CN215622247U - Four-wheel independent drive type damping robot chassis capable of independently steering - Google Patents
Four-wheel independent drive type damping robot chassis capable of independently steering Download PDFInfo
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- CN215622247U CN215622247U CN202121470816.2U CN202121470816U CN215622247U CN 215622247 U CN215622247 U CN 215622247U CN 202121470816 U CN202121470816 U CN 202121470816U CN 215622247 U CN215622247 U CN 215622247U
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Abstract
The utility model discloses a four-wheel independent drive type independently-steering damping robot chassis, which belongs to the technical field of wheeled robots and comprises a chassis framework body and four independent steering hub mechanisms respectively arranged at four corners of the chassis framework body, wherein each independent steering hub mechanism comprises a fixed seat, a driving device, a transmission assembly, a rotating shaft, a support, a damping assembly and a hub assembly; the independent steering wheel hub mechanism is fixed with the chassis framework body through a fixed seat, the driving device is connected with the rotating shaft through a transmission assembly, the transmission shaft is fixedly connected with the upper end of the support, and the lower part of the support is connected with a wheel hub through a wheel hub fixed seat; the top of the damping spring is hinged and fixed with the bracket, and the bottom of the damping spring is hinged and fixed with the hub fixing seat; the lower part of the bracket is movably connected with the hub fixing seat by adopting a parallelogram link mechanism. The utility model can realize independent steering of the wheel hub, realizes effective shock absorption, has simple structure and light weight, and can cope with more complicated road conditions.
Description
Technical Field
The utility model relates to the technical field of wheeled robots, in particular to a four-wheel independent drive type independently-steering damping robot chassis.
Background
The final ideal form of the robot is that the robot can reach any place like a human or an animal and completely replace the work of the human, the best company in the field is the Boston robot in the United states at present, but the problems of high cost, immaturity and the like exist, and the robot is not really put into industrialization. The wheel type robot is the main form of the current artificial intelligent robot product, has low cost and easy control, and is the main walking carrier of the current robots for inspection, patrol, distribution and the like.
For the wheeled robot, the chassis is an important supporting component of the whole system, is used for supporting and installing an assembly of a wheel hub, a suspension component, an electric control system, a positioning component, an audio frequency component and the like, and bearing the power of a motor, and can ensure the normal running of the wheeled robot. The flexibility of the robot chassis directly influences the use occasions of the robot. For some complicated and narrow places, the robot cannot pass through the narrow places, and the application of the robot is directly limited. This problem is a major bottleneck in the development of robotics and artificial intelligence.
The chassis developed at present is not damped or damped but the structure is complicated and the manufacturing cost is high, and the weight of the whole machine is high; and the steering angle is limited, and the shock absorption can not be effectively realized when the steering wheel faces the severe ground conditions.
Disclosure of Invention
The utility model aims at the defects, provides the four-wheel independent drive type damping robot chassis capable of independently steering, can realize independent steering of a wheel hub and effective damping, has a simple structure and light weight, and can cope with more complicated road conditions.
The technical scheme adopted by the utility model for solving the technical problems is as follows:
a four-wheel independent drive type independently steerable damping robot chassis comprises a chassis framework body and four independent steering wheel hub mechanisms respectively arranged at four corners of the chassis framework body,
the independent steering wheel hub mechanism comprises a fixed seat, a driving device, a transmission assembly, a rotating shaft, a support, a damping assembly and a wheel hub assembly; the independent steering wheel hub mechanism is fixed with the chassis framework body through a fixed seat, the driving device is connected with the rotating shaft through a transmission assembly, the transmission shaft is fixedly connected with the upper end of the support, and the lower part of the support is connected with a wheel hub through a wheel hub fixed seat;
the damping spring is vertically arranged on the inner side of the support, the top of the damping spring is hinged and fixed with the support, and the bottom of the damping spring is hinged and fixed with the hub fixing seat;
the lower part of the bracket is movably connected with the hub fixing seat by adopting a parallelogram link mechanism.
The driving device transmits steering force to the rotating shaft through the transmission assembly, the rotating shaft drives the support to realize steering, so that 360-degree steering of the wheel hub is realized, and four independent steering wheel hub mechanisms realize independent steering control of four wheel hubs;
the damping device is connected with the support and the hub through the parallelogram link mechanism, so that the operation posture of the hub is ensured, and the transportation safety is ensured. The design of the damping mechanism can increase the ground adaptability of the chassis and effectively deal with the uneven ground.
By the aid of the structure, turning, pivot rotation and transverse movement with small radius can be achieved, trafficability and flexibility are high, and requirements of the wheeled robot are met.
Preferably, the driving device is provided with a power output shaft, the transmission assembly comprises a driving driven wheel, a driven belt pulley and a steering synchronous belt, the power output shaft is connected with the driving driven wheel and is connected with the driven belt pulley through the steering synchronous belt, and the driven belt pulley is fixedly connected with the rotating shaft.
Preferably, the driving device is a steering engine, and the rotation angle of the hub is controlled by controlling the angle of the steering engine.
Preferably, a bearing seat is arranged in the fixed seat, and the rotating shaft is connected with the fixed seat through a crossed roller bearing; the lower part of the fixing seat is provided with a fixing disc, the fixing disc is provided with a connecting hole, and the fixing disc is fixedly connected with the chassis framework body through a bolt.
The crossed roller bearing can bear radial force and enough axial force, and plays a role in supporting the weight of the whole machine.
Furthermore, the fixing seat is also provided with a bearing part, a driving device is fixed above the bearing part through a supporting seat, and the driving driven wheel is fixed through a supporting shaft and a bearing.
Preferably, the belt tensioning device is further arranged and comprises a tensioning adjusting shaft, an axial fixing screw and a belt tensioning screw, the tensioning adjusting shaft is positioned through the axial fixing screw and is connected with the driving driven wheel through a bearing, the belt tensioning screw is horizontally arranged, and one end of the belt tensioning screw is fixed with the tensioning adjusting shaft;
the supporting seat is connected with the fixed seat in an adjustable manner through a horizontally arranged long hole.
The tensioning of the synchronous belt is provided by a belt tensioning screw, and the axial fixing screw provides an axial force for tensioning the adjusting shaft; the tensioning of hold-in range is convenient, can realize not dismantling other spare parts and can realize the tensioning.
Preferably, the support is provided with a transition inclined plane which is obliquely arranged, and the transition inclined plane is arranged between the joint of the support and the rotating shaft and the joint of the support and the top of the damping spring and between the joint of the support and the top of the damping spring and the vertical section of the support which is used as the link mechanism. An obtuse angle is formed between each transition surface, which is beneficial to the transmission of force and the support stability of the structure.
Preferably, the four-bar mechanism is formed by rotatably connecting two connecting rods arranged in parallel, a bracket and a hub fixing seat; one ends of the two connecting rods are connected with the bracket through the tamping screws, and the other ends of the two connecting rods are respectively connected with the hub fixing seat, the hub fixing seat and the damping spring through the locking bolts; the upper end of the hub fixing seat is provided with a hinged seat, and the upper part of the hub fixing seat is hinged to the bottom of the damping spring through the locking bolt.
Preferably, the locking bolt is fixed by a plastic bearing. The plastic bearing can improve the wear resistance of the hinge, reduce the weight and reduce the cost.
Preferably, an outlet through hole is vertically formed in the axis of the rotating shaft, and an outlet cable of the hub motor is fixed along the inner side of the support, upwards penetrates through the outlet through hole and is led out above the transmission assembly. According to the design, the outgoing cable of the hub motor can realize 360-degree steering without a wiring slip ring.
Compared with the prior art, the four-wheel independent drive type damping robot chassis capable of independently steering has the following beneficial effects:
the four independent steering wheel hub mechanisms are in modular design and convenient to install and disassemble, and can realize independent 360-degree steering of four wheels and effective shock absorption; the wheel hub damping mechanism adopts a parallelogram hinge type connecting rod mechanism, so that the posture of a tire can be ensured, the wheel hub and an automobile body chassis can be kept in a vertical state no matter what state the damper is in, the posture of the automobile body can be ensured to be unchanged when the automobile body meets uneven ground, and the safety of goods conveying is ensured.
The damping robot chassis can be applied to the product design industry, reduces the product design threshold, reduces the product development period, improves the product design efficiency, and has a certain application prospect.
Drawings
FIG. 1 is a schematic cross-sectional view of the structure of an independent steering hub mechanism provided by an embodiment of the present invention;
FIG. 2 is a cross-sectional view taken along line B-B of FIG. 1;
FIG. 3 is a cross-sectional view taken along the line C-C in FIG. 1;
FIG. 4 is an overall effect of the independent steering hub mechanism;
FIG. 5 is an overall effect diagram of the chassis of the four-wheel independent drive type independently steerable damping robot provided by the embodiment of the present invention;
FIG. 6 is an effect drawing of the independent steering hub mechanism with the shock absorber in tension;
fig. 7 is an effect view of the independent steering hub mechanism with the shock absorber in a contracted state.
In the figure, the steering engine comprises a steering engine 1, a driving driven wheel 2, a belt tensioning screw 3, a tensioning adjusting shaft 4, an axial fixing screw 5, a steering synchronous belt 6, a steering synchronous belt 7, a driven belt pulley 8, a cross roller bearing 9, a support 10, a spring damper 11, an upper swing arm 12, a lower swing arm 13, a hub fixing seat 14, a hub and hub assembly 15, a fixing seat 16, a locking bolt 17, a plastic bearing 18, a plugging screw 19, a hub motor outgoing line cable 20 and a chassis framework body.
Detailed Description
The present invention will be further described with reference to the following specific examples.
The utility model provides a but four-wheel independent drive formula independent steering's shock attenuation robot chassis, includes chassis skeleton body 20 and installs four independent steering wheel hub mechanisms in chassis skeleton body 20 four angles departments respectively.
Independent wheel hub mechanism that turns to includes fixing base 15, drive arrangement, drive assembly, axis of rotation, support, damper assembly and wheel hub subassembly, and independent wheel hub mechanism that turns to passes through fixing base 15 and chassis skeleton body 20 fixedly, and drive arrangement passes through drive assembly and connects the axis of rotation, transmission shaft and support 9 upper end fixed connection, the lower part of support 9 is connected with wheel hub and wheel hub subassembly 14 through wheel hub fixing base 13.
In this embodiment, the driving device is a steering engine 1, and the rotation angle of the hub is controlled by controlling the angle of the steering engine 1. Steering wheel 1 has power output shaft, and drive assembly includes that the initiative is from driving wheel 2, driven pulley 7 and turns to hold-in range 6, power output shaft connects the initiative from driving wheel 2 to through turning to hold-in range 6 and connecting driven pulley 7, driven pulley 7 with axis of rotation fixed connection forms fixed connection with the upper end of support 9 promptly.
Referring to fig. 1, the transmission assembly is provided with a belt tensioning device, which comprises a tensioning adjusting shaft 4, an axial fixing screw 5 and a belt tensioning screw 3, wherein the tensioning adjusting shaft 4 is positioned by the axial fixing screw 5 and is connected with a driving driven wheel 2 through a bearing, the belt tensioning screw 3 is horizontally arranged, one end of the belt tensioning screw is fixed with the tensioning adjusting shaft 4, and the belt tensioning screw 3 is adjusted to realize horizontal movement of the tensioning adjusting shaft 4, so that the distance between the driving driven wheel 2 and a driven belt pulley 7 is adjusted, and further the tensioning adjustment of a steering synchronous belt 6 is realized. The tension of the synchronous belt is provided by a belt tensioning screw 3, and an axial fixing screw 5 provides an axial force for tensioning the adjusting shaft; the tensioning of hold-in range is convenient, can realize not dismantling other spare parts and can realize the tensioning.
A bearing seat is arranged in the fixed seat 15, and the rotating shaft is connected with the fixed seat 15 through a crossed roller bearing 8; the lower part of the fixed seat 15 is provided with a fixed disk, a connecting hole is formed in the fixed disk, and the fixed disk is fixedly connected with the chassis framework body 20 through a bolt. The crossed roller bearing 8 can bear radial force and enough axial force, and plays a role in supporting the weight of the whole machine.
The rotating shaft and the support 9 can be of an integrated structure, and the upper end of the support 9 participates in connection and transmission in the form of the rotating shaft, so that the support 9 rotates.
The fixing seat 15 is further provided with a bearing part, a driving device is fixed above the bearing part through a supporting seat, and a driving driven wheel is fixed through the tensioning adjusting shaft 4 and a bearing. The through hole of the tension adjusting shaft 4 on the fixed seat 15 is a long hole, so that the tension adjusting shaft 4 can move horizontally. The supporting seat is connected with the fixed seat 15 in an adjustable mode through a long hole and a bolt which are horizontally formed.
The inside of support 9 is installed the spring damper 10 of vertical setting, the top of spring damper 10 is articulated fixed with support 9, the bottom with wheel hub fixing base 13 is articulated fixed.
The lower part of the bracket 9 is movably connected with the hub fixing seat 13 by adopting a parallelogram link mechanism.
The four-bar mechanism is formed by the rotatable connection of two parallel connecting rods (an upper swing arm 11 and a lower swing arm 12), a support 9 and a hub fixing seat 13. As shown in fig. 2, one end of the upper swing arm 11 and one end of the lower swing arm 12 are connected to the bracket 9 through a locking screw 18, and the other end of the upper swing arm is connected to the hub fixing seat 13, the hub fixing seat 13 and the spring damper 10 through a locking bolt 16, as shown in fig. 3, the upper end of the hub fixing seat 13 is provided with a hinge seat, and the upper portion of the hub fixing seat 13 is hinged to the bottom of the spring damper 10 through the locking bolt 16. The locking bolt 16 is fixed through the plastic bearing 17, and the plastic bearing 17 can reduce the weight of the robot and improve the wear resistance of the joint.
As shown in fig. 1, the bracket 9 has a transition inclined plane which is obliquely arranged, and transition inclined planes are respectively arranged between a connection position of the bracket 9 and the rotating shaft and a connection position of the bracket 9 and the top of the spring damper 10, and between a connection position of the bracket 9 and the top of the spring damper 10 and a vertical section of the bracket 9 as a link mechanism. An obtuse angle is formed between each transition surface, which is beneficial to the transmission of force and the support stability of the structure.
Thereby steering wheel 1 will turn to power transmission to support 9 through drive assembly and realize turning to of support 9, and then realize that support 9 drives wheel hub 14's 360 turns to, and four independent steering wheel hub mechanisms realize four wheel hub 14's independent steering control. Therefore, the whole machine can realize in-situ steering, transverse walking, longitudinal walking and Ackerman steering.
An outlet through hole is vertically formed in the axis of the rotating shaft, and an outlet cable 19 of the hub motor is fixed along the inner side of the support 9, upwards penetrates through the outlet through hole and is led out above the transmission assembly. According to the design, the outgoing line cable 19 of the hub motor can realize 360-degree steering without a wiring slip ring.
The spring damper 10 is connected with the support 9 and the hub 14 through a parallelogram link mechanism, so that the running posture of the hub is ensured, and the transportation safety is ensured. The design of the damping mechanism can increase the ground adaptability of the chassis and effectively deal with the uneven ground.
By the aid of the structure, turning, pivot rotation and transverse movement with small radius can be achieved, trafficability and flexibility are high, and requirements of the wheeled robot are met.
While the utility model has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the utility model to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the utility model, which are also within the scope of the utility model.
Claims (10)
1. A four-wheel independent drive type damping robot chassis capable of independently steering is characterized by comprising a chassis framework body and four independent steering wheel hub mechanisms respectively arranged at four corners of the chassis framework body,
the independent steering wheel hub mechanism comprises a fixed seat, a driving device, a transmission assembly, a rotating shaft, a support, a damping assembly and a wheel hub assembly; the independent steering wheel hub mechanism is fixed with the chassis framework body through a fixed seat, the driving device is connected with the rotating shaft through a transmission assembly, the transmission shaft is fixedly connected with the upper end of the support, and the lower part of the support is connected with a wheel hub through a wheel hub fixed seat;
the damping spring is vertically arranged on the inner side of the support, the top of the damping spring is hinged and fixed with the support, and the bottom of the damping spring is hinged and fixed with the hub fixing seat;
the lower part of the bracket is movably connected with the hub fixing seat by adopting a parallelogram link mechanism.
2. The chassis of claim 1, wherein the driving device has a power take-off shaft, the transmission assembly comprises a driving driven wheel, a driven pulley and a steering synchronous belt, the power take-off shaft is connected with the driving driven wheel and is connected with the driven pulley through the steering synchronous belt, and the driven pulley is fixedly connected with the rotating shaft.
3. The chassis of the four-wheel independent drive type shock-absorbing robot capable of steering independently as claimed in claim 2, wherein the drive device is a steering engine.
4. The chassis of the four-wheel independent drive type independently steerable damping robot as claimed in claim 1 or 2, wherein a bearing seat is provided in the fixed base, and the rotating shaft is connected to the fixed base through a crossed roller bearing; the lower part of the fixing seat is provided with a fixing disc, the fixing disc is provided with a connecting hole, and the fixing disc is fixedly connected with the chassis framework body through a bolt.
5. The chassis of the four-wheel independent drive type independently steerable vibration-damping robot as claimed in claim 4, wherein the fixing base is further provided with a supporting portion, the driving device is fixed above the supporting portion through the supporting base, and the driving/driven wheel is fixed through the supporting shaft and the bearing.
6. The chassis of the four-wheel independent drive type independently steerable damping robot as claimed in claim 5, wherein a belt tensioning device is further provided, comprising a tensioning adjusting shaft, an axial fixing screw and a belt tensioning screw, wherein the tensioning adjusting shaft is positioned by the axial fixing screw and is connected with the driving driven wheel by a bearing, the belt tensioning screw is horizontally arranged, and one end of the belt tensioning screw is fixed with the tensioning adjusting shaft;
the supporting seat is connected with the fixed seat in an adjustable manner through a horizontally arranged long hole.
7. The chassis of the four-wheel independent drive type independently steerable damping robot as claimed in claim 1, wherein the support has a slant transition surface, and the transition surfaces are formed from the connection of the support and the rotating shaft to the connection of the support and the top of the damping spring and from the connection of the support and the top of the damping spring to the vertical section of the support as the link mechanism.
8. The chassis of a four-wheel independent drive type independently steerable vibration-damping robot as claimed in claim 1 or 7, wherein said four-bar linkage is formed by the rotatable connection of two parallel connecting rods, a bracket and a hub fixing seat; one ends of the two connecting rods are connected with the bracket through the tamping screws, and the other ends of the two connecting rods are respectively connected with the hub fixing seat, the hub fixing seat and the damping spring through the locking bolts; the upper end of the hub fixing seat is provided with a hinged seat, and the upper part of the hub fixing seat is hinged to the bottom of the damping spring through the locking bolt.
9. The chassis of claim 8, wherein the locking bolts are fixed by plastic bearings.
10. The chassis of the four-wheel independent drive type independently steerable damping robot of claim 1, wherein the axis of the rotating shaft is vertically provided with an outgoing line through hole, and an outgoing line cable of the hub motor is fixed along the inner side of the bracket and upwardly passes through the outgoing line through hole to be led out above the transmission assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121470816.2U CN215622247U (en) | 2021-06-30 | 2021-06-30 | Four-wheel independent drive type damping robot chassis capable of independently steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121470816.2U CN215622247U (en) | 2021-06-30 | 2021-06-30 | Four-wheel independent drive type damping robot chassis capable of independently steering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215622247U true CN215622247U (en) | 2022-01-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121470816.2U Active CN215622247U (en) | 2021-06-30 | 2021-06-30 | Four-wheel independent drive type damping robot chassis capable of independently steering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215622247U (en) |
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2021
- 2021-06-30 CN CN202121470816.2U patent/CN215622247U/en active Active
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