CN212637733U

CN212637733U - Chassis wheel wane formula linkage

Info

Publication number: CN212637733U
Application number: CN202021532332.1U
Authority: CN
Inventors: 张海柱; 张新权
Original assignee: Weibo Intelligent Technology Suzhou Co ltd
Current assignee: Weibo Intelligent Technology Suzhou Co ltd
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2021-03-02
Anticipated expiration: 2030-07-29

Abstract

The utility model provides a chassis wheel wane formula linkage, including chassis support, chassis support includes the main crossbearer, is equipped with the wane subassembly on the main crossbearer, and the wane subassembly includes the pivot, and the fixed universal wheel mounting that is equipped with in the pivot, universal wheel mounting one side is connected with the universal wheel base, and the opposite side of universal wheel mounting is connected with the motor mount, is equipped with the fixed block that is used for fixed in-wheel motor and motor safety cover on the motor mount, and the mobilizable universal wheel that is equipped with on the universal wheel base; the pivot both ends are mobilizable cup joints respectively in the axle sleeve, and two axle sleeves are inserted respectively in the jack on two pivot support frames, and two pivot support frames are fixed on main crossbearer, and the outside of two axle sleeves all is equipped with the pivot mounting, two pivot mountings respectively with pivot both ends fixed connection.

Description

Chassis wheel wane formula linkage

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to chassis wheel wane formula linkage.

Background

In a wheel-type mobile robot drive, the drive wheels and the chassis are usually rigidly connected, i.e. the wheels and the speed reducer are directly fixed to wheel carriers, which in turn are directly fixed to the wheel chassis. Although the structure is simple, when the motor is decelerated through the speed reducer to drive the robot to walk, the wheels vibrate due to uneven ground and directly transmit the vibration to the robot chassis, so that the robot jolts seriously, the performance of the robot is influenced slightly, the damage of the robot is caused seriously, and the service life of the robot is influenced seriously. In order to avoid the defects of the existing structure, the connection mode between the wheels and the chassis needs to be changed, and rigid connection is changed into flexible connection, so that the robot is more stable in the running process, and the damage to the robot caused by bumping and shaking is avoided.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a chassis wheel wane formula linkage can have the jolt of avoiding the road surface uneven to lead to, guarantees steadily advancing of robot.

The utility model provides a following technical scheme:

a chassis wheel wane type suspension device is characterized by comprising a chassis support, wherein the chassis support comprises a main cross frame, a wane component is arranged on the main cross frame, the wane component comprises a rotating shaft, a universal wheel fixing part is fixedly arranged on the rotating shaft, one side of the universal wheel fixing part is connected with a universal wheel base, the other side of the universal wheel fixing part is connected with a motor fixing frame, a fixing block for fixing a hub motor and a motor protection cover is arranged on the motor fixing frame, and a universal wheel is movably arranged on the universal wheel base; the two ends of the rotating shaft are respectively movably sleeved in the shaft sleeves, the two shaft sleeves are respectively inserted into the insertion holes in the two rotating shaft supporting frames, the two rotating shaft supporting frames are fixed on the main cross frame, rotating shaft fixing pieces are arranged on the outer sides of the two shaft sleeves, and the two rotating shaft fixing pieces are respectively fixedly connected with the two ends of the rotating shaft.

Preferably, the shaft sleeve comprises a protruding end and a smooth end, the smooth end of the shaft sleeve penetrates through the insertion hole, and the protruding end of the shaft sleeve is clamped outside the insertion hole.

Preferably, both ends of the rotating shaft and the rotating shaft fixing part are provided with screw holes, and the rotating shaft is fixedly connected with the rotating shaft fixing part through bolts.

Preferably, the universal wheel is rigidly connected with the universal wheel base through a fixing bolt.

Preferably, the motor fixing frame, the rotating shaft and the universal wheel fixing piece are fixed through welding.

Preferably, the motor protective cover is arranged on the inner side of the motor fixing frame, and the in-wheel motor is fixed on the inner side of the motor protective cover.

Preferably, the number of said rocker assemblies is two.

The utility model has the advantages that: the wheel hub motor part and the universal wheel part form a wane structure through the rotating shaft, and when the condition that the road surface is uneven is met, the wheel hub motor and the universal wheel connected with the wheel hub motor can rotate through the rotating shaft to adjust the height position, so that jolting is avoided, and the machine is guaranteed to stably advance.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic front view of the present invention;

fig. 2 is a schematic view of the overall structure of the present invention;

fig. 3 is a schematic structural view of the seesaw assembly of the present invention.

Detailed Description

As shown in the drawing, for the utility model provides a pair of chassis wheel wane formula linkage, including chassis support 1, chassis support 1 includes main crossbearer 2, be equipped with wane subassembly 3 on the main crossbearer 2, the quantity of wane subassembly 3 is two, wane subassembly 3 includes pivot 4, the fixed universal wheel mounting 5 that is equipped with in

pivot

4, 5 one side of universal wheel mounting is connected with universal wheel base 6, the opposite side and the motor mount 7 of universal wheel mounting 5 are connected, be equipped with the fixed block 10 that is used for fixed in-wheel motor 8 and motor protection cover 9 on the motor mount 7, wherein motor protection cover 9 establishes at 7 inboards of motor mount, in-wheel motor 8 fixes at motor protection cover 9 inboardly. The universal wheel base 6 is movably provided with a universal wheel 11, the universal wheel 11 is rigidly connected with the universal wheel base 6 through a fixing bolt, and the motor fixing frame 7, the rotating shaft 4 and the universal wheel fixing piece 5 are fixed through welding.

Two ends of the rotating shaft 4 are movably sleeved in shaft sleeves 12 respectively, each shaft sleeve 12 comprises a protruding end and a smooth end, the smooth ends of the two shaft sleeves 12 penetrate through the jacks on the two rotating shaft supporting frames 13 respectively, and the protruding ends of the shaft sleeves 12 are clamped outside the jacks; two pivot support frames 13 are fixed on main crossbearer 2, and the outside of two axle sleeves 12 all is equipped with pivot mounting 14, all is equipped with the screw on 4 both ends of pivot and the pivot mounting 14, and two pivot mountings 14 pass through bolt fixed connection with 4 both ends of pivot respectively.

Motor mount 7, become an organic whole through welded fastening between pivot 4 and the universal wheel mounting 5, pivot 4 passes through axle sleeve 12 and the rotatable connection of pivot mounting 14 with pivot support frame 13, thereby make wheel hub motor part and universal wheel part form the wane structure through the pivot, at the robot in-process of marcing, when meetting the condition of road surface unevenness, wheel hub motor 8 and the universal wheel who links to each other rotate adjustment inclination through the pivot with the adaptation road surface condition, avoid appearing jolting, guarantee that the robot steadily advances.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The chassis wheel wane type suspension device is characterized by comprising a chassis support (1), wherein the chassis support (1) comprises a main transverse frame (2), a wane component (3) is arranged on the main transverse frame (2), the wane component (3) comprises a rotating shaft (4), a universal wheel fixing part (5) is fixedly arranged on the rotating shaft (4), one side of the universal wheel fixing part (5) is connected with a universal wheel base (6), the other side of the universal wheel fixing part (5) is connected with a motor fixing frame (7), a fixing block (10) for fixing a hub motor (8) and a motor protecting cover (9) is arranged on the motor fixing frame (7), and a universal wheel (11) is movably arranged on the universal wheel base (6); the two ends of the rotating shaft (4) are respectively movably sleeved in the shaft sleeves (12), the two shaft sleeves (12) are respectively inserted into the jacks on the two rotating shaft supporting frames (13), the two rotating shaft supporting frames (13) are fixed on the main transverse frame (2), the outer sides of the two shaft sleeves (12) are respectively provided with a rotating shaft fixing piece (14), and the two rotating shaft fixing pieces (14) are respectively fixedly connected with the two ends of the rotating shaft (4).

2. The chassis rocker suspension according to claim 1, wherein the bushing (12) comprises a protruding end and a smooth end, the smooth end of the bushing (12) passing through the receptacle, the protruding end of the bushing (12) catching on the outside of the receptacle.

3. The chassis wheel rocker suspension of claim 1, wherein both ends of the rotating shaft (4) and the rotating shaft fixing member (14) are provided with screw holes, and the rotating shaft (4) and the rotating shaft fixing member (14) are fixedly connected through bolts.

4. Chassis truck wheel rocker suspension according to claim 1, characterised in that the castor (11) is rigidly connected to the castor base (6) by means of a fixing bolt.

5. The chassis wheel rocker suspension according to claim 1, wherein the motor mount (7), the rotating shaft (4) and the universal wheel mount (5) are fixed by welding.

6. Chassis wheel rocker suspension according to claim 1, characterised in that the motor protection cover (9) is arranged inside the motor mount (7), and the in-wheel motor (8) is fixed inside the motor protection cover (9).

7. A chassis truck rocker suspension according to claim 1, characterised in that the number of rocker assemblies (3) is two.