Movable chassis
A mobile and chassis technology, which is applied in the direction of motor vehicles, power plants, electric power plants, etc., can solve the problems of Ackermann chassis that cannot turn in place, waste, and shake energy, so as to improve energy utilization and reduce speed fluctuations , to avoid the effect of shaking
Pending Publication Date: 2020-12-18
深圳市先发智能有限公司
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Problems solved by technology
[0008] The purpose of the present invention is to solve the problem of jitter and energy waste when the existing four-wheel differential chassis turns, and the second is to solve the problem that the Ackermann chassis cannot turn in situ, and proposes a mobile chassis
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Embodiment Construction
[0030] The content of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0031] The invention provides a mobile chassis, which adopts the form of four-wheel drive and four-wheel steering, that is, all four wheels have driving force, and the four wheels can turn. The power is transmitted to the front and rear two telescopic universal joints and the transfer gearbox on the steering drive axle, and finally the power of the two driving motors is transmitted to the driving wheels on the left and right sides of the chassis (the two driving wheels on the left are driven by Driven by a motor on the left, and the two driving wheels on the right are driven by a motor on the right), so that the speed of the two driving wheels on the left or right is the same. When turning, the differential effect is achieved by controlling the speed of the driving motor to ensure that the driving wheels have no sliding ...
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The invention provides a movable chassis. The problems that an existing chassis shakes in the steering process, and energy waste is caused are solved. The movable chassis comprises a frame, a drivingmotor, steering driving axles, telescopic universal joints, suspension connecting rods, driving wheels and steering engines. A main reduction gearbox is arranged on the frame, and two input shafts andfour output shafts are arranged on the main reduction gearbox; an output shaft of the driving motor is connected with an input shaft of the main reduction gearbox; the number of the steering drive axles is two, and each steering drive axle comprises a transfer gear box and two axles; two input gears of each transfer gear box are respectively connected with two output shafts of the main reductiongearbox through the telescopic universal joints, and the transfer gear boxes are connected with the frame through two suspension connecting rods; two output shafts of each transfer gear box transmit power to the driving wheels at the left side and the right side through axles; and the two steering engines are used for achieving two steering modes of common steering and pivot steering of the driving wheels at the left side and the right side.
Description
technical field [0001] The invention belongs to the field of mechanical mobile platforms, and in particular relates to a mobile chassis. Background technique [0002] At present, the chassis used by mobile robots include differential chassis, Ackerman chassis and omnidirectional wheel chassis. [0003] Unmanned vehicles and some robots use the Ackerman chassis, which is similar to the front wheel steering structure of a car. This chassis has a mature structure and good adaptability, but the biggest difficulty in using it in the field of unmanned driving and robots is that there is a large Turning radius, the turning radius makes this type of chassis unable to rotate in situ, which limits its use in narrow spaces. At the same time, due to the large turning radius of the Ackermann chassis, the requirements for navigation path planning and motion control are very high. [0004] Some mobile robots use omnidirectional mobile chassis. This type of chassis mainly uses omnidirecti...
Claims
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IPC IPC(8): B60B35/00B60K17/22B60K17/344B60K1/02B60G13/00B62D5/04B62D7/18B62D63/02B62D63/04
CPCB60B35/003B60G13/00B60K1/02B60K17/22B60K17/344B62D5/04B62D7/18B62D63/02B62D63/04
Inventor 李汉舟
Owner 深圳市先发智能有限公司