CN113263909A - Four-wheel independent damping, steering and driving wheeled robot chassis - Google Patents
Four-wheel independent damping, steering and driving wheeled robot chassis Download PDFInfo
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- CN113263909A CN113263909A CN202110601252.XA CN202110601252A CN113263909A CN 113263909 A CN113263909 A CN 113263909A CN 202110601252 A CN202110601252 A CN 202110601252A CN 113263909 A CN113263909 A CN 113263909A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
- B60K17/165—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing provided between independent half axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
- B60G2204/143—Mounting of suspension arms on the vehicle body or chassis
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The invention relates to a four-wheel independent damping, steering and driving wheeled robot chassis which comprises a four-wheel driving mechanism, a differential mechanism, a steering mechanism and a damping mechanism, wherein the four-wheel driving mechanism is arranged on a chassis frame, the differential mechanism is symmetrically arranged on the chassis frame in the front-back direction, the differential mechanism is fixedly connected with the four-wheel driving mechanism, the steering mechanism is symmetrically arranged on the chassis frame in the front-back direction, the damping mechanism is symmetrically arranged at four corners of the chassis frame, wheels are arranged at the four corners of the chassis frame, steering goat corners are rotatably arranged on the wheels, upper lugs and lower lugs of the steering goat corners are respectively and fixedly connected with the damping mechanism, an arm lever of each steering goat corner is fixedly connected with the steering mechanism, and a transmission shaft of the differential mechanism penetrates through a center hole of each steering goat corner to be fixedly connected with the wheels. The invention aims to provide a wheeled robot chassis with simple structure and strong linkage and with four independent wheels for damping, steering and driving.
Description
Technical Field
The invention relates to the technical field of robot chassis, in particular to a four-wheel independent damping, steering and driving wheel type robot chassis.
Background
The robot chassis can support the parts of the whole vehicle and control the important parts of the whole vehicle to move forward, backward and turn. At present, a robot is widely involved in various aspects of social life such as industrial production, old and disabled people assistance, disaster-resistant rescue, medical service and the like, and particularly when the robot works outdoors, the robot has higher requirements on the performance of a chassis of the robot, such as good trafficability and strong obstacle-crossing capability, and needs to realize a small-range turning radius.
The patent discloses a chassis assembly structure, which comprises a chassis and four wheels of an electric automobile, wherein an independent driving mechanism and an independent steering mechanism are respectively arranged on the inner side surfaces of hubs of the four wheels, the four independent steering mechanisms are respectively fixed at four corners of the chassis, four driving motors respectively drive the four wheels of the electric automobile to rotate, and four speed reducing motors respectively control the steering of the four wheels of the electric automobile. Although the four-wheel steering control system can control the driving and steering of the four wheels, the four-wheel steering control system has too many installed parts, a control system is complex, and the linkage of each control system is not strong.
In order to solve the problems, a robot chassis with simple structure and strong linkage and four independent shock absorption, steering and driving wheels is needed.
Disclosure of Invention
The invention aims to solve the technical problems of too many parts, complex control systems and weak linkage of each control system in the prior art, and provides a four-wheel independent damping, steering and driving wheel type robot chassis with simple structure and strong linkage.
The technical scheme provided by the invention is as follows: the utility model provides a four-wheel independent shock attenuation, turn to and driven wheeled robot chassis, includes four wheel actuating mechanism, differential mechanism, steering mechanism, damper, four wheel actuating mechanism sets up on the chassis frame, differential mechanism front and back symmetry sets up on the chassis frame, differential mechanism and four wheel actuating mechanism fixed connection, steering mechanism front and back symmetry sets up on the chassis frame, damper symmetry sets up in chassis frame four corners, chassis frame four corners is provided with the wheel, it is provided with the steering goat's horn to rotate on the wheel, the steering goat's horn upper ear and lower ear respectively with damper fixed connection, the armed lever and the steering mechanism fixed connection that turn to the goat's horn, differential mechanism's transmission shaft passes steering goat's horn centre bore and wheel fixed connection.
By adopting the technical scheme, a four-wheel driving mechanism is arranged on a chassis frame of the wheeled robot, a differential mechanism and a steering mechanism are symmetrically arranged in front and at the back of the chassis frame, the differential mechanism is fixedly connected with the four-wheel driving mechanism, the steering mechanism is fixedly arranged on the chassis frame, a damping mechanism is respectively arranged on four wheels, a steering knuckle is rotatably arranged on each wheel, an upper ear and a lower ear of the steering knuckle are respectively and fixedly connected with the damping mechanism, an arm rod of the steering knuckle is fixedly connected with the steering mechanism, and a transmission shaft of the differential mechanism penetrates through a center hole of the steering knuckle to be fixedly connected with the wheels, wherein the four-wheel driving mechanism is a power device which can respectively transmit power to front wheels and rear wheels in the prior art, a lithium battery is adopted as a power source, the steering mechanisms in the front of the chassis frame and the back of the chassis frame can respectively control the front wheels and the rear wheels to be in two linkage modes of consistent or opposite steering of the front wheels and the rear wheels, the four wheels are independently suspended on the damping mechanism through the steering goat's horn. When the vehicle is controlled to turn, the steering mechanism at the front end of the chassis frame controls the two wheels at the front end to simultaneously rotate to one side, the steering mechanism at the rear end of the chassis frame can control the two wheels at the rear end to turn the same as the two wheels at the front end, and can also control the two wheels at the rear end to turn opposite to the two wheels at the front end. The four-wheel independent damping effect is realized through the damping mechanism on the steering knuckle of the wheel, the linkage effects of independent steering of the front end wheel and the rear end wheel and independent differential steering of the left side wheel and the right side wheel are realized through the differential mechanism and the steering mechanism which are symmetrically arranged in the front and the rear of the chassis frame, and the differential mechanism, the steering mechanism, the damping mechanism and the wheel form a whole through the steering knuckle, so that different technical effects are realized.
As a further arrangement of the steering mechanism, the damping mechanism comprises an upper support arm, a lower support arm and a damping spring, one end of the upper support arm is hinged with the upper part of the chassis frame, the other end of the upper support arm is fixedly connected with the upper end of the steering knuckle, one end of the lower support arm is hinged with the lower part of the chassis frame, the other end of the lower support arm is fixedly connected with the lower end of the steering knuckle, one end of the damping spring is hinged with the upper part of the chassis frame, and the other end of the damping spring is hinged with the lower support arm.
Through adopting above-mentioned technical scheme, the one end of last support arm on the damper and the one end of lower support arm are articulated with chassis frame top and below respectively, go up the support arm, the other end of lower support arm is articulated with the upper end and the lower extreme fixed connection that turn to the goat's horn respectively, damping spring one end is articulated with chassis frame top, the other end is articulated with lower support arm, go up the support arm, turn to the goat's horn, deformable quadrangle suspension structure has been constituteed to lower support arm and chassis frame, damping spring between chassis frame and the lower support arm plays the cushioning effect, four wheels on the chassis frame form independent shock attenuation suspension structure.
As a further arrangement of the steering knuckle steering mechanism, the upper support arm is U-shaped, the lower support arm is A-shaped, two ends of a U-shaped opening of the upper support arm are hinged with the upper part of a chassis frame, the other end of the U-shaped opening of the upper support arm is fixedly connected with the upper end of a steering knuckle, two ends of an A-shaped opening of the lower support arm are hinged with the lower part of the chassis frame, and the other end of the A-shaped opening of the lower support arm.
Through adopting above-mentioned technical scheme, go up the support arm and be the U font, lower support arm is the A font, last support arm U-shaped opening both ends and the lower support arm A shape opening both ends of damper are articulated with chassis frame respectively, go up the support arm, the other end of lower support arm respectively with the upper end and the lower extreme fixed connection that turn to the goat's horn, the last support arm of U-shaped and the lower limb structure of A shape have improved damper's whole rigidity, the quadrangle suspended structure who forms is more stable.
As a further arrangement of the invention, the damping mechanism further comprises a connecting plate, the connecting plate is fixedly connected with the lower support arm, one end of the connecting plate extends towards the chassis frame direction, and the damping spring is fixedly connected with the extending end of the connecting plate.
Through adopting above-mentioned technical scheme, support arm department is provided with a connecting plate down, and the one end of connecting plate is close to the chassis frame, and damping spring one end is articulated with the connecting plate, and the connecting plate that increases can not only further improve the whole rigidity of support arm down, can also make damping spring install at the side of last support arm and lower support arm, has rationally utilized space between chassis frame and the wheel, and the spatial layout of installation component is more reasonable.
As a further arrangement of the steering mechanism, the upper support arm, the lower support arm and the steering knuckle are fixedly connected by universal ball heads.
Through adopting above-mentioned technical scheme, the one end of going up the support arm adopts universal bulb fixed connection with turning to the goat's horn upper end, and the one end of lower support arm adopts universal bulb fixed connection with turning to the goat's horn lower extreme, and when the wheel was when turning to, because the effect of universal bulb, damper can not move along with the wheel on the horizontal direction, has strengthened damper's independence.
As a further arrangement of the invention, a transmission shaft of the differential is a ball cage transmission shaft, one end of the ball cage transmission shaft is fixedly connected with the differential, and the other end of the ball cage transmission shaft penetrates through a steering knuckle center hole to be fixedly connected with a wheel.
Through adopting above-mentioned technical scheme, differential mechanism's power source is by the input of four-wheel drive mechanism, and the differential mechanism transmission shaft sets up to the ball cage transmission shaft, and the ball cage transmission shaft passes and turns to goat's horn centre bore and wheel fixed connection, drives the wheel and rotates, and ball cage transmission shaft transmission efficiency is high, can adapt to the rotation of wheel angle on a large scale, and occupation space is little moreover.
The steering mechanism comprises a speed reducing motor, a steering machine and universal connecting rods, wherein the speed reducing motor and the steering machine are fixedly arranged on a chassis frame, the speed reducing motor and the steering machine are in transmission through a belt, the universal connecting rods are symmetrically arranged left and right, one end of each universal connecting rod is fixedly connected with the speed reducing motor, and the other end of each universal connecting rod is fixedly connected with an arm rod of a steering claw.
Through adopting above-mentioned technical scheme, gear motor with turn to through belt transmission between the machine, universal connecting rod one end and gear motor fixed connection, the other end with turn to the armed lever fixed connection of goat's horn, through gear motor, turn to the displacement of the final conversion of rotation of machine into universal connecting rod, the displacement of universal connecting rod makes the rotation that the wheel formed certain angle, accomplishes turning to on the robot chassis, universal connecting rod's transmission direction is stable, transmission efficiency is high.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a four-wheel independent damping, steering and driving wheel type robot chassis, when a vehicle is controlled to turn, a steering mechanism at the front end of a chassis frame controls two wheels at the front end to rotate to one side at the same time, while a steering mechanism at the rear end of the chassis frame can control the two wheels at the rear end to turn in the same direction as the two wheels at the front end and can also control the two wheels at the rear end to turn in the opposite direction to the two wheels at the front end. The four-wheel independent damping effect is realized through the damping mechanism on the steering knuckle of the wheel, the linkage effects of independent steering of the front end wheel and the rear end wheel and independent differential steering of the left side wheel and the right side wheel are realized through the differential mechanism and the steering mechanism which are symmetrically arranged in the front and the rear of the chassis frame, and the differential mechanism, the steering mechanism, the damping mechanism and the wheel form a whole through the steering knuckle, so that different technical effects are realized.
2. The invention provides a wheeled robot chassis with four wheels capable of independently damping, steering and driving, wherein one end of an upper support arm and one end of a lower support arm on a damping mechanism are respectively hinged with the upper part and the lower part of a chassis frame, the other ends of the upper support arm and the lower support arm are respectively fixedly connected with the upper end and the lower end of a steering knuckle, one end of a damping spring is hinged with the upper part of the chassis frame, the other end of the damping spring is hinged with the lower support arm, the upper support arm, the steering knuckle, the lower support arm and the chassis frame form a deformable quadrilateral suspension structure, the damping spring between the chassis frame and the lower support arm plays a damping role, four wheels on the chassis frame form an independent damping suspension structure, the upper support arm is U-shaped, the lower support arm is A-shaped, the U-shaped upper support arm and the A-shaped lower support arm structure improve the overall rigidity of the damping mechanism, the quadrilateral suspension structure is more stable, and a connecting plate is arranged at the lower support arm, the added connecting plate not only can further improve the integral rigidity of the lower support arm, but also can enable the damping spring to be arranged on the side edges of the upper support arm and the lower support arm, so that the space between the chassis frame and the wheels is reasonably utilized, and the spatial layout of the installation parts is more reasonable.
3. According to the wheeled robot chassis with the four wheels capable of independently damping, steering and driving, one end of the upper support arm is fixedly connected with the upper end of the steering claw through the universal ball head, one end of the lower support arm is fixedly connected with the lower end of the steering claw through the universal ball head, when the wheels are steered, the damping mechanism cannot move along with the wheels in the horizontal direction due to the action of the universal ball head, and the independence of the damping mechanism is enhanced.
4. According to the wheeled robot chassis with the four wheels capable of independently damping, steering and driving, the power source of the differential is input by the four-wheel driving mechanism, the differential transmission shaft is arranged to be a ball cage transmission shaft, the ball cage transmission shaft penetrates through the steering claw center hole to be fixedly connected with the wheels and drive the wheels to rotate, the transmission efficiency of the ball cage transmission shaft is high, the wheeled robot chassis can adapt to the rotation of the wheels in a large range of angles, and the occupied space is small.
5. According to the wheeled robot chassis with four independent wheels for damping, steering and driving, the speed reducing motor and the steering machine are in transmission through the belt, one end of the universal connecting rod is fixedly connected with the speed reducing motor, the other end of the universal connecting rod is fixedly connected with the arm rod of the steering claw, the universal connecting rod is finally converted into displacement of the universal connecting rod through rotation of the speed reducing motor and the steering machine, the wheels rotate at a certain angle through the displacement of the universal connecting rod, steering of the robot chassis is completed, the transmission direction of the universal connecting rod is stable, and transmission efficiency is high.
Drawings
Fig. 1 is a schematic perspective view of a wheeled robot chassis according to the present invention;
FIG. 2 is a schematic view of two linkage modes of the rotation of the wheels of the robot chassis of the present invention;
FIG. 3 is a left side view of the chassis structure of the wheeled robot of the present invention;
FIG. 4 is a schematic view of a wheel robot chassis differential connection perspective of the present invention;
fig. 5 is a schematic perspective view of a chassis steering mechanism of a wheeled robot according to the present invention;
fig. 6 is a schematic perspective view of a chassis damping mechanism of a wheeled robot according to the present invention.
In the attached drawings, 1, a four-wheel drive mechanism; 2. a differential mechanism; 21. a ball cage transmission shaft; 3. a steering mechanism; 31. a reduction motor; 32. a steering machine; 33. a universal connecting rod; 4. a damping mechanism; 41. an upper support arm; 42. a lower support arm; 43. a damping spring; 44. a connecting plate; 5. a chassis frame; 6. a wheel; 7. turning to a goat horn.
Detailed Description
The invention is further described below with reference to the accompanying drawings and specific examples.
Referring to fig. 1-6, the invention provides a four-wheel independent damping, steering and driving wheeled robot chassis, comprising a four-wheel driving mechanism 1, a differential 2, a steering mechanism 3 and a damping mechanism 4, the four-wheel driving mechanism 1 is arranged on a chassis frame 5, the differential mechanisms 2 are symmetrically arranged on the chassis frame 5 in front and back, the differential mechanism 2 is fixedly connected with the four-wheel driving mechanism 1, the steering mechanisms 3 are symmetrically arranged on the chassis frame 5 in front and back, the damping mechanisms 4 are symmetrically arranged at four corners of a chassis frame 5, wheels 6 are arranged at four corners of the chassis frame 5, a steering claw 7 is rotatably arranged on the wheel, the upper ear and the lower ear of the steering claw 7 are respectively and fixedly connected with a damping mechanism 4, the arm rod of the steering claw 7 is fixedly connected with the steering mechanism 3, and a transmission shaft of the differential mechanism 2 penetrates through a center hole of the steering claw 7 to be fixedly connected with the wheel 6. By adopting the technical scheme, a four-wheel driving mechanism 1 is arranged on a chassis frame 5 of the wheeled robot, a differential mechanism 2 and a steering mechanism 3 are symmetrically arranged at the front and the rear of the chassis frame 5, the differential mechanism 2 is fixedly connected with the four-wheel driving mechanism 1, the steering mechanism 3 is fixedly arranged on the chassis frame 5, a damping mechanism 4 is respectively arranged on four wheels 6, a steering knuckle 7 is rotatably arranged on each wheel 6, an upper lug and a lower lug of the steering knuckle 7 are respectively and fixedly connected with the damping mechanism 4, an arm rod of the steering knuckle 7 is fixedly connected with the steering mechanism 3, a transmission shaft of the differential mechanism 2 penetrates through a central hole of the steering knuckle 7 to be fixedly connected with the wheel 6, wherein the four-wheel driving mechanism 1 is a power device which can respectively transmit power to front and rear wheels in the prior art, a lithium battery is used as a power source, and the steering mechanisms 3 at the front and the rear of the chassis frame 5 can respectively control the front wheels and the rear wheels, the four wheels 6 are independently suspended on the shock absorption mechanism 4 through the steering claw 7. When the vehicle is controlled to turn, the steering mechanism 3 at the front end of the chassis frame 5 controls the two wheels 6 at the front end to simultaneously rotate to one side, and the steering mechanism 3 at the rear end of the chassis frame 5 can control the two wheels 6 at the rear end to turn the same as the two wheels 6 at the front end and can also control the two wheels 6 at the rear end to turn opposite to the two wheels 6 at the front end, meanwhile, due to the action of the front differential mechanism 2 and the rear differential mechanism 2, the wheels 6 at the left side and the right side of the front end and the rear end can turn at different speeds, and when the road meets complicated terrains with unequal road, the damping mechanisms 4 on the four wheels 6 can independently realize the damping effect. The four-wheel independent damping effect is realized through the damping mechanisms 4 on the steering sheepfold 7 of the wheels 6, the linkage effect of independent steering of the wheels 6 at the front end and the rear end and independent differential steering of the wheels 6 at the left side and the right side is realized through the differential mechanism 2 and the steering mechanism 3 which are symmetrically arranged at the front and the rear of the chassis frame 5, and the differential mechanism 2, the steering mechanism 3, the damping mechanisms 4 and the wheels 6 form a whole through the steering sheepfold 7, so that different technical effects are realized.
Furthermore, the damping mechanism 4 comprises an upper support arm 41, a lower support arm 42 and a damping spring 43, wherein one end of the upper support arm 41 is hinged with the upper part of the chassis frame 5, the other end of the upper support arm is fixedly connected with the upper end of the steering ram horn 7, one end of the lower support arm 42 is hinged with the lower part of the chassis frame 5, the other end of the lower support arm is fixedly connected with the lower end of the steering ram horn 7, one end of the damping spring 43 is hinged with the upper part of the chassis frame 5, the other end of the damping spring is hinged with the lower support arm 42, the upper support arm 41 is U-shaped, the lower support arm 42 is A-shaped, two ends of a U-shaped opening of the upper support arm 41 are hinged with the upper part of the chassis frame 5, the other end of the U-shaped opening of the lower support arm 42 is fixedly connected with the lower end of the steering ram horn 7, and two ends of the U-shaped opening of the lower support arm 42 are hinged with the lower part of the chassis frame 5. By adopting the technical scheme, one end of an upper support arm 41 and one end of a lower support arm 42 on a damping mechanism 4 are respectively hinged with the upper part and the lower part of a chassis frame 5, the other ends of the upper support arm 41 and the lower support arm 42 are respectively fixedly connected with the upper end and the lower end of a steering knuckle 7, one end of a damping spring 43 is hinged with the upper part of the chassis frame 5, the other end of the damping spring is hinged with the lower support arm 42, the upper support arm 41, the steering knuckle 7, the lower support arm 42 and the chassis frame 5 form a deformable quadrilateral suspension structure, the damping spring 43 between the chassis frame 5 and the lower support arm 42 plays a damping role, four wheels 6 on the chassis frame 5 form an independent damping suspension structure, the upper support arm 41 is U-shaped, the lower support arm 42 is A-shaped, the U-shaped upper support arm 41 and the A-shaped lower support arm 42 improve the overall rigidity of the damping mechanism 4, the formed quadrilateral suspension structure is more stable, a connecting plate 44 is arranged at the lower support arm 42, the added connecting plate 44 not only can further improve the overall rigidity of the lower support arm 42, but also can enable the damping spring 43 to be arranged on the side edges of the upper support arm 41 and the lower support arm 42, so that the space between the chassis frame 5 and the wheel 6 is reasonably utilized, and the spatial layout of the installation components is more reasonable.
Furthermore, the upper support arm 41, the lower support arm 42 and the steering knuckle 7 are fixedly connected by universal ball heads. Adopt above-mentioned technical scheme, the one end of upper boom 41 and the universal bulb fixed connection of 7 upper ends adoption of steering goat's horn, the one end of lower boom 42 and the universal bulb fixed connection of 7 lower extremes of steering goat's horn, when wheel 6 is turning to, because the effect of universal bulb, damper 4 can not move along with wheel 6 on the horizontal direction, has strengthened damper 4's independence.
Furthermore, the transmission shaft of the differential mechanism 2 is set to be a ball cage transmission shaft 21, one end of the ball cage transmission shaft 21 is fixedly connected with the differential mechanism 2, and the other end of the ball cage transmission shaft 21 penetrates through a center hole of the steering claw 7 and is fixedly connected with the wheel 6. Adopt above-mentioned technical scheme, differential mechanism 2's power source is by four wheel actuating mechanism 1 input, and differential mechanism 2 transmission shaft sets up to ball cage transmission shaft 21, and ball cage transmission shaft 21 passes and turns to 7 centre holes of goat's horn and wheel 6 fixed connection, drives wheel 6 and rotates, and ball cage transmission shaft 21 transmission efficiency is high, can adapt to the rotation of wheel 6 angle on a large scale, and occupation space is little moreover.
Further, steering mechanism 3 includes gear motor 31, turns to machine 32, universal connecting rod 33, gear motor 31, turn to machine 32 all fixed the setting on chassis frame 5, gear motor 31 passes through belt drive with turning to machine 32, universal connecting rod 33 bilateral symmetry sets up, universal connecting rod 33 one end and gear motor 31 fixed connection, the other end and the armed lever fixed connection who turns to goat's horn 7. Adopt above-mentioned technical scheme, through belt transmission between gear motor 31 and the steering gear 32, universal connecting rod 33 one end and gear motor 31 fixed connection, the other end and the armed lever fixed connection who turns to goat's horn 7, through gear motor 31, the displacement of steering gear 32 final transformation universal connecting rod 33, the displacement of universal connecting rod 33 makes wheel 6 form the rotation of certain angle, accomplishes turning to of robot chassis, universal connecting rod 33's transmission direction is stable, transmission efficiency is high.
Claims (7)
1. The utility model provides a four-wheel independent shock attenuation, turn to and driven wheeled robot chassis which characterized in that: comprises a four-wheel driving mechanism (1), a differential (2), a steering mechanism (3) and a damping mechanism (4), the four-wheel driving mechanism (1) is arranged on the chassis frame (5), the differential (2) is symmetrically arranged on the chassis frame (5) in the front and back direction, the differential (2) is fixedly connected with a four-wheel drive mechanism (1), the steering mechanisms (3) are symmetrically arranged on the chassis frame (5) in front and back, the damping mechanisms (4) are symmetrically arranged at four corners of the chassis frame (5), wheels (6) are arranged at four corners of the chassis frame (5), a steering ram-horn (7) is rotatably arranged on the wheel, the upper ear and the lower ear of the steering ram-horn (7) are respectively and fixedly connected with a damping mechanism (4), the arm rod of the steering claw (7) is fixedly connected with the steering mechanism (3), and a transmission shaft of the differential (2) penetrates through a center hole of the steering claw (7) to be fixedly connected with the wheels (6).
2. The chassis of a four-wheel independent shock absorbing, steering and driving wheeled robot of claim 1, wherein: damping device (4) are including last support arm (41), lower support arm (42), damping spring (43), go up support arm (41) one end and chassis frame (5) top articulated, the other end with turn to goat's horn (7) upper end fixed connection, support arm (42) one end is articulated with chassis frame (5) below down, the other end with turn to goat's horn (7) lower extreme fixed connection, damping spring (43) one end is articulated with chassis frame (5) top, the other end is articulated with lower support arm (42).
3. The chassis of a four-wheel independent shock absorbing, steering and driving wheeled robot of claim 2, wherein: the upper support arm (41) is U-shaped, the lower support arm (42) is A-shaped, two ends of a U-shaped opening of the upper support arm (41) are hinged to the upper portion of the chassis frame (5), the other end of the U-shaped opening of the upper support arm is fixedly connected with the upper end of the steering claw (7), two ends of an A-shaped opening of the lower support arm (42) are hinged to the lower portion of the chassis frame (5), and the other end of the A-shaped opening of the lower support arm is fixedly connected with the lower end of the steering claw (7).
4. The chassis of a four-wheel independent shock absorbing, steering and driving wheeled robot of claim 2, wherein: the damping mechanism (4) further comprises a connecting plate (44), the connecting plate (44) is fixedly connected with the lower support arm (42), one end of the connecting plate (44) extends towards the chassis frame (5), and the damping spring (43) is fixedly connected with the extending end of the connecting plate (44).
5. The chassis of a four-wheel independent shock absorbing, steering and driving wheeled robot of claim 2, wherein: the upper support arm (41), the lower support arm (42) and the steering knuckle (7) are fixedly connected by universal ball heads.
6. The chassis of a four-wheel independent shock absorbing, steering and driving wheeled robot of claim 1, wherein: the transmission shaft of differential mechanism (2) sets up to ball cage transmission shaft (21), ball cage transmission shaft (21) one end and differential mechanism (2) fixed connection, the other end passes and turns to goat's horn (7) centre bore and wheel (6) fixed connection.
7. The chassis of a four-wheel independent shock absorbing, steering and driving wheeled robot of claim 1, wherein: steering mechanism (3) include gear motor (31), turn to machine (32), universal connecting rod (33), gear motor (31), turn to machine (32) and all fix and set up on chassis frame (5), gear motor (31) and turn to machine (32) and pass through belt transmission, universal connecting rod (33) bilateral symmetry sets up, universal connecting rod (33) one end and gear motor (31) fixed connection, the other end and the armed lever fixed connection who turns to goat's horn (7).
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| CN202110601252.XA CN113263909A (en) | 2021-05-31 | 2021-05-31 | Four-wheel independent damping, steering and driving wheeled robot chassis |
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| CN202110601252.XA CN113263909A (en) | 2021-05-31 | 2021-05-31 | Four-wheel independent damping, steering and driving wheeled robot chassis |
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