driving motor, a planetary reducer and a transmission mechanism, wherein the driving motor and the planetary reducer are arranged at the central position of the rear part of the wire control chassis and are connected with a frame of the wire control chassis, the planetary reducer comprises an input shaft and two output shafts, a motor shaft of the driving motor is connected with the input shaft of the planetary reducer, and the two output shafts of the planetary reducer are respectively connected to hubs of two rear wheels of the wire control chassis through a group of transmission mechanisms.
Furthermore, the transmission mechanism comprises a reducer connecting shaft, a transmission shaft and a wheel connecting shaft, the reducer connecting shaft is connected with one end of the transmission shaft through a universal joint, the other end of the transmission shaft is connected with the wheel connecting shaft through a universal joint, and the wheel connecting shaft is connected to a rear wheel hub of the drive-by-wire chassis.
Further, the reducer connecting shaft is further connected with a bearing supporting mechanism, the bearing supporting mechanism comprises a micro deep groove ball bearing, a bearing seat and a bearing seat supporting piece, the micro deep groove ball bearing is sleeved on the reducer connecting shaft and connected with the bearing seat, the bearing seat is connected with the bearing seat supporting piece, and the bearing seat supporting piece is fixed on the frame of the wire control chassis.
Furthermore, universal joints at two ends of the transmission shaft are respectively connected to the reducer connecting shaft and the wheel connecting shaft through flat keys.
Furthermore, a wheel end flange is arranged between the wheel connecting shaft and the rear wheel hub, and the wheel end flange is connected with the rear wheel hub through bolts.
Further, a motor shaft of the driving motor is connected with an input shaft of the planetary reducer in an interference fit mode.
Furthermore, the driving mechanism further comprises a damping mechanism, the damping mechanism comprises an upper cross arm, a lower cross arm and a damper, the upper cross arm and the lower cross arm are respectively arranged on the upper side and the lower side of the transmission mechanism, one end of the upper cross arm and one end of the lower cross arm are both connected to a driving section through joint bearings, the driving section is connected with the wheel connecting shaft, the other ends of the upper cross arm and the lower cross arm are both connected to the frame of the wire-controlled chassis through cross arm supporting frames, one end of the damper is connected with the upper cross arm, the other end of the damper is connected to a damper fixing piece, and the damper fixing piece is connected with the frame of the.
Furthermore, the driving section is connected with the wheel connecting shaft through a deep groove ball bearing.
Further, the frame of the drive-by-wire chassis comprises a plurality of square tubes welded with each other.
The embodiment of the utility model provides a have following advantage:
the embodiment of the utility model provides a drive mechanism for drive-by-wire chassis, this drive mechanism be rear portion central authorities actuating mechanism, adopt a driving source to give two drive wheels with power transmission through a planetary reducer. The risk of abnormal abrasion of the tire caused by the central driving mode is small; only one power source is provided, and the problem of motor asynchronism does not exist during control; the yaw moment is small, so that the vehicle is very flexible to operate; the device has good starting and climbing performance and is almost independent of the load state; the engine, the transmission and the differential are connected into a whole, so that the transmission route of force is short; because the load of the front wheel is small, the steering is light; the braking force distribution is reasonable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
Fig. 1 is a schematic structural diagram of a drive-by-wire chassis in a driving mechanism for the drive-by-wire chassis according to embodiment 1 of the present invention;
fig. 2 is a side view of a drive-by-wire chassis in a drive mechanism for a drive-by-wire chassis according to embodiment 1 of the present invention;
fig. 3 is a sectional view taken along line B-B of fig. 2.
In the figure: the drive-by-wire chassis comprises a drive-by-wire chassis 1, a drive mechanism 2, a frame 3, a rear wheel 4, a drive motor 21, a planetary reducer 22, a transmission mechanism 23, a damping mechanism 24, a reducer connecting shaft 231, a transmission shaft 232, a wheel connecting shaft 233, a universal joint 234, a wheel end flange 235, a micro deep groove ball bearing 236, a bearing seat 237, a bearing seat support 238, an upper cross arm 241, a lower cross arm 242, a damper 243, a joint bearing 244, a drive joint 245, a cross arm support frame 246 and a damper fixing member 247.
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. 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.
Example 1
The present embodiment proposes a drive mechanism for a drive-by-wire chassis, and as shown in fig. 1 and 2, the drive mechanism 2 is provided at the rear of the drive-by-wire chassis 1, and uses one drive source to transmit power to two rear drive wheels via one planetary reduction gear.
As shown in fig. 3, the driving mechanism 2 includes a driving motor 21, a planetary reducer 22 and a transmission mechanism 23, the driving motor 21 and the planetary reducer 22 are disposed at a rear central position of the drive-by-wire chassis 1 and connected to the frame 3 of the drive-by-wire chassis 1, and the frame 3 of the drive-by-wire chassis 1 includes a plurality of square pipes welded to each other. The driving motor 21 is a servo motor, the driving motor 21 can be driven by a motor driver connected with a finished automobile driver, the finished automobile driver is connected with an upper computer, and after instructions are obtained from the upper computer, torque instructions are issued to the driving motor 21 through the motor driver, so that wheels are driven or braked. The planetary reducer 22 includes an input shaft and two output shafts, a motor shaft of the driving motor 21 is connected to the input shaft of the planetary reducer 22, and the two output shafts of the planetary reducer 22 are respectively connected to hubs of two rear wheels 4 of the drive-by-wire chassis 1 through a set of transmission mechanisms 23. In this embodiment, a motor shaft of the driving motor 21 is connected to an input shaft of the planetary reducer 22 in an interference fit manner.
Specifically, the transmission mechanism 23 includes a speed reducer connecting shaft 231, a transmission shaft 232, and a wheel connecting shaft 233, the speed reducer connecting shaft 231 is connected to one end of the transmission shaft 232 through a universal joint 234, the other end of the transmission shaft 232 is connected to the wheel connecting shaft 233 through the universal joint 234, and the wheel connecting shaft 233 is connected to the hub of the rear wheel 4 of the drive-by-wire chassis 1. In the present embodiment, universal joints 234 at both ends of the transmission shaft 232 are connected to the reducer connecting shaft 231 and the wheel connecting shaft 233, respectively, by flat keys. A wheel end flange 235 is arranged between the wheel connecting shaft 233 and the hub of the rear wheel 4, and the wheel end flange 235 is connected with the hub of the rear wheel 4 through bolts.
The reducer connecting shaft 231 is further connected with a bearing supporting mechanism, the bearing supporting mechanism comprises a micro deep groove ball bearing 236, a bearing seat 237 and a bearing seat support 238, the micro deep groove ball bearing 236 is sleeved on the reducer connecting shaft 231, the micro deep groove ball bearing 236 is connected with the bearing seat 237, the bearing seat 237 is connected with the bearing seat support 238, and the bearing seat support 238 is fixed on the frame 3 of the drive-by-wire chassis 1.
The driving mechanism 2 further comprises a shock absorption mechanism 24, the shock absorption mechanism 24 comprises an upper cross arm 241, a lower cross arm 242 and a shock absorber 243, the upper cross arm 241 and the lower cross arm 242 are respectively arranged on the upper side and the lower side of the transmission mechanism 23, one end of each of the upper cross arm 241 and the lower cross arm 242 is connected to a driving joint 245 through a joint bearing 244, the driving joint 245 is connected with the wheel connecting shaft 233, the other end of each of the upper cross arm 241 and the lower cross arm 242 is connected to the frame 3 of the drive-by-wire chassis 1 through a cross arm supporting frame 246, one end of the shock absorber 243 is connected with the upper cross arm 241, the other end of the shock absorber is connected with. In this embodiment, the driving section 245 is connected to the wheel connecting shaft 233 by a deep groove ball bearing.
The driving method of the driving mechanism for the drive-by-wire chassis of the embodiment specifically comprises the following steps:
the driving motor 21 is started, a motor shaft of the driving motor 21 rotates and transmits power to an input shaft of the planetary reducer 22, so that two output shafts of the planetary reducer 22 are driven to rotate;
the power output from the two output shafts of the planetary reducer 22 is transmitted to the two rear wheels 4 of the drive-by-wire chassis 1 via the transmission mechanism 23 to drive the wheels to rotate.
The embodiment of the utility model provides a drive mechanism for drive-by-wire chassis, this drive mechanism be rear portion central authorities actuating mechanism, adopt a driving source to give two drive wheels with power transmission through a planetary reducer. The risk of abnormal abrasion of the tire caused by the central driving mode is small; only one power source is provided, and the problem of motor asynchronism does not exist during control; the yaw moment is small, so that the vehicle is very flexible to operate; the device has good starting and climbing performance and is almost independent of the load state; the engine, the transmission and the differential are connected into a whole, so that the transmission route of force is short; because the load of the front wheel is small, the steering is light; the braking force distribution is reasonable.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. The driving mechanism for the wire control chassis is characterized in that the driving mechanism is arranged at the rear part of the wire control chassis and comprises a driving motor, a planetary reducer and a transmission mechanism, the driving motor and the planetary reducer are arranged at the central position of the rear part of the wire control chassis and are connected with a frame of the wire control chassis, the planetary reducer comprises an input shaft and two output shafts, a motor shaft of the driving motor is connected with the input shaft of the planetary reducer, and the two output shafts of the planetary reducer are respectively connected to hubs of two rear wheels of the wire control chassis through a group of transmission mechanisms.
2. The driving mechanism for the drive-by-wire chassis according to claim 1, wherein the transmission mechanism comprises a reducer connecting shaft, a transmission shaft and a wheel connecting shaft, the reducer connecting shaft is connected with one end of the transmission shaft through a universal joint, the other end of the transmission shaft is connected with the wheel connecting shaft through a universal joint, and the wheel connecting shaft is connected to a rear wheel hub of the drive-by-wire chassis.
3. The driving mechanism for the drive-by-wire chassis according to claim 2, wherein the reducer connecting shaft is further connected with a bearing support mechanism, the bearing support mechanism comprises a micro deep groove ball bearing, a bearing seat and a bearing seat support member, the micro deep groove ball bearing is sleeved on the reducer connecting shaft, the micro deep groove ball bearing is connected with the bearing seat, the bearing seat is connected with the bearing seat support member, and the bearing seat support member is fixed on the frame of the drive-by-wire chassis.
4. The drive mechanism for a chassis-by-wire according to claim 2, wherein universal joints at both ends of the propeller shaft are connected to the reducer connecting shaft and the wheel connecting shaft by flat keys, respectively.
5. The drive mechanism for a drive-by-wire chassis according to claim 2, wherein a wheel end flange is provided between the wheel connecting shaft and the rear wheel hub, and the wheel end flange and the rear wheel hub are connected by bolts.
6. The drive mechanism for the drive-by-wire chassis according to claim 1, wherein a motor shaft of the drive motor is connected with an input shaft of the planetary reducer in an interference fit manner.
7. The driving mechanism for the drive-by-wire chassis according to claim 2, further comprising a shock absorbing mechanism, wherein the shock absorbing mechanism comprises an upper cross arm, a lower cross arm and a shock absorber, the upper cross arm and the lower cross arm are respectively arranged at the upper side and the lower side of the transmission mechanism, one end of each of the upper cross arm and the lower cross arm is connected to a driving joint through a joint bearing, the driving joint is connected with the wheel connecting shaft, the other end of each of the upper cross arm and the lower cross arm is connected to the frame of the drive-by-wire chassis through a cross arm supporting frame, one end of the shock absorber is connected with the upper cross arm, the other end of the shock absorber is connected with a shock absorber fixing piece, and the shock absorber fixing piece.
8. The drive mechanism for a drive-by-wire chassis of claim 7, wherein the drive knuckle is connected to the wheel connecting shaft by a deep groove ball bearing.
9. The drive mechanism for a drive-by-wire chassis of claim 1, wherein the frame of the drive-by-wire chassis comprises a plurality of square tubes welded to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922268316.XU CN211493658U (en) | 2019-12-17 | 2019-12-17 | Driving mechanism for wire control chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922268316.XU CN211493658U (en) | 2019-12-17 | 2019-12-17 | Driving mechanism for wire control chassis |
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| Publication Number | Publication Date |
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| CN211493658U true CN211493658U (en) | 2020-09-15 |
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| CN201922268316.XU Active CN211493658U (en) | 2019-12-17 | 2019-12-17 | Driving mechanism for wire control chassis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979000A (en) * | 2019-12-17 | 2020-04-10 | 青岛钢铁侠科技有限公司 | Driving mechanism for wire control chassis and driving method thereof |
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2019
- 2019-12-17 CN CN201922268316.XU patent/CN211493658U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979000A (en) * | 2019-12-17 | 2020-04-10 | 青岛钢铁侠科技有限公司 | Driving mechanism for wire control chassis and driving method thereof |
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