Independent suspension type dual-driving dual-steering four-wheel driving mechanism for weeding vehicle

Abstract

The invention relates to a four-wheel chassis driving mechanism, in particular to an independent suspension type dual-driving dual-steering four-wheel driving mechanism for a weeding vehicle. The independent suspension type dual-driving dual-steering four-wheel driving mechanism comprises a vehicle body bottom plate, a driving wheel assembly, a driving motor, a steering wheel assembly and a steering motor, wherein driving wheels can rotate actively; steering wheels can steer actively and be driven to rotate. Compared with the prior art, the driving mechanism is novel in form, and is stable inperformance; the key points are that four wheels of the vehicle body can roll along a tangent line around any point on the horizontal projection of driving wheel axes through coordinated control of the speed ratio of the two driving wheels and the steering angles of the two steering wheels during steering in order to realize high efficiency and high flexibility.

Description

technical field [0001] The invention relates to a four-wheel chassis drive mechanism, in particular to an independent suspension double-drive double-steering four-wheel drive mechanism for a weeding vehicle. Background technique [0002] Grass trimming is a job with a short cycle, simple content, and a single form, which is very suitable for mechanized transformation. With the development of technology and the increase of labor costs, the traditional inefficient manual weeding has long been replaced by semi-automatic machine weeding. In recent years, the development of machine intelligence technology has promoted the rapid development of mechanization, automation and intelligence of weeding work. At present, there have been several household intelligent weeding robots that have been successfully mass-produced at home and abroad. The chassis driving methods of these robots all adopt a chassis driving mechanism with two driving wheels and one or more universal wheels. This dr...

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Problems solved by technology

[0003] Although the chassis drive mechanism with two drive wheels and one or more universal wheels has many advantages, this drive method is not efficient when used on uneven ordinary grass, and is not suitable for large and medium-sized intelligent weeding robots

Because, first, the universal wheel is passively steered, and the steering of the universal wheel is based on the principle of minimum potential energy. The more complicated the grass situation, the greater the useless work consumed by the driving wheel on steering, thereby reducing the driving efficiency; second. , if the universal wheel is applied to large and medium-sized mobile equipment, although the structure is simple, there will be a greater potential safety hazard

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