CN219583894U - Chassis device of four-wheel trolley - Google Patents

Abstract

The utility model discloses a four-wheel trolley chassis device which comprises an adjustable wheel arm mechanism, wheels, wheel anti-slip convex parts, a first rotating rod, a second rotating rod, a wheel arm angle adjusting servo, a servo rocker arm, a third rotating rod, rotating blocks, wheel arms and a wheel driving assembly.

Description

Chassis device of four-wheel trolley

Technical Field

The utility model relates to a trolley chassis, in particular to a four-wheel trolley chassis device.

Background

The four-wheel train chassis has the advantages of good turning stability performance relative to the three-wheel train chassis, small resistance relative to more wheel train chassis wheel trains, simple structure, easy realization, high comprehensive cost performance and the like, is widely applied to various vehicles, wheel train robots and other transportation equipment, and has good application prospect.

The wheel of traditional common four-wheel dolly is generally wheel axle fixed, or has the rocking arm structure of shock absorber, and the shock absorber of traditional chassis carries out the adjustment of shaft position for passive compression, is inconvenient for adjusting the relative position of wheel and chassis base, and adaptability is general relatively, takes place the chassis easily to be put up in some special obstacle topography, or the shock absorber can not fully compress and lead to the condition that the dolly turned on one's side, and general adaptability is not strong, and for this reason, we propose a four-wheel dolly chassis device to optimize it.

Disclosure of Invention

The utility model aims to provide a four-wheel trolley chassis device which is used for solving the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides a four-wheel trolley chassis device, includes the chassis base, the symmetry is provided with four adjustable wheel arm mechanisms on the chassis base, adjustable wheel arm mechanism includes wheel, first dwang, second dwang, wheel arm angle modulation servo, servo rocking arm, third dwang, wheel arm, wheel drive assembly and shock absorber, wheel arm angle modulation servo fixed mounting is on the chassis base, the output shaft and the servo rocking arm fixed connection of wheel arm angle modulation servo, the one end of shock absorber is rotated with the servo rocking arm through the third dwang and is connected, the other end and the lateral wall fixed connection of dwang of shock absorber, the dwang is rotated with the top of wheel arm through the second dwang and is connected, the wheel arm is rotated through first dwang and is connected on the chassis base, wheel drive assembly installs in the lower part of wheel arm, the wheel is connected with wheel drive assembly.

As a further scheme of the utility model: and the third rotating rod and an output shaft of the wheel arm angle adjusting server are eccentrically arranged.

As still further aspects of the utility model: two shock absorbers in the adjustable wheel arm mechanism are symmetrically arranged.

As still further aspects of the utility model: the wheel drive assembly comprises a wheel drive motor and a rotating shaft, the rotating shaft is rotationally connected to the wheel arm through a bearing, the wheel drive motor is fixedly arranged on the wheel arm, one end of the rotating shaft is fixedly connected with a wheel, and the other end of the rotating shaft is fixedly connected with the rotating end of the wheel drive motor.

As still further aspects of the utility model: the outer side of the wheel is provided with a wheel anti-slip protruding part.

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

1. according to the utility model, the output shaft of the wheel arm angle adjusting server drives the servo rocker arm to rotate at a certain angle, the servo rocker arm drives the third rotating rod to enable the shock absorber to move, the shock absorber drives the wheel arm to rotate at a moving angle along the first rotating rod through the second rotating rod, so that the wheel arm drives the wheels to move, the relative position between the wheels and the chassis base is adjusted, four groups of adjustable wheel arm mechanisms independently operate without interference, various postures suitable for the current obstacle environment of the trolley can be made, the trolley can smoothly surmount obstacles, the four-wheel trolley can adapt to richer obstacle terrains, and the adaptability and stability of the four-wheel trolley are improved.

2. According to the utility model, the rotating end of the wheel driving motor rotates to drive the rotating shaft to rotate, and the rotating shaft drives the wheels to rotate, so that the whole movement of the trolley is realized, the four wheels are respectively driven by the four wheel driving motors, the chassis device of the four-wheel trolley is strong in walking power in a four-wheel driving mode, and the anti-skid performance and the ground grabbing force of the wheels are improved through the arrangement of the anti-skid protruding parts of the wheels.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a chassis device of a four-wheel trolley.

Fig. 2 is a perspective view of a four-wheeled dolly chassis device.

Fig. 3 is a top view of the four-wheeled dolly chassis apparatus.

The figure shows: the adjustable wheel arm mechanism 1, the wheel 101, the wheel anti-slip boss 1011, the first rotation lever 102, the second rotation lever 103, the wheel arm angle adjustment servo 104, the servo rocker 105, the third rotation lever 106, the rotation block 107, the wheel arm 108, the wheel drive assembly 109, the wheel drive motor 1091, the rotation shaft 1092, the shock absorber 110, and the chassis base 2.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-3, in an embodiment of the present utility model, a four-wheel trolley chassis device includes a chassis base 2, four adjustable wheel arm mechanisms 1 are symmetrically disposed on the chassis base 2, the adjustable wheel arm mechanisms 1 include wheels 101, a first rotating rod 102, a second rotating rod 103, a wheel arm angle adjustment servo 104, a servo rocker 105, a third rotating rod 106, a rotating block 107, a wheel arm 108, a wheel driving assembly 109 and a shock absorber 110, the wheel arm angle adjustment servo 104 is fixedly mounted on the chassis base 2, an output shaft of the wheel arm angle adjustment servo 104 is fixedly connected with the servo rocker 105, one end of the shock absorber 110 is rotatably connected with the servo rocker 105 through the third rotating rod 106, the third rotating rod 106 is eccentrically disposed with an output shaft of the wheel arm angle adjustment servo 104, the other end of the shock absorber 110 is fixedly connected with a side wall of the rotating block 107, the rotating block 107 is rotatably connected with a top end of the wheel arm 108 through the second rotating rod 103, the wheel arm 108 is rotatably connected with the chassis base 2 through the first rotating rod 102, the wheel driving assembly 109 is mounted at a lower portion of the wheel arm 108, and the wheel driving assembly 109 is rotatably connected with the wheel driving assembly 101 through the wheel driving assembly 109.

The shock absorbers 110 in the adjustable arm mechanism 1 are symmetrically arranged in two.

The wheel driving assembly 109 comprises a wheel driving motor 1091 and a rotating shaft 1092, the rotating shaft 1092 is rotationally connected to the wheel arm 108 through a bearing, the wheel driving motor 1091 is fixedly installed on the wheel arm 108, one end of the rotating shaft 1092 is fixedly connected with the wheel 101, the other end of the rotating shaft 1092 is fixedly connected with the rotating end of the wheel driving motor 1091, the rotating shaft 1092 is rotationally driven through the rotating end of the wheel driving motor 1091, and the wheel 101 is rotationally driven to walk through the rotation of the rotating shaft 1092.

The wheel slip-resistant protrusions 1011 are provided on the outer side of the wheel 101, and the slip-resistant performance and the grip of the wheel 101 are ensured by the provision of the wheel slip-resistant protrusions 1011.

The wheel arm angle adjustment servo 104 and the wheel driving motor 1091 are connected with an external controller through wires, and the four wheel arm angle adjustment servo 104 and the four wheel driving motor 1091 are independently controlled through the external controller.

The standard parts used in the document of the utility model can be directly purchased from the market, but the standard parts can also be directly processed according to the description of the nonstandard structural parts without doubt according to the common knowledge of the prior art, meanwhile, the connecting mode of each part adopts the mature conventional means in the prior art, and the machinery, parts and equipment adopt the conventional types in the prior art, so the specific description is not made here.

The working principle of the utility model is as follows:

when the four-wheel-arm-adjustable chassis device is used, the four adjustable wheel arm mechanisms 1 are independently controlled, the shock absorber 110 ensures the shock absorbing performance of the four-wheel-type chassis device, the output shaft of the wheel arm angle adjusting server 104 drives the servo rocker 105 to rotate at a certain angle, the servo rocker 105 drives the third rotating rod 106 to enable the shock absorber 110 to move, the shock absorber 110 drives the wheel arm 108 to rotate along the first rotating rod 102 by a moving angle through the second rotating rod 103, and accordingly the wheel arm 108 drives the wheels 101 to move, the relative positions between the wheels 101 and the chassis base 2 are adjusted, the four groups of adjustable wheel arm mechanisms 1 independently operate without mutual interference, various gestures suitable for the current obstacle environment of the trolley can be made, the trolley can smoothly surmount the obstacle, the rotating shaft 1092 is driven to rotate through the rotating end of the wheel driving motor 1091, the rotating shaft 1092 drives the wheels 101 to move integrally, meanwhile, the four wheels 101 can be respectively driven by four independent wheel driving assemblies 109 to move forwards, backwards, turn and the in-situ head movements, and the four wheels 101 can be driven by the trolley in a complex manner, and various traction forces can be provided for the trolley in a complex movement can be ensured.

Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.

Claims (5)

1. The utility model provides a four-wheel dolly chassis device, includes chassis base (2), its characterized in that: the adjustable wheel arm mechanism (1) is symmetrically arranged on the chassis base (2), the adjustable wheel arm mechanism (1) comprises wheels (101), a first rotating rod (102), a second rotating rod (103), a wheel arm angle adjusting servo (104), a servo rocker arm (105), a third rotating rod (106), a rotating block (107), a wheel arm (108), a wheel driving assembly (109) and a shock absorber (110), the wheel arm angle adjusting servo (104) is fixedly arranged on the chassis base (2), an output shaft of the wheel arm angle adjusting servo (104) is fixedly connected with the servo rocker arm (105), one end of the shock absorber (110) is rotatably connected with the servo rocker arm (105) through the third rotating rod (106), the other end of the shock absorber (110) is fixedly connected with the top end of the rotating block (107), the rotating block (107) is rotatably connected with the top end of the wheel arm (108) through the second rotating rod (103), the wheel arm (108) is rotatably connected with the chassis base (2) through the first rotating rod (102), and the wheel driving assembly (109) is arranged on the lower wheel driving assembly (109).

2. The four-wheeled dolly chassis device according to claim 1, wherein: the third rotating rod (106) and the output shaft of the wheel arm angle adjusting server (104) are eccentrically arranged.

3. The four-wheeled dolly chassis device according to claim 1, wherein: two shock absorbers (110) in the adjustable wheel arm mechanism (1) are symmetrically arranged.

4. The four-wheeled dolly chassis device according to claim 1, wherein: the wheel drive assembly (109) comprises a wheel drive motor (1091) and a rotating shaft (1092), the rotating shaft (1092) is rotationally connected to the wheel arm (108) through a bearing, the wheel drive motor (1091) is fixedly mounted on the wheel arm (108), one end of the rotating shaft (1092) is fixedly connected with the wheel (101), and the other end of the rotating shaft (1092) is fixedly connected with the rotating end of the wheel drive motor (1091).

5. The four-wheeled dolly chassis device according to claim 1, wherein: a wheel anti-slip boss (1011) is arranged on the outer side of the wheel (101).