CN218876882U

CN218876882U - Omnidirectional steering vehicle chassis

Info

Publication number: CN218876882U
Application number: CN202223282914.0U
Authority: CN
Inventors: 高建树; 候威威; 周志明; 李振宇
Original assignee: Civil Aviation University of China
Current assignee: Civil Aviation University of China
Priority date: 2022-12-08
Filing date: 2022-12-08
Publication date: 2023-04-18
Anticipated expiration: 2032-12-08

Abstract

The utility model discloses an all-directional steering vehicle chassis, which comprises a vehicle body and four wheels which are respectively arranged at the outer side of the vehicle body through a steering shaft, wherein the wheels are internally provided with hub motors for driving the vehicle body to move, each wheel is connected with a gear motor and is driven by the gear motor to roll on the ground to realize steering in different directions, the steering shaft is provided with a motor connecting part and a wheel connecting part, and the motor connecting part is connected with the wheel connecting part and forms an included angle of 135 degrees; and under the linear movement state of the vehicle body, the axial direction of the wheels is vertical to the movement direction of the vehicle body. The utility model discloses utilize special type steering spindle, the wheel of cooperation band pulley in-wheel motor can realize that vehicle chassis is all-round to turn to, simple structure, and the flexibility is high.

Description

Omnidirectional steering vehicle chassis

Technical Field

The utility model relates to a vehicle chassis technical field especially relates to an all-round vehicle chassis that turns to.

Background

At present, four-wheeled vehicles on the market are various in types, such as two-wheeled steering and two-wheeled driving modes, and the modes are widely applied due to the advantages of high speed, high efficiency, convenience in control and the like, but the chassis structure of the two-wheeled steering and two-wheeled driving vehicle has limitations in steering, cannot realize 360-degree all-directional steering, and is inconvenient; some four-wheel vehicles can also realize omnidirectional movement by adopting a specific driving mechanism and Mecanum wheels, and the vehicles have certain advantages in steering, but are complex to control and high in cost, so that the vehicles are difficult to apply and popularize.

SUMMERY OF THE UTILITY MODEL

The utility model aims at the technical defect who exists among the prior art, and provide a simple structure can realize all-round vehicle chassis who turns to, improved four-wheel vehicle's flexibility and maneuverability.

For realizing the utility model discloses a technical scheme that the purpose adopted is:

an omni-directional steering vehicle chassis comprises a vehicle body and four wheels which are respectively arranged on the outer side of the vehicle body through a steering shaft, wherein a hub motor for driving the vehicle body to move is arranged in each wheel, each wheel is connected with a speed reducing motor and driven by the speed reducing motor to roll on the ground to realize steering in different directions, the steering shaft is provided with a motor connecting part and a wheel connecting part, and the motor connecting part is connected with the wheel connecting part and forms an included angle of 135 degrees; and under the linear moving state of the vehicle body, the axial direction of the wheels is vertical to the moving direction of the vehicle body.

The steering shaft is mounted on a steering shaft support, the speed reducing motor is mounted on a speed reducing motor fixing seat, and the steering shaft support and the speed reducing motor fixing seat are arranged at intervals along the axial direction of a motor connecting part of the steering shaft and are respectively fixedly connected with the bottom surface of the vehicle body.

As a preferred embodiment, the vehicle body is of a rectangular structure, a steering shaft bracket and a speed reduction motor fixing seat are coaxially arranged and mounted at the inner side position of each corner, and the axis of the motor connecting part of each steering shaft is correspondingly superposed with the angle bisector of one corner of the vehicle body.

The motor connecting part of the steering shaft vertically penetrates through the steering shaft support and then is connected with the speed reducing motor, and the wheel connecting part is connected with the wheel.

Wherein a bearing for reducing friction is installed between the steering shaft support and the steering shaft engaged therewith.

The utility model discloses an all-round vehicle chassis who turns to, four wheels that have in-wheel motor through the outside configuration of automobile body, every wheel separately with be connected with gear motor through a steering spindle and be used for steering drive, the in-wheel motor through the wheel can realize driving the automobile body and carry out back-and-forth movement linear motion displacement, can control the all-round of automobile body through gear motor and turn to, and simple structure realizes accurate control easily.

Drawings

Fig. 1 is a schematic overall structural diagram provided by an embodiment of the present invention;

fig. 2 is a schematic view of a steering shaft according to an embodiment of the present invention;

fig. 3 is a schematic connection diagram of a wheel, a steering shaft support and a reduction motor according to an embodiment of the present invention;

fig. 4 is a schematic view illustrating an installation of a steering shaft bracket and a reduction motor fixing seat according to an embodiment of the present invention;

fig. 5 is a schematic view of a vehicle body according to an embodiment of the present invention in a first state;

fig. 6 is a schematic view of a vehicle body in a second state according to an embodiment of the present invention;

fig. 7 is a schematic view of the vehicle body in a third state according to the embodiment of the present invention;

fig. 8 is a schematic view illustrating a change of the operation of the steering shaft according to the embodiment of the present invention.

Description of reference numerals:

1. a vehicle body; 2. a wheel; 3. a steering shaft; 4. a steering shaft support; 5. a reduction motor; 6. a reduction motor fixing seat; 7. a bearing 31, a wheel connecting portion; 32. a motor connecting part; 2-1, tire; 2-2, a hub; 2-3, a hub motor; 5-1, a speed reducer; 5-2, a stepping motor.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "front end", "long", "short", "center", etc. shown in the drawings are only for convenience of description and simplified description, and do not indicate or imply that the device or part referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as either a fixed connection or a detachable connection; they may be directly connected or indirectly connected through an intermediate medium, or they may be connected through the inside of two members. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

As shown in fig. 1 to 8, the omni-directional steering vehicle chassis of the present invention includes a vehicle body 1, four wheels 2, and four steering shafts 3, wherein four of the wheels 2 are respectively installed on the outer side of the vehicle body 1 through one of the steering shafts 3, the wheels 2 are provided with hub motors 2-3 for driving the vehicle body 1 to move, each of the wheels 2 is connected to a reduction motor 5 and is driven by the reduction motor 5 to roll on the ground, thereby achieving steering in different directions, the steering shafts 3 are provided with a motor connecting portion 32 and a wheel connecting portion 31, and are formed as an integral structure, the motor connecting portion 32 is connected to the wheel connecting portion 31 and forms an included angle of 135 degrees, as shown in fig. 2; in the state that the vehicle body moves linearly, the axial direction of the wheel 2 is perpendicular to the moving direction of the vehicle body 1.

Wherein the steering shaft 3 is rotatably supported by a steering shaft support 4, the reduction motor for driving the wheel 1 to steer is connected with a reduction motor fixing seat 6, and the steering shaft support 4 and the reduction motor fixing seat 6 are arranged at intervals along the axial direction of a motor connecting part 32 of the steering shaft 3 and are respectively fixedly connected with the bottom surface of the vehicle body 1. Wherein a bearing 7 for reducing friction is installed between the steering shaft support 4 and the steering shaft 3 engaged therewith.

As shown in fig. 3, in the embodiment of the present application, the wheel 2 further includes a tire 2-1 and a hub 2-2, the tire 2-1 is sleeved on the hub 2-2, and the hub 2-2 is provided with a hub motor 2-3. In the embodiment of the application, the speed reducing motor 5 comprises a speed reducer 5-1 and a stepping motor 5-2, the stepping motor 5-2 is connected with the speed reducer 5-1, and the speed reducer 5-1 is connected with the steering shaft 3.

The motor connecting part 32 of the steering shaft 3 vertically penetrates through the steering shaft support 4 and then is connected with the speed reducing motor 5, and the wheel connecting part 31 of the steering shaft 3 is connected with the wheel 2.

As shown in fig. 4, as a preferred embodiment, the vehicle body in this application is a rectangular structure, one steering shaft bracket and one speed reduction motor fixing base are coaxially arranged and mounted at the inner side position of each corner, that is, the steering shaft bracket is arranged in parallel with the opposite surface of the speed reducer, the axis of the motor connecting part of each steering shaft is correspondingly overlapped with the angle bisector of one corner of the vehicle body, that is, the longitudinal axis of the connecting surface between the steering shaft bracket 4 and the vehicle body 1 forms an included angle of 45 ° with two adjacent sides of the vehicle body, respectively, as shown in fig. 4.

In the embodiment of the application, the steering of the vehicle chassis is driven by the gear motors, the four gear motors 5 rotate simultaneously during steering, and the steering shaft 3 is driven to rotate by the gear motors 5 so as to drive the four wheels 2 to roll on the ground to realize steering in different directions; when the vehicle chassis turns, the rotating directions of the adjacent speed reducing motors 5 of the vehicle body 1 are opposite, the rotating directions of the speed reducing motors 5 at opposite angles are the same, and in the turning process of the vehicle chassis, the wheel ends of the four turning shafts 3 are turned towards the ground direction. Wherein, the forward and backward movement of the vehicle chassis is driven by hub motors 2-3 in the four wheels 2.

When the utility model discloses be in first state during operation, when removing along the X direction promptly, as shown in fig. 5, wheel 2 of taking wheel hub motor this moment is parallel with the long limit of automobile body 1, can drive vehicle chassis and remove along X axle direction. When the utility model discloses be in the second state during operation, as shown in figure 6 when removing along the Y direction promptly, wheel 2 of band pulley hub motor is parallel with automobile body 1's minor face this moment, can drive vehicle chassis and remove along Y axle direction. When the utility model discloses be in the third state during operation, when turning to along the pivot promptly, as shown in fig. 7, it turns to around its barycenter point O pivot arbitrary position at this moment at the bottom of the vehicle.

In an embodiment, combine fig. 5 to fig. 8 to show, use vehicle chassis be in the first state at present for the example, vehicle chassis moves along the X axle direction this moment promptly, if will adjust vehicle chassis's direction, then need control four gear motor 5 and rotate according to the direction that fig. 8 arrow mark shows respectively, drive the upset of corresponding steering spindle 3 downwards, make wheel connecting portion turn to b position by a position, and then drive wheel 2 and roll on ground, vehicle chassis work is in the third state this moment, can realize vehicle chassis and do the adjustment of arbitrary angle, can select vehicle chassis after angle adjustment and continue to move with first state or second state.

In a similar way, combine fig. 5 to fig. 8, with vehicle chassis be in the second state at present for the example, vehicle chassis is along the Y axle direction when removing this moment promptly, if will adjust vehicle chassis's direction, then need control four gear motor 5 and rotate according to the opposite direction that fig. 8 arrow shows respectively, drive the 3 upsets downwards of steering spindle that correspond, make wheel connecting portion turn to b position by c position, and then drive wheel 2 and roll on ground, vehicle chassis work is in the third state this moment, can realize vehicle chassis and do arbitrary angular adjustment, can select vehicle chassis after the angular adjustment to continue to remove with first state or second state.

In another embodiment, with reference to fig. 5 to 8, the vehicle chassis according to the present invention is in the first state, and intends to make the vehicle chassis rotate to the second state, that is, the vehicle chassis moves along the X-axis direction to move along the Y-axis direction, then four speed reduction motors 5 need to be controlled to rotate respectively according to the direction indicated by the arrow in fig. 8, so as to drive the corresponding steering shaft 3 to turn over downwards, so that the wheel connecting portion is rotated from the a position to the c position, and further the wheel 2 is driven to roll on the ground, thereby realizing the rotation of the vehicle chassis from the X-direction to the Y-direction.

In a similar way, combine fig. 5 to fig. 8, with vehicle chassis be in the second state at present, want to make vehicle chassis rotate to the first state for the example, vehicle chassis is moved by following Y axle direction and is changeed to moving along X axle direction promptly, then need control four gear motor 5 and rotate according to the opposite direction that fig. 8 arrow mark shows respectively, drive the upset downwards of steering spindle 3 that corresponds, make wheel connecting portion rotate to a position by the c position, and then drive wheel 2 and roll on ground, realize vehicle chassis original place and rotate to X direction motion by Y direction motion.

Through the explanation, can see that the embodiment of the utility model provides a can realize all-round vehicle chassis who turns to, simple structure realizes accurate control easily.

Having shown and described the basic principles and principal features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The omni-directional steering vehicle chassis is characterized by comprising a vehicle body and four wheels which are arranged on the outer side of the vehicle body through a steering shaft respectively, wherein a hub motor for driving the vehicle body to move is arranged in each wheel, each wheel is connected with a speed reducing motor and driven by the speed reducing motor to roll on the ground to realize steering in different directions, the steering shaft is provided with a motor connecting part and a wheel connecting part, and the motor connecting part is connected with the wheel connecting part to form an included angle of 135 degrees; and under the linear moving state of the vehicle body, the axial direction of the wheels is vertical to the moving direction of the vehicle body.

2. The omni-directional steering vehicle chassis according to claim 1, wherein the steering shaft is mounted on a steering shaft bracket, and the reduction motor is mounted on a reduction motor holder, the steering shaft bracket and the reduction motor holder being arranged at a spacing in an axial direction of a motor connecting portion of the steering shaft and each being fixedly connected to a bottom surface of the vehicle body.

3. The omni-directional steering vehicle chassis according to claim 2, wherein the vehicle body has a rectangular structure, a steering shaft bracket and a speed reduction motor fixing seat are coaxially arranged at the inner side of each corner, and the axis of the motor connecting part of each steering shaft is coincident with the angle bisector of one corner of the vehicle body correspondingly.

4. The omni-directional steering vehicle chassis according to claim 3, wherein the motor connecting portion of the steering shaft is vertically inserted through the steering shaft bracket and connected to the reduction motor, and the wheel connecting portion is connected to the wheel.

5. The omni traction vehicle chassis of claim 4, wherein a bearing for reducing friction is mounted between the steering shaft support and the engaged steering shaft.

6. The omni traction vehicle chassis of claim 1, wherein the gear motor is formed by a stepper motor coupled to a reducer, the reducer coupled to the steering shaft.