CN213168290U - Multifunctional vehicle chassis - Google Patents
Multifunctional vehicle chassis Download PDFInfo
- Publication number
- CN213168290U CN213168290U CN202021957455.XU CN202021957455U CN213168290U CN 213168290 U CN213168290 U CN 213168290U CN 202021957455 U CN202021957455 U CN 202021957455U CN 213168290 U CN213168290 U CN 213168290U
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- steering
- front wheel
- wheel
- mounting area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a multifunctional vehicle chassis, including the vehicle bottom plate, the vehicle bottom plate is axisymmetric about first axis. The vehicle bottom plate is provided with a front wheel assembly mounting area, the front wheel assembly mounting area comprises two front wheel mounting areas which are axisymmetric about a first central axis and are centrosymmetric about a first central point, and the first central point is positioned on the first central axis. The vehicle bottom plate is provided with a positive ackerman drive mounting area and a reverse ackerman drive mounting area which are respectively arranged at the front side and the rear side of the front wheel component mounting area, and the positive ackerman drive mounting area and the reverse ackerman drive mounting area are centrosymmetric about a first central point. An omnidirectional wheel through groove for an omnidirectional wheel to pass through is formed in the vehicle bottom plate, and the omnidirectional wheel through groove is located between the two front wheel mounting areas. The customer can select the installation mode of positive ackerman, reverse ackerman or differential speed on the vehicle bottom plate according to the actual demand, need not to purchase a plurality of dollies simultaneously, has reduced customer's research threshold and has saved the resource.
Description
Technical Field
The utility model relates to an unmanned driving field especially relates to a multifunctional vehicle chassis.
Background
In recent years, with the development of the field of unmanned driving, the research and development direction of the field of unmanned driving is more and more emphasized, and thus the demand for the platform for unmanned learning and scientific research is increasingly promoted. Existing unmanned vehicles typically require only a single travel mode, such as conventional positive ackermann steering, depending on the usage scenario. However, research and learning personnel are often required to develop and learn for various travel patterns, such as positive ackerman, negative ackerman, and differential speeds.
The existing unmanned trolley is designed only aiming at a single advancing mode, for example, some companies on the market respectively provide three types of trolleys, namely a positive ackerman trolley, a negative ackerman trolley and a differential trolley for a customer to select, and the customer needs to purchase at least three trolleys if needing to learn or research the three modes, so that the learning cost is high and the waste of resources is caused. Therefore, a multifunctional vehicle chassis integrating a positive ackerman structure, a negative ackerman structure and a differential structure is needed, so that a customer can learn or research three modes by purchasing one vehicle.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a multifunctional vehicle chassis solves above problem.
To achieve the purpose, the utility model adopts the following technical proposal:
a multifunctional vehicle chassis comprises a vehicle bottom plate, wherein the vehicle bottom plate is axisymmetric about a first central axis;
the vehicle bottom plate is provided with a front wheel assembly mounting area, the front wheel assembly mounting area comprises two front wheel mounting areas which are axially symmetrical about a first central axis and are centrosymmetric about a first central point, and the first central point is positioned on the first central axis;
the chassis is provided with a positive ackermann drive mounting area and a negative ackermann drive mounting area which are respectively arranged at the front side and the rear side of the front wheel assembly mounting area, and the positive ackermann drive mounting area and the negative ackermann drive mounting area are centrosymmetric about the first central point;
an omnidirectional wheel through groove for an omnidirectional wheel to pass through is formed in the vehicle bottom plate, and the omnidirectional wheel through groove is located between the two front wheel mounting areas.
Optionally, two omnidirectional wheel support mounting areas are arranged on the vehicle bottom plate, and the omnidirectional wheel through groove is positioned between the two omnidirectional wheel support mounting areas; two omniwheel support installing areas are axisymmetric about the first central axis, and the omniwheel through groove is axisymmetric about the first central axis.
Optionally, the chassis of the multifunctional vehicle comprises two omnidirectional wheel supports, and two ends of each omnidirectional wheel are fixedly connected with a corresponding omnidirectional wheel support through an omnidirectional wheel bearing respectively;
the omnidirectional wheel support mounting area comprises two omnidirectional wheel support mounting holes fixedly connected with the same omnidirectional wheel support, the connecting line of the omnidirectional wheel support mounting holes is parallel to the first central axis, and the front wheel mounting area is located between the omnidirectional wheel support mounting holes.
Optionally, the positive ackermann drive mounting region is axisymmetrical with respect to the first central axis, and the negative ackermann drive mounting region is axisymmetrical with respect to the first central axis;
the positive ackermann drive installation area comprises at least two positive ackermann installation holes penetrating through the vehicle bottom plate, and the reverse ackermann drive installation area comprises at least two reverse ackermann installation holes penetrating through the vehicle bottom plate.
Optionally, the chassis comprises a front side of the bottom plate and a rear side of the bottom plate, which are arranged in a back-to-back manner, and the distance between the positive ackermann drive mounting area and the front side of the bottom plate is smaller than the distance between the reverse ackermann drive mounting area and the front side of the bottom plate.
Optionally, the multifunctional vehicle chassis comprises a steering driving support, a steering driving part, a rocker arm, a pull rod, a connecting rod, a first steering part and a second steering part;
the steering driving piece is fixedly arranged on the steering driving bracket; one end of the rocker arm is fixedly connected with the driving rod of the steering driving part, and the other end of the rocker arm is hinged with the pull rod; one end of the pull rod, which is far away from the rocker arm, is hinged with the swing arm of the first steering piece; one end of the connecting rod is hinged with the swing arm of the first steering piece, and the other end of the connecting rod is hinged with the swing arm of the second steering piece; the swing arm of the first steering piece, the swing arm of the second steering piece and the connecting rod form an Ackermann trapezoid;
the two front wheel mounting areas are a left front wheel mounting area and a right front wheel mounting area respectively;
when the multifunctional vehicle chassis is in a positive Ackerman mode, the first steering piece is mounted in the left front wheel mounting area, the second steering piece is mounted in the right front wheel mounting area, the steering driving support is mounted in the positive Ackerman driving mounting area, and the driving rod of the steering driving piece, the swing arm of the first steering piece and the swing arm of the second steering piece are all arranged towards the rear side face of the bottom plate;
when the multifunctional vehicle bottom plate is in a reverse Ackerman mode, the first steering piece is installed in the right front wheel installation area, the second steering piece is installed in the left front wheel installation area, the steering driving support is installed in the reverse Ackerman driving installation area, and the driving rod of the steering driving piece, the swing arm of the first steering piece and the swing arm of the second steering piece are all arranged towards the front side face of the bottom plate.
Optionally, the front wheel mounting area includes a bottom plate adjusting hole penetrating through the vehicle bottom plate and at least one bottom plate mounting hole, and a distance between the bottom plate adjusting hole and the first central axis is greater than a distance between the bottom plate mounting hole and the first central axis;
the bottom plate mounting hole is fixedly connected with a connecting column, and one end of the connecting column, which is far away from the vehicle bottom plate, is fixedly connected with a pressing plate;
the first steering member and the second steering member are a pair of mirror-symmetrical steering cups; the steering cup comprises a cup body, and the cup body is fixedly connected with the swing arm; the cup body is arranged between the pressing plate and the vehicle bottom plate, and a first cup lug and a second cup lug are respectively fixedly arranged on two sides of the cup body; a bottom plate adjusting screw penetrates through the bottom plate adjusting hole and is in threaded connection with the first cup lug; and the pressing plate is provided with a pressing plate adjusting hole, and a pressing plate adjusting screw penetrates through the pressing plate adjusting hole and is in threaded connection with the second cup lug.
Optionally, the front wheel mounting area includes two bottom plate mounting holes, two straight lines formed by the bottom plate mounting holes are parallel to the first central axis, and the two bottom plate mounting holes and one bottom plate adjusting hole form an isosceles triangle.
Optionally, two front wheel bearings are embedded in the cup body, a filling screw is arranged between the two front wheel bearings, a screw rod of the filling screw extends out of the cup body and is fixedly connected with a front wheel coupler, and the front wheel coupler is fixedly connected with a front wheel;
the side surface of the front wheel coupler is provided with a coupler fixing hole, and a coupler fixing screw penetrates through the coupler fixing hole to abut against the screw rod of the filling screw.
Optionally, two rear wheel installing areas which are axisymmetric about the first central axis are arranged on the vehicle bottom plate, each rear wheel installing area is fixedly provided with a rear wheel support, a rear wheel driving piece is arranged on the rear wheel support and connected with a speed reducer, the speed reducer is connected with a rear wheel through a rear wheel coupling, and an encoder is arranged on the rear wheel driving piece.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses set up positive ackermann drive installing zone and anti ackermann drive installing zone simultaneously on the vehicle bottom plate to make both be central symmetry setting back about first central point, can utilize two kinds of mounting means of same set of part on the vehicle bottom plate to realize the function of positive ackermann dolly and anti ackermann dolly respectively. The utility model discloses still set up the omniwheel logical groove that supplies the omniwheel to pass in the centre of two front wheel installing zones, make this vehicle bottom plate can be used to the installation of differential structure. Therefore, the customer can select a positive ackerman, a negative ackerman or a differential installation mode according to actual requirements without purchasing a plurality of trolleys at the same time, so that the research threshold of the customer is reduced, and resources are saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic structural view of a chassis plate of a utility model;
fig. 2 is a schematic structural view of the utility model in a positive ackermann mode;
fig. 3 is a schematic structural view of the utility model in a reverse ackermann mode;
fig. 4 is a schematic view of a part of the structure of the utility model chassis in the positive ackermann mode;
FIG. 5 is an enlarged view of portion A of FIG. 4;
fig. 6 is a schematic structural view of the utility model discloses chassis when the utility model provides a be in differential mode.
Illustration of the drawings: 1. a vehicle bottom plate; 101. a first central axis; 102. a first center point; 103. a front side of the base plate; 103. a back side of the base plate; 11. a front wheel assembly mounting area; 110. a front wheel mounting area; 111. a bottom plate adjusting hole; 112. a bottom plate mounting hole; 12. a positive ackerman drive mount region; 121. a positive ackermann mounting hole; 13. an anti-ackerman drive mount region; 131. anti-Ackerman mounting holes; 14. an omnidirectional wheel through groove; 15. an omnidirectional wheel bracket mounting hole; 16. a rear wheel mounting area; 161. a rear wheel mounting hole; 20. a steering drive bracket; 21. a steering drive member; 22. a rocker arm; 23. a pull rod; 24. a connecting rod; 25. a steering cup; 251. a cup body; 252. swinging arms; 253. a first cup ear; 254. a second cup ear; 255. a bottom plate adjusting screw; 256. a pressure plate adjusting screw; 26. connecting columns; 27. pressing a plate; 28. a front wheel coupling; 29. a front wheel; 31. a rear wheel support; 32. a rear wheel drive; 33. a speed reducer; 34. a rear wheel; 35. an encoder; 41. an omni wheel bracket; 42. an omni wheel.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention, and obviously, the embodiments described below are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
The utility model provides a multifunctional vehicle chassis can realize the function of positive ackermann dolly, anti-ackermann dolly and differential dolly under the prerequisite of not changing vehicle bottom plate 1.
Referring to fig. 1, the utility vehicle chassis includes a vehicle chassis 1, and the vehicle chassis 1 is axisymmetrical about a first central axis 101.
The vehicle bottom plate 1 is provided with a front wheel assembly mounting area 11, the front wheel assembly mounting area 11 comprises two front wheel mounting areas 110 which are axisymmetric about a first central axis 101 and are centrosymmetric about a first central point 102, and the first central point 102 is located on the first central axis 101.
The vehicle bottom plate 1 is provided with a positive ackerman drive mounting area 12 and a negative ackerman drive mounting area 13 which are respectively arranged at the front side and the rear side of the front wheel assembly mounting area 11, and the positive ackerman drive mounting area 12 and the negative ackerman drive mounting area 13 are centrosymmetric about a first central point 102.
The positive ackerman drive installation area 12 and the negative ackerman drive installation area 13 are simultaneously arranged on the vehicle bottom plate 1, and after the positive ackerman drive installation area and the negative ackerman drive installation area are arranged in a central symmetry manner relative to the first central point 102, the functions of the positive ackerman trolley and the negative ackerman trolley can be respectively realized by utilizing two installation modes of the same set of parts on the vehicle bottom plate 1. Therefore, the customer can select the installation mode according to the actual requirement without purchasing two forward and reverse Ackermann trolleys at the same time, the research threshold of the customer is reduced, and resources are saved.
In this embodiment, the underbody 1 comprises a floor front side 103 and a floor rear side 104 which are arranged opposite to each other, and the distance between the positive ackermann drive mount region 12 and the floor front side 103 is smaller than the distance between the negative ackermann drive mount region 13 and the floor front side 103.
Referring to fig. 2-4, the utility vehicle chassis includes a steering driving bracket 20, a steering driving member 21, a swing arm 22, a tie rod 23, a connecting rod 24, a first steering member and a second steering member. Wherein the first and second steering members are a pair of mirror-symmetrical steering cups 25. The steering cup 25 includes a cup 251, and the cup 251 is fixedly connected with a swing arm 252.
The steering drive member 21 is fixed to the steering drive bracket 20. One end of the rocker arm 22 is fixedly connected with the driving rod of the steering driving member 21, the other end is hinged with the pull rod 23, and one end of the pull rod 23 far away from the rocker arm 22 is hinged with the swing arm 252 of the first steering member. The connecting rod 24 has one end hinged to the swing arm 252 of the first steering member and the other end hinged to the swing arm 252 of the second steering member. The swing arm 252 of the first steering member, the swing arm 252 of the second steering member, and the link 24 form an ackermann trapezoid.
Wherein, the steering driving member 21 is a steering engine, and two sides of the steering engine are respectively and fixedly provided with a steering engine mounting lug. The steering driving support 20 comprises a support bottom plate fixedly connected with the vehicle bottom plate 1, support bottom plate lugs corresponding to the steering engine mounting lugs are fixedly arranged on two sides of the support bottom plate respectively, and the steering engine mounting lugs and the support bottom plate lugs on the same side are fixedly connected.
The two front wheel mounting areas 110 are a left front wheel mounting area 110 and a right front wheel mounting area 110, respectively.
When the multifunctional vehicle chassis is in a positive ackermann mode, the first steering member is mounted on the left front wheel mounting area 110, the second steering member is mounted on the right front wheel mounting area 110, the steering driving support 20 is mounted on the positive ackermann driving mounting area 12, and the driving rod of the steering driving member 21, the swing arm 252 of the first steering member and the swing arm 252 of the second steering member are all arranged towards the rear side surface 104 of the base plate.
When the utility vehicle bottom plate 1 is in the reverse ackermann mode, the first steering member is installed in the right front wheel installation area 110, the second steering member is installed in the left front wheel installation area 110, the steering driving bracket 20 is installed in the reverse ackermann driving installation area 13, and the driving rod of the steering driving member 21, the swing arm 252 of the first steering member and the swing arm 252 of the second steering member are all arranged towards the front side surface 103 of the bottom plate.
Since the first steering member and the second steering member are mirror-symmetrical, and therefore the positions of the first steering member and the second steering member need to be exchanged when the positive ackerman and the negative ackerman are changed, the steering driving member 21 drives the first steering member through the pull rod 23 in this embodiment, and therefore, in order to realize the positive and negative ackerman functions through the same set of parts, the positive ackerman driving installation region 12 and the negative ackerman driving installation region 13 must be in central symmetry with respect to the first center point 102. It can be understood that, in the forward-reverse ackermann mode, the steering driving member 21 can always drive the first steering member through the pull rod 23, and can also drive the second steering member through the pull rod 23, without limitation.
In this embodiment, the front wheel mounting area 110 includes a bottom plate adjusting hole 111 penetrating through the vehicle bottom plate 1 and at least one bottom plate mounting hole 112, and a distance between the bottom plate adjusting hole 111 and the first central axis 101 is greater than a distance between the bottom plate mounting hole 112 and the first central axis 101.
The bottom plate mounting hole 112 is fixedly connected with a connecting column 26, and one end of the connecting column 26 far away from the vehicle bottom plate 1 is fixedly connected with a pressing plate 27. Specifically, the connecting column 26 is a two-way copper column, and two ends of the connecting column are respectively and fixedly connected with the bottom plate mounting hole 112 and the pressing plate mounting hole formed on the pressing plate 27 through screws.
The cup 251 of the steering cup 25 is arranged between the pressure plate 27 and the vehicle bottom plate 1, and a first cup lug 253 and a second cup lug 254 are respectively and fixedly arranged on two sides of the cup 251. The base plate adjustment screw 255 passes through the base plate adjustment hole 111 and is threadedly coupled to the first cup ear 253. The pressing plate 27 is provided with a pressing plate adjusting hole, and a pressing plate adjusting screw 256 passes through the pressing plate adjusting hole and is in threaded connection with the second cup lug 254.
The steering cup 25 is fixed between the vehicle bottom plate 1 and the pressure plate 27 by a bottom plate adjusting screw 255 and a pressure plate adjusting screw 256. The height of the steering cup 25 can be moved downwards by screwing down the bottom plate adjusting screw 255 and unscrewing the pressure plate adjusting screw 256, so that the height of the front wheel 29 is driven to move downwards; conversely, loosening the base adjustment screw 255 and tightening the clamp adjustment screw 256 moves the steering cup 25 up and, in turn, the front wheel 29 up. The utility model discloses in, the height of front wheel 29 can be adjusted to the elasticity through the screw, avoids the customer to need purchase the puzzlement on multiple high different chassis, has further promoted the commonality of vehicle bottom dish and has practiced thrift the resource.
In addition, the bottom plate adjusting hole 111 is located at a position near the outer side of the vehicle bottom plate 1, so that the steering cup 25 can be conveniently connected with the front wheel 29.
In this embodiment, two front wheel bearings are embedded in the cup 251, a plug screw is arranged between the two front wheel bearings, a screw rod of the plug screw extends out of the cup 251 and is fixedly connected with the front wheel coupling 28, and the front wheel 29 is fixedly connected with the front wheel coupling 28.
The side of the front wheel coupler 28 is provided with a coupler fixing hole, and a coupler fixing screw penetrates through the coupler fixing hole to abut against a screw rod tightly plugged with the screw. The front wheel coupling 28 is a hex coupling.
Further, the front wheel mounting area 110 includes two bottom plate mounting holes 112, a straight line formed by the two bottom plate mounting holes 112 is parallel to the first central axis 101, and the two bottom plate mounting holes 112 and one bottom plate adjusting hole 111 form an isosceles triangle. The embodiment of the utility model provides a through isosceles triangle's structural design, make the support of clamp plate more stable, promoted the steadiness that turns to cup 25, and then promoted front wheel 29's steadiness.
In this embodiment, the chassis 1 is provided with an omni wheel through slot 14 for the omni wheel 42 to pass through, and the omni wheel through slot 14 is located between the two front wheel mounting areas 110.
Two omnidirectional wheel support mounting areas are arranged on the vehicle bottom plate 1, the omnidirectional wheel through groove 14 is positioned in the middle of the two omnidirectional wheel support mounting areas, and the two omnidirectional wheel support mounting areas are axisymmetric about the first central axis 101. The omni wheel through slot 14 is axisymmetric about a first central axis 101.
Through the design of the omnidirectional wheel through groove 14 and the omnidirectional wheel support mounting area, a customer can realize the function of the differential trolley without replacing the vehicle bottom plate 1.
In the present embodiment, the positive ackermann drive mount 12 is axisymmetric about the first central axis 101, and the negative ackermann drive mount 13 is axisymmetric about the first central axis 101. Specifically, the positive ackermann drive installation area 12 includes four positive ackermann installation holes 121 penetrating through the vehicle bottom plate 1, and the four positive ackermann installation holes 121 are paired and distributed in pairs on two sides of the omnidirectional-wheel through groove 14. Similarly, the anti-ackermann drive installation area 13 includes four anti-ackermann installation holes 131 penetrating through the vehicle bottom plate 1, and the four anti-ackermann installation holes 131 are paired and distributed on two sides of the omnidirectional-wheel through groove 14 in pairs.
In this embodiment, the utility vehicle chassis includes two omni wheel brackets 41, and two ends of the omni wheel 42 are respectively fixedly connected to a corresponding omni wheel bracket 41 through an omni wheel bearing.
The omni wheel bracket mounting area includes two omni wheel bracket mounting holes 15 fixedly connected to the same omni wheel bracket 41, a connection line of the two omni wheel bracket mounting holes 15 is parallel to the first central axis 101, and the front wheel mounting area 110 is located between the two omni wheel bracket mounting holes 15.
In this embodiment, two rear wheel mounting areas 16 that are axisymmetric about the first central axis 101 are disposed on the vehicle bottom plate 1, each rear wheel mounting area 16 is fixedly mounted with a rear wheel bracket 31, a rear wheel driving member 32 is mounted on the rear wheel bracket 31, the rear wheel driving member 32 is connected with a speed reducer 33, the speed reducer 33 is connected with a rear wheel 34 through a rear wheel coupling, and an encoder 35 is mounted on the rear wheel driving member 32. The rear wheel driving member 32 is specifically a motor, the rear wheel mounting area 16 specifically includes four rear wheel mounting holes 161 penetrating through the vehicle bottom plate 1, and the rear wheel coupling is a hexagonal coupling.
To sum up, the vehicle bottom plate 1, the two rear wheels 34 and the structure for driving the rear wheels 34, such as the motor, the reducer 33, the encoder 35 and the like, belong to common parts in three modes of positive ackerman, negative ackerman and differential speed, the related structure of the omnidirectional wheel 42, such as the omnidirectional wheel bracket 41 and the like, belong to special parts in the differential speed mode, and the related structure of the two front wheels 29 and the front wheels 29 for steering, such as the steering engine, the steering cup 25, the pull rod 23, the connecting rod 24 and the like, belong to special parts in positive ackerman and negative ackerman. The conversion between the positive Ackermann mode and the reverse Ackermann mode does not need to replace parts, and only needs to replace an installation mode; the change between ackerman mode (positive ackerman or reverse ackerman) and differential mode requires only partial part replacement. The embodiment of the utility model provides a multifunctional vehicle chassis has promoted the commonality of vehicle chassis greatly, has avoided the customer to need purchase the drawback that different modes were accomplished to the dolly of multiple different modes study, has saved the resource.
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 technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. A multifunctional vehicle chassis is characterized by comprising a vehicle bottom plate, wherein the vehicle bottom plate is axisymmetric with respect to a first central axis;
the vehicle bottom plate is provided with a front wheel assembly mounting area, the front wheel assembly mounting area comprises two front wheel mounting areas which are axially symmetrical about a first central axis and are centrosymmetric about a first central point, and the first central point is positioned on the first central axis;
the chassis is provided with a positive ackermann drive mounting area and a negative ackermann drive mounting area which are respectively arranged at the front side and the rear side of the front wheel assembly mounting area, and the positive ackermann drive mounting area and the negative ackermann drive mounting area are centrosymmetric about the first central point;
an omnidirectional wheel through groove for an omnidirectional wheel to pass through is formed in the vehicle bottom plate, and the omnidirectional wheel through groove is located between the two front wheel mounting areas.
2. The utility model discloses a utility vehicle chassis of claim 1, characterized in that, set up two omnidirectional wheel support installing zones on the vehicle bottom plate, the omnidirectional wheel through-groove is located the middle of two omnidirectional wheel support installing zones; two omniwheel support installing areas are axisymmetric about the first central axis, and the omniwheel through groove is axisymmetric about the first central axis.
3. The utility vehicle chassis of claim 2, characterized in that it comprises two omni wheel brackets, both ends of which are fixedly connected with a corresponding omni wheel bracket through an omni wheel bearing respectively;
the omnidirectional wheel support mounting area comprises two omnidirectional wheel support mounting holes fixedly connected with the same omnidirectional wheel support, the connecting line of the omnidirectional wheel support mounting holes is parallel to the first central axis, and the front wheel mounting area is located between the omnidirectional wheel support mounting holes.
4. The utility vehicle chassis of claim 1, wherein the positive ackermann drive mount is axisymmetric about the first central axis, and the negative ackermann drive mount is axisymmetric about the first central axis;
the positive ackermann drive installation area comprises at least two positive ackermann installation holes penetrating through the vehicle bottom plate, and the reverse ackermann drive installation area comprises at least two reverse ackermann installation holes penetrating through the vehicle bottom plate.
5. The utility vehicle chassis of claim 1, wherein the underbody comprises a floor front side and a floor rear side that are disposed opposite each other, and wherein a distance between the positive ackermann drive mounting region and the floor front side is smaller than a distance between the negative ackermann drive mounting region and the floor front side.
6. The utility vehicle chassis of claim 5, wherein the utility vehicle chassis includes a steering drive bracket, a steering drive member, a rocker arm, a tie rod, a connecting rod, a first steering member, and a second steering member;
the steering driving piece is fixedly arranged on the steering driving bracket; one end of the rocker arm is fixedly connected with the driving rod of the steering driving part, and the other end of the rocker arm is hinged with the pull rod; one end of the pull rod, which is far away from the rocker arm, is hinged with the swing arm of the first steering piece; one end of the connecting rod is hinged with the swing arm of the first steering piece, and the other end of the connecting rod is hinged with the swing arm of the second steering piece; the swing arm of the first steering piece, the swing arm of the second steering piece and the connecting rod form an Ackermann trapezoid;
the two front wheel mounting areas are a left front wheel mounting area and a right front wheel mounting area respectively;
when the multifunctional vehicle chassis is in a positive Ackerman mode, the first steering piece is mounted in the left front wheel mounting area, the second steering piece is mounted in the right front wheel mounting area, the steering driving support is mounted in the positive Ackerman driving mounting area, and the driving rod of the steering driving piece, the swing arm of the first steering piece and the swing arm of the second steering piece are all arranged towards the rear side face of the bottom plate;
when the multifunctional vehicle bottom plate is in a reverse Ackerman mode, the first steering piece is installed in the right front wheel installation area, the second steering piece is installed in the left front wheel installation area, the steering driving support is installed in the reverse Ackerman driving installation area, and the driving rod of the steering driving piece, the swing arm of the first steering piece and the swing arm of the second steering piece are all arranged towards the front side face of the bottom plate.
7. The utility model discloses a utility vehicle chassis of claim 6, characterized in that, the front wheel installing area includes bottom plate adjusting hole and at least one bottom plate installing hole that run through the vehicle bottom plate, the interval between the bottom plate adjusting hole and the first axle wire is greater than the interval between the bottom plate installing hole and the first axle wire;
the bottom plate mounting hole is fixedly connected with a connecting column, and one end of the connecting column, which is far away from the vehicle bottom plate, is fixedly connected with a pressing plate;
the first steering member and the second steering member are a pair of mirror-symmetrical steering cups; the steering cup comprises a cup body, and the cup body is fixedly connected with the swing arm; the cup body is arranged between the pressing plate and the vehicle bottom plate, and a first cup lug and a second cup lug are respectively fixedly arranged on two sides of the cup body; a bottom plate adjusting screw penetrates through the bottom plate adjusting hole and is in threaded connection with the first cup lug; and the pressing plate is provided with a pressing plate adjusting hole, and a pressing plate adjusting screw penetrates through the pressing plate adjusting hole and is in threaded connection with the second cup lug.
8. The utility model discloses a utility vehicle chassis of claim 7, characterized in that, front wheel mounting area includes two bottom plate mounting holes, and the straight line that two bottom plate mounting holes formed is parallel with first axis, and two bottom plate mounting holes and one bottom plate regulation hole form isosceles triangle.
9. The utility model discloses a multifunctional vehicle chassis of claim 7, characterized in that, cup embedded have two front wheel bearings, there is a stuff screw between two front wheel bearings, the screw rod of the stuff screw stretches out from the cup and fixedly connects with the front wheel coupling, the front wheel coupling is fixedly connected with the front wheel;
the side surface of the front wheel coupler is provided with a coupler fixing hole, and a coupler fixing screw penetrates through the coupler fixing hole to abut against the screw rod of the filling screw.
10. The utility model discloses a utility vehicle chassis of claim 1, characterized in that, set up two rear wheel installing zones about the first axis is axisymmetric on the vehicle bottom plate, each rear wheel installing zone fixed mounting has the rear wheel support, install the rear wheel driving piece on the rear wheel support, the rear wheel driving piece is connected with the reduction gear, the reduction gear passes through rear wheel coupling joint and has the rear wheel, install the encoder on the rear wheel driving piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021957455.XU CN213168290U (en) | 2020-09-09 | 2020-09-09 | Multifunctional vehicle chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021957455.XU CN213168290U (en) | 2020-09-09 | 2020-09-09 | Multifunctional vehicle chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213168290U true CN213168290U (en) | 2021-05-11 |
Family
ID=75772209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021957455.XU Active CN213168290U (en) | 2020-09-09 | 2020-09-09 | Multifunctional vehicle chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213168290U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401219A (en) * | 2021-07-29 | 2021-09-17 | 松灵机器人(深圳)有限公司 | Multi-mode switchable trolley |
| CN113602345A (en) * | 2021-08-03 | 2021-11-05 | 湖州绿色智能制造产业技术研究院 | Marching type commodity circulation dolly based on ackerman steering mechanism |
| CN113859888A (en) * | 2021-09-08 | 2021-12-31 | 武汉奋进智能机器有限公司 | Automatic carrying vehicle |
| CN114223339A (en) * | 2021-12-14 | 2022-03-25 | 华南农业大学 | A robot chassis and agricultural robot for paddy field multifunctional operation |
-
2020
- 2020-09-09 CN CN202021957455.XU patent/CN213168290U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401219A (en) * | 2021-07-29 | 2021-09-17 | 松灵机器人(深圳)有限公司 | Multi-mode switchable trolley |
| CN113602345A (en) * | 2021-08-03 | 2021-11-05 | 湖州绿色智能制造产业技术研究院 | Marching type commodity circulation dolly based on ackerman steering mechanism |
| CN113859888A (en) * | 2021-09-08 | 2021-12-31 | 武汉奋进智能机器有限公司 | Automatic carrying vehicle |
| CN114223339A (en) * | 2021-12-14 | 2022-03-25 | 华南农业大学 | A robot chassis and agricultural robot for paddy field multifunctional operation |
| CN114223339B (en) * | 2021-12-14 | 2023-10-20 | 华南农业大学 | Robot chassis for multifunctional operation of paddy field and agricultural robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN213168290U (en) | Multifunctional vehicle chassis | |
| CN109436095B (en) | Modularized electric driving running unit and multi-shaft running unit | |
| CN201597405U (en) | Double-rocker independent suspension system | |
| CN204432765U (en) | MacPherson type suspension steering swivel | |
| CN109591539A (en) | A kind of automobile rear torsion beam assembly and its manufacturing method | |
| CN209757251U (en) | Modular electrically-driven driving unit and multi-axis driving unit | |
| CN108382459B (en) | Front suspension knuckle assembly system | |
| CN208102102U (en) | A kind of front suspension knuckle assembly system | |
| CN204020766U (en) | A kind of ABS and ESP universal mounting bracket | |
| CN213768792U (en) | Power motor and drive axle combining mechanism | |
| CN102050147A (en) | Rear-wheel follow-up steering device of five-shaft wagon | |
| US4161327A (en) | Steering assembly for a vehicle, especially for an industrial floor vehicle, such as a forklift truck | |
| CN204452585U (en) | 4-wheel driven car rear steering saves | |
| CN211684644U (en) | Chassis with steering wheel and steering wheel structure thereof | |
| CN210416719U (en) | Vehicle steering system | |
| CN209008727U (en) | A kind of unmanned chassis | |
| CN203713977U (en) | Axle-free car frame | |
| CN112208652A (en) | Integral AGV follow-up suspension mechanism and use its AGV | |
| CN211883624U (en) | Traveling mechanism and robot | |
| CN104973183A (en) | Deflection steering mechanism and mounting process for grafting deflection steering mechanism on vehicle frame | |
| CN104724134A (en) | Railway wagon bogie | |
| CN210063106U (en) | Front-mounted frame steering knuckle assembly system | |
| CN217022106U (en) | Lightweight bus independent suspension | |
| CN219821557U (en) | Length-adjustable automobile steering knuckle | |
| CN220165746U (en) | Driving steering device for static pressure forklift |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 523000 Room 201, building 9, No.1, North 4th Industrial Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee after: Lunqu Technology (Dongguan) Co.,Ltd. Address before: 523000 Room 201, building 9, No.1, North 4th Industrial Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee before: Dongguan Weihong Intelligent Technology Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |