CN209274691U - A kind of single-turn drives mobile platform to the multi-wheel steering of driving source - Google Patents
A kind of single-turn drives mobile platform to the multi-wheel steering of driving source Download PDFInfo
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- CN209274691U CN209274691U CN201920016627.4U CN201920016627U CN209274691U CN 209274691 U CN209274691 U CN 209274691U CN 201920016627 U CN201920016627 U CN 201920016627U CN 209274691 U CN209274691 U CN 209274691U
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Abstract
The utility model relates to a kind of single-turns to drive mobile platform to the multi-wheel steering of driving source, including turning to drive module, hoofing part module, body module, wheel group module, it turns to drive module, hoofing part module, wheel group module to be all set in body module, turns to drive module, hoofing part module is connect with wheel group module.Driving umbrella tooth quantity and arrangement power driving module layout are turned to by being rationally arranged, it realizes and turns to driving function even more than the synchronous of mechanism of independent wheel group to four by individually turning to driving motor source, improve consistency, integrated level, response speed and the control precision of more wheel mobile platform course changing control components, the mechanical electric complexity and control difficulty for reducing mobile platform steering assembly, may advantageously facilitate the micromation, cost effective that mobile platform turns to driving assembly.
Description
Technical field
The utility model belongs to mobile platform technical field, and in particular to a kind of single-turn drives to the multi-wheel steering of driving source
Mobile platform.
Background technique
Wheel type traveling mechanism running resistance is small, noise is small, steering behaviour is good, has high maneuverability, therefore be widely used in
In various high maneuverability mobile platforms, including various types of automobiles, military special vehicle (such as wheeled battlebus, missile handling carriage
Deng).The quality of wheel type traveling mechanism will directly influence the passability and mobility of mobile platform.
In order to improve the flexible characteristic of wheel moving platform, generally lower or reduce mobile platform turning half as far as possible
Diameter.In the steering drive schemes of the more wheel mobile platforms turnings of realization at present, mostly uses and wheel group each on mobile platform is carried out solely
The vertical scheme for turning to driving and control.
Such as " a kind of omnidirectional turns to liftable agricultural remote control and moves application No. is the patent disclosure of 201310019276.X
Mobile robot platform " is related to omnidirectional and turns to liftable agricultural remote control mobile robot platform.The platform is by omnidirectional's turning machine
Structure, hydraulic lifting system, vehicle frame platform, vehicle electronic device, walking mechanism composition.Omnidirectional's transfer is driven by servo motor,
By pinion gear, gear wheel, power is transmitted to turning sleeve, is then passed to wheel stand and hub motor type wheel, is realized complete
To steering.Its advantage is that: driving motor and hydraulic lifting self-movement, it can be achieved that 360 degree of casts whiles adjust vehicle body
Height, to adapt to crops and the terrain environment of different height；Steering resisting moment is small when steering, turns to easy and flexible；Using
Hub motor wheel, motor and wheel one, simplify platform structure.
It is similar that there are also application No. is " Omni-mobile platform and its power universal wheel " skills that 201610368798.4 announce
Art scheme, application No. is " the pleiotaxy mobile platform " of 201710803975.1 patent disclosure, application No. is
Schemes such as a kind of " the novel Marsokhod " 201810317614.0 announced.
In Omni-mobile platform turning scheme, commonly used platform moving assembly generally has: there is ball in Omni-mobile mechanism
Wheel, Mike receive female wheel, universal wheel；Platform turning function is realized in turning by controlling each wheel group.
The turning of global wheel, Mecanum wheel or universal wheel generallys use independent control mechanism at present or controls machine side by side
In structure, such as four-wheel mobile platform, control four wheel group independent steering angles using four independent steering motors, or
Two-wheeled shares one group of steering motor before and after sharing one group of steering motor, right side using two-wheeled before and after left side；Also or front side or so
Two-wheeled shares one group of motor, and rear side left and right two-wheeled shares one group of motor, to realize that platform turns to.
In the scheme that four motorized wheels or part wheel group are shared with steering motor turning driving, it is obvious that due to turning
Be at least two sets, even four sets to motor, thus there are systems bulky, energy consumption is serious the problems such as, also and then system is brought to make
The problems such as valence is at high cost, control is difficult.Due to motor response speed difference, system mechanics installation error difference etc., cause
Angle is different when each wheel group is turned, thus the problems such as each wheel group is not parallel when causing system motion, to aggravate wheel group mill
Damage process aggravates driving motor load burden, and can also run discontinuity because of wheel group causes platform to topple.It is similar, it adopts
More wheel groups are carried out in the scheme of course changing control with multi-connecting-rod mechanism realization, equally exist above-mentioned various problems.
Summary of the invention
The purpose of this utility model is to provide a kind of single-turns to drive mobile platform to the multi-wheel steering of driving source, solves mesh
The problems such as poor, bulky, cost is high, control accuracy difference that there are consistency in preceding more wheel mobile platform steering driving assemblies.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of multi-wheel steering of single-turn to driving source
Mobile platform is driven, including turns to drive module, hoofing part module, body module, wheel group module, turns to drive module, row
Walk drive module, wheel group module is all set in body module, turn to drive module, hoofing part module with wheel group module connect
It connects.
Specifically, the steering drive module turns to umbrella tooth, the by steering driving motor, the first steering box, first
Two, which turn to umbrella tooth group, the first steering shaft group, third, turns to umbrella tooth group, the 4th steering umbrella tooth group, the second steering shaft group, the 5th
Turn to umbrella tooth group, the 6th steering umbrella tooth group, the second steering box group, steering assembly composition.
Specifically, the input axis connection of the shaft for turning to driving motor and the first steering box, first turns to tooth
The output shaft of roller box is connected and fixed the first steering umbrella tooth, and the first steering umbrella tooth is engaged by gear and the second steering umbrella tooth group is mating
Connection, the second steering umbrella tooth group are fixed on the front end of the first steering shaft group, and the end of the first steering shaft group is connected and fixed the
Three turn to umbrella tooth group, and third turns to umbrella tooth group and connect by the 4th steering umbrella tooth group with the front end of the second steering shaft group, and second
The rear end for turning to shaft group is connect with the 5th steering umbrella tooth group, and the 6th steering umbrella tooth group engages connection with the 5th steering umbrella tooth group,
6th turns to the input axis connection that umbrella tooth group passes through shaft and the second steering box group, the output shaft of the second steering box group
It is connect with steering assembly.
Preferably, the second steering umbrella tooth group, the first steering shaft group, third turn to umbrella tooth group and are respectively arranged with two
Set, the 4th turns to umbrella tooth group, the second steering shaft group, the 5th steering umbrella tooth group, the 6th steering umbrella tooth group, the second steering box
Group, steering assembly are respectively arranged with four sets, before two set of second steering umbrella tooth group is respectively arranged at two set of first steering shaft group
End, two sets of thirds turn to the rear end that umbrella tooth group is respectively arranged at two set of first steering shaft group；Every set third turns to umbrella tooth component
Do not engage connection with two set of the 4th steering umbrella tooth group, every set the 4th turn to umbrella tooth group by a set of second steering shaft group with it is a set of
5th turns to the connection of umbrella tooth group, and every set the 5th, which turns to umbrella tooth group and turns to umbrella tooth group with a set of 6th, engages connection, and the 6th turn of every set
Pass through the input axis connection of shaft and a set of second steering box group, the output of every the second steering box of set group to umbrella tooth group
Axis is connect with a set of steering assembly.
Specifically, the hoofing part module includes power electric unit, power gear box group, electronic-controlled power steering external member, power
Gear-box group is mounted on the side of wheel group module by bracket, and the input axis connection of power electric unit and power gear box group is moved
The input shaft of the output axis connection electronic-controlled power steering external member of powershift gear case group, the output shaft fifth wheel group module of electronic-controlled power steering external member.
Preferably, the power electric unit, power gear box group, electronic-controlled power steering external member are respectively arranged with four sets, and every set is dynamic
Force motor group is connected by corresponding power gear box group with corresponding electronic-controlled power steering external member.
Specifically, the body module includes horizontal beam assembly, connection component, stringer component, setting in horizontal beam assembly
There are the first steering box, first to turn to umbrella tooth, the second steering umbrella tooth group, the first steering shaft group, third and turn to umbrella tooth group, indulges
Beam assembly is connect by connection component with horizontal beam assembly.
Specifically, the wheel group module includes wheel, wheel shaft, bracket component, wheel is fixed on bracket component by wheel shaft
On, wheel shaft is also connected with the output shaft of electronic-controlled power steering external member.
Preferably, the wheel, wheel shaft, bracket component are respectively arranged with four sets, and every set wheel passes through corresponding wheel shaft
It is fixed on corresponding bracket component, every set wheel shaft is also connected with the output shaft of corresponding electronic-controlled power steering external member.
The utility model has the following beneficial effects:
1) by rationally setting turn to driving umbrella tooth quantity and arrangement power driving module layout, the utility model realize by
The single driving motor source that turns to is effective by steering motor quantity to four synchronous steering driving functions even more than mechanism of independent wheel group
It reduces and realizes driving source in the machinery for the steering driving mechanism for built in mobile platform, significantly reducing more wheel mobile platforms
Component complexity saves system platform space, is conducive to the micromation and lightweight of taking turns mobile platform more.
2) wheel group is turned to using umbrella tooth driving mechanism and is driven, realized that multiple wheel groups under single rotational drive motor are synchronous and turn
To function, solves and turn in driving assembly that there are consistency on much more conventional wheel mobile platforms at present poor, control accuracy difference etc. is asked
Topic improves consistency, integrated level, response speed and the control precision of more wheel mobile platform course changing control components, reduces shifting
The difficulty and cost of the synchronous course changing control of moving platform, the steering for improving more wheel mobile platform systems automates and intelligent water
It is flat.
Detailed description of the invention
Fig. 1 is the utility model multi-wheel steering driving mobile platform schematic perspective view.
Fig. 2 is the utility model multi-wheel steering driving mobile platform schematic view of the front view.
Fig. 3 is the utility model multi-wheel steering driving mobile platform left view structural representation.
Fig. 4 is the utility model multi-wheel steering driving mobile platform right side structural representation.
Fig. 5 is the utility model multi-wheel steering driving mobile platform overlooking structure diagram.
Fig. 6 is the utility model multi-wheel steering driving mobile platform present invention looks up structural representation.
Fig. 7 is the front view structure after the utility model multi-wheel steering driving mobile platform removal connection component and stringer component
Schematic diagram.
Fig. 8 is the left view structure after the utility model multi-wheel steering driving mobile platform removal connection component and stringer component
Schematic diagram.
Fig. 9 is the right view structure after the utility model multi-wheel steering driving mobile platform removal connection component and stringer component
Schematic diagram.
Figure 10 is the backsight knot after the utility model multi-wheel steering driving mobile platform removal connection component and stringer component
Structure schematic diagram.
Figure 11 is the vertical view knot after the utility model multi-wheel steering driving mobile platform removal connection component and stringer component
Structure schematic diagram.
Figure 12 be the utility model multi-wheel steering driving mobile platform removal connection component and stringer component after look up knot
Structure schematic diagram.
Figure 13 is that the utility model multi-wheel steering driving mobile platform turns to drive module operation principle schematic diagram.
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.
As shown in Figure 1, 2, a kind of single-turn to the multi-wheel steering of driving source drive mobile platform, including turn to drive module 1,
Hoofing part module 2, body module 3, wheel group module 4 turn to drive module 1, hoofing part module 2, wheel group module 4 and are respectively provided with
In in body module 3, steering drive module 1, hoofing part module 2 are connect with wheel group module 4.
As shown in Fig. 3-12, drive module 1 is turned to by steering driving motor 1-1, the first steering box 1-2, first turn
Umbrella tooth group 1-4, the first steering shaft group 1-5, third, which are turned to, to umbrella tooth 1-3, second turns to umbrella tooth group 1-6, the 4th steering umbrella tooth
Group 1-7, second turn to shaft group 1-8, the 5th steering umbrella tooth group 1-9, the 6th steering umbrella tooth group 1-10, the second steering box group
1-11, steering assembly 1-12 composition.
Turn to the shaft of driving motor 1-1 and the input axis connection of the first steering box 1-2, the first steering box 1-
2 output shaft is connected and fixed the first steering umbrella tooth 1-3, and first, which turns to umbrella tooth 1-3, turns to umbrella tooth group with second by gear engagement
The mating connection of 1-4, the second steering umbrella tooth group 1-4 are fixed on the front end of the first steering shaft group 1-5, and first turns to shaft group 1-5
End be connected and fixed third turn to umbrella tooth group 1-6, third turn to umbrella tooth group 1-6 by the 4th turn to umbrella tooth group 1-7 and second
The front end connection of shaft group 1-8 is turned to, the rear end of the second steering shaft group 1-8 is connect with the 5th steering umbrella tooth group 1-9, and the 6th turn
Connection is engaged with the 5th steering umbrella tooth group 1-9 to umbrella tooth group 1-10, the 6th, which turns to umbrella tooth group 1-10, is turned to by shaft with second
The output shaft of the input axis connection of gear-box group 1-11, the second steering box group 1-11 is connect with steering assembly 1-12.
Turning to driving motor 1-1 quantity is 1 set, is realized by 1 set of steering driving motor 1-1 to four wheels in wheel group module
The steering drive control function of sub- 4-1.The front end driving motor 1-1 is turned to be fixed by the bracket after the first steering box 1-2
Side, the first steering box 1-2 mainly realize that rotating ratio changes function, are fixed by the bracket before the horizontal center beam assembly 3-1
Endface is held, first turns to umbrella tooth 1-3 as angular wheel, is arranged at horizontal beam assembly 3-1 inside center.
Second to turn to umbrella tooth group 1-4 include that the second port umbrella tooth 1-4-a and second turns to right umbrella tooth 1-4-b, and second turn
It is angular wheel that umbrella tooth group 1-4-a and second, which turns to right umbrella tooth group 1-4-b, to the left.
First turn to shaft group 1-5 include first turn to left rotary shaft 1-5-a and first turn to right spindle 1-5-b, first turn
It is hexagonal prisms pivot structure that shaft 1-5-a and first, which turns to right spindle 1-5-b, to the left, and length and material etc. are all the same, in level
The inside beam assembly 3-1 is horizontal and is fixed by bearing.
It includes third port umbrella tooth 1-6-a and third port umbrella tooth 1-6-b that third, which turns to umbrella tooth group 1-6,.
4th, which turns to umbrella tooth group 1-7, includes umbrella tooth 1-7-b, the 4th after umbrella tooth 1-7-a, the 4th port before the 4th port
Umbrella tooth 1-7-c, the 4th turn to umbrella tooth 1-7-d behind the right side before steering is right.
Second, which turns to shaft group 1-8, includes shaft 1-8-b, second after the second port front rotary shaft 1-8-a, the second port
Turn to right front rotary shaft 1-8-c, second turn to it is right after shaft 1-8-d, turn after the second port front rotary shaft 1-8-a, the second port
Shaft 1-8-d is longitudinal after axis 1-8-b, the right front rotary shaft 1-8-c of the second steering, the second steering are right, is fixed on a left side by bearing
Front longitudinal beam 3-3-a, left rear longitudinal beam 3-3-b, front right longitudinal beam 3-3-c, inside right floor side member 3-3-d.
5th, which turns to umbrella tooth group 1-9, includes umbrella tooth 1-9-b, the 5th after umbrella tooth 1-9-a, the 5th port before the 5th port
Umbrella tooth 1-9-c, the 5th turn to umbrella tooth 1-9-d behind the right side before steering is right.
6th turn to umbrella tooth group 1-10 include umbrella tooth 1-10-b after umbrella tooth 1-10-a, the 6th port before the 6th port,
Umbrella tooth 1-10-c, the 6th turn to umbrella tooth 1-10-d behind the right side before 6th steering is right, and the 6th steering umbrella tooth group 1-10 mainly realizes power
The effect of commutation and transmitting.
Second steering box group 1-11 includes the second port front gear box 1-11-a, the second port rear gear box 1-
11-b, second turn to right front gear box 1-11-c, the second steering right rear gear box 1-11-d, the second steering box group 1-11 peace
Mounted in the upper end surface steering assembly 1-12.
Steering assembly 1-12 includes component 1-12-b, the right front assembly 1- of steering after port front assembly 1-12-a, port
12-c, component 1-12-d behind the right side is turned to, steering assembly 1-12 mainly realizes the torsion that will be transmitted from the second steering box group 1-11
Square power is converted to the power to wheel steering, internal to be made of components such as gear engagement and bearings.
Turn to the specific connection relationship of each component of drive module 1 are as follows:
Turn to the shaft of driving motor 1-1 and the input axis connection of the first steering box 1-2, the first steering box 1-
2 output shaft is connected and fixed the first steering umbrella tooth 1-3, and first turns to the two sides of umbrella tooth 1-3 by gear engagement respectively with second
Port umbrella tooth 1-4-a and second turns to right umbrella tooth 1-4-b connection；
Second port umbrella tooth 1-4-a is set to the front end of the first steering left rotary shaft 1-5-a, and first turns to left rotary shaft 1-5-
The rear end of a is provided with third port umbrella tooth 1-6-a, third port umbrella tooth 1-6-a respectively with umbrella tooth 1- before the 4th port
Umbrella tooth 1-7-b engagement connection after 7-a, the 4th port；
Umbrella tooth 1-7-a passes through umbrella tooth 1-9-a before the second port front rotary shaft 1-8-a and the 5th port before 4th port
It connects, umbrella tooth 1-9-a engages connection, umbrella tooth 1- before the 6th port with umbrella tooth 1-10-a before the 6th port before the 5th port
10-a passes through the input axis connection of shaft and the second port front gear box 1-11-a, the second port front gear box 1-11-a's
Output shaft is connect with port front assembly 1-12-a；
Umbrella tooth 1-7-b passes through umbrella tooth 1-9-b after shaft 1-8-b after the second port and the 5th port after 4th port
It connects, umbrella tooth 1-9-b engages connection, umbrella tooth 1- after the 6th port with umbrella tooth 1-10-b after the 6th port after the 5th port
10-b passes through the input axis connection of shaft and the second port rear gear box 1-11-b, the second port rear gear box 1-11-b's
Output shaft is connect with component 1-12-b after port；
Second turns to the front end that right umbrella tooth 1-4-b is set to the first steering right spindle 1-5-b, and first turns to right spindle 1-5-
The rear end of b is provided with third port umbrella tooth 1-6-b, and third port umbrella tooth 1-6-b turns to umbrella tooth 1- before the right side with the 4th respectively
7-c, the 4th turn to umbrella tooth 1-7-d engagement connection behind the right side；
Umbrella tooth 1-7-c passes through umbrella tooth 1-9-c before the second steering right steering of front rotary shaft 1-8-c and the 5th right side before 4th steering is right
Connection, umbrella tooth 1-10-c engages connection before umbrella tooth 1-9-c turns to the right side with the 6th before the 5th steering is right, and the 6th turns to umbrella tooth 1- before the right side
The input axis connection that 10-c turns to right front gear box 1-11-c with second by shaft, second turns to right front gear box 1-11-c's
Output shaft is connect with right front assembly 1-12-c is turned to；
Umbrella tooth 1-7-d passes through umbrella tooth 1-9-d behind the steering of shaft 1-8-d and the 5th right side behind the second steering right side behind the 4th steering right side
Connection, umbrella tooth 1-10-d engages connection after umbrella tooth 1-9-d turns to the right side with the 6th after the 5th steering is right, and the 6th turns to umbrella tooth 1- behind the right side
The input axis connection that 10-d turns to right rear gear box 1-11-d with second by shaft, second turns to right rear gear box 1-11-d's
Component 1-12-d is connect after output shaft is right with steering.
It is as shown in figure 13 to turn to 1 working principle of drive module, turns to 1 pair of wheel group module 4 of drive module and synchronizes steering
Principle it is as follows: define first umbrella tooth rotation direction reference, with face umbrella tooth teeth direction when, rotate clockwise for rotate forward, it is inverse
Hour hands rotation is reversion.
It turns to driving motor 1-1 to rotate forward, drives the first steering box 1-2 output power, output shaft drives first to turn to
Umbrella tooth 1-3 is rotated forward, and then the second the second port umbrella tooth 1-4-a and second turned in umbrella tooth group 1-4 is driven to turn to right umbrella tooth
1-4-b reversion, to drive first to turn to shaft group 1-5 rotation, third turns to umbrella tooth group 1-6 and rotates forward, and drives the 4th to turn to umbrella
Tooth group 1-7 reversion, and then drive second to turn to shaft group 1-8 rotation, hereafter four components are equal inside the 5th steering umbrella tooth group 1-9
To rotate forward, to drive the 6th to turn to umbrella tooth group 1-10 reversion, power drives and turns to after the second steering box group 1-11
After component 1-12-b, the right front assembly 1-12-c of steering, steering are right after port front assembly 1-12-a, port in component 1-12
Component 1-12-d is reversion divertical motion counterclockwise, so far completes to drive synchronous turn to of four wheels 4-1 in wheel group module 4
Dynamic function.
When turning to driving motor 1-1 reversion, process is contrary to the above.
Hoofing part module 2 includes power electric unit 2-1, power gear box group 2-2, electronic-controlled power steering external member 2-3, power teeth
Roller box group 2-2 is mounted on the side of wheel group module 4, the input shaft of power electric unit 2-1 and power gear box group 2-2 by bracket
Connection, the input shaft of the output axis connection electronic-controlled power steering external member 2-3 of power gear box group 2-2, the output of electronic-controlled power steering external member 2-3
The wheel shaft 4-2 of axis connection wheel group module 4.
As is seen in figs 7-10, power electric unit 2-1 includes four sets: left front power motor 2-1-a, left back power motor 2-1-
B, power motor 2-1-c before right, it is right after power motor 2-1-d.Power electric unit 2-1 passes through bracket and power gear box group 2-2
It is connected and fixed, realizes and move forward and backward driving function to 4 power of wheel group module.
Power gear box group 2-2 equally includes four sets pairs, is respectively as follows: the left front gear-box group 2-2-a of power, the left back tooth of power
The right front gear box group 2-2-c of roller box group 2-2-b, power, the right rear gear box group 2-2-d of power.Power gear box group 2-2 passes through branch
Frame is mounted at bracket component 4-3 side end.
Electronic-controlled power steering external member 2-3 include: left front electronic-controlled power steering external member 2-3-a, left back electronic-controlled power steering external member 2-3-b, it is right before
Electronic-controlled power steering external member 2-3-d behind electronic-controlled power steering external member 2-3-c, the right side.Electronic-controlled power steering external member 2-3 is mounted on the side bracket component 4-3
Lower end.
Every set power electric unit 2-1 is connected by corresponding power gear box group 2-2 with corresponding electronic-controlled power steering external member 2-3
It connects.
The overall work principle of hoofing part module 2 are as follows: power electric unit 2-1 output power, by power gear box group
After 2-2 commutation and throw-over, power is transferred to wheel shaft 4-2 to drive wheel 4-1 to rotate by electronic-controlled power steering external member 2-3.
As shown in figure 5, body module 3 includes horizontal beam assembly 3-1, connection component 3-2, stringer component 3-3, horizontal beam group
Part 3-1 includes upper cover plate 3-1-a, lower cover plate 3-1-b and side plate 3-1-c.Upper cover plate 3-1-a, lower cover plate 3-1-b and side plate 3-1-
C is strip hollow out thin plate, and upper cover plate 3-1-a, lower cover plate 3-1-b are respectively one piece, and side plate 3-1-c is two pieces of front and back, four blocks of plates
Composition square space is to hold the first steering box 1-2, the first steering umbrella tooth 1-3, the second steering umbrella tooth group 1-4, first
Turn to shaft group 1-5, third turns to the structures such as umbrella tooth group 1-6.
Connection component 3-2 includes left connection component 3-2-a and right connection component 3-2-b.Left connection component 3-2-a, right company
Connected components 3-2-b is symmetrical set in left front girder 3-3-a and left rear longitudinal beam 3-3-b and horizontal beam assembly 3-1 infall, the right side
Front longitudinal beam 3-3-c, right floor side member 3-3-d and horizontal beam assembly 3-1 infall, main realize connect horizontal beam assembly 3-1 stringer
Component 3-3, the effect for protecting internal mechanical and electric component.
Stringer component 3-3 includes left front girder 3-3-a, left rear longitudinal beam 3-3-b, front right longitudinal beam 3-3-c, right floor side member 3-3-
d.Stringer component 3-3 is circular tube structure, inner hollow.Rear end, the front end left rear longitudinal beam 3-3-b and the Zuo Lian of left front girder 3-3-a
Connected components 3-2-a is fixed, and the front end of left front girder 3-3-a is connect with the second port front gear box 1-11-a, left rear longitudinal beam 3-
The front end 3-b is connected with the second port rear gear box 1-11-b.The rear end of front right longitudinal beam 3-3-c, right floor side member 3-3-d front end
It is fixed with right connection component 3-2-b, the front end of front right longitudinal beam 3-3-c and the second right front gear box 1-11-c of steering are fixed, right
The rear end of floor side member 3-3-d and the second right rear gear box 1-11-d of steering are connected and fixed.
As shown in figs. 3-9, wheel group module 4 includes wheel 4-1, wheel shaft 4-2, bracket component 4-3.Wheel 4-1 includes left front
4-1-a, left rear wheel 4-1-b, off-front wheel 4-1-c, off hind wheel 4-1-d are taken turns, wheel shaft 4-2 includes left front wheel shaft 4-2-a, left back wheel shaft
4-2-b, front right axle 4-2-c, off hind wheel axis 4-2-d, bracket component 4-3 include left front wheel support 4-3-a, left back wheel support 4-
3-b, off-front wheel bracket 4-3-c, off hind wheel bracket 4-3-d.Every set wheel 4-1 is fixed on relatively by corresponding wheel shaft 4-2
On the bracket component 4-3 answered, every set wheel shaft 4-2 is also connected with the output shaft of corresponding electronic-controlled power steering external member 2-3.Bracket component 4-3
The carrying for primarily serving connection wheel 4-1, wheel shaft 4-2 and other attachment components acts on.
Further, above scheme or embodiment can realize that the wheel group to four wheels composition synchronizes drive in the present apparatus
Dynamic, when to more other wheel groups, such as when to six wheels, eight wheel drives, scheme is consistent with the above, passes through to increase to change and turns to driving
Component in module 1 is realized to the synchronous driving of more wheels.
The utility model is not limited to above embodiment, anyone, which should learn, makes under the enlightenment of the utility model
Structure change, it is all that there is same or similar technical solution with the utility model, each fall within the protection scope of the utility model
Within.
Technology that the utility model is not described in detail, shape, construction portion are well-known technique.
Claims (9)
1. a kind of single-turn drives mobile platform to the multi-wheel steering of driving source, which is characterized in that including turning to drive module, walking
Drive module, body module, wheel group module turn to drive module, hoofing part module, wheel group module and are all set in body module
On, turn to drive module, hoofing part module is connect with wheel group module.
2. single-turn as described in claim 1 drives mobile platform to the multi-wheel steering of driving source, which is characterized in that the steering
Drive module turns to umbrella tooth, the second steering umbrella tooth group, the first steering turn by steering driving motor, the first steering box, first
Axis group, third turn to umbrella tooth group, the 4th steering umbrella tooth group, the second steering shaft group, the 5th steering umbrella tooth group, the 6th steering umbrella tooth
Group, the second steering box group, steering assembly composition.
3. single-turn as claimed in claim 2 drives mobile platform to the multi-wheel steering of driving source, which is characterized in that the steering
The input axis connection of the shaft of driving motor and the first steering box, the output shaft of the first steering box are connected and fixed first
Umbrella tooth is turned to, first, which turns to umbrella tooth, turns to the mating connection of umbrella tooth group with second by gear engagement, and the second steering umbrella tooth group is fixed
In the front end that first turns to shaft group, the end of the first steering shaft group is connected and fixed third and turns to umbrella tooth group, and third turns to umbrella
Tooth group is connect by the 4th steering umbrella tooth group with the front end of the second steering shaft group, and second turns to the rear end of shaft group and the 5th turn
Connected to umbrella tooth group, the 6th steering umbrella tooth group engage connection with the 5th steering umbrella tooth group, the 6th steering umbrella tooth group pass through shaft and
The output shaft of the input axis connection of second steering box group, the second steering box group is connect with steering assembly.
4. single-turn as claimed in claim 2 or claim 3 drives mobile platform to the multi-wheel steering of driving source, which is characterized in that described
Second steering umbrella tooth group, the first steering shaft group, third turn to umbrella tooth group and are respectively arranged with two sets, and the 4th turns to umbrella tooth group, the
Two steering shaft groups, the 5th steering umbrella tooth group, the 6th steering umbrella tooth group, the second steering box group, steering assembly are respectively set
There are four sets, two set second turns to the front end that umbrella tooth group is respectively arranged at two set of first steering shaft group, and two sets of thirds turn to umbrella tooth
Group is respectively arranged at the rear end of two set of first steering shaft group；Every set third turn to umbrella tooth group respectively with two set of the 4th steering umbrella tooth
Group engagement connection, every set the 4th turn to umbrella tooth group and are connect by a set of second steering shaft group with a set of 5th steering umbrella tooth group,
Every set the 5th turns to umbrella tooth group and engages connection with a set of 6th steering umbrella tooth group, and every set the 6th turns to umbrella tooth group and passes through shaft and one
The input axis connection of the second steering box group is covered, the output shaft and a set of steering assembly of every the second steering box of set group connect
It connects.
5. single-turn a method according to any one of claims 1-3 drives mobile platform to the multi-wheel steering of driving source, which is characterized in that institute
Stating hoofing part module includes power electric unit, power gear box group, electronic-controlled power steering external member, and power gear box group is pacified by bracket
Mounted in the side of wheel group module, the input axis connection of power electric unit and power gear box group, the output shaft of power gear box group
Connect the input shaft of electronic-controlled power steering external member, the output shaft fifth wheel group module of electronic-controlled power steering external member.
6. single-turn as claimed in claim 5 drives mobile platform to the multi-wheel steering of driving source, which is characterized in that the power
Motor group, power gear box group, electronic-controlled power steering external member are respectively arranged with four sets, and every set power electric unit passes through corresponding power teeth
Roller box group is connected with corresponding electronic-controlled power steering external member.
7. single-turn as claimed in claim 2 or claim 3 drives mobile platform to the multi-wheel steering of driving source, which is characterized in that described
Body module includes horizontal beam assembly, connection component, stringer component, and the first steering box, are provided in horizontal beam assembly
One, which turns to umbrella tooth, the second steering umbrella tooth group, the first steering shaft group, third, turns to umbrella tooth group, and stringer component passes through connection component
It is connect with horizontal beam assembly.
8. single-turn as claimed in claim 5 drives mobile platform to the multi-wheel steering of driving source, which is characterized in that the wheel group
Module includes wheel, wheel shaft, bracket component, and wheel is fixed on bracket component by wheel shaft, and wheel shaft is also connected with electronic-controlled power steering set
The output shaft of part.
9. single-turn as claimed in claim 8 drives mobile platform to the multi-wheel steering of driving source, which is characterized in that the wheel
Son, wheel shaft, bracket component are respectively arranged with four sets, and every set wheel is fixed on corresponding bracket component by corresponding wheel shaft
On, every set wheel shaft is also connected with the output shaft of corresponding electronic-controlled power steering external member.
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| CN201920016627.4U CN209274691U (en) | 2019-01-04 | 2019-01-04 | A kind of single-turn drives mobile platform to the multi-wheel steering of driving source |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466633A (en) * | 2019-08-28 | 2019-11-19 | 山东国兴智能科技股份有限公司 | The adaptive specialized robot of suspension height and operational method suitable for adverse circumstances |
| CN111497931A (en) * | 2020-04-08 | 2020-08-07 | 广东博智林机器人有限公司 | Guide vehicle |
-
2019
- 2019-01-04 CN CN201920016627.4U patent/CN209274691U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466633A (en) * | 2019-08-28 | 2019-11-19 | 山东国兴智能科技股份有限公司 | The adaptive specialized robot of suspension height and operational method suitable for adverse circumstances |
| CN110466633B (en) * | 2019-08-28 | 2023-11-03 | 山东国兴智能科技股份有限公司 | Suspension height self-adaptive special robot suitable for severe environment and operation method |
| CN111497931A (en) * | 2020-04-08 | 2020-08-07 | 广东博智林机器人有限公司 | Guide vehicle |
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