Chassis of omnidirectional wheel drive-by-wire trolley

Abstract

The utility model discloses a chassis of an omnidirectional wheel drive-by-wire trolley. The chassis comprises a chassis body (1), hub mounting frames (2) are arranged at the two ends of the chassis body (1), and the two sides of each hub mounting frame (2) are connected with tire rims (4) through hub control modules (3); a battery compartment (101) is arranged at the bottom of the chassis main body (1), and a battery pack (5) is arranged in the battery compartment (101); a mounting plate (102) is arranged on the chassis main body (1), and a cab (7) and a steering wheel are arranged on the mounting plate (102); a drive-by-wire steering gear (6) is arranged on the steering wheel; and the drive-by-wire steering gear (6) is connected with the hub control module (3). The system has the advantages of reasonable layout of each component, simple structure, low maintenance cost and strong expansibility.

Description

Technical Field

[0001] The utility model relates to the field of electric vehicles, in particular to a chassis of an omnidirectional wheel wire-controlled car. Background Art

[0002] An omnidirectional wheeled car is a car that can move forward, backward, sideways, rotate on the spot, and move efficiently and accurately in complex environments. Wire control technology is usually used to achieve motion control of the car. Compared with traditional mechanical control, wire control technology has higher precision, faster response speed, and stronger scalability. As an intelligent device with all-round mobility, the omnidirectional wheeled wire-controlled car has received extensive attention and research due to its high flexibility and autonomy. At present, the chassis design of some omnidirectional wheeled wire-controlled cars is relatively complex, resulting in high manufacturing costs and difficult maintenance; or there are deficiencies in scalability and compatibility, which limits the scope of application of the car. Utility Model Content

[0003] The purpose of the utility model is to provide a chassis of an omnidirectional wheel wire-controlled car. The utility model has reasonable layout of various components, simple structure, low maintenance cost and strong expansibility.

[0004] The technical solution of the utility model is as follows: a chassis of an omnidirectional wheel wire-controlled car, comprising a chassis body, hub mounting frames are provided at both ends of the chassis body, and tire rims are connected to both sides of the hub mounting frames via a hub control module; a battery compartment is provided at the bottom of the chassis body, and a battery pack is provided in the battery compartment; a mounting plate is provided on the chassis body, and a cockpit and a steering wheel are provided on the mounting plate; a wire-controlled steering gear is provided on the steering wheel; and the wire-controlled steering gear is connected to the hub control module.

[0005] The chassis of the above-mentioned omnidirectional wheel-by-wire car, the wheel hub control module includes a double wishbone suspension hinged on both sides of the wheel hub mounting frame; the end of the double wishbone suspension is rotatably connected to the wheel hub connecting seat via a steering motor, the side of the wheel hub connecting seat is connected to the wheel hub motor, and the wheel hub motor is arranged in the tire rim.

[0006] The chassis of the aforementioned omnidirectional wheel-by-wire car, the wheel hub mounting frame includes an upper mounting frame and a lower mounting frame fixed to the end of the chassis body; a pair of wheel hub motor controllers are provided on the upper mounting frame; and a vehicle controller and a thermal management module are provided between the upper mounting frame and the lower mounting frame.

[0007] The chassis of the aforementioned omnidirectional wheel wire-controlled car, the double wishbone suspension includes an upper wishbone suspension hinged on the side of the upper mounting frame and a lower wishbone suspension hinged on the side of the lower mounting frame; the end of the upper wishbone suspension is hinged with a steering motor bearing seat, and the steering motor bearing seat is fixed to the upper part of the wheel hub connecting seat; the protruding end of the steering motor is inserted into the steering motor bearing seat; the end of the lower wishbone suspension is hinged to the lower part of the wheel hub connecting seat; a shock absorber is hinged between the chassis body and the lower wishbone suspension.

[0008] The chassis of the aforementioned omnidirectional wheel wire-controlled car has a battery mounting frame in the battery compartment; the battery pack is fixed on the battery mounting frame via a plurality of mounting connectors.

[0009] The chassis of the aforementioned omnidirectional wheel wire-controlled car, the cockpit includes a roll cage and a seat mounting frame fixed on the mounting plate; the roll cage and the seat mounting frame are fixed on the mounting plate through mounting holes.

[0010] The chassis of the aforementioned omnidirectional wheel wire-controlled car has a steering gear frame at the front of the chassis body, and the wire-controlled steering gear is arranged on the steering gear frame.

[0011] In the chassis of the aforementioned omnidirectional wheel wire-controlled car, the steering gear frame is a hollow pipe frame; the wire-controlled steering gear is connected to the wheel hub control module via a first line; and the first line is arranged in the pipe cavity of the steering gear frame.

[0012] The chassis of the aforementioned omnidirectional wheel wire-controlled car, the side of the wire-controlled steering gear is provided with a human-machine interaction screen, and the human-machine interaction screen is arranged on the side of the steering gear frame.

[0013] The chassis of the aforementioned omnidirectional wheel wire-controlled car has a light mounting frame at the end of the wheel hub mounting frame, and a pair of lights are provided on the light mounting frame.

[0014] Compared with the prior art, the chassis body of the utility model is fixed to the wheel hub control module through the wheel hub mounting frame, and the wheel hub control module can control the steering of the tire rim; the mounting holes arranged on the mounting plate of the utility model can be used to install a variety of components; the various components of the utility model are reasonably arranged and simple in structure, and have the advantages of low maintenance cost and strong expansibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the utility model;

[0016] Figure 2 It is a structural schematic diagram of the bottom of the utility model;

[0017] Figure 3 is a schematic diagram of the structure of the wheel hub control module;

[0018] Figure 4 It is a schematic diagram of the structure of the wire-controlled steering gear;

[0019] Figure 5 is a schematic diagram of the six steering modes.

[0020] The markings in the accompanying drawings are: 1-chassis body, 101-battery compartment, 102-mounting plate, 103-mounting hole, 2-wheel hub mounting frame, 201-upper mounting frame, 202-lower mounting frame, 203-headlight mounting frame, 3-wheel hub control module, 301-first circuit, 302-double wishbone suspension, 303-steering motor, 304-wheel hub connecting seat, 305-wheel hub motor, 306-second circuit, 307-brake, 308-upper wishbone suspension, 309-lower wishbone suspension, 310-shock absorber, 311-wheel hub motor controller, 3 12-first cable management baffle, 313-second cable management baffle, 314-steering motor bearing seat, 4-tire rim, 5-battery pack, 501-battery mounting frame, 502-mounting connector, 6-wire steering gear, 601-steering gear frame, 602-human-computer interaction screen, 603-steering controller, 604-steering column, 605-angular torque sensor, 606-mechanical limit device, 607-steering wheel, 7-cockpit, 701-roll cage, 702-seat mounting frame, 8-vehicle controller, 9-thermal management module, 10-headlights. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0022] Embodiment: The chassis of the omnidirectional wheel wire-controlled car has a structure as follows Figure 1 and Figure 2As shown, it includes a chassis body 1, and wheel hub mounting frames 2 are provided at both ends of the chassis body 1; the axle load distribution of the utility model is 50:50; the size of the utility model is 4200*1995*1680mm (including the roll cage 701); the curb weight of the utility model is 1500kg, and the full load weight (with one person) is 1700kg; the driving mode of the utility model is a four-wheel hub motor 305; the rated voltage of the utility model is 350V. The wheel hub mounting frame 2 includes an upper mounting frame 201 and a lower mounting frame 202 fixed to the end of the chassis body 1; a pair of wheel hub motor controllers 311 are provided on the upper mounting frame 201; a vehicle controller 8 and a thermal management module 9 are provided between the upper mounting frame 201 and the lower mounting frame 202. A light mounting frame 203 is provided at the end of the wheel hub mounting frame 2, and a pair of lights 10 are provided on the light mounting frame 203. The chassis body 1 of the utility model is fixed to the hub control module 3 through the hub mounting frame 2. Each tire rim 4 corresponds to a hub control module 3, and each tire rim 4 can be independently steered. The mounting holes 103 provided on the mounting plate 102 of the utility model can be used to install a variety of components. The various components of the utility model are reasonably arranged and have a simple structure, and have the advantages of low maintenance cost and strong expansibility.

[0023] The two sides of the wheel hub mounting frame 2 are connected to the tire rim 4 through the wheel hub control module 3. The tire size of the utility model is 255 / 30-R20, and the wheel rim size of the utility model is 20 inches * 9J; the steering form of the utility model is kingpin steering, each tire rim 4 corresponds to a wheel hub control module 3, and each tire rim 4 can be independently steered. The rated power of a single wheel is 1.25kw; a battery compartment 101 is provided at the bottom of the chassis body 1, and the battery compartment 101 is used to accommodate a battery pack 5. A battery pack 5 is arranged in the battery compartment 101, the rated voltage of the battery pack 5 is 350V, and the battery form of the battery pack 5 is a lithium iron phosphate battery; a battery mounting frame 501 is fixed in the battery compartment 101 by bolts, and the battery mounting frame 501 is fixed to the bottom of the chassis body 1; the battery pack 5 is fixed to the battery mounting frame 501 through a plurality of mounting connectors 502, and the mounting connectors 502 are respectively fixed to the bottom of the battery mounting frame 501 and the side of the battery pack 5 by bolts.

[0024] The chassis body 1 is provided with a mounting plate 102, and the mounting plate 102 is provided with a plurality of mounting holes 103, and the mounting holes 103 are threaded through holes and can be used to install various components, such as shelves, etc.; the mounting plate 102 is provided with a cockpit 7; the cockpit 7 includes a roll cage 701 and a seat mounting frame 702 fixed on the mounting plate 102; the roll cage 701 and the seat mounting frame 702 are fixed to the mounting plate 102 by the cooperation of the mounting holes 103 and bolts.

[0025] A wire-controlled steering gear 6 is provided at the front of the chassis body 1, and the wire-controlled steering gear 6 is connected to the wheel hub control module 3. The wire-controlled steering gear 6 is used to control the wheel hub control module 3 to steer the tire rim 4. A steering gear frame 601 is provided at the front of the chassis body 1, and the wire-controlled steering gear 6 is arranged on the steering gear frame 601. The steering gear frame 601 is a hollow pipe frame; the wire-controlled steering gear 6 is connected to the wheel hub control module 3 via the first line 301; the first line 301 is arranged in the tube cavity of the steering gear frame 601, and this method can facilitate the arrangement and storage of the first line 301. A human-machine interaction screen 602 is provided on the side of the wire-controlled steering gear 6. The human-machine interaction screen 602 is a 13-inch display screen. A steering mode signal can be sent through the human-machine interaction screen 602, and the real-time information of the steering motor 303 can be displayed vividly. The user can control the wheel hub control module 3 through the human-machine interaction screen 602, thereby controlling the steering of the tire rim 4. The human-machine interaction screen 602 is set on the side of the steering gear frame 601.

[0026] Wheel hub control module 3 Figure 3As shown, the wheel hub control module 3 includes a double wishbone suspension 302 hinged on both sides of the wheel hub mounting frame 2; the suspension stroke of the double wishbone suspension 302 is ±50mm, the offset frequency is 1.44HZ, the kingpin castor angle is 0deg, the kingpin inclination angle is 8deg, and the ground clearance in the ready state is 180mm; the end of the double wishbone suspension 302 is rotatably connected to the wheel hub connecting seat 304 via a steering motor 303; the rated power of the steering motor 303 is 1.25kw, the rated voltage is 48V, the rated torque is 4Nm, and the rated speed is 3000rpm; the steering motor 303 is directly connected to the kingpin, and can modularly realize the common use of the front and rear suspensions to improve the integration. The side of the wheel hub connecting seat 304 is connected to a wheel hub motor 305, and the wheel hub motor 305 is arranged in the tire rim 4; the maximum output torque of the wheel hub motor 305 is 1600N.m, the torque mass density is 73Nm / kg, the peak / continuous power is 100 / 67kW, and the maximum speed is 1280rpm; the wheel hub motor 305 is connected to the wheel hub motor controller 311 via the first line 301, and the wheel hub motor controller 311 is arranged on the upper mounting frame 201; the voltage range of the wheel hub motor controller 311 is 280V-415V, the weight is 11.6kg, the maximum current is 500Arms (for 60s), the coolant temperature is -30℃--65℃, the logic supply voltage is 9V-16V, the maximum output power is 150kw, and the size is 388*344*117mm; the steering motor 303 is connected to the wire-controlled steering gear 6 via the second line 306. The side of the wheel hub motor 305 is also provided with a brake 307, the brake form of the brake 307 is a disc brake, the caliper form is EMB, the maximum output torque of the brake 307 is 1600N.m, the rated torque is 500Nm, the rated speed is 20rpm, and the maximum tangential load of the output shaft is 1000N; the double wishbone suspension 302 includes an upper wishbone suspension 308 hinged on the side of the upper mounting frame 201 and a lower wishbone suspension 308 hinged on the lower mounting frame 201. The lower cross arm suspension 309 on the side of the mounting frame 202; the steering motor bearing seat 314 is hinged at the end of the upper cross arm suspension 308, and the steering motor bearing seat 314 is fixed to the upper part of the wheel hub connecting seat 304; the extended end of the steering motor 303 is inserted into the steering motor bearing seat 314; the end of the lower cross arm suspension 309 is hinged to the lower part of the wheel hub connecting seat 304; the shock absorber 310 is hinged between the chassis body 1 and the lower cross arm suspension 309. The side of the wheel hub motor controller 311 is provided with a first wire management baffle 312, and the first line 301 is wound around the side of the first wire management baffle 312. The side of the steering motor 303 is provided with a second wire management baffle 313; the second line 306 is wound around the side of the second wire management baffle 313.

[0027] Furthermore, if Figure 4As shown, the wire-controlled steering gear 6 simulates a traditional steering wheel to control the steering motor 303; the wire-controlled steering gear 6 includes a steering controller 603 fixed on a steering gear frame 601, the steering controller 603 is used to calculate the torque of the steering motor 303 according to the signal of the angular torque sensor 605, the steering controller 603 is connected to the steering motor 303 of the wheel hub control module 3, and a steering column 604 is provided at the axial end of the steering controller 603, and the steering column 604 and the steering wheel 607 are synchronously controlled. A force sensing motor 605 is provided on the side of the steering column 604, and the force sensing motor 605 is used to generate torque, simulate steering road feel, and return to the center position. An angle torque sensor 605 is provided at the end of the steering column 604, and the angle torque sensor 605 is used to output an angle signal and a torque signal. A mechanical limit device 606 is provided at the end of the angle torque sensor 605, and the mechanical limit device 606 is used to mechanically limit the steering wheel 607. The axial end of the mechanical limit device 606 is provided with a steering wheel 607. The feedback torque of the steering wheel 607 is 8Nm, the ECU of the wire-controlled steering device 6 is 12v, 2MCU, ASILD, the Motor is 12V, 8Nm, 50A, a six-phase redundant motor, the Sensor is 4+2TAS torque angle dual redundancy, and the mechanical limit is adjustable within + / -rev.

[0028] Furthermore, if Figure 5 As shown, the utility model has six steering modes: front-wheel steering, four-wheel steering, four-wheel counter-steering, lateral pivot steering, lateral movement and in-situ steering. The chassis body 1 has high maneuverability and flexibility, and its control method can accept remote control switching, button switching and HMI touch interface switching.

[0029] Working principle: The chassis body 1 of the utility model is fixed to the hub control module 3 through the hub mounting frame 2, each tire rim 4 corresponds to a hub control module 3, and each tire rim 4 can be independently steered. The mounting holes 103 provided on the mounting plate 102 of the utility model can be used to install a variety of components. The various components of the utility model are reasonably arranged and simple in structure, and have the advantages of low maintenance cost and strong expansibility.

[0030] The above embodiments only express the implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. In this embodiment, up, down, left, right, front, and back only represent their relative positions and do not represent their absolute positions. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A chassis of an omnidirectional wheel wire-controlled car, characterized in that: The invention comprises a chassis body (1), wherein wheel hub mounting frames (2) are provided at both ends of the chassis body (1), and tire rims (4) are connected to both sides of the wheel hub mounting frames (2) via wheel hub control modules (3); a battery compartment (101) is provided at the bottom of the chassis body (1), and a battery pack (5) is provided in the battery compartment (101); a mounting plate (102) is provided on the chassis body (1), and a cockpit (7) and a steering wheel (607) are provided on the mounting plate (102); a wire-controlled steering gear (6) is provided on the steering wheel (607); and the wire-controlled steering gear (6) is connected to the wheel hub control module (3).

2. The chassis of the omnidirectional wheel wire-controlled car according to claim 1 is characterized by: The wheel hub control module (3) comprises a double wishbone suspension (302) hinged on both sides of a wheel hub mounting frame (2); the ends of the double wishbone suspension (302) are rotatably connected to a wheel hub connecting seat (304) via a steering motor (303); the side of the wheel hub connecting seat (304) is connected to a wheel hub motor (305); and the wheel hub motor (305) is arranged in a tire rim (4).

3. The chassis of the omnidirectional wheel wire-controlled car according to claim 2, characterized in that: The wheel hub mounting frame (2) comprises an upper mounting frame (201) and a lower mounting frame (202) fixed to the end of the chassis body (1); a pair of wheel hub motor controllers (311) are provided on the upper mounting frame (201); and a vehicle controller (8) and a thermal management module (9) are provided between the upper mounting frame (201) and the lower mounting frame (202).

4. The chassis of the omnidirectional wheel wire-controlled car according to claim 3 is characterized by: The double wishbone suspension (302) comprises an upper wishbone suspension (308) hinged to the side of an upper mounting frame (201) and a lower wishbone suspension (309) hinged to the side of a lower mounting frame (202); a steering motor bearing seat (314) is hinged at the end of the upper wishbone suspension (308), and the steering motor bearing seat (314) is fixed to the upper part of a wheel hub connecting seat (304); an extended end of the steering motor (303) is inserted into the steering motor bearing seat (314); an end of the lower wishbone suspension (309) is hinged to the lower part of the wheel hub connecting seat (304); and a shock absorber (310) is hinged between the chassis body (1) and the lower wishbone suspension (309).

5. The chassis of the omnidirectional wheel wire-controlled car according to claim 1, characterized in that: A battery mounting frame (501) is provided in the battery compartment (101); the battery pack (5) is fixed on the battery mounting frame (501) via a plurality of mounting connectors (502).

6. The chassis of the omnidirectional wheel wire-controlled car according to claim 1, characterized in that: The cockpit (7) comprises a roll cage (701) and a seat mounting frame (702) fixed on a mounting plate (102); the roll cage (701) and the seat mounting frame (702) are fixed on the mounting plate (102) via mounting holes (103).

7. The chassis of the omnidirectional wheel wire-controlled car according to claim 1, characterized in that: A steering gear frame (601) is provided at the front of the chassis body (1), and the wire-controlled steering gear (6) is arranged on the steering gear frame (601).

8. The chassis of the omnidirectional wheel wire-controlled vehicle according to claim 7, characterized in that: The steering gear frame (601) is a tube frame with a hollow interior; the wire-controlled steering gear (6) is connected to the wheel hub control module (3) via a first line (301); and the first line (301) is arranged in a tube cavity of the steering gear frame (601).

9. The chassis of the omnidirectional wheel wire-controlled vehicle according to claim 7, characterized in that: A human-machine interaction screen (602) is provided on the side of the wire-controlled steering gear (6), and the human-machine interaction screen (602) is arranged on the side of the steering gear frame (601).

10. The chassis of the omnidirectional wheel wire-controlled car according to claim 1, characterized in that: A vehicle lamp mounting frame (203) is provided at the end of the wheel hub mounting frame (2), and a pair of vehicle lamps (10) are provided on the vehicle lamp mounting frame (203).

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