CN211685398U - All-terrain scientific research trolley platform based on hub motor - Google Patents
All-terrain scientific research trolley platform based on hub motor Download PDFInfo
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- CN211685398U CN211685398U CN201922240832.1U CN201922240832U CN211685398U CN 211685398 U CN211685398 U CN 211685398U CN 201922240832 U CN201922240832 U CN 201922240832U CN 211685398 U CN211685398 U CN 211685398U
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- hub motor
- trolley
- steering
- encoder
- fixing plate
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Abstract
The utility model relates to an all-terrain scientific research trolley platform based on a hub motor, which comprises a trolley frame, a controller and a supporting driving mechanism, wherein the controller and the supporting driving mechanism are fixedly connected with the trolley frame; and a power supply module is further arranged in the frame, and the controller and the power supply module are respectively electrically connected with the support driving mechanism through cables. The supporting driving mechanism comprises a hub motor, a suspension, a connecting mechanism, a steering mechanism and an encoder; one end of the suspension is connected with the frame, and the steering mechanism is respectively connected with the hub motor and the suspension through the connecting mechanism; the encoder is installed on the connecting mechanism, is connected with the hub motor and is used for collecting the revolution of the hub motor. The trolley platform is based on the hub motor, the controller is arranged in the frame and used for controlling the steering of the wheels, the encoder is arranged at the position of the wheels and used for positioning the trolley, the platform is compact in design and can be accurately positioned.
Description
Technical Field
The utility model relates to a full topography scientific research dolly platform based on in-wheel motor.
Background
The traditional wheel type platform adopts a non-driving wheel hub, an external power source such as a motor or a diesel engine is required to be introduced in order to move the trolley, and then the movement is transmitted to the wheel hub through a transmission mechanism, so that the motor or the diesel engine and other devices are required to be placed in the trolley body, and meanwhile, an additional transmission part is required, so that the complexity and the weight of the trolley are increased, and meanwhile, the limited utilization space of the trolley is wasted.
Traditional in-wheel motors do not have the position of installing the encoder, and when the dolly is used for fields such as unmanned driving and survey and drawing, can not carry out accurate location to the position of dolly.
When the four-wheel drive trolley turns on site, the speed of the wheels is not perpendicular to the turning radius, so that the tires skid, extra sliding friction force is increased, and the torque demand on the motor is increased.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the technical problem who exists among the prior art, provide a full topography scientific research dolly platform, this dolly platform is based on in-wheel motor, and the setting controller is used for controlling the wheel to turn to in the frame, and the wheel position sets up the encoder and is used for positioning dolly position, and platform design is compact, and can pinpoint.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
a wheel hub motor-based all-terrain scientific research trolley platform comprises a trolley frame, a controller and a supporting driving mechanism, wherein the controller and the supporting driving mechanism are fixedly connected with the trolley frame; the frame is also internally provided with a power supply module, and the controller and the power supply module are respectively and electrically connected with the support driving mechanism through cables;
the supporting driving mechanism comprises a hub motor, a suspension, a connecting mechanism, a steering mechanism and an encoder; one end of the suspension is connected with the frame, and the steering mechanism is respectively connected with the hub motor and the suspension through the connecting mechanism; the encoder is arranged on the connecting mechanism, is connected with the hub motor and is used for acquiring the revolution of the hub motor;
the control end of the in-wheel motor, the control end of the steering mechanism and the signal output end of the encoder are all connected with the controller through cables, and the power supply end of the in-wheel motor, the power supply end of the steering mechanism and the power supply end of the encoder are all connected with the power supply module through cables.
The utility model has the advantages that: the transmission part of the trolley can be reduced by using the hub motor, and the space of the trolley is fully utilized. An encoder is introduced, the motion of the hub motor is transmitted to the encoder to accurately measure the motion of the hub motor, and accurate position and speed control feedback information can be provided for the trolley. The steering mechanism is additionally arranged on each wheel, and when the trolley steers, the steering mechanism can independently adjust the direction of each wheel through the controller, so that the wheels are always vertical to the turning radius of the trolley, the sliding friction of tires when the trolley turns is reduced, and the requirement on the torque of the hub motor is further reduced.
On the basis of the technical scheme, the utility model discloses can also do following improvement.
Furthermore, the connecting structure comprises a first fixing plate, a second fixing plate and a connecting block, wherein a connecting shaft is arranged in the connecting block;
the first fixing plate is hinged with the other end of the suspension; the steering engine and the connecting block are arranged on the first fixing plate;
one end of the connecting shaft is fixedly connected with the second fixing plate; the second fixing plate is fixedly connected with an output shaft of the hub motor.
Furthermore, steering mechanism is including turning to the steering wheel, turn to steering wheel fixed mounting on the first fixed plate, just turn to the output shaft of steering wheel through installing the steering gear of the connecting axle other end with the connecting axle meshing, turn to the control end of steering wheel all through the cable with controller signal connection, steering mechanism's power supply end through the cable with power module electricity is connected.
An output shaft of the steering engine is arranged in parallel with a connecting shaft arranged in the connecting block; and the output shaft of the steering engine is perpendicular to the output shaft of the hub motor.
Furthermore, the encoder is fixedly arranged on the second fixing plate, and a rotating shaft of the encoder is meshed with a transmission gear fixedly arranged on the hub motor. The transmission gear is coaxially sleeved outside an output shaft of the hub motor and is fixedly connected with the hub motor.
Drawings
Fig. 1 is an overall device structure diagram of an all-terrain scientific research trolley platform based on a wheel hub motor provided by the embodiment of the utility model;
fig. 2 is a structural diagram of a supporting driving mechanism provided in the embodiment of the present invention;
fig. 3 is a top view of a support driving mechanism according to an embodiment of the present invention;
fig. 4 is a schematic view of the four-wheel direction control when the trolley platform provided by the embodiment of the present invention turns.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the frame, 2, the controller, 3, support actuating mechanism, 30, the connecting axle, 31, in-wheel motor, 32, suspension, 33, first fixed plate, 34, the second fixed plate, 35, encoder, 36, drive gear, 37, steering gear, 38, steering wheel, 39, connecting block.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
Examples
As shown in figure 1, the all-terrain scientific research trolley platform based on the hub motor is formed by welding section bars or splicing bolts. The four wheels are all driven by hub motors (namely the wheels and the motors are integrated), and the four wheels are all connected with the frame through a suspension system. The power line and the control line of the hub motor are connected to the battery and the controller on the frame.
Specifically, the trolley platform comprises a frame 1, a controller 2 fixedly connected with the frame 1 and four groups of supporting and driving mechanisms 3; two of the four groups of support driving mechanisms are arranged at two sides of the frame 1; a power supply module (not shown in the figure) is further arranged in the frame 1, and the controller 2 and the power supply module are respectively and electrically connected with the support driving mechanism 3 through cables;
the support driving mechanism 3 comprises a wheel hub motor 31, a suspension 32, a first fixing plate 33, a second fixing plate 34, an encoder 35, a transmission gear 36, a steering gear 37, a steering engine 38 and a connecting block 39.
The suspension 32 is used for connecting a wheel hub and a vehicle frame, and one end of the suspension is hinged with the vehicle frame 1, as shown in fig. 2 and fig. 3, the suspension 32 in the embodiment comprises an upper cantilever, a lower cantilever and a damping spring for damping. It should be noted that the structure of the suspension is not only one, but the present embodiment is merely one of the more common embodiments.
The first fixing plate 33 is hinged with the other end of the suspension 32; the steering engine 38 and the connecting block 39 are arranged on the first fixing plate 33, a connecting shaft 30 is arranged in the connecting block 39, one end of the connecting shaft 30 is fixedly connected with the second fixing plate 34, and the other end of the connecting shaft 30 is meshed with an output shaft of the steering engine 38 through the steering gear 37. It should be noted that the transmission between the steering gear 38 and the connecting shaft 30 may be in the form of a pulley, a chain, or the like, besides the form of gear engagement, and will not be described herein.
The output shaft of the hub motor 31 is fixedly connected with the second fixing plate 34; the encoder 35 is fixedly installed on the second fixing plate 34, and a rotating shaft of the encoder 35 is meshed with the transmission gear 36 fixedly installed on the in-wheel motor 31; the transmission gear 36 is coaxially sleeved outside the output shaft of the hub motor and is fixedly connected with the hub motor 31, the hub motor 31 drives the wheel to rotate for one circle, the transmission gear 36 synchronously rotates for one circle, and the moving distance of the trolley can be accurately obtained through the encoder 35 meshed with the transmission gear 36.
Because the single hub motor is fixedly connected to the suspension lower fixing plate through the motor shaft. When the trolley advances, the suspension is still, and the hub motor rotates. In order to measure the rotation speed of the hub motor to control the position and speed of the hub motor, an encoder is arranged on the suspension lower fixing plate and is connected with a gear or a belt pulley fixed on the hub through a gear or a belt pulley. The motion of the hub motor can be transmitted to the encoder, so that the accurate measurement of the vehicle speed is realized.
And an output shaft of the steering engine 38 is arranged in parallel with a connecting shaft arranged in the connecting block 39. An output shaft of the steering engine 38 is perpendicular to an output shaft of the hub motor 31.
The control end of the wheel hub motor 31, the control end of the steering engine 38 and the signal output end of the encoder are all connected with the controller 2 through cables, and the power supply end of the wheel hub motor 31, the power supply end of the steering engine 38 and the power supply end of the encoder are all connected with the power supply module through cables.
When the trolley turns, the steering engine is controlled by the controller to control the steering of each wheel, so that the traveling direction of the steering engine is perpendicular to the turning radius, the wheels are prevented from slipping, and the torque required by the steering of the hub motor is reduced.
The traditional wheel type platform adopts a non-driven wheel hub, an external power source such as a motor or a diesel engine is required to be introduced, the motion is transmitted to the wheel hub through a transmission mechanism, components such as the motor or the diesel engine are required to be placed in a trolley body, an additional transmission part is required, the complexity and the weight of the trolley are increased, and the limited utilization space of the trolley is wasted. The transmission part of the trolley can be reduced by using the hub motor, and the space of the trolley is fully utilized.
The traditional hub motor is not provided with the position of the encoder, the encoder is introduced in the embodiment, the motion of the hub motor is transmitted to the encoder through the transmission mechanism to accurately measure the motion of the hub motor, and accurate position and speed control feedback information can be provided for the trolley.
When the four-wheel drive trolley turns on site, the speed of the wheels is not perpendicular to the turning radius, so that the tires skid, extra sliding friction force is increased, and the torque demand on the motor is high. According to the embodiment, the steering mechanism is additionally arranged on each wheel, when the trolley steers, the steering mechanism can independently adjust the direction of each wheel through the controller, so that the wheels are always perpendicular to the turning radius of the trolley, as shown in fig. 4, the sliding friction of tires when the trolley turns is reduced, and the requirement on the torque of the hub motor is further reduced.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (6)
1. An all-terrain scientific research trolley platform based on a hub motor is characterized by comprising a trolley frame (1), a controller (2) and a supporting driving mechanism (3), wherein the controller (2) and the supporting driving mechanism are fixedly connected with the trolley frame (1); a power supply module is further arranged in the frame (1), and the controller (2) and the power supply module are respectively and electrically connected with the support driving mechanism (3) through cables;
the supporting driving mechanism (3) comprises a hub motor (31), a suspension (32), a connecting mechanism, a steering mechanism and an encoder (35); one end of the suspension (32) is connected with the frame (1), and the steering mechanism is respectively connected with the hub motor (31) and the suspension (32) through the connecting mechanism; the encoder (35) is installed on the connecting mechanism, connected with the hub motor (31) and used for collecting the revolution of the hub motor (31);
the control end of in-wheel motor (31), the control end of steering mechanism and the signal output part of encoder (35) all through the cable with controller (2) are connected, the power supply end of in-wheel motor (31), the power supply end of steering mechanism and the power supply end of encoder (35) all through the cable with power module connects.
2. The all-terrain scientific research trolley platform based on the in-wheel motor is characterized in that the connecting mechanism comprises a first fixing plate (33), a second fixing plate (34) and a connecting block (39), and a connecting shaft (30) is arranged in the connecting block (39);
the first fixing plate (33) is hinged with the other end of the suspension (32); the connecting block (39) is arranged on the first fixing plate (33);
one end of the connecting shaft (30) is fixedly connected with the second fixing plate (34); the second fixing plate (34) is fixedly connected with an output shaft of the hub motor (31).
3. The all-terrain scientific research trolley platform based on the in-wheel motor as claimed in claim 2, wherein the steering mechanism comprises a steering engine (38), the steering engine (38) is fixedly mounted on the first fixing plate (33), an output shaft of the steering engine (38) is meshed with the connecting shaft (30) through a steering gear (37) mounted at the other end of the connecting shaft (30), a control end of the steering engine (38) is in signal connection with the controller (2) through a cable, and a power supply end of the steering mechanism is electrically connected with the power supply module through a cable.
4. The all-terrain scientific research trolley platform based on the in-wheel motor as claimed in claim 3, wherein an output shaft of the steering engine (38) is arranged in parallel with a connecting shaft arranged in the connecting block (39); an output shaft of the steering engine (38) is perpendicular to an output shaft of the hub motor (31).
5. The all-terrain scientific research trolley platform based on the in-wheel motor as claimed in claim 2, wherein the encoder (35) is fixedly installed on the second fixing plate (34), and a rotating shaft of the encoder (35) is meshed with a transmission gear (36) fixedly installed on the in-wheel motor (31).
6. The all-terrain scientific research trolley platform based on the in-wheel motor as claimed in claim 5, wherein the transmission gear (36) is coaxially sleeved outside the output shaft of the in-wheel motor and is fixedly connected with the in-wheel motor (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922240832.1U CN211685398U (en) | 2019-12-14 | 2019-12-14 | All-terrain scientific research trolley platform based on hub motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922240832.1U CN211685398U (en) | 2019-12-14 | 2019-12-14 | All-terrain scientific research trolley platform based on hub motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211685398U true CN211685398U (en) | 2020-10-16 |
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ID=72791301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922240832.1U Expired - Fee Related CN211685398U (en) | 2019-12-14 | 2019-12-14 | All-terrain scientific research trolley platform based on hub motor |
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| Country | Link |
|---|---|
| CN (1) | CN211685398U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313044A (en) * | 2021-12-23 | 2022-04-12 | 广西科技大学 | Mobile robot moving platform capable of climbing stairs |
-
2019
- 2019-12-14 CN CN201922240832.1U patent/CN211685398U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313044A (en) * | 2021-12-23 | 2022-04-12 | 广西科技大学 | Mobile robot moving platform capable of climbing stairs |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201016 Termination date: 20211214 |