CN213501652U

CN213501652U - Movable chassis

Info

Publication number: CN213501652U
Application number: CN202022217402.0U
Authority: CN
Inventors: 李汉舟
Original assignee: 李汉舟
Current assignee: Shenzhen Xianfa intelligent Co.,Ltd.
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-06-22
Anticipated expiration: 2030-09-30

Abstract

The utility model provides a portable chassis solves current chassis and has the shake and cause the extravagant problem of energy when turning to. The movable chassis comprises a frame, a driving motor, a steering driving axle, a telescopic universal joint, a suspension connecting rod, a driving wheel and a steering engine; the frame is provided with a main reduction gearbox, and the main reduction gearbox is provided with two input shafts and four output shafts; the output shaft of the driving motor is connected with the input shaft of the main reduction gearbox; the steering drive axles are divided into two groups, and each group of steering drive axles comprises a transfer gear box and two axles; two input gears of the transfer gear box are respectively connected with two output shafts of the main reduction gearbox through telescopic universal joints, and the transfer gear box is connected with the frame through two suspension connecting rods; two output shafts of the transfer gear box transmit power to driving wheels on the left side and the right side through axles; the number of the steering engines is two, and the steering engines are used for realizing two steering modes of common steering and pivot steering of the driving wheels on the left side and the right side.

Description

Movable chassis

Technical Field

The utility model belongs to mechanical moving platform field, concretely relates to portable chassis.

Background

At present, the chassis adopted by the mobile robot comprises a differential chassis, an ackerman chassis, an omnidirectional wheel chassis and the like.

The unmanned vehicle and some robots adopt Ackerman chassis, namely front wheel steering structure similar to automobile, the chassis is mature in structure and good in adaptability, but the biggest difficulty in the field of unmanned vehicle and robots is that a large turning radius exists, and the turning radius causes that the chassis can not rotate in place, so that the use of the chassis in narrow space is limited. Meanwhile, the Ackerman chassis has a larger turning radius, so that the requirements on navigation path planning and motion control are high.

Some mobile robots use omnidirectional moving chassis, the chassis mainly uses omnidirectional wheels or mikan wheels, and the chassis can move on the plane in vector by using the roller of the wheel circumference to roll transversely or obliquely. However, the omnidirectional wheel or the microphone wheel has a complex structure, high cost and small load, and the roller is easy to be clamped into foreign matters to cause unsmooth walking, so the chassis is limited in application occasions and only suitable for indoor flat ground.

The differential chassis is the chassis with the simplest structure, and is in a specific form that two driving wheels are matched with one or more universal wheels, the steering of the robot is realized through a differential control mode, or a four-wheel differential driving mode is adopted, but the mode can generate larger sliding friction.

The chassis adopting the mode of differential speed of the two driving wheels and the universal wheels is mainly applied to indoor flat ground, is the most widely used chassis of the current service robot, and has the advantages of zero turning radius (rotating around the centers of the two driving wheels), simple structure and poor passing capability, and is difficult to arrange a suspension shock absorption system. The universal wheel has small diameter and no power, so that the universal wheel has poor passing capability. Meanwhile, the shock absorbing system of the chassis is difficult to arrange, and the wheels are rigidly connected with the chassis, so the two-wheel differential chassis is generally suitable for indoor flat ground.

The four-wheel differential chassis also has the characteristic of zero turning radius, and generally, four wheels all have driving force, and the wheels can not turn, and the turning is realized through the wheel speed difference of two sides. The chassis usually needs to be added with a suspension system, because if the driving wheel is directly and rigidly connected to the frame, the excitation on the ground is completely transmitted to the vehicle body and various components arranged on the vehicle body when the vehicle travels on the outdoor complex terrain, so that the components are easily damaged, and if the vehicle is provided with a camera, the imaging effect is poor due to severe shaking of the camera, so that the execution task is affected. With the suspension system, the shake in straight running can be greatly improved. However, during turning, because the chassis adopts a mode of direct differential of two side wheels (similar to a tank and a crawler tractor), severe lateral friction exists between the tires and the ground and vibration is caused, the generated vibration is not parallel to the damping direction of the shock absorber, and the vibration cannot be absorbed by the shock absorber. Therefore, the chassis still influences the normal operation of the robot due to severe shaking when turning, and in order to overcome the friction resistance of sliding when turning, a more powerful motor must be selected, thereby causing energy waste and reduction of endurance mileage, and the tires are very severely worn.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve and have the shake and cause the extravagant problem of energy when current four-wheel differential chassis turns to, solve the problem that ackerman chassis can not pivot, provided a portable chassis on the second hand.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

a movable chassis comprises a frame, a driving motor, a steering driving axle, a telescopic universal joint, a suspension connecting rod, a driving wheel and a steering engine; the frame is provided with a main reduction gearbox, the main reduction gearbox is provided with two input shafts and four output shafts, the two output shafts are arranged on the front side of the main reduction gearbox, and the two output shafts are arranged on the rear side of the main reduction gearbox; the two driving motors are arranged on the frame, output shafts of the two driving motors are connected with an input shaft of the main reduction gearbox, one driving motor transmits power to the two output shafts on the left side of the main reduction gearbox, and the other driving motor transmits power to the two output shafts on the right side of the main reduction gearbox; the two groups of steering drive axles are symmetrically arranged on the front side and the rear side of the frame, and each group of steering drive axles comprises a transfer gear box and two axles; two input gears of the transfer gear box are respectively connected with two output shafts of the main reduction gearbox through telescopic universal joints and used for receiving the rotating speed input of a driving motor, and the transfer gear box is connected with the frame through two suspension connecting rods; two output shafts of the transfer gear box transmit power to driving wheels at the left side and the right side through an axle, and the axle is connected with the frame through a suspension connecting rod; the steering engines are symmetrically arranged on the left side and the right side of the frame, and two steering modes of ordinary steering and pivot steering of the driving wheels on the left side and the right side are achieved.

Furthermore, an output shaft of the steering engine is connected with a steering rudder stock to drive the steering rudder stock to swing along the center of the steering rudder stock, two ends of the steering rudder stock are respectively hinged with one ends of two steering connecting rods, the other end of each steering connecting rod is hinged with a steering knuckle arranged on an axle, and two steering modes of ordinary steering and pivot steering of driving wheels at the same side are realized through the steering knuckle.

Further, the hinged steering shaft between the steering claw and the axle is obliquely arranged.

Further, the steering drive axle further comprises a drive universal joint, and the axle is connected with the drive wheel through the drive universal joint.

Furthermore, a shock absorber is arranged between the steering drive axle and the frame, one end of the shock absorber is hinged with the frame, and the other end of the shock absorber is hinged with a wheel shaft of the driving wheel.

Further, the drive universal joint is a duplex universal joint.

Furthermore, two output shafts on the left side of the four output shafts of the main reduction gearbox are coaxially arranged, and two output shafts on the right side of the four output shafts of the main reduction gearbox are coaxially arranged.

Furthermore, four suspension connecting rods are arranged between each steering drive axle and the frame, so that a four-connecting-rod connecting structure is adopted between the steering drive axle and the frame, and the drive axle can be twisted to adapt to the road condition.

Compared with the prior art, the utility model discloses technical scheme's advantage does:

1. compare with the ackerman chassis that current vehicle was used always, the utility model discloses portable chassis can realize the pivot and turn to the function, has improved the flexibility on chassis by a wide margin. Compare with the differential formula chassis that the robot was used always, the utility model discloses portable chassis then has stronger trafficability characteristic.

2. Compare with other current areas hang omnidirectional four-wheel drive chassis, the utility model discloses portable chassis only uses two steering wheel and two driving motor to realize functions such as four-wheel drive, pivot turn to, adopts the motor of less power to realize turning to promptly, has reduced energy output by a wide margin to energy utilization has been improved.

3. The utility model discloses turn to the transaxle and be connected through four-bar linkage and shock absorber with the frame in the portable chassis, have very strong cross-country ability when realizing the damping, the shake when having avoided turning to.

4. The utility model discloses portable chassis turns to the in-process and can produce an automatic moment of just returning because the existence of inclination, and consequently chassis straight line walking stability is better.

5. The utility model discloses portable chassis is owing to used the duplex universal joint, and the velocity fluctuation of tire is very little.

Drawings

Fig. 1 is a schematic transmission diagram of the mobile chassis of the present invention;

fig. 2 is a schematic transmission diagram of the steering drive axle of the present invention;

FIG. 3 is a schematic view of the transmission of the steering engine of the present invention;

FIG. 4a is a schematic view of the mobile chassis pivot steering mode of the present invention;

fig. 4b is a schematic view of a general steering mode of the mobile chassis according to the present invention.

Reference numerals: the steering mechanism comprises a frame 1, a main reduction gearbox 2, a driving motor 3, a steering engine 4, a telescopic universal joint 5, a steering driving axle 6, a driving wheel 7, a suspension connecting rod 8, a steering rudder stock 9, a steering connecting rod 10, a steering knuckle 11, a shock absorber 12, a transfer gear box 61, an axle 62 and a driving universal joint 63.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and specific embodiments.

The utility model provides a portable chassis, this chassis adopts four wheel drive and four-wheel steering's form, four wheels all have drive power promptly, four wheels can both turn to, use two driving motor, through main reducing gear box with power transmission to each two flexible universal joints in front and back, and turn to on the transfer gear case on the transaxle, last on reaching the drive wheel of the chassis left and right sides respectively with two driving motor's power (two drive wheels on the left side are by a motor drive on the left side, two drive wheels on the right are by a motor drive on the right), make two drive wheel rotational speeds on left side or right side the same, realize the differential mechanism effect through control driving motor rotational speed when turning to, guarantee that the drive wheel does not have sliding friction. Meanwhile, two steering modes of ordinary steering and pivot steering are realized through the steering engines on the left side and the right side.

As shown in figure 1, the utility model discloses portable chassis includes frame 1, driving motor 3, steering drive axle 6, flexible universal joint 5, suspension connecting rod 8, drive wheel 7 and turns to steering wheel 4. The frame 1 is a main structural member of a movable chassis, is a framework installed on the whole chassis and is used for installing other structures, such as a main reduction gearbox 2, a driving motor 3 and a steering engine 4.

The utility model discloses be provided with main reducing gear box 2 on frame 1, main reducing gear box 2 is provided with two input shafts and four output shafts, and at this moment, two output shaft settings are in main reducing gear box 2's front side, two output shaft settings are in main reducing gear box 2's rear side, still can be located the coaxial setting of two left output shafts simultaneously, are located the coaxial setting of two output shafts on right side. The number of the driving motors 3 is two, the driving motors are all arranged on the frame 1, output shafts of the driving motors are connected with an input shaft of the main reduction gearbox 2, one driving motor 3 transmits power to the two output shafts on the left side of the main reduction gearbox 2, and the other driving motor 3 transmits power to the two output shafts on the right side of the main reduction gearbox 2.

As shown in fig. 2, the steering drive axles 6 of the present invention are two sets, symmetrically disposed on the front side and the rear side of the frame 1, each set of steering drive axles 6 includes a transfer gear box 61 and two axles 62, the transfer gear box 61 is disposed between the two axles 62, and includes two input gears; two input gears of the transfer gear box 61 are respectively connected with two output shafts of the main reduction gearbox 2 through two telescopic universal joints 5 and used for receiving the rotating speed input of two driving motors 3, the transfer gear box 61 is connected with the frame 1 through two suspension connecting rods 8, one end of each suspension connecting rod 8 is hinged with the frame 1, and the other end of each suspension connecting rod 8 is hinged with the transfer gear box 61; two output shafts of the transfer gear box 61 transmit power to the driving wheels 7 on the left side and the right side through an axle 62, the axle 62 is connected with the frame 1 through a suspension connecting rod 8, one end of the suspension connecting rod 8 is hinged with the frame 1, and the other end of the suspension connecting rod 8 is hinged with the axle 62.

As shown in fig. 2, the utility model discloses steer-drive axle 6 still includes drive universal joint 63, respectively links to each other through a drive universal joint 63 between the output gear of transfer gear case 61 both sides and the drive wheel 7, and drive universal joint 63 specifically can adopt the double universal joint, and this double universal joint is a accurate constant velocity universal joint, can transmit the rotational speed of motor to drive wheel 7 with almost linear relation to eliminate the speed fluctuation that the cross universal joint brought. Namely, the rotating speed relations of the input side and the output side are basically equal, and the universal joint structure can well inhibit the rotating speed fluctuation phenomenon brought by the common universal joint.

As shown in figure 3, the steering engines 4 of the utility model are two in number and symmetrically arranged on the left and right sides of the frame 1, so that the common steering and pivot steering modes of the left and right homonymy driving wheels 7 are realized. The specific transmission structure is as follows: an output shaft of the steering engine 4 is connected with a steering rudder stock 9, the steering rudder stock 9 is driven to swing along the center of the steering rudder stock 9, two ends of the steering rudder stock 9 are respectively hinged with one end of two steering connecting rods 10, and the other end of each steering connecting rod 10 is hinged with a steering claw 11 arranged on an axle 62. The utility model discloses turn to steering wheel 4 drive and turn to rudderstock 9 and rotate along its center to drive the motion of the connecting rod 10 that turns to of both sides, and then stimulate both sides and turn to the goat's horn 11 that turns to on the transaxle 6, rotate with the drive wheel 7 of drive both sides, through the respective steering wheel 4 cooperation that turns to of both sides with certain angle relation motion, make can realize as two kinds shown in figure 4 turn to the state-pivot promptly turns to the state and normally turns to the state.

As shown in fig. 3, the utility model discloses still be provided with shock absorber 12 between steering drive axle 6 and the frame 1, the one end of shock absorber 12 is articulated with frame 1, and the other end is articulated with the shaft of drive wheel 7. The front and rear steering drive axles 6 of the chassis are mainly connected with the frame 1 through suspension connecting rods 8 and are matched with the shock absorbers 12 to realize shock absorption, and a four-connecting-rod connecting structure is adopted between each steering drive axle 6 and the frame 1, so that the front and rear drive axles can realize certain twisting to adapt to the road condition.

As can be known from the transmission relation diagram of figure 1, the utility model discloses the drive wheel 7 department of the input gear input side separately on two driving motor 3 on frame 1 separately through gear, flexible universal joint 5 and transfer gear box 61 turns to the same with the drive wheel 7 of one side, and the driving motor 3 of both sides turns to, and the angle that turns to steering wheel 4 of cooperation both sides was changeed can realize going straight, turn to three kinds of states of ground.

As shown in fig. 2, the utility model discloses in the portable chassis, the articulated steering spindle between steering goat's horn 11 and the axle 62 is the slope, is from upwards inclining to frame 1 direction by drive wheel 7 from down to the line of two articulated shafts of goat's horn 11 and axle 62 promptly, and the inclination is called as to its inclination, and the existence at inclination makes the chassis have from the function of returning the straight, makes the craspedodrome state more stable for improve straight line walking stability.

Fig. 4a and 4b show two steering modes that can be achieved by the chassis. FIG. 4a shows a pivot steering mode, and FIG. 4b shows a normal steering mode. In the fourth 4a, the steering angles of the two steering engines 4 are the same, the rotating speeds of the driving wheels 7 on the same steering driving axle 6 are the same, but the steering directions are opposite, and therefore the pivot steering state in the state is achieved. In fig. 4b, the two steering actuators 4 have different angles, and the rotation speeds of the motors on the two sides are different, but the motors operate in a determined functional relationship to ensure that the steering actuators can rotate around a geometric center without eccentric wear of the tire.

Based on the structure, the utility model discloses portable chassis has following characteristics:

compare with the ackerman chassis that current vehicle was used always, the utility model discloses portable chassis can realize the pivot and turn to the function, has improved the flexibility on chassis by a wide margin. Compare with the differential formula chassis that the robot was used always, the utility model discloses portable chassis then has stronger trafficability characteristic.

Compare with other current areas hang omnidirectional four-wheel drive chassis, the utility model discloses portable chassis only uses two steering wheel 4 and two driving motor 3 to realize functions such as four-wheel drive, pivot turn to, adopts the motor of less power to realize turning to promptly, has reduced energy output by a wide margin to energy utilization has been improved.

The utility model discloses turn to transaxle 6 and frame 1 in the portable chassis and be connected through many connecting rods and shock absorber 12, have very strong cross-country ability when realizing the damping, the shake when having avoided turning to. And simultaneously, the utility model discloses portable chassis is owing to used the duplex universal joint, and the velocity fluctuation of tire is very little.

The utility model discloses portable chassis turns to the in-process and can produce an automatic moment of just returning because the existence of inclination, and consequently chassis straight line walking stability is better.

Claims

1. A mobile chassis, comprising: comprises a frame (1), a driving motor (3), a steering drive axle (6), a telescopic universal joint (5), a suspension connecting rod (8), a driving wheel (7) and a steering engine (4);

the frame (1) is provided with a main reduction gearbox (2), the main reduction gearbox (2) is provided with two input shafts and four output shafts, the two output shafts are arranged on the front side of the main reduction gearbox (2), and the two output shafts are arranged on the rear side of the main reduction gearbox (2);

the two driving motors (3) are arranged on the frame (1), output shafts of the driving motors are connected with an input shaft of the main reduction gearbox (2), one driving motor (3) transmits power to the two output shafts on the left side of the main reduction gearbox (2), and the other driving motor (3) transmits power to the two output shafts on the right side of the main reduction gearbox (2);

the two groups of steering drive axles (6) are symmetrically arranged on the front side and the rear side of the frame (1), and each group of steering drive axles (6) comprises a transfer gear box (61) and two axles (62); two input gears of the transfer gear box (61) are respectively connected with two output shafts of the main reduction gearbox (2) through telescopic universal joints (5) and used for receiving the rotating speed input of the driving motor (3), and the transfer gear box (61) is connected with the frame (1) through two suspension connecting rods (8); two output shafts of the transfer gear box (61) transmit power to driving wheels (7) on the left side and the right side through an axle (62), and the axle (62) is connected with the frame (1) through a suspension connecting rod (8);

the number of the steering engines (4) is two, the steering engines are symmetrically arranged on the left side and the right side of the frame (1), and two steering modes of ordinary steering and pivot steering of the driving wheels (7) on the left side and the right side are achieved.

2. The mobile chassis of claim 1, wherein: the output shaft that turns to steering wheel (4) is connected with steering tiller (9), and the drive turns to steering tiller (9) and swings along its center, the both ends that turn to steering tiller (9) are articulated with the one end of two steering connecting rods (10) respectively, the other end that turns to connecting rod (10) is articulated with steering goat's horn (11) of setting on axle (62), through turning to goat's horn (11) realization homonymy drive wheel (7) ordinary turn to with pivot turn to two kinds of modes.

3. The mobile chassis of claim 2, wherein: and an articulated steering shaft between the steering claw (11) and the axle (62) is obliquely arranged.

4. The mobile chassis of claim 1, 2 or 3, wherein: the steering drive axle (6) further comprises a drive universal joint (63), and the axle (62) is connected with the drive wheel (7) through the drive universal joint (63).

5. The mobile chassis of claim 4, wherein: a shock absorber (12) is further arranged between the steering drive axle (6) and the frame (1), one end of the shock absorber (12) is hinged with the frame (1), and the other end of the shock absorber is hinged with a wheel shaft of the drive wheel (7).

6. The mobile chassis of claim 5, wherein: the driving universal joint (63) is a duplex universal joint.

7. The mobile chassis of claim 6, wherein: of the four output shafts of the main reduction gearbox (2), two output shafts on the left side are coaxially arranged, and two output shafts on the right side are coaxially arranged.

8. The mobile chassis of claim 7, wherein: four suspension connecting rods (8) are arranged between each steering drive axle (6) and the frame (1), so that a four-connecting-rod connecting structure is adopted between the steering drive axle (6) and the frame (1), and the steering drive axle (6) is twisted to a certain degree to adapt to the road condition.