CN216443671U - Omnidirectional vehicle with adjustable wheel track - Google Patents

Abstract

The utility model discloses an omnidirectional vehicle with an adjustable wheel track, which comprises a vehicle body, wherein the vehicle body is connected with a walking device for walking through a rotating device, the vehicle body is of a rectangular frame structure, and the four rotating devices are respectively arranged at four corners of the vehicle body; each rotating device comprises a driving motor I, a speed reducer I, a rotating shaft I and a rotating arm, wherein the speed reducer I is fixedly connected in a vehicle body, the rotating arm is rotatably connected to the bottom of the vehicle body, a power output end of the driving motor I is connected to a power input end of the speed reducer I, a power output end of the speed reducer I is in transmission connection with the upper end of the rotating shaft I, and the lower end of the rotating shaft I penetrates through the vehicle body and then is fixedly connected to the rotating arm; the number of the walking devices is four and the walking devices are respectively connected to the bottoms of the corresponding rotating arms. The utility model can fully adjust the wheel track between the walking devices according to the needs, improve the adjustment flexibility, meet the use requirements and reduce the pollution to the environment.

Description

A wheelbase adjustable omnidirectional vehicle

technical field

The utility model relates to the technical field of special vehicles, in particular to an omnidirectional vehicle with adjustable wheelbase.

Background technique

At present, there are various types of conventional vehicles on the market, but few vehicles can adjust the wheelbase, especially the adjustment of the size of the wheelbase of the front, rear, left and right wheels of the vehicle; The problem of non-adjustable wheel base makes the wheel base too large when the four-wheeled vehicle passes through the narrow road, so that it cannot pass. It is difficult for a vehicle to pass through obstacles; in order to improve the mobility of the vehicle, the vehicle needs to be able to move in all directions.

In the prior art, the applicant once proposed an agricultural composite variable wheelbase electric mobile platform in patent 2020230163545, which includes a vehicle body and a wheelbase variable device. The wheelbase variable device includes two adjustment supports, between the two adjustment supports. The wheelbase adjusting hydraulic cylinder and the guide cylinder assembly are connected. The fixed end of the wheelbase adjusting hydraulic cylinder is fixed on one adjusting support and the movable end is fixed on the other adjusting support. The guide cylinder assembly includes two optical axis sleeves, two optical axis The sleeve is fixed on the vehicle body and is correspondingly provided with a sliding shaft that can slide along its axial direction, and the sliding shaft is fixed on the adjusting support; the front and rear sides of the adjusting support are provided with walking devices.

However, the applicant has found in long-term practice that since the above-mentioned platform adjusts the wheel base by driving the two adjusting supports to move by a hydraulic cylinder, it can only adjust the wheel base of the traveling device between the two adjusting supports, but cannot adjust the same wheel base. Adjusting the wheelbase of the traveling device on the support means that the wheelbase between the traveling devices cannot be fully adjusted according to the needs, and the flexibility is insufficient, and the hydraulic oil of the hydraulic cylinder is prone to leakage, which is difficult to handle and causes environmental pollution.

The above technical problems need to be solved urgently.

Utility model content

In view of this, the purpose of the present utility model is to provide an omnidirectional vehicle with adjustable wheelbase, which can fully adjust the wheelbase between the walking devices according to the needs, improve the adjustment flexibility, meet the needs of use, and at the same time reduce the pollution to the environment .

In order to achieve the above purpose, the present invention provides an omnidirectional vehicle with adjustable wheel base, which includes a vehicle body, the vehicle body is connected with a walking device for walking through a rotating device, and the vehicle body is a rectangular frame structure, The number of the rotating devices is four and they are respectively installed at the four corners of the vehicle body; each of the rotating devices includes a drive motor I, a reducer I, a rotating shaft I and a rotating arm, and the reducer I is fixed Connected to the vehicle body, the rotating arm is rotatably connected to the bottom of the vehicle body, the power output end of the drive motor I is connected to the power input end of the reducer I, and the power output end of the reducer I is connected to the upper end of the rotating shaft I In the transmission connection, the lower end of the rotating shaft I is fixedly connected to the rotating arm after passing through the vehicle body; the number of the walking devices is four and they are respectively connected to the bottom of the corresponding rotating arm.

As a further improvement to the technical solution of the present utility model, the rotating arm has a long plate structure, the rotating shaft I is connected to the inner end of the rotating arm, and the traveling device is connected to the outer end of the rotating arm.

As a further improvement to the technical solution of the present invention, the vehicle body is provided with a mounting plate for mounting the drive motor I and the reducer I.

As a further improvement to the technical solution of the present utility model, the traveling device includes a drive motor II, a reducer II, a rotating shaft II, a wheel base and a traveling wheel; the power output end of the drive motor II is connected to the power input end of the reducer II , the reducer II is fixedly connected to the bottom of the corresponding rotating arm and its power output end is connected to the upper end of the rotating shaft II in a transmission connection, the lower end of the rotating shaft II is fixedly connected to the top of the wheel base, and the walking wheel is used to drive the walking The hub motors of the wheels are mounted on the wheel bases.

As a further improvement to the technical solution of the present invention, the wheel seat is a shock-absorbing seat structure and is provided with a pair of left-right symmetrical shock absorbers, and the bottom ends of the shock absorbers are connected to the axles of the traveling wheels.

Compared with the prior art, the utility model has the following beneficial technical effects:

The utility model provides an omnidirectional vehicle with adjustable wheelbase. When in use, the driving motor I starts and transmits power to the reducer I, and after the reduction and torque increase of the reducer I, the rotating shaft I is driven to rotate. Since the rotating shaft I is fixed It is connected to the swivel arm, so that the swivel arm rotates relative to the vehicle body, thereby changing the relative distance between the running devices of each swivel arm, that is, adjusting the wheelbase; since each swivel arm can be rotated as required, it is fully The wheel base between each traveling device is adjusted, the adjustment flexibility is improved, and the use demand is met; at the same time, compared with the hydraulic cylinder, the driving motor I does not need to use hydraulic oil, which not only reduces the pollution to the environment, but also improves the compactness of the device.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

Fig. 2 is the main view mechanical sketch of the utility model;

Fig. 3 is the first top-down mechanical schematic diagram of the utility model;

FIG. 4 is a second top-view mechanical schematic diagram of the present invention.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the present utility model; obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments, based on the The embodiments of the present invention, and all other embodiments obtained by those of ordinary skill in the art without creative work, fall within the protection scope of the present invention.

Example

As shown in FIG. 1 to FIG. 4 , an omnidirectional vehicle with adjustable wheelbase provided in this embodiment includes a vehicle body 1 , and the vehicle body 1 is connected with a running device 3 for walking through a rotating device 2 . The body 1 is a rectangular frame structure, the number of the rotating devices 2 is four and they are respectively installed at the four corners of the vehicle body 1; I (not shown in the figure) and a rotating arm 23, the reducer I22 is fixedly connected to the vehicle body 1, the rotating arm 23 is rotatably connected to the bottom of the vehicle body 1, and the power output end of the drive motor I21 is connected to the The power input end of the reducer I22, the power output end of the reducer I22 is connected to the upper end of the rotating shaft I in a transmission connection, and the lower end of the rotating shaft I is fixedly connected to the rotating arm 23 after passing through the vehicle body 1; The number is four and they are respectively connected to the bottom of the corresponding rotating arm 23 .

The traveling device 3 and the rotating device 2 are set in one-to-one correspondence, and the number of the two is the same; the drive motor I21 and the reducer I22 form a deceleration motor structure, which has a large output torque; the drive motor I21 and the reducer I22 can be fixed by screwing. For the vehicle body 1, in order to facilitate installation, the vehicle body 1 can be specially provided with a mounting plate 4 for installing the drive motor I21 and the reducer I22; the mounting plate 4 can be connected to the vehicle body 1 by welding or screwing. The plate 4 is also provided with a through hole for the rotating shaft I to pass through.

The rotating shaft I is arranged perpendicular to the horizontal plane; for example, the rotating shaft I and the reducer I22 can be connected through a coupling, or the rotating shaft I can be directly connected with the output gear of the reducer I22. The vehicle body 1 can be provided with a bearing matched with the rotating shaft I; the rotating shaft I and the rotating arm 23 can be connected, for example, by screwing or welding. The rotating arm 23 can be designed into a specific shape according to requirements. For example, the rotating arm 23 in this embodiment has a long plate structure. The traveling device 3 is connected to the outer end of the rotating arm 23 .

When in use, as shown in Fig. 1 to Fig. 3, the drive motor I21 starts and transmits the power to the reducer I22. After the deceleration and torque increase of the reducer I22, the rotating shaft I is driven to rotate. Since the rotating shaft I is fixedly connected to the rotating arm 23 , so that the rotating arm 23 rotates relative to the vehicle body 1, thereby changing the relative distance between the traveling devices 3 of each rotating arm 23, that is, adjusting the wheelbase, as shown in FIG. 4; It rotates according to needs, thus fully adjusting the wheel spacing between the walking devices 3, improving the adjustment flexibility, and meeting the needs of use; at the same time, compared with the hydraulic cylinder, the driving motor I21 does not need to use hydraulic oil, which not only reduces the environmental impact contamination, but also improves the compactness of the device.

In this embodiment, the traveling device 3 includes a drive motor II 31, a reducer II 32, a rotating shaft II (not shown in the figure), a wheel base 33 and a traveling wheel 34; the power output end of the drive motor II 31 is connected to the reducer The power input end of II32, the reducer II32 is fixedly connected to the bottom of the corresponding rotating arm 23 and its power output end is connected to the upper end of the rotating shaft II, the lower end of the rotating shaft II is fixedly connected to the top of the wheel base 33, the said The traveling wheel 34 and the in-wheel motor 35 for driving the traveling wheel 34 are both mounted on the wheel base 33 . The drive motor II31 is used to drive the traveling wheel 34 to turn, and the hub motor 35 drives the traveling wheel 34 to rotate; the drive motor II31 and the reducer II32 form a deceleration motor structure, which has a large output torque; the reducer II32 can be screwed It is fixed on the rotating arm 23; the rotating shaft II is arranged perpendicular to the horizontal plane; The rotating shaft II and the wheel base 33 may be connected by screwing or welding, for example.

In this embodiment, the wheel base 33 is a shock-absorbing seat structure and is provided with a pair of left-right symmetrical shock absorbers 36 . The bottom ends of the shock absorbers 36 are connected to the axles of the traveling wheels 34 . The shock absorber 36 is a spring-type structure, which can reduce the vibration of the traveling wheel 34, so that the movement of the vehicle body 1 is more stable.

The above descriptions are only the embodiments of the present invention, and the common knowledge such as the well-known specific structures and characteristics in the solutions are not described too much here. It should be pointed out that for those skilled in the art, under the premise of not departing from the structure of the present utility model, several deformations and improvements can also be made, which should also be regarded as the protection scope of the present utility model, and these will not affect the present utility model. The effect of the implementation of the new model and the practicability of the patent. The scope of protection claimed in this application shall be based on the content of the claims, and the descriptions of the specific implementation manners in the description can be used to interpret the content of the claims.

Claims (5)

1. The utility model provides an adjustable omnidirectional vehicle of wheel tread, includes the automobile body, the automobile body is connected with the running gear who is used for the walking through rotating device, its characterized in that: the vehicle body is of a rectangular frame type structure, and the number of the rotating devices is four and the rotating devices are respectively arranged at four corners of the vehicle body; each rotating device comprises a driving motor I, a speed reducer I, a rotating shaft I and a rotating arm, wherein the speed reducer I is fixedly connected in a vehicle body, the rotating arm is rotatably connected to the bottom of the vehicle body, the power output end of the driving motor I is connected to the power input end of the speed reducer I, the power output end of the speed reducer I is in transmission connection with the upper end of the rotating shaft I, and the lower end of the rotating shaft I penetrates through the vehicle body and then is fixedly connected to the rotating arm; the number of the walking devices is four, and the four walking devices are respectively connected to the bottoms of the corresponding rotating arms.

2. The omni-directional vehicle with the adjustable wheel track according to claim 1, wherein: the rocking arm is long plate structure, pivot I is connected in the inner of rocking arm, running gear connects in the outer end of rocking arm.

3. The omni-directional vehicle with the adjustable wheel track according to claim 1, wherein: the automobile body is provided with a mounting plate for mounting a driving motor I and a speed reducer I.

4. The omni-directional vehicle with the adjustable wheel track according to any one of claims 1 to 3, wherein: the walking device comprises a driving motor II, a speed reducer II, a rotating shaft II, a wheel seat and walking wheels; the power take off end of driving motor II is connected in the power input end of reduction gear II, II fixed connection of reduction gear are connected in the transmission of the upper end of the bottom of corresponding rocking arm and its power take off end and pivot II, the lower extreme fixed connection of pivot II is at the top of wheel seat, the in-wheel motor who walks wheel and be used for the road wheel of driving all installs in the wheel seat.

5. The omni-directional vehicle with the adjustable wheel track according to claim 4, wherein: the wheel seat is of a shock absorption seat structure and is provided with a pair of bilaterally symmetrical shock absorbers, and the bottom ends of the shock absorbers are connected to wheel shafts of the travelling wheels.

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