CN214396935U - Multi-angle driving vehicle - Google Patents
Multi-angle driving vehicle Download PDFInfo
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- CN214396935U CN214396935U CN202022852464.9U CN202022852464U CN214396935U CN 214396935 U CN214396935 U CN 214396935U CN 202022852464 U CN202022852464 U CN 202022852464U CN 214396935 U CN214396935 U CN 214396935U
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Abstract
The utility model relates to a multi-angle running vehicle, which comprises a wheel assembly, wherein the wheel assembly comprises a horizontal fixed plate, a vertical fixed plate, a first gear, a slewing bearing mechanism and a steering motor, and the slewing bearing mechanism is positioned above the horizontal fixed plate and is fixedly connected with the end part of a suspension connecting rod; the slewing bearing mechanism comprises a second gear and a supporting and fixing ring, and the supporting and fixing ring is fixed with the second gear in a clearance fit manner; the first gear is positioned on the side of the second gear; the lower surface of the horizontal fixing plate is fixedly connected with a steering motor, a driving shaft of the steering motor penetrates through the axis of the horizontal fixing plate and is fixedly connected with the second gear, the device solves the problems that the steering angle of a running vehicle is limited and the running process is easy to slip in the prior art, 360-degree all-directional running of the vehicle is realized by adopting a wheel assembly which is driven by independent control and can steer by 360 degrees, meanwhile, wheels are kept to be fully contacted with the ground in the running process of the vehicle, and the device is suitable for various rugged terrains.
Description
Technical Field
The utility model relates to a vehicle running gear technical field, specific multi-angle car that traveles that says so.
Background
The robot vehicle becomes a very common vehicle in the modern intelligent era, plays a great role in occasions such as fire control, anti-terrorism, disaster search and rescue and the like, but in the occasions, the environment is complex and the road surface is rugged, and the space is narrow, the turning angle radius of the robot vehicle is too large, the robot vehicle is easily limited by the field and cannot turn, so that the robot vehicle is too large in limitation of use occasions and cannot be applied to some extreme environments.
Chinese patent document CN109353407A discloses a modular drive steering system for an omni-directional traveling vehicle and a vehicle, where the drive steering system includes a suspension link, a shock absorber, a steering motor, a speed reducer, an angle sensor, a wheel support, a wheel, a drive motor, and the like. The steering motor drives the frame to drive the wheels to steer in an independent omnidirectional horizontal 360-degree omnidirectional range through the coupler and the speed reducer. The tire position is accurately detected through the angle sensor, and the steering control is fast and accurately realized. The driving motor is arranged in the tire to directly drive the wheel to rotate. The steering motor is fixed on the chassis of the automobile, so that the equivalent unsprung mass of the system is reduced, resonance and impact and vibration from the road surface are reduced, and the running stability of the automobile is improved. This vehicle adopts the utility model provides an omnidirectional driving vehicle modularization drive a steering system. The utility model has the advantages of simple structure is reliable to can realize that the vehicle wheel carries out independent omnidirectional steering and drive, improved steering system's control accuracy and response speed, but the device is because can't compromise to advance and 360 turn to, and it can't use in some road surface rugged and rugged, and in the place of miniaturation, and the use occasion is limited, and this vehicle structure shock attenuation effect is limited, and on some great road surfaces that fluctuate, the damper effect is not obvious, and the vehicle rocks great.
Chinese patent document CN207644444U discloses a steering control system, including steering wheel system, controller and change over switch, still including the left front wheel system, the right rear wheel system and the left rear wheel system that arrange in proper order, the steering wheel system is used for the drive the left front wheel system turns to with the right front wheel system, the controller is used for controlling wheel system and turns to, change over switch is used for switching adjacent wheel system. The application provides a steering control system, under the vehicle mode of violently going, change over switch can switch adjacent wheel system, the left front wheel system that makes steering wheel system drive switch back new and become turns to with the right front wheel system, accessible steering wheel system control wheel system is transversely walked under the mode of violently going promptly, the walking route that makes the vehicle keeps straight line violently going, and the skew can not take place, the maneuverability and the security that the vehicle turned to have improved, it is comparatively complicated to turn to the structure in the device, complex operation, and no damper, the vehicle rocks greatly, it is great to the automobile body damage in the driving process.
Disclosure of Invention
To the problem that exists among the above-mentioned prior art, the utility model discloses a multi-angle driving car, the utility model discloses an adopt 360 all-round traveles of independent control driven wheel subassembly that turns to, realize 360 all-round traveles of vehicle, keep the vehicle to advance in-process wheel and ground fully to contact simultaneously, be applicable to various rugged topography, the device has solved among the prior art problem that the vehicle steering angle of traveling is limited and the process of advancing easily skidded.
The utility model discloses a specific technical scheme as follows: a multi-angle running vehicle comprises a vehicle frame, a bearing shaft, suspension connecting rods and wheel assemblies, wherein the bearing shaft is fixedly connected to the middle of the vehicle frame, two groups of suspension connecting rods are arranged on two sides of the vehicle frame respectively, and the middle of each group of suspension connecting rods is connected with the end of the bearing shaft respectively; a group of wheel assemblies are connected below the end part of each group of suspension connecting rods, each wheel assembly comprises a horizontal fixing plate, a vertical fixing plate and a wheel steering mechanism, each horizontal fixing plate is vertically connected with each vertical fixing plate, each wheel steering mechanism comprises a first gear, a slewing bearing mechanism and a steering motor, each slewing bearing mechanism is located above each horizontal fixing plate, each slewing bearing mechanism is axially vertical to each horizontal fixing plate, and each slewing bearing mechanism is fixedly connected with the end part of each suspension connecting rod; the slewing bearing mechanism comprises a second gear and a supporting fixing ring, the upper surface of the horizontal fixing plate is fixedly connected with the supporting fixing ring, the supporting fixing ring is matched and fixed with the second gear, and the supporting fixing ring and the second gear rotate in the circumferential direction; the first gear is positioned on the side of the second gear, and the first gear and the second gear are meshed; the lower surface of the horizontal fixing plate is fixedly connected with a steering motor, and a driving shaft of the steering motor penetrates through the horizontal fixing plate to be fixedly connected with the axis of the first gear.
In the wheel steering mechanism, the first gear and the horizontal fixing plate are not directly connected, the second gear is located above the horizontal fixing plate, but is in clearance fit with the second gear through the supporting and fixing ring, so that the axial position is kept fixed, the circumferential direction is kept to rotate, the first gear is driven to rotate through the steering motor, and the first gear is meshed with the second gear and is kept fixed, so that the first gear rotates around the second gear, and the horizontal fixing plate and the connected wheels are driven to change directions.
Furthermore, a wheel rotating shaft is arranged on the vertical fixing plate, the wheel rotating shaft and the vertical fixing plate are axially fixed along the wheel rotating shaft, and the wheel rotating shaft and the vertical fixing plate rotate along the circumferential direction of the wheel rotating shaft.
Furthermore, the wheel shaft is fixedly connected with a wheel at one end of the inner side of the vertical fixing plate, and the wheel shaft is fixedly connected with a first chain wheel at one end of the outer side of the vertical fixing plate.
Further, the inner side of the vertical fixing plate is fixedly connected with a traveling motor, and the traveling motor is located above the wheels.
Furthermore, the driving shaft of the traveling motor extends out of the outer side of the vertical fixing plate, and the end part of the driving shaft of the traveling motor is fixedly connected with a second chain wheel.
Furthermore, the rotating planes of the first chain wheel and the second chain wheel are vertically overlapped, the first chain wheel and the second chain wheel are connected through a transmission chain, and the power of the driving motor can be transmitted to the wheel, so that the rotation of the wheel is kept, and the rotating direction is changed.
Furthermore, an angle sensor is arranged at the center of the supporting and fixing ring and used for measuring the rotating angle between the supporting and fixing ring and the second gear. The rotation angle of the current wheel can be monitored through the angle sensor arranged in each wheel assembly, and the steering angle of each wheel can be accurately adjusted by cooperating with the steering motor, so that the vehicle can run or steer in any direction.
Furthermore, the suspension connecting rods are of V-shaped structures, the openings of the V-shaped structures face upwards, and two shock absorbers are arranged below each group of suspension connecting rods.
Furthermore, a damper fixing shaft is arranged below the frame corresponding to the bearing shaft, one end of the damper is hinged with the damper fixing shaft, and the other end of the damper is hinged with a position close to the end part of the suspension connecting rod.
Further, the end part of the suspension connecting rod is fixedly connected with a mounting plate, and the lower surface of the mounting plate is connected with the end face of the first gear through a bolt.
When the vehicle runs on a rugged road, the suspension connecting rod can swing around the bearing shaft to keep the wheels to be fully contacted with the ground, and meanwhile, the vehicle body can be kept stable through the shock absorber, and the vibration caused by the swinging of the suspension connecting rod is reduced, so that the vehicle runs more stably.
Compared with the prior art, the utility model, have following advantage:
1) the utility model discloses a but the position of every wheel all adopts the wheel subassembly that 360 turned to in the car that traveles, through angle sensor monitoring wheel steering angle, through turning to motor control wheel rotation direction, through marcing the motor drive wheel and marcing, through the cooperation of three, can realize that the car that traveles multi-direction, multi-angle are gone, make the car that traveles more be applicable to the narrow and small environment of some topography.
2) The utility model discloses a driving vehicle adopts the suspension connecting rod to connect homonymy wheel subassembly, makes the in-process of traveling around the abundant ground of contact to keep the automobile body level, more be applicable to rugged ground, the bumper shock absorber of suspension connecting rod below can absorb the wheel and rock the vibration that brings simultaneously, keeps the automobile body steady.
Drawings
FIG. 1 is a three-dimensional structure view of a multi-angle traveling vehicle according to the present invention;
FIG. 2 is a side view of a multi-angle traveling vehicle according to the present invention;
FIG. 3 is a front view of a wheel assembly of the multi-angle traveling vehicle of the present invention;
figure 4 is a cross-sectional view at a-a of the wheel assembly of figure 3.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that the embodiments described herein are merely illustrative and explanatory of the present invention, and are not restrictive of the invention.
Example (b):
it should be understood that, for the convenience of description, the orientations of "up", "down", "inside" and "outside" are described based on the orientations of "up", "down", "inside" and "outside" in the drawings, which are only for convenience of description and cannot limit the structure of the present invention.
Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of technical features being indicated. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or more of the features.
As shown in fig. 1-2, the embodiment discloses a multi-angle traveling vehicle, which includes a vehicle frame 1, a bearing shaft 2, a suspension link 3 and a wheel assembly 4, wherein the bearing shaft 2 is fixedly connected to the middle of the vehicle frame 1; the suspension connecting rods 3 are arranged in two groups and are respectively positioned on two sides of the frame 1, and the middle position of each group of suspension connecting rods 3 is respectively connected with the end part of the bearing shaft 2.
The suspension connecting rods 3 are of V-shaped structures, the openings of the V-shaped structures face upwards, and two shock absorbers 5 are arranged below each group of suspension connecting rods 3. A damper fixing shaft 6 is arranged below the frame 1 corresponding to the bearing shaft 2, one end of the damper 4 is hinged with the damper fixing shaft 6, the other end of the damper 4 is hinged with the position, close to the end part, of the suspension connecting rod 3, the end part of the suspension connecting rod 3 is fixedly connected with a mounting plate 7, and the suspension connecting rod in a V-shaped structure can enable the center of gravity of the frame to be close to the ground, so that the phenomenon that the center of gravity of the frame is too high and easy to overturn is avoided; on the other hand, the shock absorber can avoid the shock of the frame caused by the small buffer between the suspension connecting rod and the frame. Besides, the central position of the suspension connecting rod 3 is connected with the bearing shaft 2, so that the balance of the frame 1 connected with the bearing shaft 2 is kept, the lower part of the suspension connecting rod 3 is supported by two shock absorbers, and the suspension connecting rod 3 and the frame 1 are kept horizontal.
A set of wheel assemblies 4 is connected below the end of each set of suspension links 3, as shown in figures 3-4, the wheel assembly 4 comprises a horizontal fixing plate 401, a vertical fixing plate 402 and a wheel steering mechanism, the horizontal fixing plate 401 is vertically connected with the vertical fixing plate 402, the wheel steering mechanism comprises a first gear 404, a slewing bearing mechanism and a steering motor 405, the first gear 404 and the slewing bearing mechanism are both located above the horizontal fixed plate 401, and the axes of the first gear 404 and the slewing bearing mechanism are both perpendicular to the horizontal fixed plate 401, the upper end surface of the slewing bearing mechanism is fixedly connected with the end part of the suspension connecting rod 3, particularly, the end part of the suspension connecting rod 3 is provided with a connecting disc 7 for fixing the bonus wheel assembly 4 and the suspension connecting rod 3, the side surface of the connecting disc 7 is fixedly welded with the end part of the suspension connecting rod 3, and the lower end surface of the connecting disc 7 is fixedly connected with the slewing bearing mechanism.
More specifically, the slewing bearing mechanism comprises a second gear 403 and a bearing fixing ring 406, the second gear 403 is in an annular structure, teeth for meshing are arranged on the outer annular surface of the second gear 403, and the upper end surface of the second gear 403 is fixedly connected with the lower end surface of the connecting disc 7 through bolts; the supporting and fixing ring 406 is located in the middle of the second gear 403, the lower end surface of the supporting and fixing ring 406 is fixedly connected with the horizontal fixing plate 401 by bolts, the supporting and fixing ring 406 is in clearance fit with the inner annular surface of the second gear 403, and the supporting and fixing ring 406 and the second gear 403 rotate along the circumferential direction; the first gear 404 is positioned at the side of the outer ring surface of the second gear 403, and the first gear 404 is meshed with the second gear 404; the lower surface of the horizontal fixing plate 401 is fixedly connected with a steering motor 405, and a driving shaft of the steering motor 405 penetrates through the horizontal fixing plate 401 to be fixedly connected with the axis of the first gear 404.
More specifically, during the movement of the slewing bearing mechanism, when the steering motor 405 receives a steering signal to generate an action, the first gear 404 and the second gear 403 generate a relative displacement, and the second gear 403 is fixed with the connecting disc 7, so that the first gear 404 performs a slewing motion along the axial direction of the second gear 403, thereby driving the horizontal fixing plate 401 connected with the first gear 404 to rotate, and further generating a steering action on the wheel assembly 4. The specific steering angle of the wheel assembly 4 can be controlled by controlling the operation time and the operation speed of the steering motor 405.
In order to accurately control the steering angle of the wheel assembly 4, an angle sensor 412 for monitoring the steering angle of the wheel is arranged in the wheel assembly 4, more specifically, the angle sensor 412 is positioned in the middle of the supporting and fixing ring 406, in order to accurately measure the steering angle of the wheel assembly, the angle sensor 412, the supporting and fixing ring 406 and the second gear 403 are coaxially arranged, in order to fix the angle sensor 412, a first supporting frame is arranged on the upper end surface of the second gear, and the upper end surface of the angle sensor 412 is fixed in the middle of the lower surface of the first supporting frame; the lower end surface of the support fixing ring 406 is fixedly connected to a second support frame, and the second support frame is fixedly connected to the lower end surface of the angle sensor 412.
The angle sensor 412 is used to measure the rotation angle between the support fixing ring and the second gear 403. The rotation angle of the current wheel can be monitored through the angle sensor arranged in each wheel assembly, and the steering angle of each wheel can be accurately adjusted by cooperating with the steering motor, so that the vehicle can run or steer in any direction. More specifically, the angle sensor 412 includes a first rotating component and a second rotating component, and the measurement principle is that when the first rotating component and the second rotating component are coaxially arranged, a relative rotational displacement is generated between the first rotating component and the second rotating component, so as to indirectly measure the steering angle of the wheel assembly 4, and for how to measure the rotational displacement, the prior art can be adopted, for example, the magnitude of the voltage or the current is changed through the displacement of the first rotating component and the second rotating component. The first rotating component of the angle sensor 412 is fixedly connected to the first supporting frame, and the second rotating component of the angle sensor 412 is fixedly connected to the second supporting frame.
The vertical fixing plate 402 is provided with a wheel rotating shaft 407, the axis of the wheel rotating shaft 407 is perpendicular to the plane of the vertical fixing plate 402, the wheel rotating shaft 407 penetrates through the vertical fixing plate 402, and the wheel rotating shaft 407 rotates along the circumferential direction of the wheel rotating shaft. The wheel shaft 407 is fixedly connected with a wheel 408 at one end inside the vertical fixing plate 402, and the wheel shaft 407 is fixedly connected with a first sprocket 409 at one end outside the vertical fixing plate 402.
A traveling motor 410 is arranged above the wheel 408, and the traveling motor 410 is fixedly installed on the inner side of the vertical fixing plate 402. The driving shaft of the traveling motor 410 penetrates and extends to the outer side of the vertical fixing plate 402, and the end part of the driving shaft of the traveling motor 410 is fixedly connected with a second chain wheel 411. The rotation planes of the first chain wheel 409 and the second chain wheel 411 are vertically overlapped, the first chain wheel 409 and the second chain wheel 411 are connected through a transmission chain, and the power of a driving motor can be transmitted to a wheel, so that the rotation of the wheel is kept and the rotation direction is changed.
This vehicle traveling in-process has multiple mode of traveling, especially can carry out pivot 360 and turn to and 360 direction translations, the tradition vehicle that turns to, it turns to through two front wheels of control vehicle, and, when the vehicle carries out the translation, its translation direction is mostly fore-and-aft direction translations, the left and right sides direction then turns to the realization through two front wheels, its turning radius is great, travel in the narrow and small environment in some spaces when the vehicle, it is limited to go the action, and every wheel of vehicle in this embodiment all can carry out 360 and turn to, turn to the angle through adjusting four wheels, can make the vehicle pivot 360 turn to, reduce the turning radius demand by a wide margin, more be applicable to narrow and small environment. When the current vehicle translates, the steering angles of the four wheels can be adjusted consistently, and 360-degree translation driving in any direction can be realized.
When the vehicle runs on a rugged road, the suspension connecting rod 3 can swing around the bearing shaft 2 to keep the wheels to be fully contacted with the ground, meanwhile, the vehicle body can be kept stable through the shock absorber 5, and vibration caused by the swing of the suspension connecting rod is reduced, so that the vehicle runs more stably.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention is included in the protection scope of the present invention.
Claims (10)
1. The multi-angle running vehicle is characterized by comprising a vehicle frame, a bearing shaft, two groups of suspension connecting rods and a wheel assembly, wherein the bearing shaft is fixedly connected to the middle of the vehicle frame; a group of wheel assemblies are connected below the end part of each group of suspension connecting rods, each wheel assembly comprises a horizontal fixing plate, a vertical fixing plate and a wheel steering mechanism, each horizontal fixing plate is vertically connected with each vertical fixing plate, each wheel steering mechanism comprises a first gear, a slewing bearing mechanism and a steering motor, each slewing bearing mechanism is located above each horizontal fixing plate, each slewing bearing mechanism is axially vertical to each horizontal fixing plate, and each slewing bearing mechanism is fixedly connected with the end part of each suspension connecting rod; the slewing bearing mechanism comprises a second gear and a supporting fixing ring, the upper surface of the horizontal fixing plate is fixedly connected with the supporting fixing ring, the supporting fixing ring and the second gear are fixed in a clearance fit mode, and circumferential rotation is kept between the supporting fixing ring and the second gear; the first gear is positioned on the side of the second gear, and the first gear and the second gear are meshed; the lower surface of the horizontal fixing plate is fixedly connected with a steering motor, and a driving shaft of the steering motor penetrates through the horizontal fixing plate to be fixedly connected with the axis of the first gear.
2. The multi-angle traveling vehicle according to claim 1, characterized in that: the wheel rotating shaft is arranged on the vertical fixing plate, the wheel rotating shaft and the vertical fixing plate are axially fixed along the wheel rotating shaft, and the wheel rotating shaft and the vertical fixing plate rotate along the circumferential direction of the wheel rotating shaft.
3. The multi-angle traveling vehicle according to claim 2, characterized in that: the wheel shaft is fixedly connected with a wheel at one end on the inner side of the vertical fixing plate, and the wheel shaft is fixedly connected with a first chain wheel at one end on the outer side of the vertical fixing plate.
4. The multi-angle traveling vehicle according to claim 3, characterized in that: the inner side of the vertical fixing plate is fixedly connected with a traveling motor, and the traveling motor is located above the wheels.
5. The multi-angle traveling vehicle according to claim 4, characterized in that: the driving shaft of the advancing motor extends out of the outer side of the vertical fixing plate, and the end part of the driving shaft of the advancing motor is fixedly connected with a second chain wheel.
6. The multi-angle traveling vehicle according to claim 5, characterized in that: and the rotating planes of the first chain wheel and the second chain wheel are vertically overlapped.
7. The multi-angle traveling vehicle according to claim 1, characterized in that: the center of the supporting and fixing ring is provided with an angle sensor, and the angle sensor is used for measuring the rotating angle between the supporting and fixing ring and the second gear.
8. The multi-angle traveling vehicle according to claim 7, characterized in that: the suspension connecting rod is of a V-shaped structure, the opening of the V-shaped structure faces upwards, and two shock absorbers are arranged below each group of suspension connecting rods.
9. The multi-angle traveling vehicle according to claim 8, characterized in that: and a damper fixing shaft is arranged below the frame corresponding to the bearing shaft, one end of the damper is hinged with the damper fixing shaft, and the other end of the damper is hinged to the position, close to the end, of the suspension connecting rod.
10. The multi-angle traveling vehicle according to claim 9, characterized in that: the suspension connecting rod end part is fixedly connected with a mounting plate, and the lower surface of the mounting plate is connected with the end face of the first gear through a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022852464.9U CN214396935U (en) | 2020-12-02 | 2020-12-02 | Multi-angle driving vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022852464.9U CN214396935U (en) | 2020-12-02 | 2020-12-02 | Multi-angle driving vehicle |
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| Publication Number | Publication Date |
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| CN214396935U true CN214396935U (en) | 2021-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022852464.9U Active CN214396935U (en) | 2020-12-02 | 2020-12-02 | Multi-angle driving vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
-
2020
- 2020-12-02 CN CN202022852464.9U patent/CN214396935U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN113859380B (en) * | 2021-10-20 | 2023-09-08 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
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