CN211892751U - All-wheel-drive omnidirectional damping intelligent vehicle chassis - Google Patents
All-wheel-drive omnidirectional damping intelligent vehicle chassis Download PDFInfo
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- CN211892751U CN211892751U CN202020480071.7U CN202020480071U CN211892751U CN 211892751 U CN211892751 U CN 211892751U CN 202020480071 U CN202020480071 U CN 202020480071U CN 211892751 U CN211892751 U CN 211892751U
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Abstract
The utility model relates to a full-drive omnidirectional damping intelligent vehicle chassis, which comprises two chassis components which are symmetrical front and back, wherein each chassis component comprises a support frame, a suspension component and wheels; the suspension assembly comprises a shock absorber, a large A-shaped swing arm, a small A-shaped swing arm, a motor fixing piece, a connecting rod, a steering push rod, a steering engine fixing plate and a wheel driving motor; the tail end of the large A-shaped swing arm is rotatably connected with the lower part of the support frame, the tip end of the large A-shaped swing arm is rotatably connected with the tail end of the small A-shaped swing arm, and the tip end of the small A-shaped swing arm is rotatably connected with the lower end of the motor fixing piece; one end of the steering engine fixing plate is rotatably connected with the upper end of the motor fixing part, the steering engine is fixed at the bottom of the steering engine fixing plate, and the middle part of the connecting rod is fixed on an output shaft of the steering engine; the two ends of the connecting rod are respectively and rotatably connected with steering push rods, and the other ends of the two steering push rods are respectively hinged with the two sides of the motor fixing piece. The wheel driving motor and the steering engine of the chassis are fused in the suspension assembly, so that the service life is prolonged.
Description
Technical Field
The utility model relates to an intelligence car technical field specifically is a drive full qxcomm technology shock attenuation intelligent vehicle chassis.
Background
The chassis is used as a running mechanism of the vehicle, and the structure of the chassis is important for the stable running of the vehicle. The existing chassis generally adopts a structure of four-wheel walking, differential steering or rear wheel driving front wheel steering, and the turning radius of the two structures is larger, so that the chassis is difficult to walk in a narrow space; for example, an intelligent vehicle used in a chemical plant is easy to collide due to a large turning radius, and is easy to cause an explosion accident. For some intelligent vehicles used in severe environments (such as the field and a steep slope), the intelligent vehicle is vibrated due to ground bumpiness, and the structure and the electronic components are easily damaged. In order to solve the problems, the intelligent vehicle chassis with the all-wheel-drive and all-direction combined shock absorption is provided.
Chinese patent No. CN209738718U discloses an intelligent vehicle chassis with independent suspension systems, wherein two front wheels are respectively provided with an independent suspension system, and two rear wheels are hinged with a chassis frame through a rear axle rocker arm and a rear axle to realize synchronous driving of the two rear wheels, so that the two front wheels of the intelligent vehicle chassis can be steered independently, and the two rear wheels can not be steered independently, i.e. the intelligent vehicle chassis can not be rotated in all directions; compared with the chassis rotating in all directions, the chassis can not realize pivot steering and oblique advancing; the intelligent vehicle chassis has a large turning radius and is difficult to adapt to an area with a small space; in addition, the steering motor of this intelligent vehicle chassis is installed on chassis frame to it is articulated with the knuckle connecting rod through the steering gear, and the steering motor is not integrated as an organic whole with independent suspension promptly, though most vibrations can be eliminated through bumper shock absorber and knuckle connecting rod, but the vibrations of small part can be transmitted to the steering gear through the knuckle connecting rod, and transmit to the output shaft that turns to the motor through the steering gear, can cause the damage to the output shaft of steering motor, shortens its life.
The document CN110126573A discloses a vehicle chassis and a vehicle, wherein four wheels of the chassis are provided with independent suspension steering units; the tail end transmission box connected with the steering telescopic cylinder body and the corresponding wheel are driven to deflect by controlling the rotary cylinder rod of each steering telescopic cylinder to rotate by a certain angle, so that the independent steering function of all wheels of the vehicle is realized; the chassis needs to realize power transmission through the intermediate transmission shaft, and the intermediate transmission shaft is rigidly connected with the frame, so that the steering flexibility is poor, and the structure is complex.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects of the prior art, the utility model aims to solve the technical problem of providing a full-drive omnidirectional damping intelligent vehicle chassis; the chassis has high flexibility, good stability and large power, and is particularly suitable for the environments with narrow working areas and rugged and uneven roads.
In order to solve the technical problem, the utility model provides a following technical scheme:
a full-drive omnidirectional damping intelligent vehicle chassis comprises two chassis components which are symmetrical in front and back, wherein each chassis component comprises a support frame, and suspension components and wheels which are symmetrically distributed in the left and right direction by taking the support frame as a symmetrical axis; the steering mechanism is characterized in that each suspension assembly comprises a shock absorber, a large A-shaped swing arm, a small A-shaped swing arm, a motor fixing piece, a connecting rod, a steering push rod, a steering engine fixing plate and a wheel driving motor;
the tail end of the large A-shaped swing arm is rotatably connected with a hinged support at the lower part of the support frame, the tip end of the large A-shaped swing arm is rotatably connected with the tail end of the small A-shaped swing arm, and the tip end of the small A-shaped swing arm is rotatably connected with the lower end of the motor fixing piece; the wheel driving motor is fixed in the middle of the motor fixing piece, and a wheel is fixed on an output shaft of the wheel driving motor; one end of the steering engine fixing plate is rotatably connected with the upper end of the motor fixing part, the steering engine is fixed at the bottom of the steering engine fixing plate, and the middle part of the connecting rod is fixed on an output shaft of the steering engine; two ends of the connecting rod are respectively and rotatably connected with one end of each steering push rod through a pin shaft, and the other ends of the two steering push rods are respectively hinged with two sides of the motor fixing piece; one end of the shock absorber is hinged with the middle of the steering engine fixing plate through a pin shaft, the other end of the shock absorber is fixed with the frame through a connecting plate, and the steering engine fixing plate does not interfere with the supporting frame.
The two sides of the motor fixing piece are respectively provided with a hinged support connected with the steering push rod, the upper end and the lower end of the motor fixing piece are respectively provided with a connecting shaft, the connecting shaft at the upper end penetrates out of the front end of the steering engine fixing plate and is rotatably connected with the steering engine fixing plate, and the connecting shaft at the lower end penetrates out of the tip of the small A-shaped swing arm and is rotatably connected with the tip of the small A-shaped swing arm.
The support frame comprises an upright post and a hinged plate fixed at the bottom of the upright post, two sides of the hinged plate are respectively provided with a second hinged support connected with a large A-shaped swing arm, and the upper end of the upright post is used for connecting the frame.
The connecting rod, the steering push rod and the connecting positions of the motor fixing piece and the steering push rod are positioned in the same horizontal plane.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the four wheels of the utility model are respectively connected with the frame through respective suspension components, and each wheel independently realizes shock absorption, thereby preventing direct shock transmission between the wheels and increasing the shock absorption effect; the wheel driving motor and the steering engine for driving the wheels to turn are fused in the suspension assembly, the suspension assembly is integrally at the same vibration frequency, the wheels cannot damage a working rod of the steering engine due to vibration caused by the ground, the steering engine can be protected, and the service life of the steering engine is prolonged; the wheels, the wheel driving motors and the steering engines are all connected to the suspension assembly, and do not directly contact with the vehicle body, so that the damping effect can be effectively achieved.
2. Each wheel of the utility model is driven independently, the traction force is large, and the stability is high; the four wheels can steer, so that the in-situ steering and the oblique advancing of the chassis can be realized, compared with the existing chassis with differential steering or rear wheel driven front wheel steering, the steering wheel has smaller turning radius, can be used in a narrow space, greatly enhances the flexibility, and can effectively reduce the collision accidents in work; when an obstacle exists in the front of the chassis, the chassis can move forwards in an inclined mode only by rotating the four wheels to a certain angle in the same direction, the whole vehicle does not need to move, turning radius is not generated, and the obstacle can be effectively avoided. For mountain roads and other rugged and difficult roads, enough power can be ensured, and the function of cross country is realized.
3. The utility model discloses a connecting rod, steering linkage and motor mounting and the hookup location of steering linkage are located same horizontal plane, prevent that vibrations from making the output shaft of steering wheel receive tensile, further effectively protect the steering wheel.
4. The utility model discloses application scope is well, small-size intelligent car, especially work under adverse circumstances, to shock-absorbing capacity and the intelligent car that turns to the ability and have special demands.
Drawings
Fig. 1 is a schematic view of the connection between the suspension assembly and the support frame of the present invention;
fig. 2 is a schematic structural view of the suspension assembly of the present invention without the wheel driving motor and the steering engine;
FIG. 3 is a schematic view of the installation of the bottom plate and the upright of the present invention;
FIG. 4 is a schematic structural view of the present invention during pivot steering;
fig. 5 is a bottom view of the utility model when moving forward obliquely;
fig. 6 is a bottom view of the overall structure of the present invention;
fig. 7 is a front view of the overall structure of the present invention;
in the figure: 1-a bottom plate; 2-a support frame; 3-a shock absorber; 4-connecting plates; 5-big A-shaped swing arm; 6-small A-shaped swing arm; 7-motor fixing part; 8-connecting rod; 9-a steering push rod; 10-a steering engine; 11-a steering engine fixing plate; 12-wheel drive motors; 20-a column; 21-a hinged plate; 22-a second hinged support; 71-a hinge support; 72-connecting shaft.
Detailed Description
The present invention will be further explained with reference to the following embodiments and accompanying drawings. The specific examples are only used to illustrate the present invention in further detail, and do not limit the scope of the present invention.
The utility model provides a full-drive omnidirectional damping intelligent vehicle chassis (chassis for short, see figures 1-7), which comprises two chassis components which are symmetrical in front and back, wherein each chassis component comprises a support frame 2, and suspension components and wheels which are symmetrically distributed in the left and right direction by taking the support frame 2 as a symmetry axis; each suspension component comprises a shock absorber 3, a large A-shaped swing arm 5, a small A-shaped swing arm 6, a motor fixing piece 7, a connecting rod 8, a steering push rod 9, a steering engine 10, a steering engine fixing plate 11 and a wheel driving motor 12;
a first hinge support 71 is respectively arranged on two sides of the motor fixing piece 7, and a connecting shaft 72 is respectively arranged at the upper end and the lower end of the motor fixing piece 7; the wheel driving motor 12 is fixed in the middle of the motor fixing part 7, the output shaft of the wheel driving motor 12 is back to the support frame 2, and wheels are fixed on the output shaft of the wheel driving motor 12;
the support frame 2 is composed of a vertical column 20 and a hinged plate 21 fixed at the bottom of the vertical column 20, and two sides of the hinged plate 21 are respectively provided with a second hinged support 22; the tail end of the large A-shaped swing arm 5 is rotatably connected with a second hinged support 22 on one side of the hinged plate 21 through a bearing, and the tip end of the large A-shaped swing arm 5 is rotatably connected with the tail end of the small A-shaped swing arm 6 through a bearing; the tip of the small A-shaped swing arm 6 is rotatably connected with a connecting shaft 72 at the lower end of the motor fixing piece 7 through a bearing, one end of the steering engine fixing plate 11 is rotatably connected with the connecting shaft 72 at the upper end of the motor fixing piece 7 through a bearing, and the length of the large A-shaped swing arm 5 connected with the small A-shaped swing arm 6 can ensure that the steering engine fixing plate 11 does not interfere with the upright post 20 during steering or vibration; the steering engine 10 is fixed at the bottom of the steering engine fixing plate 11, and an output shaft of the steering engine 10 faces the ground; the middle part of the connecting rod 8 is fixed on an output shaft of the steering engine 10, and the connecting rod 8 is parallel to the horizontal ground; two ends of the connecting rod 8 are respectively rotatably connected with one end of each steering push rod 9 through a bearing and a pin shaft, and the other ends of the two steering push rods 9 are respectively hinged with the corresponding first hinged supports 71 on two sides of the motor fixing part 7; the connecting rod 8, the steering push rod 9 and the first hinged support 71 of the motor fixing piece 7 are positioned in the same horizontal plane, so that the output shaft of the steering engine 10 is prevented from being stretched upwards or downwards due to vibration, and the steering engine 10 is effectively protected; one end of the shock absorber 3 is hinged with the middle part of the steering engine fixing plate 11 through a pin shaft, and the other end of the shock absorber 3 is fixedly provided with a connecting plate 4; the frame is fixed on all the connecting plates 4 and the upright posts 20 of the support frame 2 through the bottom plate 1.
The bearings are all thrust needle roller bearings so as to reduce friction force between components and prolong the service life of the components.
The utility model discloses the model of used components and parts refers as follows:
the model of the steering engine 10 is TD8125 MG; the wheel driving motor 12 is a jga25-370 DC speed reducing motor; the model of the above components can also be selected according to the actual weight and working conditions of the intelligent vehicle.
The utility model discloses a theory of operation and work flow are:
the damping mode is as follows: the wheel vibration caused by the rugged road surface causes the vibration of the wheel driving motor 12 and the motor fixing piece 7, on one hand, the vibration is transmitted to the large A-shaped swing arm 5 through the small A-shaped swing arm 6 and is respectively converted into the rotation around the joint of the small A-shaped swing arm 6 and the large A-shaped swing arm 5 and the rotation around the joint of the large A-shaped swing arm 5 and the second hinged support 22 of the hinged plate 21; on the other hand, the vibration is transmitted to the shock absorber 3 through the steering engine fixing plate 11 and converted into compression and stretching of the shock absorber 3 along the axial direction, so that the vibration is reduced, and the shock absorption purpose is achieved; meanwhile, the connecting rod 8, the steering push rod 9 and the first hinge support 71 of the motor fixing piece 7 are positioned in the same horizontal plane, so that the vibration of the motor fixing piece 7 and the vibration of the steering engine 10 are in the same frequency, and an output shaft of the steering engine 10 cannot be subjected to pulling pressure, so that the vibration cannot damage the steering engine 10, the steering engine can be effectively protected, and the service life of the steering engine is prolonged; because the utility model discloses an independent shock-absorbing structure, four independent shock attenuation mutually noninterferes of wheel, the vibrations of single wheel can not exert an influence to other wheels, but furthest performance damping performance.
The steering mode is as follows: the steering engine 10 drives the connecting rod 8 to rotate, and torque is transmitted to the motor fixing piece 7 through the steering push rod 9 so as to cause the motor fixing piece 7 to rotate, so that wheels rotate; because the four wheels of the utility model are independently driven to independently steer respectively, the utility model not only can meet the general steering requirement, but also can realize the pivot steering and the oblique advance; when each wheel rotates by 45 degrees, the output shafts of the four wheel driving motors 12 are all positioned on the diagonal line of the square, and the in-situ steering of the chassis can be realized; when the four wheels rotate in the same direction for a certain angle, the oblique advance can be realized, only the four wheels rotate at the moment, the whole frame does not need to rotate, the turning radius cannot be generated, and the obstacle can be effectively avoided; the chassis not only retains the advantages of flexibility and rapidness of common steering, but also solves the problems that the common steering has larger turning radius and can not adapt to narrow environment. Each wheel is provided with a wheel driving motor, driving power is guaranteed, normal walking in a rugged path can be guaranteed, and cross-country performance is achieved.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (4)
1. A full-drive omnidirectional damping intelligent vehicle chassis comprises two chassis components which are symmetrical in front and back, wherein each chassis component comprises a support frame, and suspension components and wheels which are symmetrically distributed in the left and right direction by taking the support frame as a symmetrical axis; the steering mechanism is characterized in that each suspension assembly comprises a shock absorber, a large A-shaped swing arm, a small A-shaped swing arm, a motor fixing piece, a connecting rod, a steering push rod, a steering engine fixing plate and a wheel driving motor;
the tail end of the large A-shaped swing arm is rotatably connected with a hinged support at the lower part of the support frame, the tip end of the large A-shaped swing arm is rotatably connected with the tail end of the small A-shaped swing arm, and the tip end of the small A-shaped swing arm is rotatably connected with the lower end of the motor fixing piece; the wheel driving motor is fixed in the middle of the motor fixing piece, and a wheel is fixed on an output shaft of the wheel driving motor; one end of the steering engine fixing plate is rotatably connected with the upper end of the motor fixing part, the steering engine is fixed at the bottom of the steering engine fixing plate, and the middle part of the connecting rod is fixed on an output shaft of the steering engine; two ends of the connecting rod are respectively and rotatably connected with one end of each steering push rod through a pin shaft, and the other ends of the two steering push rods are respectively hinged with two sides of the motor fixing piece; one end of the shock absorber is hinged with the middle of the steering engine fixing plate through a pin shaft, the other end of the shock absorber is fixed with the frame through a connecting plate, and the steering engine fixing plate does not interfere with the supporting frame.
2. The all-wheel-drive omnidirectional damping intelligent vehicle chassis according to claim 1, wherein a first hinged support connected with the steering push rod is arranged on each of two sides of the motor fixing piece, a connecting shaft is arranged at each of the upper end and the lower end of the motor fixing piece, the connecting shaft at the upper end penetrates through the front end of the steering engine fixing plate and is rotatably connected with the steering engine fixing plate, and the connecting shaft at the lower end penetrates through the tip end of the small A-shaped swing arm and is rotatably connected with the tip end of the small A-shaped swing arm.
3. The all-wheel-drive omnidirectional damping intelligent vehicle chassis according to claim 1, wherein the support frame comprises an upright column and a hinged plate fixed at the bottom of the upright column, two sides of the hinged plate are respectively provided with a second hinged support connected with a large A-shaped swing arm, and the upper end of the upright column is used for connecting a vehicle frame.
4. The all-wheel-drive omnidirectional shock-absorbing intelligent vehicle chassis according to any one of claims 1 to 3, wherein the connecting rod, the steering push rod and the connecting positions of the motor fixing member and the steering push rod are located in the same horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020480071.7U CN211892751U (en) | 2020-04-04 | 2020-04-04 | All-wheel-drive omnidirectional damping intelligent vehicle chassis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020480071.7U CN211892751U (en) | 2020-04-04 | 2020-04-04 | All-wheel-drive omnidirectional damping intelligent vehicle chassis |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112429273A (en) * | 2020-11-30 | 2021-03-02 | 哈尔滨工业大学 | Suspension structure and planet detection vehicle |
| CN112607058A (en) * | 2020-11-30 | 2021-04-06 | 哈尔滨工业大学 | Suspension structure and planet detection vehicle |
| CN114056088A (en) * | 2021-08-05 | 2022-02-18 | 山东奥尼司特机械有限公司 | Chassis assembly with independent steering and independent driving functions |
| CN114312991A (en) * | 2022-03-07 | 2022-04-12 | 深圳小象电动科技有限公司 | Wheel-side power module of integrated steering mechanism |
-
2020
- 2020-04-04 CN CN202020480071.7U patent/CN211892751U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112429273A (en) * | 2020-11-30 | 2021-03-02 | 哈尔滨工业大学 | Suspension structure and planet detection vehicle |
| CN112607058A (en) * | 2020-11-30 | 2021-04-06 | 哈尔滨工业大学 | Suspension structure and planet detection vehicle |
| CN112607058B (en) * | 2020-11-30 | 2022-09-09 | 哈尔滨工业大学 | Collapsible rotation type suspension structure and planet detection car |
| CN114056088A (en) * | 2021-08-05 | 2022-02-18 | 山东奥尼司特机械有限公司 | Chassis assembly with independent steering and independent driving functions |
| CN114056088B (en) * | 2021-08-05 | 2024-04-02 | 山东奥尼司特机械有限公司 | Chassis assembly with independent steering and independent driving functions |
| CN114312991A (en) * | 2022-03-07 | 2022-04-12 | 深圳小象电动科技有限公司 | Wheel-side power module of integrated steering mechanism |
| CN114312991B (en) * | 2022-03-07 | 2022-05-17 | 深圳小象电动科技有限公司 | Wheel-side power module of integrated steering mechanism |
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