Height-adjustable dynamic wheel track mobile chassis

Abstract

The invention relates to the technical field of vehicle chassis, in particular to a height-adjustable dynamic wheel track movable chassis. And the gear rack module is used for adjusting the dynamic wheel track so as to realize the motion stability of the intelligent trolley. The hub motor does circular motion through eccentric transmission, so that the height of the chassis of the intelligent trolley is adjusted, and the intelligent trolley can better adapt to different types of obstacles such as steps and gullies. Through the coupling chassis in the two modes, the movement of the intelligent trolley is more stable, and the adaptive scene is wider. And for the intelligent vehicle applied in the household service aspect, the wheel track adjustment has the advantage of reducing the occupied area when the intelligent vehicle is parked indoors.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle chassis, in particular to a height-adjustable dynamic wheelbase mobile chassis. Background Art

[0002] Smart cars are an important carrier of modern automation and intelligent technology. They are widely used in logistics warehousing, military, agriculture, manufacturing and domestic services. They can automatically perform tasks, reduce manual operations, improve work efficiency, and ensure personnel safety in dangerous or unsuitable environments. Smart cars can be programmed and adjusted according to different application requirements to adapt to changing working environments and task requirements. In addition, the research and development and application of smart cars have promoted technological progress in sensor technology, artificial intelligence, machine learning and other fields. However, the ability to adapt to different types of obstacles, such as steps, gullies, etc., and to reduce the risk of rollover or skidding needs to be improved. Summary of the invention

[0003] The invention provides a height-adjustable dynamic wheelbase mobile chassis, the purpose of which is to adapt to different types of obstacles.

[0004] The above purpose is achieved through the following technical solutions:

[0005] A height-adjustable wheel comprises a motor seat, a first motor is fixedly connected to the motor seat, a shaft is fixedly connected to the output shaft of the first motor, the shaft and the output shaft of the first motor are coaxially arranged, an eccentric disk is fixedly connected to the end of the shaft away from the first motor, a hub motor is detachably connected to the eccentric disk, and the rotation axis of the hub motor is arranged parallel to the axis of the shaft and has a spacing therebetween.

[0006] The output shaft of the first motor is connected to the shaft through a coupling.

[0007] The hub motor comprises a stator, a rotor rotatably connected to the stator, and a hub fixed to the rotor; the stator and the eccentric disk are connected by threaded fitting.

[0008] The outer circumferential surface of the mentioned wheel hub has a tire.

[0009] A height-adjustable dynamic wheelbase assembly comprises a linear drive mechanism and two mirror-symmetrically arranged height-adjustable wheels; two motor seats are arranged face to face; and the linear drive mechanism is used to adjust the distance between the two motor seats.

[0010] The linear drive mechanism mentioned includes a gear driver, which includes a base, a slider fixed to the lower end of the base, and a second motor fixed to the upper end of the base, wherein the output shaft of the second motor is arranged downward and passes through the base from top to bottom, and a gear is fixed to the output shaft of the second motor; each height-adjustable wheel is used in conjunction with a gear driver, and the two bases are respectively fixed to the two motor bases;

[0011] The linear drive mechanism mentioned also includes a guide rail support seat, to which a guide rail and a rack are fixedly connected, and all sliders are slidably connected to the guide rail, so that the slider can only move linearly relative to the guide rail.

[0012] There are two guide rails mentioned above, and four sliders are arranged at the lower end of each base, two of which are arranged in a row, and the two rows of sliders are respectively slidably connected to the two rows of guide rails.

[0013] Limit blocks are arranged on the left and right sides of each height-adjustable wheel, and the limit blocks are fixedly connected to the guide rail.

[0014] A height-adjustable dynamic wheelbase mobile chassis comprises two symmetrically arranged height-adjustable dynamic wheelbase components, two bases are fixedly connected to the chassis, a wheel hub motor is lower than the chassis, a driver for controlling a first motor, a second motor and the wheel hub motor, a lower computer for controlling the driver, and a power supply for supplying power to the first motor, the second motor, the wheel hub motor, the driver and the lower computer are fixedly connected to the chassis.

[0015] The lower computer is a single chip microcomputer.

[0016] The beneficial effects of the height-adjustable dynamic wheelbase mobile chassis of the present invention are:

[0017] The dynamic wheelbase is adjusted through the gear rack module to achieve the motion stability of the smart car. The chassis height of the smart car is adjusted through the eccentric wheel mechanism so that the smart car can better adapt to different types of obstacles, such as steps and gullies. The coupling chassis of these two methods makes the smart car more stable and adaptable to a wider range of scenarios. In addition, for smart cars used in housekeeping, the adjustment of the wheelbase has the advantage of reducing the occupied area when parked indoors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A perspective view of a height-adjustable dynamic wheelbase mobile chassis;

[0019] Figure 2 Schematic diagram of the height-adjustable dynamic track assembly after removing one eccentric plate and the wheel hub motor;

[0020] Figure 3 It is a partial structural schematic diagram of the linear drive mechanism;

[0021] Figure 4 is a schematic diagram of the positional relationship between the remaining parts of the linear drive mechanism and the height-adjustable wheel;

[0022] Figure 5 for Figure 4 The enlarged schematic diagram at A in the middle;

[0023] Figure 6 It is a structural schematic diagram of the eccentric disk;

[0024] Figure 7 Schematic diagram of chassis, driver, lower computer and power supply.

[0025] In the figure: motor base 101, first motor 102, shaft 103, eccentric disk 104, hub motor 105, base 201, slider 202, second motor 203, gear 204, guide rail support base 301, guide rail 302, rack 303, limit block 304, chassis 401, driver 402, lower computer 403, power supply 404. DETAILED DESCRIPTION

[0026] A height-adjustable dynamic wheelbase mobile chassis includes a height-adjustable dynamic wheelbase assembly;

[0027] Wherein, the height-adjustable dynamic wheelbase assembly includes a linear drive mechanism and a height-adjustable wheel;

[0028] Among them, Figure 4 and 6 As shown, the height-adjustable wheel includes a motor base 101, a first motor 102 is fixedly connected to the motor base 101, a shaft 103 is fixedly connected to the output shaft of the first motor 102 through a coupling, the shaft 103 is coaxially arranged with the output shaft of the first motor 102, an eccentric disk 104 is fixedly connected to the end of the shaft 103 away from the first motor 102, the eccentric disk 104 is disc-shaped, the shaft 103 is fixedly connected at the eccentric position of the eccentric disk 104, the axis of the eccentric disk 104 is parallel to the axis of the shaft 103, the stator of the hub motor 105 is detachably connected to the eccentric disk 104, the rotation axis of the hub motor 105 is arranged parallel to the axis of the shaft 103 and has a spacing, and the rotation axis of the hub motor 105 coincides with the axis of the eccentric disk 104. Starting the first motor 102 drives the shaft 103 to rotate around the output shaft of the first motor 102, the shaft 103 drives the eccentric disk 104 to rotate around the shaft 103, and the eccentric disk 104 drives the hub motor 105 to rotate around the axis of the shaft 103 to achieve circular motion. At the same time, when the hub motor 105 is started, the hub structure of the hub motor 105 can rotate by itself, which is beneficial for the hub motor 105 to climb steps and gullies; for example, after the hub motor 105 makes a circular motion higher than the step, the hub motor 105 continues to make a circular motion and moves closer to the step while moving downward to contact the upper end surface of the step, supporting itself and providing friction in the direction of travel to simulate climbing; two height-adjustable wheels are symmetrically arranged on the left and right; preferably, a tire is fixedly connected to the outer periphery of the hub.

[0029] refer to Figures 2 to 5As shown, the linear drive mechanism includes a gear driver, which includes a base 201, a slider 202 fixedly connected to the lower end of the base 201, and a second motor 203 fixedly connected to the upper end of the base 201. The output shaft of the second motor 203 is arranged downward and passes through the base 201 from top to bottom. A gear 204 is fixedly connected to the output shaft of the second motor 203; each height-adjustable wheel is used in conjunction with a gear driver, and the two bases 201 are respectively fixedly connected to the two motor seats 101; the linear drive mechanism also includes a guide rail support seat 301, and the guide rail support seat 301 is fixedly connected to the mutually The guide rails 302 and racks 303 are parallel, that is, the direction of the tooth array of the rack 303 is the same as the guide direction of the guide rails 302. All sliders 202 are slidably connected to the guide rails 302, so that the sliders 202 can only move linearly relative to the guide rails 302. The two gears 204 are meshed with the racks 303 for transmission. When the second motor 203 is started, the second motor 203 can drive the gear 204 to rotate around the output shaft of the second motor 203. Since the gear 204 is meshed with the rack 303, it moves linearly along the rack 303, thereby driving the height-adjustable wheel to move left and right.

[0030] Furthermore, two guide rails 302 are provided, one in front and one in the back, and the two guide rails are parallel. Four sliders 202 are provided at the lower end of each base 201, and two are arranged in a row. The two rows of sliders 202 correspond to the two guide rails 302. The sliders 202 in the front row are slidably connected to the guide rails 302 in the front side, and the sliders 202 in the rear row are slidably connected to the guide rails 302 in the rear side.

[0031] Furthermore, limit blocks 304 are provided on the left and right sides of each height-adjustable wheel, and the limit blocks 304 are fixed to the guide rail 302 , so that the slider 202 moves between two adjacent limit blocks 304 to prevent the slider 202 from detaching from the guide rail 302 .

[0032] There are two height-adjustable dynamic wheelbase components symmetrically arranged one in front and one behind, the two bases 201 are fixedly connected to the chassis 401, the hub motor 105 is lower than the chassis 401, and the chassis 401 is fixedly connected with a driver 402 for controlling the first motor 102, the second motor 203 and the hub motor 105, a lower computer 403 for controlling the driver 402, and a power supply 404 for supplying power to the first motor 102, the second motor 203, the hub motor 105, the driver 402 and the lower computer 403.

[0033] Among them, the wheel hub motor 105 realizes the change in height, and its adjustable chassis height depends on twice the eccentricity of the shaft 103 and the eccentric disk 104. By adjusting the chassis height, the smart car can pass more obstacles, such as steps, gullies, etc. In addition, the height-adjustable wheels can be driven to move to the left and right sides of the chassis 401 through the meshing transmission of the gear 204 and the rack 303, thereby realizing the two-way expansion of the wheelbase, so as to improve the movement ability and stability of the smart car. In addition, when the wheelbase is reduced, the floor space is saved, which brings advantages to the commercialization of the smart car. The chassis height of the present invention can be adjusted by 25-90mm, and the dynamic wheelbase can be adjusted by 580-710mm.

Claims

1. A height-adjustable wheel, characterized in that: The invention comprises a motor base (101), a first motor (102) is fixedly connected to the motor base (101), a shaft (103) is fixedly connected to the output shaft of the first motor (102), the shaft (103) and the output shaft of the first motor (102) are arranged coaxially, an eccentric disk (104) is fixedly connected to one end of the shaft (103) away from the first motor (102), a hub motor (105) is detachably connected to the eccentric disk (104), and the rotation axis of the hub motor (105) is arranged parallel to the axis of the shaft (103) and has a spacing therebetween.

2. The height-adjustable wheel according to claim 1, characterized in that: The output shaft of the first motor (101) is connected to the shaft (102) via a coupling.

3. The height-adjustable wheel according to claim 2, characterized in that: The wheel hub motor (105) comprises a stator, a rotor rotatably connected to the stator, and a wheel hub fixed to the rotor; the stator and the eccentric disk (104) are detachably connected by threaded engagement or bolts.

4. The height-adjustable wheel according to claim 3, characterized in that: The outer circumferential surface of the hub is provided with a tire.

5. A height-adjustable dynamic wheelbase assembly, characterized in that: It comprises a linear drive mechanism and two mirror-symmetrically arranged height-adjustable wheels; two motor seats (101) are arranged face to face; and the linear drive mechanism is used to adjust the distance between the two motor seats (101).

6. The height-adjustable dynamic wheelbase assembly according to claim 5, characterized in that: The linear drive mechanism comprises a gear driver, which comprises a base (201), a slider (202) fixedly connected to the lower end of the base (201), and a second motor (203) fixedly connected to the upper end of the base (201); an output shaft of the second motor (203) is arranged downward and passes through the base (201) from top to bottom; a gear (204) is fixedly connected to the output shaft of the second motor (203); each height-adjustable wheel is used in conjunction with a gear driver, and the two bases (201) are respectively fixedly connected to the two motor bases (101); The linear drive mechanism also includes a guide rail support seat (301), a guide rail (302) and a rack (303) are fixedly connected to the guide rail support seat (301), all sliders (202) are slidably connected to the guide rail (302), so that the slider (202) can only move linearly relative to the guide rail (302), and the two gears (204) are meshed with the rack (303) for transmission.

7. The height-adjustable dynamic wheelbase assembly according to claim 6, characterized in that: There are two guide rails (302), and four sliders (202) are provided at the lower end of each base (201), with two sliders in a row. The two rows of sliders (202) are slidably connected to the two rows of guide rails (302), respectively.

8. The height-adjustable dynamic wheelbase assembly according to claim 6 or 7, characterized in that: Limit blocks (304) are arranged on the left and right sides of each height-adjustable wheel, and the limit blocks (304) are fixedly connected to the guide rail (302).

9. A height-adjustable dynamic wheelbase mobile chassis, characterized in that: The invention comprises two symmetrically arranged height-adjustable dynamic wheelbase assemblies, two bases (201) are fixedly connected to a chassis (401), a wheel hub motor (105) is lower than the chassis (401), and a driver (402) for controlling a first motor (102), a second motor (203) and the wheel hub motor (105), a lower computer (403) for controlling the driver (402), and a power supply (404) for supplying power to the first motor (102), the second motor (203), the wheel hub motor (105), the driver (402) and the lower computer (403) are fixedly connected to the chassis (401).

10. The height-adjustable dynamic wheelbase mobile chassis according to claim 9, characterized in that: The lower computer (403) is a single chip microcomputer.

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