CN117208080A

CN117208080A - Wheel set structure and chassis

Info

Publication number: CN117208080A
Application number: CN202311183172.2A
Authority: CN
Inventors: 张利平; 肖湘江; 黄卓雄; 曾利华
Original assignee: Hunan Chaonengrobot Technology Co ltd
Current assignee: Hunan Chaonengrobot Technology Co ltd
Priority date: 2023-09-13
Filing date: 2023-09-13
Publication date: 2023-12-12

Abstract

The invention belongs to the field of wheel sets, and particularly relates to a wheel set structure and a chassis, wherein the wheel set structure comprises a mounting frame, a steering platform, a wheel frame and a wheel body which are sequentially arranged; the steering platform comprises a platform, a rotating ring and a driving piece I, one end of the wheel carrier is fixedly connected with the rotating ring, and the other end of the wheel carrier is fixedly connected with the wheel body; the platform is provided with a through hole coaxial with the rotating ring, one side of the wheel frame matched with the rotating ring is provided with a reinforcing shaft extending into the through hole, and the reinforcing shaft is in running fit with the through hole; the platform is fixedly arranged on the mounting frame, a communication hole is formed in the mounting frame, and the other end of the reinforcing shaft penetrates through the through hole and is in running fit with the communication hole. The wheel set assembly provided by the invention has the advantages that the wheel frame and the wheel body play a role in supporting the whole frame, the deflection load of the wheel frame and the wheel body relative to the axis of the rotating ring is large, and the deflection pressure of the wheel frame and the wheel body relative to the axis of the rotating ring can be greatly relieved through the arrangement.

Description

Wheel set structure and chassis

Technical Field

The invention belongs to the field of wheel sets, and particularly relates to a wheel set structure and a chassis.

Background

Wheel set structures are widely used in various types of vehicles, including automobiles, engineering vehicles, robots, and the like. Among other things, the design of the wheelset structure has an important impact on the stability and performance of the vehicle, especially when steering operations are required or subjected to large loads.

The wheelset structure typically includes, among other things, a steering platform, a wheel frame, and a wheel body. The connection between these components directly affects the performance and stability of the vehicle. However, in some cases, the connection between the wheel frame and the steering platform may be affected by the rotational pressure of the wheel body or the connection moment, resulting in unstable connection, which in turn makes the bearing capacity and the service life large.

Disclosure of Invention

The invention aims to solve the technical problem of providing a wheel set structure and a chassis with stable and reliable structure.

The invention provides a wheel set structure which comprises a mounting frame, a steering platform, a wheel frame and a wheel body which are sequentially arranged;

the steering platform comprises a platform, a rotating ring rotatably arranged on the platform and a driving piece I arranged on the platform and driving the rotating ring to rotate, one end of the wheel carrier is fixedly connected with the rotating ring, and the other end of the wheel carrier is fixedly provided with the wheel body;

the platform is provided with a through hole coaxial with the rotating ring, one side of the wheel frame matched with the rotating ring is provided with a reinforcing shaft extending into the through hole, and the reinforcing shaft is in running fit with the through hole;

the platform is fixedly arranged on the mounting frame, a communication hole is formed in the mounting frame, and the other end of the reinforcing shaft penetrates through the communication hole and is in running fit with the communication hole.

Furthermore, the reinforcing shaft is a stepped shaft, the large end of the reinforcing shaft is fixedly connected with the wheel frame, and the small end of the reinforcing shaft is in rotary fit with the through hole through a bearing I.

Still further, the mounting bracket is located the platform deviates from the fixed locating plate that is provided with of one side of wheel carrier, be provided with the locating hole on the locating plate, be provided with angle sensor in the locating hole, strengthen axle head portion stretches out the intercommunicating pore and stretch into in the locating hole.

Further, the part of the reinforcing shaft extending out of the through hole is rotatably connected with the positioning plate through a bearing II.

Still further, locating plate, mounting bracket and platform set gradually from last to down, bearing II sets up the one side that deviates from the platform at the mounting bracket, II outer lane of bearing with one side butt that the mounting bracket deviates from the platform.

Still further, the locating hole outside is coaxial to be provided with the arc spacing groove, the reinforcing shaft tip is provided with the trigger plate, be provided with on the trigger plate and be in the gliding trigger piece of arc spacing groove, angle sensor is including setting up the trigger sensor at arc spacing groove both ends.

Further, the wheel frame comprises a horizontal plate fixedly connected with the rotary ring and a vertical plate arranged at one end of the horizontal plate, and the vertical plate is perpendicular to the horizontal plate;

the wheel body is arranged on the vertical plate, the rotation axis of the wheel body is perpendicular to the vertical plate, the walking surface of the wheel body is coplanar with the rotation axis of the rotating ring, and the rotation axis of the rotating ring is coplanar with the axis of the wheel body.

Further, the device also comprises a damping mechanism connected with the mounting frame;

the shock absorption mechanism comprises two groups of connecting rods hinged with one end of the mounting frame, a fixing frame is hinged with the other end of the two groups of connecting rods, the parallelogram mechanism is formed by the two groups of connecting rods, the mounting frame and the fixing frame, and the shock absorption mechanism further comprises a shock absorber arranged on the diagonal angle of the parallelogram mechanism; the fixing frame is used for being mounted on a frame;

the hinge axis of the connecting rod is perpendicular to the rotation axis of the rotating ring.

Still further, the mount rotates and sets up on the frame, still includes the pivoted driving piece II of drive mount, the axis of rotation of mount with the axis of rotation of steering platform is parallel.

The invention also provides a chassis, which comprises a frame and at least four wheel group structures, wherein the at least four wheel group structures are arranged on two sides of the frame in two groups.

The wheel set assembly provided by the invention has the beneficial effects that the part of the connection burden originally borne by the rotating ring is transferred to the platform, so that the connection strength of the wheel frame and the steering platform is greatly increased, the possibility of shaft inclination separation of the wheel frame by taking the axis of the rotating ring as the shaft is reduced, and the rotation accuracy of the steering platform is improved;

the platform is fixed to be set up on the mounting bracket, the mounting bracket is used for installing whole wheelset structure to the frame, just be provided with the intercommunicating pore on the mounting bracket, the reinforcing shaft other end passes the through-hole with intercommunicating pore normal running fit, the one end and the wheel carrier fixed fit of reinforcing shaft promptly, centre and platform normal running fit, the other end and mounting bracket normal running fit make the connection burden of wheel carrier and wheel body transfer a part to the mounting bracket and bear, further improve the joint strength and the stability of wheel carrier and wheel body.

The wheel carrier and the wheel body play a role in supporting the whole frame, so that the axial matching degree requirement of the wheel carrier and the rotating ring is high, the axial matching degree requirement of the reinforcing shaft and the through hole is low, and meanwhile, the deflection burden of the wheel carrier and the wheel body relative to the axis of the rotating ring is large.

Drawings

FIG. 1 is a schematic view of the chassis structure of the present invention;

FIG. 2 is a schematic view of a first angle structure of the wheel set structure according to the present invention;

FIG. 3 is a cross-sectional view at A in FIG. 2;

fig. 4 is a schematic view of a second angle structure of the wheel set structure according to the present invention.

In the figure, 1-chassis; 12-steering a platform; 121-a platform; 1211-a through hole; 122-a rotating ring; 123-driving member i; 13-wheel frame; 131-reinforcing shaft; 1311—trigger plate; 13111-trigger block; 132-bearing I; 133-horizontal plates; 134-vertical plate; 14-wheel body; 15-positioning plates; 151-positioning holes; 1511-arc limiting grooves; 152-an angle sensor; 153-bearing ii; 16-a damping mechanism; 161-connecting rod; 162-fixing frame; 163-damper; 164-driving member II; 17-mounting frame; 171-communication holes.

Detailed Description

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

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; the device can be mechanically connected, electrically connected, physically connected or wirelessly connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.

As shown in fig. 1-4, the invention provides a wheel set structure, which comprises a mounting frame 17, a steering platform 12, a wheel frame 13 and a wheel body 14 which are sequentially arranged;

the steering platform 12 comprises a platform 121, a rotating ring 122 rotatably arranged on the platform 121 and a driving piece I123 which is arranged on the platform 121 and drives the rotating ring 122 to rotate, one end of the wheel frame 13 is fixedly connected with the rotating ring 122, the other end of the wheel frame 13 is fixedly connected with the wheel body 14, namely the wheel body 14 is fixedly connected with the wheel frame 13, the wheel frame 13 is fixedly arranged on the rotating ring 122 of the steering platform 12, and the rotating ring 122 can drive the wheel body 14 to steer, so that the steering of the frame 1 is realized;

the platform 121 is provided with a through hole 1211 coaxial with the rotating ring 122, one side of the wheel frame 13 matched with the rotating ring 122 is provided with a reinforcing shaft 131 extending into the through hole 1211, the reinforcing shaft 131 is in rotating fit with the through hole 1211, one end of the reinforcing shaft 131 is fixedly matched with the wheel frame 13, and a shaft body is in rotating fit with the through hole 1211, so that the connection burden part originally borne by the rotating ring 122 is transferred to the platform 121, the connection strength of the wheel frame 13 and the steering platform 12 is greatly improved, the possibility of shaft inclination separation of the wheel frame 13 by taking the axis of the rotating ring 122 as the shaft is reduced, and meanwhile, the rotating precision of the steering platform 12 is improved;

the platform 121 is fixedly arranged on the mounting frame 17, the mounting frame 17 is used for mounting the integral wheel set structure on the frame 1, the mounting frame 17 is provided with the communication hole 171, the other end of the reinforcing shaft 131 passes through the through hole 1211 and is in rotating fit with the communication hole 171, namely, one end of the reinforcing shaft 131 is fixedly matched with the wheel frame 13, the middle is in rotating fit with the platform 121, the other end of the reinforcing shaft is in rotating fit with the mounting frame 17, so that the connection burden of the wheel frame 13 and the wheel body 14 is transferred to a part of the mounting frame 17, and the connection strength and stability of the wheel frame 13 and the wheel body 14 are further improved.

The wheel set assembly provided by the invention has the advantages that the wheel frame 13 and the wheel body 14 play a role in supporting the whole frame 1, so that the axial matching degree requirement of the wheel frame 13 and the rotating ring 122 is high, the axial matching degree requirement of the reinforcing shaft 131 and the through hole 1211 is not high, meanwhile, the deflection load of the wheel frame 13 and the wheel body 14 relative to the axis of the rotating ring 122 is large (particularly when the wheel frame 13 is of an L-shaped structure), through the arrangement, the deflection pressure of the wheel frame 13 and the wheel body 14 relative to the axis of the rotating ring 122 can be greatly relieved, the structural stability and the service life of the wheel set are greatly improved as a whole, and the through hole 1211 and the communication hole 171 are arranged while the reinforcing shaft 131 is increased, so that the additional materials and the weight are not increased, and the structural stability is improved on the basis of equivalent material cost.

In one embodiment, the reinforcing shaft 131 is a stepped shaft, the large end of the reinforcing shaft 131 is fixedly connected with the wheel frame 13, so that the connection strength between the reinforcing shaft 131 and the wheel frame 13 is improved, the small end of the reinforcing shaft 131 is in running fit with the through hole 1211 through the bearing I132, a space is provided for arranging the bearing I132, and the bearing I132 preferably adopts a bearing with strong radial bearing capacity. With the above arrangement, on the one hand, the connection strength of the reinforcing shaft 131 is improved, and on the other hand, the rotational friction force between the reinforcing shaft 131 and the through hole 1211 is reduced, and the resistance caused by the relative rotation of the reinforcing shaft 131 and the through hole 1211 is avoided.

In one embodiment, the mounting frame 17 is located on one side of the platform 121, which is away from the wheel frame 13, is fixedly provided with a positioning plate 15, a positioning hole 151 is provided on the positioning plate 15, an angle sensor 152 is provided in the positioning hole 151, the end of the reinforcing shaft 131 extends out of the communication hole 171 and into the positioning hole 151, in this embodiment, a rotation angle monitoring function of the wheel body 14 is further provided, the rotation angle of the wheel body 14 is reflected by the rotation angle of the reinforcing shaft 131, and is monitored by the angle sensor 152 provided on the positioning hole 151, so that the space is reasonably utilized to improve the angle monitoring function, and the compact structure is ensured.

In one embodiment, the portion of the reinforcing shaft 131 extending out of the through hole 1211 is rotatably connected to the positioning plate 15 through the bearing ii 153, and since the positioning plate 15 is fixedly disposed on the mounting frame 17, the reinforcing shaft 131 is rotatably connected to the positioning plate 15 through the bearing ii 153, that is, is equivalent to being indirectly rotatably connected to the mounting frame 17, so in this embodiment, the communication hole 171 only serves as a communication function, and thus, the reinforcing shaft 131 is indirectly matched with the mounting frame 17 through the positioning plate 15, and the bearing ii 153 is disposed, so that the rotational matching resistance between the reinforcing shaft 131 and the positioning plate 15 is reduced.

In one embodiment, the locating plate 15, the mounting frame 17 and the platform 121 are sequentially arranged from top to bottom, the bearing II 153 is arranged on one side of the mounting frame 17, deviating from the platform 121, the outer ring of the bearing II 153 is abutted to one side of the mounting frame 17, deviating from the platform 121, and then the mounting frame 17 is used as a locating structure of the bearing II 153.

The angle sensor 152 may be a conventional angle sensor, which detects the relative rotation angle between the reinforcing shaft 131 and the positioning hole 151, in one preferred embodiment, an arc-shaped limit groove 1511 is coaxially disposed at the outer side of the positioning hole 151, a trigger plate 1311 is disposed at the end of the reinforcing shaft 131, a trigger block 13111 capable of sliding in the arc-shaped limit groove 1511 is disposed on the trigger plate 1311, and the angle sensor 152 includes trigger sensors disposed at two ends of the arc-shaped limit groove 1511, in this embodiment, the angle sensor 152 feeds back two limit angles of the reinforcing shaft 131 through trigger sensors disposed at two ends of the arc-shaped limit groove 1511, so that the limit rotation angle of the wheel body 14 is conveniently controlled, the trigger sensors preferably use a detection switch, and the trigger block 13111 and the arc-shaped limit groove 1511 also play a role in limiting, so as to avoid the excessive rotation angle of the wheel body 14 and influence on normal running.

In one embodiment, the wheel frame 13 includes a horizontal plate 133 fixedly connected to the rotating ring 122, and a vertical plate 134 disposed at one end of the horizontal plate 133, where the vertical plate 134 is perpendicular to the horizontal plate 133, i.e., the wheel frame 13 has an "L" structure;

the wheel body 14 is arranged on the vertical plate 134, the rotation axis of the wheel body 14 is perpendicular to the vertical plate 134, the running surface of the wheel body 14 is coplanar with the rotation axis of the rotating ring 122, and the rotation axis of the rotating ring 122 is coplanar with the axis of the wheel body 14. In this embodiment, the wheel body 14 makes the running surface of the wheel body 14 and the rotation axis of the rotating ring 122 coplanar through the L-shaped wheel frame 13, so that the rotation of the rotating ring 122 drives the wheel body 14 to rotate at the center thereof, which facilitates the accurate control of the rotation of the wheel body 14, and thus, the fixing of the wheel frame 13 and the rotating ring 122 causes a moment, which causes the wheel frame 13 to generate a deflection component force with the rotation axis of the rotating ring 122 as an axis, and the cooperation relationship between the reinforcing shaft 131, the platform 121 and the mounting frame 17 well avoids the problem that the deflection component force affects the connection stability, thereby realizing the accurate control of the wheel body 14.

In one embodiment, the wheel set mechanism further comprises a damping mechanism 16 connected with the mounting frame 17, namely the mounting frame 17 is connected with the frame 1 through the damping mechanism 16, so that the traffic capacity of the frame 1 is improved;

the damping mechanism 16 includes two groups of connecting rods 161 hinged to one end of the mounting frame 17, the other ends of the two groups of connecting rods 161 are hinged to a fixing frame 162, the two groups of connecting rods 161, the mounting frame 17 and the fixing frame 162 form a parallelogram mechanism, and each group of connecting rods 161 is two, so that a three-dimensional parallelogram mechanism is formed, the up-and-down motion stroke of the wheel group mechanism relative to the frame 1 is realized, the damping mechanism 16 further includes a damper 163 arranged on the opposite angle of the parallelogram mechanism, so that damping capacity is provided, in one preferred embodiment, the upper end of the fixing frame 162 extends out of the parallelogram mechanism, one end of the damper 163 is hinged to the upper end of the fixing frame 162, and the other end of the damper 163 is hinged to the connecting rod 161 below which is close to one side of the fixing frame 162, so that the size of the damper 163 can be increased, and the damping effect is improved; the fixing frame 162 is used for being mounted on the frame 1;

the hinge axis of the link 161 is perpendicular to the rotation axis of the rotary ring 122, and is disposed such that the parallelogram mechanism moves up and down with respect to the rotation axis direction of the rotary ring 122.

In one embodiment, the fixing frame 162 is rotatably disposed on the frame 1, and further includes a driving member ii 164 for driving the fixing frame 162 to rotate, where the rotation axis of the fixing frame 162 is parallel to the rotation axis of the steering platform 12, in this embodiment, the wheel set structure is integrally rotatably disposed on the frame 1, and meanwhile, the rotation axis of the fixing frame 162 is parallel to the rotation axis of the steering platform 12, so that the angle of the wheel body 14 can be adjusted on the basis of the angle adjustment of the fixing frame 162, and further, the wheel width adjustment of two sets of corresponding wheel set structures on the frame 1 is realized, so that different road conditions can be adapted, and the trafficability of the frame 1 is improved.

The invention also provides a chassis, which comprises a frame 1 and at least four wheel group structures, wherein the at least four wheel group structures are divided into two groups and are arranged on two sides of the frame 1, and the wheel bodies 14 in the two groups of wheel group structures can adjust the wheel width through the driving of a driving piece II 164 and a driving piece I123, namely after the driving piece II 164 drives a fixing frame 162 to rotate towards the outer side of the frame 1 by a set angle, the driving piece I123 drives the wheel bodies 14 to rotate towards the inner side of the frame 1 by a set angle, so that the wheel bodies 14 are always parallel to the outer side of the frame 1.

What is not described in detail in this specification is prior art known to those skilled in the art.

Claims

1. The wheel set structure is characterized by comprising a mounting frame (17), a steering platform (12), a wheel frame (13) and a wheel body (14) which are sequentially arranged;

the steering platform (12) comprises a platform (121), a rotating ring (122) rotatably arranged on the platform (121) and a driving piece I (123) arranged on the platform (121) and used for driving the rotating ring (122) to rotate, one end of the wheel carrier (13) is fixedly connected with the rotating ring (122), and the other end of the wheel carrier is fixedly connected with the wheel body (14);

the platform (121) is provided with a through hole (1211) coaxial with the rotary ring (122), one side of the wheel frame (13) matched with the rotary ring (122) is provided with a reinforcing shaft (131) extending into the through hole (1211), and the reinforcing shaft (131) is in rotary fit with the through hole (1211);

the platform (121) is fixedly arranged on the mounting frame (17), a communication hole (171) is formed in the mounting frame (17), and the other end of the reinforcing shaft (131) penetrates through the through hole (1211) to be in rotary fit with the communication hole (171).

2. The wheel set structure according to claim 1, wherein the reinforcing shaft (131) is a stepped shaft, a large end of the reinforcing shaft (131) is fixedly connected with the wheel frame (13), and a small end of the reinforcing shaft (131) is in running fit with the through hole (1211) through a bearing i (132).

3. The wheel set structure according to claim 1, wherein the mounting frame (17) is fixedly provided with a positioning plate (15) at one side of the platform (121) away from the wheel frame (13), the positioning plate (15) is provided with a positioning hole (151), an angle sensor (152) is arranged in the positioning hole (151), and the end part of the reinforcing shaft (131) extends out of the communication hole (171) and into the positioning hole (151).

4. A wheel assembly according to claim 3, wherein the portion of the reinforcing shaft (131) extending beyond the through-hole (1211) is rotatably connected to the positioning plate (15) by means of a bearing ii (153).

5. A wheel set structure according to claim 3, characterized in that the positioning plate (15), the mounting frame (17) and the platform (121) are sequentially arranged from top to bottom, the bearing ii (153) is arranged on one side of the mounting frame (17) away from the platform (121), and the outer ring of the bearing ii (153) is abutted to one side of the mounting frame (17) away from the platform (121).

6. A wheel set structure according to claim 3, wherein an arc-shaped limit groove (1511) is coaxially arranged outside the positioning hole (151), a trigger plate (1311) is arranged at the end of the reinforcing shaft (131), a trigger block (13111) capable of sliding in the arc-shaped limit groove (1511) is arranged on the trigger plate (1311), and the angle sensor (152) comprises trigger sensors arranged at two ends of the arc-shaped limit groove (1511).

7. The wheel set structure according to claim 1, wherein the wheel frame (13) includes a horizontal plate (133) fixedly connected to the rotary ring (122) and a vertical plate (134) provided at one end of the horizontal plate (133), the vertical plate (134) being perpendicular to the horizontal plate (133);

the wheel body (14) is arranged on the vertical plate (134), the rotation axis of the wheel body (14) is perpendicular to the vertical plate (134), the running surface of the wheel body (14) is coplanar with the rotation axis of the rotating ring (122), and the rotation axis of the rotating ring (122) is coplanar with the axis of the wheel body (14).

8. The wheel set structure according to any one of claims 1-7, further comprising a shock absorbing mechanism (16) connected to the mounting frame (17);

the damping mechanism (16) comprises two groups of connecting rods (161) hinged with one end of the mounting frame (17), a fixing frame (162) is hinged with the other end of the two groups of connecting rods (161), the parallelogram mechanism is formed by the two groups of connecting rods (161), the mounting frame (17) and the fixing frame (162), and the damping mechanism further comprises a damper (163) arranged on the diagonal angle of the parallelogram mechanism; the fixing frame (162) is used for being mounted on the frame (1);

the hinge axis of the connecting rod (161) is perpendicular to the rotation axis of the rotating ring (122).

9. The wheel set structure according to claim 8, wherein the fixing frame (162) is rotatably disposed on the vehicle frame (1), and further comprising a driving member ii (164) for driving the fixing frame (162) to rotate, and a rotation axis of the fixing frame (162) is parallel to a rotation axis of the steering platform (12).

10. Chassis characterized by comprising a frame (1) and at least four wheelset structures according to any one of claims 1-9, at least four wheelset structures being arranged in two groups on both sides of the frame (1).